基于地磁辅助的弹载两轴陀螺传感器校正方法研究

A Calibration Method of Magnetometer-aided Two-axis Gyro Sensor in the Projectile-borne Environment

为解决弹载环境下两轴陀螺传感器难以实现三轴校正的问题,提出基于地磁辅助的两轴陀螺传感器校正方法。建立两轴陀螺传感器测量误差模型,由单轴地磁信号解算得到弹丸x轴角速率,解决了因陀螺传感器量程限制而无法测量低旋弹丸x轴滚转角速率的问题;研究线性最小二乘模型和卡尔曼滤波模型校正两轴陀螺传感器相关参数的方法,数值仿真分析弹丸x轴角速率解算误差和陀螺传感器测量噪声对校正结果的影响;半实物仿真模拟两轴陀螺传感器在工程中的应用,研究基于地磁辅助的两轴陀螺传感器校正方法校正效果。数值仿真结果表明:当弹丸x轴角速率解算误差在0. 261 8 rad/s以内且当陀螺传感器测量噪声在0. 001 6 rad/s以内时,经过校正后,弹丸y轴和z轴角速率校正误差在0. 01 rad/s以内。半实物仿真结果表明:当弹丸x轴角速率解算误差在0. 8 rad/s以内时,两种校正模型均能将陀螺传感器的测量误差从-0. 30～-0. 05 rad/s范围减小到-0. 02～0. 02 rad/s范围内。数值仿真和半实物仿真结果证明:基于地磁辅助的两轴陀螺传感器校正方法具有较好的校正效果。

A calibration method of magnetometer-aided two-axis gyro sensor is studied for the three-axis calibration of two-axis gyro sensor in the projectile-borne environment.A measurement error model of two-axis gyro sensor is established,and the problem that the roll angular rate of low spinning projectile at x-axis,which is obtained from the single-axis geomagnetic signal,cannot be measured by the gyro sensor due to its limited measurement range is solved.The calibration methods of the linear least square model and the Kalman filter model for calculating the related parameters of two-axis gyro sensor are studied,and the influences of the calculation error of x-axis angular rate of projectile and the measurement noise of gyroscope sensor on the calibrated result are analyzed through numerical simulation.The application of two-axis gyro sensor in engineering is simulated,and the correction effect of calibration method of magnetometer-aided two-axis gyro sensor is studied in the hardware-in-the-loop simulation.The numerically simulated results prove that,when the calculated error of x-axis angular rate of projectile is within 0.261 8 rad/s and the measured noise of gyro sensor is within 0.001 6 rad/s,the corrected errors of the y-axis and z-axis angular rates of projectile are less than 0.01 rad/s.The results of the hardware-in-the-loop simulation show that the two correction models can decrease the measured error range of gyro sensor from-0.30--0.05 rad/s to-0.02-0.02 rad/s when the calculated error of x-axis angular rate of the projectile is within 0.8 rad/s.The numerical simulation and the hardware-in-the-loop simulation prove that the magnetometer-aided calibration method has a good correction effect on the two-axis gyro sensor.