CN106403938B - A kind of system filter method for the interference of small drone multi-source complex vibration - Google Patents
A kind of system filter method for the interference of small drone multi-source complex vibration Download PDFInfo
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- CN106403938B CN106403938B CN201610729794.4A CN201610729794A CN106403938B CN 106403938 B CN106403938 B CN 106403938B CN 201610729794 A CN201610729794 A CN 201610729794A CN 106403938 B CN106403938 B CN 106403938B
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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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- 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
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The present invention relates to the system filter methods for the interference of small drone multi-source complex vibration, firstly, utilizing the acceleration transducer data of vibrated interferenceThe three-dimensional velocity being disturbed under Department of Geography is solved with the speed renewal equation of strapdown inertial navigationSecondly, with three-dimensional velocity under Department of GeographyFor quantity of state, strap down inertial navigation/satellite combined guidance system state model is established, and designs the interference observer for being directed to integrated navigation system vibration interference；Again, willAs the input of interference observer, interference estimate under the Department of Geography of interference observer output is utilizedFeedback compensation disturbing accelerationObtain compensation post-acceleration vectorFinally, utilizing gyroscope output data and accelerationComplete strap down inertial navigation/satellite combined guidance system inertial reference calculation and Kalman combined filter process.The present invention is suitable for navigation of the small drone under engine multi-source complex vibration environment.
Description
Technical field
The present invention relates to a kind of system filter methods for the interference of small drone multi-source complex vibration, see by interference
Device and Kalman combined filter method are surveyed, it is multiple for multi-source to realize small drone strap down inertial navigation/satellite combined guidance system
The combined filter process for closing vibration interference, suitable for navigation of the small drone under engine multi-source complex vibration environment.
Background technique
The small-sized long endurance unmanned aircraft of low-to-medium altitude generally uses the configurations of high aspect ratio, short fuselage, and uses composite wood
Material, sufficiently to reduce its own weight.However its power device (generally using four-stroke gasoline piston-mode motor) is but to machine
Body brings serious vibration interference.Light, thin feature is presented in the small-sized long endurance unmanned aircraft body of low-to-medium altitude, and structural modal is opposite
It is lower, and vibration is difficult to obtain effective attenuation in the conductive process of body.Cause the vibration of body in the superposition of more vibration sources, big vibration
Width, broadband, the complex morphology for becoming mean value superposition white Gaussian noise.Since small-sized long endurance unmanned aircraft load-carrying ability has
Limit, it is difficult to provide good working environment using complicated vibration reducing measure for integrated navigation system.Therefore, this complex vibration quilt
Micro inertial measurement unit (MIMU) capture will be input to Kalman filter with the interference signal for becoming mean value, change standard deviation.
Kalman filter method is directed to the interference other than white Gaussian noise without obvious inhibiting effect, therefore engine luggine serious interference shadow
The precision for ringing integrated navigation system even causes filter divergence, brings huge safety to the flight of small-sized long endurance unmanned aircraft
Hidden danger.
Summary of the invention
Technology of the invention solves the problems, such as: for more vibration source superpositions, large amplitude, broadband, becoming mean value superposition white Gaussian
The complex vibration of noise is to integrated navigation system bring multi-source interference problem, using the way of thinking of interference observer, design
A kind of integrated navigation filter for the interference of multi-source complex vibration.Traditional Kalman filter is solved under multi-source vibration environment
The problem of navigation accuracy decline, improves the precision and anti-interference ability of integrated navigation system Kalman filter.
A kind of technical solution of the invention are as follows: system filter side for the interference of small drone multi-source complex vibration
Method is realized through the following steps:
(1) using the accelerometer output data under vibration environmentWith attitude matrixMultiplication obtain under Department of Geography by
The specific force of interferenceIt willIt carries out acceleration of gravity and compensates the acceleration information being disturbedIt utilizesIt is used with strapdown
It leads speed renewal equation and solves the three-dimensional velocity being disturbed under Department of Geography
(2) with three-dimensional velocity under Department of GeographyFor quantity of state, the strap down inertial navigation/satellite group for considering body vibration interference is established
Navigation system state model is closed, in conjunction with the state model of foundation, design is dry for strap down inertial navigation/satellite combined guidance system vibration
The interference observer disturbed；
(3) three dimensional velocity vectors that will be disturbedAs the input of interference observer, interference observer exports Department of Geography
Lower vibration interference estimated valueThenDisturbing acceleration in feedback compensation step (1)Obtain compensation post-acceleration vector
(4) gyroscope output data is utilizedWith compensation post-accelerationIntegrated navigation system inertial reference calculation is completed, then
The combined filter process of inertial navigation and satellite is completed using Kalman integrated navigation filtering method；
(5) it in small drone operational process, constantly repeats (1) and arrives (4), until navigation terminates.
The three-dimensional velocity being disturbed under the Department of Geography being related in the step (1)Calculation method are as follows: use strapdown
The speed renewal equation of inertial navigation utilizes the acceleration transducer data of vibrated interferenceIt carries outResolving.
Strap down inertial navigation/satellite combined guidance system state of the considerations of being related in the step (2) body vibration interference
Model foundation is as follows:
Select three dimensional velocity vectors under unmanned plane Department of GeographyAs quantity of state x, vibration is considered
Interference, state model are expressed asWherein, Respectively
The rotational angular velocity that the projection for being rotational-angular velocity of the earth under Department of Geography and Department of Geography feel concerned about relative to ground is under Department of Geography
Projection；It is projection of the specific force under carrier Department of Geography；gnIt is projection of the acceleration of gravity under Department of Geography；u0ForWith gn's
Vector sum；D is projection of the interference that generates to integrated navigation system of body vibration under Department of Geography, and state model is expressed as follows
Formula:
The state model established is combined in the step (2), design is for strap down inertial navigation/satellite combined guidance system vibration
The interference observer of interference, specific design procedure are as follows:
According to the state model of foundation, interference volume d is indicated are as follows:
Design Interference Estimation amountMeet equation:
Wherein, L is interference observer gain matrix, and the selection of L influences the estimation performance and stability of observer, is enabled intermediate
VariableThen have:
It is obtained in conjunction with above-mentioned formula:
In UAV system, three shaft vibration of body under Department of Geography is interfered without cross-coupling factor, therefore L takes diagonal matrix:
L=diag { L1,L2,L3}
To sum up, interference observer design is as follows:
Interference observer is expressed as a, b formula in detail:
A, the intermediate variable z differential equation:
B, disturbance-observer amountCalculating formula:
In addition, gain matrix L has certain value range for the robust stability for ensuring interference observer.By Li Yapu
The provable L of promise husband's stability theoremiWhen > 0 (i=1,2,3), the error differential equation of interference observer keeps global progressive steady
It is fixed.In LiMatrix L is adjusted under the constraint of > 0 (i=1,2,3), interference observer can be improved to vibration interference quickly and accurately
Observation performance.
Interference observer output valve is utilized in the step (3)Disturbing acceleration in feedback compensation step (1)It obtains
Compensate post-acceleration vectorConcrete methods of realizing it is as follows:
The three dimensional velocity vectors that will be disturbedAs the input of interference observer, shake under interference observer output Department of Geography
Dynamic interference volumeDisturbing acceleration under Department of GeographyIt is expressed asWherein,It is true acceleration under Department of Geography,
D is vibration interference vector under Department of Geography；It utilizesFeedback compensation disturbing accelerationObtain compensation post-acceleration vectoredFor Interference Estimation error；Gain matrix L makes interference estimateClose to very
It does solid work and disturbs d, thenIt can level off to true acceleration
The combined filter mistake of inertial navigation and satellite is completed in the step (4) using Kalman integrated navigation filtering method
Journey, after low frequency component of the interference observer to vibration interference is estimated and offset, Kalman combined filter method can
Inhibited again for system white Gaussian noise.
The principle of the present invention is: the external vibration that engine is generated interferes, caused by system realistic model and nominal mould
The difference of type output is as Interference Estimation amountOutput, it is equivalent to arrive control signal u0Realize the compensation and complete inhibition of interference；Benefit
Low frequency, Non-zero Mean vibration interference component are estimated and offset with interference observer, utilizes Kalman combined filter method
Inhibited for system white Gaussian noise component, to realize to more vibration source superpositions, broadband, become mean value superposition Gauss white noise
The counteracting and inhibition of acoustic vibration interference.
The advantages of the present invention over the prior art are that:
(1) present invention uses the thought of interference observer, effectively observes that the low frequency component of system vibration interference is gone forward side by side
Feedback compensation is gone.Compared with the conventional filtering method for the interference of small drone engine luggine, interference observer side
Method is simple, calculation amount is small, and can effectively improve the robustness and anti-interference ability of system.
(2) the present invention relates to for system vibration interference observation and compensation method, can be generalized to multi-source the external world
It is used in the case where interference.For example, being interfered simultaneously by engine luggine, when gust disturbance in unmanned plane, designed is dry
The ability that observer can have while observe above-mentioned multi-source interference is disturbed, there is wider application range.
(3) present invention is by interference observer and Kalman combined filter method, realize small drone strap down inertial navigation/
Satellite combined guidance system is directed to the combined filter process of multi-source complex vibration interference.For change mean value interference components and white Gaussian
Noise jamming component has carried out common inhibition.
Detailed description of the invention
Fig. 1 is design flow diagram of the invention；
Fig. 2 is the small drone integrated navigation system anti-interference filter block diagram that the present invention designs.
Specific embodiment
Control method (DOBC, Disturbance Observer Based Control) based on interference observer has
Method is simple, can effectively improve the features such as system robustness, has to system modelling error, Parameter Perturbation and various external interferences
Good estimation effect.For more vibration source superpositions, large amplitude, broadband, the complex vibration pair for becoming mean value superposition white Gaussian noise
Integrated navigation system bring multi-source interference problem proposes a kind of small drone strap down inertial navigation/satellite combined guidance system
Filtering method.Using the way of thinking of DOBC, as shown in Figure 2 integrated navigation filtering of the design for the interference of multi-source complex vibration
Device: firstly, calculating the acceleration that strap down inertial navigation/satellite combined guidance system is disturbed using acceleration measuring magnitudeSecondly, utilizing the system state amount being disturbedIn conjunction with interference observer method, estimates system and exist
Vibration interference under Department of GeographyAgain, interference estimate is utilizedFeedback compensation Department of Geography accelerationComplete strapdown
Inertia/satellite system inertial reference calculation and Kalman combined filter process improve the precision of integrated navigation system Kalman filter
And anti-interference ability.
As shown in Figure 1, of the invention, the specific implementation steps are as follows:
(1) three-dimensional velocity being disturbed under Department of GeographyCalculation method: number is exported using the accelerometer under vibration environment
According toWith attitude matrixMultiplication obtains the specific force being disturbed under Department of GeographyIt willAcceleration of gravity is carried out to compensate to obtain
The acceleration information being disturbedIt utilizesThe three-dimensional speed being disturbed under Department of Geography is solved with inertial navigation speed renewal equation
Degree
(2) consider that strap down inertial navigation/satellite combined guidance system state model of body vibration interference is established:
Select three dimensional velocity vectors under unmanned plane Department of GeographyAs quantity of state x.Consider that vibration is dry
It disturbs, state model is represented byWherein, Respectively
The rotational angular velocity that the projection for being rotational-angular velocity of the earth under Department of Geography and Department of Geography feel concerned about relative to ground is under Department of Geography
Projection；It is projection of the specific force under carrier Department of Geography；gnIt is projection of the acceleration of gravity under Department of Geography；u0ForWith gn's
Vector sum；D is projection of the interference that generates to integrated navigation system of body vibration under Department of Geography.Model is expressed as follows in detail
Formula:
(3) it is designed for strap down inertial navigation/satellite combined guidance system vibration interference interference observer:
According to the state model established in upper step, interference volume d be may be expressed as:
Design Interference Estimation amountMeet equation:
Wherein, L is interference observer gain matrix, and the selection of L influences the estimation performance and stability of observer.It enables intermediate
VariableThen have:
It is obtained in conjunction with above-mentioned formula:
In UAV system, three shaft vibration of body under Department of Geography is interfered without cross-coupling factor, therefore L takes diagonal matrix:
L=diag { L1,L2,L3}
To sum up, interference observer design is as follows:
Interference observer is expressed as a, b formula in detail.
A, the intermediate variable z differential equation:
B, disturbance-observer amountCalculating formula:
In addition, gain matrix L has certain value range for the robust stability for ensuring interference observer.By Li Yapu
The provable L of promise husband's stability theoremiWhen > 0 (i=1,2,3), the error differential equation of interference observer keeps global progressive steady
It is fixed.In LiMatrix L is adjusted under the constraint of > 0 (i=1,2,3), interference observer can be improved to vibration interference quickly and accurately
Observation performance.
(4) interference observer output valve is utilizedFeedback interference accelerationObtain compensation post-acceleration vectorTool
Body implementation method is as follows:
The three dimensional velocity vectors that will be disturbedAs the input of interference observer, shake under interference observer output Department of Geography
Dynamic interference volumeDisturbing acceleration under Department of GeographyIt is expressed asWherein,It is true acceleration, d under Department of Geography
For vibration interference vector under Department of Geography.It utilizesFeedback compensation disturbing accelerationObtain compensation post-acceleration vectoredFor Interference Estimation error.Gain matrix L makes interference estimateClose to very
It does solid work and disturbs d, thenIt can level off to true acceleration
(5) it completes strap down inertial navigation/combinations of satellites Navigation algorithm: utilizing gyroscope output dataWith interference compensation
Post-acceleration vectorIntegrated navigation system inertial reference calculation is completed, then completes strapdown using Kalman integrated navigation filtering method
The combined filter process of inertial navigation and satellite.
Claims (3)
1. a kind of system filter method for the interference of small drone multi-source complex vibration, it is characterised in that including following step
It is rapid:
(1) using the accelerometer output data under vibration environmentWith attitude matrixMultiplication obtains being disturbed under Department of Geography
Specific forceIt willIt carries out acceleration of gravity and compensates the acceleration information being disturbedIt utilizesWith inertial navigation speed
Degree renewal equation solves the three-dimensional velocity being disturbed under Department of Geography
(2) with three-dimensional velocity under Department of GeographyFor quantity of state, establishes and consider that strap down inertial navigation/combinations of satellites of body vibration interference is led
System State Model of navigating designs in conjunction with the state model of foundation and is directed to strap down inertial navigation/satellite combined guidance system vibration interference
Interference observer；
(3) three dimensional velocity vectors that will be disturbedAs the input of interference observer, shake under interference observer output Department of Geography
Dynamic interference estimateThenDisturbing acceleration in feedback compensation step (1)Obtain compensation post-acceleration vector
(4) gyroscope output data is utilizedWith compensation post-accelerationIntegrated navigation system inertial reference calculation is completed, is then used
The combined filter process of Kalman integrated navigation filtering method completion inertial navigation and satellite；
(5) it in small drone operational process, constantly repeats (1) and arrives (4), until navigation terminates；
Strap down inertial navigation/satellite combined guidance system state model of the considerations of being related in the step (2) body vibration interference
It establishes as follows:
Select three dimensional velocity vectors under unmanned plane Department of GeographyAs quantity of state x, vibration interference is considered,
State model is expressed asWherein, Respectively
Projection of the rotational angular velocity that projection and Department of Geography of the revolutions angular speed under Department of Geography are felt concerned about relative to ground under Department of Geography；It is projection of the specific force under carrier Department of Geography；gnIt is projection of the acceleration of gravity under Department of Geography；u0ForWith gnVector
With；D is projection of the interference that generates to integrated navigation system of body vibration under Department of Geography, and state model is expressed as follows formula:
The state model established is combined in the step (2), design is directed to strap down inertial navigation/satellite combined guidance system vibration interference
Interference observer, specific design procedure is as follows:
According to the state model of foundation, interference volume d is indicated are as follows:
Design Interference Estimation amountMeet equation
Wherein, L is interference observer gain matrix, and the selection of L influences the estimation performance and stability of observer, enables intermediate variableThen have:
It is obtained in conjunction with above-mentioned formula:
In UAV system, three shaft vibration of body under Department of Geography is interfered without cross-coupling factor, therefore L takes diagonal matrix:
L=diag { L1,L2,L3}；
To sum up, interference observer design is as follows:
Interference observer is expressed as a, b formula in detail:
A, the intermediate variable z differential equation
B, disturbance-observer amountCalculating formula
In LiL is adjusted under the constraint of > 0 (i=1,2,3), interference observer is can be improved and vibration interference is quickly and accurately observed
Performance；
Interference observer output valve is utilized in the step (3)Disturbing acceleration in feedback compensation step (1)Obtain compensation
Post-acceleration vectorConcrete methods of realizing it is as follows:
The three dimensional velocity vectors that will be disturbedAs the input of interference observer, interference observer is exported to vibrate under Department of Geography and be done
The amount of disturbingDisturbing acceleration under Department of GeographyIt is expressed asWherein,It is true acceleration under Department of Geography, d is ground
Reason is lower vibration interference vector；It utilizesFeedback compensation disturbing accelerationObtain compensation post-acceleration vectoredFor Interference Estimation error；Gain matrix L makes interference estimateClose to very
It does solid work and disturbs d, thenIt can level off to true acceleration
2. a kind of system filter method for the interference of small drone multi-source complex vibration according to claim 1,
It is characterized in that: the three-dimensional velocity being disturbed under the Department of Geography being related in the step (1)Calculation method are as follows: use strapdown
The speed renewal equation of formula inertial navigation utilizes the acceleration transducer data of vibrated interferenceIt carries outResolving.
3. a kind of system filter method for the interference of small drone multi-source complex vibration according to claim 1,
It is characterized in that: completing the combined filter of inertial navigation and satellite in the step (4) using Kalman integrated navigation filtering method
Process, after low frequency component of the interference observer to vibration interference is estimated and is offset, Kalman combined filter method energy
Enough inhibited again for system white Gaussian noise.
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| CN107014386B (en) * | 2017-06-02 | 2019-08-30 | 武汉云衡智能科技有限公司 | A kind of disturbing acceleration measurement method that attitude of flight vehicle resolves |
| CN111142549B (en) * | 2019-12-30 | 2021-03-02 | 北京航空航天大学 | Anti-interference attack detection and self-healing controller and control method for unmanned aerial vehicle attitude control system |
| CN112461235B (en) * | 2020-11-20 | 2023-06-30 | 北京航空航天大学 | Anti-interference integrated navigation method based on interference observer |
| CN113618743B (en) * | 2021-08-27 | 2022-08-23 | 北京航空航天大学杭州创新研究院 | Unmanned aerial vehicle mechanical arm tail end pose control method for multi-source interference |
| CN114326399B (en) * | 2021-12-28 | 2023-12-05 | 天津大学 | Broadband inertia reference unit finite time anti-interference control method |
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