CN102072729A - Measurement device and measurement method for measuring posture of rotary aircraft - Google Patents

Abstract

Translated fromChinese

本发明公开一种用于测量旋转飞行器姿态的测量装置和方法，用一MEMS陀螺测量飞行器的横滚角速率，俯仰角速率，偏航角速率以输出一陀螺信号；用一MEMS加速度计输出飞行器的一加速度计信号，用数字信号处理模块以通过信号采样电路采集的MEMS加速度计的加速度计信号作为基准对信号采样电路采集的陀螺信号进行分解。本发明的用于测量旋转飞行器姿态的测量装置和方法利用MEMS加速度计输出的加速度计信号作为基准，将MEMS陀螺输出的陀螺信号进行分解，从而实时得到飞行器横滚角速率、俯仰角速率和偏航角速率信息，因此本发明测量装置的成本低、体积小、测量范围大、抗干扰能力强。本发明的测量方法简单，实用，可靠性高。

The invention discloses a measuring device and method for measuring the attitude of a rotating aircraft. A MEMS gyroscope is used to measure the roll rate, pitch rate and yaw rate of the aircraft to output a gyroscope signal; a MEMS accelerometer is used to output the aircraft An accelerometer signal, using the digital signal processing module to decompose the gyroscope signal collected by the signal sampling circuit with the accelerometer signal of the MEMS accelerometer collected by the signal sampling circuit as a reference. The measurement device and method for measuring the attitude of a rotating aircraft of the present invention use the accelerometer signal output by the MEMS accelerometer as a reference, and decompose the gyro signal output by the MEMS gyro, thereby obtaining the aircraft roll rate, pitch rate and yaw rate in real time. Therefore, the measuring device of the present invention has the advantages of low cost, small size, large measuring range and strong anti-interference ability. The measuring method of the invention is simple, practical and highly reliable.

Description

Be used to measure the measurement mechanism and the measuring method thereof of Rotary aircraft attitude

Affiliated technical field

The invention belongs to the inertial navigation field of sensing technologies, particularly a kind of device and measuring method of measuring the attitude parameter information such as roll angle speed, angle of pitch speed and yawrate of Rotary aircraft.

Background technology

The lift-over of high speed rotating aircraft can improve pneumatic asymmetric and thrust eccentric, mass eccentricity, and the influences that interference caused such as guided missile profile fabrication error reduce the advantages such as distribution of ballistic path.Therefore, in real time, accurately obtaining of high speed rotating attitude of flight vehicle parameter information is the key of its stabilized flight of control.At present both at home and abroad for the measurement of high speed rotating attitude of flight vehicle parameter mainly based on following dual mode: Strapdown Inertial Units mode method and no gyro array mode.

Yet there are problems in above-mentioned this dual mode, is to adopt the roll angle rate of gyro to measure flying body as the Strapdown Inertial Units mode, and measurement range is smaller, usually less than 7200 °/s; And adopt no gyro array mode, as adopt modes such as a plurality of accelerometer combinations, accelerometer and geomagnetic sensor combination, the volume that then has a measuring unit greatly, easy shortcoming affected by environment.

Summary of the invention

One of purpose of the present invention is the Rotary aircraft attitude measuring that provides for solving problem that prior art exists that a kind of volume is little, measurement range is big, antijamming capability is strong, can measure aircraft roll angle speed, angle of pitch speed and yawrate simultaneously.

Two of purpose of the present invention is measuring methods that a kind of attitude of flight vehicle is provided for the problem that solves the prior art existence, and this method is simple, practicality, reliability height.

One of for achieving the above object, the invention provides a kind of measurement mechanism that is used to measure the Rotary aircraft attitude, comprise a MEMS gyro, a mems accelerometer, one first signal conditioning circuit, a secondary signal modulate circuit, a signal sample circuit, a digital signal processing module, an interface circuit and a peripheral circuit.First signal conditioning circuit is connected with mems accelerometer with the MEMS gyro respectively with the secondary signal modulate circuit, signal sample circuit is connected with digital signal processing module with first signal conditioning circuit, secondary signal modulate circuit and is connected, and interface circuit is connected with digital signal processing module with peripheral circuit.Digital signal processing module decomposes as the gyro signal of benchmark to the signal sample circuit collection with the accelerometer signal of the mems accelerometer by the signal sample circuit collection.

From the above mentioned, the present invention is used to measure the roll angle speed of MEMS gyro to measure aircraft of the measurement mechanism of attitude of flight vehicle, angle of pitch speed and yawrate are to export a gyro signal, one accelerometer signal of mems accelerometer output aircraft, the accelerometer signal of utilizing mems accelerometer output is as benchmark, the gyro signal of MEMS gyro output is decomposed, thereby the time obtain aircraft roll angle speed, angle of pitch speed and yawrate information, so the cost of measurement mechanism of the present invention is low, volume is little, measurement range is big, antijamming capability is strong.

One of for achieving the above object, the invention provides a kind of measuring method that is used to measure attitude of flight vehicle, comprise the steps:

(1) with the roll angle speed of a MEMS gyro to measure aircraft, angle of pitch speed, yawrate is to export a gyro signal;

(2) with an accelerometer signal of mems accelerometer output aircraft;

(3) by one first signal conditioning circuit and a secondary signal modulate circuit gyro signal of MEMS gyro output and the accelerometer signal of mems accelerometer output are carried out pre-service respectively;

(4) by a signal sample circuit first signal conditioning circuit and the pretreated simulating signal of secondary signal modulate circuit are converted into digital signal;

(5) decompose as the gyro signal of benchmark with the accelerometer signal of the mems accelerometer by the signal sample circuit collection with a digital signal processing module the signal sample circuit collection.

From the above mentioned, the measuring method that the present invention is used to measure attitude of flight vehicle by MEMS gyro to measure aircraft roll angle speed, angle of pitch speed and yawrate and export a gyro signal, accelerometer signal by mems accelerometer output aircraft, the accelerometer signal of utilizing mems accelerometer output is as benchmark, the gyro signal of MEMS gyro output is decomposed, thereby the time obtain aircraft roll angle speed, angle of pitch speed and yawrate information, therefore measuring method of the present invention is simple, practicality, the reliability height.

Description of drawings

In Figure of description:

Fig. 1 is used to measure the block scheme of the measurement mechanism of Rotary aircraft attitude for the present invention.

Fig. 2 is used to measure the mechanism synoptic diagram that the measurement mechanism of Rotary aircraft attitude carries out the signal demodulation for the present invention.

Fig. 3 is used to measure the demodulating process synoptic diagram that the measurement mechanism of Rotary aircraft attitude carries out the signal demodulation for the present invention.

Embodiment

For describing technology contents of the present invention, structural attitude, the purpose of being reached and effect in detail, described in detail below in conjunction with embodiment and conjunction with figs..

The measurement mechanism that the present invention is used to measure the Rotary aircraft attitude is mounted in the axle center such as aircraft such as rotation guided missiles, is used to measure the attitude parameter information such as roll angle speed, angle of pitch speed and yawrate of aircraft.See also Fig. 1, it has disclosed specific embodiment that the present invention is used to measure the measurement mechanism of attitude of flight vehicle, in the present embodiment, this measurement mechanism that is used to measure attitude of flight vehicle has aMEMS gyro 10, amems accelerometer 20, one firstsignal conditioning circuit 30, a secondary signal modulatecircuit 40, asignal sample circuit 50, a digitalsignal processing module 60, aninterface circuit 70 and aperipheral circuit 80.

MEMSgyro 10 is connected with firstsignal conditioning circuit 30, and thisMEMS gyro 10 is exported gyro signals, contains roll, pitching and the yawrate information of aircraft in this gyro signal.Firstsignal conditioning circuit 30 be used for to the gyro signal ofMEMS gyro 10 output number measure, filtering and processing and amplifying.

Mems accelerometer 20 is connected with secondary signal modulatecircuit 40, thesemems accelerometer 20 output accelerometer signal, the benchmark that this accelerometer signal is decomposed as the gyro signal to 10 outputs of MEMS gyro.Secondary signal modulatecircuit 40 be used for to the accelerometer signal ofmems accelerometer 20 output amplify, Filtering Processing.

Signal sample circuit 50 is connected with firstsignal conditioning circuit 30, secondary signal modulatecircuit 40 and digitalsignal processing module 60 respectively, and thissignal sample circuit 50 is sampled to the signal of firstsignal conditioning circuit 30 and 40 processing of secondary signal modulate circuit under the control of digital signal processing module 60.The sampled signal of 60 pairs ofsignal sample circuits 50 of digital signal processing module is handled, and digitalsignal processing module 60 has dsp processor, and in the present embodiment, dsp processor adopts the TMS320F2812 processor of TI company.

Interface circuit 70 is connected with digitalsignal processing module 60, and the data delivery that is used for digitalsignal processing module 60 is handled is to host computer.Peripheral circuit 80 is connected with digitalsignal processing module 60, is used to digitalsignal processing module 60 that operating voltage, reset signal, frequency signal etc. are provided.

See also Fig. 2 and Fig. 3, details are as follows to the process of the measurement of attitude of flight vehicle for measurement mechanism of the present invention:

When Rotary aircraft with roll angle speed φ, angle of pitch speed Ω_F, yawrate Ω_PDuring motion,MEMS gyro 10 is exported a modulated sinusoidal signal under the coriolis force effect, and this its frequency equals the roll angle speed of aircraft, and the envelope of signal is directly proportional with the synthetic of angle of pitch speed and yawrate; The effect ofmems accelerometer 20 is that the decomposition for yawrate and angle of pitch speed provides benchmark, and the phase difference θ of two signals has reacted the Rotary aircraft spatial attitude, as shown in Figure 2.If a certain moment envelope voltage is U, U=k Ω then, k is the scale-up factor of gyro, Ω is luffing angle rate Ω_FWith driftage angle Ω_PSynthetic.As can be known:

Ω_P=Ω cos (Δ θ)=U/kcos (Δ θ) formula (1)

Ω_F=Ω sin (Δ θ)=U/ksin (Δ θ) formula (2)

When attitude of flight vehicle is measured, at first, with the accelerometer signal of the gyro signal ofMEMS gyro 10 output andmems accelerometer 20 outputs respectively through firstsignal conditioning circuit 30 and 40 pre-service of secondary signal modulate circuit, bysignal sample circuit 50 firstsignal conditioning circuit 30 and secondary signal modulatecircuit 40 pretreated simulating signals are converted into digital signal then and are delivered to digitalsignal processing module 60, adopt the data of the every collection of the mode 1ms of software interruption to carry out the software filtering computing by digitalsignal processing module 60 with the influence of the noise signal eliminating firstsignal conditioning circuit 30 and secondary signal modulatecircuit 40 pretreated simulating signals and also contain to subsequent demodulation, influence follow-up demodulation, because the phase place of signal is an important information, the variation of phase place can influence demodulation result, and filtering mode adopts no phase-shift filtering method; Adopt the method for fast fourier transform to ask for the frequency of the gyro signal of MEMS gyro 10 outputs then, it promptly is the roll angle rate of aircraft, adopt the method for Hilbert conversion to ask for the gyro signal envelope that the MEMS gyro is exported, and the scale-up factor under the compensation different rotating speeds, thereby ask for gyro signal envelope numerical value after the compensation; Utilize the method that compares peak value to ask for the gyro signal ofMEMS gyro 10 outputs and the phase differential of the accelerometer signal thatmems accelerometer 20 is exported simultaneously, utilize interpolation method to ask for envelope every bit phase differential constantly; Reconcile computing by the signal of formula (1) and formula (2) then, can determine vehicle yaw angle rate and luffing angle rate, thereby obtain aircraft roll angle speed, angle of pitch speed and yawrate, at last, digitalsignal processing module 60 sends roll angle speed, angle of pitch speed and yawrate data to host computer byinterface circuit 70, as shown in Figure 3.

From the above mentioned, measurement mechanism of the present invention utilizes the accelerometer signal ofmems accelerometer 10 outputs as benchmark, the gyro signal ofMEMS gyro 10 outputs is decomposed, thereby the time obtain aircraft roll angle speed, angle of pitch speed and yawrate information, so the cost of measurement mechanism of the present invention is low, volume is little, measurement range is big, antijamming capability is strong.

The present invention is by the structure and the step of above-mentioned exposure, can reach described purpose and effect, yet above the exposure only is preferred embodiment of the present invention, but can not limit interest field of the present invention with this, modify or variation as for other equivalence of the present invention, all should be encompassed in the claim scope of the present invention.

Claims (5)

Translated fromChinese

1.一种用于测量旋转飞行器姿态的测量装置，包括一数字信号处理模块(60)及与该数字信号处理模块(60)连接的一接口电路(70)和一外围电路(80)；1. A measuring device for measuring the attitude of a rotating aircraft, comprising a digital signal processing module (60) and an interface circuit (70) and a peripheral circuit (80) connected with the digital signal processing module (60);其特征是：该用于测量飞行器姿态的测量装置还包括一MEMS陀螺(10)、一MEMS加速度计(20)、一第一信号调理电路(30)、一第二信号调理电路(40)和一信号采样电路(50)，第一信号调理电路(30)和第二信号调理电路(40)分别与MEMS陀螺(10)和MEMS加速度计(20)连接，信号采样电路(50)与第一信号调理电路(30)、第二信号调理电路(40)连接和数字信号处理模块(60)连接，数字信号处理模块(60)以通过信号采样电路(50)采集的MEMS加速度计(20)的加速度计信号作为基准对信号采样电路(50)采集的陀螺信号进行分解。It is characterized in that: the measuring device for measuring the attitude of the aircraft also includes a MEMS gyroscope (10), a MEMS accelerometer (20), a first signal conditioning circuit (30), a second signal conditioning circuit (40) and A signal sampling circuit (50), the first signal conditioning circuit (30) and the second signal conditioning circuit (40) are respectively connected with the MEMS gyroscope (10) and the MEMS accelerometer (20), and the signal sampling circuit (50) is connected with the first The signal conditioning circuit (30), the second signal conditioning circuit (40) are connected with the digital signal processing module (60), and the digital signal processing module (60) uses the MEMS accelerometer (20) collected by the signal sampling circuit (50) The accelerometer signal is used as a reference to decompose the gyroscope signal collected by the signal sampling circuit (50).2.一种用于测量旋转飞行器姿态的测量方法，其特征是，包括如下步骤：2. A method for measuring the attitude of a rotating aircraft, characterized in that it comprises the steps:(1)用一MEMS陀螺(10)测量飞行器的横滚角速率，俯仰角速率，偏航角速率以输出一陀螺信号；(1) measure the rolling rate of the aircraft with a MEMS gyroscope (10), the pitching rate, and the yaw rate to output a gyroscope signal;(2)用一MEMS加速度计(20)输出飞行器的一加速度计信号；(2) output an accelerometer signal of the aircraft with a MEMS accelerometer (20);(3)分别通过一第一信号调理电路(30)和一第二信号调理电路(40)对MEMS陀螺(10)输出的陀螺信号和MEMS加速度计(20)输出的加速度计信号进行预处理；(3) Preprocessing the gyroscope signal output by the MEMS gyroscope (10) and the accelerometer signal output by the MEMS accelerometer (20) through a first signal conditioning circuit (30) and a second signal conditioning circuit (40) respectively;(4)通过一信号采样电路(50)将第一信号调理电路(30)和第二信号调理电路(40)预处理后的模拟信号转化为数字信号；(4) converting the analog signal preprocessed by the first signal conditioning circuit (30) and the second signal conditioning circuit (40) into a digital signal by a signal sampling circuit (50);(5)用一数字信号处理模块(60)以通过信号采样电路(50)采集的MEMS加速度计(20)的加速度计信号作为基准对信号采样电路(50)采集的陀螺信号进行分解。(5) Decompose the gyroscope signal collected by the signal sampling circuit (50) with a digital signal processing module (60) with the accelerometer signal of the MEMS accelerometer (20) collected by the signal sampling circuit (50) as a reference.3.根据权利要求1所述的用于测量飞行器姿态的测量装置，其特征是：采用的MEMS陀螺(10)是可测量旋转飞行器姿态的无驱动结构硅微机械陀螺。3. The measuring device for measuring the attitude of the aircraft according to claim 1, characterized in that: the MEMS gyroscope (10) adopted is a non-driven structure silicon micromachined gyroscope capable of measuring the attitude of the rotating aircraft.4.根据权利要求3所述的用于测量飞行器姿态的测量方法，其特征是：在步骤(5)中，由数字信号处理模块(60)采用软件中断的方式每采集1ms的数据进行无相移滤波运算。4. the measuring method that is used to measure aircraft attitude according to claim 3 is characterized in that: in step (5), adopt the mode of software interruption by digital signal processing module (60) to carry out the phaseless data of every gathering 1ms shift filtering operation.5.根据权利要求3所述的用于测量飞行器姿态的测量方法，其特征是：在步骤(5)中，数字信号处理模块(60)根据MEMS陀螺(10)的陀螺信号和MEMS加速度计(20)的加速度计信号的相位差以及MEMS陀螺(10)的陀螺信号包络对MEMS陀螺(10)的陀螺信号进行分解。5. the measuring method for measuring aircraft attitude according to claim 3 is characterized in that: in step (5), digital signal processing module (60) according to the gyroscope signal of MEMS gyroscope (10) and MEMS accelerometer ( The phase difference of the accelerometer signal in 20) and the gyro signal envelope of the MEMS gyro (10) decompose the gyro signal of the MEMS gyro (10).

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