Research on Attitude Measurement Method of Special Aircraft Using Geomagnetic Sensor/Gyroscope Based on UKF

Zhang Ping-An,Gao Min,Wang Wei,Wang Yi,Giovanni Palmerini

doi:10.1155/2021/6662007

Zhang Ping-An, Gao Min + Show 3 more

Open Access

https://doi.org/10.1155/2021/6662007

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Abstract

Based on the output information of the three-axis geomagnetic sensor and three-axis gyroscope, a mathematical model for measuring the flight attitude information of special aircraft is established, and the flight attitude of the special aircraft is calculated in real time. To improve the accuracy of calculating the flight attitude of the special aircraft, the model of the pitch and yaw angles based on the Unscented Kalman filter (UKF) is established by using the output expression of the gyroscope and geomagnetic sensor x -axis, and then the pitch angle and yaw angle obtained by filtering are brought into the geomagnetic sensor to calculate the roll angle of special aircraft in real time. The simulation results show that compared with the direct calculation of the special aircraft flight attitude angle, the combination of a geomagnetic sensor and gyroscope is more accurate after UKF processing, which verifies the effectiveness and feasibility of the attitude calculation method, and improves the accuracy of flight attitude measurement for special aircraft.

Highlights

With the rapid development of precise flight requirements, the demand for flight path correction and navigation control technology of special aircraft is higher and higher
It can be seen from the figure that the roll angle calculation error outside the magnetic measurement blind area can be controlled between 0° and 0.1° which more intuitively reflects that the roll angle accuracy of the combined calculation of the
According to the gyroscope and geomagnetic sensor’s output expression, this paper proposes using Unscented Kalman filter (UKF) to estimate the pitch and yaw angles of a special aircraft inflight process and get the more accurate pitch angle and yaw angle

Summary

Introduction

With the rapid development of precise flight requirements, the demand for flight path correction and navigation control technology of special aircraft is higher and higher. In the magnetic measurement blind area, the gyroscope can replace the geomagnetic sensor to measure the aircraft roll angle. This paper puts forward a method to measure flight attitude of special aircraft by the combination of geomagnetism and gyroscope. Ya-qi et al [9] and Xiaoming et al [10] proposed a method to measure missile attitude based on an extended Kalman filter (EKF) gyroscope and geomagnetic sensor. He used EKF to linearize the nonlinear model to improve the accuracy and stability of the system. We can obtain the flight attitude angle of the aircraft with high accuracy

Establish a Mathematical Model

Filter Design

Simulation Experiment and Result Analysis

Findings

Conclusion