摘要: |
很多制导火箭惯性组件采用MEMS器件,针对MEMS器件贮存期间零位会产生漂移影响武器作战性能的问题,为实现惯性组件零位的在线校准,本文在对惯性组件校准原理分析的基础上,设计了一套基于工业机器人系统和上位机测控软件的校准系统,以及相应的校准方法和校准流程,并进行了误差分析。实物测试结果表明,使用该校准方法进行校准与传统校准方法得到的结果接近,满足校准要求。该系统能够实现惯性组件零位的在线校准,避免了传统校准方法需要拆卸的环节,能够满足产品交付后长期服役期内制导火箭惯性组件校准的需要。 |
关键词: 惯性组件;在线校准;制导火箭;工业机器人 |
基金项目: |
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Study on Methods of Online Calibration for IMU of Guided Rocket |
Wang Mengnan1, Li Shucheng2, Xu Chenguang1, Zhang Yunyun2, Cui Tianxiang3
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1. Xi’an Sunvalor Mechanical and Electrical Equipment Co., Ltd., Xi’an 710025;2. Shanxi Zhongtian Rocket Technology Co., Ltd., Xi’an 710025;3. Harbin Institute of Technology, Harbin 150001
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Abstract: |
MEMS devices are mostly used in the IMU of guided rocket, the zero position of the devices will drift during long-term storage, which will affect the operational performance of guided rocket. In order to realize the on-line calibration of the IMU on the guided rocket, a new kind of calibration system and method are designed in this paper based on industrial robot and software. The test results show that the online calibration method is consistent with the traditional calibration method, could?meet?the?calibration requirements. The system can realize the online calibration of the IMU on the guided rocket without dismantlement, could meet the needs of calibration of the IMU on the guided rocket in the long service period. |
Key words: IMU;online calibration;guided rocket;industrial robot |