CN114001758B - Method for accurately determining time delay through strapdown guide head strapdown decoupling - Google Patents
Method for accurately determining time delay through strapdown guide head strapdown decoupling Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention belongs to the technical field of seekers, and provides a strapdown decoupling accurate time delay determining method for a strapdown seeker. In strapdown decoupling, the projectile attitude data information delay delta t is decoupled from the seeker, so that the remarkable influence caused by time delay is eliminated, the strapdown decoupling outputs a stable and reliable guidance signal, the development of strapdown seeker application technology is promoted, and particularly, the development of strapdown passive radar seeker application technology is promoted.
Description
Technical Field
The invention belongs to the technical field of seekers, and particularly relates to a method for accurately determining time delay through strapdown decoupling of a strapdown seeker.
Background
The special angle measurement method and the error correction method of the strapdown passive radar seeker prove that the strapdown passive radar seeker has remarkable advantages in decoy resistance relative to the frame passive radar seeker in practice. Further, strapdown is an important way of implementing low cost, miniaturization, and weight saving of the seeker.
The strapdown seeker needs to be decoupled by strapdown to send out the angular velocity of the line of sight as a guidance signal, and the time delay is the most obvious factor among a plurality of factors influencing the strapdown seeker decoupling, the time delay is inaccurate, the seeker data information and the projectile attitude data information are out of phase, the guidance signal output by strapdown decoupling can lead the trajectory to diverge, and the target cannot be hit. This is an important reason that plagues domestic strapdown seeker, especially passive radar seeker and application technology development thereof.
Disclosure of Invention
The invention aims to: the strapdown guide head strapdown decoupling accurate time delay determining method is provided, and a cross-correlation function method is adopted to accurately determine the relative time difference delta t between guide head angle data information and projectile attitude angle data information. In strapdown decoupling, the projectile attitude data information delay delta t is decoupled from the seeker, so that the remarkable influence caused by time delay is eliminated, the strapdown decoupling outputs a stable and reliable guidance signal, the development of strapdown seeker application technology is promoted, and particularly, the development of strapdown passive radar seeker application technology is promoted.
The technical scheme is as follows: the method for accurately determining the time delay through strapdown guide head strapdown decoupling is provided, and comprises the following steps:
Developing semi-physical simulation with attitude disturbance to obtain inertial navigation attitude disturbance data with the same time scale and output angle measurement data output by a seeker;
intercepting inertial navigation attitude disturbance data in an attitude disturbance duration period, and outputting angle measurement data by a seeker;
respectively solving the average value of the intercepted inertial navigation attitude disturbance data and the angle measurement data output by the seeker;
Subtracting the corresponding mean value of the attitude disturbance data outputted by inertial navigation in the intercepted attitude disturbance duration time period to obtain initial attitude disturbance data; subtracting the corresponding mean value from the angle measurement data output by the strapdown seeker in the intercepted attitude disturbance duration period to obtain initial output angle measurement data;
respectively carrying out difference processing on the initial attitude disturbance data and the initial output angle measurement data to enable the attitude disturbance data and the seeker angle measurement data to reach the same minimum time scale;
and establishing a cross-correlation function for cross-correlation processing on the attitude disturbance data and the seeker angle measurement data with the same minimum time scale, and solving to obtain the time delay of the seeker output angle measurement data relative to the inertial navigation attitude disturbance data.
Further, inertial navigation attitude data and seeker angle measurement output data of at least two disturbance periods in the attitude disturbance duration period are intercepted.
Further, the mean formula is as follows;
Wherein eta represents the mean value of inertial navigation attitude disturbance data or angle measurement data output by the seeker; n represents the number of inertial navigation attitude disturbance data or angle measurement data output by the seeker; x i represents the ith inertial navigation attitude disturbance data or the seeker output goniometer data.
Further, subtracting corresponding average values of the attitude disturbance data outputted by inertial navigation in the intercepted attitude disturbance duration time period respectively to obtain initial attitude disturbance data; subtracting the corresponding mean value of the angle measurement data output by the strapdown seeker in the intercepted attitude disturbance duration time period to obtain initial output angle measurement data, so that the initial attitude disturbance data and the initial output angle measurement data have the same data characteristic of fluctuation around 0 point.
Further, if the interval between the angle measurement data output by the seeker and the attitude data output by the inertial navigation is inconsistent or is more than 1 order of magnitude, performing interpolation processing on the attitude data output by the inertial navigation and the angle measurement data output by the seeker according to the delay time precision; if the time delay accuracy requirement reaches the ns level, the interpolation causes the minimum time scale to be spaced to the ns level.
Further, if the angle measurement data output by the seeker and the attitude data output by the inertial navigation are consistent in interval, and the interval between the angle measurement data output by the seeker and the attitude data output by the inertial navigation is not greater than the strapdown decoupling time delay precision requirement.
Further, the cross-correlation processing procedure of the cross-correlation function is as follows: performing cross-correlation function processing on the attitude disturbance data and the seeker angle measurement data with the same minimum time scale, and outputting a correlation coefficient set with the minimum time scale; then, the attitude disturbance data with the minimum time scale slides relative to the seeker angle measurement data with the minimum time scale, and the time required from the beginning of sliding to the moment corresponding to the maximum correlation coefficient is the time delay of the seeker output angle measurement data relative to the inertial navigation attitude disturbance data.
Further, the product of the minimum number of time intervals from the start of sliding to the occurrence of the maximum correlation coefficient of the sliding attitude disturbance data and the minimum time scale is the time delay of the output angle measurement data of the seeker relative to the inertial navigation attitude disturbance data.
The invention has the technical effects that: the method for accurately determining the time delay of the strapdown seeker relative to the inertial navigation information can accurately find the time delay of the strapdown seeker, and the time delay accurately determined by the method can completely eliminate the influence caused by the time delay by performing equal time delay processing on inertial navigation data in strapdown decoupling and then decoupling with seeker data, and has the specific beneficial effects that:
① The time delay can be measured according to the amount of the interpolation minimum time scale value, the smaller the interpolation minimum time scale is, the finer the delay time is, the delay time is interpolated to the ms level under the hardware condition limit and the simulation condition, and the target can be accurately hit;
② The problems of insufficient strapdown decoupling isolation degree, trajectory divergence and incapability of accurately hitting a target caused by time delay are solved;
③ The requirements of the strapdown guide head, particularly the strapdown passive radar on extremely high time setting requirements are reduced;
④ The leader is promoted to develop in low cost, miniaturization and light weight.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a graph of inertial navigation output attitude data and seeker output angle measurement data after subtracting the mean;
Fig. 3 shows correlation coefficients and corresponding time scale numbers after the cross correlation function processing.
Detailed Description
Example 1
Referring to fig. 1, in this embodiment, a method for determining a time delay accurately by strapdown decoupling of a strapdown leader is provided, where the method includes the following steps:
Step 1: acquiring inertial navigation attitude disturbance data and seeker output angle measurement data under the same time scale through semi-physical simulation with attitude disturbance;
The inertial navigation attitude disturbance data and the seeker output angle measurement data under the unified time scale are obtained on the premise that strapdown seeker strapdown decoupling is used for accurately determining a time delay method, and two data have the same time scale, namely the two data have the same time scale. The method is characterized in that a cross-correlation function is adopted to obtain the maximum correlation coefficient of two rows of data and the time scale corresponding to the maximum correlation coefficient, and the premise of the method is that the two rows of data with the same time scale are obtained.
Step 2: intercepting attitude disturbance data output by inertial navigation in an attitude disturbance duration period and intercepting strapdown seeker angle measurement output data in the attitude disturbance duration period;
And intercepting inertial navigation attitude data and seeker angle measurement output data about two disturbance periods within the duration of attitude disturbance. The benefits are two, one is that both columns of data are in the perturbation duration period; and secondly, two columns of the same time scale data have the same starting time and the same ending time.
Step 3: respectively solving respective average values of attitude disturbance data output by inertial navigation in the intercepted attitude disturbance duration time period and angle measurement data output by a strapdown seeker in the intercepted attitude disturbance duration time period, wherein a mean value formula is as follows;
The method adopts a cross-correlation function to obtain the correlation coefficient of two rows of data, respectively averages the two rows of data with the same time scale, respectively subtracts the respective average value from the next step, and makes the two rows of data take 0 as the center, which is the key of the method for accurately determining the relative inertial navigation time delay of the seeker.
Step 4: subtracting the mean value from the attitude disturbance data outputted by inertial navigation in the intercepted attitude disturbance duration time period and subtracting the mean value from the angle measurement data outputted by the strapdown seeker in the intercepted attitude disturbance duration time period respectively; as shown in fig. 2.
Subtracting the respective mean value from the two rows of data respectively to enable the two rows of data to have the same fluctuation around the 0 point; and the subsequent cross-correlation processing of the two columns of data is convenient.
Step 5: respectively carrying out interpolation processing on attitude angle data corresponding to disturbance of inertial navigation and angle measurement data corresponding to disturbance of the strapdown seeker, so that the attitude angle data and the angle measurement data reach the same minimum time scale;
if the angle measurement data output by the seeker and the attitude data output by the inertial navigation are inconsistent in interval or excessively large in interval (at least 1 order of magnitude different from the required time delay precision relative to the time delay precision), the accurate time delay is calculated by adopting the method, and interpolation processing is required to be carried out on the angle measurement data output by the inertial navigation and the attitude data output by the seeker according to the delay time precision. If the time delay accuracy requirement reaches the ns level, the interpolation causes the minimum time scale to be spaced to the ns level.
Step 6: performing cross-correlation processing on attitude angle data of corresponding disturbance of inertial navigation obtained by the same minimum time scale and angle measurement data of corresponding disturbance of the strapdown seeker; as shown in particular in figure 3.
And for the discrete data tested, the mutual processing mode adopts a cross-correlation function for processing.
And (3) the two rows of data are not overturned, the two rows of data are directly multiplied by sliding and summed, and the correlation coefficient is obtained for the attitude angle data and the strapdown seeker which are obtained by the corresponding disturbance of the inertial navigation with the same minimum time scale, wherein the correlation coefficient is a measurement value of the similarity of the two rows of data, and the moment when the correlation coefficient is the maximum coincidence position of the two rows of data is the moment when the correlation coefficient is the maximum. The time from the beginning of the sliding of one row of data relative to the other row of data to the occurrence of the maximum correlation coefficient of the sliding is calculated as the accurate delay time of one row of data relative to the other row of data.
Step 7: sliding to a product of a minimum number of time intervals and a minimum time scale until a maximum correlation coefficient occurs;
the exact delay time is then the product of the minimum number of time intervals and the minimum time scale for the data to slide from the beginning to the occurrence of the maximum correlation coefficient.
Claims (4)
1. A method for accurately determining time delay by strapdown guide head strapdown decoupling, the method comprising:
Developing semi-physical simulation with attitude disturbance to obtain inertial navigation attitude disturbance data with the same time scale and output angle measurement data output by a seeker;
intercepting inertial navigation attitude disturbance data in an attitude disturbance duration period, and outputting angle measurement data by a seeker;
respectively solving the average value of the intercepted inertial navigation attitude disturbance data and the angle measurement data output by the seeker;
Subtracting the corresponding mean value of the attitude disturbance data outputted by inertial navigation in the intercepted attitude disturbance duration time period to obtain initial attitude disturbance data; subtracting the corresponding mean value from the angle measurement data output by the strapdown seeker in the intercepted attitude disturbance duration period to obtain initial output angle measurement data;
respectively carrying out interpolation processing on the initial attitude disturbance data and the initial output angle measurement data to enable the attitude disturbance data and the seeker angle measurement data to reach the same minimum time scale;
Establishing a cross-correlation function for cross-correlation processing on attitude disturbance data and seeker angle measurement data with the same minimum time scale, and solving to obtain the time delay of seeker output angle measurement data relative to inertial navigation attitude disturbance data; the cross-correlation processing process of the cross-correlation function is as follows: performing cross-correlation function processing on the attitude disturbance data and the seeker angle measurement data with the same minimum time scale, and outputting a correlation coefficient set with the minimum time scale; then, the attitude disturbance data with the minimum time scale slides relative to the seeker angle measurement data with the minimum time scale, and the time required from the beginning of sliding to the moment corresponding to the maximum correlation coefficient is the time delay of the seeker output angle measurement data relative to the inertial navigation attitude disturbance data; the product of the minimum time interval number from the beginning of sliding to the occurrence of the maximum correlation coefficient and the minimum time scale of the sliding attitude disturbance data is the time delay of the output angle measurement data of the guide head relative to the inertial navigation attitude disturbance data.
2. The method for accurately determining time delay for strapdown guided by way of decoupling as claimed in claim 1,
And intercepting inertial navigation attitude data and seeker angle measurement output data of at least two disturbance periods in the attitude disturbance duration period.
3. The method for accurately determining the time delay through strapdown guide head decoupling according to claim 1, wherein the mean value formula is as follows;
Wherein eta represents the mean value of inertial navigation attitude disturbance data or angle measurement data output by the seeker; n represents the number of inertial navigation attitude disturbance data or angle measurement data output by the seeker; x i represents the ith inertial navigation attitude disturbance data or the seeker output goniometer data.
4. The method for accurately determining time delay for strapdown guided by way of decoupling as claimed in claim 1,
If the interval between the angle measurement data output by the seeker and the attitude data output by the inertial navigation is inconsistent or the data interval is more than 1 order of magnitude, carrying out interpolation processing on the attitude data output by the inertial navigation and the angle measurement data output by the seeker according to the delay time precision; if the time delay accuracy requirement reaches the ns level, the interpolation causes the minimum time scale to be spaced to the ns level.
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