摘要
对红外旋转弹导引头捷联惯导系统的算法进行了研究。分析了姿态更新的等效旋转矢量法及锥运动环境中的优化算法,理论推导了合理引入角位置传感器数据进行弹体姿态解算的方法,基于捷联惯导导引头坐标转换关系,通过欧拉角坐标转换和四元数坐标转换将导引头光轴系中的框架角速度转换至半弹体系中,由半弹体角速度解算出当前导引头的姿态和位置。试验结果验证证明了方法的正确性,解决了交班时扫描搜索阶段的弹体姿态求解问题,保证了对导弹姿态的有效控制。
An attitude algorithm for strapdown inertial navigation system(SINS)of infrared seeker of rotating missile was studied in this paper.The equivalent rotation vector for attitude renewing and the optimized method in cone moving environment were analyzed.Arithmetic to resolve missile attitude using encoding disk was researched.The angler velocity of frame for the seeker in optical axis system was transferred into semi-body system by using of Euler angle transformation and quaternion transformation.The attitude and position of the seeker were calculated by the angle velocity in the semi-body system.The experiments proved the correctness of method proposed,which would guarantee acquiring and control of missile attitude when scanning mode was working.
出处
《上海航天》
2016年第3期36-42,共7页
Aerospace Shanghai
关键词
旋转导弹
红外捷联惯导复合制导
交班
等效旋转矢量
角位置传感器
导弹姿态
导弹位置
坐标转换
欧拉角
四元数
Rotating missile
Integrated guidance of infrared and strapdown inertial navigation system
Handover
Equivalent rotation vector
Encoding disk
Missile attitude
Missile position
System transform
Euler angle
Quaternion
