基于自适应互补滤波的滚转角测量算法

Rolling Angle Measurement Algorithm Based on Adaptive Complementary Filtering

针对二维弹道修正引信采用多传感器信息融合的滚转角测量存在精度不足等问题,提出了基于自适应互补滤波的滚转角测量算法。该方法采用互补滤波器对速率陀螺仪、磁强计信息进行了融合,针对引信在出炮口时刻高速旋转,卫星对准时刻的滚转减旋以及弹道修正时刻的滚转角稳定等不同弹道特征点处的干扰特性,设计了参数自适应调整的互补滤波器,能够有效克服传统互补滤波器无法适应引信的整个工作场景的困难。理论分析及仿真结果表明,该算法能够有效补偿高速旋转带来的滤波器延时误差、陀螺零偏漂移以及舵机高速运动引入的磁场干扰等,能够在存在干扰的情况下较传统固定系数互补滤波器滚转角测量精度提升2~3倍,具有更强的环境适应性和工程可实现性。

A complementary filtering algorithm which coefficients could be dynamically adjusted was proposed for the Insufficient precision for roll angle measurement. The method adjusted the coefficient of the complementary filter dynamically in different scenes such as high-speed rotation, spin deceleration and attitude correction process, so that it could overcome the difficulties that traditional complementary filter could not adapt the whole working scene. The theoretical analysis and simulation results showed that the algorithm could compensate the filter delay error, Gyro bias, and magnetic field interference when the steering gear was in operation. It improved the roll angle measurement accuracy by 2 to 3 times compared with the traditional fixed coefficient complementary filter. It had stronger environmental adaptability engineering achievability.