地磁姿态检测系统弹体摆动误差分析与补偿方法

针对地磁/GPS组合姿态检测系统测量精度受弹体摆动影响较大的问题,在分析地磁/GPS组合姿态检测系统的弹体摆动误差的基础上,提出了基于地磁陀螺组合的姿态检测方法,建立了地磁陀螺组合姿态检测模型,利用两轴MEMS陀螺测量的角速率实时积分求解弹体偏航角,结合地磁模块输出的三维地磁分量,组合求解弹体姿态信息.结果表明,与地磁/GPS组合方案相比,增加陀螺模块可消除滚转角和俯仰角随弹体摆动而产生的误差波动,测姿能够适应各种运动环境变化,并保持良好的稳定性.

Error Analysis and Compensation Method of Geomagnetic Attitude Detection System Accuracy Due to Projectile Swing

To get more accurate projectile attitude information,the real-time integration of the angular rate measured by a two-axis MEMS gyroscope was be used to solve the yaw angle of the projectile.The geomagnetism gyro attitude detection system was built,and the effects of projectile swing on geomagnetic detection accuracy was analyzed,the attitude detection error by projectile swing was calculated,the improvement measures with yaw angle provided by gyro attitude detection system to reduce the effect of projectile swing was given.Experimental results show that geomagnetic attitude detection system based on gyroscope module reduce the effect of the roll angle and pitch angle swinging with the projectile.Attitude detection can adapt to various sports environment and maintain good stability.