基于地磁方位角的旋转弹丸姿态解算方法  

Attitude determination method of spinning projectile based on geomagnetic azimuth

作　　者：安亮亮[1] 王良明[1] 赵丹丹 AN Liangliang;WANG Liangming;ZHAO Dandan(School of Energy and Power Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Liaoshen Industrial Group Corporation,Shenyang 110045,China)

机构地区：[1]南京理工大学能源与动力工程学院,南京210094 [2]辽沈工业集团有限公司,沈阳110045

出　　处：《中国惯性技术学报》2019年第5期618-624,共7页Journal of Chinese Inertial Technology

基　　金：装备预研基金（9140C300305140C30140)

摘　　要：为了解决旋转弹丸的姿态测量问题,基于地磁方位角,提出了一种旋转弹丸的姿态解算方法。首先基于零交叉点法的原理,采用非正交地磁传感器组合测量并计算得到地磁方位角和滚转角信息。其次通过分析稳定弹丸的飞行特性及外力矩情况,推导出了包含俯仰和偏航参数的绕质心动力学方程组。然后以此动力学方程组为驱动方程,以地磁方位角为观测量,借助扩展卡尔曼滤波估计出了弹丸的俯仰角和偏航角。仿真结果显示,基于地磁方位角的姿态解算方法可以准确估计出旋转弹丸的姿态角信息,最大误差不超过0.2°,验证了该方法的有效性。最后实弹实验结果进一步表明了该方法具有良好的应用前景。In order to solve the attitude measurement problem of spinning projectile,a method for estimating the attitude of rotating projectiles is proposed based on the geomagnetic azimuth.Firstly,based on the zero-crossing method,the geomagnetic azimuth and roll angle are determined by the non-orthogonal geomagnetic sensor combination.Secondly,the dynamics equations of the around-centroid motion,including the pitch and yaw parameters,are derived by analyzing the flight characteristics and external moments of the stable projectile.Then,the dynamic equations are used as the driving equation,and the geomagnetic azimuth is taken as the observation.The pitch angle and yaw angles of projectiles are estimated by the extended Kalman filter(EKF).The simulation results show that the attitude determination method based on geomagnetic azimuth can accurately estimate the attitude angles of the rotating projectile,and the maximum error does not exceed 0.2°,which verifies the effectiveness of the proposed method.The final experimental results also show that the method has a good prospect in practical engineering applications.

关 键 词：旋转弹丸 地磁传感器 零交叉点法 地磁方位角 扩展卡尔曼滤波 

分 类 号：TJ412[兵器科学与技术—火炮、自动武器与弹药工程]