Combined navigation method for attitude magnetic interference resisting
A combined navigation and magnetic interference technology, applied in navigation, surveying and navigation, navigation through speed/acceleration measurement, etc., can solve problems such as being easily affected by body vibration and magnetic field distortion, and achieve the effect of reducing estimation errors
Active Publication Date: 2019-07-16
SHENYANG AEROSPACE UNIVERSITY
View PDF9 Cites 15 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, accelerometers and magnetometers are used in the Kalman filter to measure the gravitational field and the geomagnetic field, respectively, which are susceptible to body vibration and magnetic field distortion
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0064] The following combination Figure 1-11 The present invention is described in further detail with specific implementation process, figure 1 A kind of federal filter provided for the present invention:
[0065] Numerical simulation: The step size of the given numerical simulation is Δt=10 -3 s, the simulation time is 500s. The given unit sun vector, unit gravity vector and unit geomagnetic vector are respectively g n =[0 0 1] T and h n =[10 0] T , and assume that the declination and inclination are both zero. The random white noise drifts of the solar and geomagnetic vectors are 0.03 and 0.003, respectively. The random white noise drift and the first-order Markov process drift of the gyroscope are 0.002rad / s and 0.001rad / s respectively, and the correlation time of the Markov random process is taken as 7200 / s. The random white noise drift and the first-order Markov process drift of the accelerometer are 0.8 mg and 2 mg respectively, and the correlation time of th...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a combined navigation method for attitude magnetic interference resisting. A federated filter is designed, and a gravity field, a geomagnetic field and a sun vector measured bya multi-polarization sensor are utilized to simultaneously assist a strap-down inertial navigation system to estimate the attitude of an unmanned aerial vehicle. In order to prevent cross pollution among subfilters, the federated filter works in a non-resetting mode. In the algorithm, a dip angle compensation magnetometer is utilized to output a calculated yaw angle to correct updated attitude quaternions measured by the subfilters 1; and in order to prevent the influence of a quaternion estimation mean square error array on an estimated result during attitude information fusing, an information fusing method based on an eulerian angle is designed. Therefore, when dynamic magnetic field distortion exists in the environment, a pitch angle and a roll angle estimated by the designed filteringalgorithm are not affected; and the estimated error of the fused yaw angle is reduced relative to the estimated error of the subfilters 1.
Description
technical field [0001] The invention belongs to a federated Kalman filter algorithm for attitude anti-interference combined navigation under the condition of magnetic field distortion caused by magnetic field interference in the environment, and specifically relates to an attitude anti-magnetic interference combined navigation method. Background technique [0002] For small and medium UAVs, reducing the cost of sensors in the navigation system and improving the accuracy and stability of the navigation system is one of the basic issues that need to be considered in the design of integrated navigation systems. MARG sensors usually consist of three-axis MEMS gyroscopes, accelerometers, and magnetometers, and are widely used in attitude estimation of UAVs. Among them, an inertial measurement unit (IMU) is composed of a MEMS gyroscope and an accelerometer, which is used to measure the angular velocity and acceleration of the drone's movement. At the same time, the accelerometer ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 徐光延张华卿张红梅刘皓
Owner SHENYANG AEROSPACE UNIVERSITY