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A GNSS/IMU-Based 5-Hole Pitot Tube Calibration Algorithm

机译：基于GNSS / IMU的五孔皮托管的校准算法

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摘要

An algorithm for calibrating a live-hole Pitot tube in-situ using measurement from a GNSS receiver and IMU is presented. Since GNSS and IMU are standard sensors on most modern aircraft including small UAVs, the algorithm has the promise of simplifying the process of calibrating Pitot tubes by obviating the need for special instrumentation during flight tests. The algorithm is a cascaded, two-stage, batch estimator which uses the ground speed and attitude solution from the fusion of GNSS and an IMU as a reference. A method for the design and analysis of flight test trajectories to yield more accurate calibration results is discussed. The algorithm is validated on the data from the two flight tests, and those tests are conducted using an UltraStick 120 UAV. The mean square error (MSE) of airspeed using the linear method in stage 1 is 0.1278 m/s and 1.0510 m/s for each flight respectively. The error bounds of angle-of-attack and -sideslip in stage 2 are 0.2405 degrees and 0.1476 degrees for Fight Test 1, and 1.3982 degrees and 0.0322 degrees for Flight Test 2 respectively.
机译：提出了一种使用来自GNSS接收器和IMU的测量值现场校准活孔皮托管的算法。由于GNSS和IMU是包括小型无人机在内的大多数现代飞机上的标准传感器，因此该算法有望避免在飞行测试过程中使用特殊仪器，从而简化标定皮托管的过程。该算法是一个级联的两阶段批估计器，它使用GNSS和IMU融合后的地面速度和姿态解作为参考。讨论了一种设计和分析飞行测试轨迹以产生更准确的校准结果的方法。该算法已通过两次飞行测试的数据进行了验证，而这些测试是使用UltraStick 120无人机进行的。对于每个飞行，在阶段1中使用线性方法的空速均方误差（MSE）分别为0.1278 m / s和1.0510 m / s。对于战斗测试1，阶段2中的攻角和侧滑误差范围分别为0.2405度和0.1476度，对于飞行测试2，其误差界限分别为1.3982度和0.0322度。

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