Multi-sensor data fusion-based rolling angle rate high-precision measurement method

A data fusion, multi-sensor technology, applied in the direction of gyroscopic effect for velocity measurement, velocity/acceleration/impact measurement, measurement device, etc., can solve the problem of low measurement accuracy, and achieve the effect of improving measurement accuracy

Inactive Publication Date: 2017-04-26
ZHONGBEI UNIV
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Problems solved by technology

[0003] In order to solve the problem of low measurement accuracy of the active semi-strapdown inertial measurement system when measuring the roll angle rate of the rotating projectile, the present invention provides a high-precision roll angle rate measurement method based on multi-sensor data fusion

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Embodiment Construction

[0015] A high-precision measurement method for roll angular rate based on multi-sensor data fusion, the method is realized by the following steps:

[0016] Step S1: Define the carrier coordinate system: assume that the projectile is in the state of horizontal flight, the center of gravity of the projectile is taken as the origin of the carrier coordinate system, and the flight direction of the projectile is taken as the X of the carrier coordinate system b Axis direction, along the vertical line where the projectile is located upwards as the Y of the carrier coordinate system b Axis direction, determine the Z of the carrier coordinate system according to the right-hand rectangular coordinate system b axis direction;

[0017] Step S2: install a large-range gyroscope in the outer cylinder of the active semi-strapdown inertial measurement system; install a medium-range gyroscope on the top of the MIMU of the active semi-strapdown inertial measurement system; install a small-scal...

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Abstract

The invention relates to a technology for measuring the rolling angle rate of a rotating missile, and concretely relates to a multi-sensor data fusion-based rolling angle rate high-precision measurement method. The problem of low measurement precision of an active semi-strapdown inertia measurement system for measuring the rolling angle rate of a rotating missile is solved in the invention. The multi-sensor data fusion-based rolling angle rate high-precision measurement method comprises the following steps: 1, defining a carrier coordinate system; 2, mounting a wide-range gyroscope in the outer cylinder of the active semi-strapdown inertia measurement system, mounting a medium-range gyroscope at the top of MIMU of the active semi-strapdown inertia measurement system, and mounting a small-range gyroscope in the MIMU of the active semi-strapdown inertia measurement system; 3, calculating relative rotating speed data between the outer cylinder and an inner cylinder; 4, reproducing missile rolling angle rate data; and 5, using the reproduced missile rolling angle rate data as a control signal. The method is suitable for measuring the rolling angle rate of the rotating missile.

Description

technical field [0001] The invention relates to the roll angular rate measurement technology of a rotary projectile, in particular to a high-precision roll angular rate measurement method based on multi-sensor data fusion. Background technique [0002] The measurement of the roll angle rate of the rotary bomb is the core key technology of its guidance and precision strike. At present, the roll angular rate measurement of the rotating projectile is generally realized by using the active semi-strapdown inertial measurement system (see Chinese patent ZL201110025530.8). When the system is running, the large-range gyroscope in the outer cylinder outputs the roll angular rate data of the projectile , this data is used as a control signal to control the motor to drive the inner cylinder to reverse. as high precision as possible. However, practice has shown that when using the active semi-strapdown inertial measurement system to measure the roll angular rate of the rotating projec...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C19/00
CPCG01C19/00
Inventor 秦丽张樨李杰张晓明申冲李文豪刘一鸣兰洋
Owner ZHONGBEI UNIV
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