CN103257348B - Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof - Google Patents
Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof Download PDFInfo
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Abstract
The invention discloses a measurement system of a relative altitude and a relative attitude of an air vehicle and a measurement method thereof. Four ultrasonic ranging modules are installed at different positions of the air vehicle, ultrasonic wave emitting and receiving of the ultrasonic ranging modules are controlled through an MPU, ultrasonic wave transmission time is calculated, pressure parameters, temperature parameters and humidity parameters of atmosphere are collected so that the transmission speed of the ultrasonic waves can be compensated, meanwhile by means of a range error compensation module, range errors of an ultrasonic ranging sensor are compensated, relative height data of the air vehicle and the ground are measured, a relative height calculation model and a relative attitude calculation model are built, and the precise relative height between the centers of wings of the air vehicle and a landing runway plane and attitude angle information of an ultrasonic installation plane relative to the runway plane are calculated. The measurement system and the measurement method improve precision and stability of measurement of the relative height and the relative attitude during landing of the air vehicle.
Description
Technical field
The invention belongs to aircraft range finding field, is more particularly measuring system and the method for a kind of aircraft relative height and relative attitude.
Background technology
Aircraft needs airborne sensor system to provide and the accurate relative height of runway interplanar and relative attitude angle information at landing phases, traditional relative height measurement mechanism uses single relative height sensor (laser ranging, baroceptor, GPS etc.), because these sensors are only arranged on a position of aircraft, there is certain coupling error in such relative height measured by relative height measuring system and the installation site of sensor and attitude of flight vehicle, is difficult to provide accurate relative altitude information, on the other hand, traditional aircraft attitude measurement system (pure-inertial guidance system, aviation attitude system, integrated navigation system etc.), form primarily of inertial navigation system or satellite navigation system, these system architectures are complicated, cost is high, volume power consumption is all larger, range of application is limited, and the attitude measurement system of above-mentioned use MEMS inertial sensor formation or micro-inertia/satellite combined guidance system, the attitude angle information provided is attitude information that is relative and Department of Geography, its attitude accuracy is subject to satellite receiver time delay, micro air vehicle acceleration action, be difficult to ensure the requirement to relative attitude angular measurement precision and reliability of aircraft landing phases, especially when plane of landing exists oblique angle, these systems all directly cannot obtain the relative attitude angle with runway plane.
Because micro air vehicle needs to carry out slowing down to reduce the speed of aircraft relative to runway during landing, therefore, general in the process exist larger deceleration acceleration, is not suitable for using the MEMS inertial sensor of low cost directly to measure attitude of carrier.And when minute vehicle landing is close to runway, its height apart from ground is relatively low, general at about 5m, along with the reduction gradually of height, its measuring accuracy to relative height, relative attitude requires also more and more higher, find after deliberation, the relative distance of about 5m is applicable to utilizing ultrasonic distance measuring module to record its relative height very much.
Summary of the invention
The technical matters that the present invention solves is measuring system and the measuring method thereof of a kind of aircraft relative height and relative attitude, when this system and method is mainly used in minute vehicle landing close to runway, its height apart from ground is relatively low, general at about 5m, when needing accurate relative height and relative attitude.
For solving the problems of the technologies described above, the measuring system of a kind of aircraft relative height of the present invention and relative attitude, comprise ultrasonic distance measuring module, microprocessor, temperature sensor, humidity sensor and baroceptor, described ultrasonic distance measuring module, temperature sensor, humidity sensor, baroceptor are connected with microprocessor respectively; Microprocessor S3C44B0X ultrasonic distance measuring module is outwards launched ultrasound wave and is received corresponding echo, and the Current Temperatures collected, humidity and pressure information are sent to microprocessor and process by simultaneous temperature sensor, humidity sensor and baroceptor.
Further, in the measuring system of aircraft relative height of the present invention and relative attitude, described ultrasonic distance measuring module is ultrasonic sensor, and its quantity is four, is arranged at the head of aircraft, tail, port wing end and starboard wing end respectively.
Further, in the measuring system of aircraft relative height of the present invention and relative attitude, described temperature sensor, humidity sensor, baroceptor are connected with microprocessor by I2C interface.
The present invention simultaneously also proposes a kind of measuring method based on above-mentioned measuring system, comprises the following steps:
Step 1, transmitting and receiving by Microprocessor S3C44B0X ultrasonic distance measuring module, and calculate ultrasound wave from the time interval Δ t being transmitted into reception
n=t
n k+1-t
n k, wherein, n=1,2,3,4; t
n kfor the launch time of ultrasonic distance measuring module; t
n k+1for receiving the time of echo;
Step 2, temperature sensor, humidity sensor, baroceptor is utilized to measure current atmospheric temperature T respectively
k, its unit is degree Celsius; Current air humidity H
k, its unit is number percent; Current air pressure value P
k, its unit is handkerchief;
Step 3, utilize in step 2 obtain current air pressure value P
k, current atmospheric temperature T
kwith current air humidity H
khyperacoustic transmission speed is compensated, obtains accurate ultrasonic transmission speed V
c, be specially:
Wherein, V
0=331.45m/s, T
0=25 DEG C;
Step 4, utilize four ultrasonic distance measuring modules to sample respectively, and utilize the distance of error compensation to current time ultrasonic distance measuring module and ground to compensate to obtain accurate measuring distance
its unit is rice:
Wherein,
for the distance on current time ultrasonic distance measuring module and ground, n=1,2,3,4, its unit is rice; d
biasfor range finding constant value offset error, d
pfor range finding scale-up factor; Δ t
biasfor the constant time lag error of interrupting or instruction response is introduced; Δ t
pfor the time scale factor error that MPU clock crystal oscillator deviation or frequency division error are introduced;
Step 5, symmetry according to wing, utilize the accurate measuring distance on the ultrasonic distance measuring module after compensating in step 4 and ground
under Wings mid point, the height on ventral distance ground is
unit is rice;
be respectively the accurate measuring distance of ultrasonic distance measuring module D to ground being positioned at aircraft starboard wing end after the ultrasonic distance measuring module C being positioned at aircraft port wing end after error compensation to the accurate measuring distance and error compensation on ground;
Step 6, determine the angle of pitch
its unit is degree, and roll angle is
its unit is degree,
be respectively the accurate measuring distance of ultrasonic distance measuring module B to ground being positioned at aircraft tail after the accurate measuring distance of ultrasonic distance measuring module A to ground being positioned at aircraft head after error compensation, error compensation; L
1for the distance between head and tail, L
2for the distance between the wing of left and right.
Further, in the measuring method of aircraft relative height of the present invention and relative attitude, further comprising the steps of, according to the height d on ventral distance ground under last wing mid point
mselect the triggering sample mode of this ultrasonic distance measuring module, be specially:
Utilize
obtain measuring height separation height value d
max, wherein l is most short lines distance between any two in ultrasonic distance measuring module A to ultrasonic distance measuring module D; Judge the height d on ventral distance ground under wing mid point
mwith measuring height separation height value d
maxsize; Work as d
m<d
maxtime, multiple ultrasonic distance measuring module triggers simultaneously and samples, and now effectively improves the sampling rate in aircraft landing front kiss the earth stage, thus improves the dynamic measurement precision of attitude angle; Work as d
m>=d
maxtime, for avoiding the crosstalk between each ultrasonic wave module, adopt the method that timesharing triggers, by circulation triggering mode, triggering sampling is carried out to ultrasonic distance measuring module, improve precision and the stability of range finding.
The present invention compared with prior art has following significant progress: (1) the present invention has taken into full account the impact by atmospheric pressure, temperature, humidity change in ultrasonic propagation process, establish corresponding error model, have modified the ultrasonic propagation velocity under varying environment, reduce the impact of environmental parameter change on the measuring accuracy of ultrasonic distance-measuring sensor; (2) time error that the present invention is based in MPU data acquisition and procession process introduces principle, analyze the constant value offset error and errors of proportional factor that exist in ultrasonic ranging process, establish range error compensation model, range error is compensated, reduces processor interrupt processing time delay and timer clock correction to the impact of range measurement; (3) the present invention proposes a point distance segment/time data acquisition method, avoid cross-interference issue when many ultrasonic wave module work simultaneously, when distance ground is higher by the ranging information of many ultrasonic wave module, improve relative height measuring accuracy, when close to ground, by while sample mode, improve attitude measurement frequency, improve relative attitude angle dynamic measurement precision, relative to traditional measuring method, reduce crosstalk error, improve the dynamic of elevation carrection precision and attitude measurement; (4) on this basis, the invention allows for a kind of new relative attitude and measure thought, direct calculating can obtain carrier relative to the relative height of runway and relative attitude, inertia, satellite attitude measurement method is obtained relative to traditional image, there is measuring accuracy high, dynamic adaptable is not well by the impact of carrier acceleration of motion, and cost is low, structure and the advantage such as calculating is simple.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail;
Accompanying drawing explanation
Fig. 1 ultrasonic distance measuring module of the present invention scheme of installation aboard;
Fig. 2 signal wiring schematic diagram of the present invention;
The signal flow graph of Fig. 3 the present invention many ultrasonic distance measuring modules relative height and relative attitude defining method;
The relative height measuring accuracy comparison diagram that Fig. 4 (a) is the present invention and high precision laser range finder;
The relative height Curve of the Measuring Error figure that Fig. 4 (b) is the present invention and high precision laser range finder;
The measurement comparison diagram that Fig. 5 (a) is the present invention and the high precision aviation attitude system angle of pitch;
The Curve of the Measuring Error figure that Fig. 5 (b) is the present invention and the high precision aviation attitude system angle of pitch;
The measurement comparison diagram that Fig. 6 (a) is the present invention and high precision aviation attitude system roll angle;
The Curve of the Measuring Error figure that Fig. 6 (b) is the present invention and high precision aviation attitude system roll angle;
Embodiment
As shown in Figure 1 and Figure 2, the measuring system of a kind of aircraft relative height of the present invention and relative attitude, comprise ultrasonic distance measuring module, microprocessor, temperature sensor, humidity sensor and baroceptor, described ultrasonic distance measuring module, temperature sensor, humidity sensor, baroceptor are connected with microprocessor respectively; Microprocessor S3C44B0X ultrasonic distance measuring module is outwards launched ultrasound wave and is received corresponding echo, and the Current Temperatures collected, humidity and pressure information are sent to microprocessor and process by simultaneous temperature sensor, humidity sensor and baroceptor; Described ultrasonic distance measuring module is ultrasonic sensor, and its quantity is four, is arranged at the head of aircraft, tail, port wing end and starboard wing end respectively; Described temperature sensor, humidity sensor, baroceptor are connected with microprocessor by I2C interface.
As shown in Figure 1, Figure 3, the measuring method of a kind of aircraft relative height and relative attitude, comprises the following steps:
Step 1, transmitting and receiving by Microprocessor S3C44B0X ultrasonic distance measuring module, and calculate ultrasound wave from the time interval Δ t being transmitted into reception
n=t
n k+1-t
n k, wherein, n=1,2,3,4; t
n kfor the launch time of ultrasonic distance measuring module; t
n k+1for receiving the time of echo;
Step 2, temperature sensor, humidity sensor, baroceptor is utilized to measure current atmospheric temperature T respectively
k, its unit is degree Celsius; Current air humidity H
k, its unit is number percent; Current air pressure value P
k, its unit is handkerchief;
Step 3, utilize in step 2 obtain current air pressure value P
k, current atmospheric temperature T
kwith current air humidity H
khyperacoustic transmission speed is compensated, obtains accurate ultrasonic transmission speed V
c, be specially:
Wherein, V
0=331.45m/s, T
0=25 DEG C;
Step 4, utilize the distance of error compensation to the ultrasonic distance measuring module measured and ground to compensate to obtain accurate measuring distance
its unit is rice:
Microprocessor S3C44B0X ultrasonic wave module radiating circuit is employed in multiplex ultrasonic data acquisition system (DAS), and utilize microprocessor internal timer to calculate the time interval Δ t receiving echo and launch between ultrasound wave, known by analysis, there is the constant time lag error delta t of interruption or instruction response introducing in this time interval
bias, and the time scale factor error delta t introduced due to microprocessor (MPU) clock crystal oscillator deviation or frequency division error
p, therefore, time interval true value
with time interval Δ t
nbetween there is relation:
again from ultrasonic ranging principle
for the distance on current time ultrasonic wave module and ground, unit is rice, will
Be brought into
obtain
Merging above formula is carried out to continuous item and can be write as distance expression-form:
d
biasfor range finding constant value offset error, d
pfor range finding scale-up factor; By the first-order error model set up
required error compensation parameter d can be obtained through least square fitting
biasand d
p, wherein n=1,2,3,4, its concrete derivation can with reference to " recording in " matlab function quick checking handbook " that Shi Feng, Deng Sen, Chen Bing, the superfine people of king write the 283rd page " in detail;
Step 5, according to the ultrasonic distance measuring module after compensating in step 4 and the accurate measuring distance on ground
due to the symmetry of wing, under Wings mid point, the height on ventral distance ground is
unit is rice, and the angle of pitch is
its unit is degree, and roll angle is
its unit is degree,
be respectively the accurate measuring distance of ultrasonic distance measuring module A to ground being positioned at aircraft head after error compensation, be positioned at the accurate measuring distance of ultrasonic distance measuring module B to ground of aircraft tail, be positioned at the ultrasonic distance measuring module C of aircraft port wing end to the accurate measuring distance on ground be positioned at the accurate measuring distance of aircraft starboard wing end ultrasonic distance measuring module D to ground; L
1for the distance between head and tail, L
2for the distance between the wing of left and right.
In order to improve sampling rate, the present invention adopts point distance segment/timesharing two kinds of modes to carry out data acquisition, is specially: according to the height d on ventral distance ground under last wing mid point
mselect the triggering sample mode of this ultrasonic distance measuring module, utilize
calculate measuring height separation height value d
max, wherein l is most short lines distance between any two in ultrasonic distance measuring module A to ultrasonic distance measuring module D; Work as d
m<d
maxtime, multiple ultrasonic distance measuring module can trigger simultaneously and sample, and now effectively can improve the sampling rate in aircraft landing front kiss the earth stage, thus improve the dynamic measurement precision of attitude angle; Work as d
m>=d
maxtime, for avoiding the crosstalk between each ultrasonic wave module, adopt the method that timesharing triggers, by circulation triggering mode (A → B → C → D → A), triggering sampling is carried out to ultrasonic distance measuring module, improve precision and the stability of range finding.
In the above-mentioned methods, the mode for sampling can adopt the common order by ultrasonic distance measuring module to carry out sampling point distance segment/timesharing two kinds of modes in step 5 also can be adopted to carry out data acquisition; The sample mode in step 5 is adopted to be optimum, avoid cross-interference issue when many ultrasonic wave module work simultaneously, when distance ground is higher by the ranging information of many ultrasonic wave module, improve relative height measuring accuracy, when close to ground, by while sample mode, improve attitude measurement frequency, improve relative attitude angle dynamic measurement precision, relative to traditional measuring method, reduce crosstalk error, improve the dynamic of elevation carrection precision and attitude measurement.
Multiple ultrasonic wave module is directly separately fixed at the head of aircraft, tail, port wing end, starboard wing end four positions by many ultrasound waves relative height and relative attitude measurement mechanism, control each ultrasonic wave module by MPU outwards launch ultrasound wave and receive corresponding echo, calculate each ultrasonic distance measuring module and send ultrasound wave to the time interval receiving echo.I2C interface is utilized to gather current gas pressure, temperature, the humidity information of air, application sound velocity error compensation model, calculate the acoustic wave propagation velocity under current gas pressure, temperature, humidity environment, recycling ultrasonic ranging principle calculates the ultrasonic propagation distance recorded, analyze according to MPU time determination error again, set up ultrasonic ranging error model, compensate and record ultrasonic distance, obtain accurate ultrasonic ranging value.On this basis, consider the existence of ultrasound waves beam angle, cross-interference issue when easily causing many ultrasonic wave module simultaneously to find range, the present invention is according to the bee-line between ultrasonic wave module installation site, calculate and survey high separation height value, by the judgement to height, the form adopting time sharing sampling circulation to trigger range finding successively when being highly greater than cut off value respectively avoids the echo cross-interference issue between different ultrasonic wave module, improve relative height measuring accuracy, at height lower than adopting sampled form simultaneously during division altitude value, improve the dynamic accuracy of sampling rate and attitude measurement.After stable, the accurate height value that each ultrasonic wave module of acquisition records, utilize relative height, relative attitude computing method, calculate relative height and the relative attitude information on aircraft distance ground.
Embodiment
In measuring system of the present invention, the distance L between head and tail
1distance L between=1.2m, left and right wing
2=2m, the ultrasonic sensor field angle adopted is 15 °, and measuring distance scope is 5 ~ 500cm.
The contrast experiment of room and high precision laser range finder and aviation attitude system by experiment, demonstrates the method for measuring carrier relative to the height on ground and the feasibility of attitude and superiority.Fig. 4 (a), Fig. 4 (b) are depicted as the relative height measuring accuracy contrast experiment of the present invention and high precision laser range finder, demonstrate and are carrying out ultrasonic propagation velocity correction, and the precision of ultrasonic ranging after ultrasonic ranging error model compensates is better than 0.5cm; The angle of pitch that Fig. 5 (a), Fig. 5 (b) record under being depicted as manual swing situation and aviation attitude system record angle of pitch correlation curve, and as can be seen from Figure, pitch angle measurement precision of the present invention is better than 1 °; The roll angle that Fig. 6 (a), Fig. 6 (b) record under being depicted as manual swing situation and aviation attitude system record roll angle correlation curve, and as seen from the figure, roll angle measuring accuracy of the present invention is better than 1.5 °.
Claims (2)
1. the measuring method of an aircraft relative height and relative attitude, the method based on aircraft relative height and the measuring system of relative attitude comprise ultrasonic distance measuring module, microprocessor, temperature sensor, humidity sensor and baroceptor, described ultrasonic distance measuring module, temperature sensor, humidity sensor, baroceptor are connected with microprocessor respectively; Microprocessor S3C44B0X ultrasonic distance measuring module is outwards launched ultrasound wave and is received corresponding echo, the Current Temperatures collected, humidity and pressure information are sent to microprocessor and process by simultaneous temperature sensor, humidity sensor and baroceptor, described ultrasonic distance measuring module is ultrasonic sensor, its quantity is four, be arranged at the head of aircraft, tail, port wing end and starboard wing end respectively, it is characterized in that, specifically comprise the following steps:
Step 1, transmitting and receiving by Microprocessor S3C44B0X ultrasonic distance measuring module, and calculate ultrasound wave from the time interval Δ t being transmitted into reception
n=t
n k+1-t
n k, wherein, n=1,2,3,4; t
n kfor the launch time of ultrasonic distance measuring module; t
n k+1for receiving the time of echo;
Step 2, temperature sensor, humidity sensor, baroceptor is utilized to measure current atmospheric temperature T respectively
k, its unit is degree Celsius; Current air humidity H
k, its unit is number percent; Current air pressure value P
k, its unit is handkerchief;
Step 3, utilize in step 2 obtain current air pressure value P
k, current atmospheric temperature T
kwith current air humidity H
khyperacoustic transmission speed is compensated, obtains accurate ultrasonic transmission speed V
c, be specially:
Wherein, V
0=331.45m/s, T
0=25 DEG C;
Step 4, utilize four ultrasonic distance measuring modules to sample respectively, and utilize the distance of error compensation to current time ultrasonic distance measuring module and ground to compensate to obtain accurate measuring distance
its unit is rice:
Wherein,
for the distance on current time ultrasonic distance measuring module and ground, n=1,2,3,4, its unit is rice; d
biasfor range finding constant value offset error, d
pfor range finding scale-up factor; Δ t
biasfor the constant time lag error of interrupting or instruction response is introduced; Δ t
pfor the time scale factor error coefficient that MPU clock crystal oscillator deviation or frequency division error are introduced;
Step 5, symmetry according to wing, utilize the accurate measuring distance on the ultrasonic distance measuring module after compensating in step 4 and ground
under Wings mid point, the height on ventral distance ground is
unit is rice;
be respectively the accurate measuring distance of ultrasonic distance measuring module to ground being positioned at aircraft starboard wing end after the ultrasonic distance measuring module being positioned at aircraft port wing end after error compensation to the accurate measuring distance and error compensation on ground;
Step 6, determine the angle of pitch
its unit is degree, and roll angle is
its unit is degree,
be respectively the accurate measuring distance of the ultrasonic distance measuring module being positioned at aircraft tail after the ultrasonic distance measuring module being positioned at aircraft head after error compensation to the accurate measuring distance, error compensation on ground to ground; L
1for the distance between head and tail, L
2for the distance between the wing of left and right.
2. the measuring method of aircraft relative height and relative attitude according to claim 1, is characterized in that, further comprising the steps of, according to the height d on ventral distance ground under last wing mid point
mselect the triggering sample mode of this ultrasonic distance measuring module, be specially:
Utilize
obtain measuring height separation height value d
max, wherein l is most short lines distance between any two in four ultrasonic distance measuring modules; Judge the height d on ventral distance ground under wing mid point
mwith measuring height separation height value d
maxsize; Work as d
m<d
maxtime, multiple ultrasonic distance measuring module triggers simultaneously and samples, and now effectively improves the sampling rate in aircraft landing front kiss the earth stage, thus improves the dynamic measurement precision of attitude angle; Work as d
m>=d
maxtime, for avoiding the crosstalk between each ultrasonic wave module, adopt the method that timesharing triggers, by circulation triggering mode, triggering sampling is carried out to ultrasonic distance measuring module, improve precision and the stability of range finding.
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| DE19644122C1 (en) * | 1996-10-23 | 1998-01-15 | Siemens Ag | Speed measuring apparatus especially for measuring speed of moving patient beds in medicine technology |
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| CN102156285A (en) * | 2011-03-16 | 2011-08-17 | 杭州华韵天略电子科技有限公司 | Method and system for performing three-dimensional location by ultrasonic waves |
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