CN112229271B - Helicopter-mounted missile transfer alignment delay time estimation method - Google Patents
Helicopter-mounted missile transfer alignment delay time estimation method Download PDFInfo
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- CN112229271B CN112229271B CN202011005907.9A CN202011005907A CN112229271B CN 112229271 B CN112229271 B CN 112229271B CN 202011005907 A CN202011005907 A CN 202011005907A CN 112229271 B CN112229271 B CN 112229271B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/30—Command link guidance systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/30—Command link guidance systems
- F41G7/301—Details
- F41G7/306—Details for transmitting guidance signals
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/04—Generating or distributing clock signals or signals derived directly therefrom
- G06F1/06—Clock generators producing several clock signals
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M1/00—Design features of general application
- G06M1/27—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum
- G06M1/272—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum using photoelectric means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a helicopter-borne missile transfer alignment delay time estimation method, which aims at the system characteristics between the airborne main inertial navigation and missile-borne inertial navigation of a helicopter-borne weapon application platform, respectively estimates the delay time generated by airborne main inertial navigation data forwarded by airborne launch control and the delay time generated when the missile-borne inertial navigation receives the forwarded airborne main inertial navigation data and performs model data fusion with the main inertial navigation by adopting a software counting method based on a hardware communication link, and sends the delay time generated by the airborne launch control system to a missile-borne inertial navigation system by establishing a communication protocol among missile systems, so that the total delay time relative to the airborne main inertial navigation system can be obtained in real time when the missile-borne inertial navigation system performs transfer alignment, and the transfer alignment precision of a missile is improved by delay time compensation. The method can estimate the delay time on line based on a software counting method, reduces the design complexity of navigation software, and is simple and reliable.
Description
Technical Field
The invention belongs to the technical field of missile-borne navigation system transfer alignment, and particularly relates to a helicopter-borne missile transfer alignment delay time estimation method.
Background
The missile needs to determine the initial attitude and position of the missile before launching, and the missile determines the initial attitude by utilizing inertial navigation static base alignment and ground course calibration during ground launching. When the missile is launched on the aircraft, the missile needs to use the information of the airborne main inertial navigation as initial information for binding, but because a certain error exists between the installation structure of the airborne main inertial navigation and the missile carrier inertial navigation, the attitude information of the airborne main inertial navigation cannot be directly bound to the missile carrier inertial navigation, the installation error between the airborne main inertial navigation and the missile carrier inertial navigation needs to be estimated through transfer alignment, then the attitude of the airborne main inertial navigation is used as a reference for carrying out installation error compensation, and the value is used as the attitude initial value of the missile carrier inertial navigation. Therefore, the precision of the transfer alignment directly determines the initial attitude precision of the missile and also restricts the middle guidance precision of the missile.
In the whole process, the delay time is taken as a factor influencing the transfer alignment precision and cannot be ignored in engineering application. At present, most of transfer alignment delay time estimation methods are based on software algorithms, such as the invention patent applications with the publication numbers of CN103344251A and CN105157724A, and respectively disclose a transfer alignment time delay estimation method based on speed and specific force matching and a transfer alignment time delay estimation and compensation method based on speed and attitude matching.
Disclosure of Invention
The invention provides a helicopter-mounted missile transfer alignment delay time estimation method aiming at the problems that the existing transfer alignment delay time estimation method increases the workload of a navigation computer and the design complexity of transfer alignment navigation software and is not beneficial to engineering application.
In order to achieve the purpose, the invention adopts the following technical scheme:
a helicopter-borne missile transfer alignment delay time estimation method is disclosed, wherein a communication link for helicopter-borne missile transfer alignment comprises an airborne main inertial navigation system, an airborne launch control system and a missile-borne inertial navigation system, and the method comprises the following steps:
step 1: respectively arranging a first counter and a second counter for the airborne launch control system and the missile-borne inertial navigation system, and arranging a counting unit;
step 2: when the airborne launch control system receives data sent by the airborne main inertial navigation system, the first counter starts timing;
and step 3: when the airborne launch control system converts 429 data types transmitted by the airborne main inertial navigation system into 422 data types and sends the 422 data types to the missile-borne auxiliary inertial navigation system, reading a first counter value N1, and calculating a first delay time t1 according to a counting unit;
and 4, step 4: clearing the value of the first counter, adding t1 into a data protocol to be sent to the elastic carrier inertial navigation system by the airborne launch control system, and sending the data protocol to the elastic carrier inertial navigation system;
and 5: when the missile-borne auxiliary inertial navigation system receives data sent by the airborne main inertial navigation system, the second counter starts timing;
step 6: when the missile-borne carrier inertial navigation system extracts data sent by the airborne main inertial navigation system to perform transfer alignment calculation, reading a second counter value N2, calculating a second delay time t2 according to a counting unit, and simultaneously extracting a first delay time t1 from the received data sent by the airborne main inertial navigation system;
and 7: and calculating the total delay time T to be T + T1+ T2 according to the output period T of the airborne main inertial navigation system, the first delay time T1 and the second delay time T2.
Furthermore, the airborne launch control system forwards the data sent by the airborne main inertial navigation system in a triggering mode, and the data is forwarded when received.
Further, the output period T of the airborne main inertial navigation system is 12.5 ms.
Further, after the step 7, the method further comprises:
and resetting the value of the second counter, and waiting for the arrival and counting of data sent by the next frame of airborne main inertial navigation system.
Further, after the step 7, the method further comprises:
and compensating the t as the final delay time to the transfer alignment process of the helicopter-mounted missile.
Compared with the prior art, the invention has the following beneficial effects:
the invention respectively arranges a first counter and a second counter for an airborne launch control system and an missile-borne inertial navigation system, and arranges a counting unit; when the airborne launch control system receives data sent by the airborne main inertial navigation system, the first counter starts timing; when the airborne launch control system converts the 429 data type transmitted by the airborne main inertial navigation system into 422 data type and sends the 422 data type to the missile-borne sub inertial navigation system, reading a first counter value N1, and calculating a first delay time t1 according to a counting unit; clearing the value of the first counter, adding t1 into a data protocol to be sent to the elastic carrier inertial navigation system by the airborne launch control system, and sending the data protocol to the elastic carrier inertial navigation system; when the missile-borne auxiliary inertial navigation system receives data sent by the airborne main inertial navigation system, the second counter starts timing; when the missile-borne carrier inertial navigation system extracts data sent by the airborne main inertial navigation system to perform transfer alignment calculation, reading a second counter value N2, calculating a second delay time t2 according to a counting unit, and simultaneously extracting a first delay time t1 from the received data sent by the airborne main inertial navigation system; and calculating the total delay time T to be T + T1+ T2 according to the output period T of the airborne main inertial navigation system, the first delay time T1 and the second delay time T2. By the mode, the delay time can be estimated on line based on a software counting method; the method is based on engineering application, does not need to increase the communication link of the system and the workload of a navigation computer, reduces the design complexity of navigation software, and is simple and reliable.
Drawings
FIG. 1 is a schematic flow chart of a helicopter-mounted missile transfer alignment delay time estimation method according to an embodiment of the present invention;
FIG. 2 is a basic flow chart of a helicopter-mounted missile transfer alignment delay time estimation method according to an embodiment of the invention;
FIG. 3 is a graph of an actual alignment delay time estimator of a certain missile-borne inertial navigation system of the method for estimating the transfer alignment delay time of a helicopter-borne missile according to the embodiment of the invention;
fig. 4 is a transfer alignment attitude error estimation curve before and after delay time compensation of a certain missile-borne inertial navigation system according to the method for estimating transfer alignment delay time of a helicopter-borne missile in an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 and 2, a helicopter-borne missile transfer alignment delay time estimation method is suitable for compensating an error of an airborne missile strapdown inertial navigation transfer alignment delay time and improving transfer alignment precision; the communication link for transfer alignment of the helicopter-borne missile comprises an airborne main inertial navigation system, an airborne launch control system and a missile-borne carrier inertial navigation system; the method comprises the following steps:
step S101: respectively arranging a first counter and a second counter for the airborne launch control system and the missile-borne inertial navigation system, and arranging a counting unit; further, the airborne launch and control system forwards data sent by the airborne main inertial navigation system in a triggering mode, and the data is forwarded when received; specifically, the count unit is set to 0.5 ms.
Step S102: when the airborne launch control system receives data sent by the airborne main inertial navigation system, the first counter starts timing.
Step S103: when the airborne launch control system converts the 429 data type transmitted by the airborne main inertial navigation system into 422 data type and sends the 422 data type to the missile-borne sub inertial navigation system, reading a first counter value N1, and calculating a first delay time t1 according to a counting unit; specifically, t1 ═ N1 × 0.5 (ms).
Step S104: and resetting the value of the first counter, waiting for the arrival and counting of data sent by the next frame of airborne host inertial navigation system again, and adding t1 into a data protocol to be sent to the airborne host inertial navigation system by the airborne launch control system (together with the data) and sending the data to the airborne host inertial navigation system.
Step S105: and when the missile-borne auxiliary inertial navigation system receives the data sent by the airborne main inertial navigation system, the second counter starts timing.
Step S106: when the missile-borne carrier inertial navigation system extracts data sent by the airborne main inertial navigation system to perform transfer alignment calculation, reading a second counter value N2, calculating a second delay time t2 according to a counting unit, and simultaneously extracting a first delay time t1 from the received data sent by the airborne main inertial navigation system; specifically, t2 ═ N2 × 0.5 (ms).
Step S107: calculating total delay time T to be T + T1+ T2 according to an output period T of the airborne main inertial navigation system, the first delay time T1 and the second delay time T2; specifically, the output period T of the onboard main inertial navigation system is 12.5ms, and T is 12.5+ T1+ T2 is 12.5+ N1 × 0.5+ N2 × 0.5 (ms).
Further, after the step S107, the method further includes:
and resetting the value of the second counter, and waiting for the arrival and counting of data sent by the next frame of airborne main inertial navigation system.
Further, after the step S107, the method further includes:
and compensating the t as the final delay time to the transfer alignment process of the helicopter-mounted missile.
As shown in fig. 3, the delay time of a certain missile-borne inertial navigation system relative to an airborne main inertial navigation system can be determined to be between 28 ms and 31ms by the method, wherein the delay time generated by forwarding through an airborne launch control system is relatively fixed and is 10 ms; as shown in FIG. 4, X, Y, Z axis errors between an onboard main inertial navigation system and an ejection sub inertial navigation system which are calibrated in advance are respectively-0.11 degrees, -0.14 degrees, -0.46 degrees, attitude error estimation values before and after delay time compensation are respectively given, X, Y, Z axis errors of transfer alignment estimation are respectively-0.034 degrees, -0.40 degrees, -0.33 degrees before delay time compensation is carried out, X, Y, Z axis errors of transfer alignment estimation are respectively-0.077 degrees, -0.19 degrees, -0.39 degrees after delay time compensation is carried out, and therefore the transfer alignment error estimation accuracy is effectively improved.
In conclusion, the method can estimate the delay time on line based on a software counting method; the method is based on engineering application, does not need to increase the communication link of the system and the workload of a navigation computer, reduces the design complexity of navigation software, and is simple and reliable.
The above shows only the preferred embodiments of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (5)
1. A helicopter-borne missile transfer alignment delay time estimation method is characterized in that a communication link for helicopter-borne missile transfer alignment comprises an airborne main inertial navigation system, an airborne launch control system and a missile-borne inertial navigation system, and the method comprises the following steps:
step 1: respectively arranging a first counter and a second counter for the airborne launch control system and the missile-borne inertial navigation system, and arranging a counting unit;
step 2: when the airborne launch control system receives data sent by the airborne main inertial navigation system, the first counter starts timing;
and 3, step 3: when the airborne launch control system converts the 429 data type transmitted by the airborne main inertial navigation system into 422 data type and sends the 422 data type to the missile-borne sub inertial navigation system, reading a first counter value N1, and calculating a first delay time t1 according to a counting unit;
and 4, step 4: clearing the value of the first counter, adding t1 into a data protocol to be sent to the elastic carrier inertial navigation system by the airborne launch control system, and sending the data protocol to the elastic carrier inertial navigation system;
and 5: when the missile-borne auxiliary inertial navigation system receives data sent by the airborne main inertial navigation system, the second counter starts timing;
step 6: when the missile-borne carrier inertial navigation system extracts data sent by the airborne main inertial navigation system to perform transfer alignment calculation, reading a second counter value N2, calculating a second delay time t2 according to a counting unit, and simultaneously extracting a first delay time t1 from the received data sent by the airborne main inertial navigation system;
and 7: and calculating the total delay time T to be T + T1+ T2 according to the output period T of the airborne main inertial navigation system, the first delay time T1 and the second delay time T2.
2. The method for estimating the transfer alignment delay time of the helicopter-borne missile according to claim 1, wherein the airborne launch control system is used for forwarding the data sent by the airborne main inertial navigation system in a triggering mode, and the data is forwarded when received.
3. The method for estimating transfer alignment delay time of a helicopter-borne missile according to claim 1, wherein the output period T of the airborne main inertial navigation system is 12.5 ms.
4. The method of estimating helicopter-borne missile transfer alignment delay time of claim 1, further comprising, after step 7:
and resetting the value of the second counter, and waiting for the arrival and counting of data sent by the next frame of airborne main inertial navigation system.
5. The method of estimating helicopter-borne missile transfer alignment delay time of claim 1, further comprising, after step 7:
and compensating the t as the final delay time to the transfer alignment process of the helicopter-mounted missile.
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| CN103196448A (en) * | 2013-03-22 | 2013-07-10 | 南京理工大学 | Airborne distributed inertial attitude measurement system and transfer alignment method of airborne distributed inertial attitude measurement system |
| CN103424127A (en) * | 2013-09-03 | 2013-12-04 | 哈尔滨工程大学 | Method for transfer alignment of speed and specific force matching |
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| CN109084757A (en) * | 2018-06-25 | 2018-12-25 | 东南大学 | A kind of movement of aircraft wing couples velocity error calculation method with dynamic deformation |
| CN111221270A (en) * | 2020-04-16 | 2020-06-02 | 中国人民解放军国防科技大学 | Measurement error registration method for satellite navigation software and hardware collaborative simulation test |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL136566A (en) * | 2000-06-05 | 2007-07-24 | Rafael Advanced Defense Sys | Method for transfer alignment of an inertial measurement unit in the presence of unknown aircraft measurements delays |
| US7206694B2 (en) * | 2004-07-16 | 2007-04-17 | Northrop Grumman Corporation | Transfer alignment of navigation systems |
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- 2020-09-23 CN CN202011005907.9A patent/CN112229271B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4442431A (en) * | 1971-07-12 | 1984-04-10 | Hughes Aircraft Company | Airborne missile guidance system |
| CN102570973A (en) * | 2010-12-12 | 2012-07-11 | 联发科技股份有限公司 | Clock system and method for compensating timing information of clock system |
| CN103196448A (en) * | 2013-03-22 | 2013-07-10 | 南京理工大学 | Airborne distributed inertial attitude measurement system and transfer alignment method of airborne distributed inertial attitude measurement system |
| CN103424127A (en) * | 2013-09-03 | 2013-12-04 | 哈尔滨工程大学 | Method for transfer alignment of speed and specific force matching |
| CN105674988A (en) * | 2016-02-15 | 2016-06-15 | 河南理工大学 | Transfer alignment method for MEMS equivalent single-shaft rotation inertial navigation |
| CN107870652A (en) * | 2016-09-26 | 2018-04-03 | 联发科技股份有限公司 | Sensor clock method of estimation and its device |
| CN109084757A (en) * | 2018-06-25 | 2018-12-25 | 东南大学 | A kind of movement of aircraft wing couples velocity error calculation method with dynamic deformation |
| CN111221270A (en) * | 2020-04-16 | 2020-06-02 | 中国人民解放军国防科技大学 | Measurement error registration method for satellite navigation software and hardware collaborative simulation test |
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