gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.2018.27.1.072-092gyroscopy-238Research ArticleСтатьиАналитический алгоритм оценки пространственного положения и курса объектаAnalytical Algorithm for Attitude and Heading Estimation Aided by Maneuver ClassificationАль-МансурМ.MansourAl

Аль-Мансур Мехьяр. Аспирант, факультет электромеханических систем

ШуаибИ.ChouaibM.

Шуаиб Ибрахим. Доктор наук, профессор

ДжафарА.JafarA.

Джафар Асеф. Доктор наук, профессор

ПотаповА. А.Potapov,A. A.

Потапов Анатолий Андреевич. Доцент кафедры автоматики и управления

Высший институт прикладных наук и технологий (Дамаск, Сирия)РоссияDepartment of Electronic & Mechanical Systems, Higher Institute for Applied Sciences and Technology (HIAST)Russian FederationВысший институт прикладных наук и технологий (Дамаск, Сирия)Россия(Department of Electronic & Mechanical Systems, Higher Institute for Applied Sciences and Technology (HIAST)Russian FederationВысший институт прикладных наук и технологий (Дамаск, Сирия)..РоссияDepartment of Electronic & Mechanical Systems, Higher Institute for Applied Sciences and Technology (HIAST)Russian FederationКазанский национальный исследовательский технический университет им. А.Н. Туполева – КАИ (Казань, Россия)РоссияKazan National Research Technical University named after A. N. Tupolev – KAIRussian Federation2019131120252717292Copyright © Аль-Мансур М., Шуаиб И., Джафар А., Потапов А.А., 20252025Аль-Мансур М., Шуаиб И., Джафар А., Потапов А.А.Mansour A., Chouaib M., Jafar A., Potapov, A.A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/238

В статье описывается модифицированный адаптивный аналитический алгоритм оценки пространственного положения и курса объекта, основанный на синтезе данных инерциального измерительного модуля (ИИМ), магнитометров и скорости, вырабатываемой приемником GPS. В первую очередь на основе выходной информации от датчиков угловой скорости (ДУС), входящих в состав ИИМ, рассчитываются кинематические углы Эйлера, после чего содержащиеся в них погрешности компенсируются с помощью выходных данных полученных от акселерометров и магнитометров, а также скоростных измерений. При этом нет необходимости в знании моделей систематической и случайной погрешностей используемых датчиков; фильтр Калмана не используется. Адаптация алгоритма производится на основе классификации маневра (отсутствие маневра, слабый маневр, сильный маневр), в зависимости от интенсивности которого настраиваются параметры соответствующих фильтров. Компьютерное моделирование с использованием смоделированных и реальных полетных данных показало, что предложенный алгоритм дает приемлемые результаты по сравнению с расширенным фильтром Калмана.

This paper presents a modified adaptive analytical algorithm for attitude and heading estimation. The analytical algorithm is based on the fusion of IMU, magnetometers and the velocity from GPS. The kinematic Euler angles are first calculated based on the output of the rate gyros, then the calculated angle errors are compensated using the output of each of the accelerometers, magnetometers, and the velocity taken from a GPS receiver, without the need to model the systematic and random errors of the used sensors; Kalman filter is not used. The algorithm will be adaptive based on the maneuver classification, the filters' parameters will be tuned depending on the maneuver intensity: No, Low, or High maneuver. The main contribution of this paper is to build an attitude and heading estimation algorithm (analytical algorithm) without using Kalman filter; this algorithm will be made adaptive based on the maneuver classification algorithm which was developed using logistic regression technique based on IMU output. Computer simulation with simulated and real flight data showed that the adaptive analytical algorithm has acceptable results compared to EKF.

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The authors declare that there are no conflicts of interest present.