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针对小型尾坐式飞行器航姿测量问题,设计了航姿测量系统。采用四元数法更新航姿参数再转换成欧拉角输出。由于小型尾坐式飞行器姿态变化范围大,针对传统四元数到欧拉角的转换算法在扰动下航向和姿态角易发生振荡的问题,提出了一种改进的全姿态四元数转换到欧拉角的转换算法,通过分析姿态矩阵中元素的符号,由四元数得到两组欧拉角,以姿态控制利益为牵引,选择正确的一组。针对无迹卡尔曼滤波(unscented Kalman filter,UKF)算法在外界噪声干扰下测量精度降低的问题,引入自适应算法,使量测噪声统计特性随噪声的变化而自适应的调整,提高系统的抗干扰能力。针对小型尾坐式飞行器姿态易突变的问题,设计了强跟踪滤波器,利用多个渐消因子减小历史数据在测姿中的作用,提高当前信息的比重,提高系统对突变姿态的跟踪精度。最后,通过实验验证了全姿态解算算法、自适应UKF滤波算法和强跟踪算法的可行性,实验结果表明了设计的航姿测量系统对小型尾坐式飞行器的适用性。
Aiming at the attitude measurement problem of small tail-mounted vehicle, a navigation attitude measurement system is designed. The quaternion method is used to update the navigation parameters and then converted to Euler angles output. Due to the large range of pose changes of small tail-fighter aircraft, aiming at the problem that the conversion of traditional quaternion to Euler angles is likely to oscillate in heading and attitude angle under perturbation, an improved all-attitude quaternion is proposed to switch to Europe By analyzing the sign of the elements in the attitude matrix, two sets of Euler angles are obtained from the quaternions, and the attitude control interests are taken as the traction and the correct one is selected. To solve the problem of unscented Kalman filter (UKF) algorithm to reduce the measurement accuracy under external noise interference, an adaptive algorithm is introduced to make the statistical characteristics of measurement noise adaptively adjust with the change of noise to improve the system’s immunity Interference ability. Aiming at the problem that the attitude of a small tail-mounted vehicle is easy to change suddenly, a strong tracking filter is designed. The multiple fading factors are used to reduce the role of historical data in the attitude measurement. The proportion of current information is increased and the tracking accuracy of the system is improved . Finally, the feasibility of the full attitude solution algorithm, the adaptive UKF filter algorithm and the strong tracking algorithm are verified by experiments. The experimental results show the applicability of the Attitude-Attitude Measurement System to small tail-mounted vehicles.