CN110411478A - A kind of carrier rocket inertia device quick calibrating method - Google Patents
A kind of carrier rocket inertia device quick calibrating method Download PDFInfo
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- CN110411478A CN110411478A CN201910752092.1A CN201910752092A CN110411478A CN 110411478 A CN110411478 A CN 110411478A CN 201910752092 A CN201910752092 A CN 201910752092A CN 110411478 A CN110411478 A CN 110411478A
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- angular speed
- numerical value
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- rocket
- earth rotation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention discloses a kind of carrier rocket inertia device quick calibrating methods.By introducing a kind of algorithm, using terrestrial gravitation acceleration and spin velocity as reference standard, the quick calibrating method of carrier rocket inertia device performance indicator is given.For the not high rocket of index request, turntable scaling scheme can replace using the technical program, it avoids inertia device from dismounting work, and still quantitative test can be carried out using the technical program after rocket is transported to transmitting point, it is ensured that inertia device main indicator meets launch requirements.
Description
Technical field
The present invention relates to carrier rocket fields, and in particular to a kind of carrier rocket inertia device quick calibrating method.
Background technique
In order to control track and the posture of carrier rocket flight, need that inertia device is installed on arrow to measure the view of rocket
Acceleration and angular speed, the control attitude control system of rocket acquire the data of inertia device in real time, and hair is swung after resolving
Motivation jet pipe or rudder face realize the stability contorting of track and posture.
Inertia device generally comprises used group and rate gyroscope on arrow, used group be carrier rocket indispensable single machine, generally comprise 3
A apparent acceleration channel and 3 angular speed channels, rate gyroscope is only when rocket body structure rigidity is insufficient as the auxiliary of gesture stability
It helps equipment to use, includes at least 2 angular speed channels.
When rocket carries out workshop and launch point bit test, needed as used group of stand-alone device crucial on arrow and rate gyroscope
Carry out the calibration of performance indicator, it is ensured that its performance is met the requirements.When rocket be placed horizontally at general assembly test workshop when, be used to group and
Rate gyroscope, which is generally required, to be removed from rocket and is mounted on three-axle table, and system is controlled in cable connection to arrow by extending
System.Three-axle table can also can both demarcate the performance indicator of used group and rate gyroscope with the flight attitude of simulated rocket.
After inertia device calibration finishes installation tempering arrow control cabinet, need to continue horizontality test, then
Entirety is transported to transmitting point, and the plumbness test before being emitted, in this process the performance indicator of inertia device
Be difficult to carry out accurate calibration again, especially the data in angular speed channel, when rocket is static numerical value very little and be superimposed with
Machine noise only is difficult to be judged with real-time numerical value and data and curves.
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of carrier rocket inertia device Fast Calibration side
Method realizes that inertia device performance indicator is fast, easily demarcated in arrow-like state.
According to technical solution provided by the embodiments of the present application, a kind of carrier rocket inertia device quick calibrating method, including
Following steps:
Step 1, multiple cycle datas of the used group apparent acceleration and angular speed of measurement；
Step 2, used group of multiple cycle datas are subjected to accumulation calculating, obtain being used to be combined into apparent acceleration and accumulated angle speed
Rate；
Its calculation formula for synthesizing apparent acceleration gc is as follows:
Wherein dVx (n), dVy (n) and dVz (n) are the apparent velocity increment of X-axis, Y-axis and Z axis n-th of period, and N is ginseng
With total periodicity of calculating, T is used group data transmitting period；
Its calculation formula for synthesizing angular speed ω c is as follows:
Wherein dWx (n), dWy (n) and dWz (n) are the angle step of X-axis, Y-axis and Z axis n-th of period, and N is to participate in
The total periodicity calculated, T are used group data transmitting period；
Step 3, apparent acceleration and synthesis angular speed and local gravitational acceleration and earth rotation angular speed are combined by used
Be compared, if gc numerical value near local gravitational acceleration numerical value, ω c numerical value near earth rotation angular speed numerical value,
So it is considered that used group performance is normal；
Step 4, the synthesis angular speed of rate gyroscope is obtained using same method, rate gyroscope synthesizes angular speed ω c's
Calculation formula is identical as used group, if using twin shaft gyro, dWx (n) numerical value in formula is 0；
Step 5, the synthesis angular speed of rate gyroscope is compared with earth rotation angular speed, if for three axis accelerometer
ω c numerical value is near earth rotation angular speed numerical value, then it is considered that rate gyroscope performance is normal；If for twin shaft gyro
ω c numerical value is near earth rotation angular speed numerical value when rocket is vertical, and when rocket level is not more than earth rotation angular speed numerical value,
So it is considered that rate gyroscope performance is normal.
In conclusion the application's the utility model has the advantages that the present invention by introducing a kind of algorithm, using terrestrial gravitation acceleration and
Spin velocity gives the quick calibrating method of carrier rocket inertia device performance indicator as reference standard.For index
Rocket of less demanding can replace turntable scaling scheme using the technical program, avoid inertia device dismount work, and
Rocket, which is transported to after transmitting point, still can carry out quantitative test using the technical program, it is ensured that inertia device main indicator is full
Sufficient launch requirements.
Specific embodiment
The application is described in further detail below with reference to embodiment.It is understood that tool described herein
Body embodiment is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that for the ease of retouching
It states, part relevant to invention is illustrated only in embodiment.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to embodiment.
A kind of carrier rocket inertia device quick calibrating method, comprising the following steps:
Step 1, multiple cycle datas of the used group apparent acceleration and angular speed of measurement；
Step 2, used group of multiple cycle datas are subjected to accumulation calculating, obtain being used to be combined into apparent acceleration and accumulated angle speed
Rate；
Its calculation formula for synthesizing apparent acceleration gc is as follows:
Wherein dVx (n), dVy (n) and dVz (n) are the apparent velocity increment of X-axis, Y-axis and Z axis n-th of period, and N is ginseng
With total periodicity of calculating, T is used group data transmitting period；
Its calculation formula for synthesizing angular speed ω c is as follows:
Wherein dWx (n), dWy (n) and dWz (n) are the angle step of X-axis, Y-axis and Z axis n-th of period, and N is to participate in
The total periodicity calculated, T are used group data transmitting period；
Step 3, apparent acceleration and synthesis angular speed and local gravitational acceleration and earth rotation angular speed are combined by used
Be compared, if gc numerical value near local gravitational acceleration numerical value, ω c numerical value near earth rotation angular speed numerical value,
So it is considered that used group performance is normal；
Step 4, the synthesis angular speed of rate gyroscope is obtained using same method, rate gyroscope synthesizes angular speed ω c's
Calculation formula is identical as used group, if using twin shaft gyro, dWx (n) numerical value in formula is 0；
Step 5, the synthesis angular speed of rate gyroscope is compared with earth rotation angular speed, if for three axis accelerometer
ω c numerical value is near earth rotation angular speed numerical value, then it is considered that rate gyroscope performance is normal；If for twin shaft gyro
ω c numerical value is near earth rotation angular speed numerical value when rocket is vertical, and when rocket level is not more than earth rotation angular speed numerical value,
So it is considered that rate gyroscope performance is normal.
Method due to using accumulation calculating, reduces influence of the random noise to test result, when theoretically adding up
Between it is longer, the precision of calculated result is higher.
Above description is only the preferred embodiment of the application and the explanation to schemes such as institute's application technology principles.Meanwhile
Invention scope involved in the application, however it is not limited to technical solution made of the specific combination of above-mentioned technical characteristic, while
It should cover in the case where not departing from the inventive concept, any combination is carried out and shape by above-mentioned technical characteristic or its equivalent feature
At other technical solutions.Such as features described above and (but being not limited to) disclosed herein have the technical characteristic of similar functions
The technical solution replaced mutually and formed.
Claims (1)
1. a kind of carrier rocket inertia device quick calibrating method, characterized in that the following steps are included:
Step 1, multiple cycle datas of the used group apparent acceleration and angular speed of measurement；
Step 2, used group of multiple cycle datas are subjected to accumulation calculating, obtain being used to be combined into apparent acceleration and synthesis angular speed；
Its calculation formula for synthesizing apparent acceleration gc is as follows:
Wherein dVx (n), dVy (n) and dVz (n) are the apparent velocity increment of X-axis, Y-axis and Z axis n-th of period, and N is to participate in meter
The total periodicity calculated, T are used group data transmitting period；
Its calculation formula for synthesizing angular speed ω c is as follows:
Wherein dWx (n), dWy (n) and dWz (n) are the angle step of X-axis, Y-axis and Z axis n-th of period, and N is to participate in calculating
Total periodicity, T is a used group data transmitting period；
Step 3, apparent acceleration and synthesis angular speed and local gravitational acceleration and the progress of earth rotation angular speed are combined by used
Compare, if gc numerical value near local gravitational acceleration numerical value, ω c numerical value near earth rotation angular speed numerical value, then
It is considered that used group performance is normal；
Step 4, the synthesis angular speed of rate gyroscope is obtained using same method, rate gyroscope synthesizes the calculating of angular speed ω c
Formula is identical as used group, if using twin shaft gyro, dWx (n) numerical value in formula is 0；
Step 5, the synthesis angular speed of rate gyroscope is compared with earth rotation angular speed, if for three axis accelerometer ω c
Numerical value is near earth rotation angular speed numerical value, then it is considered that rate gyroscope performance is normal；If for twin shaft gyro fire
ω c numerical value is near earth rotation angular speed numerical value when arrow is vertical, and when rocket level is not more than earth rotation angular speed numerical value, that
It is considered that rate gyroscope performance is normal.
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| CN201910752092.1A CN110411478B (en) | 2019-08-15 | 2019-08-15 | Rapid calibration method for inertial device of carrier rocket |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910752092.1A CN110411478B (en) | 2019-08-15 | 2019-08-15 | Rapid calibration method for inertial device of carrier rocket |
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| CN110411478A true CN110411478A (en) | 2019-11-05 |
| CN110411478B CN110411478B (en) | 2021-03-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112212869A (en) * | 2020-09-03 | 2021-01-12 | 北京航天自动控制研究所 | Ground test design method for simulating rocket flight test |
Citations (3)
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| US20140074418A1 (en) * | 2012-09-13 | 2014-03-13 | Freescale Semiconductor, Inc. | Method and system for calibrating an inertial sensor |
| CN105509769A (en) * | 2015-12-11 | 2016-04-20 | 上海新跃仪表厂 | Carrier rocket strapdown inertial navigation system full-autonomous alignment method |
| CN106767915A (en) * | 2016-12-07 | 2017-05-31 | 上海航天控制技术研究所 | A kind of used group scaling method of optical fiber of carrier rocket with redundancy inclined shaft |
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2019
- 2019-08-15 CN CN201910752092.1A patent/CN110411478B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140074418A1 (en) * | 2012-09-13 | 2014-03-13 | Freescale Semiconductor, Inc. | Method and system for calibrating an inertial sensor |
| CN105509769A (en) * | 2015-12-11 | 2016-04-20 | 上海新跃仪表厂 | Carrier rocket strapdown inertial navigation system full-autonomous alignment method |
| CN106767915A (en) * | 2016-12-07 | 2017-05-31 | 上海航天控制技术研究所 | A kind of used group scaling method of optical fiber of carrier rocket with redundancy inclined shaft |
Non-Patent Citations (2)
| Title |
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| 王志伟等: "某型火箭炮捷联惯导在线标定方案研究", 《红外与激光工程》 * |
| 王志伟等: "火箭弹载捷联惯导简易标定路径设计", 《红外与激光工程》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112212869A (en) * | 2020-09-03 | 2021-01-12 | 北京航天自动控制研究所 | Ground test design method for simulating rocket flight test |
| CN112212869B (en) * | 2020-09-03 | 2022-11-22 | 北京航天自动控制研究所 | Ground test design method for simulating rocket flight test |
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Effective date of registration: 20220114 Address after: 401135 No. 618 Liangjiang Avenue, Longxing Town, Yubei District, Chongqing Patentee after: CHONGQING ONE SPACE AEROSPACE TECHNOLOGY CO.,LTD. Patentee after: Chongqing Zero One Space Technology Group Co.,Ltd. Patentee after: Beijing Zero One Space Technology Research Institute Co.,Ltd. Patentee after: Xi'an zero one space technology Co.,Ltd. Patentee after: Beijing zero one space Electronics Co.,Ltd. Address before: 401135 No. 618 Liangjiang Avenue, Longxing Town, Yubei District, Chongqing Patentee before: Chongqing Zero One Space Technology Group Co.,Ltd. Patentee before: CHONGQING ONE SPACE AEROSPACE TECHNOLOGY CO.,LTD. Patentee before: Beijing Zero One Space Technology Research Institute Co.,Ltd. Patentee before: Xi'an zero one space technology Co.,Ltd. Patentee before: Shenzhen Zero One Space Electronics Co.,Ltd. |
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Denomination of invention: A fast calibration method for inertial components of launch vehicle Effective date of registration: 20220705 Granted publication date: 20210323 Pledgee: Chongqing Liangjiang Aerospace Industry Investment Group Co.,Ltd. Pledgor: CHONGQING ONE SPACE AEROSPACE TECHNOLOGY CO.,LTD.|Chongqing Zero One Space Technology Group Co.,Ltd.|Beijing Zero One Space Technology Research Institute Co.,Ltd.|Xi'an zero one space technology Co.,Ltd.|Beijing zero one space Electronics Co.,Ltd. Registration number: Y2022500000039 |
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