航空学报 > 2015, Vol. 36 Issue (4): 1267-1274   doi: 10.7527/S1000-6893.2014.0105

基于模糊自适应卡尔曼滤波的大气数据辅助姿态算法

李文1, 李清东1, 李亮2, 陈建1, 任章1, 廉成斌3, 王浩亮1   

  1. 1. 北京航空航天大学 飞行器控制技术一体化技术国防科技重点实验室, 北京 100191;
    2. 上海机电工程研究所, 上海 201109;
    3. 中国舰船研究院, 北京 100192
  • 收稿日期:2014-04-15 修回日期:2014-05-20 出版日期:2015-04-15 发布日期:2014-06-03
  • 通讯作者: 李清东Tel.: 010-82314573 E-mail: muziqingdong@126.com E-mail:muziqingdong@126.com
  • 作者简介:李文 女, 硕士研究生。主要研究方向: 飞行器导航、制导及控制, 容错控制。E-mail: lw_arui@163.com;李清东 男, 博士, 讲师。主要研究方向: 飞行器导航、制导及控制, 故障检测与诊断, 容错控制, 人工智能。Tel: 010-82314573 E-mail: muziqingdong@126.com
  • 基金资助:

    国家自然科学基金 (91116002, 91216304, 61333011, 61121003)

Air data assisted attitude algorithm based on fuzzy adaptive Kalman filter

LI Wen1, LI Qingdong1, LI Liang2, CHEN Jian1, REN Zhang1, LIAN Chengbin3, WANG Haoliang1   

  1. 1. Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China;
    2. Shanghai Electro-Mechanical Engineering Institute, Shanghai 201109, China;
    3. China Ship Research and Development Academy, Beijing 100192, China
  • Received:2014-04-15 Revised:2014-05-20 Online:2015-04-15 Published:2014-06-03
  • Supported by:

    National Natural Science Foundation of China (91116002, 91216304, 61333011, 61121003)

摘要:

针对中低精度航姿参考系统(AHRS)在机体机动时不能利用加速度计修正水平姿态,以及噪声统计特性随实际工作情况变化的问题,提出了一种基于模糊自适应卡尔曼滤波的大气数据辅助姿态解算的方法。首先,考虑大气数据系统和航姿参考系统的优势,利用真空速、攻角和侧滑角等大气数据信息对非重力加速度进行补偿,以辅助水平姿态解算;其次,基于模糊自适应卡尔曼滤波原理,对观测模型的参数进行估计和修正,以实现水平姿态的最优估计;最后,选取某型飞机的试飞数据进行仿真验证。仿真结果表明,该方法可使飞机的水平姿态估计精度达到1.3°,且在偏差较大时有明显的纠偏作用。因此,相对于无机动加速度补偿和常规卡尔曼滤波来说,该方法能够更好地进行姿态估计,具有一定的实用价值。

关键词: 姿态算法, 大气数据系统, 模糊逻辑, 自适应算法, 卡尔曼滤波

Abstract:

Aimed at solving problems that accelerometers cannot be utilized in maneuvering carriers to modify its horizontal attitude and that noise statistical properties change with the actual working conditions in low accuracy attitude and heading reference system (AHRS), an air data assisted attitude calculating method based on fuzzy adaptive Kalman filter is proposed. Firstly, for assisting horizontal attitude calculation, an attitude algorithm is presented to make use of air data, such as true airspeed, angle of attack and sideslip angle information to compensate maneuvering acceleration, combining the advantages of both air data system and AHRS. Secondly, estimating and modifying parameters of the observer model and system characteristics is processed based on fuzzy adaptive Kalman filter in order to realize optimal estimation of horizontal attitude. Finally, simulation of flight test data from a type aircraft flight is conducted. Simulation results demonstrate that the accuracy of attitude angels reaches 1.3 °, and it plays a significant role in correcting large deviations. Thus, to non-compensated maneuvering acceleration algorithm and conventional Kalman filter, this method is superior in attitude estimation and has practical value.

Key words: attitude algorithm, air data system, fuzzy logic, adaptive algorithm, Kalman filter

中图分类号: