摘要
为解决弹道修正弹箭中捷联式姿态测量系统误差随时间不断积累的问题,设计了一种由二轴磁强计和MEMS陀螺构建的低成本弹体姿态磁-惯性测量系统,利用磁强计测量的地磁信息修正MEMS陀螺解算的姿态角误差.在此基础上,提出了将两轴地磁信号解算滚转角融入陀螺解算的姿态优化算法,研制的原理样机在二轴转台上进行了测试.有限的试验表明:在一定条件下,该测量系统可有效抑制陀螺漂移引起的姿态误差,能可靠地用于弹道修正弹箭的姿态测量.
To solve a problem that systematic errors accumulated with time in the strapdown attitude determination system for the trajectory correction,a low-cost magnetic-inertial attitude measurement system composed of two-axis magnetometers and MEMS gyroscope was proposed.The geomagnetic information were used to correct attitude error from MEMS gyro and geomagnetic.Geomagnetic signals were devoted to the rotation vector in calculating attitude.A principle prototype was designed and fabricated,and it was tested on two-axis turntable.The determination system can effectively suppress attitude error caused by the gyro drift.This paper proves that the attitude determination system can be reliably used for trajectory correction on some condition.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2014年第12期1267-1271,共5页
Transactions of Beijing Institute of Technology
关键词
MEMS陀螺
磁强计
旋转矢量
姿态探测
MEMS gyro
magnetometer
rotation vector
attitude determination
