CN1932445A - Semi-strapdown type attitude measuring method adapted to high speed rotary body - Google Patents
Semi-strapdown type attitude measuring method adapted to high speed rotary body Download PDFInfo
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- CN1932445A CN1932445A CN200610048390.5A CN200610048390A CN1932445A CN 1932445 A CN1932445 A CN 1932445A CN 200610048390 A CN200610048390 A CN 200610048390A CN 1932445 A CN1932445 A CN 1932445A
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Abstract
The invention is a semi-strapdown attitude measurement method for the high-speed revolving solid. It can be proper for the axial high-speed revolving solid. It installs the inertial navigation system in the carrier which the inside wall is fixed with the rigid supporter. The rolling bearing is supported on the supporter which supports the rotating shaft whose axes is in the same direction with the rolling axis of the carrier coordinate. The inertial navigation system is connected in one end of the rotating shaft and the other is the stud and the heavy punch which is the same direction with the pitch axis of the carrier coordinate. So it can be used for measuring the attitude of the high-speed revolving solid by the present MEMS inertial sense organ-speed gyroscope.
Description
Technical field
The present invention relates to the inertial navigation technology of rotary body (as aircraft), particularly the attitude measurement method of high-speed rotary body is specially a kind of semi-strapdown type attitude measuring method that is applicable to high-speed rotary body.
Background technology
The strapdown original text is " strapdown ", and the meaning of " directly connecting firmly " is arranged.The strapdown type attitude measuring system is that inertial measurement component is directly installed on the carrier, has saved the stage body of inertial platform, replaces " mathematical platform " that be stored in the computing machine.The strapdown type attitude measuring system is an information handling system, i.e. the measured aircraft movements information of inertial measurement component of carrier installation becomes needed navigation and control information through Computer Processing.Owing to saved physical platform, so simple in structure, volume, weight and cost all reduce greatly, and easy to maintenance.The information that strapped-down system provides all is numerical information, is particularly suitable on the aircraft that adopts digital flight control system.
Existing strapdown type attitude measuring method is that three accelerometers and three rate gyroscopes, three accelerometer A directly are installed on carrier
x, A
y, A
zWith three rate gyroscope G
x, G
y, G
zMeasurement axis respectively with the longitudinal axis ox of carrier coordinate system b
b(also claim the axis of rolling, forward), transverse axis oy
b(also claim pitch axis, and vertical pivot oz to the right)
b(also claim yaw axis, coincide (as shown in Figure 1) downwards).Accelerometer and rate gyroscope and aftertreatment device place in the housing, and form inertial navigation system or device.The normally responsive ox of this measuring method
b, oy
bAnd oz
bThree linear acceleration and rotation angle speed (angle) on axially.Obtaining three axial linear acceleration a
x, a
y, a
zWith rotation angle speed ω
x, ω
y, ω
zOutput valve after, utilize in the strapdown inertial navitation system (SINS) equivalent rotating vector algorithm based on hypercomplex number, the real-time attitude information of rotary body is upgraded and extracts.We claim that this measuring method is the attitude test method of full accelerometer array and pure gyro.
In practice, some carrier (aircraft is as body) axis of rolling is to (ox
b) rotating speed very high (being high-speed rotary body), and the rotating speed of all the other is relatively low.Existing rate gyroscope is subjected to the restriction of measuring accuracy and measurement range, the high-speed rotary body of the perception in time axis of rolling to rotation angle speed, make measuring system mess code, deadlock etc. occur, and can't operate as normal.Therefore, existing strapdown type attitude measuring method is only applicable to the carrier of axial low speed rotation, can't be applicable to the axial high speed rotating carrier.
Summary of the invention
The present invention provides a kind of semi-strapdown type attitude measuring method that is applicable to high-speed rotary body in order to solve the problem that existing carrier posture measuring method can't be applicable to the axial high speed rotating carrier.
The present invention adopts following technical scheme to realize: the semi-strapdown type attitude measuring method that is applicable to high-speed rotary body, inertial navigation system is set in carrier, be fixed with rigid support at the carrier inwall, the rigid support upper support has rolling bearing, and the rolling bearing upper support has the axis of rolling (longitudinal axis ox of its axis and carrier coordinate system
b) in the same way rotating shaft, inertial navigation system is fixed on an end of rotating shaft, and the other end of rotating shaft is hinged with the pitch axis weight in the same way of hinge and carrier coordinate system, thereby makes inertial navigation system and high-speed rotary body form half strapdown (or claiming part strapdown).When the angle of pitch of carrier changed, weight can freely swing before and after the certain angular range in angle of pitch plane under gravitational effect, makes the stress balance of rotating shaft, makes rolling bearing overcome damping.Carrier is at the axis of rolling during to high speed rotating like this, the damping of rolling bearing is very little, the inertial navigation system that makes rotating shaft and be connected is not with the bearer synchronization high speed rotating, rotating shaft is under the effect of weight, only the adjusting of making low speed along the axis of rolling in small angle range is rotated, and makes the rate gyroscope perception on the axis of rolling direction in the inertial navigation system should adjusting rotation and export corresponding rotation angle speed ω
xUnder measuring method of the present invention, the axis of rolling of inertial navigation system no longer with the high-speed rotary body strapdown, and have only all the other both direction strapdowns, therefore, the inertial navigation system of this moment is the crab angle of perception high-speed rotary body and the attitude change information of the angle of pitch exactly, and can not reflect its roll angle situation of change truly.In the practical engineering application process, some high-speed rotary body does not need accurately to measure the attitude information that its axis of rolling makes progress, can satisfy application demand and just need measure other two attitude informations on axially, this also just the present invention introduce the reason that semi-strapdown type attitude is measured notion and scheme.Essence of the present invention be by set up in carrier inside rolling bearing reduce inertial navigation system the axis of rolling to rotating speed, make the rate gyroscope that the axis of rolling makes progress can correct lower relative rotation speed of perception during to high speed rotating at carrier shaft, thereby realize the attitude measurement of high-speed rotary body, this method is applied to as being that those skilled in the art are not easy to expect on the high speed rotary bodies such as aircraft, guided missile.
The present invention has abandoned each linear acceleration and conventional thought of rotation angle speed (angle) on axially of perception in the full strapdown type attitude measuring system, and on the basis of full strapdown type attitude measuring system notion, provided a kind of semi-strapdown type attitude measuring method by increasing rolling bearing, its core concept is: by inertial navigation system and high speed rotating body portion strapdown, finish the measurement to rotary body part attitude information.This method has solved existing MEMS inertia sensitive element effectively---and rate gyroscope can't satisfy the present situation of the attitude measurement of high-speed rotary body aspect measuring accuracy and measurement range.(promptly adopt existing rate gyroscope) on the basis of existing rate gyroscope, this method can realize the attitude measurement of high-speed rotary body.
Description of drawings
Fig. 1 is the installation site synoptic diagram of accelerometer and rate gyroscope in the existing posture of rotator measuring method;
Fig. 2 is for realizing the synoptic diagram of measuring method of the present invention;
Fig. 3 is the A-A schematic cross-section of Fig. 2;
Among the figure: 1-rigid support, 2-rolling bearing, 3-rotating shaft, 4-inertial navigation system, 5-weight.
Embodiment
Be applicable to the semi-strapdown type attitude measuring method of high-speed rotary body, inertial navigation system 4 is set in carrier, be fixed with rigid support 1 at the carrier inwall, rigid support 1 upper support has rolling bearing 2, and the rolling bearing upper support has the axis of rolling (longitudinal axis ox of its axis and carrier coordinate system
b) in the same way rotating shaft 3, inertial navigation system 4 is fixed on an end of rotating shaft, and the other end of rotating shaft is hinged with the pitch axis weight 5 in the same way of hinge and carrier coordinate system, thereby makes inertial navigation system and high-speed rotary body form half strapdown (or claiming part strapdown).Described rolling bearing 2 is a thrust bearing.Because the needs of attitude algorithm, the array mode of each assembly sensing head is identical with the array mode of each assembly sensing head in the full strapdown measuring system in the inertial navigation system.Obtaining three axial angular velocity of rotation ω of high-speed rotary body
x, ω
y, ω
zWith linear acceleration a
x, a
y, a
zAfterwards, follow-up attitude algorithm and navigation calculation just can be finished by correlation theory in the strapdown inertial navigation system and method, promptly utilize in the strapdown inertial navitation system (SINS) equivalent rotating vector algorithm, the real-time attitude information of rotary body is upgraded and extracts based on hypercomplex number.
Claims (2)
1, a kind of semi-strapdown type attitude measuring method that is applicable to high-speed rotary body, inertial navigation system (4) is set in carrier, it is characterized by: be fixed with rigid support (1) at the carrier inwall, rigid support (1) upper support has rolling bearing (2), the rolling bearing upper support has the axis of rolling rotating shaft (3) in the same way of its axis and carrier coordinate system, inertial navigation system (4) is fixed on an end of rotating shaft, the other end of rotating shaft is hinged with the pitch axis weight (5) in the same way of hinge and carrier coordinate system, thereby makes inertial navigation system and high-speed rotary body form half strapdown.
2, the semi-strapdown type attitude measuring method that is applicable to high-speed rotary body as claimed in claim 1 is characterized by: rolling bearing (2) is a thrust bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100483905A CN100545579C (en) | 2006-09-30 | 2006-09-30 | Be applicable to the semi-strapdown type attitude measuring method of high-speed rotary body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100483905A CN100545579C (en) | 2006-09-30 | 2006-09-30 | Be applicable to the semi-strapdown type attitude measuring method of high-speed rotary body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1932445A true CN1932445A (en) | 2007-03-21 |
| CN100545579C CN100545579C (en) | 2009-09-30 |
Family
ID=37878398
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100483905A Expired - Fee Related CN100545579C (en) | 2006-09-30 | 2006-09-30 | Be applicable to the semi-strapdown type attitude measuring method of high-speed rotary body |
Country Status (1)
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|---|---|
| CN (1) | CN100545579C (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102096733A (en) * | 2011-01-24 | 2011-06-15 | 中北大学 | Static axial angular rate transfer function modeling method for half strapdown inertial measurement system |
| CN102155886A (en) * | 2011-01-24 | 2011-08-17 | 中北大学 | Active-type semi-strapdown inertial measuring device applicable to high-rotation ammunition |
| CN102175242A (en) * | 2011-01-24 | 2011-09-07 | 中北大学 | Semi-strapdown structure suitable for high-rotating-speed flying-body attitude measurement |
| CN102494682A (en) * | 2011-12-07 | 2012-06-13 | 中北大学 | Comprehensive anti-overload protection method applicable to initiative type half-strapdown inertia measurement system |
| CN102608912A (en) * | 2012-03-23 | 2012-07-25 | 中北大学 | Accurate control method for driving system of active half-strapdown inertia measurement device |
| CN101603800B (en) * | 2009-07-02 | 2013-06-12 | 北京理工大学 | Method for constructing seeker guidance information of half-strapdown seeking |
| CN106500551A (en) * | 2016-12-19 | 2017-03-15 | 中北大学 | A kind of actively half quick-connecting inertia measurement system rotor oscillation noise analysis suppressing method |
| WO2021012635A1 (en) * | 2019-07-23 | 2021-01-28 | 南京航空航天大学 | Gyroscope information-based inertial navigation method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175243B (en) * | 2011-01-24 | 2012-10-17 | 中北大学 | Multi-high overload resistant device applicable to semi-strapdown inertia measurement system |
-
2006
- 2006-09-30 CN CNB2006100483905A patent/CN100545579C/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101603800B (en) * | 2009-07-02 | 2013-06-12 | 北京理工大学 | Method for constructing seeker guidance information of half-strapdown seeking |
| CN102175242B (en) * | 2011-01-24 | 2012-08-29 | 中北大学 | Semi-strapdown structure suitable for high-rotating-speed flying-body attitude measurement |
| CN102175242A (en) * | 2011-01-24 | 2011-09-07 | 中北大学 | Semi-strapdown structure suitable for high-rotating-speed flying-body attitude measurement |
| CN102155886B (en) * | 2011-01-24 | 2012-04-25 | 中北大学 | Active-type semi-strapdown inertial measuring device applicable to high-rotation ammunition |
| CN102096733A (en) * | 2011-01-24 | 2011-06-15 | 中北大学 | Static axial angular rate transfer function modeling method for half strapdown inertial measurement system |
| CN102096733B (en) * | 2011-01-24 | 2012-08-29 | 中北大学 | Static axial angular rate transfer function modeling method for half strapdown inertial measurement system |
| CN102155886A (en) * | 2011-01-24 | 2011-08-17 | 中北大学 | Active-type semi-strapdown inertial measuring device applicable to high-rotation ammunition |
| CN102494682A (en) * | 2011-12-07 | 2012-06-13 | 中北大学 | Comprehensive anti-overload protection method applicable to initiative type half-strapdown inertia measurement system |
| CN102608912A (en) * | 2012-03-23 | 2012-07-25 | 中北大学 | Accurate control method for driving system of active half-strapdown inertia measurement device |
| CN102608912B (en) * | 2012-03-23 | 2013-09-18 | 中北大学 | Accurate control method for driving system of active half-strapdown inertia measurement device |
| CN106500551A (en) * | 2016-12-19 | 2017-03-15 | 中北大学 | A kind of actively half quick-connecting inertia measurement system rotor oscillation noise analysis suppressing method |
| CN106500551B (en) * | 2016-12-19 | 2017-11-21 | 中北大学 | A kind of actively half quick-connecting inertia measurement system rotor oscillation noise analysis suppressing method |
| WO2021012635A1 (en) * | 2019-07-23 | 2021-01-28 | 南京航空航天大学 | Gyroscope information-based inertial navigation method |
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| Publication number | Publication date |
|---|---|
| CN100545579C (en) | 2009-09-30 |
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