作者：张晓明, 陈雷, 张莺莺, 檀杰, 朱孟龙

作者单位：中北大学 仪器科学与动态测试教育部重点实验室, 山西 太原 030051

关键词：四元数;全姿态角解算;地磁/陀螺信息融合;EKF

摘要：

针对智能弹药机动飞行中仅利用地磁信息制导时无法实现全姿态角解算的问题，提出一种采用三轴陀螺仪角速率信息辅助三轴磁传感器信息进行弹体姿态角解算的EKF融合算法。算法利用磁传感器测量模型和四元数微分方程建立观测方程和状态方程，并分别对非线性的系统进行线性化得到卡尔曼滤波方程。通过在高速飞行仿真转台上进行半物理仿真试验，最终全姿态角的解算实现对地磁/陀螺信息的融合。经过对仿真信号的处理，在弹体俯仰角±30°变化的情况下，该EKF融合算法解算滚转角和俯仰角比传统单纯依靠地磁信息进行滚转角和俯仰角解算的精度提高近一个数量级，并且解算偏航角误差在1°以内。

EKF attitude measurement algorithm based on geomagnetic/gyro information fusion
ZHANG Xiaoming, CHEN Lei, ZHANG Yingying, TAN Jie, ZHU Menglong
Key Laboratory of Instrumentation Science & Dynamic Measure, North University of China, Ministry of Education, Taiyuan 030051, China
Abstract:  To solve the problem that the full attitude angle can't be calculated only by using geomagnetic information guidance in intelligent ammunition maneuvering flight, an EKF fusion algorithm using tri-axis gyro angular rate information to assist tri-axis magnetic sensor information is presented in this paper. This algorithm is adopted to establish the observation equation and state equation by using the magnetic sensor measurement model and quaternion differential equation. The nonlinear system is linearized and the Kalman filter equation is obtained. The semi-physical simulation test is carried out on the high-speed flight simulation turntable. Finally, the full attitude angle is calculated to realize the fusion of geomagnetic/gyro information. After the processing of the opposite party's true signal, the EKF fusion algorithm calculates the roll angle and pitch angle under the condition of the variation of projectile body's pitching angle 30 degree, which improves the accuracy of the roll angle and pitch angle calculation by nearly an order of magnitude compared with the traditional method of solely relying on geomagnetic information, and the accuracy of yawing angle is less than 1 degree.
Keywords: quaternions;full attitude calculation;geomagnetic/gyro information fusion;EKF
2019, 45(5):10-16  收稿日期: 2018-10-07;收到修改稿日期: 2018-11-13
基金项目: 国家自然科学基金（61873247）
作者简介: 张晓明(1976-),男,山西新绛县人,教授,博士,研究方向为动态测试与组合导航
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