Aircraft position signal fusing and filtering method

Abstract

The invention discloses an aircraft position signal fusing and filtering method. The method includes the steps of collecting eastern and northern speed information output by a GPS, collecting acceleration information output by an inertial measurement unit under a vehicle body axis and magnetic course angle information output by a magnetometer, conducting sliding median filtering on the eastern andnorthern speed information output by the GPS, collecting longitude and latitude position information output by the GPS, collecting ground speed information output by the GPS, conducting sliding median filtering on the position information output by the GPS in combination with the obtained eastern and northern speed information subjected to sliding median filtering, conducting fusing and correcting on the acceleration information output by an IMU under the aircraft body axis through the eastern and northern speed information subjected to sliding median filtering and the obtained position information subjected to sliding median filtering, converting the corrected acceleration under a body coordinate system into acceleration under an inertial coordinate system, and conducting quadratic integral on the acceleration. The reliable aircraft position information can be obtained.

Description

technical field [0001] The invention belongs to the technical field of aircraft navigation, in particular to an aircraft position signal fusion filtering method. Background technique [0002] Reliable position signals are required for aircraft to achieve autonomous landing, automatic trajectory tracking and other flight tasks. At present, the position signal of the aircraft mainly receives the position signal expressed by latitude and longitude sent by the navigation satellite through the GPS receiver. However, when the satellite signal is subject to external interference, or the GPS receiver is in an area with a weak signal, the longitude and latitude information will have a large offset or lag, so that the accurate aircraft position signal cannot be obtained. Contents of the invention [0003] 1, the purpose of the present invention [0004] In order to overcome the deficiencies in the prior art, the present invention provides an aircraft position signal fusion filteri...

AI Technical Summary

Problems solved by technology

However, when the satellite signal is subject to external interference, or the GPS receiver is in an area with weak signals, the longitude and latitude information will have a large offset or lag, so that it is impossible to obtain accurate aircraft position signals

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