Search

CN-122015820-A - Use method and device of inertial satellite parameters in estimated parameter calculation

CN122015820ACN 122015820 ACN122015820 ACN 122015820ACN-122015820-A

Abstract

The invention provides a method and a device for using inertial satellite parameters in estimation parameter calculation, the method comprises the following steps of firstly judging the consistency of dual inertial satellite tangential velocity and inertial satellite air pressure height data, and secondly configuring a jump count value and a consistency jump mark according to the consistency condition and whether the jump occurs to the velocity and the height; and selecting the inertial satellite sky-direction speed and the inertial satellite barometric altitude according to the current and historical consistency conditions, the jump count value and the consistency jump identifier. The method can prevent the inconsistency of estimated atmospheric parameters caused by the difference of the satellite inertial angular velocity and the satellite inertial barometric altitude received by different redundancy.

Inventors

  • HU ZHIGANG
  • ZHANG YANYAN
  • CUI YANAN

Assignees

  • 太原航空仪表有限公司

Dates

Publication Date
20260512
Application Date
20251227

Claims (9)

  1. 1. A method for using inertial satellite parameters in estimation parameter resolution, comprising the steps of: Firstly, judging the consistency of the dual-inertial satellite sky-direction speed and the inertial satellite air pressure height data, secondly, configuring a jump count value and a consistency jump mark according to the consistency condition and whether the speed and the height are jumped, and selecting the inertial satellite sky-direction speed and the inertial satellite air pressure height according to the current and historical consistency conditions, the jump count value and the consistency jump mark.
  2. 2. The method of using inertial satellite parameters in estimating a parameter solution according to claim 1, comprising: S05, judging whether the differential value of the space velocity of the double-inertial satellite is smaller than a preset differential value of the velocity and the differential value of the air pressure of the double-inertial satellite is smaller than a preset differential value of the altitude, if so, executing S11, otherwise, executing S06; s06, judging that the difference value of the double inertial satellite tangential speeds is smaller than a preset speed difference value, and if the difference value of the double inertial satellite tangential speeds does not meet the preset speed difference value, setting a MM (minimum mean) value of the double inertial satellite tangential speeds; S07, judging whether the pressure height difference value of the double-inertia satellite is smaller than a preset height difference value, and if the pressure height difference value of the double-inertia satellite is not satisfied, setting NN (non-return) to the pressure height separation count value of the double-inertia satellite; s08, judging whether jump preset height value occurs to the air pressure height of the INS1 inertial satellite, if so, setting the jump count value of the air pressure height of the INS1 inertial satellite to be Y; S09, judging whether the air pressure height of the INS2 inertial satellite jumps by a preset height value, if so, setting the air pressure height jump count value of the INS2 inertial satellite to be Y; S10, setting the consistency jump marks of INS1 and INS2 to 0, and executing S14; S11, judging whether the air pressure height of the INS1 inertial satellite jumps by a preset height value, if so, executing S12, if so, the jump count value is Y, if so, the jump count value is not Y, setting the consistent jump mark of the INS1 as 1, setting the air pressure height jump count value of the INS1 inertial satellite as Y, executing S12, and if not, executing the jump count value of the INS1 as-1 until the jump count value is 0; s12, judging whether the air pressure height of the INS2 inertial satellite jumps by a preset height value, if so, executing S13, if so, the jump count value is Y, if so, the jump count value is not Y, setting the consistent jump mark of the INS2 as 1, setting the air pressure height jump count value of the INS2 inertial satellite as Y, executing S13, and if not, executing the jump count value of the INS2 as-1 until 0; S13, the double-inertial satellite vertical speed separation count value-1 is 0, and the double-inertial satellite air pressure height separation count value-1 is 0; s14, judging whether the INS1 jump mark is 0, if not, executing S15, and if so, executing S18: s15, judging whether the INS2 jump mark is 0, if not, executing S22, and if so, executing S16: S16, judging whether the dual-inertial satellite tangential velocity separation mark is 0 and whether the dual-inertial satellite pneumatic high-altitude separation mark is 0, if both the two marks are satisfied, executing S25, and if the two marks are not satisfied, executing S17; s17, judging whether the INS1 consistency jump mark is1, if not, executing S25, and if so, executing S22; S18, judging whether the INS2 jump mark is 0, if not, executing S19, and if so, executing S21; S19, judging whether the dual-inertial satellite tangential velocity separation mark is 0 and whether the dual-inertial satellite pneumatic high-altitude separation mark is 0, if both the two marks are satisfied, executing S24, and if the two marks are not satisfied, executing S20; s20, judging whether the INS2 consistency jump mark is1, if not, executing S24, and if so, executing S22; S21, judging whether the dual-inertial satellite tangential velocity separation mark is 0 and whether the dual-inertial satellite barometric altitude separation mark is 0, if not, executing S22, and if yes, executing S23; S22, invalidating the estimated parameters; s23, carrying out estimation parameter calculation by respectively adopting the inertial satellite upward velocity and the inertial satellite air pressure altitude of the INS1 and the INS2 consistent jump mark as 0; S24, calculating estimation parameters by adopting the inertial satellite forward speed and the inertial satellite air pressure height of the INS 1; S25, calculating estimation parameters by using the inertial satellite forward speed and the inertial satellite air pressure altitude of the INS 2.
  3. 3. The method of using inertial satellite parameters in estimation of parameters resolution according to claim 2, wherein prior to S05, the method further comprises: S01, analyzing the space velocity of the double-inertial satellite and the barometric altitude value and effectiveness of the inertial satellite; s02, judging whether the dual-inertial satellite forward speed and the inertial satellite air pressure altitude are both effective, and if so, executing S05.
  4. 4. A method of using inertial satellite parameters in estimating a parameter solution according to claim 3, further comprising: S22 is executed when the dual inertial satellite tangential velocity and the inertial satellite barometric altitude are both invalid, and S03 is executed if only the single inertial satellite tangential velocity and the inertial satellite barometric altitude are valid; S03, if the effective single-side inertial satellite air pressure altitude does not generate data jump preset altitude value and the side INS jump count value is equal to 0, executing S04, otherwise executing S22; S04, estimating parameter calculation is carried out by using the effective side inertial satellite forward speed and the inertial satellite air pressure altitude.
  5. 5. The method for using inertial satellite parameters in the estimation of parameters according to claim 2, the method is characterized in that the preset height difference value is 200m.
  6. 6. The method of claim 2, wherein the predetermined velocity difference is 2m/s.
  7. 7. The method for using inertial satellite parameters in the estimation of parameters according to claim 2, the method is characterized in that the preset height value is 300m.
  8. 8. The method of claim 2, wherein the dual inertial satellite sky-velocity separation count MM, the dual inertial satellite barometric altitude separation count NN, and the inertial satellite barometric altitude jump count Y are determined according to respective predetermined recovery times.
  9. 9. An apparatus for using inertial satellite parameters in estimating parameter solution, characterized in that, use of inertial satellite parameters in performing an estimated parameter solution according to any of claims 1-8.

Description

Use method and device of inertial satellite parameters in estimated parameter calculation Technical Field The invention belongs to the technical field of flight control-atmosphere detection system-software atmospheric estimation algorithm modeling and analysis, and particularly relates to a method and a device for using inertial satellite parameters in estimation parameter calculation. Background At present, all aircrafts are provided with an atmosphere data system, an inertial navigation system and a satellite navigation system, the atmosphere data system can effectively receive parameters sent by the inertial navigation system and the satellite navigation system, a relation between atmosphere and an inertial reference system is established, and the inertial parameters are utilized to estimate the atmosphere parameters. In the actual cross-linking of the aircraft products, the air data system does not interact with the satellite navigation system, and in part of the aircraft, the air data system and the inertial navigation system do not interact with each other, so that the air data system can only receive relevant inertial navigation data and inertial satellite fused inertial satellite data through an upper computer. The inertial navigation system has the characteristics of strong autonomy and no limitation of meteorological conditions in work, so that the provided parameter has high precision, but the altitude channel has the characteristic of poor long-term stability, the satellite navigation system has the problem of satellite signal receiving loss, the problem of incapability of acquiring stable measurement data in complex terrains, and the instability. Therefore, when atmospheric parameters are estimated, the effective pitch angle, roll angle, course angle, north-direction speed and west-direction speed provided by the inertial navigation system are used, the accuracy of the parameters is high, and due to the fact that the long-term stability of the altitude channel of the inertial navigation system is poor, the effective inertial satellite sky-direction speed and inertial satellite barometric altitude are used on the altitude channel, but due to the problem of satellite signal receiving loss, deviation exists between the inertial satellite sky-direction speed and the inertial satellite barometric altitude received by different redundancy of the atmospheric data system, and the estimated atmospheric parameters calculated by different redundancy of the atmospheric data system are inconsistent. Disclosure of Invention The invention provides a method and a device for using inertial satellite parameters in estimation parameter calculation, which prevent inconsistent estimation atmospheric parameters caused by different satellite sky speeds received by different redundancy and different satellite air pressure heights. The first aspect of the present invention proposes a method for using inertial satellite parameters in estimation parameter calculation, which is characterized by comprising the following steps: Firstly, judging the consistency of the dual-inertial satellite sky-direction speed and the inertial satellite air pressure height data, secondly, configuring a jump count value and a consistency jump mark according to the consistency condition and whether the speed and the height are jumped, and selecting the inertial satellite sky-direction speed and the inertial satellite air pressure height according to the current and historical consistency conditions, the jump count value and the consistency jump mark. Optionally, the method for using the inertial satellite parameters in the estimated parameter calculation includes: S05, judging whether the differential value of the space velocity of the double-inertial satellite is smaller than a preset differential value of the velocity and the differential value of the air pressure of the double-inertial satellite is smaller than a preset differential value of the altitude, if so, executing S11, otherwise, executing S06; s06, judging that the difference value of the double inertial satellite tangential speeds is smaller than a preset speed difference value, and if the difference value of the double inertial satellite tangential speeds does not meet the preset speed difference value, setting a MM (minimum mean) value of the double inertial satellite tangential speeds; S07, judging whether the pressure height difference value of the double-inertia satellite is smaller than a preset height difference value, and if the pressure height difference value of the double-inertia satellite is not satisfied, setting NN (non-return) to the pressure height separation count value of the double-inertia satellite; s08, judging whether jump preset height value occurs to the air pressure height of the INS1 inertial satellite, if so, setting the jump count value of the air pressure height of the INS1 inertial satellite to be Y; S09, judging whether the air pressure height of th