CN109059963B - Method for correcting parameter drift error of combined navigation system in semi-physical simulation - Google Patents
Method for correcting parameter drift error of combined navigation system in semi-physical simulation Download PDFInfo
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- CN109059963B CN109059963B CN201811016741.3A CN201811016741A CN109059963B CN 109059963 B CN109059963 B CN 109059963B CN 201811016741 A CN201811016741 A CN 201811016741A CN 109059963 B CN109059963 B CN 109059963B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The invention belongs to a semi-physical simulation system test technology, and particularly relates to a method for correcting a parameter drift error of a combined navigation system in semi-physical simulation. The correction method is characterized in that the simulation flow and the test method are improved, namely, the resolving drift amount from navigation to simulation instructions of the integrated navigation system is extracted and updated to the simulation system in real time, and the missile-borne mission machine and the simulation system are guaranteed to be matched in control resolving parameters.
Description
Technical Field
The invention belongs to a semi-physical simulation system test technology, and particularly relates to a method for correcting a parameter drift error of a combined navigation system in semi-physical simulation.
Background
The conventional semi-physical simulation system is characterized in that tested products (a missile-borne mission machine, a combined navigation system, a steering engine and the like) and a simulation system (physical effect equipment and related simulator equipment) are connected into a closed-loop system, after the process before the simulation system is launched is completed, the missile-borne mission machine and the simulation system of the tested products are controlled by the same external instruction (simulation instruction), and the process is synchronously shifted to a simulated closed-loop flight test after the simulation system is launched.
Under the existing ground simulation condition, a tested product integrated navigation system in a simulation flow carries out navigation resolving after receiving a missile-borne mission machine 'turn-to-navigation' instruction, at the moment, parameter information output by inertial navigation starts to change and is transmitted to the missile-borne mission machine in real time, and a simulation system is still in a static state, so that the parameters of the missile-borne mission machine and the simulation system are not matched, and the error is increased along with the increase of the interval time between the navigation instruction and an external simulation instruction. The error quantity directly influences the judgment of the combination strategy of the integrated navigation system, and the integrated navigation system cannot enter the integrated navigation state due to the fact that the error quantity is too large, so that the performance of the integrated state of the navigation system in ground simulation cannot be assessed.
Therefore, a method is required to solve the problem that the solution drift of the integrated navigation system from navigation to simulation instruction is not matched with the parameters of the simulation system under the ground simulation condition.
Disclosure of Invention
The method mainly aims at: the method for correcting the parameter drift amount of the combined navigation system in the semi-physical simulation is provided, and the matching of the missile-borne task machine and the simulation system parameters is ensured.
The technical scheme of the invention is as follows:
the method for correcting the parameter drift of the combined navigation system in the semi-physical simulation is to improve the simulation process and the test method, namely to extract the resolving drift amount from navigation to simulation instructions of the combined navigation system and update the resolving drift amount to the simulation system in real time, so as to ensure that the missile-borne mission machine is matched with the control resolving parameters of the simulation system.
The correction method specifically comprises the following steps:
1) carrying out a pre-launching process by the missile-borne task machine and the simulation system;
2) the missile-borne mission machine sends a 'navigation guidance' command to the integrated navigation system, the integrated navigation system starts navigation resolving, and resolved navigation parameter data are sent to the missile-borne mission machine in real time;
3) the missile-borne task machine transmits the navigation parameter data to the simulation system, and the simulation system updates the simulation model in real time according to the parameters;
4) the missile-borne task machine and the simulation system wait for an external simulation instruction together, and the missile-borne task data and the simulation parameter data are updated synchronously to complete closed-loop simulation of the system.
The invention has the beneficial effects that: compared with the conventional semi-physical simulation test method, the method solves the defects of the prior art by improving the simulation process and the test method, more truly simulates the working environment of the tested product, does not need to change the working state of the product, ensures the consistency of the ground verification state and the real flight state, and improves the reliability of the ground simulation test result; meanwhile, the invention solves the fundamental problem from the product working principle, has stronger universality and can be popularized and applied to other simulation systems.
Drawings
FIG. 1 is a schematic diagram of the implementation of the method of the present invention.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings.
The invention relates to a method for correcting parameter drift of an integrated navigation system in semi-physical simulation, which is characterized in that the flow of a simulation system is improved, parameter data navigated by the integrated navigation system is transmitted to the simulation system in real time, when an external simulation instruction is sent out, the simulation system recalculates a related simulation model equation according to the currently photographed navigation parameter, updates all simulation parameters, and takes the information of the simulation system as a simulation control resolving initial value, thereby ensuring the matching of the parameters of the simulation system and an missile-borne task machine and eliminating the influence of the resolving drift of the integrated navigation system from navigation to the simulation instruction in the simulation on the closed loop of the simulation system.
Referring to fig. 1, the method of the invention comprises the following steps:
1) and the missile-borne mission machine and the simulation system perform a pre-launching process.
2) The missile-borne mission machine sends a 'piloting guide' command to the integrated navigation system, the integrated navigation system starts navigation calculation, and the calculated navigation parameter data are sent to the missile-borne mission machine in real time.
3) The missile-borne mission machine transmits the navigation parameter data to the simulation system, and the simulation system updates the simulation model in real time according to the navigation parameter data; the simulation model runs in a dynamics and kinematics model resolving computer of the simulation system.
4) The missile-borne task machine and the simulation system wait for an external simulation instruction together, and the missile-borne task data and the simulation parameter data are updated synchronously to complete closed-loop simulation of the system.
By improving the simulation flow and the test method, the problem that the resolving drift of the integrated navigation system from navigation to simulation instructions is not matched with the parameters of the simulation system under the ground simulation condition can be solved.
Claims (3)
1. The method for correcting the parameter drift of the combined navigation system in the semi-physical simulation is characterized by comprising the following steps: the correction method is characterized in that a simulation flow and a test method are improved, namely, the resolving drift amount from navigation to a simulation instruction of the integrated navigation system is extracted and updated to the simulation system in real time, and the missile-borne mission machine is guaranteed to be matched with the control resolving parameters of the simulation system;
the correction method is characterized in that the flow of the simulation system is improved, parameter data after the navigation of the integrated navigation system is transmitted to the simulation system in real time, when an external simulation instruction is sent out, the simulation system recalculates a related simulation model equation according to the currently shot navigation parameter, updates all simulation parameters, and takes the information of the simulation system as a simulation control calculation initial value, so that the parameter matching of the simulation system and the missile-borne mission machine is ensured, and the influence of the calculation drift amount between the navigation and the simulation instruction of the integrated navigation system in the simulation on the closed loop of the simulation system is eliminated.
2. The correction method according to claim 1, wherein the correction method comprises the steps of:
1) carrying out a pre-launching process by the missile-borne task machine and the simulation system;
2) the missile-borne mission machine sends a 'navigation guidance' command to the integrated navigation system, the integrated navigation system starts navigation resolving, and resolved navigation parameter data are sent to the missile-borne mission machine in real time;
3) the missile-borne mission machine transmits the navigation parameter data to the simulation system, and the simulation system updates the simulation model in real time according to the navigation parameter data;
4) the missile-borne task machine and the simulation system wait for an external simulation instruction together, and missile-borne task data and simulation parameter data are updated synchronously to complete closed-loop simulation of the system.
3. The correction method according to claim 2, wherein: the simulation model runs in a dynamics and kinematics model resolving computer of the simulation system.
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| CN201811016741.3A CN109059963B (en) | 2018-08-31 | 2018-08-31 | Method for correcting parameter drift error of combined navigation system in semi-physical simulation |
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| CN109059963A CN109059963A (en) | 2018-12-21 |
| CN109059963B true CN109059963B (en) | 2022-07-19 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104950688A (en) * | 2014-03-27 | 2015-09-30 | 南京理工大学 | Distributed transfer alignment semi-physical simulation system and method thereof |
| CN107703774A (en) * | 2017-09-12 | 2018-02-16 | 江西洪都航空工业集团有限责任公司 | A kind of air weapon moving base Transfer Alignment emulation mode |
| CN107990911A (en) * | 2017-11-08 | 2018-05-04 | 江西洪都航空工业集团有限责任公司 | A kind of navigation simulation system input signal compensation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7305317B2 (en) * | 2003-09-05 | 2007-12-04 | Siemens Corporate Research, Inc. | Joint approach of out-of-range detection and fault detection for power plant monitoring |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104950688A (en) * | 2014-03-27 | 2015-09-30 | 南京理工大学 | Distributed transfer alignment semi-physical simulation system and method thereof |
| CN107703774A (en) * | 2017-09-12 | 2018-02-16 | 江西洪都航空工业集团有限责任公司 | A kind of air weapon moving base Transfer Alignment emulation mode |
| CN107990911A (en) * | 2017-11-08 | 2018-05-04 | 江西洪都航空工业集团有限责任公司 | A kind of navigation simulation system input signal compensation method |
Non-Patent Citations (1)
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| 机载导弹空中动基座对准方法的仿真研究;陈璐璐等;《计算机仿真》;20070930;第24卷(第9期);正文第1-3节 * |
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