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Optimum navigational parameter fusion method based on three-level filtering under redundant sensor configuration

A technology of navigation parameters and three-stage filtering, which is applied in navigation calculation tools, navigation through speed/acceleration measurement, etc.

Inactive Publication Date: 2014-03-12
CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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Problems solved by technology

In the face of the application background of civil aircraft, how to design navigation algorithms in combination with redundant sensor configurations to meet the accuracy and safety in the field of civil aviation has rarely been studied in China.

Method used

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  • Optimum navigational parameter fusion method based on three-level filtering under redundant sensor configuration
  • Optimum navigational parameter fusion method based on three-level filtering under redundant sensor configuration
  • Optimum navigational parameter fusion method based on three-level filtering under redundant sensor configuration

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Embodiment Construction

[0051] The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:

[0052] The method of the invention makes full use of the redundant inertial navigation system and the data output by the GPS system, and realizes the optimal estimation of the attitude, speed and position of the flight management system through three-stage filtering. Specifically include the following steps:

[0053] (1) Data collection steps:

[0054] (a) Read the three attitude angles, three positions, three velocity information, three angular velocity information and three linear acceleration information output by the i-th inertial navigation system IRSi with a cycle ΔT, and the three attitude angle information are pitch Angle θ, roll angle φ, and yaw angle ψ; the three position information are longitude L, latitude λ, and height h; the three velocity information are eastward velocity v in the geographic coordinate system E , Northward velocity v ...

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Abstract

The invention discloses an optimum navigational parameter fusion method based on three-level filtering under redundant sensor configuration. According to the invention, aiming at the characteristics of information redundancy of a navigation sensor, a three-level filtering framework for the navigation sensor is designed; through local estimation of a first-level kalman filter, the global estimation of a second-level federated filter and the optimum global estimation of a third-level filter, the optimum global estimation of the navigational parameter of a flight management system can be performed by fully using redundant navigation sensor information. The method disclosed by the invention is beneficial to full utilization of the redundant navigation sensor information, meanwhile, improves the accuracy of navigational parameter estimation, and is such a method that facilitating engineering realization. The method has an important practical application significance on meeting navigation performance requirements required by all legs for large aircrafts flying in civilian areas.

Description

technical field [0001] The present invention relates to an optimal navigation parameter fusion method, in particular to a navigation parameter optimal fusion method based on three-stage filtering under redundant sensor configuration, which is used for optimal global estimation of navigation parameters of flight management system under redundant sensor configuration . Background technique [0002] The flight management system (FMS) is the core equipment of the large aircraft avionics system. It integrates other systems, such as navigation systems and display systems, by providing multi-sensor based integrated navigation functions, performance management functions, flight plan management functions and flight guidance functions. , autopilot and auto-throttle system, during the entire flight process, the auxiliary crew realizes the automatic control of flight tasks, ensuring that the aircraft automatically flies according to the expected plan and meets the flight performance req...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/20G01C21/16
Inventor 王丹马航帅孙晓敏
Owner CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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