阅读说明：本技术 一种弹载着角测量系统及测量方法 (System and method for measuring missile-borne angle ) 是由 付胜华 娄文忠 汪金奎 吉童安 刘伟桐 赵悦岑 于 2019-10-11 设计创作，主要内容包括：本发明公开了一种弹载着角测量系统及测量方法。本发明采用三轴地磁传感器、信号触发装置、信号触发导线、集成信号处理电路、无线通讯单元和信号接收计算机；在弹药与预定的毁伤目标未接触前,三轴地磁传感器和无线通讯单元不工作；当制导弹药与预定的毁伤目标接触时,信号触发装置在惯性的作用下拉断信号触发导线,触发三轴地磁传感器和无线通讯单元开始工作；三轴地磁传感器采集地磁分量,经信号处理电路得到地磁分量,通过无线通讯单元无线传输至信号接收计算机,计算得到弹体的磁偏角ψ和俯仰角θ；本发明实现了低成本、小体积、误差小、鲁棒性好的实时测量和总体分析,为弹药的毁伤评估提供数据支撑。(The invention discloses a system and a method for measuring a missile-borne angle. The invention adopts a triaxial geomagnetic sensor, a signal trigger device, a signal trigger wire, an integrated signal processing circuit, a wireless communication unit and a signal receiving computer; before ammunition is not contacted with a preset damage target, the three-axis geomagnetic sensor and the wireless communication unit do not work; when the guided munition is contacted with a preset damage target, the signal trigger device breaks a signal trigger wire under the action of inertia to trigger the triaxial geomagnetic sensor and the wireless communication unit to start working; the triaxial geomagnetic sensor collects geomagnetic components, the geomagnetic components are obtained through the signal processing circuit and are wirelessly transmitted to the signal receiving computer through the wireless communication unit, and the magnetic declination psi and the pitch angle theta of the projectile body are obtained through calculation; the invention realizes real-time measurement and overall analysis with low cost, small volume, small error and good robustness, and provides data support for ammunition damage evaluation.)

1. A system for measuring the angle of impact of a projectile, the system comprising: the geomagnetic sensor comprises a triaxial geomagnetic sensor, a signal trigger device, a signal trigger wire, an integrated signal processing circuit, a wireless communication unit and a signal receiving computer; the three-axis geomagnetic sensor, the signal trigger device, the signal trigger wire, the integrated signal processing circuit and the wireless communication unit are all fixedly arranged in the ammunition; the signal trigger device is arranged at the head of the ammunition body and is connected to the integrated signal processing circuit through a signal trigger lead; the triaxial geomagnetic sensor is fixed at the position of the center of mass of the ammunition; three sensitive axes of the triaxial geomagnetic sensor respectively follow the three axis directions of the ammunition coordinate system; the wireless communication unit is connected to the tail of the ammunition body; the triaxial geomagnetic sensor is connected to the integrated signal processing circuit; the integrated signal processing circuit is connected to the wireless communication unit; the wireless communication unit is in wireless transmission with the signal receiving computer; the three-axis geomagnetic sensor and the wireless communication unit are respectively connected to the integrated signal processing circuit through electromagnetic switches; before ammunition is not contacted with a preset damage target, the electromagnetic switch is switched off, the integrated signal processing circuit does not supply power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit do not work; when ammunition contacts with a preset damage target, the signal trigger device pulls the signal trigger wire under the action of inertia, the integrated signal processing circuit is excited to generate pulses which are respectively transmitted to the triaxial geomagnetic sensor and the wireless communication unit, an electromagnetic switch arranged between the integrated signal processing circuit and the triaxial geomagnetic sensor and between the integrated signal processing circuit and the wireless communication unit are excited by the pulses to generate attraction action, the electromagnetic switch is conducted, the integrated signal processing circuit supplies power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit work; triaxial geomagnetic sensor for collecting geomagnetic componentsA quantity, transmitted to the integrated signal processing circuit; the signal processing circuit amplifies the geomagnetic signal and converts the geomagnetic signal into a digital signal to obtain geomagnetic components B along three axial directions of a geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D(ii) a The wireless communication unit is used for wirelessly transmitting the data to a signal receiving computer; the signal receiving computer receives the geomagnetic component B_N、B_EAnd B_DAnd calculating to obtain the magnetic declination psi and the pitch angle theta of the projectile body.

2. The projectile bearing angle measurement system of claim 1 wherein the projectile has a magnetic declination angle ψ and a pitch angle θ:

ψ＝arctan(B_E/B_N)

3. the system of claim 1, wherein said signal triggering device is an inertial mass.

4. The projectile bearing angle measurement system of claim 1 wherein said integrated signal processing circuitry comprises: the power supply comprises a power supply management circuit, an operational amplifier circuit, an A/D conversion circuit, a first resistor and a singlechip; the three-axis geomagnetic sensor is connected to the operational amplifier circuit; the operational amplifier circuit is connected to the A/D conversion circuit; the A/D conversion circuit is connected to the singlechip; a pair of input and output pins of the singlechip are connected with the wireless communication unit; the power management circuit is respectively connected to the operational amplifier circuit, the A/D conversion circuit and the singlechip and provides working voltage; the other pair of input and output pins of the single chip microcomputer are connected with a connecting wire, the power management circuit, the first resistor and the single chip microcomputer form a closed loop through the connecting wire, and the signal trigger wire is connected to the connecting wire; the power management circuit is connected to the triaxial geomagnetic sensor and the wireless communication unit through electromagnetic switches respectively; before the ammunition is not contacted with the predetermined damage target, the power supply management circuit, the first resistor and the single chipThe machine is a closed loop, the single chip microcomputer passes through current passing through a connecting wire, the state mark of the single chip microcomputer is 1 at the moment, an electromagnetic switch connected between a power management circuit and the three-axis geomagnetic sensor and the wireless communication unit is disconnected, power is not supplied to the electromagnetic switch, and the three-axis geomagnetic sensor and the wireless communication unit do not work; when ammunition contacts with a preset damage target, the signal trigger device pulls a signal trigger wire under the action of inertia, the signal trigger wire breaks a connecting wire, the singlechip is disconnected from the power management circuit through the connecting wire, the singlechip does not have the current of the connecting wire, the current of the singlechip is reduced, the state mark of the singlechip is 0, the singlechip generates an excitation pulse signal to the power management circuit, the power management circuit sends the pulse signal to an electromagnetic switch connected with the triaxial geomagnetic sensor and the wireless communication unit, the electromagnetic switch is excited by the pulse to generate attraction action, and the electromagnetic switch connected among the power management circuit, the triaxial geomagnetic sensor and the wireless communication unit is closed to start power supply; the triaxial geomagnetic sensor collects geomagnetic components and transmits the geomagnetic components to the operational amplifier circuit for signal amplification; the amplified signals are transmitted to an A/D conversion circuit to be converted into digital signals, and the digital signals are transmitted to a single chip microcomputer to obtain geomagnetic components B along three axial directions of a geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D(ii) a The single chip microcomputer wirelessly transmits the geomagnetic component to a signal receiving computer through a wireless communication unit; the signal receiving computer receives the geomagnetic component B_N、B_EAnd B_DAnd calculating to obtain the magnetic declination angle psi and the pitch angle theta of the ammunition.

5. The system of claim 1, further comprising a latch coupled between the op-amp circuit and the single chip, the latch coupled to the a/D converter circuit through a second resistor; the power management circuit supplies power to the latch; the geomagnetic component is amplified by the operational amplifier circuit and then transmitted to the latch for latching, and the latching result of the analog signal is transmitted to the singlechip for storage; the geomagnetic component is amplified by the operational amplifier circuit and then transmitted to the A/D conversion circuit to be converted into a digital signal, and the digital signal is divided by the second resistor and then transmitted to the latch to be latched.

6. A method of measuring the angle of repose measurement system of claim 1, wherein said method of measuring comprises the steps of:

1) before ammunition is not contacted with a preset damage target, the electromagnetic switch is switched off, the integrated signal processing circuit does not supply power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit do not work;

2) when ammunition contacts with a preset damage target, the signal trigger device pulls the signal trigger wire under the action of inertia, the integrated signal processing circuit is excited to generate pulses which are respectively transmitted to the triaxial geomagnetic sensor and the wireless communication unit, an electromagnetic switch arranged between the integrated signal processing circuit and the triaxial geomagnetic sensor and between the integrated signal processing circuit and the wireless communication unit are excited by the pulses to generate attraction action, the electromagnetic switch is conducted, the integrated signal processing circuit supplies power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit work;

3) the triaxial geomagnetic sensor collects geomagnetic components and transmits the geomagnetic components to the integrated signal processing circuit;

4) the signal processing circuit amplifies the geomagnetic signal and converts the geomagnetic signal into a digital signal to obtain geomagnetic components B along three axial directions of a geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D；

5) The wireless communication unit is used for wirelessly transmitting the data to a signal receiving computer;

6) the signal receiving computer receives the geomagnetic component B_N、B_EAnd B_DAnd calculating to obtain a magnetic declination angle psi and a pitch angle theta of the projectile body:

ψ＝arctan(B_E/B_N)

Technical Field

The invention relates to a technology for measuring the attitude of ammunition, in particular to a system and a method for measuring the loading angle of ammunition at an explosion position.

Background

In actual combat, ammunition attacks the target through the falling speed and foot of the movement. The destruction capability of the ammunition is different from the qualitative static explosion power of the ammunition, and mainly relates to the influence on the space distribution of an explosion chip field and the reliability of the destruction capability. The contact angle of the ammunition with the target at the point of detonation is an important factor in determining the distribution of the detonation field. The method is used for measuring the contact included angle between the position of an ammunition explosion point and a target in real time and analyzing the damage performance of the ammunition, and is not realized in engineering at present.

Disclosure of Invention

Aiming at the detection problem of the contact included angle between an explosive position and a target of ammunition, the invention provides a system and a method for measuring the missile-borne angle of the ammunition at the explosive position, so as to solve the engineering problem of analyzing the damage performance of the ammunition by measuring the explosive point of the ammunition in real time.

One object of the present invention is to provide a system for measuring the angle of impact of a projectile.

The system for measuring the impact angle of a projectile of the present invention comprises: the geomagnetic sensor comprises a triaxial geomagnetic sensor, a signal trigger device, a signal trigger wire, an integrated signal processing circuit, a wireless communication unit and a signal receiving computer; the three-axis geomagnetic sensor, the signal trigger device, the signal trigger wire, the integrated signal processing circuit and the wireless communication unit are all fixedly arranged in the ammunition; the signal trigger device is arranged at the head of the ammunition body and is connected to the integrated signal processing circuit through a signal trigger lead; the triaxial geomagnetic sensor is fixed at the position of the center of mass of the ammunition; three sensitive axes of the triaxial geomagnetic sensor respectively follow the three axis directions of the ammunition coordinate system; the wireless communication unit is connected to the tail of the ammunition body; the triaxial geomagnetic sensor is connected to the integrated signal processing circuit; the integrated signal processing circuit is connected to the wireless communication unit; the wireless communication unit is in wireless transmission with the signal receiving computer; the three-axis geomagnetic sensor and the wireless communication unit are respectively connected to the integrated signal processing circuit through electromagnetic switches; in ammunition and ammunitionBefore the definite damage target is not contacted, the electromagnetic switch is switched off, the integrated signal processing circuit does not supply power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit do not work; when ammunition contacts with a preset damage target, the signal trigger device pulls the signal trigger wire under the action of inertia, the integrated signal processing circuit is excited to generate pulses which are respectively transmitted to the triaxial geomagnetic sensor and the wireless communication unit, an electromagnetic switch arranged between the integrated signal processing circuit and the triaxial geomagnetic sensor and between the integrated signal processing circuit and the wireless communication unit are excited by the pulses to generate attraction action, the electromagnetic switch is conducted, the integrated signal processing circuit supplies power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit work; the triaxial geomagnetic sensor collects geomagnetic components and transmits the geomagnetic components to the integrated signal processing circuit; the signal processing circuit amplifies the geomagnetic signal and converts the geomagnetic signal into a digital signal to obtain geomagnetic components B along three axial directions of a geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D(ii) a The wireless communication unit is used for wirelessly transmitting the data to a signal receiving computer; the signal receiving computer receives the geomagnetic component B_N、B_EAnd B_DAnd calculating to obtain the magnetic declination psi and the pitch angle theta of the ammunition.

The signal triggering device is an inertia mass block.

Magnetic slip angle ψ and pitch angle θ of ammunition:

ψ＝arctan(B_E/B_N)

the integrated signal processing circuit includes: the power supply comprises a power supply management circuit, an operational amplifier circuit, an A/D conversion circuit, a first resistor and a singlechip; the three-axis geomagnetic sensor is connected to the operational amplifier circuit; the operational amplifier circuit is connected to the A/D conversion circuit; the A/D conversion circuit is connected to the singlechip; a pair of input and output pins of the singlechip are connected with the wireless communication unit; the power management circuit is respectively connected to the operational amplifier circuit, the A/D conversion circuit and the singlechip and provides working voltage; another pair of input and output leads of the single chip microcomputerThe pin is connected with a connecting wire, the power management circuit, the resistor and the singlechip form a closed loop through the connecting wire, and the signal trigger wire is connected to the connecting wire; the power management circuit is connected to the triaxial geomagnetic sensor and the wireless communication unit through electromagnetic switches respectively; before ammunition is not contacted with a preset damage target, the power supply management circuit, the resistor and the single chip microcomputer are a closed loop, the single chip microcomputer passes through current passing through a connecting wire, the state mark of the single chip microcomputer is 1 at the moment, an electromagnetic switch connected between the power supply management circuit and the three-axis geomagnetic sensor and the wireless communication unit is disconnected, power is not supplied to the electromagnetic switch, and the three-axis geomagnetic sensor and the wireless communication unit do not work; when ammunition contacts with a preset damage target, the signal trigger device pulls a signal trigger wire under the action of inertia, the signal trigger wire breaks a connecting wire, the singlechip is disconnected from the power management circuit through the connecting wire, the singlechip does not have the current of the connecting wire, the current of the singlechip is reduced, the state mark of the singlechip is 0, the singlechip generates an excitation pulse signal to the power management circuit, the power management circuit sends the pulse signal to an electromagnetic switch connected with the triaxial geomagnetic sensor and the wireless communication unit, the electromagnetic switch is excited by the pulse to generate attraction action, and the electromagnetic switch connected among the power management circuit, the triaxial geomagnetic sensor and the wireless communication unit is closed to start power supply; the triaxial geomagnetic sensor collects geomagnetic components and transmits the geomagnetic components to the operational amplifier circuit for signal amplification; the amplified signals are transmitted to an A/D conversion circuit to be converted into digital signals, and the digital signals are transmitted to a single chip microcomputer to obtain geomagnetic components B along three axial directions of a geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D(ii) a The single chip microcomputer wirelessly transmits the geomagnetic component to a signal receiving computer through a wireless communication unit; the signal receiving computer receives the geomagnetic component B_N、B_EAnd B_DAnd calculating to obtain the magnetic declination angle psi and the pitch angle theta of the ammunition.

Setting geomagnetic coordinate system ONED and ammunition coordinate system Ox₁y₁z₁(ii) a The ON axis of the geomagnetic coordinate system points to the North pole of the earth's magnetism, the OE axis is parallel to the ground and perpendicular to the ON axis and points to the right, and the OD axis points perpendicularly to the ground. Three-axisGeomagnetic sensors respectively mounted in three axial directions of ammunition coordinate system, i.e. Ox₁y₁z₁And (4) direction. The ammunition has geomagnetic components B along three axial directions of the geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D(ii) a The magnetic declination psi and the pitch angle theta of the ammunition are respectively as follows:

ψ＝arctan(B_E/B_N)

furthermore, the invention also comprises a latch connected between the operational amplifier circuit and the singlechip, wherein the latch is connected with the A/D conversion circuit through a resistor; the power management circuit supplies power to the latch; the geomagnetic component is amplified by the operational amplifier circuit and then transmitted to the latch for latching, and the latching result of the analog signal is transmitted to the singlechip for storage; the geomagnetic component is amplified by the operational amplifier circuit and then transmitted to the A/D conversion circuit to be converted into a digital signal, and the digital signal is transmitted to the latch to be latched after being subjected to voltage division by the resistor, so that dynamic signal storage of ammunition in the whole contact process with a target explosion point position is facilitated, and subsequent overall analysis is facilitated.

Another object of the present invention is to provide a method of measuring a missile loading angle measuring system.

The invention relates to a measuring method of a missile-borne angle measuring system, which comprises the following steps:

1) before ammunition is not contacted with a preset damage target, the electromagnetic switch is switched off, the integrated signal processing circuit does not supply power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit do not work;

2) when ammunition contacts with a preset damage target, the signal trigger device pulls the signal trigger wire under the action of inertia, the integrated signal processing circuit is excited to generate pulses which are respectively transmitted to the triaxial geomagnetic sensor and the wireless communication unit, an electromagnetic switch arranged between the integrated signal processing circuit and the triaxial geomagnetic sensor and between the integrated signal processing circuit and the wireless communication unit are excited by the pulses to generate attraction action, the electromagnetic switch is conducted, the integrated signal processing circuit supplies power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit work;

3) the triaxial geomagnetic sensor collects geomagnetic components and transmits the geomagnetic components to the integrated signal processing circuit;

4) the signal processing circuit amplifies the geomagnetic signal and converts the geomagnetic signal into a digital signal to obtain geomagnetic components B along three axial directions of a geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D；

5) The wireless communication unit is used for wirelessly transmitting the data to a signal receiving computer;

6) the signal receiving computer receives the geomagnetic component B_N、B_EAnd B_DCalculating to obtain a magnetic declination angle psi and a pitch angle theta of the ammunition:

ψ＝arctan(B_E/B_N)

the invention has the advantages that:

the invention adopts a triaxial geomagnetic sensor, a signal trigger device, a signal trigger wire, an integrated signal processing circuit, a wireless communication unit and a signal receiving computer; before ammunition is not contacted with a preset damage target, the three-axis geomagnetic sensor and the wireless communication unit do not work; when ammunition is in contact with a preset damage target, the signal trigger device breaks a signal trigger lead under the action of inertia to trigger the triaxial geomagnetic sensor and the wireless communication unit to start working; the triaxial geomagnetic sensor collects geomagnetic components, the geomagnetic components are obtained through the signal processing circuit and are wirelessly transmitted to the signal receiving computer through the wireless communication unit, and the magnetic declination psi and the pitch angle theta of the ammunition are obtained through calculation; according to the invention, the missile-borne landing angle measuring system of the position of the explosion point of the guided missile is constructed through the triaxial geomagnetic sensor, so that the real-time measurement and the overall analysis with low cost, small volume, small error and good robustness are realized, and data support is provided for damage assessment of the ammunition.

Drawings

FIG. 1 is an overall schematic view of a projectile landing angle measurement system of the present invention;

FIG. 2 is a block diagram of the system for measuring the angle of impact of a projectile in accordance with the present invention;

FIG. 3 is a coordinate system transformation diagram of the system for measuring the angle of impact of a projectile according to the present invention.

Detailed Description

The invention will be further elucidated by means of specific embodiments in the following with reference to the drawing.

As shown in fig. 1, the system for measuring the impact angle of the projectile of the present embodiment includes: triaxial geomagnetic sensor a₂Signal trigger device a₁Signal trigger wire, integrated signal processing circuit a₃A wireless communication unit₄And a signal receiving computer d; the three-axis geomagnetic sensor, the signal trigger device, the signal trigger wire, the integrated signal processing circuit and the wireless communication unit are all fixedly arranged in the ammunition; the triaxial geomagnetic sensor is fixed at the position of the center of mass of the ammunition; three sensitive axes of the triaxial geomagnetic sensor respectively follow the three axis directions of the ammunition coordinate system; the wireless communication unit is connected to the tail of the ammunition body; the triaxial geomagnetic sensor is connected to the integrated signal processing circuit; the integrated signal processing circuit is connected to the wireless communication unit; the wireless communication unit is in wireless transmission with the signal receiving computer; the signal trigger device is arranged at the head of a bullet body of the ammunition and integrates a signal processing circuit through a signal trigger wire; the triaxial geomagnetic sensor and the wireless communication unit are respectively connected to the integrated signal processing circuit through electromagnetic switches. When the ammunition a contacts the damage target b, a spread cloud c of explosion point damage is generated.

As shown in fig. 2, the integrated signal processing circuit includes: the power supply comprises a power supply management circuit, an operational amplifier circuit, an A/D conversion circuit, a first resistor and a singlechip; the three-axis geomagnetic sensor is connected to the operational amplifier circuit; the operational amplifier circuit is connected to the A/D conversion circuit; the A/D conversion circuit is connected to the singlechip; a pair of input and output pins of the singlechip are connected with the wireless communication unit; the power management circuit is respectively connected to the operational amplifier circuit, the A/D conversion circuit and the singlechip and provides working voltage; the other pair of input/output pins of the single chip microcomputer is connected with a connecting wire, and the power management circuit, the first resistor and the single chip microcomputer form a closed circuit through the connecting wireA closing loop, wherein the signal trigger wire is connected to the connecting wire; the power management circuit is connected to the triaxial geomagnetic sensor and the wireless communication unit through electromagnetic switches respectively; before ammunition is not contacted with a preset damage target, the power supply management circuit, the first resistor and the single chip microcomputer are a closed loop, the single chip microcomputer passes through current passing through a connecting wire, the state mark of the single chip microcomputer is 1 at the moment, an electromagnetic switch connected between the power supply management circuit and the three-axis geomagnetic sensor and the wireless communication unit is disconnected, power is not supplied to the electromagnetic switch, and the three-axis geomagnetic sensor and the wireless communication unit do not work; when ammunition contacts with a preset damage target, the signal trigger device pulls a signal trigger wire under the action of inertia, the signal trigger wire breaks a connecting wire, the singlechip is disconnected from the power management circuit through the connecting wire, the singlechip does not have the current of the connecting wire, the current of the singlechip is reduced, the state mark of the singlechip is 0, the singlechip generates an excitation pulse signal to the power management circuit, the power management circuit sends the pulse signal to an electromagnetic switch connected with the triaxial geomagnetic sensor and the wireless communication unit, the electromagnetic switch is excited by the pulse to generate attraction action, and the electromagnetic switch connected among the power management circuit, the triaxial geomagnetic sensor and the wireless communication unit is closed to start power supply; the triaxial geomagnetic sensor collects geomagnetic components and transmits the geomagnetic components to the operational amplifier circuit for signal amplification; the amplified signals are transmitted to an A/D conversion circuit to be converted into digital signals, and the digital signals are transmitted to a single chip microcomputer to obtain geomagnetic components B along three axial directions of a geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D(ii) a The single chip microcomputer wirelessly transmits the geomagnetic component to a signal receiving computer through a wireless communication unit; the signal receiving computer receives the geomagnetic component B_N、B_EAnd B_DAnd calculating to obtain the magnetic declination angle psi and the pitch angle theta of the ammunition. The latch is connected between the operational amplifier circuit and the singlechip, and the latch is connected with the A/D conversion circuit through a second resistor; the power management circuit supplies power to the latch; the geomagnetic component is amplified by the operational amplifier circuit and then transmitted to the latch for latching, and the latching result of the analog signal is transmitted to the singlechip for storage; the geomagnetic component is amplified by the operational amplifier circuit and then transmitted to the A/D conversion circuit to be converted into digital informationAnd the digital signal is transmitted to the latch for latching after being divided by the second resistor.

The missile-borne angle measuring system works when ammunition is in contact with a damage target, finally the ammunition explodes, and the missile-borne angle measuring system stops working.

Respectively establishing a geomagnetic coordinate system ONED and an ammunition coordinate system Ox₁y₁z₁And ammunition axis coordinate system Ox₂y₂z₂. The ON axis of the geomagnetic coordinate system points to the North pole of the earth's magnetism, the OE axis is parallel to the ground and perpendicular to the ON axis and points to the right, and the OD axis points perpendicularly to the ground. The origin O of the ammunition axis coordinate system is taken on the center of mass of the ammunition, at the initial moment, the ammunition body coordinate system and the ammunition axis coordinate system are overlapped, and the head of the directed ammunition body is positive. At the location of the ammunition firing point, pitching and yawing movements of the ammunition can occur. The triaxial geomagnetic sensors are the combination of two pairwise orthogonal geomagnetic sensors and are respectively arranged in three axial directions of an ammunition coordinate system, namely Ox₁y₁z₁And (4) direction. According to the measured value of the geomagnetic sensor. And the calculation of the pitching angle and the inclination angle of the magnetic heading angle of the ammunition at the position of the firing point is realized. Wherein the ammunition firing point pitch angle is defined as the projection OX 'of the local magnetic field on the geomagnetic coordinate plane ONE'₁The angle between the vertical axis Ox1 and the pressing force is positive and the range is [ -pi/2, pi/2](ii) a Geomagnetic declination is defined as OX'₁And the angle with the geomagnetic ON axis. The transformation relationship of each coordinate system is shown in fig. 3.

Because the ammunition axial coordinate system does pitching and yawing motion along with the ammunition body, the relative geomagnetic pitch angle approximate ammunition relative geomagnetic pitch angle transient value by utilizing the axial coordinate system can be expressed as follows:

B_N＝|B|cosψcosθ

B_E＝-|B|cosγcosθsinψ+|B|sinγsinθ

B_D＝|B|sinγsinψcosθ+|B|cosγsinθ

from the terrestrial magnetic component B_N、B_EAnd B_DCalculating to obtain a magnetic declination angle psi and a pitch angle theta of the ammunition:

ψ＝arctan(B_E/B_N)

the measuring method of the missile loading angle measuring system comprises the following steps:

1) before ammunition is not contacted with a preset damage target, the electromagnetic switch is switched off, the integrated signal processing circuit does not supply power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit do not work;

2) when ammunition contacts with a preset damage target, the signal trigger device pulls the signal trigger wire under the action of inertia, the integrated signal processing circuit is excited to generate pulses which are respectively transmitted to the triaxial geomagnetic sensor and the wireless communication unit, an electromagnetic switch arranged between the integrated signal processing circuit and the triaxial geomagnetic sensor and between the integrated signal processing circuit and the wireless communication unit are excited by the pulses to generate attraction action, the electromagnetic switch is conducted, the integrated signal processing circuit supplies power to the triaxial geomagnetic sensor and the wireless communication unit, and the triaxial geomagnetic sensor and the wireless communication unit work;

3) the triaxial geomagnetic sensor collects geomagnetic components and transmits the geomagnetic components to the integrated signal processing circuit;

4) the signal processing circuit amplifies the geomagnetic signal and converts the geomagnetic signal into a digital signal to obtain geomagnetic components B along three axial directions of a geomagnetic coordinate system under the geomagnetic coordinate system_N、B_EAnd B_D；

5) The wireless communication unit is used for wirelessly transmitting the data to a signal receiving computer;

6) the signal receiving computer receives the geomagnetic component B_N、B_EAnd B_DCalculating to obtain a magnetic declination angle psi and a pitch angle theta of the ammunition:

ψ＝arctan(B_E/B_N)

finally, it is noted that the disclosed embodiments are intended to aid in further understanding of the invention, but those skilled in the art will appreciate that: various substitutions and modifications are possible without departing from the spirit and scope of the invention and the appended claims. Therefore, the invention should not be limited to the embodiments disclosed, but the scope of the invention is defined by the appended claims.