CN107943079A - A kind of residual non-uniformity On-line Estimation method - Google Patents
A kind of residual non-uniformity On-line Estimation method Download PDFInfo
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Abstract
A kind of residual non-uniformity On-line Estimation method, is respectively established using the bullet mesh relative distance and use system identifying method and regression analysis of measurement；Miss distance is estimated with built formwork erection type and currently known bullet mesh relative distance, obtains miss distance estimate, for prediction guided missile is carried out to target the interception moment at the time of which corresponds to；Calculate the bullet mesh relative distance estimation moment and predict that guided missile to target intercept the time interval value at moment, then time interval value is multiplied to obtain the residual non-uniformity at current time with the sampling period and estimates component；Using Fisher information fusion method, residual non-uniformity fusion estimate is obtained.Residual non-uniformity algorithm for estimating proposed by the present invention only needs to play mesh relative distance and sampling period, got and the sampling period is provided by guidance system itself due to playing mesh relative distance by measuring, therefore there is preferable computational efficiency feasibility, in addition, having stronger robustness.
Description
Technical field
The invention belongs to flying vehicles control field, more particularly to a kind of residual non-uniformity On-line Estimation method.
Background technology
Residual non-uniformity is widely used as guidance system important parameter in terms of aircraft guidance.Especially in aircraft
During terminal guidance, in addition to realizing that guided missile hits or intercepts to target, also need to carry out about incidence angle and energy expenditure etc.
Beam.Optimal guidance law is a kind of Celestial Guidance Scheme preferable and widely used at present, and the accurate estimation of residual non-uniformity is real
This existing Guidance Law and the key factor for playing its effect.Meanwhile residual non-uniformity or weapon warhead design and block
The important evidence that actual effect judges is cut, the accuracy to this parameter Estimation will directly affect controling power, miss distance and capture region
Deng guidance performance.But any equipment and instrument cannot all carry out directly measuring this parameter.Moreover when target seeker is surveyed
It is not high away from precision, or there are larger error, or ranging passage quilt with the angle of approach measurement of missile-target distance for radar seeker
During external interference, the estimated accuracy to residual non-uniformity can be all influenced due to the inaccuracy of metric data.Therefore, study and carry
Go out that a kind of estimated accuracy is high, strong robustness and operation efficiency is high and the residual non-uniformity algorithm for estimating of great feasibility is to work as
Preceding urgent problem to be solved.
The method of traditional estimation flight remaining time is tgo=R/Vm(wherein tgoFor residual non-uniformity, R is bullet mesh phase
Adjust the distance, VmFor missile velocity), this method has preferable application in proportional guidance.But when ballistic trajectory is crooked route
When, this algorithm for estimating produces larger evaluated error.For the not high problem of traditional residual flight time algorithm for estimating precision, very
More scholars propose innovatory algorithm on this basis.
Whang etc. is directed to proportional guidance law situation, it is proposed that a kind of remaining time method of estimation based on Kalman filter；
In addition, for biasing proportional guidance situation, a kind of remaining time estimation filter is deduced, but this method is not suitable for initially
The larger situation of angle of lead.Shin etc. proposes a kind of remaining time method of estimation, but this side using steering instruction historical information
Method is larger there are calculation amount and takes the problem of missile-borne computer memory is more, therefore is not easy to apply to actual guidance system.
Choal etc. has certain probabilistic guided missile for velocity variations rule, is deduced a kind of weighted energy optimum guidance law,
And guided missile future rate curve is predicted, while required remaining time is estimated, but its estimated accuracy is difficult
To meet time control requirement.The characteristics of Lee's shafts etc. divide safety pin to intercept flight path to straight rail and inverse rail, based on the prediction point of impingement
Corresponding residual non-uniformity method of estimation is devised, but the method is when guided missile angle of lead is larger, it is not high there are estimated accuracy
The problem of.The problem of estimated accuracy is not high when guided missile angle of lead is larger for above remaining time method of estimation, Zhang Youan etc.
Propose a kind of proportional guidance remaining time algorithm for estimating solved using segmentation, the closed loop fortune of this algorithm comparative example guiding first
Dynamic equation is deformed, and the First-Order Nonlinear Differential Equation of missile-target distance and flight time on angle of lead is obtained, then to preceding
The constant interval of angle setting is suitably segmented, and the increment for ensureing angle of lead in every section of section is low-angle, so as to utilize first order Taylor
Expansion solves the differential equation in every section of section, is solved finally by segment iteration, the remaining time obtained under big angle of lead is estimated
Meter.Ryoo etc. is that the optimal guidance law of tape terminal incidence angle constraint devises two kinds of residual non-uniformity algorithm for estimating, is respectively
Method 1 and method 2.Wherein, method 1 be missile route length with play mesh closing speed ratio, method 2
It is averaged the ratio between closing speed to play mesh relative distance with playing mesh.Wherein, 2 gained residual non-uniformity estimates of method correspond to
Missile flight time curve convergence speed missile flight time curve more corresponding than 1 gained residual non-uniformities of method will
It hurry up.It follows that method 2 has preferable estimated accuracy to residual non-uniformity.But this method of estimation is to system
Guided mode type is modeled and is derived from the basis of the linearisation of this nonlinear model.Therefore, this method is to playing mesh to guided mode processed
Type has serious dependence and modeling error and linearized stability are inevitable.
In summary, it has been suggested that miss distance analysis method have the following disadvantages：
(1) there is heavy dependence to guidance model；
(2) guided missile and target flight state need to be assumed；
(2) a large amount of guidance system performance parameters are needed to participate in computing, i.e. calculation amount increase and operation efficiency be not high.
The content of the invention
For problems of the prior art, it is an object of the invention to provide one kind to guiding model no dependence,
Operation efficiency and feasibility height and the residual non-uniformity On-line Estimation algorithm with strong robustness.This method is specifically using measurement
Bullet mesh relative distance and establish model with the high modeling method of computational accuracy, with bullet known to this model and current time
Mesh relative distance is predicted miss distance, and spacing value and the sampling period at moment are corresponded to from current time to prediction miss distance
Product is the estimate at current time to residual non-uniformity.
To reach above-mentioned purpose, the present invention is realised by adopting the following technical scheme：
A kind of residual non-uniformity On-line Estimation method, comprises the following steps：
1) it is respectively established using the bullet mesh relative distance measured and using system identifying method and regression analysis；
2) miss distance is estimated with built formwork erection type and currently known bullet mesh relative distance, obtains miss distance and estimate
Evaluation, the interception moment is carried out at the time of which corresponds to for prediction guided missile to target；
3) calculate and play the mesh relative distance estimation moment and predict that guided missile to target intercept the time interval value at moment, then
The residual non-uniformity for being multiplied to obtain current time with the sampling period by time interval value estimates component；
4) Fisher information fusion method is used, obtains merging estimate in current time residual non-uniformity.
Further improve of the invention is, the bullet mesh relative distance measured is used in step 1) and uses System Discrimination side
Method and regression analysis are respectively established, and detailed process is as follows：
Assuming that playing mesh relative distance can measure and be denoted as from 0 moment to the current m momentWhen wherein m is current
Quarter is worth；According to acquired bullet mesh relative distance sequenceIts corresponding first-order difference sequence is obtained, is denoted asAnd
There is Δ Ri=Ri+1-Ri；Jth kind modeling method is f in m moment institutes established modelj,m(), wherein j=1 ..., n；Herein, build
Mould method is system identifying method and regression analysis, n=2.
Further improve of the invention is, with built formwork erection type and currently known bullet mesh relative distance in step 2)
Miss distance is estimated, obtains miss distance estimate, at the time of which corresponds to for prediction guided missile to target into
Row intercepts the moment, and detailed process is as follows：
Based on above-mentioned institute established model fj,m() and known current time bullet mesh relative distance Rm, miss distance is carried out
Estimation；Wherein, the expression formula that jth kind modeling method estimates the bullet mesh relative distance at l+1 moment at the m moment is written as
Wherein,Estimate for jth kind modeling method at the m moment to the bullet mesh relative distance at l moment, and have one
Order differenceNj,mIt is jth kind modeling method in m moment corresponding predictive intercept moment value；N is to build
Mould method number；L is the total length for playing mesh relative distance sequence；
If define 1.OrThenWherein,For
J kinds modeling method is in m moment corresponding miss distance estimate；
Obtained by defining 1, miss distance estimated sequenceFor random sequence；Assuming that this stochastic ordering
Row Gaussian distributed, i.e.,Due toThanIt is more accurate, therefore willDepending on
For miss distance estimate；Wherein,ForAverage,ForVariance；
Assuming that the value that misses the target is rN, and with miss distance estimateBetween there are following relation
Wherein, εj,mEstimate random error in m moment corresponding miss distance for jth kind modeling method；Assuming thatWherein,For εj,mVariance；
Miss distance estimateInterception moment, i.e. N are carried out to target for prediction guided missile at the time of correspondingj,m。
Further improve of the invention is, is calculated in step 3) and plays the mesh relative distance estimation moment with prediction guided missile to mesh
Mark intercept the time interval value at moment, then is multiplied to obtain the residue at current time with time interval value with the sampling period and flies
Time Estimate component, detailed process are as follows：
Assuming that in Nj,mMoment guided missile intercepts target, therefore estimates moment m+1 to N from mesh relative distance is playedj,mWhen
Quarter needs N altogetherj,m- m time interval values；
For jth kind modeling method in m moment corresponding residual non-uniformity estimation componentIt is expressed as
Wherein, T is the sampling period.
Further improve of the invention is, Fisher information fusion method is used in step 1), is obtained at current time
Residual non-uniformity merges estimate, and detailed process is as follows：
According to jth kind modeling method in m moment corresponding residual non-uniformity estimation componentObtain at the m moment
Residual non-uniformity merges estimateFor
Compared with prior art, the beneficial effects of the present invention are：
1. pair guidance model no dependence.Residual non-uniformity algorithm for estimating proposed by the present invention is without various it is assumed that only
Need to play mesh relative distance and sampling period, therefore to guiding model no dependence.
2. there is preferable precision.Residual non-uniformity algorithm for estimating proposed by the present invention to guide model no dependence,
Therefore avoid the modeling of guidance model and by a large amount of hypothesis and the inaccuracy of institute's established model needed for modeling, therefore ensure
The estimated accuracy of residual non-uniformity.
3. can feasibility with preferable computational efficiency.Residual non-uniformity algorithm for estimating proposed by the present invention only needs bullet
Mesh relative distance and sampling period, due to play mesh relative distance by measure get and the sampling period by guidance system itself to
Go out.Therefore, proposition method of the present invention has preferable computational efficiency feasibility.
4. there is strong robustness.Residual non-uniformity algorithm for estimating proposed by the present invention can there are external in guidance system
There is provided estimated accuracy higher residual non-uniformity estimate under disturbed condition, therefore there is stronger robustness.
Brief description of the drawings
Fig. 1 is to guide illustraton of model with seeking certainly；
Fig. 2 is the static θ of targetMFMiss distance estimation curve and corresponding variance curve comparison figure during=- 30deg；Wherein,
(a) it is miss distance estimation curve comparison diagram, (b) is corresponding variance curve comparison figure；
Fig. 3 is the static θ of targetMFMiss distance estimation curve and corresponding variance curve comparison figure during=30deg；Wherein, (a)
For miss distance estimation curve comparison diagram, (b) is corresponding variance curve comparison figure；
Fig. 4 is the static θ of targetMFResidual non-uniformity estimation curve comparison diagram during=- 30deg；
Fig. 5 is the static θ of targetMFResidual non-uniformity estimation curve comparison diagram during=30deg；
Fig. 6 is the static θ of targetMFMissile route and flight-path angle curve comparison figure during=- 30deg；Wherein, (a) is guided missile
Flight path comparison diagram, (b) are flight-path angle curve comparison figure；
Fig. 7 is the static θ of targetMFMissile route and flight-path angle curve comparison figure during=30deg；Wherein, (a) navigates for guided missile
Mark comparison diagram, (b) are flight-path angle curve comparison figure；
Fig. 8 is the sinusoidal motor-driven θ of targetMFMiss distance estimation curve and corresponding method curve comparison figure during=- 30deg；Its
In, (a) is miss distance estimation curve comparison diagram, and (b) is corresponding method curve comparison figure；
Fig. 9 is the sinusoidal motor-driven θ of targetMFMiss distance estimation curve and corresponding method curve comparison figure during=30deg；Its
In, (a) is miss distance estimation curve comparison diagram, and (b) is corresponding method curve comparison figure；
Figure 10 is the sinusoidal motor-driven θ of targetMFResidual non-uniformity estimation curve comparison diagram during=- 30deg；
Figure 11 is the sinusoidal motor-driven θ of targetMFResidual non-uniformity estimation curve comparison diagram during=30deg；
Figure 12 is the sinusoidal motor-driven θ of targetMFMissile route curve and flight-path angle curve comparison figure during=- 30deg；Wherein,
(a) it is missile route curve comparison figure, (b) is flight-path angle curve comparison figure；
Figure 13 is the sinusoidal motor-driven θ of targetMFMissile route curve and flight-path angle curve comparison figure during=30deg；Wherein,
(a) it is missile route curve comparison figure, (b) is flight-path angle curve comparison figure；
Figure 14 is the sinusoidal motor-driven θ of object tape disturbanceMFMiss distance estimation curve and corresponding variance curve pair during=- 30deg
Than figure；Wherein, (a) is miss distance estimation curve comparison diagram, and (b) is corresponding variance curve comparison figure；
Figure 15 is the sinusoidal motor-driven θ of object tape disturbanceMFMiss distance estimation curve and corresponding variance curve comparison during=30deg
Figure；Wherein, (a) is miss distance estimation curve comparison diagram, and (b) is corresponding variance curve comparison figure；
Figure 16 is the sinusoidal motor-driven θ of object tape disturbanceMFResidual non-uniformity estimation curve comparison diagram during=- 30deg；
Figure 17 is the sinusoidal motor-driven θ of object tape disturbanceMFResidual non-uniformity estimation curve comparison diagram during=30deg；
Figure 18 is the sinusoidal motor-driven θ of object tape disturbanceMFMissile route curve and flight-path angle curve comparison figure during=- 30deg；
Wherein, (a) is missile route curve comparison figure, and (b) is flight-path angle curve comparison figure；
Figure 19 is the sinusoidal motor-driven θ of object tape disturbanceMFMissile route curve and flight-path angle curve comparison figure during=30deg.
Wherein, (a) is missile route curve comparison figure, and (b) is flight-path angle curve comparison figure.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail the present invention.
1) it is respectively established using the bullet mesh relative distance measured and using system identifying method and regression analysis,
Detailed process is as follows：
Assuming that playing mesh relative distance can measure and be denoted as from 0 moment to the current m momentWhen wherein m is current
Quarter is worth.According to acquired bullet mesh relative distance sequenceIts corresponding first-order difference sequence is can obtain, is denoted as
And there is Δ Ri=Ri+1-Ri.Jth kind modeling method is f in m moment institutes established modelj,m(), wherein j=1 ..., n.Herein,
Modeling method is system identifying method and regression analysis, n=2.
2) miss distance is estimated with built formwork erection type and currently known bullet mesh relative distance, obtains miss distance and estimate
Evaluation, the interception moment is carried out at the time of which corresponds to for prediction guided missile to target；Detailed process is as follows：
Based on above-mentioned institute established model fj,m() and known current time bullet mesh relative distance Rm, can to miss distance into
Row estimation.Wherein, the expression formula that jth kind modeling method estimates the bullet mesh relative distance at l+1 moment at the m moment is writeable
For
Wherein,Estimate for jth kind modeling method at the m moment to the bullet mesh relative distance at l moment, and have one
Order differenceNj,mIt is jth kind modeling method in m moment corresponding predictive intercept moment value；N is to build
Mould method number；L is the total length for playing mesh relative distance sequence.
If define 1.OrThenWherein,For
J kinds modeling method is in m moment corresponding miss distance estimate.
Miss distance estimatePrecision directly by its estimate the precision of model and measure gained bullet mesh it is opposite away from
Quantity and precision from value determine that is, bullet mesh relative distance value is more and precision is higher, and the model accuracy of foundation is higher and to de-
The estimate of target amount is more accurate.
From defining 1, miss distance estimated sequenceFor random sequence.Without loss of generality,
Assuming that this random sequence Gaussian distributed, i.e.,Due toThanIt is more accurate, because
This hereinafter willIt is considered as miss distance estimate.Wherein,ForAverage,ForSide
Difference.
Assuming that the value that misses the target is rN, and with miss distance estimateBetween there are following relation
Wherein, εj,mEstimate random error in m moment corresponding miss distance for jth kind modeling method.Without loss of generality,
Assuming thatWherein,For εj,mVariance.
Miss distance estimateInterception moment, i.e. N are carried out to target for prediction guided missile at the time of correspondingj,m。
Cause miss distance estimate due to playing mesh relative distance error in measurement and modeling errorWith evaluated error εj.m
With randomness.In theory, assume that random error in measurement and modeling error obey Gauss generally for being further analyzed
Distribution, while the method for this processing error also extensive utilization in engineering.
It was found from formula (2),Gaussian distributed isSet up, thenProbability it is close
Spending function is
Wherein, pj() is the probability density function of jth kind modeling method.
Since n kinds modeling method is different and independently of each other, then joint probability density functionFor
Understand that the Fisher information J of miss distance is according to formula (4)
Wherein, E [] represents expectation computing.
Since the quantity of missing distance prediction model that different modeling methods are established has different accuracy, obtained from these models
Miss distance estimation component also has different accuracy, it is contemplated herein that with Fisher information fusion method by the miss distance of different accuracy
Estimate component is merged to obtain more accurate miss distance estimate.Analysis is understood more than, and miss distance fusion is estimated
Evaluation is the function of miss distance estimate, is specially
Wherein,Estimate is merged for m moment miss distance.
It can reflect that each miss distance estimates component in view of Fisher information JIn comprising missing the target value rN's
How much, at the same time it is wished that this be the bigger the better comprising degree, therefore miss distance fusion estimateIt is represented by
The optimal solution of optimization problem formula (7)For
The specific proof procedure that will be given below formula (8) is as follows：
From formula (3)~formula (5),It is represented by
Due toSet up, therefore formula (5) can be rewritten as
Order
So far the optimal solution of formula (7) is converted into the algebraically extreme-value problem of formula (10).Since normal distribution race is exponential family, its
Integration has interchangeability with differential order.Theoretical based on this, the algebraically extreme-value problem of formula (10) can be converted into the excellent of formula (11)
Change problem, is specially
Bringing formula (11) into formula (12) can obtain
The solution of formula (13) is
With
From formula (13)~formula (15), this optimization problem shares three solutions, is respectivelyWithBut by
In onlyI.e.It is rNUnbiased esti-mator.Therefore, formula (14) is the optimal solution of this optimization problem.
3) calculate and play the mesh relative distance estimation moment and predict that guided missile to target intercept the time interval value at moment, then
It is multiplied to obtain the residual non-uniformity estimation component at current time with time interval value with the sampling period, detailed process is as follows：
From formula (1), it is assumed that in Nj,mMoment guided missile intercepts target, therefore from when playing the estimation of mesh relative distance
Carve m+1 to Nj,mMoment needs N altogetherj,m- m time interval values.
It follows that estimate component in m moment corresponding residual non-uniformity for jth kind modeling methodCan table
It is shown as
Wherein, T is the sampling period.
4) Fisher information fusion method is used, obtains merging estimate, specific mistake in current time residual non-uniformity
Journey is as follows：
With Fisher information fusion method, estimated according to jth kind modeling method in m moment corresponding residual non-uniformity
Score amountIt can obtain and merge estimate in m moment residual non-uniformityFor
In order to save missile-borne computer operation time and memory space, and improve and intercept section residual non-uniformity estimation essence
Degree, this method of estimation need use in practical applications time-varying sampling period, i.e., the sampling period with bullet mesh relative distance by
It is decrescence small and reduce.
Simulation analysis and result
In order to preferably verify the characteristic of the miss distance of proposition and residual non-uniformity On-line Estimation algorithm, design altogether herein
Three emulation experiments, are specially that target remains static, sinusoidal motor-driven and sinusoidal motor-driven with disturbance, and each experiment is divided equally
It is expected that incidence angle is -30deg and two kinds of situations of 30deg are discussed；Secondly, with System Discrimination and algorithm with regress analysis method pair
The relative distance sequence measured is modeled；Again, total bullet mesh relative distance data length is chosenCarry out initial model
Foundation.Finally, the nominal value of residual non-uniformity is provided by the method 2 being mentioned to and flown with the residue proposed herein
Estimate obtained by time Estimate algorithm is contrasted.
(1) target is static
Fig. 1 is to seek ground guidance system model certainly.In Fig. 1, it is related to two sets of coordinate systems, is specially XOZ earth axes and to regard
Line coordinates system.Wherein earth axes are integrally fixed at a kind of quiet coordinate system of earth surface, and origin O is guided missile initial position direction
With intersection point of the target initial position direction on ground, OX axis is directed toward target initial position direction, and OZ is directed toward guided missile initial position side
To；LOS coordinate system is a kind of moving coordinate system, is specially using target position T as origin, using missile-target distance as horizontal stroke in Fig. 1
Axis, direction are by target to be directed toward guided missile, its axis oriented normal in missile-target distance and direction it is upward.
M and T represents guided missile and target, VM, for the speed of guided missile, θM(t) it is the flight-path angle in Missile Ground coordinate systemFor flight-path angle of the guided missile in LOS coordinate system, ncFor guided missile acceleration；VTFor target velocity, β sits for target on ground
Flight-path angle in mark system；θMF(t) it is expectation incidence angle of the guided missile in earth axes,It is guided missile in LOS coordinate system
In expectation incidence angle, nTThe expectation incidence angle for being guided missile in LOS coordinate system.θ (t) is the angle of sight, and z (t) is guided missile on ground
Fore-and-aft distance in areal coordinate system, R are missile-target distance,For missile route LOS coordinate system lateral separation,Navigate for guided missile
Fore-and-aft distance of the mark in LOS coordinate system.
The corresponding intercept problems equation of motion is when target is static
Wherein, the optimal guidance law n of tape terminal incidence angle constraintcFor
Residual non-uniformity algorithm for estimating method 2 (C.K.Ryoo, H.Cho, M.J.Tahk, the Optimal being mentioned to
guidance laws with terminal impact angle constraint,Journal of Guidance,
Control and Dynamic,2005,28(4):724-732.) calculation formula is
(x hereinM0,zM0) and (xT0,zT0) be respectively guided missile and target initial position co-ordinates and be respectively (0m, 3048m) and
(12160m, 3048m), VMAnd θM0Respectively 914.4000m/s and 90deg, sampling time (i.e. sampling period) are 0.001s.
Miss distance estimation curve and corresponding variance curve under two groups of different incidence angles are returned and divided by system identifying method
Analysis method and Fisher information fusion method provide, specifically as shown in Figures 2 and 3；Meanwhile Fig. 4 and Fig. 5 provide difference and enter respectively
The corresponding residual non-uniformity estimation curve of the lower three kinds of algorithms of firing angle.In order to verify that Fisher Fusion Estimation Algorithms fly residue
The correctness of time Estimate, Fig. 6 and Fig. 7 sets forth what the Fisher Fusion Estimation Algorithms under two groups of different incidence angles were estimated
The corresponding missile route curve of residual non-uniformity and flight path angular curve.
Understood from Fig. 2 (a) and Fig. 3 (a), when expectation enter an association angle be -30deg and 30deg when, three kinds of algorithm for estimating miss the target
Amount estimation curve is respectively provided with identical variation tendency；Meanwhile although the initial miss distance estimate of three kinds of algorithm for estimating is larger,
But both less than 0.9m (VMFor 914.4000m/s, sampling interval 0.001s, then guided missile step-length is 0.9144m).Therefore, this three
Kind algorithm for estimating can effectively estimate the miss distance of this guidance system.With the corresponding variances of Fig. 2 (a) and Fig. 3 (a)
Estimation curve is respectively as Fig. 2 (b) and Fig. 3 (b) is involved.From this two figure, the corresponding variance yields of Fisher blending algorithms is always
Less than other two kinds of corresponding variance yields of algorithm.Preferably received it follows that the miss distance estimate of Fisher blending algorithms has
Hold back characteristic and higher estimated accuracy.
Fig. 4 and Fig. 5 gives the residual non-uniformity estimation curve under both difference expectation incidence angles.Can by this two figure
To know, the corresponding residual non-uniformity estimation curve of three kinds of algorithm for estimating almost overlaps with its respective nominal curve, and
It can be intended to nominal curve rapidly with the increase of time.It follows that when target remains static, these three are estimated
Calculating method to the residual non-uniformity of this guidance system can effectively estimate and have preferable precision.But due to
Residual non-uniformity estimate obtained by System Discrimination and regression analysis has different accuracy in different periods, and is merged by Fisher
Residual non-uniformity estimate obtained by algorithm is always ensured that the estimate for being partial to precision higher method.It follows that Fisher
The residual non-uniformity estimate of blending algorithm has preferable estimated accuracy.This conclusion is verified in figure 6 and figure 7,
Specially：Even if it is expected that incidence angle is different, the corresponding missile route curve of residual non-uniformity of Fisher Fusion Estimation Algorithms
Almost overlapped with its respective nominal curve with flight path angular curve.
In conclusion when target remains static, the Fisher residual non-uniformity On-line Estimation algorithm energy of proposition
Enough this important indicators to residual non-uniformity effectively estimate and with satisfied precision.It must can be proposed by simulation analysis
The validity and practicality of algorithm are verified.
(2) target sine is motor-driven
It is contemplated herein that it is identical seek ground guidance system model certainly and target do it is sinusoidal motor-driven.For the equation of motion of this model
It is as follows
Wherein D1And D2For disturbance quantity.Since during actually intercepting, target velocity is difficult accurate measurement and this parameter
Uncertainty, which is easily led to, plays mesh system modeling inaccuracy, herein by this uncertain disturbance quantity for being considered as guidance system.This
Influence of the disturbance quantity to miss distance and residual non-uniformity On-line Estimation is by the sinusoidal motor-driven content of (3) object tape disturbance below
In be discussed in detail, only situation existing for undisturbed is analyzed herein.
It can be written as according to Schwarz inequality, target maneuver and with the optimal guidance law that incidence angle constrains
Wherein target velocity VT=304.8000ms, aimed acceleration nT=58.3078sin (3t), other specification is the same as (1)
The static middle content of target.
Fig. 8 and Fig. 9, which is provided, it is expected miss distance On-line Estimation curve when incidence angle is -30deg and 30deg and corresponding side
Poor curve, two above it is expected the corresponding residual non-uniformity estimation curve of incidence angle respectively as shown in Figure 10 and Figure 11；Meanwhile
Under the two expectation incidence angles, the corresponding missile route curve of Fisher blending algorithm residual non-uniformity estimates and flight path
The contrast difference of angular curve and respective nominal curve is as shown in Figure 12 and Figure 13.
It was found from Fig. 8 and Fig. 9, when incidence angle is -30deg and 30deg, miss distance estimation curve and corresponding variance are bent
Line variation tendency is substantially consistent with the response curve of the static middle content of (1) target.Meanwhile it can be obtained by Fig. 8 (a) and Fig. 9 (a), three
Miss distance estimate obtained by kind algorithm for estimating still can be satisfactory, i.e., miss distance estimate is respectively less than 1.2m (guided missile and mesh
Relative velocity between mark is 1219.2000m/s, sampling time 0.001s, then is 1.2192m with respect to step value).And by scheming
8 (b) and Fig. 9 (b) can be obtained, and the corresponding variance yields of Fisher Fusion Estimation Algorithms is still less than other two kinds of algorithms, it follows that
When it is -30deg and 30deg that target, which does sinusoidal motor-driven and angle of it is expected to enter an association, Fisher Fusion Estimation Algorithms are online to miss distance
Estimation still has validity and preferable estimated accuracy.
In addition, as can be seen from Figure 10, when it is -30deg it is expected incidence angle, three kinds of algorithm for estimating are carved corresponding surplus at the beginning
Remaining flight time estimate has a deviation compared with its nominal residual non-uniformity value, but with the increase of time, three kinds of algorithms
Residual non-uniformity estimation curve, which levels off to rapidly, its nominal curve and almost to be overlapped.It follows that under this simulated conditions,
Three kinds of algorithms can carry out effective On-line Estimation to residual non-uniformity.Meanwhile as shown in Figure 11, when expectation incidence angle is
During 30deg, the corresponding residual non-uniformity estimate of three kinds of algorithms also has degree of precision even in the initial estimation moment, and
It also can quickly tend to its nominal value with the increase of time.It follows that under this simulated conditions, three kinds of algorithms also can
Residual non-uniformity is effectively estimated.And since Fisher information blending algorithm residual non-uniformity estimate is that system is distinguished
The fusion of residual non-uniformity estimation component value obtained by knowledge method and regression analysis, therefore by Fisher information blending algorithm
Gained residual non-uniformity estimate has degree of precision.This conclusion is still corresponding by this residual non-uniformity estimate
Missile route curve and flight path angular curve are verified.It is expected to enter an association angle for the missile route song under -30deg and 30deg
The contrast of line and flight path angular curve and its respective nominal curve is as shown in Figure 12 and Figure 13.From this two figure, the guided missile
Flight path curve and flight path angular curve can match with its respective nominal curve.
In conclusion when target does sinusoidal motor-driven, the Fisher fusion residual non-uniformity On-line Estimation algorithms of proposition
Residual non-uniformity can be carried out effectively estimating and can obtaining satisfied estimated accuracy.In addition, propose the validity of algorithm
Obtain verifying again with practicality.
(3) object tape disturbance is sinusoidal motor-driven
Consider the guidance model identical with the static middle content of (1) target and Guidance Law is formula (22), interference volume is respectively D1
=-1.65cos β and D2=0.55sin β.It is expected the miss distance estimation curve and its variance when incidence angle is -30deg and 30deg
Curve respectively as shown in Figure 14 and Figure 15, its corresponding residual non-uniformity estimation curve respectively as shown in Figure 16 and Figure 17 and
Corresponding targetpath curve and flight path angular curve difference is as shown in Figure 18 and Figure 19.
From Figure 14 and Figure 15, when it is expected that incidence angle is -30deg and 30deg and guidance model there is disturbance, miss the target
The variation tendency for measuring estimation curve and its correspondence variance curve is consistent with response curve in the sinusoidal motor-driven content of (2) target.Together
Shi Kezhi, under this simulated conditions, three kinds of algorithms can obtain satisfied miss distance estimate and Fisher information fusion side
The corresponding miss distance estimate of method still has preferable estimated accuracy.From Figure 16 and Figure 17, even if guidance system exists
Disturbance, residual non-uniformity estimation curve obtained by three kinds of algorithms still have consistent change with the response curve in the case of undisturbed
Change trend.And from Figure 18 and Figure 19, when it is -30deg and 30deg it is expected incidence angle, Fisher information fusion is remaining to fly
The corresponding missile route curve of row time Estimate value and flight path angular curve can equally approach its respective nominal curve, that is, propose
Method there is good robustness.
It follows that when guiding model in the presence of disturbance, the Fisher Fusion Estimation Algorithms of proposition can fly residue
This important performance indexes of time effectively and accurately estimate, and have stronger robustness.
Exist for current residual non-uniformity algorithm for estimating to guidance model dependence height, be related to parameter more and estimate essence
The problems such as degree is not high, the present invention propose a kind of new residual non-uniformity algorithm for estimating based on data-driven.This algorithm
Without being modeled to guidance model, therefore modeling error and nonlinear system are avoided to the approximate error of linearized system；
Simultaneously because this algorithm only needs to play mesh relative distance, therefore there is higher computational efficiency, moreover can fly to residue
Time, this important performance indexes was estimated.In addition, in the presence of guidance system has disturbance, the algorithm of proposition still can be right
This performance indicator is effectively estimated.The algorithms proposed through a large amount of emulation have higher estimated accuracy and computational efficiency and
Strong robustness is effectively verified.
Claims (5)
- A kind of 1. residual non-uniformity On-line Estimation method, it is characterised in that comprise the following steps：1) it is respectively established using the bullet mesh relative distance measured and using system identifying method and regression analysis；2) miss distance is estimated with built formwork erection type and currently known bullet mesh relative distance, obtains miss distance estimation Value, the interception moment is carried out at the time of which corresponds to for prediction guided missile to target；3) calculate the time interval value for playing that the mesh relative distance estimation moment to target intercept the moment with predicting guided missile, then by when Between spacing value be multiplied to obtain the residual non-uniformity estimation component at current time with the sampling period；4) Fisher information fusion method is used, obtains merging estimate in current time residual non-uniformity.
- 2. a kind of residual non-uniformity On-line Estimation method according to claim 1, it is characterised in that used in step 1) The bullet mesh relative distance of measurement is simultaneously respectively established using system identifying method and regression analysis, and detailed process is as follows：Assuming that playing mesh relative distance can measure and be denoted as from 0 moment to the current m momentWherein m is current time Value；According to acquired bullet mesh relative distance sequenceIts corresponding first-order difference sequence is obtained, is denoted asAnd There is Δ Ri=Ri+1-Ri；Jth kind modeling method is f in m moment institutes established modelj,m(), wherein j=1 ..., n；Herein, build Mould method is system identifying method and regression analysis, n=2.
- 3. a kind of residual non-uniformity On-line Estimation method according to claim 2, it is characterised in that used in step 2) Built formwork erection type and currently known bullet mesh relative distance estimate miss distance, obtain miss distance estimate, the miss distance For prediction guided missile is carried out to target the interception moment at the time of estimate corresponds to, detailed process is as follows：Based on above-mentioned institute established model fj,m() and known current time bullet mesh relative distance Rm, miss distance is estimated； Wherein, the expression formula that jth kind modeling method estimates the bullet mesh relative distance at l+1 moment at the m moment is written as<mrow> <mtable> <mtr> <mtd> <mrow> <msub> <mover> <mi>R</mi> <mo>^</mo> </mover> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> <mo>,</mo> <mi>l</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>f</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>&Delta;R</mi> <mn>0</mn> </msub> <mo>,</mo> <msub> <mi>&Delta;R</mi> <mn>1</mn> </msub> <mo>,</mo> <mn>...</mn> <mo>,</mo> <msub> <mi>&Delta;R</mi> <mrow> <mi>m</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>R</mi> <mi>m</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>l</mi> <mo>=</mo> <mi>m</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>f</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>&Delta;R</mi> <mn>0</mn> </msub> <mo>,</mo> <msub> <mi>&Delta;R</mi> <mn>1</mn> </msub> <mo>,</mo> <mn>...</mn> <mo>,</mo> <msub> <mi>&Delta;R</mi> <mrow> <mi>j</mi> <mo>.</mo> <mi>m</mi> <mo>.</mo> <mi>l</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mover> <mi>R</mi> <mo>^</mo> </mover> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> <mo>,</mo> <mi>l</mi> </mrow> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>l</mi> <mo>=</mo> <mi>m</mi> <mo>+</mo> <mn>1</mn> <mo>,</mo> <mn>...</mn> <mo>,</mo> <msub> <mi>N</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> <mo>-</mo> <mn>1</mn> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mi>n</mi> <mo>;</mo> <mi>m</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mi>L</mi> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>Wherein,Estimate for jth kind modeling method at the m moment to the bullet mesh relative distance at l moment, and have a jump PointNj,mIt is jth kind modeling method in m moment corresponding predictive intercept moment value；N is modeling side Method number；L is the total length for playing mesh relative distance sequence；If define 1.OrThenWherein,Built for jth kind Mould method is in m moment corresponding miss distance estimate；Obtained by defining 1, miss distance estimated sequenceFor random sequence；Assuming that this random sequence takes From Gaussian Profile, i.e.,Due toThanIt is more accurate, therefore willIt is considered as de- Target amount estimate；Wherein,ForAverage,ForVariance；Assuming that the value that misses the target is rN, and with miss distance estimateBetween there are following relation<mrow> <msub> <mover> <mover> <mi>R</mi> <mo>^</mo> </mover> <mo>&OverBar;</mo> </mover> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> <mo>,</mo> <msub> <mi>N</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> </mrow> </msub> <mo>=</mo> <msub> <mi>r</mi> <mi>N</mi> </msub> <mo>+</mo> <msub> <mi>&epsiv;</mi> <mrow> <mi>j</mi> <mo>.</mo> <mi>m</mi> </mrow> </msub> <mo>,</mo> <mi>j</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mi>n</mi> <mo>;</mo> <mi>m</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mi>L</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>Wherein, εj,mEstimate random error in m moment corresponding miss distance for jth kind modeling method；Assuming thatWherein,For εj,mVariance；Miss distance estimateInterception moment, i.e. N are carried out to target for prediction guided missile at the time of correspondingj,m。
- 4. a kind of residual non-uniformity On-line Estimation method according to claim 3, it is characterised in that calculated in step 3) Play the time interval value that the mesh relative distance estimation moment to target intercept the moment with predicting guided missile, then with time interval value with Sampling period is multiplied to obtain the residual non-uniformity estimation component at current time, and detailed process is as follows：Assuming that in Nj,mMoment guided missile intercepts target, therefore estimates moment m+1 to N from mesh relative distance is playedj,mMoment is total to Need Nj,m- m time interval values；For jth kind modeling method in m moment corresponding residual non-uniformity estimation componentIt is expressed as<mrow> <msub> <mover> <mi>t</mi> <mo>^</mo> </mover> <mrow> <msub> <mi>go</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> </mrow> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>N</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> <mo>-</mo> <mi>m</mi> <mo>)</mo> </mrow> <mi>T</mi> <mo>,</mo> <mi>j</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>n</mi> <mo>;</mo> <mi>m</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>L</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>16</mn> <mo>)</mo> </mrow> </mrow>Wherein, T is the sampling period.
- 5. a kind of residual non-uniformity On-line Estimation method according to claim 4, it is characterised in that used in step 1) Fisher information fusion method, obtains merging estimate in current time residual non-uniformity, detailed process is as follows：According to jth kind modeling method in m moment corresponding residual non-uniformity estimation componentObtain remaining winged at the m moment Row Fusion in Time estimateFor<mrow> <msub> <mover> <mi>t</mi> <mo>^</mo> </mover> <mrow> <msub> <mi>go</mi> <mi>m</mi> </msub> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <munderover> <mo>&Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mfrac> <msub> <mover> <mi>t</mi> <mo>^</mo> </mover> <mrow> <msub> <mi>go</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> </mrow> </msub> <msubsup> <mi>&sigma;</mi> <msub> <mi>&epsiv;</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> <mn>2</mn> </msubsup> </mfrac> </mrow> <mrow> <munderover> <mo>&Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mfrac> <mn>1</mn> <msubsup> <mi>&sigma;</mi> <msub> <mi>&epsiv;</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>m</mi> </mrow> </msub> <mn>2</mn> </msubsup> </mfrac> </mrow> </mfrac> <mo>,</mo> <mi>m</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>L</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>17</mn> <mo>)</mo> </mrow> <mo>.</mo> </mrow>
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