张小宇　刘宁　苏中　卫炳乾　管雪元

摘  要： 针对滚转弹需要实时滚转信息进行指令控制，传统滚转角测量方法标定复杂且难以实时有效获取的难题，提出利用双轴标量地磁信息进行滚转信息解算。在研究滚转弹运动特性的基础上，确定滚转弹滚转信息解算坐标系;对固连弹体的双轴地磁传感器输出的标量地磁信息进行数据[min?max]标准化，归一与零位消除，并搭建半实物算法仿真平台。经仿真与实验结果验证，所提方法能够真实反映滚转弹飞行过程的滾转变化，响应快、误差小，且满足对滚转弹实时指令控制需要。

关键词： 滚转信息测量; 滚转弹; 标量地磁信息; 地磁传感器; 半实物仿真; 实验验证

中图分类号： TN753.4?34                           文献标识码： A                      文章编号： 1004?373X（2020）20?0009?05

Geomagnetism?based measurement method of rolling information of rolling missile

ZHANG Xiaoyu1， LIU Ning1，2， SU Zhong1，2， WEI Bingqian1， GUAN Xueyuan3

（1. Beijing Key Laboratory of High Dynamic Navigation Technology， Beijing Information Technology University， Beijing 100101， China;

2. Key Laboratory of Modern Measurement and Control， Ministry of Education， Beijing 100101， China;

3. Key Laboratory of Ballistics， Nanjing University of Science and Technology， Nanjing 210094， China）

Abstract： As the rolling missile needs the real?time rolling information to perform the instruction control， but the traditional rolling angle measurement method has complex calibration and is difficult to get it effectively in real time， the rolling information calculation utilizing the biaxial scaled geomagnetic information is proposed. On the basis of studying the motion features of the rolling missile， the rolling information of the rolling missile is determined to calculate the coordinate systems. The data min?max standardization， normalization and null elimination of the scalar geomagnetic information outputted by the biaxial geomagnetic sensor of the fixed missile body are conducted， and the simulation platform of semi?physical algorithm is built. The results of simulation and experiment resurts verification show that the proposed method can truly reflect the rolling change of the rolling missile during its flight process， has fast response and small error， and can meet the needs of real?time instruction control of the rolling missile.

Keywords： rolling information measurement; rolling missile; scalar geomagnetic information; geomagnetic sensor; semi?physical simulation; experimental verification

0  引  言

快速高精度测量滚转角是实现精确制导的必要条件，对弹道修正及相关项目技术的研究起着非常重要的作用[1?2]。当前国内外对飞行体滚转角测量的方法种类繁多，各具特色，主流采用的测量方法有陀螺仪测量、加速度计测量、GPS测量、利用太阳方位角测量、星敏感器测量、GPS测量以及地磁测量等[3?4]。陀螺仪测量法中，陀螺仪不能承受较大的过载，而且高速旋转的飞行体会给陀螺仪带来离心加速度从而引起附加测量误差[5?6];加速度计测量法，也叫无陀螺惯性测量，成本低、功耗小、可靠性高，但安装复杂、精度要求高、解算难度大[7];太阳方位角和星敏测量方法受天气状况影响大，局限性强;GPS虽然精度高、实时、准确，但抗干扰能力弱[8?9]。……