基于三正交磁传感器的新型旋转弹体定姿方法  

New spinning projectile's attitude measurement based on three pairwise-orthogonal magnetic sensors

作　　者：向超[1] 卜雄洙[1] 李玎[2] 

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]江苏技术师范学院电气信息工程学院,常州213001

出　　处：《中国惯性技术学报》2011年第4期443-446,451,共5页Journal of Chinese Inertial Technology

基　　金：江苏省普通高校研究生科研创新计划项目(CX10B_119Z)

摘　　要：针对目前微惯性传感器精度较低,其漂移会引起很大的姿态误差,不能提供长时间稳定姿态的问题设计了利用三个两两正交的磁传感器组合构建低成本姿态探测系统的方案,推导了磁传感器输出值的特征比值与弹体俯仰角的数学关系,研究了姿态角的解算与修正算法,与传统的地磁定姿方法进行了对比分析。在理论研究的基础上,利用半实物仿真实验验证了该姿态测量方案的有效性。实验结果表明,该方案姿态角测量误差基本保持在±1°以内且磁传感器组合的姿态角误差不随时间累积,整个解算过程无需使用地磁场强度;与基于两非正交的磁传感器极值比值法相比,该方法布阵简单且姿态角解算更新率提高了一倍。In view that the current micro-inertial sensors could not provide long-time attitude stabilization since the drift could cause remarkable attitude error,and have relatively low accuracies,a low-cost attitude detection system is designed by using the combination of three pairwise-orthogonal magnetic sensors.The mathematical relationship between the characteristic ratio of magnetic sensor outputs and the pitch angle of projectile is derived.The solution solver and correction algorithms of the attitude angles are studied and then compared with traditional methods.Besides,the semi-physical experiments are made to prove the effectiveness of the missile body attitude determination program.The experiment results indicate that the error of attitude angles is within ±1° and the attitude angle error of the combined magnetic sensors are not cumulated.Meanwhile,the geomagnetic field strength is not needed during the whole calculation process.Compared with the method of the ratio of extremum based on the two non-orthogonal magnetic sensors,this method is simple and with doubled update rate in attitude angle calculation.

关 键 词：姿态测量 磁传感器 特征比值 半实物实验 

分 类 号：U666.1[交通运输工程—船舶及航道工程]