地磁/陀螺仪组合的弹体姿态测量技术  

Projectile attitude measurement technology based on geomagnetism/gyroscope

作　　者：张平安 高敏 汪伟 王毅 李超旺 ZHANG Pingan;GAO Min;WANG Wei;WANG Yi;LI Chaowang(Shijiazhuang Campus of Army Engineering University of PLA,Shijiazhuang 050003,China)

机构地区：[1]陆军工程大学石家庄校区,石家庄050003

出　　处：《中国惯性技术学报》2024年第9期874-881,共8页Journal of Chinese Inertial Technology

基　　金：基础加强计划重点基础研究项目(173计划)(2020-JCJQ-ZD-218-00)。

摘　　要：火箭弹飞行姿态角的精确测量是火箭弹实现制导控制和精确打击的前提条件。针对火箭弹引信位置体积小、高冲击和测量环境恶劣等特点,提出了一种地磁/陀螺仪组合测量火箭弹飞行姿态的算法模型。通过分析地磁传感器三轴与火箭弹飞行姿态角的函数关系,将其与陀螺仪姿态测量模型相结合,建立了地磁/陀螺仪组合测量模型。基于推导出的地磁/陀螺仪组合测量模型,结合火箭弹飞行干扰会使组合测量系统产生有色噪声的工况,设计了一种有色量测噪声下的高阶平方根容积卡尔曼滤波(CMN-HSR-CKF)算法。通过仿真实验和实弹飞行数据验证表明,所提出的算法模型可以有效抑制累积误差,飞行实验中滚转角测量误差能够控制在±2.5°以内,较EKF和SR-CKF算法减小了34.2%和30.5%。The precise measurement of rocket flight attitude angle is a prerequisite for rocket guidance control and achieving precise strikes.Aiming at the characteristics of small size,high impact,and harsh measurement environment of rocket fuze position,a combined geomagnetic/gyroscope algorithm model for measuring rocket flight attitude is proposed.By analyzing the functional relationship between the three axes of geomagnetic sensors and the attitude angle of rocket flight,a geomagnetic/gyroscope combined measurement model is established by combining it with a gyroscope attitude measurement model.A high-order square root volume Kalman filter(CMN-HSR-CKF)algorithm is designed based on the derived geomagnetic/gyroscope combined measurement model,combined with the working conditions where rocket flight interference can cause colored noise in the combined measurement system.Simulation experiments and live fire flight data show that the proposed algorithm can effectively suppress cumulative errors,and the roll angle measurement error in flight experiments can be controlled within±2.5°,which is 34.2%and 30.5%less than EKF and SR-CKF algorithms.

关 键 词：地磁传感器 陀螺仪 弹体姿态 组合测量 CMN-HSR-CKF 

分 类 号：U666.1[交通运输工程—船舶及航道工程]