CN111351401B - Anti-sideslip guidance method applied to strapdown seeker guidance aircraft - Google Patents
Anti-sideslip guidance method applied to strapdown seeker guidance aircraft Download PDFInfo
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- CN111351401B CN111351401B CN201811572918.8A CN201811572918A CN111351401B CN 111351401 B CN111351401 B CN 111351401B CN 201811572918 A CN201811572918 A CN 201811572918A CN 111351401 B CN111351401 B CN 111351401B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
Abstract
The invention discloses a sideslip prevention guidance method applied to a strapdown seeker guidance aircraft, wherein in the method, when a middle guidance section and a last guidance section are both used, the overload required for sideslip is obtained by multiplying a navigation ratio, the flight speed of the aircraft and the visual line angle rate of a missile target; during the middle control section, selecting a corresponding navigation ratio according to the magnitude of the sidesway distance of the aircraft during control starting to calculate the overload required by the sidesway; when a final guide section is manufactured, the speed of the visual line angle of the bullet eye is directly obtained through the visual line angle of the bullet eye obtained by the detection of the strapdown guide head, so that the target can enter the visual field of the guide head when the aircraft is still controlled to be handed over at the middle and the end under the condition of large lateral deviation; in addition, in the final guide section, under the condition of only providing the line-of-sight angle of the bullet, the line-of-sight angle rate of the bullet can be accurately tracked through repeated iteration, and the stable flight process and the high final hit precision are ensured.
Description
Technical Field
The invention relates to the field of guidance control of a guidance aircraft, in particular to a sideslip prevention guidance method applied to a strapdown seeker guidance aircraft.
Background
For a guided aircraft, in order to improve the range of the guided aircraft, various measures are mostly adopted in the climbing section of a flight trajectory to enable the climbing height of the guided aircraft to be higher, such as rocket range extension, bottom row technology or high-power gunpowder, and the like, but the measures usually prolong the flight time of the climbing section of the guided aircraft, so that the starting and controlling time of the guided aircraft is generally set to be 50s after launching. The long flying time before starting control causes the aircraft to be incapable of controlling the aircraft to fly to the target along the expected trajectory in the time, and the influence of crosswind, magnus force generated by self rotation and interference of a transmitting end often forces the aircraft to have a larger lateral deviation distance during starting control, while a general lateral guidance method can control the aircraft to fly to the target, but when the aircraft enters a final guidance section, the general lateral guidance method often has difficulty in controlling the aircraft to cause the target to enter a field of view of a guidance head,
for the aircraft adopting laser guidance at the end guidance, the judgment standard of the end guidance section entering the field of view is as follows: and when the distance is 3km from the target, the lateral deviation is less than 600m.
If the aircraft cannot enable the target to enter the field of view of the guide head when entering the final guide section, the aircraft cannot capture the target in the final guide section, and the target is probably missed finally;
in addition, in the guidance control process of the aircraft, if guidance laws with large differences are adopted for different stages, the flight trajectory of the aircraft is inevitably vibrated greatly, and the stability of the aircraft is reduced;
in the prior art, in order to meet the objective requirements of saving the space of ammunition, increasing the medicine loading amount, reducing the weight, improving the high overload resistance and the like, a platform type laser guide head is cancelled, a strap-down type laser guide head is adopted for guidance control, but the guidance control by adopting the method cannot directly measure and obtain the visual line angle rate of a bullet, and only energy is measured to obtain the visual line angle information of the bullet, so that the generated guidance instruction is not accurate enough, and the final miss-target is caused;
for the above reasons, the present inventors have conducted intensive studies on the guidance law of the existing guided vehicle, and have awaited the design of a new guidance control method capable of solving the above-mentioned problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention carries out intensive research and designs an anti-sideslip guidance method applied to a strapdown seeker guidance aircraft, wherein in the method, when a middle guidance section and a last guidance section are used, the sideslip is required to be overloaded by multiplying a navigation ratio, the flight speed of the aircraft and the visual line angular rate of a missile; during the middle control section, selecting a corresponding navigation ratio according to the magnitude of the lateral deviation distance of the aircraft during control starting to calculate the lateral deviation overload requirement; when a final guide section is manufactured, the speed of the visual line angle of the bullet eye is directly obtained through the visual line angle of the bullet eye obtained by the detection of the strapdown guide head, so that the target can enter the visual field of the guide head when the aircraft is still controlled to be handed over at the middle and the end under the condition of large lateral deviation; in addition, in the final guide section, under the condition of only providing the line-of-sight angle of the bullet, the line-of-sight angle rate of the bullet can be accurately tracked through repeated iteration for multiple times, the flying process is ensured to be stable, and the final hit precision is improved, so that the method is completed.
In particular, the invention aims to provide a lateral deviation prevention guidance method applied to a strapdown seeker guidance aircraft, wherein,
the sidesway overload demand is obtained by multiplying the navigation ratio, the flight speed of the aircraft and the missile eye sight angle rate in the sidesway direction in the middle guidance section and the last guidance section;
wherein, when the middle guide section is manufactured,
according to the offset distance z of the aircraft during the control m Selecting a corresponding navigation ratio N to calculate the overload required by the lateral deviation;
and when the guide section is manufactured at the end, directly acquiring the speed of the visual line angle of the bullet through the visual line angle of the bullet obtained by detecting the strapdown seeker.
Wherein the offset distance z of the aircraft during the control m When the lateral deviation is large,
when in use
When the temperature of the water is higher than the set temperature,
when the temperature is higher than the set temperature
And x m When the speed is higher than 3km,
when x is m When the length is less than or equal to 3km, N =4
Wherein x is m Representing the length, x, of the projection of the line between the point of the aircraft and the target point on the line between the emission point and the target point m The value of (A) is a value obtained by real-time measurement and calculation, and changes along with the position change of the aircraft; x is the number of * Representing the length, x, of the projection of the line between the aircraft point and the target point on the line between the launch point and the target point at the time of the take-off * Take a constant value during the calculation.
Wherein the offset distance z of the aircraft during the control m In the case of a medium lateral offset,
when x is m When the speed is higher than 3km,
when x is m When the speed is less than or equal to 3km, N =4.
Wherein the offset distance z of the aircraft during the control m When the lateral deviation is small, the device can be used,
N＝4。
wherein the offset distance z of the aircraft during the takeoff control m When the value is above 1800m, the offset distance z m Is large lateral deviation;
offset distance z of aircraft when taking off control m When the value is between 600m and 1800m, the lateral offset distance z m Is a medium lateral deviation;
offset distance z of aircraft when taking off control m When the value is below 600m, the offset distance z m Is a small lateral deviation.
In the final guide section, after the target is captured by the strapdown guide head,
obtaining the visual angle rate of the approximate bullet by the formula (one) after multiple iterations
State variable x of 2 And considering said state variable x 2 Angular rate of line of sight of the bullet
Are equal in value;
wherein x is 1 And x 2 All represent variables without physical meaning, which change over time,
and
respectively represent x 1 And x 2 Derivative with respect to time, representing x 1 And x 2 The rate of change of (c); k is a radical of formula 1 、k 2 And k 3 Respectively representing calculation coefficients, and taking constant values in the calculation process; q represents the bullet sight angle detected by the strapdown seeker in real time.
Wherein, at the beginning of iteration, the x 1 And x 2 Any number of values may be taken as the value,
preferably, at the start of an iteration, said x 1 And x 2 Any value from 0 to 1 can be taken;
more preferably, at the start of an iteration, said x 1 And x 2 All take the value 0.
Wherein x is updated at a predetermined frequency by the following equation (two) 1 、x 2 、
And
wherein the content of the first and second substances,
indicating time T
X representing time T 1 ，
X representing time T +1 1 ；
Indicating time T
X representing time T 2 ，
X representing time T +1 2 And T represents any time at which the iterative operation is executed.
Wherein the iteration frequency of the equation (one) is greater than or equal to the detection frequency of the strapdown seeker;
preferably, the iteration frequency of said formula (one) is 50Hz, i.e. x is updated every 0.02 seconds 1 、x 2 、
And
after the iteration work of the formula (I) lasts for a preset time, the state variable x is called in real time 2 And is combined withIdentifying the state variable x 2 Angular rate of line of sight of the bullet
Are equal in value;
preferably, the predetermined time is 0.5s or more.
The invention has the advantages that:
according to the anti-sideslip guidance method applied to the strapdown seeker guidance aircraft, in the middle guidance section, the radial range from the target when the aircraft starts to control, the real-time sideslip distance and the projection length of the connecting line between the aircraft position point and the target point on the connecting line of the launching point and the target point are taken into consideration of a guidance algorithm, so that the navigation ratio can be adaptively adjusted according to the self-sideslip condition and the flight condition of the aircraft, namely, the navigation ratio is increased when the sideslip is large, and the navigation ratio is reduced when the sideslip is small;
in the method provided by the invention, the change of the navigation ratio is smooth and continuous, so that the deflection failure of the actuating mechanism caused by the discontinuity of the control quantity is avoided;
according to the method provided by the invention, the speed of the line-of-sight angle of the bullet eyes can be directly obtained under the condition that only the line-of-sight angle of the bullet eyes exists, platform equipment is omitted, the load in an aircraft is reduced, and the space is saved.
Drawings
FIG. 1 illustrates a schematic diagram of the location of a target point, a launch point and an aircraft in accordance with a preferred embodiment of the present invention;
FIG. 2 shows a trajectory graph related to lateral deviation and a shooting distance after control activation, namely a lateral trajectory graph after control activation, in a simulation experiment of the invention;
FIG. 3 shows the trajectory profile of the present invention after the start of control and before the final guide segment, which is related to the lateral deviation and the shooting distance, i.e. the lateral trajectory profile before entering the final guide segment;
FIG. 4 is a schematic diagram showing the true value and the estimated value of the line-of-sight angular rate of a bullet in a simulation experiment according to the present invention;
figure 5 shows a graph of the true value of the gaze angular rate of the projectile in figure 4,
fig. 6 shows a graph of the estimated gaze angular rate of the gaze in fig. 4.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the anti-sideslip guidance method applied to the strapdown seeker guidance aircraft, the method is characterized in that the sideslip required overload is obtained by multiplying the navigation ratio, the flight speed of the aircraft and the angular rate of the missile eye sight line in the sideslip direction in the middle guidance section and the last guidance section;
in a preferred embodiment, the lateral deviation is obtained in real time by the following equation (one) with overload:
wherein, a M side Indicating that the yaw requires overload, N indicating the navigational ratio, V indicating the flight speed of the aircraft,
indicating the yaw direction line-of-sight angular rate of the aircraft.
In the middle brake guide section, not only the overload needed for calculating the lateral deviation but also the overload needed in the pitching/normal direction is calculated, and the steering engine is controlled after the overload is added.
The flight speed of the aircraft is obtained by real-time measurement of a sensing element on the aircraft, the satellite signal receiver can calculate real-time flight speed information of the aircraft by receiving satellite signals, and in the middle guidance section, the line-of-sight angular rate of the missile can be obtained by real-time measurement of the sensing element or calculation, generally speaking, in the middle guidance section, the normal line-of-sight angular rate of the missile and the line-of-sight angular rate of the missile in the lateral deviation direction can be obtained by the position information of the aircraft and the position information of a target point which are calculated by satellite signals, and the method is not particularly limited in the application; in the application, the line-of-sight angle of the bullet eye is directly measured by the strapdown laser seeker during the final guide section, and then the line-of-sight angle rate of the bullet eye is obtained in an iteration mode, so that the method can be directly used for calculating overload of the final guide section.
The overload needing to be used is a special term in the field, and in the guidance control process of the guidance aircraft, the overload needing to be used must be firstly calculated and converted into an overload instruction, and then the steering engine is controlled to steer;
the above equation (a) is also an overload requirement calculation equation which is the most widely applied proportional guidance law in the field, but the guidance law in the prior art generally takes a fixed value, and different overload requirements are given by adjusting the navigation ratio in the application.
The overload needing to be used is index data used for controlling the workload of a steering engine on the aircraft, and the steering engine on the aircraft performs steering operation according to the calculated overload needing to be used. The lateral bias requiring overload is the lateral overload that the steering engine needs to provide in order to eliminate the lateral bias.
In a preferred embodiment, in the case of a central control section, the yaw distance z of the aircraft is determined as a function of the departure control m Selecting a corresponding navigation ratio N to calculate the overload required by the lateral deviation;
and when the guide section is manufactured at the end, directly acquiring the speed of the visual line angle of the bullet through the visual line angle of the bullet obtained by detecting the strapdown seeker.
In the invention, the position of the aircraft, the target position and the launching position are all regarded as one point, namely the position of the aircraft, the target point and the launching point are obtained;
the offset distance z m As shown in FIG. 1, the target point is aligned withThe launching points are connected by straight lines, and the distance between the point where the aircraft is located and the straight lines is the lateral deviation distance; to refer to the extent to which the aircraft is sailing off in the lateral direction.
The starting control point is a time node in the flight process of the aircraft, the aircraft flies in an uncontrolled inertia mode before the starting control point, and when the aircraft passes through the time node, a guidance control system on the aircraft starts to work, so that the flight direction of the aircraft is adjusted, the flight deviation is corrected, and the aircraft can finally hit a target.
The middle guidance section refers to a flight time from the start of control to the time when the strapdown seeker captures the target, and the final guidance section refers to a time after the strapdown seeker captures the target;
generally, a clock module is filled in an aircraft, the clock module sets proper time according to a target distance in advance, a fairing on a strapdown laser guide head can fall off at the proper time, the aircraft is about 3km away from the target when the fairing falls off, laser capture is started at the moment, guidance is not started until the laser is captured, and the aircraft formally enters a final guide section.
In a preferred embodiment, the lateral offset z of the aircraft during the take-off control of the central control section is preferably the distance of the aircraft lateral offset z m When the lateral deviation is large,
when in use
When the temperature of the water is higher than the set temperature,
when in use
And x m When the speed is higher than 3km,
when x is m When the length is less than or equal to 3km, N =4
Wherein x is m Representing the length, x, of the projection of the line between the point of the aircraft and the target point on the line between the emission point and the target point m The value of (A) is a variation value obtained by real-time measurement and calculation; as the position of the aircraft changes; x is the number of * Represents the projection length of the connecting line between the aircraft location point and the target point on the connecting line between the emission point and the target point at the starting control moment, x * Taking a constant value in the calculation process; x is the number of m 、x * And z m Can be seen in
The schematic shown in FIG. 1;
according to the above calculation formula, when
During the process, the calculation formula of the navigation ratio N is changed, but the value of N is gradually changed along the curve all the time, no abrupt change point exists, the N is smooth and continuous, the aircraft can only provide continuous and stable overload, and larger instantaneous overload is not needed to be provided due to the abrupt change of the navigation ratio, so that the deflection failure of an actuating mechanism caused by the discontinuity of the control quantity is avoided.
In a preferred embodiment, the offset z of the aircraft is measured during the takeoff control m In the case of a medium lateral offset,
when x is m When the speed is higher than 3km,
when x is m When the speed is less than or equal to 3km, N =4.
At x m When the distance between the aircraft and the target is less than or equal to 3km, the aircraft enters a final guide section, and the lateral deviation is corrected to be within an allowable range, so that a guide head on the aircraft can capture the target, and the target is guided by adopting a proportional guide law, wherein the guide head can be a laser guide head and the like.
In a preferred embodiment, the offset z of the aircraft is measured during the takeoff control m When the lateral deviation is small, the device can be used,
n =4; namely, only fixed navigation ratio is needed to be used for guidance calculation when the vehicle is deflected to a small side.
In a preferred embodiment, the offset z of the aircraft is the distance of the aircraft during the takeoff control m When the value is more than 1800m, the offset distance z m Large lateral deviation;
offset distance z of aircraft when taking off control m When the value is between 600m and 1800m, the lateral offset distance z m Is a medium lateral deviation;
offset distance z of aircraft when taking off control m When the value is below 600m, the offset distance z m Is a small lateral deviation. Corresponding navigation ratio calculation formulas are selected according to different lateral deviation amounts, so that ammunition under different lateral deviation amounts can enable a target point to enter a field of view before a final guide section, namely a guide head captures the target.
In a preferred embodiment, said x m And z m All are obtained by real-time calculation, and the calculation process comprises
Pre-stored longitude and latitude coordinates of the launching point and the longitude and latitude coordinates of the target point are called,
by receiving satellite signals, solving longitude and latitude coordinates of the position of the aircraft in real time, namely arranging a satellite signal receiver for receiving the satellite signals on the aircraft;
then x is calculated according to the real-time position relation among the position of the aircraft, the launching point and the target point m And z m The calculation relationship may be as shown in fig. 1, and a specific calculation method may be a method known in the art, which is not particularly limited in this application.
In a preferred embodiment, since the present invention is directed to researching a method for correcting lateral deviation of an aircraft, during the research, all points need to be projected onto the same plane for research, all points involved in the present invention, such as a point where the aircraft is located, an emission point, a target point, a starting and controlling point, and the like, refer to a projection point where the point is on the same horizontal plane.
In a preferred embodiment, in the final guide section, after the target is captured by the strapdown guide head, the accessible projectile is obtained by iterating the formula (one) for a plurality of timesAngular rate of gaze
State variable x of 2 And considering said state variable x 2 Angular rate of line of sight of the bullet
Are equal in value;
wherein x is 1 And x 2 All represent variables without physical meaning, which change over time,
and
respectively represent x 1 And x 2 Derivative with respect to time, representing x 1 And x 2 The rate of change of (c); k is a radical of 1 、k 2 And k 3 Respectively representing the calculation coefficients, and taking specific constant values in the calculation process; q represents the line-of-sight angle of the bullet as detected by the strapdown seeker in real time.
By acquiring the line-of-sight angle q of the bullet eye detected by the strapdown seeker in real time, combining the known x 1 And x 2 And k is fixed 1 、k 2 And k 3 Can be directly calculated to obtain
And
thereby completing an iteration;
before the next iteration, the x corresponding to the next moment needs to be calculated and obtained 1 And x 2 Specifically, x is updated at a predetermined frequency by the following equation (two) 1 、x 2 、
And
wherein the content of the first and second substances,
indicating time T
Namely, it is
X representing the time from T 1 And x 2 Obtained by iteration of the formula (I)
X representing time T 1 ，
X representing time T +1 1 ；
Indicating time T
X representing time T 2 ，
Indicates the time T +1X of 2 And T represents any time at which the iterative operation is executed.
In the above formula (II), by
Multiplying the time interval t of two iterations to obtain x 1 By the amount of change of (c), and then by x 1 The variation of (c) and x at the previous moment 1 Adding up to get x of next time 1 ；
By passing
Multiplying the time interval t of two iterations to obtain x 2 By the amount of change of (c), and then by x 1 The variation of (c) and x at the previous moment 2 Adding up to get x of next time 2 ；
Then x of the next time is measured 1 And x 2 Iterate to equation (one) to find the next time
And
thereby completing the second iteration;
iteration is carried out according to a preset frequency, and then x is updated according to the preset frequency 1 、x 2 、
And
the frequency of the iteration is fixed, namely the time interval t of every two adjacent iterations is a fixed value; the time interval between T +1 and T is T, the inverse of the predetermined frequency.
Preferably, the iteration frequency of the formula (one) is greater than or equal to the detection frequency of the strapdown seeker; preferably, the latest bullet sight line angle q detected by the strapdown seeker in real time is selected in each iteration calculation process. Even if the visual angle of the bullet eye introduced by each iteration is new, the visual angle of the bullet eye obtained just by measurement is the visual angle of the bullet eye which is not used for iterative calculation, so that the visual angles of the bullet eye introduced by iteration can basically form a smooth curve.
More preferably, the iteration frequency of said formula (one) may be 50Hz, i.e. x is updated every 0.02 seconds 1 、x 2 、
And
namely, the value of t is 0.02;
alternatively, the iteration frequency of said equation (one) may be 100Hz, i.e. x is updated every 0.01 seconds 1 、x 2 、
And
namely, t is 0.01;
the value of t can be determined according to the specific precision requirement and the calculation speed of the chip, and the optimal time is 0.005-0.02 s in the scheme provided by the invention.
In a preferred embodiment, at the beginning of an iteration, x is said 1 And x 2 Any number of values may be taken as the value,
preferably, at the start of an iteration, said x 1 And x 2 Any value within 0 to 1 can be taken;
more preferably, at the start of an iteration, said x 1 And x 2 All take the value 0.
In a preferred embodiment, after the iterative operation of the formula (one) lasts for a predetermined time, the state variable x is called in real time 2 And identifying said state variable x 2 Angular rate of line of sight of the bullet
Are equal in value.
The predetermined time enables the formula (one) to be iterated a sufficient number of times to make x either reasonable 1 And x 2 ，
Preferably, the predetermined time is equal to or greater than 0.5s, such as 0.5 to 2s; within the predetermined time, the equation (one) may iterate more than 10 times.
In a preferred embodiment, k is 1 The value is any value from 0.1 to 1;
k is 2 The value is any value of 0.1-1;
k is the same as 3 The value is any value of 0.01 to 0.5;
k is 1 、k 2 And k 3 The specific value of (a) directly influences the iteration efficiency and the oscillation amplitude of the obtained line-of-sight angular rate of the missile, namely, the specific value cannot be too large or too small, and is a key parameter which directly influences the final effect of the method for obtaining the line-of-sight angular rate of the missile applied to the strapdown seeker in the application,
in the present invention, preferably, k is 1 The value is 0.5;
k is 2 The value is 0.5;
k is 3 The value is 0.1.
In the final guide section, calculating the lateral deviation required overload through the angular speed of the line of sight of the bullet eyes obtained through iteration; since the application aims at researching that the lateral deviation needs overload, the used visual line rate of the bullet eyes is also the visual line rate of the bullet eyes in the lateral deviation direction, and when the visual line rate of the bullet eyes is calculated, the visual line angle of the bullet eyes in the lateral deviation direction can be only taken from the guide head. The seeker can directly measure and obtain the normal bullet eye sight angle and the lateral deviation direction bullet eye sight angle, and according to habits in the field, bullet eye sight angle speed in the lateral deviation direction corresponding to lateral deviation overload is directly called as bullet eye sight angle speed.
In addition, in actual work, the position information provided by the satellite is stable and long in duration, but the precision is relatively poor, and if the line-of-sight angular rate of the missile is calculated based on the position information in the final guidance stage, the accuracy of the hit is inevitably poor, so that people can install a guidance head on an aircraft, such as a strapdown laser guidance head in the invention, and in the intermediate guidance stage, the position information provided by the satellite is accurate in a large direction although the position information provided by the satellite is wrong due to the fact that the position information is far away from the target, so that guidance control through the position information provided by the satellite in the intermediate guidance stage is scientific and effective.
The strapdown seeker described in the present application is preferably a laser seeker, and in the case of a laser seeker, the seeker captures the target by the fact that the seeker receives a laser signal reflected from the target.
Examples of the experiments
In order to verify that the anti-sideslip guidance method applied to the strapdown seeker guidance aircraft has better sideslip correction capability and can ensure that the strapdown seeker on the aircraft can capture a target during final guidance section, simulation is carried out in a simulation verification mode;
setting the shooting distance between the starting control time of the aircraft and the target to be 25km and the lateral deviation to be 4km, and ensuring that the lateral deviation is within 600m at the position 3km away from the target, namely enabling the seeker to capture the target when entering a final guide section, wherein the flying speed of the aircraft is 300m/s, and the flying direction is parallel to the connecting line from the launching point to the target point; for this example, the ballistic curves in fig. 2 and fig. 3 are obtained by ballistic simulation, wherein the first scheme (solid line) represents the ballistic curve obtained by the anti-sideslip guidance method provided in the present application, the second scheme (dotted line) represents the ballistic curve obtained by the conventional proportional guidance algorithm,
where N =4.
FIG. 2 shows a diagram of the lateral ballistic trajectory of the aircraft after takeoff; fig. 3 shows lateral ballistic trajectory diagrams before the aircraft enters the final section in both scenarios, i.e., both fig. 2 and 3 are not complete lateral ballistic trajectory diagrams, but are lateral ballistic trajectory diagrams for a partial flight phase.
The shooting distance in the invention refers to: calculating from the starting control time of the aircraft, and projecting the flight distance of the aircraft on the connecting line of the emission point and the target point; in the experimental example, the shooting distance when starting control is 0, and the shooting distance when just hitting a target is 25km;
as can be seen from fig. 2, the trajectory correction condition obtained by the anti-sideslip guidance method applied to the strapdown seeker guided aircraft provided by the application is obviously due to the trajectory correction condition obtained by the traditional proportional guidance algorithm, and under the same large sideslip condition, namely, when the sideslip is 3km, the gyro-free low-cost anti-sideslip guidance method of the strapdown seeker guided aircraft provided by the application can effectively control the aircraft to fly to a target, whereas the traditional proportional guidance algorithm finally has a miss distance of about 300m and cannot accurately hit the target.
As can be seen from fig. 3, the sideslip prevention guidance method applied to the strapdown seeker guidance aircraft provided by the application can be used as expected in x m Correcting the lateral deviation to be within 600m when the lateral deviation is 3km, and accurately obtaining the lateral deviation to be about 500 m, so that a target can conveniently enter a field of view and is captured by a seeker; the traditional proportional guidance algorithm can not complete the task index, and is in x m About 900 meters of lateral deviation is still left when the lateral deviation is 3 km; the difficulty of capturing the target by a subsequent seeker is higher, the later time is longer, and the miss distance is increased.
Further, in order to verify that the anti-sideslip guidance method applied to the strapdown seeker guidance aircraft provided by the invention can obtain the line-of-sight angular rate of the missile, which is close to the true value, the true line-of-sight angle of the missile is input into the simulation aircraft in real time through simulation equipment, the iteration module provided by the invention is stored in the simulation aircraft, and the process of directly obtaining the line-of-sight angular rate of the missile through the line-of-sight angle of the missile obtained through the detection of the strapdown seeker is executed through the iteration module 1 And x 2 All initial values of (a) are 0,k 1 The value of k is 0.5 2 The value of k is 0.5 3 The value is 0.1; the iteration frequency is 50Hz; inputting the true line-of-sight angle of the aircraft into the aircraft at a frequency of 50Hz; receiving the state variable x transmitted by the iteration module 2 A value of (2), a state variablex 2 As the estimated value of the visual angle rate of the bullet eyes, the estimated value is compared with the true value of the visual angle rate of the bullet eyes in the same graph to obtain a view shown in the figure 4; in addition, a graph of the true value of the bullet eye line angular velocity in fig. 4 is shown in fig. 5, and a graph of the estimated value of the bullet eye line angular velocity in fig. 4 is shown in fig. 6.
As can be seen from fig. 4, in the initial stage, before 0.5 second, the fluctuation range of the estimated value of the visual angle rate of the missile is large, and the difference between the fluctuation range and the true value is large, and after 0.5 second, the trajectory curve of the estimated value of the visual angle rate of the missile is basically overlapped with the trajectory curve of the true value of the visual angle rate of the missile, which indicates that the estimated value is basically accurate and effective, and indicates that the anti-sideslip guidance method applied to the strapdown seeker guidance aircraft provided by the invention can obtain the true visual angle rate of the missile.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (8)
1. A lateral deviation prevention guidance method applied to a strapdown seeker guidance aircraft is characterized in that in the method, lateral deviation overload is obtained by multiplying a navigation ratio, the flying speed of the aircraft and the angular rate of a bullet eye sight line in a lateral deviation direction during a middle guidance section and a final guidance section;
wherein, in the middle brake guide section, the sidesway distance z of the aircraft is determined according to the starting control m Selecting a corresponding navigation ratio N to calculate the overload required by the lateral deviation;
when a final guide section is manufactured, directly acquiring the speed of the visual line angle of the bullet through the visual line angle of the bullet obtained by detecting the strapdown seeker;
offset distance z of aircraft during takeoff and control m When the lateral deviation is large,
when the temperature is higher than the set temperature
When the temperature of the water is higher than the set temperature,
when the temperature is higher than the set temperature
And x m When the speed is higher than 3km,
when x is m When the length is less than or equal to 3km, N =4
Wherein x is m Representing the length, x, of the projection of the line between the point of the aircraft and the target point on the line between the emission point and the target point m The value of (A) is a value obtained by real-time measurement and calculation, and changes along with the position change of the aircraft; x is a radical of a fluorine atom * Representing the length of a connecting line between the aircraft location point and the target point projected on the connecting line between the emission point and the target point at the starting and controlling time;
offset distance z of aircraft during takeoff and control m In the case of a medium lateral offset,
when x is m When the speed is higher than 3km,
when x is m When the length is less than or equal to 3km, N =4;
offset distance z of aircraft during takeoff and control m When the deviation of the small side is determined,
N＝4；
offset distance z of aircraft when taking off control m When the value is more than 1800m, the offset distance z m Is large lateral deviation;
offset distance z of aircraft when taking off control m When the value is between 600m and 1800m, the lateral offset distance z m Is a medium lateral deviation;
offset distance z of aircraft when taking off control m When the value is below 600m, the offset distance z m Is small lateral deviation;
in the final guide section, after the target is captured by the strapdown guide head,
by multiple iterationsObtaining the angular rate of visual line which can approach to the bullet eye by substituting the following formula (I)
State variable x of 2 And considering said state variable x 2 Angular rate of line of sight of the bullet
Are equal in value;
wherein x is 1 And x 2 All represent variables without physical meaning, which change over time,
and
respectively represent x 1 And x 2 Derivative with respect to time, representing x 1 And x 2 The rate of change of (c); k is a radical of 1 、k 2 And k 3 Respectively representing calculation coefficients, and taking constant values in the calculation process; q represents the line-of-sight angle of the bullet as detected by the strapdown seeker in real time.
2. The guidance method according to claim 1,
at the beginning of the iteration, the x 1 And x 2 Take any number.
3. The guidance method according to claim 2,
at the beginning of the iteration, the x 1 And x 2 Any value from 0 to 1 is taken.
4. The guidance method according to claim 3,
at the beginning of the iteration, the x 1 And x 2 All take on the value 0.
5. The guidance method according to claim 1,
updating x at a predetermined frequency by the following equation (two) 1 、x 2 、
And
wherein the content of the first and second substances,
indicating time T
X representing time T 1 ，
X representing time T +1 1 ；
Indicating time T
X representing time T 2 ，
X representing time T +1 2 And T represents any time when the iterative operation is executed.
6. The guidance method according to claim 1,
the iteration frequency of the formula (one) is greater than or equal to the detection frequency of the strapdown seeker.
7. The guidance method according to claim 6,
the iteration frequency of said equation (one) is 50Hz, i.e. x is updated every 0.02 seconds 1 、x 2 、
And
8. the guidance method according to claim 1,
after the iteration work of the formula (I) lasts for a preset time, the state variable x is called in real time 2 And identifying said state variable x 2 Angular rate of line of sight of the bullet
Are equal in value;
the predetermined time is 0.5s or more.
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| CN112180971A (en) * | 2020-08-26 | 2021-01-05 | 北京理工大学 | Multi-mode guidance method and system for multi-rotor aircraft |
| CN113158753B (en) * | 2021-02-07 | 2021-11-05 | 北京信息科技大学 | Target identification and guidance method of strapdown image guidance aircraft |
| CN113587727B (en) * | 2021-06-22 | 2023-04-14 | 北京航天飞腾装备技术有限责任公司 | Proportion guidance method, system and medium based on line of sight variable coefficient of bullet eyes |
| CN113587740B (en) * | 2021-07-22 | 2023-06-30 | 北京航天飞腾装备技术有限责任公司 | Passive anti-radiation guiding method and system based on bullet eye line angle |
| CN114153226B (en) * | 2021-10-26 | 2022-07-22 | 北京信息科技大学 | Unmanned aerial vehicle view field keeping and guiding method and system assisted by dynamic sight line information |
| CN114415724A (en) * | 2022-01-14 | 2022-04-29 | 东南大学 | Three-dimensional multi-missile cooperative proportion guidance law design method allowing speed attenuation |
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