Research On The Navigation Measurement Technologies Of Unmanned Helicopter In The Disturbance Of The Rotor Wing

Unmanned helicopters can hover in the air,take off and land vertically rely on the rotor,and can perform a variety of airpower mission which fixed wing aircrafts can't complete.However,the unmanned helicopter body vibration caused by the rotor wing rotation during the flight has always been an important problem in the study of the flight control system of unmanned helicopter,and it is also an important factor affecting the accuracy of the navigation system of unmanned helicopter.To this end,this paper studied the key technologies of navigation measurement under the rotor wing disturbance of unmanned helicopter to achieve autonomous and reliable navigation,which can also provide theoretical basis and method reference for the engineering realization of the high precision navigation system of unmanned helicopter.This paper studied the error characteristics of the Inertial Navigation System of unmanned helicopter under rotor wing disturbance,and analyzed the influence of the Inertial Navigation System error in angular vibration,line vibration and integrated vibration environment.On the basis of this,this paper designed the overall scheme of unmanned helicopter inertial / GPS integrated navigation based on air data,analyzed the influence on the attitude measurement error of the navigation system caused by the cone motion in the vibration environment,and proposed the attitude cone error compensation algorithm of the Strap-down Inertial Navigation System based on angular rate input,which can effectively improve the measurement accuracy of Inertial Navigation System in the vibration environment.This paper analyzed the causes of the internal lever arm effect error and the external lever arm effect error of unmanned helicopter,established corresponding error models and then focused on the design of the compensation method of the external lever arm effect error.For the body vibration caused by the rotor wing rotation,it leads to the internal lever arm effect error due to the misalignment of the center of mass between the inertial sensor and unmanned helicopter,this paper established the corresponding error model;In order to avoid the GPS navigation signal influenced by the periodic cutting caused by the rotor wing rotation,this paper designed the error compensation method for external lever arm effect of inertial / GPS integrated navigation system,which improved the accuracy of unmanned helicopter inertial / GPS integrated navigation system under the rotor wing disturbance.This paper analyzed the influence of rotor wing disturbance on the measurement accuracy of the Inertial Navigation System.For the rotor wing rotation to bring the disturbance of the atmospheric environment,this paper studied the principle of barometric pressure measurement for unmanned helicopter and established the error model of pressure measurement;Based on the analysis of the traditional atmospheric pressure damping algorithm model,this paper designed the filtering algorithm of the inertial / atmospheric integrated navigation system,which realized the on-line estimation and compensation of the barometric altitude error and improved measurement accuracy of the Inertial Navigation System height channel.Based on the research of key technologies of navigation measurement for unmanned helicopter in rotor wing disturbance environment,this paper combined with the existing equipment of the laboratory and built a full digital simulation and semi-physical simulation verification platform of unmanned helicopter about the inertial / GPS integrated navigation algorithm based on air data in the rotor wing disturbance environment.It can provide a good means of verification for the key technologies of unmanned helicopter navigation measurement in the rotor wing disturbance environment.