一种单兵使用的目标运动信息估计方法  

A Method for Estimating Target Motion Information Used by a Single Soldier

作　　者：牟清东 范军芳[1] 李召[2] MU Qingdong;FAN Junfang;LI Zhao(Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science & Technology University,Beijing 100000,China;No.63961 Unit of PLA,Beijing 100000,China)

机构地区：[1]北京信息科技大学高动态导航技术北京市重点实验室,北京100000 [2]中国人民解放军63961部队,北京100000

出　　处：《电光与控制》2021年第12期81-85,共5页Electronics Optics & Control

基　　金：国家自然科学基金(61801032)。

摘　　要：目前单兵使用筒式发射弹药大都基于前置法提高命中概率,依赖于射手对目标运动信息的估计。目标运动信息主要包括目标相对于射手横向运动的角速率和偏航角,以及目标在弹目连线方向(径向)上的速度。据此提出一种利用固定在发射筒上的MIMU实时测量目标运动信息的方案,使用卡尔曼滤波算法去除传感器数据中的噪声,使用等效旋转矢量法进行姿态解算得到姿态角。设计了试验样机,通过试验验证了方案的可行性,试验结果显示,在5°和28°发射角情况下,目标运动横向角速率最大偏差分别为0.0015(°)/s和0.0025(°)/s,从而使得射手能够精确获取目标运动信息,进而提高射击精度并减轻操作负担。At presentwhen a single soldier uses barrel-type munitionsthe hit probability improvement is mostly based on the preposition methodwhich depends on the shooter's estimation of target motion information.Target motion information mainly includes the angular rate and yaw angle of the target's lateral motion relative to the shooteras well as the target's speed in the direction of weapon/target connecting line(radial direction).Based on thisa scheme of real-time measurement of target motion information using MIMU fixed on the launcher is proposedin which Kalman filter algorithm is used to suppress noise in sensor dataand the equivalent rotation vector algorithm is used to calculate the attitude angles.A test prototype is designedand the feasibility of the proposed scheme is verified through tests.The test results show thatthe maximum deviation of lateral angular rate is 0.0015(°)/s and 0.0025(°)/s at the firing angles of 5°and 28°respectivelyso that the shooter can obtain accurate target motion informationthereby improving shooting accuracy and alleviating operation burden.

关 键 词：微惯性测量单元 目标信息估计 角速率 姿态角 单兵武器 

分 类 号：TJ765.3[兵器科学与技术—武器系统与运用工程]