双旋弹道修正引信的惯导外杆臂误差分析与补偿

doi:10.12382/bgxb.2024.0514

摘要/Abstract

摘要：

双旋弹道修正弹在有控飞行阶段会由于气动力的变化而表现出高动态特性,使安装于引信隔旋头部的捷联惯性导航系统测量数据存在外杆臂误差,对弹道参数测量产生影响,导致修正精度下降。针对这一问题,通过建模分析章动进动和弾轴摆动角速度对于双旋弹道修正弹引信隔旋头部SINS测量数据的影响,揭示了二者之间的联系,提出一种基于陀螺仪测量数据的外杆臂效应误差补偿方法。仿真结果表明:对于某射程为30km的双旋弹道修正弹,弹丸的高动态特性会导致约57m的射程误差,经过误差补偿后可降低至不到10m;实验结果表明:采取该补偿方法后,位置解算误差平均减少约55%。基于陀螺仪测量数据的外杆臂效应误差补偿方法能够有效减小双旋弹道修正弹的高动态惯导解算误差,显著提高弹药的精准打击能力。

关键词: 双旋弹道修正弹, 高动态, 捷联惯性导航系统, 外杆臂误差, 章动进动

Abstract:

A double spin ballistic correction projectile exhibits high dynamic characteristics due to aerodynamic changes during controlled flight,resulting in the external gimbal arm errors to exist in the measured data of strapdown inertial navigation system mounted on the spin-isolated portion of the fuze.The measurement of ballistic parameters is affected by the external gimbal arm errors,resulting in a decrease in correction accuracy.To address this issue,this paper models and analyzes the effects of nutation,precession,and high-speed angular motion of double spin ballistic correction projectile on the SINS measured data at the spin-isolated portion of the fuze,thus verifying the relationships among these factors.A compensation method for the external gimbal arm effect error based on gyroscope measurement data is proposed.Simulated results show that,the high dynamic characteristics of double spin ballistic correction projectile with a range of 30km during the controlled flight cause a range error of approximately 57 meters,which is reduced to less than 10 meters after error compensation.Experimental results demonstrate that this compensation method is used to reduce the calculated error of position by around 55%.The proposed compensation method based on gyroscope measurement data effectively reduces the inertial navigation calculation errors caused by the high dynamic characteristics of double spin ballistic correction projectile,thereby significantly improving the precision strike capability of the munition.

Key words: double spin ballistic correction projectile, high dynamic, strapdown inertial navigation system, outer gimbal arm effect error, nutation precession

中图分类号:

V249.32

王小康, 申强, 王晗瑜, 蒲文洋, 严泽旭. 双旋弹道修正引信的惯导外杆臂误差分析与补偿[J]. 兵工学报, 2025, 46(6): 240514-.

WANG Xiaokang, SHEN Qiang, WANG Hanyu, PU Wenyang, YAN Zexu. Analysis and Compensation of Inertial Navigation External Gimbal Arm Error for the Fuze of Double Spin Ballistic Correction Projectile[J]. Acta Armamentarii, 2025, 46(6): 240514-.

图/表 10

图1 弹道坐标系中各角几何关系

Fig.1 Geometric relationships among angles in the ballistic coordinate system

图2 发射坐标系下相对位置矢量关系

Fig.2 Relative position vector relationships in the emission coordinate system

图3 补偿前后位置解算误差对比(仿真)

Fig.3 Comparison of position calculated errors before and after compensation (simulation)

表1 补偿前后位置解算结果对比表(仿真)

Table 1 Comparison of position calculated errors before and after compensation(simulation)

补偿状态	位置解算误差/m
补偿状态	X轴	Y轴	Z轴
补偿前	20.1	57.1	68.1
补偿后	5.6	8.4	3.1

图4 弹丸外弹道3自由度运动模拟装置

Fig.4 External ballistic trajectory three-degrees-of-freedom motion simulation device

图5 MUS600惯性测量单元与数字存储器

Fig.5 MUS600 inertial measurement unit and digital storage device

图6 外弹道模拟装置角状态信息

Fig.6 Angular motion information of the motion simulation device

图7 外弹道模拟装置的MIMU测量数据

Fig.7 MIMU measurement data of the motion simulation device

图8 补偿前后位置解算误差对比图(实验)

Fig.8 Comparison of position calculated errors before and after compensation (experiment)

表2 补偿前后位置解算结果对比表(实验)

Table 2 Comparison of position calculated errors before and after compensation (experiment)

补偿状态	位置解算误差/m
补偿状态	X轴	Y轴	Z轴
补偿前	25.7	18.0	53.5
补偿后	1.1	11.0	37.6

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