针对陀螺仪的量程有限,很难满足自旋弹滚转角速度测量要求的问题,提出了一种利用三轴地磁传感器测量弹体姿态角速度的方法。该方法首先通过地磁传感器获得弹体坐标系下的磁场强度及其变化率,然后将地磁传感器横竖两轴所测的磁场强度作相关运算求得弹体滚转角速度,最后结合弹体质心方程解算出俯仰角速度及偏航角速度。仿真结果表明:该方法可以实现旋转弹体的姿态角速度的测量,有效的抑制了误差,且满足精度要求。

Aiming at the problem that the limited range of gyroscope and it was difficult to meet the requirements of spin projectile rolling angle velocity measurement, a method which using three axis geomagnetic sensor to measure the projectile attitude angular velocity was proposed. At first, the magnetic field strength and its rate of change in the projectile coordinate system were obtained by geomagnetic sensors. Then the correlation calculation of magnetic field intensity measured by the horizontal and perpendicular axes of geomagnetic sensor was carried out to obtain the roll angular velocity of projectile. Finally, combining the barycenter equations to calculate the rate of pitch and yaw angular rate. The simulation results show that this method can realize the measurement of angular velocity of the attitude of a rotating projectile, effectively restrain the error and meet the precision requirement.