JP2916243B2 - How to detect acceleration - Google Patents
How to detect accelerationInfo
- Publication number
- JP2916243B2 JP2916243B2 JP2307164A JP30716490A JP2916243B2 JP 2916243 B2 JP2916243 B2 JP 2916243B2 JP 2307164 A JP2307164 A JP 2307164A JP 30716490 A JP30716490 A JP 30716490A JP 2916243 B2 JP2916243 B2 JP 2916243B2
- Authority
- JP
- Japan
- Prior art keywords
- acceleration
- flying object
- accelerometer
- center
- angular velocity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Navigation (AREA)
- Gyroscopes (AREA)
Description
【発明の詳細な説明】 a.産業上の利用分野 本発明は、加速度の検出方法に関し、特に、移動方向
まわりに回転する飛翔体の三軸の加速度を三個の加速度
計を用いて高精度に検出するための新規な改良に関す
る。The present invention relates to a method for detecting an acceleration, and more particularly, to a method for detecting a three-axis acceleration of a flying object rotating around a moving direction with high accuracy using three accelerometers. And a new improvement for detecting
b.従来の技術 従来、用いられていたこの種の加速度計としては種々
あり、例えば本出願人が出願した特開昭64-134266号公
報にも開示されているが、移動方向まわりに高速で回転
する飛翔体の三軸（X,Y,Z）の加速度を高精度に検出す
る方法は、開示されていない。b. Conventional technology Conventionally, there are various types of accelerometers of this type that have been used, for example, as disclosed in Japanese Patent Application Laid-Open No. 64-134266 filed by the present applicant. There is no disclosure of a method for detecting the acceleration of the rotating flying object in three axes (X, Y, Z) with high accuracy.
c.発明が解決しようとする課題 従来の加速度は、以上のように構成されていたため、
次のような課題が存在していた。c. Problems to be solved by the invention Since the conventional acceleration was configured as described above,
The following issues existed.
すなわち、例えば、移動方向まわりに高速回転する飛
翔体の三軸の加速度を検出する場合、三個の加速度計の
うち、１個の加速度計の重心は、飛翔体の回転中心と一
致させることはできるが、他の二個の加速度計の重心を
前記回転中心と一致させることは不可能であった。That is, for example, when detecting the three-axis acceleration of a flying object that rotates at high speed around the moving direction, it is possible to make the center of gravity of one of the three accelerometers coincide with the rotation center of the flying object. Although it was possible, it was impossible to make the center of gravity of the other two accelerometers coincide with the rotation center.
従って、この重心と回転中心間のずれγが存在するが
故に、真の加速度出力を得ることは不可能であった。Therefore, it is impossible to obtain a true acceleration output because of the deviation γ between the center of gravity and the rotation center.
本発明は、以上のような課題を解決するためになされ
たもので、特に、移動方向まわりに回転する飛翔体の三
軸の加速度を三個の加速度計を用いて高精度に検出する
ようにした加速度の検出方法を提供することを目的とす
る。The present invention has been made in order to solve the above problems, and in particular, to detect the three-axis acceleration of a flying object rotating around the movement direction with high accuracy using three accelerometers. It is an object of the present invention to provide a method for detecting a detected acceleration.
d.課題を解決するための手段 本発明による加速度の検出方法は、移動方向まわりに
回転する飛翔体の三軸の加速度を三個の加速度計を用い
て検出するようにした加速度の検出方法において、前記
各加速度計の重心と前記飛翔体の回転中心との間のずれ
分をγとした場合、前記飛翔体の角速度検出器の角速度
信号（ω）のγω２を前記加速度計の加速度に加算又は
減算することにより、真の加速度出力を得るようにした
方法である。d. Means for Solving the Problems The acceleration detection method according to the present invention is directed to an acceleration detection method for detecting three-axis acceleration of a flying object rotating around a movement direction using three accelerometers. , the addition when the shift amount was gamma, the Ganmaomega 2 of the angular velocity detector of the angular velocity signal of the projectile (omega) the acceleration of the accelerometer between the rotational center of the center of gravity and the flying object for each accelerometer Alternatively, a true acceleration output is obtained by subtraction.
e.作用 本発明による加速度の検出方法においては、加速度計
の重心と飛翔体の回転中心の間のずれ分がγとした場
合、飛翔体が回転した場合の回転数ωが角速度検出器か
ら出力される。e. Function In the acceleration detection method according to the present invention, when the deviation between the center of gravity of the accelerometer and the rotation center of the flying object is γ, the rotation speed ω when the flying object rotates is output from the angular velocity detector. Is done.
このずれ分γと角速度ωを演算してえられたα＝γω
２の加速度が前記加速度計から得られた加速度に加算又
は減算されることにより、真の加速度出力を得ることが
できる。Α = γω obtained by calculating the deviation γ and the angular velocity ω
The true acceleration output can be obtained by adding or subtracting the acceleration 2 from the acceleration obtained from the accelerometer.
f.実施例 以下、図面と共に本発明による加速度の検出方法の好
適な実施例について詳細に説明する。f. Embodiment Hereinafter, a preferred embodiment of the acceleration detection method according to the present invention will be described in detail with reference to the drawings.
第１図から第３図迄は、本発明による加速度の検出方
法を示すためのもので、第１図は全体構造を示す構成
図、第２図は第１図の矢印Ａ方向からの側面図、第３図
はブロック図である。1 to 3 show a method of detecting an acceleration according to the present invention. FIG. 1 is a structural view showing the entire structure, and FIG. 2 is a side view from the direction of arrow A in FIG. FIG. 3 is a block diagram.
図において符号１で示されるものは、全体形状がほぼ
円筒の長手形状からなる高速回転形の飛翔体であり、こ
の飛翔体１内には、その回転中心Ｂに沿ったＸ軸方向の
加速度を得るためのＸ軸方向加速度計２、Ｙ軸方向の加
速度を得るためのＹ軸方向加速度計３及びＺ軸方向の加
速度を得るためのＺ軸方向加速度計４が、各々X,Y,Zの
方向に検出軸2a,3a,4aを有して配設されている。In the figure, the reference numeral 1 denotes a high-speed rotating flying object whose overall shape is a substantially cylindrical long shape. In this flying object 1, acceleration in the X-axis direction along the rotation center B is stored. X-axis accelerometer 2 for obtaining, Y-axis accelerometer 3 for obtaining acceleration in the Y-axis direction, and Z-axis accelerometer 4 for obtaining acceleration in the Z-axis direction are respectively X, Y, Z It is provided with the detection shafts 2a, 3a, 4a in the directions.
前記各加速度計2,3,4のうち、Ｙ軸方向加速度計３と
Ｚ軸方向加速度計４の各重心3b,4bと飛翔体１の回転中
心Ｂとの間にずれ分γが存在しているため、飛翔体１が
ω回転した場合、α＝γω２の加速度が印加される。Among the accelerometers 2, 3, and 4, there is a shift γ between the centers of gravity 3b and 4b of the Y-axis accelerometer 3 and the Z-axis accelerometer 4 and the rotation center B of the flying object 1. because you are, if projectile 1 is rotated omega, acceleration α = γω 2 is applied.
従って、飛翔体１内の慣性センサ又はレートジヤイロ
等からなる角速度検出器５からの角速度信号ωを演算器
６で演算して前述の加速度γω２を得ると共に、この加
速度γω２と前記各加速度計2,3,4からの加速度７を加
減算器８に入力し、この加速度７に加算又は減算するこ
とにより真の加速度出力９を得ることができる。Therefore, the obtained acceleration Ganmaomega 2 described above by calculating the arithmetic unit 6 an angular velocity signal ω from angular velocity detector 5 consisting of inertial sensors or Retojiyairo like in the projectile 1, wherein the acceleration and the acceleration Ganmaomega 2 meter 2 , 3, 4 are input to the adder / subtractor 8 and added or subtracted from the acceleration 7 to obtain a true acceleration output 9.
g.発明の効果 本発明による加速度の検出方法は、以上のように構成
されているため、次のような効果を得ることができる。g. Effects of the Invention Since the acceleration detection method according to the present invention is configured as described above, the following effects can be obtained.
すなわち、各加速度計の重心と飛翔体の回転中心との
間のずれ分に基づく加速度を、各加速度計から得られた
加速度に加算又は減算するようにしているため、加速度
計に重畳する遠心力成分を補正することができ、高精度
な三軸の加速度出力を得ることができる。That is, since the acceleration based on the deviation between the center of gravity of each accelerometer and the rotation center of the flying object is added to or subtracted from the acceleration obtained from each accelerometer, the centrifugal force superimposed on the accelerometer The components can be corrected, and a highly accurate three-axis acceleration output can be obtained.
第１図から第３図迄は、本発明による加速度の検出方法
を示すためのもので、第１図は全体構造を示す構成図、
第２図は第１図の矢印Ａ方向からの側面図、第３図はブ
ロック図である。 １は飛翔体、2,3,4は加速度計、2b,3b,4bは重心、Ｂは
回転中心、５は角速度検出器、ωは角速度信号、γはず
れ分、９は加速度出力である。FIGS. 1 to 3 show a method of detecting an acceleration according to the present invention. FIG. 1 is a block diagram showing the overall structure.
FIG. 2 is a side view from the direction of arrow A in FIG. 1, and FIG. 3 is a block diagram. 1 is a flying object, 2, 3 and 4 are accelerometers, 2b, 3b and 4b are centroids, B is a center of rotation, 5 is an angular velocity detector, ω is an angular velocity signal, γ is a deviation, and 9 is an acceleration output.
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.6，ＤＢ名) G01P 15/00 - 15/135 G01P 21/00 F42B 15/08 F41G 7/36 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. 6 , DB name) G01P 15/00-15/135 G01P 21/00 F42B 15/08 F41G 7/36
Claims (1)
三軸の加速度を三個の加速度計（2,3,4）を用いて検出
するようにした加速度の検出方法において、 前記各加速度計（2,3,4）の重心（2b,3b,4b）と前記飛
翔体（１）の回転中心（Ｂ）との間のずれ分をγとした
場合、前記飛翔体（１）の角速度検出器（５）の角速度
信号（ω）のγω２を前記加速度計（2,3,4）の加速度
に加算又は減算することにより、真の加速度出力（９）
を得ることを特徴とする加速度の検出法。1. A method of detecting acceleration in which a three-axis acceleration of a flying object (1) rotating around a movement direction is detected using three accelerometers (2, 3, 4). If the deviation between the center of gravity (2b, 3b, 4b) of the accelerometer (2, 3, 4) and the center of rotation (B) of the flying object (1) is γ, the flying object (1) angular velocity detector wherein the accelerometer Ganmaomega 2 of the angular velocity signal (5) (omega) by adding or subtracting the acceleration (2,3,4), the true acceleration output (9)
A method for detecting acceleration, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2307164A JP2916243B2 (en) | 1990-11-15 | 1990-11-15 | How to detect acceleration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2307164A JP2916243B2 (en) | 1990-11-15 | 1990-11-15 | How to detect acceleration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04181165A JPH04181165A (en) | 1992-06-29 |
| JP2916243B2 true JP2916243B2 (en) | 1999-07-05 |
Family
ID=17965804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2307164A Expired - Fee Related JP2916243B2 (en) | 1990-11-15 | 1990-11-15 | How to detect acceleration |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2916243B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114322682A (en) * | 2021-11-30 | 2022-04-12 | 湖南航天机电设备与特种材料研究所 | Test system and method based on patrol missile launching impact overload |
-
1990
- 1990-11-15 JP JP2307164A patent/JP2916243B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04181165A (en) | 1992-06-29 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |