CN112882072A - Aircraft inertia and GPS hybrid altitude measurement method based on error feedback - Google Patents

Aircraft inertia and GPS hybrid altitude measurement method based on error feedback Download PDF

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CN112882072A
CN112882072A CN202110054393.4A CN202110054393A CN112882072A CN 112882072 A CN112882072 A CN 112882072A CN 202110054393 A CN202110054393 A CN 202110054393A CN 112882072 A CN112882072 A CN 112882072A
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height
error
gps
altitude
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CN112882072B (en
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纪军
马培蓓
丛林虎
孙国磊
隋江波
寇昆湖
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Naval Aeronautical University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements

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Abstract

The invention relates to an aircraft inertia GPS hybrid altitude measurement method based on error feedback. Firstly, a SiA200MEMS acceleration sensor is installed, the acceleration of a carrier is measured, two times of integration are carried out, and an inertial speed signal and an inertial height signal of the carrier are respectively obtained; and installing a GPS position receiver to receive the GPS height information of the carrier. And then comparing the inertial height with the GPS height to obtain a height error signal, and carrying out nonlinear transformation and correction to obtain an error correction signal. And introducing an acceleration measurement signal, performing integration to obtain a compensated speed signal, comparing the compensated speed signal with the inertial speed to obtain a speed error signal, filtering according to the height error signal, and performing superposition integration with the inertial speed to obtain a compensated height signal. And finally, generating a synthetic speed signal by the compensation height nonlinear filtering and the error of the filtering signal of the GPS, and generating a final synthetic height signal by integration and height feedback self-compensation.

Description

Aircraft inertia and GPS hybrid altitude measurement method based on error feedback
Technical Field
The invention relates to the field of high-precision height measurement of vehicles, moving bodies and unmanned aerial vehicles, in particular to a design method of an aircraft inertia and GPS hybrid height measurement method based on error feedback.
Background
Accurate altitude information measurement and acquisition are of great importance to unmanned vehicles, airship, automobiles and the like in the fields of navigation and motion control, and in the current altitude measurement, the measurement range of the atmospheric pressure measurement method is limited and the method cannot be used at high altitude. When the height measurement is performed by using the inertia technology, the accumulated error is larger and larger along with the increase of time due to twice integration of the acceleration to the height. Errors in the GPS measurement height information do not have the problem of time accumulation, but the end accuracy thereof often has large random errors. Therefore, how to fuse the height information obtained by multiple measurement modes, the advantages of each height measurement are absorbed, and the disadvantages of each height measurement are abandoned, so that the final multi-information fused combined measurement method is obtained, which is a very concerned problem in the current engineering application. Based on the background technology, the invention provides a method for combining and fusing height information based on error feedback, multiple times of fusion and filtering transformation, which has high precision and thus high engineering application value.
It should be noted that the signals of the invention in the above background section are only used for enhancing the understanding of the background of the invention and may therefore comprise signals which do not constitute prior art known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide an aircraft inertia and GPS hybrid altitude measurement method based on error feedback, and further solves the problem that single altitude measurement accuracy is not high due to the limitations and defects of the related art at least to a certain extent.
According to one aspect of the invention, an aircraft inertia and GPS hybrid altitude measurement method based on error feedback is provided, and comprises the following steps:
step S10, installing a SiA200MEMS acceleration sensor on a carrier, and performing integration to obtain inertial velocity and inertial height; installing a GPS receiver and measuring the height of the GPS;
step S20, comparing the inertial height and the GPS height to obtain a height error signal, then carrying out error nonlinear transformation to obtain a height error nonlinear transformation signal, and finally carrying out nonlinear correction to obtain a height error nonlinear correction signal;
step S30, aiming at the height error nonlinear correction signal, introducing an acceleration measurement signal to generate a compensation speed; comparing the speed with the inertial speed to obtain a speed error signal;
step S40, filtering according to the height error signal to obtain a height error filtering signal, superposing the height error filtering signal with the speed error signal for compensation, introducing an inertial speed signal, and generating a compensation height signal;
step S50, according to the compensation height signal, carrying out nonlinear transformation filtering to obtain a compensation height nonlinear transformation filtering signal;
step S60, filtering the GPS height signal to obtain a GPS height filtering signal, comparing the compensation height error nonlinear transformation filtering signal with the GPS height filtering signal to obtain a compensation height error signal, and then introducing an acceleration measuring signal to generate a synthetic speed signal;
and step S70, generating a synthesized height signal according to the synthesized speed signal and the compensation height error signal, forming a synthesized height error signal with the GPS filtering height, feeding back and compensating, and correcting the synthesized height signal to obtain a final synthesized height signal.
In an exemplary embodiment of the invention, a SiA200MEMS acceleration sensor is mounted on a carrier and integrated to obtain an inertial velocity and an inertial height; installing a GPS receiver, measuring GPS height comprising:
v＝∫adt；
h＝∫vdt；
and a (n) corresponds to a carrier acceleration signal measured by the SiA200MEMS acceleration sensor at the time T ═ n × Δ T, which is abbreviated as a, where Δ T is the output sampling period of data, dt represents the integral of the time signal, v is the inertial velocity signal, and h is the inertial height signal.
In an exemplary embodiment of the present invention, obtaining a height error signal according to a difference between the inertial height and the GPS height, performing a nonlinear transformation, and performing a nonlinear correction to obtain a height error nonlinear correction signal includes:
e1(n)＝y1(n)-h(n)。
Figure BDA0002900366850000031
Figure BDA0002900366850000032
wherein y is1And (n) a GPS receiving module is arranged on the carrier, and the GPS height of the carrier is obtained through measurement. h is an inertial height signal, e1(n) is a height error signal, e2(n) is a height error nonlinear transformation signal, e3(n) is the height error nonlinear correction signal, k1、k2And epsilon1The detailed settings are described in the following examples.
In an exemplary embodiment of the invention, an acceleration measurement signal is introduced for the height error nonlinear correction signal to generate a compensated velocity; and comparing with the inertial velocity to obtain a velocity error signal comprising:
v1(n+1)＝v1(n)+a(n)ΔT+k3e3(n)ΔT；
ev(n)＝v1(n)-v(n)；
where a (n) is an acceleration measurement signal, v1(n) is a compensated speed signal, e3And (n) is a height error nonlinear correction signal. k is a radical of3The detailed settings are described in the following examples. e.g. of the typevAnd (n) is a speed error signal.
In an exemplary embodiment of the present invention, the filtering according to the altitude error signal to obtain an altitude error filtered signal, and the compensating by superimposing the altitude error filtered signal with the velocity error signal, and the generating the compensated altitude signal by introducing the inertial velocity signal comprises:
Figure BDA0002900366850000041
y2(n+1)＝y2(n)+v(n)ΔT+k6ev(n)ΔT+k7e4(n)ΔT；
wherein e1(n) is a height error signal, e4(n) is the height error filtered signal, v (n) is the inertial velocity signal, ev(n) is a speed error signal, e4(n) is the height error filtered signal, y2(n) for compensating the height signal, k4、k5、ε2k6、k7The detailed settings are described in the following examples.
In an exemplary embodiment of the present invention, performing the nonlinear transform filtering according to the compensated height signal to obtain the compensated height error nonlinear transform filtered signal comprises:
Figure BDA0002900366850000042
Figure BDA0002900366850000043
wherein y is2(n) for compensating the height signal, w1(n) is a nonlinear transformation signal thereof, y3(n) to compensate for the highly non-linear transformed filtered signal,k8、k9and epsilon3The detailed settings are described in the following examples.
In an exemplary embodiment of the present invention, filtering the GPS altitude signal to obtain a GPS altitude filtered signal, comparing the compensated altitude error nonlinear transformation filtered signal with the GPS altitude filtered signal to obtain a compensated altitude error signal, and then introducing the acceleration measurement signal to generate the synthesized velocity signal includes:
y4(n+1)＝y4(n)+k10(y1(n)-y4(n))；
e5(n)＝y3(n)-y4(n)；
v2(n+1)＝v2(n)+a(n)ΔT+k11e5(n)ΔT；
wherein y is1(n) is the GPS altitude signal, y4(n) is the GPS height filtered signal, k10、k11The detailed settings are described in the following examples. y is3(n) for compensating highly erroneous nonlinear transformed filtered signals, e5(n) is a compensated height error signal, a (n) is an acceleration measurement signal, v2(n) synthesizing the velocity signal.
In an exemplary embodiment of the present invention, generating a synthesized altitude signal according to the synthesized speed signal and the compensated altitude error signal, forming a synthesized altitude error signal with the GPS filtered altitude, performing feedback compensation, and correcting the synthesized altitude signal to obtain a final synthesized altitude signal includes:
y5(n+1)＝y5(n)+v2(n)ΔT+k12e5(n)ΔT；
e6(n)＝y5(n)-y4(n)；
y6(n+1)＝y6(n)+v2(n)ΔT+k13e6(n)ΔT+k14(y4(n)-y6(n))ΔT；
wherein v is2(n) is the resultant velocity signal, e5(n) to compensate for the height error signal, y5(n) is a synthetic altitude letterNumber e6(n) is the resultant height error signal, y6(n) is the integrated altitude signal, where k12、k13、k14The detailed settings are described in the following examples.
Y obtained finally6(n) is used as the comprehensive height output of the whole GPS measurement height and the inertia measurement height, has good precision characteristic, and avoids the defect of height divergence of the inertia measurement.
Advantageous effects
According to the aircraft inertia and GPS hybrid altitude measurement method based on error feedback, provided by the invention, a large amount of irregular random errors of GPS measurement can be filtered out in hybrid altitude measurement through multiple altitude error feedback, speed error feedback, integration and filtering modes, and meanwhile, time accumulated errors caused by integration of an inertial accelerometer can be eliminated, so that the advantages of the two altitude measurements can be mutually combined and complemented, and a better hybrid measurement effect is realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a method for measuring aircraft inertia plus GPS hybrid altitude based on error feedback provided by the present invention;
FIG. 2 is a schematic diagram of a SiA200MEMS acceleration sensor according to the method of the present invention;
FIG. 3 is a schematic diagram of a Topgnss GPS position receiver according to the method of the present invention;
FIG. 4 is a graph of an acceleration signal (in meters per second) of a carrier according to a method provided by an embodiment of the invention;
FIG. 5 is a graph of inertial velocity signals (in meters per second) for a carrier in accordance with a method provided by an embodiment of the invention;
FIG. 6 is a graph of the inertial height signal (in meters) of a carrier in accordance with a method provided by an embodiment of the present invention;
FIG. 7 is a GPS height signal curve (in meters) for a vehicle in accordance with a method provided by an embodiment of the invention;
FIG. 8 is a carrier height error non-linear correction signal (unitless) for a method provided by an embodiment of the invention;
FIG. 9 is a graph of a carrier compensated velocity signal (in meters) for a method provided by an embodiment of the present invention;
FIG. 10 is a plot of the carrier compensated height signal (in meters) for a method provided by an embodiment of the present invention;
FIG. 11 is a carrier-compensated highly nonlinear transform filtered signal (without units) of a method provided by an embodiment of the invention;
FIG. 12 is a graph of the carrier synthesis velocity signal (in meters) for a method provided by an embodiment of the invention;
FIG. 13 is a graph of the synthetic height signal (in meters) for a support according to the method provided by the example of the invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
The invention provides an aircraft inertia and GPS mixed altitude measuring method based on error feedback, which comprises the steps of measuring acceleration of a carrier by installing an SiA200MEMS acceleration sensor, integrating twice to obtain inertial altitude, then measuring by GPS to obtain GPS altitude of the carrier, comparing the GPS altitude with the GPS altitude to obtain an altitude error signal, integrating by nonlinear transformation and correction superposition inertial acceleration to generate a compensation speed and compensation altitude signal, comparing with GPS filter altitude to generate a compensation altitude error signal, integrating by superposing the acceleration signal again to generate a synthesis speed and synthesis altitude signal, introducing the altitude error signal to perform feedback correction to obtain a final high-precision synthesis altitude signal, and further enabling the whole mixed altitude measuring method to have high engineering application value.
An error feedback based aircraft inertia plus GPS hybrid altitude measurement method of the present invention will be further explained and explained with reference to the drawings. Referring to fig. 1, the method for measuring the hybrid altitude of the aircraft inertia and the GPS based on the error feedback comprises the following steps:
step S10, installing a SiA200MEMS acceleration sensor on a carrier, and performing integration to obtain inertial velocity and inertial height; installing a Topgnss GPS position receiver and measuring the height of a carrier GPS;
specifically, first, the SiA200MEMS acceleration sensor is mounted on a carrier, the physical size of which is small package 9 × 9nm2It is very small and its physical dimensions are as shown in figure 2. The power consumption is less than 10mW, and the working temperature range is-40 ℃ to +125 ℃. The acceleration range is 2g to 30g, and the measurement resolution can reach 0.00005 g. The acceleration signal in the vertical direction of the carrier is measured and counted as a (n). Where n is 1,2,3 …, corresponding to the acceleration signal at time T is n Δ T, where Δ T is the output sampling period of the data.
Secondly, integrating the acceleration measurement data of the carrier to obtain an inertial velocity signal, recording as v (n), further integrating the velocity signal to obtain an inertial height signal, recording as h (n), wherein the integration process is as follows:
v＝∫adt；h＝∫vdt；
where dt represents the integration of the time signal.
Finally, a Topgnss GPS position receiver is mounted on the carrier, whose physical representation is shown in FIG. 3, and the carrier GPS height is measured, denoted as y1Then discretizing the GPS height data according to the data interval period delta T of the accelerometer to obtain data y1(n), where n is 1,2,3 …, corresponding to the GPS height measurement data at time T n Δ T, where Δ T is the output sampling period of the data;
step S20, comparing the inertial height and the GPS height to obtain a height error signal, then carrying out error nonlinear transformation to obtain a height error nonlinear transformation signal, and finally carrying out nonlinear correction to obtain a height error nonlinear correction signal;
specifically, firstly, the inertial height h (n) and the GPS height measurement data y are combined1(n) comparing to obtain a height error signal, denoted as e1(n) is calculated as follows e1(n)＝y1(n)-h(n)。
Secondly, the height error signal is non-linearly transformed to obtain a height error non-linearly transformed signal, which is recorded as e2(n) the conversion method is as follows
Figure BDA0002900366850000081
Then, the height error signal is nonlinearly corrected to obtain a height error nonlinear correction signal denoted as e3(n) calculated as follows:
Figure BDA0002900366850000082
wherein k is1、k2And epsilon1As constant value parameters, the detailed settings of which are described in the following examples。
Step S30, aiming at the height error nonlinear correction signal, introducing an acceleration measurement signal to generate a compensation speed; comparing the speed with the inertial speed to obtain a speed error signal;
specifically, firstly, the height error nonlinear correction signal is superposed according to the acceleration measurement signal a (n), and then integration is carried out to obtain a compensation speed signal which is recorded as v1(n) calculated as follows:
v1(n+1)＝v1(n)+a(n)ΔT+k3e3(n)ΔT；
wherein k is3The detailed settings are described in the following examples.
Secondly, the compensation speed v is adjusted1(n) comparing the inertial velocity v (n) to obtain a velocity error signal denoted as ev(n) calculated as follows:
ev(n)＝v1(n)-v(n)；
step S40, filtering according to the height error signal to obtain a height error filtering signal, superposing the height error filtering signal with the speed error signal for compensation, introducing an inertial speed signal, and generating a compensated height signal;
specifically, first, the height error signal e is determined according to1(n) filtering to obtain a height error filtered signal, denoted as e4(n) the filtering method is as follows:
Figure BDA0002900366850000091
wherein k is4、k5And epsilon2The detailed settings are described in the following examples.
Secondly, according to the inertial velocity signal v (n) and the velocity error signal ev(n) and a height error filtered signal e4(n) superimposing, and integrating to obtain a compensated height signal, denoted as y2(n) calculated as follows:
y2(n+1)＝y2(n)+v(n)ΔT+k6ev(n)ΔT+k7e4(n)ΔT；
wherein k is6、k7The detailed settings are described in the following examples.
Step S50, according to the compensation height signal, carrying out nonlinear transformation filtering to obtain a compensation height nonlinear transformation filtering signal;
in particular, first of all for the compensated height signal y2(n) performing a nonlinear conversion to obtain a nonlinear conversion signal, and storing w1(n) then nonlinear filtering to obtain a compensated highly nonlinear transform filtered signal denoted y3(n) calculated as follows:
Figure BDA0002900366850000101
Figure BDA0002900366850000102
wherein k is8、k9And epsilon3The detailed settings are described in the following examples.
Step S60, filtering the GPS height signal to obtain a GPS height filtering signal, comparing the compensation height error nonlinear transformation filtering signal with the GPS height filtering signal to obtain a compensation height error signal, and then introducing an acceleration measuring signal to generate a synthetic speed signal;
specifically, firstly, according to the GPS height signal y1(n) generating a GPS height filtered signal, denoted as y, by filtering as follows4(n) calculated as follows:
y4(n+1)＝y4(n)+k10(y1(n)-y4(n))；
wherein k is10The detailed settings are described in the following examples.
Secondly, the filtering signal is transformed according to the compensation height error nonlinearityNumber y3(n) and GPS altitude filtered signal y4(n) comparing to obtain a compensated height error signal, denoted as e5(n) calculated as follows:
e5(n)＝y3(n)-y4(n)；
finally, based on the compensated height error signal e5(n) superimposing the acceleration measurement signals a (n) to generate a composite velocity signal denoted v2(n) calculated as follows:
v2(n+1)＝v2(n)+a(n)ΔT+k11e5(n)ΔT；
wherein k is11The detailed settings are described in the following examples.
And step S70, generating a synthesized height signal according to the synthesized speed signal and the compensation height error signal, forming a synthesized height error signal with the GPS filtering height, feeding back and compensating, and correcting the synthesized height signal to obtain a final synthesized height signal.
In particular, first, the velocity signal v is synthesized according to the above2(n) superimposing the compensated height error signal e5(n) generating a composite height signal, denoted as y5(n) calculated as follows:
y5(n+1)＝y5(n)+v2(n)ΔT+k12e5(n)ΔT；
wherein k is12The detailed settings are described in the following examples.
Then, the synthesized height signal is compared with the GPS filtering height to form a synthesized height error signal, and e is counted6(n) calculated as follows:
e6(n)＝y5(n)-y4(n)；
finally, the synthesized height error signal and the self feedback signal are introduced to carry out compensation to obtain the final synthesized height signal which is recorded as y6(n) calculated as follows:
y6(n+1)＝y6(n)+v2(n)ΔT+k13e6(n)ΔT+k14(y4(n)-y6(n))ΔT；
wherein k is13、k14The detailed settings are described in the following examples.
Y obtained finally6(n) is used as the comprehensive height output of the whole GPS measurement height and the inertia measurement height, has good precision characteristic, and avoids the defect of height divergence of the inertia measurement.
Case implementation and computer simulation result analysis
In step S10, Δ T is set to 0.001, the SiA200MEMS acceleration sensor is mounted on the carrier, the acceleration signal of the carrier is measured as shown in fig. 4, the inertial velocity signal of the carrier is obtained by integration as shown in fig. 5, the inertial height signal of the carrier is obtained by integration as shown in fig. 6, and the GPS height of the carrier is obtained by GPS measurement as shown in fig. 7.
In step S20, k is set1＝0.01、k20.02 and ε1The height error non-linearity correction signal is obtained as shown in fig. 8, 5.
In step S30, k is selected3The compensated speed signal is obtained as shown in fig. 9 at 0.01. In step S40, k is selected4＝0.01、k50.01 and ε2＝0.5，k6＝0.005、k7The compensated height signal is obtained as shown in fig. 10 at 0.002.
In step S50, k is selected8＝0.01、k90.015 and ε3The compensated highly nonlinear transform filtered signal is obtained as shown in fig. 11, which is 0.5.
In step S60, k is selected10＝0.05，k11The resultant velocity signal was obtained as shown in fig. 12 at 0.003.
In step S70, k is selected12＝0.005，k13＝0.0015、k14The resultant height signal was obtained as shown in fig. 13, when the signal was 0.001.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims (2)

1. An aircraft inertia and GPS hybrid altitude measurement method based on error feedback is characterized by comprising the following steps:
step S10, installing a SiA200MEMS acceleration sensor on a carrier, and performing integration to obtain inertial velocity and inertial height; installing a GPS receiver and measuring the height of the GPS;
step S20, comparing the inertial height and the GPS height to obtain a height error signal, then performing error nonlinear transformation to obtain a height error nonlinear transformation signal, and finally performing nonlinear correction to obtain a height error nonlinear correction signal as follows:
v＝∫adt；
h＝∫vdt；
e1(n)＝y1(n)-h(n)；
Figure FDA0002900366840000011
Figure FDA0002900366840000012
and a (n) corresponds to a carrier acceleration signal measured by the SiA200MEMS acceleration sensor at the time T ═ n × Δ T, which is abbreviated as a, where Δ T is the output sampling period of data, dt represents the integral of the time signal, v is the inertial velocity signal, and h is the inertial height signal. y is1And (n) a GPS receiving module is arranged on the carrier, and the GPS height of the carrier is obtained through measurement. h is an inertial height signal, e1(n) is a height error signal, e2(n) is the height errorNonlinear transformation signal, e3(n) is the height error nonlinear correction signal, k1、k2And epsilon1Is a constant parameter.
Step S30, aiming at the height error nonlinear correction signal, introducing an acceleration measurement signal to generate a compensation speed; and comparing with the inertial velocity to obtain a velocity error signal as follows:
v1(n+1)＝v1(n)+a(n)ΔT+k3e3(n)ΔT；
ev(n)＝v1(n)-v(n)；
where a (n) is an acceleration measurement signal, v1(n) is a compensated speed signal, e3(n) is the height error nonlinear correction signal, k3Is a constant parameter. e.g. of the typevAnd (n) is a speed error signal.
Step S40, filtering according to the altitude error signal to obtain an altitude error filtered signal, and adding the filtered altitude error signal to the velocity error signal for compensation, introducing an inertial velocity signal, and generating a compensated altitude signal as follows:
Figure FDA0002900366840000021
y2(n+1)＝y2(n)+v(n)ΔT+k6ev(n)ΔT+k7e4(n)ΔT；
wherein e1(n) is a height error signal, e4(n) is the height error filtered signal, v (n) is the inertial velocity signal, ev(n) is a speed error signal, e4(n) is the height error filtered signal, y2(n) for compensating the height signal, k4、k5、ε2k6、k7Is a constant parameter.
Step S50, according to the compensated altitude signal, performing nonlinear transformation filtering to obtain a compensated altitude nonlinear transformation filtering signal as follows:
Figure FDA0002900366840000022
Figure FDA0002900366840000023
wherein y is2(n) for compensating the height signal, w1(n) is a nonlinear transformation signal thereof, y3(n) for compensating the highly non-linear transformed filtered signal, k8、k9And epsilon3Is a constant parameter.
Step S60, filtering the GPS height signal to obtain a GPS height filtering signal, comparing the compensation height error nonlinear transformation filtering signal with the GPS height filtering signal to obtain a compensation height error signal, then introducing an acceleration measuring signal, and generating a synthetic speed signal as follows:
y4(n+1)＝y4(n)+k10(y1(n)-y4(n))；
e5(n)＝y3(n)-y4(n)；
v2(n+1)＝v2(n)+a(n)ΔT+k11e5(n)ΔT；
wherein y is1(n) is the GPS altitude signal, y4(n) is the GPS height filtered signal, k10、k11Is a constant parameter. y is3(n) for compensating highly erroneous nonlinear transformed filtered signals, e5(n) is a compensated height error signal, a (n) is an acceleration measurement signal, v2(n) synthesizing the velocity signal.
2. The method of claim 1, wherein generating a combined altitude signal according to the combined velocity signal and the compensated altitude error signal, forming a combined altitude error signal with the GPS filtered altitude, performing feedback compensation, and modifying the combined altitude signal to obtain a final combined altitude signal comprises:
y5(n+1)＝y5(n)+v2(n)ΔT+k12e5(n)ΔT；
e6(n)＝y5(n)-y4(n)；
y6(n+1)＝y6(n)+v2(n)ΔT+k13e6(n)ΔT+k14(y4(n)-y6(n))ΔT；
wherein v is2(n) is the resultant velocity signal, e5(n) to compensate for the height error signal, y5(n) is the resultant height signal, e6(n) is the resultant height error signal, y6(n) is the integrated altitude signal, where k12、k13、k14Is a constant parameter.
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