Research On Multi-sensor Attitude Measurement Technology Of Terminal Sensitive Projectile

The attitude information of the terminal sensitive projectile is an important parameter of the terminal sensitive missile warfare coordination.In order to design and manufacture intelligent terminal sensitive projectile,it is necessary to accurately measure the steady-state scanning attitude parameters of terminal sensitive projectile,this paper designs a attitude measurement system with the geomagnetic,gyroscope and accelerometer sensors,based on the single-sensor past-sensitive projectile attitude measurement.The system adopts the data fusion method for multi-sensor attitude information by using ARM microprocessor and measures falling speed with barometer,which provides a design basis for the performance optimization of the new terminal sensitive projectile.Assuming that the geomagnetic field does not change during the operation of the terminal sensitive projectile,the attitude-solving method based on the geomagnetic-based terminal sensitive projectile is firstly studied.The geomagnetic attitude calculation method is verified by the simulation method,and the possible existence of the geomagnetic attitude measurement has been analyzed.The error is compensated according to the ellipse hypothesis.At the same time,we use the quaternion method to study the combined attitude calculation method of gyroscope and accelerometer.Based on this,a multi-sensor data fusion Kalman filter is designed,which combining the geomagnetic information,gyroscope and acceleration information to solve the pose of the final missile.The attitude angle error after fusion is much smaller than the single Sensor measurement results by simulation.Finally,the tower experiment validates the accuracy and reliability of the multi-sensor attitude measurement system.