CN107014386A - The disturbing acceleration measuring method that a kind of attitude of flight vehicle is resolved - Google Patents
The disturbing acceleration measuring method that a kind of attitude of flight vehicle is resolved Download PDFInfo
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- CN107014386A CN107014386A CN201710412386.0A CN201710412386A CN107014386A CN 107014386 A CN107014386 A CN 107014386A CN 201710412386 A CN201710412386 A CN 201710412386A CN 107014386 A CN107014386 A CN 107014386A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses the disturbing acceleration measuring method that a kind of attitude of flight vehicle is resolved, the attitude quaternion of aircraft is obtained, the measurement acceleration under body axis system is obtained；The disturbing acceleration under reference frame is obtained by the measurement acceleration under attitude quaternion and body axis system, and then obtains discrete disturbing acceleration；Discrete disturbing acceleration is carried out to carry out with the measurement acceleration under body axis system subtracting each other under first-order low-pass ripple, reconvert to body axis system after segment processing to obtain the accurate body acceleration for filtering out disturbing acceleration.The present invention is with low cost relative to prior art, it is not necessary to adds GPS sensor and measures；The attitude measurement accuracy of follow-up multi-sensor fusion technology can be lifted.
Description
Technical field
The present invention relates to aviation aircraft control technology field, and in particular to the interference that a kind of attitude of flight vehicle is resolved accelerates
Spend measuring method.
Background technology
Aircraft is in high maneuver flight, and carry-on accelerometer is in addition to measurement obtains acceleration of gravity, also
There is a disturbing acceleration.For the multi-sensor fusion technology such as complementary filter or Kalman filtering, accurately accelerate
Degrees of data is necessary.If the acceleration information used contains disturbing acceleration, attitude algorithm can be influenceed
Accuracy, or even cause aircraft accident.
For the measurement of aircraft disturbing acceleration, current common practice is to add GPS sensor, utilizes GPS sensor
Data calculate disturbing acceleration, so as to feed back to attitude measurement system.But can thus cause flight control system to become multiple
Miscellaneous, while cost is uprised, the flight control system for being not suitable for low cost is used.
The content of the invention
There is provided the disturbing acceleration measurement side that a kind of attitude of flight vehicle is resolved in view of the above-mentioned problems existing in the prior art
Method, solves aircraft in high maneuver flight, because the acceleration of body measurement is in addition to required acceleration of gravity, also has
Disturbing acceleration, so that cause follow-up attitude algorithm to malfunction, the problem of attitude angle information of gained is not accurate enough, meanwhile, keep away
Exempt to measure disturbing acceleration using GPS sensor, have the advantages that cost is low, algorithm design is simple, effect is good.
In order to solve the above mentioned problem of prior art presence, the technical solution adopted by the present invention：
The disturbing acceleration measuring method that a kind of attitude of flight vehicle is resolved, comprises the following steps：
Step 1, with the sampling period of setting, the attitude angle of the Eulerian angles form of aircraft is obtained in real time, and attitude angle includes
Roll angle, the angle of pitch and the yaw angle of Eulerian angles form, attitude quaternion is converted to by attitude angle
Step 2, the measurement acceleration a under body axis system is obtainedmeasure, pass through attitude quaternionAnd body axis system
Under measurement acceleration ameasureObtain the disturbing acceleration a under reference framedr, and then obtain discrete disturbing acceleration
Step 3, disturbing acceleration acc is obtained by below equationdr：
Wherein, | | ameasure| | and | | gr| | the measurement acceleration a under body axis system is represented respectivelymeasureModulus value and
Gravity acceleration g under reference framerModulus value,For given threshold；
Step 4, using low-pass first order filter, to the disturbing acceleration acc obtained in step 3drCarry out first-order low-pass
Ripple obtains the resultant interference acceleration acc under reference frame.
Step 5, the resultant interference acceleration acc under the reference frame obtained by step 4 is converted into body axis system
Under resultant interference acceleration accf, by the measurement acceleration a under body axis systemmeasureWith finally doing under body axis system
Disturb acceleration accfSubtract each other obtain the accurate body acceleration a for filtering out disturbing acceleration~measure。
The present invention has the advantages that relative to prior art：
1st, it is with low cost, it is not necessary to add GPS sensor and measure；
2nd, the attitude measurement accuracy of follow-up multi-sensor fusion technology can be lifted.
Brief description of the drawings
Fig. 1 represents to measure the system block diagram of disturbing acceleration method.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Such as the disturbing acceleration measuring method that Fig. 1, a kind of attitude of flight vehicle are resolved, comprise the following steps：
Step 1, using the fixed sampling period (the present embodiment sampling period is 2ms), the attitude angle of aircraft is obtained in real time,
Attitude angle is Eulerian angles form, and attitude angle includes roll angle, the angle of pitch and the yaw angle of Eulerian angles form, passes through following public affairs
Formula, is converted into quaternary number expression way by the attitude angle of Eulerian angles form, that is, obtains attitude quaternion
In formula, cos represents that cosine is operated, and sin represents sinusoidal operation, and φ represents the roll angle of posture Eulerian angles form, θ tables
Show the angle of pitch of posture Eulerian angles form, ψ represents the yaw angle of posture Eulerian angles form,For attitude quaternion, q0、q1、q2、q3
It is attitude quaternion respectivelyIn four elements.
Step 2, disturbing acceleration Measurement Algorithm is run.In the present embodiment, first, the flight control system of aircraft passes through
Iic bus, obtains the acceleration information in carry-on MPU6050 sensors, because flight control system is to connect firmly flying
On row device, so the acceleration information in MPU6050 sensors is the measurement acceleration a under body axis systemmeasure.This
When, the input of disturbing acceleration Measurement Algorithm is exactly the measurement acceleration a under body axis systemmeasure, disturbing acceleration measurement
The output of algorithm is the disturbing acceleration a under reference framedr。
First, the measurement acceleration a under body axis systemmeasureIt is defined as following form：
Wherein, ameasureThe measurement acceleration under body axis system is represented,For attitude quaternion,Represent posture quaternary
Several conjugation, grRepresent the acceleration of gravity of reference frame, adrThe disturbing acceleration under reference frame is represented, △ a are represented
The measurement noise of accelerometer.
Body axis system in the application, refers to connecting firmly coordinate system on board the aircraft, and the origin of body axis system is
The barycenter of aircraft, x-axis is pointed in front of body, and y-axis points to body right, and z-axis is pointed to below body.Reference frame, origin
It is the barycenter of aircraft, x/y plane is tangent with the earth, x-axis points to direct north, z-axis points to gravity direction, and ground weft is worked as on y-axis edge
Point to the positive east.Between two coordinate systems, it can carry out using in the conversion of coordinate system, the present embodiment by attitude matrixWithForm denotation coordination transition matrix.
Then, above formula is entered into line translation, the disturbing acceleration a under reference frame can be obtaineddrSolution it is public
Formula：
According to the discrete disturbing acceleration of above-mentioned acquisition
Wherein,Discrete disturbing acceleration is represented,Represent the posture quaternary that upper attitude angle sampling instant is obtained
Number,ForConjugation.
M in Fig. 1q、NqAbove-mentioned formula is represented respectivelyWithForm, that is, represent that reference coordinate is tied to body seat
Mark transition matrix, the transition matrix of body axis system to reference frame of system.
Step 3, preferably, discrete disturbing acceleration to obtainingSegment processing is carried out, i.e., is added according to discrete interference
SpeedObtain disturbing acceleration accdr.Due under aircraft inactive state, it is believed that do not interfere with acceleration, so
Judge whether aircraft is static, then decide whether to solve disturbing acceleration.Wherein, | | ameasure| | and | | gr| | machine is represented respectively
Measurement acceleration a under body coordinate systemmeasureModulus value and reference frame under gravity acceleration grModulus value,Expression is set
Determine threshold value, it is relevant with accelerometer performance.
Step 4, preferably, using low-pass first order filter, to disturbing acceleration acc required in step 3drCarry out one
Rank low-pass filtering treatment, removes disturbing acceleration accdrIn noise item △ a, it is dry under the reference frame finally required
Disturb acceleration acc.
Step 5, the resultant interference acceleration acc under the reference frame obtained by step 4 is converted into body axis system
Under resultant interference acceleration accf, by the measurement acceleration a under body axis systemmeasureWith finally doing under body axis system
Disturb acceleration accfSubtract each other obtain the accurate body acceleration a for filtering out disturbing acceleration~measure, for attitude algorithm algorithm.
Wherein, a~measureThe accurate body acceleration of disturbing acceleration is as filtered out,
Claims (1)
1. the disturbing acceleration measuring method that a kind of attitude of flight vehicle is resolved, it is characterised in that comprise the following steps：
Step 1, with the sampling period of setting, the attitude angle of the Eulerian angles form of aircraft is obtained in real time, and attitude angle includes Euler
Roll angle, the angle of pitch and the yaw angle of angular formula, attitude quaternion is converted to by attitude angle
Step 2, the measurement acceleration a under body axis system is obtainedmeasure, pass through attitude quaternionWith under body axis system
Measure acceleration ameasureObtain the disturbing acceleration a under reference framedr, and then obtain discrete disturbing acceleration
Step 3, disturbing acceleration acc is obtained by below equationdr：
Wherein, | | ameasure| | and | | gr| | the measurement acceleration a under body axis system is represented respectivelymeasureModulus value and reference
Gravity acceleration g under coordinate systemrModulus value,For given threshold；
Step 4, using low-pass first order filter, to the disturbing acceleration acc obtained in step 3drFirst-order low-pass ripple is carried out to obtain
Resultant interference acceleration acc under to reference frame,
Step 5, the resultant interference acceleration acc under the reference frame obtained by step 4 is converted under body axis system
Resultant interference acceleration accf, by the measurement acceleration a under body axis systemmeasureAdd with the resultant interference under body axis system
Speed accfSubtract each other and obtain the accurate body acceleration a for filtering out disturbing acceleration~ measure。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108318035A (en) * | 2018-01-08 | 2018-07-24 | 山东大学 | A method of avoiding universal joint deadlock in the attitude measurement algorithm based on Eulerian angles |
| CN109471192A (en) * | 2018-12-19 | 2019-03-15 | 湖南航天机电设备与特种材料研究所 | A kind of full-automatic gravity tester Dynamic High-accuracy data processing method |
| CN109635388A (en) * | 2018-11-29 | 2019-04-16 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of full machine acceleration parameter measuring method |
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| CN109635388A (en) * | 2018-11-29 | 2019-04-16 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of full machine acceleration parameter measuring method |
| CN109471192A (en) * | 2018-12-19 | 2019-03-15 | 湖南航天机电设备与特种材料研究所 | A kind of full-automatic gravity tester Dynamic High-accuracy data processing method |
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Denomination of invention: Measuring method for disturbance acceleration in attitude estimation of aircraft Effective date of registration: 20200518 Granted publication date: 20190830 Pledgee: Tongling Tianyuan Equity Investment Group Co.,Ltd. Pledgor: WUHAN YIHESMART TECHNOLOGY Co.,Ltd. Registration number: Y2020340000024 |
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