Research On The Data Processing Algorithm Of Missile Body Attitude Based On Inertial Measurement Unit (IMU)

Guidance of conventional ammunition and efforts to improve the precision striking capability of weapons and equipment have become an important research direction in the military field.To achieve the goal of the guidance of conventional ammunition and precision attack on the enemy,one of the key issues is to accurately measure the attitude of flying missiles.Therefore,it is of great significance to develop a feasible and low-cost attitude measurement scheme for guided projectiles to strike the enemy accurately.In this paper,a two-dimensional trajectory correction projectile with high-speed ground-to-air rotation is taken as the research object,and the accurate attitude measurement technology of the projectile is studied.The research contents are as follows:(1)Firstly,the common attitude measurement technology and the combined attitude measurement technology of guided projectile are sorted out.On this basis,a scheme of missile attitude measurement based on gyro/geomagnetic/accelerometer integrated navigation is proposed in this paper.(2)Because of the measurement error and complex noise in the sensor data of the MEMS gyroscope,the filtering accuracy is reduced and the optimal attitude angle can not be obtained.To solve this problem,an improved adaptive filtering algorithm based on the MEMS gyroscopes and accelerometer is designed in this paper,which is verified by the rocking experiment.The experimental results show that the algorithm has good dynamic noise suppression ability and improves the adaptability of the system to environmental changes.(3)In order to get the three attitude angles of the missile body completely,an algorithm of attitude determination based on the combination of gyro/geomagnetic/accelerometer is designed in this paper,and in order to minimize the influence of external magnetic interference sources on the output data of magnetic sensors,a simple method of compensating the compass error is proposed.Finally,the algorithm is validated by manual non-magnetic swivel table experiment.The experimental results show that the proposed algorithm can effectively reduce the measurement error compared with the data directly output from the attitude measurement device.(4)In order to verify the applicability of the MEMS gyroscope in the missile environment that the speed is 3~8r/s and the overload is 10000 g,the performance of the gyroscope is mainly verified by rotation experiment of swivel table and MaxiTe experiment in this paper.The experimental results show that the MEMS gyroscope can meet the requirements that the speed is 3~8r/s and the overload is 10000 g.