双加计与MEMS速率陀螺仪融合的滚转角测量算法

A Rolling Angle Measurement Algorithm Based on Fusion of Two-Axis Accelerometer and MEMS Gyroscope

为了解决高旋弹丸滚转角测量精度的问题.采用Kalman滤波对加速度计法和微机电速率陀螺进行数据融合,利用双加速度计测量弹丸的转角,对加速度计进行低通滤波,得到加速度计的离心加速度,通过补偿离心加速度得到重力加速度的投影,建立Kalman滤波的观测方程;通过微机电陀螺仪得到弹丸的转角速率,建立了Kalman滤波的状态方程.在计算机通过对弹体滚转角进行Kalman滤波仿真.仿真结果表明:转速测量存在系统误差(偏置)和随机噪声,且双加速度计转角的测量误差均值为20°,经过Kalman滤波最后误差收敛在3°,且不存在累积误差.

In order to solve the measurement accuracy of rolling angle of high spinning projectile,Kalman filter is used for data fusion of acceleration meter method and MEMS rate gyros.Two accelerometers are used to measure projectile angle.The acceleration is low pass filtered to get the centrifugal acceleration of accelerometer,which is compensated to obtain the projection of the acceleration of gravity,and to establish observation equation of Kalman filter.The projectile angle rate is gotten by MEMS gyroscope to establish the state equation of the Kalman filter.The Kalman filtering of projectile rolling angle is simulated with computer.The simulation results show：The speed measurement exists system error（bias）and random noise,average error of angle measurement is 20°which converges at3°through Kalman filtering,and there is no accumulated error.