An attitude optimization solution method for bionic navigation

An attitude and optimal technology, applied in navigation calculation tools, navigation, surveying and navigation, etc., can solve the problems of reduced accuracy of navigation and attitude calculation, blurred polarization azimuth, and enhanced inconsistency, avoiding the problem of angle ambiguity, Reduce the requirement of operation speed and make up for the effect of poor dynamics

Active Publication Date: 2022-03-29
DALIAN UNIV OF TECH
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AI Technical Summary

Problems solved by technology

However, both of the above two attitude measurement schemes have their own shortcomings: the geomagnetic sensor in scheme one determines the heading information by detecting the magnetic field vector, but it is very sensitive to electromagnetic interference, and is easily affected by the surrounding electromagnetic field and airborne electronic equipment, which will cause the heading attitude to be unresolved. The calculation accuracy is reduced; in the case of high maneuvering, the inconsistency between the satellite signal transmission frequency and the aircraft movement frequency is significantly enhanced, resulting in the serious phenomenon of GPS star loss in method 2, which affects the accurate calculation of heading information
However, both of these two methods have certain limitations: method one has the problem of polarization and azimuth ambiguity in the process of calculating the heading information, and the accuracy of the attitude calculation is closely related to the error accuracy of the aircraft's horizontal attitude. Higher orientation accuracy can only be achieved when the range changes, which greatly limits the space attitude calculation of the aircraft
Among them, the Kalman filter model has a large amount of calculation in each iteration process, so it needs a microprocessor with a fast enough calculation speed, otherwise it will not be able to guarantee the real-time requirements of attitude calculation, and at the same time, the model error of the polarization sensor is affected by various Influenced by factors, the corresponding error term cannot be accurately input in the Kalman filter, which further restricts the improvement of navigation accuracy and system performance by this method

Method used

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  • An attitude optimization solution method for bionic navigation
  • An attitude optimization solution method for bionic navigation
  • An attitude optimization solution method for bionic navigation

Examples

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Embodiment 1

[0036] Example 1 is a static experiment. The experimental location of this experiment is outside the School of Mechanical Engineering, Dalian University of Technology. The geographical location information is 121.527° east longitude and 38.879° north latitude. The experiment time is 17:40 pm on May 28, 2018 , the weather was clear and cloudless. By checking the astronomical almanac, we can know that the solar altitude angle at this time is 17.04°, and the solar azimuth angle is -104.18°. The polarized light navigation experiment platform is placed statically for about 220 seconds. By collecting the output data of the gyroscope, the polarized light sensor and the accelerometer, the system stability of the algorithm of the present invention under static conditions is verified.

[0037] in the attached figure 1 The calculation flowchart of the attitude solving method of the present invention is shown in , and the specific steps are as follows:

[0038] Step 1: Collect the output...

Embodiment 2

[0056] Example 2 is a dynamic experiment. The experimental location of this experiment remains unchanged. The experimental time is 18:00 on June 12, 2018. The weather is clear and cloudless. By querying the astronomical calendar, it can be known that the solar altitude angle at this time is 14.29°. The azimuth of the sun is -108.42°, and the polarized light navigation experiment platform is tilted and rotated three-dimensionally. By collecting the output data of the gyroscope, the polarized light sensor and the accelerometer, the dynamic tracking performance of the algorithm of the present invention under the motion condition is verified. The implementation process of Example 2 is consistent with the steps of Example 1, and different experimental parameters have been described above.

[0057] Figure 4 shows the comparison curve of the heading angle and the real-time change curve of the search step value. Figure 4a The reference value in is the calculated value of the Kalman ...

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Abstract

The invention provides an attitude optimization solution method for bionic navigation, which belongs to the technical field of attitude solution for polarized light navigation. The method uses the polarization vector and the gravity vector to construct the target error function model, and solves the optimal attitude quaternion according to different motion states, so as to improve the accuracy of attitude calculation under complex maneuvering conditions. The invention realizes the compensation and correction of the course information of the UAV by solving the search direction of the polarization azimuth angle error, and avoids the angle ambiguity problem that occurs in the direct solution. The polarized light navigation scheme designed by the present invention decouples the heading and horizontal attitude solving process to overcome the spatial position constraints of attitude solving, and at the same time adopts a gradient optimization method with variable search factors, which can change the search step size in real time according to different motion states of the aircraft , to improve the measurement accuracy and robustness of the polarized light navigation system.

Description

technical field [0001] The invention belongs to the technical field of aircraft attitude measurement and estimation, relates to a heading and attitude reference system (AHRS) based on a polarized light sensor, and mainly relates to a gradient optimization attitude calculation method with a variable search factor. Background technique [0002] Attitude and Heading Reference System (AHRS) is a key device in the navigation platform, which can provide accurate and reliable flight status information for the aircraft. The traditional attitude reference system uses the inertial measurement unit (IMU) as the main attitude calculation component. On this basis, there are two expansion methods according to the performance requirements of the navigation platform: one is composed of the inertial measurement unit and the geomagnetic sensor. The other is composed of an inertial measurement unit combined with GPS. However, both of the above two attitude measurement schemes have their own s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/165G01C21/20
Inventor 金仁成谢林达蔚彦昭魏巍楮金奎
Owner DALIAN UNIV OF TECH
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