Method of Attitude Measurement with Magnetometer and Gyroscope

赵捍东; 曹红松; 朱基智; 张会锁

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Method of Attitude Measurement with Magnetometer and Gyroscope

更新时间：2026-09-14

- Method of Attitude Measurement with Magnetometer and Gyroscope
- 基于磁强计和陀螺的姿态测量方法
- Vol. 31, Issue 6, Pages: 631-635(2010)
- 作者机构：
  
  中北大学机电工程学院弹箭模拟仿真研究中心
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2010
- 稿件说明：
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赵捍东, 曹红松, 朱基智, et al. Method of Attitude Measurement with Magnetometer and Gyroscope[J]. 2010, 31(6): 631-635.
DOI：

赵捍东, 曹红松, 朱基智, et al. Method of Attitude Measurement with Magnetometer and Gyroscope[J]. 2010, 31(6): 631-635. DOI：

摘要

提出了一种采用磁强计和单轴微机械陀螺的低成本磁-惯性姿态测量方法.介绍了系统的基本组成及其工作原理.三分量磁强计固连在弹体上

三轴与弹体坐标系重合

单轴微机械陀螺安装在弹体轴线上;对陀螺测量的滚转角速率实时积分得到弹体滚转角

结合三轴磁强计输出的地磁分量测量值

通过求解姿态解算方程获得姿态信息.建立了弹体姿态解算数学模型

以某火箭弹为例

对该模型进行了仿真.误差分析表明:姿态角解算结果具有较小的误差

且误差不随时间积累.

Abstract

A low cost method for magnetism-inertia attitude measurement composed of 3D magnetometer and one single-axis micro-mechanical gyroscope is proposed.The fundamental structure and the working principle of the attitude measuring system are introduced.The 3D magnetometer is installed on the projectile body with its three axles being coincidence to the body coordinate system.A single-axle micro-machine gyroscope is installed on the projectile axial line.Projectile body rolling angular is acquired by integrating the rolling angular rate of gyroscope.Combining the rolling angular with the earth magnetic component

the projectile attitude is obtained through attitude function solution. The mathematical model for resolving projectile flight attitude is established. By a projectile rocket example

the simulation of this model has been finished. The error analysis shows that the attitude angular resolving result has little error

and the error is not accumulated by time.

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references

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