Circuit Design and System Error Analysis Based on MR / GPS Combination Measuring Projectile Roll Angle

2013 ◽  
Vol 347-350 ◽  
pp. 1059-1062
Author(s):  
Peng Cao ◽  
Xiao Ming Wang ◽  
Fang Xiu Jia ◽  
You Long Wu
Keyword(s):  
Interpolation Method ◽  
Magnetic Measurement ◽  
Control Process ◽  
Calculation Model ◽  
Singular Points ◽  
Roll Angle ◽  
Angle Error ◽  
Calibration Algorithm ◽  
Numerical Simulation Methods ◽  
Yaw Angle

In the control process of trajectory correction projectile, a real-time accurate measurement of projectile roll angle information is required. Geomagnetic and GPS measurement principle is applied for the establishment of the projectile measured roll angle combinations mathematical calculation model, the designing of MR and GPS measuring circuits, and derivation of the singular points of the system and error resolution type. Numerical simulation methods are applied to verify the location of singular points of the combination of measurements and the linear spline combination of interpolation method of compensation the position of the magnetic vector error and the ellipsoid fitting calibration algorithm compensate for magnetic measurement error. The geomagnetic error has less effects on the combination of measured roll angle error, while the pitch angle and yaw angle error has greater impact on the roll angle error. Remove the singular point area, projectile roll angle error is less than 2°when measured by the combination of MR / GPS .

scholarly journals Cone Algorithm of Spinning Vehicles under Dynamic Coning Environment

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shuang-biao Zhang ◽  
Xing-cheng Li ◽  
Zhong Su
Keyword(s):  
Pitch Angle ◽  
Euler Angle ◽  
Roll Angle ◽  
Angle Error ◽  
Attitude Error ◽  
Spinning Process ◽  
Cone Algorithm ◽  
Definition Of ◽  
Yaw Angle ◽  
The Relationship

Due to the fact that attitude error of vehicles has an intense trend of divergence when vehicles undergo worsening coning environment, in this paper, the model of dynamic coning environment is derived firstly. Then, through investigation of the effect on Euler attitude algorithm for the equivalency of traditional attitude algorithm, it is found that attitude error is actually the roll angle error including drifting error and oscillating error, which is induced directly by dynamic coning environment and further affects the pitch angle and yaw angle through transferring. Based on definition of the cone frame and cone attitude, a cone algorithm is proposed by rotation relationship to calculate cone attitude, and the relationship between cone attitude and Euler attitude of spinning vehicle is established. Through numerical simulations with different conditions of dynamic coning environment, it is shown that the induced error of Euler attitude fluctuates by the variation of precession and nutation, especially by that of nutation, and the oscillating frequency of roll angle error is twice that of pitch angle error and yaw angle error. In addition, the rotation angle is more competent to describe the spinning process of vehicles under coning environment than Euler angle gamma, and the real pitch angle and yaw angle are calculated finally.

Method of Attitude Measurement Based on the Geomagnetic and Gyroscope

2013 ◽  
Vol 336-338 ◽  
pp. 180-184 ◽  
Author(s):  
Li Long ◽  
He Zhang
Keyword(s):  
Pitch Angle ◽  
Measurement Accuracy ◽  
Performance Test ◽  
Detection System ◽  
Roll Angle ◽  
Angle Error ◽  
Blind Area ◽  
Trajectory Correction ◽  
Yaw Angle ◽  
Attitude Detection

The trajectory correction capability of the Simple guided munitions is directly affected by measurement accuracy of attitude angle. A gesture detection method based on geomagnetic gyro combination is proposed in this paper in order to detect the projectile flight attitude, The yaw angle of the projectile is solved by using runge-kutta algorithm with angle information of MEMS gyro. Then roll angle and pitch angle of the projectile is solved by magnetic field component of the three-axis magnetic sensor. Finally, the whole attitude detection system is installed in three-axis non-magnetic turntable to have a performance test. Experimental results show that the attitude solution results error is small. Nearby blind area, the roll angle error reduced to 5° and the pitch angle error reduced to 4°. In other locations, the roll angle error reduced to 2° and the pitch angle error reduce to 1°. The measurement accuracy increased nearly tenfold, can satisfy the trajectory correction demand of simple guidance ammunition.

scholarly journals Attitude Measurement of Special Aircraft Based on Geomagnetic and Angular Velocity Sensors

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Zhang Pingan ◽  
Wang Wei ◽  
Gao Ming ◽  
Che Jinli
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Pitch Angle ◽  
Roll Angle ◽  
Trajectory Data ◽  
Angle Error ◽  
Attitude Test ◽  
Blind Area ◽  
Yaw Angle ◽  
The Mathematical Model

Aiming at the problem of attitude test of special aircraft in flight, the combined test technology of geomagnetic sensor and angular velocity sensor is studied. The mathematical model of special aircraft roll attitude test based on combined measurement is established. The error models of special aircraft roll angle based on yaw angle input and pitch angle input are derived, respectively, and based on the actual flight trajectory data of aircraft, the mathematical model of special aircraft roll attitude test is established The simulation results show that the roll angle error input by yaw angle is between -0.4° and 0.9°, while the roll angle error input by pitch angle is between -0.4° and 1.2°, which shows that the calculation accuracy of roll angle input by yaw angle is higher, and the existence of magnetic measurement blind area is verified. In this paper, the method of judging the blind area of geomagnetic survey and the algorithm model of eliminating the influence of blind area are proposed.

Improved Tercom Based on Fading Factor

2011 ◽  
Vol 143-144 ◽  
pp. 770-774 ◽  
Author(s):  
Shou Lei Lu ◽  
Long Zhao ◽  
Chang Yun Zhang
Keyword(s):  
Correlation Function ◽  
Real Data ◽  
Angle Error ◽  
The Real ◽  
Velocity Error ◽  
Speed Error ◽  
Fading Factor ◽  
Yaw Angle ◽  
Better Than

In order to solve the problem of the traditional Tercom, which is sensitive to the speed error and yaw angle error, an improved Tercom approach using with fading factor is introduced. The basic idea of this approach is to estimate the navigation position by a novel correlation function. The correlation function is calculated by weighted historical measurements. Experiment results with the real data show that this approach performs better than the traditional Tercom with regard to overcoming velocity error and yaw angle error.

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

2004 ◽  
Vol 126 (2) ◽  
pp. 307-318 ◽  
Author(s):  
Jay il Jeong ◽  
Dongsoo Kang ◽  
Young Man Cho ◽  
Jongwon Kim
Keyword(s):  
Optimization Algorithm ◽  
Parallel Mechanism ◽  
Kinematic Calibration ◽  
Parallel Mechanisms ◽  
Geometrical Constraint ◽  
Kinematic Parameters ◽  
Angle Error ◽  
Calibration Algorithm ◽  
Redundantly Actuated

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structure and measurement values. However, the calibration algorithm for a nonredundant case does not apply for a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm for a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

Trajectory Tracking Method Based on Feedback Control in the Virtual Domain

2014 ◽  
Vol 556-562 ◽  
pp. 3246-3250
Author(s):  
Ji Guang Zhao ◽  
Liang Yan ◽  
Yuan Li ◽  
Guo Yu Bai
Keyword(s):  
Feedback Control ◽  
Real Time ◽  
Trajectory Tracking ◽  
Algebraic Equations ◽  
Angle Error ◽  
Tracking Method ◽  
Miss Distance ◽  
Virtual Domain ◽  
Yaw Angle ◽  
Real Time Information

A trajectory tracking method based on feedback control in the virtual domain is proposed for the algorithm of online real-time trajectory planning. The method using the way that polynomials approximate states and differential equations convert into algebraic equations. Time domain is converted into virtual domain by introducing the virtual path. Moreover, using the feedback correction tracks fixed trajectory exactly by real-time information. In the background of intercepting of ballistic missiles, simulation verification is carried out on the condition of initial minor disturbances. The simulation results demonstrate that the miss distance, pitch angle error and yaw angle error can meet the requirements.

Parametric Analysis of Ride Comfort for Tilting Railway Vehicles Running on Irregular Curved Tracks

2016 ◽  
Vol 16 (09) ◽  
pp. 1550056 ◽  
Author(s):  
Yung-Chang Cheng ◽  
Chin-Te Hsu
Keyword(s):  
Ride Comfort ◽  
Lateral Displacement ◽  
Equations Of Motion ◽  
Roll Angle ◽  
Creep Model ◽  
Railway Vehicle ◽  
Vehicle Speed ◽  
Nonlinear Creep ◽  
Rail Irregularities ◽  
Yaw Angle

The ride comfort of a tilting railway vehicle moving on curved tracks with rail irregularities is studied. Using the nonlinear creep model and Kalker's linear theory, the governing differential equations of motion for a tilting railway vehicle running on irregular tracks are first derived. The tilting railway vehicle is modeled by a 27 degree-of-freedom (DOF) car system, considering the lateral displacement, vertical displacement, roll angle and yaw angle of both the wheelsets and bogie frames, as well as the lateral displacement, roll angle and yaw angle of the car body. Based on the international standard ISO 2631-1, the effect of vehicle speed on the ride comfort index of the tilting vehicle is investigated for various tilting angles, using both linear and nonlinear creep models, and various radii of curved tracks, as well as for various suspension parameters. Finally, the ride comfort indices computed with rail irregularities are found to be higher than those with no rail irregularities, indicating that the effect of rail irregularities on the ride comfort of a tilting vehicle cannot be disregarded in practice.

Railway carriage simulation model to study the influence of vertical secondary suspension stiffness on ride comfort of railway carbody

2011 ◽  
Vol 225 (6) ◽  
pp. 1349-1359 ◽  
Author(s):  
K H A Abood ◽  
R A Khan
Keyword(s):  
Mathematical Model ◽  
Dynamic Response ◽  
Simulation Model ◽  
Lateral Displacement ◽  
Vertical Displacement ◽  
Roll Angle ◽  
Spring Stiffness ◽  
Passenger Comfort ◽  
Secondary Suspension ◽  
Yaw Angle

A mathematical model of a railway carriage moving on tangent tracks is constructed by deriving the equations of motion concern the model in which single-point and two-point wheel–rail contacts are considered. The presented railway carriage model comprises front and rear simple conventional bogies with two leading and trailing wheelsets attached to each bogie. The railway carriage is modeled using 31 degrees of freedom which govern vertical displacement, lateral displacement, roll angle, and yaw angle dynamic response of wheelset, whereas vertical displacement, lateral displacement, roll angle, pitch angle, and yaw angle dynamic response carbody and each of the two bogies were also studied. Linear stiffness and damping parameters of longitudinal, lateral, and vertical primary and secondary suspensions are provided to the railway carriage model. Combination of linear Kalker’s theory and non-linear Heuristic model is adopted to calculate the creep forces introduced at wheel and rail contact patch area. Computer-aided simulation is constructed to solve the governing differential equations of the mathematical model using Runge–Kutta fourth-order method. Principle of limit cycle and phase plane approach is applied to realize the stability and evaluate the concerning critical hunting velocity at which the railway carriage starts to hunt. The numerical simulation model is used to study the influence of vertical secondary suspension spring stiffness on the ride passenger comfort of railway carbody at speeds below and at critical hunting velocity. High magnitudes of vertical secondary spring stiffness suspension introduce undesirable roll and yaw dynamic responses in which affect ride passenger comfort at critical hunting velocity.

scholarly journals Dynamic Response of Railway Bogie Due to Change in Vertical Primary Suspension Stiffness Parameters

2011 ◽  
Vol 5 (1) ◽  
pp. 19
Author(s):  
Karim H. Ali Abood ◽  
R. A. Khan
Keyword(s):  
Mathematical Model ◽  
Dynamic Response ◽  
Lateral Displacement ◽  
Single Point ◽  
Vertical Displacement ◽  
Roll Angle ◽  
Dynamic Responses ◽  
Model Combination ◽  
Suspension Stiffness ◽  
Yaw Angle

A mathematical model of a railway carriage moving on tangent tracks is constructed by deriving the equations of motion concerning the model in which single-point and two-point wheel-rail contact is considered. The presented railway carriage model comprises of carbody and front and rear simple conventional bogie with two leading and trailing wheelets attached to each bogie. The railway carriage is modeled by 31 degrees of freedom which govern vertical displacement, lateral displacement, roll angle and yaw angle dynamic response of wheelset whereas vertical displacement, lateral displacement, roll angle, pitch angle and yaw angle dynamic response of carbody and each of the two bogies. Linear stiffness and damping parameters of longitudinal, lateral and vertical primary and secondary suspensions are provided to the railway carriage model. Combination of linear Kalker's theory and nonlinear Heuristic model is adopted to calculate the creep forces in which introduced at wheel and rail contact patch area. Computer aided-simulation is constructed to solve the governing differential equations of the mathematical model using Runge-Kutta fourth order method. Principle of limit cycle and phase plane approach is applied to realize the stability and to evaluate the concerning critical hunting velocity at which railway carriage starts to hunt. Numerical simulation model is used to study the dynamic responses of a railway carriage bogie subjected to specific parameters of wheel conicity and primary suspension characteristics. A comparison to study the sensitivity of railway carriage bogie to dynamic responses is also presented at different vertical primary suspension stiffness parameters.

Against the leans: Overcoming spatial disorientation through galvanic vestibular stimulation

2021 ◽  
Vol 65 (1) ◽  
pp. 1421-1424
Author(s):  
Sungho Kim ◽  
May Jorella Lazaro ◽  
Hyunki Jung ◽  
Myung Hwan Yun ◽  
Yohan Kang
Keyword(s):  
Vestibular Stimulation ◽  
Galvanic Vestibular Stimulation ◽  
Flight Simulation ◽  
Roll Angle ◽  
Angle Error ◽  
Spatial Disorientation ◽  
Safety Research ◽  
Scale Scores ◽  
Phase Data ◽  
Roll Out

Leans illusion is a type of Spatial Disorientation (SD) that pilots often experience which can adversely affect flight performance. For pilots’ flight safety, research on how to effectively overcome SD such as leans illusion is important. The purpose of this study is to identify the overcoming effect of Galvanic Vestibular Stimulation (GVS) technology on leans illusion. Twenty-one Air Force pilots participated in a flight simulation experiment where leans illusion was induced through a specialized SD simulator. In the with-GVS condition, GVS was given during the roll-out phase. Data was analyzed using roll angle error and subjective SD scales by two conditions (with-GVS, without-GVS). Results showed that both the roll angle error and the subjective SD scale scores were found to be lower in the with-GVS condition than in the without-GVS condition. This study suggests that the use of GVS technology can potentially contribute in overcoming leans illusion.

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