Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof

A technology of relative attitude and relative height, which is applied in the field of aircraft ranging to avoid crosstalk, improve sampling rate, and improve dynamic measurement accuracy.

Inactive Publication Date: 2013-08-21
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] The technical problem solved by the present invention is a measurement system and method for measuring the relative height and attitude of an aircraft. The system and method are mainly used when the micro-aircraft lands and approaches the runway, and its height from the ground is relatively low, generally around 5m. , where accurate relative altitude and relative attitude are required

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  • Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof
  • Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof
  • Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof

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Embodiment

[0047] In the measuring system of the present invention, the distance L between the nose and the tail 1 =1.2m, the distance L between the left and right wings 2 = 2m, the beam angle of the ultrasonic sensor used is 15°, and the measurement distance ranges from 5 to 500 cm.

[0048] The feasibility and superiority of the method for measuring the height and attitude of the carrier relative to the ground are verified through the comparative experiments between the laboratory and the high-precision laser range finder and the attitude system. Figures 4(a) and 4(b) show the comparison experiment of the relative height measurement accuracy between the present invention and the high-precision laser range finder, which verifies the ultrasonic measurement accuracy after the ultrasonic propagation velocity correction and the ultrasonic ranging error model compensation are carried out. The distance accuracy is better than 0.5cm; Figure 5(a) and Figure 5(b) show the comparison curve betwe...

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Abstract

The invention discloses a measurement system of a relative altitude and a relative attitude of an air vehicle and a measurement method thereof. Four ultrasonic ranging modules are installed at different positions of the air vehicle, ultrasonic wave emitting and receiving of the ultrasonic ranging modules are controlled through an MPU, ultrasonic wave transmission time is calculated, pressure parameters, temperature parameters and humidity parameters of atmosphere are collected so that the transmission speed of the ultrasonic waves can be compensated, meanwhile by means of a range error compensation module, range errors of an ultrasonic ranging sensor are compensated, relative height data of the air vehicle and the ground are measured, a relative height calculation model and a relative attitude calculation model are built, and the precise relative height between the centers of wings of the air vehicle and a landing runway plane and attitude angle information of an ultrasonic installation plane relative to the runway plane are calculated. The measurement system and the measurement method improve precision and stability of measurement of the relative height and the relative attitude during landing of the air vehicle.

Description

technical field [0001] The invention belongs to the field of aircraft ranging, and more specifically relates to a measuring system and method for the relative height and relative attitude of the aircraft. Background technique [0002] The aircraft needs the onboard sensor system to provide accurate relative altitude and relative attitude angle information with the runway plane during the landing stage. The traditional relative altitude measurement device uses a single relative altitude sensor (laser ranging, air pressure sensor, GPS, etc.) The sensor is only installed in one position of the aircraft. There is a certain coupling error between the relative height measured by such a relative height measurement system, the installation position of the sensor and the attitude of the aircraft, and it is difficult to provide accurate relative height information. On the other hand, traditional aircraft Attitude measurement systems (pure inertial navigation systems, heading attitude ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/42
Inventor 杭义军刘建业李荣冰杨景阳曾庆化赖际舟常健
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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