CN107631666A - A kind of body roll angle detecting system and method based on earth magnetism and sun optic angle - Google Patents
A kind of body roll angle detecting system and method based on earth magnetism and sun optic angle Download PDFInfo
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Abstract
本发明公开了一种基于地磁和太阳光角的弹体滚转角检测系统及方法,包括四个光敏管以及设置于弹体内的地磁测量模块、GPS模块及控制器,其中,地磁测量模块、GPS模块及控制器自上到下依次设置,其中,地磁测量模块位于弹体的弹头顶部,四个光敏管沿周向均匀内嵌于弹体的外壁内,其中,地磁测量模块的输出端、GPS模块的输出端及四个光敏管的输出端均与控制器的输入端相连接,该系统及方法能够实现弹体滚转角的检测,并且不使用陀螺仪及加速度计,同时结构简单,成本低。
The invention discloses a roll angle detection system and method of a projectile body based on geomagnetism and sunlight angle, which includes four photosensitive tubes, a geomagnetic measurement module, a GPS module and a controller arranged in the projectile, wherein the geomagnetic measurement module, GPS The modules and controllers are arranged sequentially from top to bottom. Among them, the geomagnetic measurement module is located at the top of the warhead of the projectile, and the four photosensitive tubes are evenly embedded in the outer wall of the projectile along the circumferential direction. Among them, the output terminal of the geomagnetic measurement module, the GPS The output end of the module and the output ends of the four photosensitive tubes are all connected to the input end of the controller. The system and method can realize the detection of the rolling angle of the projectile, and do not use gyroscopes and accelerometers. At the same time, the structure is simple and the cost is low. .
Description
技术领域technical field
本发明涉及一种弹体滚转角检测系统及方法,具体涉及一种基于地磁和太阳光角的弹体滚转角检测系统及方法。The invention relates to a system and a method for detecting the roll angle of a projectile, in particular to a system and a method for detecting the roll angle of a projectile based on geomagnetism and sunlight angle.
背景技术Background technique
可以完成制导任务的固定翼双旋弹是最近几年制导炮弹的研究热点,该类炮弹在传统的线膛炮或迫击炮上安置控制系统,使其具有导航能力,且较同应用下其他制导弹药成本更低。该类炮弹无动力装置,发射加速度超过10000g。The fixed-wing double-rotor projectile that can complete the guidance task has been the research hotspot of guided projectiles in recent years. This type of projectile is equipped with a control system on the traditional rifled gun or mortar to enable it to have navigation capabilities, and it is better than other guided projectiles in the same application. Ammo costs less. This type of shell has no power device, and the launch acceleration exceeds 10000g.
固定翼双旋弹的滚转角检测则是炮弹导航和轨迹控制的基础。滚转角检测一般使用陀螺仪和加速度计组合测量。但因为弹体的超高加速度,导致mems陀螺仪和加速度计会在发射的过程中损坏,而光纤陀螺仪因为价格过于昂贵,耐高加速度的加速度计成本也十分昂贵,违背了固定翼双旋弹设计的初衷。因此设计一种不使用陀螺仪和加速度计,并且结构简单、成本低廉的弹体滚转角检测技术十分关键。The roll angle detection of the fixed-wing double-rotating projectile is the basis of projectile navigation and trajectory control. Roll angle detection is generally measured using a combination of gyroscopes and accelerometers. However, due to the ultra-high acceleration of the projectile, the mems gyroscope and accelerometer will be damaged during the launch process, and the fiber optic gyroscope is too expensive, and the cost of the accelerometer resistant to high acceleration is also very expensive, which violates the fixed-wing dual-rotation The original intention of bomb design. Therefore, it is very important to design a roll angle detection technology that does not use gyroscopes and accelerometers, and has a simple structure and low cost.
发明内容Contents of the invention
本发明的目的在于克服上述现有技术的缺点,提供了一种基于地磁和太阳光角的弹体滚转角检测系统及方法,该系统及方法能够实现弹体滚转角的检测,并且不使用陀螺仪及加速度计,同时结构简单,成本低。The object of the present invention is to overcome the above-mentioned shortcoming of prior art, provide a kind of projectile roll angle detection system and method based on geomagnetism and sunlight angle, this system and method can realize the detection of projectile roll angle, and do not use gyro instrument and accelerometer, simple structure and low cost.
为达到上述目的,本发明所述的基于地磁和太阳光角的弹体滚转角检测系统包括四个光敏管以及设置于弹体内的地磁测量模块、GPS模块及控制器,其中,地磁测量模块、GPS模块及控制器自上到下依次设置,其中,地磁测量模块位于弹体的弹头顶部,四个光敏管沿周向均匀内嵌于弹体的外壁内,其中,地磁测量模块的输出端、GPS模块的输出端及四个光敏管的输出端均与控制器的输入端相连接。In order to achieve the above object, the body roll angle detection system based on geomagnetism and sunlight angle of the present invention includes four photosensitive tubes and a geomagnetic measurement module, a GPS module and a controller arranged in the body, wherein the geomagnetic measurement module, The GPS module and the controller are arranged sequentially from top to bottom, wherein the geomagnetic measurement module is located at the top of the warhead of the projectile, and four photosensitive tubes are evenly embedded in the outer wall of the projectile along the circumferential direction, wherein the output end of the geomagnetic measurement module, The output end of the GPS module and the output ends of the four photosensitive tubes are connected with the input end of the controller.
地磁测量模块经放大电路及模数转换器与控制器相连接,控制器通过推挽电路与地磁测量模块相连接。The geomagnetic measurement module is connected with the controller through the amplifier circuit and the analog-to-digital converter, and the controller is connected with the geomagnetic measurement module through the push-pull circuit.
GPS模块通过RS422接口与控制器相连接。The GPS module is connected with the controller through the RS422 interface.
光敏管经模数转换器与控制器相连接。The photosensitive tube is connected with the controller through an analog-to-digital converter.
本发明所述的基于地磁和太阳光角的弹体滚转角检测方法包括以下步骤:The projectile rolling angle detection method based on geomagnetism and sunlight angle of the present invention comprises the following steps:
1)GPS模块获取弹体的速度信息,然后将弹体的速度信息发送至控制器中,控制器根据弹体的速度信息计算弹体的俯仰角α及偏航角β,光敏管采集太阳光照角度x,再将采集到的太阳光照角度x转换为光电流y,然后将所述光电流y发送至控制器中,控制器根据接收到光电流y、弹体的俯仰角α及偏航角β计算光敏管对地的最终滚转角φ;1) The GPS module obtains the velocity information of the projectile, and then sends the velocity information of the projectile to the controller. The controller calculates the pitch angle α and yaw angle β of the projectile according to the velocity information of the projectile, and the photosensitive tube collects the sunlight Angle x, and then convert the collected sunlight angle x into photocurrent y, and then send the photocurrent y to the controller. β calculates the final roll angle φ of the photosensitive tube to the ground;
2)地磁测量模块实时采集地磁矢量v,然后将采集到的地磁矢量v发送至控制器中,控制器对所述地磁矢量v进行去噪,得去噪后的地磁矢量X,然后根据去噪后的地磁矢量X计算弹体的滚转角θ;2) The geomagnetic measurement module collects the geomagnetic vector v in real time, then sends the collected geomagnetic vector v to the controller, and the controller denoises the geomagnetic vector v to obtain the denoised geomagnetic vector X, and then according to the denoised The final geomagnetic vector X calculates the roll angle θ of the projectile;
3)控制器根据弹体的滚转角θ及光敏管对地的最终滚转角φ计算弹体的最终滚转角 3) The controller calculates the final roll angle of the projectile according to the roll angle θ of the projectile and the final roll angle φ of the photosensitive tube to the ground
太阳光照角度x与光电流y的对应关系为:The corresponding relationship between the sun illumination angle x and the photocurrent y is:
y=Asin2axy = Asin 2 ax
其中,α为缩放值,A=1。Wherein, α is the scaling value, A=1.
步骤1)的具体操作为:The concrete operation of step 1) is:
截取每个光敏管的90°光照范围,再将四个光敏管检测得到的光电流波形依次进行组合,得组合波形,然后将该组合波形以峰值点及谷值点为间隔划分为8段波形,其中,每个光敏管对应两段波形,每段波形的角度基值设任一段波形的峰值及谷值分别为p及q,则有y=sin2ax,求解a,得y=sin2ax对应的拟合曲线;Intercept the 90° illumination range of each photosensitive tube, and then sequentially combine the photocurrent waveforms detected by the four photosensitive tubes to obtain a combined waveform, and then divide the combined waveform into 8 waveforms at intervals of peak points and valley points , where each photosensitive tube corresponds to two waveforms, and the angle base value of each waveform Let the peak value and valley value of any section of waveform be p and q respectively, then y=sin 2 ax, Solve a to get the fitting curve corresponding to y=sin 2 ax;
将当前光敏管获得的光电流代入到对应的拟合曲线中,得当前光敏管的太阳照射角度x,再将当前光敏管的太阳照射角度x作为当前光电流在对应段波形中的角度偏差然后将该角度偏差叠加到该段波形的角度基值角δ上,得该段波形的相对滚转角最后将该段波形的相对滚转角与对地基准角γ相加的结果作为光敏管对地的最终滚转角 Substitute the photocurrent obtained by the current photosensitive tube into the corresponding fitting curve to obtain the current solar irradiation angle x of the photosensitive tube, and then use the current solar irradiation angle x of the current photosensitive tube as the angle deviation of the current photocurrent in the corresponding segment waveform and then offset the angle Superimposed on the angle base angle δ of this segment of waveform, the relative roll angle of this segment of waveform is obtained Finally, the relative roll angle of the waveform The result of adding to the ground reference angle γ is the final roll angle of the photosensitive tube to the ground
对地基准角γ为:The ground reference angle γ is:
a=cosβtanξ-cosδtanαa=cosβtanξ-cosδtanα
b=sinδtanα-sinβtanξb=sinδtanα-sinβtanξ
其中,λ,ξ分别为当前时刻太阳的方位角及太阳的高度角。Among them, λ and ξ are the azimuth angle of the sun and the altitude angle of the sun at the current moment respectively.
步骤2)的具体操作为:The concrete operation of step 2) is:
调整地磁测量模块的位置,使地磁测量模块中磁传感器的敏感轴方向与弹体的坐标系方向一致,计算磁传感器采集到地磁矢量v在敏感轴y、z上的最大值及最小值,然后根据地磁矢量v在敏感轴y、z上的最大值及最小值计算地磁矢量v在敏感轴y、z方向的均值m,再将磁传感器采集到的地磁矢量v在敏感轴y、z上的数值分别减去地磁矢量v在敏感轴y、z方向的均值m,使磁传感器的磁矢量图转化为中心在原点处的椭圆,计算该椭圆的长轴方向及短轴方向,然后将所述椭圆旋转υ,使该椭圆的长轴及短轴分别位于敏感轴y及z上,然后对该椭圆的长轴及短轴进行放缩,完成磁传感器采集到的地磁矢量v的校准,其中,缩放参数得到去噪声后的地磁矢量X为:Adjust the position of the geomagnetic measurement module so that the direction of the sensitive axis of the magnetic sensor in the geomagnetic measurement module is consistent with the direction of the coordinate system of the projectile, calculate the maximum and minimum values of the geomagnetic vector v collected by the magnetic sensor on the sensitive axes y and z, and then According to the maximum value and minimum value of the geomagnetic vector v on the sensitive axis y, z, calculate the mean value m of the geomagnetic vector v in the sensitive axis y, z direction, and then calculate the geomagnetic vector v collected by the magnetic sensor on the sensitive axis y, z Subtract the mean value m of the geomagnetic vector v in the direction of the sensitive axis y and z from the numerical values, so that the magnetic vector diagram of the magnetic sensor is converted into an ellipse with the center at the origin, and the long axis direction and the short axis direction of the ellipse are calculated, and then the The ellipse is rotated υ so that the major axis and minor axis of the ellipse are located on the sensitive axes y and z respectively, and then the major axis and minor axis of the ellipse are scaled to complete the calibration of the geomagnetic vector v collected by the magnetic sensor. Among them, scaling parameter The geomagnetic vector X obtained after denoising is:
设(x1,y1,z1)为弹体坐标系,(x2,y2,z2)为NED坐标系,在弹丸飞行过程中,得弹体的滚转角θ为:Let (x 1 , y 1 , z 1 ) be the projectile coordinate system, and (x 2 , y 2 , z 2 ) be the NED coordinate system. During the flight of the projectile, the roll angle θ of the projectile is:
b=cosβy2-sinψx2 b=cosβy 2 -sinψx 2
b=cosβsinαx2+sinβsinαy2+cosαz2 b=cosβsinαx 2 +sinβsinαy 2 +cosαz 2
其中,磁传感器为双轴磁阻传感器,x1及y1为双轴磁阻传感器测量到的数据,x2、y2及z2为当地的标准地磁矢量。Wherein, the magnetic sensor is a biaxial magnetoresistive sensor, x 1 and y 1 are the data measured by the biaxial magnetoresistive sensor, x 2 , y 2 and z 2 are local standard geomagnetic vectors.
弹体的最终滚转角为:Final roll angle of projectile for:
其中,Rφ为测量φ时的测试方差,Rθ为测量θ时的测试方差。where R φ is the test variance when measuring φ, and R θ is the test variance when measuring θ.
本发明具有以下有益效果:The present invention has the following beneficial effects:
本发明所述的基于地磁和太阳光角的弹体滚转角检测系统及方法在具体操作时,控制器根据GPS模块获取的数据计算弹体的俯仰角及偏航角,再根据光敏管产生的光电流及弹体的俯仰角及偏航角计算光敏管对地的最终滚转角,同时控制器根据地磁测量模块采集的地磁矢量计算弹体的滚转角,最后根据弹体的滚转角及光敏管对地的最终滚转角计算弹体最终的滚转角从而避免使用陀螺仪及加速度计,同时结构简单,成本低。需要说明的是,本发明通过光敏管及地磁测量模块测量得到的数据进行数据融合,以提高测量的精度,同时避免使用陀螺仪产生时漂问题。During the specific operation of the projectile roll angle detection system and method based on geomagnetism and sunlight angle according to the present invention, the controller calculates the pitch angle and yaw angle of the projectile according to the data obtained by the GPS module, and then according to the data generated by the photosensitive tube The final roll angle of the photosensitive tube to the ground is calculated by the photocurrent and the pitch angle and yaw angle of the projectile. At the same time, the controller calculates the roll angle of the projectile according to the geomagnetic vector collected by the geomagnetic measurement module. Finally, according to the roll angle of the projectile and the photosensitive tube The final roll angle to the ground calculates the final roll angle of the projectile Therefore, the use of gyroscopes and accelerometers is avoided, and the structure is simple and the cost is low. It should be noted that the present invention performs data fusion through the data measured by the photosensitive tube and the geomagnetic measurement module, so as to improve the accuracy of the measurement and avoid the time drift problem caused by the use of the gyroscope.
附图说明Description of drawings
图1为本发明的结构示意图;Fig. 1 is a structural representation of the present invention;
图2为系统的硬件结构示意图;Fig. 2 is a schematic diagram of the hardware structure of the system;
图3为光敏管2与太阳光的照射关系图;Fig. 3 is the irradiation relationship diagram of photosensitive tube 2 and sunlight;
图4a为光敏管2采集的电流波形图;Fig. 4 a is the electric current waveform diagram that photosensitive tube 2 gathers;
图4b为组合波形图;Figure 4b is a combination waveform diagram;
图5为太阳光滚转角测量系统的工作流程图;Fig. 5 is the working flowchart of solar roll angle measurement system;
图6为基准角示意图;Fig. 6 is a schematic diagram of a reference angle;
图7为磁矢量分布图;Fig. 7 is a magnetic vector distribution diagram;
图8为弹体坐标系及NED坐标系的示意图。Fig. 8 is a schematic diagram of the body coordinate system and the NED coordinate system.
其中,1为控制器、2为光敏管、3为地磁测量模块、4为GPS模块、5为模数转换器、6为放大电路、7为推挽电路、8为RS422接口。Among them, 1 is the controller, 2 is the photosensitive tube, 3 is the geomagnetic measurement module, 4 is the GPS module, 5 is the analog-to-digital converter, 6 is the amplifier circuit, 7 is the push-pull circuit, and 8 is the RS422 interface.
具体实施方式detailed description
下面结合附图对本发明做进一步详细描述:The present invention is described in further detail below in conjunction with accompanying drawing:
参考图1,本发明所述的基于地磁和太阳光角的弹体滚转角检测系统包括四个光敏管2以及设置于弹体内的地磁测量模块3、GPS模块4及控制器1,其中,地磁测量模块3、GPS模块4及控制器1自上到下依次设置,其中,地磁测量模块3位于弹体的弹头顶部,四个光敏管2沿周向均匀内嵌于弹体的外壁内,其中,地磁测量模块3的输出端、GPS模块4的输出端及四个光敏管2的输出端均与控制器1的输入端相连接。With reference to Fig. 1, the projectile roll angle detection system based on geomagnetism and sunlight angle of the present invention comprises four photosensitive tubes 2 and the geomagnetic measurement module 3, the GPS module 4 and the controller 1 that are arranged in the projectile, wherein, geomagnetic The measurement module 3, the GPS module 4 and the controller 1 are arranged sequentially from top to bottom, wherein the geomagnetic measurement module 3 is located at the top of the warhead of the projectile, and the four photosensitive tubes 2 are evenly embedded in the outer wall of the projectile along the circumferential direction, wherein , the output end of the geomagnetic measurement module 3, the output end of the GPS module 4 and the output ends of the four photosensitive tubes 2 are all connected to the input end of the controller 1.
地磁测量模块3经放大电路6及模数转换器5与控制器1相连接,控制器1通过推挽电路7与地磁测量模块3相连接;GPS模块4通过RS422接口8与控制器1相连接;光敏管2经模数转换器5与控制器1相连接;模数转换器5使用高采样率多通道16位ADC,控制器1采用MCU芯片。本发明还包括用于提供电能的电池,其中,GPS模块4可以通过北斗模块进行替换。另外,通过四个支柱片固定地磁测量模块3,地磁测量模块3位于弹体的弹头位置,避免弹体中铁体与磁体对地磁测量的影响。The geomagnetic measurement module 3 is connected to the controller 1 through the amplifier circuit 6 and the analog-to-digital converter 5, and the controller 1 is connected to the geomagnetic measurement module 3 through the push-pull circuit 7; the GPS module 4 is connected to the controller 1 through the RS422 interface 8 ; The photosensitive tube 2 is connected to the controller 1 through the analog-to-digital converter 5; the analog-to-digital converter 5 uses a high sampling rate multi-channel 16-bit ADC, and the controller 1 uses an MCU chip. The present invention also includes a battery for providing electric energy, wherein the GPS module 4 can be replaced by a Beidou module. In addition, the geomagnetic measurement module 3 is fixed by four pillar pieces, and the geomagnetic measurement module 3 is located at the warhead position of the projectile, so as to avoid the influence of iron bodies and magnets in the projectile on the geomagnetic measurement.
地磁测量模块3上电20s内会进入磁校准模式,在磁校准模式下,使用者需要固定弹体,并多次旋转弹头来完成系统的自主磁校准,该模式也可以通过RS422接口8命令触发。随后系统进入待机模式,使用者通过RS422接口8给地磁测量模块3及光敏管2装定磁矢量信息及太阳光矢量信息,并同步时间。同时使用者可以根据当前所处的复杂环境,通过RS422接口8设定是否同时启动地磁测量模块3及光敏管2。当控制器1接收到启动其指令后,则控制通过光敏管2GPS模块4及地磁测量模块3进行数据的采集。The geomagnetic measurement module 3 will enter the magnetic calibration mode within 20 seconds after being powered on. In the magnetic calibration mode, the user needs to fix the projectile and rotate the projectile several times to complete the autonomous magnetic calibration of the system. This mode can also be triggered through the RS422 interface 8 command . Then the system enters the standby mode, and the user sets the magnetic vector information and the sunlight vector information to the geomagnetic measurement module 3 and the photosensitive tube 2 through the RS422 interface 8, and synchronizes the time. At the same time, the user can set whether to start the geomagnetic measurement module 3 and the photosensitive tube 2 at the same time through the RS422 interface 8 according to the current complex environment. When the controller 1 receives the command to start it, it controls the data collection through the photosensitive tube 2, the GPS module 4 and the geomagnetic measurement module 3.
本发明所述的基于地磁和太阳光角的弹体滚转角检测方法包括以下步骤:The projectile rolling angle detection method based on geomagnetism and sunlight angle of the present invention comprises the following steps:
1)GPS模块4获取弹体的速度信息,然后将弹体的速度信息发送至控制器1中,控制器1根据弹体的速度信息计算弹体的俯仰角α及偏航角β,光敏管2采集太阳光照角度x,再将采集到的太阳光照角度x转换为光电流y,然后将所述光电流y发送至控制器1中,控制器1根据接收到光电流y、弹体的俯仰角α及偏航角β计算光敏管2对地的最终滚转角φ;1) The GPS module 4 acquires the velocity information of the projectile, and then sends the velocity information of the projectile to the controller 1, and the controller 1 calculates the pitch angle α and the yaw angle β of the projectile according to the velocity information of the projectile, and the photosensitive tube 2Collect the solar illumination angle x, then convert the collected solar illumination angle x into photocurrent y, and then send the photocurrent y to the controller 1, and the controller 1 receives the photocurrent y and the pitch of the projectile Angle α and yaw angle β calculate the final roll angle φ of photosensitive tube 2 to the ground;
步骤1)的具体操作为:The concrete operation of step 1) is:
因为弹体飞行过程中的攻角很小,因此可以假设弹体的速度方向为弹体的姿态方向,因此弹体的俯仰角α及偏航角β可以通过GPS模块4获得的速度方向解析得到。Because the angle of attack during the flight of the projectile is very small, it can be assumed that the velocity direction of the projectile is the attitude direction of the projectile, so the pitch angle α and yaw angle β of the projectile can be obtained by analyzing the velocity direction obtained by the GPS module 4 .
四个光敏管2的光面朝外,并且沿周向均匀分布,如图1及图3所述,在入射角度较小的情况下,光电流的大小与光照面积大致呈正比关系,因此太阳光照角度x与光电流y的对应关系为:The light surfaces of the four photosensitive tubes 2 face outward and are uniformly distributed along the circumference, as described in Figure 1 and Figure 3, when the incident angle is small, the size of the photocurrent is roughly proportional to the illuminated area, so the sun The corresponding relationship between the illumination angle x and the photocurrent y is:
y=Asin2axy = Asin 2 ax
其中,α为缩放值,A=1。Wherein, α is the scaling value, A=1.
截取每个光敏管2的90°光照范围,截取图4a波形中上半部分,再将四个光敏管2检测得到的光电流波形依次进行组合,得组合波形,如图4b所示,然后将该组合波形以峰值点及谷值点为间隔划分为8段波形,其中,每个光敏管2对应两段波形,每段波形的角度基值设任一段波形的峰值及谷值分别为p及q,则有y=sin2ax,求解a,得y=sin2ax对应的拟合曲线,具体的操作流程如图5所示。Intercept the 90° illumination range of each photosensitive tube 2, intercept the upper half of the waveform in Figure 4a, and then combine the photocurrent waveforms detected by the four photosensitive tubes 2 in sequence to obtain a combined waveform, as shown in Figure 4b, and then The combined waveform is divided into 8 sections of waveforms with peak points and valley points as intervals, wherein each photosensitive tube 2 corresponds to two sections of waveforms, and the angle base value of each section of waveform Let the peak value and valley value of any section of waveform be p and q respectively, then y=sin 2 ax, Solve a to get the fitting curve corresponding to y=sin 2 ax , and the specific operation process is shown in Fig. 5 .
将当前光敏管2获得的光电流代入到对应的拟合曲线中,得当前光敏管2的太阳照射角度x,再将当前光敏管2的太阳照射角度x作为当前光电流在对应段波形中的角度偏差然后将该角度偏差叠加到该段波形的角度基值角δ上,得该段波形的相对滚转角最后将该段波形的相对滚转角与对地基准角γ相加的结果作为光敏管2对地的最终滚转角 Substitute the photocurrent obtained by the current photosensitive tube 2 into the corresponding fitting curve to obtain the current solar irradiation angle x of the photosensitive tube 2, and then use the current solar irradiation angle x of the photosensitive tube 2 as the current photocurrent in the corresponding segment waveform Angle deviation and then offset the angle Superimposed on the angle base angle δ of this segment of waveform, the relative roll angle of this segment of waveform is obtained Finally, the relative roll angle of the waveform The result of adding the reference angle γ to the ground is the final roll angle of the photosensitive tube 2 to the ground
其中,对地基准角γ为:Among them, the ground reference angle γ is:
a=cosβtanξ-cosδtanαa=cosβtanξ-cosδtanα
b=sinδtanα-sinβtanξb=sinδtanα-sinβtanξ
其中,λ,ξ分别为当前时刻太阳的方位角及太阳的高度角。Among them, λ and ξ are the azimuth angle of the sun and the altitude angle of the sun at the current moment respectively.
上式通过弹体的姿态和太阳角的高度角及方位角经过变换而来,具体原理为:如图6所示,当弹体上的某个光敏管2和太阳光线处于同一平面时,则该光敏管2的光电流正好处于峰值状态,在ENU坐标系或NED坐标系下,求解太阳光矢量及弹体轴向组成的平面与弹体铅锤面的夹角,即是该基准角,只需要设定其中一个光敏管2在这个峰值位置为0°,即完成标定。The above formula is obtained by transforming the attitude of the projectile and the altitude and azimuth of the sun angle. The specific principle is as follows: as shown in Figure 6, when a certain photosensitive tube 2 on the projectile is on the same plane as the sun's rays, then The photocurrent of the photosensitive tube 2 is just in the peak state. Under the ENU coordinate system or the NED coordinate system, the angle between the plane formed by the sunlight vector and the axial direction of the projectile and the plumb surface of the projectile is calculated, which is the reference angle. It is only necessary to set one of the photosensitive tubes 2 at this peak position to be 0°, and the calibration is completed.
2)地磁测量模块3实时采集地磁矢量v,然后将采集到的地磁矢量v发送至控制器1中,控制器1对所述地磁矢量v进行去噪,得去噪后的地磁矢量X,然后根据去噪后的地磁矢量X计算弹体的滚转角θ;2) The geomagnetic measurement module 3 collects the geomagnetic vector v in real time, then sends the collected geomagnetic vector v to the controller 1, and the controller 1 denoises the geomagnetic vector v to obtain the denoised geomagnetic vector X, and then Calculate the roll angle θ of the projectile according to the geomagnetic vector X after denoising;
步骤2)的具体操作为:步骤2)的具体操作为:The concrete operation of step 2) is: the concrete operation of step 2) is:
调整地磁测量模块3的位置,使地磁测量模块3中磁传感器的敏感轴方向与弹体的坐标系方向一致,计算磁传感器采集到地磁矢量v在敏感轴y、z上的最大值及最小值,然后根据地磁矢量v在敏感轴y、z上的最大值及最小值计算地磁矢量v在敏感轴y、z方向的均值m,再将磁传感器采集到的地磁矢量v在敏感轴y、z上的数值分别减去地磁矢量v在敏感轴y、z方向的均值m,使磁传感器的磁矢量图转化为中心在原点处的椭圆,如图7所示,计算该椭圆的长轴方向及短轴方向,然后将所述椭圆旋转υ,使该椭圆的长轴及短轴分别位于敏感轴y及z上,然后对该椭圆的长轴及短轴进行放缩,完成磁传感器采集到的地磁矢量v的校准,其中,缩放参数得到去噪声后的地磁矢量X为:Adjust the position of the geomagnetic measurement module 3 so that the direction of the sensitive axis of the magnetic sensor in the geomagnetic measurement module 3 is consistent with the direction of the coordinate system of the projectile, and calculate the maximum and minimum values of the geomagnetic vector v collected by the magnetic sensor on the sensitive axes y and z , and then according to the maximum value and minimum value of the geomagnetic vector v on the sensitive axis y, z, calculate the mean value m of the geomagnetic vector v in the sensitive axis y, z direction, and then the geomagnetic vector v collected by the magnetic sensor is in the sensitive axis y, z Subtract the mean value m of the geomagnetic vector v in the y and z directions of the sensitive axis from the values above, so that the magnetic vector diagram of the magnetic sensor is transformed into an ellipse with the center at the origin, as shown in Figure 7, and the long axis direction and the direction of the ellipse are calculated In the direction of the short axis, the ellipse is then rotated by υ so that the long axis and short axis of the ellipse are respectively located on the sensitive axes y and z, and then the long axis and short axis of the ellipse are scaled to complete the data collected by the magnetic sensor. Calibration of the geomagnetic vector v, where the scaling parameter The geomagnetic vector X obtained after denoising is:
参考图8,设(x1,y1,z1)为弹体坐标系,(x2,y2,z2)为NED坐标系,在弹丸飞行过程中,通过地磁测量模块3实时测量地磁数据,通过两个坐标系的旋转关系,得弹体的滚转角θ为:Referring to Fig. 8, let (x 1 , y 1 , z 1 ) be the projectile coordinate system, and (x 2 , y 2 , z 2 ) be the NED coordinate system. During the flight of the projectile, the geomagnetism is measured in real time by the geomagnetic measurement module 3 Data, through the rotation relationship of the two coordinate systems, the roll angle θ of the projectile is obtained as:
b=cosβy2-sinψx2 b=cosβy 2 -sinψx 2
b=cosβsinαx2+sinβsinαy2+cosαz2 b=cosβsinαx 2 +sinβsinαy 2 +cosαz 2
其中,磁传感器为双轴磁阻传感器,x1及y1为双轴磁阻传感器测量到的数据,x2、y2及z2为当地的标准地磁矢量。Wherein, the magnetic sensor is a biaxial magnetoresistive sensor, x 1 and y 1 are the data measured by the biaxial magnetoresistive sensor, x 2 , y 2 and z 2 are local standard geomagnetic vectors.
3)控制器1根据弹体的滚转角θ及光敏管2对地的最终滚转角φ计算弹体的最终滚转角其中,弹体的最终滚转角为:3) The controller 1 calculates the final roll angle of the projectile according to the roll angle θ of the projectile and the final roll angle φ of the photosensitive tube 2 to the ground Among them, the final roll angle of the projectile for:
其中,经实验测试得,Rφ为测量φ时的测试方差,Rθ为测量θ时的测试方差。Among them, it has been tested experimentally that R φ is the test variance when measuring φ, and R θ is the test variance when measuring θ.
在实际操作时,控制器1根据弹体的最终滚转角控制电机,再通过电机调整弹体上鸭舵的位置,实现对弹体弹道的修正。In actual operation, the controller 1 according to the final roll angle of the projectile Control the motor, and then adjust the position of the canard on the projectile through the motor to realize the correction of the ballistic of the projectile.
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