CN106681170A - Semi-object guidance simulation method and system - Google Patents
Semi-object guidance simulation method and system Download PDFInfo
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- CN106681170A CN106681170A CN201611036760.3A CN201611036760A CN106681170A CN 106681170 A CN106681170 A CN 106681170A CN 201611036760 A CN201611036760 A CN 201611036760A CN 106681170 A CN106681170 A CN 106681170A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a semi-object guidance simulation method and system. The method comprises that an aiming device of a guidance station is placed in two axes of a multi-freedom movement simulation platform; an aircraft simulator is placed in two random axes, except the two axes for placing the aiming device, of the multi-freedom movement simulation platform; a movement simulation control system controls angular movement of the aiming device in two directions and angular movement of the aircraft simulator in two directions; the aiming device is used to observe the aircraft simulator to obtain angular information of an aircraft; and according to the obtained aircraft angular information, input target angular information and a three-point guidance relation equation, a control instruction is output to an aircraft control system. The semi-object guidance simulation method realizes simulation of a guidance process and a non-active homing guidance system.
Description
Technical field
The present invention relates to semi-true object emulation technology field, more particularly, it relates to a kind of half guidance emulation mode in kind and
Analogue system.
Background technology
The application of guidance system mainly includes missile target guidance, satellite launch, unmanned plane during flying and realizes not
Aerocraft system with mission requirements etc..The definition of guidance is to guide and control aircraft according to certain rule target or pre-
The technology and method in orbit determination road.Guidance system mainly includes guidance system, aircraft and flight control system, its course of work
It is that guidance system constantly determines aircraft and target or the relative position relation of planned orbit, sends guidance information, passes to winged
Row device control system, to control the flight course of aircraft.
Guidance system is to realize the key of aircraft target guiding, therefore, to the function and performance test of guidance system it is
A requisite link in R＆D process.And the difference of the guide mode according to guidance system, the guidance system again may be used
To be divided into active homing guidance system and non-active homing system, wherein, for active homing guidance system, its guiding system
The guidance method of system is generally proportional navigation method, carries out the active homing of target guiding to proportion of utilization daoyin technique in prior art
The structure of half Guidance System Simulation in kind of the function of guidance system and performance test as shown in figure 1, including：It is arranged at five axles to turn
Target simulator 10 on platform 30, and the connection of the target simulator 10 guidance system 20, and the guidance system 20 connect
Flight control system 50 and the motion simulation control being connected with the five-axis flight table 30 and the flight control system 50
System processed 40；In test process, target real time kinematics model and aircraft are generated using the motion simulation control system 40
Real time kinematics model, provides the physical characteristics of target using the target simulator 10, using the motion simulation control system
40 motions for controlling the five-axis flight table 30, so as to realize the motion simulation flight using three axles in the five-axis flight table 30
The motion of three attitudes of device, intends two of the angle of sight between aircraft and target using outer two Axle mould of the five-axis flight table 30
The motion in direction, and then make the motion simulation control system 40 obtain line of sight (line of aircraft and target) and level
The velocity of the angle and aircraft in face, so that the guidance system 20 can be according to the line of sight and the folder of horizontal plane
Angle, the velocity of aircraft and Guidance Law send guidance information to the flight control system 50 to control flying for aircraft
Row track, realizes the test to the guidance system.
But for non-active homing system, but lacking in prior art can carry out complete function to which
With the half of performance test guidance emulation mode in kind and analogue system.
The content of the invention
To solve above-mentioned technical problem, the invention provides a kind of half guidance emulation mode in kind and analogue system, with reality
A kind of half guidance emulation mode in kind that can be tested for the function of non-active homing system and performance is now provided
With the purpose of analogue system.
To realize above-mentioned technical purpose, following technical scheme is embodiments provided：
A kind of half guidance emulation mode in kind, is applied to include guidance site, guidance system, flight control system, flight
The Guidance System Simulation in kind of the half of device simulator, multifreedom motion analog platform and motion simulation control system；Described half is real
Thing guidance emulation mode includes：
The sight in the guidance site is taken aim at device to be positioned on two axles of the multifreedom motion analog platform；
The Flight Simulator is positioned over into the multifreedom motion analog platform except the placement sight takes aim at the two of device
On any two axle beyond individual axle；
Target angle information is input into the motion simulation control system, the motion simulation control system is according to the mesh
The mark angle information control sight takes aim at device angular movement in the two directions and the Flight Simulator in the two directions
Angular movement；
The aircraft angle information of the Flight Simulator is obtained by the guidance site；
According to the target angle information, aircraft angle information and three point guidance relation equation to the aircraft control
System output control instruction processed.
Optionally, the target angle information includes angular elevation and azimuth of target；
The aircraft angle information includes the aircraft angle of site and aircraft azimuth.
Optionally, it is described according to the target angle information, aircraft angle information and three point guidance relation equation to
The flight control system output control instruction includes：
Judge whether the angular elevation, azimuth of target, the aircraft angle of site and aircraft azimuth meet at 3 points
Method guides relation equation, if it is not, then according to the relation between the angular elevation and the aircraft angle of site and institute
State azimuth of target to instruct to the flight control system output control with the azimuthal relation of the aircraft；
The three point guidance relation equation is：εM=εT, βM=βT；Wherein, εMRepresent the aircraft angle of site, εTGeneration
Angular elevation described in table, βMRepresent the aircraft azimuth, βTRepresent the azimuth of target.
Optionally, it is described according to the target angle information, aircraft angle information and three point guidance relation equation to
Also include after the flight control system output control instruction：
After the flight control system receives the control instruction, according to the control instruction to the aircraft mould
Intend device and send guidance information, so that the Flight Simulator adjusts flight path according to the guidance information.
A kind of half Guidance System Simulation in kind, including：
Multifreedom motion analog platform；
Device is taken aim in the sight in the guidance site being arranged on two axles of the multifreedom motion analog platform；
It is arranged at any two of the multifreedom motion analog platform in addition to placing the sight and taking aim at two axles of device
Flight Simulator on axle；
The guidance system that device, Flight Simulator and flight control system are connected is taken aim at the sight；
The motion simulation control system being connected with the multifreedom motion analog platform and the flight control system.
Optionally, the multifreedom motion analog platform is five-axis flight table；
The sight is taken aim on two axles that device is arranged in interior three axle of the five-axis flight table；
The Flight Simulator is arranged on outer two axle of the five-axis flight table.
Optionally, also include：
For the target of device observation is taken aim at for the sight.
Optionally, the target is the virtual target that physical object or the motion simulation control system are generated.
From above-mentioned technical proposal as can be seen that embodiments providing a kind of half guidance emulation mode in kind and emulation
System, wherein, described half guidance emulation mode in kind first by by the sight in the guidance site take aim at device be positioned over it is described how free
On two axles of degree motion simulation platform, with the motion simulation institute of the two axles by the multifreedom motion analog platform
State and see the angular position relative taken aim between device and target, using equivalent transformation principle, the angle between device and target is taken aim at in the sight
Degree position relationship is used as the target angle information；Then, by the Flight Simulator is positioned over the multiple degrees of freedom
On any two axle of the motion simulation platform in addition to placing the sight and taking aim at two axles of device, with by the multifreedom motion
The motion of two axle of analog platform changes the angular position relative that the Flight Simulator and the sight are taken aim between device, equally
, using equivalent transformation principle, the Flight Simulator and the sight are taken aim at angular position relative between device as described
Aircraft angle information；The last guidance system is according to the target angle information, aircraft angle information and line-of-sight course for obtaining
Guiding relation equation is instructed to the flight control system output control, so as to realize the system to non-active homing system
Lead the analogue simulation of process, and then reach the semi-hardware type simulation test of function and performance to non-active homing system, and
And the motion of the multifreedom motion analog platform need not be manually controlled during semi-hardware type simulation test, reduce people
The error that work operation is introduced, improves the precision of the semi-hardware type simulation test of the function to guidance system and performance.
In addition, half Guidance System Simulation in kind that utilizes of described half guidance emulation mode in kind is through simple conversion and right
After the motion simulation control system is adjusted, can equally meet carries out function and performance to active homing guidance system
Semi-hardware type simulation test is required, so as to greatly reduce the expense that semi-hardware type simulation test is carried out to guidance system.
Further, half Guidance System Simulation in kind that described half guidance emulation mode in kind is utilized only needs to meet described
The installation base area requirements of multifreedom motion analog platform, normal length are less than 5 meters, and occupied area is less.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 be prior art in proportion of utilization daoyin technique is carried out target guiding active homing guidance system function and
The structural representation of the Guidance System Simulation in kind of the half of performance test；
The schematic flow sheet of a kind of half guidance emulation mode in kind that Fig. 2 is provided for one embodiment of the invention；
Fig. 3 is the measurement coordinate system set up with guidance site, aircraft and target；
The schematic flow sheet of the half guidance emulation mode in kind that Fig. 4 is provided for one embodiment of the invention；
The schematic flow sheet of the half guidance emulation mode in kind that Fig. 5 is provided for another embodiment of the present invention；
Fig. 6 is guided missile and target relative movement distance map during mathematic simulated mode emulation experiment；
For aircraft during mathematic simulated mode emulation experiment, Fig. 7 realizes that the angle of site was changed with the line of sight angle of site
Cheng Tu；
Fig. 8 changed with line of sight is azimuthal for guided missile sight line azimuth during mathematic simulated mode emulation experiment
Cheng Tu；
Fig. 9 is guided missile and target relative movement distance map during half guidance phantom emulation experiment in kind；
Figure 10 realizes the angle of site with line of sight height for aircraft during half guidance phantom emulation experiment in kind
Angle change procedure figure；
Figure 11 is guided missile sight line azimuth and line of sight azimuth during half guidance phantom emulation experiment in kind
Change procedure figure；
The structural representation of a kind of half Guidance System Simulation in kind that Figure 12 is provided for another embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
A kind of half guidance emulation mode in kind is embodiments provided, is applied to include guidance site, guidance system, flown
The guidance in kind of the half of row device control system, Flight Simulator, multifreedom motion analog platform and motion simulation control system
Analogue system；As shown in Fig. 2 the half guidance emulation mode in kind includes：
S101：The sight in the guidance site is taken aim at device to be positioned on two axles of the multifreedom motion analog platform；
S102：The Flight Simulator is positioned over into the multifreedom motion analog platform except device is taken aim in the placement sight
Two axles beyond any two axle on；
S103：To the motion simulation control system be input into target angle information, the motion simulation control system according to
The target angle information control sight takes aim at device angular movement in the two directions and the Flight Simulator at two
Angular movement on direction；
S104：The aircraft angle information of the Flight Simulator is obtained by the guidance site；
S105：Flown to described according to the target angle information, aircraft angle information and three point guidance relation equation
Row device control system output control is instructed.
It should be noted that in step s 103, the motion simulation control system is receiving the angle on target of input
Device angular movement in the two directions can be taken aim at according to the target angle information control sight after information, so as to change
State and see the angular position relative taken aim between device and target, using equivalent transformation principle, you can the sight is taken aim between device and target
Angular position relative as the target angle information；Likewise, the motion simulation control system is according to the target angle
Degree information controls Flight Simulator motion in the two directions, so as to change the Flight Simulator with the sight
Take aim at the angular position relative between device, using equivalent transformation principle, you can by the Flight Simulator and it is described sight take aim at device it
Between angular position relative as the aircraft angle information.In addition, in embodiments of the present invention, the target can pass through
Arrange physical object to realize, it is also possible to generate virtual target by the motion simulation control system.The physical object can be with
It is bulb or target simulator, the present invention is to the targeted species and arranges the concrete mode of target and does not limit, and specifically regards
Depending on practical situation.
Also, it should be noted that in theory, the degree of freedom of the multifreedom motion analog platform more than or equal to 4 is
Can, but preferably five-axis flight table.The present invention is not limited to the concrete species of the multifreedom motion analog platform, specifically
Depending on practical situation.
The half guidance emulation mode in kind provided in an embodiment of the present invention is mainly used in realizing for non-active target-seeking system
The semi-hardware type simulation test of the function and performance of guiding systems.For non-active homing system, its guide mode is three
Point method.Below the guiding principle to line-of-sight course is briefly described：
In line-of-sight course, aircraft is reduced to into a particle generally, to study ideally, the change of aircraft barycenter
Change situation.Measurement coordinate system as shown in Figure 3 is set up, when being guided to aircraft using line-of-sight course, aircraft and target
Kinematic parameter is measured by guidance site, the relation of three Ox as shown in Figure 3RyRzRTo represent.
In fig. 3, M represents aircraft, and T represents target, and Vt represents target velocity, and V represents aircraft speed, origin O
Overlap with the position C in guidance site, OxRAxle has two, and an Ox of aircraft is respectively pointed to by guidance siteRMAxle and by guidance site
A targeted OxRTAxle；Same OyRAxle also has two, respectively perpendicular to OxRMOne Oy of axleRMAxle and perpendicular to
OxRTOne Oy of axleRTAxle；Accordingly, OzRAxle also has two, respectively and OxRMAxle and OyRMAxle constitutes right hand vertical coordinate
The Oz of systemRMAxle, and and OxRTAxle and OyRTAxle constitutes the Oz of right hand vertical coordinate systemRTAxle.When guidance site, aircraft and target
In same straight line when there was only an OxRAxle, OyRAnd OzR(in accompanying drawing 3 by taking this situation as an example).
The measurement coordinate system can use two angles with the relation of earth axes：Angle of site ε and azimuthal angle beta (and
It is not shown in Figure 3).Wherein, the angle of site ε refers to OxRAngle between axle and earth axes Oxz, specifically,
OxRMAngle between axle and earth axes Oxz is referred to as aircraft angle of site εM, OxRTBetween axle and earth axes Oxz
Angle is referred to as aircraft angle of site εT.Work as OxRMAxle and OxRTDuring overlapping of axles, εM=εT。
The azimuthal angle beta refers to OxRAngle of the axle between the projection on ground level and earth axes Ox.If from Ox axles
Ox is gone to counterclockwiseROn axle, then β is for just.Likewise, OxRMFolder of the axle between the projection on ground level and earth axes Ox
Angle is referred to as aircraft azimuthal angle betaM, OxRTAngle of the axle between the projection on ground level and earth axes Ox referred to as flies
Row device azimuthal angle betaT.Work as OxRMAxle and OxRTDuring overlapping of axles, βM=βT。
Aircraft is in target of attack or flies in the guided procedure of destination, aircraft all the time in guidance site and target it
Between line on.That is the line CM of guidance site and aircraft and guidance site are guiding together with the line coincident of target
Target, so the guiding relation equation of line-of-sight course is：
εM=εT, βM=βT；
The half guidance emulation mode in kind provided in an embodiment of the present invention is first by taking aim at device by the sight in the guidance site
Be positioned on two axles of the multifreedom motion analog platform, with by the multifreedom motion analog platform this two
The motion of individual axle changes the angular position relative that the sight is taken aim between device and target, using equivalent transformation principle, the sight is taken aim at
Angular position relative between device and target is used as the target angle information (εTAnd βT)；Then, by by the aircraft mould
Intend device to be positioned on any two axle of the multifreedom motion analog platform in addition to placing the sight and taking aim at two axles of device,
The Flight Simulator is changed with the motion by two axle of the multifreedom motion analog platform device is taken aim at the sight
Between angular relationship, likewise, utilize equivalent transformation principle, the Flight Simulator and the sight are taken aim at into the angle between device
Degree position relationship is used as the aircraft angle information (εMAnd βM)；The last guidance system is according to the angle on target letter for obtaining
Breath, aircraft angle information and three point guidance relation equation (εM=εT, βM=βT) control to flight control system output
System instruction, so as to realize the analogue simulation of the guidance process to non-active homing system, and then reaches to non-active target-seeking
The semi-hardware type simulation test of the function and performance of guidance system, and manually need not control during semi-hardware type simulation test
The motion of the multifreedom motion analog platform, reduces the error that artificial operation is introduced, improves the work(to guidance system
Can be with the precision of the semi-hardware type simulation test of performance.
In addition, half Guidance System Simulation in kind that the half guidance emulation mode in kind is utilized is through simple conversion and to institute
State after motion simulation control system is adjusted, can equally meet carries out the half of function and performance to active homing guidance system
Matter emulation test request, so as to greatly reduce the expense that semi-hardware type simulation test is carried out to guidance system.
Simple half Guidance System Simulation in kind of non-active homing system is included in prior art：In plane two certainly
By bulb mounting on degree motion, guidance station equipment is being placed on the bulb certain distance (such as 20m), by institute
The motion simulation aircraft of plane two-freedom motion is stated with respect to two of guidance site axial angular movements, and by the system
The sight for leading station takes aim at the motion of the device observation bulb as aircraft angle position information；Guidance system is according to aircraft angle position
Confidence ceases to the flight control system and sends guidance information, so that the flight control system controls the position of aircraft
Change (motion for being presented as the bulb being placed on the plane two-freedom motion).Such half guidance in kind
Analogue system can be only used for examining or check whether flight control system can realize that the angle command to aircraft is controlled, and cannot
Whether target is deviateed to aircraft or planned orbit is tested.And in the present embodiment, the half guidance emulation mode in kind
Function and performance test to non-active homing system, and the half guidance emulation mode profit in kind not only can be completed
Half Guidance System Simulation in kind only needs to meet the installation base area requirements of the multifreedom motion analog platform i.e.
Can, normal length is less than 5 meters, occupied area compare for the volume of simple half Guidance System Simulation in kind of the prior art compared with
It is little.
On the basis of above-described embodiment, in one embodiment of the invention, as shown in figure 4, angle on target letter
Breath includes angular elevation and azimuth of target；
The aircraft angle information includes the aircraft angle of site and aircraft azimuth；
It is described according to the target angle information, aircraft angle information and three point guidance relation equation to the flight
The instruction of device control system output control includes：
S1051：Judge whether the angular elevation, azimuth of target, the aircraft angle of site and aircraft azimuth are full
Sufficient three point guidance relation equation, if it is not, then according to the relation between the angular elevation and the aircraft angle of site
And the azimuth of target is instructed to the flight control system output control with the azimuthal relation of the aircraft；
The three point guidance relation equation is：εM=εT, βM=βT；Wherein, εMRepresent the aircraft angle of site, εTGeneration
Angular elevation described in table, βMRepresent the aircraft azimuth, βTRepresent the azimuth of target.
It should be noted that in a preferred embodiment of the invention, when the angular elevation, azimuth of target,
When the aircraft angle of site and aircraft azimuth meet three point guidance relation equation, the flight control system is not exported
Control instruction, so that the flight control system is not adjusted to the heading of Flight Simulator, so that flight
Device simulator keeps former heading flight.In another preferred embodiment of the invention, when the angular elevation, target
When azimuth, the aircraft angle of site and aircraft azimuth meet three point guidance relation equation, it is also possible to the aircraft
Control system output hold mode instruction, so that flight control system control Flight Simulator not change of flight side
To.
On the basis of above-described embodiment, in another embodiment of the present invention, as shown in figure 5, described in the basis
Target angle information, aircraft angle information and three point guidance relation equation refer to the flight control system output control
Also include after order：
S106：After the flight control system receives the control instruction, flown to described according to the control instruction
Row device simulator sends guidance information, so that the Flight Simulator adjusts flight path according to the guidance information.
In order to verify the correctness of the half guidance emulation mode in kind provided in an embodiment of the present invention, with missile attack mesh
Example is designated as, half for pure mathematics model having been built according to three point guidance principle and having been built according to described half guidance emulation mode in kind
Guidance phantom in kind carries out contrast experiment.
Emulation experiment is carried out first with pure mathematics model, the initial parameter for arranging emulation is as follows：
Guided missile initial position (20,1,0)；Initial velocity 170m/s；Initial attitude angleψ=0, γ=0；Initial appearance
State angular velocityInitial trajectory inclination angle theta=2 °, trajectory deflection angle ψV=-1 °.
Assume that target is moved in the horizontal plane, and initial position (5000,0,200)；Speed (20,0,0).
The simulation result for drawing is as shown in Fig. 6,7 and 8；
Fig. 6 is guided missile and target relative movement distance map during mathematic simulated mode emulation experiment；Fig. 7 is mathematical simulation
In model emulation experimentation, aircraft realizes the angle of site and line of sight angle of site change procedure figure, in the figure 7, curve M tables
Show the angle of site of aircraft (guided missile) sight line, curve T represents the angle of site of line of sight, guides using scheme within first 16 seconds, purpose
It is to make aircraft rise to certain altitude, it is to avoid directly born situation occur using three point guidance, adopts at 3 points afterwards within the 16th second
Method is guided, it can be seen from figure 7 that, being guided to aircraft using line-of-sight course so as to high in vehicle launch 16 seconds afterwards
Low angle is drawn close to angular elevation rapidly, so that the aircraft angle of site and angular elevation meet three point guidance relation side
Height angular dependence in journey, i.e. εM=εT；Fig. 8 is guided missile sight line azimuth and target during mathematic simulated mode emulation experiment
The azimuthal change procedure of sight line, in accompanying drawing 8, curve M represents the azimuth of aircraft (guided missile) sight line, and curve T represents mesh
The azimuth of mark sight line, likewise, the azimuth of aircraft is carried out to azimuth of target rapidly in vehicle launch 16 seconds afterwards
Draw close, so that aircraft azimuth and azimuth of target meet the orientation angular dependence in three point guidance relation equation, i.e. βM=
βT；From the point of view of the simulation result of Fig. 6, Fig. 7 and Fig. 8, in mathematic simulated mode, three point guidance can realize the attack to target
Process.
In order to the simulation experiment result with mathematic simulated mode is compared, identical simulation parameter input described half is set
Emulation experiment is carried out in guidance phantom in kind；
Simulation parameter is constant：Guided missile initial position (20,1,0)；Initial velocity 170m/s；Initial attitude angleψ=
0, γ=0；Initial attitude angular velocityInitial trajectory inclination angle theta=2 °, trajectory deflection angle ψV=-1 °.
Assume that target is moved in the horizontal plane, and initial position (5000,0,200)；Speed (20,0,0).
The simulation result for drawing is as shown in Fig. 9,10 and 11；
Fig. 9 is guided missile and target relative movement distance map during described half guidance phantom emulation experiment in kind；Figure
For aircraft during described half guidance phantom emulation experiment in kind, 10 realize that the angle of site is changed with the line of sight angle of site
Procedure chart, in Fig. 10, curve M represents the angle of site of aircraft (guided missile) sight line, and curve T represents the angle of site of line of sight,
Guided using scheme within first 16 seconds, it is therefore an objective to make aircraft rise to certain altitude, it is to avoid directly occurred using three point guidance born
Situation, adopts three point guidance on the 16th second afterwards, using 3 points it can be seen from fig. 10 that in vehicle launch 16 seconds afterwards
Method is guided to aircraft so as to which the angle of site is drawn close to angular elevation rapidly, so that the aircraft angle of site and target
The angle of site meets the height angular dependence in three point guidance relation equation, i.e. εM=εT；Figure 11 is described half guidance emulation mould in kind
Guided missile sight line azimuth and the azimuthal change procedure of line of sight during type emulation experiment, in accompanying drawing 8, curve M is represented
The azimuth of aircraft (guided missile) sight line, curve T represent the azimuth of line of sight, likewise, vehicle launch 16 seconds it
Afterwards, the azimuth of aircraft is drawn close to azimuth of target rapidly, so that aircraft azimuth and azimuth of target meet three
Orientation angular dependence in point method guiding relation equation, i.e. βM=βT；Can be seen that from above simulation result in kind by described half
Guidance phantom realizes that line-of-sight course is emulated, the simulation result of Missile Motion be one by the simulation result of mathematic simulated mode
(Fig. 6 and Fig. 9 compare, and Fig. 7 and Figure 10 compare, and Fig. 8 and Figure 11 compare) for causing, disclosure satisfy that the demand of HWIL simulation.
Accordingly, the embodiment of the present invention additionally provides a kind of half Guidance System Simulation in kind, as shown in figure 12, including：
Multifreedom motion analog platform 400；
Device 100 is taken aim in the sight in the guidance site being arranged on two axles of the multifreedom motion analog platform 400；
It is arranged at the appointing in addition to placing the sight and taking aim at two axles of device 100 of the multifreedom motion analog platform 400
Flight Simulator 200 on two axles of meaning；
The guidance system 300 that device 100, Flight Simulator 200 and flight control system 600 are connected is taken aim at the sight；
The motion simulation control being connected with the multifreedom motion analog platform 400 and the flight control system 600
System processed 500.
It should be noted that in theory, the degree of freedom of the multifreedom motion analog platform 400 is more than or equal to 4
, but preferably five-axis flight table.The present invention is not limited to the concrete species of the multifreedom motion analog platform 400
It is fixed, it is concrete depending on practical situation.
On the basis of above-described embodiment, in one embodiment of the invention, the sight is taken aim at device 100 and is arranged at described five
On two axles in interior three axle of axle turntable；
The Flight Simulator 200 is arranged on outer two axle of the five-axis flight table.
But in other embodiments of the invention, outer two that device 100 can also be arranged at the five-axis flight table are taken aim in the sight
On axle, the Flight Simulator 200 can also be arranged on two axles in interior three axle of the five-axis flight table.The present invention is right
This does not limit, concrete depending on practical situation.
On the basis of above-described embodiment, in a preferred embodiment of the invention, described half guidance emulation system in kind
System also includes：
For the target of the observation of device 100 is taken aim at for the sight.
The target can be bulb or target simulator.The present invention is not limited to the concrete species of the target,
Specifically depending on practical situation.So in other embodiments of the invention, for it is described sight take aim at device 100 observation target can be
The virtual target generated by the motion simulation control system 500.The present invention is not limited to the concrete form of the target
It is fixed, it is concrete depending on practical situation.
In sum, a kind of half guidance emulation mode in kind and analogue system are embodiments provided, wherein, it is described
By the sight in the guidance site is taken aim at device 100, to be positioned over the multifreedom motion simulation flat first for half guidance emulation mode in kind
On two axles of platform 400, to be taken aim at by seeing described in the motion simulation of the two axles of the multifreedom motion analog platform 400
The sight, using equivalent transformation principle, is taken aim at the angle between device 100 and target by the angular position relative between device 100 and target
Degree position relationship is used as the target angle information；Then, it is described how free by the Flight Simulator 200 is positioned over
Degree motion simulation platform 400 except placing on any two axle seen in addition to taking aim at two axles of device 100, with by it is described it is many from
The Flight Simulator 200 is changed by the motion of two axle of degree motion simulation platform 400 and the sight is taken aim between device 100
Angular position relative, likewise, utilizing equivalent transformation principle, the Flight Simulator 200 and the sight is taken aim between device 100
Angular position relative as the aircraft angle information；The last guidance system 300 is according to the angle on target letter for obtaining
Breath, aircraft angle information and three point guidance relation equation are instructed to 600 output control of the flight control system, so as to
The analogue simulation of the guidance process to non-active homing system is realized, and then reaches the work(to non-active homing system
With the semi-hardware type simulation test of performance, and the multiple degrees of freedom need not can be manually controlled during semi-hardware type simulation test
The motion of motion simulation platform 400, reduces the error that artificial operation is introduced, and improves the function to guidance system and performance
The precision of semi-hardware type simulation test.
In addition, half Guidance System Simulation in kind that the half guidance emulation mode in kind is utilized is through simple conversion and to institute
State after motion simulation control system 500 is adjusted, can equally meet carries out function and performance to active homing guidance system
Semi-hardware type simulation test require, so as to greatly reduce the expense that semi-hardware type simulation test is carried out to guidance system.
Further, half Guidance System Simulation in kind that described half guidance emulation mode in kind is utilized only needs to meet described
The installation base area requirements of multifreedom motion analog platform 400, normal length are less than 5 meters, and occupied area is less.
In this specification, each embodiment is described by the way of progressive, and what each embodiment was stressed is and which
The difference of his embodiment, between each embodiment identical similar portion mutually referring to.To the disclosed embodiments
Described above, enables those skilled in the art to realize or using the present invention.To various modifications of these embodiments to this area
Technical staff for will be apparent, generic principles defined herein can without departing from the present invention spirit or
In the case of scope, realize in other embodiments.Therefore, the present invention is not intended to be limited to these enforcements shown in this article
Example, and it is to fit to the most wide scope consistent with principles disclosed herein and features of novelty.
Claims (8)
1. a kind of half material object guides emulation mode, it is characterised in that be applied to include guidance site, guidance system, flying vehicles control
The Guidance System Simulation in kind of the half of system, Flight Simulator, multifreedom motion analog platform and motion simulation control system；
The half guidance emulation mode in kind includes：
The sight in the guidance site is taken aim at device to be positioned on two axles of the multifreedom motion analog platform；
The Flight Simulator is positioned over into the multifreedom motion analog platform except two axles of device are taken aim in the placement sight
On any two axle in addition；
Target angle information is input into the motion simulation control system, the motion simulation control system is according to the target angle
Device angular movement and the Flight Simulator in the two directions angle in the two directions is taken aim in the degree information control sight
Degree motion；
The aircraft angle information of the Flight Simulator is obtained by the guidance site；
According to the target angle information, aircraft angle information and three point guidance relation equation to the flying vehicles control system
System output control instruction.
2. half material object according to claim 1 guides emulation mode, it is characterised in that the target angle information includes mesh
The mark angle of site and azimuth of target；
The aircraft angle information includes the aircraft angle of site and aircraft azimuth.
3. half material object according to claim 2 guides emulation mode, it is characterised in that described to be believed according to the angle on target
Breath, aircraft angle information and three point guidance relation equation include to flight control system output control instruction：
Judge whether the angular elevation, azimuth of target, the aircraft angle of site and aircraft azimuth meet line-of-sight course and lead
Draw relation equation, if it is not, then according to relation and the mesh between the angular elevation and the aircraft angle of site
Mark azimuth is instructed to the flight control system output control with the azimuthal relation of the aircraft；
The three point guidance relation equation is：εM=εT, βM=βT；Wherein, εMRepresent the aircraft angle of site, εTRepresent institute
State angular elevation, βMRepresent the aircraft azimuth, βTRepresent the azimuth of target.
4. half material object according to claim 1 guides emulation mode, it is characterised in that described to be believed according to the angle on target
Breath, aircraft angle information and three point guidance relation equation are also wrapped to after flight control system output control instruction
Include：
After the flight control system receives the control instruction, according to the control instruction to the Flight Simulator
Guidance information is sent, so that the Flight Simulator adjusts flight path according to the guidance information.
5. a kind of half Guidance System Simulation in kind, it is characterised in that include：
Multifreedom motion analog platform；
Device is taken aim in the sight in the guidance site being arranged on two axles of the multifreedom motion analog platform；
It is arranged on any two axle of the multifreedom motion analog platform in addition to placing the sight and taking aim at two axles of device
Flight Simulator；
The guidance system that device, Flight Simulator and flight control system are connected is taken aim at the sight；
The motion simulation control system being connected with the multifreedom motion analog platform and the flight control system.
6. according to claim 5 half Guidance System Simulation in kind, it is characterised in that the multifreedom motion simulation is flat
Platform is five-axis flight table；
The sight is taken aim on two axles that device is arranged in interior three axle of the five-axis flight table；
The Flight Simulator is arranged on outer two axle of the five-axis flight table.
7. according to claim 5 half Guidance System Simulation in kind, it is characterised in that also include：
For the target of device observation is taken aim at for the sight.
8. according to claim 7 half Guidance System Simulation in kind, it is characterised in that the target is physical object or institute
State the virtual target of motion simulation control system generation.
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