CN110765638A - Method for calculating influence of disturbance gravitational field on starlight/inertia composite guidance - Google Patents
Method for calculating influence of disturbance gravitational field on starlight/inertia composite guidance Download PDFInfo
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Abstract
The invention discloses a method for calculating the influence of a disturbance gravitational field on starlight/inertia composite guidance, which comprises the steps of calculating total platform reference deviation according to a vertical deviation resolving error, a geodetic longitude and latitude error and an initial alignment (orientation) error, further obtaining a drop point deviation caused by the platform reference deviation, and obtaining the influence of the disturbance gravitational field on the starlight/inertia composite guidance of a single-star leveling platform according to the influence of the disturbance gravitational force of an active section and a passive section on the drop point deviation. The invention analyzes the influence of the disturbance gravitational field on the single-star leveling platform starlight/inertia composite guidance, and lays a foundation for improving the hit precision of the ballistic missile.
Description
Technical Field
The invention relates to the field of guidance control, can be applied to single-star leveling station starlight/inertia composite guidance of ballistic missiles/carrier rockets, and is particularly suitable for analyzing the influence of a disturbance gravitational field on the single-star leveling station starlight/inertia composite guidance.
Background
The starlight/inertia composite guidance utilizes the measurement information of the fixed star to calibrate an error angle between a platform coordinate system and a launching inertia coordinate system, corrects the drop point deviation of the ballistic missile according to the error angle, and comprehensively utilizes the inertia guidance and the starlight information to improve the guidance precision of the ballistic missile.
According to the different star modes of the star sensor arranged on the platform, the starlight/inertia composite guidance can be divided into two schemes of adjusting the platform and not adjusting the platform, but on the basis of meeting the requirements of precision and quick maneuvering, the single-star leveling platform scheme has better reliability and feasibility. The single-star-adjustment platform starlight/inertia composite guidance method corrects the drift error of the inertia platform by using the measurement information of the optimal star vector, can greatly improve the guidance precision and the rapid launching capability of the ballistic missile, simultaneously reduces the cost of a weapon system, and has strong environment adaptability.
Factors of the disturbance gravitational field influencing the drop point precision of the ballistic missile mainly include the vertical deviation of a launching point and the disturbance gravitational force in the flight process, and the disturbance gravitational force can be divided into an active section disturbance gravitational force and a passive section disturbance gravitational force. In order to improve the hit precision of the ballistic missile, the disturbance gravitational field must be compensated, and the premise is to analyze the influence of the disturbance gravitational field on the single-star leveling platform starlight/inertia composite guidance.
Disclosure of Invention
The invention aims to solve the technical problem that aiming at the defects of the prior art, the invention provides a method for calculating the influence of a disturbance gravitational field on the single-star leveling platform star light/inertia composite guidance, and the hit precision of a ballistic missile is improved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for calculating the influence of a disturbance gravitational field on starlight/inertia composite guidance comprises the following steps:
1) astronomical longitude λ from ideal transmission pointTAstronomical latitude BTConversion matrix from platform coordinate system to transmit inertial coordinate system
The resolving errors delta ξ and delta η of the vertical deviation and the measuring errors delta lambda of the geodetic longitude and latitude0、ΔB0The platform reference deviation α caused by the initial positioning error is obtained0(ii) a According to the angle of rotation in pitching and yawing directions in the process of leveling the platform
Psi, calculating from the initial alignment error [ epsilon ]0xε0yε0z]TInduced platform reference deviation αd；
2) Platform reference deviation α due to initial positioning error0And platform reference deviation α due to initial alignment errordCalculating a total platform reference deviation α;
3) calculate the landing offset Δ L due to the platform reference offset αC、ΔHC(ii) a Calculating the influence delta L of the disturbance gravitation of the active segment and the passive segment on the deviation of the drop pointK、ΔHK；
4) And calculating the influences delta L and delta H of the disturbance gravitational field on the starlight/inertia composite guidance of the single-star leveling platform.
Platform reference deviation α due to initial positioning error0The calculation process of (2) includes: according to the astronomical longitude and latitude lambda of the ideal transmitting pointT、BTConversion matrix from platform coordinate system to transmit inertial coordinate system
Astronomical positioning error delta lambdaT、ΔBTObtaining platform reference deviation α caused by astronomical positioning error0(ii) a Based on the relationship between astronomical positioning error and geodetic positioning error and vertical deviation resolving error when measuring independently, the method obtains the angle from delta lambda0、ΔB0α by Δ ξ, Δ η0。
Initial alignment error [ epsilon ]0xε0yε0z]TInduced platform reference deviation αdMeter (2)The calculation formula is as follows:
the platform reference deviation α is calculated as α ═ α0+αd。
Landing deviation Δ L due to platform reference deviation αC、ΔHCThe calculation process of (2) is as follows: according to the inertial navigation principle, calculating the navigation error delta v at the shutdown point of the missiletC、ΔrtCCalculating the landing point deviation delta L caused by the platform reference deviation α according to the partial derivative of the landing point deviation to the shutdown point state and based on the navigation error of the missile at the shutdown pointC、ΔHC。
Influence delta L of disturbance gravitation of active segment and passive segment on drop point deviationK、ΔHKThe calculation process of (2) includes: calculating the required velocity increment delta v of the disturbance gravitation of the active segment and the passive segmentK1、ΔvK2(ii) a According to the state (v)K,ρK,tK) Calculating the deviation Delta L of the falling point caused by the disturbance gravitation of the active segment and the passive segment according to the partial derivatives of the longitudinal stroke and the transverse stroke to the speedK、ΔHK。
The calculation formulas of Δ L and Δ H are:
compared with the prior art, the invention has the beneficial effects that: the method calculates the total platform reference deviation according to the vertical deviation calculation error, the geodetic longitude and latitude error and the initial alignment (orientation) error, further obtains the drop point deviation caused by the platform reference deviation, and obtains the influence of the disturbance gravitational field on the single-star leveling stage starlight inertial composite guidance according to the influence of the disturbance gravitational force of the active section and the passive section on the drop point deviation. The invention analyzes the influence of the disturbance gravitational field on the single-star leveling platform starlight/inertia composite guidance, and lays a foundation for improving the hit precision of the ballistic missile.
Drawings
FIG. 1 is a flow chart of the influence of a disturbance gravitational field on single-star modulation platform starlight/inertia composite guidance;
FIG. 2a is a graph of the disturbance gravitational field effect and compensation results for region 1;
FIG. 2b is a graph of the disturbance gravitational field effect and compensation results for region 2;
FIG. 2c is a graph of the disturbance gravitational field effect and compensation results for region 3;
fig. 2d is a graph of the effect of the disturbance gravitational field and the compensation results for region 4.
Detailed Description
For the spacecraft of the embodiment, the specific implementation steps of the invention are as follows:
s1, calculating the influence of the initial positioning error on the platform reference deviation according to the following steps:
(S1-a) according to the astronomical longitude and latitude lambda of the ideal transmitting pointT、BTTransformation matrix from platform coordinate system to emission inertial coordinate system
Astronomical positioning error delta lambdaT、ΔBTCalculating platform reference deviation caused by astronomical positioning error α0
Note the book
(S1-b) when the independent measurement is not performed, the relationship between the astronomical positioning error and the geodetic positioning error and the vertical deviation resolving error is
Thus can utilize Δ λ0、ΔB0、Δξ, Δ η calculate a platform reference deviation α due to initial positioning error0：
S2, calculating the error [ epsilon ] from initial alignment (orientation)0xε0yε0z]TInduced platform reference deviation αd。
The initial alignment (orientation) error can be represented by misalignment angles of the platform body coordinate system to three axes of the emission inertial coordinate system, and a conversion mode of yaw before pitch is adopted in the platform regulation, namely
Wherein psi is the angle of the yaw direction;
is the angle of the pitch direction rotation.
S3, calculating total platform reference deviation α
α＝α0+αd(5)
S4, calculating the influence of the initial positioning error on the platform reference deviation according to the following steps:
(S4-a) according to the inertial navigation principle, calculating the navigation error delta v at the shutdown point of the missiletC、ΔrtC
Wherein, WPTo look at the acceleration.
(S4-b) calculating a landing deviation DeltaL caused by the platform reference deviation α based on a partial derivative of the landing deviation with respect to the shutdown stateC、ΔHC
Wherein,
the deviation of the falling point is the partial derivative of the position and the speed of the shutdown point.
S5, calculating the drop point deviation caused by the disturbance gravity of the active section and the passive section according to the following steps:
(S5-a) calculating the required speed increment delta v of the active segment and the passive segmentK1、ΔvK2：
Wherein,
to disregard the required velocity of the passive section disturbing gravity, Freq(vK,ρK,tK) To account for the required speed of the passive segment perturbing gravity.
(S5-b) calculating the deviation of the falling point caused by the disturbance of the gravity by the active segment and the passive segment:
s6, calculating the falling point deviations delta L and delta H caused by the disturbance gravitational field
To further illustrate the operation of the present invention, a simulation example is given. The emission points in the simulation are shown in table 1, the emission azimuth angle is traversed to 360 degrees from 0 degrees, and the step length is 30 degrees; the vertical deviation resolving error of the launching point is 3 ' and 3 ', the earth longitude and latitude error is 1 ' and 1 ', the initial alignment (orientation) error is [01000] ' (2.7 sigma), and the disturbance gravity in the calculation considers the X order.
TABLE 1 emission points with large topographic disparity
The influence results of the disturbance gravitational field on the single-star leveling platform starlight/inertia composite guidance are shown in the figures 2 a-2 d. For the convenience of comparison, table 2 shows the influence of the disturbance gravitational field on the star light inertial composite guidance of the single-star leveling station when the azimuth angle is 0 °. The influence of the disturbance gravitational field on the single-star leveling station starlight/inertia composite guidance precision is in the order of hundred meters, and the influence of the disturbance gravitational field on the ballistic missile is not only related to the position of a launching point, but also related to a launching azimuth angle.
TABLE 2 influence of disturbance gravitational field on the Star light inertia composite guidance of Single Star levelling station at 0 degree azimuth
Reference to the literature
[1] Zhengwei, national soup construction, disturbance gravitational field zhongzhao missile aeromechanics [ M ]. beijing: national defense industry press, 2009.
[2] Wanglie, a strategic missile trajectory rapid forecasting and guidance method based on a state space perturbation method is researched by [ D ]. Changsha: national defense science and technology university, 2018.
[3] An analysis and compensation method for the influence of an earth disturbance gravitational field on the guidance precision of a ballistic missile researches [ D ]. Changsha: national defense science and technology university, 2017.
Claims (7)
1. A method for calculating the influence of a disturbance gravitational field on starlight/inertia composite guidance is characterized by comprising the following steps:
1) astronomical longitude λ from ideal transmission pointTAstronomical latitude BTConversion matrix from platform coordinate system to transmit inertial coordinate system
The resolving errors delta ξ and delta η of the vertical deviation and the measuring errors delta lambda of the geodetic longitude and latitude0、ΔB0To obtainTo platform reference deviation α caused by initial positioning error0(ii) a According to the angle of rotation in pitching and yawing directions in the process of leveling the platform
Psi, calculating from the initial alignment error [ epsilon ]0xε0yε0z]TInduced platform reference deviation αd；
2) Platform reference deviation α due to initial positioning error0And platform reference deviation α due to initial alignment errordCalculating a total platform reference deviation α;
3) calculate the landing offset Δ L due to the platform reference offset αC、ΔHC(ii) a Calculating the influence delta L of the disturbance gravitation of the active segment and the passive segment on the deviation of the drop pointK、ΔHK；
4) And calculating the influences delta L and delta H of the disturbance gravitational field on the starlight/inertia composite guidance of the single-star leveling platform.
2. The method for calculating the influence of the disturbance gravitational field on the starlight/inertia composite guidance according to claim 1, wherein the platform reference deviation α caused by the initial positioning error0The calculation process of (2) includes: according to the astronomical longitude and latitude lambda of the ideal transmitting pointT、BTConversion matrix from platform coordinate system to transmit inertial coordinate system
Astronomical positioning error delta lambdaT、ΔBTObtaining platform reference deviation α caused by astronomical positioning error0(ii) a Based on the relationship between astronomical positioning error and geodetic positioning error and vertical deviation resolving error when measuring independently, the method obtains the angle from delta lambda0、ΔB0α by Δ ξ, Δ η0。
3. The method for calculating the influence of a perturbed gravitational field on a starlight/inertial composite guidance according to claim 1, characterized in that the initial alignment error isDifference [ epsilon ]0xε0yε0z]TInduced platform reference deviation αdThe calculation formula of (2) is as follows:
4. the method for calculating the influence of the disturbance gravitational field on the starlight/inertia composite guidance according to claim 1, wherein the calculation formula of the platform reference deviation α is α - α0+αd。
5. The method for calculating the influence of the disturbance gravitational field on the starlight/inertia composite guidance according to claim 1, wherein the landing point deviation Δ L caused by the platform reference deviation αC、ΔHCThe calculation process of (2) is as follows: according to the inertial navigation principle, calculating the navigation error delta v at the shutdown point of the missiletC、ΔrtCCalculating the landing point deviation delta L caused by the platform reference deviation α according to the partial derivative of the landing point deviation to the shutdown point state and based on the navigation error of the missile at the shutdown pointC、ΔHC。
6. The method for calculating the influence of the disturbance gravitational field on the starlight/inertia composite guidance according to claim 1, wherein the influence of the disturbance gravitational field of the active segment and the passive segment on the landing point deviation is Δ LK、ΔHKThe calculation process of (2) includes: calculating the required velocity increment delta v of the disturbance gravitation of the active segment and the passive segmentK1、ΔvK2(ii) a According to the state (v)K,ρK,tK) Calculating the deviation Delta L of the falling point caused by the disturbance gravitation of the active segment and the passive segment according to the partial derivatives of the longitudinal stroke and the transverse stroke to the speedK、ΔHK。
7. The method for calculating the influence of the disturbance gravitational field on the starlight/inertia composite guidance according to claim 1, wherein the calculation formulas of Δ L and Δ H are as follows:
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111572817A (en) * | 2020-06-08 | 2020-08-25 | 北京航天自动控制研究所 | Optimization calculation method for platform starlight correction coefficient |
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| CN107036626A (en) * | 2016-11-08 | 2017-08-11 | 哈尔滨工业大学 | A kind of long-range rocket initial alignment orientation error impact analysis method |
| CN108507569A (en) * | 2017-11-10 | 2018-09-07 | 中国人民解放军国防科技大学 | Missile-borne fixed star library rapid generation method for starlight/inertia composite guidance |
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| US5396326A (en) * | 1989-04-03 | 1995-03-07 | Northrop Grumman Corporation | Two gimbal error averaging astro-inertial navigator |
| CN107036626A (en) * | 2016-11-08 | 2017-08-11 | 哈尔滨工业大学 | A kind of long-range rocket initial alignment orientation error impact analysis method |
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| CN111572817A (en) * | 2020-06-08 | 2020-08-25 | 北京航天自动控制研究所 | Optimization calculation method for platform starlight correction coefficient |
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