Attitude calculation method and device for aircraft in atmosphere

Abstract

The invention provides a method and a device for calculating the attitude of an aircraft in the atmosphere, and relates to the technical field of combined navigation of spacecrafts. Comprising the following steps: taking a GNSS initial effective measurement moment as a reference moment, and storing aircraft parameters of a solidification inertial system and measurement parameters of GNSS integrated navigation at the reference moment by utilizing a cache matrix; in the updating period of each INS inertial navigation system, aircraft parameters of the solidification inertial system at the current moment are updated, and in the updating period of GNSS integrated navigation, the updated aircraft parameters of the solidification inertial system in the current period and measurement parameters of the GNSS integrated navigation in the current period are stored; and updating the data of the sliding window based on the stored aircraft parameters of the solidification inertial system and the measurement parameters of the GNSS integrated navigation so as to recursively calculate the attitude matrix of the aircraft at the current moment by using the updated data of the sliding window. According to the scheme, the attitude of the aircraft can be quickly and accurately calculated in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of space vehicle integrated navigation, and in particular to a method and device for calculating the attitude of a space vehicle within the atmosphere. Background Art

[0002] The navigation system of aircraft in the atmosphere generally requires combined navigation of the global navigation satellite system (GNSS) and the inertial navigation device (INS). However, in the traditional aviation navigation field, when using GNSS and INS combined navigation to correct attitude navigation, it is necessary to establish high-dimensional observation equations for filtering and solving, and high-dimensional navigation filtering and solving consumes a huge amount of calculation.

[0003] In the related technology, the navigation system in the aviation field is often equipped with a separate computer for navigation solution only, so it can withstand the corresponding complexity. However, for orbital reentry vehicles, due to the high cost of entering space and the high demand for reliability, the navigation, guidance and control algorithms are required to be designed as an integrated whole and integrated into the same computer. In addition, for vehicles that reenter the atmosphere at high speed, extremely high control bandwidth is usually required. The high-bandwidth control requirement requires the control cycle of the control system computer to be as short as possible. Therefore, the control system expects the computational complexity of the navigation solution to be as small as possible.

[0004] Therefore, there is an urgent need to provide a method and device for calculating the attitude of an aircraft in the atmosphere. Summary of the invention

[0005] In order to solve the problem of large amount of attitude calculation in traditional GNSS / INS integrated navigation, the present invention provides a method and device for calculating the attitude of an aircraft in the atmosphere.

[0006] In a first aspect, the present invention provides a method for calculating the attitude of an aircraft in the atmosphere, the method comprising: The time of the initial effective measurement of GNSS in GNSS integrated navigation is used as the reference time, and the buffer matrix is ​​used to store the aircraft parameters of the solidified inertial system and the measurement parameters of GNSS integrated navigation at the reference time; wherein the aircraft parameters include the attitude quaternion and velocity increment of the aircraft; In each update cycle of the INS inertial navigation system, the aircraft parameters of the solidified inertial system at the current moment are updated, and in the update cycle of the GNSS integrated navigation, the aircraft parameters of the solidified inertial system updated in the current cycle and the measurement parameters of the GNSS integrated navigation in the current cycle are stored; wherein the measurement parameters include the speed of the aircraft in the solidified inertial system and the effective time of the GNSS integrated navigation; Based on the stored aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS integrated navigation, the data of the sliding window is updated, so as to recursively calculate the attitude matrix of the aircraft at the current moment using the updated sliding window data.

[0007] In a second aspect, the present invention further provides a device for calculating the attitude of an aircraft in the atmosphere, the device comprising: A storage unit, used for using the time of initial effective GNSS measurement in GNSS integrated navigation as a reference time, and using a cache matrix to store the aircraft parameters of the initialization solidified inertial system and the measurement parameters of the GNSS integrated navigation at the reference time; wherein the aircraft parameters include the attitude quaternion and velocity increment of the aircraft; An updating unit, used to update the aircraft parameters of the solidified inertial system at the current moment in each update period of the INS inertial navigation system, and to store the aircraft parameters of the solidified inertial system updated in the current period and the measurement parameters of the GNSS integrated navigation in the current period in the update period of the GNSS integrated navigation; wherein the measurement parameters include the speed of the aircraft in the solidified inertial system and the effective time of the GNSS integrated navigation; The calculation unit is used to update the data of the sliding window based on the stored aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS integrated navigation, so as to recursively calculate the attitude matrix of the aircraft at the current moment using the updated sliding window data.

[0008] In a third aspect, the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0009] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method described in any embodiment of this specification.

[0010] On the other hand, the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes any of the methods described in the first aspect above.

[0011] The present invention provides an attitude calculation method for an aircraft in the atmosphere. By introducing the solidified inertia hypothesis, the time of initial effective measurement of GNSS in GNSS integrated navigation is used as the reference time, and the aircraft parameters of the solidified inertial system and the measurement parameters of the integrated navigation are continuously updated and stored. Afterwards, the acceleration integration information of the INS inertial navigation system over a period of time and the measurement parameters of the GNSS integrated navigation are used to construct an attitude matrix calculation method based on the instantaneous inertial system. The real-time attitude information at any moment is obtained through continuous iteration of a sliding window, and the inertial navigation attitude is corrected, thereby realizing the rapid and accurate calculation of the aircraft attitude at the current moment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 is a flow chart of a method for calculating the attitude of an aircraft in the atmosphere provided by one embodiment of the present invention; Figure 2 is a graph of height and speed changes corresponding to a profile of an aircraft during flight provided by an embodiment of the present invention; wherein the ordinate in the upper graph is the height, in m, and the ordinate in the lower graph is the speed, in m / s; Figure 3 is a curve diagram of Euler angle changes corresponding to the aircraft profile during flight provided by an embodiment of the present invention; wherein pitch represents the pitch angle, yaw represents the yaw angle, and roll represents the roll angle; Figure 4 1 is a schematic diagram of error results obtained by pure inertial navigation attitude navigation calculation according to an embodiment of the present invention; wherein Δpitch represents a pitch angle error, Δyaw represents a yaw angle error, and Δroll represents a roll angle error; Figure 5 is a schematic diagram of an attitude navigation error result calculated by a method in an embodiment of the present invention provided by an embodiment of the present invention; Figure 6 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention; Figure 7 The present invention is a structural diagram of an attitude calculation device for an aircraft in the atmosphere provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0015] The specific implementation of the above concept is described below.

[0016] Please refer to Figure 1 The embodiment of the present invention provides a method for calculating the attitude of an aircraft in the atmosphere, the method comprising: Step 100, taking the time of initial effective GNSS measurement in GNSS integrated navigation as the reference time, and using a cache matrix to store the aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS integrated navigation at the reference time; wherein the aircraft parameters include the attitude quaternion and velocity increment of the aircraft; Step 102, in each update cycle of the INS inertial navigation system, updating the aircraft parameters of the solidified inertial system at the current moment, and in the update cycle of the GNSS integrated navigation, storing the aircraft parameters of the solidified inertial system updated in the current cycle and the measurement parameters of the GNSS integrated navigation in the current cycle; wherein the measurement parameters include the speed of the aircraft in the solidified inertial system and the effective time of the GNSS integrated navigation; Step 104, based on the stored aircraft parameters of the fixed inertial system and the measurement parameters of the GNSS integrated navigation, the data of the sliding window is updated, so as to recursively calculate the attitude matrix of the aircraft at the current moment using the updated sliding window data.

[0017] In an embodiment of the present invention, by introducing the frozen inertial hypothesis, the time of initial effective measurement of GNSS in GNSS integrated navigation is taken as the reference time, and the aircraft parameters of the frozen inertial system and the measurement parameters of the integrated navigation are continuously updated and stored. After that, the acceleration integral information of the INS inertial navigation system over a period of time and the measurement parameters of the GNSS integrated navigation are used to construct an attitude matrix calculation method based on the instantaneous inertial system, and the real-time attitude information at any moment is obtained through continuous iteration of the sliding window, and the inertial navigation attitude is corrected, thereby realizing fast and accurate calculation of the aircraft attitude at the current moment.

[0018] The basic principle of the embodiment of the present invention draws on a method proposed by Professor Qin Yongyuan and others to solve the initial alignment under the condition of a shaking base, which uses the inertial solidification hypothesis to determine the carrier's attitude with the help of gravity information. In this embodiment, the solidification inertial hypothesis is extended to the carrier (aircraft) flying in the atmosphere. Considering that general aircraft have the basic configuration of GNSS / INS combined navigation, it can be considered that when GNSS is effective, the position and velocity information of the carrier are known information, and then the real-time inertial attitude of the carrier can be quickly solved without establishing and solving a high-dimensional coupling filter matrix.

[0019] The basic principles of the embodiments of the present invention are derived as follows: In a moving environment, the position of the carrier (i.e., the aircraft) in the navigation inertial system at any time is known, and the attitude matrix of the carrier relative to the navigation inertial system needs to be determined.

[0020] The attitude matrix of the carrier relative to the navigation inertial system can be written as the product of the following two matrices: In the formula, is the solid inertial system of the aircraft at the initial moment (denoted as ) and the aircraft coordinate system (denoted as b), at the initial moment, is a unit matrix. After navigation begins, the angular velocity information output by the gyroscope is used to update the attitude quaternion. is the attitude matrix of the aircraft's solid inertial system relative to the navigation inertial system (denoted as i) at the initial moment.

[0021] Furthermore, the velocity of the aircraft in the solid inertial system can be expressed in the following integral form: In the formula, , They are The velocity vector of the aircraft in the solid inertial system at time t is, is the gravity vector in the inertial system, is the acceleration measured by the adder.

[0022] When the GNSS integrated navigation system signal is valid, the aircraft can obtain , Velocity vector in a moment-freezing inertial system , , which is transformed into its expression in the instantaneous inertial system: make ,make , Then the left side of the above formula can be rewritten as: make , , Select , time( ), we get: ; ; By using the above two equations to perform double vector attitude determination, the transformation matrix of the solid inertial system relative to the inertial system at the initial moment of the aircraft can be determined: , and then the attitude matrix of the aircraft relative to the navigation inertial system at the initial moment can be obtained.

[0023] For step 100: In the embodiment of the present invention, when the GNSS initial measurement is valid in the GNSS integrated navigation, the first step of calculation is started, and the current time t Assign a value to the initial base time : Initialize the attitude quaternion of the solidified inertial frame vehicle: ,in, The attitude quaternion of the solidified inertial system aircraft is a 4-dimensional array; Initialize the accumulated speed increment and the velocity increment accumulated by gravity in, , They are all 3-dimensional vectors.

[0024] After that, a cache data matrix is ​​established to store the aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS integrated navigation at the reference time, as follows: Store the solidified inertial frame attitude quaternion: ;in, N 4-dimensional matrix, N is the defined sliding window length; Store the accumulated speed increments: N 3D matrix; Store the velocity increment accumulated by gravity: N 3D matrix; Store the speed of the aircraft in the inertial system measured by GNSS integrated navigation at the reference time: N A 3D matrix, It is the velocity vector of the aircraft in the inertial system measured by the GNSS integrated navigation at the reference time. This variable is input by the external navigation. Validity time for storing the initial GNSS measurement in the initial GNSS integrated navigation: ; And record the current data storage capacity .

[0025] Regarding step 102: In some implementations, step 102 includes: Update the attitude quaternion of the aircraft in the current cycle according to the attitude quaternion of the previous cycle and the angular rate of the aircraft measured by the INS inertial navigation system in the current cycle; Update the accumulated velocity increment of the aircraft in the current cycle according to the accumulated velocity increment of the previous cycle and the aircraft acceleration measured by the INS inertial navigation system in the current cycle; The accumulated velocity increment of the gravity of the aircraft in the current period is updated according to the accumulated velocity increment of the gravity of the previous period and the position of the aircraft in the geocentric inertial system measured by the GNSS integrated navigation in the current period.

[0026] The specific process of updating the vehicle parameters in the solidified inertial system is as follows: The angular rate of the aircraft measured by the INS inertial navigation system in each cycle is , the aircraft acceleration is , the update cycle of INS inertial navigation system is .

[0027] First, calculate the angle increment of the aircraft according to the following formula : After that, the attitude quaternion of the current cycle is updated according to the following formula : in, is the attitude quaternion of the aircraft in the last cycle; After that, the transformation matrix between the solidified inertial system of the aircraft in the current period and the aircraft coordinate system is calculated according to the following formula: : On this basis, the accumulated speed increment of the current cycle is updated according to the following formula : in, It is the speed increment accumulated in the previous cycle. is a four-dimensional array, , , and Represent the number of each dimension respectively; Finally, the accumulated velocity increment of gravity in the current cycle is updated according to the following formula: : in, is the velocity increment accumulated by gravity in the previous cycle, is the gravitational constant, It is the position of the aircraft in the geocentric inertial system measured by GNSS integrated navigation. This variable is input by GNSS integrated navigation. , R is the distance between the aircraft and the center of the earth, and the update period of the INS inertial navigation system is .

[0028] In the embodiment of the present invention, the aircraft parameters of the solidified inertial system can be continuously updated by using a pure inertial recursive method.

[0029] Regarding step 104: In some embodiments, in step 104, updating the data of the sliding window based on the stored aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS navigation system includes: If the amount of data stored in the current cache matrix is ​​greater than the first threshold and less than the length of the sliding window, the attitude of the aircraft is calculated based on the data stored in the current cache matrix; If the amount of data stored in the current cache matrix is ​​the same as the length of the sliding window, the sliding window is used to update the data stored in the cache matrix in sequence according to the time series, and the attitude of the aircraft is calculated in sequence according to the data stored in the cache matrix updated at the current moment.

[0030] Since the navigation cycle of the aircraft is generally less than the update frequency of the GNSS navigation system, and GNSS also has inherent characteristics such as signal discontinuity, there are a large number of navigation time periods in the invalid state of the GNSS navigation system. However, only by correcting the position and velocity of the aircraft during the effective period of the GNSS navigation system can the further effective calculation of the attitude information of the aircraft be achieved. Therefore, in the embodiment of the present invention, within the update period of the GNSS integrated navigation, the aircraft parameters of the solidified inertial system updated in the current period and the measurement parameters of the GNSS integrated navigation in the current period are stored, as follows: Store the attitude quaternion of the current period solidified inertial system: ; Store the speed increment accumulated in the current cycle: ; Store the velocity increment accumulated by gravity in the current cycle: ; Store the inertial system velocity determined by GNSS integrated navigation at the corresponding moment of the current cycle: ; Stores the effective time of the GNSS initial measurement in the current period GNSS integrated navigation: ; And record the current data storage capacity , until the amount of data in the cache matrix is ​​the same as the preset window length N.

[0031] In some specific implementations, when the amount of data in the cache matrix is ​​the same as the length of the sliding window, the sliding window specifically updates the data in the cache matrix in a sliding manner as follows: , i=0~ , the currently stored data are all moved forward by one position; Store the solidification inertial system quaternion of this period: ; , i=0~ , the currently stored data are all moved forward by one position; Store the accumulated speed increment of this cycle: ; , i=0~ , the currently stored data are all moved forward by one position; Store the velocity increment accumulated by gravity in this cycle: ; , i=0~ , the currently stored data are all moved forward by one position; Store the inertial system velocity measured by GNSS integrated navigation at the current moment: ; , i=0~ , the currently stored data are all moved forward by one position; Store the effective time of GNSS initial measurement in this cycle of GNSS integrated navigation: ; And record the current data storage capacity .

[0032] In an embodiment of the present invention, if the amount of data stored in the current cache matrix is ​​small, specifically greater than a first threshold value (for example, 2) and less than the length N of the sliding window, the attitude of the aircraft is calculated based on the data stored in the current cache matrix. As time goes by, the accumulated error of pure inertial navigation will gradually increase, and if the time is too short, the difference between the two selected vectors is small, which will also affect the accuracy. Therefore, in an embodiment of the present invention, in the case of a relatively long navigation duration during the motion process of the aircraft, a sliding window is used to slide in sequence in a time series to receive new stored data, discard the oldest stored data, and sequentially obtain the absolute attitude calculation result based on a period of inertial navigation integration information based on the inertial navigation integration information of a period of time according to the inertial navigation integration information of a period of time in the sliding window at the current moment and the real-time position and speed information given by the GNSS combined navigation.

[0033] In some implementations, the attitude of the aircraft at the current moment is calculated as follows: Select an intermediate point in the current cache matrix, and based on the data stored in the current cache matrix, recursively calculate the incremental vector generated by the added accumulated variables of the current time and the intermediate point in the solidified inertial system from the reference time; According to the incremental vector generated by the added cumulative variables at the current time and the midpoint time in the solidified inertial system, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time is obtained; According to the transformation matrix between the solidified inertial system and the aircraft inertial system at the current moment, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference moment, and the conversion matrix of the solidified inertial system relative to the aircraft inertial system at the reference moment, the attitude matrix of the aircraft relative to the navigation inertial system at the current moment is obtained.

[0034] In the embodiment of the present invention, when calculating the attitude of the aircraft, firstly based on the amount of data stored in the current cache matrix Choose a midpoint moment if is an even number, then the midpoint moment is chosen ,if If is an odd number, the midpoint moment is chosen .

[0035] In some specific implementations, the incremental vector generated by the added cumulative variables at the current moment and the intermediate moment in the solidification inertial system is determined in the following manner: Calculate the velocity increment of the gravity accumulated from the reference time to the midpoint time and the current time, and the velocity of the aircraft in the earth's center inertial system; According to the velocity increment accumulated from the midpoint and the current moment by gravity and the velocity of the aircraft in the Earth's center inertial system, the velocity increment vector generated by gravity accumulated from the reference moment to the midpoint and the current moment is calculated respectively; Based on the velocity increment generated other than the gravity and the attitude quaternion of the aircraft, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time is calculated; According to the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time and the stored cumulative velocity increment, the incremental vector generated by the cumulative variables accumulated from the reference time to the midpoint time and the current time in the solidified inertial system is calculated respectively.

[0036] In the embodiment of the present invention, when performing posture calculation, the velocity increments generated by gravity from the reference time to the midpoint time and the current time are calculated based on the following formula: , : in, are three-dimensional vectors, is the velocity increment accumulated by gravity stored in the cache matrix at the intermediate point, is the velocity increment accumulated by gravity stored in the cache matrix at the reference time, The velocity increment accumulated by gravity stored in the cache matrix at the current moment; The inertial system velocity obtained by GNSS integrated navigation from the reference time to the midpoint time and the current time is calculated by the following formula , : in, are three-dimensional vectors, is the velocity of the aircraft in the inertial system measured by the GNSS integrated navigation stored in the cache matrix at the intermediate point, is the velocity of the aircraft in the inertial system measured by the GNSS integrated navigation stored in the cache matrix at the reference time, The velocity of the aircraft in the inertial system measured by the GNSS integrated navigation stored in the cache matrix at the current moment; Thus, the velocity increment generated by gravity other than the midpoint time and the current time can be calculated. , : in, , All are three-dimensional vectors; The two velocity increments are normalized as follows: Let the first vector matrix (3×3 dimensions) ; in , and Represents the number of each dimension in the three-dimensional vector; The incremental vector generated by the cumulative variables accumulated from the reference time to the midpoint time and the current time in the solidification inertial system , ( , When calculating (all three-dimensional vectors), firstly, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time needs to be calculated by the following formula: : make ,but: Therefore, according to The following formula is used to achieve , Calculation: In the formula, is the accumulated velocity increment stored in the cache matrix at the intermediate point, is the accumulated speed increment stored in the cache matrix at the reference time, It is the accumulated speed increment stored in the cache matrix at the current moment; Furthermore, the above two speed increments are normalized as follows: Let the second vector matrix (3×3 dimensions)

[0037] Therefore, the attitude matrix of the solidification inertial system relative to the navigation inertial system defined at the reference time can be obtained according to the first vector matrix and the second vector matrix by the following formula: : Finally, according to the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time , the attitude matrix of the solidified inertial system at the reference time relative to the navigation inertial system and the transformation matrix between the solid inertial system and the aircraft inertial system at the current moment , the attitude matrix of the aircraft relative to the navigation inertial system at the current moment can be further solved by the following formula: : .

[0038] In summary, in the embodiment of the present invention, by taking an initial moment as a reference, using the velocity increment vector generated by pure inertial navigation recursively to the current moment, and combining the velocity increment vector at an intermediate point moment, the attitude of the inertial system at the reference moment is first solved through dual vector attitude determination, and the attitude relative to the inertial system at the current moment can be obtained by combining the relative attitude increment obtained by inertial navigation during this period of time. At the same time, in view of the characteristic that the accumulated error of pure inertial navigation will gradually increase, in the embodiment of the present invention, a sliding window data is established and maintained to ensure that the duration of the inertial navigation recursive data used is controlled, thereby avoiding the problem of the accuracy continuing to diverge with the accumulated duration of the inertial navigation.

[0039] Moreover, the dual-vector attitude determination method in the embodiment of the present invention is simple, has low requirements on the aircraft computer performance, and can realize accurate real-time calculation of the aircraft attitude. This method can be applied to the attitude calculation of aircraft within the atmosphere with high-reliability navigation, guidance and control integrated computing requirements.

[0040] It should be noted that, in an embodiment of the present invention, when the amount of data stored in the cache matrix is ​​the same as the length of the sliding window, when the sliding window is used to update the data of the cache matrix and calculate the attitude of the aircraft, the data of the reference time in the cache matrix is ​​constantly changing. Therefore, the reference time actually refers to the first time in the sliding window.

[0041] In order to verify the effect of the method of the embodiment of the present invention, the embodiment of the present invention is aimed at an aircraft that glides and re-enters the atmosphere at an altitude of 120km at a speed of 7800m / s, and the total flight time is 2000 seconds.

[0042] The initial three-axis attitude errors are 0.1 degrees respectively; the gyro bias is considered to be 0.1 degrees / hour; the gyro bias stability is 0.05 degrees / 10 hours; the additional bias is 5×e -5g0 (g0 is the standard gravitational acceleration); When the altitude is lower than 50 km, stable GNSS measurement information can be obtained.

[0043] The attitude calculated by the method of the embodiment of the present invention is compared with the pure inertial navigation attitude measurement result. The comparison result is as follows: Figures 2 to 5 As shown in the figure, it can be seen that, compared with the state in which the attitude navigation error continues to diverge over time under pure inertial navigation conditions, after the attitude correction is performed using the method in the embodiment of the present invention, the Euler angle attitude error converges rapidly, which shows that the method in the embodiment of the present invention can realize the rapid calculation of the aircraft attitude.

[0044] like Figure 6 , Figure 7 As shown, an embodiment of the present invention provides a device for calculating the attitude of an aircraft in the atmosphere. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 6 As shown, it is a hardware architecture diagram of a computing device where a posture calculation device of an aircraft in the atmosphere is provided in an embodiment of the present invention. Figure 6 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 7 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the internal memory and runs it.

[0045] This embodiment provides a device for calculating the attitude of an aircraft in the atmosphere, the device comprising: The storage unit 701 is used to use the time of the initial effective measurement of the GNSS in the GNSS integrated navigation as the reference time, and use the cache matrix to store the aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS integrated navigation at the reference time; wherein the aircraft parameters include the attitude quaternion and velocity increment of the aircraft; The updating unit 702 is used to update the aircraft parameters of the fixed inertial system at the current moment in each update cycle of the INS inertial navigation system, and store the aircraft parameters of the fixed inertial system updated in the current cycle and the measurement parameters of the GNSS integrated navigation in the current cycle in the update cycle of the GNSS integrated navigation; wherein the measurement parameters include the speed of the aircraft in the fixed inertial system and the effective time of the GNSS integrated navigation; The calculation unit 703 is used to update the data of the sliding window based on the stored aircraft parameters of the fixed inertial system and the measurement parameters of the GNSS integrated navigation, so as to recursively calculate the attitude matrix of the aircraft at the current moment using the updated sliding window data.

[0046] In the embodiment of the present invention, the storage unit 701 may be used to execute step 100 in the above method embodiment, the updating unit 702 may be used to execute step 102 in the above method embodiment, and the calculating unit 703 may be used to execute step 104 in the above method embodiment.

[0047] In one embodiment of the present invention, the speed increment of the aircraft includes an additively accumulated speed increment and a gravity accumulated speed increment; The updating unit 702 updates the aircraft parameters of the solidified inertial system in the following manner in each updating cycle of the INS inertial navigation system: The method updates the attitude quaternion of the aircraft in the current cycle according to the attitude quaternion of the previous cycle and the angular rate of the aircraft measured by the INS inertial navigation system in the current cycle; Update the accumulated velocity increment of the aircraft in the current cycle according to the accumulated velocity increment of the previous cycle and the aircraft acceleration measured by the INS inertial navigation system in the current cycle; The accumulated velocity increment of the gravity of the aircraft in the current period is updated according to the accumulated velocity increment of the gravity of the previous period and the position of the aircraft in the geocentric inertial system measured by the GNSS integrated navigation in the current period.

[0048] In one embodiment of the present invention, when updating the data of the sliding window based on the stored aircraft parameters of the fixed inertial system and the measurement parameters of the GNSS navigation system, the updating unit 702 is used to perform the following operations: If the amount of data stored in the current cache matrix is ​​greater than the first threshold and less than the length of the sliding window, the attitude of the aircraft is calculated based on the data stored in the current cache matrix; If the amount of data stored in the current cache matrix is ​​the same as the length of the sliding window, the sliding window is used to update the data stored in the cache matrix in sequence according to the time series, and the attitude of the aircraft is calculated in sequence according to the data stored in the cache matrix updated at the current moment.

[0049] In one embodiment of the present invention, in the calculation unit 703, the attitude of the aircraft at the current moment is calculated by the following method: Select an intermediate point in the current cache matrix, and based on the data stored in the current cache matrix, recursively calculate the incremental vector generated by the added accumulated variables of the current time and the intermediate point in the solidified inertial system from the reference time; According to the incremental vector generated by the added cumulative variables at the current time and the midpoint time in the solidified inertial system, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time is obtained; According to the transformation matrix between the solidified inertial system and the aircraft inertial system at the current moment, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference moment, and the conversion matrix of the solidified inertial system relative to the aircraft inertial system at the reference moment, the attitude matrix of the aircraft relative to the navigation inertial system at the current moment is obtained.

[0050] In one embodiment of the present invention, in the calculation unit 703, the incremental vector generated by the added cumulative variables at the current moment and the intermediate point moment in the solidification inertial system is determined by the following method: Calculate the velocity increment of the gravity accumulated from the reference time to the midpoint time and the current time, and the velocity of the aircraft in the earth's center inertial system; According to the velocity increment accumulated from the midpoint and the current moment by gravity and the velocity of the aircraft in the Earth's center inertial system, the velocity increment vector generated by gravity accumulated from the reference moment to the midpoint and the current moment is calculated respectively; Based on the velocity increment generated other than the gravity and the attitude quaternion of the aircraft, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time is calculated; According to the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time and the stored cumulative velocity increment, the incremental vector generated by the cumulative variables accumulated from the reference time to the midpoint time and the current time in the solidified inertial system is calculated respectively.

[0051] In one embodiment of the present invention, in the calculation unit 703, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference moment is obtained by multiplying the first vector matrix and the second vector matrix; wherein the first vector matrix is ​​determined by the velocity increment generated other than gravity, and the second vector matrix is ​​determined by the incremental vector generated by adding the accumulated variables in the solidified inertial system.

[0052] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the attitude calculation device for an aircraft in the atmosphere. In other embodiments of the present invention, the attitude calculation device for an aircraft in the atmosphere may include more or fewer components than those illustrated, or combine some components, or split some components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0053] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0054] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for calculating the attitude of an aircraft within the atmosphere in any embodiment of the present invention is implemented.

[0055] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a method for calculating the attitude of an aircraft within the atmosphere in any embodiment of the present invention.

[0056] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0057] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0058] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0059] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0060] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0061] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement a method for calculating the attitude of an aircraft within the atmosphere provided by the above-mentioned method embodiments.

[0062] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0063] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating the attitude of an aircraft in the atmosphere, characterized in that: include: The time of the initial effective measurement of GNSS in GNSS integrated navigation is used as the reference time, and the buffer matrix is ​​used to store the aircraft parameters of the solidified inertial system and the measurement parameters of GNSS integrated navigation at the reference time; wherein the aircraft parameters include the attitude quaternion and velocity increment of the aircraft; In each update cycle of the INS inertial navigation system, the aircraft parameters of the solidified inertial system at the current moment are updated, and in the update cycle of the GNSS integrated navigation, the aircraft parameters of the solidified inertial system updated in the current cycle and the measurement parameters of the GNSS integrated navigation in the current cycle are stored; wherein the measurement parameters include the speed of the aircraft in the solidified inertial system and the effective time of the GNSS integrated navigation; Based on the stored aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS integrated navigation, the data of the sliding window is updated, so as to recursively calculate the attitude matrix of the aircraft at the current moment using the updated sliding window data.

2. The method according to claim 1, characterized in that: The speed increment of the aircraft includes the speed increment accumulated by the additive calculation and the speed increment accumulated by gravity; In each update cycle of the INS inertial navigation system, the aircraft parameters of the solidified inertial system are updated in the following manner: Update the attitude quaternion of the aircraft in the current cycle according to the attitude quaternion of the previous cycle and the angular rate of the aircraft measured by the INS inertial navigation system in the current cycle; Update the accumulated velocity increment of the aircraft in the current cycle according to the accumulated velocity increment of the previous cycle and the aircraft acceleration measured by the INS inertial navigation system in the current cycle; The accumulated velocity increment of the gravity of the aircraft in the current period is updated according to the accumulated velocity increment of the gravity of the previous period and the position of the aircraft in the geocentric inertial system measured by the GNSS integrated navigation in the current period.

3. The method according to claim 1, characterized in that The updating of the data of the sliding window based on the stored aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS navigation system comprises: If the amount of data stored in the current cache matrix is ​​greater than the first threshold and less than the length of the sliding window, the attitude of the aircraft is calculated based on the data stored in the current cache matrix; If the amount of data stored in the current cache matrix is ​​the same as the length of the sliding window, the sliding window is used to update the data stored in the cache matrix in sequence according to the time series, and the attitude of the aircraft is calculated in sequence according to the data stored in the cache matrix updated at the current moment.

4. The method according to claim 3, characterized in that The current attitude of the aircraft is calculated as follows: Select an intermediate point in the current cache matrix, and based on the data stored in the current cache matrix, recursively calculate the incremental vector generated by the added accumulated variables of the current time and the intermediate point in the solidified inertial system from the reference time; According to the incremental vector generated by the added cumulative variables at the current time and the midpoint time in the solidified inertial system, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time is obtained; According to the transformation matrix between the solidified inertial system and the aircraft inertial system at the current moment, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference moment, and the conversion matrix of the solidified inertial system relative to the aircraft inertial system at the reference moment, the attitude matrix of the aircraft relative to the navigation inertial system at the current moment is obtained.

5. The method according to claim 4, characterized in that The incremental vector generated by the added cumulative variables at the current moment and the midpoint moment in the solidification inertial system is determined by the following method: Calculate the velocity increment of the gravity accumulated from the reference time to the midpoint time and the current time, and the velocity of the aircraft in the earth's center inertial system; According to the velocity increment accumulated from the midpoint and the current moment by gravity and the velocity of the aircraft in the Earth's center inertial system, the velocity increment vector generated by gravity accumulated from the reference moment to the midpoint and the current moment is calculated respectively; Based on the velocity increment generated other than the gravity and the attitude quaternion of the aircraft, the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time is calculated; According to the attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference time and the stored cumulative velocity increment, the incremental vector generated by the cumulative variables accumulated from the reference time to the midpoint time and the current time in the solidified inertial system is calculated respectively.

6. The method according to claim 5, characterized in that The attitude matrix of the solidified inertial system relative to the navigation inertial system at the reference moment is obtained by multiplying the first vector matrix and the second vector matrix; wherein the first vector matrix is ​​determined by the velocity increment generated other than gravity, and the second vector matrix is ​​determined by the incremental vector generated by the added accumulated variables in the solidified inertial system.

7. An attitude calculation device for an aircraft in the atmosphere, characterized in that: include: A storage unit, used to use the time of initial effective GNSS measurement in GNSS integrated navigation as a reference time, and use a cache matrix to store the aircraft parameters of the initialization solidified inertial system and the measurement parameters of the GNSS integrated navigation at the reference time; wherein the aircraft parameters include the attitude quaternion and velocity increment of the aircraft; An updating unit, used to update the aircraft parameters of the solidified inertial system at the current moment in each update cycle of the INS inertial navigation system, and store the aircraft parameters of the solidified inertial system updated in the current cycle and the measurement parameters of the GNSS integrated navigation in the current cycle in the update cycle of the GNSS integrated navigation; wherein the measurement parameters include the speed of the aircraft in the solidified inertial system and the effective time of the GNSS integrated navigation; The calculation unit is used to update the data of the sliding window based on the stored aircraft parameters of the solidified inertial system and the measurement parameters of the GNSS integrated navigation, so as to recursively calculate the attitude matrix of the aircraft at the current moment using the updated sliding window data.

8. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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