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为了改善现有全机疲劳试验中姿态监控的缺点,采用加速度传感器、陀螺仪、磁力计和DSP处理器,通过四元数法和二阶龙格-库塔法实时解算出飞机的姿态数据,然后经过扩展卡尔曼滤波器对多传感器数据进行融合滤波后得到准确的姿态数据,并通过无线传输模块发送至上位机,姿态数据超差后能够发出声光报警提醒试验控制人员。经试验,系统误差在0.58°以内。通过在某型号全机疲劳试验中的实际应用,该系统工作可靠、准确,满足试验要求。
In order to improve the shortcomings of existing state-of-the-art attitude monitoring in full-body fatigue test, the attitude data of the aircraft are calculated by quaternion method and second order Runge-Kutta method using accelerometer, gyroscope, magnetometer and DSP processor. Then, the extended Kalman filter is used to fuse the multi-sensor data to obtain the accurate attitude data and send it to the host computer through the wireless transmission module. After the attitude data is out of tolerance, the audible and visual alarm can be sent to remind the test controller. After testing, the systematic error is within 0.58 °. Through the practical application of fatigue test in a certain model, the system works reliably and accurately to meet the test requirements.