圆锥运动下磁场辅助角速度测量方法与实验

Magnetometer aided angular velocity measurement method and experiment under coning motion

利用磁场传感器可辅助载体进行角速度测量。在用于飞行载体时,由于载体通常伴随有圆锥运动,并且载体自身会对内部磁场产生干扰,使磁场传感器输出产生畸变,从而导致利用磁场辅助测量的载体角速度的误差较大。针对这个问题,提出了一种基于实时误差补偿的在圆锥运动及磁场干扰影响条件下利用磁场辅助进行角速度测量的方法。该方法利用载体过去1周旋转的数据,实时对圆锥运动与磁场干扰进行补偿,然后根据补偿结果计算当前载体的角速度。当载体角速度越大时,精度越高。通过飞行实验对该方法进行了验证,实验结果表明,在角速度大于300(°)/s时,角速度误差小于1(°)/s。

Magnetometer can be used to assist the vehicle for angular velocity measurement.The vehicle normally has the coning motion in flight application,and this would influence the interior magnetic distribution and lead to distortion in magnetometer output.In order to solve this problem,a magnetometer aided angular velocity measurement method based on real-time error compensation is put forward which considers the coning motion and magnetic deviation.It takes the advantage of the last 1 rotation cycle data of the magnetometer to compensate the output error and calculate the vehicle angular velocity.When the angular velocity is larger,the result would be more accurate.Flight experiment is carried on to verify the method,and the result shows that the angular velocity error is smaller than 1（°）/s when the angular velocity is larger than 300（°）/s.