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A Method of Using GPS and Accelerometer to Calculate Aircraft Attitude Angle

A technology of accelerometer and aircraft, which is applied in the direction of navigation through speed/acceleration measurement, navigation calculation tools, instruments, etc. It can solve the problems of not meeting the attitude accuracy requirements, high cost of gyro, and expensive gyro, so as to prevent flight accidents and reduce Production cost, effect of improving measurement accuracy

Active Publication Date: 2018-07-24
CHINA ACAD OF AEROSPACE AERODYNAMICS
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AI Technical Summary

Problems solved by technology

The disadvantage is that the cost of the gyroscope is higher than that of the accelerometer, and it is easily damaged
In the absence of parent inertial navigation for transfer alignment, the error generated by the lower-cost MEMS gyroscope in one minute does not meet the attitude accuracy requirements, and the higher-precision gyroscope is more expensive

Method used

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  • A Method of Using GPS and Accelerometer to Calculate Aircraft Attitude Angle
  • A Method of Using GPS and Accelerometer to Calculate Aircraft Attitude Angle
  • A Method of Using GPS and Accelerometer to Calculate Aircraft Attitude Angle

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Embodiment Construction

[0021] figure 1 It is a schematic diagram of the flight plan of the aircraft. Firstly, the two coordinate systems mentioned in this plan are explained.

[0022] The navigation coordinate system adopts the Beitiandong coordinate system, and the coordinate origin O n Located at the take-off point of the aircraft; O n x n Axis points to true north; O n the y n The axis points to the sky; O n z n The axis is determined according to the right-hand rule, that is, due east.

[0023] The body coordinate system is a dynamic coordinate system that is fixed to the aircraft and moves with it. its origin O b at the center of mass of the vehicle; O b x b The axis is in the plane of symmetry of the aircraft, parallel to the forward direction of the fuselage axis; O b the y b The axis is also perpendicular to O in the plane of symmetry b x b Axis, pointing to the sky; O b z b The vertical symmetry plane points to the right.

[0024] The attitude angle calculated in this paper...

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Abstract

The invention discloses a method for calculating attitude angles of an aircraft through a GPS and an accelerometer. A differential signal of a flight speed in a navigation coordinate system is calculated according to the flight speed Vn, measured by the GPS, in the aircraft navigation coordinate system, and the specific force fn in the navigation coordinate system is acquired through calculation according to a formula shown in the description, wherein the value shown in the description is coriolis acceleration in the navigation coordinate system, the value shown in the description is to-earth centripetal acceleration in the navigation coordinate system, and gn is gravity acceleration in the navigation coordinate system; the specific force fb in the coordinate system is measured through the accelerometer, and a transmission relation is solved to obtain the angle of pitch, the yaw angle phi and the roll angle gamma, wherein the value shown in the description is an attitude transition matrix of the navigation coordinate system to a body coordinate system. By means of the method, the aircraft can obtain the attitude information without a top, achieve attitude control and finish navigation flight, and the method can be used in an aircraft with a top to improve the aircraft fault redundancy.

Description

technical field [0001] The invention relates to a method for calculating the attitude angle of an aircraft. Background technique [0002] The inertial navigation components carried by the aircraft include gyroscopes and accelerometers. The accelerometers are used to measure the acceleration of the aircraft, and the gyroscopes are used to measure the angular motion of the aircraft. Acceleration and angular velocity are used to calculate the six degrees of freedom of the aircraft, which are the basic conditions for inertial navigation. [0003] The way of obtaining the angular motion of the aircraft in the prior art is limited to using a gyroscope for measurement. The disadvantage is that the cost of the gyroscope is higher than that of the accelerometer, and it is easily damaged. In the process of developing low-cost aircraft, the price of the gyro accounts for a large proportion of the cost of the entire aircraft manufacturing, which is a problem that developers must face;...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/165G01C21/20
Inventor 舒胜胡强宋璟苏浩秦
Owner CHINA ACAD OF AEROSPACE AERODYNAMICS
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