CN111309049B - Virtual target five-meter small-amplitude high-precision guiding method for micro aircraft - Google Patents
Virtual target five-meter small-amplitude high-precision guiding method for micro aircraft Download PDFInfo
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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
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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
- G05D1/08—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
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Abstract
The invention provides a five-meter small-amplitude high-precision guiding method for a virtual target of a miniature aircraft, which mainly aims at five-meter small-amplitude errors, adopts the virtual target method to conduct high-precision guiding, and can be applied to the situation of large-amplitude errors in an expanding manner. The method mainly adopts the steps of superposing the information of the virtual moving target on the basis of the 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 filter differentiator, solving a filter differential signal of the aircraft, obtaining an integral signal of the aircraft through secondary integration, and finally integrating the three signals to form a comprehensive guide signal, and realizing high-precision guide of the aircraft to the targets through parameter debugging. The method has the advantages that the setting of the virtual target breaks through the limitation of the traditional virtual target method mainly aiming at the static target, and can be applied to the moving target and the static target, so that the guiding precision problem and the parameter adjusting problem are solved.
Description
Technical Field
The invention relates to the field of high-precision guidance of aircrafts, in particular to a virtual target precision guiding method of a micro-aircraft.
Background
Compared with the traditional guiding method, the virtual target guiding method is more flexible, and mainly aims at setting a real target superposition virtual motion trail by adopting a computer technology, so that a guiding curve can be changed along with different settings of the speed and the motion trail of the virtual target, and the guiding precision is improved.
Therefore, the virtual target method can be combined with the traditional proportional guidance, tracking method, front guidance and other methods to form the virtual target proportional guidance and the like. However, the existing virtual target guiding method is mainly combined with proportional guiding, and the track generating method is mainly driven by setting the speed and the speed direction, and is mainly applied to a fixed target, and the movement of the virtual target is mainly concentrated in uniform movement.
Based on the reasons, the invention provides a method for guiding a virtual target of a micro-aircraft with five meters in small amplitude and high precision, wherein the virtual target can be applied to a moving target, so that the final superposition of the moving target and the virtual target can be ensured, and meanwhile, the generation mechanism of the virtual target is not driven by speed, but is a variable-speed direct position generation method, so that the setting of the virtual target is more flexible, and the precision of the virtual target is higher than that of the traditional guiding precision.
It should be noted that the information of the present invention in the above background section is only for enhancing the understanding of the background of the present invention and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a virtual target five-meter small-amplitude high-precision guiding method of a micro aircraft, and further solves the problem that the guiding precision of the traditional guiding method is insufficient under the condition that the target moving speeds are different.
According to one aspect of the invention, there is provided a method for guiding a virtual target of a micro-aircraft with five meters in small amplitude and high precision, comprising the steps of:
and S10, measuring the position information of the aircraft and the target by adopting an inertial navigation device and a ground measurement device, and obtaining the deviation value of the position information by comparison.
Step S20, setting additional position information of the virtual target, and solving virtual x-position deviation and virtual z-position deviation after the virtual target is overlapped;
s30, calculating a virtual sight angle value according to the virtual x-position deviation and the virtual z-position deviation, measuring the component of the speed direction of the aircraft in the horizontal plane by using an inertial navigation component, calculating a yaw angle, and comparing to obtain a virtual deviation angle;
step S40, a nonlinear filter differentiator is established according to the virtual deviation angle, and a filter differential signal of the virtual deviation angle is obtained;
and S50, carrying out secondary integration on the filtered differential signal of the virtual deviation angle signal, and sequentially overlapping to obtain a secondary integration overlapping signal.
And S60, carrying out linear synthesis on the virtual deviation angle signal, the filtered differential signal of the virtual deviation angle signal and the secondary integral superposition signal to obtain a guide synthesis signal. And parameter debugging is carried out, and the parameters are finally transmitted to an aircraft attitude angle control system, so that accurate guidance of the aircraft and the target is realized.
In one example embodiment of the invention, measuring positional information of an aircraft and a target using an inertial navigation device and a ground measurement device, and calculating a deviation value of the positional information by comparison includes:
e x ＝x f -x m ；
e z ＝z f -z m ；
wherein x is f For the aircraft in the x-position coordinates, z f For the aircraft to co-ordinate in the z-position, x m For the target at the x-position coordinates, z m Is the z-position coordinates of the target. e, e x For x position deviation e z Is the z-position deviation.
In an example embodiment of the present invention, setting additional position information of the virtual target, and solving the virtual x-position deviation and the virtual z-position deviation after superimposing the virtual target includes:
e x1 ＝e x +x x ；
e z1 ＝e z +x z ；
where d is the component of the distance between the aircraft and the target in the horizontal plane. X is x x For x-position information, z of virtual target x Is the z-direction position information of the virtual target. k (k) x D is the target speed parameter 0 Is the initial distance of the aircraft from the target. e, e x1 E is a virtual x-position deviation z1 Is a virtual z-position deviation.
In an exemplary embodiment of the present invention, according to the virtual x-position deviation and the virtual z-position deviation, a virtual viewing angle value is obtained, and components of a speed direction of the aircraft in a horizontal plane are measured by an inertial navigation component, a yaw angle is obtained, and the comparison is performed to obtain a virtual deviation angle, which includes:
e qx ＝q x -ψ f ；
wherein psi is f Component of the velocity direction of an aircraft in the horizontal plane, q, measured for inertial navigation components x E is the virtual line of sight angle x1 E is a virtual x-position deviation z1 E is a virtual z-position deviation qx Is the virtual offset angle.
In an exemplary embodiment of the invention, creating a nonlinear filter differentiator based on the virtual offset angle, the deriving the filtered differential signal for the virtual offset angle comprises:
y 1 (n+1)＝y 1 (n)+y a T 2 ；
y 2 (n+1)＝y 2 (n)+y b T 2 ；
wherein e qx For a virtual offset angle signal, y 1 Is the output signal of the first nonlinear filter, y 1 (n) is the nth data of the output signal, and its initial value is selected to be 0.T (T) 1 、T 2 For the time constant, the detailed selection is carried out in the following case. k (k) 1 The filter gain parameter is positive and constant, and its detailed selection is implemented in the following case. y is a Is the intermediate signal of the first filter. y is 2 Is the output signal of the second nonlinear filter, y 2 (n) is the nth data of the output signal, and its initial value is selected to be 0.T (T) 3 For the time constant, the detailed selection is carried out in the following case. k (k) 2 The filter gain parameter is positive and constant, and its detailed selection is implemented in the following case. y is b Is the intermediate signal of the second filter. D (D) eqx A filtered differential signal that is the final virtual offset angle signal.
In an exemplary embodiment of the present invention, performing secondary integration on the filtered differential signal of the virtual offset angle signal, and sequentially stacking the filtered differential signal to obtain a secondary integrated stacked signal includes:
s＝k s1 s 1 +k s2 s 2 ；
wherein D is eqx Filtered differential signal s, which is a virtual offset angle signal 1 、s 2 The first and second integrated signals are respectively. The initial value of the integral is selected to be 0, i.e. s 1 (1)＝s 2 (1)＝0；s 3 For integrating the superimposed signal twice, k s1 And k is equal to s2 The detailed design is implemented by the following cases as constant parameters.
In an exemplary embodiment of the present invention, the linearly synthesizing according to the virtual offset angle signal, the filtered differential signal of the virtual offset angle signal, and the twice integrated superposition signal, to obtain the pilot synthesized signal includes:
u＝k u1 e qx +k u2 D eqx +s；
wherein k is u1 、k u2 For control parameters u is the final pilot synthesis, e qx As a signal of the virtual deviation angle,
D sqx the filtered differential signal is the virtual offset angle signal, and s is the twice integrated superimposed signal.
The five-meter small-scale high-precision guiding method for the virtual target of the micro aircraft 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 the real target can be ensured. Therefore, the virtual target can be generated in a more flexible way, namely uniform motion and variable motion. The guiding method of the virtual target can be applied to the fixed target and the moving target. Therefore, although the high-precision guiding method is proposed for the small deviation of five meters, the practical implementation case also shows that the method can be fully expanded and popularized to be applied to the guiding case with the large deviation. Therefore, the method provided by the invention has better theoretical innovation and engineering practicability.
Drawings
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 evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of a method for guiding a virtual target of a micro aircraft with five meters in small amplitude and high precision;
FIG. 2 is a graph of deviation values (in meters) of x-direction position information of a method according to an embodiment of the present invention
FIG. 3 is a graph of deviation values (in meters) of z-direction position information for a method according to an embodiment of the present invention
FIG. 4 is a graph of virtual x-position deviation values (in meters) for a method according to an embodiment of the present invention;
FIG. 5 is a graph of virtual z-position deviation values (in meters) for a method provided by an embodiment of the present invention;
FIG. 6 is a graph of virtual line of sight angle (in degrees) for a method provided by an embodiment of the present 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 graph of virtual deviation angle (in degrees) for a method according to an embodiment of the present invention;
FIG. 9 is a graph (without units) of a filtered differential signal of virtual offset angle for a method provided by an embodiment of the present invention;
FIG. 10 is a plot (without units) of the integrated pilot signal for the method provided by the embodiments of the present invention;
FIG. 11 is a plot of eye distance (in meters) for a method provided by an embodiment of the present invention;
FIG. 12 is a graph of relative motion of the mesh (in meters) of the method provided by an embodiment of the present invention;
FIG. 13 is a graph of eye relative motion (in meters) with an initial yaw of 150 meters for a method provided by an embodiment of the present invention;
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many 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 the 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 give 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, etc. In other instances, well-known aspects have not been shown or described in detail to avoid obscuring aspects of the invention.
The invention provides a five-meter small-amplitude high-precision guiding method for a virtual target of a micro aircraft. The method mainly provides a method for directly generating positions, wherein a speed change method is adopted to set a virtual target, after the virtual target is overlapped with a real target, a second-order nonlinear filter is constructed, after filtering differentiation is solved, and an integral signal is obtained after secondary integration, and finally a guide integrated signal is formed. The virtual target setting method has the advantages that the virtual target setting is more flexible than the traditional method, and the virtual target setting method can unify the off-target quantity requirements under different real target speeds after being overlapped with the traditional guiding method. The method has the advantages that after different virtual targets are overlapped at different speeds of the real target, the debugged guiding parameters are insensitive to speed changes of the real target, so that the guiding law has better high precision for targets at different speeds.
The method for guiding the virtual target of the micro-aircraft with five meters in small amplitude and high precision is further explained and described below with reference to the accompanying drawings. Referring to fig. 1, the method for guiding a virtual target of a micro aircraft with five meters in small amplitude and high precision comprises the following steps:
and S10, measuring the position information of the aircraft and the target by adopting an inertial navigation device and a ground measurement device, and obtaining the deviation value of the position information by comparison.
Specifically, firstly, the inertial navigation device is adopted to measure the position information of the aircraft, and the heading is similar to the principle of pitching guidance, so the invention is only illustrated by taking the heading as an example. In the navigation plane, a coordinate system is established, the position of the launching point aircraft is taken as an origin o, the projection of the movement speed direction of the launching point aircraft on the horizontal plane is taken as an x-axis, in the vertical plane, the direction vertical to the x-axis is taken as a y-axis direction, and a left-hand rule is adopted to establish a z-axis. The position information of the aircraft is measured at the xoz plane with coordinates (x f ,z f ). The position information of the object measured by the surface equipment has a coordinate (x) in the xoz plane m ,z m )。
Secondly, transmitting target position information obtained by ground equipment measurement to an aircraft, and comparing the target position information with a computer on the aircraft to obtain an x-position deviation and a z-position deviation which are respectively marked as e x And e z . The comparison mode is as follows:
e x ＝x f -x m ；
e z ＝z f -z m ；
step S20, setting additional position information of the virtual target, and solving virtual x-position deviation and virtual z-position deviation after the virtual target is overlapped;
specifically, first, a component of the distance between the aircraft and the target in the xoz plane is obtained and denoted as d. The calculation mode is as follows:
next, position information of the virtual target is set, wherein the x position is denoted as x x The z-direction position is denoted as z x . Wherein the virtual target information is calculated as follows:
wherein k is x For the target speed parameter, its detailed design is implemented in the following case. d, d 0 Is the initial distance of the aircraft from the target.
Finally, the virtual x-position deviation and the virtual z-position deviation after the virtual targets are overlapped are obtained and respectively marked as e x1 And e z1 The calculation mode is as follows:
e x1 ＝e x +x x ；
e z1 ＝e z +x z ；
s30, calculating a virtual sight angle value according to the virtual x-position deviation and the virtual z-position deviation, measuring the component of the speed direction of the aircraft in the horizontal plane by using 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, denoted as ψ f ：
Next, a virtual x-position deviation e is generated from x1 Deviation e from virtual z-position z1 Calculating virtual line of sight angle value and recording as q x The calculation mode is as follows:
finally, the virtual sight angle is compared with the yaw angle of the aircraft to obtain a virtual deviation angle, which is marked as e qx The calculation mode is as follows:
e qx ＝q x -ψ f ；
step S40, a nonlinear filter differentiator is established according to the virtual deviation angle, and a filter differential signal of the virtual deviation angle is obtained;
specifically, the virtual offset angle signal e will be first qx The output signal is obtained and recorded as y by a first nonlinear filter as follows 1 Wherein the differential equation of the first nonlinear filter is described as follows:
y 1 (n+1)＝y 1 (n)+y a T 2 ；
wherein y is 1 (n) is the nth data of the output signal, and its initial value is selected to be 0.T (T) 1 、T 2 For the time constant, the detailed selection is carried out in the following case. k (k) 1 The filter gain parameter is positive and constant, and its detailed selection is implemented in the following case. y is a Is the intermediate signal of the first filter.
Next, the output signal of the first nonlinear filter is input to a second nonlinear filter, and the obtained output signal is denoted as y 2 Wherein the differential equation for the second nonlinear filter is described as follows:
y 2 (n+1)＝y 2 (n)+y b T 2 ；
wherein y is 2 (n) is the nth data of the output signal, and its initial value is selected to be 0.T (T) 3 For the time constant, the detailed selection is carried out in the following case. k (k) 2 The filter gain parameter is positive and constant, and its detailed selection is implemented in the following case. y is b Is the intermediate signal of the second filter.
Finally, the intermediate signals y of the two differentiators are used for a And y is b Input signal e qx And output signal y 2 Superposing to obtain final filtered differential signal, denoted as D eqx The calculation mode is as follows:
and S50, carrying out secondary integration on the filtered differential signal of the virtual deviation angle signal, and sequentially overlapping to obtain a secondary integration overlapping signal.
Specifically, first, a filtered differential signal D of the virtual offset angle signal eqx The following quadratic integration is performed, and the calculation method is as follows:
wherein the initial value of the integral is selected to be 0, i.e. s 1 (1)＝s 2 (1)＝0；
Then, the integrated signals are superimposed to obtain a secondary integrated superimposed signal, which is denoted as s 3 The superposition mode is as follows:
s＝k s1 s 1 +k s2 s 2 ；
wherein k is s1 And k is equal to s2 The detailed design is implemented by the following cases as constant parameters.
And S60, carrying out linear synthesis on the virtual deviation angle signal, the filtered differential signal of the virtual deviation angle signal and the secondary integral superposition signal to obtain a guide synthesis signal. And parameter debugging is carried out, and the parameters are finally transmitted to an aircraft attitude angle control system, so that accurate guidance of the aircraft and the target is realized.
The specific linear synthesis is as follows:
u＝k u1 e qx +k u2 D eqx +s；
wherein k is u1 、k u2 For control parameters u is the final pilot synthesis, e qx As a signal of the virtual deviation angle,
D eqx the filtered differential signal is the virtual offset angle signal, and s is the twice integrated superimposed signal.
Finally, after parameter debugging, the guiding comprehensive signals are transmitted to an aircraft attitude stabilization control system for tracking, and then the aircraft can accurately guide the target. The specific guided parameter debugging conditions are detailed in the later case implementation and computer simulation analysis.
Case implementation and computer simulation analysis
To verify the feasibility and effectiveness of the above method, the following case simulation analysis was performed. The distance between the aircraft and the target was initially set at 9200 meters and the lateral deviation was 5 meters. The initial aircraft coordinates are set to (0, 0) and the target coordinates are set to (9200, -5) in sequence. The present case is analyzed using the heading plane only as an example. 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 position information is obtained, as shown in fig. 2; the deviation value of the z-direction position information is 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 eventually converges to 0, with an accuracy of the order of decimeters.
In step S20, k is selected x The method comprises the steps of (1) setting additional position information of a virtual target, solving and overlapping the virtual target to obtain virtual x-position deviation shown in fig. 3 and virtual z-position deviation shown in fig. 4, wherein after the virtual target information is added, the virtual position deviation information and the original position information have larger difference, so that rich guiding characteristics can be obtained.
In step S30, a virtual viewing angle value is obtained from the virtual x-position deviation and the virtual z-position 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 device, a yaw angle is obtained as shown in fig. 7, and a virtual deviation angle is obtained by comparison as shown in fig. 8.
In step S40, T is selected 1 ＝0.5，T 2 ＝0.001，T 2 ＝0.3，k 1 ＝5，k 2 =5, a nonlinear filter is built according to the virtual offset angle, and a filtered differential signal of the virtual offset angle is obtained as shown in fig. 9.
In step S50, k is selected s1 =1 and k s2 =0.1, resulting in a twice integrated superimposed signal.
In step S60, k is selected u1 ＝19、k u2 =45, and the resulting pilot synthesis signal is shown in fig. 10.
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 off-target amount is 0.1 meter, namely 10 cm, so that the cm level is achieved.
Although the invention provides the accurate guide design method under the specific situation aiming at the initial lateral deviation condition of 5 meters, the method can be fully expanded and popularized to be applied to the large lateral deviation condition in practice. We increase the initial yaw to 150 meters and the relative motion profile of the aircraft and the target is shown in fig. 13, and can see the final off-target amount to be 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 the advantages of very wide practical range and high precision, and has 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. The virtual target five-meter small-amplitude high-precision guiding method for the micro aircraft is characterized by comprising the following steps of:
step S10, measuring the position information of the aircraft and the target by adopting inertial navigation equipment and ground measurement equipment, and obtaining the deviation value of the position information by comparison;
step S20, setting additional position information of the virtual target, and solving virtual x-position deviation and virtual z-position deviation after the virtual target is overlapped;
s30, calculating a virtual sight angle value according to the virtual x-position deviation and the virtual z-position deviation, measuring the component of the speed direction of the aircraft in the horizontal plane by using an inertial navigation component, calculating a yaw angle, and comparing to obtain a virtual deviation angle;
step S40, a nonlinear filter differentiator is established according to the virtual deviation angle, and a filter differential signal of the virtual deviation angle is obtained;
step S50, carrying out secondary integration on the filtered differential signals of the virtual deviation angle signals, and sequentially superposing the filtered differential signals to obtain secondary integrated superposition signals;
step S60, carrying out linear synthesis on the virtual deviation angle signal, the filtered differential signal of the virtual deviation angle signal and the secondary integral superposition signal to obtain a guide synthesized signal; and parameter debugging is carried out, and the parameters are finally transmitted to an aircraft attitude angle control system, so that accurate guidance of the aircraft and the target is realized.
2. The method for guiding a virtual target of a micro-aircraft with five meters in small amplitude and high precision according to claim 1, wherein measuring the position information of the aircraft and the target by using an inertial navigation device and a ground measurement device, and obtaining the deviation value of the position information by comparison comprises:
e x ＝x f -x m ；
e z ＝z f -z m ；
wherein x is f For the aircraft in the x-position coordinates, z f For the aircraft to co-ordinate in the z-position, x m For the target at the x-position coordinates, z m Coordinates in the z-position for the target; e, e x For x position deviation e z Is the z-position deviation.
3. The method for guiding a virtual target of a micro-aircraft with small five-meter high precision according to claim 1, wherein the steps of setting additional position information of the virtual target and solving the virtual x-position deviation and the virtual z-position deviation after overlapping the virtual target comprise:
e x1 ＝e x +x x ；
e z1 ＝e z +x z ；
wherein d is the component of the distance between the aircraft and the target in the horizontal plane; x is x x For x-position information, z of virtual target x Z-direction position information of the virtual target; k (k) x D is the target speed parameter 0 An initial distance from the aircraft to the target; e, e x1 E is a virtual x-position deviation z1 Is a virtual z-position deviation.
4. The method for guiding a miniature aircraft with small five-meter high precision according to claim 1, wherein the steps of obtaining a virtual line-of-sight angle value according to the virtual x-position deviation and the virtual z-position deviation, measuring components of the speed direction of the aircraft in a horizontal plane by an inertial navigation component, obtaining a yaw angle, and comparing to obtain the virtual deviation angle comprise:
e qx ＝q x -ψ f ；
wherein psi is f Component of the velocity direction of an aircraft in the horizontal plane, q, measured for inertial navigation components x E is the virtual line of sight angle x1 E is a virtual x-position deviation z1 E is a virtual z-position deviation qx Is the virtual offset angle.
5. The method for guiding a miniature aircraft with small five-meter high precision according to claim 1, wherein establishing a nonlinear filter differentiator based on the virtual deviation angle, obtaining a filtered differential signal of the virtual deviation angle comprises:
y 1 (n+1)＝y 1 (n)+y a T 2 ；
y 2 (n+1)＝y 2 (n)+y b T 2 ；
wherein e qx For a virtual offset angle signal, y 1 Is the output signal of the first nonlinear filter, y 1 (n) is the nth data of the output signal, the initial value of which is selected to be 0; t (T) 1 、T 2 Is a time constant; k (k) 1 The gain parameter is a positive number and is a constant value; y is a An intermediate signal that is the first filter; y is 2 Is the output signal of the second nonlinear filter, y 2 (n) is the nth data of the output signal, the initial value of which is selected to be 0; t (T) 3 Is a time constant; k (k) 2 The gain parameter is a positive number and is a constant value; y is b Is the intermediate signal of the second filter; d (D) eqx A filtered differential signal that is the final virtual offset angle signal.
6. The method for guiding a miniature aircraft with small five-meter high precision according to claim 1, wherein the performing secondary integration and sequential superposition on the filtered differential signal of the virtual deviation angle signal to obtain a secondary integrated superposition signal comprises:
s＝k s1 s 1 +k s2 s 2 ；
wherein D is eqx Filtered differential signal s, which is a virtual offset angle signal 1 、s 2 The first integrated signal and the second integrated signal are respectively; the initial value of the integral is selected to be 0, i.e. s 1 (1)＝s 2 (1)＝0；s 3 For integrating the superimposed signal twice, k s1 And k is equal to s2 Is a constant parameter.
7. The method for guiding a miniature aircraft with small five-meter high precision according to claim 1, wherein the step of linearly synthesizing the virtual deviation angle signal, the filtered differential signal of the virtual deviation angle signal, and the twice integrated superposition signal to obtain a guiding synthesized signal comprises the steps of:
u＝k u1 e qx +k u2 D eqx +s；
wherein k is u1 、k u2 For control parameters u is the final pilot synthesis, e qx For virtual offset angle signal D eqx The filtered differential signal is the virtual offset angle signal, and s is the twice integrated superimposed signal.
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