Attitude determination method of mini-aircraft inertial integrated navigation system
A technology of micro-miniature aircraft and integrated navigation system, which is applied in directions such as navigation through speed/acceleration measurement, and can solve the problems of influence and small moment of inertia of micro-miniature aircraft.
Inactive Publication Date: 2010-05-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
[0005] The accelerometer inclination sensor is affected by the dynamics of the carrier. The conventional thinking in the existing literature is to restrict the use of the accelerometer inclination sensor, and judge the dynamic process of the carrier according to the information of the inertial measurement unit IMU and the attitude system. When the dynamic process of the carrier After exceeding a certain range, the accelerometer inclination sensor is no longer used for attitude measurement. Since the micro-aircraft has a small moment of inertia, maneuverability, and is seriously affected by airflow, the range and rate of attitude changes are much larger than those of ordinary drones. Suitable for micro aircraft
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[0022] Principle of the present invention is:
[0023] In the traditional GNC closed-loop loop, the navigation system provides navigation parameter feedback to the guidance and flight control algorithms, such as figure 1 The functional block diagram composed of each module and the solid line is shown in the figure. The present invention increases the feedforward control from the guidance module to the navigation subsystem on the basis of the traditional GNC loop, such as figure 1 As shown by the dotted line in , using the guidance information to control the combined Kalman filter noise matrix, the adaptive adjustment of the Kalman filter observation noise matrix to the flight state is realized, and the adaptation of the micro-inertial integrated navigation system to the flight state is improved through parameter adjustment It realizes the determination of the attitude of the existing micro-inertial integrated navigation system of the micro-aircraft under dynamic flight condit...
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This invention relates to a kind of attitude definition method of micro inertia mixed navigation system of microminiature aero craft, belongs to microminiature vehicle attitude definition method. Themethod utilize guidance information, control Kalman filter noise matrices, to realize self-adapting adjust according to flight status; through parameter adjust to realize attitude definition of microinertia mixed navigation system on dynamic airborne conditions; the specific process: through GNC closed loop circuit guidance algorithm, to gain aero craft barrel angle; through sensor picking, obtain vehicle rate and specific force; by strap inertial navigation algorithm to resolve out vehicle attitude, velocity and position information; by accelerometer and GPS data to count pose and positionmeasurement information of aero craft; real-time compute horizontal attitude variance of Kalman filter observation noise matrices, through Kalman filter to estimate error of strap inertial guidance system; Amend above acquired pose, velocity and position information, and took as feedback information to import in control system.
Description
1. Technical field [0001] The invention belongs to the technical field of a motion parameter measurement system for a miniature aircraft. 2. Background technology [0002] Micro-aircraft has special value and broad prospects in the fields of short-distance military reconnaissance, target search, and disaster monitoring. The core function of the closed-loop circuit composed of the navigation, guidance and control systems of the micro-aircraft is to measure and control the state of the micro-aircraft, so that it can achieve the purpose of autonomous flight. The micro-aircraft attitude determination system is a subsystem of the micro-navigation system, which is used to measure the attitude of the micro-aircraft in real time, and feed back the measured attitude information to the controller of the micro-aircraft. The micro-aircraft attitude determination system provides the attitude information of the micro-aircraft for attitude stabilization and flight control algorithms. It i...
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IPC IPC(8): G01C21/16
Inventor 李荣冰刘建业赖际舟熊智孙永荣赵伟曾庆化温佰仟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS