CN105675013B - Civil aircraft inertial navigation dynamic calibration method - Google Patents
Civil aircraft inertial navigation dynamic calibration method Download PDFInfo
- Publication number
- CN105675013B CN105675013B CN201410675441.1A CN201410675441A CN105675013B CN 105675013 B CN105675013 B CN 105675013B CN 201410675441 A CN201410675441 A CN 201410675441A CN 105675013 B CN105675013 B CN 105675013B
- Authority
- CN
- China
- Prior art keywords
- aircraft
- inertial navigation
- data
- measuring camera
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention belongs to Airborne Inertial navigation system accuracy evaluation and Dynamic Calibration Techniques, there is provided a kind of civil aircraft inertial navigation dynamic calibration method, comprising: obtain the position and attitude error of aircraft aviation measuring camera, GPS positioning device, inertial navigation set under body coordinate system；Obtain the ground accurate coordinates at each control point in the controlling filed of ground；It is taken photo by plane by aerial survey camera to ground controlling filed, while obtaining the associated aircraft GPS positioning data of GPS time, inertial navigation data and aerial images data；At the time of calculating aircraft dynamic-position data；Obtain coordinate of each control point in the photograph that aviation measuring camera is shot；Shooting time aircraft present position is obtained simultaneously；Extrapolate the posture of aviation measuring camera and position at this time；It is anti-to release the posture and pass through modified aircraft position that aircraft is carved when shooting；By repeatedly shooting to obtain " moment-position-posture " data of aircraft, is compared with inertial navigation data system, calibrate inertial navigation set.
Description
Technical field
The invention belongs to during civil aircraft Airborne Inertial navigation system practical flight accuracy evaluation and dynamic calibration
Technology is related to aircraft flight posture high-acruracy survey during flight test.
Background technique
Inertial navigation system (INS) is a kind of independent of any external information, also not to the complete of external radiation energy
Autonomic navigation system has good concealment.Since it has the advantages that this uniqueness, space flight, boat are made it
A kind of widely used prime navaid system in the fields such as empty and navigation.In aviation field, it be various aircrafts, helicopter fly
A kind of indispensable navigation system of row.Relatively other navigation equipments, it has the advantages that following prominent: job autonomy is strong,
The navigational parameter of offer is more, and strong interference immunity and applicable elements are wide etc..
As all airborne systems, inertial navigation system must also make a flight test verifying under the conditions of live flying
With identification.Purpose seeks to provide technical basis for design typification/identification of New Type of Inertial Navigation System.But for a long time,
The identification of taking a flight test of take a flight test identification, particularly the aerial statue parameter of inertial navigation system is a very big problem.With GPS
The application of technology, inertial navigation system position, the accuracy evaluation of speed parameter this problem have obtained very good solution, but its
The identification of taking a flight test of attitude parameter is still a problem.
In the examination of performance indicator, although INS output navigational parameter it is more (such as wait fly away from, wait fly when, yaw away from,
Flight-path angle, drift angle, speed etc.), but many parameters are all by navigational computer according to time, position, posture (pitching, roll
And course) etc. derived from Parameter Calculations.Due to the calculating error very little of navigational computer, so the essence of these derived parameters
Degree depends primarily on the precision of the parameters such as position, time and the posture for participating in calculating, therefore the inertial navigation system in flight test
It is exactly the precision of its position and attitude angle that system, which needs the major parameter identified,.
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 practical flight
The actual demand that civil aircraft inertial navigation system posture course data is calibrated under state solves flight test vehicle in flight course
The high-acruracy survey problem of position, time and posture.
A kind of technical solution of the present invention: civil aircraft inertial navigation dynamic calibration method, comprising:
Step 1 installs aviation measuring camera, GPS positioning device, time synchronization controller and inertial navigation set aboard；
Step 2, to aviation measuring camera, GPS positioning device, inertial navigation set relative tertiary location relationship aboard into
Row measurement obtains the position and attitude error of aviation measuring camera, GPS positioning device, inertial navigation set under body coordinate system；
Step 3 lays control point in aviation measuring camera visual field according to aircraft flight course line, by control point composition control field,
And obtain the ground accurate coordinates at each control point in the controlling filed of ground；
Step 4 takes photo by plane to ground controlling filed by aerial survey camera, while it is fixed to obtain the associated aircraft GPS of GPS time
Position data, inertial navigation data and aerial images data；
Step 5, at the time of go out aircraft dynamic by the associated aircraft GPS positioning data calculation of GPS time-position data；
Step 6 shoots four or more control points in the controlling filed of ground by aviation measuring camera, obtains each control point and is navigating
Survey the coordinate in the photograph of camera shooting；Simultaneously according at the time of aircraft dynamic-position data obtain shooting time aircraft locating for
Position；
Step 7, the ground accurate coordinates according to captured control point, coordinate and aircraft of the control point in photograph are clapped
Moment present position is taken the photograph, the posture of aviation measuring camera and position at this time are extrapolated；
Step 8 is released aircraft and is carved when shooting by the way that position of the aviation measuring camera under body coordinate system and attitude error are counter
Posture and pass through modified aircraft position；
Step 9, " moment-position-posture " data by repeatedly shooting to obtain aircraft, with inertial navigation data unite into
Row comparison, calibrates inertial navigation set.
Beneficial effects of the present invention: inertial navigation system posture course data precision calibration at present can only be with evaluation work
Static measurement calibration is carried out on ground experiment turntable, and is had to the dynamic accuracy shortage of inertial navigation system in aircraft flight
The calibration identification of effect and evaluation measures.Inertia during flight test is measured using the accuracy evaluation result under static environment to lead
The dynamic accuracy of boat system lacks sufficient reasonability.The technology can directly during flight test obtain aspect,
The parameter informations such as course are calibrated and are identified to the precision of civil aircraft inertial navigation system with a kind of new means.
Detailed description of the invention
Fig. 1 is civil aircraft inertial navigation dynamic calibration operation principle schematic diagram of the present invention.
Specific embodiment
The present invention provides a kind of civil aircraft inertial navigation dynamic calibration method, as shown in Figure 1, comprising:
Step 1, aircraft conversion: aviation measuring camera, GPS positioning device, time synchronization controller and inertia are installed aboard
Navigation equipment；
Step 2, initial error are eliminated: to aviation measuring camera, GPS positioning device, inertial navigation set aboard opposite
Spatial relation measures, and obtains the position of aviation measuring camera, GPS positioning device, inertial navigation set under body coordinate system
It sets and attitude error；
Step 3, ground controlling filed are laid: control point are laid in aviation measuring camera visual field according to aircraft flight course line, by controlling
System point composition control field, and obtain the ground accurate coordinates at each control point in the controlling filed of ground；
Step 4, flight test: it is taken photo by plane by aerial survey camera to ground controlling filed, while it is associated to obtain GPS time
Aircraft GPS positioning data, inertial navigation data and aerial images data；
Step 5, aircraft GPS positioning data calculation: aircraft is gone out by the associated aircraft GPS positioning data calculation of GPS time
At the time of dynamic-position data；
This step is handled to obtain high-precision using " Differential positioning method " (GJB 2228A-2001) to GPS positioning data
Spend moment-position data.
Step 6, attitude data resolve 1: shooting four or more control points in the controlling filed of ground by aviation measuring camera, obtain
Coordinate of each control point in the photograph that aviation measuring camera is shot；At the time of simultaneously according to aircraft dynamic-position data obtains and claps
Take the photograph moment aircraft present position；
Step 7, attitude data resolve 2: according to the ground accurate coordinates at captured control point, seat of the control point in photograph
Mark and aircraft shooting time present position, extrapolate the posture of aviation measuring camera and position at this time；
Step 8, attitude data resolve 3: by position of the aviation measuring camera under body coordinate system and attitude error is counter releases
The posture and pass through modified aircraft position that aircraft is carved when shooting；
Step 9, comparison identification: " moment-position-posture " data by repeatedly shooting to obtain aircraft are led with inertia
Boat data system compares, and calibrates inertial navigation set.
Claims (1)
1. a kind of civil aircraft inertial navigation dynamic calibration method characterized by comprising
Step 1 installs aviation measuring camera, GPS positioning device, time synchronization controller and inertial navigation set aboard；
Step 2 surveys the relative tertiary location relationship of aviation measuring camera, GPS positioning device, inertial navigation set aboard
Amount obtains the position and attitude error of aviation measuring camera, GPS positioning device, inertial navigation set under body coordinate system；
Step 3 lays control point in aviation measuring camera visual field according to aircraft flight course line, by control point composition control field, and obtains
Take the ground accurate coordinates at each control point in the controlling filed of ground；
Step 4 takes photo by plane to ground controlling filed by aviation measuring camera, while obtaining the associated aircraft GPS positioning number of GPS time
According to, inertial navigation data and aerial images data；
Step 5, at the time of go out aircraft dynamic by the associated aircraft GPS positioning data calculation of GPS time-position data；
Step 6 shoots four or more control points in the controlling filed of ground by aviation measuring camera, obtains each control point in aerial survey phase
Coordinate in the photograph of machine shooting；Simultaneously according at the time of aircraft dynamic-position data obtain shooting time aircraft locating for position
It sets；
Step 7, the ground accurate coordinates according to captured control point, when coordinate and aircraft of the control point in photograph are shot
Present position is carved, the posture of aviation measuring camera and position at this time are extrapolated；
Step 8 passes through position of the aviation measuring camera under body coordinate system and the anti-appearance releasing aircraft and carving when shooting of attitude error
State and the modified aircraft position of process；
Step 9, " moment-position-posture " data by repeatedly shooting to obtain aircraft carry out pair with inertial navigation data system
Than calibrating inertial navigation set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410675441.1A CN105675013B (en) | 2014-11-21 | 2014-11-21 | Civil aircraft inertial navigation dynamic calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410675441.1A CN105675013B (en) | 2014-11-21 | 2014-11-21 | Civil aircraft inertial navigation dynamic calibration method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105675013A CN105675013A (en) | 2016-06-15 |
| CN105675013B true CN105675013B (en) | 2019-03-01 |
Family
ID=56958197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410675441.1A Active CN105675013B (en) | 2014-11-21 | 2014-11-21 | Civil aircraft inertial navigation dynamic calibration method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105675013B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10012517B2 (en) | 2016-08-01 | 2018-07-03 | Infinity Augmented Reality Israel Ltd. | Method and system for calibrating components of an inertial measurement unit (IMU) using scene-captured data |
| CN107784866A (en) * | 2016-08-25 | 2018-03-09 | 中国飞行试验研究院 | A kind of flight management system transverse direction navigation accuracy is taken a flight test AIRSPACE PLANNING method |
| CN110657801B (en) * | 2018-06-29 | 2022-02-08 | 阿里巴巴（中国）有限公司 | Positioning method and device and electronic equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101241011A (en) * | 2007-02-28 | 2008-08-13 | 北京北科天绘科技有限公司 | High precision positioning and posture-fixing device on laser radar platform and method |
| CN103267523A (en) * | 2013-04-19 | 2013-08-28 | 天津工业大学 | Offline processing method for visual information of visual navigation system of quadcopter |
| CN103424114A (en) * | 2012-05-22 | 2013-12-04 | 同济大学 | Visual navigation/inertial navigation full combination method |
| CN103954283A (en) * | 2014-04-01 | 2014-07-30 | 西北工业大学 | Scene matching/visual odometry-based inertial integrated navigation method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI397671B (en) * | 2009-12-16 | 2013-06-01 | Ind Tech Res Inst | System and method for locating carrier, estimating carrier posture and building map |
-
2014
- 2014-11-21 CN CN201410675441.1A patent/CN105675013B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101241011A (en) * | 2007-02-28 | 2008-08-13 | 北京北科天绘科技有限公司 | High precision positioning and posture-fixing device on laser radar platform and method |
| CN103424114A (en) * | 2012-05-22 | 2013-12-04 | 同济大学 | Visual navigation/inertial navigation full combination method |
| CN103267523A (en) * | 2013-04-19 | 2013-08-28 | 天津工业大学 | Offline processing method for visual information of visual navigation system of quadcopter |
| CN103954283A (en) * | 2014-04-01 | 2014-07-30 | 西北工业大学 | Scene matching/visual odometry-based inertial integrated navigation method |
Non-Patent Citations (1)
| Title |
|---|
| 无人机影像区域网平差精度研究;敬小东等;《激光与光电子学进展》;20140610(第6期);061001-1-061001-7 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105675013A (en) | 2016-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106774423B (en) | Landing method and system of unmanned aerial vehicle | |
| CN105091744B (en) | The apparatus for detecting position and posture and method of a kind of view-based access control model sensor and laser range finder | |
| JP6132981B2 (en) | Method and apparatus for correcting plane conditions in real time | |
| CN106125069B (en) | It is a kind of that angle systematic error scaling method is directed toward based on the spaceborne laser altimeter system instrument for being directed toward angle residual error | |
| Pilarska et al. | The potential of light laser scanners developed for unmanned aerial vehicles–the review and accuracy | |
| Rehak et al. | Fixed-wing micro aerial vehicle for accurate corridor mapping | |
| CN108845335A (en) | Unmanned aerial vehicle ground target positioning method based on image and navigation information | |
| JP2017075863A5 (en) | ||
| CN102944183B (en) | A kind of high-aspect ratio elastic wing measuring method | |
| CN107146256B (en) | Camera marking method under outfield large viewing field condition based on differential global positioning system | |
| CN108965651A (en) | A kind of drone height measurement method and unmanned plane | |
| CN107300377B (en) | A kind of rotor wing unmanned aerial vehicle objective localization method under track of being diversion | |
| US11099030B2 (en) | Attitude estimation apparatus, attitude estimation method, and observation system | |
| CN105468006A (en) | Redundant Determination of Positional Data for an Automatic Landing System | |
| CN105675013B (en) | Civil aircraft inertial navigation dynamic calibration method | |
| CN104266649A (en) | Method for measuring posture angle of base cubic mirror based on gyro theodolite | |
| CN107179533A (en) | A kind of airborne LiDAR systematic errors Self-checking method of multi-parameter | |
| Zhao et al. | Landing system for AR. Drone 2.0 using onboard camera and ROS | |
| CN106500699B (en) | A kind of position and orientation estimation method suitable for Autonomous landing in unmanned plane room | |
| CN106443062B (en) | Unmanned plane speed measurement method, device and unmanned plane | |
| CN105444722B (en) | The method of detection platform attitudes vibration | |
| Yu et al. | Full-parameter vision navigation based on scene matching for aircrafts | |
| CN106323271B (en) | Spacecraft relative attitude based on feature singular value measures vector choosing method | |
| Sereewattana et al. | Automatic landing for fixed-wing UAV using stereo vision with a single camera and an orientation sensor: A concept | |
| CN108227734A (en) | For controlling the electronic control unit of unmanned plane, relevant unmanned plane, control method and computer program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |