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1 NAL TM-779 TM-779 NAL TM-779 ISSN X UDC TECHNICAL MEMORANDUM OF NATIONAL AEROSPACE LABORATORY TM NATIONAL AEROSPACE LABORATORY OF JAPAN
2 MuPAL-ε GPS GPS GPS
3 1 Airdata Sensor Calibration Flight Test of NAL s Research Helicopter MuPAL-ε Naoki MATAYOSHI* 1, Koki HOZUMI* 1, Hamaki INOKUCHI* 1, Yoshinori OKUNO* 1 ABSTRACT This paper presents the flight test results of calibration of airdata sensors installed on the MuPAL-ε research helicopter of the National Aerospace Laboratory of Japan. MuPAL-ε has three airdata sensors; two pitot-static systems and an ultrasonic velocimeter that can measure 3-axis airspeeds at a high rate (20 Hz) in the low speed region where a pitot-static system is ineffective. The pitot-static system of the original aircraft uses the pitot-tubes and static pressure holes located at both sides of the forward fuselage. Either an additional airdata boom or ultrasonic velocimeter is installed at the tip of the nose boom. In the flight tests, a freestream static pressure method using DGPS (Differential Global Positioning System)and three true airspeed methods; the speed course, 3-leg ground speed and turning flight methods were applied to position error measurements, and a new method for evaluating the accuracy of measurements is also proposed. All flight test results corresponded well with each other and the 3-leg ground speed method was found to be the most efficient for measuring position error in steady straight level flight. Wind tunnel tests were also conducted to measure the sensor accuracy of the airdata boom and the ultrasonic velocimeter. The position error of the airdata sensors have been specified and the calibration equations presented using these flight test and wind tunnel test results. Airflow numerical simulation using potential flow theory suggests the position errors of the additional airdata boom and the ultrasonic velocimeter consist of two main factors; the effect of fuselage increasing with increments in airspeed and the effect of main rotor down wash decreasing with increments in airspeed. Keywords: Position Error, Pitot-Static System, Ultrasonic Velocimeter, Flight Test, Helicopter MuPAL-ε GPS received 20 June 2003 Flight Systems Research Center
4 2 TM ADC : Air Data Computer ARINC : Aeronautical Radio Inc. CAS : Calibrated Airspeed CFD : Computational Fluid Dynamics DGPS : Differential GPS EAS : Equivalent Airspeed GPS : Global Positioning System IAS : Indicated Airspeed INS : Inertial Navigation System MuPAL : Multi-Purpose Aviation Laboratory PCM : Pulse Code Modulation PPS : Pulse Per Second RMS : Root Mean Square SAT : Static Air Temperature SSD : Solid State Disk TAS : True Airspeed TAT : Total Air Temperature TCG : Time Code Generator UHF : Ultra High Frequency WGS 84 : World Geodetic System 1984 C Ps C Pt C qc g k H G H p P 0 Ps Pt qc R : : : : = m/s 2 : = K/m 11,000 m : GPS : : = Pa : : : : = m 2 /s 2 /K T : T 0 T STD Va, Vb, Vc Vx, Vy, Vz : = K : : : Vx MC, Vy MC, Vz MC : V CAS V EAS V G V H V IAS V TAS : : : : : : x, y, z : DGPS/INS α : α A α G α MC α ref β β MC Ps Ps α V a γ : : : : : : : : : : : =1.4 φ, θ, Ψ : ρ : ρ 0 θ A, θ B, θ C φ B, φ C : =1.225 kg/m 3 : YZ :
5 3 Base : INS :DGPS/INS Ps : TAT : C : C α M : : MuPAL-ε 1 αβ kt15 m/s 3 MuPAL-α 2 3 MuPAL-ε 1m/s 1 Position Error MuPAL-ε 2.2 m 1.1 MuPAL-È 1.2 MuPAL-È
6 4 TM m 1m MuPAL-ε 3 30 kt15 m/s 30 kt GPS 3 3 SI SI 1 ft = m1 ft/min = m/s1 kt = m/s 1G = m/s 2 1 inhg = 3386 Pa1 = rad ε Pt Ps Hp V CAS Calibrated Airspeed, CAS γ k R g T 0 P 0 ρ 0 T ρ V TAS True Airspeed, TAS
7 5 2.4 SpaceAge Control αβ MuPAL-ε X ADCAir Data Computer ADC Indicated Airspeed, IAS ADC ADC 2.1 ADC 2.2 Rosemount 102 V 2 U 2.3 ADC Static Air Temperature, SAT 50 Hz α β 2.1 SpaceAge Control ADC ADC *[mm] X Y Z 6, ,710 6, ,710 α 6, ,710 β 6, ,875 ADC ,410 5, ,835 3, ,135 2,355 1,056 2,007 2,355 1,048 2,127 2, ,430 7, ,710 * X 4,300
8 6 TM ADC 15 ft -1,000 10,000 ft {15 ft+-10,000)ft 0.05 } 10,000 25,000 ft 1ft 30 ft/min ft/min ft/min 1 ft/min ft/min 1kt kt 0.01 kt 50 Hz 3kt kt 2kt kt 0.01 kt 1 C C C 1 C C C inhg inhg 2 11 inhg Rosemount 102 V 2 U MuPAL-ε MH 2000 A AERO INSTRUMENT PH 506- RPH 506-L 1 AERO INSTRUMENT ST PT Rosemount 542 CB Hz MuPAL-ε TR-99 HC 2.7 DA X ABC θ A, θ B, θ C YZ φ B, φ C θ A, θ B, θ C φ B, φ C 2.6
9 7 a 2.5 baero INSTRUMENT PH 506-R 2.6 Rosemount 542 CB 2.3 caero INSTRUMENT ST PT ft -1,000 20,000 ft 2 6,000 ft/min kt kt
10 8 TM DA TR-99 HC kt67 72 m/s MuPAL-ε 140 kt 72 m/s MuPAL-ε 2.9 ADC ARINC 629 PCMPulse Code Modulation RS-232 C GPS Solid State Disk, SSD DGPS/INSDifferential GPS/Inertial Navigation System m/s 2m 95 1m kt10 62 m/s kt m/s 30 kt15 m/s Pt Ps Pt M Ps M
11 9 2.9 MuPAL-È 2.4 DGPS/INS /sec 100 /sec /sec m/s m/s m/s 2 * 0.1 m/s m/s 0.01 m/s * 1.0 m m 2.0 m 0.2 m *DGPS 50 Hz Rosemount 1221 F 2 VL inhg inhg 2 Rosemount 1221 F 2 VL inhg inhg Druck DPI inhg inhg
12 10 TM inhg inhg [kt] 3.3 α β C Pt C Ps C qc C Ps C Pt C qc αβ
13 11 αβ 3.5 α MC β MC C Pt C Ps qc M α M β M inhg 0.5 kt 0.26 m/s MuPAL-ε RS-232 C kt m/s X YZ 2.5 θ A, θ B, θ C φ B, φ C
14 12 TM kt62 m/s30 θ A, θ B, θ C φ B, φ C 3 Vx, Vy, Vz Vx MC, Vy MC, Vz MC kt0.26 m/s [kt] 20kt 60kt 120kt 20kt 60kt 120kt [kt] [kt] 3.8
15 GPS 7 3 GPS GPS GPS DGPS GPS 3 3 GPS MuPAL-ε DGPS/INS ADC DGPS/INS H INS G GPS WGS 84World Geodetic System 1984 GPS H Ps G H TAT G 4.1 i PsTAT θ φ x i, y i, z i DGPS/INS
16 14 TM-779 P Base T Base GPS H G Base P Base 2.1 Hp Base T Base STD 4.2 T TAT STD 4.3 Hp TAT 4.4 T TAT ADC Hp Ps 4.5 Hp Ps Ps Ps 4.6 Ps Ps M Ps 4.7 Ps Ps 2.2 V Ψ V G DGPS/INS V G V G INS m/s V G V EAS Equivalent Airspeed, EAS ,000 ft1,524 m MuPAL-ε 140 kt72 m/s 0.1 kt m/s
17 RMSRoot Mean Square DGPS/INS 0.1 m/s , Hz kt 100 kt 100 kt 6.0 kt 3.0 kt kt 2kt 1.42kt 1.42kt 4kt 4kt 2.88kt 2.88kt kt 6.1 kt 3.3 kt 1.4 kt 1.4 kt 2.9 kt 2.6 kt 2.5 kt 4.9 kt
18 16 TM GPS 1kt0.51 m/s 30 kt15 m/s V H MuPAL-ε 140 kt72 m/s ADC IAS [kt] [ft] [] [] [kg] [] V H kt/s 1.1 kt/s kt/s 1.3 kt/s , , , , , , , kt/s 1.1 kt/s , V H ,210 4,190 4,170 4,150 4,120 4,090 4,070 4,050 4,040 4,010 3,980 3,960 3, kt/s 1.0 kt/s ,920
19 , 70, 100, 120 kt21, 36, 51, 62 m/s V H , 120 kt36, 62 m/s m ADC inhg27 Pa 1 kt0.51 m/s DGPS/INS 1 m ADC inhg27 Pa 1 [inhg] [kt] [inhg] [kt]
20 18 TM kg MuPAL-ε GPS 5.3 α G DGPS/INS α α A α [inhg] α G α A kt 26 m/s2 50 kt α 40 kt21 m/s kt α kt m/s 120 kt62 m/s kt β kt26 m/s [inhg]
21 kt62 m/s 1 kt0.51 m/s2 [kt] [kt] kt m/s120 kt62 m/s kt m/s [kt] [kt]
22 20 TM [kt] [kt] kt 120 kt km 0.03 km 180 3km 2.5 km 90 1km 1km 178 1km 0.03 km km 5km 150 3km 3km GPS 30 kt15 m/s V H ADC ADC kt m/s DGPS/INS 1 m inhg15 Pa 1 m
23 inhg 34 Pa 1kt0.5 m/s kg 1 3 GPS 6.1 IAS [kt] [ft] [] [] [kg] ,080 1,080 1,040 1, ,260 4,240 4,230 4, ,640 1,580 1,570 1, ,220 4,200 4,180 4, kt/s 1.7 kt/s kt/s 1.3 kt/s 2, ,170 2, ,950 2, ,990 1, ,040 1, ,070 2, , kt/s 0.9 kt/s kt/s 1.0 kt/s 1, ,330 1, ,030 [inhg] [kt]
24 22 TM α G DGPS/INS 3 α A α 1m 50 kt 26 m/s 120 kt62 m/s 15 Hz 0.9 G8.8 m/s m/s kt m/s 3 1kt0.5 m/s kt26 m/s F inhg inhg [inhg]
25 23 ADC 7.1 V IAS kt [kt] [kt] MuPAL-ε Ps Ps Ps C Ps Ps M Ps = 10 2 { (V IAS 30) (V IAS 30) 2 } [inhg], 30 V IAS 150 Ps = 10 2 { (V IAS 30) (V IAS 30) 2 } [inhg], 30 V IAS 150 Ps = 10 2 { (V IAS 30) (V IAS 30) 2 } [inhg], 30 V IAS 150 Hp Ps C Ps Ps C IAS[kt] 7.1
26 24 TM-779 Hp Ps M Ps Ps M ,000 ft04,572 m MuPAL-ε V 7.3 V = (V IAS 30) (V IAS 30) 2 [kt], 30 V IAS 150 V = (V IAS 30) (V IAS 30) 2 [kt], 30 V IAS 150 V = (V IAS 30) (V IAS 30) 2 [kt], 30 V IAS 130 V = (V IAS 30) (V IAS 30) 2 [kt], 30 V IAS Ps α 7.5 α M [kt] 0 ft 15,000 ft kt26 m/s [kt] 7.2
27 25 α ref 7.1 qc C 7.3 V CAS 7.6 Ps Ps Cα 7.1 Ps C Ps Ps α 7.7 Hp Ps Cα Ps Ps Cα 2.1 V CASCα [kt] [kt] [kt] [kt] a b C PS δ C PS δc Ps δα (δα)
28 26 TM ft ADC 1 kt0.51 m/s 0.56 m MuPAL-α MuPAL-ε MuPAL-ε kt21 m/s kt m/s 8.1 [ft] (Hp Ps Ps Cα Hp C ) [kt] (VCASCα V CAS ) CAS (VCAS) [kt]
29 27 CFDComputational Fluid Dynamics MuPAL-ε [kt] CAS [kt] GPS MuPAL-ε kt(21 m/s
30 28 TM CFD 3 MH MuPAL-ε TM MuPAL-α MuPAL-α TM TR S. Makshutov TR DGPS TR TR STOL STOL TR MH pp pp ,MuPAL-α, TM Kenneth Hui, Stewart Baillie, Validation of the Simultaneous Calibration of Aircraft Position Error and Airflow Angles Using a Differential GPS Technique on a Helicopter, AGARD CP-593, Walter, C, Jr., Jacob, H, D, L., The normal component of the induced velocity in the vicinity of a lifting rotor and some examples of its application., NACA Report 1184, 1954.
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5 2011 12 14 Distributed temperature sensor (DTS) technology is used widespreadly among many applications, such as temperature monitoring in plant engineering. The author has developped a novel DTS, capable
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