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Method for calculating attitude of aircraft by using geomagnetic information and angular rate gyroscope

An angular rate gyro, aircraft technology, applied in attitude control, navigation through velocity/acceleration measurement, instruments and other directions, can solve the problem of roll angle solution error divergence, achieve optimal estimation, and eliminate the effect of measurement blind spots

Active Publication Date: 2019-07-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Even if the measurement accuracy of the magnetoresistive sensor reaches an ideal state, when the angle between the projectile axis and the magnetic north is small, the error in the calculation of the roll angle will tend to a certain extent due to errors in the measurement of the pitch angle and yaw angle. to diverge

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  • Method for calculating attitude of aircraft by using geomagnetic information and angular rate gyroscope
  • Method for calculating attitude of aircraft by using geomagnetic information and angular rate gyroscope
  • Method for calculating attitude of aircraft by using geomagnetic information and angular rate gyroscope

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Embodiment 1

[0122] Table 1-1 The geomagnetic information of the Huayin area is: magnetic field strength M=52585.6nT, magnetic inclination I=53°14′33″, magnetic declination D=-3°58′33″. For convenience, the angle between the launch direction of the missile and the magnetic north is ψ, and the east direction of the magnetic north is taken as positive.

[0123] Through the simulation calculation performed by Matlab software, the components of the magnetic field strength on the projectile section are obtained under different launch directions and different pitch angles, as shown in Figure 6-1 and Figure 6-2 shown.

[0124] Depend on Figure 6-1 and Figure 6-2 It can be obtained that when the angle between the projectile axis and the magnetic north is smaller, or as the projectile pitches, when the angle between the projectile axis and the direction of the magnetic induction line is smaller, the magnetic field intensity component on the projectile section is smaller, and vice versa.

[...

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Abstract

The invention provides a method for calculating the attitude of an aircraft by using geomagnetic information and an angular rate gyroscope, which determines a measurement noise covariance matrix according to the change of an included angle between a longitudinal axis of the aircraft and a geomagnetic vector by adopting a self-adaptive least square filtering method so as to realize the optimal estimation of a roll angle of the aircraft. According to the method, the geomagnetic information is used in combination with the angular rate gyroscope, so that the influence of the aircraft measurement blind area can be eliminated.

Description

technical field [0001] The invention relates to a method for calculating the attitude of a flying object by using geomagnetic information and an angular rate gyroscope, in particular to a method for calculating the spatial blind area and inherent deviation of the roll angle of the flying object by using the geomagnetic information and an angular rate gyroscope. Background technique [0002] Due to its small size, low cost, anti-interference and high overload resistance, the magnetoresistive sensor is widely used in the roll attitude measurement system of flying objects, especially missiles. However, when the axial direction of the missile is close to the magnetic north direction, there will be a large error in the calculation of the roll attitude. [0003] The reason for these errors is generally believed to be that when the projectile axis (x-axis) of the missile is close to the magnetic north direction, the component of the geomagnetic field on the section perpendicular to...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00G01C21/00G01C21/08G01C21/18G01C21/20G05D1/08
CPCG01C1/00G01C21/005G01C21/08G01C21/18G01C21/20G05D1/0808
Inventor 李虹言王江林德福杨哲王伟王辉杨世超段鑫尧纪毅程文伯
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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