An Aircraft Attitude Estimation Method Based on Norm Constrained Volumetric Kalman Filter
A Kalman filter, attitude estimation technology, applied in navigation calculation tools, navigation through velocity/acceleration measurement and other directions, which can solve problems such as low accuracy
Active Publication Date: 2018-08-17
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
View PDF6 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] In order to improve the problem that the existing aircraft attitude estimation is affected by the norm constraint and the accuracy is low, the present invention proposes an aircraft attitude estimation method based on the norm-constrained volumetric Kalman filter, which introduces the norm constraint into the volumetric Kalman filter , and apply it to the attitude estimation problem of the aircraft, which improves the accuracy of the attitude estimation of the aircraft
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0077] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0078] An aircraft attitude estimation method based on norm-constrained volumetric Kalman filter, the calculation flow chart is as follows figure 1 As shown, the number-constrained volumetric Kalman filter algorithm flow chart is as follows figure 2 As shown, it includes the following four steps:
[0079] Step 1: Establish the state equation of the aircraft navigation system
[0080] In the target coordinate system, using the acceleration and angular velocity of the aircraft provided by the inertial measurement unit, the dynamic model of the aircraft is established, that is, the state equation is:
[0081]
[0082] Among them, r=[r x ,r y ,r z ] T and v=[v x ,v y ,v z ] T are the position and velocity of the aircraft respectively, X, Y, Z are the coordinate axes of the target system; q=[q 0 q 1 q 2 q 3 ] T is the attitude quatern...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses an aircraft attitude estimation method based on a norm-constrained volumetric Kalman filter. The steps are as follows: establishing the state equation of the aircraft navigation system; establishing the nonlinear measurement equation of the aircraft navigation system; discretizing the state equation and the measurement equation ; For the discretized state equation and measurement equation, the norm-constrained volumetric Kalman filter algorithm is used to output the attitude of the aircraft. The norm-constrained volumetric Kalman filter adopted in the present invention introduces the norm constraint of the quaternion describing the attitude of the aircraft into the attitude estimation, effectively solving the covariance singularity problem that does not consider the norm constraint in the attitude estimation process, Only a small amount of calculation is added, which effectively corrects the influence of the norm constraint of the quaternion on the attitude estimation of the aircraft, improves the accuracy of the attitude estimation, further improves the navigation accuracy of the aircraft, and enhances the stability of the navigation process.
Description
technical field [0001] The invention belongs to the technical field of nonlinear constraint state estimation and attitude estimation, and in particular relates to an aircraft attitude estimation method based on a norm-constrained volumetric Kalman filter, which can be used to improve the accuracy of aircraft attitude estimation. Background technique [0002] As we all know, the Kalman filter obtains the unconstrained optimal solution of the linear random estimation problem. However, when the state variables or part of the state variables meet certain constraints, the estimated results obtained by Kalman filtering are not necessarily optimal. The estimation problem of Kalman filter under the condition of research state constraints is a difficult problem that must be solved, and it has attracted more and more attention of scholars in recent years. [0003] Attitude estimation is a key technology for aircraft navigation and control, and it is also a typical nonlinear filtering...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/16G01C21/20
Inventor 娄泰山贺振东杨小亮王妍吴青娥陈虎
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY