CN108759565B - A kind of carrier rocket grade return phase precise guidance method based on virtual proportional guidance - Google Patents
A kind of carrier rocket grade return phase precise guidance method based on virtual proportional guidance Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract
The carrier rocket grade return phase precise guidance method based on virtual proportional guidance that the present invention relates to a kind of, belongs to guidance and control technology field.GPS/INS navigation, which is carried, by arrow measures the position of sub- grade, velocity vector under acquisition inertial system, in conjunction with expectation target drop point site, the velocity information of task, calculate component of the virtual inertia line of sight rate under the system of ground, pass through ground system to the coordinate conversion matrix of trajectory system, obtain component of the inertia line of sight rate under trajectory system, the virtual proportional guidance overload instruction for obtaining considering gravity compensation, realizes control for input raster rudder control system.The method has the characteristics that effectively improving sub- grade settles in an area and sub- grade reuse return guidance precision.
Description
Technical field
The carrier rocket grade return phase precise guidance method based on virtual proportional guidance that the present invention relates to a kind of, belongs to system
It leads and control technology field.
Background technique
Active service carrier rocket is all disposable at present, and rocket research and development for a long time, production, launch cost occupy height not
Under, transporting quality 1kg substance, to enter the cost of space be about ten thousand dollars of 1-2, leverage human development space scale and
Benefit.It is about more than 5000 Wan Meiyuan as -9 rocket total cost of falcon at present inexpensively, and the cost of its propellant only has
200000 dollars.If it is possible to carry out recycle without damage to rocket grade, re-used after simplified overhauling, then it can be with
Greatly reduce launch cost.The sub- grade of active service carrier rocket one no longer applies after isolation to be controlled, atmospheric reentry after no control flight,
Impact dispersion range is very big, thereby increases and it is possible to by densely inhabited districts such as cities and towns, generate larger prestige to ground staff and property safety
The side of body, sub- grade may be decomposed into several fragments by the ablation of high speed Reentry, cannot achieve recycling and reusing, and greatly increase and search
Rope and processing difficulty.
Summary of the invention
The invention aims to solve existing carrier rocket grade settle in an area dispersion radii it is excessive and be difficult to realize repeat make
The problem of with recycle without damage, provides a kind of using grid rudder as the carrier rocket grade based on virtual proportional guidance of executing agency
Return phase precise guidance method, the technical solution taken are as follows:
A kind of carrier rocket grade return phase precise guidance method based on virtual proportional guidance, the carrier rocket grade
Return phase precise guidance method the following steps are included:
Step 1: installing grid rudder on the head of carrier rocket grade, carries GPS/INS measurement by arrow and obtains under inertial system
The position and speed vector of the carrier rocket grade；
Step 2: in conjunction with the expectation target drop point site and velocity information of task, the virtual used of carrier rocket grade is obtained
Component of the property line of sight rate under the system of ground；
Step 3: by ground system to the coordinate conversion matrix of trajectory system, inertia line of sight rate is obtained under trajectory system
Component；
Step 4: deriving virtual proportional guidance relationship, obtains the virtual proportional guidance containing gravity compensation and overloads instruction.
Further, component of the virtual inertia line of sight rate under the system of ground described in step 2 includes: relative position arrow
The angular velocity of rotation of sight relative inertness system under amount, relative velocity vector and earth axes.
Further, the acquisition process of component of the virtual inertia line of sight rate under the system of ground are as follows:
Step 1: the position vector [x, y, z] and speed of the carrier rocket grade measured according to GPS/SINS navigation
VectorDetermine the Relative position vector and relative velocity vector between the carrier rocket grade and target drop point；It is described
Relative position vector and relative velocity vector form are as follows:
Wherein, xr,yr,zrFor component of the Relative position vector of sub- grade and target under inertial system, xt,yt,ztFor target
Position vector under inertial system, x, y, z are position vector of the sub- grade under inertial system, vrx,vry,vrzExist for sub- grade and target
Relative velocity vector under inertial system,For velocity vector of the target under inertial system,It is sub- grade in inertial system
Under velocity vector；
Step 2: determining sight phase under earth axes using Relative position vector described in the first step and relative velocity vector
To the angular velocity of rotation of inertial system, the angular velocity of rotation of sight relative inertness system under the earth axes are as follows:
Wherein,For square of sub- grade and target drop point relative distance.
Further, step 3 inertia line of sight rate component under trajectory system includes: that carrier rocket grade is fallen with target
The longitudinal line-of-sight rate by line and lateral line-of-sight rate by line of point.
Further, inertia angle of sight speed is obtained by the coordinate conversion matrix of ground system to trajectory system described in step 3
Degree component under trajectory system method particularly includes:
Step 1:
By the rotational angular velocity vector of sight relative inertness system under earth axes, multiplied by ground system to the coordinate of trajectory system
It is as follows to obtain inertia line of sight rate component under trajectory system for transition matrix:
Wherein: ω2For inertia line of sight rate vector under ballistic coordinate system；Ωx2Indicate inertia line of sight rate in trajectory
It is the component of x-axis, Ωz2、Ωy2Respectively longitudinally, laterally line-of-sight rate by line；Indicate around
Y-axis rotates ψvTransition matrix,Indicate the transition matrix that θ is rotated around z-axis, andFor ground system to the coordinate conversion matrix of trajectory system, θ is
Trajectory tilt angle, ψvFor trajectory deflection angle；
Step 2: above formula being unfolded, the final longitudinal line-of-sight rate by line for obtaining carrier rocket grade and target drop point and laterally
The model of line-of-sight rate by line is as follows:
Wherein, Ωz2、Ωy2Respectively longitudinally, laterally line-of-sight rate by line.
Further, the virtual proportional guidance relationship of derivation described in step 4, obtains the virtual proportional guidance containing gravity compensation
Overload instruction method particularly includes:
Step 1: the proportional guidance containing gravity compensation overloads the vector form expression formula instructed and is
nPN=-kpV×ω2/g+kg cosθj2 (5)
Wherein, V is the velocity vector of rocket grade, kpFor virtual proportional guidance coefficient, kgCos θ is gravity compensation item, kg
For gravity compensation coefficient, j2For the unit vector of ballistic coordinate system y-axis；
Step 2: by the vector form expression formula of the proportional guidance overload instruction described in step 1 containing gravity compensation in trajectory system
Lower expansion is obtained such as drag:
Wherein, V is the velocity magnitude of rocket grade
Step 3: it obtains the virtual proportional guidance containing gravity compensation and overloads instruction, the virtual proportional guidance overload instruction is such as
Under:
Wherein, kpFor virtual proportional guidance coefficient, kgCos θ is gravity compensation item, kgFor gravity compensation coefficient；G indicates weight
Power acceleration, nycFor the virtual proportional guidance normal direction overload of virtual proportional guidance overload instruction, nzcFor virtual proportional guidance overload
The virtual proportional guidance lateral overload of instruction realizes control for input raster rudder control system.
The invention has the advantages that:
The carrier rocket grade return phase precise guidance method based on virtual proportional guidance that the invention proposes a kind of.The party
Method devise it is by executing agency of grid rudder, by arrow carry navigation output sub- grade state, bookbinding target information form it is virtual
Inertia line of sight rate model has derived the virtual proportional guidance expression formula under trajectory system, obtains sub- grade return phase high-precision and makes
Lead instruction.The present invention carries GPS/SINS Integrated Navigation Instrument using arrow and bookbinding target information realizes that virtual proportional guidance guides, can
Sub- grade is effectively improved to settle in an area and sub- grade reuse return guidance precision, it is of the present invention to be based on relative to traditional method of guidance
The carrier rocket grade return phase precise guidance method of virtual proportional guidance can make guidance precision be increased to 10 meters or so, transport
It carries rocket grade and returns to settle in an area control and reuse recycling field and have broad application prospects.
In addition, flying in carrier rocket grade return course after being guided using precise guidance method proposed by the present invention
Scanning frequency degree is big, atmosphere is relatively dense, and high dynamic pressure condition can provide higher pneumatic control efficiency, and grid rudder compares conventional rudder face
With better control characteristic, by installing grid rudder on the head of the sub- grade of carrier rocket one, cooperate guidance control system, it can be with
It realizes being substantially improved for carrier rocket grade return phase precision, and then realizes rocket grade recycle without damage, transmitting is greatly lowered
Cost.
Detailed description of the invention
Fig. 1 is the carrier rocket grade schematic diagram of the present invention in head installation grid rudder.
Fig. 2 is the process of the carrier rocket grade return phase precise guidance method of the present invention based on virtual proportional guidance
Figure.
Specific embodiment
The present invention will be further described combined with specific embodiments below, but the present invention should not be limited by the examples.
Embodiment 1:
A kind of carrier rocket grade return phase precise guidance method based on virtual proportional guidance, the carrier rocket grade
Return phase precise guidance method the following steps are included:
Step 1: installing grid rudder on the head of carrier rocket grade, carries GPS/INS measurement by arrow and obtains under inertial system
The position and speed vector of the carrier rocket grade；
Step 2: in conjunction with the expectation target drop point site and velocity information of task, the virtual used of carrier rocket grade is obtained
Component of the property line of sight rate under the system of ground；
Step 3: by ground system to the coordinate conversion matrix of trajectory system, inertia line of sight rate is obtained under trajectory system
Component；
Step 4: deriving virtual proportional guidance relationship, obtains the virtual proportional guidance containing gravity compensation and overloads instruction.
Wherein, component of the virtual inertia line of sight rate under the system of ground described in step 2 includes: Relative position vector, phase
To the angular velocity of rotation of sight relative inertness system under velocity vector and earth axes.
The acquisition process of component of the virtual inertia line of sight rate under the system of ground are as follows:
Step 1: the position vector [x, y, z] and speed of the carrier rocket grade measured according to GPS/SINS navigation
VectorDetermine the Relative position vector and relative velocity vector between the carrier rocket grade and target drop point；It is described
Relative position vector and relative velocity vector form are as follows:
Wherein, xr,yr,zrFor component of the Relative position vector of sub- grade and target under inertial system, xt,yt,ztFor target
Position vector under inertial system, x, y, z are position vector of the sub- grade under inertial system, vrx,vry,vrzExist for sub- grade and target
Relative velocity vector under inertial system,For velocity vector of the target under inertial system,It is sub- grade in inertial system
Under velocity vector；
Step 2: determining sight phase under earth axes using Relative position vector described in the first step and relative velocity vector
To the angular velocity of rotation of inertial system, the angular velocity of rotation of sight relative inertness system under the earth axes are as follows:
Wherein,For square of sub- grade and target drop point relative distance.
Step 3 inertia line of sight rate component under trajectory system includes: that carrier rocket grade and the longitudinal of target drop point regard
Line angle rate and lateral line-of-sight rate by line.
By the coordinate conversion matrix of ground system to trajectory system described in step 3, inertia line of sight rate is obtained in trajectory system
Lower component method particularly includes:
Step 1: by the rotational angular velocity vector of sight relative inertness system under earth axes, multiplied by ground system to trajectory system
Coordinate conversion matrix, obtain inertia line of sight rate component under trajectory system it is as follows:
Wherein: ω2For inertia line of sight rate vector under ballistic coordinate system；Ωx2Indicate inertia line of sight rate in trajectory
It is the component of x-axis, Ωz2、Ωy2Respectively longitudinally, laterally line-of-sight rate by line；It indicates
ψ is rotated around y-axisvTransition matrix,Indicate the transition matrix that θ is rotated around z-axis, andFor ground system to the coordinate conversion matrix of trajectory system, θ is
Trajectory tilt angle, ψvFor trajectory deflection angle；
Step 2: above formula being unfolded, the final longitudinal line-of-sight rate by line for obtaining carrier rocket grade and target drop point and laterally
The model of line-of-sight rate by line is as follows:
Wherein, Ωz2、Ωy2Respectively longitudinally, laterally line-of-sight rate by line.
The virtual proportional guidance relationship of derivation described in step 4 obtains the virtual proportional guidance overload instruction containing gravity compensation
Method particularly includes:
Step 1: the proportional guidance containing gravity compensation overloads the vector form expression formula instructed and is
nPN=-kpV×ω2/g+kg cosθj2 (5)
Wherein, V is the velocity vector of rocket grade, kpFor virtual proportional guidance coefficient, kgCos θ is gravity compensation item, kg
For gravity compensation coefficient, j2For the unit vector of ballistic coordinate system y-axis；
Step 2: by the vector form expression formula of the proportional guidance overload instruction described in step 1 containing gravity compensation in trajectory system
Lower expansion is obtained such as drag:
Wherein, V is the velocity magnitude of rocket grade
Step 3: it obtains the virtual proportional guidance containing gravity compensation and overloads instruction, the virtual proportional guidance overload instruction is such as
Under:
Wherein, kpFor virtual proportional guidance coefficient, kgCos θ is gravity compensation item, kgFor gravity compensation coefficient；G indicates weight
Power acceleration, nycFor the virtual proportional guidance normal direction overload of virtual proportional guidance overload instruction, nzcFor virtual proportional guidance overload
The virtual proportional guidance lateral overload of instruction realizes control for input raster rudder control system.
The present invention settles in an area for existing carrier rocket grade, and range is excessive and precision deficiency is recycled in reuse and proposes, draws
Enter arrow and carry the sub- grade state of navigation output, bookbinding target information, derives virtual inertia line of sight rate computation model, and pass through void
Quasi- proportional guidance obtains sub- grade return phase zero-miss guidance instruction, realizes control for input raster rudder control system.Effectively
It improves carrier rocket grade and settles in an area and reuse recycling guidance precision.
Although the present invention has been disclosed in the preferred embodiment as above, it is not intended to limit the invention, any to be familiar with this
The people of technology can do various changes and modification, therefore protection of the invention without departing from the spirit and scope of the present invention
Range should subject to the definition of the claims.
Claims (6)
1. a kind of carrier rocket grade return phase precise guidance method based on virtual proportional guidance, which is characterized in that the fortune
Carry rocket grade return phase precise guidance method the following steps are included:
Step 1: installing grid rudder on the head of carrier rocket grade, is carried by arrow described under GPS/INS measurement acquisition inertial system
The position and speed vector of carrier rocket grade；
Step 2: in conjunction with the expectation target drop point site and velocity information of task, the virtual inertia view of carrier rocket grade is obtained
Component of the angular velocity under the system of ground；
Step 3: by ground system to the coordinate conversion matrix of trajectory system, point of the inertia line of sight rate under trajectory system is obtained
Amount；
Step 4: deriving virtual proportional guidance relationship, obtains the virtual proportional guidance containing gravity compensation and overloads instruction.
2. precise guidance method according to claim 1, which is characterized in that virtual inertia line of sight rate described in step 2 exists
Component under the system of ground includes: the rotation of sight relative inertness system under Relative position vector, relative velocity vector and earth axes
Tarnsition velocity.
3. precise guidance method according to claim 2, which is characterized in that the virtual inertia line of sight rate is in ground system
Under component acquisition process are as follows:
Step 1: the position vector [x, y, z] and velocity vector of the carrier rocket grade measured according to GPS/SINS navigationDetermine the Relative position vector and relative velocity vector between the carrier rocket grade and target drop point；The phase
It is as follows to position vector sum relative velocity vector form:
Wherein, xr,yr,zrFor component of the Relative position vector of sub- grade and target under inertial system, xt,yt,ztIt is target used
Property system under position vector, x, y, z be position vector of the sub- grade under inertial system, vrx,vry,vrzIt is sub- grade and target in inertia
Relative velocity vector under system,For velocity vector of the target under inertial system,It is sub- grade under inertial system
Velocity vector；
Step 2: determining that sight is relatively used under earth axes using Relative position vector described in the first step and relative velocity vector
The angular velocity of rotation of property system, the angular velocity of rotation of sight relative inertness system under the earth axes are as follows:
Wherein,For square of sub- grade and target drop point relative distance.
4. precise guidance method according to claim 1, which is characterized in that step 3 inertia line of sight rate is under trajectory system
Component includes: the longitudinal line-of-sight rate by line and lateral line-of-sight rate by line of carrier rocket grade Yu target drop point.
5. precise guidance method according to claim 4, which is characterized in that pass through ground system to trajectory system described in step 3
Coordinate conversion matrix obtains inertia line of sight rate component under trajectory system method particularly includes:
Step 1: by the rotational angular velocity vector of sight relative inertness system under earth axes, multiplied by ground system to the seat of trajectory system
Transition matrix is marked, it is as follows to obtain inertia line of sight rate component under trajectory system:
Wherein: ω2For inertia line of sight rate vector under ballistic coordinate system；Ωx2Indicate inertia line of sight rate in trajectory system x-axis
Component, Ωz2、Ωy2Respectively longitudinally, laterally line-of-sight rate by line；It indicates to revolve around y-axis
Turn ψvTransition matrix,Indicate the transition matrix that θ is rotated around z-axis, andFor ground system to the coordinate conversion matrix of trajectory system, θ is
Trajectory tilt angle, ψvFor trajectory deflection angle；
Step 2: above formula being unfolded, the final longitudinal line-of-sight rate by line and lateral sight for obtaining carrier rocket grade and target drop point
The model of angular speed is as follows:
Wherein, Ωz2、Ωy2Respectively longitudinally, laterally line-of-sight rate by line.
6. precise guidance method according to claim 1, which is characterized in that the virtual proportional guidance of derivation described in step 4 closes
System obtains the virtual proportional guidance overload instruction containing gravity compensation method particularly includes:
Step 1: the proportional guidance containing gravity compensation overloads the vector form expression formula instructed and is
nPN=-kpV×ω2/g+kgcosθj2 (5)
Wherein, V is the velocity vector of rocket grade, kpFor virtual proportional guidance coefficient, kgCos θ is gravity compensation item, kgAttach most importance to
Force compensating coefficient, j2For the unit vector of ballistic coordinate system y-axis；
Step 2: the vector form expression formula of the proportional guidance overload instruction described in step 1 containing gravity compensation is opened up under trajectory system
It opens to obtain such as drag:
Wherein, V is the velocity magnitude of rocket grade
Step 3: it obtains the virtual proportional guidance containing gravity compensation and overloads instruction, the virtual proportional guidance overload instruction is as follows:
Wherein, kpFor virtual proportional guidance coefficient, kgCos θ is gravity compensation item, kgFor gravity compensation coefficient；G indicates that gravity adds
Speed, nycFor the virtual proportional guidance normal direction overload of virtual proportional guidance overload instruction, nzcIt overloads and instructs for virtual proportional guidance
Virtual proportional guidance lateral overload, for input raster rudder control system realize control.
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| CN110160407B (en) * | 2019-05-24 | 2021-09-07 | 上海宇航系统工程研究所 | Carrier rocket sublevel landing area range control system |
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| CN111397448B (en) * | 2020-03-13 | 2021-08-17 | 北京星际荣耀空间科技股份有限公司 | Self-adaptive adjusting method and device for attitude control parameters, electronic equipment and storage medium |
| CN112198891B (en) * | 2020-04-22 | 2021-12-07 | 北京理工大学 | Multi-gyroplane autonomous recovery method |
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| CN111947654A (en) * | 2020-08-13 | 2020-11-17 | 杭州北斗东芯科技有限公司 | Navigation and control integrated chip and control method thereof |
| CN112179217B (en) * | 2020-10-27 | 2022-05-31 | 中国运载火箭技术研究院 | Guidance method and device for solid launch vehicle, storage medium, and electronic device |
| CN114812293B (en) * | 2021-01-27 | 2023-03-24 | 北京理工大学 | Method for controlling tail end speed reducer maneuvering |
| CN112985393B (en) * | 2021-04-20 | 2021-09-17 | 星河动力(北京)空间科技有限公司 | Rocket flight navigation method, device, equipment, system and storage medium |
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