CN112212869A - Ground test design method for simulating rocket flight test - Google Patents
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
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- 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
- G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control
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Abstract
A ground test design method for simulating rocket flight test comprises the following steps: (1) calculating the apparent speed increment of an actual arrow system, and sending the calculation result to the ground for remote measurement; (2) calculating the angle increment of an actual arrow system; (3) calculating a posture array and a posture angle according to the actual arrow system angle increment, and sending the posture angle calculation result to the ground for remote measurement; (4) calculating the apparent speed increment of the actual inertia system according to the apparent speed increment of the actual arrow system and the attitude array result calculated in the step 3; (5) calculating apparent speed increment of a theoretical arrow system; (6) calculating the angle increment of a theoretical arrow system; (7) calculating a theoretical attitude array of the arrow body according to the theoretical arrow system angle increment; (8) calculating the apparent velocity increment of the theoretical inertial system according to the apparent velocity increment of the theoretical arrow system calculated in the step 5 and the theoretical attitude array result in the step 7; (9) and replacing the actual inertial system apparent speed increment with the theoretical inertial system apparent speed increment to be used as the input of navigation calculation.
Description
Technical Field
The invention belongs to the field of guidance control systems, and particularly relates to a ground test design method for simulating a rocket flight test.
Background
Before the flight test of the rocket, the control system needs to perform a test of a simulated flight test on the ground to check whether software and hardware products work normally, so that a corresponding method needs to be designed for the test. The current design method is as follows: 1) Performing subsequent guidance control calculation according to a mode that an inertial navigation device actually sensitive ground 1g0 (gravity acceleration) and the rotational angular velocity of the earth are used as input, 2) replacing an angle increment calculation result and an arrow system apparent velocity calculation result into data of a flight trajectory in a calculation result that the strapdown inertial navigation device actually sensitive ground 1g0 and the rotational angular velocity of the earth are used as input, and 3) combining 1) and 2) for relay calculation. The disadvantages of these methods are respectively as follows:
aiming at the method 1), because the strap-down inertial measurement units are not accurately aligned in the simulated flight test, and the tool errors of the same strap-down inertial measurement unit used in each task test or different strap-down inertial measurement units used in other task tests are different and are random quantities, the error of the guidance calculation result is large and the numerical value is random, so that the error threshold cannot be accurately set, and the result of guidance control calculation cannot be interpreted in an automatic mode; in addition, the method needs to change the formula of the navigation calculation part used in the flight in the schematic diagram shown in fig. 1, and therefore, the reliability of flight software is affected; aiming at the method 2), the strapdown inertial measurement unit does not sense the actual ground 1g0 and the earth rotation angular velocity as attitude angle and arrow system apparent velocity results which are input and calculated, so that whether the operation of the strapdown inertial measurement unit is normal or not can not be analyzed through the results, and the hardware product is not favorably examined; the disadvantages of the methods 3), 1) and 2) are all present.
Disclosure of Invention
The invention aims at the ground simulation flight test that the inertial navigation device is a strapdown inertial unit, and solves the problems that the ground test automation interpretation application range of the simulated rocket flight test is small, the hardware examination coverage is low, and the reliability of flight software needs to be further improved.
The working principle is as follows: a ground test design method for simulating rocket flight test comprises the following steps: (1) calculating the apparent velocity increment of an actual arrow system by using a pulse increment output after an inertial measurement unit accelerometer senses gravity acceleration information, and sending a calculation result to the ground for remote measurement; (2) calculating the actual rocket system angle increment according to the pulse increment output by the earth rotation angular velocity information sensitive to the inertial set gyroscope; (3) calculating a posture array and a posture angle according to the actual arrow system angle increment, sending the calculation result of the posture angle to the ground for remote measurement, and analyzing whether the gyroscope works normally or not; (4) calculating the apparent speed increment of the actual inertia system according to the apparent speed increment of the actual arrow system and the attitude array result calculated in the step 3; (5) decomposing the gravity acceleration into three directions of an arrow system, and calculating the apparent velocity increment of the theoretical arrow system; (6) decomposing the rotational angular velocity of the earth into three directions of an arrow system, and calculating the angle increment of the theoretical arrow system; (7) calculating a theoretical attitude array of the arrow body according to the theoretical arrow system angle increment in the step 6; (8) calculating the apparent velocity increment of the theoretical inertial system according to the apparent velocity increment of the theoretical arrow system calculated in the step 5 and the theoretical attitude array result in the step 7; (9) and replacing the actual inertial system apparent speed increment with the theoretical inertial system apparent speed increment to be used as the input of the rocket body navigation calculation.
Further, the actual apparent velocity increment calculation formula of the arrow system in the step 1 is as follows:
wherein O-X1Y1Z1 is an arrow coordinate system, wherein OX1 is a longitudinal axis, OY1 is a normal axis, OZ1 is a transverse axis, and Δ W is a coordinate systemx1、ΔWy1、ΔWz1The increment of the apparent speed of the arrow system in three directions of x1, y1 and z1 is in m/s; delta Nax1、ΔNay1、ΔNaz1The unit of pulse increment output by each calculation period of the three-direction accelerometer arranged on the arrow system is one; kax1、Kay1、Kaz1The conversion coefficient of the accelerometer from pulse increment to apparent velocity is in unit/(g)0·s)。
Further, in the actual arrow system angle increment in step 2, the calculation formula is as follows:
wherein: delta thetax、Δθy、ΔθzIs an arrowThe system x1, y1, z1 three-way angular increment, with unit rad; delta Ngx1、ΔNgy1、ΔNgz1The unit is a pulse increment output by each calculation period of a gyroscope arranged in three directions of an arrow system; kgx1、Kgy1、Kgz1The conversion coefficient of the gyroscope from pulse increment to angle increment is expressed in unit of "/piece.
Further, the attitude matrix calculation formula in step 3 is as follows:
wherein: a is a posture matrix from an arrow system to an inertia system;
the quaternion for the nth calculation cycle.
Further, the attitude angle calculation formula in step 3 is:
ψ＝arcsin(-a31)
wherein:
psi and gamma are respectively pitch, yaw and rollThe kinematic attitude angle is given in units of.
Further, in step 4, the actual inertial system apparent velocity increment calculation formula is as follows:
wherein O-XYZ is an inertial coordinate system (inertial system for short) of the emission point, OX points to emit, OY is the opposite direction of gravity of the emission point, OZ is defined according to the right-hand coordinate rule, and Δ Wx、ΔWy、ΔWzThe apparent velocity increment in the three directions of the inertia system x, y and z is respectively in the unit of m/s.
Further, the calculation formula of the apparent speed increment of the theoretical arrow system in the step 5 is as follows:
ΔWx1＝g0·ΔT·Kp；
ΔWy1＝ΔWz1＝0；
wherein: g0The unit of the gravity acceleration selected for theoretical design is m/s2(ii) a Δ T is the calculation period in units of s; kpIs a gravitational acceleration proportionality coefficient.
Further, the theoretical arrow system angle increment calculation formula in step 6 is as follows:
Δθx＝ωe·ΔT·sinB0
Δθy＝-ωe·ΔT·cosA0cosB0
Δθz＝-ωe·ΔT·sinA0cosB0
ωeis the rotational angular velocity of the earth, with unit rad; a. the0Selecting the direction in degrees for theoretical design; b is0The latitude is selected for theoretical design and is measured in degrees.
The invention has the beneficial effects that:
(1) the invention can reserve and utilize 1g of ground0And the earth rotation angular velocity is used as an attitude angle and arrow system visual velocity result of input calculation, so that the assessment of the strapdown inertial measurement unit is realized; (2) can be used forBy fixed input, the result error of the guidance control calculation is extremely small, and an error threshold can be accurately set, so that the result of the guidance control calculation can be interpreted in an automatic mode, the interpretation efficiency is greatly improved, and the risk of human errors is reduced; (3) the test method is completely enclosed in an independent model flight calculation module, a navigation calculation formula used in flight is not changed, the reliability of flight software is improved, the method is simple to implement, and the switching between the simulated flight test state and the actual flight test state can be realized through the setting of flight data mark words.
Drawings
FIG. 1 is a schematic diagram of a ground test design method for a simulated flight test.
FIG. 2 is an O-XYZ emission point inertial coordinate system of the actual inertial system apparent velocity increment.
Detailed Description
In addition to the embodiments described below, the invention is capable of other embodiments or of being practiced or carried out in various ways. It is to be understood, therefore, that the invention is not limited in its application to the details of construction and the arrangements of the components set forth in the following description or illustrated in the drawings. While only one embodiment has been described herein, the claims are not to be limited to that embodiment.
The invention uses the theoretical inertial system apparent velocity increment of the simulated flight calculation
Replacing the actual apparent velocity increment result delta w of the inertial system obtained by calculating the real strapdown inertial unit sensitive information, and adopting the theoretical apparent velocity increment result of the inertial system
And entering navigation calculation and subsequent guidance control. In the simulated flight calculation, the theoretical acceleration and the angular velocity which are designed in advance are used as addition tables and gyro sensitive information, and the attitude matrix calculation of the rocket system apparent velocity increment and the rocket system to launching point gravity inertial system is respectively carried out, so that the theoretical inertial system apparent velocity increment is calculated
Replacing the actual inertial system apparent velocity increment result delta w obtained by calculating the real strapdown inertial unit sensitive information by using theory
And entering navigation calculation, and performing subsequent guidance control by using the result of the navigation calculation.
A ground test design method for simulating rocket flight test comprises the following steps as shown in figure 1:
(1) calculating the apparent velocity increment of an actual arrow system by using pulse increment output after an inertial group accelerometer senses gravity acceleration information, wherein O-X1Y1Z1 is an arrow coordinate system, OX1 is a longitudinal axis, OY1 is a normal axis, OZ1 is a transverse axis, as shown in figure 2, and sending the calculation result to the ground for telemetering to analyze whether the accelerometer works normally or not. The actual arrow system apparent speed increment calculation formula is as follows:
wherein: Δ Wx1、ΔWy1、ΔWz1The increment of the apparent speed of the arrow system in three directions of x1, y1 and z1 is in m/s;
ΔNax1、ΔNay1、ΔNaz1the unit is the pulse increment output by the accelerometer arranged in three directions of the arrow system; kax1、Kay1、Kaz1The conversion coefficient of the accelerometer from pulse increment to apparent velocity is in unit/(g)0·s)。
(2) Calculating the actual rocket system angle increment according to the pulse increment output by the earth rotation angular velocity information sensitive to the inertial set gyroscope, wherein the calculation formula is as follows:
wherein: delta thetax、Δθy、ΔθzIs the three-direction angular increment of the arrow system x1, y1 and z1, and the unit is rad; delta Ngx1、ΔNgy1、ΔNgz1The unit is a pulse increment output by each calculation period of a gyroscope arranged in three directions of an arrow system; kgx1、Kgy1、Kgz1The conversion coefficient of the gyroscope from pulse increment to angle increment is expressed in unit of "/piece.
(3) Calculating an attitude array and an attitude angle according to the actual arrow system angle increment, sending the attitude angle calculation result to the ground for remote measurement, and analyzing whether the gyroscope works normally, wherein the calculation formula is as follows:
1) attitude matrix calculation formula:
wherein: a is a posture matrix from an arrow system to an inertia system;
the quaternion for the nth calculation cycle.
2) Attitude angle calculation formula:
ψ＝arcsin(-a31)
wherein:
psi and gamma are pitch, yaw and roll attitude angles, respectively, in units of deg..
(4) Calculating the apparent velocity increment of the actual inertia system according to the apparent velocity increment and attitude array result of the actual rocket system calculated in the step 3, wherein O-XYZ is an inertial coordinate system (called an inertial system for short) of the launching point, OX points to the launching, OY is the opposite direction of the gravity of the launching point, OZ is defined according to the right-hand coordinate rule, and as shown in FIG. 2, the formula is as follows:
wherein: Δ Wx、ΔWy、ΔWzThe apparent velocity increment in the three directions of the inertia system x, y and z is respectively in the unit of m/s.
(5) Decomposing the gravity acceleration into three directions of an arrow system so as to calculate the apparent velocity increment of the theoretical arrow system, wherein the formula is as follows:
ΔWx1＝g0·ΔT·Kp；
ΔWy1＝ΔWz1＝0；
wherein: g0The unit of the gravity acceleration selected for theoretical design is m/s2(ii) a Δ T is the calculation period in units of s; kpIs a gravitational acceleration proportionality coefficient.
(6) Decomposing the rotational angular velocity of the earth into three directions of an arrow system, thereby calculating the angular increment of the theoretical arrow system, wherein the formula is as follows:
Δθx＝ωe·ΔT·sinB0
Δθy＝-ωe·ΔT·cosA0cosB0
Δθz＝-ωe·ΔT·sinA0cosB0
ωeis the rotational angular velocity of the earth, with unit rad; a. the0Selecting the direction in degrees for theoretical design; b is0Designed for theoryThe latitude is selected in units of degrees.
(7) Calculating a theoretical attitude array from the arrow system to the inertia system according to the theoretical arrow system angle increment in the step 6, wherein a calculation formula is the same as that of the attitude array in the step (3) in the step 1);
(8) calculating the apparent velocity increment of the theoretical inertial system according to the apparent velocity increment of the theoretical arrow system calculated in the step 5 and the theoretical attitude array result in the step 7, wherein the calculation formula is the same as the step (4);
(9) and replacing the actual inertial system apparent speed increment with the theoretical inertial system apparent speed increment to be used as the input of the rocket body navigation calculation.
Various modifications may be made to the method of the invention described above without departing from the scope of the invention, and the scope of protection should therefore be determined from the content of the appended claims.
Claims (8)
1. A ground test design method for simulating rocket flight test is characterized by comprising the following steps:
(1) calculating the apparent velocity increment of an actual arrow system by using a pulse increment output after an inertial measurement unit accelerometer senses gravity acceleration information, and sending a calculation result to the ground for remote measurement;
(2) calculating the actual rocket system angle increment according to the pulse increment output by the earth rotation angular velocity information sensitive to the inertial set gyroscope;
(3) calculating a posture array and a posture angle according to the actual arrow system angle increment, sending the calculation result of the posture angle to the ground for remote measurement, and analyzing whether the gyroscope works normally or not;
(4) calculating the apparent speed increment of the actual inertia system according to the apparent speed increment of the actual arrow system and the attitude array result calculated in the step 3;
(5) decomposing the gravity acceleration into three directions of an arrow system, and calculating the apparent velocity increment of the theoretical arrow system;
(6) decomposing the rotational angular velocity of the earth into three directions of an arrow system, and calculating the angle increment of the theoretical arrow system;
(7) calculating a theoretical attitude array of the arrow body according to the theoretical arrow system angle increment in the step 6;
(8) calculating the apparent velocity increment of the theoretical inertial system according to the apparent velocity increment of the theoretical arrow system calculated in the step 5 and the theoretical attitude array result in the step 7;
(9) and replacing the actual inertial system apparent speed increment with the theoretical inertial system apparent speed increment to be used as the input of the rocket body navigation calculation.
2. The ground test design method of claim 1, wherein the actual rocket system apparent velocity increment calculation formula in step 1 is as follows:
wherein O-X1Y1Z1 is an arrow coordinate system, wherein OX1 is a longitudinal axis, OY1 is a normal axis, OZ1 is a transverse axis, and Δ W is a coordinate systemx1、ΔWy1、ΔWz1The increment of the apparent speed of the arrow system in three directions of x1, y1 and z1 is in m/s; delta Nax1、ΔNay1、ΔNaz1The unit of pulse increment output by each calculation period of the three-direction accelerometer arranged on the arrow system is one; kax1、Kay1、Kaz1The conversion coefficient of the accelerometer from pulse increment to apparent velocity is in unit/(g)0·s)。
3. The ground test design method of claim 1, wherein the actual rocket system angle increment in the step 2 is calculated by the formula:
wherein: delta thetax、Δθy、ΔθzIs the three-direction angular increment of the arrow system x1, y1 and z1, and the unit is rad; delta Ngx1、ΔNgy1、ΔNgz1The unit is a pulse increment output by each calculation period of a gyroscope arranged in three directions of an arrow system; kgx1、Kgy1、Kgz1For the gyro to change from pulse increment to angular incrementThe conversion coefficient is expressed in units of'/unit.
4. The capability assessment method according to claim 1, wherein the attitude matrix calculation formula of step 3 is:
wherein: a is a posture matrix from an arrow system to an inertia system;
the quaternion for the nth calculation cycle.
5. The ability evaluation method according to claim 1, wherein the attitude angle calculation formula of step 3 is:
ψ＝arcsin(-a31)
wherein:
psi and gamma are pitch, yaw and roll attitude angles, respectively, in units of deg..
6. The capacity assessment method according to claim 1, wherein the actual inertial frame apparent velocity increment calculation formula of step 4 is:
wherein O-XYZ is an inertial coordinate system (inertial system for short) of the emission point, OX points to emit, OY is the opposite direction of gravity of the emission point, OZ is defined according to the right-hand coordinate rule, and Δ Wx、ΔWy、ΔWzThe apparent velocity increment in the three directions of the inertia system x, y and z is respectively in the unit of m/s.
7. The ability evaluation method according to claim 1, wherein the calculation formula of the apparent velocity increment of the theoretical arrow system in the step 5 is:
ΔWx1＝g0·ΔT·Kp；
ΔWy1＝ΔWz1＝0；
wherein: g0The unit of the gravity acceleration selected for theoretical design is m/s2(ii) a Δ T is the calculation period in units of s; kpIs a gravitational acceleration proportionality coefficient.
8. The ability assessment method according to claim 1, wherein the theoretical arrow system angle increment calculation formula of step 6 is:
Δθx＝ωe·ΔT·sin B0
Δθy＝-ωe·ΔT·cos A0cos B0
Δθz＝-ωe·ΔT·sin A0cos B0
ωeis the rotational angular velocity of the earth, with unit rad; a. the0Selecting the direction in degrees for theoretical design; b is0The latitude is selected for theoretical design and is measured in degrees.
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