Aircraft combined navigation method and device

Abstract

The invention discloses an aircraft combined navigation method and device. The method comprises: reading a measurement quantity and an input quantity at a current flight moment from an onboard measurement element in a period dt, and carrying out recording; acquiring a state quantity and an input quantity which are recorded by an aircraft at a previous flight moment; according to the state quantity and the input quantity which are recorded at the previous flight moment and a process model, determining a predicted state quantity of the aircraft at the current moment; according to the predicted state quantity, the input quantity at the current moment and a measurement model, determining a predicted measurement quantity of the aircraft at the current moment; according to the predicted measurement quantity, the read measurement quantity at the current flight moment, process noise and measurement noise, carrying out data processing, and according to a result of the data processing and the predicted state quantity, determining a state quantity of the aircraft at the current flight moment, and carrying out recording. According to the scheme, accurate calculation on a flight state of the aircraft is implemented.

Description

technical field [0001] Embodiments of the present invention relate to navigation technology, in particular to an aircraft integrated navigation method and device. Background technique [0002] A rotorcraft is a heavier-than-air aircraft whose lift in the air is obtained by the reaction of one or more rotors relative to the air. For rotorcraft, especially multi-rotor aircraft, in automatic and semi-automatic flight, accurate navigation solution is the basis for automatic flight and control of autopilot. The autopilot needs to know the flight situation of the aircraft in real time during the flight, such as flight speed, coordinates and other parameters. The inertial navigation model used in the current rotorcraft integrated navigation algorithm has errors. The error is due to the aerodynamic drag of the rotor that is not considered. The flight parameters of the unmanned aerial vehicle thus obtained cannot be used for precise navigation control of the unmanned aerial vehicle....

AI Technical Summary

Problems solved by technology

The autopilot needs to know the flight situation of the aircraft in real time during the flight, such as flight speed, coordinates and other parameters. The inertial navigation model used in the current rotorcraft integrated navigation algorithm has errors. The error is due to the aerodynamic drag of the rotor that is not considered. The flight parameters of the UAV thus obtained cannot be used for precise navigation and control of the UAV

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