作者：张双彪1, 苏中1, 李兴城2
作者单位：1. 北京信息科技大学 高动态导航技术北京市重点实验室, 北京 100101;
2. 北京理工大学宇航学院, 北京 100081
关键词：旋转载体;角运动;表征方法;姿态误差
摘要：
针对旋转载体因旋转表征方式不同出现姿态解算诱导误差问题，通过分析旋转特点，提出两轴旋转表征方法。定义锥形运动的姿态角，建立角运动方程及姿态解算方程，并给出与常规姿态角的关系式，仿真分析不同表征方式的角速度和姿态解算的差异，并通过试验设计进行对比验证。综合仿真和实验结果表明：在相同的锥形运动条件下，两轴旋转表征方法与三轴旋转表征方法的差异随着锥形运动条件的恶劣而变大，但两轴旋转表征方法解算姿态误差较小，因此采用两轴旋转表征方法更为有效。该表征方法不但为旋转载体的抑制姿态误差提供理论基础，还能为攻角和侧滑角测量提供新思路。
Double rotation presentation method for coning motion of spinning bodies
ZHANG Shuangbiao1, SU Zhong1, LI Xingcheng2
1. Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing 100101, China;
2. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
Abstract: Different presentation of angular motion can induce attitude error. In this paper, based on analyzing triaxial rotation character for spinning bodies, a two-axis rotation presentation method is proposed. Cone attitude angles are defined, the angular motion equation and the resolving equation are established, and the relationship of the cone attitude and the normal attitude angle is provided. The simulations and the experiment are made to verify the difference between the two-axis rotation presentation and the traditional three-axis rotation presentation. The results show that under the same simulation conditions of attitude and angular velocities, the difference becomes larger as the condition of the coning motion deteriorates, and the two-axis rotation presentation method is more effective for its smaller attitude error. The presentation method can provide a theoretical basis for suppressing attitude errors and a new idea for angle-of-attack and side-slip angle measurements.
Keywords: spinning bodies;angular movement;presentation method;attitude error
2020, 46(5):1-6,18 收稿日期: 2019-09-05;收到修改稿日期: 2019-11-08
基金项目: 国家自然科学基金(61771059)；北京市教委科技创新服务能力建设项目(KM201911232013)；促进高校内涵发展-科研重点研究培育项目(5211910952)
作者简介: 张双彪(1984-),男,黑龙江哈尔滨市人,讲师,博士,研究方向为高动态载体姿态测量与导航技术
参考文献
[1] 尚剑宇, 邓志红, 付梦印, 等. 制导炮弹转速测量技术研究进展与展望[J]. 自动化学报, 2016, 42(11): 1620-1629
[2] 高丽珍, 张晓明, 李杰. 旋转制导弹药姿态测试技术研究现状分析[J]. 兵器装备工程学报, 2018, 39(12): 73-77
[3] SAVAGE P G. Explicit frequency-shaped coning algorithms for pseudoconing environments[J]. Journal of Guidance Control & Dynamics, 2011, 34(3): 774-782
[4] WANG M S, WU W Q, HE X F, et al. Higher-order rotation vector attitude updating algorithm[J]. The Journal of Navigation, 2019, 72(3): 721-740
[5] TANG C Y, CHEN L, CHEN J F. Efficient coning algorithm design from a bilateral structure[J]. Aerospace Science and Technology, 2018, 79: 48-57
[6] 邓志红, 汪进文, 尚剑宇, 等. 基于Hermite 插值的制导炮弹姿态旋转矢量优化方法[J]. 兵工学报, 2018, 39(10): 2056-2065
[7] 严恭敏, 翁浚, 杨小康, 等. 基于毕卡迭代的捷联姿态更新精确数值解法[J]. 宇航学报, 2017, 38(12): 1307-1313
[8] SÈVE F, THEODOULIS S, WERNERT P, et al. Pitch/Yaw channels control design for a 155 mm projectile with rotating canards, using a H∞ loop-shaping design procedure[C]// AIAA Guidance, Navigation, and Control Conference, 2014.
[9] HU X, YANG S X, XIONG F F, et al. Stability of spinning missile with homing proportional guidance law[J]. Aerospace Science and Technology, 2017, 71: 546-555
[10] ZHANG S B, LI X C, SU Z. Cone algorithm of spinning vehicles under dynamic coning environment[J]. International Journal of Aerospace Engineering, 2015: 904913
[11] 钱杏芳, 林瑞雄, 赵亚男. 导弹飞行力学[M]. 北京: 北京理工大学出版社, 2013.
[12] 刘延柱. 陀螺力学[M]. 北京: 科学出版社, 2018.
