自旋导弹捷联式陀螺/地磁姿态测量方法  

Strapdown gyroscope/magnetometer attitude measurement method for spinning missile

作　　者：代刚[1,2] 李枚[1] 苏伟[1] 邵贝贝[2] 

机构地区：[1]中国工程物理研究院电子工程研究所,绵阳621900 [2]清华大学工程物理系,北京100084

出　　处：《中国惯性技术学报》2010年第6期702-705,共4页Journal of Chinese Inertial Technology

基　　金：中国工程物理研究院重大预研项目(YY-08.4-2)

摘　　要：为了解决自旋导弹姿态测量遇到的高自旋角速率超过陀螺量程的问题,提出了一种利用敏感轴垂直于弹轴的双轴微陀螺与三轴地磁传感器组合测量解算自旋导弹姿态的方法。首先,建立了利用三轴地磁场传感器与双轴微陀螺进行姿态测量的解算模型,该模型利用双轴陀螺测得的载体弹轴垂直面的角速度提供俯仰角的微分,结合三轴地磁场传感器的输出解算出当前载体的姿态;接着讨论了模型解算中出现的增根的问题与正确解的判断方法;最后在传感器输出附加白噪声与弹体摆动条件下对该方法进行了仿真,得出在100 s的时间内,1800(o)/s的自旋角速度条件下姿态解算误差角为2o。仿真结果表明该方法可以直接解算三个姿态角均为动态变化的自旋弹的姿态角,因此可用于自旋导弹的姿态测量。To solve the problem that high spin-rates of spinning missiles exceed the measuring range of gyroscopes,an integrated attitude measurement method is put forward which uses a 3-axis magnetometer and a 2-axis micro-gyroscope whose sense axis is vertical to the spinning axis of missile.First,an attitude measurement model is established which uses the output of 3-axis magnetometer and the differential pitch derived from missile＇s spinning rates to calculate the current body attitudes,in which the spinning rates is obtained from 2-axis gyroscope.Then,the method to identify and process the extraneous roots is given.Finally,the simulation is carried out under the situation that the sensor outputs white noise and the missile body swings.The simulation result shows that the attitude errors are smaller than 2° in 100 s with 1800°/s spinning rate,and this method can be used in the dynamical attitude measurement of spinning missiles for it can directly resolve the three attitude angles.

关 键 词：姿态测量 地磁传感器 陀螺 自旋导弹 

分 类 号：U666.1[交通运输工程—船舶及航道工程]