摘要
掌握弹箭的滚转姿态信息是飞行制导的必要条件,利用地磁场矢量辅助测量弹体姿态是目前常用的一种方案,其中校准磁强计是准确测量姿态前非常重要的一步;提出了一种基于能量评估的无迹卡尔曼滤波算法(PUKF)校准磁强计并测量姿态;方案利用磁强计敏感轴测量轴矢量方向上的地磁场分量,在时域空间内对测量的数据进行参数评估,快速获取磁强计的初始校准参数,创新地将磁强计初始校准参数与姿态二阶拟合参数共同作为无迹卡尔曼滤波的状态量,在初步测量姿态的同时持续精确校准磁强计,确认校准参数收敛后,对现有无迹卡尔曼滤波算法进行重构,精准测量弹体姿态;通过数值仿真结果表明:所提出的PUKF算法在收敛特性和求解速度上优于传统的校准测量方法。
The flight attitude of the missile is the necessary conditions for the guidance,using ground magnetic field vector auxiliary measurement missile attitude is a commonly used solution.This paper proposed an energy-evaluation-based hob-based filtering algorithm(PUKF)to calibrate and measure missile attitude.The solution was measured by magnetic strength sensitive shaft measurement the generic field component in the axial vector direction,within time domain space parameter evaluation of the measured data,it can quickly acquire the initial calibration parameters of the magnetometer,innovate the magnetometer initial calibration parameters and the gesture second-order fit parameters as the status quantity of hobs,in the initial measurement posture.At the same time,it continuously calibrated magnetic strength,confirming that the calibration parameters are convergent,and the existing hipster Kalman filtering algorithm was reconstructed,and the mastic gesture was accurately measured.Through the numerical simulation results,the proposed PUKF algorithm is superior to the conventional hobs filtering algorithm in convergence characteristics and solving speed.
作者
闫小龙
于天鹏
范旭
朱宜家
陈国光
田晓丽
YAN Xiaolong;YU Tianpeng;FAN Xu;ZHU Yijia;CHEN Guoguang;TIAN Xiaoli(North University of China, Taiyuan 030051, China;Huaihai industrial Group Co. , Ltd. , Changzhi 046000, China;No.59 Research Institute of China Ordnance Industry, Chongqing 400039, China)
出处
《兵器装备工程学报》
CSCD
北大核心
2021年第12期233-238,共6页
Journal of Ordnance Equipment Engineering
基金
中国博士后科学基金项目(2021M691987)
山西省青年科学基金项目(201901D211239)
山西省高等学校科技创新项目(2020L0296)。
关键词
姿态信息
磁强计
能量评估
无迹卡尔曼滤波
attitude angle
magnetometer
energy estimate
unscented Kalman filter
作者简介
闫小龙(1988—),男,博士,讲师,E-mail:yanxl@nuc.edu.cn。
