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论文:2022,Vol:40,Issue(2):377-383 |
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引用本文： |
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李鹏, 张杰, 徐宏伟, 王玄, 武何科. 低成本无人机载空地导弹姿态测量误差研究[J]. 西北工业大学学报 |
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LI Peng, ZHANG Jie, XU Hongwei, WANG Xuan, WU Heke. Error research of attitude measurements on low-cost UAV-borne missile[J]. Northwestern polytechnical university |
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| 低成本无人机载空地导弹姿态测量误差研究 |
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| 李鹏, 张杰, 徐宏伟, 王玄, 武何科 |
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| 西安现代控制技术研究所, 陕西 西安 710065 |
| 摘要: |
| 框架式陀螺仪可显著降低空地导弹成本，然而陀螺误差问题制约了空地导弹对目标的捕获概率和制导精度。提出一种基于泰勒级数公式的陀螺误差补偿方法，详细分析了陀螺仪输出误差源，建立了无人机载空地导弹陀螺仪输出误差模型，推导了导弹姿态角与陀螺仪输出的数学关系式。通过陀螺仪在三轴转台上的半实物仿真试验，验证了所建立的陀螺误差模型正确性和有效性。提出的误差补偿方法可将无人机载空地导弹偏航姿态角误差和倾斜姿态角误差在20 s内分别控制在0.4°和1°以内，且补偿方法简单实用，已经在工程上得到了应用。 |
| 关键词:
无人机载导弹
低成本
框架式陀螺
误差补偿
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| Error research of attitude measurements on low-cost UAV-borne missile |
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| LI Peng, ZHANG Jie, XU Hongwei, WANG Xuan, WU Heke |
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| Xi'an Modern Control Technology Research Institute, Xi'an 710065, China |
| Abstract: |
| The framed gyroscope can significantly reduce the cost of missile. However, the gyroscope error problem restricts the acquisition probability and guidance precision of air-to-ground missile. A gyroscope error compensation method based on Taylor series formula is proposed in this paper. Gyro output error sources are analysed in detail, and the gyro output error model of unmanned aerial vehicle load space missile is established, and the mathematical relationship between missile attitude angle and the gyroscope output is deduced. Through the gyroscope on three-axis turntable hardware-in-the-loop simulation test, the correctness and effectiveness of the gyro error model established is verified. The test results show that the proposed error compensation method can control yaw attitude angle error and oblique attitude angle error of UAV-borne missile within 1° respectively in 20 s, and easy to project implementation. |
| Key words:
UAV-borne missile
low-cost
framed gyroscope
error compensation
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| 收稿日期: 2021-06-14
修回日期:
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| DOI: 10.1051/jnwpu/20224020377 |
| 基金项目: 国防科技创新特区项目（H863-32-01）资助 |
| 通讯作者:
Email： |
| 作者简介: 李鹏(1984-),西安现代控制技术研究所高级工程师,主要从事飞行器总体设计研究。e-mail:llpp1228@163.com
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| 作者相关文章 |
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| 李鹏 在本刊中的所有文章 |
| 张杰 在本刊中的所有文章 |
| 徐宏伟 在本刊中的所有文章 |
| 王玄 在本刊中的所有文章 |
| 武何科 在本刊中的所有文章 |
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