CN105115501B - 3-axis acceleration modification method and device - Google Patents
3-axis acceleration modification method and device Download PDFInfo
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- CN105115501B CN105115501B CN201510489386.1A CN201510489386A CN105115501B CN 105115501 B CN105115501 B CN 105115501B CN 201510489386 A CN201510489386 A CN 201510489386A CN 105115501 B CN105115501 B CN 105115501B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The present invention provides a kind of 3-axis acceleration modification methods and device, this method to include：In the first 3-axis acceleration sensor and the second 3-axis acceleration sensor of aircraft, it is 3-axis acceleration sensor to be modified to determine the first 3-axis acceleration sensor；The 3-axis acceleration of first 3-axis acceleration sensor is corrected according to the relative position between the acceleration of itself of first 3-axis acceleration sensor, the tri-axis angular rate of first 3-axis acceleration sensor and first 3-axis acceleration sensor and the second 3-axis acceleration sensor.By the present invention, solve the problems, such as that the not homologous caused acceleration of acceleration is inconsistent on same airplane device, so as to avoid the inconsistent security risk brought of acceleration signal between display system and control system.
Description
Technical field
The present invention relates to flight control method, in particular to a kind of 3-axis acceleration modification method and device.
Background technology
3-axis acceleration signal is the key signal on aircraft, either to flight control or flight control system, all
It is very crucial.To flight control, acceleration is the direct feeling of driver, and to flight control system, acceleration is control and anti-
It presents to improve flight quality and improves the key signal of aircraft handling performance.
General all there are two the 3-axis acceleration that equipment can survey aircraft on aircraft, one is inertial navigation system, and one is
Three axis accelerometer, the 3-axis acceleration that aircarrier aircraft flight control system is measured mostly using inertial navigation set feed back and control
Aircraft, the 3-axis acceleration that the flight control system of Domestic Aircraft is measured mostly using three axis accelerometer control aircraft, inertia
The 3-axis acceleration that navigation equipment measures is used for showing, but inertial navigation equipment and three axis accelerometer installation site be not usually one
Place, on large aircraft installation site distance must can be farther, since installation site is different, the 3-axis acceleration that two equipment is measured
Difference is had, installation site gathering is more remote, and difference is bigger, and instantaneous acceleration is bigger, and gap is just bigger, so pilot is caused to see
The acceleration of acceleration and the aircraft reality arrived is inconsistent, this problem can be more prominent on large aircraft.The aircraft of certain model
The 3-axis acceleration signal source of automatic flight control system and Manual Flight Control System is different, and one is measured with inertial navigation
One acceleration measured with accelerometer of acceleration, but signal is again crosslinking between two systems, and automatic flight control point is
The control instruction of system needs to manipulate aircraft by Manual Flight Control System, but acceleration is inconsistent used in the two, meeting
Control error is caused even to bring security risk to aircraft.This just needs to do position correction to one of signal source, ensures
The uniformity of the acceleration of control and display ensures the uniformity and harmony of signal used in full machine, avoids because key signal
Security risk caused by inconsistent.
The content of the invention
The present invention provides a kind of 3-axis acceleration modification method and device, at least to solve the same airplane of the prior art
The problem of acceleration caused by acceleration is not homologous on device is inconsistent.
According to an aspect of the invention, there is provided a kind of 3-axis acceleration modification method, including：The first of aircraft
In 3-axis acceleration sensor and the second 3-axis acceleration sensor, it is to be modified three to determine the first 3-axis acceleration sensor
Axle acceleration sensor；According to the acceleration of itself of first 3-axis acceleration sensor, first 3-axis acceleration
It is opposite between the tri-axis angular rate of sensor and first 3-axis acceleration sensor and the second 3-axis acceleration sensor
The 3-axis acceleration of first 3-axis acceleration sensor described in position correction.
Preferably, according to the acceleration of itself of first 3-axis acceleration sensor, first 3-axis acceleration
It is opposite between the tri-axis angular rate of sensor and first 3-axis acceleration sensor and the second 3-axis acceleration sensor
Before the 3-axis acceleration of first 3-axis acceleration sensor described in position correction, the method further includes：With the described 2nd 3
Axle acceleration sensor is origin, establishes the three-dimensional system of coordinate being connected with the aircraft；Determine first 3-axis acceleration
Sensor coordinate in the three-dimensional system of coordinate, wherein, the relative position includes identified first 3-axis acceleration
The coordinate of sensor.
Preferably, correcting the 3-axis acceleration of first 3-axis acceleration sensor includes：One or three axis is added
The current 3-axis acceleration of velocity sensor is modified to the first 3-axis acceleration, wherein, first 3-axis acceleration assumes that
First 3-axis acceleration sensor is located at the one or three axis in the case of the second 3-axis acceleration sensor position
The 3-axis acceleration of acceleration transducer output.
Preferably, the 3-axis acceleration of first 3-axis acceleration sensor is corrected according to equation below：
Wherein, aaIt is the revised 3-axis acceleration of first 3-axis acceleration sensor, aei,aej,aekIt is respectively
Axial, lateral and normal component of the acceleration of itself of first 3-axis acceleration sensor in earth axes；
ωx,ωy,ωzIt is axial, lateral and normal component of the angular speed of the aircraft in the three-dimensional system of coordinate respectively；xg,
yg,zgIt is coordinate of first 3-axis acceleration sensor on three axis of three-dimensional system of coordinate respectively, i, j, k is institute respectively
State three axial vectors in earth axes.
Preferably, first 3-axis acceleration sensor is inertial navigation set, the second 3-axis acceleration sensing
Device is provided in the 3-axis acceleration sensor near the aircraft wing.
According to another aspect of the present invention, a kind of 3-axis acceleration correcting device is provided, including：Determining module is used for
In the first 3-axis acceleration sensor and the second 3-axis acceleration sensor of aircraft, determine that the first 3-axis acceleration senses
Device is 3-axis acceleration sensor to be modified；Correcting module, for according to first 3-axis acceleration sensor itself
Acceleration, the tri-axis angular rate of first 3-axis acceleration sensor and first 3-axis acceleration sensor and
Relative position between two 3-axis acceleration sensors corrects the 3-axis acceleration of first 3-axis acceleration sensor.
Preferably, described device further includes：Establishment of coordinate system module, for using second 3-axis acceleration sensor as
Origin establishes the three-dimensional system of coordinate being connected with the aircraft；Position determination module, for determining first 3-axis acceleration
Sensor coordinate in the three-dimensional system of coordinate, wherein, the relative position includes identified first 3-axis acceleration
The coordinate of sensor.
Preferably, the correcting module is additionally operable to：By the current 3-axis acceleration of first 3-axis acceleration sensor
The first 3-axis acceleration is modified to, wherein, first 3-axis acceleration assumes that the first 3-axis acceleration sensor position
Three axis of the first 3-axis acceleration sensor output accelerate in the case of the second 3-axis acceleration sensor position
Degree.
Preferably, the correcting module is additionally operable to correct the three of first 3-axis acceleration sensor according to equation below
Axle acceleration：
Wherein, aaIt is the revised 3-axis acceleration of first 3-axis acceleration sensor, aei,aej,aekIt is respectively
Axial, lateral and normal component of the acceleration of itself of first 3-axis acceleration sensor in earth axes；
ωx,ωy,ωzIt is axial, lateral and normal component of the angular speed of the aircraft in the three-dimensional system of coordinate respectively；xg,
yg,zgIt is coordinate of first 3-axis acceleration sensor on three axis of three-dimensional system of coordinate respectively, i, j, k is institute respectively
State three axial vectors in earth axes.
Preferably, first 3-axis acceleration sensor is inertial navigation set, the second 3-axis acceleration sensing
Device is provided in the 3-axis acceleration sensor near the aircraft wing.
By the present invention, using the first 3-axis acceleration sensor and the second 3-axis acceleration sensor in aircraft
In, it is 3-axis acceleration sensor to be modified to determine the first 3-axis acceleration sensor；According to first 3-axis acceleration
The acceleration of itself of sensor, the tri-axis angular rate of first 3-axis acceleration sensor and the one or three axis accelerate
The relative position spent between sensor and the second 3-axis acceleration sensor corrects the three of first 3-axis acceleration sensor
Axle acceleration solves the problems, such as that the not homologous caused acceleration of acceleration is inconsistent on same airplane device, so as to avoid showing
Show the inconsistent security risk brought of acceleration signal between system and control system.
Description of the drawings
Attached drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description does not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of 3-axis acceleration modification method according to embodiments of the present invention；
Fig. 2 is the structure diagram of 3-axis acceleration correcting device according to embodiments of the present invention；
Fig. 3 is that sensor mounting location according to embodiments of the present invention corrects schematic diagram.
Specific embodiment
Come that the present invention will be described in detail below with reference to attached drawing and in conjunction with the embodiments.It should be noted that do not conflicting
In the case of, the feature in embodiment and embodiment in the application can be mutually combined.
The embodiment of the present invention proposes a kind of 3-axis acceleration position correcting method, the acceleration that one of equipment is measured
It is adapted at another equipment, makes the 3-axis acceleration that same two equipment of airplane measure consistent, solve the acceleration of display
With the acceleration of control it is inconsistent the problem of, solve the problems, such as that the acceleration that two systems are controlled is inconsistent.Improve aircraft
The uniformity of internal unit and signal, improve aircraft different system control uniformity and harmony, avoid aircraft because
The problem of security risk caused by acceleration is inconsistent and uncoordinated consistent manipulation.
A kind of 3-axis acceleration modification method is provided in the present embodiment, and Fig. 1 is three axis according to embodiments of the present invention
The flow chart of acceleration correction method, as shown in Figure 1, the flow includes the following steps：
Step S102 in the first 3-axis acceleration sensor and the second 3-axis acceleration sensor of aircraft, is determined
First 3-axis acceleration sensor is 3-axis acceleration sensor to be modified；
Step S104 accelerates according to the acceleration of itself of first 3-axis acceleration sensor, the one or three axis
Spend the phase between the tri-axis angular rate of sensor and first 3-axis acceleration sensor and the second 3-axis acceleration sensor
To the 3-axis acceleration of the first 3-axis acceleration sensor described in position correction.
By above-mentioned steps, solve acceleration on same airplane device it is not homologous caused by acceleration is inconsistent asks
Topic, so as to avoid the inconsistent security risk brought of acceleration signal between display system and control system.
In one embodiment, according to the acceleration of itself of first 3-axis acceleration sensor, the described 1st
The tri-axis angular rate of axle acceleration sensor and first 3-axis acceleration sensor and the second 3-axis acceleration sensor it
Between relative position correct the 3-axis acceleration of first 3-axis acceleration sensor before, the method further includes：With institute
The second 3-axis acceleration sensor is stated as origin, establishes the three-dimensional system of coordinate being connected with the aircraft；Determine the described 1st
Axle acceleration sensor coordinate in the three-dimensional system of coordinate, wherein, the relative position includes the identified described 1st
The coordinate of axle acceleration sensor.
Wherein, correcting the 3-axis acceleration of first 3-axis acceleration sensor includes：One or three axis is accelerated
The current 3-axis acceleration of degree sensor is modified to the first 3-axis acceleration, wherein, first 3-axis acceleration assumes that institute
The one or three axis in the case that the first 3-axis acceleration sensor is located at the second 3-axis acceleration sensor position is stated to add
The 3-axis acceleration of velocity sensor output.
In a preferred embodiment, three axis that first 3-axis acceleration sensor is corrected according to equation below add
Speed：
Wherein, aaIt is the revised 3-axis acceleration of first 3-axis acceleration sensor, aei,aej,aekIt is respectively
Axial, lateral and normal component of the acceleration of itself of first 3-axis acceleration sensor in earth axes；
ωx,ωy,ωzIt is axial, lateral and normal component of the angular speed of the aircraft in the three-dimensional system of coordinate respectively；xg,
yg,zgIt is coordinate of first 3-axis acceleration sensor on three axis of three-dimensional system of coordinate respectively, i, j, k is institute respectively
State three axial vectors in earth axes.
In another embodiment, first 3-axis acceleration sensor is inertial navigation set, the described 2nd 3
Axle acceleration sensor is provided in the 3-axis acceleration sensor near the aircraft wing.
Additionally provide a kind of 3-axis acceleration correcting device in the present embodiment, the device be used to implement above-described embodiment and
Preferred embodiment had carried out repeating no more for explanation.As used below, term " module " can realize predetermined work(
The combination of the software and/or hardware of energy.It is hard although following embodiment described device is preferably realized with software
The realization of the combination of part or software and hardware is also what may and be contemplated.
Fig. 2 is the structure diagram of 3-axis acceleration correcting device according to embodiments of the present invention, as shown in Fig. 2, the device
Including：
Determining module 22, in the first 3-axis acceleration sensor and the second 3-axis acceleration sensor of aircraft
In, it is 3-axis acceleration sensor to be modified to determine the first 3-axis acceleration sensor；
Correcting module 24, for according to first 3-axis acceleration sensor the acceleration of itself, the described 1st
The tri-axis angular rate of axle acceleration sensor and first 3-axis acceleration sensor and the second 3-axis acceleration sensor it
Between relative position correct the 3-axis acceleration of first 3-axis acceleration sensor.
In one embodiment, described device further includes：Establishment of coordinate system module, for second 3-axis acceleration
Sensor is origin, establishes the three-dimensional system of coordinate being connected with the aircraft；Position determination module, for determining the described 1st
Axle acceleration sensor coordinate in the three-dimensional system of coordinate, wherein, the relative position includes the identified described 1st
The coordinate of axle acceleration sensor.Wherein, the correcting module is additionally operable to：By the current of first 3-axis acceleration sensor
3-axis acceleration is modified to the first 3-axis acceleration, wherein, first 3-axis acceleration assumes that the one or three axis accelerates
Degree sensor is located at the first 3-axis acceleration sensor output in the case of the second 3-axis acceleration sensor position
3-axis acceleration.
In a preferred embodiment, the correcting module is additionally operable to be added according to equation below amendment the one or three axis
The 3-axis acceleration of velocity sensor：
Wherein, aaIt is the revised 3-axis acceleration of first 3-axis acceleration sensor, aei,aej,aekIt is respectively
Axial, lateral and normal component of the acceleration of itself of first 3-axis acceleration sensor in earth axes；
ωx,ωy,ωzIt is axial, lateral and normal component of the angular speed of the aircraft in the three-dimensional system of coordinate respectively；xg,
yg,zgIt is coordinate of first 3-axis acceleration sensor on three axis of three-dimensional system of coordinate respectively, i, j, k is institute respectively
State three axial vectors in earth axes.
In another embodiment, first 3-axis acceleration sensor is inertial navigation set, the two or three axis
Acceleration transducer is provided in the 3-axis acceleration sensor near the aircraft wing.
The preferred embodiment of the present invention additionally provides a kind of 3-axis acceleration modification method, and this method comprises the following steps：
(1) determine on aircraft the position of two measurement acceleration transducers and relative distance r and control system use
Sensor source；
(2) coordinate system is established in the position of the sensor used using control system as coordinate origin, determines another biography
Position of the sensor in this coordinate system；
(3) angular speed at coordinate origin is 0, and coordinate origin is V with respect to the speed of earth axese, with respect to ground
The absolute acceleration of coordinate system is ae；The angular speed of another sensor relative coordinate origin be ω, the phase of relative coordinate origin
It is V to speedr, the absolute velocity with respect to ground is Va, the acceleration of relative coordinate origin is ar, with respect to the absolute acceleration on ground
It spends for aa；
(4) set according to above, then the absolute velocity V at another sensoraEqual to the speed V of its relative coordinate originr
With the absolute velocity V of coordinate origineThe sum of；And the speed V of relative coordinate originrIt is the angular speed ω of its relative coordinate origin again
Multiply with the difference of distance r, wherein angular speed and distance is all vector；
(5) acceleration also meets relative motion principle as speed, and acceleration a is the differential of speed V, a=dV/
dt；
(6) according to vector motion rule and relative motion principle, it is known that the angular speed ω of another acceleration transducer, institute
With respect to the acceleration a of earth axes at positionaAnd the distance r apart from coordinate origin, another acceleration can be calculated and passed
Sensor is converted to the acceleration at coordinate origin.
It can show that absolute acceleration of another acceleration transducer at coordinate origin is:
Another preferred embodiment of the present invention additionally provides a kind of 3-axis acceleration modification method.In the method, one is defined
A coordinate system, the coordinate of the sensor (three axis accelerometer) of the acceleration controlled using control system needs is coordinate origin, separately
The installation site of one sensor (inertial navigation) is M, the installation site o of three axis accelerometergCoordinate be (xg, yg, zg), and ground
Areal coordinate system is oxyz, as shown in Figure 3.Angular speed at three axis accelerometer is zero, and M points are around the angle of three axis accelerometer speed
Rate is ω.It is assumed that M points are compared with the absolute velocity V that the speed of earth axes oxyz is M pointsa, M points are compared with 3-axis acceleration
Count coordinate system ogxgygzgSpeed be relative velocity Vr, three axis accelerometer ogIt puts compared with the speed of earth axes oxyz and is
Velocity of following Ve；M points are compared with the absolute acceleration a that the acceleration of earth axes oxyz is M pointse, M points add compared with three axis
Speedometer coordinate system ogxgygzgAcceleration be relative acceleration ar, the acceleration at coordinate origin with respect to ground coordinate is aa。
According to the acceleration composite theorem of transport motion, it can be deduced that：
Va=Ve+Vr
And Vr=ω × r, ω=ωxi′+ωyj′+ωzK ', r=xgi′+ygj′+zgk′
And
It can derive：
The embodiment of the present invention has the advantages that：The present invention provides a kind of amendment sides of aircraft 3-axis acceleration
Method solves the problems, such as that the different signal that brings of same airplane acceleration transducer is inconsistent, especially to large aircraft,
Because installation site gap is big, different sensors measure when doing motor-driven acceleration gap bigger, the present invention can be to sensor institute
The acceleration signal measured carries out position correction so that the acceleration signal measured by two acceleration transducers is in synchronization
It is consistent, the present invention need not carry out any hardware modification, it is only necessary to use the computer of acceleration signal, usually fly
Row control computer, automatic flight computer or display control add in correction algorithm in calculating, you can so that different system controls
Acceleration it is consistent, also may be such that display is consistent with the acceleration of control.Avoid the flight brought because acceleration signal is inconsistent
Security risk.
Obviously, those skilled in the art should be understood that each module of the above-mentioned present invention or each step can be with general
Computing device realize that they can concentrate on single computing device or be distributed in multiple computing devices and be formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Performed in the storage device by computing device, and in some cases, can be performed with the order being different from herein shown in
The step of going out or describing they are either fabricated to each integrated circuit modules respectively or by multiple modules in them or
Step is fabricated to single integrated circuit module to realize.It to be combined in this way, the present invention is not limited to any specific hardware and softwares.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of 3-axis acceleration modification method, which is characterized in that including：
In the first 3-axis acceleration sensor and the second 3-axis acceleration sensor of aircraft, the first 3-axis acceleration is determined
Sensor is 3-axis acceleration sensor to be modified；
According to the acceleration of itself of first 3-axis acceleration sensor, three axis of first 3-axis acceleration sensor
Described in relative position between angular speed and first 3-axis acceleration sensor and the second 3-axis acceleration sensor is corrected
The 3-axis acceleration of first 3-axis acceleration sensor.
2. according to the method described in claim 1, it is characterized in that, according to first 3-axis acceleration sensor itself
Acceleration, the tri-axis angular rate of first 3-axis acceleration sensor and first 3-axis acceleration sensor and second
Before relative position between 3-axis acceleration sensor corrects the 3-axis acceleration of first 3-axis acceleration sensor, institute
The method of stating further includes：
Using second 3-axis acceleration sensor as origin, the three-dimensional system of coordinate being connected with the aircraft is established；
Determine coordinate of first 3-axis acceleration sensor in the three-dimensional system of coordinate, wherein, the relative position bag
The coordinate of first 3-axis acceleration sensor determined by including.
3. according to the method for claim 1 or 2, which is characterized in that correct first 3-axis acceleration sensor
3-axis acceleration includes：
The current 3-axis acceleration of first 3-axis acceleration sensor is modified to the first 3-axis acceleration, wherein, it is described
First 3-axis acceleration assumes that first 3-axis acceleration sensor is located at the second 3-axis acceleration sensor position
In the case of first 3-axis acceleration sensor output 3-axis acceleration.
4. it according to the method described in claim 2, is passed it is characterized in that, correcting first 3-axis acceleration according to equation below
The 3-axis acceleration of sensor：
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<mo>+</mo>
<msub>
<mi>&omega;</mi>
<mi>y</mi>
</msub>
<msub>
<mi>y</mi>
<mi>g</mi>
</msub>
</mrow>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mrow>
<msubsup>
<mi>&omega;</mi>
<mi>x</mi>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>&omega;</mi>
<mi>y</mi>
<mn>2</mn>
</msubsup>
</mrow>
<mo>)</mo>
</mrow>
<msub>
<mi>z</mi>
<mi>g</mi>
</msub>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mi>k</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, aaIt is the revised 3-axis acceleration of first 3-axis acceleration sensor, aei,aej,aekIt is described respectively
Axial, lateral and normal component of the acceleration of itself of the first 3-axis acceleration sensor in earth axes；ωx,ωy,
ωzIt is axial, lateral and normal component of the angular speed of the aircraft in the three-dimensional system of coordinate respectively；xg,yg,zgPoint
It is not coordinate of first 3-axis acceleration sensor on three axis of three-dimensional system of coordinate, i, j, k is the ground respectively
Three axial vectors in coordinate system.
5. according to the method any one of claim 1,2 or 4, which is characterized in that the first 3-axis acceleration sensing
Device is inertial navigation set, and three axis that second 3-axis acceleration sensor is provided near the aircraft wing accelerate
Spend sensor.
6. a kind of 3-axis acceleration correcting device, which is characterized in that including：
Determining module, in the first 3-axis acceleration sensor and the second 3-axis acceleration sensor of aircraft, determining
First 3-axis acceleration sensor is 3-axis acceleration sensor to be modified；
Correcting module accelerates for the acceleration of itself, the one or three axis according to first 3-axis acceleration sensor
Spend the phase between the tri-axis angular rate of sensor and first 3-axis acceleration sensor and the second 3-axis acceleration sensor
To the 3-axis acceleration of the first 3-axis acceleration sensor described in position correction.
7. device according to claim 6, which is characterized in that described device further includes：
Establishment of coordinate system module, for using second 3-axis acceleration sensor as origin, foundation to be connected with the aircraft
Three-dimensional system of coordinate；
Position determination module, for determining first 3-axis acceleration sensor coordinate in the three-dimensional system of coordinate, wherein,
The relative position includes the coordinate of identified first 3-axis acceleration sensor.
8. according to the device of claim 6 or 7, which is characterized in that the correcting module is additionally operable to：
The current 3-axis acceleration of first 3-axis acceleration sensor is modified to the first 3-axis acceleration, wherein, it is described
First 3-axis acceleration assumes that first 3-axis acceleration sensor is located at the second 3-axis acceleration sensor position
In the case of first 3-axis acceleration sensor output 3-axis acceleration.
9. device according to claim 7, which is characterized in that the correcting module is additionally operable to correct institute according to equation below
State the 3-axis acceleration of the first 3-axis acceleration sensor：
<mfenced open = "" close = "">
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<mtr>
<mtd>
<mrow>
<msub>
<mi>a</mi>
<mi>a</mi>
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<mi>&omega;</mi>
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<mi>y</mi>
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<mi>g</mi>
</msub>
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</mrow>
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<mrow>
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<mi>&omega;</mi>
<mi>x</mi>
<mn>2</mn>
</msubsup>
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<msubsup>
<mi>&omega;</mi>
<mi>y</mi>
<mn>2</mn>
</msubsup>
</mrow>
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</mrow>
<msub>
<mi>z</mi>
<mi>g</mi>
</msub>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mi>k</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, aaIt is the revised 3-axis acceleration of first 3-axis acceleration sensor, aei,aej,aekIt is described respectively
Axial, lateral and normal component of the acceleration of itself of the first 3-axis acceleration sensor in earth axes；ωx,ωy,
ωzIt is axial, lateral and normal component of the angular speed of the aircraft in the three-dimensional system of coordinate respectively；xg,yg,zgPoint
It is not coordinate of first 3-axis acceleration sensor on three axis of three-dimensional system of coordinate, i, j, k is the ground respectively
Three axial vectors in coordinate system.
10. according to the device any one of claim 6,7 or 9, which is characterized in that the first 3-axis acceleration sensing
Device is inertial navigation set, and three axis that second 3-axis acceleration sensor is provided near the aircraft wing accelerate
Spend sensor.
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