Rotator gesture measuring method based on multisensor data

Abstract

The invention provides a rotator gesture measuring method based on multisensor data. The method comprises the following steps: calculating an angle of pitch and a roll angle gamma0 of a rotator in a rotary non-launching working condition according to a triaxial acceleration overload component detected by a triaxial accelerometer; calculating a course angle according to an axial geomagnetic component, the angle of pitch, the roll angle gamma0 detected by a triaxial geomagnetic sensor and local geomagnetic components Bx, By and Bz and a magnetic declination angle beta of the position of the rotator; in a launching working condition of the rotator, calculating an angle of pitch and the course angle according to the roll angle gamma0, the pitch of angle and the course angle as well as a triaxial rotary angle velocity detected by a triaxial gyroscope; correcting the geomagnetic component detected by the triaxial geomagnetic sensor in the launched working condition periodically; and calculating a roll angle gamma in the launched working condition according to the corrected geomagnetic component, the pitch of angle, the course angle and the local geomagnetic components Bx, By and Bz. Themethod provided by the invention is small in size, high in gesture measuring accuracy and low in cost.

Description

technical field [0001] The invention belongs to the field of attitude measurement of rotating aircraft such as rockets and artillery shells, and in particular relates to a method for measuring the attitude of a rotating body based on multi-sensor data. Background technique [0002] In high-speed rotating weapons such as rockets and artillery shells, in order to improve the stability of the projectile body and improve the accuracy of uncontrolled strikes, both rockets and artillery shells rotate around the axis at high speed, and the maximum speed can reach more than 20r / s. For rockets and artillery shells, flight attitude measurement is the basis and core of its guidance and control. [0003] For attitude measurement of high-speed rotating bodies, if gyro integration is used to obtain the attitude, the gyro measurement range, high measurement accuracy, and small size are required. It is very difficult for gyro to realize, and at the same time, the gyro integration error is l...

AI Technical Summary

Problems solved by technology

[0004] The invention provides a method for measuring the attitude of a rotating body based on multi-sensor data to solve the problems of large volume, low accuracy and high cost of use and maintenance in the current attitude measurement of rotating bodies

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