摘要
为了改善现有全机疲劳试验中姿态监控的缺点,采用加速度传感器、陀螺仪、磁力计和DSP处理器,通过四元数法和二阶龙格-库塔法实时解算出飞机的姿态数据,然后经过扩展卡尔曼滤波器对多传感器数据进行融合滤波后得到准确的姿态数据,并通过无线传输模块发送至上位机,姿态数据超差后能够发出声光报警提醒试验控制人员。经试验,系统误差在0.58°以内。通过在某型号全机疲劳试验中的实际应用,该系统工作可靠、准确,满足试验要求。
In order to improve the performance of the existing attitude monitoring system,the attitude data of plane was ob-tained with acceleration sensor,gyroscope,magnetometer and DSP processor through real-time calculation of quaternion algo-rithm and Runge-Kutta algorithm. The accurate attitude data was got by means of fusion and filtering of the extended Kalman fil-ter with the data from multiple sensors. The data is send to upper computer through wireless transmission module. The system will reminding the test controller through sound and light alarm when the attitude error is greater than the threshold. In the test, the system error is within 0.58＆#176;. With the application in the fatigue test,the system is proved to be reliable and accurate,and meets the fatigue test requirements.
出处
《现代电子技术》
2014年第22期60-62,共3页
Modern Electronics Technique
关键词
疲劳试验
姿态解算
四元数法
扩展卡尔曼滤波
fatigue test
attitude calculation
quaternion algorithm
extended Kalman filtering
