KR101958151B1 - Roll estimation navigation System and Method for guided projectiles based on magnetometer and Global Navigation Satellite Systems - Google Patents

Abstract

Disclosed is a roll angle alignment and navigation system for a guided projectile based on a terrestrial magnetism sensor and satellite navigation signals. The system comprises: an inertial measuring sensor (110) for measuring motion information of a projectile; a terrestrial magnetism sensor (120) for measuring terrestrial magnetism information around the projectile; a satellite navigation receiver (130) for receiving a satellite navigation signal; a roll angle estimation unit (140) for estimating a roll angle of the projectile and generating roll angle estimation information, based on the motion information, the terrestrial magnetism information and the satellite navigation signal; an inertial navigation device (150) for calculating projectile inertial navigation information based on the roll angle estimation information and the motion information; and an integrated navigation device (170) for compensating an error of the projectile inertial navigation information and the satellite navigation signal.

Description

[0001] The present invention relates to a rolling angle navigation system and method for guided cannons based on geomagnetic sensors and satellite navigation signals,

The present invention relates to navigation device technology, and more particularly, to a roll angle alignment navigation system and method for guided cannons used in shells.

More particularly, the present invention relates to a roll angle alignment navigation system and method for guided cannons, which provides positional velocity and posture during flight for precise inductive control required in precision guided cannons with an induction control function to dramatically increase the accuracy of conventional cannonballs .

One of the ways to increase the firepower of the world and to minimize the incidental damage worldwide is to increase the accuracy of conventional shells. Therefore, a shell having an induction control function has been developed beyond the method of determining the collision site according to the existing resignation, for example, precision guided cannon technology is actively being developed.

Therefore, it is essential to acquire the position, speed and attitude from the navigation system as the guidance control becomes necessary. However, unlike navigation devices commonly used in the presence, popularity, aircraft, and guided missiles, it is impossible to apply the navigation device technology through the inertial navigation system because of the complex flight behavior of the bombardment ammunition.

Rotational and / or impact can not be precisely measured during coiling, so pre-flight alignment is not possible. Also, because of the nature of shells with free-fall flights in flight, it is not possible to use an ordinary gravity-based alignment technique. In addition, the roll angle estimation method for the initial alignment is required within the shell flight behavior, and the components mounted on the shell should satisfy miniaturization and / or high impact resistance.

In response to this, a method of estimating the roll angle using the received signal power intensity of a satellite navigation receiver has been studied, and the estimation performance is degraded when power received decreases for a series of reasons. Also, there is a disadvantage in that estimation is advantageous only in a section where the rotation speed is kept constant.

On the other hand, the shell has a characteristic in which the number of revolutions of the roll is linearly damped with time. Therefore, a separate roll speed control induction control system for keeping the rotation speed constant is required. There is a restriction condition that it is disadvantageous to achieve the purpose of improving the accuracy because the related energy consumption occurs.

In order to improve such a part, a method of estimating the roll angle of the satellite navigation receiver reflecting the rotation speed is being studied so as to cope with the change of the roll rotation speed, and the rotation speed reflecting the actual flight behavior is measured, It is possible to respond by applying.

 In addition, the geomagnetic sensor has been studied to estimate the number of revolutions and roll angles based on the values measured by modulating the geomagnetic field around the cannon with the rotation of the cannon.

However, there is a disadvantage that the geomagnetic measurement value can be distorted by the electronic equipment and / or the metal structure attached to the body. Therefore, the estimation of the number of revolutions is irrelevant, but it may cause an error factor in the method of estimating the roll angle of the geomagnetism sensor.

1. Korean Patent Publication No. 10-2016-0087388 2. Japanese Laid-Open Patent No. 2016-080615 3. US Patent No. 6398155 (registered on June 4, 2002)

1. Min, Hong-Ju, et al., "Development of integrated navigation system for tactical guided missiles", The Korean Society for Aeronautical & Space Sciences 2014 Fall Conference, 2014.11, 1426-1429

The present invention has been proposed in order to solve the problems according to the above background art, and it is an object of the present invention to provide a geomagnetic sensor capable of estimating an initial roll angle of a shell by applying a geomagnetic sensor and a satellite navigation signal, The purpose is to provide.

Also, the present invention provides a roll angle alignment navigation system and method for a guided cannon based on a geomagnetic sensor and a satellite navigation signal capable of estimating the roll angle even in a section where the number of revolutions changes, There is another purpose.

In order to achieve the above-mentioned object, the present invention provides a geomagnetic sensor capable of estimating the initial roll angle of a shell by applying a geomagnetic sensor and a satellite navigation signal, and a roll angle alignment navigation system for guided cannons based on a satellite navigation signal.

In the roll angle alignment navigation system for guided cannons,

An inertial measurement sensor for measuring movement information of the shell;

A geomagnetic sensor for measuring geomagnetic field information around the shell;

A satellite navigation receiver for acquiring a satellite navigation signal;

A roll angle estimator for estimating a pitch angle of yaw angle using a velocity vector of the cannon and performing in-flight initial alignment, and estimating a roll angle of the cannon using the motion information, the geomagnetic field information, ;

An inertial navigation apparatus for calculating the shell inertial navigation information using the roll angle estimation information and the motion information; And

And a complex navigation system for correcting the error of the satellite navigation signal and the information about the inertial navigation information to calculate accurate flight information of the shell during the flight.

Here, the motion information may include rotational motion and linear acceleration of the cannon.

In addition, the shell inertial navigation information may include initial position information of the shell, position information during flight, initial velocity information, velocity information during flight, initial position information, and attitude information during flight.

The precision flight information may include a correction position that corrects the in-flight position information, a correction speed information that corrects the in-flight speed information, and correction posture information that corrects the in-flight attitude information.

In addition, the initial position information and the initial velocity information are obtained through an initialization method of the GPS receiver.

In addition, the pitch angle and the yaw angle of the initial attitude information are calculated on the basis of the velocity vector of each axis output from the satellite navigation receiver or in the case where the satellite navigation can not be performed, and the preloading trajectory information of the shell loaded in the cannon is calculated using trigonometry .

Also, the roll angle estimator may be configured to calculate an initial pitch angle and an initial yaw angle of the shell using a velocity vector in a specific direction of the satellite navigation receiver or using the pre-loading trajectory information of the shell when the satellite navigation receiver is disabled, The initial alignment is performed.

Further, the specific direction is characterized by being North, East, and Down.

The roll angle estimator estimates a rotation number and a roll angle based on a value measured by the geomagnetic sensor when the earth magnetic field around the can is modulated in accordance with the rotation of the cannon, The present invention is also applied to a receiver to perform a roll angle estimation, or a roll angle estimation by applying a rotation speed measurement value of the inertia measurement sensor to the satellite navigation receiver, or a roll angle alignment in which a roll angle estimation is performed using only satellite navigation receiver information.

The geomagnetic sensor measures the geomagnetic field around the shell, calculates the number of revolutions based on the geomagnetic sensor value modulated by the rotation and measured.

The roll angle estimation information may include geomagnetism roll angle estimation information generated using the geomagnetism rotation number among the geomagnetic field information from the geomagnetism sensor, and geomagnetic roll angle estimation information using the gyroscope rotation number and the geomagnetism number And the satellite navigation receiver roll angle estimation information generated by the satellite navigation receiver roll angle estimation information.

In addition, the geomagnetism roll angle estimation information and the satellite navigation receiver roll angle estimation information are selectively applied to compensate for a decrease in satellite reception intensity.

Also, the geomagnetism rotation speed has a measurement period earlier than the measurement period for the GPS receiver estimation information.

In addition, the inertial measurement sensor is a MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) for assuring high impact resistance at the time of shell firing and for small application.

Also, the roll angle estimation is performed by reflecting the rotation speed estimation value of the geomagnetism sensor 120 or the rotation speed measurement value of the gyroscope of the inertia measurement sensor even in the change of the rotation speed.

On the other hand, another embodiment of the present invention includes: (a) measuring the motion information of the shell by the inertial measurement sensor 110; (b) measuring the geomagnetic field information around the shell by the geomagnetic sensor 120; (c) the satellite navigation receiver 130 acquires a satellite navigation signal; (d) performing in-flight initial alignment to estimate the pitch angle of yaw using the velocity vector of the shell; (e) the roll angle estimator 140 estimates the roll angle of the shell using the exercise information, the geomagnetic field information, and the satellite navigation signal to generate roll angle estimation information; (f) calculating inertia navigation information using the roll angle estimation information and the motion information by the inertial navigation device 150; And (g) calculating the precise flight information of the shell during the flight by correcting the error of the navigation signal and the navigation signal of the composite navigation device 170. The geomagnetic sensor and the satellite navigation signal To provide a roll angle alignment navigation method for guided cannons.

According to the present invention, it is possible to estimate an initial roll angle of a shell by applying a geomagnetic sensor and a satellite navigation signal.

Another advantage of the present invention is that the roll angle estimation can be performed even in the section where the number of revolutions changes, and the precise position velocity and posture of the cannon during flight can be calculated.

1 is a block diagram of a roll angle alignment navigation system for guided cannons according to an embodiment of the present invention.
2 is a detailed block diagram of the roll angle estimator shown in FIG.
3 is a flow chart illustrating a roll angle alignment process for guided cannons according to one embodiment of the present invention.
FIG. 4 is a flow chart showing in detail the step of in-flight roll angle alignment shown in FIG.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Like reference numerals are used for similar elements in describing each drawing. The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term " and / or " includes any combination of a plurality of related listed items or any of a plurality of related listed items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Should not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description will be given of a roll angle alignment navigation system for guided cannons based on a geomagnetic sensor and a satellite navigation signal according to an embodiment of the present invention with reference to the accompanying drawings.

For precise inductive maneuvering of the shell, it is essential to acquire the current position, velocity and attitude of the shell in flight from the navigation system. Unlike the navigation devices for popular, airplanes, and missiles, it is essential for the navigation device for precision guided cannon to have an additional function of roll angle estimation in the initial alignment during flight.

In general, the initial alignment technique mainly uses static or steady horizontal flight behavior, but there is no sensor capable of precise measurement of rotation and / or impact during the wrapping and it is impossible to reflect the characteristics of the flight behavior of the shell.

Especially, since the degree of difficulty of the roll angle estimation technique is high in the attitude information, many studies have been conducted. The IMU (Inertial Measurement Unit) sensor used to perform inertial navigation uses a small type of MEMS (Micro Electro Mechanical + Systems) because it has high impact resistance for application to shells and has a large space for mounting. In order to overcome the disadvantages of inertial navigation and the disadvantages of satellite navigation, we apply precision flight of GPS / INS (Global Positioning Systems / Inertial Navigation System)

1 is a block diagram of a configuration of a roll angle alignment navigation system 100 for guided cannons according to an embodiment of the present invention. Referring to FIG. 1, a roll angle alignment navigation system 100 for guided cannels includes an inertial measurement sensor 110 for measuring movement information of a cannon, a geomagnetic sensor 120 for measuring geomagnetic field information around the cannon, A roll angle estimator 140 for estimating a roll angle of the cannon using the motion information, the geomagnetic field information, and the satellite navigation signal to generate roll angle estimation information, An inertial navigation device 150 for calculating inertial navigation information, an adder 160 for generating summation information by summing the shell inertial navigation information and the satellite navigation signal, A precision flight device 170, and the like.

In general, the operational concept of the navigation device applied to the guided artillery is as follows. The shell is charged with information about the expected trajectory and satellite navigation related information. When the shell is fired, it rotates faster than 00Hz at the beginning of flight, and the rotation speed gradually decreases to 0 ~ 00 Hz.

Unlike general air vehicles, it is difficult to initialize and initialize the navigation system in the high speed and high rotation state of the section that travels toward the vertex. At this time, the satellite navigation receiver 130 acquires the signal in the quick initialization mode, and the initial alignment and roll angle alignment are performed using the data of the inertia measurement sensor 110 (including the angular velocity sensor and the acceleration sensor) and the geomagnetic sensor 120 .

In addition, the pitch angle and the yaw angle of the roll angle, pitch angle and yaw angle required for initial alignment are calculated by using the trigonometric method of the relationship between the velocity vectors in the North, East, And the pitch angle is calculated by calculating the angle between the velocity sum vector of the north direction and the east direction and the down direction and calculating the angle between the velocity vector in the north direction and the east direction. The roll angle uses a roll angle sorting technique which is calculated using geomagnetic sensor data, which will be described later.

At this time, the rotation speed can be attenuated through the induction steering technique using the control wing. After that, inertial navigation and GPS / INS navigation are performed to obtain navigation information of precise position, speed, and attitude.

On the other hand, when all the elements in the roll angle alignment navigation system 100 for induction cannons are activated after the envelope is powered up, the inertial measurement sensor 110, the geomagnetic sensor 120, and the satellite navigation receiver 130 are initialized .

The inertial measurement sensor 110 is an inertial sensor. The inertial measurement sensor 110 is composed of at least one accelerometer for sensing acceleration, and at least one gyroscope for sensing the rotational speed, and calculates motion information of the shell. Examples of exercise information include rotation of the cannon, linear acceleration, and the like.

The inertial measurement sensor 110 may be a MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) for ensuring high impact resistance at the time of shell firing and for compact application. The MEMS IMU (angular velocity sensor, acceleration sensor) consists of three axes measuring the rotational motion and / or linear acceleration of the shell.

The geomagnetic sensor 120 performs a function of measuring a geomagnetic field around the shell. The geomagnetic sensor 120 is formed using a hall effect or a magnetoresistive effect. In particular, the geomagnetic sensor 120 measures the geomagnetic field around the shell, calculates the number of rotations based on the geomagnetism sensor value modulated by the rotation and measured.

The satellite navigation receiver 130 may be a Global Navigation Satellite Systems (GNSS) receiver, but is not limited thereto, and may be a GPS (Global Positioning System) or the like. In particular, when the satellite navigation receiver 130 completes the quick initialization, it obtains navigation information of the current position, speed, and time of the shell.

The roll angle estimator 140 receives data from the inertial measurement sensor 110, the geomagnetic sensor 120, and the satellite navigation receiver 130 to estimate the roll angle of the shell. That is, the roll angle estimation information is generated. A detailed view of the functions performed by the roll angle estimator 140 is shown in FIG. 2, which will be described later.

The inertial navigation apparatus 150 receives the motion information and the roll angle estimation information from the inertial measurement sensor 110 and the roll angle estimator 140, respectively, and calculates the inertia navigation information. The information about the shell inertial navigation includes the initial position of the shell, the position during flight, the speed during flight, and attitude information during flight. The roll angle estimator 140 receives the output signals of the inertial measurement sensor 110, the geomagnetic sensor 120, and the satellite navigation receiver 130 to perform roll angle alignment. The inertial navigation system 150 transmits the initial position and velocity to the inertial navigation system 150 by setting the initial position velocity and attitude as the initial values for the inertial navigation. It is important to reduce the error of the initial attitude determination because the inertial navigation is based on the integration method and the setting error of the initial value is fixed by the inertial navigation error.

The initial position and speed among the navigation information on the initial position, speed, and attitude are acquired through the quick initialization method of the GPS receiver 130. The rapid initialization method is a method for acquiring position and speed in a shorter time than a general satellite navigation receiver. It is a technique to shorten the time by preliminarily charging some values for navigation, and is the same as a general quick initialization method.

 The pitch angle and the yaw angle are represented by the velocity vectors (East, North, Down) of each axis output from the satellite navigation receiver 130 or satellite navigation In the case of failure, the pre-loading trajectory information of the shell previously calculated on the ground and charged to the shell is estimated using trigonometry.

In addition, the row pitch angle and the yaw angle calculate the relationship of the velocity vectors in the North, East, and Down directions output from the navigation system through trigonometry, The angle between the velocity sum vector in the direction and the down direction is calculated, and the angle between the velocity vector in the north direction and the east direction is calculated and used.

The complex navigation apparatus 170 performs a function of calculating accurate flight information of the shell during the flight. In detail, the accurate flight information of the shell during flight is calculated using the shell inertial navigation information received from the inertial navigation device 150 and the satellite navigation signal obtained from the satellite navigation receiver 130. The precision flight information includes a correction position corrected for the position information during the flight, correction speed information corrected for speed information during flight, and correction attitude information corrected for attitude information during flight.

Although the summer 160 is shown separately in FIG. 1, it is also possible to combine the summer 160 with the combined navigation device 170 according to design. The summer 160 is a software block, but it is not limited thereto and may be a combination of hardware and software.

2 is a detailed block diagram of the roll angle estimator 140 shown in FIG. 2, the roll angle estimator 140 includes a sensing information acquisition module 210 for obtaining information, a roll angle calculation module 220 for estimating a roll angle using the acquired information, A roll angle alignment module 230, and the like.

The sensing information acquisition module 210 performs a function of acquiring data from the inertial measurement sensor 110, the geomagnetic sensor 120, and the satellite navigation receiver 130. The sensing information acquisition module 210 acquires motion information of the cannon from the inertial measurement sensor 110, geomagnetic field information from the geomagnetism sensor 120, satellite navigation signal from the satellite navigation receiver 130, and the like.

The roll angle calculation module 220 performs a function of generating roll angle estimation information by estimating the roll angle of the shell using exercise information, geomagnetic field information, and satellite navigation signal. That is, geomagnetism roll angle estimation information may be generated using the geomagnetism rotation number among the geomagnetic field information from the geomagnetic sensor 120, or the geomagnetism rotation information may be generated from the geomagnetism sensor 120 The geomagnetism rotation number of the geomagnetic field information is applied to the satellite navigation receiver 130 to generate the GPS navigation roll angle estimation information.

Also, it is possible to estimate only the satellite navigation receiver roll angle estimation information of the satellite navigation receiver 130.

The roll angle alignment module 230 estimates the pitch angle and the yaw angle of the shell by selectively using the geomagnetism roll angle estimation information and the satellite navigation receiver roll angle estimation information or by using them separately or by using the satellite navigation receiver roll angle estimation information as the pitch angle And estimates the yaw angle.

The term " roll angle estimator ", " sensing information acquisition module ", " roll angle calculation module ", " roll angle alignment module ", etc. described in FIGS. 1 and 2 means a unit for processing at least one function or operation, And / or a combination of software.

(DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microprocessor, and the like, which are designed to perform the above- , Other electronic units, or a combination thereof. In software implementation, it may be implemented as a module that performs the above-described functions. The software may be stored in a memory unit and executed by a processor. The memory unit or processor may employ various means well known to those skilled in the art.

3 is a flow chart illustrating a roll angle alignment process for guided cannons according to one embodiment of the present invention. Referring to FIG. 3, the pitch angle and the yaw angle of the shell are estimated in an initial alignment step during flight (step S310). The initial pitch angle and the initial yaw angle of the shell are estimated from the trigonometric method using the speed vector of the satellite navigation receiver 130 or the preloading trajectory information of the shell outputted when the satellite navigation is impossible.

In this case, it is possible to estimate only the information of the satellite navigation receiver roll angle estimation 240 of the satellite navigation receiver 130 or the MEMS IMU GYROSCOPE rotation number 220 or the geomagnetism information of the satellite navigation receiver 40, It is also possible to estimate the change in the number of revolutions by applying the number of revolutions 210 as well. The geomagnetic sensor measures the earth's magnetic field and can estimate the roll angle and the number of revolutions independently by using the characteristics that are changed by the rotation of the cannon. The above methods are characterized in that they can be selected and used complementarily according to the operating method.

The above estimation methods can be used complementarily depending on the operating method.

Thereafter, the inertial navigation apparatus 150 calculates the initial positional velocity and posture of the shell using the data acquired through the inertial measurement sensor 110 (including the angular velocity sensor and the acceleration sensor) and the satellite navigation receiver 130 (Step S330). This inertial navigation step calculates the position, velocity, and posture of the shell during flight using the estimated initial attitude of the shell in the initial alignment step S310 during flight and the roll angle alignment step S320 during flight.

Thereafter, in the composite navigation step, the data of the satellite navigation receiver 130 and the navigation information calculated by the inertial navigation device 150 are combined in the navigation device 170, 150) to correct flight information having precise position, velocity, and attitude of the shell during flight (step S340). In other words, the correction of the error is possible by itself. It is an advantage that the combining method itself has. GPS is the measurement information of a slow cycle, there is no cumulative error, IMU is measurement information of a fast cycle, and there is an accumulated error, so that the error is compensated by complementary correction.

FIG. 4 is a flow chart showing in detail the step of in-flight roll angle alignment shown in FIG. In general, it is not possible to use the roll angle alignment technique of navigation devices commonly used in U / UAV, aircraft, and missile, in the case of shells having flight characteristics such as high speed flight and free flight.

It is more difficult to study the estimation method for the roll angle, which is characterized in that the change characteristic is large due to the influence of the high speed rotation rather than the pitch angle and the yaw angle. Thus, in one embodiment of the present invention, multiple techniques are selectively used to reflect the characteristics of the techniques.

Referring to FIG. 4, the satellite navigation receiver roll angle estimation information may be output by applying the characteristic that the reception strength is modulated as the satellite navigation receiver 130 rolls (step S440). The characteristic of being modulated is that when the roll rotation is performed, the reception intensity of the satellite navigation receiver 130 is modulated in a sinusoidal wave form, and when the reception intensity is the largest, Calculate roll angle. The number of revolutions can be calculated by measuring the cycle of the maximum value.

 The geomagnetic sensor 120 measures the geomagnetic field around the shell and has a characteristic of being rotationally modulated based on the rotation axis. The geomagnetic sensor 120 measures the geomagnetic field of the geomagnetic sensor (Step S430), and calculates the geomagnetism number by measuring the period of the maximum value (step S410).

The roll angle estimation information of the satellite navigation receiver can estimate the roll angle on the assumption that the number of revolutions of the shell at the present time is constant and can not be satisfied due to the operation concept of the shell, .

In order to compensate for this, the geomagnetism rotation speed or the gyroscope rotation speed of the inertia measurement sensor 110 may be selectively used (steps S410 and S420). Since the roll angle estimating methods have respective characteristics, and the satellite navigation receiver roll angle estimating information can not be estimated when the satellite receiving strength is lowered, the geomagnetism roll angle estimating method can be applied.

In addition, since the geomagnetism roll angle estimation method has a measurement period faster than that of the satellite navigation receiver roll angle estimation method, it is applicable to a case where a roll angle estimation value of a fast cycle is needed in the operation concept of the shell (step S450).

Furthermore, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in the form of a program form which may be performed via a variety of computing means, and recorded in a computer-readable medium. The computer-readable medium may include a program (command) code, a data file, a data structure, and the like, alone or in combination.

The program (command) codes recorded on the medium may be those specially designed and constructed for the present invention or may be those known to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical media such as CD-ROMs, DVDs, Blu-ray and the like, and ROMs, RAM), flash memory, and the like, which are specifically configured to store and execute program (instruction) codes.

Here, examples of program (command) codes include machine language codes such as those produced by a compiler, as well as high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

100: Roll angle alignment navigation system for guided cannons
110: inertia measurement sensor
120: Geomagnetic sensor
130: Satellite navigation receiver
140: roll angle estimator
150: Inertial navigation system
160:
170: Combined navigation system

Claims (15)

An inertial measurement sensor 110 for measuring movement information of the cannon;
A geomagnetic sensor 120 for measuring geomagnetic field information around the shell;
A satellite navigation receiver (130) for acquiring a satellite navigation signal;
A roll angle estimator for estimating a pitch angle of yaw angle using a velocity vector of the cannon and performing in-flight initial alignment, and estimating a roll angle of the cannon using the motion information, the geomagnetic field information, (140);
An inertial navigation device 150 for calculating the shell inertial navigation information using the roll angle estimation information and the motion information; And
And a complex navigation device (170) for correcting errors of the navigation information and the satellite navigation signal to calculate precise flight information of the shell during the flight,
The geomagnetic sensor 120 measures the geomagnetic field around the shell, calculates the number of revolutions and the rotation angle based on the geomagnetism sensor value modulated according to the rotation and measured,
The roll angle estimation information includes geomagnetism roll angle estimation information generated using the geomagnetism rotation number among the geomagnetic field information from the geomagnetic sensor 120 and the geomagnetism roll angle estimation information using the gyroscope rotation number and the geomagnetism rotation information from the inertia measurement sensor 110. [ And satellite navigation receiver roll angle estimation information generated using the rotation number,
Wherein the geomagnetism roll angle estimation information and the satellite navigation receiver roll angle estimation information are selectively applied to compensate for the decrease in the satellite reception intensity, based on the geomagnetic sensor and the satellite navigation signal.
The method according to claim 1,
Wherein the motion information includes a rotational motion and a linear acceleration of the cannonball, and a roll angle alignment navigation system for guided cannons based on a satellite navigation signal. 3. The method of claim 2,
Wherein the shell inertial navigation information includes initial position information, in-flight position information, initial velocity information, in-flight velocity information, initial position information, and attitude information during flight of the shell, Roll Angle Alignment Navigation System for Guided Shells Based.
The method of claim 3,
Wherein the precision flight information includes a correction position that corrects the in-flight position information, correction speed information that corrects the in-flight speed information, and correction posture information that corrects the in-flight attitude information. Signal - Based Roll Angle Alignment Navigation System for Guided Shells.
The method of claim 3,
Wherein the initial position information and the initial velocity information are obtained through an initialization method of the satellite navigation receiver (130).
The method of claim 3,
The pitch angle and the yaw angle of the initial attitude information are calculated on the basis of the velocity vector of each axis output from the satellite navigation receiver 130 or the satellite navigation method, and the preloading trajectory information of the shell loaded in the shell is calculated using the trigonometric method And a roll angle alignment navigation system for guided cannons based on satellite navigation signals.
The method according to claim 1,
The roll angle estimator 140 estimates,
In which the velocity vector in the specific direction of the satellite navigation receiver 130 is used or the initial pitch angle and the initial yaw angle of the shell are calculated using the pre-loading trajectory information of the shell when the satellite navigation receiver 130 is disabled, Wherein the initial alignment is performed by using the geomagnetic sensor and the satellite navigation signal based on the roll angle alignment navigation system for guided cannons.
The method according to claim 1,
The roll angle estimator 140 estimates,
The geomagnetism sensor 120 estimates the number of rotations and roll angle based on a value measured by modulating the geomagnetic field around the cannon according to the rotation of the cannon, Or a roll angle estimation by applying the rotation angle measurement value of the inertia measurement sensor 110 to the satellite navigation receiver 130 to estimate the roll angle or the roll angle estimation using only the GPS receiver information, And a roll angle alignment navigation system for guided cannons based on a satellite navigation signal.
delete delete delete The method according to claim 1,
Wherein the geomagnetism rotation speed has a measurement period that is earlier than the measurement period for the GPS receiver estimation information, based on the geomagnetic sensor and the satellite navigation signal.
The method according to claim 1,
Wherein the inertia measurement sensor (110) is a MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) for ensuring high impact resistance at the time of shell firing and for small applications. system.
The method according to claim 1,
Wherein the roll angle estimation is performed by reflecting the rotation number estimation value of the geomagnetism sensor 120 or the rotation number measurement value of the gyroscope of the inertia measurement sensor 110 with respect to the rotation number variation. Roll Angle Alignment Navigation System for Guided Shells Based.
(a) measuring the motion information of the shell by the inertial measurement sensor 110;
(b) measuring the geomagnetic field information around the shell by the geomagnetic sensor 120;
(c) the satellite navigation receiver 130 acquires a satellite navigation signal;
(d) performing in-flight initial alignment to estimate the pitch angle of yaw using the velocity vector of the shell;
(e) the roll angle estimator 140 estimates the roll angle of the shell using the exercise information, the geomagnetic field information, and the satellite navigation signal to generate roll angle estimation information;
(f) calculating inertia navigation information using the roll angle estimation information and the motion information by the inertial navigation device 150; And
(g) calculating the precise flight information of the shell during the flight by correcting the errors of the satellite navigation signal and the in-shell inertial navigation information,
The geomagnetic sensor 120 measures the geomagnetic field around the shell, calculates the number of revolutions and the rotation angle based on the geomagnetism sensor value modulated according to the rotation and measured,
The roll angle estimation information includes geomagnetism roll angle estimation information generated using the geomagnetism rotation number among the geomagnetic field information from the geomagnetic sensor 120 and the geomagnetism roll angle estimation information using the gyroscope rotation number and the geomagnetism rotation information from the inertia measurement sensor 110. [ And satellite navigation receiver roll angle estimation information generated using the rotation number,
Wherein the geomagnetism roll angle estimation information and the satellite navigation receiver roll angle estimation information are selectively applied to compensate for a decrease in the satellite reception intensity, based on the geomagnetism sensor and the satellite navigation signal.

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