基于毫米波雷达的飞行器三轴垂直度时变误差补偿方法

A compensation method for time-varying errors in aircraft three-axis verticality based on millimeter wave radar

摘要:

飞行器在飞行过程中由于外界因素引起垂直度变化,而垂直度测量的误差影响了飞行器的飞行任务控制,为此,提出基于毫米波雷达的飞行器三轴垂直度时变误差补偿方法。在飞行器飞行环境下,构建地面坐标系,作为垂直度的测定、补偿标准。借助毫米波雷达技术精准的测距,结合飞行器的姿态检测结果,测定飞行器三轴垂直度。考虑飞行器组成结构和工作原理,计算三轴垂直度的理论值。通过理论值与测定值的比对,得出时变误差的辨识结果,以时变误差量为补偿量,从结构、环境和控制三个方面完成垂直度误差补偿工作。通过实验得出结论:优化设计方法的剩余三轴垂直度误差减少0.35mm,在优化设计补偿方法作用下飞行器姿态角偏差明显减小,环境适应能力更强。

Abstract:

During flight, the verticality of an aircraft changes due to external factors, and the measurement error of verticality affects the flight task control of the aircraft. Therefore, a three-axis verticality time-varying error compensation method based on millimeter wave radar is proposed for the aircraft. Construct a ground coordinate system as a standard for measuring and compensating verticality in the flying environment of an aircraft. Using millimeter wave radar technology for precise ranging, combined with the attitude detection results of the aircraft, determine the three axis verticality of the aircraft. Consider the composition and working principle of the aircraft, and calculate the theoretical value of the three-axis verticality. By comparing theoretical values with measured values, the identification results of time-varying errors are obtained. The compensation for verticality errors is completed from three aspects: structure, environment, and control, with time-varying errors as compensation variables. The conclusion drawn from the experiment is that the remaining three-axis perpendicularity error of the optimized design method is reduced by 0.35mm. Under the action of the optimized design compensation method, the attitude angle deviation of the aircraft is significantly reduced, and the environmental adaptability is stronger.