摘要
风是影响巡飞弹药这类小型飞行器的重要环境因素,对飞行带来了较大的不确定性。为此,本文建立对飞行影响较大的常值风的估计模型,利用巡飞弹药中动压传感器及GPS/MIMU的输出数据作为观测量,通过扩展卡尔曼滤波实现对三维风速的在线估计,并分析了系统的可观测性。数值仿真试验表明:水平风速估计误差优于0.1m/s,垂直方向的风速估计误差优于0.4m/s,为巡飞弹参数辨识与控制系统设计提供精确的实时风速参考。
The wind is a very important environment factor for small UAVs such as loitering munitions,which brings great uncertainty to the flights. Thus,the estimation model of the constant wind is established,which has a greater adverse effect on flight. These output data of pressure sensor and GPS/MIMU are used in this method,which are fixed in the loitering munition as the inputdata for the extended Kalman filter to estimate the 3 D wind velocity online,and the observability of the system is estimated. The numerical simulation results show that the horizontal wind speed estimation error is better than 0. 1 m/s and the vertical direction wind speed estimation error is better than 0. 4 m/s,which can server as reference for the real time wind speed of parameter identification and control system design of loitering munitions.
作者
涂海峰
贾生伟
阳丰俊
吕瑞
Tu Haifeng;Jia Shengwei;Yang Fengjun;Lv Rui(China Academy of Launch Vehicle Technology, Bejing 100076, China)
出处
《航天控制》
CSCD
北大核心
2018年第2期14-19,共6页
Aerospace Control
关键词
扩展卡尔曼滤波
风速
在线估计
Extended Calman filter
Wind speed
Online estimation
