旋转弹体背景磁场模型和地磁姿态测试方法研究
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摘要
随着对弹药射击精度要求的不断提高及各种智能弹药的研制,迫切需要掌握弹体飞行的规律。精确测量弹体的飞行姿态参数成了刻不容缓的研究任务。准确测试旋转弹体的飞行姿态数据以提高各种武器性能,对我国国防科技发展有着重要的现实意义。
利用地磁场测量来实现弹体的姿态测试具有无源、无辐射、全天时、全天候、能耗低的优良特征,已经成为弹箭姿态信息获取方法的发展趋势。目前所有利用地磁来进行飞行体姿态测量的方法都面临背景磁场的干扰问题,且仅测量地磁场三轴分量无法得到姿态角的全部信息,使得该技术在载体姿态测量中还处于辅助测量的地位。
本文对旋转弹体背景磁场的干扰机理和特性进行分析,建立了背景磁场的数学模型,进行了弹上地磁场测量的模型化补偿技术的研究。采用全磁传感器组合,寻求合理的布阵方式及解算方法,设计了基于地磁探测的旋转弹体姿态角测量方案。在此基础上完成了测试系统的软硬件设计,对研制的测量装置进行了半实物仿真实验,验证了所设计方案的有效性。论文具体包括以下内容：
(1)在分析背景磁场的组成及其干扰机理的基础上,研究了旋转弹体背景磁场的数学建模,并结合磁传感器自身误差特性,建立了地磁场测量综合补偿模型,提出了弹上地磁测量的模型化补偿方法。
(2)设计了补偿模型系数分离求解的方法。对比研究了四种静态模型系数估计算法的优劣性。对动态涡流补偿系数的估计算法进行了优化设计。利用仿真和实验验证了模型系数估计方法的有效性和可靠性。
(3)提出了基于三正交比值法的旋转弹体测姿方法,并结合弹上地磁分量测量的模型化补偿技术设计了一种全磁传感器组合的旋转弹体姿态修正方案。该方案适用于旋转弹体的姿态测量,具备全天时、全天候的测量能力。
(4)设计了一套以FPGA为主控制微处理器的地磁场测量采集存储系统。该系统采用数据存储、事后回收的模式,同时适用于转台实验和弹载测试。
(5)对全磁组合测姿系统半实物装置进行了研制。利用三轴转台进行了半实物验证实验,结果表明姿态解算误差在±1°以内。
With the continuous improvement requirements of ammunition firing accuracy and the development of all kinds of intelligent ammunition, accurate measurement of the projectile flight attitude parameters has become the urgent task. It can improve the performance of weapon and develop the national defense science and technology.
Achieving attitude measurement of projectile with geomagnetic measuring has good characteristics, such as no source, no radiation, all-time, all-weather and low energy consumption. It has become the development trend of the projectile attitude measuring methods. At present, all the methods giving orientations with respect to geomagnetic field are faced with the interference of background magnetic field. Meanwhile, the three axis components of the geomagnetic cannot give the whole attitude information. These problems make this technology to be still auxiliary in the carrier attitude measurement.
The interference mechanism and characteristic of rotating projectile background magnetic field are analyzed. A mathematical model of background magnetic field is built and the researches of modeling compensation technology for magnetic measuring on projectile are carried out. An attitude measurement method is designed based on full magnetic sensor combination. Reasonable configuration and calculating method are discussed. On the basis, the test system software and hardware design are accomplished. The hardware-in-the-loop simulation of the developed measuring device is carried out to verify the effectiveness of the proposed design. Main research work can be summed up in the following aspects:
(1) The mathematical modeling of rotary projectile background magnetic field is studied based on the interference mechanism analysis. Combined with the self-error characteristics of magnetic sensor, the comprehensive compensation model of magnetic survey is built and modeling compensation method is put forward.
(2) The separating estimation method of the compensation model coefficients is researched. The qualities of four identification algorithms for static model coefficients are studied. The optimization design of the dynamic eddy current compensation coefficients estimation is accomplished. The effectiveness and reliability of the proposed methods are verified by the simulations and experiments.
(3) The three orthogonal ratio method is put forward for measuring projectile attitude. Combining with the proposed modeling compensation technology, a new attitude correction method with full magnetic sensor unit is designed, which has all-time, all-weather measuring capability and is suitable for rotating projectile.
(4) Data acquisition system with FPGA microprocessor control is designed for geomagnetic measurement. This system works in data storage and recovery mode, and suitable for both turntable experiment and the missile-borne experiment.
(5) The hardware-in-the-loop device is developed for the experiments, which are carried on using three-axis turntable. The results show that calculating errors are within±1°.
利用地磁场测量来实现弹体的姿态测试具有无源、无辐射、全天时、全天候、能耗低的优良特征,已经成为弹箭姿态信息获取方法的发展趋势。目前所有利用地磁来进行飞行体姿态测量的方法都面临背景磁场的干扰问题,且仅测量地磁场三轴分量无法得到姿态角的全部信息,使得该技术在载体姿态测量中还处于辅助测量的地位。
本文对旋转弹体背景磁场的干扰机理和特性进行分析,建立了背景磁场的数学模型,进行了弹上地磁场测量的模型化补偿技术的研究。采用全磁传感器组合,寻求合理的布阵方式及解算方法,设计了基于地磁探测的旋转弹体姿态角测量方案。在此基础上完成了测试系统的软硬件设计,对研制的测量装置进行了半实物仿真实验,验证了所设计方案的有效性。论文具体包括以下内容：
(1)在分析背景磁场的组成及其干扰机理的基础上,研究了旋转弹体背景磁场的数学建模,并结合磁传感器自身误差特性,建立了地磁场测量综合补偿模型,提出了弹上地磁测量的模型化补偿方法。
(2)设计了补偿模型系数分离求解的方法。对比研究了四种静态模型系数估计算法的优劣性。对动态涡流补偿系数的估计算法进行了优化设计。利用仿真和实验验证了模型系数估计方法的有效性和可靠性。
(3)提出了基于三正交比值法的旋转弹体测姿方法,并结合弹上地磁分量测量的模型化补偿技术设计了一种全磁传感器组合的旋转弹体姿态修正方案。该方案适用于旋转弹体的姿态测量,具备全天时、全天候的测量能力。
(4)设计了一套以FPGA为主控制微处理器的地磁场测量采集存储系统。该系统采用数据存储、事后回收的模式,同时适用于转台实验和弹载测试。
(5)对全磁组合测姿系统半实物装置进行了研制。利用三轴转台进行了半实物验证实验,结果表明姿态解算误差在±1°以内。
With the continuous improvement requirements of ammunition firing accuracy and the development of all kinds of intelligent ammunition, accurate measurement of the projectile flight attitude parameters has become the urgent task. It can improve the performance of weapon and develop the national defense science and technology.
Achieving attitude measurement of projectile with geomagnetic measuring has good characteristics, such as no source, no radiation, all-time, all-weather and low energy consumption. It has become the development trend of the projectile attitude measuring methods. At present, all the methods giving orientations with respect to geomagnetic field are faced with the interference of background magnetic field. Meanwhile, the three axis components of the geomagnetic cannot give the whole attitude information. These problems make this technology to be still auxiliary in the carrier attitude measurement.
The interference mechanism and characteristic of rotating projectile background magnetic field are analyzed. A mathematical model of background magnetic field is built and the researches of modeling compensation technology for magnetic measuring on projectile are carried out. An attitude measurement method is designed based on full magnetic sensor combination. Reasonable configuration and calculating method are discussed. On the basis, the test system software and hardware design are accomplished. The hardware-in-the-loop simulation of the developed measuring device is carried out to verify the effectiveness of the proposed design. Main research work can be summed up in the following aspects:
(1) The mathematical modeling of rotary projectile background magnetic field is studied based on the interference mechanism analysis. Combined with the self-error characteristics of magnetic sensor, the comprehensive compensation model of magnetic survey is built and modeling compensation method is put forward.
(2) The separating estimation method of the compensation model coefficients is researched. The qualities of four identification algorithms for static model coefficients are studied. The optimization design of the dynamic eddy current compensation coefficients estimation is accomplished. The effectiveness and reliability of the proposed methods are verified by the simulations and experiments.
(3) The three orthogonal ratio method is put forward for measuring projectile attitude. Combining with the proposed modeling compensation technology, a new attitude correction method with full magnetic sensor unit is designed, which has all-time, all-weather measuring capability and is suitable for rotating projectile.
(4) Data acquisition system with FPGA microprocessor control is designed for geomagnetic measurement. This system works in data storage and recovery mode, and suitable for both turntable experiment and the missile-borne experiment.
(5) The hardware-in-the-loop device is developed for the experiments, which are carried on using three-axis turntable. The results show that calculating errors are within±1°.
引文
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