An IMU Based Measurement Method of Launch Out-Tube Motion Parameters of Undersea Vehicle and Its Application
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摘要: 在各型水下航行器发射测试阶段, 准确测量水下航行器发射出管过程运动参数具有重要意义。文章提出一种采用惯性测量单元(IMU)实现水下航行器发射出管运动参数准确描述的方法, 其基本原理是通过IMU模块中的加速度计直接测量运动过程实时加速度信号, 速度和位移可通过加速度数值积分运算获得。为获得较准确的运动加速度测量值, 通过IMU中的陀螺仪实现水下航行器发射运动过程中的各轴运动偏转角测量, 并运用偏转角去除采集加速度信号中的重力分量, 消除加速度测量误差;另外对采集加速度信号进行去直流和趋势项预处理, 进一步提高加速度信号进行数值积分运算得到运动速度和位移值的准确性。基于以上理论分析, 搭建了试验测试系统并进行了多次重复试验, 结果表明, 该方法成功实现了水下航行器发射出管运动参数的准确描述。Abstract: To accurately measure the out-tube motion parameters of an underwater launcher during launch testing of various undersea vehicles, a method for accurately describing the out-tube motion parameters of an undersea vehicle in launching was presented by using inertial measurement unit (IMU). The basic principle is that the accelerometer in the IMU module directly measures the real-time acceleration signal of the motion process, and the speed and displacement can be obtained indirectly through the numerical integration operation of acceleration. To obtain more accurate acceleration measurement, the gyro in the IMU was utilized to measure the deflection angle of each axis in the course of the launching motion of the undersea vehicle, and the deflection angle was used to remove the gravity component of the collected acceleration signal and to eliminate the acceleration measurement error. Then, the direct-current (DC) removal and the trend term preprocessing were performed on the collected acceleration signal to further improve the accuracy of the numerical integration operation on the acceleration signal to obtain the movement speed and the displacement. Based on the above theoretical analysis, test system was set up and repeated tests were conducted. The results show that this method successfully realizes the accurate description of the out-tube motion parameters of an undersea vehicle in launching.
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Key words:
- undersea vehicle /
- launch testing /
- out-tube motion /
- inertial measurement unit(IMU)
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