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Sensors 2019, 19(8), 1799; https://doi.org/10.3390/s19081799

Attitude Measurement for High-Spinning Projectile with a Hollow MEMS IMU Consisting of Multiple Accelerometers and Gyros

1,2,*, 1,2, 1,2, 2 and 1,2
1
School of Automation, Beijing Institute of Technology, Beijing 100081, China
2
Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science & Technological University, Beijing 100101, China
*
Author to whom correspondence should be addressed.
Received: 21 February 2019 / Revised: 31 March 2019 / Accepted: 10 April 2019 / Published: 15 April 2019
(This article belongs to the Section Physical Sensors)
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Abstract

A low cost, high precision hollow structure MEMS IMU has been developed to measure the roll angular rate of a high-spinning projectile. The hollow MEMS IMU is realized by designing the scheme of non-centroid configuration of multiple accelerometers. Two dual-axis accelerometers are respectively mounted on the pitch axis and the yaw axis away from the center of mass of the high-spinning projectile. Three single-axis gyros are mounted orthogonal to each other to measure the angular rates, respectively. The roll gyro is not only used to judge the spinning direction, but also to measure and compensate for the low rotation speed of the high-spinning projectile. In order to improve the measurement accuracy of the sensor, the sensor output error is modeled and calibrated by the least square method. By analyzing the influence of noise statistical characteristics on angular rate solution accuracy, an adaptive unscented Kalman filter (AUKF) algorithm is proposed, which has a higher estimation accuracy than UKF algorithm. The feasibility of the method is verified by numerical simulation. By using the MEMS IMU device to build a semi-physical simulation platform, the solution accuracy of the angular rate is analyzed by simulating different rotation speeds of the projectile. Finally, the flight test is carried out on the rocket projectile with the hollow MEMS IMU. The test results show that the hollow MEMS IMU is reasonable and feasible, and it can calculate the roll angular rate in real time. Therefore, the hollow MEMS IMU designed in this paper has certain engineering application value for high-spinning projectiles. View Full-Text
Keywords: high-spinning projectile; MEMS IMU; hollow structure; roll angular rate; AUKF high-spinning projectile; MEMS IMU; hollow structure; roll angular rate; AUKF
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Liu, F.; Su, Z.; Zhao, H.; Li, Q.; Li, C. Attitude Measurement for High-Spinning Projectile with a Hollow MEMS IMU Consisting of Multiple Accelerometers and Gyros. Sensors 2019, 19, 1799.

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