CAJ | 학술논문

针对弹箭姿态测量中低精度陀螺姿态解算误差因漂移迅速增大的问题，文中采用三轴磁强计和陀螺组合测姿方案，对姿态角的输出进行修正。通过建立基于陀螺姿态解算误差角的状态方程和磁强计输出的误差观测方程，采用自适应卡尔曼滤波方法以抑制滤波发散并对姿态误差角进行估计。仿真结果表明：该方法能有效利用磁强计的输出抑制了陀螺漂移带来的误差，提高解算精度，满足长时间姿态测量的要求。
침대탄전자태측량중저정도타라자태해산오차인표이신속증대적문제，문중채용삼축자강계화타라조합측자방안，대자태각적수출진행수정。통과건립기우타라자태해산오차각적상태방정화자강계수출적오차관측방정，채용자괄응잡이만려파방법이억제려파발산병대자태오차각진행고계。방진결과표명：해방법능유효이용자강계적수출억제료타라표이대래적오차，제고해산정도，만족장시간자태측량적요구。
As for attitude measurement of missiles, low-precision gyroscope can not get satisfactory accuracy. For this reason, an integrated attitude measurement method was used to correct output of attitude angle, the state equation of attitude error angle and the error observation linear equations that based on the outputs of three-axis magnetometer were built, an adaptive filtering method was used to estimate error an-gle optimally and correct the output of attitude angle. The simulation results show that this method suppresses the error caused by gyroscope drift effectively by using the output of magnetometer and improves the accuracy of the attitude solver, satisfying the requirement of longtime attitude measurement.