Zhang Jiayu, Li Jie, Che Xiaorui, Zhang Xi, Hu Chenjun, Feng Kaiqiang, Xu Tingjin
National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China.
Avic Shaanxi Huayan Aero-Instrument Co., Ltd., Hanzhong 723102, China.
Micromachines (Basel). 2019 Feb 10;10(2):111. doi: 10.3390/mi10020111.
In previous studies, the semi-strapdown inertial navigation system (SSINS), based on microelectromechanical system (MEMS) sensors, had realized cross-range measurement of attitude information of high-spinning projectiles through construction of a "spin reduction" platform of the roll axis. However, further improvement of its measurement accuracy has been difficult, due to the inertial sensor error. In order to enhance the navigational accuracy, a periodically rotating method is utilized to compensate for sensor error, which is called rotation modulation. At present, the rotation scheme, as one of the core technologies, has been studied by a lot of researchers. It is known that the modulation angular rate is the main factor affecting the effectiveness of error modulation. Different from the long-endurance and low-dynamic motion characteristics of ships, however, the short-endurance and high-dynamic characteristics of the high-spinning projectile not only require the modulation angular rate to be as fast as possible but, also, the influence of the rotation speed error caused by rotating mechanism errors cannot be ignored. Combined with the rotation speed error of the rotating mechanism, this paper explored the relationship between modulation angular rate, device error, and the navigation error, and then proposed a design method for optimal modulation angular rate. Experiments were carried out to validate the performance of the method. In addition, the proposed method is applicable for rotation modulation systems with different types of motors as the rotating mechanism.
在以往的研究中，基于微机电系统（MEMS）传感器的半捷联惯性导航系统（SSINS）通过构建横滚轴“减旋”平台实现了对高速旋转弹丸姿态信息的横向测量。然而，由于惯性传感器误差，其测量精度的进一步提高一直很困难。为了提高导航精度，采用了一种周期性旋转方法来补偿传感器误差，这被称为旋转调制。目前，作为核心技术之一的旋转方案已经被许多研究人员研究过。众所周知，调制角速率是影响误差调制效果的主要因素。然而，与船舶的长航时和低动态运动特性不同，高速旋转弹丸的短航时和高动态特性不仅要求调制角速率尽可能快，而且旋转机构误差引起的转速误差的影响也不容忽视。结合旋转机构的转速误差，本文探讨了调制角速率、器件误差与导航误差之间的关系，进而提出了一种最优调制角速率的设计方法。进行了实验以验证该方法的性能。此外，所提出的方法适用于以不同类型电机作为旋转机构的旋转调制系统。
