基于磁传感器组合的旋转弹体姿态测试方法研究
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摘要
各种弹丸飞行姿态参数的获取无论是对弹丸的设计、弹丸空气动力学的研究还是对引信的设计都有着重要的意义,因此准确测试弹丸飞行姿态数据对加快武器研究进度和提高武器性能意义重大。
随着地磁理论的不断完善以及传感器、微处理器和解算算法的日趋成熟,利用磁探测技术测量弹丸地磁场的各个信号分量,通过计算可以获得弹丸的空间姿态,并以其隐蔽性好、可靠性高、抗干扰能力强、具有抗高过载能力和误差不随时间积累等优点成为了当前测姿和导航研究领域的一个热点。
本文设计了以磁传感器组合为主的组合测姿的方案,用于测量旋转弹体的姿态。进行了传感器的布阵及相应的算法研究,在仿真的基础上完成了系统的软硬件设计,对研制的测量组合进行了半实物仿真,验证了本文设计方案的有效性,对磁传感器测量组合的实用化进行了有益的尝试。同时,针对存在线加速度的弹体探讨了磁／微惯性传感器的kalman滤波器设计,并通过仿真验证了滤波器的性能。具体包括以下内容：
(1)提出了两种应用于高转速弹体姿态测量的方案,这两种方案均适用于有线加速度的载体,并且具有无需知道地磁场强度、只需要标量运算、不受光线天气限制等特点。
(2)设计了适用于弹载和转台实验的实时数据采集系统,应用于转台实验时,可采用无线通信、实时传输的模式,应用于弹载测试时可采用数据存储、事后回收的模式。
(3)分析了磁传感器测量组合的误差源,并着重讨论了软硬铁效应补偿措施。对于有条件进行天向翻滚的应用场合,采用了十二位置不对北的标定方法,并通过转台实验验证了此方法对软硬铁效应补偿的效果。
(4)对姿态测量系统的电磁兼容性进行了设计,采用小波分析技术对地磁测量信号进行预处理以便为姿态解算提供有价值的前端数据。利用转台进行了半实物实验并对转台实验数据进行了解算和分析,结果表明解算姿态角与理想姿态角相比误差在1。内。
(5)探讨了磁传感器／微惯性器件的kalman滤波器的设计,尤其是对于有摇摆和线加速度的弹体,通过仿真验证了所设计的kalman滤波器的性能,并对两种滤波器进行了比较。
Acquisition a variety of projectile flight attitude parameters has an important signification no matter for projectile design, projectile aerodynamics or fuze design. So it is important to test the projectile flight attitude accurately, which can accelerate the research course and improve the performance of weapon.
With the contimuous improvement of geomagnetism theory and the sensors, microprocessors, calculate algorithm sophisticated increasingly, use magnetic detection to measure the component of geomagnetic field on the projectile coordinate can obtain the attitude angles by calculation. The magnetic detection has become the hotspot in the current attitude test and navigation research area because of its advantages such as good invisibility, high reliabity, high antidisturbance performance, high-g resistance.
A measurement scheme based on the magnetic sensors unit is designed for measuring the spinning projectile attitude. The configuration of the sensors and the calculation algorithm are discussed, the hardware and software design are accomplished based on the simulation; the half size hardware-in-loop simulation is carried out for verifying effectiveness of this scheme, all the work done in this dissertation provides a helpful attempt of the application of magnetic sensors measurement unit. In the end, in allusion to the projectile which has the linear acceleration, a kalman filter composed of magnetic sensors and micro-inertial sensors is discussed; the performance of the filter is verified by simulation. Main research work can be summed up in the following five aspects:
(1) Two schemes are put forward for high-spinning projectile attitude measurement, which are applicable to the carrier that has linear acceleration. The characteristics of the sheme are:the magnetic field strength is not need to know; only scalar calculation in attitude measurement; suitable for day/night and all weather conditions.
(2) Real-time data acquisition system applies to test in missile-borne or rotary table. The mode of wireless transmission is adopted apply in rotary table experiment; the mode of data storage and data recovery is applyed in missile-borne experiment.
(3) The error sources of measurement unit are analyzed, the compensating arrangement of soft and hard iron effect arc discussed emphatically. A 12-position calibrating method without north reference for magnetic compass is adopted for some application which has condition for up direction rotation. The effectiveness of this method is verified by rotate table experiment.
(4) The EMC procedures of the measurement unit are designed. Preprocessing the geomagnetism signal based on wavelet analysis theory in order to provide valuable data for attitude calculation. The hardware-in-the-loop experiment is accomplished using rotary table, and the data is solved and anlysized. The result indicates that the error of the estimate attitude angles in the range of 1°
(5) The kalman filters composed of magnetic sensors and micro-inertial sensors are researched, especially for the projectile which has swing and linear acceleration. The performance of the two filters are verified and compared by simulation.
随着地磁理论的不断完善以及传感器、微处理器和解算算法的日趋成熟,利用磁探测技术测量弹丸地磁场的各个信号分量,通过计算可以获得弹丸的空间姿态,并以其隐蔽性好、可靠性高、抗干扰能力强、具有抗高过载能力和误差不随时间积累等优点成为了当前测姿和导航研究领域的一个热点。
本文设计了以磁传感器组合为主的组合测姿的方案,用于测量旋转弹体的姿态。进行了传感器的布阵及相应的算法研究,在仿真的基础上完成了系统的软硬件设计,对研制的测量组合进行了半实物仿真,验证了本文设计方案的有效性,对磁传感器测量组合的实用化进行了有益的尝试。同时,针对存在线加速度的弹体探讨了磁／微惯性传感器的kalman滤波器设计,并通过仿真验证了滤波器的性能。具体包括以下内容：
(1)提出了两种应用于高转速弹体姿态测量的方案,这两种方案均适用于有线加速度的载体,并且具有无需知道地磁场强度、只需要标量运算、不受光线天气限制等特点。
(2)设计了适用于弹载和转台实验的实时数据采集系统,应用于转台实验时,可采用无线通信、实时传输的模式,应用于弹载测试时可采用数据存储、事后回收的模式。
(3)分析了磁传感器测量组合的误差源,并着重讨论了软硬铁效应补偿措施。对于有条件进行天向翻滚的应用场合,采用了十二位置不对北的标定方法,并通过转台实验验证了此方法对软硬铁效应补偿的效果。
(4)对姿态测量系统的电磁兼容性进行了设计,采用小波分析技术对地磁测量信号进行预处理以便为姿态解算提供有价值的前端数据。利用转台进行了半实物实验并对转台实验数据进行了解算和分析,结果表明解算姿态角与理想姿态角相比误差在1。内。
(5)探讨了磁传感器／微惯性器件的kalman滤波器的设计,尤其是对于有摇摆和线加速度的弹体,通过仿真验证了所设计的kalman滤波器的性能,并对两种滤波器进行了比较。
Acquisition a variety of projectile flight attitude parameters has an important signification no matter for projectile design, projectile aerodynamics or fuze design. So it is important to test the projectile flight attitude accurately, which can accelerate the research course and improve the performance of weapon.
With the contimuous improvement of geomagnetism theory and the sensors, microprocessors, calculate algorithm sophisticated increasingly, use magnetic detection to measure the component of geomagnetic field on the projectile coordinate can obtain the attitude angles by calculation. The magnetic detection has become the hotspot in the current attitude test and navigation research area because of its advantages such as good invisibility, high reliabity, high antidisturbance performance, high-g resistance.
A measurement scheme based on the magnetic sensors unit is designed for measuring the spinning projectile attitude. The configuration of the sensors and the calculation algorithm are discussed, the hardware and software design are accomplished based on the simulation; the half size hardware-in-loop simulation is carried out for verifying effectiveness of this scheme, all the work done in this dissertation provides a helpful attempt of the application of magnetic sensors measurement unit. In the end, in allusion to the projectile which has the linear acceleration, a kalman filter composed of magnetic sensors and micro-inertial sensors is discussed; the performance of the filter is verified by simulation. Main research work can be summed up in the following five aspects:
(1) Two schemes are put forward for high-spinning projectile attitude measurement, which are applicable to the carrier that has linear acceleration. The characteristics of the sheme are:the magnetic field strength is not need to know; only scalar calculation in attitude measurement; suitable for day/night and all weather conditions.
(2) Real-time data acquisition system applies to test in missile-borne or rotary table. The mode of wireless transmission is adopted apply in rotary table experiment; the mode of data storage and data recovery is applyed in missile-borne experiment.
(3) The error sources of measurement unit are analyzed, the compensating arrangement of soft and hard iron effect arc discussed emphatically. A 12-position calibrating method without north reference for magnetic compass is adopted for some application which has condition for up direction rotation. The effectiveness of this method is verified by rotate table experiment.
(4) The EMC procedures of the measurement unit are designed. Preprocessing the geomagnetism signal based on wavelet analysis theory in order to provide valuable data for attitude calculation. The hardware-in-the-loop experiment is accomplished using rotary table, and the data is solved and anlysized. The result indicates that the error of the estimate attitude angles in the range of 1°
(5) The kalman filters composed of magnetic sensors and micro-inertial sensors are researched, especially for the projectile which has swing and linear acceleration. The performance of the two filters are verified and compared by simulation.
引文
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