CN103076013A - Air data and gesture heading reference system for flight navigation - Google Patents
Air data and gesture heading reference system for flight navigation Download PDFInfo
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- CN103076013A CN103076013A CN2012105780119A CN201210578011A CN103076013A CN 103076013 A CN103076013 A CN 103076013A CN 2012105780119 A CN2012105780119 A CN 2012105780119A CN 201210578011 A CN201210578011 A CN 201210578011A CN 103076013 A CN103076013 A CN 103076013A
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Abstract
The invention belongs to the technical field of flight navigation and in particular relates to an air data and gesture heading reference system for flight navigation. The system solves the problems in the conventional flight navigation mode. The system comprises a strapdown type inertial gesture sensor, a global positioning system (GPS) system receiving module, an air data sensor, a magnetic sensor, a temperature sensor and a signal processing module, wherein the input ends and the output ends of the inertial gesture sensor, the GPS receiving module and the air data sensor are connected with the signal processing module; and the output ends of the magnetic sensors and the temperature sensors are connected with the signal processing module. The system has the benefits that the gesture sensor has autonomy and can make up the defects that the GPS is limited by the topography and susceptible to interference; the GPS has real-time property and can make up the defect that the error of the gesture sensor is accumulated along with the time; the air data sensor provides high-precision air data and can be used for correcting the gesture information of the system; and the system has small size and light weight.
Description
Technical field
The invention belongs to the technical field of flight navigation, be specifically related to a kind of atmosphere data for flight navigation and attitude heading reference system.
Background technology
At present, the mode of flight navigation mainly contains radio navigation, platform-type inertial navigation, strapdown inertial navigation, satellite system navigation etc., and every kind of navigate mode has merits and demerits.Radio navigation easily is disturbed; Platform-type inertial navigation volume is large and expensive, is not suitable for navigation; Strapdown inertial navigation is moderate, but service precision is relatively low separately; The satellite system navigation is subjected to the landform restriction and easily is disturbed.So, several different navigate modes are integrated, learn from other's strong points to offset one's weaknesses, be the trend of navigation field, also be the gordian technique of General Aviation navigational system.
Summary of the invention
The problems referred to above that the present invention exists in order to solve existing flight navigation mode provide a kind of atmosphere data for flight navigation and attitude heading reference system.
The present invention adopts following technical scheme to realize:
The atmosphere data and the attitude heading reference system that are used for flight navigation, comprise the Strapdown Inertial Units attitude sensor, the GPS receiver module, air data sensor, Magnetic Sensor, temperature sensor and signal processing module, described inertia attitude sensor, the input end of GPS receiver module and air data sensor is connected with output terminal and is connected with signal processing module, Magnetic Sensor is connected output terminal and is connected with signal processing module with temperature sensor, the installation direction of Strapdown Inertial Units attitude sensor aligns with the body coordinate of aircraft, the GPS receiver module is connected with exterior antenna by the gps antenna interface, and air data sensor is connected pitot by the static pressure interface with the dynamic pressure interface.
Magnetic Sensor is installed on the empennage of aircraft.Temperature sensor is installed on the ventral of aircraft.
The present invention is mainly used in the General Aviation navigational system, also can be used as the backup navigational system.Described inertia attitude sensor receives the atmosphere data of air data sensor and the magnetic data of Magnetic Sensor, is used on the one hand the error correction of inertial parameter, is used on the other hand resolving the data such as yaw angle.Atmosphere data, gps data and inertial data merge, and adopt fast real-time characteristic of inertial data, reach the in short-term response of data; Adopt atmosphere data and gps data to restrain inertial parameter.The present invention realizes the four-dimension navigation in General Aviation field, and the time point of namely formulating at aviation management arrives the longitude and latitude and height formulated.
The relative prior art of the present invention has following beneficial effect:
1, function aspects: attitude sensor has independence, can remedy the shortcoming that GPS is subjected to the landform restriction, easily is disturbed; GPS has real-time, can remedy the shortcoming that attitude sensor error accumulates in time; Air data sensor provides precision higher atmosphere data, also can be used for the attitude information of corrective system.
2, configuration aspects: compare with independent installation gps system, attitude system, air data system, the present invention has less volume and lighter weight.
3, in price: compare with external similar products, the present invention has lower price.
Description of drawings
Fig. 1 is schematic diagram of the present invention,
Fig. 2 is structural representation of the present invention,
Among the figure: 1-inertia attitude sensor, 2-GPS receiver module, 3-air data sensor, 4-Magnetic Sensor, 5-temperature sensor, 6-signal processing module, 7-GPS antennal interface, 8-static pressure interface, 9-dynamic pressure interface.
Embodiment
By reference to the accompanying drawings the specific embodiment of the present invention is described further.
The atmosphere data and the attitude heading reference system that are used for flight navigation, it is characterized in that comprising Strapdown Inertial Units attitude sensor 1, GPS receiver module 2, air data sensor 3, Magnetic Sensor 4, temperature sensor 5 and signal processing module 6, described inertia attitude sensor 1, the input end of GPS receiver module 2 and air data sensor 3 is connected with output terminal and is connected with signal processing module 6, the output terminal that Magnetic Sensor 4 is connected with temperature sensor is connected with signal processing module 6, the installation direction of Strapdown Inertial Units attitude sensor 1 aligns with the body coordinate of aircraft, GPS receiver module 2 is connected with exterior antenna by gps antenna interface 7, air data sensor 3 is connected with the dynamic pressure interface by static pressure interface 8 and is connected pitot, experiences static pressure and the dynamic pressure of extraneous air.Magnetic Sensor 4 is installed on empennage or the less place of other magnetic interference of aircraft.Temperature sensor 5 is installed on the ventral of aircraft.
The AHC525 that Strapdown Inertial Units attitude sensor 1 adopts MEMSIC to produce; GPS receiver module 2 adopts OEMV-2, the TPD2000 that air data sensor 3 adopts MEMSCAP, CRM500GA-200, the GWR-120 that temperature sensor 5 adopts Taiyuan Aero-Instruments Co., Ltd.'s production, the MC56F8367 that signal processing module 6 core DSC parts adopt Freescale that Magnetic Sensor 4 adopts CROSSBOW of NAVATEL.
AHC525 receives the attitude data of atmosphere data and magnetic data output aircraft, comprises the angle of pitch, roll angle, course angle, three axle speed, 3-axis acceleration, yaw angle etc.
CRM500GA-200 exports three axle magnetic data.
The gps data of OEMV-2 output navigation comprises UTC time, longitude, latitude, sea level elevation etc.
Static pressure and the dynamic pressure of TPD2000 output aircraft present position.
GWR-120 experiences the temperature of the atmosphere of aircraft present position.
Above data pass to MC56F8367, after merging, resolving, 20 much informations such as the angle of pitch of aircraft, roll angle, course angle, 3-axis acceleration, three axis angular rates, yaw angle, UTC time, longitude, latitude, sea level elevation, absolute pressure height, relative barometric pressure height, rising or falling speed, calibrated airspeed, true air speed, ground velocity, Total Air Temperature, self check information are sent to external system by ARINC429, RS422, RS232, be used for flight navigation.
The temperature of measuring the attitude module in humid test is floated characteristic (temperature of disparate modules is floated the characteristic difference), and the data fitting that gathers is become polynomial expression, just can calculate to proofread and correct by software the temperature error of attitude data.
The attitude data temporal evolution of attitude module output and increasing when gps data is effective, utilizes the real-time of gps data, regularly compares the error that the recoverable attitude data accumulates in time with attitude data.
Carry out attitude correction if selected attitude module can not receive atmosphere data voluntarily, then can proofread and correct in signal processing module: at first, true air speed is resolved in the dynamic pressure that utilizes air data sensor to gather; Secondly, with true air speed, yawrate, 3-axis acceleration substitution centripetal force equation, calculate an angle of gradient; At last, this angle of gradient and acceleration ratio are compared, draw the correction data of roll angle.
That product design size of the present invention is not more than 100.6mm * 90mm * 164mm(is wide * high * dark) (not containing socket), weight is no more than 1.5kg (not comprising the annexes such as plug and cable), and mounting means is 4 M4 screws.
Claims (3)
1. atmosphere data and attitude heading reference system that is used for flight navigation, it is characterized in that comprising Strapdown Inertial Units attitude sensor (1), GPS receiver module (2), air data sensor (3), Magnetic Sensor (4), temperature sensor (5) and signal processing module (6), described inertia attitude sensor (1), the input end of GPS receiver module (2) and air data sensor (3) is connected with output terminal and is connected with signal processing module (6), Magnetic Sensor (4) is connected 5 with temperature sensor) output terminal be connected with signal processing module (6), the installation direction of Strapdown Inertial Units attitude sensor (1) aligns with the body coordinate of aircraft, GPS receiver module (2) is connected with exterior antenna by gps antenna interface (7), and air data sensor (3) is connected 9 by static pressure interface (8) with the dynamic pressure interface) the connection pitot.
2. atmosphere data and attitude heading reference system for flight navigation according to claim 1 is characterized in that Magnetic Sensor (4) is installed on the empennage of aircraft.
3. atmosphere data and attitude heading reference system for flight navigation according to claim 1 and 2 is characterized in that temperature sensor (5) is installed on the ventral of aircraft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210578011.9A CN103076013B (en) | 2012-12-27 | 2012-12-27 | Atmosphere data and attitude heading reference system for flight navigation |
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| CN201210578011.9A CN103076013B (en) | 2012-12-27 | 2012-12-27 | Atmosphere data and attitude heading reference system for flight navigation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105372671A (en) * | 2015-12-11 | 2016-03-02 | 国网四川省电力公司电力应急中心 | Unmanned aerial vehicle-based power line three-dimensional reconstruction system |
| CN105447276A (en) * | 2015-12-28 | 2016-03-30 | 太原航空仪表有限公司 | Helicopter take-off and landing speed fusion algorithm |
| CN106094566A (en) * | 2016-06-13 | 2016-11-09 | 江西洪都航空工业集团有限责任公司 | A kind of method for low cost universal ground experiment simulation carrier aircraft system |
| CN110346605A (en) * | 2019-08-01 | 2019-10-18 | 中国商用飞机有限责任公司 | For correcting the method and system that carry out aircraft airspeed calibration based on static pressure error |
| CN111290415A (en) * | 2019-12-04 | 2020-06-16 | 中国人民解放军海军航空大学 | Aircraft comprehensive pre-guidance method based on approximate difference |
| CN112762931A (en) * | 2020-12-29 | 2021-05-07 | 北京神州飞航科技有限责任公司 | Intelligent navigation method based on optical fiber attitude and heading reference system |
| CN113465576A (en) * | 2021-09-06 | 2021-10-01 | 中国商用飞机有限责任公司 | Method and system for calculating barometric altitude based on GNSS altitude of aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105372671A (en) * | 2015-12-11 | 2016-03-02 | 国网四川省电力公司电力应急中心 | Unmanned aerial vehicle-based power line three-dimensional reconstruction system |
| CN105447276A (en) * | 2015-12-28 | 2016-03-30 | 太原航空仪表有限公司 | Helicopter take-off and landing speed fusion algorithm |
| CN105447276B (en) * | 2015-12-28 | 2019-10-11 | 太原航空仪表有限公司 | Helicopter lifting speed blending algorithm |
| CN106094566A (en) * | 2016-06-13 | 2016-11-09 | 江西洪都航空工业集团有限责任公司 | A kind of method for low cost universal ground experiment simulation carrier aircraft system |
| CN106094566B (en) * | 2016-06-13 | 2019-03-29 | 江西洪都航空工业集团有限责任公司 | A method of carrier aircraft system is simulated for the universal ground experiment of low cost |
| CN110346605A (en) * | 2019-08-01 | 2019-10-18 | 中国商用飞机有限责任公司 | For correcting the method and system that carry out aircraft airspeed calibration based on static pressure error |
| CN111290415A (en) * | 2019-12-04 | 2020-06-16 | 中国人民解放军海军航空大学 | Aircraft comprehensive pre-guidance method based on approximate difference |
| CN111290415B (en) * | 2019-12-04 | 2023-04-07 | 中国人民解放军海军航空大学 | Aircraft comprehensive pre-guidance method based on approximate difference |
| CN112762931A (en) * | 2020-12-29 | 2021-05-07 | 北京神州飞航科技有限责任公司 | Intelligent navigation method based on optical fiber attitude and heading reference system |
| CN113465576A (en) * | 2021-09-06 | 2021-10-01 | 中国商用飞机有限责任公司 | Method and system for calculating barometric altitude based on GNSS altitude of aircraft |
| CN113465576B (en) * | 2021-09-06 | 2021-11-19 | 中国商用飞机有限责任公司 | Method and system for calculating barometric altitude based on GNSS altitude of aircraft |
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| CN103076013B (en) | 2016-07-13 |
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