基于磁强计测量的滚转弹药姿态估计

Attitude estimation of rolling-munitions using magnetometer

为了实时获得滚转弹药的飞行姿态信息,提出了一种速率陀螺与磁强计组合的姿态测量方案。该方案采用磁强计获得大地磁场强度在弹体三轴的投影及其变化率,结合刚体转动运动模型,利用最优估计技术获得了滚转弹药姿态信息。与单点测量方法相比,最优估计方法综合了测量信息序列,不会出现反三角函数双值失控现象,并可获得更高精度。仿真表明:陀螺无漂移时,俯仰角、偏航角的解算精度小于0.1°;采用低成本陀螺含漂移时,姿态角的解算精度小于0.4°。

In order to determine the attitude of rolling-munitions in real-time, an attitude estimation scheme based on gyro and magnetic detecting technologies was proposed. The scheme adopts 3-axis magnetometer detecting the geomagnetic field in the body axis of the projectile. Combined with the rigid body rotation motion model, the attitudes of rolling-munitions were obtained by optimal estima- tion. Compared with the single-point measurement method, the optimal estimation method utilizing the sequence of measurement information was stable and more precise. The simulation results show that the pitch angle and yaw angle calculation accuracy is less than 0.1 ° when the gyro is drift-free and that with low-cost gyro drift, the attitude angle calculation accuracy is less than 0.4°.