基于扩展卡尔曼滤波的高转速修正引信滚转角测量方法 -- 西北工业大学学报,2016,34(6):938-944
论文:2016,Vol:34,Issue(6):938-944
引用本文:
王佳伟, 史凯, 徐国泰, 钱荣朝, 闫杰. 基于扩展卡尔曼滤波的高转速修正引信滚转角测量方法[J]. 西北工业大学学报
Wang Jiawei, Shi Kai, Xu Guotai, Qian Rongzhao, Yan Jie. Roll Estimation of High Rotation Speed Correction Fuze Based on Extended Kalman Filter[J]. Northwestern polytechnical university

基于扩展卡尔曼滤波的高转速修正引信滚转角测量方法
王佳伟1,2, 史凯2, 徐国泰2, 钱荣朝2, 闫杰1
1. 西北工业大学 航天学院, 陕西 西安 710072;
2. 机电动态控制重点实验室, 陕西 西安 710065
摘要:
针对二维弹道修正技术中采用双旋稳定弹总体设计方案的修正引信在全弹道范围内的旋转特点,提出了一种基于扩展卡尔曼滤波的高转速修正引信滚转角测量方法。以某双旋稳定迫弹为仿真平台,建立了7自由度(DOF)外弹道仿真模型分析修正引信的旋转特性,完成了滚转角与弹载陀螺输出之间的解析关系推导并验证其正确性;在引入陀螺固有系统误差、测量误差以及北斗卫星定位测量误差后,基于扩展卡尔曼滤波估计方法对修正引信滚转角进行实时测量,仿真结果表明:采用该方法1 s内就可以实现滚转角解算快速收敛,全弹道滚转角解算绝对误差不大于6°,在弹道10~40 s段解算绝对误差不大于2°;通过炮射试验的采集数据进行验证,以15~35 s弹道段为例,滚转角解算绝对误差不大于10°,绝对误差的均值为3.9°,可以满足修正系统的滚转角测量精度要求。
关键词:    二维弹道修正    双旋稳定弹    滚转角测量    扩展卡尔曼滤波   
Roll Estimation of High Rotation Speed Correction Fuze Based on Extended Kalman Filter
Wang Jiawei1,2, Shi Kai2, Xu Guotai2, Qian Rongzhao2, Yan Jie1
1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. Science and Technology on Electromechanical Dynamic Control Laboratory, Xi'an 710065, China
Abstract:
According to the rotating features of correction fuze used on dual-spin stabilized projectile, which is a common designing scheme in 2-D course correction field, a method with Extended Kalman Filter is introduced to solve roll estimation of correction fuze with high rotation speed. Basing on a certain kind of dual spin stabilized mortar projectile, a 7-DOF exterior trajectory model is established to analyse the rotating feature of correcting forward body, and then the analytic formula between roll angle and outputs of gyroscope fixed on fuze is developed and verified. Considering system error of gyroscope, measuring error and BD's positioning error, the real-time roll estimation method is demonstrated using the Extended Kalman Filter method. Simulation results show that the roll estimation absolute error dramatically decreases within 1 s, which is not larger than 6 degrees in whole exterior trajectory. Furthermore, the absolute error in trajectory between 10 s and 40 s is less than 2 degrees. Finally the estimation algorithm is tested in shooting range, the results show that the absolute estimation error is no more than 10 degrees and the mean value of absolute error is 3.9 degrees, which are especially calculated from 15~35 s in whole trajectory. The accuracy of estimation can fully meet require of roll angle measurement in correcting system.
Key words:    2-D course correction    dual-spin stabilized projectile    roll estimation    design of experiments    extended Kalman filter   
收稿日期: 2016-08-20     修回日期:
DOI:
基金项目: 国家自然科学基金(U1630127)资助
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作者简介: 王佳伟(1984-),西北工业大学博士研究生,主要从事二维弹道修正引信技术研究。
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