基于锁相环的高旋飞行体滚转角估计方法  

Roll Angle Estimation Method of High-rotation Flying Body Based on Phase-locked Loop

作　　者：王桂奇 刘福朝 李存健[1] WANG Guiqi;LIU Fuchao;LI Cunjian(School of Automation,Beijing Information Science&Technology University;Beijing Key Laboratory of High Dynamic Navigation Technology,University of Beijing Information Science&Technology)

机构地区：[1]北京信息科技大学自动化学院 [2]北京信息科技大学高动态导航技术北京市重点实验室

出　　处：《仪表技术与传感器》2024年第6期93-99,共7页Instrument Technique and Sensor

基　　金：北京市自然科学基金项目(4212003);北京市教委科技一般项目(KM202311232015);高动态导航技术北京市重点实验室资助。

摘　　要：针对高旋飞行体滚转角速率难以直接测量的问题,通过分析高旋飞行体的角运动特征,建立了滚转角运动模型,提出了一种基于地磁信息和锁相跟踪的滚转角估计方法。首先利用最小二乘过零检测方法,提取地磁传感器测量的角频率信息,进而解算得到高旋飞行体的转速信息,再根据高旋飞行体角运动特性和俯仰、偏航轴陀螺测量信号特性确定三阶锁相环环路滤波参数,对提取的角频率信息和转速信息进行锁频锁相跟踪。通过软件仿真和载体试验分别对滚转角估计方法进行了验证。结果表明:利用三阶锁相环方法对高旋飞行体滚转角频率进行有效跟踪,能够获取滚转角速度和滚转角,满足高旋飞行体姿态实时解算要求。In order to accurately measure the roll angle of the high-spinning flying body,a roll angle motion model was established by analyzing the motion characteristics,and a roll angle estimation method based on geomagnetic information and phase-locked tracking was proposed.First,the angular frequency information measured by geomagnetic sensor was extracted by least square zero-crossingdetection method,and the rotational speed information of high spinning flying body was solved.Then,the filter parametersof the third-order phase-locked loop were determined according to the angular motion characteristics of high spinning flying body and the measured signals of pitch and yaw axis gyroscopes,and the extracted angular frequency information and rotationalspeed information were tracked by frequency-locked phase-locked tracking.The roll angle estimation method was verified by the simulation and test.The results show that the third-order phase-locked loop method is utilized to effectively track the roll angular frequency of the high-spinning flying body,and the roll angular velocity and roll angle can be obtained to meet the requirementsof real-time attitude solution of the high-spinning flying body.

关 键 词：高旋飞行体 三阶锁相环 滚转角频率 滚转姿态 试验验证 

分 类 号：TP14[自动化与计算机技术—控制理论与控制工程]