CN110260714B - Guided ammunition outer trajectory semi-physical simulation platform and method - Google Patents

Guided ammunition outer trajectory semi-physical simulation platform and method Download PDF

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CN110260714B
CN110260714B CN201910425503.6A CN201910425503A CN110260714B CN 110260714 B CN110260714 B CN 110260714B CN 201910425503 A CN201910425503 A CN 201910425503A CN 110260714 B CN110260714 B CN 110260714B
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steering engine
microcontroller
angle
guided
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CN110260714A (en
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孙世岩
姜尚
田福庆
梁伟阁
谭波
佟怡铄
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Naval University of Engineering PLA
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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
    • 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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  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

The invention discloses a guided ammunition outer trajectory semi-physical simulation platform which comprises a main control computer, a three-axis turntable, a turntable control cabinet and a control cabin unit fixed on the three-axis turntable, wherein the control cabin unit comprises a microcontroller, a steering engine driver, a pitching channel electric steering engine, a yawing channel electric steering engine, a pitching channel potentiometer, a yawing channel potentiometer, a geomagnetic device, a Beidou satellite receiver and a Beidou satellite simulator; the semi-physical simulation platform and the method for the outer trajectory of the guided munition combine the advantages of the semi-physical simulation technology and the characteristics of the outer trajectory of the guided munition, combine the embedded microcontroller technology and the semi-physical simulation technology, set programs, set parameters and a control platform through an RS485 serial communication bus, transmit, receive, store and display the parameters in real time, and facilitate users to easily complete the semi-physical simulation of the outer trajectory of the guided munition and select structures and parameters with high reliability.

Description

Guided ammunition outer trajectory semi-physical simulation platform and method
Technical Field
The invention relates to the technical field of guided munition outer trajectory semi-physical simulation, in particular to a guided munition outer trajectory semi-physical simulation platform and a guided munition outer trajectory semi-physical simulation method.
Background
With the application of electro-optical technology, information technology, control technology and microelectronic technology, many novel guided munitions appear, which are greatly different from the traditional munitions in action principle, flight principle and ballistic characteristics, so that the establishment and development of a novel outer ballistic theory are promoted, and inevitably, the structure and parameters of the novel guided munition are more complicated.
In recent years, the novel guidance ammunition with high precision and low cost is vigorously developed in various countries, the outer ballistic structure parameters of an uncontrolled section, a middle guidance section and a final guidance section are selected mainly through digital simulation at present, but the method is only suitable for the traditional guidance method with simple structure and few parameters, the structure and the parameters with high reliability are difficult to determine for the novel middle guidance law and the novel final guidance law, real projectile flight inspection with high cost and long period can not be carried out, and the development of a novel outer ballistic theory and the application of the novel outer ballistic theory on the novel guidance ammunition are hindered.
Disclosure of Invention
The invention aims to provide a semi-physical simulation platform and a semi-physical simulation method for an outer trajectory of a guided ammunition, which can realize real-time driving of an electric steering engine of a pitching and yawing channel, a three-axis turntable and a Beidou satellite simulator, obtain feedback data of the electric steering engine of the pitching and yawing channel, a geomagnetic device and a Beidou satellite receiver and semi-physical simulation of the outer trajectory, are favorable for improving the reliability of a selected structure and parameters, shorten the development period and reduce the development cost.
In order to achieve the purpose, the semi-physical simulation platform for the outer trajectory of the guided ammunition comprises a main control computer, a three-axis turntable, a turntable control cabinet and a control cabin unit fixed on the three-axis turntable, wherein the control cabin unit comprises a microcontroller, a steering engine driver, a pitching channel electric steering engine, a yawing channel electric steering engine, a pitching channel potentiometer, a yawing channel potentiometer, a geomagnetic device, a Beidou satellite receiver and a Beidou satellite simulator;
the control cabin unit is used for simulating the outer ballistic motion process of the guided munition;
the main control machine is used for conveying an outer ballistic control program, an emulation control instruction and an emulation control parameter to the microcontroller, a steering engine instruction output end of the microcontroller is connected with an instruction input end of a steering engine driver, a yaw channel electric steering engine control signal output end of the steering engine driver is connected with a signal input end of a yaw channel electric steering engine, a pitch channel electric steering engine control signal output end of the steering engine driver is connected with a signal input end of a pitch channel electric steering engine, an output shaft of the yaw channel electric steering engine is fixedly connected with an input shaft of a yaw channel potentiometer, an output shaft of the pitch channel electric steering engine is fixedly connected with an input shaft of a pitch channel potentiometer, a yaw channel electric steering engine output shaft deflection angle signal output end of the yaw channel potentiometer is connected with a yaw channel feedback data input end of the microcontroller, and a pitch channel electric steering engine output shaft deflection angle signal output end of the pitch channel (ii) a
The rotary table control communication end of the microcontroller is connected with the communication end of the rotary table control cabinet, the control cabinet is used for controlling the three-axis rotary table to move, the attitude communication end of the microcontroller is connected with the communication end of the geomagnetic device, the geomagnetic device is used for acquiring the attitude angle of the guided ammunition at the current moment, and the microcontroller is used for transmitting an attitude driving instruction to the rotary table control cabinet and receiving the feedback information of the attitude and the rolling angle of the guided ammunition of the geomagnetic device;
the position and speed control and feedback signal communication end of the guided munition of the microcontroller is respectively connected with the signal input end of the Beidou satellite simulator and the feedback data output end of the Beidou satellite receiver, the Beidou satellite simulator is used for simulating the position and speed signal of the guided munition under the control of the position and speed control signal of the guided munition sent by the microcontroller, and the Beidou satellite receiver is used for obtaining the position and speed signal of the guided munition simulated by the Beidou satellite simulator at the current moment;
the microcontroller is used for calculating the missile-target distance between the guided munition and the target at the current moment, the sight inclination angle between the guided munition and the target and the sight declination angle between the guided munition and the target according to the position signal of the simulated guided munition fed back by the Beidou satellite receiver, calculating the trajectory inclination angle and the trajectory declination angle of the guided munition at the current moment according to the speed signal of the simulated guided munition fed back by the Beidou satellite receiver, and calculating the quasi-attack angle and the quasi-sideslip angle of the guided munition at the current moment according to the trajectory inclination angle of the guided munition, the trajectory declination angle of the guided munition and the attitude angle of the control cabin unit at the current moment fed back by the geomagnetic device; the microcontroller is also used for calculating the equivalent drift angle of the pitching channel electric steering engine and the equivalent drift angle of the yawing channel electric steering engine at the current moment according to the deflection angle signal of the output shaft of the pitching channel electric steering engine, the deflection angle signal of the output shaft of the yawing channel electric steering engine and the rolling angle of the guided ammunition fed back by the geomagnetic device; the microcontroller is also used for calculating the normal force, the lateral force, the pitching moment and the yawing moment acting on the guidance ammunition at the current moment according to the guidance ammunition quasi-attack angle, the guidance ammunition quasi-sideslip angle, the pitching channel electric steering engine equivalent deflection angle and the yawing channel electric steering engine equivalent deflection angle; the microcontroller is also used for obtaining parameters and control information of the next-time simulated external trajectory of the guided munition through a fourth-order Runge Kutta method according to the normal force, the lateral force, the pitching moment, the yawing moment of the guided munition, the attitude feedback information of the geomagnetic device, and the position and speed signals of the simulated guided munition fed back by the Beidou satellite receiver.
A semi-physical simulation method for an outer trajectory of a guided ammunition comprises the following steps:
step 1: the main control computer sends a simulation control instruction, a set simulation control program and simulation control parameters to the microcontroller through the outer ballistic software;
selecting a compiled simulation control program on outer ballistic software, and installing the simulation control program into a microcontroller by sending a program installing control instruction, wherein the simulation control program comprises a differential equation set and a four-order Runge-Kutta algorithm, and the differential equation set comprises a projectile six-degree-of-freedom dynamic model, a target three-degree-of-freedom kinematic model, a projectile space relative motion model, a middle guidance law model and a tail guidance law model;
selecting or inputting simulation environment parameters, guidance ammunition attribute parameters, target attribute parameters, middle guidance law parameters and end guidance law parameters on outer trajectory software, and installing the simulation environment parameters, the guidance ammunition attribute parameters, the target attribute parameters, the middle guidance law parameters and the end guidance law parameters into a microcontroller by sending an installing and determining parameter control command;
step 2, the microcontroller emits the guided ammunition to the angle α according to the simulation environment parametersNInitial longitude and latitude height [ lambda ] of guided ammunition0、φ0、h0]TAnd the position [ x ] of the guided ammunition fed back by the Beidou satellite receiver at the current moment in the WGS-84 systemd1,yd1,zd1]TThe signal calculates the position [ x ] of the current time guidance ammunition in the reference system through the following formula 1P1,yP1,zP1]T；
Figure GDA0002472711040000041
Wherein B is a matrix converted from WGS-84 into a reference system, and λ0、φ0Respectively representing the initial longitude and latitude, x, of the guided munitiond1,yd1,zd1Respectively representing the coordinate values of roll axis, course axis, pitch axis and x at the current time in WGS-84 systemP1,yP1,zP1Respectively representing the coordinate values of a rolling axis, a course axis and a pitching axis at the current moment in the reference system;
the microcontroller determines the position [ x ] of the guided munition at the current time in the reference systemP1,yP1,zP1]TAnd the position [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]The bullet distance R at the current moment is calculated by the following formula 21；
Figure GDA0002472711040000042
Wherein x isT,yT,zTRespectively representing the coordinates of a rolling axis, a course axis and a pitching axis of the target in a reference system;
the microcontroller determines the position [ x ] of the guided munition at the current time in the reference systemP1,yP1,zP1]TPosition [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]And the bullet distance R1Calculating a line-of-sight inclination angle theta between the guided munition and the target at the present time by the following formula 3Q1；
Figure GDA0002472711040000043
The microcontroller determines the position [ x ] of the guided munition at the current time in the reference systemP1,yP1,zP1]TPosition [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]Solving for the line-of-sight declination psi between the guided munition and the target at the present time by the following equation 4Q1；
Figure GDA0002472711040000044
The microcontroller controls the speed [ v ] of the guided ammunition at the current moment in the WGS-84 system according to the feedback of the Beidou satellite receiverxd1,vyd1,vzd1]TThe signal is used for solving the combination velocity v of the guided ammunition at the current moment through the following formula 5P1；
Figure GDA0002472711040000051
Wherein v isxd1,vyd1,vzd1Respectively representing the speed of the guided ammunition at the current moment on a rolling axis, a course axis and a pitching axis in the WGS-84 system;
the microcontroller controls the speed [ v ] of the guided ammunition at the current moment in the WGS-84 system according to the feedback of the Beidou satellite receiverxd1,vyd1,vzd1]TThe resultant velocity v of the signal and the current time of the guided ammunitionP1The trajectory inclination angle theta at the present moment is calculated by the following equation 6P1；
Figure GDA0002472711040000052
The microcontroller controls the speed [ v ] of the guided ammunition at the current moment in the WGS-84 system according to the feedback of the Beidou satellite receiverxd1,vyd1,vzd1]TResultant velocity v of signal and guided ammunition at current momentP1And ballistic inclination angle thetaP1The ballistic declination ψ at the present time is solved by the following equation 7P1；
Figure GDA0002472711040000053
The microcontroller is used for receiving the trajectory inclination angle signal thetaP1And the groundPitch angle signal theta fed back by magnetic device1Calculating the quasi-attack angle of the guided ammunition at the current time through the following formula 8
Figure GDA0002472711040000054
Figure GDA0002472711040000055
The microcontroller is used for generating a ballistic declination signal psiP1Yaw angle signal psi fed back from geomagnetic device1The quasi-slip angle β of the projectile at the present time is calculated by the following equation 91 *；
β1 *＝ψ1-ψP1(9)
The microcontroller deflects the angle of the output shaft of the electric steering engine according to the pitch channel at the current momentz1Yaw channel electric steering engine output shaft deflection angley1Guided ammunition rolling angle gamma fed back by geomagnetic device1Calculating the equivalent deflection angle of the output shaft of the electric steering engine of the pitching channel at the current moment by the following formula 10zeq1Equivalent deflection angle of output shaft of electric steering engine in yaw channelyeq1；
Figure GDA0002472711040000061
Quasi-attack angle combined with current-time guidance ammunition
Figure GDA0002472711040000062
Quasi-sideslip angle β of guided ammunition at current moment1 *Equivalent deflection angle of output shaft of electric steering engine of pitching channel at current momentzeq1Equivalent deflection angle of output shaft of electric steering engine of yaw channel at current momentyeq1Solving the normal force, the lateral force, the pitching moment and the yawing moment acting on the guided ammunition at the current moment through the projectile body six-degree-of-freedom dynamic model set in the step 1 and the simulation control parameters set in the step 1;
and step 3: the microcontroller solves the problems according to the differential equation set in the step 1 and a fourth-order Runge Kutta methodThe outer ballistic trajectory control parameter at the next moment and the variable parameter to be solved in the differential equation set comprise the projectile distance R at the next moment2Angle of inclination theta of line of sight between guided cartridge and targetQ2A line of sight offset phi between the guided munition and the targetQ2Angle of inclination of trajectory thetaP2Ballistic declination psiP2Position of guided cartridge in reference system [ x ]P2,yP2,zP2]TAnd velocity [ v ]xP2,vyP2,vzP2]TEquivalent deflection angle of output shaft of pitching channel steering enginezeq2Yaw channel steering engine output shaft equivalent deflection angleyeq2And the pitch angle theta of the three-axis turntable2Yaw angle psi2And roll angle gamma2，vxP2,vyP2,vzP2The rolling axis, the course axis and the pitching axis speed in the reference system;
the microcontroller controls the equivalent deflection angle of the output shaft of the steering engine according to the pitch channel at the next momentzeq2The equivalent deflection angle of the output shaft of the yaw channel steering engine at the next momentyeq2And the roll angle gamma of the three-axis turntable at the next moment2Calculating the deflection angle of the output shaft of the electric steering engine of the pitching channel at the next moment by the following formulaz2Yaw channel electric steering engine output shaft deflection angley2；
Figure GDA0002472711040000063
The microcontroller directs the guided munition to the angle α based on the simulated environmental parametersNInitial longitude and latitude height of guided ammunition
Figure GDA0002472711040000064
Initial position of guided munition in WGS-84 system [ x ]d0,yd0,zd0]TAnd the position [ x ] of the guided munition in the reference system at the next momentP2,yP2,zP2]TThe position x of the next time guidance ammunition at the next time in the WGS-84 system is calculated by the following formula 12d2,yd2,zd2]T；
Figure GDA0002472711040000071
Wherein x isP2,yP2,zP2The coordinate values of the roll axis, the course axis, the pitch axis, and x at the next time in the reference systemd0,yd0,zd0The value of the roll axis, the course axis, the pitch axis coordinate, x at the next time in WGS-84d2,yd2,zd2The coordinates of the roll axis, the course axis and the pitch axis at the next moment in the WGS-84 system are shown;
the microcontroller directs the guided munition to the angle α based on the simulated environmental parametersNInitial longitude and latitude height of guided ammunition
Figure GDA0002472711040000072
And the velocity [ v ] of the next time the guided munition is fired in the reference systemxP2,vyP2,vzP2]TThe velocity [ v ] of the next time-point guided munition launched in the WGS-84 system is calculated by the following equation 13xd2,vyd2,vzd2]T；
Figure GDA0002472711040000073
B-1Is an inverse matrix of the transformation from the WGS-84 system to the reference system, vxP2,vyP2,vzP2Is the speed value v on the roll axis, course axis and pitch axis in the reference systemxd2,vyd2,vzd2The speed values of a rolling axis, a course axis and a pitching axis in a WGS-84 system reference system are set;
and 4, step 4: the microcontroller inclines the angle of the output shaft of the electric steering engine according to the pitch channel at the next momentz2And the drift angle of the output shaft of the electric steering engine of the drift channely2Sending a yaw channel electric steering engine control instruction and a pitch channel electric steering engine control instruction to a steering engine driver;
the yaw channel electric steering engine is controlled by the steering engine driver to move according to a yaw channel electric steering engine control command, the motion of the yaw channel electric steering engine drives an input shaft of a yaw channel potentiometer to move, and the yaw channel potentiometer feeds back the deflection angle of an output shaft of the yaw channel electric steering engine to the microcontroller;
the steering engine driver controls the pitching channel electric steering engine to move according to the pitching channel electric steering engine control instruction, the pitching channel electric steering engine drives the input shaft of the pitching channel potentiometer to move, and the pitching channel potentiometer feeds back the deflection angle of the output shaft of the pitching channel electric steering engine to the microcontroller;
the microcontroller is used for controlling the pitch angle theta of the three-axis turntable at the next moment2Yaw angle psi2And roll angle gamma2Sending an attitude driving instruction to a control cabinet, driving the three-axis turntable to move under the driving of the attitude driving instruction, and acquiring an attitude angle fed back by the geomagnetic device by using the microcontroller;
the microcontroller determines the location [ x ] of the projectile in the WGS-84 set at the next timed2,yd2,zd2]TAnd velocity [ v ]xd2,vyd2,vzd2]TThe method comprises the steps that a projectile body movement driving instruction is sent to a Beidou satellite simulator, the Beidou satellite simulator simulates position and speed signals of projectiles according to the projectile body movement driving instruction and sends out the position and speed signals through a satellite radio frequency antenna, the Beidou satellite receiver receives the position and speed signals of the projectiles simulated by the Beidou satellite simulator through a receiving antenna, a microcontroller obtains the position and speed signals of the projectiles fed back by the Beidou satellite receiver and returns to step 2, and step 2-4 are sequentially circulated until projectile distance parameter R is reached1And if the distance constant is less than or equal to the set distance constant, jumping out of the cycle, and storing data by the microcontroller in each cycle through the storage device and sending the data to the main control computer, namely finishing the semi-physical simulation of the outer trajectory of the guided ammunition.
The semi-physical simulation platform and the method for the outer trajectory of the guided ammunition combine the advantages of the semi-physical simulation technology and the characteristics of the outer trajectory of the guided ammunition, combine the embedded microcontroller technology and the semi-physical simulation technology, and incorporate a steering engine, a three-axis turntable, a geomagnetic device, a Beidou satellite simulator and a Beidou satellite receiver into a semi-physical simulation loop, solve the problem of low simulation reliability caused by difficult accurate modeling of digital simulation due to dynamic characteristics of the steering engine, attitude angle measurement errors, projectile body position measurement errors, projectile body speed measurement errors and the like, install and fix programs, parameters and a control platform through a serial communication bus, transmit, receive, store and display the parameters in real time, facilitate users to easily complete semi-physical simulation of the outer trajectory of the guided ammunition and select structures and parameters with higher reliability, reduce the experiment cost and shorten the experiment period, is helpful to promote the development of a novel outer ballistic theory and the application thereof in missile production and pharmacy.
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FIG. 1 is a schematic structural diagram of the present invention.
The system comprises a main control unit 1, a main control unit 1.1, a first RS 485-USB converter 1.2, an attitude simulation unit 2, a three-axis turntable 2.1, a turntable control cabinet 2.2, a second RS 485-USB converter 2.3, a control cabin unit 3.1, a microcontroller 3.2, a steering engine driver 3.3, a pitching channel electric steering engine 3.4, a yawing channel electric steering engine 3.5, a pitching channel potentiometer 3.6, a yawing channel potentiometer 3.7, a first TT L-485 converter 3.8, a second TT L-485 converter 3.9, a storage device 3.10, a geomagnetic device 3.11-TT L-RJ 45 converter, a Beidou satellite receiver 3.12, a missile motion simulation unit 4, a Beidou satellite device 4.1-and a satellite radio frequency simulation antenna 4.2.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the guided munition outer trajectory semi-physical simulation platform shown in fig. 1 comprises a main control computer 1.1, a three-axis turntable 2.1, a turntable control cabinet 2.2 and a control cabin unit 3 fixed inside the control cabin of the three-axis turntable 2.1, wherein the control cabin unit 3 comprises a microcontroller 3.1, a steering engine driver 3.2, a pitching channel electric steering engine 3.3, a yawing channel electric steering engine 3.4, a pitching channel potentiometer 3.5, a yawing channel potentiometer 3.6, a geomagnetic device 3.10, a Beidou satellite receiver 3.12 and a Beidou satellite simulator 4.1;
the control cabin unit 3 is used for simulating the outer ballistic motion process of the guided munition;
the main control machine 1.1 is used for transmitting an outer ballistic control program, a simulation control instruction and a simulation control parameter to the microcontroller 3.1, the steering engine instruction output end of the microcontroller 3.1 is connected with the instruction input end of a steering engine driver 3.2, the yaw channel electric steering engine control signal output end of the steering engine driver 3.2 is connected with the signal input end of a yaw channel electric steering engine 3.4, the pitch channel electric steering engine control signal output end of the steering engine driver 3.2 is connected with the signal input end of a pitch channel electric steering engine 3.3, the output shaft of the yaw channel electric steering engine 3.4 is fixedly connected with the input shaft of a yaw channel potentiometer 3.6, the output shaft of the pitch channel electric steering engine 3.3 is fixedly connected with the input shaft of a pitch channel potentiometer 3.5, the yaw channel electric steering engine output shaft deflection angle signal output end of the yaw channel potentiometer 3.6 is connected with the yaw channel feedback data input end of the, the output end of the deflection angle signal of the output shaft of the pitching channel electric steering engine of the pitching channel potentiometer 3.5 is connected with the input end of the feedback data of the pitching channel of the microcontroller 3.1;
a turntable control communication end of a microcontroller 3.1 is connected with a communication end of a turntable control cabinet 2.2, the control cabinet 2.2 is used for controlling the movement of a three-axis turntable 2.1, an attitude communication end of the microcontroller 3.1 is connected with a communication end of a geomagnetic device 3.10, the geomagnetic device 3.10 is used for acquiring an attitude angle of guided ammunition at the current moment (namely the attitude angle of a control cabin unit 3 or the three-axis turntable 2.1), and the microcontroller 3.1 is used for transmitting an attitude driving instruction to the turntable control cabinet 2.2 and receiving attitude and roll angle feedback information of the guided ammunition of the geomagnetic device 3.10, namely attitude feedback information of the three-axis turntable 2.1;
the position, speed control and feedback signal communication end of the guidance ammunition of the microcontroller 3.1 is respectively connected with the signal input end of a Beidou satellite simulator 4.1 and the feedback data output end of a Beidou satellite receiver 3.12, the Beidou satellite simulator 4.1 is used for simulating the position and speed signal of the guidance ammunition under the control of the position and speed control signal of the guidance ammunition sent by the microcontroller 3.1, and the Beidou satellite receiver 3.12 is used for obtaining the position and speed signal of the guidance ammunition simulated by the Beidou satellite simulator 4.1 at the current moment;
the microcontroller 3.1 is used for calculating the missile target distance between the guided munition and the target at the current time, the sight inclination angle between the guided munition and the target and the sight deviation angle between the guided munition and the target according to the simulated guided munition position signal fed back by the Beidou satellite receiver 3.12, the microcontroller 3.1 is also used for calculating the guided munition trajectory inclination angle and the guided munition trajectory deviation angle at the current time according to the simulated guided munition velocity signal fed back by the Beidou satellite receiver 3.12, and the microcontroller 3.1 is also used for calculating the guided munition quasi-attack angle and the guided munition quasi-slip angle at the current time according to the guided munition trajectory inclination angle, the guided munition deviation angle and the attitude angle of the control cabin unit 3 at the current time fed back by the geomagnetic device 3.10; the microcontroller 3.1 is also used for calculating the equivalent deflection angle of the pitching channel electric steering engine and the equivalent deflection angle of the yawing channel electric steering engine at the current moment according to the deflection angle signal of the output shaft of the pitching channel electric steering engine, the deflection angle signal of the output shaft of the yawing channel electric steering engine and the rolling angle of the guided ammunition fed back by the geomagnetic device 3.10; the microcontroller 3.1 is also used for calculating the normal force, the lateral force, the pitching moment and the yawing moment acting on the guided munition at the current moment according to the quasi-attack angle of the guided munition, the quasi-sideslip angle of the guided munition, the equivalent deflection angle of the electric steering engine of the pitching channel and the equivalent deflection angle of the electric steering engine of the yawing channel; the microcontroller 3.1 is further configured to obtain parameters and control information of the next-time simulated guidance ammunition outer trajectory through a four-step Runge-Kutta method according to the normal force, the lateral force, the pitching moment, the yawing moment of the guidance ammunition, the guidance ammunition attitude feedback information of the geomagnetic device 3.10, and the simulated guidance ammunition position and speed signals fed back by the Beidou satellite receiver 3.12.
In the design scheme, the parameters and the control information for simulating the outer trajectory of the guided munition at the next time comprise the projectile distance between the guided munition and the target, the sight inclination angle between the guided munition and the target, the sight declination angle between the guided munition and the target, the trajectory inclination angle of the guided munition, the trajectory declination angle of the guided munition, the position of the guided munition, the speed of the guided munition, the declination angle of an output shaft of a pitching channel steering engine, the declination angle of an output shaft of a yawing channel steering engine and the attitude angle of the guided munition.
In the above design scheme, it further includes a satellite radio frequency antenna 4.2, and the satellite radio frequency antenna 4.2 is used for transmitting the position and speed signals of the projectile body simulated by the Beidou satellite simulator 4.1.
In the above design, it further includes a first RS 485-to-USB converter 1.2, a first TT L-to-485 converter 3.7, a second TT L-to-485 converter 3.8, a second RS 485-to-USB converter 2.3, a storage device 3.9, a TT L-to-RJ 45 converter 3.11;
the outer ballistic trajectory control program output end of the main control machine 1.1 is connected with the control program input end of the microcontroller 3.1, the simulation control instruction and simulation control parameter output end of the main control machine 1.1 is connected with the serial port data input end of the microcontroller 3.1 through a first RS 485-to-USB converter 1.2 and a first TT L-to-485 converter 3.7 in sequence, the turntable control communication end of the microcontroller 3.1 is connected with the communication end of the turntable control cabinet 2.2 through a second TT L-to-485 converter 3.8 and a second RS 485-to-USB converter 2.3 in sequence, the data storage end of the storage device 3.9 is connected with the data storage end of the microcontroller 3.1, the satellite simulator communication end of the microcontroller 3.1 is connected with the signal input end of the Beidou satellite simulator 4.1 through a TT L-to RJ45 converter 3.11, and the Beidou satellite receiver communication input end of the microcontroller 3.1 is connected with the communication output end of the Beidou satellite receiver 3.12.
In the technical scheme, the attitude angle of the three-axis turntable 2.1 comprises a pitch angle, a yaw angle and a roll angle;
the rotary table control cabinet 2.2 can drive the three-axis rotary table 2.1 to perform pitching, yawing and rolling motions according to a rotary table attitude driving instruction sent by the microcontroller 3.1, the range of an attitude angle is a pitch angle of-80 degrees to +80 degrees, a yaw angle of-60 degrees to +60 degrees, and the roll angle continuously rotates, and the accuracy of the attitude angle is 10' (the unit is divided).
In the design scheme, the angular speed range of the three-axis turntable 2.1 is pitching-10 degrees/s to +10 degrees/s, yawing-10 degrees/s to +10 degrees/s, rolling-3600 degrees/s to 3600 degrees/s, and the angular acceleration range is-100 degrees/s2～+100°/s2。
In the above design scheme, the main control computer 1.1 and the first RS 485-to-USB converter 1.2 form a main control unit 1, the three-axis turntable 2.1, the control cabinet 2.2 and the second RS 485-to-USB converter 2.3 form a projectile attitude simulation unit 2, the microcontroller 3.1, the steering engine driver 3.2, the pitch channel electric steering engine 3.3, the yaw channel electric steering engine 3.4, the pitch channel potentiometer 3.5, the yaw channel potentiometer 3.6, the first TT L-to-485 converter 3.7, the second TT L-to-485 converter 3.8, the storage device 3.9, the geomagnetic device 3.10, the TT L-to-RJ 45 converter 3.11 and the beidou satellite receiver 3.12 form a control cabin unit 3, and the beidou satellite simulator 4.1 and the satellite radio frequency antenna 4.2 form a projectile motion simulation unit 4.
In the above design scheme, the control cabin unit 3 has an axisymmetric shape, the control cabin unit 3 is fixedly installed on the three-axis turntable 2.1 in a mechanical manner, and the longitudinal axis of the control cabin unit 3 coincides with the axis of the three-axis turntable 2.1 in the rolling direction.
Among the above-mentioned technical scheme, triaxial revolving stage 2.1 when the operation, has taken tertiary protection to extreme position: (1) the method comprises the following steps that software is limited, turntable control software automatically calculates the current position, once the overrun in a certain direction is calculated, the turntable control software prohibits movement in the overrun direction and only allows movement in the opposite direction; (2) limiting by hardware, wherein limit switches are arranged at each limit position, and when the mechanism moves to touch the limit switches, the movement of the three-axis turntable 2-1 is forcibly stopped; mechanical limiting: (3) mechanical stop blocks are arranged at all the limit positions, and the mechanism is ensured to move to the limit positions and not move any more.
In the technical scheme, the Beidou satellite simulator 4.1 can generate 12 satellite signals when in operation, supports signal simulation output of a BD3 frequency point (1268.52MHz +/-10.23 MHz), has the position precision of less than or equal to 10m (PDOP of less than or equal to 3), the elevation precision of less than or equal to 20m (PDOP of less than or equal to 3), the speed precision of less than or equal to 0.2m/s (PDOP of less than or equal to 3), the second pulse time service precision of less than or equal to 100ns, the capture sensitivity of less than or equal to-136 dBm, the tracking sensitivity of less than or equal to-140 dBm, the speed range suitable for dynamic conditions is 0 m/s-1000 m/s, and can provide standard 1PPS pulse signal output with high stability.
In the above technical solution, the beidou satellite simulator 4.1 and the microcontroller 3.1 are connected through an RJ45 network link, and are transmitted by using a UDP protocol, where the interactive UDP port number of the projectile position data command is 6789, and the interactive UDP port numbers of all other commands are 8990.
A semi-physical simulation method for an outer trajectory of a guided ammunition comprises the following steps:
step 1: the main control machine 1.1 sends a simulation control instruction, a setting simulation control program and a simulation control parameter to the microcontroller 3.1 through an outer ballistic software (the outer ballistic software is used on the main control machine 1.1), wherein the simulation control instruction is a series of control instructions which are set in the outer ballistic software and used for controlling the microcontroller 3.1 by the main control machine 1.1, and the control instructions comprise a connecting serial port, a setting program, a setting parameter, a checking setting parameter, an initial turntable, an initial Beidou satellite simulator, starting simulation, closing the serial port, returning a platform to zero and the like;
selecting a compiled simulation control program on external ballistic software, and loading the simulation control program into a microcontroller 3.1 by sending a loading program control instruction, wherein the simulation control program comprises a differential equation set and a four-order Runge-Kutta algorithm, and the differential equation set comprises a projectile six-degree-of-freedom kinetic model (reference document Korea.
Selecting or inputting simulation environment parameters, guidance cartridge attribute parameters, target attribute parameters, middle guidance law parameters and end guidance law parameters on the outer trajectory software, and installing the simulation environment parameters, the guidance cartridge attribute parameters, the target attribute parameters, the middle guidance law parameters and the end guidance law parameters into the microcontroller 3.1 by sending an installing parameter control command;
step 2, the microcontroller 3.1 directs the guided munition to the angle α according to the simulation environment parametersNInitial longitude and latitude height [ lambda ] of guided ammunition0、φ0、h0]TAnd the current time position [ x ] of the guided ammunition fed back by the Beidou satellite receiver 3.12 in the WGS-84 systemd1,yd1,zd1]TThe signal calculates the current time position [ x ] of the current time guidance ammunition in the reference system through the following formula 1P1,yP1,zP1]TThe WGS-84 system and the reference system are described in detail (reference Korean-son-Peng. Ex-Marble Tanko March. M]Beijing, university of Beijing marble publishers, 2014.);
Figure GDA0002472711040000131
Figure GDA0002472711040000145
wherein B is a matrix converted from WGS-84 into a reference system, and λ0、φ0Respectively representing the initial longitude and latitude, x, of the guided munitiond1,yd1,zd1Respectively representing the coordinate values of roll axis, course axis, pitch axis and x at the current time in WGS-84 systemP1,yP1,zP1Respectively representing the coordinate values of a rolling axis, a course axis and a pitching axis at the current moment in the reference system;
the microcontroller 3.1 determines the current time position [ x ] of the guided munition in the reference systemP1,yP1,zP1]TAnd the position [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]The bullet distance R at the current moment is calculated by the following formula 21；
Figure GDA0002472711040000141
Wherein x isT,yT,zTRespectively representing the coordinates of a rolling axis, a course axis and a pitching axis of the target in a reference system;
the microcontroller 3.1 determines the current time position [ x ] of the guided munition in the reference systemP1,yP1,zP1]TPosition [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]And the bullet distance R1Calculating a line-of-sight inclination angle theta between the guided munition and the target at the present time by the following formula 3Q1；
Figure GDA0002472711040000142
The microcontroller 3.1 determines the current time position [ x ] of the guided munition in the reference systemP1,yP1,zP1]TPosition [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]Solving for the line-of-sight declination psi between the guided munition and the target at the present time by the following equation 4Q1；
Figure GDA0002472711040000143
The microcontroller 3.1 controls the current time velocity [ v ] of the guided ammunition in the WGS-84 system according to the feedback of the Beidou satellite receiver 3.12xd1,vyd1,vzd1]TThe signal is used for solving the combination velocity v of the guided ammunition at the current moment through the following formula 5P1；
Figure GDA0002472711040000144
Wherein v isxd1,vyd1,vzd1Respectively representing the speed of the guided ammunition at the current moment on a rolling axis, a course axis and a pitching axis in the WGS-84 system;
the microcontroller 3.1 feeds back the speed [ v ] of the guided ammunition at the current moment in the WGS-84 system according to the Beidou satellite receiver 3.12xd1,vyd1,vzd1]TThe resultant velocity v of the signal and the current time of the guided ammunitionP1The trajectory inclination angle theta at the present moment is calculated by the following equation 6P1；
Figure GDA0002472711040000151
The microcontroller 3.1 feeds back the speed [ v ] of the guided ammunition at the current moment in the WGS-84 system according to the Beidou satellite receiver 3.12xd1,vyd1,vzd1]TVelocity v of signal and guided ammunition at current momentP1And ballistic inclination angle thetaP1The ballistic declination ψ at the present time is solved by the following equation 7P1；
Figure GDA0002472711040000152
Microcontroller 3.1 from ballistic inclination signal θP1And a pitch angle signal theta fed back by the geomagnetic device 3.101Calculating the quasi-attack angle of the guided ammunition at the current time through the following formula 8
Figure GDA0002472711040000153
Figure GDA0002472711040000154
Microcontroller 3.1 depending on the ballistic declination signal ψP1Yaw angle signal psi fed back from geomagnetic device 3.101The quasi-slip angle β of the projectile at the present time is calculated by the following equation 91 *；
β1 *＝ψ1-ψP1(9)
The microcontroller 3.1 controls the deflection angle of the output shaft of the electric steering engine according to the pitch channel at the current momentz1Yaw channel electric steering engine output shaft deflection angley1Guided ammunition rolling angle gamma fed back by geomagnetic device 3.101Calculating the equivalent deflection angle of the output shaft of the electric steering engine of the pitching channel at the current moment by the following formula 10zeq1Equivalent deflection angle of output shaft of electric steering engine in yaw channelyeq1；
Figure GDA0002472711040000155
Quasi-attack angle combined with current-time guidance ammunition
Figure GDA0002472711040000156
Quasi-sideslip angle β of guided ammunition at current moment1 *Equivalent deflection angle of output shaft of electric steering engine of pitching channel at current momentzeq1Equivalent deflection angle of output shaft of electric steering engine of yaw channel at current momentyeq1Solving the normal force, the lateral force, the pitching moment and the yawing moment acting on the guided ammunition at the current moment through the projectile body six-degree-of-freedom dynamic model set in the step 1 and the simulation control parameters set in the step 1;
and step 3: the microcontroller 3.1 solves the outer ballistic control parameters at the next moment and the variable parameters to be solved in the differential equation set according to the differential equation set in the step 1 and the fourth-order Runge Kutta method, including the projectile distance R at the next moment2Angle of inclination theta of line of sight between guided cartridge and targetQ2A line of sight offset phi between the guided munition and the targetQ2Angle of inclination of trajectory thetaP2Ballistic declination psiP2Position of guided cartridge in reference system [ x ]P2,yP2,zP2]TAnd velocity [ v ]xP2,vyP2,vzP2]TEquivalent deflection angle of output shaft of pitching channel steering enginezeq2Yaw channel steering engine output shaft equivalent deflection angleyeq2And the pitch angle theta of the three-axis turntable2Yaw angle psi2And roll angle gamma2，vxP2,vyP2,vzP2The rolling axis, the course axis and the pitching axis speed in the reference system;
microcontroller 3.1 according to the equivalent deflection angle of the output shaft of the steering engine of the pitching channel at the next momentzeq2The equivalent deflection angle of the output shaft of the yaw channel steering engine at the next momentyeq2And the roll angle gamma of the three-axis turntable at the next moment2The deflection angle of the output shaft of the electric steering engine of the pitch channel at the next moment is calculated by the following formula (11)z2Yaw channel electric steering engine output shaft deflection angley2；
Figure GDA0002472711040000161
The microcontroller 3.1 directs the firing angle α according to the guided munition in the simulation environment parametersNInitial longitude and latitude height of guided ammunition
Figure GDA0002472711040000162
Initial position of guided munition in WGS-84 system [ x ]d0,yd0,zd0]TAnd the position [ x ] of the guided munition at the next instant in the reference systemP2,yP2,zP2]TThe next time for the guided munition to be in WGS-84 is solved by the following equation 12Position [ x ] of the next time in the systemd2,yd2,zd2]T；
Figure GDA0002472711040000163
Wherein x isP2,yP2,zP2The coordinate values of the roll axis, the course axis, the pitch axis, and x at the next time in the reference systemd0,yd0,zd0Is the initial roll axis, course axis, pitch axis coordinate value, x in WGS-84 systemd2,yd2,zd2The coordinates of the roll axis, the course axis and the pitch axis at the next moment in the WGS-84 system are shown;
the microcontroller 3.1 directs the firing angle α according to the guided munition in the simulation environment parametersNInitial longitude and latitude height of guided ammunition
Figure GDA0002472711040000171
And the velocity [ v ] of the next time the guided munition is fired in the reference systemxP2,vyP2,vzP2]TThe velocity [ v ] of the next time-point guided munition launched in the WGS-84 system is calculated by the following equation 13xd2,vyd2,vzd2]T；
Figure GDA0002472711040000172
B-1Is an inverse matrix of the transformation from the WGS-84 system to the reference system, vxP2,vyP2,vzP2Is the speed value v on the roll axis, course axis and pitch axis in the reference systemxd2,vyd2,vzd2The speed values of a rolling axis, a course axis and a pitching axis in a WGS-84 system reference system are set;
and 4, step 4: microcontroller 3.1 according to the next moment every single move passageway electric steering engine output shaft declinationz2And the drift angle of the output shaft of the electric steering engine of the drift channely2Sending a yaw channel electric steering engine control instruction and a pitch channel electric steering engine control instruction to a steering engine driver 3.2;
the steering engine driver 3.2 controls the electric steering engine 3.4 of the yaw channel to move according to the control instruction of the electric steering engine of the yaw channel, the electric steering engine 3.4 of the yaw channel drives the input shaft of the potentiometer 3.6 of the yaw channel to move, and the potentiometer 3.6 of the yaw channel feeds back the deflection angle of the output shaft of the electric steering engine of the yaw channel to the microcontroller 3.1;
the steering engine driver 3.2 controls the pitching channel electric steering engine 3.3 to move according to the pitching channel electric steering engine control instruction, the pitching channel electric steering engine 3.3 moves to drive the input shaft of the pitching channel potentiometer 3.5 to move, and the pitching channel potentiometer 3.5 feeds back the deflection angle of the output shaft of the pitching channel electric steering engine to the microcontroller 3.1;
the microcontroller 3.1 is according to the pitch angle theta of the next time three-axis turntable 2.12Yaw angle psi2And roll angle gamma2Sending an attitude driving instruction to the control cabinet 2.2, driving the three-axis turntable 2.1 to move under the driving of the attitude driving instruction, and acquiring an attitude angle fed back by the geomagnetic device 3.10 by the microcontroller 3.1;
microcontroller 3.1 depends on the location x of the projectile in the WGS-84 series at the next momentd2,yd2,zd2]TAnd velocity [ v ]xd2,vyd2,vzd2]TThe method comprises the steps that a projectile body movement driving instruction is sent to a Beidou satellite simulator 4.1, the Beidou satellite simulator 4.1 simulates position and speed signals of projectiles according to the projectile body movement driving instruction and then sends the position and speed signals out through a satellite radio frequency antenna 4.2, a Beidou satellite receiver 3.12 receives the position and speed signals of the projectiles simulated by the Beidou satellite simulator 4.1 through a receiving antenna, a microcontroller 3.1 obtains the position and speed signals of the projectiles fed back by the Beidou satellite receiver 3.12 and returns to the step 2, and the steps 2-4 are sequentially circulated until a projectile distance parameter R is reached1And (3) jumping out of the circulation when the distance constant is less than or equal to the set distance constant, wherein the microcontroller 3.1 performs data storage through the storage device 3.9 in each circulation and sends the data storage to the main control machine 1.1, namely the semi-physical simulation of the outer trajectory of the guided ammunition is finished, the parameters of the microcontroller are emptied, and the three-axis return-to-zero turntable 2.1, the pitching channel electric steering engine 3.3, the yawing channel electric steering engine 3.4 and the Beidou satellite simulator 4.1 are realized.
In step 4 of the above technical solution, the setting isThe distance constant being the damage radius rsThe condition of jumping out of the cycle is according to the relative distance parameter R of the bullet at the current moment1And damage radius rsWhether the projectile hits the target is judged according to the size relation of the projectile, and if the projectile hits the target, R is judged1≤rsThe target hit by the projectile body is shown, the semi-physical simulation is finished, the main control computer 1.1 sends a platform return-to-zero control instruction to the microcontroller 3.1, the microcontroller 3.1 is triggered to send driving instructions of the turntable return-to-zero, the steering engine return-to-zero and the Beidou satellite simulator return-to-zero to the turntable control cabinet 2.2, the steering engine driver 3.2 and the Beidou satellite simulator 4.1 respectively, and the three-axis turntable 2.1, the pitching channel electric steering engine 3.3, the yawing channel electric steering engine 3.4 and the Beidou satellite simulator 4.1 are driven to return to zero.
Before the step 1, a steering engine driver 3.2 drives a pitching channel electric steering engine 3.3 and a yawing channel electric steering engine 3.4 to return to zero, a turntable control software is operated on a turntable control cabinet 2.2 to drive a three-axis turntable 2.1 to return to zero in pitching, yawing and rolling directions, a Beidou satellite simulator control software is operated on a Beidou satellite simulator 4.1 to return to zero the Beidou satellite simulator 4.1, and the independent working conditions of all devices are checked.
The microcontroller 3.1 transmits the next time parameter resolved in each cycle to the storage device 3.9 through Direct Memory Access (DMA), the storage device 3.9 stores the next time parameter, the microcontroller 3.1 transmits the next time parameter resolved in the fifth cycle to the main control computer 1.1 every five times of cycles, the main control computer 1.1 receives, stores and displays the next time parameter, the data of the semi-physical simulation is processed and analyzed on external ballistic software through offline playback or by combining with professional software such as MAT L AB and the like, and the data comprises storage records of the main control computer 1.1 and the storage device 3.9.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.

Claims (10)

1. The utility model provides a guidance ammunition outer trajectory semi-physical simulation platform which characterized in that: the device comprises a main control machine (1.1), a three-axis turntable (2.1), a turntable control cabinet (2.2) and a control cabin unit (3) fixed on the three-axis turntable (2.1), wherein the control cabin unit (3) comprises a microcontroller (3.1), a steering engine driver (3.2), a pitching channel electric steering engine (3.3), a yawing channel electric steering engine (3.4), a pitching channel potentiometer (3.5), a yawing channel potentiometer (3.6), a geomagnetic device (3.10), a Beidou satellite receiver (3.12) and a Beidou satellite simulator (4.1);
the control cabin unit (3) is used for simulating the outer ballistic motion process of the guided ammunition;
the main control machine (1.1) is used for transmitting an outer ballistic control program, a simulation control instruction and a simulation control parameter to the microcontroller (3.1), a steering engine instruction output end of the microcontroller (3.1) is connected with an instruction input end of a steering engine driver (3.2), a yaw channel electric steering engine control signal output end of the steering engine driver (3.2) is connected with a signal input end of a yaw channel electric steering engine (3.4), a pitch channel electric steering engine control signal output end of the steering engine driver (3.2) is connected with a signal input end of a pitch channel electric steering engine (3.3), an output shaft of the yaw channel electric steering engine (3.4) is fixedly connected with an input shaft of a yaw channel potentiometer (3.6), an output shaft of the pitch channel electric steering engine (3.3) is fixedly connected with an input shaft of a pitch channel potentiometer (3.5), a yaw channel electric output shaft deflection angle signal output end of the yaw channel electric steering engine output shaft of the yaw channel potentiometer (3.6) is connected with a yaw channel feedback data input end of the microcontroller, the output end of the deflection angle signal of the output shaft of the pitching channel electric steering engine of the pitching channel potentiometer (3.5) is connected with the input end of the pitching channel feedback data of the microcontroller (3.1);
the rotary table control communication end of the microcontroller (3.1) is connected with the communication end of the rotary table control cabinet (2.2), the control cabinet (2.2) is used for controlling the three-axis rotary table (2.1) to move, the attitude communication end of the microcontroller (3.1) is connected with the communication end of the geomagnetic device (3.10), the geomagnetic device (3.10) is used for acquiring the attitude angle of the guided ammunition at the current moment, and the microcontroller (3.1) is used for transmitting an attitude driving instruction to the rotary table control cabinet (2.2) and receiving the attitude and rolling angle feedback information of the guided ammunition of the geomagnetic device (3.10);
the position and speed control and feedback signal communication end of a guidance ammunition of the microcontroller (3.1) is respectively connected with the signal input end of the Beidou satellite simulator (4.1) and the feedback data output end of the Beidou satellite receiver (3.12), the Beidou satellite simulator (4.1) is used for simulating the position and speed signal of the guidance ammunition under the control of the position and speed control signal of the guidance ammunition sent by the microcontroller (3.1), and the Beidou satellite receiver (3.12) is used for acquiring the position and speed signal of the guidance ammunition simulated by the Beidou satellite simulator (4.1) at the current moment;
the microcontroller (3.1) is used for calculating the missile-eye distance between the guided munition and the target at the current time, the sight line inclination angle between the guided munition and the target and the sight line deflection angle between the guided munition and the target according to the simulated guided munition position signal fed back by the Beidou satellite receiver (3.12), the microcontroller (3.1) is also used for calculating the guided munition trajectory inclination angle and the guided munition trajectory deflection angle at the current time according to the simulated guided munition velocity signal fed back by the Beidou satellite receiver (3.12), and the microcontroller (3.1) is also used for calculating the guided munition attack angle and the guided munition trajectory deflection angle at the current time according to the guided munition trajectory inclination angle, the guided munition trajectory deflection angle and the attitude angle of the control cabin unit (3) at the current time fed back by the geomagnetic device (3.10); the microcontroller (3.1) is also used for calculating the equivalent deflection angle of the pitching channel electric steering engine and the equivalent deflection angle of the yawing channel electric steering engine at the current moment according to the deflection angle signal of the output shaft of the pitching channel electric steering engine, the deflection angle signal of the output shaft of the yawing channel electric steering engine and the rolling angle of the guided ammunition fed back by the geomagnetic device (3.10); the microcontroller (3.1) is also used for calculating the normal force, the lateral force, the pitching moment and the yawing moment acting on the guided munition at the current moment according to the quasi-attack angle of the guided munition, the quasi-sideslip angle of the guided munition, the equivalent deflection angle of the electric steering engine of the pitching channel and the equivalent deflection angle of the electric steering engine of the yawing channel; the microcontroller (3.1) is also used for obtaining parameters and control information of the next-time simulated outer trajectory of the guided ammunition through a fourth-order Runge-Kutta method according to the normal force, the lateral force, the pitching moment, the yawing moment of the guided ammunition, the attitude feedback information of the geomagnetic device (3.10) and the position and speed signals of the simulated guided ammunition fed back by the Beidou satellite receiver (3.12).
2. The guided munition outer ballistic semi-physical simulation platform of claim 1, wherein: the parameters and the control information for simulating the outer trajectory of the guided munition at the next time comprise the projectile distance between the guided munition and the target, the sight inclination angle between the guided munition and the target, the sight declination angle between the guided munition and the target, the trajectory inclination angle of the guided munition, the trajectory declination angle of the guided munition, the position of the guided munition, the speed of the guided munition, the declination angle of an output shaft of a pitching channel steering engine, the declination angle of an output shaft of a yawing channel steering engine and the attitude angle of the guided munition.
3. The guided munition outer ballistic semi-physical simulation platform of claim 1, wherein: the device also comprises a satellite radio-frequency antenna (4.2), wherein the satellite radio-frequency antenna (4.2) is used for transmitting the position and speed signals of the projectile body simulated by the Beidou satellite simulator (4.1).
4. The guided munition outer ballistic semi-physical simulation platform according to claim 1, characterized in that it further comprises a first RS 485-to-USB converter (1.2), a first TT L-to-485 converter (3.7), a second TT L-to-485 converter (3.8), a second RS 485-to-USB converter (2.3), a storage device (3.9), a TT L-to-RJ 45 converter (3.11);
the output end of an outer ballistic control program of the main control machine (1.1) is connected with the input end of a control program of the microcontroller (3.1), the output ends of a simulation control instruction and a simulation control parameter of the main control machine (1.1) are connected with the serial port data input end of the microcontroller (3.1) sequentially through the first RS 485-to-USB converter (1.2) and the first TT L-to-485 converter (3.7), the turntable control communication end of the microcontroller (3.1) is connected with the communication end of the turntable control cabinet (2.2) sequentially through the second TT L-to-485 converter (3.8) and the second RS 485-to-USB converter (2.3), the data storage end of the storage device (3.9) is connected with the data storage end of the microcontroller (3.1), the communication end of the Beidou satellite simulator communication end of the microcontroller (3.1) is connected with the signal input end of the Beidou satellite simulator (4.1) through the TT L-to RJ45 converter (3.11), and the Beidou satellite receiver communication input end of the microcontroller (3.1) is connected with the Beidou satellite receiver communication output end of the Beidou satellite receiver.
5. The guided munition outer ballistic semi-physical simulation platform of claim 1, wherein: the attitude angle of the three-axis turntable (2.1) comprises a pitch angle, a yaw angle and a roll angle;
the rotary table control cabinet (2.2) can drive the three-axis rotary table (2.1) to perform pitching, yawing and rolling motions according to a rotary table attitude driving instruction sent by the microcontroller (3.1), and the attitude angle ranges from-80 degrees to +80 degrees in pitch angle, from-60 degrees to +60 degrees in yaw angle and from continuous rotation in rolling angle.
6. The guided munition outer ballistic semi-physical simulation platform of claim 1, wherein: the angular speed range of the three-axis turntable (2.1) is pitching-10 degrees/s to +10 degrees/s, yawing-10 degrees/s to +10 degrees/s and rolling-3600 degrees/s to 3600 degrees/s, and the angular acceleration range is-100 degrees/s2～+100°/s2。
7. The guided munition outer trajectory semi-physical simulation platform according to claim 4 is characterized in that a main control computer (1.1) and a first RS 485-to-USB converter (1.2) form a main control unit (1), a three-axis turntable (2.1), a control cabinet (2.2) and a second RS 485-to-USB converter (2.3) form a projectile attitude simulation unit (2), a microcontroller (3.1), a steering engine driver (3.2), a pitching channel electric steering engine (3.3), a yawing channel electric steering engine (3.4), a pitching channel potentiometer (3.5), a yawing channel potentiometer (3.6), a first TT L-to-485 converter (3.7), a second TT L-to-485 converter (3.8), a storage device (3.9), a TT device (3.10), a TT L-to RJ45 converter (3.11) and a Beidou satellite receiver (3.12) form a control unit (3), and a Beidou satellite simulator (4.1) and a radio frequency antenna (2.2) form a projectile motion simulation unit (4).
8. The guided munition outer ballistic semi-physical simulation platform of claim 1, wherein: the control cabin unit (3) is provided with an axisymmetric appearance, the control cabin unit (3) is fixedly installed on the three-axis rotary table (2.1) in a mechanical mode, and the longitudinal axis of the control cabin unit (3) is superposed with the axis of the three-axis rotary table (2.1) in the rolling direction.
9. A semi-physical simulation method for an outer trajectory of a guided ammunition is characterized by comprising the following steps:
step 1: the main control machine (1.1) sends a simulation control instruction, a set simulation control program and simulation control parameters to the microcontroller (3.1) through external ballistic software;
selecting a compiled simulation control program on outer ballistic software, and installing the simulation control program into a microcontroller (3.1) by sending a program installing control instruction, wherein the simulation control program comprises a differential equation set and a four-order Runge-Kutta algorithm, and the differential equation set comprises a projectile six-degree-of-freedom dynamic model, a target three-degree-of-freedom kinematic model, a projectile space relative motion model, a middle guidance law model and a tail guidance law model;
selecting or inputting simulation environment parameters, guidance ammunition attribute parameters, target attribute parameters, middle guidance law parameters and end guidance law parameters on outer trajectory software, and installing the simulation environment parameters, the guidance ammunition attribute parameters, the target attribute parameters, the middle guidance law parameters and the end guidance law parameters into a microcontroller (3.1) by sending an installing and determining parameter control command;
step 2, the microcontroller (3.1) directs the guided munition to the angle α according to the simulation environment parametersNInitial longitude and latitude height [ lambda ] of guided ammunition0、φ0、h0]TAnd the position [ x ] of the guided ammunition fed back by the Beidou satellite receiver (3.12) at the current moment in the WGS-84 systemd1,yd1,zd1]TThe signal calculates the position [ x ] of the current time guidance ammunition in the reference system through the following formula 1P1,yP1,zP1]T；
Figure FDA0002472711030000051
Wherein B is a matrix converted from WGS-84 into a reference system, and λ0、φ0Respectively representing the initial longitude and latitude, x, of the guided munitiond1,yd1,zd1Respectively representing the coordinate values of roll axis, course axis, pitch axis and x at the current time in WGS-84 systemP1,yP1,zP1Individual watchIndicating the coordinate values of a rolling axis, a course axis and a pitching axis at the current moment in the reference system;
the microcontroller (3.1) determines the position [ x ] of the guided munition in the reference system at the current timeP1,yP1,zP1]TAnd the position [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]The bullet distance R at the current moment is calculated by the following formula 21；
Figure FDA0002472711030000052
Wherein x isT,yT,zTRespectively representing the coordinates of a rolling axis, a course axis and a pitching axis of the target in a reference system;
the microcontroller (3.1) determines the position [ x ] of the guided munition in the reference system at the current timeP1,yP1,zP1]TPosition [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]And the bullet distance R1Calculating a line-of-sight inclination angle theta between the guided munition and the target at the present time by the following formula 3Q1；
Figure FDA0002472711030000053
The microcontroller (3.1) determines the position [ x ] of the guided munition in the reference system at the current timeP1,yP1,zP1]TPosition [ x ] of the target in the target attribute parameter in the reference systemT,yT,zT]Solving for the line-of-sight declination psi between the guided munition and the target at the present time by the following equation 4Q1；
Figure FDA0002472711030000061
The microcontroller (3.1) feeds back the speed [ v ] of the guided ammunition at the current moment in the WGS-84 system according to the Beidou satellite receiver (3.12)xd1,vyd1,vzd1]TThe signal is used for solving the combination velocity v of the guided ammunition at the current moment through the following formula 5P1；
Figure FDA0002472711030000062
Wherein v isxd1,vyd1,vzd1Respectively representing the speed of the guided ammunition at the current moment on a rolling axis, a course axis and a pitching axis in the WGS-84 system;
the microcontroller (3.1) feeds back the speed [ v ] of the guided ammunition at the current moment in the WGS-84 system according to the Beidou satellite receiver (3.12)xd1,vyd1,vzd1]TThe resultant velocity v of the signal and the current time of the guided ammunitionP1The trajectory inclination angle theta at the present moment is calculated by the following equation 6P1；
Figure FDA0002472711030000063
The microcontroller (3.1) feeds back the speed [ v ] of the guided ammunition at the current moment in the WGS-84 system according to the Beidou satellite receiver (3.12)xd1,vyd1,vzd1]TResultant velocity v of signal and guided ammunition at current momentP1And ballistic inclination angle thetaP1The ballistic declination ψ at the present time is solved by the following equation 7P1；
Figure FDA0002472711030000064
The microcontroller (3.1) generates a trajectory tilt signal thetaP1And a pitch angle signal theta fed back by the geomagnetic device (3.10)1Calculating the quasi-attack angle of the guided ammunition at the current time through the following formula 8
Figure FDA0002472711030000065
Figure FDA0002472711030000066
The microcontroller (3.1) generates a ballistic deflection angle signal psiP1And a yaw angle signal psi fed back by the geomagnetic device (3.10)1Calculating the quasi-sideslip angle of the projectile at the current moment by the following formula 9
Figure FDA0002472711030000067
Figure FDA0002472711030000068
The microcontroller (3.1) deflects the output shaft of the electric steering engine according to the pitch channel at the current momentz1Yaw channel electric steering engine output shaft deflection angley1Guided ammunition rolling angle gamma fed back by geomagnetic device (3.10)1Calculating the equivalent deflection angle of the output shaft of the electric steering engine of the pitching channel at the current moment by the following formula 10zeq1Equivalent deflection angle of output shaft of electric steering engine in yaw channelyeq1；
Figure FDA0002472711030000071
Quasi-attack angle combined with current-time guidance ammunition
Figure FDA0002472711030000072
Quasi-sideslip angle of guided ammunition at current moment
Figure FDA0002472711030000073
Equivalent deflection angle of output shaft of electric steering engine of pitching channel at current momentzeq1Equivalent deflection angle of output shaft of electric steering engine of yaw channel at current momentyeq1Solving the normal force, the lateral force, the pitching moment and the yawing moment acting on the guided ammunition at the current moment through the projectile body six-degree-of-freedom dynamic model set in the step 1 and the simulation control parameters set in the step 1;
and step 3: the microcontroller (3.1) calculates the outer ballistic control parameter at the next moment according to the differential equation set in the step 1 and a fourth-order Runge Kutta methodThe variable parameters to be solved in the differential equation system comprise the bullet distance R at the next moment2Angle of inclination theta of line of sight between guided cartridge and targetQ2A line of sight offset phi between the guided munition and the targetQ2Angle of inclination of trajectory thetaP2Ballistic declination psiP2Position of guided cartridge in reference system [ x ]P2,yP2,zP2]TAnd velocity [ v ]xP2,vyP2,vzP2]TEquivalent deflection angle of output shaft of pitching channel steering enginezeq2Yaw channel steering engine output shaft equivalent deflection angleyeq2And the pitch angle theta of the three-axis turntable2Yaw angle psi2And roll angle gamma2，vxP2,vyP2,vzP2The rolling axis, the course axis and the pitching axis speed in the reference system;
the microcontroller (3.1) controls the equivalent deflection angle of the output shaft of the steering engine according to the pitch channel at the next momentzeq2The equivalent deflection angle of the output shaft of the yaw channel steering engine at the next momentyeq2And the roll angle gamma of the three-axis turntable at the next moment2The deflection angle of the output shaft of the electric steering engine of the pitch channel at the next moment is calculated by the following formula (11)z2Yaw channel electric steering engine output shaft deflection angley2；
Figure FDA0002472711030000074
The microcontroller (3.1) directs the guided munition to the angle α based on the simulated environmental parametersNInitial longitude and latitude height of guided ammunition
Figure FDA0002472711030000075
Initial position of guided munition in WGS-84 system [ x ]d0,yd0,zd0]TAnd the position [ x ] of the guided munition in the reference system at the next momentP2,yP2,zP2]TThe position x of the next time guidance ammunition at the next time in the WGS-84 system is calculated by the following formula 12d2,yd2,zd2]T；
Figure FDA0002472711030000081
Wherein x isP2,yP2,zP2The coordinate values of the roll axis, the course axis, the pitch axis, and x at the next time in the reference systemd0,yd0,zd0The value of the roll axis, the course axis, the pitch axis coordinate, x at the next time in WGS-84d2,yd2,zd2The coordinates of the roll axis, the course axis and the pitch axis at the next moment in the WGS-84 system are shown;
the microcontroller (3.1) directs the guided munition to the angle α based on the simulated environmental parametersNInitial longitude and latitude height of guided ammunition
Figure FDA0002472711030000083
And the velocity [ v ] of the next time the guided munition is fired in the reference systemxP2,vyP2,vzP2]TThe velocity [ v ] of the next time-point guided munition launched in the WGS-84 system is calculated by the following equation 13xd2,vyd2,vzd2]T；
Figure FDA0002472711030000082
B-1Is an inverse matrix of the transformation from the WGS-84 system to the reference system, vxP2,vyP2,vzP2Is the speed value v on the roll axis, course axis and pitch axis in the reference systemxd2,vyd2,vzd2The speed values of a rolling axis, a course axis and a pitching axis in a WGS-84 system reference system are set;
and 4, step 4: the microcontroller (3.1) tilts the output shaft of the electric steering engine according to the pitch channel at the next momentz2And the drift angle of the output shaft of the electric steering engine of the drift channely2Sending a yaw channel electric steering engine control instruction and a pitch channel electric steering engine control instruction to a steering engine driver (3.2);
the steering engine driver (3.2) controls the electric steering engine (3.4) of the yaw channel to move according to the control command of the electric steering engine of the yaw channel, the electric steering engine (3.4) of the yaw channel drives the input shaft of the potentiometer (3.6) of the yaw channel to move, and the potentiometer (3.6) feeds back the deflection angle of the output shaft of the electric steering engine of the yaw channel to the microcontroller (3.1);
the steering engine driver (3.2) controls the pitching channel electric steering engine (3.3) to move according to the pitching channel electric steering engine control instruction, the pitching channel electric steering engine (3.3) moves to drive the input shaft of the pitching channel potentiometer (3.5) to move, and the pitching channel potentiometer (3.5) feeds back the deflection angle of the output shaft of the pitching channel electric steering engine to the microcontroller (3.1);
the microcontroller (3.1) is used for controlling the pitch angle theta of the three-axis turntable (2.1) according to the next moment2Yaw angle psi2And roll angle gamma2Sending an attitude driving instruction to a control cabinet (2.2), driving a three-axis turntable (2.1) to move under the driving of the attitude driving instruction, and acquiring an attitude angle fed back by a geomagnetic device (3.10) by a microcontroller (3.1);
the microcontroller (3.1) determines the position [ x ] of the projectile in the WGS-84 system at the next momentd2,yd2,zd2]TAnd velocity [ v ]xd2,vyd2,vzd2]TThe method comprises the steps that a projectile body movement driving instruction is sent to a Beidou satellite simulator (4.1), the Beidou satellite simulator (4.1) simulates a position and a speed signal of a projectile body according to the projectile body movement driving instruction and then sends out the projectile body through a satellite radio frequency antenna (4.2), a Beidou satellite receiver (3.12) receives the position and the speed signal of the projectile body simulated by the Beidou satellite simulator (4.1) through a receiving antenna, the microcontroller (3.1) obtains the position and the speed signal of the projectile body fed back by the Beidou satellite receiver (3.12) and returns to the step 2, and the steps 2-4 are sequentially circulated until a projectile distance parameter R is reached1And when the distance constant is smaller than or equal to the set distance constant, jumping out of the circulation, wherein the microcontroller (3.1) performs data storage through the storage device (3.9) in each circulation and sends the data storage to the main control computer (1.1), namely the semi-physical simulation of the outer trajectory of the guided ammunition is finished.
10. The guided munition outer ballistic semi-physical simulation method of claim 9, wherein: in step 4, the set distance constant is the damage radius rsOut of circulation conditionsAccording to the relative distance parameter R of the bullet at the current moment1And damage radius rsWhether the projectile hits the target is judged according to the size relation of the projectile, and if the projectile hits the target, R is judged1≤rsAnd indicating that the projectile body hits the target, and finishing the semi-physical simulation.
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