Roll Angular Rate Measurement for High Spinning Projectiles Based on Redundant Gyroscope System

Abstract

Precision-guided projectiles, which can significantly improve the accuracy and efficiency of fire strikes, are on the rise in current military engagements. The accurate measurement of roll angular rate is critical to guide a gun-launched projectile. However, Micro-Electro-Mechanical System (MEMS) gyroscope with low cost and large range cannot meet the requirement of high precision roll angular rate measurement due to the limitation by the current technology level. Aiming at the problem, the optimization-based angular rate estimation (OBARS) method specific for projectiles is proposed in this study. First, the output angular rate model of redundant gyroscope system based on the autoregressive integrated moving average (ARIMA) model is established, and then the conventional random error model is improved with the ARIMA model. After that, a Sage-Husa Adaptive Kalman Filter (SHAKF) algorithm that can suppress the time-varying process and measurement noise under the flight condition of the high dynamic of the projectile is designed for the fusion of dynamic data. Finally, simulations and experiments have been carried out to validate the performance of the method. The results demonstrate the proposed method can effectively improve the angular rate accuracy more than the related traditional methods for high spinning projectiles.

Redundant Configuration Method of MEMS Sensors for Bottom Hole Assembly Attitude Measurement

“…According to the model, a Kalman filter is used for data fusion. The system noise matrix and measurement noise matrix in the Kalman filter are set according to the noise parameters obtained by Allan variance [20][21][22][23], as shown in Figure 5 below: The output error model of the MEMS gyroscope is shown as follows [24][25][26][27]:…”

“…Figure 5. Redundant MEMS-IMU data fusion flowchart.The output error model of the MEMS gyroscope is shown as follows[24][25][26][27]:…”

Optimal Rotational Angular Velocity Determination Method Based on Compound Rotary Semi-Strapdown Inertial Navigation System

“…From the above equation, the condition that CRM can completely eliminate the influence of bias error is shown in Equation (7).…”

“…Among them, the redundant sensor-based random error measurement scheme and the RSSINS-based sensor constant error compensation scheme have significantly improved the navigation accuracy of guided artillery shells [5][6][7][8]. At the same time, considering the high impact and high rotary velocity of the shell, MEMS sensors have been widely used.…”