基于太阳矢量和MEMS的自旋弹姿态估计系统研究

On Attitude Estimation System of Spinning Missile Based on Solar Vector and MEMS

针对自旋弹提出了一种新的姿态估计方法。首先,根据自旋弹的性质设计了一种特殊的太阳矢量测量装置,用来测量太阳矢量并替代常用的MEMS中的加速度计和地磁计来修正陀螺仪偏差。该太阳矢量测量装置包括透明外壳、光电池阵列、实时时钟和处理器,太阳透过透明外壳照射光电池阵列,该阵列将太阳能转换成电动势信号,并结合实时时钟、通过处理器处理得到该时刻的太阳矢量。然后,通过四元数微分方程建立卡尔曼滤波状态方程和观测方程对自旋弹进行姿态估计。最后,仿真结果表明该方法能够得到较高精度的自旋弹姿态角。

A new method for estimating the attitude of spinning missile was proposed. Firstly, according to the nature of spinning missile, a special sun sensor is designed to measure the solar vector instead of the commonly used accelerometer and magnetometer in MEMS sensor to correct the gyro bias. The solar vector measuring device comprises a transparent shell, photocell array, real-time clock and controller. When the sun light illuminates the photocell array through the transparent shell, the photocell array can convert the solar energy into the electric potential signal. According to the size of the solar energy and the angle of the photocell, combined with the accurate time provided by the real-time clock, the solar vector of this moment is obtained through main controller processing. Then, the Kalman filer state equation and observation equation established by using the quaternion differential equation is adopted to estimate the spinning missile attitude. The simulation results show that this method can obtain the higher accuracy attitude angle of spinning missile.