Roll angular velocity extraction method and related device

Abstract

The invention discloses a roll angular velocity extraction method and a related device, and the method employs lever arm compensation to reversely extract a real roll angular velocity in an outrange stage, i.e., according to the output of an accelerometer J after lever arm compensation, the lever arm distance of the accelerometer J and the full scale of a gyroscope T, the actual roll angular velocity of the outrange stage is extracted; the real roll angular velocity of the carrier in the outrange stage is calculated, the vacancy of flight data in the outrange stage in the ballistic test is complemented, and the reliability of the ballistic test is guaranteed.

Description

Technical Field

[0001] The present invention relates to a roll angular velocity extraction method and a related device, belonging to the technical field of testing high-speed rotating projectile weapon equipment. Background Art

[0002] During the experimental research of high-speed rotating projectile weapons and equipment, a test device is needed to collect the real-time roll angular velocity information and acceleration information of the carrier during flight. This test device mainly includes a high-performance single-chip MEMS inertial sensor composed of MIMU, which consists of three gyroscopes (i.e., MEMS gyroscopes) and three accelerometers (i.e., MEMS accelerometers). For specific installation, please refer to Figure 1 .

[0003] Since the weapons and equipment under development have not reached a stable state, the carrier sometimes rotates at an overspeed during ballistic tests. At this time, the carrier's roll angular velocity exceeds the measurement range of the gyroscope, that is, the carrier is in the over-range stage. The roll angular velocity in the over-range stage cannot be measured by the gyroscope, affecting the reliability of the ballistic test. Summary of the Invention

[0004] The present invention provides a roll angular velocity extraction method and related devices, which solve the problems disclosed in the background technology.

[0005] According to one aspect of the present application, a roll angular velocity extraction method is provided, wherein the method is used to extract the roll angular velocity of a carrier in an over-range phase, and the method comprises:

[0006] The over-range stage is determined based on the output data of the gyroscope T, wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis;

[0007] For each moment in the overrange phase, the true roll angular velocity of the carrier at each moment in the overrange phase is calculated based on the output of accelerometer J after lever arm compensation, the lever arm distance of accelerometer J, and the full-scale range of gyroscope T. Accelerometer J is an accelerometer in a plane perpendicular to the rotation axis, and the lever arm distance of accelerometer J is greater than the lever arm distances of other accelerometers in the plane perpendicular to the rotation axis.

[0008] Furthermore, the over-range stage is determined based on the output data of the gyroscope T, including:

[0009] A full-scale segment is obtained from the output data of the gyroscope T, and the full-scale segment is used as an over-range stage; wherein, at each moment in the full-scale segment, the output of the gyroscope T is full-scale.

[0010] Furthermore, the true roll angular velocity of the carrier at each moment during the over-range phase is calculated using the formula:

[0011] ;

[0012] Where, is the true roll angular velocity, is the output of the accelerometer after J-arm compensation, is the arm distance of the accelerometer J, is the full scale of the gyroscope T.

[0013] According to another aspect of the present application, a roll angular velocity extraction device is provided, the device being used to extract the roll angular velocity of a carrier in an over-range phase, the device comprising:

[0014] an over-range stage determining module, which determines the over-range stage based on output data of a gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis;

[0015] The overrange phase roll angular velocity module calculates the carrier's true roll angular velocity at each moment during the overrange phase based on the lever-arm-compensated output of accelerometer J, the lever-arm distance of accelerometer J, and the full-scale range of gyroscope T. Accelerometer J is located in a plane perpendicular to the rotation axis, and its lever-arm distance is greater than the lever-arm distances of other accelerometers in the plane perpendicular to the rotation axis.

[0016] According to another aspect of the present application, a roll angular velocity extraction method is provided, wherein the method is used to extract the roll angular velocity of a carrier during the entire ballistic test process, and the method comprises:

[0017] Determining the over-range phase and the non-over-range phase based on the output data of the gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis;

[0018] For each moment in the non-overrange phase, the output of the gyroscope T at each moment is used as the true roll angular velocity of the carrier at each moment in the non-overrange phase;

[0019] For each moment in the overrange phase, the true roll angular velocity of the carrier at each moment in the overrange phase is calculated based on the output of accelerometer J after arm compensation, the arm distance of accelerometer J, and the full-scale range of gyroscope T. Here, accelerometer J is an accelerometer in the plane perpendicular to the rotation axis.

[0020] Furthermore, determining the over-range phase and the non-over-range phase based on the output data of the gyroscope T includes:

[0021] From the output data of the gyroscope T, a full-scale segment and a non-full-scale segment are obtained, and the full-scale segment is used as an over-range stage, and the non-full-scale segment is used as a non-over-range stage; wherein, at each moment in the full-scale segment, the output of the gyroscope T is full-scale; and at each moment in the non-full-scale segment, the output of the gyroscope T is non-full-scale.

[0022] Furthermore, the true roll angular velocity of the carrier at each moment during the over-range phase is calculated using the formula:

[0023] ;

[0024] Where, is the true roll angular velocity, is the output of the accelerometer after J-arm compensation, is the arm distance of the accelerometer J, is the full scale of the gyroscope T.

[0025] According to another aspect of the present application, a roll angular velocity extraction device is provided, which is used to extract the roll angular velocity of a carrier during the entire ballistic test process. The device includes:

[0026] a stage determination module, determining an over-range stage and a non-over-range stage based on output data of a gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis;

[0027] The roll angular velocity module in the non-overrange phase uses the output of the gyroscope T at each moment in the non-overrange phase as the true roll angular velocity of the carrier at each moment in the non-overrange phase;

[0028] The overrange phase roll angular velocity module calculates the true roll angular velocity of the carrier at each moment during the overrange phase based on the output of accelerometer J, the arm distance of accelerometer J, and the full scale of gyroscope T at each moment; accelerometer J is an accelerometer in the plane perpendicular to the rotation axis.

[0029] According to another aspect of the present application, a computer-readable storage medium is provided, which stores one or more programs. The one or more programs include instructions. When the instructions are executed by a computing device, the computing device performs a roll angular velocity extraction method.

[0030] According to another aspect of the present application, a computer device is provided, comprising one or more processors and one or more memories, wherein one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for executing a roll angular velocity extraction method.

[0031] The beneficial effects achieved by the present invention are as follows: the present invention adopts lever arm compensation to reversely extract the true roll angular velocity in the over-range stage, that is, based on the output of the accelerometer J after lever arm compensation, the lever arm distance of the accelerometer J and the full scale of the gyroscope T, the true roll angular velocity of the carrier in the over-range stage is calculated, thereby filling the gaps in the flight data in the over-range stage in the ballistic test and ensuring the reliability of the ballistic test. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the installation of the gyroscope and accelerometer in the MIMU;

[0033] Figure 2 is a flow chart of a first embodiment of a method for extracting a rolling angular velocity;

[0034] Figure 3 The data are obtained when the lever arm error compensation is not enabled;

[0035] Figure 4 This is the data obtained when the lever arm error compensation is turned on;

[0036] Figure 5 is a block diagram of a first embodiment of a roll angular velocity extraction device;

[0037] Figure 6 is a flow chart of a second embodiment of a method for extracting a rolling angular velocity;

[0038] Figure 7 is the completed roll angular velocity diagram;

[0039] Figure 8 FIG. 4 is a block diagram of a second embodiment of a roll angular velocity extraction device. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. It is obvious that the embodiments described are only part of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0041] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application.

[0042] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0043] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0044] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that like symbols and letters refer to like items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0046] The embodiment of the present application provides a roll angular velocity extraction method based on the lever arm compensation technology, which aims to extract the real roll angular velocity in the over-range stage through reverse extraction of the lever arm compensation. The extraction method can be executed by an extraction device, which can be a terminal device or a server. Among them, the terminal device can include but is not limited to a mobile phone, a computer, a smart wearable device, a smart vehicle-mounted device, etc., and the embodiment of the present application does not impose any restrictions; the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, big data and artificial intelligence platforms, etc., and the embodiment of the present application does not impose any restrictions. Optionally, the extraction method can also be collaboratively executed by multiple electronic devices with computing power. For the sake of convenience, the subsequent embodiments are described as being executed by the extraction device.

[0047] See also Figure 2 , Figure 2 This is a flow chart of a roll angular velocity extraction method provided in an embodiment of the present application. The roll angular velocity extraction method is only used to extract the roll angular velocity of the carrier in the over-range phase and can be performed by an extraction device. The extraction method may include at least the following steps:

[0048] Step 1: Determine the over-range stage based on the output data of the gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis.

[0049] It should be noted that Figure 1 For example, in the figure, A1~A3 are all gyroscopes, B1~B3 are all accelerometers. Assuming that the rotation axis is the X axis, the gyroscope T is recorded as the gyroscope on the YZ axis plane, that is, A1 in the figure.

[0050] Figure 1Discrete MIMUs are internally temperature-compensated and cross-coupling-compensated to ensure the measurement accuracy of the combined MIMU. However, this design approach prevents the MEMS accelerometer from being physically located at the center of the MIMU. Under high-speed rotation, the accelerometer, mounted perpendicular to the axis of rotation, introduces centrifugal force into the measurement, leading to measurement errors. The acceleration information measured and output by the accelerometer consists of two components: acceleration caused by the carrier's maneuvering and centrifugal force caused by the carrier's rotation.

[0051] When the X-axis rotates at high speed, the output of the Y-axis accelerometer (i.e., B1 in the figure) and the Z-axis accelerometer (i.e., B2 in the figure) is composed of the following formula:

[0052] ;

[0053] ;

[0054] Where, The accelerations output by the Y-axis accelerometer and the Z-axis accelerometer, in m / s 2 , The actual acceleration of the carrier in the Y and Z directions, respectively, in m / s 2 , are the arm distances of the Y-axis accelerometer and the Z-axis accelerometer, in meters. The roll angular velocity of the carrier in the X direction, which is also the output of A1, in rad / s.

[0055] is the centrifugal force caused by the rotation in the X-axis direction, and is the lever arm error term. In high-speed rotation applications, this error term needs to be compensated. Taking the Y-axis as an example, the Y-axis acceleration output by the IMU after lever arm error compensation is:

[0056]

[0057] in, After the MIMU is assembled, it will be fixed as a constant. is the output of the Y-axis accelerometer.

[0058] Taking a certain type of MIMU as an example, comparing its output with and without lever arm error compensation, the X-axis gyroscope (i.e., A1) of this model has a range of -4194° / s to 4194° / s. The turntable is rotated from a stationary state to 7200° / s (out of range), held for a period of time, then decelerated to 4000° / s (within range), held for a period of time, and then decelerated to 0° / s. When lever arm error compensation is not enabled, the X-axis gyroscope output, Y-axis accelerometer output, and turntable input are as follows: Figure 3 As shown in the figure, the situation when lever arm error compensation is turned on is as follows Figure 4 shown.

[0059] Figure 3 and Figure 4 In the data segment 1, the X-axis gyroscope is within the range of the gyroscope, and the gyroscope outputs normally with the turntable input. The data segment 2 exceeds the range, the turntable input increases, and the gyroscope output is a constant value.

[0060] contrast Figure 3 and Figure 4 In data segment 1, the Y-axis accelerometer output (within the dotted oval frame) changes with the rotational speed when the lever arm error compensation is not enabled. When the lever arm error compensation is enabled, the Y-axis accelerometer output remains stable and does not change with the rotational speed, which can effectively compensate for the lever arm error term. When the carrier rotational speed exceeds the measurable range of the X-axis gyroscope (corresponding to data segment 2), It becomes a full-scale fixed output (i.e. full scale), and the lever arm error compensation item becomes a fixed value.

[0061] Therefore, based on The change of can be used to determine which time period is the over-range stage. Specifically, the full-scale segment is obtained from the output data of the gyroscope T, and the full-scale segment is used as the over-range stage. At each moment in the full-scale segment, the output of the gyroscope T is full-scale.

[0062] Step 2: Calculate the true roll angular velocity of the carrier at each moment during the overrange phase based on the arm-compensated output of accelerometer J, the arm distance of accelerometer J, and the full-scale value of gyroscope T. Accelerometer J is located on a plane perpendicular to the rotation axis, and the arm distance of accelerometer J is greater than the arm distances of other accelerometers located on the plane perpendicular to the rotation axis.

[0063] It should be noted that, combined with Figure 3 and Figure 4 ,The arm error caused by the overspeed range is not effectively compensated, and an error term related to the carrier speed is superimposed on the Y-axis accelerometer output, Figure 4 The Y-axis accelerometer output in data segment 2 changes with the carrier rotation speed. The error term of this change can be reversely solved to extract the speed information when the carrier exceeds the range.

[0064] During the overrange phase, the Y-axis accelerometer can sense the arm error of the overrange rotation:

[0065] ;

[0066] However, since the gyro has already fully deflected, the Y-axis accelerometer output of the MIMU after lever arm error compensation is:

[0067] ;

[0068] Where, is the full scale of the X-axis gyroscope.

[0069] Will Substituting into the above formula we can get:

[0070] ;

[0071] So:

[0072] .

[0073] Therefore, by obtaining the output of the accelerometer J arm compensated at each moment in the overrange phase (i.e., the acceleration value of the accelerometer J arm compensated by the MIMU), combined with the arm distance of the accelerometer J and the full scale of the gyroscope T, we can obtain:

[0074] ;

[0075] Where, is the true roll angular velocity, is the output of the accelerometer after J-arm compensation, is the arm distance of the accelerometer J, is the full scale of the gyroscope T.

[0076] Assuming that the rotation axis is the X axis, in the above formula That is the upper limit of the X-axis gyroscope range. Assuming that the arm distance of B1 is greater than the arm distance of B2, the output of B1 is used to calculate the true roll angular velocity, that is, is the output of B1 after lever arm error compensation, is the arm distance of B1.

[0077] The above method uses lever arm compensation to reversely extract the true roll angular velocity in the over-range stage. That is, based on the output of accelerometer J after lever arm compensation, the lever arm distance of accelerometer J and the full scale of gyroscope T, the true roll angular velocity of the carrier in the over-range stage is calculated, which fills the gap in the flight data of the over-range stage in the ballistic test and ensures the reliability of the ballistic test.

[0078] See also Figure 5 , Figure 5 is a block diagram of a roll angular velocity extraction device provided in an embodiment of the present application, which is used to extract the roll angular velocity of a carrier in an over-range phase. Figure 5 The embodiment is a virtual device that can be loaded and executed by a computer device, which may include the above-mentioned extraction device, Figure 5The device may include an over-range stage determination module and an over-range stage roll angular velocity module, which, when used to execute the above roll angular velocity extraction method, may:

[0079] The over-range stage determining module determines the over-range stage according to the output data of the gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis.

[0080] The overrange phase roll angular velocity module calculates the carrier's true roll angular velocity at each moment during the overrange phase based on the lever-arm-compensated output of accelerometer J, the lever-arm distance of accelerometer J, and the full-scale range of gyroscope T. Accelerometer J is located in a plane perpendicular to the rotation axis, and its lever-arm distance is greater than the lever-arm distances of other accelerometers in the plane perpendicular to the rotation axis.

[0081] The above-mentioned device uses arm compensation to reversely extract the true roll angular velocity in the over-range stage. That is, based on the output of accelerometer J after arm compensation, the arm distance of accelerometer J and the full scale of gyroscope T, the true roll angular velocity of the carrier in the over-range stage is calculated, which fills the gap in the flight data of the over-range stage in the ballistic test and ensures the reliability of the ballistic test.

[0082] See also Figure 6 , Figure 6 : This is a flow chart of a roll angular velocity extraction method provided in an embodiment of the present application. The roll angular velocity extraction method is used to extract the roll angular velocity of a carrier during the entire ballistic test process and can also be performed by an extraction device. The extraction method may include at least the following steps:

[0083] S1) determining an over-range phase and a non-over-range phase based on output data of a gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis.

[0084] Similar to step 1 above, in the entire ballistic test, except for the over-range stage, the rest of the time period is the non-over-range stage, that is, the roll angular velocity is within the measurement range of the gyroscope. The specific process can be: from the output data of the gyroscope T, obtain the full-scale segment and the non-full-scale segment, and use the full-scale segment as the over-range stage, and use the non-full-scale segment as the non-over-range stage; wherein, at each moment in the full-scale segment, the output of the gyroscope T is full-scale; at each moment in the non-full-scale segment, the output of the gyroscope T is non-full-scale.

[0085] S2) for each moment in the non-overrange phase, using the output of the gyroscope T at each moment as the true roll angular velocity of the carrier at each moment in the non-overrange phase;

[0086] S3) For each moment in the overrange phase, calculate the true roll angular velocity of the carrier at each moment in the overrange phase based on the lever-arm compensated output of accelerometer J, the lever-arm distance of accelerometer J, and the full-scale value of gyroscope T; accelerometer J is an accelerometer in a plane perpendicular to the rotation axis.

[0087] The above formula for calculating the true roll angular velocity of the carrier at each moment during the over-range phase can be expressed as:

[0088] ;

[0089] Where, is the true roll angular velocity, is the output of the accelerometer after J-arm compensation, is the arm distance of the accelerometer J, is the full scale of the gyroscope T.

[0090] See also Figure 7 In the figure, the blue line segment is the output of the gyroscope in the non-full-scale stage, and the yellow line segment is the actual roll angle extracted in the over-range stage, which fills the gap in the flight data in the over-range stage of the ballistic test.

[0091] The above method uses lever arm compensation to reversely extract the true roll angular velocity in the over-range stage, filling the gap in flight data in the over-range stage of ballistic testing. Combined with the output of the gyroscope in the non-full-scale stage, complete flight data can be obtained, ensuring the reliability of the ballistic test.

[0092] See also Figure 8 , Figure 8 This is a block diagram of a roll angular velocity extraction device provided in an embodiment of the present application, which is used to extract the roll angular velocity of a carrier during the entire ballistic test process. Figure 8 The embodiment is a virtual device that can be loaded and executed by a computer device, which may include the above-mentioned extraction device, Figure 8 The device may include a stage determination module, a non-overrange stage roll angular velocity module, and an overrange stage roll angular velocity module, which, when used to execute the above roll angular velocity extraction method, may:

[0093] The phase determination module determines the over-range phase and the non-over-range phase according to the output data of the gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis.

[0094] The roll angular velocity module in the non-overrange stage uses the output of the gyroscope T at each moment in the non-overrange stage as the true roll angular velocity of the carrier at each moment in the non-overrange stage.

[0095] The overrange phase roll angular velocity module calculates the carrier's true roll angular velocity at each moment during the overrange phase based on the compensated output of accelerometer J, the arm distance of accelerometer J, and the full-scale value of gyroscope T. Accelerometer J is an accelerometer located in a plane perpendicular to the axis of rotation.

[0096] The above-mentioned device uses lever arm compensation to reversely extract the true roll angular velocity in the over-range stage, filling the gap in flight data in the over-range stage of ballistic testing. Combined with the output of the gyroscope in the non-full-scale stage, complete flight data can be obtained, ensuring the reliability of the ballistic test.

[0097] The present application also relates to a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions. When the instructions are executed by a computing device, the computing device executes a roll angular velocity extraction method.

[0098] The present application also relates to a computer device, comprising one or more processors and one or more memories, wherein one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for executing the roll angular velocity extraction method.

[0099] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0101] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0102] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0103] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A method for extracting roll angular velocity, characterized in that: The method is used to extract the carrier roll angular velocity in the over-range phase, and the method includes: The over-range stage is determined based on the output data of the gyroscope T, wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis; For each moment in the overrange phase, the true roll angular velocity of the carrier at each moment in the overrange phase is calculated based on the output of accelerometer J after lever arm compensation, the lever arm distance of accelerometer J, and the full-scale range of gyroscope T. Accelerometer J is an accelerometer in a plane perpendicular to the rotation axis, and the lever arm distance of accelerometer J is greater than the lever arm distances of other accelerometers in the plane perpendicular to the rotation axis.

2. The method according to claim 1, characterized in that According to the output data of the gyroscope T, the over-range stage is determined, including: A full-scale segment is obtained from the output data of the gyroscope T, and the full-scale segment is used as an over-range stage; wherein, at each moment in the full-scale segment, the output of the gyroscope T is full-scale.

3. The method according to claim 1, characterized in that Calculate the true roll angular velocity of the carrier at each moment during the over-range phase using the following formula: ； Where, is the true roll angular velocity, is the output of the accelerometer after J-arm compensation, is the arm distance of the accelerometer J, is the full scale of the gyroscope T.

4. A roll angular velocity extraction device, characterized in that: The device is used to extract the carrier roll angular velocity in the over-range phase, and the device includes: an over-range stage determining module, which determines the over-range stage based on output data of a gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis; The overrange phase roll angular velocity module calculates the carrier's true roll angular velocity at each moment during the overrange phase based on the lever-arm-compensated output of accelerometer J, the lever-arm distance of accelerometer J, and the full-scale range of gyroscope T. Accelerometer J is located in a plane perpendicular to the rotation axis, and its lever-arm distance is greater than the lever-arm distances of other accelerometers in the plane perpendicular to the rotation axis.

5. A method for extracting roll angular velocity, characterized in that: The method is used to extract the carrier rolling angular velocity during the entire ballistic test process, and the method includes: Determining the over-range phase and the non-over-range phase based on the output data of the gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis; For each moment in the non-overrange phase, the output of the gyroscope T at each moment is used as the true roll angular velocity of the carrier at each moment in the non-overrange phase; For each moment in the overrange phase, the true roll angular velocity of the carrier at each moment in the overrange phase is calculated based on the output of accelerometer J after arm compensation, the arm distance of accelerometer J, and the full-scale range of gyroscope T. Here, accelerometer J is an accelerometer in the plane perpendicular to the rotation axis.

6. The method according to claim 5, characterized in that According to the output data of the gyroscope T, the over-range stage and the non-over-range stage are determined, including: From the output data of the gyroscope T, a full-scale segment and a non-full-scale segment are obtained, and the full-scale segment is used as an over-range stage, and the non-full-scale segment is used as a non-over-range stage; wherein, at each moment in the full-scale segment, the output of the gyroscope T is full-scale; and at each moment in the non-full-scale segment, the output of the gyroscope T is non-full-scale.

7. The method according to claim 5, characterized in that Calculate the true roll angular velocity of the carrier at each moment during the over-range phase using the following formula: ； Where, is the true roll angular velocity, is the output of the accelerometer after J-arm compensation, is the arm distance of the accelerometer J, is the full scale of the gyroscope T.

8. A roll angular velocity extraction device, characterized in that: The device is used to extract the carrier rolling angular velocity during the entire ballistic test process, and the device includes: a stage determination module, determining an over-range stage and a non-over-range stage based on output data of a gyroscope T; wherein the gyroscope T is a gyroscope on a plane perpendicular to the rotation axis; The roll angular velocity module in the non-overrange phase uses the output of the gyroscope T at each moment in the non-overrange phase as the true roll angular velocity of the carrier at each moment in the non-overrange phase; The overrange phase roll angular velocity module calculates the carrier's true roll angular velocity at each moment during the overrange phase based on the compensated output of accelerometer J, the arm distance of accelerometer J, and the full-scale value of gyroscope T. Accelerometer J is an accelerometer located in a plane perpendicular to the axis of rotation.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs include instructions. When the instructions are executed by a computing device, the computing device executes the method of any one of claims 1 to 3 and 5 to 7.

10. A computer device, characterized in that: include: One or more processors, and one or more memories, one or more programs stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for executing the method of any one of claims 1 to 3 and 5 to 7.

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