Method for compensating inertia/GPS integrated navigation external lever arm effect errors under rotor wing disturbance

A technology of lever-arm effect and combined navigation, which is applied to navigation, navigation, mapping and navigation through velocity/acceleration measurement, and can solve the problems of outer lever-arm effect error and the position of the center of mass of the aircraft in the form of non-superimposition. The effect of improving accuracy

Inactive Publication Date: 2017-06-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] For the error of the external lever arm effect, in an ideal environment, when the unmanned helicopter is in level flight, the velocity and acceleration phase center of SINS (Strapdown Inertial Navigation System) is the same as that of GPS, and the position of SINS can also be simply determined by the center of the GPS antenna. The position is obtained by adding the distance of the outer lever arm; but considering the body vibration caused by the rotor rotation of the unmanned helicopter and the angular motion of the body itself, the position of the center of mass of the aircraft measured by GPS cannot be obtained in the form of simple position vector superposition. resulting in external lever arm effect error

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  • Method for compensating inertia/GPS integrated navigation external lever arm effect errors under rotor wing disturbance
  • Method for compensating inertia/GPS integrated navigation external lever arm effect errors under rotor wing disturbance
  • Method for compensating inertia/GPS integrated navigation external lever arm effect errors under rotor wing disturbance

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Embodiment Construction

[0050] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0051] The specific implementation is as follows:

[0052] 1. According to the error principle of the external lever arm effect, the error model of the external lever arm effect is established.

[0053] like figure 1 As shown, in the body coordinate system, is the GPS antenna position, is the SINS position, and the difference between the GPS antenna and the SINS position is defined as the distance r b :

[0054]

[0055] In formula (1), r b =[r x r y r z ] T , r x is the projection of the distance of the outer lever arm in the direction of the X-axis in the body coordinate system, r y is the projection of the distance of the outer lever arm in the dire...

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Abstract

The invention discloses a method for compensating inertia/GPS integrated navigation external lever arm effect errors under rotor wing disturbance, and belongs to the technical field of integrated navigation system measurement. The method comprises the following steps: establishing an external lever arm effect error model, extending the external lever arm effect errors as a system state quantity, establishing a filter state equation and a measurement equation, and achieving online estimation of the external lever arm effect errors based on a Kalman filter. The method provided by the invention can achieve estimation and compensation of the length of an external lever arm to further improve the accuracy of an inertia/GPS integrated navigation system, and is suitable for engineering application.

Description

technical field [0001] The invention relates to a method for compensating the external lever arm effect error of inertial / GPS combined navigation under rotor disturbance, and belongs to the technical field of combined navigation system measurement. Background technique [0002] The high maneuverability and multi-modal flight characteristics of unmanned helicopters put forward extremely high requirements on the accuracy and reliability of the navigation system. Since the main rotor of an unmanned helicopter is usually installed in the center of the body, if the GPS antenna is installed on the upper surface of the body center according to the antenna installation method of the traditional fixed-wing UAV, the propagation path between the GPS navigation signal and the GPS antenna will be different. Due to the periodic cutting of the rotor, the receiver cannot perform stable tracking and locking of its carrier phase, which greatly reduces the effective time of GPS signal receptio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005G01C21/165
Inventor 鲍雪熊智殷德全戴怡洁许建新王钲淳孙克诚刘建业
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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