CN110220415A - Guided munition outer trajectory Closed-cycle correction analog platform and analogy method - Google Patents
Guided munition outer trajectory Closed-cycle correction analog platform and analogy method Download PDFInfo
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- CN110220415A CN110220415A CN201910398616.1A CN201910398616A CN110220415A CN 110220415 A CN110220415 A CN 110220415A CN 201910398616 A CN201910398616 A CN 201910398616A CN 110220415 A CN110220415 A CN 110220415A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/006—Guided missiles training or simulation devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of guided munition outer trajectory Closed-cycle correction analog platform, its outer trajectory amendment mechanical arm carries out outer trajectory flight according to puppet planning trajectory control guided munition model；Real time analysis module is used to carry out smothing filtering or Kalman filtering to three shaft position data, three axle speed data and 3-axis acceleration data, obtains real-time three shaft position information, real-time three axle speed information and real-time 3-axis acceleration information of the guided munition model during outer ballistic flight；Decision-making module is for obtaining for three shaft positions, the modified mechanical arm control instruction of velocity and acceleration；Outer trajectory corrects mechanical arm and realizes three shaft positions, three axle speeds and the modified simulation of 3-axis acceleration during outer ballistic flight to guided munition model.The present invention realizes the modified accurate closed-loop simulation of guided munition outer trajectory.
Description
Technical field
The present invention relates to guided munition fields and information physical system technical field, in particular to bullet outside a kind of guided munition
Road Closed-cycle correction analog platform and analogy method.
Background technique
Due to the presence of random error, the practical outer trajectory of guided munition always deviates planning outer trajectory, simultaneously because skill
The limitation of art condition, practical outer trajectory can not Accurate Prediction, to influence the correction effect of outer trajectory, and then influence its hit generally
Rate.Therefore, how the outer trajectory of guided munition is accurately obtained, is that guided munition improves to guarantee the correction effect of outer trajectory
The key scientific problems of hit probability.
Summary of the invention
The present invention provides a kind of guided munition outer trajectory Closed-cycle correction analog platform and analogy method, the present invention can be to guidances
The outer trajectory and its makeover process of ammunition are simulated, and carry out state aware to it by sensor module, to perception data
It is analyzed in real time, science decision is carried out to analysis result, decision conclusions are precisely executed, to be formed outside guided munition
The closed-loop simulation of projectile correction.
In order to achieve this, guided munition outer trajectory Closed-cycle correction analog platform designed by the present invention, it is characterised in that:
It includes real time analysis module, decision-making module, outer trajectory amendment mechanical arm, outer trajectory flight error injection module, and installation
Position sensor, velocity sensor and acceleration transducer on guided munition model wobble shaft；
The outer trajectory flight error injection module plans that trajectory generates random error for making, and generates corresponding pseudo- planning
Trajectory, puppet planning trajectory are used to simulate the practical outer trajectory of guided munition model；
The outer trajectory amendment mechanical arm carries out outer trajectory flight according to puppet planning trajectory control guided munition model；
The position sensor, velocity sensor and acceleration transducer are respectively used to the three shaft position numbers that will respectively perceive
It is transferred to real time analysis module according to, three axle speed data and 3-axis acceleration data, real time analysis module is used for three shaft positions
Data, three axle speed data and 3-axis acceleration data carry out smothing filtering or Kalman filtering, obtain guided munition model and exist
Real-time three shaft positions information, real-time three axle speeds information and real-time 3-axis acceleration information in outer trajectory flight course；
The decision-making module be used for according to real-time three shaft position information of guided munition model during outer ballistic flight,
Real-time three axle speeds information and real-time 3-axis acceleration information calculate separately real-time three axis of guided munition model using difference method
Location information, real-time three axle speeds information, real-time 3-axis acceleration information relative to corresponding moment planning trajectory position deviation,
Velocity deviation, acceleration bias, and the position deviation is converted to according to guidance algorithm for the modified machinery of three shaft positions
Velocity deviation is converted to for the modified mechanical arm control instruction of three axle speeds, acceleration bias is converted by arm control instruction
For for the modified mechanical arm control instruction of 3-axis acceleration；
The outer trajectory amendment mechanical arm is repaired for the modified mechanical arm control instruction of three shaft positions, for three axle speeds
Positive mechanical arm control instruction is realized under the control of the modified mechanical arm control instruction of 3-axis acceleration to guided munition mould
Correspondence moment of type during outer ballistic flight is described to three shaft positions, three axle speeds and the modified simulation of 3-axis acceleration
Three axis are wobble shaft, yaw axis and pitch axis.
A kind of guided munition outer trajectory Closed-cycle correction analogy method, it includes the following steps:
Step 1: physics sand table provides the position coordinates that guided munition model strikes target, and decision-making module is according to the guidance
The position coordinates that ammunition model strikes target generate planning trajectory；
Step 2: the outer trajectory flight error injection module plans that trajectory generates random error for making, and generates corresponding
Puppet planning trajectory, puppet planning trajectory are used to simulate the practical outer trajectory of guided munition model；
Step 3: the outer trajectory amendment mechanical arm carries out outer trajectory according to puppet planning trajectory control guided munition model and flies
Row, outer trajectory flight course Position Sensor, velocity sensor and the acquisition of acceleration transducer real-time perfoming data；
Step 4: three shaft positions that the position sensor, velocity sensor and acceleration transducer will be perceived respectively respectively
Data, three axle speed data and 3-axis acceleration data are transferred to real time analysis module；
Step 5: real time analysis module is used to carry out three shaft position data, three axle speed data and 3-axis acceleration data
Smothing filtering or Kalman filtering obtain real-time three shaft position information, reality of the guided munition model during outer ballistic flight
When three axle speed information and real-time 3-axis acceleration information；
Step 6: real-time three shaft position information, reality of the decision-making module according to guided munition model during outer ballistic flight
When three axle speed information and real-time 3-axis acceleration information, real-time three axle position of guided munition model is calculated separately using difference method
Position deviation, the speed of confidence breath, real-time three axle speeds information, real-time 3-axis acceleration information relative to corresponding moment planning trajectory
Deviation, acceleration bias are spent, if the position deviation, velocity deviation and acceleration bias are respectively smaller than preset location error
Threshold value, velocity error threshold value and acceleration bias threshold value, then enter step 9, otherwise, enters step 7:
Step 7: decision-making module is converted to position deviation for the modified mechanical arm control of three shaft positions according to guidance algorithm
System instruction, velocity deviation is converted to for the modified mechanical arm control instruction of three axle speeds, acceleration bias is converted to needle
To the modified mechanical arm control instruction of 3-axis acceleration；
Step 8: outer trajectory corrects mechanical arm and is being directed to the modified mechanical arm control instruction of three shaft positions, is being directed to three axle speeds
Modified mechanical arm control instruction is realized under the control of the modified mechanical arm control instruction of 3-axis acceleration to guided munition
Correspondence moment of model during outer ballistic flight to three shaft positions, three axle speeds and the modified simulation of 3-axis acceleration, so
After enter step 9；
Step 9: outer trajectory corrects mechanical arm and continues to plan that trajectory control guided munition model carries out outer trajectory and flies according to puppet
Row, and it is transferred to step 4, until guided munition model is hit target, outer trajectory is terminated.
The calculating process of outer trajectory and physical process are carried out unification by the present invention, construct a set of guided munition outer trajectory
State aware based on data automatic flowing between information space and physical space, science decision, precisely executes analysis in real time
Closed loop is energized system, and the outer trajectory for being able to solve guided munition is corrected from state aware to the closed-loop control problem being precisely controlled,
To guarantee its projectile correction effect, technical support is provided to improve guided munition hit probability.
The present invention is by outer trajectory Injection Error, then passing through state aware, analysis, decision, executing a series of this mistake
Journey is modified trajectory, can clearly, intuitively show the makeover process of outer trajectory.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention；
Wherein, 1-state aware device, 1.1-position sensors, 1.2-velocity sensors, 1.3-acceleration sensings
Device, 2-real time analysis modules, 3-decision-making modules, 4-outer trajectorys correct mechanical arm, 5-physics sand tables, 6-guided munition moulds
Type, 7-outer trajectory flight error injection modules.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
A kind of guided munition outer trajectory Closed-cycle correction analog platform designed by the present invention, as shown in Figure 1, it includes real-time
Analysis module 2, decision-making module 3, outer trajectory amendment mechanical arm 4 (guided munition outer trajectory corrects executive device), outer trajectory flight
Error injection module 7, and the position sensor 1.1, the velocity sensor that are mounted on the wobble shaft inside guided munition model 6
1.2 and acceleration transducer 1.3；
The outer trajectory flight error injection module 7 plans that trajectory generates random error for making, and generates corresponding pseudo- rule
Trajectory is drawn, puppet planning trajectory is used to simulate the practical outer trajectory of guided munition model 6；
The outer trajectory amendment mechanical arm 4 carries out outer trajectory flight according to puppet planning trajectory control guided munition model 6；
The position sensor 1.1, velocity sensor 1.2 and acceleration transducer 1.3 are respectively used to respectively to perceive
Three shaft position data, three axle speed data and 3-axis acceleration data are transferred to real time analysis module 2, and real time analysis module 2 is used
In carrying out smothing filtering or Kalman filtering to three shaft position data, three axle speed data and 3-axis acceleration data, made
Real-time three shaft position information, real-time three axle speed information and real-time three axis of the guided missile medicine model 6 during outer ballistic flight add
Velocity information；
The decision-making module 3 is for the real-time three axle positions confidence according to guided munition model 6 during outer ballistic flight
Breath, real-time three axle speeds information and real-time 3-axis acceleration information, calculate separately the real-time of guided munition model 6 using difference method
Three shaft position information, real-time three axle speeds information, real-time 3-axis acceleration information are relative to corresponding moment planning trajectory (planning bullet
Road is built in decision-making module 3) position deviation, velocity deviation, acceleration bias, and by the position deviation according to guidance algorithm
(bibliography: Jiang Shang, Tian Fuqing, Sun Shiyan, Liang Weige, You Dong consider what automatic pilot dynamic characteristic and angle of attack constrained
[J] the system engineering of fuzzy self-adaption dynamic surface Terminal Guidance Laws and electronic technology, 2019,41 (2): 389-401.) it is converted to and is directed to
Velocity deviation is converted to and is referred to for the modified mechanical arm control of three axle speeds by the modified mechanical arm control instruction of three shaft positions
It enables, acceleration bias is converted to for the modified mechanical arm control instruction of 3-axis acceleration；
The outer trajectory amendment mechanical arm 4 is being directed to the modified mechanical arm control instruction of three shaft positions, is being directed to three axle speeds
Modified mechanical arm control instruction is realized under the control of the modified mechanical arm control instruction of 3-axis acceleration to guided munition
Correspondence moment of the model 6 during outer ballistic flight is to three shaft positions, three axle speeds and the modified simulation of 3-axis acceleration, institute
Stating three axis is wobble shaft, yaw axis and pitch axis.
In above-mentioned technical proposal, position sensor 1.1, velocity sensor 1.2 and acceleration transducer 1.3 form state sense
Know device 1.
In above-mentioned technical proposal, the real time analysis module 2 is also used to guided munition model 6 in outer ballistic flight process
In real-time three shaft positions information, real-time three axle speeds information and real-time 3-axis acceleration information shown；The decision model
Block 3 is also used to believe the real-time three shaft positions information, real-time three axle speeds information, real-time 3-axis acceleration of guided munition model 6
Manner of breathing plans that position deviation, velocity deviation and the acceleration bias of trajectory are shown for the corresponding moment, the above-mentioned letter of display
The state of flight of guided missile medicine model 6 is grasped in real time for technical staff and recorded to breath.
In above-mentioned technical proposal, it further includes physics sand table 5, and physics sand table 5 is hit for simulating guided munition model 6
The position of target and its local environment feature.Guided munition model 6 carries out contracting than production, outside by 1/10~1/20 pair of guided munition
Projectile correction mechanical arm 4 is used to grab guided munition model 6 and simulates the motion profile and projectile correction process of outer trajectory, makes to make
Guided missile medicine model 6 is instructed according to outer trajectory and is moved in physics sand table three-dimensional space, simulates the change procedure of outer trajectory.
In above-mentioned technical proposal, the physics sand table 5 provides the position coordinates that guided munition model 6 strikes target, decision
Module 3 generates planning trajectory according to the position coordinates that the guided munition model 6 strikes target.
A kind of guided munition outer trajectory Closed-cycle correction analogy method, it includes the following steps:
Step 1: physics sand table 5 provides the position coordinates that guided munition model 6 strikes target, and decision-making module 3 is according to described
The position coordinates that guided munition model 6 strikes target generate planning trajectory；
Step 2: the outer trajectory flight error injection module 7 plans that trajectory generates random error for making, and generates and corresponds to
Pseudo- planning trajectory, puppet planning trajectory is used to simulate the practical outer trajectory of guided munition model 6；
Step 3: the outer trajectory amendment mechanical arm 4 carries out outer trajectory according to puppet planning trajectory control guided munition model 6
Flight, 1.3 real-time perfoming data of outer trajectory flight course Position Sensor 1.1, velocity sensor 1.2 and acceleration transducer
Acquisition；
Step 4: the position sensor 1.1, velocity sensor 1.2 and acceleration transducer 1.3 will be perceived respectively respectively
Three shaft position data, three axle speed data and 3-axis acceleration data be transferred to real time analysis module 2；
Step 5: real time analysis module 2 be used for three shaft position data, three axle speed data and 3-axis acceleration data into
Row smothing filtering or Kalman filtering, obtain real-time three shaft position information of the guided munition model 6 during outer ballistic flight,
Real-time three axle speeds information and real-time 3-axis acceleration information；
Step 6: decision-making module 3 according to real-time three shaft position information of the guided munition model 6 during outer ballistic flight,
Real-time three axle speeds information and real-time 3-axis acceleration information calculate separately real-time the three of guided munition model 6 using difference method
Shaft position information, real-time three axle speeds information, real-time 3-axis acceleration information are inclined relative to the position of corresponding moment planning trajectory
Difference, velocity deviation, acceleration bias, if the position deviation, velocity deviation and acceleration bias are respectively smaller than preset position
Setting error threshold, velocity error threshold value and acceleration bias threshold value, (i.e. position deviation is less than preset location error threshold value, speed
Deviation is less than preset velocity error threshold value, and acceleration bias is less than preset acceleration bias threshold value), then enter step 9, it is no
Then (i.e. position deviation is more than or equal to preset location error threshold value and/or velocity deviation is more than or equal to preset velocity error threshold
Value and/or acceleration bias are more than or equal to preset acceleration bias threshold value), enter step 7:
Step 7: decision-making module 3 is converted to position deviation for the modified mechanical arm control of three shaft positions according to guidance algorithm
System instruction, velocity deviation is converted to for the modified mechanical arm control instruction of three axle speeds, acceleration bias is converted to needle
To the modified mechanical arm control instruction of 3-axis acceleration；
Step 8: outer trajectory corrects mechanical arm 4 and is being directed to the modified mechanical arm control instruction of three shaft positions, is being directed to three axle speeds
It spends modified mechanical arm control instruction, realize under the control of the modified mechanical arm control instruction of 3-axis acceleration to guided missile processed
Correspondence moment of the medicine model 6 during outer ballistic flight to three shaft positions, three axle speeds and the modified simulation of 3-axis acceleration,
Subsequently into step 9；
Step 9: outer trajectory corrects mechanical arm 4 and continues to carry out outer trajectory according to puppet planning trajectory control guided munition model 6
Flight, and it is transferred to step 4, until guided munition model 6 is hit target, outer trajectory is terminated.
The present invention can persistently outer trajectory to guided munition carry out position, the state aware of velocity and acceleration, analysis,
Decision amendment, it is ensured that correction effect.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (6)
1. a kind of guided munition outer trajectory Closed-cycle correction analog platform, it is characterised in that: it includes real time analysis module (2), determines
Plan module (3), outer trajectory correct mechanical arm (4), outer trajectory flight error injection module (7), and are mounted on guided munition mould
Position sensor (1.1), velocity sensor (1.2) and acceleration transducer (1.3) on type (6) wobble shaft；
The outer trajectory flight error injection module (7) plans that trajectory generates random error for making, and generates corresponding pseudo- planning
Trajectory, puppet planning trajectory are used to simulate the practical outer trajectory of guided munition model (6)；
Outer trajectory amendment mechanical arm (4) carries out outer trajectory flight according to puppet planning trajectory control guided munition model (6)；
The position sensor (1.1), velocity sensor (1.2) and acceleration transducer (1.3) are respectively used to respective perception
Three shaft position data, three axle speed data and 3-axis acceleration data be transferred to real time analysis module (2), real time analysis module
(2) it for carrying out smothing filtering or Kalman filtering to three shaft position data, three axle speed data and 3-axis acceleration data, obtains
To real-time three shaft position information of the guided munition model (6) during outer ballistic flight, real-time three axle speeds information and in real time
3-axis acceleration information；
The decision-making module (3) is for the real-time three axle positions confidence according to guided munition model (6) during outer ballistic flight
Breath, real-time three axle speeds information and real-time 3-axis acceleration information, the reality of guided munition model (6) is calculated separately using difference method
When position relative to corresponding moment planning trajectory of three shaft position information, real-time three axle speeds information, real-time 3-axis acceleration information
Deviation, velocity deviation, acceleration bias are set, and the position deviation is converted to according to guidance algorithm and is corrected for three shaft positions
Mechanical arm control instruction, velocity deviation is converted to for the modified mechanical arm control instruction of three axle speeds, acceleration is inclined
Difference is converted to for the modified mechanical arm control instruction of 3-axis acceleration；
Outer trajectory amendment mechanical arm (4) is repaired for the modified mechanical arm control instruction of three shaft positions, for three axle speeds
Positive mechanical arm control instruction is realized under the control of the modified mechanical arm control instruction of 3-axis acceleration to guided munition mould
Correspondence moment of the type (6) during outer ballistic flight is to three shaft positions, three axle speeds and the modified simulation of 3-axis acceleration, institute
Stating three axis is wobble shaft, yaw axis and pitch axis.
2. guided munition outer trajectory Closed-cycle correction analog platform according to claim 1, it is characterised in that: described to divide in real time
Analysis module (2) is also used to real-time three shaft positions information by guided munition model (6) during outer ballistic flight, real-time three axis
Velocity information and real-time 3-axis acceleration information are shown.
3. guided munition outer trajectory Closed-cycle correction analog platform according to claim 1, it is characterised in that: the decision model
Block (3) is also used to accelerate the real-time three shaft positions information, real-time three axle speeds information, real-time three axis of guided munition model (6)
Degree information is shown relative to position deviation, velocity deviation and the acceleration bias of corresponding moment planning trajectory.
4. guided munition outer trajectory Closed-cycle correction analog platform according to claim 1, it is characterised in that: it further includes object
It manages sand table (5), physics sand table (5) is for simulating the position and its local environment feature that guided munition model (6) is struck target.
5. guided munition outer trajectory Closed-cycle correction analog platform according to claim 4, it is characterised in that: the physics is husky
Disk (5) provides the position coordinates that guided munition model (6) strike target, and decision-making module (3) is according to the guided munition model (6)
The position coordinates to strike target generate planning trajectory.
6. a kind of guided munition outer trajectory Closed-cycle correction analogy method, which is characterized in that it includes the following steps:
Step 1: physics sand table (5) provides the position coordinates that guided munition model (6) strike target, and decision-making module (3) is according to institute
It states the position coordinates that guided munition model (6) strikes target and generates planning trajectory；
Step 2: the outer trajectory flight error injection module (7) plans that trajectory generates random error for making, and generates corresponding
Puppet planning trajectory, puppet planning trajectory are used to simulate the practical outer trajectory of guided munition model (6)；
Step 3: outer trajectory amendment mechanical arm (4) carries out outer trajectory according to puppet planning trajectory control guided munition model (6)
Flight, outer trajectory flight course Position Sensor (1.1), velocity sensor (1.2) and acceleration transducer (1.3) in real time into
The acquisition of row data；
Step 4: the position sensor (1.1), velocity sensor (1.2) and acceleration transducer (1.3) are respectively by each self-induction
Three shaft position data, three axle speed data and the 3-axis acceleration data known are transferred to real time analysis module (2)；
Step 5: real time analysis module (2) is used to carry out three shaft position data, three axle speed data and 3-axis acceleration data
Smothing filtering or Kalman filtering, obtain real-time three shaft position information of the guided munition model (6) during outer ballistic flight,
Real-time three axle speeds information and real-time 3-axis acceleration information；
Step 6: decision-making module (3) according to real-time three shaft position information of the guided munition model (6) during outer ballistic flight,
Real-time three axle speeds information and real-time 3-axis acceleration information calculate separately the real-time of guided munition model (6) using difference method
The position of three shaft position information, real-time three axle speeds information, real-time 3-axis acceleration information relative to corresponding moment planning trajectory
Deviation, velocity deviation, acceleration bias, if the position deviation, velocity deviation and acceleration bias be respectively smaller than it is preset
Location error threshold value, velocity error threshold value and acceleration bias threshold value, then enter step 9, otherwise, enters step 7:
Step 7: decision-making module (3) is converted to position deviation for the modified mechanical arm control of three shaft positions according to guidance algorithm
Instruction, velocity deviation is converted to for the modified mechanical arm control instruction of three axle speeds, acceleration bias is converted to and is directed to
The modified mechanical arm control instruction of 3-axis acceleration；
Step 8: outer trajectory corrects mechanical arm (4) and is being directed to the modified mechanical arm control instruction of three shaft positions, is being directed to three axle speeds
Modified mechanical arm control instruction is realized under the control of the modified mechanical arm control instruction of 3-axis acceleration to guided munition
Correspondence moment of the model (6) during outer ballistic flight to three shaft positions, three axle speeds and the modified simulation of 3-axis acceleration,
Subsequently into step 9；
Step 9: outer trajectory corrects mechanical arm (4) and continues to carry out outer trajectory according to puppet planning trajectory control guided munition model (6)
Flight, and it is transferred to step 4, until guided munition model (6) are hit target, outer trajectory is terminated.
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