Low-cost pose measurement apparatus and measurement method used for aircrafts

Abstract

The invention provides a low-cost pose measurement apparatus and a measurement method used for aircrafts and belongs to the technical field of pose measurement apparatuses and methods for aircrafts. The apparatus includes a mounting panel, an accelerometer, a gyro, and a magnetic force meter. The accelerometer is fixed on one side of the mounting panel while the magnetic force meter is fixed on the other side. The gyro is installed on the mounting panel between the accelerometer and the magnetic force meter. The method includes the steps of: a) mounting the triaxial accelerometer, the triaxialmagnetic force meter and the triaxial gyro onto the mounting panel; b) before the apparatus working, completing initial alignment of attitude angle; c) according to the initial attitude angle, obtaining an initial attitude matrix T, obtaining an attitude quaternion initial value according to the initial attitude matrix; d) acquiring 9-axis data measured by the accelerometer, the magnetic force meter and the gyro, and performing data fusion with a modified complementary wave filter; e) setting amplitude in an amplitude limiting stage; f) updating the quaternion through a Runge-Kutta algorithm,and according to the updated quaternion, obtaining a strapdown matrix and the attitude angle.

Description

technical field [0001] The invention relates to a low-cost pose measuring device and a measuring method for an aircraft, and belongs to the technical field of the pose measuring device and method for an aircraft. Background technique [0002] The existing navigation system has the following problems: [0003] (1) The inertial navigation system configured with a laser gyro with high accuracy, although the accuracy of the measured attitude angle is very high, but the cost is too high, it is not suitable for low-cost aircraft, and it only needs to measure the attitude angle without other navigation In the absence of information, the use of traditional inertial navigation systems is a waste of resources. [0004] (2) The Attitude Heading Reference System (AHRS) is low in cost, small in size, and low in power consumption. It is often used in UAV flight control systems to provide real-time heading attitude. In AHRS, the data measured by the accelerometer and the magnetometer are...

AI Technical Summary

Problems solved by technology

However, the complementary filter cannot automatically adjust the filter coefficient according to the actual maneuvering situation of the aircraft, so the filtering effect is not good, especially when the aircraft is doing high dynamic movement, the accelerometer measurement data will be very unstable, which seriously affects the estimation of the attitude angle As a result, and the convergence is very slow, and even overshoot

[0005] (3) Since the gyroscope is not used to determine the attitude by using astronomical navigation, there will be no error due to the drift of the gyroscope. However, if it is applied to the star sensor, the cost will be greatly increased and the data refresh rate will be low. Due to its cost and data refresh rate and meteorological requirements limit its application

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