Micro inertial parameter adaptive attitude determination method based on carrier flight mode judgment

Abstract

The invention discloses a micro inertial parameter adaptive attitude determination method based on carrier flight mode judgment. The method comprises the following steps of outputting data by a sensor; calculating a long-period characteristic parameter and a short-period characteristic parameter of the sensor; judging a motion mode of a carrier according to the variation and range of the parameters; designing an adaptive adjustment strategy of a kalman filtering parameter according to the error variation characteristics of a micro attitude reference system of the carrier in different motion modes; observing the variation of residual sequence quadratic sum according to the attitude in a kalman filter; and carrying out online difference evaluation for the quality of filter effect of the current parameter, and feeding back the evaluation result in a form of parameter confidence to adjust a filter parameter of the kalman filter. According to the method, selection and setting operations of a judgment threshold in the conventional micro inertial attitude determination method are simplified, the influence of the flying height of the carrier and drifting error of the sensor on a judgment condition is avoided, dynamic and static running characteristics of the micro attitude reference system are considered comprehensively, and the dynamic adaptability and the static stability of the micro attitude reference system are improved effectively.

Description

technical field [0001] The invention belongs to the technical field of strapdown inertial navigation and attitude measurement, in particular to a micro-inertial parameter adaptive attitude determination method based on carrier flight mode discrimination. Background technique [0002] The micro-attitude reference system is an inertial navigation system that uses MEMS (Micro Electro-Mechanical System) inertial sensors (micro-gyroscopes, micro-accelerometers) as inertial measurement components. Lightweight, low cost and other characteristics, it is the main inertial measurement element used in the micro attitude reference system at present. The micro-attitude reference system is mainly used in civil applications for small unmanned aircraft and small private aircraft in aerial photography, disaster monitoring, disaster relief search, small aircraft navigation, etc., to meet the attitude measurement requirements of their control and display; at the same time, the micro The attit...

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Problems solved by technology

[0004] The object of the present invention is to provide a kind of micro-inertia parameter self-adaptive attitude determination method based on the carrier flight mode discrimination, by discriminating the maneuvering state of the carrier, according to the attitude angle error characteristic under different maneuvering states of the carrier, automatically adjust the Kalman filter algorithm Correction strength, online difference evaluation of the filtering effect of the current parameters, feedback and adjustment of the Kalman filter filtering parameters in the form of parameter confidence, to solve the problem of parameter selection and attitude output accuracy of the traditional attitude determination method in different maneuvering modes of the carrier Unified problem to improve the accuracy and stability of the attitude angle output by the micro-attitude reference system of the carrier in various maneuvering modes

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