CN103675352A - Method for comprehensive calibration of static and dynamic parameters of missile strapdown triaxial accelerometer assembly - Google Patents

Abstract

The invention relates to a calibration technology of a missile strapdown triaxial accelerometer assembly, in particular to a method for comprehensive calibration of static and dynamic parameters of the missile strapdown triaxial accelerometer assembly. The method solves the problem that an existing calibration method of a missile strapdown triaxial accelerometer assembly cannot effectively ensure measurement accuracy. The method for comprehensive calibration of the static and dynamic parameters of the missile strapdown triaxial accelerometer assembly comprises the following steps that (1) the missile strapdown triaxial accelerometer assembly is installed on a high-precision triaxial position rate rotary table; (2) an X-axis accelerometer, a Y-axis accelerometer and a Z-axis accelerometer are arranged at the position with +/-1g; (3) the value of the output voltage collected in the step (2) is substituted into a static parameter calibration model; (4) the high-precision triaxial position rate rotary table works at a constant angular speed; (5) the value of the output acceleration collected in the step (4) is substituted into a dynamic parameter calibration model. The method for comprehensive calibration of the static and dynamic parameters of the missile strapdown triaxial accelerometer assembly is applicable to calibration of the missile strapdown triaxial accelerometer assembly.

Description

A kind of bullet combines quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer

Technical field

The present invention relates to the calibration technique of strapdown three axis accelerometer combination for bullet, specifically a kind of bullet combines quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer.

Background technology

Bullet has the advantages such as simple in structure, volume is little, easy to maintenance, independence is strong with the combination of strapdown three axis accelerometer because of it, and is widely used in the fields such as conventional ammunition, Aeronautics and Astronautics.Bullet directly affects total hit rate of inertial navigation or inertial guidance weapon by the measuring accuracy of strapdown three axis accelerometer combination, and can bullet depend on before use and to it, carry out Accurate Calibration with the measuring accuracy emphasis of strapdown three axis accelerometer combination.Under prior art condition, bullet is mainly to demarcate for its static parameter with the scaling method of strapdown three axis accelerometer combination.Particularly, existing bullet is made as 12 with the scaling method of strapdown three axis accelerometer combination by static parameter to be calibrated, i.e. 3 constant multipliers, 3 zero bias, 6 installation direction angles.Yet practice shows, limit by self principle, there are the following problems: one for the scaling method that existing bullet combines with strapdown three axis accelerometer, in scaling method at existing bullet with the combination of strapdown three axis accelerometer, in 12 static parameters to be calibrated, implied bullet with the sensitive direction of strapdown three axis accelerometer combination and its installation shaft between direction cosine, bullet cannot clearly be showed by the non-orthogonal degree of strapdown three axis accelerometer combination, cause thus bullet cannot separate completely by the static parameter of strapdown three axis accelerometer combination, thereby affect the measuring accuracy of strapdown three axis accelerometer combination for bullet.They are two years old, in scaling method at existing bullet with the combination of strapdown three axis accelerometer, lack bullet is demarcated by the dynamic parameter of strapdown three axis accelerometer combination, make bullet be combined under angular motion environment and can form lever arm effect error (being dynamic error) with strapdown three axis accelerometer, thereby affect equally the measuring accuracy of strapdown three axis accelerometer combination for bullet.Based on this, be necessary to invent the scaling method of strapdown three axis accelerometer combination for a kind of brand-new bullet, to solve existing bullet, with the scaling method of strapdown three axis accelerometer combination, cannot effectively guarantee the problem of measuring accuracy.

Summary of the invention

The present invention cannot effectively guarantee the problem of measuring accuracy in order to solve existing bullet with the scaling method of strapdown three axis accelerometer combination, provides a kind of bullet to combine quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer.

The present invention adopts following technical scheme to realize: a kind of bullet combines quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer, and the method is to adopt following steps to realize:

1) adopt X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer jointly to form strapdown three axis accelerometer combination for bullet, and bullet is arranged on high precision three shaft position rate tables with the combination of strapdown three axis accelerometer;

The sensitive direction of the sensitive direction of the sensitive direction of X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer forms non-orthogonal coordinate system jointly, and this non-orthogonal coordinate system is made as to a system; The installation shaft of the installation shaft of X-axis accelerometer to the installation shaft of, Y-axis accelerometer to, Z axis accelerometer, to common formation quadrature carrier coordinate system, is made as b system by this quadrature carrier coordinate system;

Then select the time period that change in gravitational acceleration is less, and within this time period the acceleration of gravity of Measurement accuracy high precision three shaft position rate table positions;

2) the position mode of high precision three shaft position rate tables is set, and makes X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer respectively in ± 1g position; The speed mode of high precision three shaft position rate tables is set, and makes high precision three shaft position rate tables keep transfixion;

When X-axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection X-axis accelerometer; When Y-axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection Y-axis accelerometer; When Z axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection Z axis accelerometer;

3) by step 2) in the output voltage of X-axis accelerometer that collects, the output voltage substitution static parameter peg model of the output voltage of Y-axis accelerometer, Z axis accelerometer accurately solves 15 static parameters of strapdown three axis accelerometer combination for bullet;

4) the position mode of high precision three shaft position rate tables is set, and makes X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer respectively in 1g position; The speed mode of high precision three shaft position rate tables is set, and makes high precision three shaft position rate tables keep transfixion;

When X-axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Y-axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Z axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer;

Then the speed mode of high precision three shaft position rate tables is set, and high precision three shaft position rate tables are moved with Constant Angular Velocity;

When X-axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Y-axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Z axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer;

5), by the output acceleration substitution dynamic parameter peg model of the output acceleration of the output acceleration of the X-axis accelerometer collecting in step 4), Y-axis accelerometer, Z axis accelerometer, accurately solve 3 dynamic parameters of strapdown three axis accelerometer combination for bullet.

Described step 2) ,-3), described bullet comprises by 15 static parameters of strapdown three axis accelerometer combination: 3 constant multipliers, 3 zero bias, 9 installation direction angles;

Described 3 constant multipliers comprise: the constant multiplier of the constant multiplier of X-axis accelerometer, Y-axis accelerometer, the constant multiplier of Z axis accelerometer;

Described 3 zero bias comprise: the zero bias of the zero bias of X-axis accelerometer, Y-axis accelerometer, the zero bias of Z axis accelerometer;

Described 9 installation direction angles comprise: the installation shaft of the sensitive direction of X-axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of X-axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of X-axis accelerometer and Z axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and Z axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and Z axis accelerometer to angle,

Described static parameter peg model is as follows:

$\left[\begin{array}{c}{u}_x^a\\ u_y^a\\ u_z^a\end{array}\right]=\left[\begin{array}{ccc}{k}_x& 0& 0\\ 0& {\mathrm{<figure-callout\; id="0"\; label="k\; y"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">k</figure-callout>}}_y& 0\\ 0& 0& k_z\end{array}\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_{\mathrm{xx}}& \cos {\mathrm{\&theta;}}_{\mathrm{yx}}& \cos {\mathrm{\&theta;}}_{\mathrm{zx}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xy}}& \cos {\mathrm{\&theta;}}_{\mathrm{yy}}& \cos {\mathrm{\&theta;}}_{\mathrm{zy}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xz}}& \cos {\mathrm{\&theta;}}_{\mathrm{yz}}& \cos {\mathrm{\&theta;}}_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{f_x}^b\\ {f_y}^b\\ {f_z}^b\end{array}\right]+\left[\begin{array}{c}{u}_{x0}^a\\ u_{y0}^a\\ u_{z0}^a\end{array}\right]---\left(1\right);$

$\left[\begin{array}{c}{f_x}^a\\ {f_y}^a\\ {f_z}^a\end{array}\right]=\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_{\mathrm{xx}}& \cos {\mathrm{\&theta;}}_{\mathrm{yx}}& \cos {\mathrm{\&theta;}}_{\mathrm{zx}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xy}}& \cos {\mathrm{\&theta;}}_{\mathrm{yy}}& \cos {\mathrm{\&theta;}}_{\mathrm{zy}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xz}}& \cos {\mathrm{\&theta;}}_{\mathrm{yz}}& \cos {\mathrm{\&theta;}}_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{f_x}^b\\ {f_y}^b\\ {f_z}^b\end{array}\right]---\left(2\right);$

In formula (1)-(2):

for the output voltage when X-axis accelerometer X-axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion;

for the output voltage when Y-axis accelerometer Y-axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion;

for the output voltage when Z axis accelerometer Z axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion;

K _xconstant multiplier for X-axis accelerometer; k _yconstant multiplier for Y-axis accelerometer; k _zconstant multiplier for Z axis accelerometer;

θ _xxfor the sensitive direction of X-axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _xyfor the sensitive direction of X-axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _xzfor the sensitive direction of X-axis accelerometer and the installation shaft of Z axis accelerometer to angle; θ _yxfor the sensitive direction of Y-axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _yyfor the sensitive direction of Y-axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _yzfor the sensitive direction of Y-axis accelerometer and the installation shaft of Z axis accelerometer to angle; θ _zxfor the sensitive direction of Z axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _zyfor the sensitive direction of Z axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _zzfor the sensitive direction of Z axis accelerometer and the installation shaft of Z axis accelerometer to angle;

F _x ^afor the input acceleration of X-axis accelerometer in a system; f _y ^afor the input acceleration of Y-axis accelerometer in a system; f _z ^afor the input acceleration of Z axis accelerometer in a system;

F _x ^bfor the input acceleration of X-axis accelerometer in b system; f _y ^bfor the input acceleration of Y-axis accelerometer in b system; f _z ^bfor the input acceleration of Z axis accelerometer in b system; f _x ^b=f _y ^b=f _z ^b=± 1g;

zero bias for X-axis accelerometer;

zero bias for Y-axis accelerometer;

zero bias for Z axis accelerometer.

Described step 4)-5), in, described bullet comprises by 3 dynamic parameters of strapdown three axis accelerometer combination: the installation site vector of the installation site vector of X-axis accelerometer, the installation site vector of Y-axis accelerometer, Z axis accelerometer;

Described dynamic parameter peg model is as follows:

$\left\{\begin{array}{c}{r}_{\mathrm{jx}}=(f_i^{\mathrm{xa}}-f_i^{\mathrm{ya}}-f_i^{\mathrm{za}}-f_{i0}^{\mathrm{xa}}+f_{i0}^{\mathrm{za}}+f_{i0}^{\mathrm{ya}})/{2\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{ix}}\\ r_{\mathrm{jy}}=(f_i^{\mathrm{ya}}-f_i^{\mathrm{xa}}-f_i^{\mathrm{za}}-f_{i0}^{\mathrm{ya}}+f_{i0}^{\mathrm{za}}+f_{i0}^{\mathrm{xa}})/2{\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{iy}}\\ r_{\mathrm{jz}}=(f_i^{\mathrm{za}}-f_i^{\mathrm{xa}}-f_i^{\mathrm{ya}}-f_{i0}^{\mathrm{za}}+f_{i0}^{\mathrm{ya}}+f_{i0}^{\mathrm{xa}})/{2\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{iz}}\end{array}\right.---\left(3\right);$

In formula (3):

When j=1, i=x; When j=2, i=y; When j=3, i=z;

R _xfor the installation site vector of X-axis accelerometer, and r _x=[r _1xr _1yr _1z]; r _yfor the installation site vector of Y-axis accelerometer, and r _y=[r _2xr _2yr _2z]; r _zfor the installation site vector of Z axis accelerometer, and r _z=[r _3xr _3yr _3z];

F _i ^xafor the output acceleration when X-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity; f _i ^yafor the output acceleration when Y-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity; f _i ^zafor the output acceleration when Z axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity;

for the output acceleration when X-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion; for the output acceleration when Y-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion;

for the output acceleration when Z axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion;

ω ₀constant Angular Velocity for high precision three shaft position rate tables;

θ _ixfor the sensitive direction of X-axis accelerometer and the installation shaft of X-axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of X-axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of X-axis accelerometer to angle;

θ _iyfor the sensitive direction of X-axis accelerometer and the installation shaft of Y-axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of Y-axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of Y-axis accelerometer to angle;

θ _izfor the sensitive direction of X-axis accelerometer and the installation shaft of Z axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of Z axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of Z axis accelerometer to angle.

Compare with the scaling method of strapdown three axis accelerometer combination with existing bullet, a kind of bullet of the present invention combines quiet dynamic parameter synthetic scaling method tool with strapdown three axis accelerometer and has the following advantages:

One, a kind of bullet of the present invention with strapdown three axis accelerometer combine quiet dynamic parameter synthetic scaling method increased by 3 installation direction angles (bullet with the sensitive direction of strapdown three axis accelerometer combination and its installation shaft between angle) as static parameter to be calibrated, bullet is clearly showed by the non-orthogonal degree of strapdown three axis accelerometer combination, make thus bullet separate completely by the static parameter of strapdown three axis accelerometer combination, thereby effectively improved the measuring accuracy of bullet with the combination of strapdown three axis accelerometer.

They are two years old, a kind of bullet of the present invention combines quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer has increased dynamic parameter to be calibrated, bullet is eliminated by the lever arm effect error (being dynamic error) that strapdown three axis accelerometer is combined under angular motion environment, thereby equally effectively improved the measuring accuracy of bullet with the combination of strapdown three axis accelerometer.

In sum, a kind of bullet of the present invention combines quiet dynamic parameter synthetic scaling method based on brand new principle with strapdown three axis accelerometer, efficiently solves existing bullet and cannot effectively guarantee the problem of measuring accuracy with the scaling method of strapdown three axis accelerometer combination.

The present invention efficiently solves existing bullet cannot effectively guarantee the problem of measuring accuracy with the scaling method of strapdown three axis accelerometer combination, is applicable to the demarcation of strapdown three axis accelerometer combination for bullet.

Accompanying drawing explanation

Fig. 1 is the scheme of installation of strapdown three axis accelerometer combination for bullet of the present invention.

Fig. 2 is the schematic diagram at 9 installation direction angles of the present invention.

Embodiment

Bullet combines a quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer, and the method is to adopt following steps to realize:

1) adopt X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer jointly to form strapdown three axis accelerometer combination for bullet, and bullet is arranged on high precision three shaft position rate tables with the combination of strapdown three axis accelerometer;

The sensitive direction of the sensitive direction of the sensitive direction of X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer forms non-orthogonal coordinate system jointly, and this non-orthogonal coordinate system is made as to a system; The installation shaft of the installation shaft of X-axis accelerometer to the installation shaft of, Y-axis accelerometer to, Z axis accelerometer, to common formation quadrature carrier coordinate system, is made as b system by this quadrature carrier coordinate system;

Then select the time period that change in gravitational acceleration is less, and within this time period the acceleration of gravity of Measurement accuracy high precision three shaft position rate table positions;

2) the position mode of high precision three shaft position rate tables is set, and makes X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer respectively in ± 1g position; The speed mode of high precision three shaft position rate tables is set, and makes high precision three shaft position rate tables keep transfixion;

When X-axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection X-axis accelerometer; When Y-axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection Y-axis accelerometer; When Z axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection Z axis accelerometer;

3) by step 2) in the output voltage of X-axis accelerometer that collects, the output voltage substitution static parameter peg model of the output voltage of Y-axis accelerometer, Z axis accelerometer accurately solves 15 static parameters of strapdown three axis accelerometer combination for bullet;

4) the position mode of high precision three shaft position rate tables is set, and makes X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer respectively in 1g position; The speed mode of high precision three shaft position rate tables is set, and makes high precision three shaft position rate tables keep transfixion;

When X-axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Y-axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Z axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer;

Then the speed mode of high precision three shaft position rate tables is set, and high precision three shaft position rate tables are moved with Constant Angular Velocity;

When X-axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Y-axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Z axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer;

5), by the output acceleration substitution dynamic parameter peg model of the output acceleration of the output acceleration of the X-axis accelerometer collecting in step 4), Y-axis accelerometer, Z axis accelerometer, accurately solve 3 dynamic parameters of strapdown three axis accelerometer combination for bullet.

Described step 2) ,-3), described bullet comprises by 15 static parameters of strapdown three axis accelerometer combination: 3 constant multipliers, 3 zero bias, 9 installation direction angles;

Described 3 constant multipliers comprise: the constant multiplier of the constant multiplier of X-axis accelerometer, Y-axis accelerometer, the constant multiplier of Z axis accelerometer;

Described 3 zero bias comprise: the zero bias of the zero bias of X-axis accelerometer, Y-axis accelerometer, the zero bias of Z axis accelerometer;

Described 9 installation direction angles comprise: the installation shaft of the sensitive direction of X-axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of X-axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of X-axis accelerometer and Z axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and Z axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and Z axis accelerometer to angle,

Described static parameter peg model is as follows:

$\left[\begin{array}{c}{u}_x^a\\ u_y^a\\ u_z^a\end{array}\right]=\left[\begin{array}{ccc}{k}_x& 0& 0\\ 0& {\mathrm{<figure-callout\; id="0"\; label="k\; y"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">k</figure-callout>}}_y& 0\\ 0& 0& k_z\end{array}\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_{\mathrm{xx}}& \cos {\mathrm{\&theta;}}_{\mathrm{yx}}& \cos {\mathrm{\&theta;}}_{\mathrm{zx}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xy}}& \cos {\mathrm{\&theta;}}_{\mathrm{yy}}& \cos {\mathrm{\&theta;}}_{\mathrm{zy}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xz}}& \cos {\mathrm{\&theta;}}_{\mathrm{yz}}& \cos {\mathrm{\&theta;}}_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{f_x}^b\\ {f_y}^b\\ {f_z}^b\end{array}\right]+\left[\begin{array}{c}{u}_{x0}^a\\ u_{y0}^a\\ u_{z0}^a\end{array}\right]---\left(1\right);$

$\left[\begin{array}{c}{f_x}^a\\ {f_y}^a\\ {f_z}^a\end{array}\right]=\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_{\mathrm{xx}}& \cos {\mathrm{\&theta;}}_{\mathrm{yx}}& \cos {\mathrm{\&theta;}}_{\mathrm{zx}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xy}}& \cos {\mathrm{\&theta;}}_{\mathrm{yy}}& \cos {\mathrm{\&theta;}}_{\mathrm{zy}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xz}}& \cos {\mathrm{\&theta;}}_{\mathrm{yz}}& \cos {\mathrm{\&theta;}}_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{f_x}^b\\ {f_y}^b\\ {f_z}^b\end{array}\right]---\left(2\right);$

In formula (1)-(2):

for the output voltage when X-axis accelerometer X-axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion; for the output voltage when Y-axis accelerometer Y-axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion;

for the output voltage when Z axis accelerometer Z axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion;

K _xconstant multiplier for X-axis accelerometer; k _yconstant multiplier for Y-axis accelerometer; k _zconstant multiplier for Z axis accelerometer;

θ _xxfor the sensitive direction of X-axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _xyfor the sensitive direction of X-axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _xzfor the sensitive direction of X-axis accelerometer and the installation shaft of Z axis accelerometer to angle; θ _yxfor the sensitive direction of Y-axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _yyfor the sensitive direction of Y-axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _yzfor the sensitive direction of Y-axis accelerometer and the installation shaft of Z axis accelerometer to angle; θ _zxfor the sensitive direction of Z axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _zyfor the sensitive direction of Z axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _zzfor the sensitive direction of Z axis accelerometer and the installation shaft of Z axis accelerometer to angle;

F _x ^afor the input acceleration of X-axis accelerometer in a system; f _y ^afor the input acceleration of Y-axis accelerometer in a system; f _z ^afor the input acceleration of Z axis accelerometer in a system;

F _x ^bfor the input acceleration of X-axis accelerometer in b system; f _y ^bfor the input acceleration of Y-axis accelerometer in b system; f _z ^bfor the input acceleration of Z axis accelerometer in b system; f _x ^b=f _y ^b=f _z ^b=± 1g;

zero bias for X-axis accelerometer;

zero bias for Y-axis accelerometer;

zero bias for Z axis accelerometer.

Described step 4)-5), in, described bullet comprises by 3 dynamic parameters of strapdown three axis accelerometer combination: the installation site vector of the installation site vector of X-axis accelerometer, the installation site vector of Y-axis accelerometer, Z axis accelerometer;

Described dynamic parameter peg model is as follows:

$\left\{\begin{array}{c}{r}_{\mathrm{jx}}=(f_i^{\mathrm{xa}}-f_i^{\mathrm{ya}}-f_i^{\mathrm{za}}-{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0+{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0+{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0)/{2\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{ix}}\\ r_{\mathrm{jy}}=(f_i^{\mathrm{ya}}-f_i^{\mathrm{xa}}-f_i^{\mathrm{za}}-{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0+{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0+{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0)/2{\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{iy}}\\ r_{\mathrm{jz}}=(f_i^{\mathrm{za}}-f_i^{\mathrm{xa}}-f_i^{\mathrm{ya}}-{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0+{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0+{\mathrm{<figure-callout\; id="0"\; label="f\; i"\; filenames="131219115747.png,131219115750.png"\; state="\{\{state\}\}">f</figure-callout>}}_i^0)/{2\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{iz}}\end{array}\right.---\left(3\right);$

In formula (3):

When j=1, i=x; When j=2, i=y; When j=3, i=z;

R _xfor the installation site vector of X-axis accelerometer, and r _x=[ _r1xr _1yr _1z]; r _yfor the installation site vector of Y-axis accelerometer, and r _y=[r _2xr _2yr _2z]; r _zfor the installation site vector of Z axis accelerometer, and r _z=[r _3xr _3yr _3z];

F _i ^xafor the output acceleration when X-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity; f _i ^yafor the output acceleration when Y-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity; f _i ^zafor the output acceleration when Z axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity;

for the output acceleration when X-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion;

for the output acceleration when Y-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion;

for the output acceleration when Z axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion;

ω ₀constant Angular Velocity for high precision three shaft position rate tables;

θ _ixfor the sensitive direction of X-axis accelerometer and the installation shaft of X-axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of X-axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of X-axis accelerometer to angle;

θ _iyfor the sensitive direction of X-axis accelerometer and the installation shaft of Y-axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of Y-axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of Y-axis accelerometer to angle;

θ _izfor the sensitive direction of X-axis accelerometer and the installation shaft of Z axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of Z axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of Z axis accelerometer to angle.

Claims (3)

1. bullet combines a quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer, it is characterized in that: the method is to adopt following steps to realize:

1) adopt X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer jointly to form strapdown three axis accelerometer combination for bullet, and bullet is arranged on high precision three shaft position rate tables with the combination of strapdown three axis accelerometer;

The sensitive direction of the sensitive direction of the sensitive direction of X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer forms non-orthogonal coordinate system jointly, and this non-orthogonal coordinate system is made as to a system; The installation shaft of the installation shaft of X-axis accelerometer to the installation shaft of, Y-axis accelerometer to, Z axis accelerometer, to common formation quadrature carrier coordinate system, is made as b system by this quadrature carrier coordinate system;

Then select the time period that change in gravitational acceleration is less, and within this time period the acceleration of gravity of Measurement accuracy high precision three shaft position rate table positions;

2) the position mode of high precision three shaft position rate tables is set, and makes X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer respectively in ± 1g position; The speed mode of high precision three shaft position rate tables is set, and makes high precision three shaft position rate tables keep transfixion;

When X-axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection X-axis accelerometer; When Y-axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection Y-axis accelerometer; When Z axis accelerometer is in ± 1g position and when high precision three shaft position rate tables keep transfixion, the output voltage of Real-time Collection Z axis accelerometer;

3) by step 2) in the output voltage of X-axis accelerometer that collects, the output voltage substitution static parameter peg model of the output voltage of Y-axis accelerometer, Z axis accelerometer accurately solves 15 static parameters of strapdown three axis accelerometer combination for bullet;

4) the position mode of high precision three shaft position rate tables is set, and makes X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer respectively in 1g position; The speed mode of high precision three shaft position rate tables is set, and makes high precision three shaft position rate tables keep transfixion;

When X-axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Y-axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Z axis accelerometer is in 1g position and when high precision three shaft position rate tables keep transfixion, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer;

Then the speed mode of high precision three shaft position rate tables is set, and high precision three shaft position rate tables are moved with Constant Angular Velocity;

When X-axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Y-axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer; When Z axis accelerometer is in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity, the output acceleration of Real-time Collection X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer;

5), by the output acceleration substitution dynamic parameter peg model of the output acceleration of the output acceleration of the X-axis accelerometer collecting in step 4), Y-axis accelerometer, Z axis accelerometer, accurately solve 3 dynamic parameters of strapdown three axis accelerometer combination for bullet.

2. a kind of bullet according to claim 1 combines quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer, it is characterized in that:

Described step 2) ,-3), described bullet comprises by 15 static parameters of strapdown three axis accelerometer combination: 3 constant multipliers, 3 zero bias, 9 installation direction angles;

Described 3 constant multipliers comprise: the constant multiplier of the constant multiplier of X-axis accelerometer, Y-axis accelerometer, the constant multiplier of Z axis accelerometer;

Described 3 zero bias comprise: the zero bias of the zero bias of X-axis accelerometer, Y-axis accelerometer, the zero bias of Z axis accelerometer;

Described 9 installation direction angles comprise: the installation shaft of the sensitive direction of X-axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of X-axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of X-axis accelerometer and Z axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of Y-axis accelerometer and Z axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and X-axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and Y-axis accelerometer to angle, the installation shaft of the sensitive direction of Z axis accelerometer and Z axis accelerometer to angle,

Described static parameter peg model is as follows:

$\left[\begin{array}{c}{u}_x^a\\ u_y^a\\ u_z^a\end{array}\right]=\left[\begin{array}{ccc}{k}_x& 0& 0\\ 0& k_y& 0\\ 0& 0& k_z\end{array}\right]\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_{\mathrm{xx}}& \cos {\mathrm{\&theta;}}_{\mathrm{yx}}& \cos {\mathrm{\&theta;}}_{\mathrm{zx}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xy}}& \cos {\mathrm{\&theta;}}_{\mathrm{yy}}& \cos {\mathrm{\&theta;}}_{\mathrm{zy}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xz}}& \cos {\mathrm{\&theta;}}_{\mathrm{yz}}& \cos {\mathrm{\&theta;}}_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{f_x}^b\\ {f_y}^b\\ {f_z}^b\end{array}\right]+\left[\begin{array}{c}{u}_{x0}^a\\ u_{y0}^a\\ u_{z0}^a\end{array}\right]---\left(1\right);$

$\left[\begin{array}{c}{f_x}^a\\ {f_y}^a\\ {f_z}^a\end{array}\right]=\left[\begin{array}{ccc}\cos {\mathrm{\&theta;}}_{\mathrm{xx}}& \cos {\mathrm{\&theta;}}_{\mathrm{yx}}& \cos {\mathrm{\&theta;}}_{\mathrm{zx}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xy}}& \cos {\mathrm{\&theta;}}_{\mathrm{yy}}& \cos {\mathrm{\&theta;}}_{\mathrm{zy}}\\ \cos {\mathrm{\&theta;}}_{\mathrm{xz}}& \cos {\mathrm{\&theta;}}_{\mathrm{yz}}& \cos {\mathrm{\&theta;}}_{\mathrm{zz}}\end{array}\right]\left[\begin{array}{c}{f_x}^b\\ {f_y}^b\\ {f_z}^b\end{array}\right]---\left(2\right);$

In formula (1)-(2):

for the output voltage when X-axis accelerometer X-axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion;

for the output voltage when Y-axis accelerometer Y-axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion;

for the output voltage when Z axis accelerometer Z axis accelerometer in ± 1g position and when high precision three shaft position rate tables keep transfixion;

K _xconstant multiplier for X-axis accelerometer; k _yconstant multiplier for Y-axis accelerometer; k _zconstant multiplier for Z axis accelerometer;

θ _xxfor the sensitive direction of X-axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _xyfor the sensitive direction of X-axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _xzfor the sensitive direction of X-axis accelerometer and the installation shaft of Z axis accelerometer to angle; θ _yxfor the sensitive direction of Y-axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _yyfor the sensitive direction of Y-axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _yzfor the sensitive direction of Y-axis accelerometer and the installation shaft of Z axis accelerometer to angle; θ _zxfor the sensitive direction of Z axis accelerometer and the installation shaft of X-axis accelerometer to angle; θ _zyfor the sensitive direction of Z axis accelerometer and the installation shaft of Y-axis accelerometer to angle; θ _zzfor the sensitive direction of Z axis accelerometer and the installation shaft of Z axis accelerometer to angle;

F _x ^afor the input acceleration of X-axis accelerometer in a system; f _y ^afor the input acceleration of Y-axis accelerometer in a system; f _z ^afor the input acceleration of Z axis accelerometer in a system;

F _x ^bfor the input acceleration of X-axis accelerometer in b system; f _y ^bfor the input acceleration of Y-axis accelerometer in b system; f _z ^bfor the input acceleration of Z axis accelerometer in b system; f _x ^b=f _y ^b=f _z ^b=± 1g;

zero bias for X-axis accelerometer;

zero bias for Y-axis accelerometer;

zero bias for Z axis accelerometer.

3. a kind of bullet according to claim 1 combines quiet dynamic parameter synthetic scaling method with strapdown three axis accelerometer, it is characterized in that:

Described step 4)-5), in, described bullet comprises by 3 dynamic parameters of strapdown three axis accelerometer combination: the installation site vector of the installation site vector of X-axis accelerometer, the installation site vector of Y-axis accelerometer, Z axis accelerometer;

Described dynamic parameter peg model is as follows:

$\left\{\begin{array}{c}{r}_{\mathrm{jx}}=(f_i^{\mathrm{xa}}-f_i^{\mathrm{ya}}-f_i^{\mathrm{za}}-f_{i0}^{\mathrm{xa}}+f_{i0}^{\mathrm{za}}+f_{i0}^{\mathrm{ya}})/{2\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{ix}}\\ r_{\mathrm{jy}}=(f_i^{\mathrm{ya}}-f_i^{\mathrm{xa}}-f_i^{\mathrm{za}}-f_{i0}^{\mathrm{ya}}+f_{i0}^{\mathrm{za}}+f_{i0}^{\mathrm{xa}})/2{\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{iy}}\\ r_{\mathrm{jz}}=(f_i^{\mathrm{za}}-f_i^{\mathrm{xa}}-f_i^{\mathrm{ya}}-f_{i0}^{\mathrm{za}}+f_{i0}^{\mathrm{ya}}+f_{i0}^{\mathrm{xa}})/{2\mathrm{\&omega;}}_0^2\cos {\mathrm{\&theta;}}_{\mathrm{iz}}\end{array}\right.---\left(3\right);$

In formula (3):

When j=1, i=x; When j=2, i=y; When j=3, i=z;

R _xfor the installation site vector of X-axis accelerometer, and r _x=[r _1xr _1yr _1z]; r _yfor the installation site vector of Y-axis accelerometer, and r _y=[r _2xr _2yr _2z]; r _zfor the installation site vector of Z axis accelerometer, and r _z=[r _3xr _3yr _3z];

F _i ^xafor the output acceleration when X-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity; f _i ^yafor the output acceleration when Y-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity; f _i ^zafor the output acceleration when Z axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and when high precision three shaft position rate tables move with Constant Angular Velocity;

for the output acceleration when X-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion;

for the output acceleration when Y-axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion;

for the output acceleration when Z axis accelerometer X-axis accelerometer, Y-axis accelerometer, Z axis accelerometer in 1g position and during high precision three shaft position rate table transfixion;

ω ₀constant Angular Velocity for high precision three shaft position rate tables;

θ _ixfor the sensitive direction of X-axis accelerometer and the installation shaft of X-axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of X-axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of X-axis accelerometer to angle;

θ _iyfor the sensitive direction of X-axis accelerometer and the installation shaft of Y-axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of Y-axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of Y-axis accelerometer to angle;

θ _izfor the sensitive direction of X-axis accelerometer and the installation shaft of Z axis accelerometer to angle, the sensitive direction of Y-axis accelerometer and the installation shaft of Z axis accelerometer to angle, the sensitive direction of Z axis accelerometer and the installation shaft of Z axis accelerometer to angle.

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