CN103076013B - Atmosphere data and attitude heading reference system for flight navigation - Google Patents
Atmosphere data and attitude heading reference system for flight navigation Download PDFInfo
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- CN103076013B CN103076013B CN201210578011.9A CN201210578011A CN103076013B CN 103076013 B CN103076013 B CN 103076013B CN 201210578011 A CN201210578011 A CN 201210578011A CN 103076013 B CN103076013 B CN 103076013B
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Abstract
The invention belongs to the technical field of flight navigation, it is specifically related to a kind of atmosphere data for flight navigation and attitude heading reference system, solve existing flight navigation mode Problems existing, it includes Strapdown Inertial Units attitude transducer, GPS receiver module, air data sensor, Magnetic Sensor, temperature sensor and signal processing module, input and the outfan of described inertial attitude sensor, GPS receiver module and air data sensor are all connected with signal processing module, and the outfan of Magnetic Sensor and temperature sensor is connected with signal processing module.Beneficial effects of the present invention: attitude transducer has autonomy, can make up the GPS shortcoming being limited by landform, being easily disturbed；GPS has real-time, can make up the shortcoming that attitude sensor error accumulates in time；Air data sensor provides the atmosphere data that precision is higher, it is also possible in the attitude information of correction system；There is less volume and lighter weight.
Description
Technical field
The invention belongs to the technical field of flight navigation, be specifically related to a kind of atmosphere data for flight navigation and attitude heading reference system.
Background technology
At present, the mode of flight navigation mainly has radionavigation, gimbaled inertial navigation, strapdown inertial navigation, satellite system navigation etc., and every kind of navigation mode is respectively arranged with merits and demerits.Radionavigation is easily disturbed；Platform inertial navigation volume is big and expensive, is not suitable for navigation；Strapdown inertial navigation is moderate, but it is relatively low to be used alone precision；Satellite system navigation is limited by landform and is easily disturbed.So, several different navigation modes are integrated, learns from other's strong points to offset one's weaknesses, be the trend of navigation field, be also the key technology of General Aviation navigation system.
Summary of the invention
The present invention is to solve the problems referred to above that existing flight navigation mode exists, it is provided that a kind of atmosphere data for flight navigation and attitude heading reference system.
The present invention adopts the following technical scheme that realization:
Atmosphere data and attitude heading reference system for flight navigation, including Strapdown Inertial Units attitude transducer, GPS receiver module, air data sensor, Magnetic Sensor, temperature sensor and signal processing module, described inertial attitude sensor, input and the outfan of GPS receiver module and air data sensor are all connected with signal processing module, the outfan of Magnetic Sensor and temperature sensor is connected with signal processing module, the installation direction of Strapdown Inertial Units attitude transducer aligns with the body coordinate of aircraft, GPS receiver module is connected with exterior antenna by gps antenna interface, air data sensor connects pitot by static pressure interface and dynamic pressure interface.
Magnetic Sensor is installed on the empennage of aircraft.Temperature sensor is installed on the ventral of aircraft.
Present invention is mainly used for General Aviation navigation system, it is possible to be used as backup navigation system.Described inertial attitude sensor receives the atmosphere data of air data sensor and the magnetic data of Magnetic Sensor, on the one hand for the error correction of inertial parameter, is used for resolving the data such as yaw angle on the other hand.Atmosphere data, gps data and inertial data merge, and adopt the characteristic that inertial data is quickly real-time, reach the response in short-term of data；Atmosphere data and gps data is adopted to restrain inertial parameter.The present invention realizes the four-dimensional navigation in General Aviation field, the time point namely formulated at aviation management, arrives the longitude and latitude and height formulated.
Hinge structure of the present invention has the advantages that
1, function aspects: attitude transducer has autonomy, can make up the GPS shortcoming being limited by landform, being easily disturbed；GPS has real-time, can make up the shortcoming that attitude sensor error accumulates in time；Air data sensor provides the atmosphere data that precision is higher, it is also possible in the attitude information of correction system.
2, configuration aspects: compare with separately installed GPS system, attitude system, air data system, the present invention has less volume and lighter weight.
3, in price: compare with external similar products, the present invention has less price.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention,
Fig. 2 is the structural representation of the present invention,
In figure: 1-inertial attitude sensor, 2-GPS receiver module, 3-air data sensor, 4-Magnetic Sensor, 5-temperature sensor, 6-signal processing module, 7-GPS antennal interface, 8-static pressure interface, 9-dynamic pressure interface.
Detailed description of the invention
In conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
Atmosphere data and attitude heading reference system for flight navigation, it is characterized in that including Strapdown Inertial Units attitude transducer 1, GPS receiver module 2, air data sensor 3, Magnetic Sensor 4, temperature sensor 5 and signal processing module 6, described inertial attitude sensor 1, the input of GPS receiver module 2 and air data sensor 3 and outfan are all connected with signal processing module 6, the outfan of Magnetic Sensor 4 and temperature sensor 5 is connected with signal processing module 6, the installation direction of Strapdown Inertial Units attitude transducer 1 aligns with the body coordinate of aircraft, GPS receiver module 2 is connected with exterior antenna by gps antenna interface 7, air data sensor 3 connects pitot by static pressure interface 8 and dynamic pressure interface 9, experience static pressure and the dynamic pressure of extraneous air.Magnetic Sensor 4 is installed on the empennage of aircraft or the place that other magnetic disturbance is less.Temperature sensor 5 is installed on the ventral of aircraft.
Strapdown Inertial Units attitude transducer 1 adopts the MEMSIC AHC525 produced；GPS receiver module 2 adopt the OEMV-2 of NAVATEL, air data sensor 3 to adopt the TPD2000 of MEMSCAP, Magnetic Sensor 4 to adopt GWR-120 that the CRM500GA-200 of CROSSBOW, temperature sensor 5 adopt Taiyuan Aero-Instruments Co., Ltd. to produce, signal processing module 6 core DSC parts adopt the MC56F8367 of Freescale.
AHC525 receives the attitude data of atmosphere data and magnetic data output aircraft, including the angle of pitch, roll angle, course angle, three axle speed, 3-axis acceleration, yaw angle etc..
CRM500GA-200 exports three axle magnetic data.
The gps data of OEMV-2 output navigation, including UTC time, longitude, latitude, height above sea level etc..
TPD2000 exports static pressure and the dynamic pressure of aircraft present position.
GWR-120 experiences the temperature of the air of aircraft present position.
Data above passes to MC56F8367, after merging, resolving, 20 much informations such as the angle of pitch of aircraft, roll angle, course angle, 3-axis acceleration, three axis angular rates, yaw angle, UTC time, longitude, latitude, height above sea level, absolute atmosphere height, relative barometric pressure height, rising or falling speed, calibrated airspeed, true air speed, ground velocity, total Air Temperature, self-inspection information are sent to external system by ARINC429, RS422, RS232, for flight navigation.
Utilize temperature signal correction attitude data:
Temperature test is measured the temperature drift characteristic (temperature drift characteristic of disparate modules is different) of gesture module, the data fitting of collection is become multinomial, just can be corrected the temperature error of attitude data by computed in software.
Utilize gps data correction attitude data:
The attitude data of gesture module output changes over and increases, and when gps data is effective, utilizes the real-time of gps data, and timing contrasts with attitude data, the error that recoverable attitude data accumulates in time.
Utilize true air speed correction attitude data (roll angle):
If selected gesture module can not carry out attitude updating by received by itself atmosphere data, then can correct in signal processing module: first, utilize the dynamic pressure that air data sensor gathers, resolve true air speed；Secondly, true air speed, yawrate, 3-axis acceleration are substituted into centripetal force equation, calculates an angle of gradient；Finally, this angle of gradient and acceleration ratio are contrasted, draws the correction data of roll angle.
Product design size of the present invention is not more than 100.6mm × 90mm × 164mm(width × height × deep) (without socket), weight is less than 1.5kg (not including the adnexa such as plug and cable), and mounting means is 4 M4 screws.
Claims (1)
- null1. the atmosphere data for flight navigation and attitude heading reference system，It is characterized in that including Strapdown Inertial Units attitude transducer (1)、GPS receiver module (2)、Air data sensor (3)、Magnetic Sensor (4)、Temperature sensor (5) and signal processing module (6)，Described inertial attitude sensor (1)、The input of GPS receiver module (2) and air data sensor (3) and outfan are all connected with signal processing module (6)，The outfan of Magnetic Sensor (4) and temperature sensor (5) is connected with signal processing module (6)，The installation direction of Strapdown Inertial Units attitude transducer (1) aligns with the body coordinate of aircraft，GPS receiver module (2) is connected with exterior antenna by gps antenna interface (7)，Air data sensor (3) connects pitot by static pressure interface (8) and dynamic pressure interface (9)；Magnetic Sensor (4) is installed on the empennage of aircraft, and temperature sensor (5) is installed on the ventral of aircraft；1) temperature signal correction attitude data, is utilized:Temperature test is measured the temperature drift characteristic of Strapdown Inertial Units attitude transducer, the data fitting of collection is become multinomial, just can be corrected the temperature error of attitude data by computed in software；2) gps data correction attitude data, is utilized:The attitude data of Strapdown Inertial Units attitude transducer output changes over and increases, and when gps data is effective, utilizes the real-time of gps data, and timing contrasts with attitude data, the error that recoverable attitude data accumulates in time；3) true air speed correction attitude data, is utilized:If selected Strapdown Inertial Units attitude transducer can not carry out attitude updating by received by itself atmosphere data, then can correct in signal processing module: first, utilize the dynamic pressure that air data sensor gathers, resolve true air speed；Secondly, true air speed, yawrate, 3-axis acceleration are substituted into centripetal force equation, calculates an angle of gradient；Finally, this angle of gradient and acceleration ratio are contrasted, draws the correction data of roll angle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105372671A (en) * | 2015-12-11 | 2016-03-02 | 国网四川省电力公司电力应急中心 | Unmanned aerial vehicle-based power line three-dimensional reconstruction system |
| CN105447276B (en) * | 2015-12-28 | 2019-10-11 | 太原航空仪表有限公司 | Helicopter lifting speed blending algorithm |
| CN106094566B (en) * | 2016-06-13 | 2019-03-29 | 江西洪都航空工业集团有限责任公司 | A method of carrier aircraft system is simulated for the universal ground experiment of low cost |
| CN110346605B (en) * | 2019-08-01 | 2021-05-07 | 中国商用飞机有限责任公司 | Method and system for aircraft airspeed calibration based on static pressure error correction |
| CN111290415B (en) * | 2019-12-04 | 2023-04-07 | 中国人民解放军海军航空大学 | Aircraft comprehensive pre-guidance method based on approximate difference |
| CN112762931A (en) * | 2020-12-29 | 2021-05-07 | 北京神州飞航科技有限责任公司 | Intelligent navigation method based on optical fiber attitude and heading reference system |
| CN113465576B (en) * | 2021-09-06 | 2021-11-19 | 中国商用飞机有限责任公司 | Method and system for calculating barometric altitude based on GNSS altitude of aircraft |
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| CN101017097A (en) * | 2007-02-09 | 2007-08-15 | 江苏新科数字技术有限公司 | GPS/INS combined locating navigation system and testing and correcting method for speed rate thereof |
| CN201402140Y (en) * | 2009-05-08 | 2010-02-10 | 陕西瑞特测控技术有限公司 | Flight attitude assembly measuring device |
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