两轴地磁信号修正的陀螺姿态算法  

The Gyro Attitude Algorithm of Two-axis Geomagnetic Signal Correction

作　　者：苑大威[1] 曹红松[1] 王泉[1] 杜韩东[1] 

机构地区：[1]中北大学弹箭模拟仿真研究中心,太原030051

出　　处：《弹箭与制导学报》2010年第5期83-86,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：目前捷联式惯导系统是惯性技术的发展方向,姿态算法是捷联惯导系统算法中的一个重要组成部分,其精度直接影响弹体姿态控制能力,为此文中提出了一种采用三轴MEMS陀螺进行姿态探测,并用两轴地磁信号解算出的滚转角修正陀螺累计误差的方案,仿真分析了地磁陀螺信号组合测姿算法。结果表明:该方案相对于单纯陀螺信号解算姿态角精度高,可用于改善测姿结果。Presently, the strapdown inertial system has become one of the most important research directions of inertial technology, attitude algorithm is an important part of SINS algorithm, and the algorithm＇s accuracy will directly affect attitude control. In this paper, the scheme which adopts three-axis MEMS gyro for attitude detection and rolling angles resolved by two-axis magnetometer signals for gyro accumulative error correction was proposed. The algorithm of gyro and magnetometer calculating missile＇s attitude was simulated. The results show that the scheme has higher precision than the scheme which only uses gyro signals and is used for improving the precision of attitude angles.

关 键 词：MEMS陀螺 磁强计 四元数 旋转矢量 

分 类 号：TJ765.23[兵器科学与技术—武器系统与运用工程]