Rapid estimating and compensating system with IMU mounting angle obliquely set

A technology for compensating the system and installation angle, which is applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve the problems of reducing system reliability and real-time performance, increasing system design cost and complexity, etc., to achieve easy observation and The effect of control, good portability, and simplified wiring

Inactive Publication Date: 2009-03-25
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The IMU coordinate system in "Installation 1)" coincides with the body coordinate system, so it can avoid the influence of the oblique installation angle on the accuracy of the strapdown attitude system, but it has high requirements for the installation accuracy, and it is generally necessary to set the installation error angle to The control is within the range of 1 arc minute. In addition, since the attitude system and the display device on the instrument panel are far apart in the aircraft, the information transmission between the two is mainly realized through the wiring in the aircraft, which increases the cost and cost of system design. Complexity reduces the reliability and real-time performance of the system

Method used

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  • Rapid estimating and compensating system with IMU mounting angle obliquely set
  • Rapid estimating and compensating system with IMU mounting angle obliquely set
  • Rapid estimating and compensating system with IMU mounting angle obliquely set

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Effect test

Embodiment 1

[0052] The micromechanical strapdown attitude system, which includes the fast estimation and compensation system of the oblique IMU installation angle of the present invention, is fixedly installed on the back of the dashboard at an oblique installation angle of 20 degrees. If the airframe is flying at an altitude of 1000m and a speed of 300km / h, the flight conditions of the airframe’s pitch angle, roll angle, and heading angle during the flight process are collected as follows: Figure 4 As shown, from the analysis of the flight situation, the flight accuracy of the body estimated and compensated by the present invention is within the range of ±2 degrees.

Embodiment 2

[0054] The micromechanical strapdown attitude system, which includes the fast estimation and compensation system of the oblique IMU installation angle of the present invention, is fixedly installed on the back of the dashboard at an oblique installation angle of 45 degrees. If the airframe is flying at an altitude of 1000m and at a speed of 200km / h, the flight conditions of the pitch angle, roll angle, and heading angle during the flight process of the airframe collected successively can be obtained from the analysis of the flight conditions, and the airframe after the estimation and compensation of the present invention Flight accuracy is within ±2.55 degrees.

[0055] Through the analysis of flight test results, the present invention proposes a real-time estimation and compensation system for oblique IMU installation angles suitable for micro-mechanical strapdown attitude systems, which can be installed at any position on the back of the instrument panel at any angle.

[0056]...

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Abstract

The invention discloses a system for quickly estimating and compensating a tilting IMU setting angle in a micro inertia strapdown navigation attitude system. In the system, a quick estimation and compensation system with multi coordinate conversion mode is adopted to process IMU information generated when the IMU is slantwise arranged; the tilting IMU information processing comprises a sensor information acquisition unit(1), a sensor noise reduction processing unit(2), a setting angle estimation unit(3) and a sensor setting angle compensation unit (4). The system utilizes the coordinate conversion principle among an IMU coordinate system, an aircraft axes and a navigation coordinate system, and adopts the three-shaft acceleration information f2 and the three-shaft spinning top information Omega 2 outputted by the IMU and initial magnetic course information Phi provided by a magnetic compass to realize the correct estimation of the tilting setting angle; by utilizing the estimated setting angle, the sensor information in flight is compensated in real time, thereby improving the navigation attitude precision of a micro inertia strapdown navigation attitude system.

Description

technical field [0001] The invention relates to a fast estimation and compensation system using a multi-coordinate transformation mode for the installation angle of an oblique inertial measurement unit (IMU) in a micro-inertia strapdown attitude system. Background technique [0002] Providing real-time and accurate heading information for the aircraft and controlling the airframe accordingly are the keys to realize the safe flight of the aircraft. Among the many ways to determine the attitude information at present, the inertial attitude system has become the mainstream of the development of the attitude system with its strong autonomy, all-weather and anti-interference ability, especially with the development of micro-inertial sensor technology, the micro-inertial strapdown The attitude system can well meet the user's requirements for miniaturization, low cost, and low power consumption of the attitude system, and has become a current research hotspot. In the micro-inertia...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/18G01C21/20
Inventor 富立王玲玲
Owner BEIHANG UNIV
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