Measuring and solving real coning motion of spinning carriers

Abstract

Coning motion of spinning carriers is a complex rotating motion with various forms that include single circular motion, double circular motion and multiple circular motion. Due to the fact that it is difficult to describe the real coning motion of double circular motion and multiple circular motion by the common method of attack angle and sideslip angle (A-S), a cone frame and cone angles are defined to describe coning motion. Through analysis of measuring the relationship between coning motion and inertial devices such as gyroscopes and accelerometers, an inertial measuring method is proposed to build the measuring equation and resolving equation. A geometry-solving algorithm of real coning motion is derived in detail, and radiuses of large circle and real cone circle are obtained as well. A flight simulation of a spinning carrier with coning motion is designed and used to verify the measuring method and the geometry-solving algorithm. The result shows that: (1) the inertial measuring method has the same validity as A-S method to describe coning motion, but is superior to A-S method for the reason of providing the rotation information of carriers; (2) due to coupling relationship, the rotating angle is equal to the subtraction of roll angle and precession angle; (3) the real precession angle and the real nutation angle are calculated by the geometry-solving algorithm, and the real coning motion is obtained finally.

Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation Data

“…Spinning bodies such as rocket projectiles, guided projectiles and guided bullets have high spinning speed, which can simplify control system structures, improve aerodynamic configurations and reduce collateral damages. Spinning bodies have to experience a complicated angular motion during fight and lead to attitude error of control systems and navigation systems, which makes people struggle with it for a long time [1]. So, it is significant to understand the composition of angular motion and study the effect on attitude updating of spinning bodies.…”

A resolving method of transverse input angular velocity based on Si micromechanical gyro driven by rotating carrier

“…The transverse input motion is an attitude movement, which is perpendicular to the spin axis of the rotating carrier. The transverse attitude movements include yaw, pitch and their synthetic motion [1][2][3][4]. The attitude control of the rotating aircraft often adopts the single-channel control mode.…”