1. 北京理工大学 机电学院,北京 100081
2. 北京理工大学 重庆创新中心, 重庆 401120
*邮箱:bit82shen@bit.edu.cn
收稿:2024-06-28,
网络出版:2025-06-28,
纸质出版:2025-06-10
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王小康, 申强, 王晗瑜, 等. 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.
Xiaokang WANG, Qiang SHEN, Hanyu WANG, et al. 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.
王小康, 申强, 王晗瑜, 等. 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. DOI: 10.12382/bgxb.2024.0514.
Xiaokang WANG, Qiang SHEN, Hanyu WANG, et al. 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. DOI: 10.12382/bgxb.2024.0514.
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。
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.
王中原 , 史金光 , 常思江 , 等 . 弹道修正弹技术发展综述 [J ] . 弹道学报 , 2021 , 33 ( 2 ): 1 - 12 . DOI: 10.12115/j.issn.1004-499X(2021)02-001 http://doi.org/10.12115/j.issn.1004-499X(2021)02-001 炮弹在发射和飞行的过程中,受各种随机误差的影响,造成射弹散布。设法减小或控制随机误差影响、改善炮弹地面密集度,始终是常规弹箭技术研究的方向。近年来研究者另辟蹊径,发展和研究了弹道修正理论与技术,即通过对一段实测飞行弹道参数的在线误差影响辨识,后续弹道预报,并通过弹上简易机构进行弹道修正调节,实现低成本下大幅度改善炮弹地面密集度。该文综合近年来国内外部分文献资料报道,结合多年的研究经验,对弹道修正弹技术的特点、难点及其工程应用中存在的射程扩展量等作一介绍,对未来的技术发展作一展望,以期为从事这方面研究的人员提供参考。
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李红云 , 申强 , 邓子龙 . 鸭式布局二维修正双旋弹角运动及转向响应特性分析 [J ] . 兵工学报 , 2024 , 45 ( 6 ): 1866 - 1876 . DOI: 10.12382/bgxb.2023.0057 http://doi.org/10.12382/bgxb.2023.0057 为研究鸭式布局双旋弹受控状态下的动态响应规律,对弹丸角运动特性及转向响应特性进行理论分析。基于7自由度刚体弹道模型,求解弹丸受控状态下的攻角瞬态及稳态解析解,并推导弹丸瞬态及稳态转向响应解析表达式。研究控制指令更新周期、射角、转速及初速对转向响应特性的影响。研究结果表明:输入控制力方向对转向响应相移角影响较小;控制指令更新周期较短时,在弹道顶点相移角瞬态解与稳态解相差较大,采用瞬态解修正后弹丸横纵向耦合程度较低,随着指令更新周期的增大,转向响应相移角瞬态解逐渐趋于稳态解;相移角稳态解随转速增加而减小,随初速增加而增加。通过实验数据验证了理论的正确性。研究结果可为鸭式布局双旋弹二维修正控制系统分析设计提供理论依据。
LI H Y , SHEN Q , DENG Z L . Analysis of angular motion and swerving response characteristics of dual-spinning two-dimensional correction projectile with canard layout [J ] . Acta Armamentarii , 2024 , 45 ( 6 ): 1866 - 1876 . (in Chinese) DOI: 10.12382/bgxb.2023.0057 http://doi.org/10.12382/bgxb.2023.0057 In order to study the dynamic response law of dual-spinning projectile with canard layout in the state of control, the angular motion and swerving response characteristics of it are analyzed theoretically. Based on the seven degrees of freedom rigid body ballistic model, the transient-state and steady-state analytical solutions of the angle of attack of projectile are solved, and the analytical expressions of projectile’s transient-state and steady-state swerving responses are derived. The effects of control command update period, elevation angle, spin rate and initial velocity on swerving response characteristics are explored. The results show that the direction of control force has little influence on the phase shift angle of swerving response. When the update period of control command is short, the transient-state and steady-state solutions of phase shift angle differ greatly at the ballistic apex, and the transverse-longitudinal coupling of projectile is low after using the transient solution correction. With the increase in update period, the transient-state solution of phase shift angle of swerving response gradually approaches to the steady-state solution. In addition, the steady-state solution of phase shift angle decreases with the increase in rotational speed and increases with the increase in projectile velocity. The correctness of the theory is verified by experimental data. This research provides some theoretical basis for the design and analysis of two-dimensional correction control system of dual-spinning projectile with canard layout.
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