WO2020233290A1 - 一种动态变形下基于双重滤波器的传递对准方法 - Google Patents
一种动态变形下基于双重滤波器的传递对准方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005452 bending Methods 0.000 claims abstract description 35
- 230000008878 coupling Effects 0.000 claims abstract description 32
- 238000010168 coupling process Methods 0.000 claims abstract description 32
- 238000005859 coupling reaction Methods 0.000 claims abstract description 32
- 230000014509 gene expression Effects 0.000 claims description 37
- 239000011159 matrix material Substances 0.000 claims description 37
- 238000005259 measurement Methods 0.000 claims description 21
- 239000013598 vector Substances 0.000 claims description 18
- 230000009977 dual effect Effects 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 8
- 230000003068 static effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/0005—Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D2045/0085—Devices for aircraft health monitoring, e.g. monitoring flutter or vibration
Definitions
- the invention belongs to the technical field of inertial navigation.
- the inertial navigation system is used to measure the deformation of the wing of an aircraft, which relates to the process of calibrating a low-precision sub-inertial navigation system by a high-precision main inertial navigation system, and specifically relates to a dual filter based on dynamic deformation
- the transfer alignment method is used to measure the deformation of the wing of an aircraft, which relates to the process of calibrating a low-precision sub-inertial navigation system by a high-precision main inertial navigation system, and specifically relates to a dual filter based on dynamic deformation The transfer alignment method.
- the carrying capacity of the aircraft is limited, especially the wing part. Therefore, the dynamic deformation measurement of the aircraft wing has very strict requirements on the weight and size of the measuring equipment, and the measurement accuracy of the IMU unit is proportional to the weight and size. At the same time, a high-precision IMU is installed.
- the aircraft wing deformation measurement adopts the fuselage-mounted high-precision POS, while the wing part uses the low-precision IMU unit to obtain the high-precision position and attitude information of each positioning point through the transfer and alignment between the main and subsystems.
- the additional speed, angular velocity and angle generated by the flexural deformation between the main and sub are the main factors that affect its accuracy.
- the existing dynamic deformation measurement of aircraft wings regards the wing as a rigid body without considering the flexural deformation. The accuracy is difficult to achieve the required accuracy.
- the objective of the present invention is to provide a dual filter-based transfer alignment method under dynamic deformation, which can measure the difference between the movement of the aircraft body and the dynamic deformation during the alignment process of the aircraft wing dynamic deformation measurement.
- Geometric modeling and mathematical analysis of the error angle and angular velocity caused by coupling are carried out to derive the expressions of coupling angle and angular velocity, and the transfer alignment filter is divided into two parts. The first part estimates the bending deformation angle and the coupling angle.
- the attitude matching method is adopted; the second part estimates the dynamic lever arm and adopts the "speed + angular velocity" matching method. This design improves the transfer alignment accuracy and shortens the transfer alignment process time.
- a transfer alignment method based on dual filters under dynamic deformation is applied to an aircraft wing deformation measurement system, wherein the main inertial navigation system is installed in the cabin and the sub inertial navigation system is installed in the wing.
- the method includes the following steps:
- step (3) Use the bending deformation angle and coupling angle estimated in step (2) to establish a dynamic lever arm model, and derive the velocity error expression and the angular velocity error expression;
- step (3) Using the velocity error expression and angular velocity error expression derived in step (3), using the "velocity + angular velocity" matching method, the model of filter 2 is established to estimate the initial attitude error of the sub-inertial navigation system, and this error It is used for the initial attitude calibration of the sub-inertial navigation system to complete the transfer alignment process.
- step (1) geometric analysis is performed on the bending deformation, and the coupling angle caused by the dynamic deformation of the carrier and the movement of the carrier is derived
- the expression is:
- the bending deformation angle, the bending deformation angular velocity, and the coupling angle are used as state variables, and the posture matching method is used to establish the filter 1 model, which is specifically as follows:
- F 1 represents the state transition matrix of filter 1
- G 1 represents the system noise allocation matrix of filter 1
- w 1 represents the system noise of filter 1
- the state transition matrix F 1 is expressed as:
- y 1 represents the difference between the true attitude value and the filter estimated value
- H 1 represents the filter 1 measurement matrix
- ⁇ 1 represents the filter 1 measurement noise.
- the derived velocity error expression and angular velocity error expression are specifically as follows:
- the angular velocity error expression is:
- the speed error expression is:
- Is the rotation of the navigation system caused by the rotation of the earth Is the rotation of the navigation system caused by the curvature of the earth’s surface as the subsystem moves on the earth’s surface, Respectively represent the velocity vectors of the main and subsystems in the navigation coordinate system, Is the bending deformation angle between the main and sub inertial navigation, Is the coupling angle between the master and sub inertial navigation, Indicates the angular velocity of the main system under the navigation system, Represents the conversion matrix between the subsystem and the navigation coordinate system, Indicates that the sub-system accelerometer measures zero offset, Represents the specific force of the subsystem in the navigation coordinate system, Represents the dynamic lever arm, Represents the lever arm in the static state, x 0 y 0 z 0 represents the lever arm in the static state in the three directions of east, north and sky respectively, R 0 can be expressed as:
- the filter 2 adopts "speed + angular velocity" matching, and uses the velocity error expression and the angular velocity error expression derived in step (3) to establish a quantity measurement equation and establish a Kalman filter model, details as follows:
- G 2 represents the filter 2 system noise allocation matrix
- w 2 represents the filter 2 system noise
- F 2 is expressed as:
- y 2 represents the difference between the actual value of the velocity and angular velocity and the estimated value of the filter
- ⁇ 2 represents the noise measured by the filter 2
- the present invention considers the rigid body motion and dynamic elastic deformation coupling error between the carrier motion main and subsystems, and performs spatial geometry on the angle and angular velocity errors between the main and subsystems under dynamic elastic deformation. Modeling and mathematical analysis are used to obtain the coupling angle error between the main and sub-systems under dynamic deformation. From this, the angular velocity error expression between the main and sub-systems under dynamic deformation is derived, and the double filter method is adopted.
- the filters are synchronized and fused in the last step; the traditional transfer alignment process does not consider the coupling error between dynamic deformation and body motion, and the transfer alignment accuracy cannot meet the requirements of high-precision transfer alignment.
- the 24-dimensional filter requires a large amount of calculation.
- the present invention performs geometric analysis on the coupling angle between the main and sub-systems to obtain the expression of the coupling angle, and divides the state quantity into two groups, respectively in the two filters Simultaneously, this design reduces the time of the transfer alignment process while improving the transfer alignment accuracy.
- Figure 1 is a flow chart of the transfer alignment based on the dual filter of the present invention
- Figure 2 is a schematic diagram of the spatial relationship between the angular velocity vector and the additional dynamic bending angular velocity vector
- Figure 3 is a schematic diagram of the coupling angle between the main and sub-inertial navigation (projected to the yoz plane) under dynamic deformation;
- Figure 4 is a schematic diagram of the relative position of the main and subsystems.
- the implementation of the present invention proposes a dual filter-based transfer alignment method under dynamic deformation.
- a trajectory simulator is used to simulate the attitude, speed, position and output data of the inertial device of the aircraft's main system.
- Markov simulation outputs the bending deformation angle between the main and subsystems And bending angular velocity Decouple the carrier motion and flexure deformation, obtain the coupling angle and use it as the state quantity of filter 1, adopting attitude matching;
- filter 2 uses the result of filter 1 to compensate the lever arm error, and adopts speed + angular velocity matching method.
- Step 1 The trajectory generator generates the attitude, velocity and position information of the main inertial navigation system and the output of inertial devices (gyro and accelerometer), and uses the second-order Markov to simulate the bending deformation between the main inertial navigation system and the sub-inertial navigation system angle And bending angular velocity Geometric analysis of the bending deformation is carried out, and the coupling angle between the main and sub-systems caused by the dynamic deformation between the main and the sub-systems is derived Bending deformation angle between main and subsystem It can be expressed as a second-order Markov:
- the subscripts x, y, z represent the three directions of east, north and sky respectively, Is the coupling error angle between the main and subsystems caused by the coupling angular velocity of bending deformation, namely versus The angle of Then there are:
- M can be expressed as:
- Step 2 Take the bending deformation angle, the bending deformation angular velocity and the coupling angle as the state quantities, and use the attitude matching method to establish the model of filter 1, as follows:
- F 1 represents the state transition matrix
- G 1 represents the system noise allocation matrix
- w 1 represents the system noise
- y 1 represents the difference between the true value of the attitude and the estimated value of the filter
- H 1 represents the measurement matrix
- ⁇ 1 represents Filter 1 measures noise
- Step 3 Derive the velocity error expression and angular velocity error expression, as follows:
- the coupling error angle vector between the main and subsystems is Then the conversion matrix between the main and subsystems can be expressed as The error angular velocity between the main and subsystems can be expressed as:
- the dynamic lever arm vector can be expressed as:
- Step 4 Pass the alignment filter 2 with "speed + angular velocity" matching, use the velocity error expression and angular velocity error expression derived in step 3 to establish a quantity measurement equation, establish a Kalman filter model, and estimate the initial attitude error of the child node , And use this error for the initial posture calibration of the child nodes to complete the transfer alignment process.
- the state quantity of filter 2 selected in this step is:
- G 2 represents the system noise distribution matrix of filter 2
- w 2 represents the system noise of filter 2
- F 2 is represented as:
- y 2 represents the difference between the actual value of the velocity and angular velocity and the estimated value of the filter
- ⁇ 2 represents the noise measured by the filter 2
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
Description
Claims (5)
- 一种动态变形下基于双重滤波器的传递对准方法,应用于飞机机翼变形测量系统中,其中主惯导系统安装在机舱,子惯导系统安装在机翼,其特征在于,包括以下步骤:(1)用轨迹发生器产生主惯导系统的姿态、速度和位置信息以及陀螺仪和加速度计的输出,用二阶马尔科夫模拟主、子惯导之间的弯曲变形角 和弯曲变形角速度 对弯曲变形进行几何分析,推导出由载体动态变形和载体运动所引起的耦合角度 表达式;(2)将弯曲变形角、弯曲变形角速度和耦合角作为状态量,采用姿态匹配方法,建立滤波器1模型;(3)利用步骤(2)中估计的弯曲变形角和耦合角建立动态杠杆臂模型,推导速度误差表达式和角速度误差表达式;(4)利用步骤(3)推导的速度误差表达式和角速度误差表达式,采用“速度+角速度”匹配方法,建立滤波器2的模型,估计子惯导系统的初始姿态误差,并将此误差用于子惯导系统的初始姿态校准,完成传递对准过程。
- 根据权利要求2所述的一种动态变形下基于双重滤波器的传递对准方法,其特征在于,所述步骤(2)中,将弯曲变形角、弯曲变形角速度和耦合角作为状态量,采用姿态匹配方法建立滤波器1模型,具体如下:选取滤波器1的状态量为:滤波器1的状态方程为:其中,F 1表示滤波器1状态转移矩阵,G 1表示滤波器1系统噪声分配矩阵,w 1表示滤波器1系统噪声,状态转移矩阵F 1表示为:其中, 表示导航系相对于惯性系的旋转, 表示反对称矩阵, 表示子系统理想坐标系与导航坐标系之间的转换矩阵, β i(i=x,y,z)表示东、北、天三个方向上二阶马尔科夫模型的系数,F 64=MB 2,F 65=MB 1;系统量测方程为:y 1=H 1x 1+μ 1其中,y 1表示姿态真实值与滤波器估计值的差值,H 1表示滤波器1量测矩阵,μ 1表示滤波器1量测噪声。
- 根据权利要求2所述的一种动态变形下基于双重滤波器的传递对准方法,其特征在于,所述步骤(3)中,推导出的速度误差表达式和角速度误差表达式,具体如下:角速度误差表达式为:速度误差表达式为:其中, 为地球自转引起的导航系旋转, 为子系统在地球表面移动因地球表面弯曲引起的导航系的旋转, 分别表 示主、子系统在导航坐标系下的速度矢量, 为主、子惯导之间的弯曲变形角, 为主、子惯导之间的耦合角, 表示导航系下主系统的角速度, 表示子系统与导航坐标系之间的转换矩阵, 表示子系统加速度计测量零偏, 表示子系统在导航坐标系下的比力, 表示动态杠杆臂, 表示静止状态下杠杆臂,x 0y 0z 0分别表示东、北、天三个方向的静止状态下杠杆臂,R 0可表示为:
- 权利要求4所述的一种动态变形下基于双重滤波器的传递对准方法,其特征在于,所述步骤(4)中,滤波器2采用“速度+角速度”匹配,利用步骤(3)推导的速度误差表达式和角速度误差表达式建立量测量方程,建立卡尔曼滤波器模型,具体如下:选取卡尔曼滤波器2的状态量为:滤波器的状态方程为:其中,G 2表示滤波器2系统噪声分配矩阵,w 2表示滤波器2系统噪声,状态转移矩阵F 2表示为:y 2=H 2x 2+μ 2
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