作者：张莺莺¹, 张晓明^1,2, 薛羽阳¹

作者单位：1. 中北大学 电子测试技术国家重点实验室，山西 太原 030051;
2. 中北大学 仪器科学与动态测试教育部重点实验室，山西 太原 030051

关键词：滚转角及其角速率;旋转弹;三轴磁传感器;α-β-γ滤波

摘要：

针对高转速的旋转弹等制导弹药滚转角及滚转角速率实时获取的问题，提出一种基于地磁信息的滚转角及滚转角速率的实时快速估计方法。首先根据旋转弹的轴向滚转运动特性，利用卡尔曼滤波算法实时估计弹丸在轴向高速旋转的状态下的滚转角以及角速率，考虑弹载实时应用需求，在卡尔曼滤波的基础上进一步采用α-β-γ滤波来提高估计算法的实时性。通过仿真数据以及半物理验证，结果表明，相比于直接用卡尔曼滤波估计，采用α-β-γ滤波估计的时间缩短一个数量级，明显提高算法的实时性和快速性。同时该方法估计的滚转角误差在3°以内，比系统直接解算的滚转角准确度提高1倍；滚转角速率的估计准确度在5°/s以内，比直接求导准确度提高6倍以上，满足常规旋转弹的需求。

An estimation method of roll angle and rate of spinning projectile based on geomagnetic information
ZHANG Yingying¹, ZHANG Xiaoming^1,2, XUE Yuyang¹
1. National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China;
2. Key Laboratory of Instrumentation Science & Dynamic Measurement of Ministry of Education, North University of China, Taiyuan 030051,China
Abstract: Aiming at the problem of obtaining the real time roll angle and roll angle rate of high rotational speed guided munitions, a real time and fast estimation method of roll angle and roll angle rate based on geomagnetic information is proposed. Firstly, according to the axial rolling motion characteristics of the projectile, the Kalman filtering algorithm is used to estimate the rolling angle and angular rate of the projectile under the axial high-rotation state in real time. Considering the real-time application requirements of the projectile, α-β-γ filtering is further used to improve the real-time performance of the estimation algorithm. The simulation data and semi-physical verification results show that compared with the direct Kalman filtering estimation, the time of the α-β-γ filtering estimation is shortened by one order of magnitude, and the real-time and rapidness of the algorithm are improved obviously. At the same time, the error of roll angle estimated by this method is within 3°, which is one time higher than the accuracy of roll angle calculated directly by the system. The estimation accuracy of the roll rotation rate is within 5°/s, which is more than 6 times higher than the direct derivation, satisfying the requirements of conventional rotating projectile.
Keywords: roll angle and rate;spinning projectile;triaxial magnetic sensor;α-β-γ filtering
2021, 47(4):38-43  收稿日期: 2020-08-06;收到修改稿日期: 2020-09-16
基金项目: 国家自然科学基金（61873247）
作者简介: 张莺莺（1995-），女，山西新绛县人，硕士研究生，专业方向为动态测试及组合导航
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