CN109000836A - A kind of high dynamic carrier environment force measuring method - Google Patents
A kind of high dynamic carrier environment force measuring method Download PDFInfo
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- CN109000836A CN109000836A CN201710420690.XA CN201710420690A CN109000836A CN 109000836 A CN109000836 A CN 109000836A CN 201710420690 A CN201710420690 A CN 201710420690A CN 109000836 A CN109000836 A CN 109000836A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
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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
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
A kind of high dynamic carrier environment force measuring method for high speed spin motion, this method include the following steps: that (1) tests local longitude and latitude using satellite positioning device；(2) System self-test；(3) local Geomagnetism Information is calculated using earth magnetic field model, and ground calibration is carried out to the magnetometer in carrier inside measuring device；(4) carrier inside accelerometer is calibrated；(5) power on, start static low speed test；(6) high-speed motion state is detected, dynamic high speed test is carried out；(7) high dynamic carrier sensor return data is monitored in real time；(8) drop point data record carrier, readback test data are obtained；(9) data inversion is carried out, all the period of time environment force data in high dynamic carrier flight course is generated.The present invention carries out environmental forces measurement using general high dynamic carrier environment force measuring device, optimizes testing process, improves measurement accuracy, substantially reduce the design cycle of high dynamic carrier, the master-plan for high dynamic carrier provides foundation.
Description
Technical field
The invention belongs to high dynamic carrier field of measuring technique, and in particular to a kind of high dynamic carrier environmental forces measurement side
Method.
Background technique
The precise measurement of attitude of carrier is of great significance to the attitude stabilization of its own, motion control.The application is explained
The high rotation carrier stated are as follows: the carrier of roll rate 30~50 revolutions per seconds (even higher), such as bullet, high speed drilling mechanism.With it is non-
Spin or low speed spin plasmid are compared, coupling effect (such as Magnus effect, top between height rotation carrier pitching and jaw channel
Spiral shell effect etc.), special comprehensive kinematic and dynamic modeling is made it have, coning motion and other additional movements are embodied in.This
A little compound movements cause attitude of carrier angle to intercouple, and induction error occur, aggravate the attitude measurement error diverging of carrier, thus
Seriously affect the Navigation, Guidance and Control of high rotation carrier.
For small-sized sounding rocket, meteorological rocket, patrols winged device, guided cartridge, guidance bullet, is loaded into this kind of of aircraft etc.
High dynamic carrier, the accurate acquisition of environment force data are significant to the attitude stabilization of its own, motion control.
Patent No.:, denomination of invention are as follows: a kind of high dynamic carrier environment force measuring device, the patent application provide one
Kind high dynamic carrier environment force measuring device, makes up the shortcomings that traditional environment force measuring device can not adapt to above-mentioned condition, has
Have the advantages that structure is simple, starting speed is fast, low in energy consumption, small in size, stability is strong, measurement accuracy is high, especially suitable for high speed,
The environmental forces measurement of motion carrier and Kinematic field under the conditions of Gao Xuan, HI high impact, such as oil drilling, high rotation bullet
Under the environment such as body, Shield digging.But specific testing procedure and process is not discussed in detail in the patent, is only to general environment power
A kind of expansion of measuring device, time-consuming for test, and precision is affected by environment big.
At present in open source literature, mostly rotate at high speed bullet be background, this measurement method of research, but mostly for system
Shell is led, time of measuring is started in guidance section, and in this process, revolving speed, overload, speed have been substantially reduced, such as document
" height rotation bullet is designed with inertial measurement system multrirange sensor combinations ", " the high rotation based on magnetic sensor combination plays roll angle and surveys
Amount method " etc., but specific measurement method is not shown in detail, it is only theoretically to be verified.
Present invention is mainly applied to the environmental forces measurement of motion carrier under the conditions of high speed, Gao Xuan, HI high impact and movement are special
Property analysis field.The present invention can make up for it traditional environment force measuring method, and time-consuming, big disadvantage affected by environment, optimizes
Testing process improves measurement accuracy, substantially reduces the design cycle of high dynamic carrier, is the master-plan of high dynamic carrier
Provide foundation.Environmental forces measurement and kinetic characteristic point especially suitable for motion carrier under the conditions of high speed, Gao Xuan, HI high impact
Under analysis field, such as oil drilling, high rotation body, Shield digging environment.
Summary of the invention
The purpose of the invention is to overcome traditional environment force measuring method, time-consuming, big disadvantage affected by environment lacks
The step of point proposes a kind of high dynamic environment force measuring method, and this method give the measurements of high dynamic environment power, facilitates scientific research
Personnel are familiar with the working mechanism of high dynamic carrier, so as to shorten the design cycle of high dynamic carrier, have saved opening for master-plan
Send out the time.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that:
A kind of high dynamic carrier environment force measuring method, comprising the following steps:
Step 1, local longitude and latitude is tested using satellite positioning device；
Step 2, System self-test；
Step 3, local Geomagnetism Information is calculated using earth magnetic field model, and carrier inside measuring device magnetometer is carried out
Ground calibration；
Step 4, carrier inside accelerometer is calibrated；
Step 5, power on, start static low speed test；
Step 6, high-speed motion state is detected, dynamic high speed test is carried out；
Step 7, high dynamic carrier sensor return data is monitored in real time；
Step 8, drop point data record carrier, readback test data are obtained；
Step 9, data inversion is carried out, all the period of time environment force data in high dynamic carrier flight course is generated.
Compared with prior art, the beneficial effects of the present invention are:
(1) high dynamic carrier environment force measuring method provided by the invention utilizes high dynamic carrier environment force measuring device
It measures, acceleration, angular speed and the GEOMAGNETIC CHANGE information that can be finally inversed by high dynamic carrier flight course, is high dynamic
The comprehensive design of carrier is laid a good foundation；
(2) high dynamic carrier environment force measuring method provided by the invention is simplified by the optimization design to measuring process
Testing process, shortens the testing time；
(3) effective analysis number of the available design of high dynamic carrier environment force measuring method provided by the invention
According to facilitating designer to sum up the design experiences of high dynamic carrier, to conclude the codes and standards to form design.
Detailed description of the invention
Fig. 1 is high dynamic carrier measuring method flow chart
Specific embodiment
The process of high dynamic carrier environment force measuring method provided by the invention is as shown in Figure 1, specific as follows:
Step 1, local longitude and latitude is tested using satellite positioning device
Using satellite positioning device, such as GPS, Beidou positioning device, the geographical letter of high dynamic carrier launch site is measured
Breath, main includes local longitude, latitude and elevation information.
Step 2, System self-test
Power supply is opened, carries out System self-test, comprising: the high dynamic carrier environment force measuring device of carrier inside, ground are set
The equipment self-inspection of the components such as standby, power supply, and carry out data back test.
Step 3, local Geomagnetism Information is calculated using earth magnetic field model, and carrier inside measuring device magnetometer is carried out
Ground calibration
Earth's magnetic field large scale range be with area, time and height change, but in a determining when and where,
The variation in earth's magnetic field is negligible in projectile flight regional scope.It is high for this kind of high dynamic carrier of 155mm howitzer
Spend range 12000m, flying distance 55000m.Before transmission, it is penetrated according to known directive, wind direction, height, longitude, latitude etc.
After hitting the set of data, the Geomagnetic Field Model within the scope of the Experimental Area is calculated using international geomagnetic reference field (IGRF11),
Obtain theoretical changes of magnetic field situation of the carrier in flight course.Carrier is fixed on simple calibrating platform, theodolite is utilized
The north orientation information measured makes carrier flight is axial to be overlapped with east orientation and keep horizontal.Axially carrier is made to rotate a circle around its flight,
Real-time recording measuring device output data, three axis geomagnetic datas is denoted as: MX, k、MY, k、MZ, k, vector representation M, when k is sampling
Blaze will；3-axis acceleration is counted and is denoted as: fX, k, fY, k, fZ, k, vector representation f.
Assuming that collected data be it is N number of, find the maximum value and minimum value of three axial directions in this N number of data respectively, remember
For max (M) and min (M), earth magnetism zero-bit is sought, is denoted as Zero (M), is solved as follows:
Earth magnetism average value is solved, as follows:
The zero-bit of calculating and average value are loaded into measuring device, the calibration to magnetometer is completed.
Step 4, carrier inside accelerometer is calibrated
Assuming that collected data be it is N number of, find the maximum value and minimum value of three axial directions in this N number of data respectively, remember
For max (f) and min (f), accelerometer zero is sought, is denoted as Zero (f), is solved as follows:
Accelerometer average value is solved, as follows:
The zero-bit of calculating and average value are loaded into measuring device, the calibration to accelerometer is completed.
Step 5, power on, start static low speed test
System power supply is connected, system is in low speed test mode, data collection cycle 1Hz.
Step 6, high-speed motion state is detected, dynamic high speed test is carried out
After the transmitting of high dynamic carrier, system works in high speed test state, data collection cycle 10kHz.
Step 7, high dynamic carrier sensor return data is monitored in real time
Using ground data receiving station, the real-time measuring data of high dynamic carrier environment force measuring device is received.
Step 8, drop point data record carrier, readback test data are obtained
According to the drop point data of passback, data record is carried out to high dynamic carrier.High dynamic environment force measuring device is connected,
Readback high-density recording data.
Step 9, data inversion is carried out, all the period of time environment force data in high dynamic carrier flight course is generated
In conjunction with the high density data of real-time return data and readback, inverting is carried out to the environment force data of high dynamic carrier,
10Hz data are subjected to conic fitting, will click on capable encryption, density increases 10 times, produces 100kHz data.In conjunction with calculating
Theoretical Geomagnetic Field Model, by 100kHz carry out error statistics and analysis, ultimately produce high dynamic carrier environment force data.
Finally it should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although reference
Preferred embodiment describes the invention in detail, those skilled in the art should understand that, it can be to of the invention
Technical solution is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered
In scope of the presently claimed invention.
Claims (3)
1. a kind of measurement method for high dynamic carrier environmental forces, it is characterised in that: include the following steps,
Step 1, local longitude and latitude is tested using satellite positioning device；
Step 2, System self-test；
Step 3, local Geomagnetism Information is calculated using earth magnetic field model, and ground is carried out to carrier inside measuring device magnetometer
Calibration；
Step 4, carrier inside accelerometer is calibrated；
Step 5, power on, start static low speed test；
Step 6, high-speed motion state is detected, dynamic high speed test is carried out；
Step 7, high dynamic carrier sensor return data is monitored in real time；
Step 8, drop point data record carrier, readback test data are obtained；
Step 9, data inversion is carried out, all the period of time environment force data in high dynamic carrier flight course is generated.
2. a kind of high dynamic carrier environment force measuring method according to claim 1, it is characterised in that: to carrier inside magnetic
Strong meter carries out ground calibration, the modified earth magnetism error coefficient of institute are as follows: earth magnetism zero-bit is denoted as Zero (M), is solved as follows:
Earth magnetism average value solves as follows:
。
3. a kind of high dynamic carrier environment force measuring method according to claim 1, it is characterised in that: to carrier inside plus
Speedometer carries out ground calibration, the modified accelerometer error coefficient of institute are as follows: accelerometer zero is denoted as Zero (f), solves
It is as follows:
Accelerometer average value solves as follows:
。
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112577484A (en) * | 2019-09-29 | 2021-03-30 | 北京信息科技大学 | Telemetering device applied to small meteorological detection equipment |
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| CN106768549A (en) * | 2016-12-12 | 2017-05-31 | 北京信息科技大学 | A kind of high dynamic carrier environment force measuring device |
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| US7103477B1 (en) * | 2005-08-08 | 2006-09-05 | Northrop Grumman Corporation | Self-calibration for an inertial instrument based on real time bias estimator |
| CN101852818A (en) * | 2010-06-02 | 2010-10-06 | 北京航空航天大学 | Accelerometer error calibration and compensation method based on rotary mechanism |
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| CN112577484A (en) * | 2019-09-29 | 2021-03-30 | 北京信息科技大学 | Telemetering device applied to small meteorological detection equipment |
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