CN108267051A - Interative guidance method based on geometrical relationship update target point - Google Patents

Interative guidance method based on geometrical relationship update target point Download PDF

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CN108267051A
CN108267051A CN201810040890.7A CN201810040890A CN108267051A CN 108267051 A CN108267051 A CN 108267051A CN 201810040890 A CN201810040890 A CN 201810040890A CN 108267051 A CN108267051 A CN 108267051A
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target point
guidance
coordinate system
ellipse
fresh
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CN108267051B (en
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韦常柱
刁尹
关英姿
李源
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Heilongjiang Industrial Technology Research Institute Asset Management Co ltd
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Harbin Institute of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control

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  • General Engineering & Computer Science (AREA)
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Abstract

Based on the interative guidance method of geometrical relationship update target point, belong to guidance and control technology field.The present invention is to solve the problems, such as that conventional iterative method of guidance causes precision poor due to decontroling the terminal location constraint of guidance coordinate system X-direction.It includes carrying out quadratic integral to thrust and gravitation, obtains the prediction target point under guidance coordinate system, the X-direction coordinate value for predicting target point compares with the X-direction coordinate value of physical end constrained objective point in real time, obtain the real-time Predictor-corrector guidance deviation of X-direction；And according to the real-time Predictor-corrector guidance deviation of X-direction, the update variable quantity of current predictive target point and fresh target point true anomaly is calculated using geometrical relationship update method, and then obtain fresh target point coordinates；And using fresh target point as the physical end constrained objective point in next guidance period, until guidance terminates.The present invention is used for interative guidance.

Description

Interative guidance method based on geometrical relationship update target point
Technical field
The present invention relates to the interative guidance methods based on geometrical relationship update target point, belong to guidance and are led with control technology Domain.
Background technology
Interative guidance has many advantages, such as that precision is higher, adaptive ability is strong and transmitting preparation is less, and application at present is Through very ripe.Interative guidance meets the performance indicator of optimal-fuel, it is solved using the theory of optimal control under 5 constraintss Guidance program angle.
For carrier rocket, payload is made accurately to enter planned orbit, spacecraft energy consumption, maximum limit can be reduced Degree ensures that spacecraft for performing space tasks, has great significance for the quality for improving solar-system operation fuel.And it passes The interative guidance method of system can only preferably meet the two position vector direction constraints of three velocity vectors and Y, Z, for X side To positional precision can not ensure.
Invention content
The invention aims to solve terminal location of the conventional iterative method of guidance due to decontroling guidance coordinate system X-direction The problem of constraining and causing precision poor provides a kind of interative guidance method based on geometrical relationship update target point.
Interative guidance method of the present invention based on geometrical relationship update target point, it includes：
Quadratic integral is carried out to thrust and gravitation, the prediction target point under guidance coordinate system is obtained, will predict target in real time The X-direction coordinate value of point obtains the real-time Predictor-corrector guidance of X-direction compared with the X-direction coordinate value of physical end constrained objective point Deviation；And
According to the real-time Predictor-corrector guidance deviation of X-direction, using geometrical relationship update method calculating current predictive target point and newly The update variable quantity of target point true anomaly, and then obtain fresh target point coordinates；And using fresh target point as next guidance week Interim physical end constrained objective point, until guidance terminates.
Advantages of the present invention：The present invention is based on geometrical relationships to update target point, according to prediction injection point and target track Geometrical relationship accurately provides the update target point for meeting requirement of entering the orbit under deflection condition.System in real time is utilized using geometrical relationship It leads deviation to be updated target point, can be completed in a manner of very succinct to target point meeting to enter the orbit under the premise of requirement Location updating ensures that algorithm calculation amount is smaller while guidance precision is improved, and adaptivity is good, appoints suitable for elliptic orbit Business has very wide application prospect in terms of liquid launch vehicle guidance, has higher engineering practical value.
Description of the drawings
Fig. 1 is the flow chart of the interative guidance method of the present invention based on geometrical relationship update target point；
Fig. 2 is the schematic diagram using parallel lines true anomaly update target point；
Fig. 3 is the method flow diagram using parallel lines true anomaly update target point；
Fig. 4 is the schematic diagram using parallel lines position and speed projection update target point；
Fig. 5 is the method flow diagram using parallel lines position and speed projection update target point；
Fig. 6 is the schematic diagram of extended line true anomaly update target point；
Fig. 7 is to obtain the method stream of fresh target point by extended line update true anomaly and position and speed coordinate projection respectively Cheng Tu.
Specific embodiment
The present invention will be described in detail below：
With reference to shown in Fig. 1, the interative guidance method based on geometrical relationship update target point described in embodiment of the present invention, it Including carrying out quadratic integral to thrust and gravitation, the prediction target point under guidance coordinate system, the X that will predict target point in real time are obtained Direction coordinate value obtains the real-time Predictor-corrector guidance deviation of X-direction compared with the X-direction coordinate value of physical end constrained objective point； And according to the real-time Predictor-corrector guidance deviation of X-direction, current predictive target point and fresh target are calculated using geometrical relationship update method The update variable quantity of point true anomaly, and then obtain fresh target point coordinates；And using fresh target point as in next guidance period Physical end constrained objective point, until guidance terminate.
Specific embodiment one：With reference to shown in Fig. 2 and Fig. 3, as example：The embodiment of the present invention is very near using parallel lines Point angle update target point method be：Cross the prediction target point make with the parallel straight line of guidance coordinate system Y-axis, by the straight line and The intersection point of ellipse target track is as fresh target point；Updated fresh target point is obtained by the more new change of true anomaly to sit Mark, the preparation method of fresh target point coordinates are as follows：
The update variation delta θ of true anomaly is described in each guidance period：
θ=θ0Δ θ,
Wherein e be ellipse target orbital eccentricity, θ0To predict target point true anomaly, θ is fresh target point true anomaly；
Intermediate variable
A is ellipse target semi-major axis of orbit length in formula, and DX is the guidance real-time Predictor-corrector guidance deviation of coordinate system X-direction；
The relationship between six element of track of ellipse target track and state component is recycled, obtains fresh target point coordinates：
X in formulaocffFor X-direction physical end constrained component under guidance coordinate system, YocffFor Y side under guidance coordinate system To physical end constrained component, ZocffFor Z-direction physical end constrained component under guidance coordinate system, VxocffFor guidance X-direction physical end constrains velocity component, V under coordinate systemyocffSpeed point is constrained for Y-direction physical end under guidance coordinate system Amount, VzocffVelocity component is constrained for Z-direction physical end under guidance coordinate system, μ is terrestrial gravitation constant.
As shown in Fig. 2, meeting at B points with straight line where semi-major axis by the auxiliary line for updating target point C points, made by B points OY axis is handed in right angle Δ ODB, to remember a length of l of OB, due to DB=DX, ∠ BOD sizes are in D points perpendicular to the auxiliary line of OY axis Initial true anomaly θ0, thus to obtain the update variation delta θ of true anomaly.Due to from geocentric orbital reference system to guidance coordinate The rotational angle of systemFor the sum of argument of pericenter ω and true anomaly, thus it is newer same carrying out true anomaly When, the angle in transition matrixAlso it should be updated simultaneously.
After the present embodiment update true anomaly, directly target point is updated using newer track six roots of sensation number, quite In to guidance coordinate system carry out rotation update.
Specific embodiment two：With reference to shown in Fig. 4 and Fig. 5, as an example, another embodiment of the invention：Using parallel lines Position and speed projection target point, specific method step are：The update variation delta θ of true anomaly described in each guidance period For：
θ=θ0-Δθ；
Wherein e be ellipse target orbital eccentricity, θ0To predict target point true anomaly, θ is fresh target point true anomaly；
Intermediate variable
A is ellipse target semi-major axis of orbit length in formula, and DX is guidance coordinate system X-direction Predictor-corrector guidance deviation；
According to the update variation delta θ of true anomaly, fresh target point position and speed state is directly projected to original guidance and is sat In mark system：
The earth's core of fresh target point is obtained away from r by ellipse target orbit equation first：
By ellipse target orbital energy equationObtain fresh target point rate size v be：
μ is terrestrial gravitation constant；
According to moment of momentum h=rvcos β, carrying it into orbit equation can obtain
And then obtain projection of the fresh target point in former guidance coordinate system：
Its medium velocity with guidance coordinate system OY axis angle αs be：
The earth's core is away from vector and velocity angle β：
YocffFor Y-direction physical end constrained component under guidance coordinate system, VxocffIt is real for X-direction under guidance coordinate system Border end conswtraint velocity component, VyocffVelocity component is constrained for Y-direction physical end under guidance coordinate system.
The present embodiment is directly projected using coordinate, is obtained in using parallel lines true anomaly update target point methods After the update variation delta θ of true anomaly, updated position and speed state is directly projected to original and is guided in coordinate system, at this time It is updated without true anomaly.
The present embodiment is in order to draw conveniently, and DX and Δ θ is negative value in Fig. 4 on the basis of Fig. 2, true near point changing value Calculating it is similar with one derivation of specific embodiment.
Specific embodiment three：With reference to shown in Fig. 6 and Fig. 7, as an example, the embodiment of the present invention uses extended line true anomaly Update target point method be：
It connects prediction target point and the ellipse target track and feels terribly worried and obtain line, the friendship of the line and ellipse target track Point is as fresh target point：
The update variation delta θ of true anomaly is described in each guidance period：
Wherein Yn-1It is that prediction target point is guiding coordinate system Y-direction coordinate value；DX is guidance coordinate system X-direction prediction system Lead deviation；
Fresh target point true anomaly θ is：
θ=θ0-Δθ；
θ0To predict target point true anomaly；
The relationship between six element of track of ellipse target track and state component is recycled, obtains fresh target point coordinates：
X in formulaocffFor X-direction physical end constrained component under guidance coordinate system, YocffFor Y side under guidance coordinate system To physical end constrained component, ZocffTo lead Z-direction physical end constrained component, V under coordinate systemxocffIt is sat for guidance The lower X-direction physical end constraint velocity component of mark system, VyocffVelocity component is constrained for Y-direction physical end under guidance coordinate system, VzocffVelocity component is constrained for Z-direction physical end under guidance coordinate system, μ is terrestrial gravitation constant, and a is ellipse target track half Long axis length, e are ellipse target orbital eccentricity.
Wherein, OA is predicted position point Y-direction coordinate value, is Yn-1。
Specific embodiment four：With reference to shown in Fig. 6 and Fig. 7, as an example, further embodiment of this invention is using extension line position The method of velocity projections fresh target point is：
It connects prediction target point and the ellipse target track and feels terribly worried and obtain line, the friendship of the line and ellipse target track Point is as fresh target point：
The update variation delta θ of true anomaly is described in each guidance period：
Wherein Yn-1It is that prediction target point is guiding coordinate system Y-direction coordinate value；DX is guidance coordinate system X-direction prediction system Lead deviation；
Fresh target point true anomaly θ is：
θ=θ0-Δθ；
θ0To predict target point true anomaly；
The earth's core of fresh target point is obtained away from r by ellipse target orbit equation first：
A is ellipse target semi-major axis of orbit length in formula, and e is ellipse target orbital eccentricity,
By ellipse target orbital energy equationObtain fresh target point rate size v be：
μ is terrestrial gravitation constant；
And then obtain projection of the fresh target point in former guidance coordinate system：
Its medium velocity is with OY axis angle αs：
The earth's core is away from vector and velocity angle β：
YocffFor Y-direction physical end constrained component under guidance coordinate system, VxocffIt is real for X-direction under guidance coordinate system Border end conswtraint velocity component, VyocffVelocity component is constrained for Y-direction physical end under guidance coordinate system.
Specific embodiments of the present invention one and specific embodiment two are all with parallel with original guidance coordinate system OY axis and apart Parallel lines for DX are with target track intersection point as update target point.Specific embodiment three and four fundamental rules are based on extended line and target track Road intersection point is as update target point.
The present invention causes precision deficiency to carry out method for conventional iterative method of guidance due to decontroling a position constraint It improves.On the basis of original interative guidance algorithm, target point amendment is carried out, and utilize 4 by introducing Predictor-corrector guidance bias term Relationship between kind geometrical relationship more new algorithm and orbital elements and state component completes target point update.This method does not change The basic structure of original interative guidance algorithm is only updated target point and coordinate conversion matrix, effectively improves tradition and change The guidance precision of generation guidance.

Claims (5)

  1. A kind of 1. interative guidance method based on geometrical relationship update target point, which is characterized in that it includes：
    Quadratic integral is carried out to thrust and gravitation, obtains the prediction target point under guidance coordinate system, the X that will predict target point in real time Direction coordinate value obtains the real-time Predictor-corrector guidance deviation of X-direction compared with the X-direction coordinate value of physical end constrained objective point； And
    According to the real-time Predictor-corrector guidance deviation of X-direction, current predictive target point and fresh target are calculated using geometrical relationship update method The update variable quantity of point true anomaly, and then obtain fresh target point coordinates；And using fresh target point as in next guidance period Physical end constrained objective point, until guidance terminate.
  2. 2. the interative guidance method according to claim 1 based on geometrical relationship update target point, which is characterized in that use Parallel lines true anomaly update target point method be：
    It crosses the prediction target point and makees the straight line parallel with guidance coordinate system Y-axis, by the straight line and the intersection point of ellipse target track As fresh target point；The preparation method of fresh target point coordinates is as follows：
    The update variation delta θ of true anomaly is described in each guidance period：
    θ=θ0Δ θ,
    Wherein e be ellipse target orbital eccentricity, θ0To predict target point true anomaly, θ is fresh target point true anomaly；
    Intermediate variable
    A is ellipse target semi-major axis of orbit length in formula, and DX is the guidance real-time Predictor-corrector guidance deviation of coordinate system X-direction；
    The relationship between six element of track of ellipse target track and state component is recycled, obtains fresh target point coordinates：
    X in formulaocffFor X-direction physical end constrained component under guidance coordinate system, YocffIt is real for Y-direction under guidance coordinate system Border end conswtraint location components, ZocffFor Z-direction physical end constrained component under guidance coordinate system, VxocffTo guide coordinate The lower X-direction physical end constraint velocity component of system, VyocffVelocity component is constrained for Y-direction physical end under guidance coordinate system, VzocffVelocity component is constrained for Z-direction physical end under guidance coordinate system, μ is terrestrial gravitation constant.
  3. 3. the interative guidance method according to claim 1 based on geometrical relationship update target point, which is characterized in that use Parallel lines position and speed projection fresh target point method be：
    The update variation delta θ of true anomaly is described in each guidance period：
    θ=θ0-Δθ；
    Wherein e be ellipse target orbital eccentricity, θ0To predict target point true anomaly, θ is fresh target point true anomaly；
    Intermediate variable
    A is ellipse target semi-major axis of orbit length in formula, and DX is guidance coordinate system X-direction Predictor-corrector guidance deviation；
    According to the update variation delta θ of true anomaly, fresh target point position and speed state is directly projected to original and guides coordinate system In：
    The earth's core of fresh target point is obtained away from r by ellipse target orbit equation first：
    By ellipse target orbital energy equationObtain fresh target point rate size v be：
    μ is terrestrial gravitation constant；
    And then obtain projection of the fresh target point in former guidance coordinate system：
    Its medium velocity with guidance coordinate system OY axis angle αs be：
    The earth's core is away from vector and velocity angle β：
    YocffFor Y-direction physical end constrained component under guidance coordinate system, VxocffIt is practical eventually for X-direction under guidance coordinate system End constraint velocity component, VyocffVelocity component is constrained for Y-direction physical end under guidance coordinate system.
  4. 4. the interative guidance method according to claim 1 based on geometrical relationship update target point, which is characterized in that use Extended line true anomaly update target point method be：
    It connects prediction target point and the ellipse target track and feels terribly worried and obtain line, the intersection point of the line and ellipse target track is made For fresh target point：
    The update variation delta θ of true anomaly is described in each guidance period：
    Wherein Yn-1It is that prediction target point is guiding coordinate system Y-direction coordinate value；DX is inclined for guidance coordinate system X-direction Predictor-corrector guidance Difference；
    Fresh target point true anomaly θ is：
    θ=θ0-Δθ；
    θ0To predict target point true anomaly；
    The relationship between six element of track of ellipse target track and state component is recycled, obtains fresh target point coordinates：
    X in formulaocffFor X-direction physical end constrained component under guidance coordinate system, YocffIt is real for Y-direction under guidance coordinate system Border end conswtraint location components, ZocffTo lead Z-direction physical end constrained component, V under coordinate systemxocffTo guide coordinate system Lower X-direction physical end constrains velocity component, VyocffVelocity component, V are constrained for Y-direction physical end under guidance coordinate systemzocff Velocity component is constrained for Z-direction physical end under guidance coordinate system, μ is terrestrial gravitation constant, and a is ellipse target semi-major axis of orbit Length, e are ellipse target orbital eccentricity.
  5. 5. the interative guidance method according to claim 1 based on geometrical relationship update target point, which is characterized in that use Extended line position and speed projection fresh target point method be：
    It connects prediction target point and the ellipse target track and feels terribly worried and obtain line, the intersection point of the line and ellipse target track is made For fresh target point：
    The update variation delta θ of true anomaly is described in each guidance period：
    Wherein Yn-1It is that prediction target point is guiding coordinate system Y-direction coordinate value；DX is inclined for guidance coordinate system X-direction Predictor-corrector guidance Difference；
    Fresh target point true anomaly θ is：
    θ=θ0-Δθ；
    θ0To predict target point true anomaly；
    The earth's core of fresh target point is obtained away from r by ellipse target orbit equation first：
    A is ellipse target semi-major axis of orbit length in formula, and e is ellipse target orbital eccentricity,
    By ellipse target orbital energy equationObtain fresh target point rate size v be：
    μ is terrestrial gravitation constant；
    And then obtain projection of the fresh target point in former guidance coordinate system：
    Its medium velocity is with OY axis angle αs：
    The earth's core is away from vector and velocity angle β：
    YocffFor Y-direction physical end constrained component under guidance coordinate system, VxocffIt is practical eventually for X-direction under guidance coordinate system End constraint velocity component, VyocffVelocity component is constrained for Y-direction physical end under guidance coordinate system.
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CN111238474A (en) * 2020-02-05 2020-06-05 哈尔滨工业大学 Strapdown seeker non-singular line-of-sight angular velocity extraction method based on inclined coordinate system
CN111272173A (en) * 2020-02-20 2020-06-12 哈尔滨工业大学 Gradient solving iterative guidance method considering earth rotation and large yaw angle
CN111351401A (en) * 2018-12-21 2020-06-30 北京理工大学 Anti-sideslip guidance method applied to strapdown seeker guidance aircraft
CN115309059A (en) * 2022-10-10 2022-11-08 北京航天自动控制研究所 Direct guidance method considering gravity compensation

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JP2016180699A (en) * 2015-03-24 2016-10-13 三菱重工業株式会社 Radio guidance method, radio guidance device, guidance program, and missile
CN106250625A (en) * 2016-07-29 2016-12-21 北京航天自动控制研究所 A kind of optimization method of spacecraft interative guidance

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CN101694364A (en) * 2009-09-30 2010-04-14 北京航天自动控制研究所 Method for quickly converting perturbation guidance and iteration guidance
CN103983143A (en) * 2014-04-04 2014-08-13 北京航空航天大学 Air-to-ground guided missile projection glide-section guidance method including speed process constraint and multi-terminal constraint
JP2016180699A (en) * 2015-03-24 2016-10-13 三菱重工業株式会社 Radio guidance method, radio guidance device, guidance program, and missile
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CN111351401A (en) * 2018-12-21 2020-06-30 北京理工大学 Anti-sideslip guidance method applied to strapdown seeker guidance aircraft
CN111351401B (en) * 2018-12-21 2022-12-23 北京理工大学 Anti-sideslip guidance method applied to strapdown seeker guidance aircraft
CN111238474A (en) * 2020-02-05 2020-06-05 哈尔滨工业大学 Strapdown seeker non-singular line-of-sight angular velocity extraction method based on inclined coordinate system
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