Magnetic sensor attitude calculation method

Abstract

The invention relates to a magnetic sensor attitude calculation method. The calculation method comprises the following steps: using a non-orthogonal magnetic sensor to measure an elastomer when the elastomer rotates in 360 degrees, subjecting measured data to a filtering treatment by adopting a least square method; substituting the filtered data measured by the magnetic sensor into an integral model to calculate the model function; according to the model function, calculating the pitch angle; calculating the roll angle when the data measure by the non-orthogonal magnetic sensor is zero, and repeating the steps mentioned above so as to calculate the magnetic sensor attitude in real time. The pitch angle is measured on the basis of all data that is measured by a magnetic sensor when an elastomer rotates in 360 degrees, and thus the results are more accurate.

Description

technical field [0001] The invention relates to the field of attitude measurement, in particular to a magnetic sensor attitude calculation method. Background technique [0002] The attitude solution of strapdown inertial navigation system in high dynamic environment is the key technology to improve the system accuracy. Attitude calculation refers to the calculation and analysis of the output of the carrier sensor to obtain attitude information, including heading angle, pitch angle, and roll angle. For carriers such as missiles and shells in high dynamic environments, the accuracy of attitude measurement is a key factor to determine whether the strapdown inertial navigation system can work normally. [0003] The rotating projectile rotates around its own longitudinal axis at high speed, and the high-precision gyroscope has a limited range, making it difficult to apply it to the high-speed and high-spinning missile-borne environment. The detection of the geomagnetic field ha...

AI Technical Summary

Problems solved by technology

Both algorithms can obtain the estimated value of the attitude angle of the projectile at a certain moment, but both the zero-point crossing method and the extreme value ratio method use special points in the sampling data when the projectile rotates a circle, and the error of the sampling value is relatively small. When the error of the estimated value of the attitude angle is small, the error of the attitude angle increases when the sampling value is subject to random disturbance error, and the algorithm is susceptible to the influence of random disturbance

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