火箭弹大动态单轴平台惯导系统姿态算法

Attitude algorithm of high dynamic range single-axis platform INS on rocket projectile

火箭弹在飞行中常采用滚转稳定的控制方式,其滚转角速度的动态范围很大,因此实时、准确地测量滚转角速度和滚转姿态角成为制导火箭弹控制的关键问题。大动态单轴平台惯导系统将IMU安装在沿滚转方向的稳定平台上,通过伺服电机驱动单轴平台相对于弹体反旋,隔离滚转方向的大动态角速度,为IMU提供平稳的测试环境。介绍了大动态单轴平台惯导系统的组成和功能,搭建了样机,推导了惯导姿态解算的数学模型。经过120 s半实物仿真试验,系统俯仰姿态角误差<4°,偏航姿态角误差<3°,滚转姿态角误差<25°,结果验证了整体方案的可行性和姿态解算模型的正确性。为进一步提高姿态解算精度,搭建单轴平台组合导航系统,实现全部导航信息的高精度测量打下了基础。

Rocket projectile often uses control mode of rolling in flight,so the dynamic range of roll rates is very high.Accurate real-time measurements of roll rates and roll angles become a key problem of rocket projectile control.High dynamic range single-axis platform INS installs IMU on the platform,drives the platform reversely spinning to the projectile body to isolate high dynamic roll rates by using servo motor,and provides stabilized environment for IMU.The composition and function of the system are introduced,the prototype is set up,and the attitude algorithm of INS is derived.The semi-physical simulation results show that the errors of pitch,heading and roll angle are less than 4 deg,3 deg,and 25 deg respectively within 120 s.Through simulation,the feasibility of this solution and the attitude algorithm of INS are verified.It lays solid foundations for further building single-axis platform integrated navigation system and the high accurate measurements of whole navigation information.