基于纯加速度计的弹载GFIMU配置方案研究  

Research on Projectile-borne GFIMU Configuration Based on Pure Accelerometers

作　　者：杨蕴萌 张龙[1] 梁爽[2] 赵志勤[1] 邱照原 江腾耀 YANG Yunmeng;ZHANG Long;LIANG Shuang;ZHAO Zhiqin;QIU Zhaoyuan;JIANG Tengyao(Northwest Institue of Mechanical&Electrical Engineering,Xianyang 712099,Shaanxi,China;Beijing Institue of Space Launch Technology,Beijing 100076,Beijing,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099 [2]北京航天发射技术研究所,北京丰台100076

出　　处：《火炮发射与控制学报》2024年第3期70-79,共10页Journal of Gun Launch & Control

摘　　要：为提高火炮弹丸远程精确打击所需姿态测量精度,考虑低成本小型化高过载需求,研究了基于纯加速度计的弹载无陀螺惯性测量单元(GFIMU)方案。针对加速度计偏心产生臂杆效应的机理,分析并选择基于9通道加速度计与12通道加速度计的GFIMU方案;以输出误差为优化目标,利用有约束多目标粒子群算法分别对9/12通道加速度计GFIMU位置配置进行寻优,随后建立了角加速度与角速度二次项的非线性状态空间方程,修正过程方程与量测方程的噪声相关性,设计了噪声相关条件下的角速度扩展卡尔曼滤波(EKF)估计方法。通过建立外弹道模型并加入典型的MEMS加速度传感器噪声进行仿真求解,结果显示建立的GFIMU理论上是有效的,能达到弹丸短时航姿解算所需精度需求。In order to improve the attitude measurement accuracy of artillery projectile to carry out long-range precision strike,and considering the low-cost,miniaturization and high overload requirements,a projectile-borne gyro-free inertial measurement unit(GFIMU)based on pure accelerometers was studied.According to the mechanism of the arm effect caused by the eccentricity of the accelero-meter,GFIMU with 9/12-channel accelerometers were analyzed and selected.Taking the output error as the optimization objective,the position of the GFIMUwas optimized based on the constrained multi-objective particle swarm algorithm.Then,the nonlinear state space equation of the quadratic terms of angular acceleration and angular velocity was established,and the noise correlation between the process equation and the measurement equation was corrected.An EKF estimation method for angular velocity under noise-related conditions was designed.Finally,a typical trajectory model with a typical MEMS acceleration sensor noise was established.The simulation results show that the GFIMU is theoretically effective and can meet the accuracy requirements for short-time projectile attitude calculation.

关 键 词：无陀螺惯性测量单元 多目标粒子群算法 姿态测量 噪声相关扩展卡尔曼滤波 

分 类 号：TJ306[兵器科学与技术—火炮、自动武器与弹药工程]