一种小型无人倾转旋翼机全包线飞行的参数估计方法(英文)  

Parameter estimation method for full envelop flight of small unmanned tiltrotor

作　　者：郭剑东[1] 夏品奇[1] 宋彦国[1] 

机构地区：[1]南京航空航天大学航空宇航学院直升机旋翼动力学重点实验室,南京210016

出　　处：《中国惯性技术学报》2013年第2期192-198,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(60705034)

摘　　要：小型无人倾转旋翼机的核心是飞行控制系统与捷联惯性导航系统(SINS)。针对小型无人倾转旋翼机的不同飞行模式设计了一套线性、计算效率高的捷联导航算法,为控制系统提供真实可靠的反馈参数。在直升机悬停与小速度飞行模式,利用加速度计与磁强计的输出计算测量姿态角并根据角度与角速率的关系设计低阶线性姿态估计算法,递推解算出MEMS陀螺的漂移特性,并实时补偿测量的角速率。在倾转与飞机飞行模式飞行器具有持续加速与高速的飞行特性,利用磁强计解算当前航向并引入GPS的速度与位置参数,设计了基于误差的线性Kalman滤波器,提高持续加速飞行状态的姿态估计精度。数值仿真表明在全包线飞行过程中设计的捷联导航算法具有良好的测量精度,并利用小型无人倾转旋翼机的飞行试验,验证了算法的估计性能与可靠性。The onboard flight control system and strapdown inertial navigation system （SINS） are the core components of small unmanned tiltrotor vehicle. A linear and high computational efficiency strapdown navigation algorithm is presented to estimate the real flight parameters for the flight control system, according to multi-flight modes of the unmanned tiltrotor vehicle. In the hover and low speed of helicopter flight mode, the measured attitude is obtained from the output of the accelerometers and magnetometers. The low-order and linear attitude estimation Kalman filter is designed according to the relationship between angular and angular rate. The measured angular rate is compensated by solving the drift noise of gyro. In the tilting and airplane mode, the aircraft is characterized with continuous acceleration and high-speed flight. The heading angle is developed by using magnetometers, the velocity and position measured from GPS are adopted in designing a state error of linear Kalman filter to further improve the attitude estimation accuracy in the maneuver flight conditions. The numerical simulation indicates that the proposed algorithms are of high accuracy in full-envelop flight, and the performance and reliability of the presented Kalman filter is verified by flight tests of a small unmanned tiltrotor.

关 键 词：小型无人倾转旋翼机 捷联惯性导航算法 KALMAN滤波器 飞行参数估计 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]