CN108168550B - A high-speed rotating carrier inertial attitude measurement device - Google Patents
A high-speed rotating carrier inertial attitude measurement device Download PDFInfo
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Abstract
本发明公开了一种高速旋转载体惯性姿态测量装置，属于惯性姿态测量装置技术领域，该装置包括一支用于测量滚转轴方向角速率的燃气陀螺仪以及两支用于偏航、俯仰方向测量的速率陀螺仪。该装置可以完成对高速旋转载体滚转角、偏航角、俯仰角角度和三轴角速度的实时测量。该装置的滚转角测量误差仅取决于滚转燃气陀螺的漂移率，不会随时间快速发散。在载体高转速旋转环境下实现了姿态准确测量，且结构和制造工艺简单，成本低、体积小，设备完全依靠自身设备工作，隐蔽性好，工作不受气象条件的限制，可靠性高。
The invention discloses a high-speed rotating carrier inertial attitude measurement device, belonging to the technical field of inertial attitude measurement devices. The device comprises a gas gyroscope for measuring the angular rate of the direction of a rolling axis and two for measuring the yaw and pitch directions rate gyroscope. The device can complete the real-time measurement of the roll angle, yaw angle, pitch angle and three-axis angular velocity of the high-speed rotating carrier. The roll angle measurement error of the device depends only on the drift rate of the roll gas gyro and does not rapidly diverge with time. In the high-speed rotation environment of the carrier, the accurate measurement of attitude is realized, and the structure and manufacturing process are simple, the cost is low, and the volume is small.
Description
Technical Field
The invention belongs to the technical field of inertial attitude measuring devices, and relates to a high-speed rotating body inertial attitude measuring device based on a rolling gas gyroscope and a rate gyroscope.
Background
High-speed rotation is the stable control mode that partly novel accurate guidance ammunition and most conventional ammunition adopted most often, consequently under the high-speed rotatory condition of carrier, how the attitude information of accurate measurement ammunition, and then carry out effectual guidance control to it, becomes the key problem that high-speed rotatory accurate guidance ammunition research and development need be solved. At present, for measuring flight attitude parameters of high-speed rotating projectiles, the technical scheme adopted at home and abroad is as follows:
(1) geomagnetic attitude measurement method
In a certain region of the earth, the intensity, the dip angle and the declination angle of the geomagnetic field existing in the earth and the near-earth space are fixed, so that the geomagnetic field can be used as a reference basis for measuring the attitude of the flying object. The attitude of the carrier can be obtained by detecting the characteristic parameters of the geomagnetic field and combining other known conditions to carry out numerical calculation and error correction. Chinese patent (CN105674815A) discloses a geomagnetic attitude measurement method for completing measurement of a projectile attitude by using two biaxial geomagnetic sensors, which has the following advantages: the principle is simple, the volume is small, the cost is low, the high overload resistance is strong, the frequency response is high, the all-weather work can be realized, and the error is not accumulated along with the time; the disadvantages are that: the corresponding cabin section of the projectile body is required to have a non-magnetic environment, is easily interfered by an external magnetic field, and cannot normally work in a special attitude direction (such as a paramagnetic direction).
(2) Combined measuring method of gyroscope-free accelerometer
The combined measurement method without the gyroscope and the accelerometer adopts a scheme that a plurality of groups of accelerometers are adopted to replace a gyroscope to acquire the angular velocity information of the flyer. At present, the research is mainly carried out on a three-accelerometer, six-accelerometer, nine-accelerometer and twelve-accelerometer scheme, the nine-accelerometer scheme has no crossed axis error and high calculation value precision in terms of algorithm, and the nine-accelerometer scheme is the scheme which is most researched at present, and the configuration method is that 4 accelerometers, 2 accelerometers and 3 accelerometers are respectively installed on an axis X, Y, Z of a plane coordinate system to complete angular velocity measurement. The method is suitable for the flying body with large dynamic range and short flying time, and has the main defects of large product volume, complex combination algorithm, very high requirement on installation error of a mechanical structure and rapid accumulation of the error along with time.
(3) Single-shaft stable platform rotation reduction measuring method
The uniaxial stable platform derotation measurement method is divided into an active derotation measurement method and a passive derotation measurement method.
Active derotation measurement: chinese patents (CN102495645A, CN202351714U) disclose a gyro stabilized platform for high-speed rolling carrier and a control method thereof, the gyro platform adopts an inertia measurement unit as an angular motion sensing element, constantly measures the change of the attitude of the platform, and isolates the angular motion of the platform body and the carrier through a servo actuating mechanism, thereby achieving the function of rotation reduction, and making the inertia measurement assembly keep a low-speed rotation or even an inclined stable state in an inertia space.
Passive derotation measurement: chinese patent (CN1932445A) discloses a semi-strapdown attitude measurement method suitable for a high-speed rotating body, wherein a rigid support is fixedly connected to the inner wall of a carrier, a rolling bearing and a rotating shaft are supported on the rigid support, an inertial navigation system is fixedly connected to one end of the rotating shaft, a heavy hammer with a hinge shaft in the same direction as the pitch angle of a carrier coordinate system is hinged to the other end of the rotating shaft, the heavy hammer is always kept vertically downwards by utilizing the action force of gravity acceleration, and then the inertial navigation device is kept relatively stable in an inertial space.
The derotation measurement method effectively utilizes the existing low-range MEMS gyroscope and solves the attitude measurement problem of a high-speed rotator; the disadvantage is that the servo motor or the heavy hammer part is added, thereby increasing the volume, the weight and the cost and reducing the reliability of the whole system. In addition, for a carrier with faster rotation acceleration, a heavy hammer of a passive rotation reduction method is difficult to keep up with the rotation acceleration process, and the dynamic performance is poor; the servo motor of the active rotation reducing method has high control difficulty, and if the control parameters are improper, the control system is easy to be unstable.
(4) Measuring method of strapdown inertial navigation device
Strapdown inertial navigation device measurements utilize inertial devices (including accelerometers and gyros) to measure carrier motion parameters (including acceleration and angular velocity). The method has the advantages of completely depending on self equipment to work, good concealment and no limitation of weather conditions. However, for the high-speed rotating carrier, the main problems are that the measuring range and the precision of the wide-range gyroscope for measuring the roll angular velocity are low, the attitude error after integration is rapidly accumulated along with the time, and the precision is poor when the gyroscope works for a long time.
Disclosure of Invention
The invention aims to provide an inertial attitude measuring device of a high-speed rotating carrier, which is an inertial attitude measuring device based on a rolling gas gyroscope and a rate gyroscope and is suitable for the condition of high-speed rotation of the carrier. The method overcomes the problems of the existing inertial attitude measurement, avoids the problems of the range and the precision of a wide-range gyroscope for measuring the roll angular velocity by using an inertial device, and improves the precision during long-time working.
The technical scheme of the invention is as follows:
the utility model provides a high-speed rotation carrier inertia gesture measuring device which characterized in that: the system comprises a rolling gas gyroscope, a first rate gyroscope and a second rate gyroscope; the rolling gas gyroscope is arranged on a rolling shaft of the high-speed rotating carrier and is set as an X shaft; the first rate gyroscope and the second rate gyroscope are arranged in a plane where Y-axis and Z-axis which are orthogonal to the X-axis are located and along the directions of the Y-axis and the Z-axis, the system also comprises a navigation computer, and the navigation computer is used for obtaining signals output by the rolling gas gyroscope, the first rate gyroscope and the second rate gyroscope and calculating the attitude;
the rolling gas gyroscope is used for measuring the direction angular rate of a rolling shaft; the first rate gyroscope and the second rate gyroscope are respectively used for measuring the angular rates of the yaw direction and the pitch direction;
the fixed axis of the rolling gas gyroscope is parallel to the rolling axis of the high-speed rotating carrier, the rolling gas gyroscope utilizes gas to drive and push the rotor, the rolling angle of the high-speed rotating carrier is measured, and the rolling angle speed is calculated;
the signal processing circuit performs differential calculation on the currently acquired roll angle information to obtain instantaneous roll angle speed information, and simultaneously outputs the roll angle and the instantaneous roll angle speed information to the navigation computer;
the navigation computer receives a roll angle signal output by the roll gas gyroscope at first and judges the validity of the signal; when the rolling gas gyroscope data is effective, the rolling angle signals output in real time are directly used for the inertial attitude algorithm to be resolved; when the rolling gas gyroscope data is invalid, the navigation computer performs recursive prediction according to the previously received rolling gas gyroscope valid frame data to obtain current rolling angle speed information, and obtains the current rolling angle information through integral calculation.
Preferably, the gas gyroscope is used for measuring the angular rate or angle of the roll axis direction, and the first rate gyroscope and the second rate gyroscope are respectively used for measuring the angular rate of the yaw direction and the pitch direction.
Preferably, the fixed axis of the rolling gas gyroscope is parallel to the rolling axis of the high-speed rotating carrier, the rolling gas gyroscope utilizes gas drive to push the rotor, measure the rolling angle of the high-speed rotating carrier and calculate the rolling angular speed.
Preferably, the roll axis of the high-speed rotating carrier coincides with the axial direction of the structural member of the device on which the gas gyroscope is mounted.
Preferably, the first rate gyroscope, the second rate gyroscope and the navigation computer are in serial port communication through internal wires.
Preferably, the rolling gas gyroscope is installed at the center of the bottom of the top cavity of the structural member, and the first rate gyroscope and the second rate gyroscope are respectively installed at the top wall and the side wall of the structural member.
Preferably, the first rate gyroscope and the second rate gyroscope can be MEMS gyroscopes, quartz gyroscopes, fiber optic gyroscopes and laser gyroscopes.
Preferably, the rolling gas gyroscope comprises a gas generator, a gyroscope body, a photoelectric encoder and a signal processing circuit; the gas generator is used for igniting powder so as to drive the rotor to rotate; the photoelectric encoder is an output device of the signal of the gyroscope body; and the signal processing circuit performs differential calculation on the currently acquired roll angle information to obtain instantaneous roll angle speed information.
Preferably, the device further comprises a structural part, an internal lead and a secondary power supply component; the angle information obtained by the rolling gas gyroscope and the angle speed information obtained by the first rate gyroscope and the second rate gyroscope are transmitted to a navigation computer through an internal lead, the navigation computer is positioned in a bottom cavity of the integral structural member, and the navigation computer outputs the processed attitude information to the outside; and the secondary power supply component converts the voltage accessed by the external equipment into the voltage required by the rolling gas gyroscope, the first rate gyroscope, the second rate gyroscope and the navigation computer.
The invention has the technical effects that:
the device can complete the real-time measurement of the roll angle, the yaw angle, the pitch angle and the triaxial angular velocity of the high-speed rotating carrier. The roll angle measurement error of the device only depends on the drift rate of the roll gas gyro and cannot be rapidly dispersed along with time; the improvement of the measurement error of the roll angle can correspondingly reduce the coupling error between the attitudes of all axes, thereby improving the measurement accuracy of the yaw angle and the pitch angle. The attitude accurate measurement is realized in the high-rotating-speed rotating environment of the carrier, the structure and the manufacturing process are simple, the cost is low, the size is small, the equipment works completely by depending on the equipment, the concealment is good, the work is not limited by the meteorological conditions, and the reliability is high.
Compared with a high-speed rotator inertial attitude measuring device adopting a geomagnetic attitude measurement method, the device does not need a geomagnetic sensor, is not easily interfered by an external magnetic field, and can normally work even if the device is in a special attitude direction (such as a paramagnetic direction); compared with a high-speed rotator inertial attitude measuring device adopting a gyro-free accelerometer combined measuring method, the device has the advantages of small product volume, simple combined algorithm, low requirement on installation error of a mechanical structure and no error accumulation along with time; compared with a high-speed rotator inertial attitude measuring device adopting a single-shaft stable platform rotation reduction measuring method, the device does not need a servo motor or a heavy hammer component, so that the size, the weight and the cost are reduced, and the reliability and the dynamic performance of the whole system are improved; compared with a strapdown inertial navigation device adopting a wide-range gyroscope to measure the roll angular velocity, the device has the advantages that after integration, the attitude error is not rapidly accumulated along with time, and the precision is higher during long-time work.
Because the rolling gas gyroscope is adopted to measure the relative motion between the gas gyroscope shell and the outer frame, the rolling angle of the rolling carrier can be directly measured, so the rolling angle measurement error of the device only depends on the drift rate of the rolling gas gyroscope, and the attitude error accumulation effect after the rate gyroscope is integrated is avoided, so the rolling angle error can not be rapidly dispersed along with the time, and the precision is higher during long-time working; meanwhile, the inertial attitude measuring device needs to adopt a strapdown inertial algorithm to carry out attitude calculation, and the measurement accuracy of the yaw angle and the pitch angle in the algorithm is influenced by the roll angle measurement error.
Drawings
FIG. 1 is a schematic diagram of the composition of an embodiment of the apparatus of the present invention.
Fig. 2 is a front view of the structure of an embodiment of the device of the present invention.
In the figure: 1-structural part, 2-internal lead, 3-navigation computer, 4-secondary power supply component and 5-connector.
Fig. 3 is a sectional view a-a of fig. 2.
In the figure, a 6-rate gyroscope, a 7-roll gas gyroscope assembly and an 8-rate gyroscope are shown.
Fig. 4 is a schematic view of the state of use of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and preferred embodiments.
As shown in fig. 1, the inertial attitude measurement device for a high-speed rotating carrier includes a rolling gas gyroscope 7 (X-axis gyroscope) and an inertial attitude measurement assembly including two rate gyroscopes (rate gyroscope 6 and rate gyroscope 8), i.e., a first rate gyroscope and a second rate gyroscope.
The roll gas gyroscope is used for measuring the angular rate of the roll axis direction, and the two rate gyroscopes are respectively used for measuring the angular rates of the yaw direction and the pitching direction.
The rolling gas gyroscope 7 is arranged on an X axis (rolling axis) of the device structural part 1, the two rate gyroscopes are arranged in a plane where an Y, Z axis orthogonal to the X axis is located, and are in serial port communication and power supply interaction with the navigation computer 3 and the secondary power supply assembly 4 through the internal lead 2, and finally, the connector 5 outputs signals to the outside.
The rolling gas gyroscope component 7 measures the rolling angle of the rolling carrier and calculates the rolling angular speed by utilizing the relative motion between the gas gyroscope shell and the outer frame. Two rate gyroscopes (rate gyroscope 6, rate gyroscope 8) are used to measure the angular velocity information of the carrier. The navigation computer 3 transmits the acquired original information of each sensor and the three-axis angular velocity and attitude information obtained by resolving to the external equipment set in real time through the connector 5.
As shown in fig. 2 and 3, the device comprises a gas gyroscope for measuring the angular rate of the roll axis direction and two rate gyroscopes for measuring the yaw and pitch directions, wherein a roll gas gyroscope assembly 7 is installed at the center of the bottom of the top cavity of the structural member 1 along the X axis direction, two rate gyroscopes (a rate gyroscope 6 and a rate gyroscope 8) are installed at the side wall of the top cavity of the structural member 1, and the three gyroscopes are installed in the top cavity of the structural member 1 in a pairwise orthogonal relationship in a plane where Y, Z axes orthogonal to the X axis are located.
The rolling gas gyroscope component 7 measures the rolling angle of the rolling carrier and calculates the rolling angular speed by utilizing the relative motion between the gas gyroscope shell and the outer frame. The invention adopts a technical scheme of additionally arranging the photoelectric encoder on the basis of a gas-driven and frame-type mechanical gyroscope, completes the real-time output of the rolling angle and the rolling angular speed information, and has the characteristics of small volume, low cost, strong working stability, high reliability, high starting speed and the like. The gas gyroscope 7 comprises a gas generator, a gyroscope (body), a photoelectric encoder and a signal processing circuit. The gas generator is a power device of the gyroscope, and the gyroscope is excited by an external ignition instruction, the electric detonator ignites to ignite the explosive columns to burn rapidly, so that the rotor is pushed to rotate at a high speed, and the rated working speed is reached in a short time. The gyro rotor rotates at a high speed by utilizing the driving force of gas flow generated by detonation of the packed powder to form larger angular momentum, and the axis fixing performance of the gyroscope is realized under the support of the frame and the bearing; the photoelectric encoder is an output device of a gyroscope signal. The photoelectric component of the encoder is arranged on a coded disc of the gyroscope, when the shell rotates along with the carrier, the photoelectric component also rotates along with the carrier, the coded disc is fixed on an outer ring shaft of the gyroscope, and the coded disc is fixed when the carrier rotates according to the axis fixing property of the gyroscope, so that the relative rotation between the coded disc and the photoelectric component is formed, and the roll angle information required by the carrier is measured by utilizing the relative rotation between the coded disc and the photoelectric component. The signal processing circuit performs differential calculation on the currently acquired roll angle information to obtain instantaneous roll angle speed information, and simultaneously outputs the roll angle and the instantaneous roll angle speed information to the navigation computer 3.
The gyroscope body comprises a rotor, a fixed shaft, a coded disc, a shell and a gyroscope outer ring shaft.
Different from a common rate gyroscope, the gas gyroscope 7 directly measures angle information under the high-speed rotation state of a carrier, and differentiates currently acquired roll angle information by using a signal processing circuit, so that error accumulation caused by an integration process is avoided, and accurate instantaneous roll angle information can be obtained.
Through the internal lead 2, the gas gyroscope 7 (X-axis gyroscope) rolls and transmits the measured angle information, and the two rate gyroscopes (rate gyroscope 6 and rate gyroscope 8) transmit the measured angular velocity information to the navigation computer 3 located in the bottom cavity of the integral structural member 1. The navigation computer 3 is connected with the secondary power supply component 4, and the navigation computer 3 outputs the processed attitude information to the outside.
The navigation computer 3 firstly receives the rolling angle signal output by the rolling gas gyroscope component 7 and judges the validity of the signal. When the data of the gas gyroscope 7 is effective, the roll angle signal output in real time is directly used for the inertial attitude algorithm to be resolved; when the data of the gas gyroscope 7 is invalid, the navigation computer board 3 performs recursive prediction according to the previously received data of the valid data of the gas gyroscope 7 to obtain the current roll angle speed information, and obtains the current roll angle information through integral calculation. Meanwhile, the navigation computer board 3 collects the original axial angular velocity signals of the carrier Y, Z output by the two rate gyroscopes (rate gyroscope 6 and rate gyroscope 8) and the temperature signals output by the temperature sensor, performs zero position, scale coefficient, cross coupling and temperature error compensation on the obtained signals, and then performs inertial attitude calculation by combining the roll angle and roll angular velocity signals output by the gas gyroscope 7 to obtain the real-time triaxial angular velocity and attitude information of the carrier. And finally, the navigation computer 3 transmits the acquired original information of each sensor and the three-axis angular velocity and attitude information obtained by resolving to an external equipment set in real time through a connector 5.
The secondary power supply assembly 4 converts the voltage accessed by the external equipment into the voltage required by the rolling gas gyroscope 7, the rate gyroscope 6, the rate gyroscope 8 and the navigation computer 3 (or the computer).
The inertial attitude measuring device not only can complete the real-time measurement of the attitude of the roll angle, the yaw angle and the pitch angle of the high-speed rotating carrier, but also can complete the real-time measurement of the three-axis angular velocity. Compared with the prior art, the roll angle measurement error of the device only depends on the drift rate of the roll gas gyroscope, and the accumulated effect of the attitude error after the integral of the rate gyroscope is avoided, so that the roll angle error cannot be rapidly dispersed along with the time, and the precision is higher during long-time work; meanwhile, the inertial attitude measuring device needs to adopt a strapdown inertial algorithm to carry out attitude calculation, and the measurement accuracy of the yaw angle and the pitch angle in the algorithm is influenced by the roll angle measurement error.
Compared with the prior art, the invention has the advantages of simple structure and manufacturing process, low requirement on installation error of a mechanical structure, greatly reduced cost and volume, complete operation by self equipment, no limitation of meteorological conditions, no easy interference of external magnetic field, normal operation even if the device is in a special attitude direction (such as paramagnetic direction), good concealment, high reliability, good dynamic performance, no rapid accumulation of attitude error after integration along with time, and high precision during long-time operation.
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| CN110044321B (en) * | 2019-03-22 | 2021-01-29 | 北京理工大学 | A method for calculating the attitude of aircraft using geomagnetic information and angular rate gyroscope |
| CN110030992B (en) * | 2019-04-04 | 2023-03-24 | 湖南国科赢纳科技有限公司 | Air flyer high-speed rotation angle movement measuring method based on magnetometer |
| CN110081883B (en) * | 2019-04-29 | 2021-05-18 | 北京理工大学 | Low-cost integrated navigation system and method suitable for high-speed rolling aircraft |
| CN112577483A (en) * | 2019-09-29 | 2021-03-30 | 北京信息科技大学 | Attitude measuring device for parachute landing terminal sensitive device |
| CN112556495A (en) * | 2020-12-01 | 2021-03-26 | 西安现代控制技术研究所 | Automatic meter installing method for simple fire-controlled moving target of shoulder-shooting barrel type weapon |
| CN113701752B (en) * | 2021-08-27 | 2024-10-22 | 浙江大学 | Full strapdown attitude measurement device and method for rotary projectile |
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