基于扩展卡尔曼滤波的转速补偿滚转角测量算法

Roll estimation algorithm based on extended Kalman filter with spin compensation

针对二维弹道修正引信全弹道转速变化范围较大的旋转特点,提出了一种基于扩展卡尔曼滤波的转速补偿滚转角测量算法。首先以某双旋稳定迫弹为仿真平台,分别在高速和低速时变转速条件下对引入转速补偿的EKF滚转角测量算法进行了验证。仿真结果表明,高转速条件下全弹道滚转角解算绝对误差不大于5°,低转速条件下解算绝对误差全弹道不大于2.5°,且均能快速收敛。而后又基于MEMS三轴转台进行了实验室滚转角测量精度验证,结果表明,在修正引信转速自30 r/s至1 r/s范围动态变化过程中,滚转角解算绝对误差不超过4°。

According to the rotation features of 2-D trajectory correction fuze of dual-spin stabilized projectile, a method with extended Kalman filter is introduced to solve the roll estimation of correction fuze by using a spin compensation algorithm. Firstly, based on a certain kind of commissioned dual-spin mortar shell, two different simulating rotation circumstances are separately discussed using a spin compensation EKF algorithm. Simulation results show that the estimated absolute error under high spin rate condition is less than 5°, and the absolute error under low rotation circumstance is less than 2.5°. Furthermore, the spin compensation EKF algorithm is also verified in lab test with MEMS three-axis turntable, and the result shows that the absolute error is less than 4° in dynamic varying range from 30 r/s to 1 r/s.