CA2605709C - Redundant system for the indication of heading and attitude in an aircraft - Google Patents
Redundant system for the indication of heading and attitude in an aircraft Download PDFInfo
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Abstract
A method and an arrangement for synthetically calculating redundant attitude and redundant heading by means of existing data in an aircraft. In one embodiment the heading of the aircraft is available and in another embodiment the heading is calculated from a magnetic heading sensor. When the heading is available (redundant heading) attitude is calculated by weighting together the signals from and angular rate gyros (2) in the aircraft's flight control system, information from air data (altitude, speed, angle of attack) as well as information about heading (redundant heading). When the heading is not available, attitude and heading are calculated in one embodiment with the aid of Kalman filters (11, 22) by weighting together the signals from the angular rate gyros in the aircraft's control system, information from air data (altitude, speed, angle of attack and sideslip angle) as well as information from a magnetic heading detector existing in the aircraft.
Description
REDUNDANT SYSTEM FOR THE INDICATION OF HEADING AND ATTITUDE
IN AN AIRCRAFT
This is a divisional application of Canadian Patent Application Serial No.
IN AN AIRCRAFT
This is a divisional application of Canadian Patent Application Serial No.
2,358,557 filed on January 12, 2000.
TECHNICAL FIELD
The invention relates to a system function which provides display of heading and attitude on displays in an aircraft, for example a head-up display (HUD), in the event of failures in certain equipment for normal attitude display. The system function, which in English is called Attitude and Heading Reference System and is abbreviated AHRS with reference to its initials, supplements the aircraft's normal display for heading and attitude.
This display is intended to help the pilot to recover from difficult attitudes and then facilitate return to base/landing. It should be understood that the expression "the invention" and the like encompasses the subject matter of both the parent and the divisional applications.
PRIOR ART
In order not to lose attitude and heading display in an aircraft in the event of failure of a normally-used inertial navigation system (INS) a redundant system is required.
In good visibility a pilot can fly by using the horizon as an attitude reference, but with great uncertainty as to the heading. In bad weather, in cloud and at night when the horizon is not visible, the pilot can easily become disoriented and thereby place the aircraft and him/herself in hazardous situations.
AHRS systems calculate, independently of normal systems, attitude angles (pitch and roll) and heading. Such a system continuously displays the position to the pilot on a display in the cockpit. The need for a redundant system for attitude may be so great that an aircraft is not permitted to fly without one.
Redundant systems in the form of an AHRS unit are available today. Such a unit contains among other things gyros which measure aircraft angle changes in pitch, roll and yaw. It also contains accelerometers and magnetic sensor. The accelerometers are used to establish a horizontal plane. The magnetic sensors are used to obtain a magnetic north end. This type of AHRS system in the form of hardware is costly and involves the installation of heavy, bulky equipment on the aircraft. To overcome this there is proposed in this description a synthetic la AHRS which uses sensors existing in the aircraft, which are not normally intended for AHRS
calculation and which therefore partly have significantly lower performance, instead of sensors of the type included in an AHRS unit.
The angles are calculated with the aid of existing sensors in the aircraft.
The aim is to use existing angular rate gyro signals and support these with calculations based on other available primary data in the aircraft. Angular rate gyros are normally used in control systems and generally have substantially greater drift than gyros for navigation.
DESCRIPTION OF THE IlWENTION
According to one aspect of the invention, a method is provided for synthetically calculating redundant attitude and redundant heading by means of data existing in an aircraft.
More specifically, the present invention provides a method for synthetically calculating redundant attitude for an aircraft when the heading of the aircraft is known, with the aid of data existing in the aircraft, such as the angular rates p, q, r around the x-, y- and z-coordinates of an aircraft-fixed (body frame) coordinate system, air data information in the form of speed, altitude and angle of attack as well as heading information, characterised in that the method includes the steps:
- attitude is calculated on the basis of the aircraft-fixed angular rates p, q, r and - the calculated attitude is corrected by means of air data and heading.
The present invention also provides a method for synthetically calculating redundant attitude and redundant heading for an aircraft with the aid of data existing in the aircraft, such as the angular rates p, q, r around the x-, y-, and z- coordinates of an aircraft-fixed (body frame) coordinate system, air data information in the form of speed, altitude and angle of attack, characterised in that the method includes the steps:
- attitude and heading are calculated on the basis of the body-frame angular rates p, q, r - the errors in the measured body-frame magnetic field vector components are estimated, - the measured body-frame field magnetic field vector is derived, - errors in calculated attitude and heading are estimated with the aid of air data and derived measured body-frame magnetic field vector components and - the calculated attitude and heading are corrected by means of estimated errors in attitude and heading.
The present invention also provides an arrangement for synthetically calculating redundant attitude for an aircraft when the aircraft's heading is known, with the aid of data existing in the aircraft such as the aircraft's body-frame angular rates (p, q and r), air data including at least speed, altitude and angle of attack as well as heading information, characterised in that the arrangement includes an integration routine to integrate out the aircraft's attitude from information about the aircraft's body-frame angular rates (p, q and r) as well as that the calculated attitude is corrected by means of reference attitude from air data and redundant heading.
The present invention also provides an arrangement for synthetically calculating redundant attitude and redundant heading for an aircraft with the aid of data existing in the aircraft such as measured body-frame field vector components, the aircraft's body-frame angular rates (p, q and r) as well as air data including at least speed, altitude and angle of attack, characterised in that the arrangement includes a first measurement routine which transforms the measured body-frame magnetic field vector components to the aircraft's navigation system (navigation frame), a first filter which estimates the errors in the calculated measured body-frame field vector components, an integration routine for integrating out the aircraft's attitude and heading from information about the aircraft's body-frame angular rates (p, q and r), a second filter for estimating the errors arising in attitude and heading obtained in the said integration and a second measurement routine for calculating attitude and heading from air data and derived measured body-frame magnetic field vector components.
Different forms of embodiment have been developed. In one embodiment the heading of the aircraft is available and in another embodiment the heading is calculated on the basis of a magnetic heading sensor. When the heading is available the calculations can be substantially reduced.
TECHNICAL FIELD
The invention relates to a system function which provides display of heading and attitude on displays in an aircraft, for example a head-up display (HUD), in the event of failures in certain equipment for normal attitude display. The system function, which in English is called Attitude and Heading Reference System and is abbreviated AHRS with reference to its initials, supplements the aircraft's normal display for heading and attitude.
This display is intended to help the pilot to recover from difficult attitudes and then facilitate return to base/landing. It should be understood that the expression "the invention" and the like encompasses the subject matter of both the parent and the divisional applications.
PRIOR ART
In order not to lose attitude and heading display in an aircraft in the event of failure of a normally-used inertial navigation system (INS) a redundant system is required.
In good visibility a pilot can fly by using the horizon as an attitude reference, but with great uncertainty as to the heading. In bad weather, in cloud and at night when the horizon is not visible, the pilot can easily become disoriented and thereby place the aircraft and him/herself in hazardous situations.
AHRS systems calculate, independently of normal systems, attitude angles (pitch and roll) and heading. Such a system continuously displays the position to the pilot on a display in the cockpit. The need for a redundant system for attitude may be so great that an aircraft is not permitted to fly without one.
Redundant systems in the form of an AHRS unit are available today. Such a unit contains among other things gyros which measure aircraft angle changes in pitch, roll and yaw. It also contains accelerometers and magnetic sensor. The accelerometers are used to establish a horizontal plane. The magnetic sensors are used to obtain a magnetic north end. This type of AHRS system in the form of hardware is costly and involves the installation of heavy, bulky equipment on the aircraft. To overcome this there is proposed in this description a synthetic la AHRS which uses sensors existing in the aircraft, which are not normally intended for AHRS
calculation and which therefore partly have significantly lower performance, instead of sensors of the type included in an AHRS unit.
The angles are calculated with the aid of existing sensors in the aircraft.
The aim is to use existing angular rate gyro signals and support these with calculations based on other available primary data in the aircraft. Angular rate gyros are normally used in control systems and generally have substantially greater drift than gyros for navigation.
DESCRIPTION OF THE IlWENTION
According to one aspect of the invention, a method is provided for synthetically calculating redundant attitude and redundant heading by means of data existing in an aircraft.
More specifically, the present invention provides a method for synthetically calculating redundant attitude for an aircraft when the heading of the aircraft is known, with the aid of data existing in the aircraft, such as the angular rates p, q, r around the x-, y- and z-coordinates of an aircraft-fixed (body frame) coordinate system, air data information in the form of speed, altitude and angle of attack as well as heading information, characterised in that the method includes the steps:
- attitude is calculated on the basis of the aircraft-fixed angular rates p, q, r and - the calculated attitude is corrected by means of air data and heading.
The present invention also provides a method for synthetically calculating redundant attitude and redundant heading for an aircraft with the aid of data existing in the aircraft, such as the angular rates p, q, r around the x-, y-, and z- coordinates of an aircraft-fixed (body frame) coordinate system, air data information in the form of speed, altitude and angle of attack, characterised in that the method includes the steps:
- attitude and heading are calculated on the basis of the body-frame angular rates p, q, r - the errors in the measured body-frame magnetic field vector components are estimated, - the measured body-frame field magnetic field vector is derived, - errors in calculated attitude and heading are estimated with the aid of air data and derived measured body-frame magnetic field vector components and - the calculated attitude and heading are corrected by means of estimated errors in attitude and heading.
The present invention also provides an arrangement for synthetically calculating redundant attitude for an aircraft when the aircraft's heading is known, with the aid of data existing in the aircraft such as the aircraft's body-frame angular rates (p, q and r), air data including at least speed, altitude and angle of attack as well as heading information, characterised in that the arrangement includes an integration routine to integrate out the aircraft's attitude from information about the aircraft's body-frame angular rates (p, q and r) as well as that the calculated attitude is corrected by means of reference attitude from air data and redundant heading.
The present invention also provides an arrangement for synthetically calculating redundant attitude and redundant heading for an aircraft with the aid of data existing in the aircraft such as measured body-frame field vector components, the aircraft's body-frame angular rates (p, q and r) as well as air data including at least speed, altitude and angle of attack, characterised in that the arrangement includes a first measurement routine which transforms the measured body-frame magnetic field vector components to the aircraft's navigation system (navigation frame), a first filter which estimates the errors in the calculated measured body-frame field vector components, an integration routine for integrating out the aircraft's attitude and heading from information about the aircraft's body-frame angular rates (p, q and r), a second filter for estimating the errors arising in attitude and heading obtained in the said integration and a second measurement routine for calculating attitude and heading from air data and derived measured body-frame magnetic field vector components.
Different forms of embodiment have been developed. In one embodiment the heading of the aircraft is available and in another embodiment the heading is calculated on the basis of a magnetic heading sensor. When the heading is available the calculations can be substantially reduced.
When the heading is available (redundant heading) attitude is calculated by weighting together the signals from the angular rate gyros in the flight control system of the aircraft, information from air data (altitude, speed, angle of attack) and information about heading (redundant heading).
When the heading is not available, attitude and heading are calculated according to one embodiment with the aid of l(alman filters by weighting together the signals from the angular rate gyros in the aircraft's control system, information from air data (altitude, speed, angle of attack and sideslip angle) as well as information from an existing magnetic heading detector in the aircraft.
One advantage of a synthetic AHRS according to the aspect of the invention is that it works out substantially cheaper than conventional AHRS system based on their own sensors if existing sensors in the aircraft can be used. This also saves space and weight in the aircraft.
DESCRIPTION OF FIGURES
Figure 1 shows a schematic diagram of an AHRS function in which the heading is available.
Figure 2 shows the principle for levelling of the attitude of the aircraft in a head-up display, to the left without levelling and to the right with levelling.
Figure 3 shows the block diagram of a redundant system for both attitude and heading.
Figure 4 shows in three pictures the attitude and heading of the aircraft and the axes in the body frame coordinate system, as well as the angle of attack and the sideslip angle.
Figure 5 shows how zero errors and scale factor errors impact the measured value.
3a DESCRIPTION OF EMBODIMENT
A number of embodiments are described below with the support of the figures.
According to the invention, methods are provided for synthetically calculating attitude and heading by means of data existing in the aircraft.
In a simpler embodiment, the heading of the aircraft is available. The heading information may be obtained from a heading gyro. Attitude may be integrated out via information about the body-frame angular rates (p, q and r) obtained from the aircraft-fixed angular rate gyros of the aircraft. Correction of the integrated-out attitude can take place with the aid of attitude calculated on the basis of air data information and heading information. In the arrangement of this embodiment, the heading information can be obtained from a heading gyro. The integration routine (8) can integrate out the aircraft's attitude from the aircraft's body-frame angular rates (p, q and r) obtained from the aircraft's body-frame angular rate gyros. The integration routine (8) can be fed with the zero-error-compensated body-frame angular rate gyro signals. A reference attitude can be calculated with air data information as well as redundant heading information. A
synthetically-generated corrected attitude can be obtained by generating a difference between the attitude obtained from the integration routine (8) and an error signal that represents the error between the integrated attitude and the reference attitude.
In another embodiment the heading is calculated, in this case on the basis of a magnetic heading sensor. Attitude and heading can be integrated out via information about the aircraft's body-frame angular rates (p, q and r) obtained from the aircraft's body-frame angular rate gyros. Estimation of errors in measured body-frame magnetic field vector components can be performed in a first filter (11). In a second filter (22) can be performed estimation of attitude errors and heading errors that arise on integration of the aircraft's body-frame angular rates (p, q and r) obtained from the aircraft's body-frame angular rate gyros, where the estimation can be done with the aid of attitude calculated from air data information as well as derived measured body-frame magnetic field vector components. The filtering can take place with the aid of Kalman filters. In the arrangement of this embodiment, the first measurement routine (10) can be fed with the measured body-frame magnetic field vector components, as well as attitude and heading 3b from the aircraft's normal navigation system and transforms the measured body-frame magnetic field vector components to the aircraft's navigation frame. The first filter (11) can be fed with information from the first measurement routine (10) and can estimate the errors in the measured body-frame magnetic field vector components. The integration routine (20) can integrate out the aircraft's attitude and heading from the aircraft's body-frame angular rates (p, q and r) obtained from the aircraft's body-frame angular rate gyros. The second measurement routine (21) can be fed with air data, the derived measured body-frame magnetic field vector components and with information about the aircraft's body-frame angular rates (p, q and r) and from these values can calculate an attitude and a heading. The second filter (22) can be fed with information from the second measurement routine (21) and can estimate the errors in attitude and heading as well as zero error in body-frame angular rate gyro signals and residual errors in the measured body-frame magnetic field vector components for generating an error signal.
A synthetically-generated corrected attitude and heading can be obtained by generating a difference between - the attitude obtained from the integration routine (20) and heading and - the error signal from the second filter (22). The integration routine (20) can be fed with body-frame angular rate gyro signals compensated for estimated zero errors.
The first filter (11) and/or the second filter (22) can consist of a Kalman filter.
Calculation of AHRS when the heading is known The signals from the three angular rate gyros 2 rigidly mounted on the body frame are used to determine the orientation of the aircraft relative to the reference coordinate system N
(navigation frame). The angular rate gyros 2 measure angular velocities around the three body-frame coordinate axes (x, y, z). The angular velocities are normally designated wX or p (rotation around the x-axis), cny or q (rotation around the y-axis) and taz or r (rotation around the z-axis). The orientation between the body-frame coordinate system B (body) and the N
3c WO 00/42482 pCT/SEDO/00034 system is given by the euler angles 0, 0 and V. However, since the heading is known, only 0 and 0 are of interest. With the assumption that the N system is an inertial system and is oriented so that its z-axis is parallel to the g vector of the earth, it can be shown that 6 - a) cos4 -coZsin (1) o + tan 0 (coy sin 0 + tnz cos If the gyros 2 were ideal, the initial values 00 and 00 were error-free and if the integration method used were accurate, attitude angles can be obtained by solving Eqn (1).
In practice, however, none of these preconditions is satisfied; instead, sensor errors etc cause the solution to diverge and relatively soon to become unusable.
Sensor errors in the form of among others zero errors, scale factor errors, misaligned mounting and acceleration-induced drifts constitute the dominant sources of error. In level flight the zero error is the error source that dominates error growth.
Owing to sensor imperfections and uncertainty in initial values, equation (1) gives an estimate of roll and pitch angle derivatives according to - g - coycos $ - 0), sin $
(2) wx+tan 6(coy sin +cozcos$) The difference between the expected (pAHRS (calculated by the AHRS function) and the "actual" (plef (from air data, primary data calculated) attitude angles constitutes an estimate of the attitude error A(p = (PAHRS - ref (3) See below concerning the use of i p.
When the heading is not available, attitude and heading are calculated according to one embodiment with the aid of l(alman filters by weighting together the signals from the angular rate gyros in the aircraft's control system, information from air data (altitude, speed, angle of attack and sideslip angle) as well as information from an existing magnetic heading detector in the aircraft.
One advantage of a synthetic AHRS according to the aspect of the invention is that it works out substantially cheaper than conventional AHRS system based on their own sensors if existing sensors in the aircraft can be used. This also saves space and weight in the aircraft.
DESCRIPTION OF FIGURES
Figure 1 shows a schematic diagram of an AHRS function in which the heading is available.
Figure 2 shows the principle for levelling of the attitude of the aircraft in a head-up display, to the left without levelling and to the right with levelling.
Figure 3 shows the block diagram of a redundant system for both attitude and heading.
Figure 4 shows in three pictures the attitude and heading of the aircraft and the axes in the body frame coordinate system, as well as the angle of attack and the sideslip angle.
Figure 5 shows how zero errors and scale factor errors impact the measured value.
3a DESCRIPTION OF EMBODIMENT
A number of embodiments are described below with the support of the figures.
According to the invention, methods are provided for synthetically calculating attitude and heading by means of data existing in the aircraft.
In a simpler embodiment, the heading of the aircraft is available. The heading information may be obtained from a heading gyro. Attitude may be integrated out via information about the body-frame angular rates (p, q and r) obtained from the aircraft-fixed angular rate gyros of the aircraft. Correction of the integrated-out attitude can take place with the aid of attitude calculated on the basis of air data information and heading information. In the arrangement of this embodiment, the heading information can be obtained from a heading gyro. The integration routine (8) can integrate out the aircraft's attitude from the aircraft's body-frame angular rates (p, q and r) obtained from the aircraft's body-frame angular rate gyros. The integration routine (8) can be fed with the zero-error-compensated body-frame angular rate gyro signals. A reference attitude can be calculated with air data information as well as redundant heading information. A
synthetically-generated corrected attitude can be obtained by generating a difference between the attitude obtained from the integration routine (8) and an error signal that represents the error between the integrated attitude and the reference attitude.
In another embodiment the heading is calculated, in this case on the basis of a magnetic heading sensor. Attitude and heading can be integrated out via information about the aircraft's body-frame angular rates (p, q and r) obtained from the aircraft's body-frame angular rate gyros. Estimation of errors in measured body-frame magnetic field vector components can be performed in a first filter (11). In a second filter (22) can be performed estimation of attitude errors and heading errors that arise on integration of the aircraft's body-frame angular rates (p, q and r) obtained from the aircraft's body-frame angular rate gyros, where the estimation can be done with the aid of attitude calculated from air data information as well as derived measured body-frame magnetic field vector components. The filtering can take place with the aid of Kalman filters. In the arrangement of this embodiment, the first measurement routine (10) can be fed with the measured body-frame magnetic field vector components, as well as attitude and heading 3b from the aircraft's normal navigation system and transforms the measured body-frame magnetic field vector components to the aircraft's navigation frame. The first filter (11) can be fed with information from the first measurement routine (10) and can estimate the errors in the measured body-frame magnetic field vector components. The integration routine (20) can integrate out the aircraft's attitude and heading from the aircraft's body-frame angular rates (p, q and r) obtained from the aircraft's body-frame angular rate gyros. The second measurement routine (21) can be fed with air data, the derived measured body-frame magnetic field vector components and with information about the aircraft's body-frame angular rates (p, q and r) and from these values can calculate an attitude and a heading. The second filter (22) can be fed with information from the second measurement routine (21) and can estimate the errors in attitude and heading as well as zero error in body-frame angular rate gyro signals and residual errors in the measured body-frame magnetic field vector components for generating an error signal.
A synthetically-generated corrected attitude and heading can be obtained by generating a difference between - the attitude obtained from the integration routine (20) and heading and - the error signal from the second filter (22). The integration routine (20) can be fed with body-frame angular rate gyro signals compensated for estimated zero errors.
The first filter (11) and/or the second filter (22) can consist of a Kalman filter.
Calculation of AHRS when the heading is known The signals from the three angular rate gyros 2 rigidly mounted on the body frame are used to determine the orientation of the aircraft relative to the reference coordinate system N
(navigation frame). The angular rate gyros 2 measure angular velocities around the three body-frame coordinate axes (x, y, z). The angular velocities are normally designated wX or p (rotation around the x-axis), cny or q (rotation around the y-axis) and taz or r (rotation around the z-axis). The orientation between the body-frame coordinate system B (body) and the N
3c WO 00/42482 pCT/SEDO/00034 system is given by the euler angles 0, 0 and V. However, since the heading is known, only 0 and 0 are of interest. With the assumption that the N system is an inertial system and is oriented so that its z-axis is parallel to the g vector of the earth, it can be shown that 6 - a) cos4 -coZsin (1) o + tan 0 (coy sin 0 + tnz cos If the gyros 2 were ideal, the initial values 00 and 00 were error-free and if the integration method used were accurate, attitude angles can be obtained by solving Eqn (1).
In practice, however, none of these preconditions is satisfied; instead, sensor errors etc cause the solution to diverge and relatively soon to become unusable.
Sensor errors in the form of among others zero errors, scale factor errors, misaligned mounting and acceleration-induced drifts constitute the dominant sources of error. In level flight the zero error is the error source that dominates error growth.
Owing to sensor imperfections and uncertainty in initial values, equation (1) gives an estimate of roll and pitch angle derivatives according to - g - coycos $ - 0), sin $
(2) wx+tan 6(coy sin +cozcos$) The difference between the expected (pAHRS (calculated by the AHRS function) and the "actual" (plef (from air data, primary data calculated) attitude angles constitutes an estimate of the attitude error A(p = (PAHRS - ref (3) See below concerning the use of i p.
Finally the attitude angles are given as ?AHRS = J(cp)dt+ yo-lim(dtp) (4) r where yo constitutes estimated initial values.
Calculation of (pref The formula Oref = arcsin (h/vt) + (a * cos 4)) is used when calculating Oreg.
h is a high-pass-filtered altitude signal. vt is true airspeed.
The formula 4)ref = arctan (vt * (yr)/g) is,used when calculating inf.
iy is a high-pass-filtered heading (redundant heading) signal.
Zero correction of the angular rate gyros The zero errors in the angular rate gyros 2 are heavily temperature-dependent.
It may take 20 to 30 minutes for the gyros to reach operating temperature. This means that an ITS failure shortly after take-off might give large zero errors if flying continued.
However, it takes a certain time from gyros 2 receiving voltage to the aircraft taking off, which means that part of the temperature stabilisation has been completed when a flight begins. It is also assumed that landing can take place within a short time in the event of an INS failure during takeoff. To minimise zero errors from the angular rate gyros 2 a zero correction of the angular rate gyros is performed by software. This involves comparing the oo (p, q and r) signals from the angular rate gyros 2 with the corresponding signal from the INS, see eqn (5), by generating a difference in 4a. The difference is low-pass-filtered in a filter 5 and added to the angular rate gyro signals in a difference generator 4b, where the signal Wk which designates the zero-error-corrected gyro signals and is used instead of in the AHRS calculations. This is done continuously as long as the INS is working. In the event of an INS failure the most recently performed zero corrections are used for the rest of the flight.
PTNS $TNS - V,-,,s sin 07WS
0TNS - gTNS OTNSCOS0TNS+JTNSCOSBTNSSin4TNS (5) rTNS -STNSSIn4TNS+ ITNSCOSQTNSCOS~TNS
A block diagram of the realisation of the AHRS function with zero correction of the angular rate gyros is shown in Figure 1. The figure gives a schematic illustration of the AHRS
function. The zero correction of the angular rate gyros is performed by the units inside the dashed area D.
VTNS, BTNS and STNS are high-pass-filtered to obtain NITNS, STNS and $TNS =
These are used in Eqn (5), which gives'TNS (pTNS, gTNS, r NS) in a first block 1. co (p, q, r) which are obtained as signals from the gyros designated by 2 are low-pass-filtered in a low-pass filter 3, before the difference is generated in 4a.
The difference signal between the coTNS ( PINS, gTNS, rTS) signals and the co (p, q, r) signals is low-pass-filtered with a long time-constant in a low-pass filter 5, ie its mean value is generated over a long time. The filter 5 is initialised at take-off rotation with the shorter time-constant. After a power failure, the filter 5 is initialised instantaneously.
In block 7, cp is calculated, after which the integration according to Equation (4) is performed in an integrator 8, to which the initial conditions (po are added. In a difference generator 9a the signal Acp is added, but is disconnected by means of a switch 9b under certain changeover conditions, as for example when hi > yLIM and 1~1 > . The &p signal passes through a limiter 9c. The magnitude of the output signal from the limiter 9c is dependent on the magnitude of the ,&(-p signal (ie the input signal to limiter 9c). The Acp signal is generated according to Equation (3) in a difference generator 9d to which are added calculated (pAHRs attitude angles and "actual" cpr f attitude angles from sensors (primary data) designated with 9e.
Despite compensations, the calculated angles from the AHRS contain minor zero errors. Since the output signals are used for head-up display, this is corrected by using 04) in roll and D0 in pitch to level the SI image until a stable position is obtained. See Figure 2, where the line H
symbolises the actual horizon and where an aircraft is represented by P. Note that this levelling of the HUD only takes place when one is within the limits described above.
AHRS calculation when the heading is also to be calculated Figure 3 shows schematically the modules that form building blocks for another variant of a synthetic AHRS and how these modules are linked together to create a redundant attitude and a redundant heading.
Figure 3 shows the principle of the redundant system in accordance with the aspect of the invention. The system consists of two subsystems A and B; the first subsystem A performs estimation of any errors in the measured geomagnetic field and the other subsystem B
performs calculation of redundant attitude and heading. In all, this results in five building blocks, where a first measurement routine 10 and a first Kalman filter 11 constitute the building blocks in the first subsystem A and further where the integration routine (1/s) 20, measurement routine 21 and a second Kalman filter 22 constitute the building blocks in the second subsystem B.
With measurement routine 10, measured field vector components in the body frame coordinate system are transformed, to a north-, east- and vertically-oriented coordinate system called the navigation frame. The transformation takes place with the aid of attitude and heading from the inertial navigation system of the aircraft, INS, via wire 12. The field vector components of the geomagnetic field are taken from a magnetic heading sensor in the aircraft and arrive via wire 13. In the first Kalman filter 11, the errors in the field vector components are then estimated on the basis of knowledge about the nominal nature of the components, after which the estimated values are stored in a memory 14.
Subsystem A (measurement routine 10 and Kalman filter 11) are used only when the INS is working correctly. In the event of INS failure, the latest possible estimate of the errors in the field vector components is used, ie that which has been stored in memory 14.
Since it may be difficult in many cases to decide whether the INS is working as it should, the absolutely last estimate should not be used. In order to solve this, the estimates of errors in the measured geomagnetic field that are used are at least one flight old. ie the estimates that are stored in the memory from the previous flight or earlier.
The. integration routine 20 receives information about angular velocities, in this case for the three coordinate axes x, y and z in the body frame. These are normally designated cos or p (rotation around the x-axis), coy or q (rotation around the y-axis) and coi or r (rotation around the z-axis). The information is taken from the angular rate gyros of the control system and is fed via wire 15 to routine 20 which integrates out attitude and heading via a transformation matrix.
The second measurement routine 21 consists of a developed variant of the first measurement routine 11 and uses the field vector components derived from the first measurement routine 11. In addition, a roll and pitch angle are calculated with the aid of data from existing air data and existing slip sensors, data which arrives to measurement routine 21 via wire 16 to measurement routine 21. By means of the second Kalman filter 22 the attitude and heading errors that arise on integration of the angular rate gyro signals of the control system are primarily calculated. Secondarily, Kalman filter 22 is used to estimate the biases in the angular rate gyros, ie the biases in p, q, and r.
The first measurement routine 10 The geomagnetic field can be calculated theoretically all over the world. To do this, the IGRF
(International Geomagnetic Reference Field) is used, for example.
The field vector in the body frame is designated here with BB and the field vector in the navigation frame with BN. Further, the three components of the field vector are designated in accordance with B = [B, By, Bz]T (6) With the aid of the transformation matrix C, which transforms a vector from body frame to navigation frame, we have BN = C. = BB , (7) S
where C has the appearance ' C1i C12 C13 cN = C21 C22 C23 (8) The transformation matrix C. is calculated with the aid of attitude and heading, 0, from the INS.
The difference between a measured field vector and a field vector calculated in accordance with the model will be ~r BN, measured - BN, calculated = C C.
S$B
where S designates the difference between the measured and the calculated quantity.
The left-hand part of Eqn (9) becomes the output signal from the first measurement routine 10 and thus the input signal to Kalman filter 11. Further, the right-hand part of Eqn (9) is used in Kalman filter 11, which is evident from the description of the first Kalman filter 11 below.
The first Kalman filter 11 Given the state model Xk+1 = Ftxk+wk (10) Zk = Hkxk + ek, a Kalman filter works in accordance with:
Time updating Xk+ 1 = FkXk (11) Pk+ I = FkPkFF + Qk, where Pkc+ 1 is the estimated uncertainty of the states after time updating.
Measurement updating T T
Kk+1 = Pk+1Hk+1[Hk+lPk+lHk+1+Rk+ll +
Xk+1 = Xk+1+Kk+l1Zk+i-Hk+LXk+1J (12) Pk+1 = Pk+1-Kk+1Hk+1Pk+1' where Pt+ 1 is the estimated uncertainty of the states after measurement updating-The errors in the field vector components are modelled according to 5Bx bz sr kxy kxz Bx 5By = by + kyx sy kyz - By , (13) SBz bz kzx kzy sz Bz where b are biases, s are scale factor errors and k is a cross-coupling from one component to another (for example, index xy refers to how the y-component affects the x-component). These 12 errors can represent the states in the first Kalman filter 11 according to T
Xk = [bx by bz sz sy sz kxy kxz kyz kyx ku kzy] (14) and each of the state equations looks like this xk+1 = xk+wk , (15) where the index k designates the time-discrete count-up in time.
In Eqn (15), wk is a weakly time-discrete process noise to model a certain drift in the errors.
Eqn (15) means that the prediction matrix becomes the unit matrix and the covariance matrix for the process noise will be the unit matrix multiplied by aw, where aw is typically set to one hundred-thousandth (dimensionless since the field vector components are normalised to the amount 1 before they are used).
Where measurement updating of Kalman filter 11 is concerned, Eqn (9) is used and the measurement matrix looks like this C11 C12 C13 C11Bx C12By C13Bz C11By C11Bz C12Bz c12Bx C13Bx c13By Hk = C21 c22 c23 c21Bx c22By c23Bz c21By c21Bz c22Bz c22Bx c23Bx c23By (16) C31 C32 C33 C31Bx C32By C33Bz C31By C31Bz C32Bz C32Bx C33Bx C33By Owing to unmodelled interference, the measured geomagnetic field vector will deviate from the model, both in direction and in amount. The simplest variant is to model this interference as a constant white measurement noise with the aid of the measurement noise covariance matrix Rk. The standard deviations for the measurement noise for the three field vector component measurements are each typically set to one-tenth (dimensionless because the field vector components are normalised to I before they are used).
A Chi2 test is used to avoid the impact of bad measurements. In addition, the measurements of the field vector components are not used if the angular velocities are too high. The reason for this is that various time delays exert an effect at high angular velocities.
Integration routine 20 It can be shown that the time-derivative of the transformation matrix e.
becomes CB = CB C. Wla - WIN = CB . (17) In Eqn (17) Wm and WIN are, respectively, B's (body frame) rotation relative to I (inertial frame) and N's (navigation frame) rotation relative to I. Both are written in matrix form.
Since we are concerned with redundant attitude and redundant heading, where the requirements for attitude errors are of the order of 2 degrees, whilst the elements in WIN are of the order of 0.01 degrees, WIN is disregarded. The expression in (17) will then be CB = CB - WIB , (18) where WIB is the angular rate gyro signals from the angular rate gyros of the control system.
In principle Eqn (18) means that there are nine differential equations.
Because of orthogonality, only six of these need be integrated and the other three can be calculated with the aid of the cross-product.
WO 00/42482 pCT/SE00/00034 The second measurement routine 21 The second measurement routine 21 consists of a developed variant of the first measurement routine 11, in which the expansion consists of calculating the roll and pitch an ales with the aid of data from air data (altitude and speed) and the slip sensors (angle of attack and sideslip angle).
In the first measurement routine 11 it is assumed that only the field vector components are incorrect and that attitude and heading are correct. This assumption is reasonable because the field vector components are resolved with the aid of attitude and heading from the INS. In the second measurement routine 21 this is not satisfied, and consideration must also be given to attitude and heading errors. The field vector used in the second measurement routine is compensated for errors estimated in subsystem A.
Errors in both the field vector and the transformation matrix mean that N BN, Measured = CB ' BB, Measured (19) -N
where CB stands for calculated transformation matrix and means that CB = CB + SCB . (20)-If we use (20), generate the difference between measured and calculated field vector and disregard error products, we get B , Calculated 8 B ' BN, Measured + ' CB ' 8BB = (21) In the second measurement routine 21, roll and pitch angle are calculated with the aid of altitude, speed, angle of attack and sideslip angle. The pitch angle can be calculated according to eref = asin( )+ Cos(~)a+ sin(22) To be able to calculate the pitch angle according to the expression in Eqn (22) an altitude derivative is required. This altitude derivative is not directly accessible and must instead be calculated on the basis of existing altitude which is obtained from air data.
The calculation is done according to n h(n) T((T-fs~ ~e(n-1)+h(n)-h(n-1) (23) ie a high-pass filtering of the altitude. The symbols '[ and fr in Eqn (23) represent respectively the time-constant of the filtering and the sampling frequency.
The speed v used in Eqn (22)- is approximately vt (true speed relative to the air). By approximately we mean that, when calculating vt, measured temperature is not used, which is the normal case, but a so-called standard temperature distribution is used here instead.
Further, the roll angle can be calculated according to ref = atan v . (24) The expression in Eqn (24) applies only for small roll and pitch angles, small angular velocities and moreover when the angles of attack and the sideslip angles are small.
The above two expressions are calculated and compared with the attitude that is calculated via the integration routine by generating the difference according to c2 v(C33 = ()Z + C32 = (00 -ref = atan C33-atan8(C11+C21) (25) 6 - gref = atan -0312 - (asin() + Cos(atanC32 a+ sin(atanC32)1 ), where = atanc32 e - atan -C31 (26) 1 - c31 C33 = 0)Z + C32 = COy C11+C21 The second Kalman filter 22 The second Kalman filter 22 can be said to be the heart of the system. Here are estimated the attitude and heading errors that arise on integration of the angular rate gyro signals from the flight control system. Also estimated are the zero errors in the field vector components of the angular rate gyro signals. Further, possible residual errors in the field vector components, ie the errors that the first Kalman filter 11 cannot reach are estimated here.
All in all, this means nine states: three for attitude and heading errors, three for the zero errors in the angular rate gyro signals and three for residual errors in the field vector components (three zero errors).
Attitude and heading errors are represented by a rotation of the body-frame system from a calculated to a true coordinate system. The error in dB can be written SC' = C- C C- C BI) . (27) One can ascertain that 1 -yZ Yy B = YZ 1 -yX = F+I , (28) -Yy T.
where I is the matrix form of y = [YX, Y,, YZ]T and I is the unit matrix (T
means transponate).
The elements of the vector y describe a small rotation around the respective axis between actual (true) and calculated body frame system. The corresponding differential equations for the elements of y can be derived to y = Sw, (29) where Sco is the errors in the angular rates from the angular rate gyros.
The errors in the angular rates are modelled as three first-order Markov processes according to Scn = -z &o + uw (30) where the time-constant T,, is set typically to a number of hours and the three uc, to typically less than one degree/second.
Residual errors in the field vector components are modelled (the zero errors) in a similar way, ie b ~b+ub (31) b where tb is set typically to a number of hours, and ub is set typically to a few hundredths (dimensionless because the field vector components are normalised to 1 before they are used).
This gives a state vector according to Xk = [y.;, Y, YZ Swx Swy S0) bX by bJ (32) and a prediction matrix according to r+AT
Fk = I+ J -A (,c)dc , (33), where A('c) is the matrix that described the time-continuous state equations as above.
The covariance matrix for the process noise Qk is set to a diagonal matrix.
Among other things, u,, and ub described above are used as diagonal elements. As regards the diagonal elements linked to the states for attitude and heading errors (the first three), the effects of the scale factor errors in the angular rate gyros are included. These scale factor errors are normally of the order of 2% and can cause major errors in integrated-out attitude and heading at high angular rates.
The. measurements are five in number: three derived field vector components and roll and pitch angle calculated from air data. These measurements are obtained by using the relations (21) and (25).
As regards the measurement matrix Hk, relation (21) is used to fill out the three top lines. This results in the three top lines of the matrix having the appearance Hk,1-3 =
C13By-C12Bz clIBz-C13Bx C12BX-c11By 0 0 0 C11 C12 C13 (34) c23By - CZBz C21Bz - C23BX c22BX - c21By 0 0 0 c,l c22 c23 C33By - C32Bz C3I Bz - C33Bx C32Bx - C31 By 0 0 0 C31 C32 C33 For the last two lines of Hk Eqn (25) is used, by differentiating the two right-hand parts with respect to all states in the second Kalman filter 22. As a result, the last two lines get the elements (the index designates row and column in that order) WO 00/42482 pCT/SEGO/00034 yg(C33wy _ C32CJz)(Ci l + C21) h411-g2(C11 + 021)2 + v2(C33 ' CO- + c32 - Q )2 2vg(-C11C13-C21C23)(C33(z+C32Wr)-ygCOzC31(C21 +C21) C31C32 h42 2(C2 2 2 2 2 8 (Cl1 + C21) + v (C33 = C)z + C32 = o)y) C32 + C33 2vg(c11C1,+C21C22)(c33~z+C320)y)+vgo)yc3l(c1 1 +
h c21) C31C33 (35) 43 = -(C11 + 021) + v(C33'(0z + C32 w) g C32 + C33 VgC32(C11 + C21) 2 45 g2(cll + C21)2 + v2 2 (c33 ' COZ+ C32 = (Dy) VgC33(C11 +C21) ham g2(C2 2 2 2 2 11+C21) +V (C33' U)z + C32 = COy) and h51 = sin(atan c2 )a- cos(atanC33)3 h52 = C33 C2 + C32 + 2 \ sin atan C33~CX + cos { atan _,) (36) l 31 33 330) ~SIn~atan c3 a- COS(atanC33) h53 - lc3 C2 C22 +C 23 The remaining elements in the fourth and fifth line are zero.
The simplest choice for the covariance matrix for the measurement noise Rk is a diagonal matrix. The first four measurement noise elements have a standard deviation which is set typically to one-tenth. The fifth measurement noise element on the other hand has a standard deviation that is set to a function of the altitude derivative and the speed.
The function is quite simply a scaled sum of the expression for calculating pitch angle and according to Eqn (25) differentiated with respect to the altitude derivative and the speed. The function is set to 0 = IMA (37) (Irv 1 f(I, v) = 5 . MIhI + 5 and gives a measure of the sensitivity of the pitch angle calculation to errors in the altitude derivative and the speed.
Since the errors in attitude and heading calculated with the aid of the integration routine grow rapidly, estimated attitude and heading errors must be fed back to the integration routine, WO 00/42482 PCT/Sa00/00034 which is done with wire 17. If this is not done, the error equations in the second Kalman filter 22 rapidly become invalid by reason of the fact that the equations are fundamentally non-linear. In addition, the estimates of the zero errors in the angular rate gyros are fed back via a wire 18. This results in better linearisation of the second Kalman filter 22 and furthermore the sampling frequency fs can be kept down.
In some flying situations the calculations that are performed in the second measurement routine 21 are inferior, either because the measurement equations are not sufficiently matched or because the measurement data is inherently poor. Calculation of the roll angle from air data is used only in level flight. No measurement is used if the angular rates are not sufficiently small, typically a couple of degrees or so per second. The measurement residuals are also checked, where the measurement residuals are not allowed to exceed typically one to two times the associated estimated uncertainty.
Symbols Coordinate systems I (Inertial frame): a system fixed in inertial space.
When flying above the surface of the earth it is customary for the centre of this system to coincide with the centre of the earth. This is really an approximation, since a system fixed in inertial space must not rotate. Because the earth rotates around the sun, the I -system will also rotate. However, the error that arises is negligible. The accelerations and angular rates measured by the sensors in an inertial navigation system are relative to that system.
N (Navigation frame): a system with its centre in the aircraft and with its xy plane always parallel to the surface of the earth.
The x-axis points to the north, the y-axis to the east and the z-axis vertically down towards the surface of the earth.
B (Body frame): a system in the aircraft, fixed to the body frame.
This coordinate system rotates with the aircraft. The x-axis points out through the nose, the y-axis through the starboard wing and the z-axis vertically down relative to the aircraft.
Table 1 Explanation of designations (symbols) for angles and angular rates.
See also Figure 4.
Angle between yB and the horizontal plane, tilted by the angle 0 along xB (roll angle).
Initial value for the roll angle and estimated roll angle, respectively Oref Roll angle calculated with the aid of data from air data and the heading derivative 0 Angle between xB and the horizontal plane (pitch angle).
00,6 Initial value for the pitch angle and estimated pitch angle, respectively ref Pitch angle calculated with the aid of data from air data and the slip sensors T
t¾ = [4, 0] Compressed symbol for roll angle and pitch angle cp, TO, A(P Respectively: estimated roll and pitch angle, estimated initial values for roll and pitch angle and difference between integrated-out and reference-calculated roll and pitch angle Pref, TAHRS Respectively: roll and pitch angle calculated with the aid of air data and primary data, and integrated-out roll and pitch angle, where integration is done with the aid of the angular rate gyro signals V,11/ Respectively: angle between the projection of xB in the horizontal plane and north (heading angle), and discrete indexing of heading angle a Angle between air-related rate vector projected on the t-axis in body frame and projected on the x-axis in body frame (angle of attack) Angle between air-related velocity vector and air-related velocity vector projected on the y-axis in body frame (sideslip angle) C Transformation matrix (3 x 3 matrix) which transforms a vector from body frame (actual) to navigation frame. The elements of this matrix are designated c11, C12, C13, C21, C22, c23, c31, c32, C33, where the index designates row and column in that order - C. = B = CB Transformation matrix which transforms a vector from body frame (calculated) to navigation frame Table I Explanation of designations (symbols) for angles and angular rates.
See also Figure 4.
8CI. Difference between calculated and true C
y = (,( yy, ,Y` '" Rotation around, respectively, the x-, y- and z-axis in body frame, corresponding to the error between true and calculated body frame r Anti-symmetrical matrix form of the vector y wIB = m = (mr wy, wZ)T Angular rate around, respectively, the x-, y- and z-axis in body frame (angular rate gyro signals). These angular rate components are customarily also designated (p, q, r) T
WIB The vector wlB expressed in anti-symmetrical matrix form Sw = (Stns, Stay, S(u2)T Difference between actual and measured angular rate around, respectively, the x-, y- and z-axis in body frame WIN Rotation of navigation frame relative to inertial frame that occurs when moving over the curved surface of the earth.
Anti-symmetrical matrix form Table 2 Explanation of symbols for the geomagnetic field.
Bs, B. BZ Geomagnetic field vector components" in body frame SBr SBy, SBz Difference between measured and actual field vector components in body frame BN, BB Geomagnetic field vector in navigation frame and body frame, respectively Table 3 Explanation of symbols used in connection with filters k, k + 1 Used as an index, and represent the instant before and after time updating, respectively n, n + 1 Used to represent the present and subsequent sample, respectively -, + Used as an index, and represent the instant before and after measurement updating, respectively x, z, P State vector, measurement vector and estimate uncertainty matrix w, Q Process noise vector and covariance matrix for process noise, respectively Table 3 Explanation of symbols used in connection with filters A, F Prediction matrix in time-continuous and time-discrete form K, H, R Kalman gain matrix, measurement matrix and covariance matrix for measurement noise, respectively uw, Ub, US Driving noise for the Markov processes tiw, tb, Ts, 2, tt,'t2 Time-constants fS Sampling frequency Table 4 Explanation of other symbols. See also Figure 5.
bX, by, bZ Bias (zero errors) sX, sy, sZ Scale factor errors kXy, kXZ, k7x, kyz, kzX, kn, Cross-connection errors (for example, index xy stands for how the y -component affects the x -component).
Arise because the axes in triad are not truly orthogonal.
h, h Altitude and low-pass-filtered time-derived altitude respectively vt, v True speed relative to the air g Gravity
Calculation of (pref The formula Oref = arcsin (h/vt) + (a * cos 4)) is used when calculating Oreg.
h is a high-pass-filtered altitude signal. vt is true airspeed.
The formula 4)ref = arctan (vt * (yr)/g) is,used when calculating inf.
iy is a high-pass-filtered heading (redundant heading) signal.
Zero correction of the angular rate gyros The zero errors in the angular rate gyros 2 are heavily temperature-dependent.
It may take 20 to 30 minutes for the gyros to reach operating temperature. This means that an ITS failure shortly after take-off might give large zero errors if flying continued.
However, it takes a certain time from gyros 2 receiving voltage to the aircraft taking off, which means that part of the temperature stabilisation has been completed when a flight begins. It is also assumed that landing can take place within a short time in the event of an INS failure during takeoff. To minimise zero errors from the angular rate gyros 2 a zero correction of the angular rate gyros is performed by software. This involves comparing the oo (p, q and r) signals from the angular rate gyros 2 with the corresponding signal from the INS, see eqn (5), by generating a difference in 4a. The difference is low-pass-filtered in a filter 5 and added to the angular rate gyro signals in a difference generator 4b, where the signal Wk which designates the zero-error-corrected gyro signals and is used instead of in the AHRS calculations. This is done continuously as long as the INS is working. In the event of an INS failure the most recently performed zero corrections are used for the rest of the flight.
PTNS $TNS - V,-,,s sin 07WS
0TNS - gTNS OTNSCOS0TNS+JTNSCOSBTNSSin4TNS (5) rTNS -STNSSIn4TNS+ ITNSCOSQTNSCOS~TNS
A block diagram of the realisation of the AHRS function with zero correction of the angular rate gyros is shown in Figure 1. The figure gives a schematic illustration of the AHRS
function. The zero correction of the angular rate gyros is performed by the units inside the dashed area D.
VTNS, BTNS and STNS are high-pass-filtered to obtain NITNS, STNS and $TNS =
These are used in Eqn (5), which gives'TNS (pTNS, gTNS, r NS) in a first block 1. co (p, q, r) which are obtained as signals from the gyros designated by 2 are low-pass-filtered in a low-pass filter 3, before the difference is generated in 4a.
The difference signal between the coTNS ( PINS, gTNS, rTS) signals and the co (p, q, r) signals is low-pass-filtered with a long time-constant in a low-pass filter 5, ie its mean value is generated over a long time. The filter 5 is initialised at take-off rotation with the shorter time-constant. After a power failure, the filter 5 is initialised instantaneously.
In block 7, cp is calculated, after which the integration according to Equation (4) is performed in an integrator 8, to which the initial conditions (po are added. In a difference generator 9a the signal Acp is added, but is disconnected by means of a switch 9b under certain changeover conditions, as for example when hi > yLIM and 1~1 > . The &p signal passes through a limiter 9c. The magnitude of the output signal from the limiter 9c is dependent on the magnitude of the ,&(-p signal (ie the input signal to limiter 9c). The Acp signal is generated according to Equation (3) in a difference generator 9d to which are added calculated (pAHRs attitude angles and "actual" cpr f attitude angles from sensors (primary data) designated with 9e.
Despite compensations, the calculated angles from the AHRS contain minor zero errors. Since the output signals are used for head-up display, this is corrected by using 04) in roll and D0 in pitch to level the SI image until a stable position is obtained. See Figure 2, where the line H
symbolises the actual horizon and where an aircraft is represented by P. Note that this levelling of the HUD only takes place when one is within the limits described above.
AHRS calculation when the heading is also to be calculated Figure 3 shows schematically the modules that form building blocks for another variant of a synthetic AHRS and how these modules are linked together to create a redundant attitude and a redundant heading.
Figure 3 shows the principle of the redundant system in accordance with the aspect of the invention. The system consists of two subsystems A and B; the first subsystem A performs estimation of any errors in the measured geomagnetic field and the other subsystem B
performs calculation of redundant attitude and heading. In all, this results in five building blocks, where a first measurement routine 10 and a first Kalman filter 11 constitute the building blocks in the first subsystem A and further where the integration routine (1/s) 20, measurement routine 21 and a second Kalman filter 22 constitute the building blocks in the second subsystem B.
With measurement routine 10, measured field vector components in the body frame coordinate system are transformed, to a north-, east- and vertically-oriented coordinate system called the navigation frame. The transformation takes place with the aid of attitude and heading from the inertial navigation system of the aircraft, INS, via wire 12. The field vector components of the geomagnetic field are taken from a magnetic heading sensor in the aircraft and arrive via wire 13. In the first Kalman filter 11, the errors in the field vector components are then estimated on the basis of knowledge about the nominal nature of the components, after which the estimated values are stored in a memory 14.
Subsystem A (measurement routine 10 and Kalman filter 11) are used only when the INS is working correctly. In the event of INS failure, the latest possible estimate of the errors in the field vector components is used, ie that which has been stored in memory 14.
Since it may be difficult in many cases to decide whether the INS is working as it should, the absolutely last estimate should not be used. In order to solve this, the estimates of errors in the measured geomagnetic field that are used are at least one flight old. ie the estimates that are stored in the memory from the previous flight or earlier.
The. integration routine 20 receives information about angular velocities, in this case for the three coordinate axes x, y and z in the body frame. These are normally designated cos or p (rotation around the x-axis), coy or q (rotation around the y-axis) and coi or r (rotation around the z-axis). The information is taken from the angular rate gyros of the control system and is fed via wire 15 to routine 20 which integrates out attitude and heading via a transformation matrix.
The second measurement routine 21 consists of a developed variant of the first measurement routine 11 and uses the field vector components derived from the first measurement routine 11. In addition, a roll and pitch angle are calculated with the aid of data from existing air data and existing slip sensors, data which arrives to measurement routine 21 via wire 16 to measurement routine 21. By means of the second Kalman filter 22 the attitude and heading errors that arise on integration of the angular rate gyro signals of the control system are primarily calculated. Secondarily, Kalman filter 22 is used to estimate the biases in the angular rate gyros, ie the biases in p, q, and r.
The first measurement routine 10 The geomagnetic field can be calculated theoretically all over the world. To do this, the IGRF
(International Geomagnetic Reference Field) is used, for example.
The field vector in the body frame is designated here with BB and the field vector in the navigation frame with BN. Further, the three components of the field vector are designated in accordance with B = [B, By, Bz]T (6) With the aid of the transformation matrix C, which transforms a vector from body frame to navigation frame, we have BN = C. = BB , (7) S
where C has the appearance ' C1i C12 C13 cN = C21 C22 C23 (8) The transformation matrix C. is calculated with the aid of attitude and heading, 0, from the INS.
The difference between a measured field vector and a field vector calculated in accordance with the model will be ~r BN, measured - BN, calculated = C C.
S$B
where S designates the difference between the measured and the calculated quantity.
The left-hand part of Eqn (9) becomes the output signal from the first measurement routine 10 and thus the input signal to Kalman filter 11. Further, the right-hand part of Eqn (9) is used in Kalman filter 11, which is evident from the description of the first Kalman filter 11 below.
The first Kalman filter 11 Given the state model Xk+1 = Ftxk+wk (10) Zk = Hkxk + ek, a Kalman filter works in accordance with:
Time updating Xk+ 1 = FkXk (11) Pk+ I = FkPkFF + Qk, where Pkc+ 1 is the estimated uncertainty of the states after time updating.
Measurement updating T T
Kk+1 = Pk+1Hk+1[Hk+lPk+lHk+1+Rk+ll +
Xk+1 = Xk+1+Kk+l1Zk+i-Hk+LXk+1J (12) Pk+1 = Pk+1-Kk+1Hk+1Pk+1' where Pt+ 1 is the estimated uncertainty of the states after measurement updating-The errors in the field vector components are modelled according to 5Bx bz sr kxy kxz Bx 5By = by + kyx sy kyz - By , (13) SBz bz kzx kzy sz Bz where b are biases, s are scale factor errors and k is a cross-coupling from one component to another (for example, index xy refers to how the y-component affects the x-component). These 12 errors can represent the states in the first Kalman filter 11 according to T
Xk = [bx by bz sz sy sz kxy kxz kyz kyx ku kzy] (14) and each of the state equations looks like this xk+1 = xk+wk , (15) where the index k designates the time-discrete count-up in time.
In Eqn (15), wk is a weakly time-discrete process noise to model a certain drift in the errors.
Eqn (15) means that the prediction matrix becomes the unit matrix and the covariance matrix for the process noise will be the unit matrix multiplied by aw, where aw is typically set to one hundred-thousandth (dimensionless since the field vector components are normalised to the amount 1 before they are used).
Where measurement updating of Kalman filter 11 is concerned, Eqn (9) is used and the measurement matrix looks like this C11 C12 C13 C11Bx C12By C13Bz C11By C11Bz C12Bz c12Bx C13Bx c13By Hk = C21 c22 c23 c21Bx c22By c23Bz c21By c21Bz c22Bz c22Bx c23Bx c23By (16) C31 C32 C33 C31Bx C32By C33Bz C31By C31Bz C32Bz C32Bx C33Bx C33By Owing to unmodelled interference, the measured geomagnetic field vector will deviate from the model, both in direction and in amount. The simplest variant is to model this interference as a constant white measurement noise with the aid of the measurement noise covariance matrix Rk. The standard deviations for the measurement noise for the three field vector component measurements are each typically set to one-tenth (dimensionless because the field vector components are normalised to I before they are used).
A Chi2 test is used to avoid the impact of bad measurements. In addition, the measurements of the field vector components are not used if the angular velocities are too high. The reason for this is that various time delays exert an effect at high angular velocities.
Integration routine 20 It can be shown that the time-derivative of the transformation matrix e.
becomes CB = CB C. Wla - WIN = CB . (17) In Eqn (17) Wm and WIN are, respectively, B's (body frame) rotation relative to I (inertial frame) and N's (navigation frame) rotation relative to I. Both are written in matrix form.
Since we are concerned with redundant attitude and redundant heading, where the requirements for attitude errors are of the order of 2 degrees, whilst the elements in WIN are of the order of 0.01 degrees, WIN is disregarded. The expression in (17) will then be CB = CB - WIB , (18) where WIB is the angular rate gyro signals from the angular rate gyros of the control system.
In principle Eqn (18) means that there are nine differential equations.
Because of orthogonality, only six of these need be integrated and the other three can be calculated with the aid of the cross-product.
WO 00/42482 pCT/SE00/00034 The second measurement routine 21 The second measurement routine 21 consists of a developed variant of the first measurement routine 11, in which the expansion consists of calculating the roll and pitch an ales with the aid of data from air data (altitude and speed) and the slip sensors (angle of attack and sideslip angle).
In the first measurement routine 11 it is assumed that only the field vector components are incorrect and that attitude and heading are correct. This assumption is reasonable because the field vector components are resolved with the aid of attitude and heading from the INS. In the second measurement routine 21 this is not satisfied, and consideration must also be given to attitude and heading errors. The field vector used in the second measurement routine is compensated for errors estimated in subsystem A.
Errors in both the field vector and the transformation matrix mean that N BN, Measured = CB ' BB, Measured (19) -N
where CB stands for calculated transformation matrix and means that CB = CB + SCB . (20)-If we use (20), generate the difference between measured and calculated field vector and disregard error products, we get B , Calculated 8 B ' BN, Measured + ' CB ' 8BB = (21) In the second measurement routine 21, roll and pitch angle are calculated with the aid of altitude, speed, angle of attack and sideslip angle. The pitch angle can be calculated according to eref = asin( )+ Cos(~)a+ sin(22) To be able to calculate the pitch angle according to the expression in Eqn (22) an altitude derivative is required. This altitude derivative is not directly accessible and must instead be calculated on the basis of existing altitude which is obtained from air data.
The calculation is done according to n h(n) T((T-fs~ ~e(n-1)+h(n)-h(n-1) (23) ie a high-pass filtering of the altitude. The symbols '[ and fr in Eqn (23) represent respectively the time-constant of the filtering and the sampling frequency.
The speed v used in Eqn (22)- is approximately vt (true speed relative to the air). By approximately we mean that, when calculating vt, measured temperature is not used, which is the normal case, but a so-called standard temperature distribution is used here instead.
Further, the roll angle can be calculated according to ref = atan v . (24) The expression in Eqn (24) applies only for small roll and pitch angles, small angular velocities and moreover when the angles of attack and the sideslip angles are small.
The above two expressions are calculated and compared with the attitude that is calculated via the integration routine by generating the difference according to c2 v(C33 = ()Z + C32 = (00 -ref = atan C33-atan8(C11+C21) (25) 6 - gref = atan -0312 - (asin() + Cos(atanC32 a+ sin(atanC32)1 ), where = atanc32 e - atan -C31 (26) 1 - c31 C33 = 0)Z + C32 = COy C11+C21 The second Kalman filter 22 The second Kalman filter 22 can be said to be the heart of the system. Here are estimated the attitude and heading errors that arise on integration of the angular rate gyro signals from the flight control system. Also estimated are the zero errors in the field vector components of the angular rate gyro signals. Further, possible residual errors in the field vector components, ie the errors that the first Kalman filter 11 cannot reach are estimated here.
All in all, this means nine states: three for attitude and heading errors, three for the zero errors in the angular rate gyro signals and three for residual errors in the field vector components (three zero errors).
Attitude and heading errors are represented by a rotation of the body-frame system from a calculated to a true coordinate system. The error in dB can be written SC' = C- C C- C BI) . (27) One can ascertain that 1 -yZ Yy B = YZ 1 -yX = F+I , (28) -Yy T.
where I is the matrix form of y = [YX, Y,, YZ]T and I is the unit matrix (T
means transponate).
The elements of the vector y describe a small rotation around the respective axis between actual (true) and calculated body frame system. The corresponding differential equations for the elements of y can be derived to y = Sw, (29) where Sco is the errors in the angular rates from the angular rate gyros.
The errors in the angular rates are modelled as three first-order Markov processes according to Scn = -z &o + uw (30) where the time-constant T,, is set typically to a number of hours and the three uc, to typically less than one degree/second.
Residual errors in the field vector components are modelled (the zero errors) in a similar way, ie b ~b+ub (31) b where tb is set typically to a number of hours, and ub is set typically to a few hundredths (dimensionless because the field vector components are normalised to 1 before they are used).
This gives a state vector according to Xk = [y.;, Y, YZ Swx Swy S0) bX by bJ (32) and a prediction matrix according to r+AT
Fk = I+ J -A (,c)dc , (33), where A('c) is the matrix that described the time-continuous state equations as above.
The covariance matrix for the process noise Qk is set to a diagonal matrix.
Among other things, u,, and ub described above are used as diagonal elements. As regards the diagonal elements linked to the states for attitude and heading errors (the first three), the effects of the scale factor errors in the angular rate gyros are included. These scale factor errors are normally of the order of 2% and can cause major errors in integrated-out attitude and heading at high angular rates.
The. measurements are five in number: three derived field vector components and roll and pitch angle calculated from air data. These measurements are obtained by using the relations (21) and (25).
As regards the measurement matrix Hk, relation (21) is used to fill out the three top lines. This results in the three top lines of the matrix having the appearance Hk,1-3 =
C13By-C12Bz clIBz-C13Bx C12BX-c11By 0 0 0 C11 C12 C13 (34) c23By - CZBz C21Bz - C23BX c22BX - c21By 0 0 0 c,l c22 c23 C33By - C32Bz C3I Bz - C33Bx C32Bx - C31 By 0 0 0 C31 C32 C33 For the last two lines of Hk Eqn (25) is used, by differentiating the two right-hand parts with respect to all states in the second Kalman filter 22. As a result, the last two lines get the elements (the index designates row and column in that order) WO 00/42482 pCT/SEGO/00034 yg(C33wy _ C32CJz)(Ci l + C21) h411-g2(C11 + 021)2 + v2(C33 ' CO- + c32 - Q )2 2vg(-C11C13-C21C23)(C33(z+C32Wr)-ygCOzC31(C21 +C21) C31C32 h42 2(C2 2 2 2 2 8 (Cl1 + C21) + v (C33 = C)z + C32 = o)y) C32 + C33 2vg(c11C1,+C21C22)(c33~z+C320)y)+vgo)yc3l(c1 1 +
h c21) C31C33 (35) 43 = -(C11 + 021) + v(C33'(0z + C32 w) g C32 + C33 VgC32(C11 + C21) 2 45 g2(cll + C21)2 + v2 2 (c33 ' COZ+ C32 = (Dy) VgC33(C11 +C21) ham g2(C2 2 2 2 2 11+C21) +V (C33' U)z + C32 = COy) and h51 = sin(atan c2 )a- cos(atanC33)3 h52 = C33 C2 + C32 + 2 \ sin atan C33~CX + cos { atan _,) (36) l 31 33 330) ~SIn~atan c3 a- COS(atanC33) h53 - lc3 C2 C22 +C 23 The remaining elements in the fourth and fifth line are zero.
The simplest choice for the covariance matrix for the measurement noise Rk is a diagonal matrix. The first four measurement noise elements have a standard deviation which is set typically to one-tenth. The fifth measurement noise element on the other hand has a standard deviation that is set to a function of the altitude derivative and the speed.
The function is quite simply a scaled sum of the expression for calculating pitch angle and according to Eqn (25) differentiated with respect to the altitude derivative and the speed. The function is set to 0 = IMA (37) (Irv 1 f(I, v) = 5 . MIhI + 5 and gives a measure of the sensitivity of the pitch angle calculation to errors in the altitude derivative and the speed.
Since the errors in attitude and heading calculated with the aid of the integration routine grow rapidly, estimated attitude and heading errors must be fed back to the integration routine, WO 00/42482 PCT/Sa00/00034 which is done with wire 17. If this is not done, the error equations in the second Kalman filter 22 rapidly become invalid by reason of the fact that the equations are fundamentally non-linear. In addition, the estimates of the zero errors in the angular rate gyros are fed back via a wire 18. This results in better linearisation of the second Kalman filter 22 and furthermore the sampling frequency fs can be kept down.
In some flying situations the calculations that are performed in the second measurement routine 21 are inferior, either because the measurement equations are not sufficiently matched or because the measurement data is inherently poor. Calculation of the roll angle from air data is used only in level flight. No measurement is used if the angular rates are not sufficiently small, typically a couple of degrees or so per second. The measurement residuals are also checked, where the measurement residuals are not allowed to exceed typically one to two times the associated estimated uncertainty.
Symbols Coordinate systems I (Inertial frame): a system fixed in inertial space.
When flying above the surface of the earth it is customary for the centre of this system to coincide with the centre of the earth. This is really an approximation, since a system fixed in inertial space must not rotate. Because the earth rotates around the sun, the I -system will also rotate. However, the error that arises is negligible. The accelerations and angular rates measured by the sensors in an inertial navigation system are relative to that system.
N (Navigation frame): a system with its centre in the aircraft and with its xy plane always parallel to the surface of the earth.
The x-axis points to the north, the y-axis to the east and the z-axis vertically down towards the surface of the earth.
B (Body frame): a system in the aircraft, fixed to the body frame.
This coordinate system rotates with the aircraft. The x-axis points out through the nose, the y-axis through the starboard wing and the z-axis vertically down relative to the aircraft.
Table 1 Explanation of designations (symbols) for angles and angular rates.
See also Figure 4.
Angle between yB and the horizontal plane, tilted by the angle 0 along xB (roll angle).
Initial value for the roll angle and estimated roll angle, respectively Oref Roll angle calculated with the aid of data from air data and the heading derivative 0 Angle between xB and the horizontal plane (pitch angle).
00,6 Initial value for the pitch angle and estimated pitch angle, respectively ref Pitch angle calculated with the aid of data from air data and the slip sensors T
t¾ = [4, 0] Compressed symbol for roll angle and pitch angle cp, TO, A(P Respectively: estimated roll and pitch angle, estimated initial values for roll and pitch angle and difference between integrated-out and reference-calculated roll and pitch angle Pref, TAHRS Respectively: roll and pitch angle calculated with the aid of air data and primary data, and integrated-out roll and pitch angle, where integration is done with the aid of the angular rate gyro signals V,11/ Respectively: angle between the projection of xB in the horizontal plane and north (heading angle), and discrete indexing of heading angle a Angle between air-related rate vector projected on the t-axis in body frame and projected on the x-axis in body frame (angle of attack) Angle between air-related velocity vector and air-related velocity vector projected on the y-axis in body frame (sideslip angle) C Transformation matrix (3 x 3 matrix) which transforms a vector from body frame (actual) to navigation frame. The elements of this matrix are designated c11, C12, C13, C21, C22, c23, c31, c32, C33, where the index designates row and column in that order - C. = B = CB Transformation matrix which transforms a vector from body frame (calculated) to navigation frame Table I Explanation of designations (symbols) for angles and angular rates.
See also Figure 4.
8CI. Difference between calculated and true C
y = (,( yy, ,Y` '" Rotation around, respectively, the x-, y- and z-axis in body frame, corresponding to the error between true and calculated body frame r Anti-symmetrical matrix form of the vector y wIB = m = (mr wy, wZ)T Angular rate around, respectively, the x-, y- and z-axis in body frame (angular rate gyro signals). These angular rate components are customarily also designated (p, q, r) T
WIB The vector wlB expressed in anti-symmetrical matrix form Sw = (Stns, Stay, S(u2)T Difference between actual and measured angular rate around, respectively, the x-, y- and z-axis in body frame WIN Rotation of navigation frame relative to inertial frame that occurs when moving over the curved surface of the earth.
Anti-symmetrical matrix form Table 2 Explanation of symbols for the geomagnetic field.
Bs, B. BZ Geomagnetic field vector components" in body frame SBr SBy, SBz Difference between measured and actual field vector components in body frame BN, BB Geomagnetic field vector in navigation frame and body frame, respectively Table 3 Explanation of symbols used in connection with filters k, k + 1 Used as an index, and represent the instant before and after time updating, respectively n, n + 1 Used to represent the present and subsequent sample, respectively -, + Used as an index, and represent the instant before and after measurement updating, respectively x, z, P State vector, measurement vector and estimate uncertainty matrix w, Q Process noise vector and covariance matrix for process noise, respectively Table 3 Explanation of symbols used in connection with filters A, F Prediction matrix in time-continuous and time-discrete form K, H, R Kalman gain matrix, measurement matrix and covariance matrix for measurement noise, respectively uw, Ub, US Driving noise for the Markov processes tiw, tb, Ts, 2, tt,'t2 Time-constants fS Sampling frequency Table 4 Explanation of other symbols. See also Figure 5.
bX, by, bZ Bias (zero errors) sX, sy, sZ Scale factor errors kXy, kXZ, k7x, kyz, kzX, kn, Cross-connection errors (for example, index xy stands for how the y -component affects the x -component).
Arise because the axes in triad are not truly orthogonal.
h, h Altitude and low-pass-filtered time-derived altitude respectively vt, v True speed relative to the air g Gravity
Claims (14)
1. A method for synthetically calculating redundant attitude and redundant heading for an aircraft using data existing in the aircraft, including angular rates p, q, r around x-, y- and z-coordinates of an aircraft-fixed coordinate system, air data information including speed, altitude and angle of attack, wherein the method includes the steps of:
calculating attitude and heading based on the body-frame angular rates p, q, r;
estimating errors in measured body-frame magnetic field vector components;
deriving a measured body-frame field magnetic field vector;
estimating errors in calculated attitude and heading using the air data and the derived measured body-frame magnetic field vector components; and correcting the calculated attitude and heading using the estimated errors in attitude and heading.
calculating attitude and heading based on the body-frame angular rates p, q, r;
estimating errors in measured body-frame magnetic field vector components;
deriving a measured body-frame field magnetic field vector;
estimating errors in calculated attitude and heading using the air data and the derived measured body-frame magnetic field vector components; and correcting the calculated attitude and heading using the estimated errors in attitude and heading.
2. The method according to claim 1, wherein the step of calculating the attitude and heading comprises the step of integrating out the attitude and heading via information about the aircraft's body-frame angular rates obtained from the aircraft's body-frame angular rate gyros.
3. The method according to claim 1 or 2, wherein the step of estimating errors in measured body-frame magnetic field vector components is performed in a first filter.
4. The method according to claim 3, wherein the step of estimating errors in the calculated attitude and heading is performed in a second filter by estimating attitude errors and heading errors that arise on integration of the aircraft's body-frame angular rates obtained from the aircraft's body-frame angular rate gyros, and wherein the estimation is done using the attitude calculated from air data information and the derived measured body-frame magnetic field vector components.
5. The method according to claim 4, wherein the filtering takes place using Kalman filters.
6. An arrangement for synthetically calculating redundant attitude and redundant heading for an aircraft using data existing in the aircraft including measured body-frame field vector components, the aircraft's body-frame angular rates, and air data including at least speed, altitude and angle of attack, wherein the arrangement includes:
a first measurement routine operable to transform the measured body-frame magnetic field vector components to navigation system of the aircraft;
a first filter operable to estimate errors in the measured body-frame field vector components;
an integration routine operable to integrate out the aircraft's attitude and heading from information about the aircraft's body-frame angular rates;
a second filter operable to estimate errors arising in attitude and heading obtained in the said integration; and a second measurement routine operable to calculate attitude and heading from the air data and derived measured body-frame magnetic field vector components.
a first measurement routine operable to transform the measured body-frame magnetic field vector components to navigation system of the aircraft;
a first filter operable to estimate errors in the measured body-frame field vector components;
an integration routine operable to integrate out the aircraft's attitude and heading from information about the aircraft's body-frame angular rates;
a second filter operable to estimate errors arising in attitude and heading obtained in the said integration; and a second measurement routine operable to calculate attitude and heading from the air data and derived measured body-frame magnetic field vector components.
7. The arrangement according to claim 6, wherein the first measurement routine is input with the measured body-frame magnetic field vector components, and attitude and heading from the aircraft's navigation system and is operable to transform the measured body-frame magnetic field vector components to the aircraft's navigation frame.
8. The arrangement according to claim 7, wherein the first filter is input with information from the first measurement routine and is operable to estimate the errors in the measured body-frame magnetic field vector components.
9. The arrangement according to claim 6, 7 or 8, wherein the integration routine integrates out the aircraft's attitude and heading from the aircraft's body-frame angular rates obtained from the aircraft's body-frame angular rate gyros.
10. The arrangement according to claim 9, wherein the integration routine is input with body-frame rate gyro signals compensated for estimated zero errors.
11. The arrangement according to any one of claims 6 to 10, wherein the second measurement routine is input with air data, the derived measured body-frame magnetic field vector components and with information about the aircraft's body-frame angular rates and based on this information is operable to calculate an attitude and a heading.
12. The arrangement according to claim 11, wherein the second filter is input with information from the second measurement routine and is operable to estimate the errors in attitude and heading and to zero error in body-frame angular rate gyro signals and residual errors in the measured body-frame magnetic field vector components for generating an error signal.
13. The arrangement according to claim 12, wherein a synthetically-generated corrected attitude and heading are obtained by generating a difference between the attitude and heading obtained from the integration routine; and the error signal from the second filter.
14. The arrangement according to any one of claims 6 to 13, wherein the first filter, the second filter, or both the first filter and the second filter comprises a Kalman filter.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE9900113A SE9900113L (en) | 1999-01-18 | 1999-01-18 | Method and apparatus for calculating the reserve attitude and the reserve price for an aircraft |
| SE9900113-3 | 1999-01-18 | ||
| CA002358557A CA2358557C (en) | 1999-01-18 | 2000-01-12 | Redundant system for the indication of heading and attitude in an aircraft |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002358557A Division CA2358557C (en) | 1999-01-18 | 2000-01-12 | Redundant system for the indication of heading and attitude in an aircraft |
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| CA2605709C true CA2605709C (en) | 2011-08-23 |
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| US10976380B2 (en) * | 2019-01-18 | 2021-04-13 | Rockwell Collins, Inc. | System and method for magnetometer monitoring |
| CN111721278A (en) * | 2019-03-22 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Course angle fusion method and device |
| CN112027117B (en) * | 2020-09-10 | 2023-01-31 | 中国人民解放军海军航空大学 | Aircraft sideslip and roll composite turning control method based on attitude measurement |
| CN113639746A (en) * | 2021-08-26 | 2021-11-12 | 陕西华燕航空仪表有限公司 | MEMS inertial component and attitude correction method |
| CN114234973B (en) * | 2021-11-23 | 2023-07-14 | 北京航天控制仪器研究所 | High-precision quick indexing method suitable for four-axis inertial platform system |
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