CN103631153A - Visualization dual-mode guide aerial time sensitivity bomb semi-physical simulation system and method - Google Patents

Abstract

The invention discloses a visualization dual-mode guide aerial time sensitivity bomb semi-physical simulation system and method. The system comprises an airborne fire control system simulator, a target motion simulator, a trajectory and guide control simulator and a visualization simulator, wherein the trajectory and guide control simulator is respectively connected with the airborne fire control system simulator, the target motion simulator and the visualization simulator by a 1553B bus, an SBS optical network and an RS232 serial port. The method comprises the steps: the airborne fire control system simulator simulates a bomb dropping process and initial parameters of bomb dropping and transmits to the trajectory and guide control simulator by the 1553B bus; the target motion simulator simulates the motion information of a target and transmits to the trajectory and guide control simulator; in a simulation process, the trajectory and guide control simulator is connected with the visualization simulator by the RS232 serial port to display the flying and attacking process of a bomb in animation and curve diagram modes in real time. By adopting the system and the method, effective means are provided for the design and test of airarmament navigation and guide control rates, and the development period is shortened.

Description

Quick bomb semi-matter simulating system and method during visual dual mode guidance aviation

One, technical field

The present invention relates to visualization system simulation technical field, particularly quick bomb semi-matter simulating system and method during a kind of visual dual mode guidance aviation.

Two, background technology

During visual dual mode guidance aviation, the function of quick bomb semi-matter simulating system comprises: by setting up 1553B communication interface, by trajectory and guidance, control replicating machine and receive the ready signal that airborne fire control system transmits, main inertial navigation information, thermobattery activation instruction and the instruction of dropping a bomb, the workflow of quick bomb during simulation run aviation, from powering up work, through System self-test, Transfer Alignment, thermobattery activates, bomb is thrown in, attitude stabilization, missile wing opens, glide midcourse guidance, hand over to the next shift in middle end, target seeker is opened, the flow processs such as terminal guidance, until hit finishes, the full workflow of quick bomb while covering aviation, in-flight the inclined to one side instruction feedback of the rudder of control system is done and upgraded to body dynamics and kinematics model, with the dynamics after upgrading and kinematics model, drive again the three-dimensional model emulation of bomb, in real time with curve and instrument, the mode of animation is exported current emulating image and data.The indices such as stability, rapidity, maneuverability, precision and control robustness of quick guided bomb in each inflight phase and full spatial domain while checking aviation by emulation, for further through engineering approaches development is laid a solid foundation, development foundation is provided, shortens the lead time.

Analogue system need have with outside Simulation Control computing machine and machine on the interface of store management system (fire control system), can pass through the instruction of interface receiving system Simulation Control, receive store management system to the bookkeeping of aircraft and data, can pass through interface Output simulation result, feedback states and operation response.

For visual dual mode guidance, the application demand of quick guided bomb semi-matter simulating system while being the aviation of Data-Link midcourse guidance+infrared seeker terminal guidance, the pure digi-tal analogue system that in the past adopted and method cannot meet and realize needed function, and there is function singleness, interface is limited, secondary development is difficult defect in current disclosed visual simulating technology, effectively whole input and the flight course of quick bomb during emulation, and in overall trajectory flight course to static and tracking and striking capabilities motion of automobile target.

Three, summary of the invention

Quick bomb semi-matter simulating system and method while the object of the present invention is to provide a kind of visual dual mode guidance aviation, whole input and the flight course of quick bomb during with emulation efficiently, and in overall trajectory flight course to static and tracking and striking capabilities motion of automobile target.

The technical solution that realizes the object of the invention is: quick bomb semi-matter simulating system during a kind of visual dual mode guidance aviation, comprises airborne fire control system replicating machine, target travel replicating machine, trajectory and guidance control replicating machine, visual simulating machine and 1553B address card, serial communication card and SBS optical-fibre communications card; Wherein trajectory and guidance control replicating machine comprise data transmit-receive module, Ballistic Simulation of Underwater module, target seeker emulation module, Data-Link communication simulation module, steering engine simulated module, integrated navigation emulation module, missile-borne task processing module, described missile-borne task processing module comprises Guidance Law module, control law module and coordinate transferring, and described Ballistic Simulation of Underwater module comprises environmental simulation module and body dynamics and kinematics module;

Described airborne fire control system replicating machine simulation carrier aircraft is plug-in and by 1553B bus, control replicating machine with trajectory and guidance and be connected, target travel replicating machine is controlled replicating machine by SBS fiber optic network with trajectory and guidance and is connected, and trajectory and guidance are controlled replicating machine and be connected by RS232 serial ports with visual simulating machine; Trajectory and guidance are controlled data transmit-receive module in replicating machine and by target seeker emulation module and Data-Link communication simulation module, are accessed missile-borne task processing module respectively, Ballistic Simulation of Underwater module is connected with missile-borne task processing module by integrated navigation emulation module, and missile-borne task processing module is by steering engine simulated module access Ballistic Simulation of Underwater module;

Airborne fire control system replicating machine mock-up release flow process and the initial parameter of dropping a bomb, and be passed to trajectory and guidance control replicating machine by 1553B bus; The movable information of target travel replicating machine simulated target also passes to trajectory and guidance control replicating machine; In simulation process, trajectory and guidance are controlled replicating machine and are connected by RS232 serial ports with visual simulating machine, show in real time whole flight and the attack process of bomb in the mode of animation and curve.

Quick bomb Hardware In The Loop Simulation Method during visual dual mode guidance aviation, comprises the following steps:

Step 1 is set up airborne fire control system module in airborne fire control system replicating machine, sets up the emulation module of target travel in target travel replicating machine, and sets up the communication module between replicating machine;

Step 2 is set up data transmit-receive module, Ballistic Simulation of Underwater module, target seeker emulation module, Data-Link communication simulation module, steering engine simulated module, integrated navigation emulation module and missile-borne task processing module in trajectory and guidance control replicating machine;

Step 3, the three-dimensional model of quick bomb and animation display module while setting up aviation in visual simulating machine;

Step 4, airborne fire control system replicating machine mock-up release flow process and the initial parameter of dropping a bomb, and be passed to trajectory and guidance control replicating machine by 1553B bus, the data transmit-receive module that replicating machine is controlled in trajectory and the guidance initial parameter of dropping a bomb is sent to Ballistic Simulation of Underwater module, the flow process of simultaneously dropping a bomb and the initial parameter of dropping a bomb input missile-borne task processing module;

Step 5, the angular speed of Ballistic Simulation of Underwater modular simulation bomb motion and than force signal and input to integrated navigation emulation module, integrated navigation emulation module is determined the posture information of bomb, exports to missile-borne task processing module after filtering;

Step 6, the movable information of target travel replicating machine simulated target, target travel information passes to trajectory and guidance is controlled after replicating machine, according to missile-target distance, select service data chain communication emulation module or target seeker emulation module, target travel information is done to send to missile-borne task processing module after corresponding coordinate conversion;

Step 7, missile-borne task processing module receives bomb posture information and the target travel information of integrated navigation emulation module output, through coordinate conversion, and then call Guidance Law module and control law module draws steering order, this steering order passes to steering engine simulated module by missile-borne task processing module, determine the theoretical angle of rudder reflection on pitching, driftage and three passages of rolling in emulation beat, theoretical angle of rudder reflection is passed to body dynamics and kinematics ballistic trajectory emulation module, the state of flight of quick bomb during Closed-cycle correction aviation, makes it by predetermined scheme trajectory, fly;

Step 8, in simulation process, trajectory and guidance are controlled replicating machine and are connected by RS232 serial ports with visual simulating machine, the information exchange of needs monitoring is crossed to RS232 serial ports and send to visual simulating machine, in visual simulating machine invocation step 3, set up aviation time quick guided bomb three-dimensional model, in the mode of animation and curve, show in real time whole flight and the attack process of bomb.

Compared with prior art, remarkable advantage of the present invention is: the emulation module in (1) whole system has unitized advantage, each submodule is mathematical model, simulation calculating, I/O management, and message and event response are encapsulated in self inside, avoid to greatest extent the coupling between module; (2) target travel replicating machine has been contained the typical motion track of current plurality of target, the striking capabilities of quick guided bomb to static object during the aviation of energy simulating, verifying, also in the time of can simulating, verifying aviation, the striking capabilities of quick guided bomb to maneuvering target, has " Data-Link+infrared image target seeker " dual mode guidance copying; (3) there is simple, quick, flexible, real-time feature, improved development efficiency, reduced test risk and testing expenses, for the development of later stage engineering prototype provides effective scientific basis, shortened the lead time.

Four, accompanying drawing explanation

The hardware structure diagram of quick bomb semi-matter simulating system when Fig. 1 is the visual dual mode guidance aviation of the present invention.

The structure principle chart of quick bomb semi-matter simulating system when Fig. 2 is the visual dual mode guidance aviation of the present invention.

Fig. 3 is main interfacial effect and the each several part pie graph of visual simulating machine in the present invention.

Fig. 4 is the bomb of visual simulating machine in embodiment 1 and (a) omnidistance flight path figure of target and the spirogram that (b) finally misses the target.

Fig. 5 be in embodiment 1 bomb in the flight path of fore-and-aft plane.

Fig. 6 be in embodiment 1 target at the curve movement of surface level.

Fig. 7 is trajectory tilt angle curve over time in embodiment 1.

Fig. 8 is trajectory deflection angle curve over time in embodiment 1.

Fig. 9 is attitude angle curve over time in embodiment 1.

Figure 10 is the angle of attack and pitching angle of rudder reflection curve over time in embodiment 1.

Figure 11 is flight Mach number, speed curve over time in embodiment 1.

Five, embodiment

Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.

In conjunction with Fig. 1～2, quick bomb semi-matter simulating system during the visual dual mode guidance aviation of the present invention, comprises airborne fire control system replicating machine, target travel replicating machine, trajectory and guidance control replicating machine, visual simulating machine and 1553B address card, serial communication card and SBS optical-fibre communications card; Wherein trajectory and guidance control replicating machine comprise data transmit-receive module, Ballistic Simulation of Underwater module, target seeker emulation module, Data-Link communication simulation module, steering engine simulated module, integrated navigation emulation module, missile-borne task processing module, described missile-borne task processing module comprises Guidance Law module, control law module and coordinate transferring, and described Ballistic Simulation of Underwater module comprises environmental simulation module and body dynamics and kinematics module; Described trajectory and guidance are controlled data transmit-receive module in replicating machine and are comprised 1553B bus communication module, serial communication module and SBS optical fiber communication modules.Described visual simulating machine comprises serial communication module, parameter configuration module, animation and curve display module, visual angle handover module and flying quality processing module;

Described airborne fire control system replicating machine simulation carrier aircraft is plug-in and by 1553B bus, control replicating machine with trajectory and guidance and be connected, target travel replicating machine is controlled replicating machine by SBS fiber optic network with trajectory and guidance and is connected, and trajectory and guidance are controlled replicating machine and be connected by RS232 serial ports with visual simulating machine; Trajectory and guidance are controlled data transmit-receive module in replicating machine and by target seeker emulation module and Data-Link communication simulation module, are accessed missile-borne task processing module respectively, Ballistic Simulation of Underwater module is connected with missile-borne task processing module by integrated navigation emulation module, and missile-borne task processing module is by steering engine simulated module access Ballistic Simulation of Underwater module;

Airborne fire control system replicating machine mock-up release flow process and the initial parameter of dropping a bomb, and be passed to trajectory and guidance control replicating machine by 1553B bus, with the bookbinding of mock-up release flow process and the initial parameter of dropping a bomb, the movable information of target travel replicating machine simulated target also passes to trajectory and guidance control replicating machine, with simulated tank, the movable information of the typical target such as panzer, target travel information passes to trajectory and guidance is controlled after replicating machine, system is selected service data chain communication module or target seeker emulation module according to missile-target distance, during with simulation aviation, quick guided bomb is before entering terminal guidance section, by carrier aircraft fire control radar, by airborne data link terminal, send the coordinate information of target under carrier aircraft inertial system, after proceeding to terminal guidance, guided bomb is opened target seeker and is moved target seeker emulation module, the target information receiving is converted to the angle of sight and line-of-sight rate by line signal, in simulation process, trajectory and guidance are controlled replicating machine and are connected by RS232 serial ports with visual simulating machine, show in real time whole flight and the attack process of bomb in the mode of animation and curve.

Quick bomb Hardware In The Loop Simulation Method during visual dual mode guidance aviation, comprises the following steps:

Step 1 is set up airborne fire control system module in airborne fire control system replicating machine, sets up the emulation module of target travel in target travel replicating machine, and sets up the communication module between replicating machine;

The communication module of described foundation comprises optical fiber communication modules, the trajectory between 1553B communication module, trajectory and guidance control replicating machine and the target travel replicating machine between trajectory and guidance control replicating machine and airborne fire control system replicating machine and guides the serial communication module of controlling between replicating machine and visual simulating machine;

Airborne fire control replicating machine is being installed after 1553B bus communication card and driver, load respectively corresponding interface function API in analogue system, establishment 1553B bus communication program, BC->RT and the RT->BC communication function of debugging 1553B bus; According to set agreement, establishment airborne fire control system software, realizes fire control system function;

On target travel replicating machine, install after optical fiber communication card and driver, according to set agreement, the SBS optical-fibre communications function of test target motion simulator; According to the kinetic characteristic of typical target (tank, panzer), set up target travel realistic model, establishment target travel emulation module; In the emulation module of described target travel, the motion of maneuvering target adopts linear uniform motion, uniformly accelrated rectilinear motion and three kinds of models of S type curvilinear motion, and the motion of target is mainly two dimensional surface motion, and the characteristics of motion meets following relation:

$\left\{\begin{array}{c}\frac{{\mathrm{dV}}_T}{\mathrm{dt}}=a_T\\ \frac{d{\mathrm{\ψ}}_T}{\mathrm{dt}}=A_{\mathrm{\ψ}}\sin \left({\mathrm{\ω}}_{\mathrm{\ψ}}t\right)\\ \frac{\mathrm{dx}}{\mathrm{dt}}=V_T\cos {\mathrm{\ψ}}_T\\ \frac{\mathrm{dz}}{\mathrm{dt}}=V_T\sin {\mathrm{\ψ}}_T\end{array}\right.---\left(1\right)$

Wherein, t is the time, V _tfor the ground velocity of target travel, ψ _tfor the position angle of target travel, with north by east for just, a _tfor the acceleration of target travel, A _ψand ω _ψbe respectively corresponding amplitude and the frequency of the target S type motion of automobile, x, z are respectively forward direction and the lateral position component of target under transmitting system.

Step 2 is set up data transmit-receive module, Ballistic Simulation of Underwater module, target seeker emulation module, Data-Link communication simulation module, steering engine simulated module, integrated navigation emulation module and missile-borne task processing module in trajectory and guidance control replicating machine;

Trajectory and guidance are being controlled to replicating machine installs 1553B bus communication card, optical-fibre communications card, serial communication card and separately after corresponding driver, according to set agreement, the communication function between replicating machine and airborne fire control replicating machine, target travel replicating machine and visual simulating machine is controlled in joint test trajectory and guidance; As shown in Figure 2, while setting up aviation in trajectory and guidance control replicating machine, the configurable universalization emulation module of parameter of quick guided bomb, contains Ballistic Simulation of Underwater module, environmental simulation module (aerodynamic force emulation module, atmospheric density emulation module, velocity of sound emulation module, Mach number Ma emulation module, gravity acceleration g module, earth model module, wind field interference simulation module), coordinate system modular converter, GPS/IMU integrated navigation module, Guidance Law module, control law module, steering engine simulated module, Data-Link communication simulation module and target seeker emulation module;

Mathematical model in wherein said Ballistic Simulation of Underwater module comprises:

The kinetics equation of bomb center of mass motion:

$m\left[\begin{array}{c}\frac{{\mathrm{dV}}_x}{\mathrm{dt}}\\ \frac{{\mathrm{dV}}_y}{\mathrm{dt}}\\ \frac{{\mathrm{dV}}_z}{\mathrm{dt}}\end{array}\right]=C_V^L\left[\begin{array}{c}-q{S}_{\mathrm{ref}}{C}_x\\ {\mathrm{qS}}_{\mathrm{ref}}{C}_y\\ q{S}_{\mathrm{ref}}{C}_z\end{array}\right]+m\frac{g_r^{\′}}{r}\left[\begin{array}{c}x+R_{0x}\\ y+R_{0y}\\ z+R_{0z}\end{array}\right]+m\frac{g_{{\mathrm{\ω}}_e}}{{\mathrm{\ω}}_e}\left[\begin{array}{c}{\mathrm{\ω}}_{\mathrm{ex}}\\ {\mathrm{\ω}}_{\mathrm{ey}}\\ {\mathrm{\ω}}_{\mathrm{ez}}\end{array}\right]-m\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ a_{31}& a_{32}& a_{33}\end{array}\right]\left[\begin{array}{c}x+R_{0x}\\ y+R_{0y}\\ z+R_{0z}\end{array}\right]-m\begin{array}{c}\left[\begin{array}{ccc}{b}_{11}& b_{12}& b_{13}\\ b_{21}& b_{22}& b_{23}\\ b_{31}& b_{32}& b_{33}\end{array}\right]\left[\begin{array}{c}{V}_x\\ V_y\\ V_z\end{array}\right]---\left(2\right)\end{array}$

The kinematical equation of bomb center of mass motion:

$\left[\begin{array}{c}\frac{\mathrm{dx}}{\mathrm{dt}}\\ \frac{\mathrm{dy}}{\mathrm{dt}}\\ \frac{\mathrm{dz}}{\mathrm{dt}}\end{array}\right]=\left[\begin{array}{c}{V}_x\\ V_y\\ V_z\end{array}\right]---\left(3\right)$

In formula (2), (3), m is Shell body quality; T is the time; V _x, V _y, V _zfor the component of ground velocity V corresponding each axle in launching coordinate system O-xyz, wherein x axle points to target for just, and y axle vertical ground is being upwards for just, z axle and x axle, y axle formation right-handed coordinate system; Q is dynamic pressure; S _reffor body cross section amasss; C _x, C _y, C _zbe respectively resistance coefficient, lift coefficient and sideway force coefficient;

for speed coordinate is tied to the attitude transition matrix of launching coordinate system; X, y, z is the coordinate of body barycenter corresponding each axle in launching coordinate system O-xyz; R _0x, R _0y, R _0zfor the respective components of launching site the earth's core radius vector under launching coordinate system; ω _ex, ω _ey, ω _ezfor rotational-angular velocity of the earth vector ω _ethree components under launching coordinate system; G ' _r,

be respectively acceleration of gravity vector along the component of the direction of the earth's core radius vector r and the earth's axis;

a ₁₂=a ₂₁=ω _exω _ey,

a ₂₃=a ₃₂=ω _eyω _ez,

a ₁₃=a ₃₁=ω _ezω _ex; b ₁₁=b ₂₂=b ₃₃=0, b ₁₂=-b ₂₁=-2 ω _ez, b ₃₁=-b ₁₃=-2 ω _ey, b ₂₃=-b ₃₂=-2 ω _ex;

The kinetics equation of bomb rotation around center of mass:

$\left[\begin{array}{ccc}{\mathrm{<figure-callout\; id="1"\; label="J\; x"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">J</figure-callout>}}_x& 0& 0\\ 0& {\mathrm{<figure-callout\; id="1"\; label="J\; y"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">J</figure-callout>}}_y& 0\\ 0& 0& J_{z1}\end{array}\right]\left[\begin{array}{c}\frac{d{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="ix"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">ix</figure-callout>}1}}{\mathrm{dt}}\\ \frac{{\mathrm{d\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="iy"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">iy</figure-callout>}1}}{\mathrm{dt}}\\ \frac{{\mathrm{d\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="iz"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">iz</figure-callout>}1}}{\mathrm{dt}}\end{array}\right]\left[\begin{array}{c}(J_{z1}-J_{y1}){\mathrm{\&omega;}}_{\mathrm{iz}1}{\mathrm{\&omega;}}_{\mathrm{iy}1}\\ (J_{x1}-J_{z1}){\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="ix"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">ix</figure-callout>}1}{\mathrm{\&omega;}}_{\mathrm{iz}1}\\ (J_{y1}-J_{x1}){\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="iy"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">iy</figure-callout>}1}{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="ix"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">ix</figure-callout>}1}\end{array}\right]=\left[\begin{array}{c}0\\ q{S}_{\mathrm{<figure-callout\; id="1"\; label="ref\; lm\; y"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">ref</figure-callout>}}{\mathrm{lm}}_y^{}{1}_{\mathrm{\&beta;}}^{}\mathrm{\&beta;}\\ q{S}_{\mathrm{ref}}{\mathrm{<figure-callout\; id="1"\; label="lm\; z"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">lm</figure-callout>}}_z^1\mathrm{\&alpha;}\end{array}\right]+\left[\begin{array}{c}q{S}_{\mathrm{ref}}{\mathrm{lm}}_{x1}^{{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x1}}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x1}\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_{y1}^{{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}\\ q{S}_{\mathrm{<figure-callout\; id="1"\; label="ref\; lm\; z"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">ref</figure-callout>}}{\mathrm{lm}}_z^{}{1}_{{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">z</figure-callout>}1}}^{}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">z</figure-callout>}1}\end{array}\right]+\left[\begin{array}{c}q{S}_{\mathrm{ref}}{\mathrm{lm}}_x^{{\mathrm{\&delta;}}_x}{\mathrm{\&delta;}}_x\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_y^{{\mathrm{\&delta;}}_y}{\mathrm{\&delta;}}_y\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_z^{{\mathrm{\&delta;}}_z}{\mathrm{\&delta;}}_z\end{array}\right]---\left(4\right)$

In formula (4), ω _ix1, ω _iy1, ω _iz1for the rotational angular velocity vector ω of body with respect to translate coordinate system _icomponent in missile coordinate system; J _x1, J _y1, J _z1for body inertial tensor component in missile coordinate system; R _0x, R _0y, R _0zthe three-component of fastening at launch coordinate for launching site the earth's core radius vector; α is the angle of attack; β is yaw angle; It is long that l gets bullet herein;

for each body damping moment coefficient;

for each stabilizing moment coefficient;

for each control moment coefficient; δ _xfor roll channel, to control rudder inclined to one side; δ _yfor jaw channel, to control rudder inclined to one side; δ _zfor pitch channel, to control rudder inclined to one side;

The kinematical equation of bomb rotation around center of mass:

$\left[\begin{array}{c}\frac{d{\mathrm{\&theta;}}_i}{\mathrm{dt}}\\ \frac{d{\mathrm{\&psi;}}_i}{\mathrm{dt}}\\ \frac{d{\mathrm{\&gamma;}}_i}{\mathrm{dt}}\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{iy}1}\sin {\mathrm{\&gamma;}}_i+{\mathrm{\&omega;}}_{\mathrm{iz}1}\cos {\mathrm{\&gamma;}}_i\\ \left({\mathrm{\&omega;}}_{\mathrm{iy}1}\cos {\mathrm{\&gamma;}}_i-{\mathrm{\&omega;}}_{\mathrm{iz}1}\sin {\mathrm{\&gamma;}}_i\right)/\cos {\mathrm{\&theta;}}_i\\ {\mathrm{\&omega;}}_{\mathrm{ix}1}-({\mathrm{\&omega;}}_{\mathrm{iy}1}\cos {\mathrm{\&gamma;}}_i-{\mathrm{\&omega;}}_{\mathrm{iz}1}\sin {\mathrm{\&gamma;}}_i)\tan {\mathrm{\&theta;}}_i\end{array}\right]---\left(5\right)$

In formula (5), γ _i, θ _i, ψ _ibe respectively roll angle, the angle of pitch and the crab angle of body under inertial system;

Geometry equation:

$\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="x"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">x</figure-callout>}1}\\ {\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">y</figure-callout>}1}\\ {\mathrm{\&omega;}}_{z1}\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="ix"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">ix</figure-callout>}1}\\ {\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="1"\; label="iy"\; filenames="HDA0000427844000000021.png,HDA0000427844000000032.png"\; state="\{\{state\}\}">iy</figure-callout>}1}\\ {\mathrm{\&omega;}}_{\mathrm{iz}1}\end{array}\right]-C_L^B\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{ex}}\\ {\mathrm{\&omega;}}_{\mathrm{ey}}\\ {\mathrm{\&omega;}}_{\mathrm{ez}}\end{array}\right]---\left(6\right)$

In formula (6), ω _x1, ω _y1, ω _z1for body with respect to the rotational angular velocity vector of launching coordinate system the component in missile coordinate system;

for launch coordinate is tied to the attitude transition matrix of missile coordinate system.

Step 3, the three-dimensional model of quick bomb and animation display module while setting up aviation in visual simulating machine; In described visual simulating machine, set up aviation time quick bomb three-dimensional model comprise bomb body, missile wing, rudder sheet and three-dimension integrally figure, the in-flight moving part of quick bomb when wherein missile wing and rudder sheet are aviation, according to steering order, open and rotate, realizing animation effect.As shown in Figure 3, be visual simulating owner interfacial effect figure, whole interface mainly comprises 10 functional blocks:

1-shown in region be process selecting region, comprise " whole process " and " flow process of dropping a bomb ".The whole launch process of quick guided bomb during the aviation of whole process animation simulation, comprises carrier aircraft system power-up, System self-test, Transfer Alignment, bomb activation heat battery and bomb log-on data chain.Mock-up release prepare flow process complete after, show " throw in and allow ", " starting to drop a bomb " button in user's click on area 2 now, the simulation flow of analogue system after entering and dropping a bomb, then waits for that trajectory and guidance control the information of dropping a bomb that replicating machine passes over." flow process of dropping a bomb " radio button is in order to save the simulation time of the set-up procedure of dropping a bomb, and then user can be primarily focused in the flow process after input, for saving simulation time, arranges, and this region default value is " whole process ".

2-shown in region be Simulation Control region, comprising emulation prepare, start to drop a bomb, emulation time-out/emulation continuation and emulation stops four buttons.When user selects after " whole process " in region 1, at this, click " emulation preparation ", program process in the time of can simulating whole before carrier aircraft deliver, and show in the upper right corner, viewing area.After throwing in permission, click " starting to drop a bomb ", the course of work of the whole bomb of emulation, during emulation, can click " emulation time-out " button and suspend simulated program, after click, " emulation time-out " button becomes " emulation continuation ", and user can continue to click " emulation continuation " button and continue emulation above.If click " emulation stops " button, restart new emulation.

3-shown in region be simulation curve viewing area, respectively " range-penetrate height " in real-time dynamic display hardware-in-the-loop simulation process, " range-penetrate partially ", " range-angle of pitch ", " range-crab angle " and " range-roll angle " relation curve.

4-shown in region be emulation instrument viewing area, respectively real-time dynamic display the inclined to one side δ of rudder in hardware-in-the-loop simulation process _x, the inclined to one side δ of rudder _ywith the inclined to one side δ of rudder _zand the angle of attack and yaw angle information.

5-shown in territory, quick guided bomb information display area while being aviation, region, respectively real-time dynamic display position, speed and the attitude information of quick guided bomb during aviation in hardware-in-the-loop simulation process.

6-shown in region be territory, impact point information display area, respectively real-time dynamic display type, position, speed and the attitude information of impact point in hardware-in-the-loop simulation process, and the source of impact point information (Data-Link or target seeker).

7-shown in region be OpenGL animation viewing area, when real-time dynamic display carrier aircraft is thrown in aviation quick guided bomb and throw in after the whole course of work and the target of attack process of quick guided bomb during aviation.Before throw in allowing, weapon type, hanger number, weapon numbering and RT address information in the upper left corner of viewing area, have been shown; After input drops a bomb after allowing, shown the missile-target distance of real-time calculating herein.The work at present state of quick guided bomb when the upper right corner of animation viewing area shows aviation respectively.After bomb is thrown in, while adopting signal code simulation to show carrier aircraft and aviation, between quick guided bomb, adopt Data-Link to carry out the transmittance process of signal.

8-shown in region be duty indicating area.Duty comprises: system power-up, System self-test, Transfer Alignment, activated batteries, log-on data chain, throw in that permission, deliver, attitude are just being returned, missile wing expansion, glide midcourse guidance, middle end hand over to the next shift, open target seeker, target acquistion, terminal guidance section and hit.When this duty is also startup, status indicator lamp is shown in red; After this duty starts, status indicator lamp is shown in green.

9-shown in region for showing result curve button, the miss distance of quick guided bomb target of attack when the omnidistance 3 D motion trace of quick guided bomb and target and aviation in the time of can showing aviation.

10-shown in region for switching visual angle button, can in hardware-in-the-loop simulation process, switch visual angle.

Step 4, airborne fire control system replicating machine mock-up release flow process and the initial parameter of dropping a bomb, and be passed to trajectory and guidance control replicating machine by 1553B bus, the data transmit-receive module that replicating machine is controlled in trajectory and the guidance initial parameter of dropping a bomb is sent to Ballistic Simulation of Underwater module, the flow process of simultaneously dropping a bomb and the initial parameter of dropping a bomb input missile-borne task processing module;

Step 5, the angular speed of Ballistic Simulation of Underwater modular simulation bomb motion and than force signal and input to integrated navigation emulation module, integrated navigation emulation module is determined the posture information of bomb, exports to missile-borne task processing module after filtering;

Step 6, the movable information of target travel replicating machine simulated target, target travel information passes to trajectory and guidance is controlled after replicating machine, according to missile-target distance, select service data chain communication emulation module or target seeker emulation module, target travel information is done to send to missile-borne task processing module after corresponding coordinate conversion;

Step 7, missile-borne task processing module receives bomb posture information and the target travel information of integrated navigation emulation module output, through coordinate conversion, and then call Guidance Law module and control law module draws steering order, this steering order passes to steering engine simulated module by missile-borne task processing module, determine the theoretical angle of rudder reflection on pitching, driftage and three passages of rolling in emulation beat, theoretical angle of rudder reflection is passed to body dynamics and kinematics ballistic trajectory emulation module, the state of flight of quick bomb during Closed-cycle correction aviation, makes it by predetermined scheme trajectory, fly;

Step 8, in simulation process, trajectory and guidance are controlled replicating machine and are connected by RS232 serial ports with visual simulating machine, by information (the bomb work at present state of needs monitoring, bomb position, speed, attitude, the angle of attack, yaw angle and angle of rudder reflection) by RS232 serial ports, send to visual simulating machine, in visual simulating machine invocation step 3, set up aviation time quick guided bomb three-dimensional model, the whole flight and the attack process that in the mode of animation and curve, show in real time bomb, in real time with instrument, curve, signal lamp, the mode of flowmeter and OpenGL animation shows the angle of attack of bomb, yaw angle, aiming means, the attitude of duty and bomb and target, speed, the information such as position.

As shown in Figure 4, animation display module design in visual simulating machine has adopted the method for VC++ and Matlab hybrid programming, after whole hardware-in-the-loop simulation finishes, when visual simulating machine can be to aviation quick guided bomb six degree of freedom overall trajectory flying quality preserve, process, read, the whole flight course of transmission and playback bomb, and the final miss distance of quick guided bomb target of attack when the omnidistance 3 D motion trace of quick guided bomb and target and aviation while drawing out aviation.

Embodiment 1

The starting condition of dropping a bomb is set to: release altitude 12000m, and the speed of dropping a bomb: 0.95Ma, the coordinate of bomb-release point under navigation system is: 38.758 ° of north latitude, 105.61 ° of east longitudes;

Being designed to of the parameters of target motion: target setting is maneuvering target, its motion is the curvilinear motion of speed change S type, it is (65000 ,-332.123,0.0) m that Data-Link reports the coordinate of impact point initial position under transmitting system; The coordinate under navigation system that impact point initial position is corresponding be (39.3435 °, 105.609 °, 0.0m); Target trajectory is roughly the serpentine curvilinear motion of " accelerating-at the uniform velocity-deceleration " circulation; Target initial motion direction is random, and its scope is north by east [0 °, 180 °], and initial motion speed is 0km/h, and maximal rate is 20km/h.

Test 1 target initial motion direction: 165 ° of norths by west

Test 2 target initial motion directions: 45 ° of norths by east

Test 3 target initial motion directions: 135 ° of norths by west

Table 1～2 have provided the comprehensive orthogonal test table of various error components.From Fig. 5～11, the result of pair orthogonal test 1,2,3 can be found out, under various error synthesis conditions, during aviation, the flight attitude of quick guided bomb is stable, each stage control process is normal, the statistics of 3 pairs of 9 orthogonal tests of ballistic impact parameter list from each error condition, under 9 orthogonal test conditions, impact parameter all meets design requirement.

Table 1 error analysis experimental factor water-glass

Table 2 error analysis test orthogonal arrage and test findings

Table 3 orthogonal test impact parameter table

In sum, quick bomb semi-matter simulating system and method during the visual dual mode guidance aviation of the present invention, for design and the test of air armament Navigation And Guidance control rate provides effective means, the indices such as stability, rapidity, maneuverability, precision and control robustness of quick guided bomb in each inflight phase and full spatial domain while checking aviation by emulation, for further through engineering approaches development is laid a solid foundation, development foundation is provided, has shortened the lead time.

Claims (9)

1. quick bomb semi-matter simulating system during visual dual mode guidance aviation, is characterized in that: comprise that airborne fire control system replicating machine, target travel replicating machine, trajectory and guidance control replicating machine, visual simulating machine and 1553B address card, serial communication card and SBS optical-fibre communications card; Wherein trajectory and guidance control replicating machine comprise data transmit-receive module, Ballistic Simulation of Underwater module, target seeker emulation module, Data-Link communication simulation module, steering engine simulated module, integrated navigation emulation module, missile-borne task processing module, described missile-borne task processing module comprises Guidance Law module, control law module and coordinate transferring, and described Ballistic Simulation of Underwater module comprises environmental simulation module and body dynamics and kinematics module;

Described airborne fire control system replicating machine simulation carrier aircraft is plug-in and by 1553B bus, control replicating machine with trajectory and guidance and be connected, target travel replicating machine is controlled replicating machine by SBS fiber optic network with trajectory and guidance and is connected, and trajectory and guidance are controlled replicating machine and be connected by RS232 serial ports with visual simulating machine; Trajectory and guidance are controlled data transmit-receive module in replicating machine and by target seeker emulation module and Data-Link communication simulation module, are accessed missile-borne task processing module respectively, Ballistic Simulation of Underwater module is connected with missile-borne task processing module by integrated navigation emulation module, and missile-borne task processing module is by steering engine simulated module access Ballistic Simulation of Underwater module;

Airborne fire control system replicating machine mock-up release flow process and the initial parameter of dropping a bomb, and be passed to trajectory and guidance control replicating machine by 1553B bus; The movable information of target travel replicating machine simulated target also passes to trajectory and guidance control replicating machine by SBS fiber optic network; In simulation process, trajectory and guidance are controlled replicating machine and are connected by RS232 serial ports with visual simulating machine, show in real time whole flight and the attack process of bomb in the mode of animation and curve.

2. quick bomb semi-matter simulating system during visual dual mode guidance aviation according to claim 1, is characterized in that: described trajectory and guidance are controlled data transmit-receive module in replicating machine and comprised 1553B bus communication module, serial communication module and SBS optical fiber communication modules.

3. quick bomb semi-matter simulating system during visual dual mode guidance aviation according to claim 1, is characterized in that: described visual simulating machine comprises serial communication module, parameter configuration module, animation and curve display module, visual angle handover module and flying quality processing module.

4. quick bomb Hardware In The Loop Simulation Method during visual dual mode guidance aviation, is characterized in that, comprises the following steps:

Step 1 is set up airborne fire control system emulation module in airborne fire control system replicating machine, sets up the emulation module of target travel in target travel replicating machine, and sets up the communication module between replicating machine;

Step 2 is set up data transmit-receive module, Ballistic Simulation of Underwater module, target seeker emulation module, Data-Link communication simulation module, steering engine simulated module, integrated navigation emulation module and missile-borne task processing module in trajectory and guidance control replicating machine;

Step 3, the three-dimensional model of quick bomb and animation display module while setting up aviation in visual simulating machine;

Step 4, airborne fire control system replicating machine mock-up release flow process and the initial parameter of dropping a bomb, and be passed to trajectory and guidance control replicating machine by 1553B bus, the data transmit-receive module that replicating machine is controlled in trajectory and the guidance initial parameter of dropping a bomb is sent to Ballistic Simulation of Underwater module, the flow process of simultaneously dropping a bomb and the initial parameter of dropping a bomb input missile-borne task processing module;

Step 5, the angular speed of Ballistic Simulation of Underwater modular simulation bomb motion and than force signal and input to integrated navigation emulation module, integrated navigation emulation module is determined the posture information of bomb, exports to missile-borne task processing module after filtering;

Step 6, the movable information of target travel replicating machine simulated target, target travel information passes to trajectory and guidance is controlled after replicating machine, according to missile-target distance, select service data chain communication emulation module or target seeker emulation module, target travel information is done to send to missile-borne task processing module after corresponding coordinate conversion;

Step 7, missile-borne task processing module receives bomb posture information and the target travel information of integrated navigation emulation module output, through coordinate conversion, and then call Guidance Law module and control law module draws steering order, this steering order passes to steering engine simulated module by missile-borne task processing module, determine the theoretical angle of rudder reflection on pitching, driftage and three passages of rolling in emulation beat, theoretical angle of rudder reflection is passed to body dynamics and kinematics ballistic trajectory emulation module, the state of flight of quick bomb during Closed-cycle correction aviation, makes it by predetermined scheme trajectory, fly;

Step 8, in simulation process, trajectory and guidance are controlled replicating machine and are connected by RS232 serial ports with visual simulating machine, the information exchange of needs monitoring is crossed to RS232 serial ports and send to visual simulating machine, in visual simulating machine invocation step 3, set up aviation time quick guided bomb three-dimensional model, in the mode of animation and curve, show in real time whole flight and the attack process of bomb.

5. quick bomb Hardware In The Loop Simulation Method during visual dual mode guidance aviation according to claim 1, it is characterized in that, described in step 1, in the emulation module of target travel, the motion of maneuvering target adopts linear uniform motion, uniformly accelrated rectilinear motion and three kinds of models of S type curvilinear motion, the motion of target is mainly two dimensional surface motion, and the characteristics of motion meets following relation:

$\left\{\begin{array}{c}\frac{{\mathrm{dV}}_T}{\mathrm{dt}}=a_T\\ \frac{d{\mathrm{\&psi;}}_T}{\mathrm{dt}}=A_{\mathrm{\&psi;}}\sin \left({\mathrm{\&omega;}}_{\mathrm{\&psi;}}t\right)\\ \frac{\mathrm{dx}}{\mathrm{dt}}=V_T\cos {\mathrm{\&psi;}}_T\\ \frac{\mathrm{dz}}{\mathrm{dt}}=V_T\sin {\mathrm{\&psi;}}_T\end{array}\right.---\left(1\right)$

Wherein, t is the time, V _tfor the ground velocity of target travel, ψ _tfor the position angle of target travel, with north by east for just, a _tfor the acceleration of target travel, A _ψand ω _ψbe respectively corresponding amplitude and the frequency of the target S type motion of automobile, x, z are respectively forward direction and the lateral position component of target under transmitting system.

6. quick bomb Hardware In The Loop Simulation Method during visual dual mode guidance aviation according to claim 1, it is characterized in that, the communication module of setting up described in step 1 comprises that trajectory and guidance control replicating machine and 1553B communication module, trajectory and guidance between airborne fire control system replicating machine and control optical fiber communication modules, the trajectory between replicating machine and target travel replicating machine and guide the serial communication module between control replicating machine and visual simulating machine.

7. quick bomb Hardware In The Loop Simulation Method during visual dual mode guidance aviation according to claim 1, is characterized in that, the mathematical model described in step 2 in Ballistic Simulation of Underwater module comprises:

The kinetics equation of bomb center of mass motion:

$m\left[\begin{array}{c}\frac{{\mathrm{dV}}_x}{\mathrm{dt}}\\ \frac{{\mathrm{dV}}_y}{\mathrm{dt}}\\ \frac{{\mathrm{dV}}_z}{\mathrm{dt}}\end{array}\right]=C_V^L\left[\begin{array}{c}-q{S}_{\mathrm{ref}}{C}_x\\ {\mathrm{qS}}_{\mathrm{ref}}{C}_y\\ q{S}_{\mathrm{ref}}{C}_z\end{array}\right]+m\frac{g_r^{\&prime;}}{r}\left[\begin{array}{c}x+R_{0x}\\ y+R_{0y}\\ z+R_{0z}\end{array}\right]+m\frac{g_{{\mathrm{\&omega;}}_e}}{{\mathrm{\&omega;}}_e}\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{ex}}\\ {\mathrm{\&omega;}}_{\mathrm{ey}}\\ {\mathrm{\&omega;}}_{\mathrm{ez}}\end{array}\right]-m\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ a_{31}& a_{32}& a_{33}\end{array}\right]\left[\begin{array}{c}x+R_{0x}\\ y+R_{0y}\\ z+R_{0z}\end{array}\right]-m\begin{array}{c}\left[\begin{array}{ccc}{b}_{11}& b_{12}& b_{13}\\ b_{21}& b_{22}& b_{23}\\ b_{31}& b_{32}& b_{33}\end{array}\right]\left[\begin{array}{c}{V}_x\\ V_y\\ V_z\end{array}\right]---\left(2\right)\end{array}$

The kinematical equation of bomb center of mass motion:

$\left[\begin{array}{c}\frac{\mathrm{dx}}{\mathrm{dt}}\\ \frac{\mathrm{dy}}{\mathrm{dt}}\\ \frac{\mathrm{dz}}{\mathrm{dt}}\end{array}\right]=\left[\begin{array}{c}{V}_x\\ V_y\\ V_z\end{array}\right]---\left(3\right)$

In formula (2), (3), m is Shell body quality; T is the time; V _x, V _y, V _zfor the component of ground velocity V corresponding each axle in launching coordinate system O-xyz, wherein x axle points to target for just, and y axle vertical ground is being upwards for just, z axle and x axle, y axle formation right-handed coordinate system; Q is dynamic pressure; S _reffor body cross section amasss; C _x, C _y, C _zbe respectively resistance coefficient, lift coefficient and sideway force coefficient;

for speed coordinate is tied to the attitude transition matrix of launching coordinate system; X, y, z is the coordinate of body barycenter corresponding each axle in launching coordinate system O-xyz; R _0x, R _0y, R _0zfor the respective components of launching site the earth's core radius vector under launching coordinate system; ω _ex, ω _ey, ω _ezfor rotational-angular velocity of the earth vector ω _ethree components under launching coordinate system; G ' _r,

be respectively acceleration of gravity vector along the component of the direction of the earth's core radius vector r and the earth's axis;

a ₁₂=a ₂₁=ω _exω _ey, a ₂₃=a ₃₂=ω _eyω _ez,

a ₁₃=a ₃₁=ω _ezω _ex; b ₁₁=b ₂₂=b ₃₃=0, b ₁₂=-b ₂₁=-2 ω _ez, b ₃₁=-b ₁₃=-2 ω _ey, b ₂₃=-b ₃₂=-2 ω _ex;

The kinetics equation of bomb rotation around center of mass:

$\left[\begin{array}{ccc}{J}_{x1}& 0& 0\\ 0& J_{y1}& 0\\ 0& 0& J_{z1}\end{array}\right]\left[\begin{array}{c}\frac{d{\mathrm{\&omega;}}_{\mathrm{ix}1}}{\mathrm{dt}}\\ \frac{{\mathrm{d\&omega;}}_{\mathrm{iy}1}}{\mathrm{dt}}\\ \frac{{\mathrm{d\&omega;}}_{\mathrm{iz}1}}{\mathrm{dt}}\end{array}\right]\left[\begin{array}{c}(J_{z1}-J_{y1}){\mathrm{\&omega;}}_{\mathrm{iz}1}{\mathrm{\&omega;}}_{\mathrm{iy}1}\\ (J_{x1}-J_{z1}){\mathrm{\&omega;}}_{\mathrm{ix}1}{\mathrm{\&omega;}}_{\mathrm{iz}1}\\ (J_{y1}-J_{x1}){\mathrm{\&omega;}}_{\mathrm{iy}1}{\mathrm{\&omega;}}_{\mathrm{ix}1}\end{array}\right]=\left[\begin{array}{c}0\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_{y1}^{\mathrm{\&beta;}}\mathrm{\&beta;}\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_{z1}^{\mathrm{\&alpha;}}\mathrm{\&alpha;}\end{array}\right]+\left[\begin{array}{c}q{S}_{\mathrm{ref}}{\mathrm{lm}}_{x1}^{{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x1}}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x1}\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_{y1}^{{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_{z1}^{{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{z1}}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{z1}\end{array}\right]+\left[\begin{array}{c}q{S}_{\mathrm{ref}}{\mathrm{lm}}_x^{{\mathrm{\&delta;}}_x}{\mathrm{\&delta;}}_x\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_y^{{\mathrm{\&delta;}}_y}{\mathrm{\&delta;}}_y\\ q{S}_{\mathrm{ref}}{\mathrm{lm}}_z^{{\mathrm{\&delta;}}_z}{\mathrm{\&delta;}}_z\end{array}\right]---\left(4\right)$

In formula (4), ω _ix1, ω _iy1, ω _iz1for the rotational angular velocity vector ω of body with respect to translate coordinate system _icomponent in missile coordinate system; J _x1, J _y1, J _z1for body inertial tensor component in missile coordinate system; R _0x, R _0y, R _0zthe three-component of fastening at launch coordinate for launching site the earth's core radius vector; α is the angle of attack; β is yaw angle; It is long that l gets bullet herein;

for each body damping moment coefficient;

for each stabilizing moment coefficient;

for each control moment coefficient; δ _xfor roll channel, to control rudder inclined to one side; δ _yfor jaw channel, to control rudder inclined to one side; δ _zfor pitch channel, to control rudder inclined to one side;

The kinematical equation of bomb rotation around center of mass:

$\left[\begin{array}{c}\frac{d{\mathrm{\&theta;}}_i}{\mathrm{dt}}\\ \frac{d{\mathrm{\&psi;}}_i}{\mathrm{dt}}\\ \frac{d{\mathrm{\&gamma;}}_i}{\mathrm{dt}}\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{iy}1}\sin {\mathrm{\&gamma;}}_i+{\mathrm{\&omega;}}_{\mathrm{iz}1}\cos {\mathrm{\&gamma;}}_i\\ \left({\mathrm{\&omega;}}_{\mathrm{iy}1}\cos {\mathrm{\&gamma;}}_i-{\mathrm{\&omega;}}_{\mathrm{iz}1}\sin {\mathrm{\&gamma;}}_i\right)/\cos {\mathrm{\&theta;}}_i\\ {\mathrm{\&omega;}}_{\mathrm{ix}1}-({\mathrm{\&omega;}}_{\mathrm{iy}1}\cos {\mathrm{\&gamma;}}_i-{\mathrm{\&omega;}}_{\mathrm{iz}1}\sin {\mathrm{\&gamma;}}_i)\tan {\mathrm{\&theta;}}_i\end{array}\right]---\left(5\right)$

In formula (5), γ _i, θ _i, ψ _ibe respectively roll angle, the angle of pitch and the crab angle of body under inertial system;

Geometry equation:

$\left[\begin{array}{c}{\mathrm{\&omega;}}_{x1}\\ {\mathrm{\&omega;}}_{y1}\\ {\mathrm{\&omega;}}_{z1}\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{ix}1}\\ {\mathrm{\&omega;}}_{\mathrm{iy}1}\\ {\mathrm{\&omega;}}_{\mathrm{iz}1}\end{array}\right]-C_L^B\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{ex}}\\ {\mathrm{\&omega;}}_{\mathrm{ey}}\\ {\mathrm{\&omega;}}_{\mathrm{ez}}\end{array}\right]---\left(6\right)$

In formula (6), ω _x1, ω _y1, ω _z1for body with respect to the rotational angular velocity vector of launching coordinate system the component in missile coordinate system;

for launch coordinate is tied to the attitude transition matrix of missile coordinate system.

8. quick bomb Hardware In The Loop Simulation Method during visual dual mode guidance aviation according to claim 1, it is characterized in that, in the machine of visual simulating described in step 3, set up aviation time quick bomb three-dimensional model comprise bomb body, missile wing, rudder sheet and three-dimension integrally figure, the in-flight moving part of quick bomb when wherein missile wing and rudder sheet are aviation, according to steering order, open and rotate, realizing animation effect.

9. quick bomb Hardware In The Loop Simulation Method during visual dual mode guidance aviation according to claim 1, it is characterized in that, the monitor message described in step 8 comprises bomb work at present state, bomb position, speed, attitude, the angle of attack, yaw angle and angle of rudder reflection.

Images