CN111309049A - Virtual target five-meter small-amplitude high-precision guidance method for miniature aircraft - Google Patents

Virtual target five-meter small-amplitude high-precision guidance method for miniature aircraft Download PDF

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CN111309049A
CN111309049A CN202010136648.7A CN202010136648A CN111309049A CN 111309049 A CN111309049 A CN 111309049A CN 202010136648 A CN202010136648 A CN 202010136648A CN 111309049 A CN111309049 A CN 111309049A
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virtual
signal
target
deviation
aircraft
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CN111309049B (en
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王玲玲
雷军委
李恒
晋玉强
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Naval Aeronautical University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention provides a virtual target five-meter small-amplitude high-precision guidance method for a miniature aircraft, which mainly aims at five-meter small-amplitude errors and adopts a virtual target method to carry out high-precision guidance, but can also be expanded and applied to the situation of large-amplitude errors. The method mainly adopts the mode that information of a virtual moving target is superposed on the basis of an original moving target so as to improve the guiding precision. The method comprises the steps of measuring virtual angle deviation information of an aircraft between virtual targets, establishing a second-order nonlinear filtering differentiator, solving a filtering differential signal of the differentiator, obtaining an integral signal of the differentiator through second integration, finally integrating the three signals to form an integrated guide signal, and realizing high-precision guide of the aircraft on the targets through parameter debugging. The method has the advantages that the virtual target is set, the limit of the traditional virtual target method mainly aiming at the static target is broken through, the method can be applied to the moving target and the static target, and therefore the problems of the precision of guidance and the adjustment of parameters are solved.

Description

Virtual target five-meter small-amplitude high-precision guidance method for miniature aircraft
Technical Field
The invention relates to the field of high-precision guidance of aircrafts, in particular to a high-precision guidance method for a virtual target of a miniature aircraft.
Background
The virtual target guiding method is more flexible than the traditional guiding method, and mainly comprises the steps that a computer technology can be adopted, the real target is set to be superposed with the virtual motion track, so that the guiding curve can be changed along with different settings of the speed and the motion track of the virtual target, and the guiding precision is improved.
Therefore, the method of virtual target can also be combined with the traditional methods of proportional guidance, tracking method, preposition guidance, etc. to form the proportional guidance of virtual target, etc. However, the existing virtual target guidance method is mainly combined with proportional guidance, and the trajectory generation method is mainly driven by setting the speed and the speed direction, and is also mainly applied to fixed targets, and the motion of the virtual target is mainly concentrated in uniform motion.
Based on the reasons, the invention provides a method for guiding a virtual target of a micro aircraft in a small size of five meters with high precision, wherein the virtual target can be applied to a moving target, the final coincidence of the moving target and the virtual target can be ensured, and meanwhile, a generation mechanism of the virtual target is not driven by speed but is a variable-speed direct position generation method, so that the virtual target is more flexibly arranged, and the precision of the method is higher than that of the traditional guiding precision.
It is to be noted that the information invented in the above background section is only for enhancing the understanding of the background of the present invention, and therefore, may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a high-precision guidance method for a virtual target of a micro aircraft in a small size of five meters, and further solves the problem of insufficient guidance precision of the traditional guidance method under the condition of different target movement speeds to a certain extent.
According to one aspect of the invention, a five-meter small-amplitude high-precision guidance method for a virtual target of a micro aircraft is provided, and comprises the following steps:
and step S10, measuring the position information of the aircraft and the target by adopting inertial navigation equipment and ground measuring equipment, and calculating the deviation value of the position information by comparison.
Step S20, additional position information of the virtual target is set, and the virtual x-direction position deviation and the virtual z-direction position deviation after the virtual target is superposed are solved;
step S30, calculating a virtual sight angle value according to the virtual x-direction position deviation and the virtual z-direction position deviation, measuring the component of the speed direction of the aircraft in the horizontal plane by an inertial navigation component, calculating a yaw angle, and comparing to obtain a virtual deviation angle;
step S40, establishing a nonlinear filter differentiator according to the virtual deviation angle, and solving a filter differential signal of the virtual deviation angle;
and step S50, performing second integration on the filtered differential signals of the virtual deviation angle signals, and sequentially superposing to obtain second-integration superposed signals.
And step S60, performing linear synthesis on the virtual deviation angle signal, the filtering differential signal of the virtual deviation angle signal and the second integral superposition signal to obtain a guide synthesis signal. And parameter debugging is carried out, and finally the data are transmitted to an aircraft attitude angle control system, so that the accurate guidance of the aircraft and the target is realized.
In an exemplary embodiment of the present invention, measuring the position information of the aircraft and the target using the inertial navigation device and the ground surveying device, and obtaining the deviation value of the position information by comparing comprises:
ex＝xf-xm；
ez＝zf-zm；
wherein xfFor the aircraft position in x, zfFor the aircraft position coordinate in z, xmIs the position coordinate of the target in the x direction, zmIs the z-position coordinate of the target. e.g. of the typexIs a positional deviation in the x direction, ezIs the z-direction position deviation.
In an exemplary embodiment of the present invention, setting additional position information of the virtual target, and solving the virtual x-direction position deviation and the virtual z-direction position deviation after the virtual target is superimposed includes:
Figure BDA0002397557520000031
Figure BDA0002397557520000032
Figure BDA0002397557520000033
ex1＝ex+xx；
ez1＝ez+xz；
where d is the component of the distance between the aircraft and the target in the horizontal plane. x is the number ofxIs x-directional position information of the virtual target, zxIs the z-direction position information of the virtual target. k is a radical ofxIs a target speed parameter, d0Is the initial distance of the aircraft from the target. e.g. of the typex1As a virtual x-direction positional deviation, ez1Is the virtual z-position deviation.
In an exemplary embodiment of the present invention, obtaining a virtual line-of-sight angle value according to the virtual x-direction position deviation and the virtual z-direction position deviation, measuring a component of a velocity direction of the aircraft in a horizontal plane by an inertial navigation component, obtaining a yaw angle, and comparing the yaw angle and the virtual z-direction position deviation to obtain a virtual deviation angle includes:
Figure BDA0002397557520000041
eqx＝qx-ψf；
wherein psifComponent of the speed direction of the aircraft in the horizontal plane, q, measured for the inertial navigation componentxAs virtual line-of-sight angle, ex1As a virtual x-direction positional deviation, ez1As a virtual z-position deviation, eqxIs the virtual deviation angle.
In an exemplary embodiment of the present invention, establishing a non-linear filter differentiator according to the virtual deviation angle, wherein obtaining a filter differentiated signal of the virtual deviation angle comprises:
Figure BDA0002397557520000042
y1(n+1)＝y1(n)+yaT2；
Figure BDA0002397557520000043
y2(n+1)＝y2(n)+ybT2；
Figure BDA0002397557520000044
Figure BDA0002397557520000045
wherein eqxIs a virtual deviation angle signal, y1Is the output signal of the first non-linear filter, y1(n) is the nth data of the output signal, and the initial value is selected to be 0. T is1、T2For the time constant, the detailed selection is made as described in the following example implementation. k is a radical of1The filter gain parameter is a positive and constant value, which is selected in detail in the following text embodiments. y isaThe intermediate signal of the first filter. y is2Is the output signal of the second nonlinear filter, y2(n) is the nth data of the output signal, and the initial value is selected to be 0. T is3For the time constant, the detailed selection is made as described in the following example implementation. k is a radical of2The filter gain parameter is a positive and constant value, which is selected in detail in the following text embodiments. y isbThe intermediate signal of the second filter. DeqxIs the final filtered differential signal of the virtual deviation angle signal.
In an exemplary embodiment of the present invention, the performing second integration on the filtered differential signal of the virtual deviation angle signal, and sequentially overlapping to obtain a second-integrated overlapped signal includes:
Figure BDA0002397557520000051
Figure BDA0002397557520000052
s＝ks1s1+ks2s2；
wherein DeqxFiltered differential signals, s, being virtual deviation angle signals1、s2Respectively, a first integration signal and a second integration signal. The initial value of the integral is chosen to be 0, i.e. s1(1)＝s2(1)＝0；s3For quadratic integration of the superimposed signal, ks1And k iss2The detailed design of the parameter is described in the following examples.
In an exemplary embodiment of the present invention, the performing linear integration according to the virtual deviation angle signal, the filtered differential signal of the virtual deviation angle signal, and the quadratic integral superposition signal to obtain the pilot integrated signal includes:
u＝ku1eqx+ku2Deqx+s；
wherein k isu1、ku2For control parameters, u is the final pilot integrated signal, eqxIn order to be a virtual deviation angle signal,
Dsqxis a filtered differential signal of the virtual deviation angle signal and s is a quadratic integral superposition signal.
The invention provides a five-meter small-amplitude high-precision guidance method for a virtual target of a micro aircraft, which has the advantages that the position of the virtual target is innovatively generated by adopting a position direct generation method, and the final coincidence of the virtual target and a real target can be ensured. Therefore, the generation mode of the virtual target is more flexible, namely the virtual target can move at a constant speed or at a variable speed. The virtual target guiding method can be applied to fixed targets and can also be applied to the guidance of moving targets. Therefore, in spite of the high-precision guidance method proposed for the small deviation of five meters, the practical implementation case also shows that the method can be completely expanded and popularized to the guidance case with the large deviation. Therefore, the method provided by the embodiment of the invention has better theoretical innovativeness and engineering practicability.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a high-precision guidance method for a virtual target of a micro aircraft with a small size of five meters, provided by the invention;
FIG. 2 is a graph of deviation of x-direction position information in meters according to the method of the present invention
FIG. 3 is a graph of deviation values of z-direction position information (in meters) according to a method provided by an embodiment of the present invention
FIG. 4 is a plot of the virtual x-direction position deviation values (in meters) for a method provided by an embodiment of the present invention;
FIG. 5 is a virtual z-position deviation value curve (in meters) for a method provided by an embodiment of the invention;
FIG. 6 is a virtual line-of-sight angle curve (in degrees) for a method provided by an embodiment of the invention;
FIG. 7 is a plot of yaw angle (in degrees) for a method provided by an embodiment of the present invention;
FIG. 8 is a plot of virtual deviation angle (in degrees) for a method provided by an embodiment of the present invention;
FIG. 9 is a filtered differential signal plot (without units) of virtual deviation angle for a method provided by an embodiment of the present invention;
fig. 10 is a graph (without units) of an integrated pilot signal for a method provided by an embodiment of the present invention;
FIG. 11 is a graph of mesh distance (in meters) for a method provided by an embodiment of the invention;
FIG. 12 is a graph of relative movement of the device in meters for a method provided by an embodiment of the invention;
FIG. 13 is a graph of the relative motion of the device at an initial yaw of 150 meters (in meters) for a method provided by an embodiment of the invention;
detailed description of the invention
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
The invention provides a virtual target small-size five-meter high-precision guidance method for a micro aircraft. The method mainly provides a method for directly generating positions, a virtual target is set by a variable speed method, after the virtual target is overlapped with a real target, filtering differentiation is solved by resolving a virtual error angle and constructing a second-order nonlinear filter, and after secondary integration is carried out, an integral signal is obtained, and finally a guiding comprehensive signal is formed. The method has the advantages that the virtual target setting is more flexible than the traditional method, and the miss distance requirements under different real target speeds can be unified after the virtual target setting and the traditional guidance method are used in a superposition mode. The method has the advantages that after different virtual targets are superposed at different speeds of the real target, the debugged guide parameters are insensitive to the speed change of the real target, so that the guide law has better high precision for the targets at different speeds.
The virtual target five-meter small-amplitude high-precision guidance method of the micro aircraft according to the present invention will be further explained and explained with reference to the accompanying drawings. Referring to fig. 1, the method for guiding a virtual target of a micro aircraft with a small width of five meters and high precision includes the following steps:
and step S10, measuring the position information of the aircraft and the target by adopting inertial navigation equipment and ground measuring equipment, and calculating the deviation value of the position information by comparison.
Specifically, firstly, the inertial navigation device is used to measure the position information of the aircraft, and because the course and the pitch guidance principle are similar, the invention is only described by taking the course as an example. And establishing a coordinate system in a navigation plane, taking the position of the aircraft at the launching point as an origin o, taking the projection of the motion speed direction of the aircraft at the launching point on a horizontal plane as an x axis, and in a vertical plane, taking the direction vertical to the x axis as a y axis, and establishing a z axis by adopting a left-hand rule. The coordinate of the position information of the measuring aircraft in the xoz plane is (x)f,zf). The coordinate of the position information of the target measured by the ground equipment in the xoz plane is (x)m,zm)。
Secondly, the target position information measured by the ground equipment is transmitted to the aircraft and is compared by a computer on the aircraft to obtain the position deviation in the x direction and the position deviation in the z direction which are respectively marked as exAnd ez. The comparison method is as follows:
ex＝xf-xm；
ez＝zf-zm；
step S20, additional position information of the virtual target is set, and the virtual x-direction position deviation and the virtual z-direction position deviation after the virtual target is superposed are solved;
specifically, first, a component in the xoz plane of the distance between the aircraft and the target is obtained and denoted by d. The calculation method is as follows:
Figure BDA0002397557520000091
next, position information of the virtual target is set, wherein the x-position is denoted as xxThe z-position being denoted as zx. The virtual target information is calculated according to the following mode:
Figure BDA0002397557520000101
Figure BDA0002397557520000102
wherein k isxThe detailed design of the target speed parameter is shown in the embodiment of the later case. d0Is the initial distance of the aircraft from the target.
Finally, the virtual x-direction position deviation and the virtual z-direction position deviation after the virtual target is superposed are obtained and respectively marked as ex1And ez1The calculation method is as follows:
ex1＝ex+xx；
ez1＝ez+xz；
step S30, calculating a virtual sight angle value according to the virtual x-direction position deviation and the virtual z-direction position deviation, measuring the component of the speed direction of the aircraft in the horizontal plane by an inertial navigation component, calculating a yaw angle, and comparing to obtain a virtual deviation angle;
specifically, first, the component of the velocity direction of the aircraft in the horizontal plane is measured using inertial navigation components and is designated as psif：
Secondly, the position deviation e is determined by the virtual x-positionx1Deviation from virtual z-position ez1The virtual sight angle value is obtained and recorded as qxThe calculation method is as follows:
Figure BDA0002397557520000103
finally, the virtual line-of-sight angle is compared with the aircraft yaw angle to obtain a virtual deviation angle, which is recorded as eqxThe calculation method is as follows:
eqx＝qx-ψf；
step S40, establishing a nonlinear filter differentiator according to the virtual deviation angle, and solving a filter differential signal of the virtual deviation angle;
specifically, first, the virtual deviation angle signal e is correctedqxThe output signal is obtained by a first non-linear filter denoted as y1Wherein the difference equation of the first nonlinear filter is described as follows:
Figure BDA0002397557520000111
y1(n+1)＝y1(n)+yaT2；
wherein y is1(n) is the nth data of the output signal, and the initial value is selected to be 0. T is1、T2For the time constant, the detailed selection is made as described in the following example implementation. k is a radical of1The filter gain parameter is a positive and constant value, which is selected in detail in the following text embodiments. y isaThe intermediate signal of the first filter.
Then, the output signal of the first nonlinear filter is input to a second nonlinear filter as follows, and the obtained output signal is denoted as y2Wherein the difference equation of the second nonlinear filter is described as follows:
Figure BDA0002397557520000112
y2(n+1)＝y2(n)+ybT2；
wherein y is2(n) is the nth data of the output signal, and the initial value is selected to be 0. T is3For the time constant, the detailed selection is made as described in the following example implementation. k is a radical of2The filter gain parameter is a positive and constant value, which is selected in detail in the following text embodiments. y isbThe intermediate signal of the second filter.
Finally, the above-mentionedIntermediate signals y of two differentiatorsaAnd ybAnd an input signal eqxAnd the output signal y2Superposing to obtain the final filtering differential signal, and recording as DeqxThe calculation method is as follows:
Figure BDA0002397557520000113
Figure BDA0002397557520000121
and step S50, performing second integration on the filtered differential signals of the virtual deviation angle signals, and sequentially superposing to obtain second-integration superposed signals.
Specifically, first, a filtered differential signal D of the virtual deviation angle signal is obtainedeqxThe following quadratic integration is performed, and the calculation method is as follows:
Figure BDA0002397557520000122
Figure BDA0002397557520000123
wherein the initial value of the integration is chosen to be 0, i.e. s1(1)＝s2(1)＝0；
Secondly, the integral signals are superposed to obtain a secondary integral superposed signal which is recorded as s3The superposition mode is as follows:
s＝ks1s1+ks2s2；
wherein k iss1And k iss2The detailed design of the parameter is described in the following examples.
And step S60, performing linear synthesis on the virtual deviation angle signal, the filtering differential signal of the virtual deviation angle signal and the second integral superposition signal to obtain a guide synthesis signal. And parameter debugging is carried out, and finally the data are transmitted to an aircraft attitude angle control system, so that the accurate guidance of the aircraft and the target is realized.
The specific linear synthesis mode is as follows:
u＝ku1eqx+ku2Deqx+s；
wherein k isu1、ku2For control parameters, u is the final pilot integrated signal, eqxIn order to be a virtual deviation angle signal,
Deqxis a filtered differential signal of the virtual deviation angle signal and s is a quadratic integral superposition signal.
Finally, after parameter debugging is carried out, the guiding comprehensive signal is transmitted to an aircraft attitude stabilization control system for tracking, and accurate guiding of the aircraft to the target can be achieved. The specific guiding parameter debugging conditions are detailed in the following case implementation and computer simulation analysis.
Case implementation and computer simulation analysis
In order to verify the feasibility and the effectiveness of the method, the following case simulation analysis is carried out. Firstly, the distance between the aircraft and the target is set to be 9200 meters, and the lateral deviation is 5 meters. The initial aircraft coordinates are set to (0,0) and the target coordinates are (9200, -5) in that order. The present case only takes the course plane as an example for analysis. The aircraft speed was set at 2100 meters per second and the target speed was set at 280 meters per second.
In step S10, a deviation value of the x-direction positional information is obtained, as shown in fig. 2; deviation values of the z-direction position information are shown in fig. 3. As can be seen from fig. 3, when the initial z-direction deviation is small, the deviation tends to diverge, but finally converges to 0, and the accuracy reaches the decimeter level.
In step S20, k is selectedxAs can be seen from fig. 3 and 4, after the virtual target information is added, the virtual position deviation information is greatly different from the original position information, so that rich guidance characteristics can be obtained.
In step S30, a virtual line-of-sight angle value is obtained from the virtual x-direction positional deviation and the virtual z-direction positional deviation as shown in fig. 6, a component of the velocity direction of the aircraft in the horizontal plane is measured by the inertial navigation component, a yaw angle is obtained as shown in fig. 7, and the obtained values are compared with each other to obtain a virtual deviation angle as shown in fig. 8.
In step S40, T is selected1＝0.5，T2＝0.001，T2＝0.3，k1＝5，k2As shown in fig. 9, a nonlinear filter differentiator is built based on the virtual deviation angle, and a filter differentiated signal of the virtual deviation angle is obtained.
In step S50, k is selecteds11 and ks2A quadratic integration superposition signal is obtained, which is 0.1.
In step S60, k is selectedu1＝19、ku2The pilot integrated signal is obtained as shown in fig. 10, 45.
The final distance change curve of the aircraft and the target is shown in fig. 11, the relative motion situation curve of the aircraft and the target is shown in fig. 12, and the final miss distance is 0.1 meter, namely 10 cm action, so that the centimeter level is achieved.
Although the invention is the precise guidance design method under the specific situation provided for the initial yaw situation of 5 meters, the method can be completely expanded and popularized to be applied to the large yaw situation. We increase the initial lateral offset to 150 meters and the relative motion situation curve of the aircraft and the target is shown in fig. 13, and it can be seen that the final miss distance is 0.13 meters, i.e. 13 cm. Such guidance accuracy is already very high for a relative movement speed of 2100 meters per second. Therefore, the virtual target guiding method has a very wide practical range and also has the advantage of high precision, thereby having higher engineering practical value.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims (7)

1. A five-meter small-amplitude high-precision guidance method for a virtual target of a micro aircraft is characterized by comprising the following steps:
and step S10, measuring the position information of the aircraft and the target by adopting inertial navigation equipment and ground measuring equipment, and calculating the deviation value of the position information by comparison.
Step S20, additional position information of the virtual target is set, and the virtual x-direction position deviation and the virtual z-direction position deviation after the virtual target is superposed are solved;
step S30, calculating a virtual sight angle value according to the virtual x-direction position deviation and the virtual z-direction position deviation, measuring the component of the speed direction of the aircraft in the horizontal plane by an inertial navigation component, calculating a yaw angle, and comparing to obtain a virtual deviation angle;
step S40, establishing a nonlinear filter differentiator according to the virtual deviation angle, and solving a filter differential signal of the virtual deviation angle;
step S50, performing second integration on the filtered differential signal of the virtual deviation angle signal, and performing sequential superposition to obtain a second integration superposition signal;
and step S60, performing linear synthesis on the virtual deviation angle signal, the filtering differential signal of the virtual deviation angle signal and the second integral superposition signal to obtain a guide synthesis signal. And parameter debugging is carried out, and finally the data are transmitted to an aircraft attitude angle control system, so that the accurate guidance of the aircraft and the target is realized.
2. The method as claimed in claim 1, wherein the step of measuring the position information of the aircraft and the target by using inertial navigation equipment and ground measurement equipment, and calculating the deviation value of the position information by comparing comprises:
ex＝xf-xm；
ez＝zf-zm；
wherein xfFor the aircraft position in x, zfFor the aircraft position coordinate in z, xmIs the position coordinate of the target in the x direction, zmIs the z-position coordinate of the target. e.g. of the typexIs a positional deviation in the x direction, ezIs the z-direction position deviation.
3. The method as claimed in claim 1, wherein the step of setting additional position information of the virtual target and solving the virtual x-direction position deviation and the virtual z-direction position deviation after the virtual target is superimposed comprises:
Figure FDA0002397557510000021
Figure FDA0002397557510000022
Figure FDA0002397557510000023
ex1＝ex+xx；
ez1＝ez+xz；
where d is the component of the distance between the aircraft and the target in the horizontal plane. x is the number ofxIs x-directional position information of the virtual target, zxIs the z-direction position information of the virtual target. k is a radical ofxIs a target speed parameter, d0Is the initial distance of the aircraft from the target. e.g. of the typex1As a virtual x-direction positional deviation, ez1Is the virtual z-position deviation.
4. The method for guiding the virtual target of the micro aircraft with the small amplitude and the high precision as claimed in claim 1, wherein the step of obtaining the virtual sight angle value according to the virtual x-direction position deviation and the virtual z-direction position deviation, the step of measuring the component of the speed direction of the aircraft in the horizontal plane by the inertial navigation component, the step of obtaining the yaw angle, and the step of comparing to obtain the virtual deviation angle comprises the following steps:
Figure FDA0002397557510000031
eqx＝qx-ψf；
wherein psifComponent of the speed direction of the aircraft in the horizontal plane, q, measured for the inertial navigation componentxAs virtual line-of-sight angle, ex1As a virtual x-direction positional deviation, ez1As a virtual z-position deviation, eqxIs the virtual deviation angle.
5. The method as claimed in claim 1, wherein a non-linear filter differentiator is established according to the virtual deviation angle, and obtaining a filter differential signal of the virtual deviation angle comprises:
Figure FDA0002397557510000032
y1(n+1)＝y1(n)+yaT2；
Figure FDA0002397557510000033
y2(n+1)＝y2(n)+ybT2；
Figure FDA0002397557510000034
Figure FDA0002397557510000035
wherein eqxIs a virtual deviation angle signal, y1Is as followsOutput signal of a non-linear filter, y1(n) is the nth data of the output signal, and the initial value is selected to be 0. T is1、T2For the time constant, the detailed selection is made as described in the following example implementation. k is a radical of1The filter gain parameter is a positive and constant value, which is selected in detail in the following text embodiments. y isaThe intermediate signal of the first filter. y is2Is the output signal of the second nonlinear filter, y2(n) is the nth data of the output signal, and the initial value is selected to be 0. T is3For the time constant, the detailed selection is made as described in the following example implementation. k is a radical of2The filter gain parameter is a positive and constant value, which is selected in detail in the following text embodiments. y isbThe intermediate signal of the second filter. DeqxIs the final filtered differential signal of the virtual deviation angle signal.
6. The method as claimed in claim 1, wherein the step of performing second integration on the filtered differential signals of the virtual deviation angle signals and performing sequential superposition to obtain second-integrated superposition signals comprises:
Figure FDA0002397557510000041
Figure FDA0002397557510000042
s＝ks1s1+ks2s2；
wherein DeqxFiltered differential signals, s, being virtual deviation angle signals1、s2Respectively, a first integration signal and a second integration signal. The initial value of the integral is chosen to be 0, i.e. s1(1)＝s2(1)＝0；s3For quadratic integration of the superimposed signal, ks1And k iss2The detailed design of the parameter is described in the following examples.
7. The method as claimed in claim 1, wherein the step of performing linear integration according to the virtual deviation angle signal, the filtered differential signal of the virtual deviation angle signal, and the quadratic integral superposition signal to obtain a guidance integrated signal comprises:
u＝ku1eqx+ku2Deqx+s；
wherein k isu1、ku2For control parameters, u is the final pilot integrated signal, eqxAs virtual deviation angle signals, DeqxIs a filtered differential signal of the virtual deviation angle signal and s is a quadratic integral superposition signal.
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