Error research of attitude measurements on low-cost UAV-borne missile

低成本无人机载空地导弹姿态测量误差研究

Xi'an Modern Control Technology Research Institute, Xi'an 710065, China

Received: 14 June 2021

Abstract

The framed gyroscope can significantly reduce the cost of missile. However, the gyroscope error problem restricts the acquisition probability and guidance precision of air-to-ground missile. A gyroscope error compensation method based on Taylor series formula is proposed in this paper. Gyro output error sources are analysed in detail, and the gyro output error model of unmanned aerial vehicle load space missile is established, and the mathematical relationship between missile attitude angle and the gyroscope output is deduced. Through the gyroscope on three-axis turntable hardware-in-the-loop simulation test, the correctness and effectiveness of the gyro error model established is verified. The test results show that the proposed error compensation method can control yaw attitude angle error and oblique attitude angle error of UAV-borne missile within 1° respectively in 20 s, and easy to project implementation.

摘要

框架式陀螺仪可显著降低空地导弹成本，然而陀螺误差问题制约了空地导弹对目标的捕获概率和制导精度。提出一种基于泰勒级数公式的陀螺误差补偿方法，详细分析了陀螺仪输出误差源，建立了无人机载空地导弹陀螺仪输出误差模型，推导了导弹姿态角与陀螺仪输出的数学关系式。通过陀螺仪在三轴转台上的半实物仿真试验，验证了所建立的陀螺误差模型正确性和有效性。提出的误差补偿方法可将无人机载空地导弹偏航姿态角误差和倾斜姿态角误差在20 s内分别控制在0.4°和1°以内，且补偿方法简单实用，已经在工程上得到了应用。