基于锁相跟踪和惯组的旋转弹滚转角估计方法  

A Roll Attitude Measuring Technique of Spinning Projectile Based on MIMU and Third-Order Phase-Locked Loops

作　　者：杨登红[1] 李东光[1] 申强[1] 曾广裕[1] 

机构地区：[1]北京理工大学机电动态控制重点实验室,北京100081

出　　处：《北京理工大学学报》2015年第8期810-815,共6页Transactions of Beijing Institute of Technology

基　　金：北京理工大学重点实验室基金资助项目(9140C360204120C36135)

摘　　要：为解决微惯性测量组合测量旋转弹滚转角的问题,在对旋转弹角运动特性进行分析研究的基础上,建立微惯性测量组合测量滚转姿态的数学模型,提出基于锁相跟踪算法和微惯性测量组合的旋转弹滚转角估计方法.该方法对基于三阶锁相环的锁相跟踪算法及其特性进行研究,根据旋转弹角运动特性和微惯性测量组合测量信号特性确定三阶锁相环环路滤波参数,并建立基于三阶锁相环和微惯性测量组合的旋转弹滚转角估计模型,即可根据模型进行锁相跟踪计算得到滚转角.仿真结果表明,三阶锁相跟踪环路能对旋转弹滚转信号进行有效跟踪,并能够通过微惯性测量组合估计滚转角速度和滚转角,满足旋转弹滚转运动姿态提取的要求,有较大的实用价值.For the issue of measuring the roll attitude of the spinning projectile with miniatureinertial measurement unit （MIMU）, an analysis of spinning projectile angular motioncharacteristics was proceeded, and a mathematical model of measuring spinning projectile rollattitude with MIMU was established, and then, a measurement method of the roll attitude of thespinning projectile was proposed based on three order phase-locked loops and MIMU. Based onthe well study of three order phase-locked loops and its characteristics, the loop filter parameterof three order phase-locked loops were calculated out according to the characteristics of thespinning projectile coupled angular motion signal and the measured signal of MIMU, and themodel of measuring the spinning projectile roll attitude based on three order phase-locked loopsand MIMU was proposed, and the roll angular rate and roll angle could be calculated out with theproposed method. The experiments results show that, the proposed method can effectively lockthe roll angular motion signal of the spinning projectile, and calculate out the roll attitude ofspinning projectile with high accuracy.

关 键 词：旋转弹 微惯性测量组合 滚转角速度 滚转角 锁相跟踪 三阶锁相环 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]