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Carrier attitude measurement method and system

A technology of measurement system and measurement method, which is applied in navigation and ground navigation through speed/acceleration measurement, can solve problems such as attitude angle error, and achieve the effect of excellent dynamic accuracy and stability of attitude

Inactive Publication Date: 2005-09-07
TSINGHUA UNIV
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Problems solved by technology

However, when the carrier moves with acceleration or is disturbed during the movement, for example, when the aircraft is affected by the airflow during flight and has a certain acceleration, the acceleration measured by the triaxial accelerometer includes both the gravitational acceleration and the acceleration of the carrier. motion acceleration, at this time, the attitude angle calculated by this method has a considerable error

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  • Carrier attitude measurement method and system
  • Carrier attitude measurement method and system
  • Carrier attitude measurement method and system

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] In an exemplary embodiment, the coordinate system is established as figure 1 shown. figure 1 (a) A geographical coordinate system composed of three orthogonal axes is established with the location of the carrier as the origin (N-E-D), where the N axis is pointing to the true north from the carrier, and the E axis is pointing to the true east from the carrier. The D axis is directed from the carrier to the center of the earth. figure 1 (b) is a three-axis orthogonal carrier coordinate system X-Y-Z fixedly connected to the carrier 100, wherein the X-axis is in the carrier symmetry plane, the center of mass of the carrier points to the forward direction of the carrier movement, and the Y-axis is perpendicular to the carrier symmetry plane and points to the right; Z The axis is in the plane of symmetry of the carrier and points d...

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Abstract

The invention discloses a method and system of measuring carrier attitude, which comprises data processing device and sensor composed of three axis accelerometer, three axis flux meter, three axis rate gyroscope for measuring acceleration of gravity, earth magnetic flux density, the component of the carrier's angular speed on the coordinate system individually. When processing the signal, use the component of the carrier's angular speed to Kalman filtering the measured acceleration of gravity and earth magnetic flux density and get the estimated value by which resolve the carrier attitude. The invention can reduce the impact of the system causing by acceleration through stabilizing gyroscope signal and do not have the problem of integral float, the sensor using MEMS integrated chip technology.

Description

technical field [0001] The invention relates to the field of attitude measurement, and more specifically, the invention relates to an attitude measurement for aircraft and other carriers. Background technique [0002] Attitude measurement refers to the use of various sensors to measure and analyze the attitude data of aircraft and other carriers relative to the reference reference. The attitude data mentioned here usually refers to the attitude angle of the carrier, including heading angle ψ, pitch angle θ and roll angle γ. The existing attitude measurement methods mainly include the following two types: [0003] (1) The sensor is composed of a three-axis rate gyroscope. The rate gyroscope measures the angular velocity of the carrier motion, which must be integrated to obtain the attitude angle. However, there is a serious zero point drift problem in the MEMS rate gyro, so the attitude angle obtained through integral calculation will no longer be accurate. This measurement ...

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Application Information

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IPC IPC(8): G01C21/08G01C21/10
Inventor 周兆英朱荣王鼎渠王晓浩宋宇宁王劲东
Owner TSINGHUA UNIV
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