A Method for Determining the Attitude of a Flight Carrier

Abstract

The invention discloses a method for determining the attitude of a flight carrier, which belongs to the field of attitude measurement. The main steps include: establish the coordinate system and attitude matrix of the flight carrier; collect sensor signals; use the gyro measurements to carry out strapdown attitude calculations to obtain the attitude quaternions and attitude angles of the flight carrier; use the magnetometer measurements to calculate the flight Carrier heading angle; use speed information to compensate acceleration measurement value, solve pitch angle and roll angle; solve attitude quaternion determined by magnetometer and accelerometer information; design Kalman filter, estimate state vector; correct attitude four arity and extract attitude angle. This method combines gyroscopes, accelerometers, magnetometers, and speed sensors to meet the requirements of real-time attitude control of the flight carrier; introduces gyroscope drift into the system state vector, estimates and corrects it in real time, and uses the measured value of the magnetometer to directly Calculate the heading angle, avoid the calculation of the geomagnetic field vector in the geographic coordinate system, and improve the accuracy of attitude determination.

Description

A method for determining the attitude of a flight carrier technical field The invention relates to a method for determining the attitude of a flight carrier, which belongs to the field of attitude measurement. Background technique Attitude determination is the premise of attitude control, which is of great significance to the attitude control of aircraft, missiles and satellites. Attitude determination is to obtain the attitude of the flying carrier relative to a certain coordinate system in space by processing the sensor measurement information and data processing. Strapdown attitude determination using gyroscope and accelerometer measurement information has the characteristics of autonomy and strong anti-interference ability, but the accuracy mainly depends on the accuracy of inertial devices, and gyro drift will cause attitude determination errors to accumulate over time, which cannot meet the long-term requirements. Application requirements for high precision attitude...

AI Technical Summary

Problems solved by technology

Although this method can solve the problem of the influence of the acceleration of the moving carrier on the gravity vector measurement, it also has some obvious shortcomings: its measurement algorithm does not estimate and correct the gyro drift as the system state, which reduces the gyro measurement accuracy and attitude determination accuracy; the geomagnetic field The vector uses a simplified fixed model in the inertial coordinate system, resulting in a large deviation between its measured and estimated values, which reduces the accuracy of attitude determination

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