膛内惯性测速系统设计

弹丸的膛内运动参数可以反映火炮工作状态特性，针对常规火炮弹丸内弹道运动测速需求，设计了基于MEMS加速度传感器和姿态传感器的膛内惯性测速系统；采用Kalman滤波和四元数姿态解算算法对传感器数据进行FPGA片上处理，实现了从弹丸挤进到出膛运动过程的时间记录，成功获取弹丸内弹道运动过程中加速度、速度和位移变化；实验结果表明，相对激光区截测速方法，该系统出膛速率测量误差小于2.93%;相对火炮身管原参数，出膛位移测量误差小于1.85%,为内弹道过程弹丸运动参数测量获取提供了技术支持，对火炮系统设计评估具有重要意义。

Design of inertial velocity measurement system in bore

The motion parameters of the projectile in the bore can reflect the working state characteristics of the artillery. Aiming at the speed measurement requirements of the interior ballistic motion of the conventional artillery projectile, an inertial velocity measurement system in the bore based on MEMS acceleration sensor and attitude sensor is designed. Kalman filtering and quaternion attitude algorithm are used to process the sensor data on FPGA chip, realizing the time recording of the movement process from the projectile squeezing in to the chamber exit, and successfully obtaining the acceleration, velocity and displacement changes in the interior ballistic movement process of the projectile. The experimental results show that the measurement error of the exit velocity of the system is less than 2.93% compared with the laser zone cut velocity measurement method; Compared with the original parameters of the gun barrel, the measurement error of the bore out displacement is less than 1.85%, which provides technical support for the measurement and acquisition of the projectile motion parameters in the interior ballistic process, and is of great significance to the design and evaluation of the gun system.