CN105675013A

CN105675013A - Civil aircraft inertial navigation dynamic calibration method

Info

Publication number: CN105675013A
Application number: CN201410675441.1A
Authority: CN
Inventors: 张虎龙; 张�杰; 李宏; 胡丙华; 邸兴; 赵鹏
Original assignee: Chinese Flight Test Establishment
Current assignee: Chinese Flight Test Establishment
Priority date: 2014-11-21
Filing date: 2014-11-21
Publication date: 2016-06-15
Anticipated expiration: 2034-11-21
Also published as: CN105675013B

Abstract

The invention belongs to precision identification and dynamic calibration technologies of an airborne inertial navigation system, and provides a civil aircraft inertial navigation dynamic calibration method which includes the following steps: (A) acquiring the positions and attitude errors of an aerial survey camera, a GPS positioning device and an inertial navigation device in an airplane under an airplane body coordinate system; (B) acquiring a ground accurate coordinate of each control point in a ground control field; (C) aerially-photographing the ground control field by the aerial survey camera, and meanwhile acquiring GPS-time-associated airplane GPS positioning data, inertial navigation data and aerial photo image data; (D) calculating dynamic time-position data of the airplane; (E) acquiring the coordinate of each control point in a photograph shot by the aerial survey camera; (F) acquiring the position of the airplane at the photographing time; (G) calculating the attitude and the position of the aerial survey camera; (H) back-calculating the attitude of the airplane at the photographing time and corrected airplane position; and (I) performing photographing for several times to obtain time-position-attitude data of the airplane, comparing the time-position-attitude data with the inertial navigation data, and calibrating the inertial navigation device.

Description

Civil aircraft inertial navigation dynamic calibration method

Technical field

The invention belongs to the accuracy evaluation in civil aircraft Airborne Inertial navigation system practical flight process and Dynamic Calibration Technique, relate to aircraft flight attitude high-acruracy survey in flight test process.

Background technology

Inertial navigation system (INS) be a kind of do not rely on any external information, also not to the entirely autonomous formula navigation system of outside emittance, there is good disguise. Owing to it has the advantage of this uniqueness, therefore make it a kind of widely used prime navaid system in the fields such as space flight, aviation and navigation. In aviation field, it is various aircraft, the indispensable a kind of navigation system of helicopter flight. Relatively other navigator, it has advantage highlighted below: job autonomy is strong, it is provided that navigational parameter many, strong interference immunity and applicable elements width etc.

The same with all mobile systems, inertial navigation system also must make a flight test checking and identify when Live Flying. Purpose seeks to the design typification into New Type of Inertial Navigation System/qualification and provides technical basis. But, for a long time, the qualification of taking a flight test of the qualification of taking a flight test of inertial navigation system, particularly aerial statue parameter is but a very big difficult problem. Along with the application of GPS technology, inertial navigation system position, speed parameter this difficult problem of accuracy evaluation obtain good solution, but the qualification of taking a flight test of its attitude parameter remains a difficult problem.

In the examination of performance indications, although the navigational parameter of INS output more (as wait fly from, in time flying, driftage from, flight-path angle, drift angle, speed etc.), but many parameters are all derived according to Parameter Calculation such as time, position, attitudes (pitching, roll and course) by navigational computer. Owing to the calculating error of navigational computer is only small, so the precision of these derived parameters depends primarily on the position, time and the isoparametric precision of attitude that participate in calculating, the major parameter that therefore inertial navigation system needs are identified in flight test is exactly the precision of its position and attitude angle.

Summary of the invention

The technical problem to be solved in the present invention: a kind of civil aircraft inertial navigation dynamic calibration method is provided, for the actual demand of civil aircraft inertial navigation system attitude course data calibration under actual flight state, solve flight test vehicle high-acruracy survey problem of position, time and attitude in flight course.

Technical scheme: a kind of civil aircraft inertial navigation dynamic calibration method, including:

Step 1, aboard aviation measuring camera is installed, GPS positions equipment, time synchronized controller and inertial navigation set;

Step 2, aviation measuring camera, GPS are positioned the relative tertiary location relation measurement aboard of equipment, inertial navigation set, obtain aviation measuring camera, GPS positions position under body axis system of equipment, inertial navigation set and attitude error;

Step 3, in aviation measuring camera visual field, lay control point according to aircraft flight course line, by composition control field, control point, and obtain the ground accurate coordinates at each control point in the controlling filed of ground;

Step 4, by aerial survey camera, ground controlling filed being taken photo by plane, the aircraft GPS simultaneously obtaining gps time association positions data, inertial navigation data and aerial images data;

Step 5, the aircraft GPS associated by gps time are positioned data and calculate the dynamic moment position data of aircraft;

Step 6, shoot more than four control point in ground controlling filed by aviation measuring camera, obtain each control point coordinate in the photograph that aviation measuring camera shoots; Obtain shooting moment aircraft present position according to the dynamic moment position data of aircraft simultaneously;

Step 7, ground accurate coordinates according to captured control point, control point coordinate in photograph, and aircraft shooting moment present position, extrapolate attitude and the position of now aviation measuring camera;

Step 8, by the anti-aircraft of releasing in aviation measuring camera position under body axis system and attitude error in the attitude in shooting moment and the aircraft position through revising;

Step 9, obtain " moment position and attitude " data of aircraft by repeatedly shooting, contrast with inertial navigation data system, calibrate inertial navigation set.

Beneficial effects of the present invention: inertial navigation system attitude course data precision calibration at present and evaluation work can only carry out static measurement demarcation on ground experiment turntable, and the dynamic accuracy of inertial navigation system in aircraft flight lacked effective calibration and identifies and evaluation measures. The dynamic accuracy that the accuracy evaluation result under static environment weighs inertial navigation system in flight test process is adopted to lack sufficient reasonability. This technology directly can obtain the parameter information such as aspect, course in flight test process, with a kind of new means, the precision of civil aircraft inertial navigation system is calibrated and qualification.

Accompanying drawing explanation

Fig. 1 is civil aircraft inertial navigation dynamic calibration operation principle schematic diagram of the present invention.

Detailed description of the invention

The present invention provides a kind of civil aircraft inertial navigation dynamic calibration method, as it is shown in figure 1, include:

Step 1, aircraft conversion: install aviation measuring camera aboard, GPS positions equipment, time synchronized controller and inertial navigation set;

Step 2, initial error eliminate: aviation measuring camera, GPS are positioned the relative tertiary location relation measurement aboard of equipment, inertial navigation set, obtain aviation measuring camera, GPS location equipment, the inertial navigation set position under body axis system and attitude error;

Step 3, ground controlling filed are laid: lay control point in aviation measuring camera visual field according to aircraft flight course line, by composition control field, control point, and obtain the ground accurate coordinates at each control point in the controlling filed of ground;

Step 4, flight test: ground controlling filed is taken photo by plane by aerial survey camera, the aircraft GPS simultaneously obtaining gps time association positions data, inertial navigation data and aerial images data;

Step 5, aircraft GPS position data and resolve: the aircraft GPS associated by gps time is positioned data and calculates the dynamic moment position data of aircraft;

GPS location data are carried out process and obtain high-precision time position data by this step employing " Differential positioning method " (GJB2228A-2001).

Step 6, attitude data resolve 1: shoot more than four control point in the controlling filed of ground by aviation measuring camera, obtain each control point coordinate in the photograph that aviation measuring camera shoots; Obtain shooting moment aircraft present position according to the dynamic moment position data of aircraft simultaneously;

Step 7, attitude data resolve 2: the ground accurate coordinates according to captured control point, control point coordinate in photograph, and aircraft shooting moment present position, extrapolate attitude and the position of now aviation measuring camera;

Step 8, attitude data resolve 3: by the anti-aircraft of releasing in aviation measuring camera position under body axis system and attitude error in the attitude in shooting moment and the aircraft position through revising;

Step 9, contrast are identified: obtain " moment position and attitude " data of aircraft by repeatedly shooting, contrast with inertial navigation data system, calibrate inertial navigation set.

Claims

1. a civil aircraft inertial navigation dynamic calibration method, it is characterised in that including: