CN103486905A - Determining method for terminal guidance shift-exchange conditions of reenter vehicle - Google Patents

Abstract

The invention discloses a determining method for terminal guidance shift-exchange conditions of a reenter vehicle. The determining method includes (1), generating preset shift-exchange point information; (2), correcting the preset shift-exchange point information generated in step (1), and generating a preset shift-exchange point error ball; (3), designing guidance gain which is changeable with time; (4), determining a command smoothing time factor sequence sorted according to time; (5), determining shift-exchange logic, starting terminal guidance of a seeker when the shift-exchange logic is completely met; (6), in the process of midcourse guidance flight of the reenter vehicle, performing midcourse guidance by the aid of the guidance gain, which is changeable with the time, determined in step (3), judging whether the shift-exchange logic determined in step (5) is met or not in real time, starting the terminal guidance of the seeker when the shift-exchange logic is met, picking a factor from the command smoothing time factor sequence determined in step (4) according to order, performing smoothing on the midcourse guidance and the terminal guidance by the factor, performing guidance according to a command subjected to smoothing, and shifting to the simple terminal guidance of the seeker after preset time is reached.

Description

A kind of reentry vehicle terminal guidance hand-over condition is determined method

Technical field

The invention belongs to the armament systems design field, relate to a kind of reentry vehicle terminal guidance hand-over condition and determine method.The present invention is mainly used in the middle terminal guidance hand-over condition Design and implementation that reenters the precision strike aircraft, to guarantee the payload attack precision.

Background technology

Have the characteristics such as height is dynamic, multiple constraint for reentry vehicle, these characteristics are particularly important for the aircraft with terminal guidance ability.Reentry vehicle with terminal guidance ability need to experience velocity variations and height change in a big way, comparatively harsh to the performance requirement of guidance control system, ordinary circumstance, and midcourse guidance adopts different guidance systems from terminal guidance.After middle terminal guidance is handed over to the next shift, by target seeker information measurement position of aircraft, so will guarantee terminal guidance precision conditions and speed, angle restriction, just must adopt the terminal guidance of the high-reliability system of handing over to the next shift.Therefore, it is a kind of high reliability, high-precision flight guidance control model, to control system, has brought many brand-new challenges and difficulty.

Summary of the invention

Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of reentry vehicle terminal guidance hand-over condition to determine method.

Technical solution of the present invention is: a kind of reentry vehicle terminal guidance hand-over condition is determined method, and step is as follows:

(1) according to given initial reentry point and the information that strikes target, the planning reentry trajectory, generate the preset dot information of handing over to the next shift, and the described dot information of handing over to the next shift comprises position, velocity magnitude, trajectory tilt angle, trajectory deflection angle, the sight line turning rate constantly of handing over to the next shift;

(2), according to reentry vehicle target seeker terminal guidance condition of work, to preset dot information revised of handing over to the next shift generated in step (1), and, according to navigation and positioning accuracy and the requirement of terminal guidance accuracy at target, generate the preset point tolerance ball of handing over to the next shift;

(3) hand over to the next shift front reentry vehicle guidance control system adopts variable-gain homing guidance rule, and the revised preset dot information of handing over to the next shift in step (2) of take, as end conswtraint, designs time dependent guidance gain;

(4) follow the tracks of midcourse guidance instruction and target seeker from the homing control instruction according to step (3) variable-gain, two groups of instructions are asked to poor and analysis and Control system responses, determine the instruction smoothingtime coefficient sequence according to time-sequencing;

(5) according to hand over to the next shift a position and speed and error ball, hand over to the next shift a sight line rate of rotation and the definite logic of handing over to the next shift of velocity attitude; When meeting fully while handing over to the next shift logic, the target seeker terminal guidance starts;

(6) in reentry vehicle midcourse guidance flight course, adopt the time dependent guidance gain that step (3) is determined to carry out midcourse guidance, and whether real-time judge meets the logic of handing over to the next shift of determining in step (5) simultaneously, when meeting while handing over to the next shift logic, start the target seeker terminal guidance, and value in definite instruction smoothingtime coefficient sequence from step (4) in order, utilize this coefficient centering to guidance command with the terminal guidance instruction and carry out smoothing processing, and utilize the instruction after smoothing processing to be guided, proceed to simple target seeker terminal guidance after reaching default time.

The described logic of handing over to the next shift comprises hand over to the next shift a position and speed and error ball combination condition and hand over to the next shift a sight line rate of rotation and velocity attitude combination condition; Wherein a hand over to the next shift position and speed and error ball combination condition is:

||r ^*-r _c||<K _r·||δr _c||+K _v·δv _c

Wherein, r ^*for practical flight device position, r _cfor the revised preset position of handing over to the next shift of step (2), δ r _cfor the site error in the preset point tolerance ball of handing over to the next shift, δ v _cfor the velocity error in the preset point tolerance ball of handing over to the next shift, K _r, K _verror coefficient; || || representative vector is asked mould;

A hand over to the next shift sight line rate of rotation and velocity attitude combination condition is:

cos ^-1(cosθ ^*cosψ ^*)<K _θ·cos ^-1(cosθ _ccosψ _c)+K _ω(ω _LOS-ω _LOSC)

Wherein, θ ^*, ψ ^*for actual trajectory inclination angle and trajectory deflection angle, θ _c, ψ _cfor preset trajectory tilt angle and trajectory deflection angle, K _θ, K _ωfor error coefficient.

The present invention compared with prior art beneficial effect is:

(1) terminal guidance that the invention solves complex condition problem of handing over to the next shift, strengthened the fault-tolerant ability of guidance system.At first calculate the preset dot information of handing over to the next shift, and utilize target seeker terminal guidance condition of work to be revised it by initial information, target information.And then, by variable gain, instruction smoothing factor and multiple condition decision logic, prevent from handing over to the next shift status command step, sudden change, improved the reliability that armament systems are handed over to the next shift, and can reduce the unnecessary links such as instruction hardware limit of armament systems.

(2) the inventive method can solve terminal guidance reentry vehicle hand-over condition problem complicated and changeable, strengthened scheme robustness, promoted the fault-tolerant ability of guidance system.

(3) the present invention's design is containing the logic of handing over to the next shift of error, and the flight state constantly of guaranteeing to hand over to the next shift meets the target seeker contact conditions, for the armament systems terminal guidance provides advantage.

(4) in the present invention, terminal guidance is handed over to the next shift and is designed instruction smoothing factor sequence, and prevent from handing over to the next shift status command step, sudden change, improved the reliability that armament systems are handed over to the next shift, and can reduce the unnecessary links such as instruction hardware limit of armament systems.

The accompanying drawing explanation

Fig. 1 is the inventive method flow chart;

Fig. 2 is that the preset dot information of handing over to the next shift of the present invention generates and makeover process figure;

Fig. 3 is hand over to the next shift a requirement and design objective graph of a relation of the present invention;

Fig. 4 is terminal guidance instruction smooth operation procedure chart of the present invention.

The specific embodiment

Below in conjunction with drawings and Examples, the present invention will be further described.

As shown in Figure 1, the present invention relates to a kind of reentry vehicle terminal guidance hand-over condition and determine method, concrete steps are as follows:

1, generate preset handing over to the next shift a little;

As shown in Figure 2, by given reentry point information (comprising position, velocity magnitude, speed inclination angle and attitude) and the information that strikes target (position of target, speed), setting reenters restrained boundary (hot-fluid, overload, dynamic pressure etc.), by emulation, plan, generate the reentry vehicle longitudinal profile, therefrom tentatively be met the preset dot information of handing over to the next shift that flight requires.

The planning of reentry trajectory can adopt the reentry trajectory optimized algorithm based on the pseudo-spectrometry of Gauss commonly used at present or SQP algorithm etc., the position constantly of handing over to the next shift that utilizes above-mentioned algorithm to calculate

velocity magnitude trajectory tilt angle trajectory deflection angle

the sight line turning rate

2, revise and presetly hand over to the next shift a little and generate the preset point tolerance ball of handing over to the next shift;

After tentatively obtaining the preset dot information of handing over to the next shift, consider the constraint of target seeker contact conditions, be mainly angle of visual field scope and the constraint of angle of sight rate of rotation, thereby, to preset dot information revised of handing over to the next shift, consider that catching boundary condition provides the preset point tolerance ball of handing over to the next shift simultaneously.

The preset dot information of handing over to the next shift that adopts step (1) to generate is not considered the effect of constraint value shown in Fig. 3, considers that emphatically the constraint that the target seeker contact conditions causes trajectory tilt angle, trajectory deflection angle and sight line turning rate is revised.Choose the angle of visual field in the target seeker contact conditions, angle of sight rate of rotation is object function, choosing trajectory tilt angle, trajectory deflection angle and sight line turning rate is design variable, adopt and intend Newton iteration method, preset the handing over to the next shift that the step (1) of take generates is some iterative initial value, meeting the angle of visual field and angle of sight rate of rotation scope intermediate value in the target seeker contact conditions is the iteration stopping condition, completes the preset dot information correction of handing over to the next shift.Get position of aircraft r while meeting the iteration stopping condition _c, velocity magnitude v _c, trajectory tilt angle θ _c, trajectory deflection angle ψ _c, sight line turning rate ω _lOSCfor the revised preset dot information of handing over to the next shift.

Take after revising and hand over to the next shift dot information as iterative initial value, other conditions of said method are constant, and the iteration stopping condition is made as and meets the angle of visual field and angle of sight rate of rotation up-and-down boundary, hand over to the next shift a position and speed and the revised preset position r that hands over to the next shift that calculate _cspeed v _cask poor, obtain preset position error delta r _c, preset speed error delta v _c, be called the error ball.

3, design variable-gain midcourse guidance;

The instruction of design variable-gain midcourse guidance, guidance command the form that can take following formula:

δ _a=K·K _L·[Δr,Δv] ^T

Wherein Δ r, Δ v are respectively the poor of aircraft current location, speed and reference locus position, speed, K _lfor the guidance gain that the LQR method obtains, K is variable gain.

Design variable gain K(is the guidance gain of title time variation also)

$K=e^{\mathrm{\&alpha;}},\mathrm{\&alpha;}=-\frac{\left|\right|r^{*}-r_c\left|\right|}{\left|\right|r^{*}\left|\right|}-\frac{|v^{*}-v_c|}{\left|v^{*}\right|}$

Centering is guidanceed command as gain process and is made in flight course, neither affects the flying quality of midcourse guidance whole process, can arrive preset handing over to the next shift a little, can take into account again the steady demand of midcourse guidance instruction approached while handing over to the next shift.

V ^*represent the practical flight velocity magnitude, r ^*represent the aerocraft real position vector, || || representative vector is asked mould, || absolute value is asked in representative.

4, determine instruction smoothing factor sequence;

As shown in Figure 4, according to standard condition, hand over to the next shift, for variable-gain in step (3), follow the tracks of midcourse guidance instruction δ _aand target seeker is from homing control instruction δ _b, design is according to the instruction smoothing factor sequence beta function of time-sequencing

$\mathrm{\&beta;}=1-\frac{{\mathrm{\&delta;}}_a\left(t_0\right)}{{\mathrm{\&delta;}}_b\left(t_0\right)}{e}^{t-t_0}$

T wherein ₀hand over to the next shift the start of logic target seeker constantly, δ for meeting _a(t ₀) be this moment midcourse guidance instruction, δ _b(t ₀) be this moment terminal guidance instruction.

5, design the logic of handing over to the next shift;

The logic of handing over to the next shift comprises two conditions:

The firstth, hand over to the next shift a position and speed and error ball combination condition

||r ^*-r _c||<K _r·||δr _c||+K _v·δv _c

Wherein, r ^*for practical flight device position, r _cfor a revised preset position of handing over to the next shift, δ r _cfor the preset position error, δ v _cfor preset speed error, K _r, K _vfor error coefficient, rule of thumb value, for example be less than the aircraft of 3 Mach, K for the spot speed of handing over to the next shift _rcommon value 0.1～3, K _vbe generally K _r5～10 times, according to δ v _cit is adjusted.

The secondth, hand over to the next shift a sight line rate of rotation and velocity attitude combination condition

cos ^-1(cosθ ^*cosψ ^*)<K _θ·cos ^-1(cosθ _ccosψ _c)+K _ω(ω _LOS-ω _LOSC)

Wherein, θ ^*, ψ ^*for actual trajectory inclination angle and trajectory deflection angle, θ _c, ψ _cfor revised trajectory tilt angle and trajectory deflection angle, K _θ, K _ωfor error coefficient, value rule of thumb, for example be less than the situation of 5 °/s, K for a sight line turning rate of handing over to the next shift _rcommon value 0.05～1, K _vbe generally K _r3～5 times.

When meeting two conditions, the target seeker terminal guidance starts simultaneously.

6, actual guidance

In reentry vehicle midcourse guidance flight course, adopt the time dependent guidance gain that step (3) is determined to carry out midcourse guidance, and whether real-time judge meets the logic of handing over to the next shift of determining in step (5) simultaneously, when meeting while handing over to the next shift logic, start the target seeker terminal guidance, and value in definite instruction smoothingtime coefficient sequence from step (4) in order, the midcourse guidance instruction δ that utilizes this coefficient to generate practical flight ^* _awith terminal guidance instruction δ ^* _bcarry out smoothing processing, and utilize the instruction δ after smoothing processing _cguided, proceeded to simple target seeker terminal guidance after reaching default time.

δ _c=β·δ ^* _a+(1-β)·δ ^* _b

Wherein, the default time can be made as 5ms～20s based on experience value.Also can be in when design, directly according to the instruction smoothingtime coefficient sequence control time, when value in order proceeds to simple target seeker terminal guidance after last coefficient in sequence.

In XX/terminal guidance hand-over condition design in, the reentry vehicle terminal guidance hand-over condition that adopts the present invention to describe is determined method, realized certain weapon in/rapid Design of terminal guidance hand-over condition, verify by Six-degree-of-freedom Simulation, show that hand over to the next shift flow process and the hand-over condition that adopt that the method determines can meet the target seeker contact conditions.

The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.

Claims (2)

1. a reentry vehicle terminal guidance hand-over condition is determined method, it is characterized in that step is as follows:

(1) according to given initial reentry point and the information that strikes target, the planning reentry trajectory, generate the preset dot information of handing over to the next shift, and the described dot information of handing over to the next shift comprises position, velocity magnitude, trajectory tilt angle, trajectory deflection angle, the sight line turning rate constantly of handing over to the next shift;

(2), according to reentry vehicle target seeker terminal guidance condition of work, to preset dot information revised of handing over to the next shift generated in step (1), and, according to navigation and positioning accuracy and the requirement of terminal guidance accuracy at target, generate the preset point tolerance ball of handing over to the next shift;

(3) hand over to the next shift front reentry vehicle guidance control system adopts variable-gain homing guidance rule, and the revised preset dot information of handing over to the next shift in step (2) of take, as end conswtraint, designs time dependent guidance gain;

(4) follow the tracks of midcourse guidance instruction and target seeker from the homing control instruction according to step (3) variable-gain, two groups of instructions are asked to poor and analysis and Control system responses, determine the instruction smoothingtime coefficient sequence according to time-sequencing;

(5) according to hand over to the next shift a position and speed and error ball, hand over to the next shift a sight line rate of rotation and the definite logic of handing over to the next shift of velocity attitude; When meeting fully while handing over to the next shift logic, the target seeker terminal guidance starts;

(6) in reentry vehicle midcourse guidance flight course, adopt the time dependent guidance gain that step (3) is determined to carry out midcourse guidance, and whether real-time judge meets the logic of handing over to the next shift of determining in step (5) simultaneously, when meeting while handing over to the next shift logic, start the target seeker terminal guidance, and value in definite instruction smoothingtime coefficient sequence from step (4) in order, utilize this coefficient centering to guidance command with the terminal guidance instruction and carry out smoothing processing, and utilize the instruction after smoothing processing to be guided, proceed to simple target seeker terminal guidance after reaching default time.

2. a kind of reentry vehicle terminal guidance hand-over condition according to claim 1 is determined method, it is characterized in that: the described logic of handing over to the next shift comprises hand over to the next shift a position and speed and error ball combination condition and hand over to the next shift a sight line rate of rotation and velocity attitude combination condition; Wherein a hand over to the next shift position and speed and error ball combination condition is:

||r ^*-r _c||<K _r·||δr _c||+K _v·δv _c

Wherein, r ^*for practical flight device position, r _cfor the revised preset position of handing over to the next shift of step (2), δ r _cfor the site error in the preset point tolerance ball of handing over to the next shift, δ v _cfor the velocity error in the preset point tolerance ball of handing over to the next shift, K _r, K _verror coefficient; || || representative vector is asked mould;

A hand over to the next shift sight line rate of rotation and velocity attitude combination condition is:

cos ^-1(cosθ ^*cosψ ^*)<K _θ·cos ^-1(cosθ _ccosψ _c)+K _ω(ω _LOS-ω _LOSC)

Wherein, θ ^*, ψ ^*for actual trajectory inclination angle and trajectory deflection angle, θ _c, ψ _cfor preset trajectory tilt angle and trajectory deflection angle, K _θ, K _ωfor error coefficient.

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