Aircraft inertia and GPS mixed height measurement method based on error feedback
A technology of error feedback and height measurement, which is applied in height/horizontal measurement, navigation through speed/acceleration measurement, and measurement devices, etc. It can solve the problem of low accuracy of single height measurement, achieve the best mixed measurement effect, and eliminate time accumulation error Effect
Active Publication Date: 2021-06-01
NAVAL AERONAUTICAL UNIV
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[0004] The object of the present invention is to provide a kind of aircraft inertial plus GPS hybrid altitude measurement method based on error feedback, and then at least to a certain extent overcome the problem that the single altitude measurement accuracy is not high due to the limitations and defects of related technologies
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[0062] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that the technical solution of the present invention may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other instances, well-known technical solutions have not been shown or descr...
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The invention relates to an aircraft inertia and GPS mixed height measurement method based on error feedback. The method comprises the following steps: firstly, installing a SiA200MEMS acceleration sensor, measuring the acceleration of a carrier and carrying out integration twice to respectively obtain an inertial velocity signal and an inertial height signal of the carrier; installing a GPS position receiver to receive GPS height information of the carrier; comparing the inertial height with the GPS height to obtain a height error signal, and performing nonlinear transformation and correction to obtain an error correction signal; introducing an acceleration measurement signal, carrying out integration to obtain a compensation speed signal, comparing the compensation speed signal with the inertial speed to obtain a speed error signal, carrying out filtering according to the height error signal, and carrying out superposition integration with the inertial speed to obtain a compensation height signal; and finally, generating a synthetic speed signal according to an error between the compensation height nonlinear filtering and GPS filtering signals, and generating a final synthetic height signal through integration and height feedback self-compensation.
Description
technical field [0001] The invention relates to the field of high-precision height measurement of vehicles, moving bodies and unmanned aerial vehicles, in particular to a design method of an aircraft inertial and GPS hybrid height measurement method based on error feedback. Background technique [0002] Accurate altitude information measurement is very important for unmanned aerial vehicles, airships, automobiles, etc. in the fields of navigation and motion control. At present, in altitude measurement, the measurement range of atmospheric pressure measurement is limited and cannot be used at high altitudes. However, when inertial technology is used for height measurement, due to the two integrals from acceleration to height, the cumulative error will become larger and larger as time increases. The error of GPS measurement height information does not have the problem of time accumulation, but its terminal accuracy often has large random errors. Therefore, how to integrate th...
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Login to View More IPC IPC(8): G01S19/39G01S19/23G01C21/16G01C5/00G01C25/00
CPCG01S19/39G01S19/23G01C21/165G01C5/005G01C25/005
Inventor 纪军马培蓓丛林虎孙国磊隋江波寇昆湖
Owner NAVAL AERONAUTICAL UNIV