基于双轴磁传感器的弹体滚转角实时解算方法  

Real-time calculation method for roll angle of projectile based on twin-axis geomagnetic sensor

作　　者：王登辉 宋慧波 耿生群 岳凯杰 孟昭旭 WANG Denghui;SONG Huibo;GENG Shengqun;YUE Kaijie;MENG Zhaoxu(School of Mechanical and Electrical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机电工程学院,太原030051

出　　处：《兵器装备工程学报》2025年第3期216-223,共8页Journal of Ordnance Equipment Engineering

摘　　要：二维弹道修正需要弹体滚转姿态信息,以实现舵对地角度控制,为精确测量旋转弹的滚转姿态,提高二维弹道修正精度,提出一种适用于某二维修正组件的基于双轴磁传感器的旋转弹滚转角实时解算方法。利用双轴磁传感器感应地磁场变化产生两轴正弦信号,通过滑动平均滤波算法、椭圆拟合算法进行数据预处理,结合卫星接收机提供的弹道倾角和速度偏角计算滚转补偿角,并提出一种传感器安装误差滚转角补偿方法,以实现滚转角的精确提取。在滚转角为0°时生成地磁脉冲,以霍尔脉冲为基准,利用地磁脉冲和霍尔脉冲相位差对该解算方法进行验证。利用修正组件分别进行地面无控和有控试验,无控试验结果表明,脉冲平均相位差与真实角度之间的误差小于0.5°,均方根误差小于1°;有控试验结果表明,脉冲平均相位差与控制命令所给角度之间的误差在±3°以内,平均误差为-0.2962°,均满足控制精度的要求。Two-dimensional(2D)course correction requires information about the roll attitude of the projectile for rudder-to-ground angular control.In order to accurately measure the roll attitude of a rotating projectile and improve the accuracy of 2D course correction,a real-time calculation method for roll angle of spinning projectile based on twin-axis geomagnetic sensor was proposed for 2D correction component.The method utilized twin-axis geomagnetic sensor to generate sinusoidal signals by sensing changes in the geomagnetic field,and then performed data preprocessing through the sliding-mean filtering algorithm and ellipse fitting algorithm.Combined with the ballistic inclination and velocity declination provided by the satellite receiver to calculate the roll compensation angle,a compensation method was proposed to compensate for the roll angle error caused by the sensor installation error in order to accurately calculate the roll angle.The geomagnetic pulse was generated when the roll angle is 0°,and the method was verified using the phase difference between the geomagnetic pulse and the Hall pulse,using the Hall pulse as a baseline.Uncontrolled test and controlled test were conducted on the ground using 2D correction component.Uncontrolled test results show that the error between the average pulse phase difference and the real value is less than 0.5°,and the root mean square error(RMSE)is less than 1°.Controlled test results show that the error between the average pulse phase difference and the angle given by the control command is within±3°,and the average error is-0.2962°.Both uncontrolled test and controlled test results show that the method meets the requirements for control accuracy.

关 键 词：二维修正 双轴地磁传感器 滚转角 旋转弹 

分 类 号：TJ431.3[兵器科学与技术—火炮、自动武器与弹药工程]