A Disturbance Acceleration Measurement Method for Aircraft Attitude Calculation

Abstract

The invention discloses a measuring method for disturbance acceleration in attitude estimation of an aircraft. The method comprises the following steps: acquiring the attitude quaternion of the aircraft and acquiring measured acceleration in a body-axis coordinate system; acquiring disturbance acceleration in a reference coordinate system according to the attitude quaternion and the measured acceleration in the body-axis coordinate system and then acquiring discrete disturbance acceleration; and subjecting the discrete disturbance acceleration to segmented processing, then carrying out first-order low-pass filtering, and then transferring the processed discrete disturbance acceleration to the body-axis coordinate system for subtraction by the measured acceleration in the body-axis coordinate system so as to obtain accurate aircraft acceleration without the disturbance acceleration. Compared with the prior art, the measuring method provided by the invention is low in cost, needs no GPS sensor for measurement and can improve the attitude measurement precision of subsequent multi-sensor fusion technology.

Description

technical field [0001] The invention relates to the technical field of aviation vehicle control, in particular to a method for measuring disturbance acceleration for aircraft attitude calculation. Background technique [0002] When the aircraft is flying in a large maneuver, the accelerometer on the aircraft not only measures the acceleration of gravity, but also has a disturbance acceleration. For multi-sensor fusion techniques such as complementary filtering or Kalman filtering, accurate acceleration data is very necessary. If the acceleration data used contains disturbance acceleration, it will affect the accuracy of attitude calculation and even cause flight accidents. [0003] For the measurement of aircraft disturbance acceleration, the current common practice is to add GPS sensor, use the data of GPS sensor to calculate disturbance acceleration, and then feed it back to the attitude measurement system. But this will make the flight control system more complicated, a...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above-mentioned problems existing in the prior art, a method for measuring the disturbance acceleration of aircraft attitude calculation is provided, which solves the problem that when the aircraft is flying in a large maneuver, the acceleration measured by the airframe has disturbance acceleration besides the required gravitational acceleration. Subsequent attitude calculation is wrong, and the obtained attitude angle information is not accurate enough. At the same time, avoiding the use of GPS sensors to measure interference acceleration has the advantages of low cost, simple algorithm design, and good results.

Images