CN110702102B - Magnetic navigation system for navigation aircraft and navigation method thereof - Google Patents
Magnetic navigation system for navigation aircraft and navigation method thereof Download PDFInfo
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- CN110702102B CN110702102B CN201910878856.1A CN201910878856A CN110702102B CN 110702102 B CN110702102 B CN 110702102B CN 201910878856 A CN201910878856 A CN 201910878856A CN 110702102 B CN110702102 B CN 110702102B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention discloses a magnetic navigation system for a navigation aircraft, which comprises a magnetic force sensor module, a data processing unit, a magnetometer CPU, a gyroscope module, a heating module and a power module, wherein the magnetic force line difference value calculated by the magnetometer CPU compensates data obtained by the sensor to obtain magnetic force lines closest to a real magnetic heading.
Description
Technical Field
The invention belongs to the field of aviation flight, and particularly relates to a magnetic navigation system for a navigable aircraft and a navigation method thereof.
Background
The aircraft navigation in the prior art has two types of heading according to the difference of the acquired datum lines: taking the meridian of the earth (namely the meridian) as a reference, the included angle between projections from the north end of the meridian to the longitudinal axis of the airplane along the clockwise direction on the horizontal plane is called as a true heading; taking the magnetic meridian of the earth (namely the magnetic meridian) as a reference, and projecting an included angle between the north end of the magnetic meridian and the plane longitudinal axis along the clockwise direction to be called as a magnetic heading; the angle between the meridian of the earth and the meridian of the magnet is the magnetic difference.
In the process of calculating the magnetic heading, accurate triaxial magnetic field data of a machine body and the transverse roll angle and pitch angle measured by a gyroscope are required; the following interference sources exist when the magnetometer measures triaxial magnetic field data of the machine body: errors of the magnetic field sensor itself; errors in ambient temperature; the influence of soft iron and hard iron of different aircraft bodies; installation errors, etc.; the use of magnetic heading therefore requires correction of errors introduced by the various sources of interference.
Disclosure of Invention
The invention aims to provide a high-precision magnetic navigation system for a navigation aircraft and a navigation method thereof.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the utility model provides a magnetic navigation system for navigation aircraft, including magnetic force sensor module, magnetometer CPU, data processing unit, gyroscope module, heating module and power module, wherein, the magnetometer comprises magnetic force sensor, power module, temperature sensor, magnetometer CPU and heating circuit etc. module in order to gather the primitive magnetic field data of surrounding environment, temperature sensor is integrated in the magnetometer CPU and is used for detecting CPU surrounding environment temperature, trigger heating module through this temperature sensor and keep magnetometer CPU work under low temperature state, magnetometer CPU links to each other with data processing unit's signal input part, in order to transmit the magnetic field data after the calibration to data processing unit, gyroscope module links to each other with data processing unit's signal input part, in order to provide the roll rate that is used for calculating magnetism course angle, pitch rate.
The invention discloses a magnetic navigation system for a navigation aircraft, wherein a power supply module provides four voltage output ends and respectively supplies power to a temperature sensor module, a magnetic force sensor module and a magnetometer CPU module and provides reference voltage.
The signal input end of the magnetic sensor is connected with one output pin of the magnetometer CPU, and the magnetometer CPU can send a reset signal to the magnetic sensor before receiving data so as to reduce the measurement error of the magnetic sensor.
The invention discloses a magnetic navigation method for a navigation aircraft, which comprises the steps of acquiring original magnetic field data through a magnetic force sensor for a plurality of times, comparing standard linear data measured through a standard instrument, taking a difference value as magnetic field compensation data, improving the linearity of the original data to enable the original data to be more similar to real data, and storing the data in a data processor.
The invention discloses a magnetic navigation method for a navigation aircraft, wherein the calculation method of a magnetometer CPU comprises the following steps:
the method comprises the steps of setting a channel of an airplane as an orthogonal three-axis space coordinate system, wherein an X axis and a Y axis are two axes which are on a horizontal plane and are mutually perpendicular, a Z axis is a gravity direction, a geomagnetic field direction is E, a component of the geomagnetic field direction on the horizontal plane is a direction of magnetic north, a measured course angle is an included angle theta between the magnetic north and the X axis, and Bx and By are components of measured earth magnetic field intensity on a X, Y axis respectively. Because the earth axis and the magnetic axis have a certain included angle rho, the angle is added on the measured value to be the correct geographic north direction, and the deflection angle is different due to the difference of geographic latitude and can be determined by a manual; when the instrument and the device are inclined, the accuracy of the azimuth value is greatly influenced, the magnitude of the heading angle error depends on the position of the instrument and the magnitude of the inclination angle, and in order to reduce the influence of the inclination angle on the heading angle, a two-axis linear inclination sensor is adopted in a compass system to measure the pitch angle alpha and the roll angle beta, and at the moment, the horizontal components Bx and By are as follows:
Bx＝bxcosα+bysinαsinβ-bzsinαcosβ；
By＝bycosβ+bzsinβ；
θ＝arctan(By/Bx)；
bx/by/bz is triaxial magnetic field data around the machine body, and θ is magnetic heading angle.
The invention discloses a magnetic navigation method for a navigation aircraft, which comprises the following steps:
s1, fixing a magnetometer to be measured on a turntable of a verified gimbal turntable;
s2, fixing an induction probe of a standard instrument on a turntable of a gimbal turntable, wherein the probe is parallel to an induction shaft of a magnetometer to be measured;
s3, rotating the gimbal turntable to a fixed angle, reading triaxial magnetometer data displayed by the FVM400 and filling the triaxial magnetometer data into a magnetometer calibration program;
s4, repeating the step 3 to measure the magnetic intensity data under different angles;
s5, after the data recording is completed, generating a compensation file according to the collected data by a magnetometer calibration program;
and S6, loading the compensation file to a magnetometer to compensate the magnetometer measured value, confirming whether the magnetometer measured value is the same as the standard instrument measured value, and if so, completing the calibration.
The invention discloses a magnetic navigation method for a navigation aircraft, wherein the model of a standard instrument is FVM400.
Because of the ferromagnetic substances in the aircraft, the aircraft can be magnetized magnetically, so that the indication of the magnetic compass of the aircraft is affected, and the aircraft also has an actual magnetic meridian in different geographic positions and different directions, which is called Luo Jingxian. The angle between the projection of the north end of the compass line in the clockwise direction to the longitudinal axis of the aircraft on the horizontal plane is called Luo Hangxiang. The included angle between the earth magnetic meridian and Luo Jingxian is the difference; a magnetic compass on the aircraft that indicates heading by measuring the earth's magnetic field, the numerical value after the correction Luo Cha is the magnetic heading, and if the magnetic difference is corrected again, the true heading is obtained; by adopting the technical scheme, the magnetic force lines calculated by the magnetometer CPU are matched with the standard magnetic force lines to carry out difference compensation so as to eliminate errors of the magnetic field sensor and errors generated by the ambient temperature, and errors generated by aircraft materials are used for calculating the route closest to the real magnetic force lines, so that the obtained magnetic compass orientation indicating the heading is more accurate, and the aircraft is safer and more reliable to run.
The invention will be described in more detail below with reference to the drawings and examples.
Drawings
The contents and the marks in the drawings expressed in the drawings of the present specification are briefly described as follows:
FIG. 1 is a data processing block diagram of the present invention;
FIG. 2 is a block diagram of the magnetic field raw data processing of the present invention;
FIG. 3 is a block diagram of three compensation details of the present invention;
FIG. 4 is a block diagram of the calculation of magnetic heading angle of the present invention;
fig. 5 is a block diagram of a hardware architecture of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention, such as the shape and construction of the components, the mutual positions and connection relationships between the components, the roles and working principles of the components, the manufacturing process and the operation and use method, etc., will be given by way of example only to assist those skilled in the art in a more complete, accurate and thorough understanding of the present invention.
FIG. 5 is a block diagram of a hardware architecture of the present invention, as shown in the drawing, a magnetic navigation system for a navigable aircraft, including a magnetic sensor module, a data processing unit, a magnetometer CPU, a gyroscope module, a heating module and a power module, wherein an external magnetic sensor is connected with the magnetometer CPU through the magnetic sensor module to receive original magnetic field data input by the magnetic sensor, a temperature sensor for detecting the temperature of the magnetometer CPU is arranged in the magnetometer CPU, the heating module is triggered by the temperature sensor to maintain the magnetometer CPU to work in a low temperature state, the magnetometer CPU is connected with a signal input end of the data processing unit to input magnetic field compensation data obtained after calculation into the data processing unit, and the gyroscope module is electrically connected with a signal input end of the data processing unit to calculate a magnetic heading angle through receiving a flying roll rate and a pitching rate input by the gyroscope; in the process of calculating the magnetic heading, accurate triaxial magnetic field data of a machine body and the transverse roll angle and pitch angle measured by a gyroscope are needed; the following interference sources exist when the magnetometer measures triaxial magnetic field data of the machine body: errors of the magnetic field sensor itself; errors in ambient temperature; the influence of soft iron and hard iron of different aircraft bodies; installation errors, etc.
The input end of the power supply module is electrically connected with the power supply and is provided with four voltage output ends, and the four voltage output ends are respectively and electrically connected with the temperature sensor module, the magnetic force sensor module and the magnetometer CPU module so as to respectively output corresponding power supply voltages and provide needed reference voltages.
FIG. 1 is a block diagram of data processing in the invention, wherein the magnetic sensor is used for acquiring original magnetic field data and measuring the original magnetic field data for a plurality of times to obtain corresponding linear data, the standard linear data measured by the standard instrument is used for comparing, the difference value is used as magnetic field compensation data to improve the linearity of the original data so as to be closer to the real magnetic force lines, the data is stored in the data processor, and the standard instrument and the sensor are used for measuring the magnetic field data to generate corresponding curves (the standard instrument is used for measuring the data to generate a standard curve, the sensor is used for measuring the data to generate an original curve, and errors of the original curve exist) because the sensor has good linearity, so that the errors of the original curve have good linearity, and the reliability of the data is ensured; the characteristic that the linearity of the sensor is good can be utilized in the subsequent calibration compensation, and the special points are sampled and calibrated to generate a compensation curve.
FIG. 2 is a block diagram of the magnetic field raw data processing of the present invention, where the CPU controls the set-reset to make two measurements of the magnetic sensor to improve signal accuracy, the set/reset operation includes switching the current through the sensor from one direction to the other and measuring the magnetic field after the two settings (set/reset). The set reading is positive and the reset reading is negative. The magnitudes of the two values are averaged to obtain the sensor raw data. The original data is subjected to sensor compensation, type compensation and tail compensation to obtain accurate triaxial magnetic field data.
FIG. 3 is a block diagram showing three specific compensation aspects of the present invention, wherein the sensor compensation as shown includes sensor bias compensation (compensation for individual sensors), sensor scale compensation (bias compensation for the sensor as a whole), temperature bias compensation (elimination of temperature effects on the sensor), and ambient temperature bias compensation (compensation for bias due to temperature), and the series of compensation compensates for bias of a single magnetometer; the type compensation includes alignment compensation, which is a calibration compensation for the installation position of a type of navigable aircraft to eliminate the effect of hard and soft iron factors of the aircraft body on magnetometer measurements; tail compensation includes tilt compensation (to eliminate errors such as tilting when a particular aircraft is installed) and dipole compensation (to eliminate hard and soft iron effects when a particular aircraft is installed).
FIG. 4 is a block diagram of the calculation of the magnetic heading angle of the present invention, and the magnetometer CPU calculation method as shown in the figure includes:
setting a channel of an airplane as a three-axis space coordinate system, wherein an X axis and a Y axis are on a horizontal plane and are mutually perpendicular, a Z axis is a gravity direction, a geomagnetic field direction is E, a component of the Z axis on the horizontal plane is a direction of magnetic north, a measured course angle is an included angle theta between the magnetic north and the X axis, and Bx and By are respectively measured earth horizontal magnetic field intensities in the two directions. Because the earth axis and the magnetic axis have a certain included angle rho, the deflection angle is the correct geographic direction, and the deflection angle is different due to the difference of geographic latitude and can be determined by a manual; when the instrument and the device are inclined, the accuracy of the azimuth value is greatly influenced, the magnitude of the heading angle error depends on the position of the instrument and the magnitude of the inclination angle, and in order to reduce the influence of the inclination angle on the heading angle, a two-axis linear inclination sensor is adopted in a compass system to measure the pitch angle alpha and the roll angle beta, and at the moment, the horizontal components Bx and By are as follows:
Bx＝bxcosα+bysinαsinβ-bzsinαcosβ；
By＝bycosβ+bzsinβ；
θ＝arctan(By/Bx)；
bx/by/bz is triaxial magnetic field data around the machine body, and θ is magnetic heading angle.
Aircraft navigation systems can be divided into a number of classes according to the operating principle:
an instrument navigation system: the method comprises the steps of obtaining various navigation parameters through manual calculation by utilizing data provided by a simple instrument on an airplane; these meters are airspeed meters, magnetic compasses, heading gyroscopes, altimeters, and the like. Later, the manual calculation is developed into automatic calculation, and an automatic navigator is provided. Various simple instruments are also gradually developed into heading attitude systems, air data computers, and the like.
There are also, for example, radio navigation systems, inertial navigation systems, astronomical navigation systems, and combined navigation systems (more perfected navigation systems composed of a combination of the above several navigation systems).
As can be seen from the above, the navigation system of the aircraft is compatible with multiple modes, and the magnetic navigation is a branch of the instrument navigation, but is an essential important tool for complex and changeable external environment, so the accuracy requirement for the magnetic heading is relatively high to cope with the complex and changeable external environment.
In order to ensure the carrier safety of the aircraft, the accuracy and the practicability of the aircraft navigation are more obvious, so that the magnetic navigation method adopted in the method belongs to one branch of the instrument, and the numerical value of the instrument has extremely high referential property, thus being an important link of the flight.
The specific implementation method of the invention is divided into three main categories according to the calibration type:
1. a sensor calibration implementation method;
2. type calibration implementation method;
3. tail calibration implementation method.
Example 1
The sensor calibration implementation method comprises the following steps:
sensor calibration involves compensation of sensor bias (compensation for individual sensors), sensor scale (bias for the sensor as a whole), temperature bias (to eliminate temperature effects on the sensor), and ambient temperature bias (to compensate for temperature-induced bias) the bias of the individual magnetometers as the series compensates. The implementation method comprises the following steps:
experimental conditions: static (unchanged) magnetically clean environment, gimbal turntable, standard measurement equipment (FVM 400), computer (magnetometer-containing calibration program: data collection to generate calibration file) power supply
Test principle: the device is verified using a calibrated fluxgate magnetometer before starting the calibration activity. The magnetometer assembly is mounted on a fixture and on a horizontal turntable in a magnetically clean environment. In the first stage of testing, the unit is rotated through a series of known angles in the horizontal and vertical directions while data is collected. At the end of the first phase, the collected data is used to generate a calibration file and uploaded into the magnetometer. Finally, using the calibration file, a verification phase is performed with the magnetometer rotated by a known angle and compared to the actual bearing.
Summary of the test:
1. fixing the magnetometer to be measured on the turntable of the verified gimbal turntable
2. The sensing probe of the standard instrument (FVM 400) is also fixed on the turntable of the gimbal turntable with the probe parallel to the sensing axis of the magnetometer to be measured.
3. The gimbal turntable is rotated to a fixed angle and the triaxial magnetometer data displayed by the FVM400 is read and filled into the magnetometer calibration program.
4. Repeating step 3 to measure magnetic intensity data under different angles
5. After the data recording is completed, the magnetometer calibration program generates a compensation file according to the acquired data
6. And loading the compensation file to the magnetometer to repeatedly measure the magnetic intensity of a fixed angle, and confirming whether the measured value of the magnetometer is identical to the measured value of a standard instrument (FVM 400), and if so, completing the calibration.
Example two
Type calibration implementation method:
test introduction: during magnetometer installation, since the aircraft itself has components that generate magnetic fields (hard iron) and magnetically permeable components (soft iron), both of them change the earth's magnetic field. And the platforms of the magnetometers installed on different types of aircrafts are also not fixed and the inclination angles are also different. However, the elements such as hard iron, soft iron and inclination angle of the mounting platform of the same type of aircraft are substantially the same. The magnetometer is calibrated for the aircraft type before installation is performed and after the model to be installed is known. The purpose of this calibration is to substantially eliminate the effects of soft iron, hard iron and mounting platform tilting of the mounting aircraft.
Example III
The tail calibration implementation method comprises the following steps:
summary of the test: tail calibration refers to the compensation of the magnetometer when mounted to a particular aircraft for soft iron, hard iron and platform tilt angles of that aircraft. After the installation is completed, the aircraft is moved onto the horizontal turntable, and the data of the horizontal roll angle and the pitch angle on the horizontal platform are generated into an inclination compensation file because the aircraft is on the horizontal platform and the roll angle and the pitch angle are all zero. The rotating platform (the magnetic field data of the platform position are known) records the magnetic field data of different angles, and generates compensation data to eliminate the influence of soft iron and hard iron of the airplane.
Because of the ferromagnetic substances in the aircraft, the aircraft can be magnetized magnetically, so that the indication of the magnetic compass of the aircraft is affected, and the aircraft also has an actual magnetic meridian in different geographic positions and different directions, which is called Luo Jingxian. The angle between the projection of the north end of the compass line in the clockwise direction to the longitudinal axis of the aircraft on the horizontal plane is called Luo Hangxiang. The included angle between the earth magnetic meridian and Luo Jingxian is the difference; a magnetic compass on the aircraft that indicates heading by measuring the earth's magnetic field, the numerical value after the correction Luo Cha is the magnetic heading, and if the magnetic difference is corrected again, the true heading is obtained; by adopting the technical scheme, the magnetic force lines calculated by the magnetometer CPU are matched with the standard magnetic force lines to carry out difference compensation so as to eliminate errors of the magnetic field sensor and errors generated by the ambient temperature, and errors generated by aircraft materials are used for calculating the route closest to the real magnetic force lines, so that the obtained magnetic compass orientation indicating the heading is more accurate, and the aircraft is safer and more reliable to run.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.
Claims (2)
1. The magnetic navigation method for the piloting plane comprises a magnetic navigation system, wherein the magnetic navigation system is provided with a magnetic force sensor module, a magnetometer CPU, a data processing unit, a gyroscope module, a heating module, a power module and a CPU temperature sensor, the magnetic force sensor module is composed of the magnetic force sensor to collect original magnetic field data of the surrounding environment, the CPU temperature sensor is integrated in the magnetometer CPU and is used for detecting the temperature of the surrounding environment of the CPU, the heating module is triggered by the CPU temperature sensor to maintain the magnetometer CPU to work in a low-temperature state, the magnetometer CPU is connected with a signal input end of the data processing unit to transmit the calibrated magnetic field data to the data processing unit, and the gyroscope module is connected with the signal input end of the data processing unit to provide a roll rate and a pitch rate for calculating a magnetic heading angle; the power supply module provides four voltage output ends and respectively supplies power to the temperature sensor module, the magnetic force sensor module and the magnetometer CPU module for detecting the temperature of the magnetic navigation system and provides reference voltage; the signal input end of the magnetic force sensor is connected with one output pin of the magnetometer CPU, and the magnetometer CPU can send a reset signal to the magnetic force sensor before receiving data so as to reduce the measurement error of the magnetic force sensor; the method is characterized in that original magnetic field data are acquired for a plurality of times through the magnetic force sensor, standard linear data measured through a standard instrument are compared, the difference value is used as magnetic field compensation data, the linearity of the original data is improved to be more similar to real data, and the compensation data are stored in the data processing unit;
the magnetic navigation method comprises the following steps: s1, fixing a CPU of a magnetometer to be tested on a turntable of a verified gimbal turntable;
s2, fixing an induction probe of a standard instrument on a turntable of the gimbal turntable, wherein the probe is parallel to a CPU induction axis of the magnetometer to be tested;
s3, rotating the gimbal turntable to a fixed angle, reading triaxial magnetic intensity data displayed by a standard instrument and filling the triaxial magnetic intensity data into a magnetometer CPU calibration program;
s4, repeating the step S3 to measure the magnetic intensity data under different angles;
s5, after the data recording is completed, generating a compensation file by the magnetometer CPU calibration program according to the collected data;
and S6, loading the compensation file to a magnetometer CPU to compensate the magnetometer measured value, confirming whether the magnetometer CPU measured value is identical to the standard instrument measured value, and if so, completing the calibration.
2. A method of magnetically piloting an aircraft as claimed in claim 1, wherein the method of magnetometer CPU calculation of magnetometer data comprises:
setting a channel of an airplane as an orthogonal three-axis space coordinate system, wherein an X axis and a Y axis are two axes which are on a horizontal plane and are mutually perpendicular, a Z axis is a gravity direction, a geomagnetic field direction is E, a component of the plane is a direction of magnetic north, a measured heading angle is an included angle theta between the magnetic north and the X axis, bx and By are components of the measured earth magnetic field intensity on a X, Y axis respectively, and a certain included angle rho exists between the earth axis and the magnetic axis, so that the angle is the correct geographic north direction and the deflection angle is different due to different geographic latitudes and can be determined By a manual; when the instrument and the device are inclined, the accuracy of the azimuth value is greatly influenced, the magnitude of the heading angle error depends on the position of the instrument and the magnitude of the inclination angle, and in order to reduce the influence of the inclination angle on the heading angle, a two-axis linear inclination sensor is adopted in a compass system to measure the pitch angle alpha and the roll angle beta, and at the moment, the horizontal components Bx and By are as follows:
Bx=bxcosα+bysinαsinβ-bzsinαcosβ ；
By=bycosβ+bzsinβ；
θ=arctan(By/Bx)；
bx/by/bz is triaxial magnetic field data around the machine body, and θ is magnetic heading angle.
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