CN110030998A - A kind of flat matrix computational approach of moving base platform slop regulation, device and storage medium - Google Patents

A kind of flat matrix computational approach of moving base platform slop regulation, device and storage medium Download PDF

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Publication number
CN110030998A
CN110030998A CN201910327236.9A CN201910327236A CN110030998A CN 110030998 A CN110030998 A CN 110030998A CN 201910327236 A CN201910327236 A CN 201910327236A CN 110030998 A CN110030998 A CN 110030998A
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China
Prior art keywords
platform
inertial
matrix
moving base
indexing
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CN201910327236.9A
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Chinese (zh)
Inventor
李双喜
赵坤
宋维军
张义
熊云强
夏宇红
陶晓强
黄冠华
张新民
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Beijing Aerospace Automatic Control Research Institute
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Beijing Aerospace Automatic Control Research Institute
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Priority to CN201910327236.9A priority Critical patent/CN110030998A/en
Publication of CN110030998A publication Critical patent/CN110030998A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18Stabilised platforms, e.g. by gyroscope

Abstract

The application provides a kind of flat matrix computational approach of moving base platform slop regulation, device and storage medium.The indexing instruction angle of site, instruction azimuth are sent to platform by this method, and platform returns to practical indexing value;Practical indexing value, calculating matrix are returned using platform;Step 3, using indexable matrix, add table output to be transformed into inertial system platform system.The present invention utilizes actual platform indexing value, adds table output to be transformed into inertial system the platform system after indexing and carries out navigation calculating, avoid platform position shifter error bring navigation error, improve navigation accuracy.

Description

A kind of flat matrix computational approach of moving base platform slop regulation, device and storage medium
Technical field
The present invention relates to technical field of carrier rocket control more particularly to a kind of flat matrix calculating sides of moving base platform slop regulation Method, device and storage medium.
Background technique
Carrier space vehicle control system mainly includes guidance system and attitude control system two large divisions.Its midcourse guidance system Task is to issue shutdown command, steering instruction and flight program angle in due course in rocket flight, guarantees that rocket flies along planned orbit Row, so that payload is accurately sent into planned orbit.Navigation of the starlight platform (abbreviation platform) for carrier rocket calculates, After initial indexing is to star before carrier rocket transmitting, computing platform indexing matrix is needed, adds table defeated platform system after indexing It is transformed into inertial system out and carries out navigation calculating.
Traditional continental rise Launch Vehicle Platform indexing matrix computational approach directlys adopt instruction value, when platform is in moving base ring When border, the practical indexable value of platform and instruction value there are large error, directly adopt instruction value calculate indexing matrix can bring it is larger Navigation calculate error.
Therefore, a kind of calculation method suitable for moving base platform indexing matrix how is found, directlys adopt finger to reduce It enables value calculate the larger navigation calculating error of indexable matrix bring and has become technical problem urgently to be solved.
Summary of the invention
In view of this, the application provides a kind of flat matrix computational approach of moving base platform slop regulation, device and storage medium. The present invention utilizes actual platform indexing value, adds table output to be transformed into inertial system the platform system after indexing and carries out navigation calculating, keep away Exempt from platform position shifter error bring navigation error, improves navigation accuracy.
The application is achieved by the following technical solution:
A kind of flat matrix computational approach of moving base platform slop regulation, which is characterized in that this method comprises:
Indexing is instructed the angle of site by step 1Instruction azimuth ψ is sent to platform, and platform returns to practical indexing value ψt
Step 2 returns to practical indexing value using platformψtCalculate indexable matrix
Step 3 utilizes indexable matrixTable output is added to be transformed into inertial system platform system.
Further, this method further includes: step 4, table output is added using inertial system to carry out inertial system navigation calculation.
Further, the indexable matrix is calculated by following formula:
WhereinCpsz=cos (ψt)、Spsz=sin (ψt)。
Further, table output is added to be transformed into inertial system platform system using following formula:
Wherein, δ WPxn、δWPyn、δWPznAdd table output valve, δ W for platform systemTxn、δWTyn、δWTznIt is exported for inertial system plus table Value.
A kind of flat matrix computing device of moving base platform slop regulation, which is characterized in that the device includes:
Transmission module, for indexing to be instructed the angle of siteInstruction azimuth ψ is sent to platform, and platform returns to practical turn Place valueψt
Computing module returns to practical indexing value using platformψtCalculate indexable matrix
Conversion module utilizes indexable matrixTable output is added to be transformed into inertial system platform system.
Further, this method further includes:
Module is resolved, carries out inertial system navigation calculation using inertial system plus table output.
Further, the indexable matrix is calculated by following formula:
WhereinCpsz=cos (ψt)、Spsz=sin (ψt)。
Further, table output is added to be transformed into inertial system platform system using following formula:
Wherein, δ WPxn、δWPyn、δWPznAdd table output valve, δ W for platform systemTxn、δWTyn、δWTznIt is exported for inertial system plus table Value.
A kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the instruction is by processor Claim 1-4 described in any item calculation methods are realized when execution.
A kind of flat matrix computing device of moving base platform slop regulation, the device include processor and nonvolatile memory, It is characterized in that, the processor is configured to executing the executable instruction in the memory to realize that claim 1-4 appoints Calculation method described in one.
Compared with the prior art, the advantages of the present invention are as follows: actual platform indexing value is utilized, the platform system after indexing is added Table output is transformed into inertial system and carries out navigation calculating, avoids platform position shifter error bring navigation error, improves navigation accuracy.
Detailed description of the invention
Fig. 1 is the flow diagram of the flat matrix computational approach of moving base platform slop regulation provided by the invention;
Fig. 2 is the flow diagram of another embodiment of calculation method provided by the invention;
Fig. 3 is the structural block diagram of the flat matrix computing device of moving base platform slop regulation provided by the invention.
Fig. 4 is the structural block diagram of another embodiment of computing device provided by the invention.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application. It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps It may be combined containing one or more associated any or all of project listed.
Below in conjunction with attached drawing and example, the present invention is described in further detail.
Fig. 1,2 be the flat matrix computational approach of moving base platform slop regulation provided by the invention flow diagram.
This method comprises:
Indexing is instructed the angle of site by step 1Instruction azimuth ψ is sent to platform, and platform returns to practical indexing value ψt
Step 2 returns to practical indexing value using platformψtCalculate indexable matrix
Step 3 utilizes indexable matrixTable output is added to be transformed into inertial system platform system.
In another embodiment, this method further include: step 4 adds table output to carry out inertial system navigation using inertial system It resolves.
The indexing matrix is calculated by following formula:
WhereinCpsz=cos (ψt)、Spsz=sin (ψt)。
Table output is added to be transformed into inertial system platform system using following formula:
Wherein, δ WPxn、δWPyn、δWPznAdd table output valve, δ W for platform systemTxn、δWTyn、δWTznIt is exported for inertial system plus table Value.
Fig. 3 is the structural block diagram of the flat matrix computing device of moving base platform slop regulation provided by the invention.The moving base platform The flat matrix computing device of slop regulation includes transmission module, computing module and conversion module.
Transmission module, for indexing to be instructed the angle of siteInstruction azimuth ψ is sent to platform, and platform returns to practical turn Place valueψt
Computing module returns to practical indexing value using platformψtCalculate indexable matrix
Conversion module utilizes indexable matrixTable output is added to be transformed into inertial system platform system.
In another embodiment, which further includes resolving module, carries out inertial system using inertial system plus table output and leads Boat resolves.
The indexing matrix is calculated by following formula:
WhereinCpsz=cos (ψt)、Spsz=sin (ψt)。
Further, table output is added to be transformed into inertial system platform system using following formula:
Wherein, δ WPxn、δWPyn、δWPznAdd table output valve, δ W for platform systemTxn、δWTyn、δWTznIt is exported for inertial system plus table Value.
A kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the instruction is by processor Claim 1-4 described in any item calculation methods are realized when execution.
A kind of flat matrix computing device of moving base platform slop regulation, the device include processor and nonvolatile memory, It is characterized in that, the processor is configured to executing the executable instruction in the memory to realize that claim 1-4 appoints Calculation method described in one.
Those of ordinary skill in the art will appreciate that all or part of the steps in the above method can be instructed by program Related hardware is completed, and described program can store in computer readable storage medium, such as read-only memory, disk or CD Deng.Optionally, one or more integrated circuits also can be used to realize, accordingly in all or part of the steps of above-described embodiment Ground, each module/unit in above-described embodiment can take the form of hardware realization, can also use the shape of software function module Formula is realized.The present invention is not limited to the combinations of the hardware and software of any particular form.
It should be noted that the invention may also have other embodiments, without departing substantially from spirit of that invention and its essence In the case of, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these are corresponding Change and modification all should fall within the scope of protection of the appended claims of the present invention.

Claims (10)

1. a kind of flat matrix computational approach of moving base platform slop regulation, which is characterized in that this method comprises:
Indexing is instructed the angle of site by step 1Instruction azimuth ψ is sent to platform, and platform returns to practical indexing valueψt
Step 2 returns to practical indexing value using platformψtCalculate indexable matrix
Step 3 utilizes indexable matrixTable output is added to be transformed into inertial system platform system.
2. the flat matrix computational approach of moving base platform slop regulation according to claim 1, which is characterized in that this method is also wrapped It includes:
Step 4 adds table output to carry out inertial system navigation calculation using inertial system.
3. the flat matrix computational approach of moving base platform slop regulation according to claim 1, which is characterized in that the indexing matrix It is calculated by following formula:
WhereinCpsz=cos (ψt)、Spsz=sin (ψt)。
4. the flat matrix computational approach of moving base platform slop regulation according to claim 1, which is characterized in that use following formula Table output is added to be transformed into inertial system platform system:
Wherein, δ WPxn、δWPyn、δWPznAdd table output valve, δ W for platform systemTxn、δWTyn、δWTznFor inertial system plus table output valve.
5. a kind of flat matrix computing device of moving base platform slop regulation, which is characterized in that the device includes:
Transmission module, for indexing to be instructed the angle of siteInstruction azimuth ψ is sent to platform, and platform returns to practical indexing valueψt
Computing module returns to practical indexing value using platformψtCalculate indexable matrix
Conversion module utilizes indexable matrixTable output is added to be transformed into inertial system platform system.
6. the flat matrix computing device of moving base platform slop regulation according to claim 5, which is characterized in that the device also wraps It includes:
Module is resolved, carries out inertial system navigation calculation using inertial system plus table output.
7. the flat matrix computing device of moving base platform slop regulation according to claim 5, which is characterized in that the indexing matrix It is calculated by following formula:
WhereinCpsz=cos (ψt)、Spsz=sin (ψt)。
8. the flat matrix computing device of moving base platform slop regulation according to claim 5, which is characterized in that use following formula Table output is added to be transformed into inertial system platform system:
Wherein, δ WPxn、δWPyn、δWPznAdd table output valve, δ W for platform systemTxn、δWTyn、δWTznFor inertial system plus table output valve.
9. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the instruction is held by processor Claim 1-4 described in any item calculation methods are realized when row.
10. a kind of flat matrix computing device of moving base platform slop regulation, which includes processor and nonvolatile memory, It is characterized in that, the processor is configured to executing the executable instruction in the memory to realize that claim 1-4 is any Calculation method described in.
CN201910327236.9A 2019-04-23 2019-04-23 A kind of flat matrix computational approach of moving base platform slop regulation, device and storage medium Pending CN110030998A (en)

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