关键词: 微型旋转弹丸, 弹丸姿态测量, 陀螺传感器校正, 地磁

Abstract: A calibration method of magnetometer-aided two-axis gyro sensor is studied for the three-axis calibration of two-axis gyro sensor in the projectile-borne environment. A measurement error model of two-axis gyro sensor is established, and the problem that the roll angular rate of low spinning projectile at x-axis, which is obtained from the single-axis geomagnetic signal, cannot be measured by the gyro sensor due to its limited measurement range is solved. The calibration methods of the linear least square model and the Kalman filter model for calculating the related parameters of two-axis gyro sensor are studied, and the influences of the calculation error of x-axis angular rate of projectile and the measurement noise of gyroscope sensor on the calibrated result are analyzed through numerical simulation. The application of two-axis gyro sensor in engineering is simulated, and the correction effect of calibration method of magnetometer-aided two-axis gyro sensor is studied in the hardware-in-the-loop simulation. The numerically simulated results prove that, when the calculated error of x-axis angular rate of projectile is within 0.261 8 rad/s and the measured noise of gyro sensor is within 0.001 6 rad/s, the corrected errors of the y-axis and z-axis angular rates of projectile are less than 0.01 rad/s. The results of the hardware-in-the-loop simulation show that the two correction models can decrease the measured error range of gyro sensor from -0.30- -0.05 rad/s to -0.02-0.02 rad/s when the calculated error of x-axis angular rate of the projectile is within 0.8 rad/s. The numerical simulation and the hardware-in-the-loop simulation prove that the magnetometer-aided calibration method has a good correction effect on the two-axis gyro sensor. Key

Key words: microspinningprojectile, attitudemeasurement, gyrosensorcalibration, magnetism