CN102353808B

CN102353808B - Method for measuring triaxial angular speed of spinning projectile

Info

Publication number: CN102353808B
Application number: CN2011103104297A
Authority: CN
Inventors: 苏淑靖; 王红亮; 张晓明; 刘俊; 李�杰; 崔星; 李永慧; 陈国彬; 刘喆
Original assignee: North University of China
Current assignee: North University of China
Priority date: 2011-10-14
Filing date: 2011-10-14
Publication date: 2012-08-15
Anticipated expiration: 2031-10-14
Also published as: CN102353808A

Abstract

The invention relates to an attitude measurement technology of a spinning projectile and in particular relates to a method for measuring an triaxial angular speed of a spinning projectile, and the method is used for solving the problems such as poor measurement accuracy, difficult axial rotating speed measurement, weak overload resistance and high cost in the existing attitude measurement technology of the spinning projectile. The method is implemented through the following steps: (1) arranging a main MEMS (micro electromechanical system) accelerometer on the edge of the spinning projectile, and arranging an auxiliary MEMS accelerometer at the center of the spinning projectile; (2) measuring and outputting a Coriolis acceleration frequency signal, and measuring and outputting a gravity acceleration signal; (3) carrying out phase contrast, frequency discrimination analysis and amplitude discrimination analysis on the Coriolis acceleration frequency signal and the gravity acceleration signal; and (4) obtaining the triaxial angular speed of the spinning projectile. The method for measuring the triaxial angular speed of the spinning projectile effectively can be used for solving the problems such as poor measurement accuracy, difficult axial rotating speed measurement, weak overload resistance and high cost in the existing attitude measurement technology of the spinning projectile.

Description

Rotating missile tri-axis angular rate measuring method

Technical field

The present invention relates to the rotating missile attitude measurement technology, specifically is a kind of rotating missile tri-axis angular rate measuring method.

Background technology

In war, for improve conventional artillery to the attack precision of target with injure ability, need carry out the precise guidance transformation to shell.The attitude measurement technology of body is one of gordian technique of shell precise guidance.The axial rotating speed of rotating missile is higher; General rotating speed meets or exceeds hundred revolutions per seconds; And the angular velocity of its pitching and yaw direction is much little, and therefore, the axial rotating speed of measuring rotating missile in real time has great importance to its range correction and the precision strike of implementing target.At present, mainly comprise following several kinds: one, utilize geomagnetic sensor and MEMS device to make up and measure the rotating missile attitude in real time, but that geomagnetic sensor is affected by the external environment is bigger, thereby measuring accuracy is relatively poor to the measuring technique of rotating missile attitude.Two, utilize the no gyroscopic inertia navigation attitude of six accelerometers, nine accelerometers or the combination of 12 accelerometers to obtain the rotating missile rotary speed information, but this scheme requires the installation accuracy of mems accelerometer high, and precision is low, error is seriously dispersed in time.Three, utilize gyro to measure the angular velocity of rotating missile, its shortcoming is that cost is high, and when the axial rotating speed of rotating missile big (>=20r/s) time, the gyro of routine is difficult to satisfy the requirement of range.Four, utilize gyro and accelerometer to make up the angular velocity of measuring rotating missile, its shortcoming is that impact resistance is low, can not anti high overload.In sum, the problem that existing rotating missile attitude measurement technology ubiquity measuring accuracy is poor, axially tachometric survey is difficult, anti-overload ability is low and cost is high.Based on this, be necessary to invent a kind of brand-new rotating missile attitude measurement technology, to solve the problems referred to above that existing rotating missile attitude measurement technology exists.

Summary of the invention

The present invention provides a kind of rotating missile tri-axis angular rate measuring method in order to solve existing rotating missile attitude measurement commercial measurement low precision, axially tachometric survey is difficult, anti-overload ability is low and cost is high problem.

The present invention adopts following technical scheme to realize: rotating missile tri-axis angular rate measuring method; This method is to adopt following steps to realize: 1) at the edge of rotating missile main mems accelerometer is installed, is guaranteed the sensitive axes of main mems accelerometer and the rotating shaft parallel of rotating missile; At the center of rotating missile auxiliary mems accelerometer is installed, is guaranteed that the sensitive axes of auxiliary mems accelerometer is vertical with the turning axle of rotating missile; 2) in rotating missile high speed rotating process, measure and export himself receiving De Geshi acceleration frequency signal by main mems accelerometer, measure and export by the acceleration of gravity signal that auxiliary mems accelerometer receives himself; 3) the acceleration of gravity signal of through signal processing circuit main mems accelerometer being exported De Geshi acceleration frequency signal and the output of auxiliary mems accelerometer carries out phase correlation, frequency discrimination analysis, amplitude discrimination analysis; 4) through the signal resolving circuit process phase correlation, frequency discrimination analysis, amplitude discrimination analysis De Geshi acceleration frequency signal and acceleration of gravity signal are calculated, draw the tri-axis angular rate of rotating missile.

In the said step 1); Before main mems accelerometer is installed; According to estimation equation main mems accelerometer installation site is produced the De Geshi acceleration magnitude and estimate, and obtain the mems accelerometer that the De Geshi acceleration magnitude is selected suitable range according to estimation, said estimation equation is:

In the formula:

is the distance between the turning axle of sensitive axes and rotating missile of main mems accelerometer;

is the angle of pitch speed of rotating missile;

is the yawrate of rotating missile, be the installation site generation De Geshi acceleration magnitude of main mems accelerometer.

Said step 2) in, main mems accelerometer and auxiliary mems accelerometer all rotate around the turning axle of rotating missile.Rotating missile if the angular speed input of other direction is arranged, will produce and the parallel De Geshi acceleration of the sensitive axes direction of main mems accelerometer in the high speed rotating process, and promptly main mems accelerometer self receives the De Geshi acceleration.Theoretical based on vibrational system; Main mems accelerometer output De Geshi acceleration frequency signal analyzed draw; The acceleration of gravity frequency of main mems accelerometer output De Geshi acceleration frequency and the output of auxiliary mems accelerometer all equates with the rotational frequency of rotating missile; Main mems accelerometer output De Geshi acceleration amplitude is relevant with the tri-axis angular rate of rotating missile, and the phase place of main mems accelerometer output De Geshi acceleration is relevant with angle of pitch speed with the roll of rotating missile.Said vibrational system is theoretical for having known theory now.

Said step 3), 4) in, said signal processing circuit, signal resolving circuit are existing known configurations.

Compare with existing rotating missile tri-axis angular rate measuring technique; Rotating missile tri-axis angular rate measuring method of the present invention has following advantage: one, mems accelerometer is affected by the external environment less; And the MEMS precision is higher, thereby adopts mems accelerometer to come its measuring accuracy of measured angular speed high.Two, because the Corioli's acceleration signal is fainter, and the rotating speed of rotating missile is big more, and Corioli's acceleration is just big more, and the amplitude of the signal of mems accelerometer output is also just big more, so compare with adopting gyro, adopts mems accelerometer to have the big advantage of range.Three, mems accelerometer makes up with accelerometer with gyro and compares, and its anti-overload ability is higher, and the cost of mems accelerometer is also lower than gyro simultaneously.In sum; Rotating missile tri-axis angular rate measuring method of the present invention is measured rotating missile generation De Geshi acceleration through mems accelerometer is installed on the rotating missile; Realized precision real time measuring, and thoroughly solved existing rotating missile attitude measurement commercial measurement low precision, axially tachometric survey is difficult, anti-overload ability is low and cost is high problem the tri-axis angular rate of rotating missile.

The present invention measures rotating missile generation De Geshi acceleration through mems accelerometer is installed on the rotating missile; Efficiently solve existing rotating missile attitude measurement commercial measurement low precision, axially tachometric survey is difficult, anti-overload ability is low and cost is high problem, be applicable to the measurement of the tri-axis angular rate of rotating missile.

Embodiment

Rotating missile tri-axis angular rate measuring method, this method are to adopt following steps to realize:

1) at the edge of rotating missile main mems accelerometer is installed, is guaranteed the sensitive axes of main mems accelerometer and the rotating shaft parallel of rotating missile; At the center of rotating missile auxiliary mems accelerometer is installed, is guaranteed that the sensitive axes of auxiliary mems accelerometer is vertical with the turning axle of rotating missile;

2) in rotating missile high speed rotating process, measure and export himself receiving De Geshi acceleration frequency signal by main mems accelerometer, measure and export by the acceleration of gravity signal that auxiliary mems accelerometer receives himself;

3) the acceleration of gravity signal of through signal processing circuit main mems accelerometer being exported De Geshi acceleration frequency signal and the output of auxiliary mems accelerometer carries out phase correlation, frequency discrimination analysis, amplitude discrimination analysis;

4) through the signal resolving circuit process phase correlation, frequency discrimination analysis, amplitude discrimination analysis De Geshi acceleration frequency signal and acceleration of gravity signal are calculated, draw the tri-axis angular rate of rotating missile.

Claims

1. rotating missile tri-axis angular rate measuring method is characterized in that: this method is to adopt following steps to realize:

2) in rotating missile high speed rotating process; Measure and export the Corioli's acceleration frequency signal by main mems accelerometer to himself receiving the De Geshi acceleration, measure and export the acceleration of gravity signal by the acceleration of gravity that auxiliary mems accelerometer receives himself;