CN110030991B - High-speed rotation angle movement measuring method for flyer integrating gyroscope and magnetometer - Google Patents

High-speed rotation angle movement measuring method for flyer integrating gyroscope and magnetometer Download PDF

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CN110030991B
CN110030991B CN201910270742.9A CN201910270742A CN110030991B CN 110030991 B CN110030991 B CN 110030991B CN 201910270742 A CN201910270742 A CN 201910270742A CN 110030991 B CN110030991 B CN 110030991B
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speed rotation
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CN110030991A (en
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敖茉莉
陈湘南
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Hunan Guoke Winner Technology Co ltd
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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
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed

Abstract

A method for measuring high-speed rotation angular motion of a flyer by fusing a gyroscope and a magnetometer comprises the following steps: step S1: installing a gyroscope on a measured object in a direction parallel to the high-speed rotating shaft, and measuring the rotation angular rate of the rotating shaft; a pair of magnetic sensors with orthogonal sensitive axes are arranged in a plane vertical to a high-speed rotating shaft of a measured object, and the earth magnetic field component projected on the sensitive axes of the magnetic sensors when an object rotates at a high speed is synchronously measured; step S2: when the change of the orientation of the rotating shaft is judged to be negligible in a period of time, the change of the angle rotating in the period of time is calculated by the output of the magnetic sensor; and step S3: comparing the angle variation of rotation in the period of time with the angle variation of rotation calculated by the output of the gyroscope, and calculating the error magnitude of an error source of the gyroscope; and step S4: and correcting the output of the gyro measurement value by utilizing the calculated gyro error to obtain accurate measurement of the high-speed rotation angular rate. The invention has the advantages of simple principle, simple and convenient operation, high measurement precision and the like.

Description

High-speed rotation angle movement measuring method for flyer integrating gyroscope and magnetometer
Technical Field
The invention mainly relates to the field of measurement of the rotating motion of a high-speed rotating object, in particular to a method for measuring the high-speed rotating angle motion of a flyer by fusing a gyroscope and a magnetometer.
Background
In order to simplify the control, many air flyers rotate along a certain axis at a high speed to realize the self-stabilization of the flight. However, due to the high-speed rotation, how to measure and control the movement of the flyer rotating at high speed becomes a troublesome problem.
Traditionally, gyros may be used to sense angular motion of the carrier, such as by 3 orthogonally mounted gyroscopes, which may measure the complete angular motion of a flying object. However, in the high-speed rotation direction, since the angular rate of rotation is large, the scale factor error of the gyro greatly affects the measurement accuracy of the rotation angle, and even a small scale factor error causes a large angle measurement error, it is difficult to achieve accurate measurement of high-speed rotation.
In addition, common methods such as a high-speed rotating projectile attitude estimation method based on magnetic roll call rate information CN201710395976.7, initial alignment technology research of roll attitude of a terminally guided mortar projectile based on a magnetoresistive sensor, roll angle measurement methods based on a biaxial magnetometer and a GPS are all based on the magnetic compass idea, and are calculated by using a triaxial magnetometer and other sensors, and the core idea is to firstly measure and calculate a pitch angle and (or) an azimuth angle of a carrier by using other sensors, then calculate a roll angle by using a geomagnetic field model, and obtain a rotation angle rate of a high-speed rotating shaft by calculation after obtaining three euler angles. The disadvantages of this method are: 1) Other sensors are required to provide measurements for 1 or 2 other of the 3 angles; 2) An accurate known local earth magnetic field model is required.
Attitution determination of a sprinkling and piping using data from two orthogonal magnetometers, shu T.Lai,1981, discusses measurement, but the sensitive axis orientation of one of them is the high speed rotational direction and is primarily used to measure the elevation angle of the carrier.
In summary, there is no simple, efficient and accurate method for effectively measuring the angular rate of rotation of a high-speed rotating shaft during the full flight time period for those carriers that rotate at high speed relative to the earth.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the method for measuring the high-speed rotation angle motion of the flyer by fusing the gyroscope and the magnetometer, which has the advantages of simple principle, simple and convenient operation and high measurement precision.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for measuring high-speed rotation angular motion of a flying object by fusing a gyroscope and a magnetometer is characterized by comprising the following steps:
step S1: installing a gyroscope on the object to be measured in the direction parallel to the high-speed rotating shaft, and measuring the rotation angular rate of the rotating shaft; meanwhile, a pair of magnetic sensors with orthogonal sensitive axes are arranged in a plane vertical to a high-speed rotating shaft of a measured object, and the earth magnetic field component projected on the sensitive axes of the magnetic sensors when the object rotates at a high speed is synchronously measured;
step S2: when the change of the direction of the rotating shaft is judged to be negligible in a period of time, the magnetic sensor outputs and calculates the angle change amount rotating in the period of time;
and step S3: comparing the rotating angle variation in the period of time with the rotating angle variation calculated by the gyroscope output, and calculating the error magnitude of a gyroscope error source;
and step S4: and correcting the output of the gyro measurement value by utilizing the calculated gyro error to obtain accurate measurement of the high-speed rotation angular rate.
As a further improvement of the invention: the gyroscope measures a rotation angular rate of the rotation axis, expressed by the following equation:
Figure GDA0003850444580000021
Figure GDA0003850444580000022
wherein the content of the first and second substances,
Figure GDA0003850444580000023
is t k The real rotation angular velocity of the high-speed rotating shaft of the flying object at the moment,
Figure GDA0003850444580000024
is t k And d, outputting the output of the gyroscope at the moment, wherein delta k is a scale factor error of the gyroscope, and epsilon is a zero offset error of the gyroscope.
As a further improvement of the invention: in the magnetic sensor, a local earth magnetic field vector is set to be M, and a component of the earth magnetic field vector projected to a plane perpendicular to the high-speed rotation axis is set to be M s Defining the high-speed rotation direction of the carrier as X-axis, M s The direction of the sensor is a Ym axis, a Zm axis is determined according to the definition of a right-hand coordinate system, and then the sensitive axes of the two orthogonal magnetic sensors are positioned in a YmZm plane; supposing that the sensitive axes are located at Ys and Zs, and the included angle between the Ym axis and the Ys axis is theta, the theta is continuously changed along with the high-speed rotation of the object; the sensor measurement error is n y And n z Then at t k Two orthogonal magnetic sensors at one timeThe output is:
Figure GDA0003850444580000031
Figure GDA0003850444580000032
wherein, the first and the second end of the pipe are connected with each other,
Figure GDA0003850444580000033
and
Figure GDA0003850444580000034
for two magnetic sensors t k Outputting at any moment without considering the influence of other external interference soft or hard magnets; alternatively, the magnetic sensor error n is assumed to have been magnetically corrected and compensated for y And n z Small, equivalent to noise.
As a further improvement of the invention: in step S2, it is determined by calculating whether the change in the amplitude of the signal measured by the pair of magnetic sensors is smaller than a threshold value for a certain period of time, and if the change is smaller than the threshold value, it is determined that the change in the orientation has not occurred.
As a further improvement of the invention: in step S2, the orientation value or the change of the orientation of the rotating shaft is directly given by other external sensors, and whether the orientation change is negligible is determined according to the orientation value or the change of the orientation.
As a further improvement of the invention: in step S2, a third magnetic sensor is directly mounted in a direction parallel to the rotation axis, and senses a projection component of the earth magnetic field in the rotation axis direction, and determines whether a change in an output signal of the magnetic sensor is smaller than a threshold, and if the change is smaller than the threshold, the orientation change is considered to be ignored.
As a further improvement of the invention: in step S2, the magnetic sensor output is used to calculate an angle change of one rotation, specifically:
t k time angle
Figure GDA0003850444580000035
Comprises the following steps:
Figure GDA0003850444580000041
t k time to t k+1 Angle of rotation at all times
Figure GDA0003850444580000042
Comprises the following steps:
Figure GDA0003850444580000043
then from t M To t N Angle theta of rotation during this period M,N Comprises the following steps:
Figure GDA0003850444580000044
as a further improvement of the invention: in the step S3, a gyro model including an error source is used as a system equation, an observation equation is constructed by using the angle variation of rotation calculated by the output of the magnetic sensor in the period of time as an observed quantity, and the error source of the gyro is estimated by using kalman filtering.
As a further improvement of the invention: establishing a Kalman filtering system equation:
X＝[δkε] T
Figure GDA0003850444580000045
Figure GDA0003850444580000046
wherein eta is k And η ω The driving white noise is respectively a scale factor and a zero offset error, and X is a system state vector of Kalman filtering;
the following observation equation is established:
Figure GDA0003850444580000047
wherein z represents an observed quantity, upsilon, of Kalman filtering m To observe the noise, the magnitude is related to the magnitude of the error of the magnetic sensor.
Compared with the prior art, the invention has the advantages that: the method for measuring the high-speed rotation angular motion of the flyer by fusing the gyroscope and the magnetometer has the advantages of simple principle and simple and convenient operation, and can realize simple and accurate measurement of the rotation angular velocity along the high-speed rotation axis of the carrier by installing a plurality of magnetic sensors in a plane vertical to the high-speed rotation axis, measuring the earth magnetic field and calculating the rotation angular velocity according to the change rule of the measurement values of the magnetic sensors during high-speed rotation, and the error is not accumulated without an accurate earth magnetic field model.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention.
Fig. 2 is a schematic diagram of the structure principle of the invention in a specific application example.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1, the method for measuring the high-speed rotation angular motion of a flying object by fusing a gyroscope and a magnetometer comprises the following steps:
step S1: installing a gyroscope on the object to be measured in the direction parallel to the high-speed rotating shaft, and measuring the rotation angular rate of the rotating shaft; meanwhile, a pair of magnetic sensors with orthogonal sensitive axes are arranged in a plane vertical to a high-speed rotating shaft of the measured object, and the earth magnetic field component projected on the sensitive axes of the magnetic sensors when the object rotates at a high speed is synchronously measured;
step S2: when the change of the orientation of the rotating shaft is judged to be negligible in a period of time, the change of the angle rotating in the period of time is calculated by the output of the magnetic sensor;
and step S3: comparing the rotating angle variation in the period of time with the rotating angle variation calculated by the gyroscope output, and calculating the error magnitude of the gyroscope error source;
and step S4: and correcting the output of the gyro measurement value by utilizing the calculated gyro error to obtain accurate measurement of the high-speed rotation angular rate.
In a specific application example, the step of installing a gyroscope in a direction parallel to a high-speed rotation axis to measure the rotation angular rate of the rotation axis means that due to high-speed rotation, the scale factor error of the gyroscope is not negligible, and therefore the rotation angular rate of the measurement output thereof can be expressed by the following formula:
Figure GDA0003850444580000051
Figure GDA0003850444580000052
here, the number of the first and second electrodes,
Figure GDA0003850444580000053
is t k The real rotation angular velocity of the high-speed rotating shaft of the flying object at the moment,
Figure GDA0003850444580000054
is t k And d, outputting the output of the gyroscope at the moment, wherein delta k is a scale factor error of the gyroscope, and epsilon is a zero offset error of the gyroscope.
In a specific application example, a pair of magnetic sensors with orthogonal sensitive axes are installed in a plane perpendicular to a high-speed rotating shaft of an object to be measured, and a component of the earth magnetic field projected on the sensitive axes of the magnetic sensors when the object rotates at a high speed is synchronously measured, which specifically includes:
assuming that the local earth magnetic field vector is M, the component of the earth magnetic field vector projected into the plane perpendicular to the high-speed rotation axis is M s Defining the high-speed rotation direction of the carrier as X-axis, M s Is the Ym axis, and the Zm axis is defined according to the right-hand coordinate system. Then two areThe orthogonal sensitive axis of the magnetic sensor is located in the YmZm plane, if the sensitive axis is located in Ys and Zs, and the included angle between the Ym axis and the Ys axis is theta, the theta is continuously changed along with the high-speed rotation of the object. The sensor measurement error is n y And n z Then at t k At time, the two orthogonal magnetic sensor outputs are:
Figure GDA0003850444580000061
here, the first and second liquid crystal display panels are,
Figure GDA0003850444580000062
and
Figure GDA0003850444580000063
for two magnetic sensors t k The output at the moment does not consider the influence of other external interference soft or hard magnets or the magnetic sensor error n is assumed that the interference magnetic fields are subjected to magnetic correction and compensation y And n z Small, and may be equivalent to noise.
In a specific application example, the determining that the change of the orientation of the rotating shaft is negligible in a period of time means: the judgment is made by calculating whether the change of the signal amplitude measured by the pair of magnetic sensors is smaller than a certain threshold value within a period of time, and when the change of the signal amplitude measured by the pair of magnetic sensors is smaller than the certain threshold value, the orientation change is considered not to be changed, specifically:
then t is k Amplitude of earth magnetic field component measured by time-of-day magnetic sensor
Figure GDA0003850444580000064
Comprises the following steps:
Figure GDA0003850444580000065
then calculate t M Time t N Whether the orientation of the high-speed rotating shaft changes in the time period is judged according to the following formula
Whether or not:
Figure GDA0003850444580000066
here, the
Figure GDA0003850444580000067
Pair of representations
Figure GDA0003850444580000068
In a time period t M ,t N ]And (6) calculating an average value. σ is a threshold value, the magnitude of which correlates to the magnetic sensor error.
In another specific application example, the determining that the change of the orientation of the rotating shaft is negligible in a period of time refers to determining whether the change of the orientation is negligible according to the change of the orientation or the orientation of the rotating shaft, which can be directly given by other external sensors.
In a third specific application example, the determining that the change of the orientation of the rotating shaft is negligible in a period of time means that a third magnetic sensor may be installed directly in a direction parallel to the rotating shaft, and the third magnetic sensor senses a projection component of the earth magnetic field in the direction of the rotating shaft, and determines whether the change of the output signal of the magnetic sensor is smaller than a threshold, and when the change of the output signal of the magnetic sensor is smaller than the threshold, the orientation change is considered to be negligible, specifically:
Figure GDA0003850444580000071
where m is c The output of the magnetic sensor is represented,
Figure GDA0003850444580000072
presentation pair
Figure GDA0003850444580000073
In a time period t M ,t N ]And (6) calculating an average value. Sigma c Is a threshold value whose magnitude is related to the magnetic sensor error.
It should be understood that the above-mentioned method is only a preferred embodiment of the present invention, and the method other than the above-mentioned method should be within the scope of the present invention as long as the object of the present invention can be achieved.
In a specific application example, the calculating the angle variation of one rotation by using the output of the magnetic sensor specifically includes:
t k time angle
Figure GDA0003850444580000074
Comprises the following steps:
Figure GDA0003850444580000075
t k time t k+1 Angle of rotation at all times
Figure GDA0003850444580000076
Comprises the following steps:
Figure GDA0003850444580000077
then from t M To t N Angle theta of rotation during this period M,N Comprises the following steps:
Figure GDA0003850444580000078
in a specific application example, the angle variation of rotation calculated by the magnetic sensor in the period of time is compared with the angle variation of rotation calculated by the output of the gyroscope, and the error magnitude of the main error source of the gyroscope is calculated by using an optimal estimation method, using a gyroscope model including the main error source as a system equation, using the angle variation of rotation calculated by the output of the magnetic sensor in the period of time as an observed quantity to construct an observation equation, and estimating the main error source of the gyroscope by using kalman filtering, specifically:
establishing the following Kalman filtering system equation:
Figure GDA0003850444580000081
where eta k And η ω The driving white noise is respectively a scale factor and a zero offset error, and X is a system state vector of Kalman filtering.
The following observation equation is established:
Figure GDA0003850444580000082
where z represents the observation of Kalman filtering, upsilon m To observe the noise, the magnitude is related to the magnitude of the error of the magnetic sensor. Kalman filtering is here a conventional way.
Due to the calculated rotation angle variation and M s And the size of M is independent of M only s Is used for measuring the rotation motion of the earth, not only the high-speed rotation, but also any flying object in the air.
If only the magnetometer mode is adopted, the premise is that the projection direction of the earth magnetic field in the sensitive plane of the magnetic sensor must not change. Most of the air rotating objects are difficult to do all the way due to the change of the postures. On the other hand, it is likely that the earth's magnetic field is exactly aligned with the high-speed rotation axis for a certain period of time, and the output of the magnetic sensor is zero, and there is no way to measure and calculate it. The method is only effective for a certain period of time and cannot be effective in the whole process. Therefore, the method of the present invention can solve the problem well.
In a specific application example, a detailed processing flow is as follows:
s101: synchronously acquiring the output of 2 orthogonally-installed magnetic sensors and the output of a gyroscope;
s102: correcting the gyro output according to the formula (2);
s103: judging whether the orientation change of the rotating shaft is negligible according to the formula (5); if not, go to S101); if so, go to S104)
S104: calculating the rotation angle according to equation (9)
Figure GDA0003850444580000083
S105: calculating a system equation observable equation according to the equation (11) and the equation (12), and performing state estimation by using Kalman filtering;
s106: go to 1).
The above are only preferred embodiments of the present invention, and the scope of the present invention is not limited to the above examples, and all technical solutions that fall under the spirit of the present invention belong to the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims (9)

1. A method for measuring high-speed rotation angular motion of a flying object by fusing a gyroscope and a magnetometer is characterized by comprising the following steps:
step S1: installing a gyroscope on a measured object in a direction parallel to the high-speed rotating shaft, and measuring the rotation angular rate of the rotating shaft; meanwhile, a pair of magnetic sensors with orthogonal sensitive axes are arranged in a plane vertical to a high-speed rotating shaft of a measured object, and the earth magnetic field component projected on the sensitive axes of the magnetic sensors when the object rotates at a high speed is synchronously measured;
step S2: when the change of the orientation of the rotating shaft is judged to be negligible in a period of time, the change of the angle rotating in the period of time is calculated by the output of the magnetic sensor;
and step S3: comparing the rotating angle variation in the period of time with the rotating angle variation calculated by the gyroscope output, and calculating the error magnitude of the gyroscope error source;
and step S4: and correcting the output of the gyro measurement value by using the calculated gyro error to obtain accurate measurement of the high-speed rotation angular rate.
2. The method of claim 1, wherein the gyroscope measures a rotation angular rate of a rotating shaft, and is represented by the following equation:
Figure FDA0003850444570000011
Figure FDA0003850444570000012
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003850444570000013
is t k The real rotation angular velocity of the high-speed rotating shaft of the flying object at the moment,
Figure FDA0003850444570000014
is t k At the moment, the output of the gyroscope, delta k, is the scale factor error of the gyroscope, and epsilon is the zero offset error of the gyroscope.
3. The gyro-magnetometer integrated high-speed rotation angular movement measurement method for a flying object according to claim 2, wherein, in the magnetic sensor, it is assumed that a local earth magnetic field vector is M, and a component of the earth magnetic field vector projected into a plane perpendicular to the high-speed rotation axis is M s Defining the high-speed rotation direction of the carrier as X-axis, M s The direction of the sensor is a Ym axis, a Zm axis is defined and determined according to a right-hand coordinate system, and then the sensitive axes of the two orthogonal magnetic sensors are positioned in a YmZm plane; supposing that the sensitive axes are located at Ys and Zs, and the included angle between the Ym axis and the Ys axis is theta, the theta is continuously changed along with the high-speed rotation of the object; the sensor measurement error is n y And n z Then at t k At time, the two orthogonal magnetic sensor outputs are:
Figure FDA0003850444570000021
Figure FDA0003850444570000022
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003850444570000023
and
Figure FDA0003850444570000024
for two magnetic sensors t k And (4) outputting the time.
4. The method for measuring the high-speed rotation angular movement of a flying object with a combined gyro and magnetometer according to claim 1, 2 or 3, wherein in the step S2, it is determined by calculating whether the change in the amplitude of the signal measured by the pair of magnetic sensors is less than a threshold value for a certain period of time, and if so, it is determined that the change in orientation is not occurring.
5. The method for measuring the high-speed rotation angular movement of a flying object integrating a gyroscope and a magnetometer according to claim 1, 2 or 3, wherein in the step S2, the orientation value or the change of the orientation of the rotating shaft is directly given by other external sensors, and whether the orientation change is negligible is judged according to the orientation value or the change of the orientation.
6. The method for measuring the high-speed rotation angular movement of a flying object integrating a gyroscope and a magnetometer according to claim 1, 2 or 3, wherein in step S2, a third magnetic sensor is directly mounted in a direction parallel to the rotation axis, and the projected component of the earth' S magnetic field in the direction of the rotation axis is sensed, and it is determined whether the change in the output signal of the magnetic sensor is less than a threshold value, and if the change is less than the threshold value, the orientation change is considered to be ignored.
7. The method for measuring the high-speed rotation angular motion of a flying object integrating a gyroscope and a magnetometer according to claim 3, wherein in the step S2, the angle variation of one rotation is calculated by using the output of the magnetic sensor, specifically:
t k time angle
Figure FDA0003850444570000025
Comprises the following steps:
Figure FDA0003850444570000026
t k time t k+1 Angle of rotation at all times
Figure FDA0003850444570000031
Comprises the following steps:
Figure FDA0003850444570000032
then from t M To t N Angle theta of rotation during this period M,N Comprises the following steps:
Figure FDA0003850444570000033
8. the method for measuring the high-speed rotation angular motion of the flying object by fusing the gyroscope and the magnetometer according to claim 7, wherein in the step S3, a gyroscope model containing an error source is used as a system equation, an observation equation is constructed by using the angular variation of rotation calculated by the output of the magnetic sensor during the period of time as an observed quantity, and the error source of the gyroscope is estimated by using kalman filtering.
9. The method for measuring the high-speed rotation angular motion of the flyer integrating the gyroscope and the magnetometer according to claim 8, wherein a Kalman filtering system equation is established:
X＝[δkε] T
Figure FDA0003850444570000034
Figure FDA0003850444570000035
wherein eta k And η ω The driving white noise is respectively a scale factor and a zero offset error, and X is a system state vector of Kalman filtering;
the following observation equation is established:
Figure FDA0003850444570000036
where z represents the observed quantity of Kalman filtering, upsilon m To observe the noise, the magnitude is related to the magnitude of the error of the magnetic sensor.
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