CN102050226A - Aviation emergency instrument, and system initial alignment method and combined navigation algorithm thereof - Google Patents

Abstract

The invention provides an aviation emergency instrument which comprises an atmospheric pressure measurement unit, an inertial measurement unit, a double-antenna GPS satellite receiver connected with a satellite signal receiving antenna, a graphic display unit, a secondary power supply circuit, and a comprehensive processing and calculation unit, wherein the comprehensive processing and calculation unit receives the information from the individual sensors, calculates the navigation parameters indicative of air speed, pressure altitude, posture, flight direction, longitude and latitude by use of a sensor information fusion algorithm, and sends the calculation result to the high-density liquid crystal graphic display unit. According to the invention, since the aviation emergency instrument can provide the navigation parameters indicative of air speed, pressure altitude, posture (pitch angle and roll angle), flight direction, longitude and latitude, the aviation emergency instrument can not only provide reference information to a pilot who operates the main flight instrument in the normal state but also serve as an emergency instrument in case that the main flight instrument is in the failure state. When the main flight instrument completely fails to work, the pilot can operate the aircraft to return safely by means of the navigation information provided by the emergency instrument.

Description

The emergent instrument of a kind of aviation and system's initial alignment method and integrated navigation algorithm

Technical field

The present invention relates to a kind of aviation integrated flight instrument, the particularly a kind of emergent instrument of aviation and system's initial alignment method and integrated navigation algorithm that necessary navigation information still can be provided when aircraft master instrument afunction.

Background technology

Present generation aircraft and various aircraft are extensive use of multifunction instrument and telltale.These instrument and telltale adopt concentrates distributed separation structure, carry out information transmission and shared by airborne bus (as 1553b) each other, backup each other by in parallel realization of many covers instrument, promptly when wherein still providing normal navigation information behind a cover instrument or the display fault to the aviator.But because these instrument and telltale adopt centralized power supply system, in case the passenger cabin power supply breaks down, this " glass cockpit " will lose the required information of chaufeur.For this reason, need a kind of without power supply or only with storage battery with regard to workable appendage, make chaufeur under standby mode of operation or emergency condition, can obtain necessary navigation information.So, in the middle and later periods eighties in last century, external many aircrafts have all installed some appendages successively additional, these appendages mainly contain: standby air-pressure gauge, Standby Airspeed Indicator, standby horizon instrument, standby boat appearance instrument etc., these appendages all have separately independently sensor, telltale and construction packages based on traditional electromechanical sensor technology.Along with Eltec development afterwards, these instrument are substituted by the electronic type appendage of an absolute construction gradually, the standby air-pressure gauge of this electronic type appendage collection, Standby Airspeed Indicator, standby horizon instrument three function and one, and the inner full solid-state device that adopts, do not have any movable part, not only reduced cost but also improved reliability.Therefore external many aircrafts (as Boeing 777, Air Passenger A320, F-22) have all installed this electronic type appendage additional at present.Yet also there is tangible deficiency in this electronic type appendage, for example because be subjected to volume restrictions, the sensor accuracy that adopts is not high, so the attitude accuracy of output is low, and for example can't independently provide course and location information, therefore must carry out communication by other navigation instrument on airborne bus and the aircraft (as direction gauge table, site marking device table etc.) obtains information such as course, position, therefore from the instrument stricti jurise, this electronic type appendage does not also possess the function of the navigation instrument on the complete meaning.Under emergency rating, the aviator is except needs are known attitude, speed and the flying height of necessary flight parameter such as aspect, air speed, height with the control aircraft, sometimes also need to know information such as flight course, position, with definite current place of aircraft direction, position, and then the perch of the arrival expectation that drives an airplane.

At present, jury rig is not installed on the general aircraft at present substantially, even the instrument that also just possesses the part emergency function of equipment, its technology mainly still depends on traditional electromechanical sensor, owing to adopt more mechanical movable part, have therefore that volume is big, shortcomings such as Heavy Weight, reliability and maintainability difference.

Summary of the invention:

Technical matters to be solved by this invention is to overcome the deficiency of above-mentioned prior art, provides a kind of aviation simple in structure, easy to use, that precision is higher emergent instrument.

Propose the emergent instrument of a kind of aviation according to the present invention, comprising: the atmospheric pressure measurement unit, be connected respectively to stagnation pressure tube and static tube on the aircraft by two admission pieces, be used to measure static pressure and total pressure pressure; Inertial Measurement Unit by gyroscope and accelerometer, is measured aircraft angular motion and line movable information, and then resolves the sensor parameters that provides necessary for strap-down inertial; Double antenna gps satellite receiver is connected with satellite signal receiving antenna, is used for instrumentation airplane present position, speed, course information, for strap-down inertial provides supplementary; Pattern displaying unit with the navigation parameter that receives, shows in LCDs with the form of figure and literal; The comprehensive treatment calculating unit, reception is from the information of each sensor, by the sensor information blending algorithm, calculate navigation parameters such as indicator air speed, barometric height, attitude, course, longitude and latitude, and result of calculation is sent to high density liquid crystal pattern displaying unit; The secondary power supply circuit is used for outside primary power source voltage transitions is become each sensor and the required voltage signal of circuit.

Also have following additional technical feature according to the emergent instrument of aviation provided by the invention:

Described atmospheric pressure measurement unit further comprise with described stagnation pressure tube bonded assembly total-pressure probe, with static tube bonded assembly static pressure transducer and, temperature sensor and modulate circuit, described total-pressure probe, described static pressure transducer and described temperature sensor are connected with described modulate circuit.

Described Inertial Measurement Unit comprises the inertia support, and is installed in three orthogonal gyroscopes on the inertia support, three orthogonal accelerometers and interface circuit.

Described double antenna gps satellite receiver is connected with two receiving wires at airframe top by two radio frequency connectors.

Described double antenna gps satellite receiver comprises two single antenna GPS receivers and nurses one's health computing circuit with described single antenna GPS receiver bonded assembly.

Described comprehensive treatment calculating unit comprises signal interface circuit and arithmetic processing circuit, described signal interface circuit and described arithmetic processing circuit are used to receive the information of atmospheric pressure measurement unit, Inertial Measurement Unit, double antenna gps satellite receiver, and by calculating the result are sent to high density liquid crystal pattern displaying unit.

Described pattern displaying unit is made of circuit such as LCDs, graphic display driver card, LGPs, wherein graphic display driver card is responsible for receiving the navigation parameter from the comprehensive treatment calculating unit, and generation corresponding dynamic figure and text screen, drive LCDs, in LCDs, demonstrate corresponding graphic picture.

Described pattern displaying unit comprise be used to provide that display brightness is regulated, graphic picture switches, mode switch function button and pneumatic parameter adjusting knob round the clock.

Compared with prior art have following advantage at least according to the emergent instrument of aviation provided by the invention:

At first, enough provide navigation informations such as indicator air speed, barometric height, attitude (pitch angle, roll angle), course, longitude and latitude according to the emergent instrument of a kind of aviation provided by the invention, not only can be used as pilot manipulation master flying instruments under the normal condition information reference but also can be as the emergency power instrument when main flying instruments et out of order, when main flying instruments completely lost function, the navigation information that still can rely on this instrument to provide guided the pilot driver aircraft safety to make a return voyage; Secondly, the emergent instrument of aviation provided by the invention not only has the measurement and the deixis of attitude, air speed, barometric height, but also functions such as the measurement of course and longitude and latitude and indication have been increased, adopt multi-sensor information fusion technology, electromechanical appendage traditional relatively aspect output accuracy also improves a lot.

The emergent meter system initial alignment method of a kind of aviation is proposed according to the present invention, after system's POST, may further comprise the steps: a, initial information bookbinding, use GPS output course, the horizontal attitude angle that the accelerometer information calculations goes out, the position and the zero-speed information of GPS receiver to bind to the emergent instrument of aviation; B, level are slightly calibrated, the navigation coordinate system that the emergent instrument of aviation is set up oneself carries out navigation calculation, utilize the zero-speed information under the quiescence to carry out speeds match Kalman filtering calculating simultaneously, best guess goes out the horizontal attitude error of system, and the navigation coordinate of update the system system; C, the smart calibration of level, the emergent instrument of aviation is that initial condition (IC) is carried out navigation calculation with the coarse alignment result, and the velocity information of using navigation calculation simultaneously is as magnitude of error, and best guess goes out the horizontal attitude error of system, and system's attitude is revised.

Also have following additional technical feature according to the emergent meter system initial alignment method of aviation provided by the invention:

In horizontal coarse alignment stage, the acceleration due to gravity information that the accelerometer measures sensitivity arrives in the Inertial Measurement Unit, the emergent instrument of aviation utilizes this information calculations to go out self pitching and roll angle information, the course information of utilizing the F/s navigation computer to receive then, the attitude matrix of computing system, the position of the emergent instrument initialization self of aviation simultaneously is the longitude and latitude of initial bookbinding, and the emergent instrument self speed of initialization aviation is a zero-speed.

The coarse alignment algorithm of described horizontal coarse alignment is: order

And order

$T_{12}=\frac{f_x}{\left|\right|f\left|\right|},$ $T_{22}=\frac{f_y}{\left|\right|f\left|\right|},$ $T_{32}=\frac{f_z}{\left|\right|f\left|\right|}$

F wherein _x, f _y, f _zBe respectively the output of three accelerometers, then emergent instrument pitching of aviation and roll angle adopt following method to calculate θ=arcsin (T ₁₂),

Pitching and roll angle and the initial course angle information that obtains of binding of utilizing the accelerometer information calculations to come out, the attitude matrix of the emergent instrument of aviation is as follows:

Wherein

θ and γ are respectively course, pitching and the roll angle of the emergent instrument of the above aviation that calculates.The speed of the emergent instrument of the aviation of initialization simultaneously is zero, and the position of the emergent instrument of initialization aviation is the longitude and latitude of initial bookbinding.

Horizontal fine alignment is finished by speeds match Kalman filtering method, in this stage, the emergent instrument of aviation is that initial condition (IC) is carried out navigation calculation with the coarse alignment result, the velocity information of using navigation calculation simultaneously is as magnitude of error, best guess goes out the horizontal attitude error of system, and system's attitude revised, thereby finish the horizontal fine alignment of system.

Compared with prior art have following advantage at least according to the emergent meter system initial alignment method of aviation provided by the invention:

At first,, promptly do not rely on the initial navigation parameter information that other navigation instruments provided on the aircraft yet, can finish the initial alignment of this instrument according to the emergent meter system initial alignment method of a kind of aviation provided by the invention extraneous any supplementary of needs not.

Secondly, according to the emergent meter system initial alignment method of a kind of aviation provided by the invention, has short, alignment precision advantages of higher of aligning time.

The emergent meter system integrated navigation algorithm of a kind of aviation is proposed according to the present invention, after carrying out system's initial alignment, the measurement of described Inertial Measurement Unit, double antenna gps satellite receiver, comprehensive treatment calculating unit is as the input card Thalmann filter, Kalman filter obtains the best guess value of INS error according to these inputs, adopt the method for output calibration that speed, position, the attitude of INS are done correction, comprehensive revised result is the final output of integrated navigation system.

Also have following additional technical feature according to the emergent meter system integrated navigation algorithm of aviation provided by the invention:

Selecting filter 15 rank state of the system vectors are as follows

The error state equation of setting up system is

State matrix: $A=\left[\begin{array}{ccc}{\left[A_1\right]}_{6\×6}& {\left[A_2\right]}_{6\×3}& {\left[A_3\right]}_{6\×6}\\ {\left[A_4\right]}_{3\×6}& {\left[A_5\right]}_{3\×3}& 0_{3\×6}\\ 0_{6\×6}& 0_{6\×3}& 0_{6\×6}\end{array}\right]$

Wherein:

$A_3=\left[\begin{array}{cc}T& 0\\ 0& T\end{array}\right]$

ω wherein _IeBe the earth rotation angular rate,

,

With

Be the misalignment of three directions of system coordinate system, R is an earth radius.

Compared with prior art have following advantage at least according to the emergent meter system integrated navigation algorithm of aviation provided by the invention:

At first, can provide navigation informations such as indicator air speed, barometric height, attitude (pitch angle, roll angle), course, longitude and latitude according to the emergent meter system integrated navigation algorithm of aviation provided by the invention, not only can be used as pilot manipulation master flying instruments under the normal condition information reference but also can be as the emergency power instrument when main flying instruments et out of order, when main flying instruments completely lost function, the navigation information that still can rely on this instrument to provide guided the pilot driver aircraft safety to make a return voyage; Secondly, the emergent meter system integrated navigation algorithm of aviation provided by the invention not only has the measurement and the deixis of attitude, air speed, barometric height, but also functions such as the measurement of course and longitude and latitude and indication have been increased, adopt multi-sensor information fusion technology, electromechanical appendage traditional relatively aspect output accuracy also improves a lot.

The aspect advantage that the present invention adds part in the following description provides, and part will become more obvious from the following description, or recognize by practice of the present invention.

Description of drawings

Above-mentioned and other aspects of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment below in conjunction with accompanying drawing, wherein:

Fig. 1 is the composition frame chart according to the emergent instrument of aviation provided by the invention;

Fig. 2 is according to the emergent meter system initial alignment method flow diagram of embodiment of the invention aviation;

Fig. 3 is the emergent meter system integrated navigation algorithm block diagram of aviation that provides according to the embodiment of the invention.

The specific embodiment:

Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical from start to finish label is represented components identical.Be used to explain the present invention below by the embodiment that is described with reference to the drawings, described embodiment is exemplary, and can not be interpreted as limitation of the present invention.

Referring to shown in Figure 1, according to the emergent instrument of a kind of aviation provided by the invention, form for internal system in the whole frame of broken lines 1, front end is graphic display and control unit 10, be used for showing the navigation information of measurement to the aviator, plate (LGP) is arranged some function buttons and adjusting knob in front simultaneously, is used for functional picture switching, display brightness adjusting and pneumatic parameter and regulates; At the tail end rear panel admission piece 4,5 that two 2,3 and two of antenna feeder sockets that are used to be mounted on the gps antenna on the fuselage are used to connect the outside pitot of aircraft is housed, one of them connects static pressure, another connects stagnation pressure, and rear panel also is equipped with an electric coupler (not shown) and is used to introduce externally fed power supply signal and communication test in addition.Frame of broken lines 1 inside can be divided into 6 component parts:

An atmospheric pressure measurement unit (PMU) 7 that is installed in afterbody, form by static pressure transducer, total-pressure probe, temperature sensor and modulate circuit, be connected respectively to stagnation pressure tube and static tube on the aircraft by two admission pieces 4,5, be used to measure static pressure and total pressure pressure, for barometric height calculated with mathematical model and air speed calculated with mathematical model provide necessary sensor parameters;

An Inertial Measurement Unit (IMU) 6 that is installed in the middle part, form by 1 three-axis gyroscope, 3 accelerometers, temperature sensor, interface circuit and inertia supports, measure motion of aircraft three shaft angles and line movable information, and then resolve the sensor parameters that provides necessary for strap-down inertial;

A double antenna gps satellite receiver 8 that is installed in afterbody, form by two single antenna GPS receivers and signal condition, computing circuit, be connected to two satellite signal receiving antennas in fuselage top by two radio frequency connectors, utilize carrier phase measurement technology and rapid solving integer ambiguity technology, calculate the angle between two positions, gps satellite signal receiving wire place and two antenna phase center lines and the geographical north, information such as while instrumentation airplane present position, speed are for strap-down inertial provides supplementary;

A comprehensive treatment unit 9 that is installed in middle front part, form by signal interface circuit, arithmetic processing circuit etc., reception is from the information of each sensor unit 6,7,8, calculate and the multi-sensor information fusion algorithm by specific strapdown attitude algorithm, barometric height, air speed model, calculate navigation parameters such as final indicator air speed, barometric height, attitude, course, longitude and latitude, and result of calculation is sent to pattern displaying unit 10;

One fore pattern displaying unit 10 is installed, constitute by circuit such as LCDs, graphic display driver card, LGPs, wherein graphic display driver card is responsible for receiving the navigation parameter from comprehensive treatment computing machine 9, and generation corresponding dynamic figure and text screen, drive LCDs, in LCDs, demonstrate corresponding graphic picture, LGP is used to provide that display brightness is regulated, graphic picture switches, function button and pneumatic parameter adjusting knob such as mode switch round the clock, to adapt to the operating needs under the different flight environment of vehicle;

A secondary power supply circuit 11 that is installed in the middle part is used for and will becomes to satisfy each sensor and the required voltage signal of circuit from outside primary power source voltage transitions.

Referring to shown in Figure 2, according to the emergent meter system initial alignment method of a kind of aviation provided by the invention, the self check flow process is at first carried out in the emergent instrument energising of aviation, check system has or not hardware and software failure, after self check is finished, use GPS output course, the horizontal attitude angle that the accelerometer information calculations goes out, the position of GPS receiver and zero-speed information are bound to the emergent instrument of aviation, after bookbinding is finished, the navigation coordinate system that the emergent instrument of aviation is set up oneself carries out navigation calculation, utilize the zero-speed information under the quiescence to carry out speeds match Kalman filtering calculating simultaneously, best guess goes out the horizontal attitude error of system, and the navigation coordinate of update the system system, thereby finish the initial alignment process of system.After initial alignment finished, the emergent instrument of aviation changed the integrated navigation state over to.

The course bookbinding is aimed to be needed to finish through three phases, it at first is initial bookbinding, the comprehensive treatment computing machine receives the course information from GPS, the location information of GPS receiver (local longitude, latitude information), after the comprehensive treatment computing machine receives the success of bookbinding data, enter the subordinate phase coarse alignment, in coarse alignment stage, the acceleration due to gravity information that the accelerometer measures sensitivity arrives in the IMU, the emergent instrument of aviation utilizes this information calculations to go out self pitching and roll angle information, the course information of utilizing the F/s navigation computer to receive then, the attitude matrix of computing system, the position of the emergent instrument initialization self of aviation simultaneously is the longitude and latitude of initial bookbinding, and the emergent instrument self speed of initialization aviation is a zero-speed.After above process was finished, the emergent instrument of aviation entered the phase III of aligning: horizontal fine alignment.Horizontal fine alignment is finished by speeds match Kalman filtering method, in this stage, the emergent instrument of aviation is that initial condition (IC) is carried out navigation calculation with the coarse alignment result, the velocity information of using navigation calculation simultaneously is as magnitude of error, best guess goes out the horizontal attitude error of system, and system's attitude revised, thereby finish the horizontal fine alignment of system.Concrete computational algorithm is as follows:

The coarse alignment algorithm:

Order

And order

$T_{12}=\frac{f_x}{\left|\right|f\left|\right|},$ $T_{22}=\frac{f_y}{\left|\right|f\left|\right|},$ $T_{32}=\frac{f_z}{\left|\right|f\left|\right|}$

F wherein _x, f _y, f _zBe respectively the output of three accelerometers, then emergent instrument pitching of aviation and roll angle adopt following method to calculate θ=arcsin (T ₁₂), Pitching and roll angle and the initial course angle information that obtains of binding of utilizing the accelerometer information calculations to come out, the attitude matrix of the emergent instrument of aviation is as follows:

Wherein

θ and γ are respectively course, pitching and the roll angle of the emergent instrument of the above aviation that calculates.The speed of the emergent instrument of the aviation of initialization simultaneously is zero, and the position of the emergent instrument of initialization aviation is the longitude and latitude of initial bookbinding.So far, finish the coarse alignment process of the emergent instrument of aviation.

Referring to shown in Figure 3, according to the emergent meter system integrated navigation algorithm of a kind of aviation provided by the invention, here INS is as the system of subject of navigation, the output of the speed of GPS north orientation and east orientation, position and INS north orientation and east orientation speed, that position output is done is poor, obtains the observed quantity of north orientation and east orientation speed course latitude error and positional error; It is poor that the height of employing PMU and vertical speed and INS export accordingly, obtains the speed course latitude error on the vertical direction, the observed quantity of positional error; In like manner, the output of the course angle of GPS is poor with the course angle output of INS, obtains the observed quantity of course angle error.More than three part observed quantities as the input of Kalman filter, Kalman filter obtains the best guess value of INS error according to these inputs, adopt the method for output calibration that speed, position, the attitude of INS are done correction, comprehensive revised result is the final output of integrated navigation system.

Selecting filter 15 rank state of the system vectors are as follows

The error state equation of setting up system is

State matrix: $A=\left[\begin{array}{ccc}{\left[A_1\right]}_{6\×6}& {\left[A_2\right]}_{6\×3}& {\left[A_3\right]}_{6\×6}\\ {\left[A_4\right]}_{3\×6}& {\left[A_5\right]}_{3\×3}& 0_{3\×6}\\ 0_{6\×6}& 0_{6\×3}& 0_{6\×6}\end{array}\right]$

Wherein:

$A_3=\left[\begin{array}{cc}T& 0\\ 0& T\end{array}\right]$

ω wherein _IeBe the earth rotation angular rate,

,

With

Be the misalignment of three directions of system coordinate system, R is an earth radius.Utilize above error model, just can estimate the misalignment and the gyro wander equal error parameter of system, utilize the navigation parameter that these parameters just can update the system, make that system's navigation accuracy is higher by the Kalman filtering algorithm.

Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can change that scope of the present invention is limited by claims and equivalent thereof to these embodiment.

Claims (14)

1. the emergent instrument of an aviation is characterized in that: comprising:

The atmospheric pressure measurement unit is connected respectively to stagnation pressure tube and static tube on the aircraft by two admission pieces, is used to measure static pressure and total pressure pressure;

Inertial Measurement Unit by gyroscope and accelerometer, is measured aircraft angular motion and line movable information, and then resolves the sensor parameters that provides necessary for strap-down inertial;

Double antenna gps satellite receiver is connected with satellite signal receiving antenna, is used for instrumentation airplane present position, speed, course information, for strap-down inertial provides supplementary;

Pattern displaying unit with the navigation parameter that receives, shows in LCDs with the form of figure and literal;

The comprehensive treatment calculating unit, reception is from the information of each sensor, by the sensor information blending algorithm, calculate navigation parameters such as indicator air speed, barometric height, attitude, course, longitude and latitude, and result of calculation is sent to high density liquid crystal pattern displaying unit;

The secondary power supply circuit is used for outside primary power source voltage transitions is become each sensor and the required voltage signal of circuit.

2. a kind of aviation according to claim 1 instrument of meeting an urgent need, it is characterized in that: described atmospheric pressure measurement unit further comprise with described stagnation pressure tube bonded assembly total-pressure probe, with static tube bonded assembly static pressure transducer and, temperature sensor and modulate circuit, described total-pressure probe, described static pressure transducer and described temperature sensor are connected with described modulate circuit.

3. a kind of aviation according to claim 1 instrument of meeting an urgent need, it is characterized in that: described Inertial Measurement Unit comprises the inertia support, and is installed in three orthogonal gyroscopes on the inertia support, three orthogonal accelerometers and interface circuit.

4. a kind of aviation according to claim 1 instrument of meeting an urgent need is characterized in that: described double antenna gps satellite receiver is connected with two receiving wires at airframe top by two radio frequency connectors.

5. a kind of aviation according to claim 1 instrument of meeting an urgent need is characterized in that: described double antenna gps satellite receiver comprise two single antenna GPS receivers and with described single antenna GPS receiver bonded assembly conditioning computing circuit.

6. a kind of aviation according to claim 1 instrument of meeting an urgent need, it is characterized in that: described comprehensive treatment calculating unit comprises signal interface circuit and arithmetic processing circuit, and described signal interface circuit and described arithmetic processing circuit are used to receive the information of atmospheric pressure measurement unit, Inertial Measurement Unit, double antenna gps satellite receiver and with information and by calculating the result are sent to high density liquid crystal pattern displaying unit.

7. a kind of aviation according to claim 1 instrument of meeting an urgent need, it is characterized in that: described pattern displaying unit is made of circuit such as LCDs, graphic display driver card, LGPs, wherein graphic display driver card is responsible for receiving the navigation parameter from the comprehensive treatment calculating unit, and generation corresponding dynamic figure and text screen, drive LCDs, in LCDs, demonstrate corresponding graphic picture.

8. a kind of aviation according to claim 7 instrument of meeting an urgent need is characterized in that: described pattern displaying unit comprise be used to provide that display brightness is regulated, graphic picture switches, mode switch function button and pneumatic parameter adjusting knob round the clock.

9. the emergent meter system initial alignment method of an aviation is characterized in that: after system's POST, may further comprise the steps:

A, initial information bookbinding use GPS output course, the horizontal attitude angle that the accelerometer information calculations goes out, the position and the zero-speed information of GPS receiver to bind to the emergent instrument of aviation;

B, level are slightly calibrated, the navigation coordinate system that the emergent instrument of aviation is set up oneself carries out navigation calculation, utilize the zero-speed information under the quiescence to carry out speeds match Kalman filtering calculating simultaneously, best guess goes out the horizontal attitude error of system, and the navigation coordinate of update the system system;

C, the smart calibration of level, the emergent instrument of aviation is that initial condition (IC) is carried out navigation calculation with the coarse alignment result, and the velocity information of using navigation calculation simultaneously is as magnitude of error, and best guess goes out the horizontal attitude error of system, and system's attitude is revised.

10. the aviation according to claim 9 meter system initial alignment method of meeting an urgent need, it is characterized in that: in horizontal coarse alignment stage, the acceleration due to gravity information that the accelerometer measures sensitivity arrives in the Inertial Measurement Unit, the emergent instrument of aviation utilizes this information calculations to go out self pitching and roll angle information, the course information of utilizing the F/s navigation computer to receive then, the attitude matrix of computing system, the position of the emergent instrument initialization self of aviation simultaneously is the longitude and latitude of initial bookbinding, and the emergent instrument self speed of initialization aviation is a zero-speed.

The meter system initial alignment method 11. aviation according to claim 10 is met an urgent need, it is characterized in that: the coarse alignment algorithm of described horizontal coarse alignment is: order

And order

$T_{12}=\frac{f_x}{\left|\right|f\left|\right|},$ $T_{22}=\frac{f_y}{\left|\right|f\left|\right|},$ $T_{32}=\frac{f_z}{\left|\right|f\left|\right|}$

F wherein _x, f _y, f _zBe respectively the output of three accelerometers, then emergent instrument pitching of aviation and roll angle adopt following method to calculate θ=arcsin (T ₁₂),

Pitching and roll angle and the initial course angle information that obtains of binding of utilizing the accelerometer information calculations to come out, the attitude matrix of the emergent instrument of aviation is as follows:

Wherein

θ and γ are respectively course, pitching and the roll angle of the emergent instrument of the above aviation that calculates.The speed of the emergent instrument of the aviation of initialization simultaneously is zero, and the position of the emergent instrument of initialization aviation is the longitude and latitude of initial bookbinding.

The meter system initial alignment method 12. aviation according to claim 9 is met an urgent need, it is characterized in that: horizontal fine alignment is finished by speeds match Kalman filtering method, in this stage, the emergent instrument of aviation is that initial condition (IC) is carried out navigation calculation with the coarse alignment result, the velocity information of using navigation calculation simultaneously is as magnitude of error, best guess goes out the horizontal attitude error of system, and system's attitude is revised, thereby finishes the horizontal fine alignment of system.

13. emergent meter system integrated navigation algorithm of aviation, it is characterized in that: after carrying out system's initial alignment, the measuring amount of described Inertial Measurement Unit, double antenna gps satellite receiver, comprehensive treatment calculating unit is as the input card Thalmann filter, Kalman filter obtains the best guess value of INS error according to these inputs, adopt the method for output calibration that speed, position, the attitude of INS are done correction, comprehensive revised result is the final output of integrated navigation system.

The meter system integrated navigation algorithm 14. aviation according to claim 13 is met an urgent need, it is characterized in that: selecting filter 15 rank state of the system vectors are as follows

The error state equation of setting up system is

State matrix: $A=\left[\begin{array}{ccc}{\left[A_1\right]}_{6\×6}& {\left[A_2\right]}_{6\×3}& {\left[A_3\right]}_{6\×6}\\ {\left[A_4\right]}_{3\×6}& {\left[A_5\right]}_{3\×3}& 0_{3\×6}\\ 0_{6\×6}& 0_{6\×3}& 0_{6\×6}\end{array}\right]$

Wherein:

$A_3=\left[\begin{array}{cc}T& 0\\ 0& T\end{array}\right]$

ω wherein _IeBe the earth rotation angular rate,

,

With

Be the misalignment of three directions of system coordinate system, R is an earth radius.

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