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Method for transonic shock wave interference adaptive suppression of altitude channel

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Publication number
CN101706283B
CN101706283B CN 200910234040 CN200910234040A CN101706283B CN 101706283 B CN101706283 B CN 101706283B CN 200910234040 CN200910234040 CN 200910234040 CN 200910234040 A CN200910234040 A CN 200910234040A CN 101706283 B CN101706283 B CN 101706283B
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altitude
wave
interference
shock
pressure
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CN 200910234040
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Chinese (zh)
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CN101706283A (en )
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刘建业
孟博
曾庆化
李睿佳
李荣冰
熊智
郭毅
雷廷万
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南京航空航天大学
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Abstract

The invention discloses a method for transonic shock wave interference adaptive suppression of an altitude channel, belonging to the field of inertia/atmosphere combination navigation. In the invention, an inertial navigation altitude and an atmosphere altitude are solved according to the principles of an inertia navigation system and an atmosphere data system. When transonic section static pressure fluctuation causes atmospheric pressure altitude fluctuation, an adaptive wave filter is utilized to treat a difference value of the atmospheric pressure altitude or the inertial navigation altitude and the atmospheric pressure altitude, and the wave filter outputs corresponding shock wave interference signals; the shock wave interference signals are fed back, and subtract the atmospheric pressure height so as to cancel shock wave interference, or the shock wave interference signals subtract the static pressure after unit conversion so as to cancel the shock wave interference; and an adaptive algorithm is utilized, the adaptive wave filter is regulated according to a altitude difference value of the atmospheric pressure altitude and the inertial navigation altitude, the altitude difference value revises the inertial navigation altitude through an altitude channel damping loop, and a combination altitude for suppressing the shock wave interference is obtained, thereby cancellation and suppression of altitude channel transonic shock wave interference signals are realized. The invention provides stable and reliable attitude information with high accuracy for an aircraft, enhances the navigation control accuracy of the aircraft and improves the operation performance of the aircraft.

Description

高度通道的跨音速激波干扰自适应抑制方法 Height of transonic shock channel adaptive interference suppression method

技术领域 FIELD

[0001] 本发明是一种应用于飞机跨音速飞行时高度通道激波干扰的抑制方法,属于惯性/大气组合导航领域。 [0001] The present invention is a method of inhibiting the height of the channel interference when the shock is applied to one kind of transonic aircraft flight, belonging to inertial / air navigation art compositions.

背景技术 Background technique

[0002] 惯性导航系统和大气数据系统是现代飞机中广泛使用的导航系统。 [0002] The air data inertial reference system and a navigation system are widely used in modern aircraft. 惯性导航系统是一种高精度的自主式导航系统,完全依靠机载设备自主地完成导航任务,和外界不发生任何光、电联系,因此隐蔽性好,工作不受气象条件的限制,具有全天候和全球导航的能力, 能够提供载体的位置、速度、姿态、加速度和角速度等导航参数。 Inertial navigation system is an autonomous navigation system, a high-precision, entirely on-board equipment complete navigation tasks autonomously, and does not occur outside any light, electrical contact, and therefore good for hiding, working without restriction weather conditions, all-weather and global navigation capability, the position of the carrier can be provided, speed, attitude, acceleration and angular velocity navigation parameters. 大气数据系统是一种多输入多输出的机载综合测量系统,它通过大气参数仪表测量飞机与大气间的作用力以及飞机所在位置的大气数据(如大气压、温度等),再经过大气数据计算机解算,能够得到攻角、高度、马赫数、升降速度等飞行导航信息。 Onboard air data system is an integrated system for measuring the multiple input multiple output, which measures the force and position data of the aircraft where air between the aircraft and the air (e.g., atmospheric pressure, temperature, etc.) parameters of the instrument through the atmosphere, and then through the air data computer resolver, can be obtained the angle of attack, altitude, Mach number, the lifting speed flight navigation information.

[0003] 惯性导航系统单独工作时存在不足,其高度通道不稳定,高度误差是扩散的。 Deficient [0003] inertial navigation system work alone, unstable channel height, the height error is diffused. 因此不能直接采用纯惯性的高度通道,通常引入外部高度信息(大气数据系统等)对高度通道构成阻尼回路,使两种高度信息起互补作用,这样两方面可以取长补短,得到动态品质好且误差不随时间发散的组合高度系统,通常采用二阶阻尼或三阶阻尼回路。 Can not be directly employed height of the channel pure inertia, typically introduced external height information (air data system, etc.) on the height of the channel constituting the damping circuit, so that two highly information complement each other and so that both can learn from each other, to give a good dynamic quality and the error is not included the combination of highly divergent time system, usually to the second order or third-order damping circuit. 但这种方法只适用于一般飞行条件,当飞机跨音速飞行时,由于外界激波干扰,导致大气数据系统测得的静压产生波动,进而使解算后的气压高度产生波动。 However, this method is only applicable to the general flight conditions, when the transonic aircraft flight, interference due to external shock, resulting in the measured static pressure air data system fluctuate, thereby enabling the height of the gas pressure after a resolver fluctuates. 波动的气压高度信号进入高度通道阻尼回路,最终使组合高度产生波动,此时不仅大气高度信息不可用,也对利用大气高度信息进行惯导高度通道阻尼的效果产生不利影响。 Pressure altitude signal fluctuation damping circuit into the height of the channel, eventually combined height fluctuations, wherein not only the height of the atmosphere information is not available, the use of height information also for atmospheric effects INS height of the channel adversely affect damping.

发明内容 SUMMARY

[0004] 本发明目的是针对现有技术存在的缺陷提供一种高度通道的跨音速激波干扰自适应抑制方法,改进已有利用大气高度阻尼惯导高度通道方法中,跨音速飞行时组合高度出现波动的不足,利用机载惯性导航系统与大气数据系统的输出数据,结合高度通道阻尼算法,探索适用于跨音速的惯性/大气高度通道解算方法的新途径,为飞机提供平稳、可靠、精确的高度信息。 [0004] The object of the present invention to provide a channel height for the drawbacks of the prior art transonic shock adaptive interference suppression method has improved damping atmosphere using INS height of the channel height method, when the combined height of transonic flight lack of volatility if using output data on-board inertial navigation systems and air data systems, combined with the height of the channel damping algorithms, explore new ways to apply transonic inertia / atmospheric height of the channel solving approach, the aircraft provides stable, reliable, accurate height information.

[0005] 本发明为实现上述目的,采用如下技术方案: [0005] To achieve the above object of the present invention, the following technical solution:

[0006] 本发明高度通道的跨音速激波干扰自适应抑制方法,其特征在于包括如下步骤: [0006] The height of transonic shock channel interference suppression method of the present invention is an adaptive, comprising the steps of:

[0007] 1)惯性测量单元信号采集:采集惯性测量单元中加速度计的输出信号,得到惯导系统的比力信息; [0007] 1) an inertial measurement unit signal acquisition: acquiring an output signal of the inertial measurement unit accelerometer, force information obtained INS ratio;

[0008] 2)惯性导航系统惯导高度解算:惯性导航系统惯导高度h由加速度、"两次积分得 [0008] 2) INS inertial navigation system solver height: the height h INS inertial navigation system by the accelerometer, "integrated twice to give

V" Vn V "Vn

到,高度通道中有-义=/;+(2^ cosL + f-X+-^v;-g = fz"+aBe-g,其中.„为载体在导 That the channel has a height - sense = /; + (2 ^ cosL + f-X + - ^ v; -g = fz "+ aBe-g, where." Carrier guide

Kn Km Vz Kn Km Vz

航系下高度方向加速度,vxn、vyn分别为载体在导航系下东向、北向速度,fzn为导航系下高度方向比力,ω 为地球自转角速度,L为载体所在处纬度,Rm、I^n分别为子午圈、卯酉圈纬度为L处的曲率半径,g为载体所在处重力加速度; Height direction acceleration under Air lines, vxn, vyn respectively support at navigation system east, north velocity, FZN height direction than the force, [omega] is the earth rotation angular velocity of the navigation system, L is located at a latitude vector, Rm, I ^ n are each meridian, latitude prime vertical radius of curvature at L, g is the acceleration of gravity of the carrier is located;

[0009] 3)大气数据系统气压高度解算:在标准大气条件下,气压高度Hp只是静压Ps的函数,根据标准气压高度公式,有 [0009] 3) Air Data System pressure altitude solver: under standard atmospheric conditions, only a function of height Hp pressure Ps is static pressure, pressure altitude according to the standard formula, there

[0010] [0010]

Figure CN101706283BD00041

Hp < 36089 英尺 Hp <36089 Yingchi

[0011] [0011]

Figure CN101706283BD00042

,36089 英尺;^ Hp < 65617 英尺; , 36,089 ft; ^ Hp <65617 feet;

[0012] 4)高度信息的自适应滤波,包括以下两种方法:a)在跨音速初期静压产生波动引起气压高度信号出现波动时,将惯导高度与波动的气压高度差值作为自适应滤波器的输入,滤波器输出高度差值的激波干扰信号;将所述激波干扰信号反馈与气压高度做差对消激波干扰,或将所述激波干扰信号进行单位转换后与静压做差对消激波干扰,解算对应的激波干扰对消后的气压高度;消除激波干扰的气压高度与惯导高度做差得到高度差值,根据高度差值并利用自适应算法,逐步调整自适应滤波器,不断调节减小高度差值;b)在跨音速初期气压高度信号出现波动时,将波动的气压高度作为自适应滤波器的输入,滤波器输出气压高度的激波干扰信号,并将激波干扰信号与气压高度做差对消激波干扰,或将激波干扰信号经单位转换与静压做差,对静压进行修正,采 [0012] 4) highly adaptive filter information, comprising the following two methods: pressure altitude signal fluctuations caused by fluctuations in a) is generated in transonic initial static pressure, the pressure difference between the height of the height of the INS as an adaptive Fluctuation input filter, the filter output signal is the difference in height of the shock wave interference; after the shock wave interfering with the pressure feedback signal to make the height difference between the interference cancellation shock, the shock wave or signal interference and static unit conversion calculating the difference between the pressure interference cancellation shock, shock solving the corresponding interference canceling height after pressure; shock wave interference eliminating pressure difference between the height of the INS do highly height difference, the height difference and using an adaptive algorithm , gradually adjust an adaptive filter constantly adjusted to reduce the height difference; b) when the height of transonic initial signal pressure fluctuations, pressure fluctuations in the height of the adaptive filter as input, the output of the filter shock pressure altitude interference signal, and the shock wave interfering with the signals to make the height difference between the pressure interference cancellation shock, or shock wave interfering with the signal conversion unit calculating the difference between static pressure, static pressure is corrected mining 用修正后静压解算出对应的激波干扰对消后的气压高度;消除激波干扰的气压高度与惯导高度做差得到高度差值,根据高度差值并利用自适应算法,逐步调整自适应滤波器,不断调节减小高度差值; Be calculated by using the corrected static pressure corresponding to the pressure after the shock wave interference cancellation height; interference elimination shock pressure altitude difference and INS do highly height difference, the height difference and using an adaptive algorithm, since the gradual adjustment adaptive filter, constantly adjusted to reduce the height difference;

[0013] 5)惯导高度通道阻尼算法:阻尼算法采用二阶阻尼或三阶阻尼,将上述的高度差值按二阶阻尼或三阶阻尼算法处理,反馈至步骤O)的惯导高度通道,实现对高度通道的控制,此时惯导高度通道阻尼回路中的惯导高度输出即为抑制了跨音速激波干扰的组合高度{曰息。 [0013] 5) Inertial damping channel height algorithm: Algorithm damped second-order or third-order damping damping, according to the above-mentioned difference in height to the second order or third-order damping algorithm processing, feedback to step O) the channel height INS , to achieve control of the height of the channel, the height of the channel at this time the damping circuit INS inertial navigation output is the height of transonic shock suppressing interference {combined height of said information.

[0014] 本发明从飞机飞行参数中高度信息的实际性能需求入手,基于惯性导航系统高度通道的本质,结合机载大气数据系统高度信息的解算原理,通过对惯导系统比力及大气静压的采集,实时解算惯导高度和气压高度,通过对气压高度或气压信号中跨音速激波干扰的自适应滤波算法,以及高度通道阻尼算法,实现对飞机跨音速高度通道激波干扰的抑制, 进而减小跨音速时高度信号的波动,为飞机提供高精度且平稳可靠的高度信息,提高飞机的导航控制精度,改善飞机的操控性能。 [0014] The present invention starts from the height of the aircraft flight parameters needs actual performance information based on the nature of the height of the channel inertial navigation system, the height information solutions airborne air data system operator binding principle, by force than the force of the inertial navigation system and the atmosphere pressure collection, real-time and highly resolver INS pressure altitude, the air pressure by an adaptive filter algorithm or the height of transonic shock pressure signal interference, and height of the channel damping algorithm, the channel height of transonic aircraft shock disturbance inhibition, thereby reducing the height of transonic fluctuation signal to provide highly accurate and highly stable and reliable information for the aircraft, the aircraft navigation improve control accuracy, improve handling performance of the aircraft.

[0015] 本发明具有很强的工程应用价值。 [0015] The present invention has a strong engineering value.

附图说明 BRIEF DESCRIPTION

[0016] 图1基于高度误差时频特性的自适应激波干扰信号对消算法原理框图。 Adaptive shock wave height based on the error signal when the interference frequency characteristics [0016] FIG. 1 a block diagram of the principle of cancellation algorithm.

[0017] 图2基于气压高度时频特性的自适应激波干扰信号对消算法原理框图。 [0017] FIG. 2 adaptive shock wave interfering signal pressure frequency characteristics when the height of a block diagram based on the principle of cancellation algorithm.

[0018] 图3纯惯导高度通道原理框图。 [0018] Fig 3 block diagram of pure Inertial Navigation height of the channel.

[0019] 图4自适应滤波器原理框图。 [0019] The block diagram of the adaptive filter 4 of FIG.

[0020] 图5惯导高度通道二阶阻尼回路原理框图。 [0020] FIG. 5 INS height of the channel to the second order loop block diagram.

[0021] 图6惯导高度通道三阶阻尼回路原理框图。 [0021] Third Order damping circuit block diagram of FIG. 6 INS height of the channel.

具体实施方式[0022] 下面结合附图对发明的技术方案进行详细说明: DETAILED DESCRIPTION [0022] DRAWINGS The technical solution of the invention will be described in detail:

[0023] 一般飞行条件下,利用大气数据系统的气压高度阻尼惯导系统高度通道既可抑制纯惯导高度随时间的发散,又可得到精度较高的组合高度。 [0023] Under normal flight conditions, using air pressure air data system highly damping inertial navigation system INS net height of the channel can be suppressed divergent height over time, but also to obtain high accuracy combined height. 但在跨音速条件下,由于激波干扰,使气压高度产生波动,进而造成组合高度的波动。 However, in the transonic condition, since the shock wave disturbance, the height of the air pressure fluctuations, thereby causing the combined height fluctuations. 本发明在高度通道常用阻尼回路基础上进行改进,如图1、图2所示,根据惯性导航系统与大气数据系统原理解算惯导高度和大气高度,跨音速段静压波动引起气压高度波动时,利用自适应滤波器处理气压高度或惯导高度与气压高度的差值,滤波器输出对应的激波干扰信号。 The present invention is to improve the damping circuit on the basis of common height of the channel, as shown in FIG 1, FIG 2, the inertial navigation system and the air data system solvers INS original height and the height of the atmosphere, the transonic speed hydrostatic pressure fluctuations high volatility when using adaptive filter processing or the difference between pressure altitude and pressure altitude INS height of the filter output signal corresponding to the shock wave interference. 将激波干扰信号反馈与气压高度做差对消激波干扰,或将激波干扰信号进行单位转换后与静压做差对消激波干扰。 The shock wave interfering with the signal pressure altitude calculating the difference between the feedback cancellation interference shock, or shock wave interfering with the signal after conversion unit calculating the difference between the static pressure of the shock wave destructive interference. 利用自适应算法,根据气压高度与惯导高度的高度差值对自适应滤波器进行调整,高度差值经过高度通道阻尼回路修正惯导高度,得到抑制了激波干扰的组合高度,从而实现高度通道跨音速激波干扰信号的对消抑制。 Using an adaptive algorithm, according to the height difference between the pressure altitude and the height of the INS adaptive filter is adjusted, the height difference between the height of the channel through the damping correction circuit INS height, the combined height of the shock is suppressed interference, resulting in highly channel transonic shock suppressing cancellation of the interference signal.

[0024] 为了完成跨音速条件下高度通道激波干扰的自适应抑制,需要完成工作: [0024] In order to complete the channel height transonic shock conditions adaptive interference suppression, the work needs to be done:

[0025] 1惯性测量单元信号采集步骤 [0025] a signal acquisition step of the inertial measurement unit

[0026] 采集惯性测量单元中加速度计的输出信号,得到惯导系统的比力信息。 [0026] The output signal of the inertial measurement unit in the acquisition accelerometer, inertial navigation system to obtain information force ratio.

[0027] 2惯性导航系统惯导高度解算步骤 [0027] 2 INS inertial navigation system solver step height

[0028] 惯性导航系统惯导高度h由加速度、"两次积分得到,高度通道中有 [0028] INS inertial navigation system, a height h, "obtained by the accelerometer integrated twice, with a channel height

[0029] [0029]

Figure CN101706283BD00051

[0030]其中<为载体在导航系下高度方向加速度,vxn、vyn分别为载体在导航系下东向、北向速度,fzn为导航系下高度方向比力,ω 为地球自转角速度,L为载体所在处纬度,Rffl^Rn 分别为子午圈、卯酉圈纬度为L处的曲率半径,g为载体所在处重力加速度。 [0030] where <acceleration in the height direction in the navigation system as the carrier, vxn, vyn respectively support at navigation system east, north velocity, FZN height direction than the force, [omega] is the earth rotation angular velocity of the navigation system, L is a carrier located at latitude, Rffl ^ Rn respectively meridian, latitude prime vertical radius of curvature at L, g is the gravitational acceleration vector at the location. 精确导航中g 不是常值而是高度h的函数,其数值随高度的增加而减少,当h << R时,有 G precision navigation not constant but a function of height h, which value decreases with increasing height, when h << R, there

[0031] [0031]

Figure CN101706283BD00052

[0032] 其中R为地球半径,g0为地球表面重力加速度。 [0032] where R is the radius of the earth, g0 is a gravitational acceleration Earth's surface. 由式(1)可得出纯惯导高度通道的原理框图,如图3所示。 By the formula (1) can be obtained pure principle block diagram INS height of the channel, as shown in FIG.

[0033] 3大气数据系统大气高度解算步骤 [0033] Atmospheric air data system 3 solution step height

[0034] 气压高度(Hp)(即飞行高度)与大气的压力⑵和温度⑴有关。 [0034] barometric altitude (of Hp) (i.e., flying height) and atmospheric pressure and a temperature ⑴ ⑵ related. 在标准大气情况下,气压高度与大气参数成如下函数关系: In standard atmospheric conditions, pressure altitude and atmospheric parameters into the following function:

[0035] Hp = f(Ps,Pb, tb, xb) (3) [0035] Hp = f (Ps, Pb, tb, xb) (3)

[0036] 式中Pb——标准大气情况下,各相应大气层的压力下限值(Pa); The [0036] wherein Pb-- standard atmospheric conditions, the respective lower limit pressure atmosphere (Pa);

[0037] tb——标准大气情况下,各相应大气层的温度下限值(°C ); The [0037] tb-- standard atmospheric conditions, at a temperature of the respective limit value the atmosphere (° C);

[0038] τ b—标准大气情况下,各相应大气层的温度梯度(°C /km); The [0038] τ b- standard atmospheric conditions, the respective atmospheric temperature gradient (° C / km);

[0039] 对于标准大气,Pb、tb、h都是标准值。 [0039] For the standard atmosphere, Pb, tb, h is the standard value. 因此,只要能测出飞机所在高度的大气静压Ps,就可以按照标准气压公式求得飞机的气压高度。 Thus, as long as the measured height of the aircraft where the atmospheric static pressure Ps, the pressure altitude of the aircraft can be obtained according to standard barometric formula.

[0040] 根据标准气压高度公式,有 [0040] The standard pressure altitude formula, there

[0041] [0041]

Figure CN101706283BD00053

[0042] [0042]

Figure CN101706283BD00061

[0043] 在标准大气条件下,高度Hp只是静压Ps的函数。 [0043] under standard atmospheric conditions, but the height Hp of the static pressure Ps function.

[0044] 4高度信息的自适应滤波步骤 [0044] Step 4 height adaptive filtering information

[0045] 该步骤采用两种方案实现。 [0045] This step is implemented in two schemes.

[0046] 第一种方案如图1所示,在跨音速初期静压产生波动引起气压高度信号出现波动时,将惯导高度与波动的气压高度差值作为自适应滤波器的输入,滤波器输出高度差值的激波干扰信号,并将激波干扰信号反馈,与气压高度做差,修正气压高度;或将激波干扰信号经单位转换与静压做差,修正静压,解算出对应的气压高度。 [0046] The first embodiment shown in FIG, 1 transonic generating static pressure fluctuations initial pressure altitude signal fluctuations occur, the difference in height of the pressure fluctuation of the height of the INS as an adaptive filter input, a filter difference in height of the output signal of the shock wave disturbance, and the shock wave disturbance signal is fed, and calculating the difference between pressure altitude, pressure altitude correction; or shock wave interfering with the signal conversion unit calculating the difference between static pressure, static pressure correction, corresponding to the calculated solution the pressure altitude. 修正后的气压高度消除了激波干扰,其与惯导高度做差得到高度差值,根据高度差值并利用自适应算法,逐步调整自适应滤波器参数(滤波器阶数和滤波步长等),使滤波器性能随高度差值的变化而做自适应调整,不断调节减小高度差值; Pressure after correction of the height of the shock eliminating the interference, which make the difference give INS height difference in height, the height difference and using an adaptive algorithm, the adaptive filter gradually adjust the parameters (filter order and filtering steps, etc. ), so that the filter capacity varies with the height difference adjustment done adaptively, to reduce the height difference continuously adjusted;

[0047] 第二种方案如图2所示,在跨音速初期气压高度信号出现波动时,将波动的气压高度作为自适应滤波器的输入,滤波器输出气压高度的激波干扰信号,并将激波干扰信号与气压高度做差得到激波干扰对消后的气压高度;或将激波干扰信号经单位转换与静压做差,对静压进行修正,修正后静压解算出对应的激波干扰对消后的气压高度。 [0047] The second embodiment shown in Figure 2, the initial pressure at the height of transonic signal fluctuations, pressure fluctuations in the height of the adaptive filter as input, the output of the filter shock pressure altitude signal interference, and shock interference signal and calculating the difference between the height of the pressure obtained after the pressure shock wave interference canceling height; or shock wave interfering with the signal conversion unit calculating the difference between static pressure, static pressure is corrected, the corrected static pressure corresponding to the calculated solution stimulated the height of the pressure wave interference after cancellation. 消除激波干扰的气压高度与惯导高度做差得到高度差值,根据高度差值并利用自适应算法,逐步调整自适应滤波器参数(滤波器阶数和滤波步长等),使滤波器性能随高度差值的变化而做自适应调整,不断调节减小高度差值。 To eliminate the interference of the shock pressure altitude difference and INS do highly height difference, the height difference and using an adaptive algorithm, the adaptive filter gradually adjust the parameters (filter order and filtering steps, etc.), so that the filter capacity varies height difference adaptive adjustment done continuously adjusted to reduce the height difference.

[0048] 自适应滤波器通过由误差所控制的自适应算法来随时自动调整滤波器参数,最小均方(LMS,Least Mean Square)算法是现今应用最为广泛的一种线性自适应算法,它以期望响应和滤波器输出信号之间误差的均方值最小为准则,依据输入信号在迭代过程中估计梯度矢量,并更新权系数以达到最有效的自适应迭代算法。 [0048] The adaptive filter automatically adjust filter parameters at any time by an adaptive algorithm controlled by the error, least mean square (LMS, Least Mean Square) algorithm is now the most widely used as a linear adaptive algorithm, it and the error between the desired filter output signal in response to the minimum mean square criterion, the gradient vector is estimated in an iterative process based on the input signal, and updates the weights to achieve the most efficient adaptive iterative algorithm. 它不需要有关的相关函数和矩阵求逆运算,是一种有用且简单的算法。 It does not require related functions and related matrix inversion, it is a useful and simple algorithm.

[0049] LMS算法一般包括两个基本过程:一个是滤波过程,另一个是自适应过程。 [0049] LMS algorithm typically involves two basic procedures: a filtering process, the other is an adaptive process. 在滤波过程中,自适应滤波器计算其对输入的响应,并且通过与期望响应比较,得到估计的误差信号。 In the filtering process, the adaptive filter is calculated in response to the input, and by comparing the response desired, to obtain an estimated error signal. 在自适应过程中,系统估计误差自动调整滤波器自身的参数。 In the adaptation process, the system automatically adjusts the filter estimation error parameter itself. 这两个过程共同组成一个反馈环,如图4所示。 These two processes together form a feedback loop, as shown in FIG. 图中,自适应滤波器的误差信号为 FIG error signal to the adaptive filter

[0050] e(n) = d (η) -y (η) (6) [0050] e (n) = d (η) -y (η) (6)

[0051] 式中,e(n)为η时刻的误差信号,d(n)为η时刻的期望信号,y(n)为η时刻自适应滤波器的输出信号,表示为 [0051] In the formula, e (n) η timing error signal, d (n) is the desired signal η time, y (n) is the adaptive filter output signal timing η, expressed as

[0052] y (η) = χτ (η) w (η) = wT (η) χ (η) (7) [0052] y (η) = χτ (η) w (η) = wT (η) χ (η) (7)

[0053] 式中χ(η)为η时刻输入信号矢量,其定义为χ (η) = [χ (η) χ (n_l)…χ (n_M) ]τ (单输入结构,M为延时时间)或x(n) = [Xtl(H)X1 (η) ···%(!!) ]τ(多输入结构,M为输入信号个数),w(n)为η时刻的加权矢量。 [0053] wherein χ (η) [eta] is the time of the input signal vector, which is defined as χ (η) = [χ (η) χ (n_l) ... χ (n_M)] τ (single input structure, M being the delay time ) or x (n) = [Xtl (H) X1 (η) ···% (!!)] τ (multiple input structure, M being the number of input signals), w (n) is the time of weight vector [eta].

[0054] LMS算法进行梯度估计的方法以误差信号每一次迭代的瞬时平方值替代其均方值,并以此来估计梯度,即 Method [0054] LMS algorithm to estimate the gradient error signal for each iteration substituted for the instantaneous value of the square of the mean square values, and in order to estimate the gradient, i.e.,

Figure CN101706283BD00062

[0056] 式中卢(W)为梯度估计值,⑶式若写成矢量形式,有, Qe2 (ή) [0056] In the formula Lu (W) of the estimated gradient value, if written in vector form ⑶ formula, there are, Qe2 (ή)

[0057] V(n) = ^- (9) [0057] V (n) = ^ - (9)

[0058] 将式(6)和式(7)代入式(9),得到 [0058] The formula (6) and (7) into equation (9), to give

[0059] V (n) = 2e(n)-^- = -2e(n)x(n) (10) [0059] V (n) = 2e (n) - ^ - = -2e (n) x (n) (10)

dw{n) dw {n)

[0060] 在最速下降法中,有 [0060] In the steepest descent method, there

[0061] w(n +1) = - μ V {ή) (11) [0061] w (n +1) = - μ V {ή) (11)

[0062] 式中μ为控制收敛速度和稳定性的收敛因子,为梯度真值。 [0062] wherein μ is the convergence factor controlling the convergence speed and stability, the true value of the gradient. 用梯度估值卢替代最速下降法中的梯度真值7(«),有 Alternatively valuation Lu with a gradient steepest descent method is a gradient of 7 true value ( «) with

[0063] w(n + 1) = w{n) + μ{-ν{ή)) = w(n) + 2μβ{ή)χ{ή) (12) [0063] w (n + 1) = w {n) + μ {-ν {ή)) = w (n) + 2μβ {ή) χ {ή) (12)

[0064] 式(12)为LMS算法的滤波器权矢量迭代公式,自适应迭代下一时刻的权系数矢量可以由当前时刻的权系数矢量加上以误差函数为比例因子的输入矢量得到。 Is a filter weighting coefficient vectors weight vector iteration formula LMS algorithm, adaptive iterative next time [0064] Formula (12) can be added by the weighting coefficient vectors of the current time input vector to the scale factor error function is obtained. 5惯导高度通道阻尼算法步骤 5 INS algorithm steps damping channel height

[0065] 惯导高度通道阻尼算法可采用已有的高度通道二阶阻尼或三阶阻尼算法(原理框图分别如图5、图6所示),或在现有二阶或三阶阻尼回路基础上加以改进,将惯导高度与气压高度的差值按一定阻尼算法处理,经阻尼回路反馈至步骤(¾惯导高度通道的加速度、速度或惯导高度处,在保证整个系统稳定性的前提下,根据控制原理的关系调整阻尼回路中的参数,实现对高度通道的控制,此时惯导高度通道阻尼回路中的惯导高度输出即为抑制了跨音速激波干扰的组合高度信息。 To the second order or third-order damping algorithm [0065] Inertial damping algorithm height of the channel height of the channel can be conventional (block diagram in FIG. 5, respectively, as shown in FIG. 6), the existing loop, or second or third damping to be improved, the height difference between the INS by a certain damping pressure altitude processing algorithm, the damping circuit is fed back to step (¾ height of the channel INS acceleration, velocity or inertial navigation height, in the premise of ensuring the stability of the entire system , the principle of adjusting the relationship of the control parameters of the damping circuit, to achieve control of the height of the channel, the height of the channel at this time the damping circuit INS inertial navigation output is the height of transonic shock suppressing interference compositions height information.

Claims (1)

1. 一种高度通道的跨音速激波干扰自适应抑制方法,其特征在于包括如下步骤:1)惯性测量单元信号采集:采集惯性测量单元中加速度计的输出信号,得到惯导系统的比力信息;2)惯性导航系统惯导高度解算:惯性导航系统惯导高度h由加速度 <两次积分得到, 高度通道中有 A height of transonic shock channel adaptive interference suppression method, comprising the steps of: 1) an inertial measurement unit signal acquisition: acquiring an output signal of the accelerometer inertial measurement unit to obtain a ratio of the force INS information; 2) INS inertial navigation system solver height: INS inertial navigation system, a height h <obtained by integrating twice the acceleration passage has a height
Figure CN101706283BC00021
,其中.„为载体在导航系下高度方向加速度,vxn、vyn分别为载体在导航系下东向、北向速度,fzn为导航系下高度方向比力,ω 为地球自转角速度,L为载体所在处纬度,Rm、I^n分别为子午圈、卯酉圈纬度为L处的曲率半径,g为载体所在处重力加速度;3)大气数据系统气压高度解算:在标准大气条件下,气压高度Hp只是静压Ps的函数, 根据标准气压高度公式,有 Wherein. "Acceleration vector in the navigation system in the height direction, vxn, vyn respectively support at navigation system east, north velocity, FZN height direction than the force, [omega] is the earth rotation angular velocity of the navigation system, L is a carrier where at latitude, Rm, I ^ n are meridian, latitude prime vertical radius of curvature at L, g is the acceleration of gravity of the carrier is located; 3) pressure altitude air data system solver: under standard atmospheric conditions, pressure altitude Hp is a function only of the static pressure Ps, according to the standard formula for pressure altitude, there
Figure CN101706283BC00022
4)高度信息的自适应滤波,包括以下两种方法:a)在跨音速初期静压产生波动引起气压高度信号出现波动时,将惯导高度与波动的气压高度差值作为自适应滤波器的输入,滤波器输出高度差值的激波干扰信号;将所述激波干扰信号反馈与气压高度做差对消激波干扰,或将所述激波干扰信号进行单位转换后与静压做差对消激波干扰,解算对应的激波干扰对消后的气压高度;消除激波干扰的气压高度与惯导高度做差得到高度差值,根据高度差值并利用自适应算法,逐步调整自适应滤波器,不断调节减小高度差值;b)在跨音速初期气压高度信号出现波动时,将波动的气压高度作为自适应滤波器的输入,滤波器输出气压高度的激波干扰信号,并将激波干扰信号与气压高度做差对消激波干扰,或将激波干扰信号经单位转换与静压做差,对静压进行修正,采用修 4) the height of the adaptive filter information, comprising the following two methods: a) generating a signal fluctuates due to fluctuations in pressure altitude, and the height difference between the height of INS pressure fluctuations in the adaptive filter as the initial static pressure of the transonic input, the height difference between the filter output signal of the shock wave interference; the shock wave interfering with the pressure feedback signal to make the height difference between the interference cancellation shock, or shock to the interference signal converted to do after the unit and the static pressure difference interference cancellation shock, shock solving the corresponding height after the interference cancellation pressure; shock eliminate interference with the pressure altitude difference obtained INS do height difference in height, the height difference and using an adaptive algorithm, according to gradually adjust the adaptive filter constantly adjusted to reduce the height difference; b) when the height of transonic initial signal pressure fluctuations, pressure fluctuations in the height of the adaptive filter as input, the output of the filter shock pressure altitude signal interference, shock and interference signal and calculating the difference between pressure altitude interference cancellation shock, or shock wave interfering with the signal conversion unit calculating the difference between static pressure, static pressure is corrected using repair 后静压解算出对应的激波干扰对消后的气压高度;消除激波干扰的气压高度与惯导高度做差得到高度差值,根据高度差值并利用自适应算法,逐步调整自适应滤波器,不断调节减小高度差值;5)惯导高度通道阻尼算法:阻尼算法采用二阶阻尼或三阶阻尼,将上述的气压高度与惯导高度做差得到的高度差值按二阶阻尼或三阶阻尼算法处理,反馈至步骤O)的惯导高度通道,实现对高度通道的控制,此时惯导高度通道阻尼回路中的惯导高度输出即为抑制了跨音速激波干扰的组合高度信息。 Solutions of the calculated static pressure corresponding to the pressure after the shock wave interference canceling height; interference elimination shock pressure altitude difference and INS do highly height difference, the height difference and using an adaptive algorithm, the adaptive filter gradually adjust is continuously adjusted to reduce the height difference; 5) Inertial damping channel height algorithm: algorithm damped second-order or third-order damping damping, the above-mentioned pressure altitude and INS do height difference obtained by the difference in height of second order damped or third damping algorithm processing, feedback to step O) INS height of the channel, to achieve control of the height of the channel, the height of the channel at this time the damping circuit INS inertial navigation output is the height of transonic shock interference suppression combination height information.
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