CN113819946A - Method and system for measuring outlet pipe parameters of launched carrier - Google Patents
Method and system for measuring outlet pipe parameters of launched carrier Download PDFInfo
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- CN113819946A CN113819946A CN202111043844.0A CN202111043844A CN113819946A CN 113819946 A CN113819946 A CN 113819946A CN 202111043844 A CN202111043844 A CN 202111043844A CN 113819946 A CN113819946 A CN 113819946A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
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Abstract
The invention discloses a method and a system for measuring the parameters of an outlet pipe of a launched carrier, belonging to the technical field of sensor measurement and control, and the method for measuring the parameters of the outlet pipe of the launched carrier comprises the following steps: mounting a micro-electromechanical inertial sensor system on a carrier; acquiring direction change data and acceleration change data of the carrier through the micro-electromechanical inertial sensor system; and determining real-time motion parameter information of the carrier according to the direction change data and the acceleration change data. The method is used for accurately measuring parameters such as initial attitude, launching time, real-time position, real-time attitude, exit time and the like of the launched carrier, judging the motion stage of the carrier according to the parameters, and implementing a corresponding steering control strategy so as to achieve the purposes of stabilizing the attitude of the carrier and accurately controlling the motion direction.
Description
Technical Field
The invention belongs to the technical field of sensor measurement and control, and particularly relates to a method and a system for measuring outlet pipe parameters of a launched carrier.
Background
The autonomous powered tubular launch vehicle usually contains a control system for measurement control of the attitude and trajectory of motion to improve vehicle control accuracy and efficiency of use, and the vehicle control system generally includes an inertial measurement system and a rudder control system. The forward overload of the tubular transmitting carrier in the transmitting stage can reach 100-200 g, and the roll angle rate can reach more than 4000 degrees/s.
In the process of large overload launching, a carrier control system is needed to accurately measure parameters such as initial attitude, launching time, real-time position, real-time attitude, pipe discharging time and the like of a launched carrier in a severely-changed mechanical environment.
Disclosure of Invention
The invention aims to provide a method and a system for measuring the exit pipe parameters of a launched carrier, which are used for accurately measuring the parameters of the launched carrier, such as initial attitude, launching time, real-time position, real-time attitude, exit pipe time and the like.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method for measuring exit pipe parameters of a launched carrier comprises the following steps:
mounting a micro-electromechanical inertial sensor system on a carrier;
acquiring direction change data and acceleration change data of the carrier through the micro-electromechanical inertial sensor system;
and determining real-time motion parameter information of the carrier according to the direction change data and the acceleration change data.
The micro-electro-mechanical inertial sensor system comprises a three-axis gyroscope data acquisition unit and a three-axis acceleration data acquisition unit.
The three-axis gyroscope data acquisition unit comprises two high-precision gyroscopes and a wide-range gyroscope;
the triaxial acceleration data collector comprises two high-precision accelerometers and a large-range accelerometer.
Determining the real-time motion parameter information of the carrier according to the direction change data and the acceleration change data specifically comprises the following steps:
step a, acquiring first starting information, and setting an information processing module to enter an alignment working mode;
step b, continuously acquiring direction change data and acceleration change data of the carrier;
step c, detecting whether the acceleration change data is larger than a preset value, if the acceleration change data is smaller than the preset value, turning to the step d, and if the acceleration change data is larger than the preset value, turning to the step e;
d, detecting whether the information processing module is in an alignment working mode or a navigation working mode; if the information processing module is in an alignment working mode, acquiring direction change data and acceleration change data of the carrier at the moment of acquiring first starting information, calculating the real-time position of the carrier, and turning to the step g; if the information processing module is in the navigation working mode, turning to step f;
step e, setting the information processing module end as a navigation working mode, and turning to step f, wherein the information processing module is irreversibly switched from the alignment working mode to the navigation working mode;
step f, iteratively calculating the real-time position of the carrier and the real-time state of the carrier according to the direction change data and the acceleration change data of the carrier;
and g, outputting the real-time position information of the carrier and the real-time state of the carrier, and turning to the step b.
The step a comprises the following steps:
powering on and starting;
initializing a port;
and setting the information processing module to be in an alignment working mode.
The step f comprises the following steps:
resolving the attitude of the coordinate system of the transmitting point;
resolving the position of a transmitting point coordinate system;
and outputting the attitude information of the carrier at the transmitting point and the position information of the carrier at the transmitting point.
Compared with the prior art, the method for measuring the parameters of the outlet pipe of the launched carrier comprises the steps of installing a micro-electromechanical inertial sensor system on the carrier, obtaining direction change data and acceleration change data of the carrier by the micro-electromechanical inertial sensor system, finally determining real-time motion parameter information of the carrier according to the direction change data and the acceleration change data, accurately measuring parameters such as initial attitude, launching time, real-time position, real-time attitude, outlet pipe time and the like of the launched carrier, judging the motion stage of the carrier according to the parameters, and implementing a corresponding steering control strategy to achieve the purposes of stabilizing the attitude of the carrier and accurately controlling the motion direction.
The invention also provides a system for measuring the exit pipe parameter of the launched carrier, which comprises:
the device comprises a processor, a communication drive circuit board with a plurality of communication interfaces and data output interfaces, a plurality of gyroscopes and a plurality of accelerometers, wherein the processor is used for executing the method for measuring the exit pipe parameters of the launched carrier;
the processor is electrically connected with the gyroscopes and the accelerometers through a plurality of communication interfaces of the communication driving circuit board respectively;
the processor is in communication connection with the outside through the data output interface.
The system for measuring the outlet pipe parameters of the launched carrier further comprises a power module, and the power module is electrically connected with the processor and the communication driving circuit board respectively.
The gyroscopes at least comprise at least one wide-range gyroscope and at least two high-precision gyroscopes;
the accelerometers at least comprise at least one wide-range accelerometer and at least two high-precision accelerometers;
the pipe outlet parameter measuring system of the launched carrier further comprises a cuboid, and at least one wide range gyroscope and at least two high-precision gyroscopes are respectively arranged on three mutually vertical surfaces of the cuboid;
at least one large-range accelerometer and at least two high-precision accelerometers are respectively arranged on three mutually vertical surfaces of the cuboid.
The discharge pipe parameter measuring system of the launched carrier further comprises:
a housing having a receiving cavity therein;
the cuboid is fixed hold intracavity bottom, communication drive circuit board is fixed hold intracavity top one side, power module fixes hold intracavity top opposite side, the treater sets up communication drive circuit board is last.
Compared with the prior art, the beneficial effects of the system for measuring the exit pipe parameter of the launched carrier provided by the invention are the same as the beneficial effects of the method for measuring the exit pipe parameter of the launched carrier in the technical scheme, and the detailed description is omitted here.
Drawings
FIG. 1 is a block diagram of a method for measuring exit tube parameters of a sabot according to the present invention;
FIG. 2 is another block diagram of the process for measuring exit pipe parameters of a sabot according to the present invention;
FIG. 3 is a block diagram of an exit tube parameter measuring system for a sabot according to the present invention;
FIG. 4 is a top view, in cross-section, of a system for measuring exit tube parameters of a sabot in accordance with the present invention;
FIG. 5 is a cross-sectional view of an elevation view of an exit tube parameter measurement system for a sabot in accordance with the present invention;
FIG. 6 is an internal circuit diagram of an exit tube parameter measuring system for a sabot according to the present invention.
FIG. 7 is a diagram illustrating an example method for measuring exit tube parameters of a sabot according to the present invention;
reference numerals: 1. a micro-electromechanical inertial sensor system; 2. a wide-range gyroscope; 3. a wide-range accelerometer; 4. a high-precision gyroscope; 5. a high-precision accelerometer; 6. a communication drive circuit board; 7. a processor; 8. an SPI communication interface; 9. a USART communication interface; 10. a communication drive circuit; 11. a data output interface; 12. a power supply module; 13. 3.3V isolated power supply; 14. 5V isolation power supply; 15. a housing; 16. installing a fixed base; 17. a cuboid; 18. SPI bus cable.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
Referring to fig. 1, a flow chart of a method for measuring an exit pipe parameter of a sabot according to the present invention is shown, wherein the method for measuring an exit pipe parameter of a sabot includes:
as shown in fig. 4, a microelectromechanical inertial sensor system 1 is mounted on the carrier, step 101.
The micro-electromechanical inertial sensor system 1 comprises a three-axis gyroscope data acquisition unit and a three-axis acceleration data acquisition unit. The three-axis gyroscope data acquisition unit comprises two high-precision gyroscopes 4 and a wide-range gyroscope 2; the triaxial acceleration data collector comprises two high-precision accelerometers 5 and a wide-range accelerometer 3. The high-precision gyroscope 4, the wide-range gyroscope 2, the high-precision accelerometer 5 and the wide-range accelerometer 3 can all adopt micro-electromechanical sensor modules.
The wide-range gyroscope 2 is used for measuring the roll rate, and the range of the wide-range gyroscope 2 is 2000-9000 degrees/s. In one example, the wide-range gyroscope 2 may be selected as the MGS4000 gyroscope with a range of 4000/s.
The wide-range accelerometer 3 is used for measuring forward acceleration, and the range of the wide-range accelerometer 3 is 100-200 g. In one example, the wide range accelerometer 3 may be of the type MAX200 accelerometer, with a 200g range.
The high-precision gyroscope 4 is used for measuring the angular rate, and the measuring precision range of the high-precision gyroscope 4 is 0.5-3 degrees/h. In one example, the high-precision gyroscope 4 may be selected as the MGS300 gyroscope with a measurement precision of 3/h.
The high-precision accelerometer 5 is used for measuring the acceleration of the yaw and pitch axes, and the measurement precision thereof is better than 300 mug. In one example, the high precision accelerometer 5 may be of the type MAX030, which measures 300 μ g precision.
102, acquiring direction change data and acceleration change data of the carrier through the micro-electromechanical inertial sensor system 1;
and 103, determining real-time motion parameter information of the carrier according to the direction change data and the acceleration change data. As shown in fig. 2, the step 103 specifically includes:
step a, acquiring first starting information, and setting an information processing module to enter an alignment working mode; in this step, the first start-up information is used to wake up the information processing module, and after the first start-up information wakes up the information processing module, the information processing module executes, powers on, initializes the port, and sets the information processing module to an alignment working mode.
Step b, continuously acquiring direction change data and acceleration change data of the carrier;
step c, detecting whether the acceleration change data is larger than a preset value, if the acceleration change data is smaller than the preset value, turning to the step d, and if the acceleration change data is larger than the preset value, turning to the step e;
d, detecting whether the information processing module is in an alignment working mode or a navigation working mode; if the information processing module is in an alignment working mode, acquiring direction change data and acceleration change data of the carrier at the moment of acquiring first starting information, calculating the real-time position of the carrier, and turning to the step g; if the information processing module is in the navigation working mode, turning to step f;
step e, setting the information processing module end as a navigation working mode, and turning to step f, wherein the information processing module is irreversibly switched from the alignment working mode to the navigation working mode; it should be noted that, when the information processing module itself executes the command stored therein, the information processing module itself has no authority to convert the navigation operation mode into the alignment operation mode. And an external master control system can issue an instruction to instruct the information processing module to convert the navigation working mode into the alignment working mode.
Step f, iteratively calculating the real-time position of the carrier and the real-time state of the carrier according to the direction change data and the acceleration change data of the carrier; the step f is used for sending the attitude calculation result of the transmitting point coordinate system, the position calculation result of the transmitting point coordinate system and outputting the attitude information of the carrier at the transmitting point and the position information of the carrier at the transmitting point.
And g, outputting the real-time position information of the carrier and the real-time state of the carrier, and turning to the step b.
In one embodiment, an example flow diagram of measurement software is shown in FIG. 7.
Step (1): after the measuring system of the carrier is powered by DC5V, the processor 7 is powered on and started;
step (2): and a GPIO input/output port (state indication and chip selection), an SPI (data acquisition) port and a USART (data transmission) port of the measurement system are initialized. Initializing various timing modules;
and (3): after the initialization of the measurement system is completed, firstly, setting a state flag bit ST to be 1, which indicates that the measurement system enters an alignment working mode (the alignment working mode is that ST is 1, namely the alignment working mode), wherein at this time, the carrier is kept static, the measurement system does not output data, and the time is 1 s; after the alignment is finished, ST is 1, the measuring system starts to output data, and the target can be mechanically aimed;
and (4): 1ms timing judgment, wherein the software periodically and circularly carries out data acquisition, attitude position calculation, data output and other main functional modules by a timer interrupt service program for 1 ms;
and (5): the method comprises the following steps that data of a 6-axis inertial sensor are acquired, wherein the 6-axis inertial sensor comprises three-axis gyroscope data acquisition and three-axis acceleration data acquisition (a wide-range gyroscope 2, a wide-range accelerometer 3, two high-precision gyroscopes 4 and two high-precision accelerometers 5), and an SPI acquisition module in the system sends a reading command through a DIN line according to the SPI protocol specification of each sensor and receives data through a DOUT line;
and (6): the sensor data is decoded and weighted according to a protocol to obtain the angular rate and the acceleration value of the carrier, and error compensation is carried out according to the installation error and the temperature error coefficient;
and (7): calculating a total acceleration value Sigma A of three axes of the carrier according to the formula (1), and judging whether the total acceleration Sigma A is greater than 2 g? If the sigma A is larger than 2g, turning to the step (11);
And (8): if the resultant acceleration Sigma A is less than or equal to 2g, judging whether the current state flag bit ST is equal to 1, otherwise, operating the carrier in a measurement mode, and turning to the step (12);
and (9): if ST is 1, the carrier is in an alignment stage, attitude calculation is carried out according to a power-on time coordinate system, the carrier is in a static state at the moment, an acceleration measured value is adopted for carrying out inverse trigonometric function calculation for pitch angle theta and roll angle phi calculation (see formulas (2) and (3)), and the algorithms of the formulas (2) and (3) belong to common calculation formulas in the inertial navigation industry. The power-on time coordinate system takes the current carrier position as an initial yaw angle psi0When the pitch angle and roll angle of the carrier at that time are actually measured as an initial pitch angle theta0And a roll angle phi 0;
step (10): the alignment stage measurement system needs to output data including time (ms number), angular rate, acceleration and attitude angle through an RS422 serial port according to protocol arrangement, the time value is negative ms number, and the position output is 0. Turning to step (15);
step (11): if the Sigma A is greater than 2g, the carrier is indicated to be ignited in the transmitting pipe, the moment is the moment when the measuring timestamp is 0, and the subsequent time is positive ms; setting ST to 2(ST to 2 means that the measurement system enters a navigation working mode), and enabling the measurement system to work in the measurement mode;
step (12): the attitude calculation after the launching is different from the attitude calculation before the launching, the pitch angle and the roll angle after the launching are switched to the quaternion calculation by using the angular rate measured value, and the inverse trigonometric function calculation is not performed by using the acceleration measured value any more, because the dynamic change of the acceleration value after the launching is large, the error of the calculated attitude angle is too large. The quaternion definition is shown in a formula (4), and a new q value obtained by resolving the quaternion is used for an attitude transformation matrix
Performing iterative calculation (see formula (5)) to obtain new posture conversion matrix
The formula (6) is an Euler angle representation method of the attitude transformation matrix, and a new attitude angle can be obtained by performing inverse trigonometric inclusion calculation according to the formula (6). The formulas (4) to (6) all refer to common calculation formulas to describe the software calculation flow.
q＝q0+q1i+q2j+q3k (4)
Step (13): and resolving the position after transmission. After the emission, integrating the measured value of the triaxial accelerometer in a navigation coordinate system to obtain the speed, and performing secondary integration on the current speed of the navigation coordinate system to obtain the position increment of the acquisition and calculation period of 1ms, so as to obtain the current position, as shown in formula (7), the algorithm belongs to a common calculation formula in the inertial navigation industry, and is not discussed here. The position calculation is comprehensively judged by combining the position calculation result according to the size of the launching device, and the moment when the forward (X-direction) position value exceeds the length of the launching tube is the carrier outlet tube moment (ms number), so that the control system can safely steer according to a control strategy to control the posture of the carrier.
Step (14): the measurement system needs to output data including time (ms number), angular rate, acceleration, attitude angle and position through an RS422 serial port according to protocol formatting in the measurement stage.
Step (15): the measurement system outputs the time (ms number) of data packets, 3 angular rates (Wx Wy Wz), 3 accelerations (Ax Ay Az), a yaw angle psi, a pitch angle theta, a roll angle phi and 3 positions (Sx Sy Sz) as 0 through an RS422 serial port. And (4) turning to the step (3).
In summary, in the method for measuring parameters of an exit tube of a launched carrier provided by the present invention, a micro-electromechanical inertial sensor system is installed on the carrier to obtain direction change data and acceleration change data of the carrier, and finally real-time motion parameter information of the carrier is determined according to the direction change data and the acceleration change data, so as to accurately measure parameters of the launched carrier, such as initial attitude, launch time, real-time position, real-time attitude, and exit tube time, and determine a motion phase of the carrier according to the parameters, and implement a corresponding steering control strategy, so as to achieve the purposes of stabilizing the attitude of the carrier and accurately controlling the motion direction.
Referring to fig. 3, fig. 4 and fig. 5, the present invention further discloses a system for measuring an exit pipe parameter of a sabot, where the system for measuring an exit pipe parameter of a sabot includes:
the device comprises a processor 7, a communication drive circuit board 6 with a plurality of communication interfaces and a data output interface 11, a plurality of gyroscopes and a plurality of accelerometers, wherein the processor 7 is used for executing the method for measuring the exit pipe parameters of the launched carrier;
the processor 7 is electrically connected with the gyroscopes and the accelerometers through a plurality of communication interfaces of the communication drive circuit board 6;
the processor 7 is in communication connection with the outside through the data output interface 11.
As shown in fig. 4, the plurality of gyroscopes at least include at least one wide-range gyroscope 2 and at least two high-precision gyroscopes 4;
the accelerometers at least comprise at least one wide-range accelerometer 3 and at least two high-precision accelerometers 5;
the discharge tube parameter measuring system of the launched carrier further comprises a cuboid 17, and at least one wide-range gyroscope 2 and at least two high-precision gyroscopes 4 are respectively arranged on three surfaces, perpendicular to each other, of the cuboid 17;
at least one wide-range accelerometer 3 and at least two high-precision accelerometers 5 are respectively arranged on three mutually perpendicular faces of the cuboid 17.
The discharge pipe parameter measuring system of the launched carrier further comprises:
a housing 15, the housing 15 having a receiving cavity therein. The housing 15 is fixedly connected with the launched carrier.
The system for measuring the outlet pipe parameter of the launched carrier further comprises a power module 12, wherein the power module 12 is electrically connected with the processor 7 and the communication driving circuit board 6 respectively.
In the above example, the housing 15 is a cylindrical barrel having an outer dimension of Φ 70x55mm, and the material of the housing 15 is free-cutting structural steel. The top is provided with a data output interface 11; the mounting and fixing base 16 is a main body of a measuring system structure, the external dimension of the mounting and fixing base is 68x68x33mm, the material of the mounting and fixing base is A12, 4 phi 3.5 through holes are formed in a flange at the bottom of the mounting and fixing base and used for positioning and screwing a product on a carrier, and a square table with the thickness of 8x8x0.5mm is reserved at the bottom end of each phi 3.5 through hole to prevent warping deformation errors caused by whole-surface contact.
A sensor mounting cuboid 17 is designed in the center of the upper end of the mounting and fixing base 16. When the sensor installation cuboid 17 is designed, requirements are provided for the mutual parallelism and the verticality of the front, back, left and right surfaces, the upper end surface and the installation table surface of the installation fixing base 16 on the carrier, and the verticality of the two adjacent surfaces of the cuboid 17 are required to be 0.01 and the parallelism is required to be 0.01. A gyroscope and an accelerometer are arranged on 5 surfaces of the sensor installation cuboid 17, wherein the upper end surface is bonded with a wide-range gyroscope 2(Wx) and a high-precision accelerometer 5(Az), the front end surface is bonded with a wide-range accelerometer 3(Ax), and the left end surface is bonded with a high-precision gyroscope 4 (Wz); a high-precision accelerometer 5(Ay) is mounted on the right end face in an adhering mode; the rear end face is bonded with a high-precision gyroscope 4 (Wy).
The wide-range gyroscope 2 has the measuring range of 2000-9000 degrees/s and the measuring precision superior to 20 degrees/h. In one example, a domestic model MGS4000 gyroscope is selected, the measuring range is 4000 degrees/s, the measuring precision is 20 degrees/h, and the LCC44 is packaged and used for measuring the roll angle rate of the carrier.
The wide-range accelerometer 3 has a measuring range of 100-200 g, and the measuring precision is better than 1 mg. In one example, a domestic model MAX200 accelerometer with a range of 200g and a measurement accuracy of 1mg is used to encapsulate LCC44 for measuring the acceleration of the forward axis of the carrier.
The measuring precision of the high-precision gyroscope 4 is better than 300 mug. In one example, a domestic model MGS300 gyroscope is selected, the range is 300 degrees/s, the measurement precision is 3 degrees/h, and the LCC44 is packaged and used for measuring the carrier pitch and yaw rate.
The high-precision accelerometer 5 is a domestic model MAX030 accelerometer, the measuring range is 30g, the measuring precision is 300 mu g, and the LCC44 is packaged and used for measuring the yaw and pitch axial acceleration of the carrier.
The communication driving circuit board 6 at least comprises: a processor 7; RS422 communicates with driver circuit 10. The processor 7 is the core of the whole measuring system, and the measuring software is downloaded in the program memory of the processor through the SWD interface. The SPI communication interface 8 and the USART communication interface 9 are integrated on the processor 7.
The processor 7 adopts a domestic MCU series CS32F103CB, is packaged into LQFP48, has the working voltage of 3.3V and has the internal clock not lower than 72 MHz. The processor 7 acquires the motion parameters of the carrier in real time according to the software process, acquires the current attitude angle and position parameters of the carrier relative to the coordinate system of the launching point through an attitude position calculation algorithm, can accurately acquire the time value (number of ms) of the relative launching moment, has an error of no more than 3ms, and is used for measuring and judging the position and time of the carrier outlet pipe. The designed acquisition resolving period is 1ms
The SPI communication interface 8 is a host end of the SPI bus network, and 6 sensors including the wide-range gyroscope 2, the wide-range accelerometer 3, the high-precision gyroscope 4 and the high-precision accelerometer 5 are slave ends. The processor 7 collects carrier angular rate and acceleration data measured by the gyroscope and the accelerometer in real time through the SPI communication interface 8.
The USART communication interface 9 is a slave end of the RS422 bus network. The RS422 communication network is composed of a USART communication interface 9, an RS422 communication drive circuit 10 and a data interface 11. The processor 7 uploads data such as attitude position and the like to the carrier control computer through a data interface 11 connector at the frequency of 1KHz through a USART communication interface 9.
The RS422 communication driving circuit 10 selects MAX3488ESA, full-duplex serial port communication, SO-8 encapsulation and working voltage of 3.3V. The data interface 11 adopts a J30J-15ZK connector.
The power module 12 at least includes: and the power supply module 12 is provided with a 3.3V isolation power supply 13 and a 5V isolation power supply 14, and the power supply module 12 provides 3.3V and 5V working power supplies for the measuring system.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "standby", "navigation" and "navigation" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "standby" or "navigation" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A method for measuring parameters of an exit tube of a launched carrier, comprising:
mounting a micro-electromechanical inertial sensor system on a carrier;
acquiring direction change data and acceleration change data of the carrier through the micro-electromechanical inertial sensor system;
and determining real-time motion parameter information of the carrier according to the direction change data and the acceleration change data.
2. The method of claim 1, wherein the micro-electromechanical inertial sensor system includes a three-axis gyroscope data collector and a three-axis acceleration data collector.
3. The method of claim 2, wherein the three-axis gyroscope data collector comprises two high-precision gyroscopes and a wide-range gyroscope;
the triaxial acceleration data collector comprises two high-precision accelerometers and a large-range accelerometer.
4. The method according to claim 1, wherein the determining the real-time motion parameter information of the vehicle according to the direction change data and the acceleration change data specifically comprises:
step a, acquiring first starting information, and setting an information processing module to enter an alignment working mode;
step b, continuously acquiring direction change data and acceleration change data of the carrier;
step c, detecting whether the acceleration change data is larger than a preset value, if the acceleration change data is smaller than the preset value, turning to the step d, and if the acceleration change data is larger than the preset value, turning to the step e;
d, detecting whether the information processing module is in an alignment working mode or a navigation working mode; if the information processing module is in an alignment working mode, acquiring direction change data and acceleration change data of the carrier at the moment of acquiring first starting information, calculating the real-time position of the carrier, and turning to the step g; if the information processing module is in the navigation working mode, turning to step f;
step e, setting the information processing module end as a navigation working mode, and turning to step f, wherein the information processing module is irreversibly switched from the alignment working mode to the navigation working mode;
step f, iteratively calculating the real-time position of the carrier and the real-time state of the carrier according to the direction change data and the acceleration change data of the carrier;
and g, outputting the real-time position information of the carrier and the real-time state of the carrier, and turning to the step b.
5. The method as claimed in claim 4, wherein the step a comprises:
powering on and starting;
initializing a port;
and setting the information processing module to be in an alignment working mode.
6. The method as claimed in claim 4, wherein said step f comprises:
resolving the attitude of the coordinate system of the transmitting point;
resolving the position of a transmitting point coordinate system;
and outputting the attitude information of the carrier at the transmitting point and the position information of the carrier at the transmitting point.
7. A system for measuring exit tube parameters of a sabot, said system comprising:
a processor, a communication driving circuit board with a plurality of communication interfaces and data output interfaces, a plurality of gyroscopes and a plurality of accelerometers, wherein the processor is used for executing the method for measuring the exit pipe parameter of the launched carrier in any one of claims 1 to 6;
the processor is electrically connected with the gyroscopes and the accelerometers through a plurality of communication interfaces of the communication driving circuit board respectively;
the processor is in communication connection with the outside through the data output interface.
8. The system of claim 7, further comprising a power module electrically connected to the processor and the communication driver circuit board, respectively.
9. The system of claim 8, wherein said plurality of gyroscopes includes at least one wide-range gyroscope and at least two high-precision gyroscopes;
the accelerometers at least comprise at least one wide-range accelerometer and at least two high-precision accelerometers;
the pipe outlet parameter measuring system of the launched carrier further comprises a cuboid, and at least one wide range gyroscope and at least two high-precision gyroscopes are respectively arranged on three mutually vertical surfaces of the cuboid;
at least one large-range accelerometer and at least two high-precision accelerometers are respectively arranged on three mutually vertical surfaces of the cuboid.
10. The system of claim 9, wherein the system further comprises:
a housing having a receiving cavity therein;
the cuboid is fixed hold intracavity bottom, communication drive circuit board is fixed hold intracavity top one side, power module fixes hold intracavity top opposite side, the treater sets up communication drive circuit board is last.
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| US11879906B2 (en) | 2021-11-18 | 2024-01-23 | Invensense, Inc. | Inertial sensor sensing of vibration frequency |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11879906B2 (en) | 2021-11-18 | 2024-01-23 | Invensense, Inc. | Inertial sensor sensing of vibration frequency |
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