Online calibration compensation method for attitude misalignment angle between magnetic measurement signal and projectile body coordinate system
A compensation method and coordinate system technology, applied in the direction of measuring devices, instruments, ground navigation, etc., can solve problems such as inability to calibrate compensation, and achieve the effect of improving the accuracy of calculation
Active Publication Date: 2021-02-09
ZHONGBEI UNIV
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[0008] In order to solve the problem that the traditional calibration compensation method cannot calibrate and compensate the attitude misalignment angle between the magnetic measurement signal and the projectile coordinate system, the present invention provides a method for calculating the attitude misalignment angle between the magnetic measurement signal and the projectile coordinate system Online Calibration Compensation Method
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[0037] An online calibration compensation method for the attitude misalignment angle between the magnetic measurement signal and the projectile coordinate system, the method is realized by the following steps:
[0038] Step 1: Install the magnetic measurement system on the projectile, and collect the three-axis geomagnetic field vector signal H output by the magnetic measurement system in real time during the ballistic flight of the projectile m ; The three-axis geomagnetic field vector signal H output by the magnetic measuring system m Expressed as follows:
[0039]
[0040] In formula (1): Respectively represent the x-axis geomagnetic field vector signal, the y-axis geomagnetic field vector signal, and the z-axis geomagnetic field vector signal output by the magnetic measuring system;
[0041] Step 2: The three-axis geomagnetic field vector signal H output by the magnetic measuring system m Carry out sliding filtering processing, and identify the peak-valley value of ...
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The invention relates to a guidance transformation technology of rotary ammunition, in particular to an online calibration compensation method for an attitude misalignment angle between a magnetic measurement signal and an ammunition body coordinate system. The problem that a traditional calibration compensation method cannot perform calibration compensation on the attitude misalignment angle between the magnetic measurement signal and the projectile body coordinate system is solved. The invention discloses an online calibration compensation method for an attitude misalignment angle between amagnetic measurement signal and a projectile body coordinate system. The method is achieved by adopting the following steps of: 1, acquiring a three-axis geomagnetic field vector signal Hm output by amagnetic measurement system in real time in a ballistic flight process outside a projectile body; 2, estimating a rolling angle gamma of the projectile body at any moment t in a rolling period T; 3,obtaining coefficients ax, bx, cx, ay, by, cy, az, bz and cz of the fitting curve; 4, solving a three-axis installation error angle matrix Minstanl between the coordinate system of the magnetic surveysystem and the coordinate system of the projectile body; and step 5, obtaining a three-axis geomagnetic field vector signal Hb under a projectile body coordinate system. The method is suitable for guidance transformation of the rotary ammunition.
Description
technical field [0001] The invention relates to the guidance transformation technology of rotating ammunition, in particular to an online calibration and compensation method for the attitude misalignment angle between the magnetic measurement signal and the coordinate system of the missile body. Background technique [0002] During the guided transformation of rotating ammunition, it is necessary to calculate the roll angle of the projectile according to the magnetic measurement signal (ie, the three-axis geomagnetic field vector signal output by the magnetic measurement system). During the calculation process, the calculation accuracy of the roll angle is not only affected by the measurement accuracy of the magnetic measurement system, but also by the attitude misalignment angle between the magnetic measurement signal and the projectile coordinate system. [0003] The attitude misalignment angle between the magnetic measurement signal and the projectile coordinate system co...
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IPC IPC(8): G01C25/00G01C21/08G01C21/20
CPCG01C25/00G01C21/08G01C21/20
Inventor 张晓明张莺莺高丽珍李杰刘俊冯凯强薛羽阳
Owner ZHONGBEI UNIV