Wind tunnel test model attitude measurement method

Abstract

The invention is suitable for the technical field of wind tunnel measurement and control, and provides a wind tunnel test model attitude measurement method, which comprises the following steps: arranging a wind tunnel test model fixedly connected with inertial navigation on a wind tunnel support device, arranging at least two cameras to form a camera array, and aligning coordinates of an inertial / visual attitude measurement system; on the basis of time synchronization of the inertial / visual attitude measurement system, respectively carrying out inertial navigation attitude calculation and camera array attitude calculation to obtain inertial navigation calculation attitude information and visual measurement attitude information; performing information fusion on the inertial navigation calculation attitude information and the vision measurement attitude information through a Kalman filter, establishing a system filtering equation, and updating the system filtering equation according to an information fusion result to obtain a state estimation error of the system; and according to the state estimation error of the system, extracting the attitude estimation error of the system and correcting the inertial navigation attitude to obtain the optimal attitude of the wind tunnel test model. And the measurement precision of the three-dimensional attitude of the wind tunnel test model is improved.

Description

technical field [0001] The invention relates to the technical field of wind tunnel measurement and control, in particular to a method for measuring the attitude of a wind tunnel test model. Background technique [0002] With the development of the aerospace field and the increasing precision and complexity of aircraft design, higher requirements are placed on the measurement and control accuracy of the supporting measurement and control systems related to wind tunnel tests. Among them, the surface wind load and surface aerodynamic analysis of the aircraft need to rely on the three-dimensional attitude data of the wind tunnel test model. Conversely, the attitude measurement accuracy of the wind tunnel test model also directly affects the subsequent iterative design of the aircraft. [0003] At present, the commonly used wind tunnel test model attitude measurement methods include model support devices, angle of attack sensors, vision and inertial navigation, etc. Different me...

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Problems solved by technology

Different measurement methods have their own advantages and disadvantages: 1) support device, the support device determines the attitude of the model through the rotary encoder, and the static measurement accuracy is high, but in a dynamic environment, the wind load will cause elastic deformation and introduce dynamic errors; 2) the angle of attack The sensor, the angle of attack sensor uses the accelerometer to measure the angle of attack of the model, which cannot measure the side slip of the model. In addition, the vibration of the model will generate harmful acceleration, and its dynamic measurement accuracy is poor; Small, but when the effective field of view of the camera is small due to limited installation, occlusion, model movement, etc., the matching error between image frames is large, which may lead to poor quality or even invalid attitude data; 4) Inertial navigation is calculated by dead reckoning Model attitude, affected by initial alignment and inertial device errors, system attitude measurement error accumulates over time

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