CN107478110B - Rotating elastic attitude angle calculation method based on state observer - Google Patents
Rotating elastic attitude angle calculation method based on state observer Download PDFInfo
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- CN107478110B CN107478110B CN201710631100.8A CN201710631100A CN107478110B CN 107478110 B CN107478110 B CN 107478110B CN 201710631100 A CN201710631100 A CN 201710631100A CN 107478110 B CN107478110 B CN 107478110B
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- attitude angle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
- F42B35/02—Gauging, sorting, trimming or shortening cartridges or missiles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a rotating elastic attitude angle calculation method based on a state observer. The method comprises the following steps: acquiring the angular velocity of the rotating projectile relative to a navigation coordinate system at the current moment, and determining the components of the angular velocity on each axis of a projectile coordinate system; acquiring a roll angle correction component, a roll angle measurement component, a pitch angle and a yaw angle of the rotating projectile at the current moment; constructing an attitude angle updating matrix by utilizing the angular velocity component, the roll angle correction component, the roll angle measurement component, the pitch angle and the yaw angle; updating the matrix by utilizing the attitude angle, and calculating a feedback gain matrix; and calculating the attitude angle of the rotating projectile at the next moment according to the attitude angle updating matrix, the feedback gain matrix and the attitude angle of the rotating projectile at the current moment. The invention can realize the aerial real-time alignment of the high-speed rotating bomb and improve the hitting precision of the high-speed rotating bomb.
Description
Technical Field
The invention relates to a high-speed spinning projectile aerial real-time alignment technology, in particular to a spinning projectile attitude angle calculation method based on a state observer.
Background
The high-speed rotating projectile is a projectile and rocket type aircraft which continuously rotates at high speed around a longitudinal axis of the projectile and rocket type aircraft in the flying process, and is widely applied to various tactical and strategic missiles. The high-speed spinning projectile generates gyroscopic moment through high-speed rotation, thereby weakening harmful effects caused by adverse conditions such as pneumatics and structural asymmetry caused by mass eccentricity, thrust eccentricity and processing, ensuring the flight stability of the aircraft, enabling the system to have higher anti-interference capability, being beneficial to improving the drop point precision of a weapon system, effectively weakening the strike of a laser interception weapon and improving the survivability of the laser interception weapon.
In order to improve the guidance precision, the aerial alignment of the high-speed rotating missile needs to be realized, the inertial navigation and GPS satellite navigation combination technology is mostly adopted, the error of an inertial navigation system is corrected through a GPS, and the capability of the missile for accurately hitting a target is improved. The inertial navigation system is a dead reckoning system based on acceleration quadratic integral, and initial alignment needs to be completed before the inertial navigation system works. In the air flight state, the position and the speed of the inertial navigation system can be given by a GPS system, but the attitude angle cannot be given by the GPS or the inertial navigation system alone.
The effective way of self-aligning in the air is to use GPS information to calculate and obtain a course angle and a pitch angle at corresponding time, and estimate a roll angle by a proper method. A commonly used initial alignment method employs a kalman filter, but is not suitable for an application condition where the rotation speed is fast. If the GPS external measurement period is 0.1 second and the rotation speed of the high-speed spinning projectile is greater than 1500 °/s, the signal reproduction requirement cannot be satisfied, causing an estimation error. Therefore, a method is urgently needed to calculate the situation of the spinning projectile rotating at high speed.
Disclosure of Invention
The technical problem solved by the invention is as follows: compared with the prior art, the rotating projectile attitude angle calculation method based on the state observer is provided, the aerial real-time alignment of the high-speed rotating projectile can be realized, and the striking precision of the high-speed rotating projectile is improved.
The above object of the present invention is achieved by the following technical solutions:
the invention provides a rotating elastic attitude angle calculation method based on a state observer, which comprises the following steps:
acquiring the angular velocity of the rotating bomb relative to a navigation coordinate system at the current momentAnd determining the angular velocityComponent in each axis of the missile coordinate systemAnd
obtaining a roll angle correction component of the spinning projectile at the current timeComponent alpha of roll angle measurement0Angle of pitch theta0And yaw angle psi0And recording the attitude angle of the rotating projectile at the current moment as
Using said componentsAndand the roll angle correction componentComponent alpha of roll angle measurement0Angle of pitch theta0And yaw angle psi0Constructing an attitude angle updating matrix A;
updating the matrix A by utilizing the attitude angle, and calculating a feedback gain matrix K;
updating the matrix A, the feedback gain matrix K and the attitude angle according to the attitude angleAnd calculating the attitude angle of the rotating bomb at the next moment.
Further, the attitude angle update matrix a is:
in the formula, aijI 1,2,3, j 1,2,3 are elements of the attitude angle update matrix a.
Further, the feedback gain matrix K is:
further, updating the matrix A, the feedback gain matrix K and the attitude angle according to the attitude angleCalculating the attitude angle of the spinning projectile at the next moment, comprising:
in the formula, x1Representing the attitude angle of the spinning projectile at the next instant,
compared with the prior art, the invention has the following beneficial effects:
the invention provides a rotating bomb attitude angle calculation method based on a state observer, which solves the problem that the high-speed rotating bomb cannot be independently self-aligned through an inertial navigation system in an air maneuvering state by resolving the attitude angle of the high-speed rotating bomb through auxiliary data of a satellite navigation system and the output angular speed of a gyroscope of an inertial navigation system, can realize air real-time alignment of the high-speed rotating bomb, and improves the striking precision of the high-speed rotating bomb.
Drawings
Fig. 1 is a flowchart of a method for calculating a rotating elastic attitude angle based on a state observer in an embodiment of the present invention;
FIG. 2 is a graph of error convergence for each attitude angle in an embodiment of the present invention;
FIG. 3 is a roll angle convergence curve for different roll initial deviations in accordance with an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a method for calculating a rotating elastic attitude angle based on a state observer in an embodiment of the present invention, and referring to fig. 1, the method for calculating a rotating elastic attitude angle based on a state observer provided by the present invention may specifically include the following steps:
s110, acquiring the angular velocity of the rotating projectile relative to a navigation coordinate system at the current momentAnd determining the angular velocityComponent in each axis of the missile coordinate systemAnd
specifically, a navigation coordinate system (g) is overlapped with a local geographic coordinate system corresponding to the launching point, the origin point of the navigation coordinate system is the launching point, and three coordinate axes point to the east, north and sky directions of the geography; the projectile coordinate system (b) is fixedly connected with the carrier, and the origin is the center of mass of the projectile; xbThe axis is the longitudinal axis of the carrier and points to the right front of the carrier; zbThe axis lying in the longitudinal symmetry plane of the carrier, with XbThe axis is vertical and pointing upwards; y isbAxes are determined according to the right hand rule. Thereby, the angular velocity of the rotating projectile at the current moment relative to the navigation coordinate system is obtainedAnd determining the angular velocityComponent in each axis of the missile coordinate systemAnd
s120, acquiring a roll angle correction component of the spinning projectile at the current momentComponent alpha of roll angle measurement0Angle of pitch theta0And yaw angle psi0And recording the attitude angle of the rotating projectile at the current moment as
Specifically, with a satellite navigation system, a roll angle correction component of a spinning projectile at a current time is obtainedComponent alpha of roll angle measurement0Angle of pitch theta0And yaw angle psi0And recording the attitude angle of the rotating projectile at the current moment as
S130, utilizing the componentAndand the roll angle correction componentComponent alpha of roll angle measurement0Angle of pitch theta0And yaw angle psi0And constructing an attitude angle updating matrix A.
Optionally, the attitude angle update matrix a is:
in the formula, aijI 1,2,3, j 1,2,3 are elements of the attitude angle update matrix a.
And S140, updating the matrix A by utilizing the attitude angle, and calculating a feedback gain matrix K.
Optionally, the feedback gain matrix K is:
s150, according toThe attitude angle update matrix A, the feedback gain matrix K and the attitude angleAnd calculating the attitude angle of the rotating bomb at the next moment.
Optionally, the matrix a, the feedback gain matrix K and the attitude angle are updated according to the attitude angleCalculating the attitude angle of the spinning projectile at the next moment, comprising:
in the formula, x1Representing the attitude angle of the spinning projectile at the next instant,
by adopting the rotating elastic attitude angle calculation method based on the state observer provided by the invention, alignment calculation is carried out, and the calculation result is shown in fig. 2 and 3.
The convergence curves for the roll angle error δ γ, pitch angle error δ θ and yaw angle error δ ψ are included in fig. 2. As can be seen from fig. 2, each attitude angle can eventually converge to a true value.
FIG. 3 is an initial deviation δ γ of the roll angle γ0 When the angle is 0 degree, -10 degree, -20 degree and 20 degree, the rolling angle gamma converges to the true value gradually, the high-speed spinning projectile air alignment is completed, the convergence speed is fast and the convergence error is small.
The technical scheme of the embodiment provides a rotating projectile attitude angle calculation method based on a state observer, which is characterized in that the attitude angle of a high-speed rotating projectile is resolved through auxiliary data of a satellite navigation system and the output angular velocity of a gyroscope of an inertial navigation system, so that the problem that the high-speed rotating projectile cannot be independently self-aligned through the inertial navigation system in an air maneuvering state is solved, the air real-time alignment of the high-speed rotating projectile can be realized, and the striking precision of the high-speed rotating projectile is improved; the algorithm is simple, the convergence rate is high, and the method is suitable for the low-speed running condition of the carrier.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (1)
1. A rotating elastic attitude angle calculation method based on a state observer is characterized by comprising the following steps:
acquiring the angular velocity of the rotating bomb relative to a navigation coordinate system at the current momentAnd determining the angular velocityComponent in each axis of the missile coordinate systemAndthe navigation coordinate system takes the transmitting point as an origin, and the three-axis directions are the east, north and sky directions of the geography respectively; the projectile coordinate system takes the center of mass of the projectile as the origin, and the longitudinal axis of the carrier pointing to the front of the carrier is XbAxis, in the longitudinal symmetry plane of the carrier, perpendicular to XbOf shaftsIn the direction ZbAxis, YbThe axis is determined according to the right-hand rule;
obtaining a roll angle correction component of the spinning projectile at the current timeComponent alpha of roll angle measurement0Angle of pitch theta0And yaw angle psi0And recording the attitude angle of the rotating projectile at the current moment as
Using said componentsAndand the roll angle correction componentComponent alpha of roll angle measurement0Angle of pitch theta0And yaw angle psi0And constructing an attitude angle updating matrix A, wherein:
the attitude angle updating matrix A is as follows:
in the formula, aijI 1,2,3, j 1,2,3 are elements of the attitude angle update matrix a;
utilizing the attitude angle updating matrix A to calculate a feedback gain matrix K, wherein:
the feedback gain matrix K is:
updating the matrix A, the feedback gain matrix K and the post according to the attitude angleThe attitude angleCalculating the attitude angle of the spinning projectile at the next moment, wherein:
in the formula, x1Representing the attitude angle of the spinning projectile at the next instant,
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| CN109341717A (en) * | 2018-09-13 | 2019-02-15 | 红色江山(湖北)导航技术有限公司 | MEMS inertial navigation system horizontal attitude based on maneuvering condition judgement reviews one's lessons by oneself correction method |
| CN111780749B (en) * | 2020-05-26 | 2022-06-03 | 北京航天控制仪器研究所 | Attitude control method for full-attitude inertial navigation of orbital transfer maneuvering aircraft |
| CN112363195B (en) * | 2020-09-30 | 2022-08-09 | 东南大学 | Rotary missile air rapid coarse alignment method based on kinematic equation |
| CN113447024B (en) * | 2021-06-28 | 2022-07-05 | 北京航天控制仪器研究所 | Inertial navigation attitude angle resolving method and system based on extended Krafft angle |
| CN114894047B (en) * | 2021-09-17 | 2023-10-03 | 中国人民解放军63875部队 | Optimization station distribution analysis method for intersection measurement of key section gestures of target range |
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| JPH042596A (en) * | 1990-04-17 | 1992-01-07 | Mitsubishi Electric Corp | Flying body performance evaluating method and device therefor |
| CN105987695A (en) * | 2015-01-29 | 2016-10-05 | 中北大学 | Interval quartering lagrangian method used for high-speed spinning projectile attitude algorithm |
| CN106840195A (en) * | 2016-12-19 | 2017-06-13 | 中北大学 | A kind of rotary half strapdown micro-inertial measuring system error inhibition method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH042596A (en) * | 1990-04-17 | 1992-01-07 | Mitsubishi Electric Corp | Flying body performance evaluating method and device therefor |
| CN105987695A (en) * | 2015-01-29 | 2016-10-05 | 中北大学 | Interval quartering lagrangian method used for high-speed spinning projectile attitude algorithm |
| CN106840195A (en) * | 2016-12-19 | 2017-06-13 | 中北大学 | A kind of rotary half strapdown micro-inertial measuring system error inhibition method |
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