内嵌飞行动力学的高旋姿态精准解算方法  

Flight dynamics-informed accurate determination method for high-spinning attitude

作　　者：仇嘉泰 沈凯 杨子傲 戚文昊 彭昊成 QIU Jiatai;SHEN Kai;YANG Ziao;QI Wenhao;PENG Haocheng(School of Automation,Beijing Institute of Technology,Beijing 100081,China;Engineering Research Center of Navigation,Guidance and Control Technology,Ministry of Education,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081 [2]导航、制导与控制技术教育部工程研究中心,北京100081

出　　处：《中国惯性技术学报》2024年第11期1132-1141,共10页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金资助项目(62273051,U2341215)。

摘　　要：高动态环境下高旋飞行体的运动具有强耦合性和复杂非线性,捷联于飞行体的姿态传感器难以获取准确的姿态信息,由此提出了一种内嵌飞行动力学的高旋姿态精准解算方法。首先,构建高旋飞行体双旋数学模型,获取预置动力学数据并划分弹道区间。其次,以预置动力学数据和角速率陀螺仪量测信息为输入,根据运动学模型约束,通过仿射旋转调制反演对滚转姿态进行解算。最后,根据动力学模型约束,设计无迹卡尔曼滤波算法用于俯仰与偏航姿态的解算。仿真实验结果表明,在常规风扰下,所提方法的滚转、俯仰与偏航姿态全程平均误差不超过1.84°、0.21°和0.22°,满足制导控制系统的精度需求,对高旋飞行体的智能化改造奠定了技术基础。The motion of high-spinning flying bodies in high-dynamic environment has strong coupling and complex nonlinearity,and it is difficult to obtain accurate attitude information from the attitude sensors strapdown to the body,so a flight dynamics-informed accurate determination method for high-spinning attitude is proposed in this paper.Firstly,a dual-spin mathematical model of high-spinning flying bodies is established,and the preset dynamic data are obtained and the ballistic intervals are divided.Secondly,using the preset dynamic data and the angular rate gyroscope measurement information as inputs,the roll attitude is determined by the affine rotational modulation inversion according to the kinematic model constraints.Finally,the unscented Kalman filter algorithm is designed to determine the pitch and yaw attitude according to the dynamics model constraints.The simulation results show that the ballistic-assisted attitude determination method has a high accuracy,and the average errors of roll,pitch and yaw attitudes are less than 1.84°,0.21°and 0.22°under the conventional wind disturbances,which meets the accuracy requirements of the guidance and control system,and lays a technical basis of the intelligent modification for high-spinning flying bodies.

关 键 词：高旋飞行体 内嵌飞行动力学 姿态解算 无迹卡尔曼滤波 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]