Attitude estimation method based on magnetic survey roll angle rate information for high-speed rotary missile

Abstract

The invention relates to a method for measuring space attitude of an aircraft or a missile body, in particular to an attitude estimation method based on magnetic survey roll angle rate information for a high-speed rotary missile. According to the attitude estimation method, a three-axis geomagnetic sensor, a two-axis gyroscope and a satellite receiver are adopted to form a missile-borne attitude sensing system, a fast attitude estimation method with the assistance of magnetic survey for the rotary missile is adopted, and therefore the rapid aerial on-line acquisition of the missile body attitude under the unknown initial parameter can be realized; a fast attitude estimation algorithm for the rotary missile uses the missile speed information which is measured and obtained by the satellite receiver to estimate the yaw angle attitude and the pitch angle attitude of the missile body, and the yaw angle attitude and the pitch angle attitude of the missile body are used as observation information of the fast estimation algorithm; and by means of the fast attitude estimation method for the rotary missile, attitude estimation of the missile body can be completed, and meanwhile, on-line estimation and compensation of the error parameters of the missile-borne three-axis geomagnetic sensor and the two-axis gyroscope sensor can be realized. The attitude estimation method has the advantages that the design is reasonable, the flying attitude of the rotary missile can be quickly estimated online, and the good popularization and application values can be achieved.

Description

technical field [0001] The invention relates to a method for measuring the spatial attitude of an aircraft or projectile body, in particular to a method for estimating the attitude of a high-speed rotating projectile based on magnetic roll angle rate information. Background technique [0002] Restricted by the harsh test environment of high-speed rotating projectiles with large overload, high-speed rotation, high dynamics, and narrow space, the existing missile-borne flight attitude measurement system is directly transplanted to the attitude measurement of high-speed rotating ammunition, and there is an initial attitude of the projectile. Problems such as difficulty in obtaining parameters, low accuracy of attitude measurement, or inability to realize full-process and full-range attitude measurement of the rotating projectile. Especially because the high-speed rotating ammunition has a very high roll rate, the range and accuracy of the existing gyroscope cannot meet the requ...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems that the high-speed rotating ammunition is limited by the harsh application environment such as large overload, high-speed rotation and high dynamics, it is difficult to obtain the initial attitude parameters of the navigation, the measurement accuracy is low, or the whole process and full attitude measurement cannot be realized. Attitude Estimation Method of High-Speed ​​Rotating Projectile Based on Magnetic Measurement of Roll Angle Rate Information

Images