Inertial measurement system of rotating missile based on energy storage gyro-stabilized platform

Abstract

The present invention belongs to the field of inertial navigation technology, and specifically relates to a rotating missile inertial measurement system based on an energy storage gyro stabilized platform. In order to cope with the new inertial navigation system, it is not only required to be designed to be miniaturized and lightweight, but also to adapt to severe mechanical environmental conditions such as large overload and large impact. The inertial measurement system includes an angle encoder module, an energy storage gyroscope platform module, an inertial measurement module, a signal transmission module, and a data acquisition and processing module. Compared with the prior art, the present invention connects the mature angle encoder and energy storage gyroscope with an inertial measurement platform integrated with a micro gyroscope and an accelerometer, and completes the series connection of the rotating missile inertial measurement system through a bearing connection method. The rotating missile inertial measurement system has the characteristics of compact structure, low energy consumption, small size, light weight, and easy processing, and is particularly suitable for measuring the attitude and position information of a rotating missile.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a rotating missile inertial measurement system based on an energy storage type gyroscopic stabilized platform. Background Art

[0002] Inertial navigation system, referred to as inertial navigation or inertial navigation system, is an important navigation device for measuring and controlling the attitude and trajectory of a moving carrier. It has been widely used in military fields such as rockets, missile guidance and intelligent ammunition delivery. Due to the important role of inertial navigation system in navigation and weapons, it has been widely valued by developed countries. Many countries give priority to its development as the basis of military strength and strictly control its technology and products. The inertial system is a complex and precise equipment integrating mechanics, electronics and optics. Its working accuracy and reliability directly affect the working accuracy of the inertial navigation system and the flight accuracy and reliability of missiles and arrows. With the increasing development of national defense, modern weapon technology requires that the design of new inertial systems should not only be small and lightweight, and adapt to harsh mechanical environment conditions such as large overload and large impact, but also require a short development cycle, fast finalization and higher reliability indicators.

[0003] At present, my country still widely uses mechanical rotor gyroscopes, and there is no precedent for the combined application of micro-gyroscopes. In this regard, it has fallen behind the United States and some European countries. Although mechanical rotor gyroscopes have a series of advantages such as fast start-up, reliable performance, and good stability, they have the disadvantages of heavy mass, large size, and poor impact resistance compared to micro-gyroscopes. Micro-gyroscopes are an important development direction of gyroscopes. Therefore, while ensuring the advantages of traditional technologies, it is very necessary to develop an inertial measurement system that is suitable for the application characteristics of rotating bombs and can give full play to the technical advantages of energy storage gyroscopes and micro-gyroscopes. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The technical problem to be solved by the present invention is: how to give full play to the inherent advantages of energy storage gyroscopes and micro gyroscopes, combined with the specific requirements of rotating missile inertial measurement, to provide a special system for measuring the inertia of a rolling missile that can reduce rotation, resist impact overload, and isolate vibration, so as to realize accurate online position and attitude information measurement of the rotating missile.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the present invention provides a rotating elastic inertial measurement system based on an energy storage gyro-stabilized platform, the rotating elastic inertial measurement system comprising: an angle encoder module, an energy storage gyro-stabilized platform module, an inertial measurement module, a signal transmission module and a data acquisition and processing module;

[0008] Wherein, the angle encoder module is a bridge between the rotating projectile and the energy storage gyro stabilization platform module;

[0009] The energy storage gyroscopic stabilization platform module provides an inertial stabilization platform for the inertial measurement module;

[0010] The inertial measurement module integrates a micro gyroscope and a three-axis accelerometer for measuring yaw, pitch and rotation directions;

[0011] The inertial measurement module is connected to the data acquisition and processing module via the signal transmission module;

[0012] The data acquisition and processing module obtains the spatial attitude angular rate, attitude angle, speed and position information of the rotating projectile being measured by collecting and processing the voltage signal from the inertial measurement module.

[0013] The signal transmission module is a transmission channel for circuit signals and data signals, which is used to provide circuit driving signal input and accurately output all obtained data signals.

[0014] The energy storage gyroscopic stabilization platform module utilizes the axial stability generated by its high-speed rotor to provide an inertial stabilization platform for the inertial measurement module.

[0015] Among them, the gyroscope body used in the energy storage gyro-stabilized platform module belongs to the category of mechanical rotor gyroscope, including various rotor driving modes such as gas, motor and spring.

[0016] The micro gyroscope and accelerometer integrated in the inertial measurement module are single-axis, dual-axis or tri-axis.

[0017] Wherein, the types of the micro gyroscope and accelerometer in the inertial measurement module are mechanical, optical or micro-electromechanical.

[0018] The signal transmission modes implemented by the signal transmission module include: wired slip ring transmission, radio signal transmission and other signal transmission modes.

[0019] The data acquisition and processing module internally integrates the acquisition, transformation, fusion and processing algorithm modules for the output signals of the angle encoder module and the inertial measurement module.

[0020] Wherein, during the operation of the measurement system:

[0021] First, the signal transmission module provides current input and output functions for the rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform;

[0022] Secondly, due to the bearing friction between the output shaft of the energy storage gyroscope platform module and the projectile, the output shaft of the energy storage gyroscope platform module generates deflection angular rate data, and the micro-gyroscope installed on the inertial measurement module measures the deflection angular rate data, and combines the relative rotation angle data of the projectile relative to the output shaft of the energy storage gyroscope platform module measured by the angle encoder module, utilizes the conversion and transmission of the signal transmission module, and is processed by the data acquisition and processing module to obtain the rotation speed and rotation angle data of the projectile;

[0023] Thirdly, the rotation angle data of the projectile obtained by the above calculation is integrated with the measurement data of the micro gyroscope installed on the inertial measurement module, and is decomposed into the yaw and pitch axes in real time, and the yaw and pitch angle data of the projectile are obtained by the data acquisition and processing module;

[0024] Finally, the height data of the projectile is measured by the three-axis accelerometer installed on the inertial measurement platform module and calculated by the data acquisition and processing module.

[0025] The angle encoder module measures the relative motion relationship of the rolling angle between the rotating projectile and the energy storage gyroscope platform module; the angle encoder module adopts a photoelectric encoder, a magnetic induction encoder, a rotary transformer, a synchro and other 360-degree continuous angle measurement methods;

[0026] The gyroscope body of the energy storage gyroscope platform module is a mechanical rotor gyroscope, which uses the fixed axis effect of its high-speed rotor to provide a stable platform for the inertial measurement module;

[0027] The inertial measurement module is an inertial measurement platform that utilizes the stable output plane provided by the fixed axis of the rotor of the energy storage gyroscope platform module to integrate a micro gyroscope and a three-axis accelerometer for measuring yaw, pitch and roll directions;

[0028] The signal transmission module is a transmission channel for circuit signals and data signals, which provides circuit driving signal input and accurately outputs all acquired data signals;

[0029] The data acquisition and processing module includes an analog multiplexer, an A / D converter, a digital signal processor, a logic control unit and an extended memory; the analog multiplexer multiplexes the voltage signal of the micro gyroscope output by the inertial measurement module into the A / D converter, the digital signal processor processes the sampled data, the logic control unit calculates the attitude information of the rotating missile, the sampled data and the processing results, and sends them to the extended memory for storage, so as to facilitate later analysis and call.

[0030] (III) Beneficial effects

[0031] Compared with the prior art, the present invention connects the mature angle encoder and energy storage gyroscope with the inertial measurement platform integrated with the micro gyroscope and accelerometer, and completes the series connection of the rotating elastic inertial measurement system through the bearing connection method. The rotating elastic inertial measurement system has the characteristics of compact structure, low energy consumption, small size, light weight and easy processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a block diagram of the rotating missile inertial measurement system module based on the energy storage gyro-stabilized platform.

[0033] Figure 2 This is the data flow chart of the rotating missile inertial measurement system based on the energy storage gyro-stabilized platform. DETAILED DESCRIPTION

[0034] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0035] In order to solve the above technical problems, the present invention provides a rotating elastic inertial measurement system based on an energy storage gyro-stabilized platform, the rotating elastic inertial measurement system comprising: an angle encoder module, an energy storage gyro-stabilized platform module, an inertial measurement module, a signal transmission module and a data acquisition and processing module;

[0036] Wherein, the angle encoder module is a bridge between the rotating projectile and the energy storage gyro stabilization platform module;

[0037] The energy storage gyroscopic stabilization platform module provides an inertial stabilization platform for the inertial measurement module;

[0038] The inertial measurement module integrates a micro gyroscope and a three-axis accelerometer for measuring yaw, pitch and rotation directions;

[0039] The inertial measurement module is connected to the data acquisition and processing module via the signal transmission module;

[0040] The data acquisition and processing module obtains the spatial attitude angular rate, attitude angle, speed and position information of the rotating projectile being measured by collecting and processing the voltage signal from the inertial measurement module.

[0041] The signal transmission module is a transmission channel for circuit signals and data signals, which is used to provide circuit driving signal input and accurately output all obtained data signals.

[0042] The energy storage gyroscopic stabilization platform module utilizes the axial stability generated by its high-speed rotor to provide an inertial stabilization platform for the inertial measurement module.

[0043] Among them, the gyroscope body used in the energy storage gyro-stabilized platform module belongs to the category of mechanical rotor gyroscope, including various rotor driving modes such as gas, motor and spring.

[0044] The micro gyroscope and accelerometer integrated in the inertial measurement module are single-axis, dual-axis or tri-axis.

[0045] Wherein, the types of the micro gyroscope and accelerometer in the inertial measurement module are mechanical, optical or micro-electromechanical.

[0046] The signal transmission modes implemented by the signal transmission module include: wired slip ring transmission, radio signal transmission and other signal transmission modes.

[0047] The data acquisition and processing module internally integrates the acquisition, transformation, fusion and processing algorithm modules for the output signals of the angle encoder module and the inertial measurement module.

[0048] Wherein, during the operation of the measurement system:

[0049] First, the signal transmission module provides current input and output functions for the rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform;

[0050] Secondly, due to the bearing friction between the output shaft of the energy storage gyroscope platform module and the projectile, the output shaft of the energy storage gyroscope platform module generates deflection angular rate data, and the micro-gyroscope installed on the inertial measurement module measures the deflection angular rate data, and combines the relative rotation angle data of the projectile relative to the output shaft of the energy storage gyroscope platform module measured by the angle encoder module, utilizes the conversion and transmission of the signal transmission module, and is processed by the data acquisition and processing module to obtain the rotation speed and rotation angle data of the projectile;

[0051] Thirdly, the rotation angle data of the projectile obtained by the above calculation is integrated with the measurement data of the micro gyroscope installed on the inertial measurement module, and is decomposed into the yaw and pitch axes in real time, and the yaw and pitch angle data of the projectile are obtained by the data acquisition and processing module;

[0052] Finally, the height data of the projectile is measured by the three-axis accelerometer installed on the inertial measurement platform module and calculated by the data acquisition and processing module.

[0053] The angle encoder module measures the relative motion relationship of the rolling angle between the rotating projectile and the energy storage gyroscope platform module; the angle encoder module adopts a photoelectric encoder, a magnetic induction encoder, a rotary transformer, a synchro and other 360-degree continuous angle measurement methods;

[0054] The gyroscope body of the energy storage gyroscope platform module is a mechanical rotor gyroscope, which uses the fixed axis effect of its high-speed rotor to provide a stable platform for the inertial measurement module;

[0055] The inertial measurement module is an inertial measurement platform that utilizes the stable output plane provided by the fixed axis of the rotor of the energy storage gyroscope platform module to integrate a micro gyroscope and a three-axis accelerometer for measuring yaw, pitch and roll directions;

[0056] The signal transmission module is a transmission channel for circuit signals and data signals, which provides circuit driving signal input and accurately outputs all acquired data signals;

[0057] The data acquisition and processing module includes an analog multiplexer, an A / D converter, a digital signal processor, a logic control unit and an extended memory; the analog multiplexer multiplexes the voltage signal of the micro gyroscope output by the inertial measurement module into the A / D converter, the digital signal processor processes the sampled data, the logic control unit calculates the attitude information of the rotating missile, the sampled data and the processing results, and sends them to the extended memory for storage, so as to facilitate later analysis and call.

[0058] Example 1

[0059] The main working mode of the rotating elastic inertial measurement system based on the energy storage gyro stabilized platform proposed in this embodiment is combined with Figure 1 and Figure 2 The brief description is as follows:

[0060] First, the three-axis micro gyroscope is fixedly connected to the inertial measurement module 3, and the three-axis accelerometer is also fixedly connected. The axes in the inertial measurement module 3 are determined by mutually perpendicular positioning surfaces.

[0061] Secondly, by utilizing the axial stability of the high-speed rotor of the mechanical rotor gyroscope, the energy storage gyroscope platform module 2 provides a stable platform for the inertial measurement module 3 .

[0062] Again, the angle encoder module 1 is connected to the projectile and the output shaft of the energy storage gyroscope platform module 2, the rotor is connected to the output shaft via a bearing, and the output shaft is connected to the projectile and the inertial measurement module 3 via a bearing.

[0063] Finally, due to the bearing friction between the output shaft and the projectile, the deflection angular rate of the output shaft of the energy storage gyroscope platform module 2 is measured by the micro-gyroscope on the inertial measurement module 3. At the same time, the micro-gyroscope also obtains the measurement data of the yaw and pitch axes at a certain moment, and the three-axis accelerometer installed on the inertial measurement module 3 also obtains the acceleration data at the same moment. Combined with the angular rotation data of the projectile relative to the output shaft of the energy storage gyroscope platform module 2 measured by the angle encoder module 1, through the signal exchange of the signal transmission module 4, combined with the signal acquisition and fusion algorithm of the data acquisition and processing module 5, the attitude angle, attitude angular rate of the rotating projectile and the speed, position and other information of the projectile are obtained.

[0064] In summary, the present invention belongs to the field of inertial navigation technology, and specifically relates to an inertial measurement system of a rotating missile based on an energy storage gyro-stabilized platform. In order to cope with the requirements of the new inertial navigation system, which not only requires the design to be miniaturized and lightweight, but also adapt to severe mechanical environmental conditions such as large overload and large impact, the present invention proposes an inertial measurement system dedicated to the attitude measurement of a rolling missile that can reduce rotation, resist impact overload, and isolate vibration, so as to realize accurate online motion information measurement of a rotating missile. The invention comprises five parts, namely, an angle encoder module, an energy storage gyroscope platform module, an inertial measurement module, a signal transmission module and a data acquisition and processing module. The angle encoder module is a connecting bridge between a rotating projectile and the energy storage gyroscope platform module. The gyroscope body of the energy storage gyroscope platform module is an energy storage gyroscope, and its gyro effect is used to provide a stable platform for the inertial measurement module. The inertial measurement module is an inertial measurement device that utilizes a stable output platform provided by the fixed axis property of the rotor of the energy storage gyroscope platform module to realize integrated installation of a micro gyroscope and a three-axis micro accelerometer for measuring yaw, pitch and rotation directions. The signal transmission module is a transmission channel for system circuit signals and data signals, and provides a working power supply and circuit driving signal input, and simultaneously accurately outputs all data signals obtained by the system. The data acquisition and processing module comprises an analog multiplexer, an A / D converter, a digital signal processor, a logic control unit and an extended memory. The analog multiplexer multiplexes the voltage signals of multiple micro-gyroscopes output by the inertial measurement module into an A / D converter, the digital signal processor processes the sampled data, the logic control unit calculates the attitude information of the rotating missile, and the sampled data and the processing results are also sent to the extended memory for storage, which is convenient for later analysis and call. The present invention solves the requirements for connecting the mature angle encoder and energy storage gyroscope with the inertial measurement device integrating the micro-gyroscope and the accelerometer, and has the characteristics of compact system structure, low energy consumption, small size, light weight, and easy processing, and is particularly suitable for the attitude and position information measurement of the rotating missile.

[0065] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A rotating missile inertial measurement system based on an energy storage gyro-stabilized platform, characterized in that: The rotating missile inertial measurement system comprises: an angle encoder module, an energy storage gyroscopic stabilization platform module, an inertial measurement module, a signal transmission module, and a data acquisition and processing module; Wherein, the angle encoder module is a bridge between the rotating projectile and the energy storage gyro stabilization platform module; The energy storage gyroscopic stabilization platform module provides an inertial stabilization platform for the inertial measurement module; The inertial measurement module integrates a micro gyroscope and a three-axis accelerometer for measuring yaw, pitch and rotation directions; The inertial measurement module is connected to the data acquisition and processing module via the signal transmission module; The data acquisition and processing module obtains the spatial attitude angular rate, attitude angle, speed, and position information of the rotating projectile being measured by collecting and processing the voltage signal from the inertial measurement module; During the working process of the measuring system: First, the signal transmission module provides current input and output functions for the rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform; Secondly, due to the bearing friction between the output shaft of the energy storage gyro stabilized platform module and the projectile, the output shaft of the energy storage gyro stabilized platform module generates deflection angular rate data, and the micro gyroscope installed on the inertial measurement module measures the deflection angular rate data, and combines the relative rotation angle data of the projectile relative to the output shaft of the energy storage gyro stabilized platform module measured by the angle encoder module, utilizes the conversion and transmission of the signal transmission module, and is processed by the data acquisition and processing module to obtain the rotation speed and rotation angle data of the projectile; Thirdly, the rotation angle data of the projectile obtained by the above calculation is integrated with the measurement data of the micro gyroscope installed on the inertial measurement module, and is decomposed into the yaw and pitch axes in real time, and the yaw and pitch angle data of the projectile are obtained by the data acquisition and processing module; Finally, the height data of the projectile is measured by the three-axis accelerometer installed on the inertial measurement platform module and calculated by the data acquisition and processing module.

2. The rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform according to claim 1, characterized in that: The signal transmission module is a transmission channel for circuit signals and data signals, and is used to provide circuit driving signal input and accurately output all obtained data signals.

3. The rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform according to claim 1, characterized in that: The energy storage gyroscopic stabilization platform module utilizes the axial stability generated by its high-speed rotor to provide an inertial stabilization platform for the inertial measurement module.

4. The rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform according to claim 1, characterized in that: The gyroscope body used in the energy storage gyro stabilization platform module belongs to the category of mechanical rotor gyroscope, including various rotor driving modes such as gas, motor and spring.

5. The rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform according to claim 1, characterized in that: The micro gyroscope and accelerometer integrated in the inertial measurement module are single-axis, dual-axis or three-axis.

6. The rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform according to claim 1, characterized in that: The types of the micro gyroscope and accelerometer in the inertial measurement module are mechanical, optical or micro-electromechanical.

7. The rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform according to claim 1, characterized in that: The signal transmission modes implemented by the signal transmission module include: wired slip ring transmission, radio signal transmission and other signal transmission modes.

8. The rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform according to claim 1, characterized in that: The data acquisition and processing module internally integrates an algorithm module for collecting, transforming, fusing and processing the output signals of the angle encoder module and the inertial measurement module.

9. The rotating elastic inertial measurement system based on the energy storage gyro-stabilized platform according to claim 1, characterized in that: The angle encoder module measures the relative motion relationship of the rolling angle between the rotating projectile and the energy storage gyro stabilization platform module; the angle encoder module adopts a photoelectric encoder, a magnetic induction encoder, a rotary transformer, a synchro and other 360-degree continuous angle measurement methods; The gyroscope body of the energy storage gyro stabilization platform module is a mechanical rotor gyroscope, which uses the fixed axis effect of its high-speed rotor to provide a stable platform for the inertial measurement module; The inertial measurement module is an inertial measurement platform that utilizes the stable output plane provided by the fixed axis of the rotor of the energy storage gyro stabilization platform module to integrate a micro gyroscope and a three-axis accelerometer for measuring yaw, pitch and roll directions; The signal transmission module is a transmission channel for circuit signals and data signals, which provides circuit driving signal input and accurately outputs all acquired data signals; The data acquisition and processing module includes an analog multiplexer, an A / D converter, a digital signal processor, a logic control unit and an extended memory; the analog multiplexer multiplexes the voltage signal of the micro gyroscope output by the inertial measurement module into the A / D converter, the digital signal processor processes the sampled data, the logic control unit calculates the attitude information of the rotating missile, the sampled data and the processing results, and sends them to the extended memory for storage, so as to facilitate later analysis and call.

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