弹载磁传感器的误差补偿及姿态解算方法

Error compensation and attitude calculation method of three-axis magnetic sensor on projectile

随着国防工业科技的不断发展,弹上导航制导技术的应用越来越广泛。为了实现对高旋弹的飞行控制,获取姿态信息是最为关键的步骤,而传统的利用IMU或地磁来解算姿态的方法,在滚转角结果上存在着较大误差且存在灵敏度不足的缺点。提出了一种使用补偿后的三轴地磁数据来解算姿态的方法,采用最小二乘与椭球拟合的方法对磁传感器进行温度标定与弹体系数标定,补偿了地磁数据的误差,并在此基础上研究了利用地磁信息解算弹体姿态的方法。实验结果表明,所提出的方法在易于工程实现的同时,采集的地磁数据相比于国际地磁标准减小了近20%的误差,在姿态的解算上可以减小14.21%的误差,在滚转角解算上提高了30.72%的精度。

With the development of technology in the defense industry,the application of missile navigation and guidance technology has become more and more extensive.It’s the most critical step to obtain attitude information to realize the flight control of the high spinner.However,to measure attitude,a disadvantage of traditional methods(e.g.,IMU,geomagnetism)is that there is a large error in roll angle results and insufficient sensitivity.A method of using the compensated three-axis geomagnetic data to measure the attitude is proposed.The method of least squares and ellipsoid fitting is used to calibrate the temperature and the number of missiles of the magnetic sensor,which compensates for the error of the geomagnetic data.On this basis,the method of using the geomagnetic information to measure the missile attitude is studied.The experimental results show that while the method proposed is easy to implement in engineering,the error of collected geomagnetic data is reduced by nearly 20%compared with the international geomagnetic standard,and the error of attitude calculation is reduced by 14.21%.The accuracy of the corner calculation is improved by 30.72%.