弹道模型约束的旋转弹药地磁/微陀螺组合测姿中的信息校准与融合

Due to the limit of extreme environment, such as high overload launch, high-maneuver applications, and high-speed spinning projectile, etc, projectile body attitude real-time measurement has become a bottleneck technique in the development of high-speed spinning projectile guidance update. .According to the characteristics of the spinning projectile, the attitude angles of the projectile body need to be obtained in real time. This project adopts the geomagnetic/micro inertia gyroscope integrated measurement, and the system can satisfy real-time testing requirements. In order to accurately get attitude information of missile-borne sensors and solve the problem of multi sensor information fusion rapidly, this project puts forward the following research and evaluation methodology..Firstly, exterior trajectory dynamics mode is established about spinning ammunition. On this basis projectile interference magnetic field can be calibrated online based on ellipsoid equation constraints, and then coefficient of error compensation model can be gained. Secondly, to solve the gyro online calibration and compensation method after gyro parameters degradation because of system overloading, the project needs to study online calibration and compensation method according to the Coriolis theorem for geomagnetic vector. By completing the two steps above, the system can get information of missile-borne geomagnetic and gyro accurately. .This project presents that the attitude perturbation dynamics model of spinning projectile will be considered as state equations, sensitive information of geomagnetic/micro inertia gyroscope will be regarded as attitude filter model of observations. In this way can combine the characteristics of both, such as error not accumulated and short-time high precision, and then make full use of them. Finally, through the research of fast fusion algorithm about the attitude information of geomagnetic/micro inertia gyroscope, the project will realize real-time and accurate measurement of the projectiles attitude..The research results can be used in the conventional ammunition guidenization and the development of the new intelligent ammunition, thus accelerating the development process of precise weapons in China. It can even be applied in the small carrier attitude measurement field, such as the drones, small submarine, micro-nano satellite, etc.

受高发射过载、大机动、高旋等恶劣测试环境制约，姿态实时测量成为制约旋转弹药制导化的瓶颈技术。本项目以旋转弹药用地磁/微陀螺组合姿态实时测量需求为牵引，围绕弹载传感信息的准确获取和快速融合问题，在旋转弹药外弹道动力学模型基础上，提出基于椭球方程约束的弹体干扰磁场在线标定与补偿方法和基于地磁矢量哥氏定理的过载后陀螺退化参数在线标定与补偿方法，以解决弹载地磁、陀螺信息准确获取的问题；提出以旋转弹体姿态扰动动力学模型为状态方程、地磁/陀螺敏感信息为观测量的姿态滤波模型，充分利用地磁测姿误差不累积、陀螺测姿短时精度高的特点，研究基于地磁/陀螺信息的快速姿态融合算法，实现弹体姿态实时准确测量。研究成果可应用于常规弹药制导化改造和新型智能弹药研制，加快我国精确武器的研发进程。还可推广应用于无人机、小型潜器、微纳卫星等小型载体的姿态信息测量领域。

本项目以旋转弹药用地磁/MEMS陀螺组合姿态实时测量需求为牵引，围绕弹载传感信息的准确获取和高效融合问题，开展了旋转弹药外弹道运动模型构建、弹载地磁/MEMS陀螺信息模型建立及弹载应用简化、弹载地磁/MEMS陀螺输出模型参数快速标定与补偿、基于地磁/MEMS陀螺信息融合的弹体姿态估计及相应的试验验证等方面的研究工作。具体工作包括：.（1）针对弹载地磁/MEMS陀螺测量信息中误差因素众多、建模复杂的难题，从传感器输入输出特性角度建立了弹载地磁综合磁测信息数学模型，并提出了基于椭球拟合和三位置组合的两步法现场快速标定方法。.（2）针对发射过载造成弹载MEMS陀螺传感特性退化问题，从性能退化机理出发，分析了影响弹载MEMS陀螺测量精度的主要误差输入输出表现形式，建立了性能退化陀螺的等效线性模型，并提出了基于地磁信息哥氏效应模型的递推最小二乘参数估计方法。.（3）针对旋转弹药全姿态实时准确测量瓶颈技术，提出了基于地磁/MEMS陀螺/弹道特性信息的序贯自适应EKF全姿态估计算法。该算法以旋转弹体运动模型为状态方程、地磁/陀螺敏感信息为观测量建立了姿态运动状态模型，采用序贯滤波和量测噪声自适应算法对弹载EKF滤波算法进行算法的实时性和自适应估计优化。仿真试验表明：该滤波算法姿态估计实时性好、估计精度高、可实时跟踪弹体机动姿态变化的优点，为外弹道飞行中的实时弹体姿态估计提供了新方法和解决方案。.研究成果可应用于常规弹药制导化改造和新型智能弹药研制，加快我国精确武器的研发进程。还可推广应用于无人机、小型潜器、微纳卫星等小型载体的姿态信息测量领域。