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Method and system for resolving roll angle of rotating aircraft

A technology of aircraft and roll angle, which is applied in the field of roll angle measurement and calculation, can solve problems such as large errors, and achieve the effect of improving the accuracy of calculation

Active Publication Date: 2021-09-21
QINGDAO AUTOMATIC RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the velocity angle is used instead of the attitude angle to calculate the roll angle, there will be a large error in the initial and final stages

Method used

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  • Method and system for resolving roll angle of rotating aircraft
  • Method and system for resolving roll angle of rotating aircraft
  • Method and system for resolving roll angle of rotating aircraft

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0070] The method for solving the roll angle of the rotary aircraft of the present embodiment mainly includes the following steps, as Figure 16 shown.

[0071] Step S1: Establish the dynamic equations around the center of mass of the aircraft as the driving equations, with the geomagnetic azimuth σ M and pitch angle Yaw angle Magnetic declination D, magnetic inclination I and heading angle α N The relationship equation is the observation equation, and the geomagnetic azimuth σ M The actual measured value of is an observation, and the pitch angle is estimated by the Extended Kalman Filter (EKF) and yaw angle

[0072] First, the following coordinate system needs to be established:

[0073] (1) Ground coordinate system O 1 XYZ: The ground coordinate system is fixed on the ground, and its origin is O 1 is the center point of the firing muzzle section; O 1 The X-axis points to the shooting direction along the horizontal line, forming an angle with the north direction...

Embodiment 2

[0195] Based on the design of the method for calculating the roll angle of the rotary aircraft in the first embodiment, this embodiment proposes a system for calculating the roll angle of the rotary aircraft, including a pitch angle and yaw angle estimation module, a reference angle calculation module, and an autorotation angle calculation module. module, roll angle calculation module, etc., see Figure 17 shown.

[0196] The pitch angle and yaw angle estimation modules are used to establish the dynamic equations around the center of mass of the aircraft as the driving equations, and the geomagnetic azimuth σ M and pitch angle Yaw angle Magnetic declination D, magnetic inclination I and heading angle α N The relationship equation is the observation equation, and the geomagnetic azimuth σ M The actual measured value of is an observation, and the pitch angle is estimated by the extended Kalman filter and yaw angle

[0197] The reference angle calculation module is use...

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Abstract

The invention discloses a method and a system for resolving a roll angle of a rotating aircraft. A dynamic equation set around the center of mass of the aircraft is established as a driving equation, a relation equation between a geomagnetic azimuth angle and a pitch angle, a yaw angle, a magnetic declination angle, a magnetic dip angle and a course angle is taken as an observation equation, and an actual measured value of the geomagnetic azimuth angle is taken as an observed quantity; a pitch angle and a yaw angle are estimated through extended Kalman filtering; a geomagnetic vector reference angle is resolved; and finally, a high-precision roll angle is calculated. According to the method and the system for resolving the roll angle of the rotating aircraft, the resolving precision of the roll angle is improved.

Description

technical field [0001] The invention belongs to the technical field of roll angle measurement and calculation, and in particular relates to a roll angle calculation method and system for a rotary aircraft. Background technique [0002] With the advancement of aircraft guidance, the real-time and accurate measurement technology of roll angle has become one of the key technologies for guidance or correction control, especially for some high-rotation and high-dynamic rotating intelligent aircraft, the accurate measurement of roll angle has become the core One of the bottleneck technologies. [0003] At present, there are many studies on the roll angle measurement of rotary aircraft, each with its own characteristics. The mainstream measurement methods include satellite navigation receiver measurement, inertial navigation device measurement, geomagnetic sensor measurement, sun azimuth measurement and combined measurement methods. Among these methods, the geomagnetic sensor is v...

Claims

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Application Information

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IPC IPC(8): G01C1/00
CPCG01C1/00
Inventor 安亮亮周胜洪魏培平张玉国陈晓智郭建曲春凯王翀林治浩陶楠楠王雪松侯现钦曹睿周子坤刘智勇
Owner QINGDAO AUTOMATIC RES INST
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