CN110765638B - 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 influence of a disturbance gravitational field on starlight/inertial composite guidance, which is used for calculating total platform reference deviation according to vertical deviation calculating error, earth longitude and latitude error and initial alignment (orientation) error, further obtaining landing deviation caused by the platform reference deviation, and obtaining influence of the disturbance gravitational field on starlight inertial composite guidance of a single star leveling platform according to influence of disturbance gravitational fields of an active section and a passive section on the landing deviation. The invention analyzes the influence of the disturbance gravitational field on the starlight/inertia composite guidance of the single-star leveling platform, 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, and can be applied to single-star platform starlight/inertial composite guidance of ballistic missiles/carrier rockets, in particular to influence analysis of disturbance gravitational field on single-star platform starlight/inertial composite guidance.
Background
The star light/inertia composite guidance utilizes the measurement information of the star to calibrate the error angle between the platform coordinate system and the 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 star light 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 a leveling platform and a non-leveling platform, but the single-star leveling platform scheme has better reliability and feasibility on the basis of meeting the requirements of precision and quick maneuvering. The single-star leveling platform starlight/inertia composite guidance method corrects the drift error of the inertia platform by utilizing the measurement information of the optimal star vector, can greatly improve the guidance precision and the quick launching capability of the ballistic guided missile, simultaneously reduces the cost of a weapon system, and has stronger environment adaptability.
The factors influencing the drop point precision of the ballistic missile by the disturbance gravitational field mainly comprise the vertical deviation of the 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 platform starlight/inertia composite guidance.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a calculation method for the influence of a disturbance gravitational field on single-star leveling platform starlight/inertia composite guidance, and improves the hit precision of a ballistic missile.
In order to solve the technical problems, the invention adopts the following technical scheme: a method for calculating influence of disturbance gravitational field on starlight/inertia composite guidance comprises the following steps:
1) Conversion matrix from platform coordinate system to emission inertial coordinate system according to astronomical longitude lambda T and astronomical latitude B T of ideal emission point The solution errors delta xi, delta eta of the vertical line deviation, the geodetic longitude and latitude measurement errors delta lambda 0、ΔB0, and the platform reference deviation alpha 0 caused by the initial positioning error are obtained; according to the rotation angle in the pitching and yawing directions in the process of leveling the platformΨ, calculating the platform reference deviation α d caused by the initial alignment error [ ∈ 0x ε0y ε0z]T;
2) Calculating the total platform reference deviation alpha according to the platform reference deviation alpha 0 caused by the initial positioning error and the platform reference deviation alpha d caused by the initial alignment error;
3) Calculating a landing deviation DeltaL C、ΔHC caused by the platform reference deviation alpha; calculating the influence delta L K、ΔHK of the disturbance gravitation of the active section and the passive section on the deviation of the drop point;
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.
The calculation process of the platform reference deviation alpha 0 caused by the initial positioning error comprises the following steps: conversion matrix from platform coordinate system to emission inertial coordinate system according to astronomical longitude and latitude lambda T、BT of ideal emission pointAstronomical positioning error delta lambda T、ΔBT, obtaining platform reference deviation alpha 0 caused by astronomical positioning error; based on the relation between the astronomical positioning error and the geodetic positioning error and the vertical deviation calculating error in the process of non-independent measurement, alpha 0 caused by delta lambda 0、ΔB0, delta zeta and delta eta is obtained.
The calculation formula of the platform reference deviation alpha d caused by the initial alignment error [ epsilon 0x ε0y ε0z]T ] is as follows:
The calculation formula of the platform reference deviation alpha is as follows: α=α 0+αd.
The calculation process of the drop point deviation DeltaL C、ΔHC caused by the platform reference deviation alpha is as follows: according to the principle of inertial navigation, calculating a navigation error Deltav tC、ΔrtC at a missile shutdown point; and calculating the landing point deviation delta L C、ΔHC caused by the platform reference deviation alpha based on the navigation error at the missile shutdown point according to the partial derivative of the landing point deviation to the shutdown point state.
The calculation process of the influence delta L K、ΔHK of the disturbance gravitation of the active section and the passive section on the drop point deviation comprises the following steps: calculating the required speed increment Deltav K1、ΔvK2 of the disturbance gravitation of the active section and the passive section; and calculating the drop point deviation delta L K、ΔHK caused by the disturbance gravitation of the active section and the passive section according to the partial derivatives of the longitudinal and transverse courses on the speed at the position of the state (v K,ρK,tK).
The calculation formulas of DeltaL and DeltaH are as follows:
Compared with the prior art, the invention has the following beneficial effects: according to the method, the total platform reference deviation is calculated according to the vertical deviation calculating error, the earth longitude and latitude error and the initial alignment (orientation) error, the landing point deviation caused by the platform reference deviation is further obtained, and then the influence of the disturbance gravitation of the active section and the passive section on the landing point deviation is further obtained, so that the influence of the disturbance gravitational field on the single-star leveling platform starlight inertia compound guidance is obtained. The invention analyzes the influence of the disturbance gravitational field on the starlight/inertia composite guidance of the single-star leveling platform, 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 the starlight/inertial compound guidance of a single star leveling platform;
FIG. 2a is a plot of the disturbance gravitational field effects and compensation results for region 1;
FIG. 2b is a plot of the disturbance gravitational field effects and compensation results for region 2;
FIG. 2c is a plot of the influence and compensation results of the disturbance gravitational field in region 3;
FIG. 2d is a plot of the disturbance gravitational field effects and compensation results for region 4.
Detailed Description
Aiming at the spacecraft of the embodiment, the specific implementation steps of the invention are as follows:
S1, calculating the influence of an initial positioning error on a platform reference deviation according to the following steps:
(S1-a) a transformation matrix from a platform coordinate system to an emission inertial coordinate system according to astronomical longitude and latitude lambda T、BT of an ideal emission point Astronomical positioning error delta lambda T、ΔBT, calculating platform reference deviation alpha caused by astronomical positioning error 0
Recording device
(S1-b) when no independent measurement is performed, the relation between the astronomical positioning error and the earth positioning error, and the vertical deviation solution error is
The platform reference deviation a 0 due to the initial positioning error can thus be calculated using Δλ 0、ΔB0, Δζ, Δη:
s2, calculating a platform reference deviation alpha d caused by initial alignment (orientation) errors [ epsilon 0x ε0y ε0z]T ].
The initial alignment (orientation) error can be expressed by the misalignment angles of the platform body coordinate system to the three axes of the emission inertial coordinate system respectively, and the conversion mode of yaw-first and pitch-second is adopted in the platform adjustment
Wherein, psi is the angle of yaw direction rotation; is the angle of rotation of the pitch direction.
S3, calculating the total platform reference deviation alpha
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) calculating the navigation error Deltav at the missile shutdown point according to the inertial navigation principle tC、ΔrtC
Wherein W P is apparent acceleration.
(S4-b) calculating the falling point deviation DeltaL caused by the platform reference deviation alpha according to the partial derivative of the falling point deviation to the shutdown point state C、ΔHC
Wherein,The partial derivative of the drop point deviation to the position and the speed of the shutdown point.
S5, calculating drop point deviation caused by disturbance gravitation of the active section and the passive section according to the following steps:
(S5-a) calculating the required speed increment Deltav K1、ΔvK2 of the active segment and the passive segment:
wherein, To override the desired speed of the passive section disturbance attraction, F req(vK,ρK,tK) is the desired speed of the passive section disturbance attraction.
(S5-b) calculating the landing deviation caused by the disturbance gravitation of the active segment and the passive segment:
S6, calculating the drop point deviation delta L and delta H caused by the disturbance gravitational field
To further illustrate the effect of the present invention, a simulation example is presented herein. The emission points in the simulation are shown in table 1, the emission azimuth angles are traversed from 0 degrees to 360 degrees, and the step sizes are 30 degrees; the vertical deviation of the emission point is calculated to be 3 ', the longitude and latitude error of the earth is 1 ', the initial alignment (orientation) error is [01000] ' (2.7σ), and the disturbance attraction in calculation is considered to be X-order.
TABLE 1 emission points with large topography and topography differences
The influence result of the disturbance gravitational field on the single star leveling platform starlight/inertia composite guidance is shown in fig. 2 a-2 d. For comparison, table 2 shows the effect of the disturbance gravitational field on the single star platform starlight inertial compound guidance at an azimuth angle of 0 °. The influence of the disturbance gravitational field on the satellite light/inertia composite guidance precision of the single-satellite leveling platform is in the order of hundreds of meters, and meanwhile, the influence of the disturbance gravitational field on the ballistic missile is related to the position of a launching point and the launching azimuth angle.
TABLE 2 influence of disturbance gravitational field on single star leveling platform starlight inertial composite guidance when azimuth angle is 0 degree
Reference to the literature
[1] Zheng Wei, shang Guojian. Disturbance of the missile flight mechanics [ M ] of the missile in the gravitational field: national defense industry press, 2009.
[2] Wang Lei research on strategy missile trajectory rapid forecasting and guidance method based on state space perturbation method [ D ]: university of defense science and technology 2018.
[3] The analysis and compensation method of the influence of the earth disturbance gravitational field on the guidance precision of the ballistic missile is used for grinding [ D ]: university of defense science and technology 2017.
Claims (4)
1. The method for calculating the influence of the disturbance gravitational field on the starlight/inertia composite guidance is characterized by comprising the following steps of:
1) Conversion matrix from platform coordinate system to emission inertial coordinate system according to astronomical longitude lambda T and astronomical latitude B T of ideal emission point The solution errors delta xi, delta eta of the vertical line deviation, the geodetic longitude and latitude measurement errors delta lambda 0、ΔB0, and the platform reference deviation alpha 0 caused by the initial positioning error are obtained; according to the rotation angle in the pitching and yawing directions in the process of leveling the platformψ，
Calculating a platform reference deviation alpha d caused by an initial alignment error [ epsilon 0xε0yε0z]T;
2) Calculating the total platform reference deviation alpha according to the platform reference deviation alpha 0 caused by the initial positioning error and the platform reference deviation alpha d caused by the initial alignment error;
3) Calculating a landing deviation DeltaL C、ΔHC caused by the platform reference deviation alpha; calculating the influence delta L K、ΔHK of the disturbance gravitation of the active section and the passive section on the deviation of the drop point;
4) Calculating the influence delta L and delta H of the disturbance gravitational field on the starlight/inertia composite guidance of the single-star leveling platform; the calculation process of the drop point deviation DeltaL C、ΔHC caused by the platform reference deviation alpha is as follows: according to the principle of inertial navigation, calculating a navigation error Deltav tC、ΔrtC at a missile shutdown point; calculating a landing point deviation delta L C、ΔHC caused by a platform reference deviation alpha based on a navigation error at a missile shutdown point according to a partial derivative of the landing point deviation on the shutdown point state;
the calculation process of the influence delta L K、ΔHK of the disturbance gravitation of the active section and the passive section on the drop point deviation comprises the following steps: calculating the required speed increment Deltav K1、ΔvK2 of the disturbance gravitation of the active section and the passive section; calculating the drop point deviation delta L K、ΔHK caused by disturbance gravitation of the active section and the passive section according to the partial derivatives of the longitudinal and transverse courses at the position of the state (v K,ρK,tK) on the speed;
the calculation formulas of DeltaL and DeltaH are as follows:
2. the method for calculating the influence of a disturbance gravitational field on a composite guidance of starlight/inertia according to claim 1, wherein the calculation of the platform reference deviation α 0 due to the initial positioning error includes: conversion matrix from platform coordinate system to emission inertial coordinate system according to astronomical longitude and latitude lambda T、BT of ideal emission point Astronomical positioning error delta lambda T、ΔBT, obtaining platform reference deviation alpha 0 caused by astronomical positioning error; based on the relation between the astronomical positioning error and the geodetic positioning error and the vertical deviation calculating error in the process of non-independent measurement, alpha 0 caused by delta lambda 0、ΔB0, delta zeta and delta eta is obtained.
3. The method for calculating the influence of a disturbance gravitational field on a composite guidance of starlight/inertia according to claim 1, wherein the calculation formula of the platform reference deviation α d caused by the initial alignment error [ epsilon 0xε0yε0z]T ] is:
4. The method for calculating the influence of a disturbance gravitational field on a starlight/inertial composite guidance according to claim 1, wherein the calculation formula of the platform reference deviation α is: α=α 0+αd.
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| 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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