飞行器航向姿态稳定性校正仿真研究

摘要

在飞行器姿态导航精度和稳定性优化问题的研究中,针对传统使用单组MEMS传感器进行姿态解算方法中所面临的精度低,稳定性差的问题,常用的姿态解算方法难以实现姿态角的精确解算和稳定控制.因此设计了一种多组传感器组合的姿态解算方法.将两组MEMS传感器按三轴对角方式安装,以组合方式测得的传感器数据与使用四元数法估计的传感器数据的向量积作为PID调节器的输入参数,PID调节器的输出参数作为互补滤波器的输入参数,以校正陀螺仪的角速度输出,最后通过四元数微分方程解算出更精确和更稳定的姿态角数据.仿真表明,设计的方法较单组MEMS传感器进行姿态解算的方法在姿态角的精度和系统稳定性上有所提高.%In the study on the accuracy and stability optimization of aircraft attitude navigation,aiming at the low accuracy and poor stability of traditional method that use single set of MEMS sensors for attitude estimation,it is difficult to realize the precise estimation and stable control with normal algorithm.In the paper,a method of attitude estimation based on combined multiple sensors was designed.Two sets of MEMS sensors were installed based on triaxial diagonal pattern.The vector product of the sensor data measured by the combination and estimated by quaternion method was used as the input of the PID regulator.The output of the PID regulator was used as the input of the complementary filter to correct the gyroscope output of angular velocity.At last,the attitude data with higher accuracy and higher stability can be estimated through the calculation of quaternion differential equation.Simulation results show that,compared with the attitude estimation of single set of MEMS sensors,the designed method can improve the accuracy of the attitude data and the stability of the system.