作者：李文豪, 秦丽, 刘一鸣, 杨文卿

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：惯性测量;微机电系统;弹体转速;数据融合;加权最小二乘

摘要：

针对常规弹药在高旋状态下的转速测量值不准确这一难题，搭建基于无刷直流电机控制的稳定平台，并在此基础上提出一种基于加权最小二乘法的弹体转速测量方法。对测量原理进行简要阐述，然后引入相关的融合算法，通过3个不同量程的陀螺仪的测量值计算弹体转速的无偏估计量，以达到复现弹体转速的目的，从理论上证明加权最小二乘法这一融合算法的优越性。设计车床试验，试验结果表明该方法的测试结果与理论基本相符，最终使弹体转速测量精度提高一个数量级。该方法为常规弹药的导航、制导提供相关支持，具有一定工程应用价值。

Research on the measuring method of projectile rolling speed based on weighted least square

LI Wenhao, QIN Li, LIU Yiming, YANG Wenqing

Key Laboratory of Instrument Science & Dynamic Test, Ministry of Education, North University of China, Taiyuan 030051, China

Abstract: In order to solve the problem that the measured value of speed of the conventional ammunition is not accurate in the high spin state, a stable platform based on brushless DC motor is built and a method of measuring projectile speed based on weighted least square method is proposed on the basis. Firstly, the measurement principle is briefly introduced, and then the relevant fusion algorithm is introduced. The unbiased estimator of projectile speed is calculated based on the measured values of three gyroscopes with different ranges, so as to reproduce the rotation speed of projectile and prove the superiority of the fusion algorithm(weighted least square method) theoretically. Finally, lathe test is designed and the test results show that the test results of the method is basically consistent with the theoretical results, resulting in increase of an order of magnitude of projectile speed measurement accuracy. This method provides relevant support for the navigation and guidance of conventional ammunition and has certain engineering application value.

Keywords: inertial measurement;MEMS;rolling speed of projectile;data fusion;weighted least square

2018, 44(1): 35-39  收稿日期: 2017-03-17;收到修改稿日期: 2017-05-21

基金项目: 国家自然科学基金（51575500）

作者简介: 李文豪(1991-),男,山东青岛市人,硕士研究生,专业方向为微系统集成及自动控制。

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