Motor Weishi rocket engine three-view PD-3S manned rocket gyroscope and calibration method thereof

Abstract

The invention relates to the technical field of manned rockets, in particular to a motor Weishi rocket engine three-view PD-3S manned rocket gyroscope and a calibration method of the motor Weishi rocket engine three-view PD-3S manned rocket gyroscope. Therefore, the inertial navigation system and the positioning navigation system are used for jointly measuring the running attitude, acceleration and angular velocity information of the rocket, the running speed, position and attitude of the rocket are calculated in real time by combining given initial conditions, the position and attitude of the rocket are accurately calibrated, real-time correction of the running trajectory of the rocket is completed, and the real-time correction of the running trajectory of the rocket is realized. Therefore, the technical problem that the rocket completely deviates from the original orbit due to the fact that various adverse factors such as climate, wind direction and environmental conditions exist in the rocket launching and running process of an existing manned rocket can cause deviation of the specified running trajectory of the rocket is solved.

Description

Technical Field

[0001] This invention relates to the field of manned rocket technology, and in particular to a three-view PD-3S manned rocket gyroscope for the Motor Sich rocket engine and its calibration method. Background Technology

[0002] With the urgent need for space launch vehicle technology driven by the development of the global space industry, gyroscopes, which measure the rate of change of rotation direction and angular velocity, are widely used in various fields, including aerospace, robotics, consumer electronics, and metaverse technology. The human body also has a built-in gyroscope system that provides directional information and helps us maintain balance. Any object that rotates at high speed around its own axis of symmetry can be called a gyroscope, and gyroscopes have unique rotational laws. The two most fundamental characteristics of a gyroscope are its fixed-axis orientation and precession. Utilizing the fixed-axis orientation and precession of a gyroscope, different structures and circuits can be used to obtain gyroscopes with different functions, such as rate gyroscopes (used to measure angular velocity), integrating gyroscopes (used to measure angles), and gyroscopic accelerometers (used to measure acceleration).

[0003] Inertial guidance is a technology that uses inertial principles to control and guide rockets toward their targets. It is the most basic guidance method, and the core component of an inertial guidance system is the gyroscope, which is the heart of the system. The primary task of rocket attitude control is to determine the rocket's own attitude state. The rocket "observes" its attitude, angle (orientation), and velocity mainly through gyroscopes and accelerometers. A typical rocket has three rate gyroscopes, but due to the high reliability requirements of manned rockets, more gyroscopes may be installed. For example, the Long March 2F manned rocket has six rate gyroscopes to measure the rocket's pitch, yaw, and roll angular velocities. The rocket first obtains attitude information through the gyroscopes, and then processes this information into usable signals. This processing includes calculations, conversions, and amplification of the measured information. Afterward, the control system compiles this converted information into commands that can be used to operate the rocket, thus achieving rocket control. The rocket's servo and control mechanisms act as its "hands" and "feet." Take a rocket with a traditional, oscillating nozzle as an example.

[0004] According to the People's Republic of China Aerospace Industry Standard QJ1079A-2004 "Main Accuracy Indicators and Test Methods for Gyroscopes" and the National Military Standard GJB2426-95 "Test Methods for Fiber Optic Gyroscopes," the main accuracy indicators of inertial gyroscopes include systematic drift rate, stability of systematic drift rate, and random drift rate. Based on different application scenarios and accuracy requirements, gyroscopes required for inertial navigation can be divided into strategic-level, navigation-level, tactical-level, and consumer-level. Among them, laser gyroscopes, fiber optic gyroscopes, and hemispherical resonator gyroscopes are mainly used in tactical, navigation, and strategic-level scenarios, while MEMS gyroscopes are mainly used in consumer-level scenarios. Besides traditional mechanical gyroscopes, there are also laser gyroscopes, fiber optic gyroscopes, quantum gyroscopes, and microelectromechanical systems (MEMS) gyroscopes. Laser gyroscopes and fiber optic gyroscopes are currently the most widely used gyroscopes in the aerospace field, offering higher accuracy, faster response, and stronger reliability. In addition, quantum gyroscopes also have extremely high accuracy, but their structure is more complex.

[0005] The "Key Technologies of Micro-miniature Atomic Spin Gyroscopes Based on Magnetic Resonance" project, a key project in the field of Earth Observation and Navigation Technology under the 12th Five-Year Plan's 863 Program, undertaken by the Beijing Institute of Automation and Control Equipment, has achieved breakthrough progress after one and a half years of research. The project team has overcome precision quantum manipulation technologies such as nuclear spin-electron spin coupling polarization and detection, completed the precision design and manufacturing of miniaturized magnetic resonance gas chambers and high-efficiency magnetic shielding components, and successfully developed my country's first prototype atomic spin gyroscope based on magnetic resonance. The prototype's zero-bias stability is better than 2° / h, making China the second country in the world to master this technology, narrowing the technological gap with the United States from 10 years to 7 years. Meanwhile, Sumitomo Precision Industries and the Japan Aerospace Exploration Agency (JAXA) have jointly developed a high-precision MEMS gyroscope for rockets. This gyroscope is an important device for monitoring the navigation position of rockets, satellites, and other aircraft and spacecraft. The new MEMS gyroscope has improved accuracy by an order of magnitude compared to the original gyroscope, reaching 0.1° / h.

[0006] Rockets play an increasingly important role as launch vehicles in scientific experiments, military applications, and space exploration. Because it is necessary to manage the effects of adverse factors during rocket launch and operation, such as weather and wind conditions, designing a three-view PD-3S manned rocket gyroscope for the Motor Sich rocket engine and its calibration method is of great significance for improving the success rate of rocket launches. Summary of the Invention

[0007] The purpose of this invention is to provide a three-view PD-3S manned rocket gyroscope for the Motor Sich rocket engine and its calibration method, which solves the technical problem that various adverse factors, such as climate, wind direction and environmental conditions, exist in existing manned rockets during launch and operation. These adverse factors can cause deviations from the designated trajectory of the rocket, resulting in the rocket completely deviating from its original trajectory.

[0008] To achieve the above objectives, the present invention provides a three-view PD-3S manned rocket gyroscope for the Motor Sich rocket engine, including a gyroscope body and a control system. The control system includes an inertial navigation system and a positioning navigation system. The inertial navigation system and the positioning navigation system together measure the rocket's attitude, acceleration, and angular velocity information. Combined with given initial conditions, the system calculates the rocket's velocity, position, and attitude in real time, accurately calibrates the rocket's position and attitude, and completes real-time correction of the rocket's trajectory.

[0009] The inertial navigation system includes an inertial sensor, an algorithm processing module, and a control module. The inertial sensor measures the rocket's attitude, acceleration, and angular velocity. The algorithm processing module is connected to both the gyroscope and the inertial sensor and performs algorithmic processing on the information of the rocket's attitude, acceleration, and angular velocity measured by the gyroscope or the inertial sensor. The control module is connected to the algorithm processing module and receives the processed data, adjusting the rocket's attitude, acceleration, and angular velocity in real time based on the data.

[0010] The positioning and navigation system is an aerospace-grade three-view positioning and navigation system.

[0011] The gyroscope body is a miniature nuclear magnetic resonance gyroscope.

[0012] The gyroscope body contains three rotating gyroscopes spaced 90 degrees apart from each other.

[0013] This invention also provides a calibration method for the gyroscope of the Motor Sich rocket engine's three-view PD-3S manned rocket, comprising the following steps:

[0014] Initialize the gyroscope scale factor and non-orthogonal error of the gyroscope body, and control the rotating gyroscope on the gyroscope body to be in the initial zero position;

[0015] The gyroscope body is subjected to coarse calibration, gyroscope scale factor and nonorthogonal estimation;

[0016] An improved multi-position calibration method for MEMS sensors is proposed, replacing the traditional six-position static and rate tests, with a reference input from a rotary table.

[0017] The rocket's inertial navigation system and the gyroscope body can simultaneously detect multiple positions, enabling the analysis and estimation of the MEMS sensor's deviation, the gyroscope's scale factor, and the non-orthogonality.

[0018] When there is a significant misalignment between the accelerometer and the gyroscope, the three-view inertial navigation algorithm calibrates the two MEMS sensors to a single reference frame, thus coordinating the misalignment between the multiple sensors.

[0019] The calibration method for the PD-3S manned rocket gyroscope of the Motor Sich rocket engine is based on the Motor Sich three-view cosmic positioning system.

[0020] This invention discloses a three-view PD-3S manned rocket gyroscope for a Motor Sich rocket engine and its calibration method. By setting up an inertial navigation system and a positioning navigation system, the invention allows for the joint measurement of the rocket's attitude, acceleration, and angular velocity information. Combined with given initial conditions, the invention calculates the rocket's velocity, position, and attitude in real time, precisely calibrating the rocket's position and attitude, and completing real-time correction of the rocket's trajectory. This solves the technical problem of existing manned rockets encountering various adverse factors during launch and operation, such as weather and wind conditions, which can cause deviations from the designated trajectory and lead to the rocket completely deviating from its original path. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0022] Figure 1 This is a control principle diagram of the PD-3S manned rocket gyroscope of the Motor Sich rocket engine according to the first embodiment of the present invention.

[0023] Figure 2 This is a flowchart illustrating the calibration method for the PD-3S manned rocket gyroscope of the Motor Sich rocket engine according to the second embodiment of the present invention.

[0024] In the diagram: 101-Gyroscope body, 102-Inertial navigation system, 103-Positioning and navigation system, 104-Inertial sensor, 105-Algorithm processing module, 106-Control module. Detailed Implementation

[0025] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0026] First embodiment:

[0027] Please see Figure 1 ,in Figure 1 This is a control principle diagram of the PD-3S manned rocket gyroscope of the Motor Sich rocket engine according to the first embodiment of the present invention. The present invention provides a PD-3S manned rocket gyroscope of the Motor Sich rocket engine, including a gyroscope body 101 and a control system. The control system includes an inertial navigation system 102 and a positioning navigation system 103. The inertial navigation system 102 includes an inertial sensor 104, an algorithm processing module 105 and a control module 106.

[0028] In this embodiment, the present invention, by setting up the inertial navigation system 102 and the positioning navigation system 103, can jointly measure the rocket's attitude, acceleration, and angular velocity information. Combined with given initial conditions, the rocket's speed, position, and attitude can be calculated in real time, and the rocket's position and attitude can be accurately calibrated. This completes the real-time correction of the rocket's trajectory, thereby solving the technical problem that existing manned rockets face various adverse factors during launch and operation, such as weather, wind direction, and environmental conditions. These adverse factors can cause deviations from the designated trajectory of the rocket, resulting in the rocket completely deviating from its original orbit.

[0029] The inertial navigation system 102 and the positioning navigation system 103 jointly measure the rocket's attitude, acceleration, and angular velocity information. Combined with the given initial conditions, they calculate the rocket's speed, position, and attitude in real time, accurately calibrate the rocket's position and attitude, and complete the real-time correction of the rocket's trajectory.

[0030] Secondly, the inertial sensor 104 is used to measure the rocket's attitude, acceleration, and angular velocity; the algorithm processing module 105 is connected to the gyroscope body 101 and the inertial sensor 104 respectively, and is used to perform algorithm processing on the information of the rocket's attitude, acceleration, and angular velocity measured by the gyroscope body 101 or the inertial sensor 104; the control module 106 is connected to the algorithm processing module 105, and is used to receive the data processed by the algorithm processing module 105, and adjust the rocket's attitude, acceleration, and angular velocity in real time according to the data; the inertial sensor 104 is a MEMS sensor.

[0031] Furthermore, the control system is based on the light energy transmission algorithm, which is the same as the Pythagorean theorem for plane triangles, and uses the three coordinates of the sun, moon, and earth as references.

[0032] Meanwhile, the positioning and navigation system 103 is an aerospace-grade three-view positioning and navigation system 103.

[0033] In addition, when the algorithm processing module 105 processes the information on the rocket's attitude, acceleration and angular velocity, it will perform calculations, conversions and amplifications on the measured information.

[0034] Finally, the gyroscope body 101 is a miniature nuclear magnetic resonance gyroscope. The gyroscope body 101 contains three rotating gyroscopes spaced 90 degrees apart from each other. When the rocket's direction changes, the three rotating gyroscopes will sense the corresponding torque change and convert the torque change into an electrical signal. The electrical signal is then sent to the motor of each gimbal. The motor will execute in the opposite direction to counteract the rotational force, ensuring that the platform of the gyroscope body 101 can always be in a completely stable state. A sensing structure is set on the other side of the gimbal, so that the rotation angle of the gimbal can be detected in real time and fed back to the rocket, so that the rocket can accurately know its exact direction.

[0035] When using the PD-3S manned rocket gyroscope of the Motor Sich rocket engine in this embodiment, various adverse factors (such as weather, wind direction and other environmental conditions) may cause the rocket to deviate from its designated trajectory during the rocket's propulsion process. Therefore, at the time of rocket launch, an absolute starting position must first be determined; otherwise, the rocket will eventually deviate completely from its original trajectory. Since the flight trajectory of the launch vehicle is pre-designed, as long as the position of the rocket is known, it can be determined whether the rocket has deviated from the predetermined trajectory and by how much. Currently, two methods are commonly used to determine the position of the rocket: the Global Positioning System and the Inertial Navigation System 102.

[0036] The control system of the gyroscope in the Motor Sich PD-3S manned rocket engine is mainly based on the light energy transmission algorithm, which is the same as the Pythagorean theorem for plane triangles, and uses the three coordinates of the sun, moon and earth as references to position and adjust the gyroscope body 101 in real time. The inertial sensor 104 measures the rocket's running attitude, acceleration, angular velocity and other information. Combined with the given initial conditions, it is fused with the relevant information of the positioning and navigation system 103 of the space-grade PD-3S manned rocket engine, so that the rocket's speed, position and attitude parameters can be calculated and analyzed in real time. In this way, a precise calibration method for the rocket's position and attitude can be established.

[0037] The gyroscope body 101 of the Motor Sich PD-3S manned rocket engine's three-view gyroscope employs a miniature nuclear magnetic resonance gyroscope. The gyroscope body 101 contains three rotating gyroscopes spaced 90 degrees apart. When the rocket's orientation changes, the three rotating gyroscopes sense the corresponding torque change and convert it into an electrical signal. This signal is then sent to the motors of each gimbal. The motors then execute actions in the opposite direction to counteract the rotational force, ensuring that the platform of the gyroscope body 101 remains completely stable. A [further details about the gyroscope body 101 are missing from the original text.] The sensing structure can detect the rotation angle of the gimbal in real time and feed it back to the rocket, enabling the rocket to accurately determine its exact direction. The gyroscope body 101 adopts a unique atomic-level material stacking and integration design and manufacturing method, which can achieve high-precision, small-size, low-power, and low-cost gyroscope design and manufacturing. Since the miniature nuclear magnetic resonance gyroscope used in the gyroscope body 101 has the characteristics of large dynamic range and large bandwidth, it helps the rocket to achieve high-speed, high-precision, and micro-attitude measurement and control, and can provide inertial navigation control for the rocket in areas where cosmic navigation signals cannot reach.

[0038] In summary, by setting up the inertial navigation system 102 and the positioning navigation system 103, the present invention can jointly measure the rocket's attitude, acceleration, and angular velocity information. Combined with given initial conditions, it can calculate the rocket's speed, position, and attitude in real time, accurately calibrate the rocket's position and attitude, and complete the real-time correction of the rocket's trajectory. This solves the technical problem that existing manned rockets face various adverse factors during launch and operation, such as weather, wind direction, and environmental conditions, which can cause deviations from the designated trajectory and lead to the rocket completely deviating from its original orbit.

[0039] Second embodiment:

[0040] Based on the first embodiment, please refer to Figure 2 , Figure 2 This is a flowchart illustrating the calibration method for the PD-3S manned rocket gyroscope of the Motor Sich rocket engine according to the second embodiment of the present invention. The present invention also provides a calibration method for the PD-3S manned rocket gyroscope of the Motor Sich rocket engine, comprising the following steps:

[0041] S101. Initialize the gyroscope scale factor and non-orthogonal error of the gyroscope body 101, and control the rotating gyroscope on the gyroscope body 101 to be in the initial zero position;

[0042] S102, Perform coarse calibration, gyroscope scale factor and nonorthogonal estimation on the gyroscope body 101;

[0043] S103. Based on the reference input from the rotary table, an improved multi-position calibration method for MEMS sensors is proposed to replace the traditional six-position static and rate tests.

[0044] S104. The rocket's inertial navigation system 102 and the gyroscope body 101 simultaneously detect multiple positions to achieve analysis and estimation of the MEMS sensor's deviation, the gyroscope's scale factor, and the non-orthogonality.

[0045] S105. When there is a significant misalignment between the accelerometer and the gyroscope body 101, the three-view inertial navigation algorithm calibrates the two MEMS sensors to a single reference frame, thereby coordinating the misalignment between multiple sensors.

[0046] In this embodiment, by calibrating the manned rocket's gyroscope before the rocket propulsion operation, errors in the rocket's positioning and attitude control during navigation caused by the manned rocket's gyroscope during propulsion are avoided, thereby ensuring the stable and precise operation of the manned rocket.

[0047] The calibration method for the PD-3S manned rocket gyroscope of the Motor Sich rocket engine is based on the Motor Sich three-view cosmic positioning system.

[0048] When using the calibration method for the PD-3S manned rocket gyroscope of the Motor Sich rocket engine in this embodiment, the manned rocket gyroscope needs to be calibrated before rocket propulsion. During calibration, the gyroscope scale factor and non-orthogonal error of the gyroscope body 101 are first initialized, and the rotating gyroscope on the gyroscope body 101 is controlled to be in the initial zero position. Then, coarse calibration, gyroscope scale factor and non-orthogonal estimation are performed on the gyroscope body 101. The reference is input from the rotating turntable. An improved multi-position calibration method for MEMS sensors is proposed to replace... Traditional six-position static and velocity testing allows the rocket's inertial navigation system 102 and gyroscope body 101 to simultaneously detect multiple positions, enabling analysis and estimation of MEMS sensor deviations, gyroscope scale factors, and non-orthogonality. When there is significant misalignment between the accelerometer and the gyroscope body 101, the three-view inertial navigation algorithm calibrates the two MEMS sensors to a single reference frame, achieving coordination of misalignment among multiple sensors and avoiding positioning and attitude control errors during navigation.

[0049] In summary, by calibrating the manned rocket's gyroscope before propulsion, errors in the rocket's positioning and attitude control during navigation can be avoided, thus ensuring the stable and precise operation of the manned rocket.

[0050] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A gyroscope for the Motor Sich rocket engine's three-view PD-3S manned rocket, comprising a gyroscope body, characterized in that, It also includes the control system; The control system includes an inertial navigation system and a positioning navigation system. The inertial navigation system and the positioning navigation system together measure the rocket's attitude, acceleration, and angular velocity information. Combined with the given initial conditions, they calculate the rocket's speed, position, and attitude in real time, accurately calibrate the rocket's position and attitude, and complete the real-time correction of the rocket's trajectory.

2. The Motor Sich rocket engine three-view PD-3S manned rocket gyroscope as described in claim 1, characterized in that, The inertial navigation system includes an inertial sensor, an algorithm processing module, and a control module. The inertial sensor measures the rocket's attitude, acceleration, and angular velocity. The algorithm processing module is connected to both the gyroscope and the inertial sensor, and performs algorithmic processing on the information of the rocket's attitude, acceleration, and angular velocity measured by the gyroscope or the inertial sensor. The control module is connected to the algorithm processing module, receives the processed data, and adjusts the rocket's attitude, acceleration, and angular velocity in real time based on the data.

3. The Motor Sich rocket engine three-view PD-3S manned rocket gyroscope as described in claim 1, characterized in that, The positioning and navigation system is an aerospace-grade three-view positioning and navigation system.

4. The Motor Sich rocket engine three-view PD-3S manned rocket gyroscope as described in claim 1, characterized in that, The gyroscope itself is a miniature nuclear magnetic resonance gyroscope.

5. The Motor Sich rocket engine three-view PD-3S manned rocket gyroscope as described in claim 4, characterized in that, The gyroscope body contains three rotating gyroscopes spaced 90 degrees apart from each other.

6. A calibration method for a three-view PD-3S manned rocket gyroscope of a Motor Sich rocket engine, applied to the three-view PD-3S manned rocket gyroscope of any one of claims 1 to 5, characterized in that, Includes the following steps: Initialize the gyroscope scale factor and non-orthogonal error of the gyroscope body, and control the rotating gyroscope on the gyroscope body to be in the initial zero position; The gyroscope body is subjected to coarse calibration, gyroscope scale factor and nonorthogonal estimation; An improved multi-position calibration method for MEMS sensors is proposed, replacing the traditional six-position static and rate tests, with a reference input from a rotary table. The rocket's inertial navigation system and the gyroscope body can simultaneously detect multiple positions, enabling the analysis and estimation of the MEMS sensor's deviation, the gyroscope's scale factor, and the non-orthogonality. When there is a significant misalignment between the accelerometer and the gyroscope, the three-view inertial navigation algorithm calibrates the two MEMS sensors to a single reference frame, thereby coordinating the misalignment between the multiple sensors.

7. The calibration method for the PD-3S manned rocket gyroscope of the Motor Sich rocket engine as described in claim 6, characterized in that, The calibration method for the PD-3S manned rocket gyroscope of the Motor Sich rocket engine is based on the Motor Sich three-view cosmic positioning system.

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