CN108168550A - A kind of high speed rotation carrier inertial posture measuring device - Google Patents
A kind of high speed rotation carrier inertial posture measuring device Download PDFInfo
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- CN108168550A CN108168550A CN201711169956.4A CN201711169956A CN108168550A CN 108168550 A CN108168550 A CN 108168550A CN 201711169956 A CN201711169956 A CN 201711169956A CN 108168550 A CN108168550 A CN 108168550A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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Abstract
The invention discloses a kind of high speed rotation carrier inertial posture measuring devices, belong to inertial posture measuring engineering device technique field, which includes one and be used for the rate gyroscope yawed, pitch orientation measures for measuring the gas driven gyroscope of wobble shaft direction angular speed and two.The device can complete the real-time measurement to high speed rotation carrier roll angle, yaw angle, pitch angle angle and three axis angular rates.The rolling angle measurement error of the device is only dependent upon the drift rate of rolling combustion gas gyro, will not rapid divergence at any time.Posture is realized under the high rotating speed rotating environment of carrier accurately to measure, and structure and manufacturing process are simple, at low cost, small, equipment fully relies on equipment of itself work, good concealment, and work is not limited by meteorological condition, and reliability is high.
Description
Technical field
The invention belongs to inertial posture measuring engineering device technique fields, are related to a kind of based on rolling combustion gas gyro, rate gyroscope
High-speed rotary body inertial posture measuring device.
Background technology
High speed rotation is the stability contorting side that the novel precision guided munition in part and vast majority of conventional ammunition are commonly used
Formula, therefore under conditions of carrier high speed rotation, the attitude information of ammunition how is accurately measured, and then it is effectively made
Control is led, becoming the research and development of high speed rotation class precision guided munition needs the critical issue solved.At present for measuring high speed rotation
The flight attitude parameter of body, the technical solution that can be used both at home and abroad are as follows：
(1) earth magnetism attitude measurement method
In the certain area of the earth, geomagnetic field intensity existing for the earth and terrestrial space and magnetic dip angle, magnetic declination are
It is fixed, therefore can be using earth's magnetic field as the reference foundation for measuring flight body posture.By detecting the characterisitic parameter in earth's magnetic field,
Numerical computations are carried out in conjunction with other known conditions, error correction can obtain attitude of carrier.Chinese patent
(CN105674815A) a kind of earth magnetism attitude measurement that body attitude measurement is completed using two two-axis geomagnetic sensors is disclosed
Method, advantage are：Principle is simple, small, at low cost, anti high overload ability is strong, frequency response is high, can be with all weather operations, accidentally
Difference is not accumulated at any time；Shortcoming is：It needs the corresponding bay section of body that there is non-magnetic environment, is easily interfered by external magnetic field, in spy
(such as paramagnetic direction) can not work normally during different posture state direction.
(2) non-gyro accelerometer measurement in a closed series method
Non-gyro accelerometer measurement in a closed series method is using multigroup accelerometer, and flying body angle speed is obtained instead of gyroscope
Spend the scheme of information.Mainly three, six, nine, the 12 accelerometer schemes of research at present, the nine accelerometer scheme from algorithm
Do not intersect axis error, calculated value precision is higher, is a kind of scheme of current most study, and configuration method is sat in flying body
Mark system X, Y, Z axis installs 4,2 and 3 accelerometers and completes angular velocity measurement respectively.This method be suitable for dynamic range it is big,
Flight time short flying body, major defect are that small product size is big, combinational algorithm is complicated, will to the installation error of mechanical structure
Seek very high, error accelerated accumulation at any time.
(3) single axis stable platform subtracts rotation mensuration
Single axis stable platform subtract rotation mensuration be divided into actively and passively subtract rotation two kinds of mensuration.
Actively subtract rotation mensuration：Chinese patent (CN102495645A, CN202351714U) discloses a kind of at a high speed
The gyro-stabilized platform and its control method of rolling carrier, the gyropanel is using Inertial Measurement Unit as the sensitive member of angular movement
Part, the variation of continuous measuring table posture make platform body be isolated with the angular movement of carrier, so as to reach by servo actuation mechanism
Subtract the effect of rotation so that inertial measurement cluster keeps the low speed rotation even state of rolling stabilizing in inertial space.
Passively subtract rotation mensuration：Chinese patent (CN1932445A) discloses a kind of half strapdown suitable for high-speed rotary body
Formula attitude measurement method, this method are fixed with rigid support in carrier inner wall, rolling bearing and shaft are supported by rigid support,
Inertial navigation system is fixed on one end of shaft, and the pitch angle that the other end of shaft is hinged with hinge shaft and carrier coordinate system is in the same direction
Weight causes weight to remain vertically downward using acceleration of gravity active force, and then keeps inertial navigation unit in inertia
Stablize relatively in space.
Subtract rotation mensuration and be effectively utilized existing lower range MEMS gyroscope, the attitude measurement for solving high-speed rotary body
Problem；Shortcoming is the increase in servo motor or weight component and then increases volume, weight and cost, reduces whole system
Reliability.In addition, for spinning up faster carrier, the weight for passively subtracting rotation method is difficult the accelerator for keeping up with rotation,
Bad dynamic performance；The control difficulty for actively subtracting the servo motor of rotation method is larger, if control parameter is improper, be easy to cause control system
It is unstable.
(4) strapdown inertial navigation device mensuration
Strapdown inertial navigation device mensuration is to measure carrier movement using inertia device (including accelerometer and gyro)
Parameter (including acceleration and angular speed).The advantages of this method be fully rely on equipment of itself work, good concealment, work not by
The limitation of meteorological condition.But for high speed rotation carrier, main problem is currently used for measuring the big of angular velocity in roll
The range and precision of range gyroscope are also than relatively low, attitude error accelerated accumulation at any time, precision when working long hours after integration
It is poor.
Invention content
The technical problem to be solved by the present invention is to provide a kind of high speed rotation carrier inertial posture measuring devices, are applicable in be a kind of
Under carrier high rotational speeds, the inertial posture measuring device based on rolling combustion gas gyro, rate gyroscope.It overcomes existing
Inertial posture measuring, avoid using inertia device be used for measure angular velocity in roll wide range gyroscope range and precision
There are the problem of, improve precision when working long hours.
The technical scheme is that：A kind of high speed rotation carrier inertial posture measuring device, it is characterised in that：Include one
Branch gas driven gyroscope (7), first rate gyroscope and the second rate gyroscope；The gas driven gyroscope (7) is installed at a high speed
On the wobble shaft of rotating carrier, it is set as X-axis；First rate gyroscope, the second rate gyroscope be installed on Y-axis orthogonal to X-axis,
In plane where Z axis and along Y-axis, Z-direction, computer is further included, gas driven gyroscope (7), first are obtained by computer
Rate gyroscope, the second rate gyroscope output signal and carry out attitude algorithm.
Preferably, gas driven gyroscope is used to measure wobble shaft direction angular speed or angle, first rate gyroscope, the second speed
Rate gyroscope be respectively used to measure yaw direction, pitch orientation angular speed.
Preferably, gas driven gyroscope (7) dead axle is parallel with the wobble shaft of high speed rotation carrier, and gas driven gyroscope (7) utilizes
Gas driven drive rotor measures the roll angle of high speed rotation carrier and calculates angular velocity in roll.
Preferably, the axial direction of apparatus structure part (1) that the wobble shaft of high speed rotation carrier is installed with gas driven gyroscope (7)
Direction is consistent.
Preferably, first rate gyroscope, the second rate gyroscope and computer (3) are led to by inner lead progress serial ports
Letter.
Preferably, gas driven gyroscope is mounted on the top chamber bottom centre position of structural member, first rate gyroscope, the second speed
Rate gyroscope is respectively arranged in the roof of structural member, sidewall locations.
Preferably, the first rate gyroscope, the second rate gyroscope can be MEMS gyro, quartz Gyro,
Optical fibre gyro, laser gyro.
Preferably, the gas driven gyroscope includes gas generator, gyroscope ontology, photoelectric encoder and signal processing
Four parts of circuit；Gas generator is for the gunpowder that ignites so as to which drive rotor rotates；Photoelectric encoder is gyroscope ontology
The output device of signal；Signal processing circuit carries out differential calculation to current collected roll angle information and obtains instantaneous rolling
Angular velocity information.
Preferably, structural member, inner lead, secondary power supply component are further included；By inner lead, by gas driven gyroscope 7
Obtained angle information will be measured, the angular velocity information that first rate gyroscope, the second rate gyroscope measurement obtain passes together
Defeated to arrive computer, computer bit is in the bottom cavity of integral structure component, and by treated, attitude information externally exports computer；It is secondary
The voltage that external equipment accesses is changed into gas driven gyroscope, first rate gyroscope, the second rate gyroscope, meter by power supply module
Voltage needed for calculation machine.
The solution have the advantages that：
The device can complete the reality to high speed rotation carrier roll angle, yaw angle, pitch angle angle and three axis angular rates
When measure.The rolling angle measurement error of the device is only dependent upon the drift rate of rolling combustion gas gyro, will not rapid divergence at any time；
Improvement rolling angle measurement error also can accordingly reduce the coupling error between each axis posture, so as to improve the survey of yaw angle, pitch angle
Accuracy of measurement.Posture is realized under the high rotating speed rotating environment of carrier accurately to measure, and structure and manufacturing process are simple, at low cost,
Small, equipment fully relies on equipment of itself work, good concealment, and work is not limited by meteorological condition, and reliability is high.
The present apparatus is for the high-speed rotary body inertial posture measuring device using earth magnetism attitude measurement method, due to nothing
Geomagnetic sensor is needed, external magnetic field interference is not easily susceptible to, even if when the present apparatus is in special posture direction (such as paramagnetic direction)
It can work normally；The present apparatus is relative to the high-speed rotary body inertial posture measuring using non-gyro accelerometer measurement in a closed series method
For device, small product size is small, combinational algorithm is simple, low to the installation error requirement of mechanical structure, error is not quick at any time
Accumulation；The present apparatus relative to using single axis stable platform subtract rotation mensuration high-speed rotary body inertial posture measuring device for,
Due to without servo motor or weight component, and then volume, weight and cost are reduced, improve the reliability of whole system
And dynamic property；The present apparatus relative to using wide range gyroscope measure angular velocity in roll strapdown inertial navigation device for,
Attitude error not accelerated accumulation at any time after integration, precision is higher when working long hours.
Due to measuring relative motion between combustion gas gyro housing and outline border using rolling gas driven gyroscope, can directly measure
The roll angle of rolling carrier, therefore the rolling angle measurement error of the present apparatus is only dependent upon the drift rate of rolling combustion gas gyro, does not have
Have an attitude error accumulative effect after rate gyroscope integration, thus its rolling angle error will not rapid divergence at any time, when long
Between when working precision it is higher；Meanwhile inertial posture measuring device need to use strap down inertial navigation algorithm to carry out attitude algorithm, in the algorithm
Middle yaw angle, the measurement accuracy of pitch angle are influenced by rolling angle measurement error, and the present apparatus is improved when working long hours
Rolling angle measurement precision by the coupling error between each axis posture during corresponding reduction attitude algorithm, and then significantly improves yaw angle, bows
The measurement accuracy at the elevation angle.
Description of the drawings
Fig. 1 is the specific embodiment composition schematic diagram of the device of the invention.
Fig. 2 is the specific embodiment structural front view of the device of the invention.
In figure：1- structural members, 2- inner leads, 3- navigational computers, 4- secondary power supply components, 5- connectors.
Fig. 3 is the Section A-A figure of Fig. 2.
In figure, 6- rate gyroscopes, 7- rolling gas driven gyroscope components, 8- rate gyroscopes.
Fig. 4 is the use state diagram of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and preferred embodiment the present invention is described in further detail.
As shown in Figure 1, a kind of high speed rotation carrier inertial posture measuring device, includes a 7 (X of rolling gas driven gyroscope
Axial gyroscope) and by two rate gyroscopes (rate gyroscope 6, rate gyroscope 8) i.e. first rate gyroscope, the second speed
The inertial posture measuring component of rate gyroscope composition.
Gas driven gyroscope is respectively used to measure partially for measuring wobble shaft direction angular speed and two rate gyroscopes
The angular speed of boat, pitch orientation.
The rolling gas driven gyroscope 7 is installed in the X-axis (wobble shaft) of apparatus structure part 1, two rate gyroscopes
It is installed in the plane where Y orthogonal to X-axis, Z axis, and with the navigational computer 3 of outfit and secondary power supply component 4 by interior
Portion's conducting wire 2 carries out serial communication and power supply interacts, finally by 5 external output signal of connector.
The gas driven gyroscope component 7 measures rolling carrier using relative motion between combustion gas gyro housing and outline border
Roll angle and calculate angular velocity in roll.Two rate gyroscopes (rate gyroscope 6, rate gyroscope 8) carry for measuring
The angular velocity information of body.Navigational computer 3 by each sensor raw information acquired above and resolve obtain three axis angular rates,
Attitude information gives external equipment group by 5 real-time Transmission of connector.
As shown in Figure 2,3, which includes one for measuring the gas driven gyroscope and two of wobble shaft direction angular speed
The rate gyroscope that branch is for yawing, pitch orientation measures, rolling gas driven gyroscope component 7 are mounted on structural member 1 along X-direction
Top chamber bottom centre position, two rate gyroscopes (rate gyroscope 6, rate gyroscope 8) are installed on the top chamber of structural member 1
Sidewall locations, in the plane where Y orthogonal to X-axis, Z axis, above-mentioned three gyroscopes are assemblied in structure by pairwise orthogonal relationship
Part 1 pushes up intracavitary.
The rolling gas driven gyroscope component 7 measures rolling using relative motion between combustion gas gyro housing and outline border
The roll angle of carrier simultaneously calculates angular velocity in roll.Present invention employs one kind in gas driven, frame-type mechanical gyroscope base
It installs the technical solution of photoelectric encoder on plinth additional, and completes the real-time output of roll angle and angular velocity in roll information, there is body
Product is small, inexpensive, job stability is strong, reliability is high and starts the features such as speed is fast.The gas driven gyroscope 7 includes combustion gas
Four generator, gyroscope (ontology), photoelectric encoder and signal processing circuit parts.Gas generator is the power of gyroscope
Device, under the excitation of external firing command, electric initiator igniting, the stick that ignites burns rapidly gyroscope, turns so as to push
Sub- revolution at a high speed reaches nominal operation rotating speed in a short time.Gyrorotor utilizes and loads combustion gas stream caused by gunpowder detonation
Motive force high speed rotation forms larger angular momentum, under the support of frame and bearing, realizes the gyroscopic inertia of gyroscope；Photoelectricity
Encoder is the output device of gyroscope signal.The photoelectric subassembly of encoder is mounted on gyroscope code-disc, when housing is with carrier
During rotation, photoelectric subassembly also rotates with, and code-disc is fixed on the outer annulate shaft of gyro, according to the gyroscopic inertia of gyro, when carrier revolves
Code-disc remains fixed when turning, and so as to form the relative rotation between code-disc and photoelectric subassembly, utilizes opposite turn between the two
It is dynamic to measure the required roll angle information of carrier.Signal processing circuit carries out differential to current collected roll angle information
Instantaneous angular velocity in roll information is calculated, while roll angle and instantaneous angular velocity in roll information are exported to navigational computer 3.
Gyroscope ontology includes the outer annulate shaft of rotor, dead axle, code-disc, housing, gyro.
Different from common rate gyroscope, the direct measurement angle under carrier high speed rotation state of gas driven gyroscope 7
Information carries out differential to the roll angle information currently acquired using signal processing circuit, avoids and introduced by integral process
Error accumulation, accurately instantaneous angular velocity in roll information can be obtained.
By inner lead 2, rolling gas driven gyroscope 7 (X axis gyroscope) will measure obtained angle information, two speed
The angular velocity information that measurement obtains is transferred to together positioned at overall structure by rate gyroscope (rate gyroscope 6, rate gyroscope 8)
On navigational computer 3 in the bottom cavity of part 1.Navigational computer 3 is connect with secondary power supply component 4, after navigational computer 3 will be handled
Attitude information externally export.
The navigational computer 3 receives the roll angle signal of the output of rolling gas driven gyroscope component 7 first, and to it
The validity of signal carries out interpretation.When 7 data of gas driven gyroscope are effective, the roll angle signal that it is exported in real time is directly used
It is resolved in inertial attitude algorithm；When 7 data invalid of gas driven gyroscope, navigational computer plate 3 is according to the combustion gas top received before
7 available frame count of spiral shell instrument according to carry out recursion predict to obtain current angular velocity in roll information, and pass through integral and calculating obtain it is current
Rolling angle information.Meanwhile navigational computer plate 3 acquires two rate gyroscope (rate gyroscope 6, rate gyroscope 8) outputs
Carrier Y, Z axis angular speed original signal and the temperature signal of temperature sensor output, the signal of acquisition is subjected to zero-bit, scale
After coefficient, cross-couplings and temperature error compensation, the roll angle, the angular velocity in roll signal that are exported with reference to gas driven gyroscope 7 carry out
Inertial attitude resolves, and obtains real-time three axis angular rate and attitude information of carrier.Finally, navigational computer 3 will acquire above
Each sensor raw information and resolve obtain three axis angular rates, attitude information by 5 real-time Transmission of connector to external equipment
Group.
The voltage that external equipment accesses is changed into rolling gas driven gyroscope 7, rate gyroscope by the secondary power supply component 4
Instrument 6, rate gyroscope 8, the voltage needed for navigational computer 3 (or computer).
Inertial posture measuring device of the present invention can not only complete to high speed rotation carrier roll angle, yaw angle,
The real-time measurement of pitch angle posture, and the real-time measurement to three axis angular rates can be completed.Compared with prior art, the present apparatus
Rolling angle measurement error be only dependent upon the drift rate of rolling combustion gas gyro, the attitude error after being integrated without rate gyroscope tires out
Product effect, thus its rolling angle error will not rapid divergence at any time, precision is higher when working long hours；Meanwhile inertial attitude
Measuring device need to use strap down inertial navigation algorithm carry out attitude algorithm, in the algorithm yaw angle, the measurement accuracy of pitch angle by
The influence of rolling angle measurement error, the present apparatus improve rolling angle measurement precision when working long hours, will accordingly reduce posture
Coupling error during resolving between each axis posture, and then significantly improve yaw angle, the measurement accuracy of pitch angle.
Compared with prior art, the present invention not only structure and manufacture craft are simple, the installation error requirement to mechanical structure
Low, cost and volume decline to a great extent, and fully rely on equipment of itself work, work do not limited by meteorological condition, be not easy by
It is interfered to external magnetic field, even if (such as paramagnetic direction) can work normally, concealment when the present apparatus is in special posture direction
Good, reliability is high, and dynamic property is good, and attitude error not accelerated accumulation at any time after integration, precision is higher when working long hours.
Claims (9)
1. a kind of high speed rotation carrier inertial posture measuring device, it is characterised in that：Include gas driven gyroscope (7), first
Rate gyroscope and the second rate gyroscope；The gas driven gyroscope (7) is installed on the wobble shaft of high speed rotation carrier, if
For X-axis；First rate gyroscope, the second rate gyroscope are installed in the plane where Y-axis orthogonal to X-axis, Z axis and along Y
Axis, Z-direction, further include computer, and gas driven gyroscope (7), first rate gyroscope, the second rate top are obtained by computer
The signal of spiral shell instrument output simultaneously carries out attitude algorithm.
2. a kind of high speed rotation carrier inertial posture measuring device according to claim 1, it is characterised in that：Combustion gas gyro
For measuring wobble shaft direction angular speed or angle, first rate gyroscope, the second rate gyroscope are respectively used to measure inclined instrument
Boat direction, the angular speed of pitch orientation.
3. high speed rotation carrier inertial posture measuring device according to claim 1, it is characterised in that：Gas driven gyroscope
(7) dead axle is parallel with the wobble shaft of high speed rotation carrier, and gas driven gyroscope (7) is measured at a high speed using gas driven drive rotor
The roll angle of rotating carrier simultaneously calculates angular velocity in roll.
4. high speed rotation carrier inertial posture measuring device according to claim 1, it is characterised in that：High speed rotation carrier
Wobble shaft it is consistent with the axial direction of apparatus structure part (1) that gas driven gyroscope (7) is installed.
5. high speed rotation carrier inertial posture measuring device according to claim 1, it is characterised in that：First rate gyro
Instrument, the second rate gyroscope and computer (3) carry out serial communication by inner lead.
6. the high speed rotation carrier inertial posture measuring device according to claim 1,2,3 or 4, it is characterised in that：Combustion gas
Gyroscope is mounted on the top chamber bottom centre position of structural member, and first rate gyroscope, the second rate gyroscope are respectively arranged in
The roof of structural member, sidewall locations.
7. high speed rotation carrier inertial posture measuring device according to claim 1 or 2, it is characterised in that：Described
One rate gyroscope, the second rate gyroscope can be MEMS gyro, quartz Gyro, optical fibre gyro, laser gyro.
8. high speed rotation carrier inertial posture measuring device according to claim 1 or 2, it is characterised in that：The combustion
Gas gyroscope includes four gas generator, gyroscope ontology, photoelectric encoder and signal processing circuit parts；Gas generator
For the gunpowder that ignites so as to which drive rotor rotates；Photoelectric encoder is the output device of the signal of gyroscope ontology；Signal processing
Circuit carries out differential calculation to current collected roll angle information and obtains instantaneous angular velocity in roll information.
9. high speed rotation carrier inertial posture measuring device according to claim 1 or 2, it is characterised in that：Further include knot
Component, inner lead, secondary power supply component；By inner lead, gas driven gyroscope 7 will be measured into obtained angle information, the
The angular velocity information that one rate gyroscope, the second rate gyroscope measurement obtain is transferred to computer together, and computer bit is in whole
In the bottom cavity of body structural member, by treated, attitude information externally exports computer；Secondary power supply component accesses external equipment
Voltage be changed into gas driven gyroscope, first rate gyroscope, the second rate gyroscope, the voltage needed for computer.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109341635A (en) * | 2018-09-17 | 2019-02-15 | 深圳坤辰物联网有限公司 | A kind of mark structure safe and intelligent monitor and alarm system and method |
| CN110030992A (en) * | 2019-04-04 | 2019-07-19 | 湖南国科赢纳科技有限公司 | A kind of airflight object high speed rotation angular movement measurement method based on magnetometer |
| CN110044321A (en) * | 2019-03-22 | 2019-07-23 | 北京理工大学 | The method for resolving attitude of flight vehicle using Geomagnetism Information and angular rate gyroscope |
| CN110081883A (en) * | 2019-04-29 | 2019-08-02 | 北京理工大学 | Low cost integrated navigation system and method suitable for high speed rolling flight device |
| CN112556495A (en) * | 2020-12-01 | 2021-03-26 | 西安现代控制技术研究所 | Automatic meter installing method for simple fire-controlled moving target of shoulder-shooting barrel type weapon |
| CN112577483A (en) * | 2019-09-29 | 2021-03-30 | 北京信息科技大学 | Attitude measuring device for parachute landing terminal sensitive device |
| CN113701752A (en) * | 2021-08-27 | 2021-11-26 | 浙江大学 | Full strapdown attitude measurement device and method for spinning projectile |
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| CN109341635A (en) * | 2018-09-17 | 2019-02-15 | 深圳坤辰物联网有限公司 | A kind of mark structure safe and intelligent monitor and alarm system and method |
| CN110044321A (en) * | 2019-03-22 | 2019-07-23 | 北京理工大学 | The method for resolving attitude of flight vehicle using Geomagnetism Information and angular rate gyroscope |
| CN110044321B (en) * | 2019-03-22 | 2021-01-29 | 北京理工大学 | Method for resolving aircraft attitude by using geomagnetic information and angular rate gyroscope |
| CN110030992A (en) * | 2019-04-04 | 2019-07-19 | 湖南国科赢纳科技有限公司 | A kind of airflight object high speed rotation angular movement measurement method based on magnetometer |
| CN110081883A (en) * | 2019-04-29 | 2019-08-02 | 北京理工大学 | Low cost integrated navigation system and method suitable for high speed rolling flight device |
| CN112577483A (en) * | 2019-09-29 | 2021-03-30 | 北京信息科技大学 | Attitude measuring device for parachute landing terminal sensitive device |
| CN112556495A (en) * | 2020-12-01 | 2021-03-26 | 西安现代控制技术研究所 | Automatic meter installing method for simple fire-controlled moving target of shoulder-shooting barrel type weapon |
| CN113701752A (en) * | 2021-08-27 | 2021-11-26 | 浙江大学 | Full strapdown attitude measurement device and method for spinning projectile |
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