CN110220415B - Closed-loop correction simulation platform and simulation method for outer trajectory of guided ammunition - Google Patents
Closed-loop correction simulation platform and simulation method for outer trajectory of guided ammunition Download PDFInfo
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- CN110220415B CN110220415B CN201910398616.1A CN201910398616A CN110220415B CN 110220415 B CN110220415 B CN 110220415B CN 201910398616 A CN201910398616 A CN 201910398616A CN 110220415 B CN110220415 B CN 110220415B
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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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Abstract
The invention discloses an outer trajectory closed-loop correction simulation platform of a guided munition, wherein an outer trajectory correction mechanical arm of the outer trajectory correction simulation platform controls a guided munition model to carry out outer trajectory flight according to a pseudo-planned trajectory; the real-time analysis module is used for carrying out smooth filtering or Kalman filtering on the three-axis position data, the three-axis speed data and the three-axis acceleration data to obtain real-time three-axis position information, real-time three-axis speed information and real-time three-axis acceleration information of the guided ammunition model in the outer ballistic flight process; the decision-making module is used for obtaining a mechanical arm control instruction for correcting the position, the speed and the acceleration of the three axes; and the outer trajectory correction mechanical arm realizes the simulation of correction of the three-axis position, the three-axis speed and the three-axis acceleration of the guided munition model in the outer trajectory flight process. The method realizes accurate closed-loop simulation of the correction of the outer trajectory of the guided ammunition.
Description
Technical Field
The invention relates to the field of guided munitions and the technical field of information physical systems, in particular to a guided munition outer trajectory closed loop correction simulation platform and a guided munition outer trajectory closed loop correction simulation method.
Background
Due to the existence of random errors, the actual outer trajectory of the guided munition always deviates from the planned outer trajectory, and meanwhile due to the limitation of technical conditions, the actual outer trajectory of the guided munition cannot be predicted accurately, so that the correction effect of the outer trajectory is influenced, and the hit probability of the guided munition is further influenced. Therefore, how to accurately acquire the outer trajectory of the guided munition so as to ensure the correction effect of the outer trajectory is a key scientific problem for improving the hit probability of the guided munition.
Disclosure of Invention
The invention provides a closed-loop correction simulation platform and a closed-loop correction simulation method for an outer trajectory of a guided ammunition.
In order to achieve the purpose, the invention designs a closed loop correction simulation platform for the outer trajectory of a guided ammunition, which is characterized in that: the system comprises a real-time analysis module, a decision-making module, an outer trajectory correction mechanical arm, an outer trajectory flight error injection module, a position sensor, a speed sensor and an acceleration sensor, wherein the position sensor, the speed sensor and the acceleration sensor are arranged on a rolling shaft of a guided ammunition model;
the outer ballistic flight error injection module is used for enabling a planned ballistic to generate random errors and generating a corresponding pseudo planned ballistic, and the pseudo planned ballistic is used for simulating an actual outer ballistic of a guided ammunition model;
the outer trajectory correction mechanical arm controls the guided munition model to carry out outer trajectory flight according to the pseudo-planned trajectory;
the position sensor, the speed sensor and the acceleration sensor are respectively used for transmitting three-axis position data, three-axis speed data and three-axis acceleration data which are sensed by the position sensor, the speed sensor and the acceleration sensor to the real-time analysis module, and the real-time analysis module is used for performing smooth filtering or Kalman filtering on the three-axis position data, the three-axis speed data and the three-axis acceleration data to obtain real-time three-axis position information, real-time three-axis speed information and real-time three-axis acceleration information of the guided ammunition model in the outer ballistic flight;
the decision module is used for respectively calculating the position deviation, the speed deviation and the acceleration deviation of the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided munition model relative to a planned trajectory at a corresponding moment by utilizing a difference method according to the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided munition model in the outer ballistic flight process, converting the position deviation into a mechanical arm control instruction for triaxial position correction according to a guidance algorithm, converting the speed deviation into a mechanical arm control instruction for triaxial speed correction, and converting the acceleration deviation into a mechanical arm control instruction for triaxial acceleration correction;
the outer ballistic correction mechanical arm realizes the simulation of the correction of the three-axis position, the three-axis speed and the three-axis acceleration of the guided ammunition model at the corresponding moment in the outer ballistic flying process under the control of a mechanical arm control instruction for correcting the three-axis position, a mechanical arm control instruction for correcting the three-axis speed and a mechanical arm control instruction for correcting the three-axis acceleration, wherein the three axes are a rolling axis, a yawing axis and a pitching axis.
A closed loop correction simulation method for an outer trajectory of a guided ammunition comprises the following steps:
step 1: the physical sand table provides position coordinates of a target struck by a guided munition model, and the decision module generates a planning trajectory according to the position coordinates of the target struck by the guided munition model;
step 2: the outer ballistic flight error injection module is used for enabling a planned ballistic to generate random errors and generating a corresponding pseudo planned ballistic, and the pseudo planned ballistic is used for simulating an actual outer ballistic of a guided ammunition model;
and step 3: the outer trajectory correction mechanical arm controls the guided munition model to carry out outer trajectory flight according to the pseudo-planned trajectory, and a position sensor, a speed sensor and an acceleration sensor carry out data acquisition in real time in the outer trajectory flight process;
and 4, step 4: the position sensor, the speed sensor and the acceleration sensor respectively transmit three-axis position data, three-axis speed data and three-axis acceleration data sensed by the position sensor, the speed sensor and the acceleration sensor to the real-time analysis module;
and 5: the real-time analysis module is used for carrying out smooth filtering or Kalman filtering on the three-axis position data, the three-axis speed data and the three-axis acceleration data to obtain real-time three-axis position information, real-time three-axis speed information and real-time three-axis acceleration information of the guided ammunition model in the outer ballistic flight process;
step 6: the decision-making module respectively calculates the position deviation, the speed deviation and the acceleration deviation of the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided munition model relative to a planned trajectory at a corresponding moment by utilizing a difference method according to the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided munition model in the outer trajectory flight process, if the position deviation, the speed deviation and the acceleration deviation are respectively smaller than a preset position error threshold value, a preset speed error threshold value and a preset acceleration deviation threshold value, the step 9 is executed, otherwise, the step 7 is executed:
and 7: the decision-making module converts the position deviation into a mechanical arm control instruction for triaxial position correction according to a guidance algorithm, converts the speed deviation into a mechanical arm control instruction for triaxial speed correction, and converts the acceleration deviation into a mechanical arm control instruction for triaxial acceleration correction;
and 8: the outer ballistic correction mechanical arm realizes the simulation of the correction of the triaxial position, the triaxial speed and the triaxial acceleration of the guided munition model at the corresponding moment in the outer ballistic flight process under the control of a mechanical arm control instruction for triaxial position correction, a mechanical arm control instruction for triaxial speed correction and a mechanical arm control instruction for triaxial acceleration correction, and then the step 9 is carried out;
and step 9: and (4) continuing controlling the guided munition model to carry out outer ballistic flight by the outer ballistic correction mechanical arm according to the pseudo-planned ballistic, and turning to the step 4 until the guided munition model hits the target and the outer ballistic is terminated.
According to the method, the calculation process and the physical process of the outer trajectory of the guided munition are unified, a set of closed-loop enabling system based on automatic data flow state perception, real-time analysis, scientific decision and accurate execution between the information space and the physical space of the outer trajectory of the guided munition is constructed, the closed-loop control problem that the outer trajectory of the guided munition is corrected from state perception to accurate control can be solved, the trajectory correction effect is guaranteed, and technical support is provided for improving the hit probability of the guided munition.
According to the method, the external trajectory is injected with errors, and then the trajectory is corrected through a series of processes of state sensing, analysis, decision making and execution, so that the correction process of the external trajectory can be clearly and visually displayed.
Drawings
FIG. 1 is a block diagram of the present invention;
the system comprises a state sensing device 1, a position sensor 1.1, a speed sensor 1.2, an acceleration sensor 1.3, a real-time analysis module 2, a decision-making module 3, an outer ballistic trajectory correction mechanical arm 4, a physical sand table 5, a guided ammunition model 6 and an outer ballistic trajectory flight error injection module 7.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention designs a guided munition outer trajectory closed loop correction simulation platform, which comprises a real-time analysis module 2, a decision module 3, an outer trajectory correction mechanical arm 4 (a guided munition outer trajectory correction execution device), an outer trajectory flight error injection module 7, a position sensor 1.1, a speed sensor 1.2 and an acceleration sensor 1.3, wherein the position sensor 1.1, the speed sensor 1.2 and the acceleration sensor are arranged on a rolling axis in a guided munition model 6;
the outer ballistic flight error injection module 7 is used for enabling a planned ballistic to generate random errors and generating a corresponding pseudo planned ballistic, and the pseudo planned ballistic is used for simulating an actual outer ballistic of the guided munition model 6;
the outer trajectory correction mechanical arm 4 controls the guided munition model 6 to carry out outer trajectory flight according to the pseudo-planned trajectory;
the position sensor 1.1, the speed sensor 1.2 and the acceleration sensor 1.3 are respectively used for transmitting three-axis position data, three-axis speed data and three-axis acceleration data which are sensed by the position sensor 1.1, the speed sensor 1.2 and the acceleration sensor 1.3 to the real-time analysis module 2, and the real-time analysis module 2 is used for performing smooth filtering or Kalman filtering on the three-axis position data, the three-axis speed data and the three-axis acceleration data to obtain real-time three-axis position information, real-time three-axis speed information and real-time three-axis acceleration information of the guided ammuniti;
the decision module 3 is used for respectively calculating the position deviation, the speed deviation and the acceleration deviation of the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided ammunition model 6 relative to a planned trajectory (planned and arranged in the decision module 3) at a corresponding moment by utilizing a difference method according to the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided ammunition model 6 in the outer ballistic flight process, and converting the position deviation into a mechanical arm control instruction for triaxial position correction according to a guidance algorithm (reference document: Jiangshang, Tianfuqing, Sunwishi, Liangwei, Yudong, fuzzy self-adaptive dynamic terminal guidance law [ J ] considering the dynamic characteristic of an autopilot and the constraint of an attack angle, 2019, 41 (2): 389 401.), converting the speed deviation into a mechanical arm control instruction for triaxial speed correction, and converting the acceleration deviation into a mechanical arm control instruction for triaxial acceleration correction;
the outer ballistic correction mechanical arm 4 realizes the simulation of the correction of the triaxial position, the triaxial speed and the triaxial acceleration of the guided munition model 6 at the corresponding moment in the outer ballistic flight process under the control of a mechanical arm control instruction for correcting the triaxial position, a mechanical arm control instruction for correcting the triaxial speed and a mechanical arm control instruction for correcting the triaxial acceleration, wherein the triaxial axes are a rolling axis, a yawing axis and a pitching axis.
In the above technical solution, the state sensing device 1 is composed of a position sensor 1.1, a speed sensor 1.2 and an acceleration sensor 1.3.
In the technical scheme, the real-time analysis module 2 is further configured to display real-time triaxial position information, real-time triaxial speed information and real-time triaxial acceleration information of the guided munition model 6 in the outer ballistic flight process; the decision module 3 is further configured to display the position deviation, the speed deviation and the acceleration deviation of the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided munition model 6 with respect to the planned trajectory at the corresponding moment, and the displayed information is provided for technicians to grasp in real time and record the flight state of the guided munition model 6.
In the technical scheme, the system further comprises a physical sand table 5, wherein the physical sand table 5 is used for simulating the position of a target hit by the guided munition model 6 and the environmental characteristics of the target. The guided munition model 6 is subjected to scaling manufacturing on the guided munition according to 1/10-1/20, and the outer ballistic trajectory correction mechanical arm 4 is used for grabbing the guided munition model 6 and simulating the movement trajectory and the ballistic trajectory correction process of an outer ballistic trajectory, so that the guided munition model 6 moves in a physical sand table three-dimensional space according to an outer ballistic trajectory instruction and the change process of the outer ballistic trajectory is simulated.
In the technical scheme, the physical sand table 5 provides position coordinates of a target hit by the guided ammunition model 6, and the decision module 3 generates a planning trajectory according to the position coordinates of the target hit by the guided ammunition model 6.
A closed loop correction simulation method for an outer trajectory of a guided ammunition comprises the following steps:
step 1: the physical sand table 5 provides position coordinates of a target hit by the guided munition model 6, and the decision module 3 generates a planning trajectory according to the position coordinates of the target hit by the guided munition model 6;
step 2: the outer ballistic flight error injection module 7 is used for enabling a planned ballistic to generate random errors and generating a corresponding pseudo planned ballistic, and the pseudo planned ballistic is used for simulating an actual outer ballistic of the guided munition model 6;
and step 3: the outer trajectory correction mechanical arm 4 controls the guided munition model 6 to perform outer trajectory flight according to the pseudo-planned trajectory, and the position sensor 1.1, the speed sensor 1.2 and the acceleration sensor 1.3 perform data acquisition in real time in the outer trajectory flight process;
and 4, step 4: the position sensor 1.1, the speed sensor 1.2 and the acceleration sensor 1.3 respectively transmit three-axis position data, three-axis speed data and three-axis acceleration data sensed by the position sensor, the speed sensor and the acceleration sensor to the real-time analysis module 2;
and 5: the real-time analysis module 2 is used for carrying out smooth filtering or Kalman filtering on the triaxial position data, the triaxial speed data and the triaxial acceleration data to obtain real-time triaxial position information, real-time triaxial speed information and real-time triaxial acceleration information of the guided munition model 6 in the outer ballistic flight process;
step 6: the decision module 3 respectively calculates the position deviation, the speed deviation and the acceleration deviation of the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided munition model 6 relative to the planned trajectory at the corresponding moment by utilizing a difference method according to the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided munition model 6 in the outer trajectory flight process, if the position deviation, the speed deviation and the acceleration deviation are respectively smaller than a preset position error threshold value, a speed error threshold value and an acceleration deviation threshold value (namely, the position deviation is smaller than the preset position error threshold value, the speed deviation is smaller than the preset speed error threshold value and the acceleration deviation is smaller than the preset acceleration deviation threshold value), the step 9 is carried out, otherwise (namely, the position deviation is larger than or equal to the preset position error threshold value and/or the speed deviation is larger than or equal to the preset speed error threshold value and set acceleration deviation threshold), go to step 7:
and 7: the decision module 3 converts the position deviation into a mechanical arm control instruction for triaxial position correction according to a guidance algorithm, converts the speed deviation into a mechanical arm control instruction for triaxial speed correction, and converts the acceleration deviation into a mechanical arm control instruction for triaxial acceleration correction;
and 8: the outer ballistic correction mechanical arm 4 realizes the simulation of the three-axis position, the three-axis speed and the three-axis acceleration correction of the guided munition model 6 at the corresponding moment in the outer ballistic flight process under the control of the mechanical arm control instruction for the three-axis position correction, the mechanical arm control instruction for the three-axis speed correction and the mechanical arm control instruction for the three-axis acceleration correction, and then the step 9 is carried out;
and step 9: and the outer trajectory correction mechanical arm 4 continues to control the guided munition model 6 to carry out outer trajectory flight according to the pseudo-planned trajectory, and the step 4 is carried out until the guided munition model 6 hits the target and the outer trajectory is terminated.
The method can continuously perform state sensing, analysis and decision correction of position, speed and acceleration on the outer trajectory of the guided munition, and can ensure the correction effect.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (6)
1. A closed-loop correction simulation platform for an outer trajectory of a guided ammunition comprises a real-time analysis module (2) and a decision module (3), and is characterized in that: the device also comprises an outer ballistic trajectory correction mechanical arm (4), an outer ballistic trajectory flight error injection module (7), and a position sensor (1.1), a speed sensor (1.2) and an acceleration sensor (1.3) which are arranged on a rolling axis of the guided ammunition model (6);
the outer ballistic flight error injection module (7) is used for enabling a planned ballistic to generate random errors and generating a corresponding pseudo planned ballistic, and the pseudo planned ballistic is used for simulating an actual outer ballistic of the guided munition model (6);
the outer ballistic correction mechanical arm (4) controls the guided munition model (6) to carry out outer ballistic flight according to the pseudo-planned ballistic;
the position sensor (1.1), the speed sensor (1.2) and the acceleration sensor (1.3) are respectively used for transmitting three-axis position data, three-axis speed data and three-axis acceleration data which are sensed respectively to the real-time analysis module (2), and the real-time analysis module (2) is used for carrying out smooth filtering or Kalman filtering on the three-axis position data, the three-axis speed data and the three-axis acceleration data to obtain real-time three-axis position information, real-time three-axis speed information and real-time three-axis acceleration information of the guided ammunition model (6) in the outer ballistic flight process;
the decision module (3) is used for respectively calculating the position deviation, the speed deviation and the acceleration deviation of the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided ammunition model (6) relative to a planned trajectory at a corresponding moment by utilizing a difference method according to the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided ammunition model (6) in the outer ballistic flight process, converting the position deviation into a mechanical arm control instruction for triaxial position correction according to a guidance algorithm, converting the speed deviation into a mechanical arm control instruction for triaxial speed correction, and converting the acceleration deviation into a mechanical arm control instruction for triaxial acceleration correction;
the outer ballistic correction mechanical arm (4) realizes the simulation of the correction of the three-axis position, the three-axis speed and the three-axis acceleration of the guided ammunition model (6) at the corresponding moment in the outer ballistic flying process under the control of a mechanical arm control instruction for correcting the three-axis position, a mechanical arm control instruction for correcting the three-axis speed and a mechanical arm control instruction for correcting the three-axis acceleration, wherein the three axes are a rolling axis, a yawing axis and a pitching axis.
2. The guided munition outer trajectory closed loop correction simulation platform of claim 1, wherein: the real-time analysis module (2) is also used for displaying real-time three-axis position information, real-time three-axis speed information and real-time three-axis acceleration information of the guided munition model (6) in the outer ballistic flight process.
3. The guided munition outer trajectory closed loop correction simulation platform of claim 1, wherein: the decision module (3) is also used for displaying the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided munition model (6) relative to the position deviation, the speed deviation and the acceleration deviation of a planned trajectory at a corresponding moment.
4. The guided munition outer trajectory closed loop correction simulation platform of claim 1, wherein: the system also comprises a physical sand table (5), wherein the physical sand table (5) is used for simulating the position of a target hit by the guided ammunition model (6) and the environmental characteristics of the target.
5. The guided munition outer trajectory closed loop correction simulation platform of claim 4, wherein: the physical sand table (5) provides position coordinates of a target struck by the guided ammunition model (6), and the decision module (3) generates a planning trajectory according to the position coordinates of the target struck by the guided ammunition model (6).
6. A closed loop correction simulation method for an outer trajectory of a guided ammunition is characterized by comprising the following steps:
step 1: the physical sand table (5) provides position coordinates of a target struck by a guided ammunition model (6), and the decision module (3) generates a planning trajectory according to the position coordinates of the target struck by the guided ammunition model (6);
step 2: the outer ballistic flight error injection module (7) is used for enabling a planned ballistic to generate random errors and generating a corresponding pseudo planned ballistic, and the pseudo planned ballistic is used for simulating an actual outer ballistic of the guided munition model (6);
and step 3: the outer ballistic trajectory correction mechanical arm (4) controls the guided munition model (6) to carry out outer ballistic trajectory flight according to the pseudo-planned ballistic trajectory, and a position sensor (1.1), a speed sensor (1.2) and an acceleration sensor (1.3) carry out data acquisition in real time in the outer ballistic trajectory flight process;
and 4, step 4: the position sensor (1.1), the speed sensor (1.2) and the acceleration sensor (1.3) respectively transmit three-axis position data, three-axis speed data and three-axis acceleration data sensed by the position sensor, the speed sensor and the acceleration sensor to the real-time analysis module (2);
and 5: the real-time analysis module (2) is used for carrying out smooth filtering or Kalman filtering on the three-axis position data, the three-axis speed data and the three-axis acceleration data to obtain real-time three-axis position information, real-time three-axis speed information and real-time three-axis acceleration information of the guided ammunition model (6) in the outer ballistic flight process;
step 6: the decision module (3) respectively calculates the position deviation, the speed deviation and the acceleration deviation of the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided ammunition model (6) relative to the planned trajectory at the corresponding moment by utilizing a difference method according to the real-time triaxial position information, the real-time triaxial speed information and the real-time triaxial acceleration information of the guided ammunition model (6) in the outer ballistic flight process, and if the position deviation, the speed deviation and the acceleration deviation are respectively smaller than a preset position error threshold value, a preset speed error threshold value and a preset acceleration deviation threshold value, the method goes to step 9, otherwise, the method goes to step 7:
and 7: the decision module (3) converts the position deviation into a mechanical arm control instruction for triaxial position correction according to a guidance algorithm, converts the speed deviation into a mechanical arm control instruction for triaxial speed correction, and converts the acceleration deviation into a mechanical arm control instruction for triaxial acceleration correction;
and 8: the outer ballistic correction mechanical arm (4) realizes the simulation of the correction of the triaxial position, the triaxial speed and the triaxial acceleration of the guided munition model (6) at the corresponding moment in the outer ballistic flight process under the control of a mechanical arm control instruction for triaxial position correction, a mechanical arm control instruction for triaxial speed correction and a mechanical arm control instruction for triaxial acceleration correction, and then the step 9 is carried out;
and step 9: and the outer trajectory correction mechanical arm (4) continues to control the guided munition model (6) to carry out outer trajectory flight according to the pseudo-planned trajectory, and the step 4 is carried out until the guided munition model (6) hits a target and the outer trajectory is terminated.
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| CN114115325B (en) * | 2020-08-31 | 2023-02-28 | 南京理工大学 | Online closed-loop guidance method for gliding missile based on hp-RPM algorithm |
| CN112206510B (en) * | 2020-10-19 | 2022-08-05 | 珠海金山网络游戏科技有限公司 | Motion control method and device for virtual object |
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