基于NCS-ESKF算法的飞机姿态估计  

Aircraft attitude estimation using an error state Kalman filter in the navigation coordinate system

作　　者：何磊 宣晓刚 罗小虎 贾斌 杨毅彪 He Lei;Xuan Xiaogang;Luo Xiaohu;Jia Bin;Yang Yibiao(Key Laboratory of the Ministry of Education for New Sensor and Intelligent Control,Taiyuan University of Technology,Taiyuan 030024,China;College of Electronic Information And Optical Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Taiyuan Aviation Instrument Co,Ltd 030032,China)

机构地区：[1]太原理工大学新型传感器与智能控制教育部重点实验室,太原030024 [2]太原理工大学电子信息与光学工程学院,太原030024 [3]太原航空仪表有限公司,太原030032

出　　处：《仪器仪表学报》2024年第10期295-304,共10页Chinese Journal of Scientific Instrument

摘　　要：传统误差状态卡尔曼滤波算法在无航向参考情况下进行飞机姿态估计时,由于其线性化不精确会导致误差较大。针对以上问题,提出了基于导航坐标系的误差状态卡尔曼滤波算法(NCS-ESKF),并设计了飞机姿态估计系统,开展了室内静态转台实验和通航飞机DA40机载飞行实验。实验结果表明,与3种传统算法相比,所提出的NCS-ESKF算法误差更小,其横滚角和俯仰角的平均绝对误差(MAE)仅为0.809°和0.934°;在机载飞行实验的滑跑阶段和飞行阶段,利用分段阈值法设定不同水平机动加速度阈值,其横滚角和俯仰角的MAE分别为0.954°和0.867°,有效提高了飞机姿态估计的准确性。NCS-ESKF算法能够有效减小估计误差,具有更高的飞机姿态估计性能,有助于提高通航飞机飞行控制的稳定性。When the traditional error-state Kalman filter algorithm is used for aircraft attitude estimation without heading reference,significant errors can occur due to inaccurate linearization.To address this issue,this paper proposes an error-state Kalman filter algorithm based on the navigation coordinate system(NCS-ESKF).An aircraft attitude estimation system is designed,and both indoor static turntable experiments and DA40 airborne flight experiments with a general aviation aircraft are conducted.Experimental results show that,compared to three traditional algorithms,the proposed NCS-ESKF algorithm produces smaller errors,with mean absolute errors(MAE)for roll and pitch angles of just 0.809°and 0.934°,respectively.During the taxiing and flight phases of the airborne experiments,a segmented threshold method was employed to set different horizontal maneuvering acceleration thresholds,resulting in MAEs of 0.954°for roll and 0.867°for pitch.This effectively improves the accuracy of aircraft attitude estimation.The NCS-ESKF algorithm significantly reduces estimation errors and enhances aircraft attitude estimation performance,contributing to improved stability in flight control for general aviation aircraft.

关 键 词：姿态估计 误差状态卡尔曼滤波 导航坐标系 飞行实验 机动加速度阈值 

分 类 号：TH712[机械工程—测试计量技术及仪器] V249.322[机械工程—仪器科学与技术]