Analysis and Compensation of Inertial Navigation External Gimbal Arm Error for the Fuze of Double Spin Ballistic Correction Projectile

doi:10.12382/bgxb.2024.0514

Abstract

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

CLC Number:

V249.32

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-.

Figures/Tables 10

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

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

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

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

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

Fig.5 MUS600 inertial measurement unit and digital storage device

Fig.6 Angular motion information of the motion simulation device

Fig.7 MIMU measurement data of the motion simulation device

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

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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