CAJ | 학술논문

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.
소형무인경전선익궤적핵심시비행공제계통여첩련관성도항계통(SINS).침대소형무인경전선익궤적불동비행모식설계료일투선성、계산효솔고적첩련도항산법,위공제계통제공진실가고적반궤삼수.재직승궤현정여소속도비행모식,이용가속도계여자강계적수출계산측량자태각병근거각도여각속솔적관계설계저계선성자태고계산법,체추해산출 MEMS 타라적표이특성,병실시보상측량적각속솔.재경전여비궤비행모식비행기구유지속가속여고속적비행특성,이용자강계해산당전항향병인입 GPS 적속도여위치삼수,설계료기우오차적선성 Kalman 려파기,제고지속가속비행상태적자태고계정도.수치방진표명재전포선비행과정중설계적첩련도항산법구유량호적측량정도,병이용소형무인경전선익궤적비행시험,험증료산법적고계성능여가고성.
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.