CN112197792A - Course precision improving method for trainer attitude and heading system - Google Patents
Course precision improving method for trainer attitude and heading system Download PDFInfo
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- CN112197792A CN112197792A CN202011075753.0A CN202011075753A CN112197792A CN 112197792 A CN112197792 A CN 112197792A CN 202011075753 A CN202011075753 A CN 202011075753A CN 112197792 A CN112197792 A CN 112197792A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention relates to a method for improving course accuracy of a trainer flight attitude system, and belongs to the technical field of design of airplane avionics systems. The attitude and heading reference system of the method comprises an attitude and heading reference assembly and a satellite antenna; the satellite antenna and the inertial navigation system share one satellite antenna through the power divider; the attitude and heading reference component enters a preparation state after being electrified and initialized, and enters an alignment state when alignment data sent by an onboard inertial navigation system is received through an RS422 bus; after receiving the data of the onboard inertial navigation system, finishing alignment and turning into a navigation attitude and a navigation state; in the navigation attitude and navigation states, when satellite data is valid, the satellite works in an inertia and satellite navigation mode, and when satellite signals are invalid, the satellite works in a pure inertia mode; the attitude and heading system disclosed by the invention is aligned by receiving the initial heading of the inertial navigation system, and corrected by the satellite antenna, so that the heading precision is improved. The magnetic sensor is cancelled, no special requirement is required for the installation position, and the error correction is not needed after the installation. Reliable use and convenient operation.
Description
Technical Field
The invention relates to a method for improving course accuracy of a trainer flight attitude system, and belongs to the technical field of design of airplane avionics systems.
Background
At present, an inertial navigation system of a coach machine is used as a main navigation system, a navigation attitude system is used as a backup navigation system, and the navigation attitude system is composed of a navigation attitude assembly and a magnetic sensor. The magnetic sensor is used for sensitively measuring a weak earth magnetic field distribution signal and outputting a magnetic heading to the attitude and heading component. The ferromagnetic material and the electromagnetic field generated by the equipment on the aircraft directly influence the course measuring accuracy of the sensor, so that the requirement on the installation position of the magnetic sensor is high, the magnetic sensor is required to be installed at the position far away from the aircraft containing the ferromagnetic material and the equipment which can generate a strong electromagnetic field in the working process, but the installation space of a trainer is small, the installation requirement of the magnetic sensor is difficult to meet, a Rogowski binding box is required for calibration after each aircraft is installed, and the calibration steps are complex and tedious.
Disclosure of Invention
The invention aims to provide a course precision improving method for a trainer attitude and heading system, which has no special requirement on the installation position and does not need to correct the error of a compass after installation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for improving course accuracy of a trainer heading and attitude system is characterized by comprising the following steps:
the attitude and heading reference system of the method comprises an attitude and heading reference assembly and a satellite antenna; the satellite antenna and the inertial navigation system share one satellite antenna through the power divider;
the attitude and heading reference component enters a preparation state after being electrified and initialized, and enters an alignment state when alignment data sent by an onboard inertial navigation system is received through an RS422 bus; after receiving the data of the onboard inertial navigation system for 180s, finishing alignment and turning into a navigation attitude and a navigation state; in the navigation attitude and navigation states, when satellite data is valid, the satellite works in an inertia and satellite navigation mode, and when satellite signals are invalid, the satellite works in a pure inertia mode;
after the alignment of the trainer is finished, the trainer enters a navigation attitude and a navigation state, the attitude is updated by using a rotation vector method according to the output of the gyroscope and the accelerometer, the attitude quaternion is updated by calculating the attitude change quaternion, so that an attitude matrix is updated, finally, the course angle, the pitch angle and the roll angle of the trainer are solved according to the relationship between the attitude matrix and the attitude angle, and the calculated course angle, the pitch angle and the roll angle are output to display equipment through an HB6096 interface;
when the satellite signals are effective, the trainer works in an inertia and satellite navigation mode, real-time estimation of attitude and heading errors and zero offset of a gyroscope and an accelerometer is carried out through Kalman filtering fused with satellite data, the heading and the attitude of the trainer are continuously corrected, and the trainer works in a high-precision state; when the satellite signal is invalid, the product is switched to a navigation attitude state;
when the training plane works in the attitude state, correcting the attitude precision of the product by applying an adding and leveling algorithm; and when the navigation attitude state is reached, if the satellite data is effective, the combined navigation state is automatically returned.
Furthermore, under the heading and navigation states, the heading system continuously updates heading, attitude, position and speed parameters according to the angular rate of the fiber-optic gyroscope and the specific force output of the accelerometer.
Further, in the attitude heading state, the attitude heading system outputs heading angle, roll angle, pitch angle, triaxial angular rate and triaxial acceleration data to the outside through an HB6096 interface.
Further, under the heading and navigation states, the heading system outputs heading angle, roll angle, pitch angle, triaxial angular rate, triaxial acceleration, instantaneous position and speed parameters.
Furthermore, the attitude and heading reference component mainly comprises a gyroscope, an accelerometer, a mainboard, an interface board, a quantization board and a power supply module;
and a satellite navigation receiver is embedded in the interface board.
Furthermore, a gyroscope and an accelerometer measure the motion angular rate and the acceleration of the trainer in real time, and the course angle, the pitch angle and the roll angle information of the airplane are solved in real time after error compensation.
Furthermore, the main board realizes gyroscope, accelerometer, power supply detection, data processing, alignment, attitude calculation, integrated navigation calculation and external interface data processing.
Furthermore, an RS422 communication interface in the interface board is crosslinked with the inertial navigation system to receive position, speed and course attitude information sent by the inertial navigation system, an HB6096 communication interface in the interface board is crosslinked with the display equipment, and when the inertial navigation system fails, the HB6096 communication interface serves as a backup navigation system to output navigation information such as attitude information, position, speed and the like of the airplane to the display equipment;
the position sent by the inertial navigation system is initial longitude, initial latitude and initial altitude
The satellite navigation receiver board receives the radio frequency signal of the satellite antenna through the SMA interface in the interface board, corrects and improves course and attitude precision, measures the real-time position and speed of the carrier, and realizes the function of combined navigation.
Further, the quantization plate performs quantization processing and detection power conditioning on the acceleration signal; the analog output signal of the accelerometer is converted into a digital signal so as to meet the digital requirements of attitude and navigation solution on the accelerometer.
Furthermore, the power module component provides input power conversion and power characteristics and electromagnetic interference processing of the inlet power supply, and the power module provides a secondary power supply required by work for the attitude and heading component.
The invention has the beneficial effects that:
the attitude and heading system disclosed by the invention is aligned by receiving the initial heading of the inertial navigation system, and corrected by the satellite antenna, so that the heading precision is improved. The magnetic sensor is cancelled, no special requirement is required for the installation position, and the error correction is not needed after the installation. Reliable use and convenient operation.
Drawings
FIG. 1 is an external cross-linked view of the attitude and heading reference assembly of the present invention;
FIG. 2 is a functional schematic diagram of the attitude and heading reference assembly of the present invention;
FIG. 3 is a schematic diagram of an attitude and heading reference system of the present invention;
FIG. 4 is a schematic view of the attitude and heading reference assembly of the present invention;
FIG. 1, interface board; 2. a main board; 3. a quantization plate; 4. a power supply module; 5. an accelerometer; 6. a spinning top.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A method for improving course precision of a trainer heading and attitude system is provided, wherein the heading and attitude system of the method comprises a heading and attitude component and a satellite antenna; the satellite antenna and the inertial navigation system share one satellite antenna through the power divider;
the attitude and heading reference component enters a preparation state after being electrified and initialized, and enters an alignment state when alignment data sent by an onboard inertial navigation system is received through an RS422 bus; after receiving the data of the onboard inertial navigation system for 180s, finishing alignment and turning into a navigation attitude and a navigation state; in the navigation attitude and navigation states, when satellite data is valid, the satellite works in an inertia and satellite navigation mode, and when satellite signals are invalid, the satellite works in a pure inertia mode;
after the alignment of the trainer is finished, the trainer enters a navigation attitude and a navigation state, the attitude is updated by using a rotation vector method according to the output of the gyroscope and the accelerometer, the attitude quaternion is updated by calculating the attitude change quaternion, so that an attitude matrix is updated, finally, the course angle, the pitch angle and the roll angle of the trainer are solved according to the relationship between the attitude matrix and the attitude angle, and the calculated course angle, the pitch angle and the roll angle are output to display equipment through an HB6096 interface;
when the satellite signals are effective, the trainer works in an inertia and satellite navigation mode, real-time estimation of attitude and heading errors and zero offset of a gyroscope and an accelerometer is carried out through Kalman filtering fused with satellite data, the heading and the attitude of the trainer are continuously corrected, and the trainer works in a high-precision state; when the satellite signal is invalid, the product is switched to a navigation attitude state;
when the training plane works in the attitude state, correcting the attitude precision of the product by applying an adding and leveling algorithm; and when the navigation attitude state is reached, if the satellite data is effective, the combined navigation state is automatically returned.
Furthermore, under the heading and navigation states, the heading system continuously updates heading, attitude, position and speed parameters according to the angular rate of the fiber-optic gyroscope and the specific force output of the accelerometer.
Further, in the attitude heading state, the attitude heading system outputs heading angle, roll angle, pitch angle, triaxial angular rate and triaxial acceleration data to the outside through an HB6096 interface.
Further, under the heading and navigation states, the heading system outputs heading angle, roll angle, pitch angle, triaxial angular rate, triaxial acceleration, instantaneous position and speed parameters.
Further, the attitude and heading reference assembly mainly comprises a gyroscope 6, an accelerometer 5, a mainboard 2, an interface board 1, a quantization board 3 and a power module 4;
a satellite navigation receiver is embedded in the interface board 1.
Further, the gyroscope 6 and the accelerometer 5 measure the motion angular rate and the acceleration of the trainer in real time, and the course angle, the pitch angle and the roll angle information of the airplane are solved in real time after error compensation.
Further, the main board 2 realizes gyroscope, accelerometer, power supply detection, data processing, alignment, attitude calculation, integrated navigation calculation and external interface data processing.
Furthermore, an RS422 communication interface in the interface board 1 is crosslinked with the inertial navigation system to receive position, speed and course attitude information sent by the inertial navigation system, an HB6096 communication interface in the interface board 1 is crosslinked with the display device, and when the inertial navigation system fails, the HB6096 communication interface serves as a backup navigation system to output navigation information such as attitude information, position, speed and the like of the airplane to the display device;
the position sent by the inertial navigation system is initial longitude, initial latitude and initial altitude
The satellite navigation receiver board receives the radio frequency signal of the satellite antenna through the SMA interface in the interface board 1, corrects and improves the course and the attitude precision, measures the real-time position and the speed of the carrier, and realizes the combined navigation function.
Further, the quantization plate 3 performs quantization processing and detection power conditioning on the acceleration signal; the analog output signal of the accelerometer is converted into a digital signal so as to meet the digital requirements of attitude and navigation solution on the accelerometer.
Further, the power module 4 component provides input power conversion and power characteristics and electromagnetic interference processing of the inlet power supply, and the power module 4 provides a secondary power supply required by work for the attitude and heading component.
Finally, it should be noted that the above-mentioned contents are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, and that the simple modifications or equivalent substitutions of the technical solutions of the present invention by those of ordinary skill in the art can be made without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A method for improving course accuracy of a trainer heading and attitude system is characterized by comprising the following steps:
the attitude and heading reference system of the method comprises an attitude and heading reference assembly and a satellite antenna; the satellite antenna and the inertial navigation system share one satellite antenna through the power divider;
the attitude and heading reference component enters a preparation state after being electrified and initialized, and enters an alignment state when alignment data sent by an onboard inertial navigation system is received through an RS422 bus; after receiving the data of the onboard inertial navigation system, finishing alignment and turning into a navigation attitude and a navigation state; in the navigation attitude and navigation states, when satellite data is valid, the satellite works in an inertia and satellite navigation mode, and when satellite signals are invalid, the satellite works in a pure inertia mode;
after the alignment of the trainer is finished, the trainer enters a navigation attitude and a navigation state, the attitude is updated by using a rotation vector method according to the output of the gyroscope and the accelerometer, the attitude quaternion is updated by calculating the attitude change quaternion, so that an attitude matrix is updated, finally, the course angle, the pitch angle and the roll angle of the trainer are solved according to the relationship between the attitude matrix and the attitude angle, and the calculated course angle, the pitch angle and the roll angle are output to display equipment through an HB6096 interface;
when the satellite signals are effective, the trainer works in an inertia and satellite navigation mode, real-time estimation of attitude and heading errors and zero offset of a gyroscope and an accelerometer is carried out through Kalman filtering fused with satellite data, the heading and the attitude of the trainer are continuously corrected, and the trainer works in a high-precision state; when the satellite signal is invalid, the product is switched to a navigation attitude state;
when the training plane works in the attitude state, correcting the attitude precision of the product by applying an adding and leveling algorithm; and when the navigation attitude state is reached, if the satellite data is effective, the combined navigation state is automatically returned.
2. The heading accuracy method for a trainer heading and attitude system according to claim 1, wherein: under the states of heading and navigation, the heading system continuously updates heading, attitude, position and speed parameters according to the angular rate of the fiber-optic gyroscope and the specific force output of the accelerometer.
3. The heading accuracy method for a trainer heading and attitude system according to claim 1, wherein: in the attitude heading state, the attitude heading system outputs heading angle, roll angle, pitch angle, triaxial angular rate and triaxial acceleration data to the outside through an HB6096 interface.
4. The heading accuracy method for a trainer heading and attitude system according to claim 1, wherein: under the heading and navigation states, the heading system outputs heading angle, roll angle, pitch angle, triaxial angular rate, triaxial acceleration, instantaneous position and speed parameters.
5. The heading accuracy method for a trainer heading and attitude system according to claim 1, wherein: the attitude and heading reference component mainly comprises a gyroscope (6), an accelerometer (5), a mainboard (2), an interface board (1), a quantization board (3) and a power module (4);
and a satellite navigation receiver is embedded in the interface board (1).
6. The heading accuracy method for a trainer heading reference system according to claim 5, wherein: the gyroscope (6) and the accelerometer (5) measure the motion angular rate and the acceleration of the trainer in real time, and the course angle, the pitch angle and the roll angle information of the airplane are solved in real time after error compensation.
7. The heading accuracy method for a trainer heading reference system according to claim 5, wherein: the main board (2) realizes gyroscope, accelerometer, power detection, data processing, alignment, attitude calculation, integrated navigation calculation and external interface data processing.
8. The heading accuracy method for a trainer heading reference system according to claim 5, wherein: an RS422 communication interface in the interface board (1) is crosslinked with an inertial navigation system to receive position, speed and course attitude information sent by the inertial navigation system, an HB6096 communication interface in the interface board (1) is crosslinked with display equipment, and when the inertial navigation system fails, the HB6096 communication interface serves as a backup navigation system to output navigation information such as attitude information, position, speed and the like of an airplane to the display equipment;
the position sent by the inertial navigation system is initial longitude, initial latitude and initial altitude
The satellite navigation receiver board receives the radio frequency signal of the satellite antenna through an SMA interface in the interface board (1), corrects and improves course and attitude precision, measures the real-time position and speed of the carrier, and realizes the function of combined navigation.
9. The heading accuracy method for a trainer heading reference system according to claim 5, wherein: the quantization plate (3) performs quantization processing and detection power conditioning on the acceleration signal; the analog output signal of the accelerometer is converted into a digital signal so as to meet the digital requirements of attitude and navigation solution on the accelerometer.
10. The heading accuracy method for a trainer heading reference system according to claim 5, wherein: the power module (4) component provides input power conversion and power characteristics and electromagnetic interference processing of the inlet power supply, and the power module (4) provides a secondary power supply required by work for the attitude and heading component.
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| CN115149994A (en) * | 2022-05-10 | 2022-10-04 | 深圳市飞思通信技术有限公司 | Satellite tracking method and communication-in-motion equipment |
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Application publication date: 20210108 |