CN108458727B - Precision index self-adaptive distribution method and system for ballistic missile inertia measurement system - Google Patents

Precision index self-adaptive distribution method and system for ballistic missile inertia measurement system Download PDF

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CN108458727B
CN108458727B CN201810139159.XA CN201810139159A CN108458727B CN 108458727 B CN108458727 B CN 108458727B CN 201810139159 A CN201810139159 A CN 201810139159A CN 108458727 B CN108458727 B CN 108458727B
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魏宗康
高荣荣
周姣
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Beijing Aerospace Control Instrument Institute
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Abstract

The invention discloses a precision index self-adaptive distribution method and system for a ballistic missile inertia measurement system. Wherein, the method comprises the following steps: firstly, according to the required value of the transverse and longitudinal position error and the environmental function of the ballistic missile, obtaining an initial value of an error coefficient of an inertial measurement system, solving the ratio of the transverse and longitudinal position error value and each error coefficient, and judging the size of the calculated transverse and longitudinal position error value and the total required value. Secondly, if the error values of the transverse and longitudinal positions are all smaller than the total required value, no adjustment is needed; otherwise, the error coefficient with the maximum ratio of the horizontal position error value to the longitudinal position error value is adaptively adjusted. And repeating the steps until the obtained error value of the transverse and longitudinal positions is smaller than the required value given by the general department. The invention realizes the self-adaptive distribution of the precision indexes of the inertial measurement system, solves the problem of automatic distribution of the precision indexes under the unbalance of the error values of the transverse and longitudinal positions of the drop points of the guided missiles, and provides an optimal realization method.

Description

Precision index self-adaptive distribution method and system for ballistic missile inertia measurement system
Technical Field
The invention belongs to the technical field of precision analysis of ballistic missiles and precision analysis and design of inertial measurement systems, and particularly relates to a precision index self-adaptive distribution method and system of a ballistic missile inertial measurement system.
Background
The precision index distribution method of the ballistic missile inertia measurement system generally comprises a manual precision index distribution method and a full-automatic precision index distribution method. The manual precision index distribution method mainly depends on personal subjectivity to adjust the missile trajectory and the experience value of the error coefficient item of the inertia measurement system in sequence. The full-automatic precision index distribution method can automatically solve to obtain the optimal error coefficient item of the inertial measurement system according to the trajectory and environment functions given by the general department and the precision requirement value based on the criterion of the circular probability error CEP (the radius of 50 percent of missiles falling on a circle with the center of the scatter of the falling points as the center of the circle).
The full-automatic precision index allocation method is specifically as follows:
1. according to the general department, providing CEP required value and environment function
Figure BDA0001577133530000011
Figure BDA0001577133530000012
And the design department gives an initial value c of the error coefficient of the inertial measurement systemi0(i ═ 1,2,3 …) the following parameters were calculated:
Figure BDA0001577133530000013
Figure BDA0001577133530000014
Figure BDA0001577133530000015
Figure BDA0001577133530000016
CEP1＝0.615σH+0.562σL
Figure BDA0001577133530000017
Figure BDA0001577133530000021
wherein L isiRepresents the longitudinal falling point deviation H caused by each error valueiRepresenting the deviation of the lateral drop point, σ, caused by each error valueHRepresenting deviation of transverse drop point, sigma, of ballistic missileLIndicating the deviation of the longitudinal drop point of the ballistic missile, CEP1 indicating the value of the calculated CEP,
Figure BDA0001577133530000022
indicating the ratio of longitudinal drop off caused by each error value,
Figure BDA0001577133530000023
the lateral drop point deviation ratio caused by each error value is shown.
2. Comparing the calculated CEP value with the CEP value given by the general department:
if CEP0> CEP1, then there is no need to adjust the error coefficients of the inertial measurement system;
if CEP0<And (8) CEP1, judging the sizes of the deviation of the transverse drop point of the ballistic missile and the deviation of the longitudinal drop point of the ballistic missile. Such asFruit sigmaL>σHAnd solving an error term with the largest ratio of the lateral drop point deviation caused by the error term, and carrying out proportion adjustment on the error term, wherein the adjusted proportion factor is a fixed value. After adjustment, CEP value calculation is carried out, and the calculation formula is that CEP2 is 0.615 sigmaH+0.562σLWhere CEP2 represents the CEP value after adjusting the error coefficient.
3. And (3) repeating the step (2) until the calculated CEP value is smaller than the CEP value given by the general department, wherein the error coefficient at the moment is the final error coefficient meeting the requirements of the general department.
The manual precision index distribution method and the full-automatic precision index distribution method are two methods commonly used for distributing precision indexes of the existing ballistic missile inertia measurement system, but have the following problems:
(1) the manual precision index distribution method mainly realizes artificial subjective adjustment by means of personal experience values and is seriously dependent on personal understanding of missile trajectory and inertial measurement system error coefficients. On one hand, the accuracy of the precision index distribution is questioned, and the influence of subjective factors is large; on the other hand, the whole working time is greatly prolonged by manual operation, and the calculation process is complicated, so that the task can not be completed on time efficiently;
(2) the precision evaluation basis in the full-automatic precision index distribution method is a circular probability error CEP. When the position deviation of the drop point in the transverse direction and the longitudinal direction is not large, the CEP can be used as the drop point precision evaluation index of the ballistic missile; when the position deviation of the drop point of the ballistic missile in the transverse and longitudinal directions is large, namely the drop point is in elliptical distribution on a plane, CEP is difficult to visually, reasonably and accurately estimate the precision of the drop point of the missile;
(3) when the error coefficient is automatically adjusted in the full-automatic precision index distribution method, the adjustment factor is a fixed value, and the adjustment amplitude of the error coefficient in the adjustment process changes from large to small according to the reduction ratio between the actual error value and the required initial value, which does not accord with the objective rule that the adjustment factor is in a descending trend. Therefore, the fixed adjustment factor cannot accurately and reasonably implement the task of precision index assignment.
Through the analysis, the manual precision index distribution method and the full-automatic precision index distribution method of the ballistic missile inertia measurement system cannot provide practical, reasonable and convenient solutions for engineering personnel.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method and the system overcome the defects of the prior art, realize the function of automatically resolving the optimal error coefficient of the inertial measurement system by using a self-adaptive method according to the trajectory, the environmental function and the required horizontal and longitudinal position deviation precision required values, reduce the workload of a design department and simultaneously reduce the communication time between the whole system and the design department.
The purpose of the invention is realized by the following technical scheme: according to one aspect of the invention, an adaptive distribution method for accuracy indexes of a ballistic missile inertia measurement system is provided, and the method comprises the following steps: (1) giving a preset value sigma of lateral position deviationH0Preset value sigma of longitudinal position deviationL0Initial values of error coefficients of the environment function and the inertia measurement system; (2) solving a transverse error value under each error coefficient distribution, a longitudinal error value, a transverse error variance value and a longitudinal error variance value under each error coefficient distribution according to the environment function and the initial value of the error coefficient of the inertia measurement system; (3) obtaining a transverse error occupation ratio according to the square value and the transverse error variance value of the transverse error value distributed by each error coefficient, and obtaining a longitudinal error occupation ratio according to the square value and the longitudinal error variance value of the longitudinal error value distributed by each error coefficient; (4) judging the magnitude of the transverse error initial value and the transverse position deviation preset value and the magnitude of the longitudinal error initial value and the longitudinal position deviation preset value, and if the transverse error initial value is smaller than the transverse position deviation preset value and the longitudinal error initial value is smaller than the longitudinal position deviation preset value, no adjustment is needed; otherwise, firstly judging whether the longitudinal error initial value is larger than a longitudinal position deviation preset value, if so, carrying out self-adaptive adjustment on an error coefficient with the maximum longitudinal ratio; if not, the error coefficient with the maximum transverse ratio is processedSelf-adaptive adjustment; and (5) obtaining a transverse error value and a longitudinal error value after self-adaptive adjustment, judging whether the transverse error value obtained after the self-adaptive adjustment is smaller than a transverse position deviation preset value and whether the longitudinal error value is smaller than a longitudinal position deviation preset value, if so, meeting the precision requirement and giving an optimal inertial measurement system error coefficient, and if not, repeating the step (3).
In the accuracy index self-adaptive distribution method of the ballistic missile inertia measurement system, in the step (1),
Figure BDA0001577133530000041
representing an environment function, wherein SxIndicating the transverse position of the shut-down point, SyIndicating the longitudinal position of the shut-down point, SzIndicating a shutdown point elevation position; vxIndicating the transverse velocity, V, of the shutdown pointyIndicating the longitudinal speed, V, of the shutdown pointzIndicating the altitude passage velocity at the point of shutdown, ci0And (3) an initial value of an error coefficient of the inertial measurement system is represented, wherein i is 1,2 and 3 … n.
In the adaptive distribution method for precision indexes of the ballistic missile inertia measurement system, in the step (2), the longitudinal error values distributed by the error coefficients are as follows:
Figure BDA0001577133530000042
wherein L isiRepresents the longitudinal error value of each error coefficient assignment,
Figure BDA0001577133530000043
the longitudinal state parameter value of the missile after the shutdown point;
the lateral error value under each error coefficient assignment:
Figure BDA0001577133530000044
wherein HiRepresents the lateral error value for each error coefficient assignment,
Figure BDA0001577133530000045
the transverse state parameter value of the missile after the shutdown point;
the variance value of the lateral error is
Figure BDA0001577133530000046
The longitudinal error variance value is sigmaL 2＝∑(Li)2。
In the self-adaptive distribution method for the accuracy index of the ballistic missile inertia measurement system, in the step (3), the transverse error accounts for the ratio of
Figure BDA0001577133530000051
Longitudinal error ratio of
Figure BDA0001577133530000052
In the adaptive distribution method for precision indexes of the ballistic missile inertia measurement system, in the step (4), when the error coefficient item is adaptively adjusted, the specific method is as follows:
Figure BDA0001577133530000053
Figure BDA0001577133530000054
Figure BDA0001577133530000055
Figure BDA0001577133530000056
wherein k islAnd khFor the adaptive adjustment factor, i is the adjustment times, i is 1,2,3 …, σHi/σH0For each adjusted ratio of the lateral error value to the preset value of the lateral position deviation, σLi/σL0For longitudinal error after each adjustmentThe ratio of the difference to a preset value of longitudinal position deviation.
According to another aspect of the present invention, there is also provided an adaptive distribution system for accuracy indexes of a ballistic missile inertia measurement system, including: a first module for giving a preset value sigma of the lateral position deviationH0Preset value sigma of longitudinal position deviationL0Initial values of error coefficients of the environment function and the inertia measurement system; the second module is used for solving a transverse error value under each error coefficient distribution, a longitudinal error value, a transverse error variance value and a longitudinal error variance value under each error coefficient distribution according to the environment function and the initial value of the error coefficient of the inertia measurement system; the third module is used for obtaining a transverse error occupation ratio according to the square value and the transverse error variance value of the transverse error value distributed by each error coefficient, and obtaining a longitudinal error occupation ratio according to the square value and the longitudinal error variance value of the longitudinal error value distributed by each error coefficient; the fourth module is used for judging the size of the transverse error initial value and the transverse position deviation preset value and the size of the longitudinal error initial value and the longitudinal position deviation preset value, and if the transverse error initial value is smaller than the transverse position deviation preset value and the longitudinal error initial value is smaller than the longitudinal position deviation preset value, adjustment is not needed; otherwise, firstly judging whether the longitudinal error initial value is larger than a longitudinal position deviation preset value, if so, carrying out self-adaptive adjustment on an error coefficient with the maximum longitudinal ratio; if not, performing self-adaptive adjustment on the error coefficient with the maximum transverse ratio; and the fifth module is used for obtaining a transverse error value and a longitudinal error value after self-adaptive adjustment, judging whether the transverse error value obtained after self-adaptive adjustment is smaller than a transverse position deviation preset value or not and whether the longitudinal error value is smaller than a longitudinal position deviation preset value or not, and if so, meeting the precision requirement and giving an optimal error coefficient of the inertial measurement system.
In the accuracy index self-adaptive distribution system of the ballistic missile inertia measurement system,
Figure BDA0001577133530000061
representing an environment function, wherein SxIndicating the transverse position of the shut-down point, SyIndicating the longitudinal position of the shut-down point, SzIndicating a shutdown point elevation position; vxIndicating the transverse velocity, V, of the shutdown pointyIndicating the longitudinal speed, V, of the shutdown pointzIndicating the altitude passage velocity at the point of shutdown, ci0And (3) an initial value of an error coefficient of the inertial measurement system is represented, wherein i is 1,2 and 3 … n.
In the precision index adaptive distribution system of the ballistic missile inertia measurement system, the longitudinal error value distributed by each error coefficient is as follows:
Figure BDA0001577133530000062
wherein L isiRepresents the longitudinal error value of each error coefficient assignment,
Figure BDA0001577133530000063
the longitudinal state parameter value of the missile after the shutdown point;
the lateral error value under each error coefficient assignment:
Figure BDA0001577133530000064
wherein HiRepresents the lateral error value for each error coefficient assignment,
Figure BDA0001577133530000065
the transverse state parameter value of the missile after the shutdown point;
the variance value of the lateral error is
Figure BDA0001577133530000066
The longitudinal error variance value is sigmaL 2＝∑(Li)2。
In the precision index self-adaptive distribution system of the ballistic missile inertia measurement system, the transverse error accounts for a ratio of
Figure BDA0001577133530000071
Ratio of longitudinal errorIs composed of
Figure BDA0001577133530000072
In the accuracy index adaptive distribution system of the ballistic missile inertia measurement system, when the error coefficient item is adaptively adjusted, the specific method is as follows:
Figure BDA0001577133530000073
Figure BDA0001577133530000074
Figure BDA0001577133530000075
Figure BDA0001577133530000076
wherein k islAnd khFor adaptive adjustment factor, i is the adjustment number, i is 1,2,3 … n, σHi/σH0For each adjusted ratio of the lateral error value to the preset value of the lateral position deviation, σLi/σL0The ratio of the longitudinal error value after each adjustment to the preset value of the longitudinal position deviation.
Compared with the prior art, the invention has the following beneficial effects:
(1) in the adjusting process, the adjusting factor can be dynamically and adaptively adjusted according to the gradually reduced gap proportion between each precision required value and the actual precision calculated value. The method can enable the adjusted item to reach the optimal state more accurately and scientifically, realizes automatic and intelligent adjustment of the error coefficient item, and reduces the workload and the working difficulty.
(2) The invention provides an accuracy evaluation index when the deviation of the drop point in the transverse and longitudinal positions is unbalanced. The accuracy indexes of the transverse position and the longitudinal position are separately designed and the accuracy index distribution is completed, the drop point distribution characteristic of the ballistic missile in actual target shooting is met, meanwhile, the accuracy index distribution of an error coefficient is more accurate, the improvement on the error item influencing the transverse and longitudinal accuracy is more clear and definite, and certain practicability and universality are realized.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of an adaptive distribution method for inertial guidance accuracy indexes provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a convergence curve of a longitudinal error value L with an adjustment number i according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a convergence curve of a lateral error value H with an adjustment number i according to an embodiment of the present invention;
FIG. 4 shows a longitudinal error adjustment factor k according to an embodiment of the present inventionlA schematic diagram of a convergence curve varying with the adjustment times i;
FIG. 5 shows a lateral error adjustment factor k according to an embodiment of the present inventionhA schematic diagram of a convergence curve varying with the adjustment times i;
FIG. 6 is a schematic diagram of a drop point distribution and an elliptical probability error model of a ballistic missile under imbalance of lateral and longitudinal position deviation according to an embodiment of the invention;
fig. 7 is a schematic diagram of the ratio of each error coefficient influencing the longitudinal error after the optimal adjustment according to the embodiment of the present invention;
fig. 8 is a schematic diagram of the ratio of each error coefficient influencing the lateral error after the optimal adjustment according to the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Since the ballistic missile is a missile with a determined ballistic trajectory, the ballistic missile is a main component in an active tactical missile. The drop point error of the ballistic missile mainly depends on the accuracy of an inertial measurement system, the accuracy of the inertial measurement system mainly depends on error coefficients of an accelerometer, a gyroscope and other devices, the influence of the error coefficients on the drop point accuracy is different, and a drop point distribution and an elliptic probability error (EEP) model under the condition of unequal transverse and longitudinal position deviations are shown in FIG. 6. The position deviation of the drop point of an actual ballistic missile in the transverse and longitudinal directions is large, and the accuracy evaluation of the drop point of the missile is difficult to accurately realize through the circular probability error CEP. Therefore, a precision index self-adaptive distribution method suitable for the ballistic missile inertia measurement system under the condition of unbalanced transverse and longitudinal position deviation needs to be introduced, the distribution efficiency of various error coefficients of the inertia measurement system is improved, the development progress of the ballistic missile inertia measurement system is improved, and the development difficulty is reduced.
Fig. 1 is a flowchart of an inertial guidance precision index adaptive allocation method according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
(1) giving a preset value sigma of lateral position deviationH0Preset value sigma of longitudinal position deviationL0Initial values of error coefficients of the environment function and the inertia measurement system;
(2) solving a transverse error value under each error coefficient distribution, a longitudinal error value, a transverse error variance value and a longitudinal error variance value under each error coefficient distribution according to the environment function and the initial value of the error coefficient of the inertia measurement system;
(3) and obtaining a transverse error occupation ratio according to the square value and the transverse error variance value of the transverse error value distributed by each error coefficient, and obtaining a longitudinal error occupation ratio according to the square value and the longitudinal error variance value of the longitudinal error value distributed by each error coefficient. Wherein, the convergence curve of the longitudinal error value changing with the adjustment times is shown in fig. 2, and the convergence curve of the transverse error value changing with the adjustment times is shown in fig. 3;
(4) judging the magnitude of the transverse error initial value and the transverse position deviation preset value and the magnitude of the longitudinal error initial value and the longitudinal position deviation preset value, and if the transverse error initial value is smaller than the transverse position deviation preset value and the longitudinal error initial value is smaller than the longitudinal position deviation preset value, no adjustment is needed; otherwise, firstly judging whether the longitudinal error initial value is larger than a longitudinal position deviation preset value, if so, carrying out self-adaptive adjustment on an error coefficient with the maximum longitudinal ratio; and if not, performing self-adaptive adjustment on the error coefficient with the maximum transverse ratio. Wherein, the convergence curve of the longitudinal error adjustment factor with the adjustment times i is shown in FIG. 4, and the transverse error adjustment factor klThe convergence curve as a function of the number of adjustments is shown in fig. 5;
(5) and (3) obtaining a transverse error value and a longitudinal error value after self-adaptive adjustment, judging whether the transverse error value obtained after self-adaptive adjustment is smaller than a transverse position deviation preset value and whether the longitudinal error value obtained after self-adaptive adjustment is smaller than a longitudinal position deviation preset value, if so, meeting the precision requirement and giving an optimal error coefficient of the inertial measurement system, and if not, repeating the step (3).
The preset value sigma of the transverse position deviation in the step (1)H0Preset value sigma of longitudinal position deviationL0Initial values of error coefficients of the environment function and the inertia measurement system:
σL0for a preset value of longitudinal position deviation, σH0Is a preset value of the lateral position deviation,
Figure BDA0001577133530000101
representing an environment function, wherein Si(i ═ x, y, z) denotes the location of the shutdown point, Vi(i ═ x, y, z) denotes the shutdown point speed, ci0(i-1, 2,3 …) represents inertial measurementInitial values of the systematic error coefficients.
In step (2), the longitudinal error value, the lateral error variance value and the longitudinal error variance value under each error coefficient distribution:
the longitudinal error value under each item of error coefficient distribution is calculated as follows:
Figure BDA0001577133530000102
wherein L isiRepresenting the longitudinal error value under each error coefficient distribution;
the lateral error value under each error coefficient assignment:
Figure BDA0001577133530000103
wherein HiRepresenting the lateral error value under each error coefficient distribution;
wherein,
Figure BDA0001577133530000104
the longitudinal state parameter value of the missile after the shutdown point,
Figure BDA0001577133530000111
and (4) the transverse state parameter value of the missile after the shutdown point.
Lateral error variance value
Figure BDA0001577133530000112
Longitudinal error variance value sigmaL 2＝∑(Li)2；
In the step (3), the calculation modes of the transverse error ratio and the longitudinal error ratio are respectively as follows:
lateral error ratio:
Figure BDA0001577133530000113
longitudinal error ratio:
Figure BDA0001577133530000114
the step (5) is realized in the following way: when the error coefficient item is adaptively adjusted, the specific method is as follows:
Figure BDA0001577133530000115
Figure BDA0001577133530000116
Figure BDA0001577133530000117
Figure BDA0001577133530000118
wherein k islAnd khFor the adaptive adjustment factor, i is the adjustment times (i is 1,2,3 …). SigmaHi/σH0The ratio of the lateral error value after each adjustment to the preset lateral position deviation value. SigmaLi/σL0The ratio of the longitudinal error value after each adjustment to the preset value of the longitudinal position deviation.
And when the self-adaptive adjustment is finished and the longitudinal error value and the transverse error value which meet the precision requirement are obtained, respectively obtaining the transverse error proportion and the longitudinal error proportion which influence the precision requirement after the optimal self-adaptive adjustment. The ratio of each error coefficient influencing the longitudinal error after the optimal adjustment is shown in fig. 7, and the ratio of each error coefficient influencing the transverse error after the optimal adjustment is shown in fig. 8.
Example (b):
in this embodiment, the accuracy index adaptive distribution method of the ballistic missile inertia measurement system is adopted to perform simulation verification, and simulation results are shown in fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6.
FIG. 2, FIG. 3, FIG. 4FIG. 5 shows the lateral error adjustment factor klLongitudinal error adjustment factor khA convergence curve of the transverse error value L and the longitudinal error value H along with the adjustment times i. As can be seen from FIG. 2, the accuracy of the lateral adjustment factor reaches 10 after about 180 times of adaptive adjustment-8Adjustment of the factor k in the lateral directionlFrom 5.726 to 1; as can be seen from fig. 3, the lateral error value L gradually approaches 1000m from the initial 5726m, which meets the lateral error accuracy requirement; as can be seen from FIG. 4, the accuracy of the longitudinal adjustment factors reaches 10 through about 180 times of self-adaptive adjustment-8Longitudinal adjustment factor khGradually approaches 1 from 1.878; as can be seen from fig. 5, the longitudinal error value H gradually approaches 500m from the initial 939m, reaching the accuracy requirement of the longitudinal error.
FIG. 6 is a schematic diagram of the distribution of the falling points and the elliptical probability error EEP under the condition of unequal lateral and longitudinal position deviations. The simulated target hitting is 1000 shots, and the distribution of missile landing points is shown as blue points in figure 3. As can be seen from the figure, the missile landing points are distributed in the transverse direction far more than the landing points in the longitudinal direction, and the overall shape is elliptic. The standard deviation of the drop point distribution along the horizontal axis and the vertical axis is respectively sigma after calculationL＝1005.8221m、σH495.5838 m. The calculated EEP (1184.2651m, 583.5054m) is obtained according to an ellipse probability error model EEP (the long and short radii of an ellipse where the probability that the position of a drop point falls into a certain ellipse with the center of a scattering center as a center is 50%), and the corresponding ellipse is a red curve as shown in FIG. 3, and the ellipse contains a 50% drop point probability. Through simulation statistics, 1000 falling points, namely 506 falling points in the ellipse and 494 falling points outside the ellipse, verify the correctness of the model.
Device embodiment
The embodiment also provides a precision index adaptive distribution system of a ballistic missile inertia measurement system, which comprises: the device comprises a first module, a second module, a third module, a fourth module and a fifth module. Wherein,
a first module for giving a preset value sigma of the lateral position deviationH0Preset value sigma of longitudinal position deviationL0Initial values of error coefficients of the environment function and the inertia measurement system; first, theThe module II is used for solving a transverse error value under each error coefficient distribution, a longitudinal error value, a transverse error variance value and a longitudinal error variance value under each error coefficient distribution according to the environment function and the initial value of the error coefficient of the inertia measurement system; the third module is used for obtaining a transverse error occupation ratio according to the square value and the transverse error variance value of the transverse error value distributed by each error coefficient, and obtaining a longitudinal error occupation ratio according to the square value and the longitudinal error variance value of the longitudinal error value distributed by each error coefficient; the fourth module is used for judging the size of the transverse error initial value and the transverse position deviation preset value and the size of the longitudinal error initial value and the longitudinal position deviation preset value, and if the transverse error initial value is smaller than the transverse position deviation preset value and the longitudinal error initial value is smaller than the longitudinal position deviation preset value, adjustment is not needed; otherwise, firstly judging whether the longitudinal error initial value is larger than a longitudinal position deviation preset value, if so, carrying out self-adaptive adjustment on an error coefficient with the maximum longitudinal ratio; if not, performing self-adaptive adjustment on the error coefficient with the maximum transverse ratio; and the fifth module is used for obtaining a transverse error value and a longitudinal error value after self-adaptive adjustment, judging whether the transverse error value obtained after self-adaptive adjustment is smaller than a transverse position deviation preset value or not and whether the longitudinal error value is smaller than a longitudinal position deviation preset value or not, and if so, meeting the precision requirement and giving an optimal error coefficient of the inertial measurement system.
In the above-described embodiment of the present invention,
Figure BDA0001577133530000131
representing an environment function, wherein Si(i ═ x, y, z) denotes the location of the shutdown point, Vi(i ═ x, y, z) denotes the shutdown point speed, ci0(i ═ 1,2,3 …) represents the initial value of the inertial measurement system error coefficient.
In the above embodiment, the longitudinal error values assigned to the error coefficients are:
Figure BDA0001577133530000132
wherein，LiRepresents the longitudinal error value of each error coefficient assignment,
Figure BDA0001577133530000133
the longitudinal state parameter value of the missile after the shutdown point;
the lateral error value under each error coefficient assignment:
Figure BDA0001577133530000141
wherein HiRepresents the lateral error value for each error coefficient assignment,
Figure BDA0001577133530000142
the transverse state parameter value of the missile after the shutdown point;
the variance value of the lateral error is
Figure BDA0001577133530000143
The longitudinal error variance value is sigmaL 2＝∑(Li)2。
In the above embodiment, the ratio of the lateral error is
Figure BDA0001577133530000144
Longitudinal error ratio of
Figure BDA0001577133530000145
In the above embodiment, when performing adaptive adjustment on the error coefficient term, the specific method is as follows:
kl＝σLi/σL0；
ci＝ci/kl；
kh＝σHi/σH0；
ci＝ci/kh；
wherein k islAnd khFor the adaptive adjustment factor, i is the adjustment number,i is 1,2,3 …, σHi/σH0For each adjusted ratio of the lateral error value to the preset value of the lateral position deviation, σLi/σL0The ratio of the longitudinal error value after each adjustment to the preset value of the longitudinal position deviation.
The above-described embodiments are merely preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims (8)

1. A precision index self-adaptive distribution method for a ballistic missile inertia measurement system is characterized by comprising the following steps:
(1) giving out the initial value of the transverse error, the initial value of the longitudinal error and the preset value sigma H of the transverse position deviation0Preset value of longitudinal position deviation σ L0Initial values of error coefficients of the environment function and the inertia measurement system;
(2) solving a transverse error value under each error coefficient distribution, a longitudinal error value, a transverse error variance value and a longitudinal error variance value under each error coefficient distribution according to the environment function and the initial value of the error coefficient of the inertia measurement system;
(3) obtaining a transverse error occupation ratio according to the square value and the transverse error variance value of the transverse error value distributed by each error coefficient, and obtaining a longitudinal error occupation ratio according to the square value and the longitudinal error variance value of the longitudinal error value distributed by each error coefficient;
(4) judging the magnitude of the transverse error initial value and the transverse position deviation preset value and the magnitude of the longitudinal error initial value and the longitudinal position deviation preset value, and if the transverse error initial value is smaller than the transverse position deviation preset value and the longitudinal error initial value is smaller than the longitudinal position deviation preset value, no adjustment is needed; otherwise, firstly judging whether the longitudinal error initial value is larger than a longitudinal position deviation preset value, if so, carrying out self-adaptive adjustment on an error coefficient with the maximum longitudinal error ratio; if not, performing self-adaptive adjustment on the error coefficient with the maximum transverse error ratio;
(5) obtaining a transverse error value and a longitudinal error value after self-adaptive adjustment, judging whether the transverse error value obtained after the self-adaptive adjustment is smaller than a transverse position deviation preset value and whether the longitudinal error value is smaller than a longitudinal position deviation preset value, if so, meeting the precision requirement and giving an optimal error coefficient of an inertia measurement system, and if not, repeating the step (3); wherein,
in the step (4), when the error coefficient term is adaptively adjusted, the specific method is as follows:
Figure FDA0002533193180000011
will be provided with
Figure FDA0002533193180000021
Is assigned to ci；
Figure FDA0002533193180000022
Will be provided with
Figure FDA0002533193180000023
Is assigned to ci；
Wherein k islAnd khFor adaptive adjustment factor, i is the adjustment times, i is 1,2,3 … n, σ Hi/σH0For each adjusted ratio of the lateral error value to the preset value of the lateral position deviation, σ Li/σL0The ratio of the longitudinal error value after each adjustment to the preset value of the longitudinal position deviation.
2. The adaptive distribution method for the accuracy index of the ballistic missile inertia measurement system according to claim 1, wherein the adaptive distribution method comprises the following steps: in the step (1), the first step of the method,
Figure FDA0002533193180000024
representing an environment function, wherein SxIndicating the transverse position of the shut-down point, SyIndicating the point of shutdownLongitudinal position, SzIndicating a shutdown point elevation position; vxIndicating the transverse velocity, V, of the shutdown pointyIndicating the longitudinal speed, V, of the shutdown pointzThe height channel speed at the shutdown point is represented, i is 1,2,3 … n.
3. The adaptive distribution method for the accuracy index of the ballistic missile inertia measurement system according to claim 2, wherein the adaptive distribution method comprises the following steps: in step (2), the longitudinal error values assigned to the error coefficients are:
Figure FDA0002533193180000025
wherein, ci0Initial value, L, representing error coefficient of inertial measurement systemiRepresents the longitudinal error value of each error coefficient assignment,
Figure FDA0002533193180000026
the longitudinal state parameter value of the missile after the shutdown point;
the lateral error value under each error coefficient assignment:
Figure FDA0002533193180000027
wherein, ci0Initial value, H, representing the error coefficient of an inertial measurement systemiRepresents the lateral error value for each error coefficient assignment,
Figure FDA0002533193180000031
the transverse state parameter value of the missile after the shutdown point is obtained;
the variance value of the lateral error is
Figure FDA0002533193180000032
The longitudinal error variance value is sigmaL 2＝∑(Li)2。
4. The adaptive distribution method for the accuracy index of the ballistic missile inertia measurement system according to claim 3, wherein the adaptive distribution method comprises the following steps: in step (3), the ratio of the lateral error is
Figure FDA0002533193180000033
Longitudinal error ratio of
Figure FDA0002533193180000034
5. An adaptive distribution system for accuracy indexes of a ballistic missile inertia measurement system is characterized by comprising:
a first module for providing a horizontal error initial value, a vertical error initial value, a horizontal position deviation preset value sigmaH0Preset value sigma of longitudinal position deviationL0Initial values of error coefficients of the environment function and the inertia measurement system;
the second module is used for solving a transverse error value under each error coefficient distribution, a longitudinal error value, a transverse error variance value and a longitudinal error variance value under each error coefficient distribution according to the environment function and the initial value of the error coefficient of the inertia measurement system;
the third module is used for obtaining a transverse error occupation ratio according to the square value and the transverse error variance value of the transverse error value distributed by each error coefficient, and obtaining a longitudinal error occupation ratio according to the square value and the longitudinal error variance value of the longitudinal error value distributed by each error coefficient;
the fourth module is used for judging the size of the transverse error initial value and the transverse position deviation preset value and the size of the longitudinal error initial value and the longitudinal position deviation preset value, and if the transverse error initial value is smaller than the transverse position deviation preset value and the longitudinal error initial value is smaller than the longitudinal position deviation preset value, adjustment is not needed; otherwise, firstly judging whether the longitudinal error initial value is larger than a longitudinal position deviation preset value, if so, carrying out self-adaptive adjustment on an error coefficient with the maximum longitudinal error ratio; if not, performing self-adaptive adjustment on the error coefficient with the maximum transverse error ratio;
the fifth module is used for obtaining a transverse error value and a longitudinal error value after self-adaptive adjustment, judging whether the transverse error value obtained after the self-adaptive adjustment is smaller than a transverse position deviation preset value or not and whether the longitudinal error value is smaller than a longitudinal position deviation preset value or not, and if so, meeting the precision requirement and giving an optimal error coefficient of the inertial measurement system; wherein,
when the error coefficient item is adaptively adjusted, the specific method is as follows:
Figure FDA0002533193180000041
will be provided with
Figure FDA0002533193180000042
Is assigned to ci；
Figure FDA0002533193180000043
Will be provided with
Figure FDA0002533193180000044
Is assigned to ci；
Wherein k islAnd khFor adaptive adjustment factor, i is the adjustment number, i is 1,2,3 … n, σ Hi/σH0For each adjusted ratio of the lateral error value to the preset value of the lateral position deviation, σ Li/σL0The ratio of the longitudinal error value after each adjustment to the preset value of the longitudinal position deviation.
6. The adaptive distribution system for accuracy indicators of a ballistic missile inertial measurement system of claim 5, wherein:
Figure FDA0002533193180000045
representing an environment function, wherein SxIndicating the transverse position of the shut-down point, SyIndicating shutdown Point longitudinalPosition, SzIndicating a shutdown point elevation position; vxIndicating the transverse velocity, V, of the shutdown pointyIndicating the longitudinal speed, V, of the shutdown pointzThe height channel speed at the shutdown point is represented, i is 1,2,3 … n.
7. The adaptive distribution system for accuracy indicators of a ballistic missile inertial measurement system of claim 6, wherein: the longitudinal error values under the distribution of the error coefficients are as follows:
Figure FDA0002533193180000046
wherein, ci0Initial value, L, representing error coefficient of inertial measurement systemiRepresents the longitudinal error value of each error coefficient assignment,
Figure FDA0002533193180000051
the longitudinal state parameter value of the missile after the shutdown point;
the lateral error value under each error coefficient assignment:
Figure FDA0002533193180000052
wherein, ci0Initial value, H, representing the error coefficient of an inertial measurement systemiRepresents the lateral error value for each error coefficient assignment,
Figure FDA0002533193180000053
the transverse state parameter value of the missile after the shutdown point is obtained;
the variance value of the lateral error is
Figure FDA0002533193180000054
The longitudinal error variance value is sigmaL 2＝∑(Li)2。
8. According to the claims7, the accuracy index self-adaptive distribution system of the ballistic missile inertia measurement system is characterized in that: the ratio of the lateral error is
Figure FDA0002533193180000055
Longitudinal error ratio of
Figure FDA0002533193180000056
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