Geomagnetic Aided Inertial Carrier Attitude Measurement Method Based on Matching Technology

Abstract

The invention provides a geomagnetism-assisted inertial carrier attitude measurement method based on matching technology. The method comprises: (1) reading geomagnetic vector information of a position where the carrier is located from a geomagnetic database, building a space rectangular coordinate system, and calculating a theoretical value of a magnetic sensor at each attitude; (2) obtaining N measured attitudes of the moving carrier from an inertia device in a certain time, and obtaining N magnetic field measured values from a magnetometer; (3) finding N corresponding points in the attitude angle coordinate system built in step (1) according to the N measured attitudes of the carrier obtained in the step (2), combining with the N magnetic field measured values from the magnetometer, and matching by using a matching algorithm to obtain matched results of the carrier attitude; (4) using the matched results as a real attitude of the carrier to correct output results of the inertia device; and (5) repeating step (2)-(4) at a next measurement time, thereby realizing continuous attitude measurement. The method can effectively correct accumulated errors of the inertia device, and realize long-time and high-precision attitude measurement for the carrier.

Description

technical field [0001] The invention relates to an aircraft attitude measurement method, in particular to a geomagnetic-assisted inertial carrier attitude measurement method based on matching technology. Background technique [0002] Attitude measurement is an integral part of aircraft control. At present, there are many attitude measurement methods, which can be roughly divided into three types: using inertial devices, radio signals and natural environment information. The first type of method includes strapdown inertial navigation and platform inertial navigation, which are characterized by strong independence, no need to measure external information, and strong anti-interference ability, but have the disadvantage of error accumulation; the second type of method includes the use of GPS and ground The radio base station signal attitude measurement is characterized by the fact that the aircraft needs to continuously receive external signals, and the error does not accumulat...

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Problems solved by technology

[0007] In the literature "Research on the attitude test method of rotating projectile based on the combination of magnetic sensors" (Nanjing University of Science and Technology, doctoral dissertation, 2009.3.1), the special configuration method of the all-magnetic sensor and the combination of magnetic sensor and gyroscope / accelerometer are given. The attitude measurement method also provides calculation methods such as zero crossing and extreme value comparison method, but they all need to be based on the premise that the yaw angle of the projectile is constant and the roll angular velocity changes slowly, so the method provided by this document is not suitable for carrier maneuvering occasions , the application conditions are strictly limited

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