Roll angle measurement error index decomposition method of double-rotor aircraft and related equipment
By obtaining the angle information of the dual-cyclone aircraft and the measured values of the geomagnetic sensor, calculating the rolling angle and conducting error analysis, and establishing an error model, the problem of decomposing the rolling angle measurement error index of the dual-cyclone aircraft under high-rotation overload conditions is solved, and the accurate decomposition of errors and the reliability of measurement is improved.
Patent Information
- Application Number
- CN202510118688.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-24
- Publication Date
- 2025-05-02
AI Technical Summary
Under high-rotation overload conditions, it is difficult to decompose the roll angle measurement error index of the dual-rotation aircraft, resulting in the inability to effectively determine the performance indicators and selection of the main navigation devices.
By obtaining the angle information of the centroid of the double-rotation aircraft, the Northeast magnetic field component and the two-axis measurement values of the geomagnetic sensor, the back body rolling angle is calculated, and the precursor rolling angle is calculated based on the relevant positions of the front and rear body. Then, the error source analysis is carried out to remove the error terms of the non-geomagnetic sensor roll angle measurement, and a calibration compensation model is established. Through linearization and simplification, the roll angle measurement error model is established to achieve error index decomposition.
Accurately decompose the error sources in rolling angle measurements, reduce errors, improve measurement reliability, and provide performance evaluation tools to help optimize flight attitudes and navigation systems accuracy.
Smart Images
Figure CN119915245A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of sensor measurement, and in particular relates to a roll angle measurement error index decomposition method for a dual-rotation aircraft and related equipment. Background Art
[0002] For dual-rotation aircraft under high-rotation and high-overload conditions, the classic combined navigation system - Global Navigation Satellite System (GNSS) / Inertial Navigation System (INS) is not applicable. This is mainly due to the fact that although there are inertial measurement units that can withstand high overloads in the industry, their high cost and gyro range cannot meet the environmental requirements of high-speed aircraft above 12,000 rpm.
[0003] In order to solve this problem, scholars have proposed a combined measurement method of geomagnetism / GNSS, which uses the earth's magnetic field information to assist GNSS signals to achieve the positioning and attitude determination of the aircraft, and further proposed various roll angle solution algorithms on this basis. However, compared with the mature GNSS / INS combined navigation method, the combined measurement method of geomagnetism / GNSS lacks a corresponding roll angle measurement error model, and it is impossible to determine the performance indicators and selection of the main navigation components based on the specific indicator requirements of the roll angle measurement error in engineering. Summary of the invention
[0004] The purpose of the present invention is to provide a roll angle measurement error index decomposition method and related equipment for a dual-rotation aircraft, and to ensure that the measurement error of the forebody roll angle meets the index requirements for the existing geomagnetic / GNSS combined measurement method of the dual-rotation aircraft, so as to determine the performance indicators and selection of the main navigation components.
[0005] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, a roll angle measurement error index decomposition method for a dual-rotation aircraft comprises the following steps: Obtaining the angle information of the center of mass of the dual-rotation aircraft, the northeast celestial magnetic field component and the two-axis measurement values of the geomagnetic sensor, and calculating the rear body roll angle based on the information, and calculating the front body roll angle according to the relative positions of the front and rear bodies of the dual-rotation aircraft and the rear body roll angle; Performing error source analysis based on the front body roll angle and the rear body roll angle, removing the roll angle measurement error term of the non-geomagnetic sensor, and obtaining the roll angle measurement error of the geomagnetic sensor; Establishing a calibration compensation model, and performing compensation analysis based on the calibration compensation model and the roll angle measurement error of the geomagnetic sensor to obtain a minimum resolution as a key device indicator; Based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor, a roll angle measurement error model is established through linear simplification, and roll angle measurement error index decomposition is achieved through the roll angle measurement error model.
[0006] In some embodiments, the step of calculating the rear body roll angle specifically includes: Calculate the first angle between the projection of the two-axis measurement values on the cross section of the projectile and the vertical plane; Calculate a second angle between the projection of the geomagnetic vector on the cross section of the projectile and the plumb plane according to the northeast celestial magnetic field component; The rear body roll angle is obtained by subtracting the first angle from the second angle.
[0007] In some embodiments, the front and rear body related positions include: the angle between the zero point position of the inner ring of the angular encoder and the geomagnetic y-axis clockwise , the angle of the outer ring zero position of the angular encoder relative to the inner ring zero position The angle between the zero point position of the outer ring of the angle encoder and the lift normal surface .
[0008] In some embodiments, the step of performing error source analysis based on the front body roll angle and the rear body roll angle specifically includes: Based on the forebody roll angle analysis, the angle between the zero point position of the inner ring of the angular encoder and the geomagnetic y-axis is obtained. and the angle of the outer ring zero position relative to the inner ring zero position of the angular encoder It belongs to the roll angle measurement error term of the non-geomagnetic sensor; The angle information and the northeast celestial magnetic field component obtained based on the rear body roll angle analysis belong to the roll angle measurement error term of the non-geomagnetic sensor.
[0009] In some embodiments, the angle information includes a pitch angle and a yaw angle.
[0010] In some implementations, the step of establishing a roll angle measurement error model by linear simplification based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor specifically includes: Establish the relationship between the minimum resolution and the roll angle measurement error of the geomagnetic sensor; After performing Taylor expansion on the relationship and discarding high-order terms, performing binary Taylor expansion again and discarding high-order terms, a roll angle measurement error model is obtained.
[0011] In some implementations, the step of obtaining a roll angle measurement error index decomposition result through the roll angle measurement error model specifically includes: Inputting the minimum resolution and various errors into the roll angle measurement error model to obtain a 1sigma statistical value of the roll angle error; The 1sigma statistical value is compared with the roll angle error index. If the 1sigma statistical value is less than the roll angle error index, the roll angle error meets the roll angle error index requirement. Otherwise, it does not meet the requirement, and the minimum resolution is lowered to repeat the above steps until the roll angle error meets the roll angle error index requirement, thereby obtaining the roll angle measurement error index decomposition result.
[0012] In a second aspect, a roll angle measurement error index decomposition system for a dual-rotation aircraft includes: A roll angle calculation module is used to obtain the angle information of the center of mass of the dual-rotation aircraft, the northeast celestial magnetic field component and the two-axis measurement values of the geomagnetic sensor, and calculate the rear body roll angle based on the information, and calculate the front body roll angle according to the relative positions of the front and rear bodies of the dual-rotation aircraft and the rear body roll angle; An error source analysis module, used to perform error source analysis based on the front body roll angle and the rear body roll angle, remove the non-geomagnetic sensor roll angle measurement error term, and obtain the geomagnetic sensor roll angle measurement error; A key component indicator analysis module is used to establish a calibration compensation model, and based on the calibration compensation model and the roll angle measurement error of the geomagnetic sensor, a compensation analysis is performed to obtain a minimum resolution as a key component indicator; The roll angle measurement error model establishment module is used to establish a roll angle measurement error model through linear simplification based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor, obtain a roll angle measurement error index decomposition result through the roll angle measurement error model, and optimize the flight attitude of the dual-rotation aircraft based on the roll angle measurement error decomposition result.
[0013] In a third aspect, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable in the processor, wherein the processor implements the steps of a method for decomposing a roll angle measurement error index of the dual-rotation aircraft when executing the computer program.
[0014] In a fourth aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the roll angle measurement error index decomposition method of the dual-rotation aircraft are implemented.
[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a roll angle measurement error index decomposition method for a dual-rotation aircraft, which obtains the angle information of the center of mass of the dual-rotation aircraft, the northeast celestial magnetic field component and the two-axis measurement value of the geomagnetic sensor, and calculates the rear body roll angle based on the angle information, and calculates the front body roll angle according to the front and rear body related positions of the dual-rotation aircraft and the rear body roll angle; based on the front body roll angle and the rear body roll angle, the error source analysis is performed, and the roll angle measurement error of the geomagnetic sensor is removed to obtain the roll angle measurement error of the geomagnetic sensor. The error source in the roll angle measurement can be accurately decomposed; a calibration compensation model is established, and based on the calibration compensation model and the roll angle measurement error of the geomagnetic sensor, a compensation analysis is performed to obtain the minimum resolution as a key component index, which can further reduce the error and improve the reliability of the measurement. Finally, based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor, a roll angle measurement error model is established through linear simplification, which not only simplifies the error analysis process, but also provides a powerful tool for performance evaluation. Through this model, the measurement error under different conditions can be predicted and evaluated, providing a basis for optimizing system performance. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a schematic diagram of the structure of the measurement part of the double-rotation aircraft involved in this embodiment; Figure 2 A specific flow chart of the roll angle measurement error index decomposition method for a dual-rotation aircraft provided in this embodiment; Figure 3 A schematic diagram of the positions of the inner and outer ring angles of the angular encoder provided in this embodiment; Figure 4 A flow chart of a roll angle measurement error index decomposition method for a dual-rotation aircraft is provided for the present invention; Figure 5 This is a structural diagram of the roll angle measurement error index decomposition system of the dual-rotation aircraft provided in this embodiment. DETAILED DESCRIPTION
[0017] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, and the described content is intended to explain the present invention rather than to limit it.
[0018] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, systems, products or apparatus.
[0019] In order to ensure that the front body roll angle measurement error of the dual-rotation aircraft meets the index requirements, this embodiment provides a roll angle measurement error index decomposition method for a dual-rotation aircraft based on a geomagnetic sensor, such as Figure 1 The figure shows the schematic diagram of the structure of the dual-rotation aircraft. The principle is as follows: (1) Steps for calculating the front body roll angle of the dual-rotation aircraft: read the velocity information of the center of mass of the dual-rotation aircraft from the satellite navigation system to obtain the pitch angle and yaw angle; read the longitude, latitude and altitude information of the center of mass of the dual-rotation aircraft from the satellite navigation system, and obtain the northeast celestial magnetic field component under the geographical system through the geomagnetic field model; calculate the rear body roll angle according to the two-axis measurement values of the geomagnetic sensor, the northeast celestial magnetic field component, the pitch angle and the yaw angle information; calculate the front body roll angle according to the rear body roll angle and the relative angle between the front and rear bodies. (2) Steps for analyzing the error source of the front body roll angle of the dual-rotation aircraft: analyze the factors affecting the front body roll angle error according to the calculation process of step (1), conduct qualitative and quantitative analysis on each related error source, separate the non-geomagnetic sensor roll angle measurement error from the total front body roll angle measurement error index, and obtain the geomagnetic sensor roll angle measurement error index. (3) Steps for extracting key indicators of geomagnetic sensor roll angle measurement error: Separate the device indicator items related to the geomagnetic sensor roll angle measurement error from all geomagnetic sensor device indicators, then establish a calibration compensation model, and extract key device indicators based on the calibration compensation model. (4) Steps for establishing the geomagnetic sensor roll angle measurement error model: Based on the solution principle of step (1), a roll angle measurement error model related to the key device indicators extracted in step (3) is established while only considering the geomagnetic sensor roll angle measurement error. The model is linearized and simplified by Taylor expansion and binary function Taylor expansion and discarding high-order terms. (5) Steps for simulating and verifying the error in calculating the forebody roll angle of a dual-rotation aircraft: Forward the device index parameters obtained in step (4) and the various error sources in step (2) into the forebody roll angle calculation algorithm, perform calculations based on the data of the entire flight process, and obtain the 1sigma statistical value of the forebody roll angle to determine whether it meets the index requirements. If not, it is necessary to appropriately reduce the device index parameters and iterate the calculations repeatedly until the index requirements are met.
[0020] like Figure 2 and Figure 4 As shown, the roll angle measurement error index decomposition method of the above-mentioned dual-rotation aircraft specifically includes the following steps: S1, obtaining the angle information of the center of mass of the dual-rotation aircraft, the northeast celestial magnetic field component and the two-axis measurement values of the geomagnetic sensor, and calculating the rear body roll angle based on the information, and calculating the front body roll angle according to the front and rear body relative positions of the dual-rotation aircraft and the rear body roll angle; Specifically, the roll angle of the front body of the dual-rotation aircraft is calculated as follows: Step 1: Establish geographic coordinate system OX g Yg Z g , the origin is located at the center of mass of the aircraft O, OX g Axis points east, OY g The axis points to the north, OZ g The axis points to the sky. The northeast celestial magnetic field component is calculated by the geomagnetic field model based on the satellite navigation position information. After two coordinate transformations, we get :
[0021] in,
[0022] Under the assumption of a small angle of attack, and They are respectively related to the speed information of the satellite navigation.
[0023] Step 2: Establish the projectile body coordinate system OX b Y b Z b , the origin is located at the center of mass of the aircraft O, X b The axis moves forward along the longitudinal axis of the projectile, b The axis is along the longitudinal symmetry plane of the projectile, Z b The axis is determined by the right-hand rule. When installing, it is assumed that the two axes of the geomagnetic sensor are respectively b , Z b Axis coincidence, based on the measured values of the two axes and Computable .
[0024]
[0025] Step 3: Based on Calculate the angle between the projection of the geomagnetic vector on the cross section of the projectile and the vertical plane ,pass and Subtract and get the rear body roll angle .
[0026]
[0027]
[0028] Step 4: If Figure 3 As shown, according to the rear body roll angle , the angle between the zero point position of the inner ring of the angular encoder and the geomagnetic y-axis clockwise , the angle of the outer ring zero position of the angular encoder relative to the inner ring zero position The angle between the zero point position of the outer ring of the angle encoder and the lift normal surface Calculate the front body roll angle .
[0029]
[0030] S2, performing error source analysis based on the front body roll angle and the rear body roll angle, removing the roll angle measurement error term of the non-geomagnetic sensor, and obtaining the roll angle measurement error of the geomagnetic sensor; Specifically, the error source analysis of the front body roll angle calculation of the dual-rotation aircraft is as follows: From S1, we can know that the factors that affect the error of the front body roll angle solution are: , , , .in , It is a fixed angle and can be measured directly, with a measurement error of typically ±0.1°. Related to the measurement accuracy of the angular displacement sensor, its maximum error is 0.35°.
[0031] For rear body roll angle For example, the error terms include pitch angle error, yaw angle error, northeast earth magnetic field component error, and geomagnetic sensor roll angle measurement error. The pitch angle error and yaw angle error are related to the speed information error of satellite navigation. In the previous stage of CEP (Comprehensive Evaluation Problem) indicator decomposition process, the satellite navigation receiver indicators have been determined. Therefore, it can be evaluated that the roll angle error caused by the pitch angle and yaw angle errors is 0.16° (1sigma). The northeast earth magnetic field component error is related to the geomagnetic field model used. After evaluation, it can be known that the roll angle measurement error caused by the northeast earth magnetic field component error is 0.4° (1sigma).
[0032] Therefore, starting from the total forebody roll angle measurement error index 5° (1sigma) and subtracting the above evaluated and confirmed error terms one by one, the geomagnetic sensor roll angle measurement error index can be obtained.
[0033] S3, establishing a calibration compensation model, and performing compensation analysis based on the calibration compensation model and the roll angle measurement error of the geomagnetic sensor to obtain a minimum resolution as a key device indicator; Specifically, by analyzing the device indicators of the geomagnetic sensor, it can be known that the device indicators related to the measurement error of the geomagnetic sensor include linear error, hysteresis error, repeatability error, sensor non-orthogonality error, and minimum resolution.
[0034] Linear error refers to the maximum deviation of the straight line formed by the endpoints of the sensor within the entire measuring range, that is, the deviation between the actual measured curve of the sensor and the ideal straight line.
[0035] Hysteresis error refers to the error caused by the hysteresis phenomenon of the geomagnetic sensor. The magnetization of magnetic bodies is irreversible. If the magnetic field strength is gradually reduced from the maximum value, the magnetic induction intensity does not return to the original path. When the external magnetic field is 0, the magnetic induction intensity is not 0.
[0036] Repeatability error refers to the random error obtained by performing multiple consecutive measurements of the same input value from the same direction within the full measurement range of the sensor and under the same working conditions.
[0037] Sensor non-orthogonality error, also known as installation error, refers to the measurement error caused by the non-orthogonality between the three axes of the geomagnetic sensor.
[0038] The minimum resolution refers to the smallest measurement value that the geomagnetic sensor can detect.
[0039] From the perspective of calibration compensation, the following calibration compensation model is established:
[0040] in, Represents the true geomagnetic field strength vector, which is a 3*1 vector; Represents the geomagnetic field strength vector measured by the sensor, which is a 3*1 vector; Represents the scale error coefficient, which is a 3*3 matrix; Represents the three-axis constant magnetic field strength error, which is a 3*1 vector.
[0041] Analysis of the above errors shows that linear error, hysteresis error, repeatability error, and sensor non-orthogonality error can be compensated by the above calibration compensation model, so they can be ignored as error terms. The minimum resolution index can be used as a key device index.
[0042] S4, based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor, a roll angle measurement error model is established through linear simplification, a roll angle measurement error index decomposition result is obtained through the roll angle measurement error model, and the flight attitude of the dual-rotation aircraft is optimized based on the roll angle measurement error decomposition result.
[0043] Step 1: Starting from S1, assuming the minimum resolution is , considering the minimum resolution, the rear body roll angle is , without considering the minimum resolution, the rear body roll angle is , then the geomagnetic sensor roll angle measurement error can be established and minimum resolution The relationship is:
[0044] Step 2: Perform Taylor expansion on the first and second terms in the equation at zero and discard the high-order terms to obtain:
[0045]
[0046]
[0047] Step 3: Order , Performing a binary Taylor expansion at the point (0,0) and ignoring the higher-order terms yields:
[0048] After transformation and taking the upper limit, the roll angle measurement error model can be obtained:
[0049] in is the maximum value of the geomagnetic field intensity and is a constant value. Based on this, the minimum resolution can be uniquely determined according to the angle error index. .
[0050] Finally, the simulation verification steps for the error calculation of the front body roll angle of the dual-rotation aircraft are carried out: Since there is linearization in the whole process, a certain degree of accuracy is lost, so it is necessary to determine Substitute it into the entire roll angle calculation model, and confirm whether the indicators are met within the entire trajectory range. If not, fine-tune it on this basis, and iterate the calculation repeatedly until Meet the angle index requirements within the entire ballistic range.
[0051] Step 1: Convert the indicators obtained by S4 Substitute the errors in S2 into the roll angle calculation algorithm to obtain the 1sigma statistical value of the forebody roll angle error; Step 2: Compare the statistical value with the index. If it is less than the roll angle error index, Meet the requirements. If it is greater than the roll angle error index, adjust it down. Repeat the first step to get the index of S4 Substitute the errors in S1 and S2 into the roll angle calculation algorithm until the roll angle error index is met.
[0052] Finally, according to the results of the roll angle measurement error index decomposition, the attitude control algorithm of the dual-rotation aircraft is adjusted to reduce the impact of the roll angle measurement error on the flight attitude; Integrate the roll angle measurement error model into the aircraft's navigation system to improve the accuracy and stability of the navigation system through real-time error compensation; The optimized control strategy is verified by flight tests to ensure that the control performance and flight stability of the dual-rotation aircraft are significantly improved after the roll angle measurement error is optimized.
[0053] like Figure 5 As shown, this embodiment also provides a roll angle measurement error index decomposition system, including: A roll angle calculation module is used to obtain the angle information of the center of mass of the dual-rotation aircraft, the northeast celestial magnetic field component and the two-axis measurement values of the geomagnetic sensor, and calculate the rear body roll angle based on the information, and calculate the front body roll angle according to the relative positions of the front and rear bodies of the dual-rotation aircraft and the rear body roll angle; An error source analysis module, used to perform error source analysis based on the front body roll angle and the rear body roll angle, remove the non-geomagnetic sensor roll angle measurement error term, and obtain the geomagnetic sensor roll angle measurement error; A key component indicator analysis module is used to establish a calibration compensation model, and based on the calibration compensation model and the roll angle measurement error of the geomagnetic sensor, a compensation analysis is performed to obtain a minimum resolution as a key component indicator; The roll angle measurement error model establishment module is used to establish a roll angle measurement error model through linear simplification based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor, obtain a roll angle measurement error index decomposition result through the roll angle measurement error model, and optimize the flight attitude of the dual-rotation aircraft based on the roll angle measurement error decomposition result.
[0054] The division of modules in the embodiments of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present invention may be integrated into one processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.
[0055] In this embodiment, a computer device is also provided, which includes a processor and a memory, the memory is used to store a computer program (in this embodiment, the computer program includes a calculation component and an iteration component, which can perform model calculation and model update), the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of a roll angle measurement error index decomposition method.
[0056] This embodiment also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It can be understood that the computer-readable storage medium here can include both built-in storage media in a computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of a roll angle measurement error index decomposition method in the above embodiment.
[0057] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0058] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0059] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0060] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0061] 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 above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims
1. A roll angle measurement error index decomposition method for a dual-rotation aircraft, characterized in that: The following steps are involved: Obtaining the angle information of the center of mass of the dual-rotation aircraft, the northeast celestial magnetic field component and the two-axis measurement values of the geomagnetic sensor, and calculating the rear body roll angle based on the information, and calculating the front body roll angle according to the relative positions of the front and rear bodies of the dual-rotation aircraft and the rear body roll angle; Performing error source analysis based on the front body roll angle and the rear body roll angle, removing the roll angle measurement error term of the non-geomagnetic sensor, and obtaining the roll angle measurement error of the geomagnetic sensor; Establishing a calibration compensation model, and performing compensation analysis based on the calibration compensation model and the roll angle measurement error of the geomagnetic sensor to obtain a minimum resolution as a key device indicator; Based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor, a roll angle measurement error model is established through linear simplification, a roll angle measurement error index decomposition result is obtained through the roll angle measurement error model, and the flight attitude of the dual-rotation aircraft is optimized based on the roll angle measurement error decomposition result.
2. The roll angle measurement error index decomposition method of a dual-rotation aircraft according to claim 1, characterized in that: The step of calculating the rear body roll angle specifically includes: Calculate the first angle between the projection of the two-axis measurement values on the cross section of the projectile and the vertical plane; Calculate a second angle between the projection of the geomagnetic vector on the cross section of the projectile and the plumb plane according to the northeast celestial magnetic field component; The rear body roll angle is obtained by subtracting the first angle from the second angle.
3. The roll angle measurement error index decomposition method of a dual-rotation aircraft according to claim 1, characterized in that: The front and rear body related positions include: the angle between the zero point position of the inner ring of the angular encoder and the geomagnetic y-axis clockwise , the angle of the outer ring zero position of the angular encoder relative to the inner ring zero position The angle between the zero point position of the outer ring of the angle encoder and the lift normal surface .
4. The roll angle measurement error index decomposition method of a dual-rotation aircraft according to claim 3, characterized in that: The step of performing error source analysis based on the front body roll angle and the rear body roll angle specifically includes: Based on the forebody roll angle analysis, the angle between the zero point position of the inner ring of the angular encoder and the geomagnetic y-axis is obtained. and the angle of the outer ring zero position relative to the inner ring zero position of the angular encoder It belongs to the roll angle measurement error term of the non-geomagnetic sensor; The angle information and the northeast celestial magnetic field component obtained based on the rear body roll angle analysis belong to the roll angle measurement error term of the non-geomagnetic sensor.
5. The roll angle measurement error index decomposition method of a dual-rotation aircraft according to claim 1, characterized in that: The angle information includes a pitch angle and a yaw angle.
6. The roll angle measurement error index decomposition method of a dual-rotation aircraft according to claim 1, characterized in that: The step of establishing a roll angle measurement error model by linear simplification based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor specifically includes: Establish the relationship between the minimum resolution and the roll angle measurement error of the geomagnetic sensor; After performing Taylor expansion on the relationship and discarding high-order terms, performing binary Taylor expansion again and discarding high-order terms, a roll angle measurement error model is obtained.
7. The roll angle measurement error index decomposition method of a dual-rotation aircraft according to claim 1, characterized in that: The step of obtaining a roll angle measurement error index decomposition result through the roll angle measurement error model specifically includes: Inputting the minimum resolution and various errors into the roll angle measurement error model to obtain a 1sigma statistical value of the roll angle error; The 1sigma statistical value is compared with the roll angle error index. If the 1sigma statistical value is less than the roll angle error index, the roll angle error meets the roll angle error index requirement. Otherwise, it does not meet the requirement, and the minimum resolution is lowered to repeat the above steps until the roll angle error meets the roll angle error index requirement, thereby obtaining the roll angle measurement error index decomposition result.
8. A roll angle measurement error index decomposition system for a dual-rotation aircraft, characterized in that: include: A roll angle calculation module is used to obtain the angle information of the center of mass of the dual-rotation aircraft, the northeast celestial magnetic field component and the two-axis measurement values of the geomagnetic sensor, and calculate the rear body roll angle based on the information, and calculate the front body roll angle according to the relative positions of the front and rear bodies of the dual-rotation aircraft and the rear body roll angle; An error source analysis module, used to perform error source analysis based on the front body roll angle and the rear body roll angle, remove the non-geomagnetic sensor roll angle measurement error term, and obtain the geomagnetic sensor roll angle measurement error; A key component indicator analysis module is used to establish a calibration compensation model, and based on the calibration compensation model and the roll angle measurement error of the geomagnetic sensor, a compensation analysis is performed to obtain a minimum resolution as a key component indicator; The roll angle measurement error model establishment module is used to establish a roll angle measurement error model through linear simplification based on the minimum resolution and the roll angle measurement error of the geomagnetic sensor, obtain a roll angle measurement error index decomposition result through the roll angle measurement error model, and optimize the flight attitude of the dual-rotation aircraft based on the roll angle measurement error decomposition result.
9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable in the processor, wherein when the processor executes the computer program, the steps of the roll angle measurement error index decomposition method of a dual-rotation aircraft according to any one of claims 1 to 7 are implemented.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the roll angle measurement error index decomposition method of a dual-rotation aircraft according to any one of claims 1 to 7 are implemented.