CN105180728A - Front data based rapid air alignment method of rotary guided projectiles - Google Patents

Abstract

The invention provides a front data based rapid air alignment method of rotary guided projectiles. The method comprises the following steps: giving the alignment position and speed by a satellite navigation system and calculating course angles and pitching angles at corresponding moments by using the speed information output by the satellite navigation system; then outputting Np groups of pitching angles, the change rate of the course angles, the change rate of the pitching angles and the gyro output angle speed in INS data from a moment T0 to a set moment T according to a satellite navigation result, determining a coefficient matrix of a rolling angle observation equation, and solving the rolling angle observation equation through a least square method so as to accurately calculate the inertial navigation initial position, the speed and the attitude angle, namely to implement rapid air alignment of the rotary guided projectiles and greatly improve the fall point precision of the rotary guided projectiles. The alignment algorithm is simple and is high in precision, the alignment time is short and the alignment speed is high; the important preparation is made for improving the fall point precision of the rotary guided projectiles and reducing the striking time.

Description

Based on alignment methods in the rotation guided cartridge Quick air of front data

Technical field

The present invention relates to Initial Alignment Technique and integrated navigation system technical field, particularly a kind of based on alignment methods in the rotation guided cartridge Quick air of front data, may be used for unmanned plane, spin guided cartridge etc. needs self aligned occasion aloft.

Background technology

Spin guided cartridge is that one is aloft launched, and need a kind of advanced precision strike munitions carrying out self-aligned, it contains the system such as inertial navigation and GPS, is revised the error of inertial navigation system by GPS, reaches the ability of precision strike target.Estimate the misalignment of inertial navigation system the deviation of the navigational parameter (as speed etc.) that Air launching provides from inertial navigation other navigation system relative and correct it.

Inertial navigation system is a voyage Estimation System based on acceleration quadratic integral, and it relies on plant equipment completely and corresponding algorithm is automatic, complete independently navigation task, and any optical, electrical contact does not occur in the external world.Because it has good concealment, working environment not by advantages such as meteorological condition restrictions, become a kind of widely used prime navaid system in space flight, aviation, navigational field.Before inertial navigation system work is resolved, need to provide original state, need exactly to carry out initial alignment.Conventional alignment methods adopts Kalman filter algorithm realization, and this algorithm needs the error model setting up system, and algorithm stability depends critically upon correctness and the levels of precision of navigation error model, and time overhead is comparatively large, and the filtering cycle is longer; In Kalman filter process, do not consider that inertial navigation is operated in weightlessness in addition, accelerometer exports almost nil, poor to the observation effect of roll angle, and the precision of aligning is high and need the time long.Use accelerometer method because of under guided cartridge is in reduced gravity situations aloft, accelerometer Output rusults noise is too large, and even disappearance is true exports, and causes the roll angle result that finally calculates inaccurate.Use gyroscope Output rusults to calculate, because rotary speed is than very fast, therefore the gyrostatic measurement adopted is larger, and precision is relatively just lower, and the disturbance of output is comparatively large, causes result to estimate.

Summary of the invention

The technical problem that the present invention solves is: overcome the deficiencies in the prior art, there is provided a kind of based on alignment methods in the rotation guided cartridge Quick air of front data, the position aimed in the method and speed are provided by satellite navigation system, and the velocity information utilizing satellite navigation to export calculates course angle and the angle of pitch in corresponding moment, and then solve roll angle observational equation by least square method, thus realize inertial navigation initial position, accurately resolving of speed and attitude angle, namely the quick Air launching of spin guided cartridge is realized, substantially increase the impact accuracy of spin guided cartridge.

Above-mentioned purpose of the present invention is realized by following scheme:

Based on alignment methods in the rotation guided cartridge Quick air of front data, comprise the steps:

(1), launch after guided cartridge receive satellite navigation signals and carry out navigation and process, wherein realize satellite navigation signals acquisition and tracking and the moment exporting navigation results is T ₀; Then from described moment T ₀to the aligning moment T of setting ₁preserve the M group satellite navigation result of satellite navigation system output and the N group INS data of INS output, wherein: t _gPSfor satellite navigation result exports the cycle, T _iNSfor INS data output period, and T _gPS=Q × T _iNS, namely N=Q × M, Q are positive integer;

Described satellite navigation result comprises speed and the position of guided cartridge; Described INS data comprise forward direction gyro, left-hand gyro and on the angular speed that exports to gyro, wherein, forward direction gyro responsive body roll angle angular speed, the responsive angle of pitch angular speed of left-hand gyro, on to the responsive course angle angular speed of gyro;

(2), according to the speed of the seeker in M group satellite navigation result, corresponding M group course angle and the angle of pitch is calculated;

(3) the M group course angle, to step (2) calculated and the result of calculation of the angle of pitch carry out the Fitting Calculation, obtain course angle and the angle of pitch at moment T ₀to moment T ₁between the function that converts in time; Then derivative operation is carried out to described function, obtain the function of time of course angle rate of change and Elevation angle changing rate;

(4), by the moment value exporting N group INS data be updated in 4 functions of time that step (3) determines, the course angle of guided cartridge when calculating output N group INS data, the angle of pitch, course angle rate of change and Elevation angle changing rate;

(5), according to moment T ₀to the N of setting moment T _pgyro output angle speed in the group angle of pitch, course angle rate of change, Elevation angle changing rate and INS data, the observing matrix H in calculating observation equation Z=H × X and calculation matrix Z; Wherein X is the measurement vector of bidimensional, the sine value that X (1) is guided cartridge roll angle, the cosine value that X (2) is guided cartridge roll angle; Wherein, the span setting moment T is T ₀≤ T<T ₁, positive integer $N_p=\frac{T-T_0}{T_{INS}}+1;$

(6), utilize least square method to solve observational equation Z=H × X, obtain observation vector X=(H ^th) ^-1h ^tz;

(7), according to the sine value of the guided cartridge roll angle in observation vector X result of calculation and cosine value, the roll angle of guided cartridge is calculated;

(8) roll angle, by step (7) calculated, and moment T ₀satellite navigation result in speed, position and the course angle calculated according to described speed and the angle of pitch, as Air launching result, output to the navigation system of guided cartridge, for navigating to described guided cartridge and controlling.

Above-mentioned based on alignment methods in the rotation guided cartridge Quick air of front data, in step (5), according to moment T ₀the N of ~ T _pthe group angle of pitch, course angle rate of change and Elevation angle changing rate, and the gyro output angle speed in INS data, calculating observation matrix H and calculation matrix Z, concrete computational process is as follows:

(5a), to observing matrix H and calculation matrix Z initialize, obtain initial observation matrix H ₀with calculation matrix Z ₀:

If initialize H ₀=[a (T ₀) b (T ₀)], then Z ₀=z (T ₀);

If initialize H ₀=[-b (T ₀) a (T ₀)], then Z ₀=z ' (T ₀);

Wherein:

$a\left(T_0\right)=cos\&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)sin\left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_0\right)=sin\&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)sin\left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_0\right)=\frac{{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_0))-{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_0\right)=\frac{{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_0))+{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

Wherein: ω _x(T ₀), ω _y(T ₀) and ω _z(T ₀) be respectively moment T ₀forward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value; φ _gx(T ₀) be moment T ₀the angle of pitch; with be respectively moment T ₀course angle rate of change and Elevation angle changing rate;

(5b), at moment T _n'=T ₀+ n × T _iNS, n=1,2 ... N _p-1, according to following iterative formula, iteration renewal is carried out to observing matrix H and calculation matrix Z, obtain moment T _n' observing matrix H _nwith calculation matrix Z _n;

If H _n=[H _n-1; A (T _n'), b (T _n')], then Z _n=[Z _n-1; Z (T _n')];

If H _n=[H _n-1;-b (T _n'), a (T _n')], then Z _n=[Z _n-1; Z ' (T _n')];

Wherein:

$a\left(T_n^{\&prime;}\right)=cos\&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_n^{\&prime;}\right)=sin\&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))-{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))+{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

Wherein: ω _x(T _m'), ω _y(T _m') and ω _z(T _m') be respectively moment T _m' forward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value, φ _gx(T _m') and be respectively moment T _m' the angle of pitch and course angle rate of change, m=0 ~ n and T ₀'=T ₀; φ _gx(T _n') be moment T _n' the angle of pitch; with be respectively moment T _n' course angle rate of change and Elevation angle changing rate; ω _x(T _n'), ω _y(T _n') and ω _z(T _n') be respectively moment T _n' forward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value;

(5c), by moment T=T that step (5b) iteration obtains ₀+ (N _p-1) × T _iNSobserving matrix and calculation matrix as the final calculation result of observing matrix H and calculation matrix Z, for the least-squares calculation of step (6).

Above-mentioned based on alignment methods in the rotation guided cartridge Quick air of front data, in step (7), according to sine value and the cosine value of the guided cartridge roll angle in observation vector X result of calculation, calculate the roll angle γ of guided cartridge ₀, circular is as follows:

When | X (1) | <1, | X (2) | during <1:

If X (1) >0, X (2) >0, γ ₀=(arcsin (X (1))+arccos (X (2)))/2;

If X (1) >0, X (2) <0, γ ₀=(180-arcsin (X (1))+arccos (X (2)))/2;

If X (1) <0, X (2) >0, γ ₀=(arcsin (X (1))-arccos (X (2)))/2;

If X (1) <0, X (2) <0, γ ₀=(-arcsin (X (1))-arccos (X (2)))/2.

When | X (1) | >1, | X (2) | during <1:

If X (1) >0, X (2) >0, γ ₀=arccos (X (2))/2;

If X (1) >0, X (2) <0, γ ₀=arccos (X (2));

If X (1) <0, X (2) >0, γ ₀=-arccos (X (2));

If X (1) <0, X (2) <0, γ ₀=-arccos (X (2)).

When | X (1) | <1, | X (2) | during >1:

If X (1) >0, X (2) >0, γ ₀=arcsin (X (1));

If X (1) >0, X (2) <0, γ ₀=180-arcsin (X (1));

If X (1) <0, X (2) >0, γ ₀=arcsin (X (1));

If X (1) <0, X (2) <0, γ ₀=-arcsin (X (1)).

Above-mentioned based on alignment methods in the rotation guided cartridge Quick air of front data, in step (2), the formula calculating course angle and the angle of pitch according to guided cartridge speed is as follows:

${\mathrm{\&phi;}}_{gz}=arctan\left(\frac{V_{gn}}{V_{ge}}\right);{\mathrm{\&phi;}}_{gx}=-arctan\left(\frac{V_{gu}}{\sqrt{V_{ge}^2+V_{gn}^2}}\right);$

Wherein: φ _gzand φ _gxbe respectively course angle and the angle of pitch of guided cartridge; V _gn, V _geand V _gube respectively the north speed of guided cartridge, east speed and sky fast.

Above-mentioned based on alignment methods in the rotation guided cartridge Quick air of front data, in step (3), adopt the result of calculation of least square 4 curve-fitting methods to M group course angle and the angle of pitch to carry out the Fitting Calculation, obtain course angle and the angle of pitch at moment T ₀to moment T ₁between the function that converts in time as follows:

φ _gz(t)＝k _z4t ⁴+k _z3t ³+k _z2t ²+k _z1t+k _z0；

φ _gx(t)＝k _x4t ⁴+k _x3t ³+k _x2t ²+k _x1t+k _x0；

Wherein, φ _gz(t) and φ _gxt () is respectively the function of time of course angle that matching obtains and the angle of pitch; k _z0, k _z1, k _z2, k _z3, k _z4be respectively the constant coefficient of course angle function of time matching, coefficient of first order, quadratic coefficients, three ordered coefficients and four ordered coefficients; k _x0, k _x1, k _x2, k _x3, k _x4be respectively the constant coefficient of angle of pitch function of time matching, coefficient of first order, quadratic coefficients, three ordered coefficients and four ordered coefficients; Time variable t=T ₀~ T ₁.

Above-mentioned based on alignment methods in the rotation guided cartridge Quick air of front data, to course angle function of time φ _gz(t) and angle of pitch function of time φ _gxt () carries out derivative operation, obtain the course angle rate of change function of time with the Elevation angle changing rate function of time wherein:

$\&dtri;{\mathrm{\&phi;}}_{gz}\left(t\right)=4k_{z4}{t}^3+3k_{z3}{t}^2+2k_{z2}t+k_{z1};$

$\&dtri;{\mathrm{\&phi;}}_{gx}\left(t\right)=4k_{x4}{t}^3+3k_{x3}{t}^2+2k_{x2}t+k_{x1}.$

The present invention's advantage is compared with prior art as follows:

(1), the velocity information of the present invention by satellite navigation and the angular velocity information of gyroscope output, realize the estimation to inertial navigation system initial horizontal roll angle, do not rely on correctness and the levels of precision of navigation error model, the roll angle estimated result therefore obtained is more accurate;

(2), the present invention adopts least square method to realize solving of roll angle observational equation, for the Kalman filtering algorithm adopted in prior art, this alignment methods of the present invention can reduce time overhead greatly, improves arithmetic speed and estimated accuracy;

(3), the present invention's angular velocity information of adopting gyroscope to export carries out roll angle calculating, is applicable to weightlessness.

(4), the front data that adopt of the present invention calculate, and can calculate complete flight path, in follow-up integrated navigation, follow-up data has added navigation data, comparatively speaking more early convergence in time, can the control time longer.

Accompanying drawing explanation

Fig. 1 is the quick Air launching flow chart of the rotation guided cartridge based on front data of the present invention;

Fig. 2 is the angle of pitch information using the inventive method to calculate;

Fig. 3 is the course angle information using the inventive method to calculate;

Fig. 4 is the Elevation angle changing rate information using the inventive method to calculate;

Fig. 5 is the course angle rate of change information using the inventive method to calculate;

Fig. 6 is coordinate system and output axis of gyro on bullet;

Fig. 7 is the initial horizontal roll angle information using the inventive method to calculate.

Detailed description of the invention

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

Inertial navigation system is a voyage Estimation System based on acceleration quadratic integral, and it relies on plant equipment completely and corresponding algorithm is automatic, complete independently navigation task, and any optical, electrical contact does not occur in the external world.Because it has good concealment, working environment not by advantages such as meteorological condition restrictions, become a kind of widely used prime navaid system in space flight, aviation, navigational field.Before inertial navigation system work is resolved, need to provide original state, need exactly to carry out initial alignment.Inertial navigation system is when ground static state, and position can be provided by gps system, and three attitude angle can be provided by inertia system autoregistration, because be inactive state, three speed are zero; Inertial navigation system aloft state of flight time, position and speed still can be provided by gps system, but attitude angle cannot be provided by inertial navigation system autoregistration.Carrying out the self aligned effective way of aerial inertial navigation system is adopt GPS navigation information to resolve and estimation technique, namely the navigation information exported by GPS calculates course angle and the angle of pitch in corresponding moment, because position and speed directly can be exported by GPS, thus in original state also surplus roll angle parameter need to carry out estimation and resolve.

Conventional alignment methods adopts Kalman filter algorithm realization, and owing to not considering that inertial navigation is operated in weightlessness, accelerometer exports almost nil, poor to the observation effect of roll angle, and the precision of aligning is not high and need the time long.Therefore, in order to improve the spin accuracy of guided cartridge initial alignment parameter and the rapidity of correction algorithm, reducing system difficulty, revising navigation attitude fast, improve the accuracy of navigation results, the invention provides a kind of based on alignment methods in the rotation guided cartridge Quick air of front data.

The present invention calculates roll angle according to least-squares algorithm, and its principle is described below:

The component V of the velocity measurement provided by GPS on each axle of earth axes _x, V _y, V _z, calculate trajectory tilt angle and the trajectory deflection angle of guided cartridge, computing formula is as follows

$\left\{\begin{array}{c}\mathrm{\&theta;}=-arctan(V_z/\sqrt{V_x^2+V_y^2})\\ \mathrm{\&psi;}=arctan(V_y/V_x)\end{array}\right.---\left(1\right)$

The speed measurement data that GPS exports is discontinuous, can calculate trajectory tilt angle and the trajectory deflection angle at output point place according to (1) formula.Data between output point can obtain with curve-fitting method, and the rate of change of trajectory tilt angle and the rate of change of trajectory tilt angle obtain by the slope of digital simulation curve at each point place.

Play the kinematical equation of arrow rotation around center of mass motion, namely the attitude differential equation is:

Here have ignored the impact of rotational-angular velocity of the earth on attitude, ω _xm, ω _ym, ω _zmbe three gyrostatic output data.

Can resolve and obtain:

${\mathrm{\&omega;}}_{ym}^2+{\mathrm{\&omega;}}_{zm}^2={\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}^2+{\left(\stackrel{\&CenterDot;}{\mathrm{\&psi;}}cos\mathrm{\&theta;}\right)}^2---\left(3\right)$

Sin γ and cos γ can be calculated, that is: in convolution (2) and formula (3)

Forwards algorithm is exactly the roll angle information using navigation initial point to estimate navigation initial point to the data setting the moment.Roll angle γ can be write as the form of angular speed and initial horizontal roll angle:

$\mathrm{\&gamma;}=\&Integral;\stackrel{\&CenterDot;}{\mathrm{\&gamma;}}dt+{\mathrm{\&gamma;}}_0---\left(5\right)$

Can solve by formula (2)

Formula (6) both sides integration is obtained

Therefore formula (7) both sides can be written as

$\{\begin{array}{c}\sin \mathrm{\&gamma;}=\sin \&lsqb;\&Integral;({\mathrm{\&omega;}}_{xm}+\stackrel{\&CenterDot;}{\mathrm{\&psi;}}\sin \mathrm{\&theta;})dt\&rsqb;{\mathrm{cos\&gamma;}}_0+\cos \&lsqb;\&Integral;({\mathrm{\&omega;}}_{xm}+\stackrel{\&CenterDot;}{\mathrm{\&psi;}}\sin \mathrm{\&theta;})dt\&rsqb;{\mathrm{sin\&gamma;}}_0\\ \cos \mathrm{\&gamma;}=\cos \&lsqb;\&Integral;({\mathrm{\&omega;}}_{xm}+\stackrel{\&CenterDot;}{\mathrm{\&psi;}}\sin \mathrm{\&theta;})dt\&rsqb;{\mathrm{cos\&gamma;}}_0-\sin \&lsqb;\&Integral;({\mathrm{\&omega;}}_{xm}+\stackrel{\&CenterDot;}{\mathrm{\&psi;}}\sin \mathrm{\&theta;})dt\&rsqb;{\mathrm{sin\&gamma;}}_0\end{array}---\left(8\right)$

Comparison expression (4) and formula (8) can obtain

Formula (8) can be written as:

$\left[\begin{array}{cc}a\left(t\right)& b\left(t\right)\\ -b\left(t\right)& a\left(t\right)\end{array}\right]\&CenterDot;\left[\begin{array}{c}sin{\mathrm{\&gamma;}}_0\\ {\mathrm{cos\&gamma;}}_0\end{array}\right]=\left[\begin{array}{c}{z}_1\left(t\right)\\ z_2\left(t\right)\end{array}\right]---\left(11\right)$

Use Least Square Method, initial horizontal roll angle γ can be tried to achieve ₀.

Based on above theory analysis, method flow diagram as shown in Figure 1, provided by the invention based on alignment methods in the rotation guided cartridge Quick air of front data, specific implementation step is as follows:

(1), launch after guided cartridge receive GPS navigation signal and carry out navigation and process, wherein realize GPS navigation signal capture and to follow the tracks of and the moment exporting navigation results is T ₀; Then from this moment T ₀to the aligning moment T of setting ₁preserve the M group GPS navigation result of GPS navigation system output and the N group INS data of INS output, wherein: t _gPSfor GPS navigation result exports the cycle, T _iNSfor INS data output period, and T _gPS=Q × T _iNS, namely N=Q × M, Q are positive integer.

Above-described GPS navigation result comprises speed and the position of guided cartridge, INS data comprise forward direction gyro, left-hand gyro and on to gyro export angular speed, wherein, forward direction gyro responsive body roll angle angular speed, the responsive angle of pitch angular speed of left-hand gyro, on to the responsive course angle angular speed of gyro;

(2), according to the speed of the seeker in M group GPS navigation result, calculate corresponding M group course angle and the angle of pitch, specific formula for calculation is as follows:

${\mathrm{\&phi;}}_{gz}=\arctan \left(\frac{V_{gn}}{V_{ge}}\right);{\mathrm{\&phi;}}_{gx}=-ar\tan \left(\frac{V_{gu}}{\sqrt{V_{ge}^2+V_{gn}^2}}\right);$

Wherein: φ _gzand φ _gxbe respectively course angle and the angle of pitch of the guided cartridge calculated; V _gn, V _geand V _gube respectively the north speed of the guided cartridge in GPS navigation result, east speed and sky fast.

(3) the output cycle, due to GPS navigation result is oversize, corresponding GPS navigation result is not necessarily had to export at the output time of INS data, therefore need the result of calculation of M group course angle and the angle of pitch calculated step (2) to carry out the Fitting Calculation, obtain course angle and the angle of pitch at moment T ₀to moment T ₁between the function that converts in time; Then derivative operation is carried out to described function, obtain the function of time of course angle rate of change and Elevation angle changing rate;

In the present embodiment, adopt the result of calculation of least square 4 curve-fitting methods to M group course angle and the angle of pitch to carry out the Fitting Calculation, obtain course angle and the angle of pitch at moment T ₀to moment T ₁between the function that converts in time as follows:

φ _gz(t)＝k _z4t ⁴+k _z3t ³+k _z2t ²+k _z1t+k _z0；

φ _gx(t)＝k _x4t ⁴+k _x3t ³+k _x2t ²+k _x1t+k _x0；

Wherein, φ _gz(t) and φ _gxt () is respectively the function of time of course angle that matching obtains and the angle of pitch; k _z0, k _z1, k _z2, k _z3, k _z4be respectively the constant coefficient of course angle function of time matching, coefficient of first order, quadratic coefficients, three ordered coefficients and four ordered coefficients; k _x0, k _x1, k _x2, k _x3, k _x4be respectively the constant coefficient of angle of pitch function of time matching, coefficient of first order, quadratic coefficients, three ordered coefficients and four ordered coefficients; Time variable t=T ₀~ T ₁.

Then to above course angle function of time φ _gz(t) and angle of pitch function of time φ _gxt () carries out derivative operation, obtain the course angle rate of change function of time with the Elevation angle changing rate function of time wherein:

$\&dtri;{\mathrm{\&phi;}}_{gz}\left(t\right)=4k_{z4}{t}^3+3k_{z3}{t}^2+2k_{z2}t+k_{z1};$

$\&dtri;{\mathrm{\&phi;}}_{gx}\left(t\right)=4k_{x4}{t}^3+3k_{x3}{t}^2+2k_{x2}t+k_{x1}.$

(4), by the moment value exporting N group INS data be updated in 4 functions of time that step (3) determines, the course angle of guided cartridge when calculating output N group INS data, the angle of pitch, course angle rate of change and Elevation angle changing rate;

(5), according to moment T ₀to the N of setting moment T _pgyro output angle speed in the group angle of pitch, course angle rate of change, Elevation angle changing rate and INS data, the observing matrix H in calculating observation equation Z=H × X and calculation matrix Z; Wherein X is the measurement vector of bidimensional, the sine value that X (1) is guided cartridge roll angle, the cosine value that X (2) is guided cartridge roll angle; Wherein, the span setting moment T is T ₀≤ T<T ₁, positive integer $N_p=\frac{T-T_0}{T_{INS}}+1;$

In this step, the concrete computational process of observing matrix H and calculation matrix Z is as follows:

(5a), to observing matrix H and calculation matrix Z initialize, obtain initial observation matrix H ₀with calculation matrix Z ₀:

If initialize H ₀=[a (T ₀) b (T ₀)], then Z ₀=z (T ₀);

If initialize H ₀=[-b (T ₀) a (T ₀)], then Z ₀=z ' (T ₀);

Wherein:

$a\left(T_0\right)=cos\&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)sin\left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_0\right)=sin\&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)sin\left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_0\right)=\frac{{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_0))-{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_0\right)=\frac{{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_0))+{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

Wherein: ω _x(T ₀), ω _y(T ₀) and ω _z(T ₀) be respectively moment T ₀forward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value; φ _gx(T ₀) be moment T ₀the angle of pitch; with be respectively moment T ₀course angle rate of change and Elevation angle changing rate;

(5b), at moment T _n'=T ₀+ n × T _iNS, n=1,2 ... N _p-1, according to following iterative formula, iteration renewal is carried out to observing matrix H and calculation matrix Z, obtain moment T _n' observing matrix H _nwith calculation matrix Z _n;

If H _n=[H _n-1; A (T _n'), b (T _n')], then Z _n=[Z _n-1; Z (T _n')];

If H _n=[H _n-1;-b (T _n'), a (T _n')], then Z _n=[Z _n-1; Z ' (T _n')];

Wherein:

$a\left(T_n^{\&prime;}\right)=cos\&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_n^{\&prime;}\right)=\sin \&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))-{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))+{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

Wherein: ω _x(T _m'), ω _y(T _m') and ω _z(T _m') be respectively moment T _m' forward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value, φ _gx(T _m') and be respectively moment T _m' the angle of pitch and course angle rate of change, m=0 ~ n and T ₀'=T ₀; φ _gx(T _n') be moment T _n' the angle of pitch; with be respectively moment T _n' course angle rate of change and Elevation angle changing rate; ω _x(T _n'), ω _y(T _n') and ω _z(T _n') be respectively moment T _n' forward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value;

(5c), by moment T=T that step (5b) iteration obtains ₀+ (N _p-1) × T _iNSobserving matrix and calculation matrix as the final calculation result of observing matrix H and calculation matrix Z, for the least-squares calculation of step (6).

The computational methods of observing matrix H provided by the invention and calculation matrix Z, not easily produce ill-condition matrix, and the result that causes because of gyroscope output error can be removed can not the property estimated, thus can under any circumstance Output rusults, algorithm can not be caused to disperse or without solution, estimation result precision is higher, is therefore applicable to High Rotation Speed guided cartridge.

(6), utilize least square method to solve observational equation Z=H × X, obtain observation vector X=(H ^th) ^-1h ^tz;

(7), according to the sine value of the guided cartridge roll angle in observation vector X result of calculation and cosine value, the roll angle of guided cartridge is calculated, wherein:

When | X (1) | <1, | X (2) | during <1:

If X (1) >0, X (2) >0, γ ₀=(arcsin (X (1))+arccos (X (2)))/2;

If X (1) >0, X (2) <0, γ ₀=(180-arcsin (X (1))+arccos (X (2)))/2;

If X (1) <0, X (2) >0, γ ₀=(arcsin (X (1))-arccos (X (2)))/2;

If X (1) <0, X (2) <0, γ ₀=(-arcsin (X (1))-arccos (X (2)))/2.

When | X (1) | >1, | X (2) | during <1:

If X (1) >0, X (2) >0, γ ₀=arccos (X (2))/2;

If X (1) >0, X (2) <0, γ ₀=arccos (X (2));

If X (1) <0, X (2) >0, γ ₀=-arccos (X (2));

If X (1) <0, X (2) <0, γ ₀=-arccos (X (2)).

When | X (1) | <1, | X (2) | during >1:

If X (1) >0, X (2) >0, γ ₀=arcsin (X (1));

If X (1) >0, X (2) <0, γ ₀=180-arcsin (X (1));

If X (1) <0, X (2) >0, γ ₀=arcsin (X (1));

If X (1) <0, X (2) <0, γ ₀=-arcsin (X (1)).

(8) roll angle, by step (7) calculated, and moment T ₀speed in GPS navigation result, position and the course angle calculated according to described speed and the angle of pitch, as Air launching result, output to the navigation system of guided cartridge, for navigating to described guided cartridge and controlling.

Embodiment:

In the present embodiment, after guided cartridge is launched, gps signal is caught again, realizing acquisition and tracking and after exporting navigation results, preserving GPS navigation result and INS data, and when arriving setting and aiming at the moment, starting to carry out initial alignment.

Wherein, Fig. 2 is the angle of pitch that the rate calculations exported according to GPS obtains, and the angle of pitch curve that matching obtains.As can be seen from Figure 2, angle of pitch excursion is larger in this process.Fig. 3 is the Elevation angle changing rate curve obtained according to angle of pitch matched curve derived function, therefrom can find out that the noise ratio of Elevation angle changing rate is comparatively large, reduce noise after matching.Course angle calculated curve and matched curve is illustrated in Fig. 4, can as seen from the figure, course angle is almost constant.Fig. 5 is course angle change rate curve, therefrom can find out that the noise ratio of course angle rate of change is comparatively large, reduce noise after matching.Fig. 6 illustrates the relation of gyroscope mounting means on guided cartridge and output information, the coordinate system of three gyros follows right hand rule, as Fig. 6 place time, the change of the responsive body roll angle of forward direction gyro, the change of the responsive angle of pitch of left-hand gyro, on to the change of the responsive course angle of gyro, their output is respectively ω _x, ω _yand ω _z.Fig. 7 is the initial horizontal roll angle curve calculated, can as seen from the figure, and no matter how many points carry out calculating initial horizontal roll angle, and Dependence Results is restrained, and convergence rate comparatively fast reaches true value.So just can obtain accurate initial horizontal roll angle information, initial pitch angle information, initial heading angle information, initial position message and initial velocity information, for follow-up navigation and control provide complete navigation information.

The above; be only the present invention's detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.

The content be not described in detail in description of the present invention belongs to the known technology of professional and technical personnel in the field.

Claims (6)

1., based on alignment methods in the rotation guided cartridge Quick air of front data, it is characterized in that comprising the steps:

(1), launch after guided cartridge receive satellite navigation signals and carry out navigation and process, wherein realize satellite navigation signals acquisition and tracking and the moment exporting navigation results is T ₀; Then from described moment T ₀to the aligning moment T of setting ₁preserve the M group satellite navigation result of satellite navigation system output and the N group INS data of INS output, wherein: t _gPSfor satellite navigation result exports the cycle, T _iNSfor INS data output period, and T _gPS=Q × T _iNS, namely N=Q × M, Q are positive integer;

Described satellite navigation result comprises speed and the position of guided cartridge; Described INS data comprise forward direction gyro, left-hand gyro and on the angular speed that exports to gyro, wherein, forward direction gyro responsive body roll angle angular speed, the responsive angle of pitch angular speed of left-hand gyro, on to the responsive course angle angular speed of gyro;

(2), according to the speed of the seeker in M group satellite navigation result, corresponding M group course angle and the angle of pitch is calculated;

(3) the M group course angle, to step (2) calculated and the result of calculation of the angle of pitch carry out the Fitting Calculation, obtain course angle and the angle of pitch at moment T ₀to moment T ₁between the function that converts in time; Then derivative operation is carried out to described function, obtain the function of time of course angle rate of change and Elevation angle changing rate;

(4), by the moment value exporting N group INS data be updated in 4 functions of time that step (3) determines, the course angle of guided cartridge when calculating output N group INS data, the angle of pitch, course angle rate of change and Elevation angle changing rate;

(5), according to moment T ₀to the N of setting moment T _pgyro output angle speed in the group angle of pitch, course angle rate of change, Elevation angle changing rate and INS data, the observing matrix H in calculating observation equation Z=H × X and calculation matrix Z; Wherein X is the measurement vector of bidimensional, the sine value that X (1) is guided cartridge roll angle, the cosine value that X (2) is guided cartridge roll angle; Wherein, the span setting moment T is T ₀≤ T<T ₁, positive integer $N_p=\frac{T-T_0}{T_{INS}}+1;$

(6), utilize least square method to solve observational equation Z=H × X, obtain observation vector X=(H ^th) ^-1h ^tz;

(7), according to the sine value of the guided cartridge roll angle in observation vector X result of calculation and cosine value, the roll angle of guided cartridge is calculated;

(8) roll angle, by step (7) calculated, and moment T ₀satellite navigation result in speed, position and the course angle calculated according to described speed and the angle of pitch, as Air launching result, output to the navigation system of guided cartridge, for navigating to described guided cartridge and controlling.

2. according to claim 1 based on alignment methods in the rotation guided cartridge Quick air of front data, it is characterized in that: in step (5), according to moment T ₀the N of ~ T _pthe group angle of pitch, course angle rate of change and Elevation angle changing rate, and the gyro output angle speed in INS data, calculating observation matrix H and calculation matrix Z, concrete computational process is as follows:

(5a), to observing matrix H and calculation matrix Z initialize, obtain initial observation matrix H ₀with calculation matrix Z ₀:

If initialize H ₀=[a (T ₀) b (T ₀)], then Z ₀=z (T ₀);

If initialize H ₀=[-b (T ₀) a (T ₀)], then Z ₀=z ' (T ₀);

Wherein:

$a\left(T_0\right)=\cos \&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)\sin \left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_0\right)=\sin \&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)\sin \left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_0\right)=\frac{{\mathrm{\&omega;}}_y\left(T_0\right){\mathrm{\&Delta;\&phi;}}_{gz}\left(T_0\right)\cos \left({\mathrm{\&phi;}}_{gx}\right(T_0))-{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)\cos \right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_0\right)=\frac{{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)\cos \left({\mathrm{\&phi;}}_{gx}\right(T_0))+{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)\cos \right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

Wherein: ω _x(T ₀), ω _y(T ₀) and ω _z(T ₀) be respectively moment T ₀forward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value; φ _gx(T ₀) be moment T ₀the angle of pitch; with be respectively moment T ₀course angle rate of change and Elevation angle changing rate;

(5b), at moment T ' _n=T ₀+ n × T _iNS, n=1,2 ... N _p-1, according to following iterative formula, iteration renewal is carried out to observing matrix H and calculation matrix Z, obtain moment T ' _nobserving matrix H _nwith calculation matrix Z _n;

If H _n=[H _n-1; A (T ' _n), b (T ' _n)], then Z _n=[Z _n-1; Z (T ' _n)];

If H _n=[H _n-1;-b (T ' _n), a (T ' _n)], then Z _n=[Z _n-1; Z ' (T ' _n)];

Wherein:

$a\left(T_n^{\&prime;}\right)=\cos \&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_n^{\&prime;}\right)=sin\&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)\cos \left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))-{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)\cos \right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))+{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

Wherein: ω _x(T ' _m), ω _y(T ' _m) and ω _z(T ' _m) be respectively moment T ' _mforward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value, φ _gx(T ' _m) and be respectively moment T ' _mthe angle of pitch and course angle rate of change, m=0 ~ n and T ' ₀=T ₀; φ _gx(T ' _n) be moment T ' _nthe angle of pitch; with be respectively moment T ' _ncourse angle rate of change and Elevation angle changing rate; ω _x(T ' _n), ω _y(T ' _n) and ω _z(T ' _n) be respectively moment T ' _nforward direction gyro, left-hand gyro and on to gyro export angular velocity measurement value;

(5c), by moment T=T that step (5b) iteration obtains ₀+ (N _p-1) × T _iNSobserving matrix and calculation matrix as the final calculation result of observing matrix H and calculation matrix Z, for the least-squares calculation of step (6).

3. according to claim 1 based on alignment methods in the rotation guided cartridge Quick air of front data, it is characterized in that: in step (7), according to sine value and the cosine value of the guided cartridge roll angle in observation vector X result of calculation, calculate the roll angle γ of guided cartridge ₀, circular is as follows:

When | X (1) | <1, | X (2) | during <1:

If X (1) >0, X (2) >0, γ ₀=(arcsin (X (1))+arccos (X (2)))/2;

If X (1) >0, X (2) <0, γ ₀=(180-arcsin (X (1))+arccos (X (2)))/2;

If X (1) <0, X (2) >0, γ ₀=(arcsin (X (1))-arccos (X (2)))/2;

If X (1) <0, X (2) <0, γ ₀=(-arcsin (X (1))-arccos (X (2)))/2.

When | X (1) | >1, | X (2) | during <1:

If X (1) >0, X (2) >0, γ ₀=arccos (X (2))/2;

If X (1) >0, X (2) <0, γ ₀=arccos (X (2));

If X (1) <0, X (2) >0, γ ₀=-arccos (X (2));

If X (1) <0, X (2) <0, γ ₀=-arccos (X (2)).

When | X (1) | <1, | X (2) | during >1:

If X (1) >0, X (2) >0, γ ₀=arcsin (X (1));

If X (1) >0, X (2) <0, γ ₀=180-arcsin (X (1));

If X (1) <0, X (2) >0, γ ₀=arcsin (X (1));

If X (1) <0, X (2) <0, γ ₀=-arcsin (X (1)).

4. according to claim 1ly it is characterized in that: in step (2) based on alignment methods in the rotation guided cartridge Quick air of front data, the formula calculating course angle and the angle of pitch according to guided cartridge speed is as follows:

${\mathrm{\&phi;}}_{gz}=arctan\left(\frac{V_{gn}}{V_{ge}}\right);$ ${\mathrm{\&phi;}}_{gx}=-arctan\left(\frac{V_{gu}}{\sqrt{V_{ge}^2+V_{gn}^2}}\right);$

Wherein: φ _gzand φ _gxbe respectively course angle and the angle of pitch of guided cartridge; V _gn, V _geand V _gube respectively the north speed of guided cartridge, east speed and sky fast.

5. according to claim 1 based on alignment methods in the rotation guided cartridge Quick air of front data, it is characterized in that: in step (3), adopt the result of calculation of least square 4 curve-fitting methods to M group course angle and the angle of pitch to carry out the Fitting Calculation, obtain course angle and the angle of pitch at moment T ₀to moment T ₁between the function that converts in time as follows:

φ _gz(t)＝k _z4t ⁴+k _z3t ³+k _z2t ²+k _z1t+k _z0；

φ _gx(t)＝k _x4t ⁴+k _x3t ³+k _x2t ²+k _x1t+k _x0；

Wherein, φ _gz(t) and φ _gxt () is respectively the function of time of course angle that matching obtains and the angle of pitch; k _z0, k _z1, k _z2, k _z3, k _z4be respectively the constant coefficient of course angle function of time matching, coefficient of first order, quadratic coefficients, three ordered coefficients and four ordered coefficients; k _x0, k _x1, k _x2, k _x3, k _x4be respectively the constant coefficient of angle of pitch function of time matching, coefficient of first order, quadratic coefficients, three ordered coefficients and four ordered coefficients; Time variable t=T ₀~ T ₁.

6. according to claim 5 based on alignment methods in the rotation guided cartridge Quick air of front data, it is characterized in that: to course angle function of time φ _gz(t) and angle of pitch function of time φ _gxt () carries out derivative operation, obtain the course angle rate of change function of time with the Elevation angle changing rate function of time wherein:

$\&dtri;{\mathrm{\&phi;}}_{gz}\left(t\right)=4k_{z4}{t}^3+3k_{z3}{t}^2+2k_{z2}t+k_{z1};$

$\&dtri;{\mathrm{\&phi;}}_{gx}\left(t\right)=4k_{x4}{t}^3+3k_{x3}{t}^2+2k_{x2}t+k_{x1}.$