一种飞机姿态融合算法研究

Research on an aircraft attitude fusion algorithm

飞机的姿态角信息是飞机救援过程中重要的参数信息,而由于磁干扰的存在则会影响姿态解算的精度。本文在姿态角解算问题中提出一种基于扩展卡尔曼和线性卡尔曼相结合的改进方法,扩展卡尔曼滤波对俯仰角和横滚角进行更新,而线性卡尔曼则对航向角进行单独计算,并且在最优估计时加入调节系数,通过判断测量磁场和重力矢量夹角来调节航向角最优估计值,以降低外界磁干扰对航向角的影响。实验结果表明,与传统的扩展卡尔曼解算姿态角相比,改进之后的算法更加接近真实的飞机姿态信息,并且对于外界磁场变化有更强的抗干扰能力。

The attitude Angle information of aircraft is an important parameter information in the process of aircraft rescue,but the existence of magnetic interference will affect the accuracy of attitude solution.This article in the attitude Angle algorithm proposed based on extended kalman and the improving method of the linear combination of the kalman,extended kalman filter to update of pitch Angle and roll Angle,while the linear kalman separately for the course Angle is calculated,and join the adjustment coefficient,when the optimal estimate by judging measuring magnetic field and magnetic field Angle to adjust course Angle,the optimal estimate,In order to reduce the influence of external magnetic interference on the heading Angle.Experimental results show that compared with the traditional extended Kalman attitude Angle settlement algorithm,the improved algorithm is more close to the real aircraft attitude information,and has stronger anti-interference ability to the external magnetic field changes.