CN112445230B - High-dynamic aircraft multi-mode guidance system and guidance method under large-span complex environment - Google Patents
High-dynamic aircraft multi-mode guidance system and guidance method under large-span complex environment Download PDFInfo
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Abstract
The invention discloses a high dynamic aircraft multi-mode guidance system and a guidance method under a large cross-domain complex environment, the guidance system is applied to a high-dynamic aircraft in a large-span complex environment, a satellite guidance module and a laser guidance head are arranged in the aircraft, in order to ensure that the laser guidance head can capture a target laser signal when entering a final guidance section, the traveling direction of the aircraft is controlled in the middle guidance section by setting a virtual target position so that the aircraft can pass through the virtual target position, thereby ensuring that the target can enter the field of view of the laser seeker, in addition, as a plurality of guidance modules are arranged, more accurate parameter information can be screened out by setting specific screening judgment conditions, therefore, a more accurate data base is provided for subsequent calculation, and a guidance instruction is obtained through a calculation process capable of discharging interference factors.
Description
Technical Field
The invention relates to a guidance method, in particular to a high-dynamic aircraft multi-mode guidance method in a large-span complex environment.
Background
The high-dynamic guidance aircraft can stably and efficiently complete guidance tasks under the conventional environment condition, however, a more strict requirement is provided for the guidance aircraft in a complex environment, and in the case of severe environment, the aircraft in a single guidance mode can not accurately complete flight tasks due to large guidance information errors or even guidance information acquisition failure, and in the aircraft with multiple guidance modes fused, the collaborative operation and weight distribution among the multiple guidance modes have defects; in particular, in a guidance aircraft compounded with a laser guidance head, under some special conditions, laser guidance cannot be executed because a target does not appear in a field of view of the guidance head when the guidance aircraft enters a final guidance section; in addition, the aircraft is compounded with two guidance modes of satellite guidance and laser guidance, so that the anti-interference capability is weak in the actual guidance processing process, and when one guidance mode is limited, the other guidance mode cannot be switched in time, so that the final guidance control precision is reduced; in order to improve the capability of the guidance aircraft to cope with complex environments, the laser guidance head can be set as a strapdown guidance head, for the guidance aircraft provided with the strapdown laser guidance head, the line-of-sight angular velocity of the aircraft and the target used when overload is required to be calculated is difficult to be directly detected, and the calculation precision of the line-of-sight angular velocity of the aircraft and the target also influences the final guidance precision.
For the reasons, the inventor conducts deep research on the existing guidance method of the high-dynamic aircraft, and designs a high-dynamic aircraft multi-mode guidance system and a guidance method which can solve the problems in the large-span complex environment.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention makes an intensive study and designs a high-dynamic aircraft multimode guidance system and a guidance method under a large-span complex environment, the guidance system is applied to a high-dynamic aircraft under the large-span complex environment, a satellite guidance module and a laser guidance head are arranged in the aircraft, in order to ensure that the laser guidance head can capture a laser signal of a target when entering a final guidance section, the traveling direction of the aircraft is controlled at a middle guidance section by setting a virtual target position, so that the aircraft can pass through the virtual target position, and the target can enter a field of view of the laser guidance head, in addition, as a plurality of guidance modules are arranged, more accurate parameter information is screened out by setting specific screening and judging conditions, more accurate data base is provided for subsequent resolving, and the line-of-sight angular velocity of the aircraft and the target is obtained through a resolving process capable of discharging interference factors, and further obtaining a guidance instruction, thereby completing the invention.
Specifically, the invention aims to provide a high-dynamic aircraft multi-mode guidance system in a large-span complex environment, which comprises a satellite module 1, a laser seeker 2, an attitude sensitive module 3, a virtual target module 4, a correction module (5), a line-of-sight angular velocity calculation module 6 and an overload calculation module 7;
the satellite module 1 is used for receiving satellite signals and solving position information and speed information of the aircraft and line-of-sight angle information of the aircraft and a target in real time according to the satellite signals;
the laser seeker 2 is used for detecting the sight angle information of the aircraft and the target at the final pilot segment;
the attitude sensing module 3 is used for sensing and obtaining flight parameter information of the aircraft in real time,
the virtual target module 4 is used for providing a virtual target position for the aircraft, so that the aircraft flies to the virtual target position in a middle guidance period,
the correction module 5 is respectively connected with the satellite module 1 and the laser seeker 2 and outputs the sight angle information of the aircraft and the target which is close to the true value;
the line-of-sight angular velocity resolving module 6 is used for obtaining the line-of-sight angular velocity of the aircraft and the target in real time according to the line-of-sight angular information of the aircraft and the target which is output by the correcting module 5 and is close to a true value;
and the overload calculating module 7 is used for obtaining the overload required according to the line-of-sight angular speed of the aircraft and the target obtained in real time by the line-of-sight angular speed calculating module 6.
The invention also aims to provide a high-dynamic aircraft multimode guidance method under a large-span complex environment, which comprises the following steps:
step 1, receiving satellite signals through a satellite module 1, and solving position information and speed information of an aircraft and line-of-sight angle information of the aircraft and a target in real time according to the satellite signals;
acquiring flight parameter information of the aircraft in real time in a sensitive manner through the attitude sensitive module 3;
step 2, in the middle guidance section, providing a virtual target position for the aircraft through the virtual target module 4 so that the aircraft flies to the virtual target position in the middle guidance section,
step 3, in the final guide section, the laser guide head 2 is used for detecting the sight angle information of the aircraft and the target in the final guide section;
step 4, outputting the sight angle information of the aircraft and the target which is close to the true value through a correction module 5 at the final pilot segment;
step 5, in the final control section, the line-of-sight angular velocity of the aircraft and the target is obtained in real time through the line-of-sight angular velocity resolving module 6 according to the line-of-sight angular information of the aircraft and the target which is output by the correcting module 5 and is close to the true value;
and 6, in the final pilot segment, the overload calculating module 7 obtains the overload required according to the line-of-sight angular velocity of the aircraft and the target obtained in real time by the line-of-sight angular velocity calculating module 6.
The invention has the advantages that:
(1) according to the high-dynamic aircraft multimode guidance system and the guidance method under the large-span complex environment, provided by the invention, the system can adapt to the complex flight environment, and the laser guidance head can capture laser information when the aircraft enters the final guidance section by setting the virtual target position;
(2) according to the high-dynamic aircraft multimode guidance system and the guidance method under the large-span complex environment, two guidance means of satellite guidance and laser guidance can be combined, and a more appropriate guidance means can be automatically switched according to the advantages and disadvantages of the guidance means in each flight phase for guidance;
(3) the high-dynamic aircraft multimode guidance system and the guidance method provided by the invention can be applied to a strapdown guidance aircraft, so that the anti-interference capability of the guidance aircraft to the complex environment is further improved, the line-of-sight angular speed of the aircraft and a target can be timely and accurately estimated, the overload required is further known, and the guidance precision is ensured.
Drawings
FIG. 1 is a block diagram of the overall structure of a high-dynamic aircraft multimode guidance system in a large-span complex environment according to a preferred embodiment of the invention;
FIG. 2 is a schematic structural diagram of a four-piece composite antenna of a satellite module in a high dynamic aircraft multimode guidance system in a large-span complex environment according to a preferred embodiment of the invention;
FIG. 3 shows the real values of the line-of-sight angular velocities of the aircraft and the target and the variation trajectories of the solution values of the line-of-sight angular velocities of the aircraft and the target, without considering the influence of internal and external disturbances on the system in the experimental example;
FIG. 4 shows the real values of the line-of-sight angular velocities of the aircraft and the target and the variation trajectories of the calculated values of the line-of-sight angular velocities of the aircraft and the target in the experimental example under the condition that the influence of internal and external disturbances on the system is considered;
the reference numbers illustrate:
1-satellite module
11-four-piece composite antenna
12-interference-free module
13-satellite resolver submodule
14-accommodating tank
15-protective baffle
2-laser seeker
3-attitude sensitive module
4-virtual object Module
5-correction Module
6-line-of-sight angular velocity resolving module
7-overload resolving module
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.
On one hand, according to the high dynamic aircraft multi-mode guidance system under the large-span complex environment, the system comprises a satellite module 1, a laser seeker 2, an attitude sensing module 3, a virtual target module 4, a correction module 5, a line-of-sight angular velocity calculation module 6 and an overload calculation module 7;
the virtual target module 4, the correction module 5, the line-of-sight angular velocity calculation module 6 and the overload calculation module 7 may be integrated in one circuit board or may be respectively installed in different circuit boards.
In a preferred embodiment, the satellite module 1 is configured to receive satellite signals, and to calculate position information and velocity information of the aircraft in real time according to the satellite signals.
In order to make the position and speed information obtained by the satellite module 1 more accurate and the information source more reliable, and reduce the possibility of losing position and speed information in stages due to satellite loss, in the present application, preferably, the satellite module includes four synthetic antennas 11, an anti-jamming module 12 and a satellite resolving submodule 13, wherein:
the four-piece composite antenna is used for receiving satellite signals,
the anti-interference module 12 is connected with the four synthetic antennas 11 and is used for filtering the satellite signals and eliminating noise interference in the satellite signals;
the satellite resolving submodule 13 receives the satellite signal after filtering processing, converts the satellite signal into a navigation message, and then resolves the position and speed information of the aircraft at the current moment according to the navigation message; the navigation message is a message which is broadcasted to a user by a navigation satellite and used for describing the operation state parameters of the navigation satellite, and comprises system time, ephemeris, almanac, correction parameters of a satellite clock, health conditions of the navigation satellite, ionospheric delay model parameters and the like; the parameters of the navigation message provide time information for the user, and the position coordinate and the speed of the user can be calculated by utilizing the parameters of the navigation message; and then the sight angle information of the aircraft and the target can be obtained in real time according to the position coordinates of the aircraft and the position coordinates of the target point.
As shown in fig. 2, the four-piece composite antenna 11 includes 4 pieces of antenna plates in sheet form for receiving satellite signals in case of high overload, and the antenna may be a rectangular flat plate or an arc plate with a curvature, and may be configured according to the profile of the aircraft, and in this application, the arc plate with a curvature is preferably matched with the profile of the aircraft, and the arc plate antenna with a curvature receives satellite signals for a longer time and has better signal strength during the rolling process of the aircraft.
Preferably, the four composite antennas 11 are uniformly distributed around the aircraft and arranged along the circumferential direction of the rolling of the aircraft, so as to ensure that the satellite signal receiving capability of the aircraft is not weakened when the aircraft rolls at a high speed.
Four synthetic antenna 11 in this application compare traditional cone antenna or loop antenna, because the sheet antenna area of occupation is little, is difficult for receiving the influence of external noise or interference, and the sheet antenna integrated level is higher moreover, and its satellite signal reception ability is stronger.
Preferably, the four composite antennas 11 may be made of the same material as a conventional loop antenna or a cone antenna, and the thickness of the four composite antennas may be reduced as much as possible on the basis of ensuring stability and physical strength, so as to reduce cost.
Preferably, four composite antennas 11 are arranged on the outer wall of the aircraft,
more preferably, be provided with recessed holding tank 14 on the outer wall of aircraft, four synthetic antennas 11 are installed in holding tank 14, the degree of depth size of holding tank 14 is greater than four synthetic antennas 11's thickness dimension, and is provided with guard flap 15 in four synthetic antennas 11 outsides.
The external shape of the protective baffle is adapted to the outline of the aircraft, and can be arc-shaped or flat-plate-shaped, the inner side of the protective baffle is abutted against the four synthetic antennas to fix the four synthetic antennas, and the four synthetic antennas are prevented from moving and being damaged in the acceleration process.
The protective baffle 15 is used for protecting the four synthetic antennas on the inner side of the aircraft in the acceleration stage, so that the four synthetic antennas are prevented from being damaged in the acceleration process, when the aircraft enters the guidance stage, the protective baffle 15 is separated from the aircraft, so that the four synthetic antennas are exposed outside, satellite signals can be conveniently received by the four synthetic antennas, and the protective baffle 15 is prevented from shielding/interfering the satellite signals. Preferably, the four synthetic antennas are similar to steering engines on an aircraft and need to be started in the stage of guiding, so that the protective baffle 15 and the baffle outside the steering engine of the aircraft can be synchronously controlled and synchronously separated.
The laser seeker 2 is a strapdown laser seeker and can be used for detecting and obtaining the line-of-sight angle between the aircraft and the target in real time, and the strapdown seeker is fixedly connected to the projectile body, so that a mechanical frame structure is saved, all attitude motions of the projectile body are coupled into information measured by the seeker, and the line-of-sight angular velocity information between the aircraft and the target is difficult to obtain directly through the laser seeker.
In a preferred embodiment, as shown in fig. 1, the attitude sensing module 3 is used for sensing and obtaining flight parameter information of the aircraft in real time. Specifically, the attitude sensing module 3 includes an inertial gyroscope and a geomagnetic sensor, the inertial gyroscope senses pitch angle information and yaw angle information of the aircraft in real time, and the geomagnetic sensor senses the aircraft in real time to obtain roll angle information. The flight parameter information comprises pitch angle information, yaw angle information and roll angle information of the aircraft, and after the pitch angle information and the yaw angle information are obtained, angle values under other coordinate systems can be obtained through coordinate conversion.
The aircraft is suitable for a high-dynamic aircraft in a large-span complex environment, wherein the large-span domain means that the aircraft has strong adaptability to altitude change, and the aircraft can fly under the working condition of the altitude of 1000m and can also fly under the working condition of the altitude of 3000m or above; the high dynamic state refers to the high rotating speed of the aircraft, and generally the high dynamic state is called when the rotating speed of the aircraft is more than 10 revolutions per second; in the process that the aircraft flies to a target, sensitive elements, steering engines and other devices on the aircraft start to be electrified and work, the aircraft is called as a starting control section, a flight stage after the starting control section is called as a guidance section, the guidance section comprises a middle guidance section and a tail guidance section, generally speaking, the aircraft with a laser guidance head enters the tail guidance section when the distance from the target is 3km, and the flight stage before the aircraft enters the tail guidance section after the starting control section is the middle guidance section when the laser guidance head starts to capture the target.
In the process that the aircraft flies to the target direction, in the process of middle guidance, the aircraft in the prior art takes the position of the target as an expected end point to control flight, before entering a final guidance section, the flight trajectory of the aircraft changes due to interference of external factors such as disturbance and wind resistance, and has different flight trajectories due to different external interference conditions, so that when the aircraft enters the final guidance section, namely when the aircraft is 3km away from the target and the laser guidance head starts to capture the target, the aircraft may deviate from the optimal flight trajectory, the position of the target is not necessarily in the field of view of the laser guidance head, the laser guidance head cannot capture the laser signal reflected by the target, and therefore laser guidance cannot be performed, and the hit precision is reduced.
In order to solve the problems, in a preferred embodiment of the invention, the flight trajectory of the aircraft is adjusted in advance by setting a virtual target position, so that the aircraft passes through the vicinity of the area where the virtual target position is located, and then the specific position of the virtual target point is set to ensure that the aircraft can capture the laser signal when the aircraft is near the virtual target position, so that the aircraft can capture the laser signal reflected by the target when entering the final guide section.
Further preferably, the multimode guidance system is provided with a virtual target module 4, wherein a virtual target position is stored in the virtual target module 4, in the middle guidance section, the virtual target module 4 transmits the virtual target position to the overload calculating module 7 in real time, and the overload calculating module 7 takes the virtual target position as a target position and controls the aircraft to fly to the virtual target position.
The target position is a set of three-dimensional space coordinate data information, specifically including longitude coordinates, latitude coordinates and altitude values of a target point.
In particular, the virtual target module 4 obtains a virtual target location by:
wherein x isFRepresenting the x-axis coordinate, y, in the plumb plane of the virtual target positionFRepresenting the y-axis coordinate in the plumb plane of the virtual target position,
ctand cgTo design forGain, ct＝3，cg＝4，vgRepresenting the aircraft speed, theta is the ballistic inclination angle,
is the deviation angle of trajectory, alpha is the attack angle of the aircraft, beta is the sideslip angle of the aircraft, OT represents the lateral distance between the launch origin and the target, LcIndicating the distance the aircraft is gliding, TsAnd adjusting the time for the preset posture.
Wherein, the ratio of theta,
for pre-designed desired values, α and β are based on the desired sum of θ
The value is obtained by coordinate conversion, and the coordinate conversion process is shown in editions of "guided missile mechanics", qian xing fang, etc., and press of Beijing university of science and engineering;
before launching, the aircraft can simulate the flight track according to known parameters of the aircraft, launch point information and target point information, and in the process of simulating the flight track, the speed value of the aircraft is the vgThe distance L over which the aircraft glidescThe glide distance from the starting control point to the last guide section during flight path simulation.
The simulation process of the flight trajectory simulation is described in "missile and rocket outside Tanko" Korea son Peng et al, Beijing university of science and technology publishing Co.
The virtual target position is set, so that when the aircraft enters the final guide section, a target can be located in a field of view of the laser guide head, and the problem that the laser guide head cannot capture laser signals is prevented.
The aircraft is controlled to fly towards the virtual target position in the middle guidance section, so that the aircraft can be ensured to finally reach the virtual target position or the vicinity of the virtual target position, the virtual target position is obtained through reasonable calculation, when the aircraft reaches the virtual target position, the aircraft can enter the final guidance section, and a laser guidance head on the aircraft can be ensured to capture a laser signal at the position, namely, a target can be ensured to be in the field of view of the laser guidance head.
The multimode guidance system is a composite aircraft with multiple guidance modes, such as an aircraft with a satellite guidance mode and a laser guidance mode, in the multimode guidance system, multiple modes can repeatedly detect and obtain some common parameters, such as the line-of-sight angle information of the aircraft and a target, however, whether the information is accurate or not can be obtained only by judgment and comparison, and how to timely and accurately select a parameter closer to a true value from the same parameters provided by different modes can directly influence the subsequent guidance control precision.
In order to solve the above problems, in a preferred embodiment, a judgment module is provided, and a corresponding reasonable judgment parameter is set to quickly and efficiently solve the problem of selecting the same parameter, specifically, to quickly and efficiently select the line-of-sight angle information of the aircraft and the target which are closer to the true value.
Specifically, a correction module 5 is arranged in the multimode guidance system, the correction module 5 is respectively connected with the satellite module 1 and the laser seeker 2, and the line-of-sight angle information of the aircraft and the target, which is close to the true value, is output.
The correction module 5 receives the sight angle information of the aircraft and the target transmitted by the satellite module 1 and the laser seeker 2 in real time; wherein the information of the line of sight of the aircraft to the target obtained from the satellite module 1 is referred to as the angle of sight q of the satellite aircraft to the targetGThe information of the line of sight angle between the aircraft and the target obtained by the laser seeker 2 is called the line of sight angle q between the laser aircraft and the targetLaser。
In the final pilot segment, the correction module 5 receives the line-of-sight angle q between the satellite vehicle and the target in real timeGAnd the line of sight angle q of the laser vehicle to the targetLaserAnd comparing the difference between the two, and considering the visual angle q between the laser aircraft and the target when the difference is larger than or equal to a preset valueLaserNot entering into the working state, and considering the sight angle q between the satellite aircraft and the targetGMore approximate to the true value, and will satelliteAircraft to target line of sight angle qGThe angular velocity is transmitted to a line-of-sight angular velocity resolving module 6 to resolve the line-of-sight angular velocity of the aircraft and the target; when the difference is less than the predetermined value, the sight line angle q between the laser aircraft and the target is consideredLaserThe laser aircraft enters a working state, accurate sight angle information of the aircraft and the target can be obtained, and the sight angle q of the laser aircraft and the target is obtainedLaserAnd the angular velocity is transmitted to a line-of-sight angular velocity calculating module 6 to calculate the line-of-sight angular velocity of the aircraft and the target.
Preferably, the predetermined value is 0.2 ° to 1 °, and more preferably 0.5 °, and the inventor of the present invention found that when the difference between the line of sight angle between the satellite vehicle and the target and the line of sight angle between the laser vehicle and the target is less than or equal to 0.5 °, the line of sight angular velocity between the vehicle and the target detected by the laser seeker is closer to the true value, so the line of sight angular velocity between the vehicle and the target calculated by the line of sight angle between the laser vehicle and the target is also closer to the true value, and the guidance accuracy is improved.
Preferably, in the middle guidance process, in order to ensure that the aircraft can still pass through the virtual target position under the condition of being interfered by the external large-span complex environment when flying towards the virtual target position, the guidance rate adopted in the middle guidance section is a compensation guidance law, namely
Wherein the navigation ratio N is 2-4, preferably 4, aMThe overload requirement of the aircraft is met, V is the speed of the aircraft, and theta is the roll angle and is directly measured by an inertial gyroscope;
the line-of-sight angular velocity of the aircraft and the target at this time is obtained by the following formula:
gamma is a trajectory inclination angle, the numerical value of gamma is equivalent to the pitching angle of the aircraft, and can be directly measured by an attitude gyroscope; q is the line of sight angle of the aircraft to the target,
is the line-of-sight angular velocity of the aircraft and the target; x is the number ofFRepresenting the x-axis coordinate, y, in the plumb plane of the virtual target positionFRepresenting the y-axis coordinate, x, in the plumb plane of the virtual target positiontX-axis coordinate, y-axis coordinate in plumb plane representing current position of aircraft detected by satellite module in real timetAnd the y coordinate in the plumb plane represents the current position of the aircraft detected by the satellite module in real time.
In order to improve the adaptability of the aircraft to large-span domain flight, a laser seeker is set as a strapdown seeker, but the laser seeker is difficult to directly detect to obtain the line-of-sight angular velocity information of the aircraft and the target, in the last guidance process, the accuracy of satellite guidance is not high enough, and the satellite guidance is easy to fail due to problems such as signal shielding, so that the line-of-sight angular velocity information of the aircraft and the target needs to be analyzed in real time according to the parameter information which can be obtained;
in order to solve the above problem, in a preferred embodiment, as shown in fig. 1, the line-of-sight angular velocity calculation module 6 is configured to calculate the line-of-sight angular velocity of the aircraft and the target in real time at the final guidance stage according to the received line-of-sight angular information of the aircraft and the target, and transmit the line-of-sight angular velocity of the aircraft and the target to the calculation module to perform guidance control of the final guidance stage, that is, to calculate the required overload.
Wherein, the line-of-sight angular velocity calculating module 6 is connected with the correcting module 5, when in final guidance, the line-of-sight angular velocity calculating module 6 only receives the line-of-sight angular information of the aircraft and the target which are closer to the true value and transmitted by the correcting module 5,
the sight line angular velocity calculating module 6 calculates the sight line angular velocity information of the aircraft and the target in real time through the following formula (I), (II) and (III),
wherein q isgRepresenting the angle of sight of the aircraft with the target, q, as delivered by the correction module 50An estimate representing the line of sight angle of the aircraft to the target, i.e. an estimate of the line of sight angle of the aircraft to the target estimated by the above equations (one), (two), (three) in the solution process, q1The estimated value of the line-of-sight angular velocity of the aircraft and the target is represented, namely the estimated value of the line-of-sight angular velocity of the aircraft and the target is estimated through the formulas (I), (II) and (III) in the resolving process;
denotes x2The derivative of (a) of (b),
denotes x1The derivative of (a) of (b),
denotes x0The derivative of (a), the value obtained at the previous time, is used as the initial value of the iteration at the next time.
Initial time x0＝0，x1＝0，x2Iteration is performed every 0.001s as an integration step, and x is obtained0、x1And x2The value at the next instant.
Specifically, in the first iteration time, the initial time x is set0＝0，x1＝0，x20 and received qgSubstituting the values into the expressions (one), (two) and (three) to calculate
Further obtain the initial value x of the next time0、x1And x2(ii) a Then the obtained x is0、x1、x2And received qgSubstituting the values into the formula (I), (II) and (III) to obtain the values corresponding to the next time
The corresponding x obtained by each integration can be continuously obtained by continuous loop iteration0、x1、x2。
Wherein the content of the first and second substances,
and the visual line angular speed of the aircraft and the target is represented, and the visual line angular speed of the aircraft and the target is output to the overload resolving module 7 in real time, so that the overload required to be resolved can be obtained.
Wherein, the a0、a1、a2、δ、k1And k2Are all design parameters, preferably in this application, a0＝1～1.5、a1＝7～10、a2＝10～15、δ＝1～2、k10.1 to 0.4 and k2＝0.2～0.4；
More preferably, said a0＝1.1、a1＝8.5、a2＝11.5、δ＝1.5、k1＝0.3、k2＝0.3。
In a preferred embodiment, as shown in fig. 1, the guidance control is performed in the overload resolving module 7 using a proportional guidance law, i.e. a guidance control using a proportional guidance law
The navigation ratio N takes the value 4, aMThe required overload of the aircraft, V the speed of the aircraft,
the linear angular velocity of the aircraft and the target is the linear angular velocity of the aircraft and the target given in real time by the linear angular velocity calculating module 6.
On the other hand, the invention also provides a high-dynamic aircraft multi-mode guidance method under the large-span-domain complex environment, which is realized based on the high-dynamic aircraft multi-mode guidance system under the large-span-domain complex environment, and comprises the following steps:
step 1, receiving satellite signals through a satellite module 1, and solving position information and speed information of an aircraft and line-of-sight angle information of the aircraft and a target in real time according to the satellite signals;
acquiring flight parameter information of the aircraft in real time in a sensitive manner through the attitude sensitive module 3;
step 2, in the middle guidance section, providing a virtual target position for the aircraft through the virtual target module 4 so that the aircraft flies to the virtual target position in the middle guidance section,
step 3, in the final guide section, the laser guide head 2 is used for detecting the sight angle information of the aircraft and the target in the final guide section;
step 4, outputting the sight angle information of the aircraft and the target which is close to the true value through a correction module 5 at the final pilot segment;
step 5, in the final control section, the line-of-sight angular velocity of the aircraft and the target is obtained in real time through the line-of-sight angular velocity resolving module 6 according to the line-of-sight angular information of the aircraft and the target which is output by the correcting module 5 and is close to the true value;
and 6, in the final pilot segment, the overload calculating module 7 obtains the overload required according to the line-of-sight angular velocity of the aircraft and the target obtained in real time by the line-of-sight angular velocity calculating module 6.
In a preferred embodiment, the satellite module in step 1 includes four synthetic antennas 11, an anti-jamming module 12 and a satellite resolving sub-module 13;
as shown in fig. 2, the four-piece composite antenna 11 is used for receiving satellite signals, the four-piece composite antenna 11 comprises 4 pieces of antenna plates in a sheet shape, which are used for receiving satellite signals in high overload, the antenna can be a rectangular flat plate shape, and can also be an arc plate shape with radian, and can be arranged according to the outline of the aircraft, in this application, the arc plate shape with radian is preferably matched with the outline of the aircraft, and the arc plate antenna with radian receives satellite signals for a longer time and has better signal intensity during the rolling process of the aircraft,
preferably, the four composite antennas 11 are uniformly distributed around the aircraft and arranged along the circumferential direction of the rolling of the aircraft, so as to ensure that the satellite signal receiving capability of the aircraft is not weakened when the aircraft rolls at a high speed.
The anti-interference module 12 is connected with the four synthetic antennas 11 and is used for filtering the satellite signals and eliminating noise interference in the satellite signals;
the satellite resolving submodule 13 receives the satellite signal after filtering processing, converts the satellite signal into a navigation message, and then resolves the position and speed information of the aircraft at the current moment according to the navigation message; the parameters of the navigation message provide time information for the user, and the position coordinate and the speed of the user can be calculated by utilizing the parameters of the navigation message; and then the sight angle information of the aircraft and the target can be obtained in real time according to the position coordinates of the aircraft and the position coordinates of the target point.
Preferably, the flight parameter information in step 1 includes pitch angle information, yaw angle information and roll angle information of the aircraft.
In a preferred embodiment, in step 2, in the intermediate guidance period, the virtual target module 4 calculates virtual target position information by the following formula;
wherein x isFRepresenting the x-axis coordinate, y, in the plumb plane of the virtual target positionFRepresenting the y-axis coordinate in the plumb plane of the virtual target position,
ctand cgTo design the gain, ct＝3，cg＝4，vgRepresenting the aircraft speed, theta is the ballistic inclination angle,
is the deviation angle of trajectory, alpha is the attack angle of the aircraft, beta is the sideslip angle of the aircraft, OT represents the lateral distance between the launch origin and the target, LcIndicating the distance the aircraft is gliding, TsAnd adjusting the time for the preset posture.
Wherein, the ratio of theta,
for pre-designed desired values, α and β are based on the desired sum of θ
The value is obtained by coordinate conversion, and the coordinate conversion process is referred to editions of 'guided missile mechanics', Qianxingfang and the like, and the press of Beijing university of science and engineering;
in the process of flight trajectory simulation, the speed value of the aircraft when entering the final guide segment is the vgThe distance L over which the aircraft glidescThe glide distance from the starting control point to the last guide section during flight path simulation.
The virtual target module 4 transmits the virtual target position to the overload calculating module 7 in real time, and the overload calculating module 7 takes the virtual target position as a target position and controls the aircraft to fly to the virtual target position;
the existing guidance aircrafts all control flight by taking the position of a target as an expected end point, before entering a final guidance section, the flight track of the aircraft changes due to the interference of external factors such as disturbance, wind resistance and the like, and has different flight tracks due to different external interference conditions, so that when the aircraft enters the final guidance section, namely the aircraft is 3km away from the target and a laser guidance head starts to capture the target, the aircraft possibly deviates from the optimal flight track, the position of the target is not necessarily in the field of view of the laser guidance head, the laser guidance head cannot capture a laser signal reflected by the target, and the laser guidance cannot be carried out, so that the hit precision is reduced.
The virtual target position can ensure that the target can be in the field of view of the laser guide head when the aircraft enters the final guide section, and the problem that the laser guide head cannot capture laser signals is prevented.
In step 2, the on-board computation module 7 is operated by the following equation
Controlling the aircraft to fly to the virtual target position,
wherein the navigation ratio N is 2-4, preferably 4, aMV is the speed of the aircraft, theta is the rolling angle, and is directly measured by an inertial gyroscope,
the line-of-sight angular velocity of the aircraft and the target at this time is obtained by the following formula:
gamma is a trajectory inclination angle, the numerical value of gamma is equivalent to the pitching angle of the aircraft, and can be directly measured by an attitude gyroscope; q is the line of sight angle of the aircraft to the target,
is the line-of-sight angular velocity of the aircraft and the target; x is the number ofFIndicating the corresponding longitude coordinate, y, of the virtual target positionFRepresenting latitude coordinates, x, corresponding to the virtual target positiontLongitude coordinates, y, representing the current position of the aircraft itself, detected in real time by the satellite moduletAnd the latitude coordinate represents the current position of the aircraft obtained by the real-time detection of the satellite module.
In a preferred embodiment, in step 3, in the final guiding section, the laser guiding head is a guiding head strapdown on the aircraft, which can be used for detecting and obtaining the line-of-sight angle between the aircraft and the target in real time, but it is difficult to directly obtain the line-of-sight angular velocity information between the aircraft and the target through the laser guiding head.
In a preferred embodiment, in step 4, in the final phase, the correction module 5 receives in real time the line of sight q of the satellite vehicle with the targetGAnd the line of sight angle q of the laser vehicle to the targetLaserAnd comparing the line-of-sight angle q of the satellite receiving vehicle with the targetGAnd the line of sight angle q of the laser vehicle to the targetLaserA difference between the two, and when the difference is greater than or equal to a predetermined value, outputting a line of sight angle q between the satellite vehicle and the targetG(ii) a When the difference is smaller than the preset value, outputting the sight line angle q between the laser aircraft and the targetLaser(ii) a The predetermined value is 0.2 ° to 1 °, preferably 0.5 °.
By the method, the parameters closer to the true values can be timely and accurately selected from the same parameters provided by different modules by setting the specific judgment critical values in the correction module 5, and the line-of-sight angle information of the aircraft and the target closer to the true values can be quickly and efficiently selected.
In a preferred embodiment, in step 5, in a final stage, the line-of-sight angular velocity calculation module 6 calculates the line-of-sight angular velocity information of the aircraft and the target in real time through the following formula (one), formula (two) and formula (three),
wherein q isgRepresenting the angle of sight of the aircraft with the target, q, as delivered by the correction module 50An estimate representing the line of sight angle of the aircraft to the target, i.e. an estimate of the line of sight angle of the aircraft to the target estimated by the above equations (one), (two), (three) in the solution process, q1The estimated value of the line-of-sight angular velocity of the aircraft and the target is represented, namely the estimated value of the line-of-sight angular velocity of the aircraft and the target is estimated through the formulas (I), (II) and (III) in the resolving process;
denotes x2The derivative of (a) of (b),
denotes x1The derivative of (a) of (b),
denotes x0The value obtained at the previous moment is used as the initial value of the iteration at the next moment;
initial time x0＝0，x1＝0，x2Iteration is performed every 0.001s as an integration step, and x is obtained0、x1And x2The value at the next time instant;
specifically, in the first iteration time, the initial time x is set0＝0，x1＝0，x20 and received qgSubstituting the values into the expressions (one), (two) and (three) to calculate
Further obtain the initial value x of the next time0、x1And x2(ii) a Then the obtained x is0、x1、x2And received qgSubstituting the values into the formula (I), (II) and (III) to obtain the values corresponding to the next time
The continuous loop iteration can be continuously obtainedEach integration results in the corresponding x0、x1、x2。
Wherein the content of the first and second substances,
and the visual line angular speed of the aircraft and the target is represented, and the visual line angular speed of the aircraft and the target is output to the overload resolving module 7 in real time, so that the overload required to be resolved can be obtained.
Wherein, the a0、a1、a2、δ、k1And k2Are all design parameters, preferably in this application, a0＝1～1.5、a1＝7～10、a2＝10～15、δ＝1～2、k10.1 to 0.4 and k2＝0.2～0.4；
More preferably, said a0＝1.1、a1＝8.5、a2＝11.5、δ＝1.5、k1＝0.3、k2＝0.3。
In a preferred embodiment, in step 6, in the final stage, the overload calculation module 7 performs guidance control by using a proportional guidance law, that is, the guidance control is performed
The navigation ratio N takes the value 4, aMThe required overload of the aircraft, V the speed of the aircraft,
the linear angular velocity of the aircraft and the target is the linear angular velocity of the aircraft and the target given in real time by the linear angular velocity calculating module 6.
According to the high-dynamic aircraft multi-mode guidance method under the large-span complex environment, the flight track of the aircraft in the middle guidance section is controlled by setting the virtual target position by adopting a guidance control method combining a strapdown guidance head and satellite guidance, so that the laser guidance head can quickly capture a target when entering the final guidance section and quickly enter a working state; the information which is closer to a real value is screened out from the line-of-sight angle information of the aircraft and the target obtained by the satellite module and the laser seeker through the correction module 5, the line-of-sight angular velocity of the aircraft and the target with strong accuracy and robustness is calculated out in real time through the line-of-sight angular velocity calculation module 6, overload is calculated according to the line-of-sight angular velocity, and the guidance accuracy is improved.
Examples of the experiments
Carrying out simulation experiment of the aircraft through a computer, wherein the simulation conditions of the rotary aircraft are as follows: the flying speed of the rotary aircraft is 580m/s, and the rotating speed is 11.6 r/s;
the rotating aircraft can be directly simulated through a computer, and the line-of-sight angle between the aircraft and the target and the line-of-sight angular velocity between the aircraft and the target corresponding to the rotating aircraft can be given in real time, wherein the line-of-sight angular velocity between the aircraft and the target is a real value on the aircraft, and the line-of-sight angle between the aircraft and the target is taken as an input value to be transmitted to the rotating aircraft in real time;
the rotating aircraft is provided with a line-of-sight angular velocity resolving module, the line-of-sight angular velocity resolving module can receive line-of-sight angular velocity information of the aircraft and the target in real time, and the line-of-sight angular velocity information of the aircraft and the target is resolved in real time through the following formula (I), formula (II) and formula (III), so that a resolved value of the line-of-sight angular velocity of the aircraft and the target is obtained;
wherein, the a0＝1.1、a1＝8.5、a2＝11.5、δ＝1.5、k1＝0.3、k2＝0.3。
qgRepresenting the aircraft-to-target line-of-sight information received in real time, q0An estimate representing the line of sight angle of the aircraft to the target, i.e. an estimate of the line of sight angle of the aircraft to the target estimated by the above equations (one), (two), (three) in the solution process, q1The estimated value of the line-of-sight angular velocity of the aircraft and the target is represented, namely the estimated value of the line-of-sight angular velocity of the aircraft and the target is estimated through the formulas (I), (II) and (III) in the resolving process;
denotes x2The derivative of (a) of (b),
denotes x1The derivative of (a) of (b),
denotes x0The value obtained at the previous moment is used as the initial value of the iteration at the next moment;
initial time x0＝0，x1＝0，x2Iteration is performed every 0.001s as an integration step, and x is obtained0、x1And x2The value at the next time instant;
specifically, in the first iteration time, the initial time x is set0＝0，x1＝0，x20 and received qgSubstituting the values into the expressions (one), (two) and (three) to calculate
Further obtain the initial value x of the next time0、x1And x2(ii) a Then the obtained x is0、x1、x2And received qgSubstituting the values into the formula (I), (II) and (III) to obtain the values corresponding to the next time
The corresponding x obtained by each integration can be continuously obtained by continuous loop iteration0、x1、x2。
Wherein the content of the first and second substances,
and the apparent angular velocity of the aircraft and the target is represented, namely the solution value of the apparent angular velocity of the aircraft and the target.
Experimental example 1 the influence of external and internal disturbances on the system was not considered
The line-of-sight angular velocity of the aircraft and the target given in real time by the computer is shown as a dotted line 'the true value of the line-of-sight angular velocity of the aircraft and the target' in fig. 3, the line-of-sight angular velocity of the aircraft and the target remains unchanged within two seconds, the line-of-sight angular velocity of the aircraft and the target given in real time by the computer is transmitted to the aircraft filled with a line-of-sight angular velocity calculation module, the finally obtained calculation value of the line-of-sight angular velocity of the aircraft and the target is shown as a thin solid line 'the calculation value of the line-of-sight angular velocity of the aircraft and the target' in fig. 3,
as can be seen from fig. 3, the resolving value of the line-of-sight angular velocity of the aircraft and the target resolved by the line-of-sight angular velocity resolving module provided by the present application can quickly approach the true line-of-sight angular velocity, the required time is less than 0.4 second, and the value can change with the change of the true line-of-sight angular velocity after the true line-of-sight angular velocity is tracked, which can prove that the line-of-sight angular velocity resolving module has strong accuracy.
Experimental example 2 consideration of the influence of internal and external disturbances on the system
The real-time line-of-sight angular velocity of the aircraft and the target given by the computer is shown as a thin solid line 'real value of the line-of-sight angular velocity of the aircraft and the target' in fig. 4, the sine disturbance of the line-of-sight angular velocity of the aircraft and the target transmits the real-time line-of-sight angle of the aircraft and the target given by the computer to the aircraft filled with a line-of-sight angular velocity calculation module, and the finally obtained calculation value of the line-of-sight angular velocity of the aircraft and the target is shown as a dotted line 'calculation value of the line-of-sight angular velocity of the aircraft and the target' in fig. 4,
as can be seen from fig. 4, the resolving value of the line-of-sight angular velocity of the aircraft and the target resolved by the line-of-sight angular velocity resolving module provided by the application can quickly approach the true line-of-sight angular velocity, the required time is less than 0.4 second, and the resolving value can change along with the change of the true line-of-sight angular velocity after the true line-of-sight angular velocity is tracked, so that the line-of-sight angular velocity resolving module can be proved to have strong robustness and accuracy.
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 (10)
1. The high-dynamic aircraft multi-mode guidance system under the large-span complex environment is characterized by comprising a satellite module (1), a laser seeker (2), an attitude sensitive module (3), a virtual target module (4), a correction module (5), a line-of-sight angular velocity calculation module (6) and an overload calculation module (7);
the satellite module (1) is used for receiving satellite signals and solving the position information and the speed information of the aircraft and the line-of-sight angle information of the aircraft and a target in real time according to the satellite signals;
the laser seeker (2) is used for detecting the sight angle information of the aircraft and the target at the final guiding section;
the attitude sensing module (3) is used for sensing and obtaining flight parameter information of the aircraft in real time,
the virtual target module (4) is used for providing a virtual target position for the aircraft so that the aircraft flies to the virtual target position in a middle guidance period,
the correction module (5) is respectively connected with the satellite module (1) and the laser seeker (2) and outputs the sight angle information of the aircraft and the target which is close to the true value;
the line-of-sight angular velocity resolving module (6) is used for obtaining the line-of-sight angular velocity of the aircraft and the target in real time according to the line-of-sight angular information of the aircraft and the target which is output by the correcting module (5) and is close to a true value;
the overload resolving module (7) is used for obtaining the overload required according to the line-of-sight angular speed of the aircraft and the target obtained in real time by the line-of-sight angular speed resolving module (6);
the virtual target module (4) stores a virtual target position, and the virtual target module (4) obtains the virtual target position according to the following formula:
wherein x isFRepresenting the x-axis coordinate, y, in the plumb plane of the virtual target positionFRepresenting the y-axis coordinate in the plumb plane of the virtual target position,
ctand cgTo design the gain, vgRepresenting the aircraft speed, theta is the ballistic inclination angle,
is the deviation angle of trajectory, alpha is the attack angle of the aircraft, beta is the sideslip angle of the aircraft, OT represents the lateral distance between the launch origin and the target, LcIndicating the distance the aircraft is gliding, TsAnd adjusting the time for the preset posture.
2. The multi-mode guidance system for the high-dynamic aircraft in the large-span complex environment according to claim 1,
the satellite module (1) comprises four synthetic antennas (11), an anti-interference module (12) and a satellite resolving submodule (13),
wherein, the four combined antennas (11) comprise 4 sheet-shaped antenna boards for receiving satellite signals;
the anti-interference module (12) is connected with the four synthetic antennas (11) and is used for filtering the satellite signals and eliminating noise interference in the satellite signals;
the satellite resolving submodule 13 receives the satellite signal subjected to filtering processing, converts the satellite signal into a navigation message, and then resolves position information, speed information and line-of-sight angle information of the aircraft and the target at the current moment according to the navigation message.
3. The multi-mode guidance system for the high-dynamic aircraft in the large-span complex environment according to claim 2,
the four synthetic antennas (11) are uniformly distributed around the aircraft and are arranged along the rolling circumferential direction of the aircraft.
4. The multi-mode guidance system for the high-dynamic aircraft in the large-span complex environment according to claim 1,
the attitude sensing module (3) comprises an inertial gyroscope and a geomagnetic sensor,
the pitch angle information and the yaw angle information of the aircraft are obtained in real time sensitively through the inertial gyroscope,
and obtaining the roll angle information of the aircraft in real time through the geomagnetic sensor.
5. The multi-mode guidance system for the high-dynamic aircraft in the large-span complex environment according to claim 1,
the correction module (5) receives the sight angle q between the satellite aircraft and the target in real time in the final guide sectionGAnd the line of sight angle q of the laser vehicle to the targetLaser，
When the difference between the two is larger than or equal to a preset value, outputting the sight angle q between the satellite aircraft and the targetG；
Outputting the sight line angle q of the laser aircraft and the target when the difference value between the two is less than the preset valueLaser。
6. The multi-mode guidance system for the high-dynamic aircraft in the large-span complex environment according to claim 5,
the predetermined value is 0.2-1 deg.
7. The multimode guidance system for high dynamic aircraft in large span complex environment as claimed in claim 6, wherein the predetermined value is 0.5 °.
8. The multi-mode guidance system for the high-dynamic aircraft in the large-span complex environment according to claim 1,
the sight line angular velocity calculating module (6) calculates the sight line angular velocity information of the aircraft and the target in real time through the following formula (I), (II) and (III),
wherein q isgRepresenting the angle of sight of the aircraft with the target, q, as transmitted by the correction module (5)0An estimate representing the line of sight angle of the aircraft to the target, q1An estimate of the line of sight angular velocity of the aircraft with the target,
denotes x2The derivative of (a) of (b),
denotes x1The derivative of (a) of (b),
denotes x0A derivative of (a);
initial time x0＝0，x1＝0，x2For any time instant, iteration is performed every 0.001s as an integration step, and x is obtained0、x1And x2The value at the next time instant;
wherein the content of the first and second substances,
the line-of-sight angular velocity information of the aircraft and the target obtained through real-time calculation is represented and transmitted to an overload calculation module (7);
wherein, the a0、a1、a2、δ、k1And k2Are all design parameters.
9. The multi-mode guidance system for the high-dynamic aircraft in the large-span complex environment according to claim 1,
the overload resolving module (7) adopts a proportion guidance law to carry out guidance control, namely
The navigation ratio N takes the value 4, aMThe required overload of the aircraft, V the speed of the aircraft,
and the linear angular velocity of the aircraft and the target is the linear angular velocity of the aircraft and the target given in real time by the linear angular velocity resolving module (6).
10. A method for realizing the multimode guidance of the high-dynamic aircraft in the large-span domain complex environment based on the multimode guidance system of the high-dynamic aircraft in the large-span domain complex environment as claimed in one of claims 1 to 9, which comprises the following steps:
step 1, receiving satellite signals through a satellite module (1), and calculating position information and speed information of an aircraft and line-of-sight angle information of the aircraft and a target in real time according to the satellite signals;
acquiring flight parameter information of the aircraft in a real-time sensitive manner through the attitude sensitive module (3);
step 2, in the middle guidance section, providing a virtual target position for the aircraft through a virtual target module (4) so that the aircraft flies to the virtual target position in the middle guidance section,
step 3, in the final guide section, the laser guide head (2) is used for detecting the sight angle information of the aircraft and the target in the final guide section;
step 4, outputting the sight angle information of the aircraft and the target which is close to the true value through a correction module (5) at the final pilot segment;
step 5, in the final guide section, the line-of-sight angular velocity of the aircraft and the target is obtained in real time through the line-of-sight angular velocity resolving module (6) according to the line-of-sight angular information of the aircraft and the target which is output by the correcting module (5) and is close to the true value;
and 6, in the final pilot segment, the overload resolving module (7) obtains the overload required according to the line-of-sight angular speed of the aircraft and the target obtained in real time by the line-of-sight angular speed resolving module (6).
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