Autonomous Attitude Estimation Method for Highly Dynamic Aircraft Based on Online Rolling Time Domain Estimation

Abstract

The invention belongs to the technical field of aircraft attitude estimation filtering. In order to solve the problems of poor real-time performance and difficulty in online application of the rolling time domain estimation method when estimating the attitude, a gyro / three-axis magnetometer suitable for high dynamic aircraft is proposed. On-line rolling time domain Autonomous Pose Estimation Methods. First, a rolling time-domain autonomous attitude estimation model based on gyroscope / three-axis magnetometer is established; then, the nominal model predicts the measured values, and the solution of the ideal rolling time-domain estimation problem is calculated from the predicted measured values; finally, after obtaining After the actual three-axis magnetometer measurements, the modified solution of the rolling time-domain estimation problem is quickly calculated by the nonlinear programming sensitivity formula.

Description

technical field [0001] The invention belongs to the technical field of aircraft attitude estimation filtering, and more specifically, the invention relates to an autonomous attitude estimation method for highly dynamic aircraft based on online rolling time domain estimation. Background technique [0002] The global satellite positioning system is an all-weather, global coverage, three-dimensional constant speed and timing high-precision navigation and positioning system. It has made great achievements since its application. It has become an urgent need to develop a reliable autonomous navigation method that does not require data link communication. question. [0003] As an autonomous navigation method, the gyroscope does not need to transmit and receive signals. It has good concealment, high short-term accuracy, and can provide all-weather continuous real-time navigation information. It has become a must for navigation systems. But at the same time, it has the disadvantage ...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to break through the problem of poor real-time performance and difficulty in online application when the traditional rolling time domain estimation method estimates attitude, and propose a highly dynamic aircraft autonomous attitude estimation method based on online rolling time domain estimation, which utilizes the characteristics of different sensor update rates, Reduce online waiting time during pose estimation

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