CN113587727A - Proportion guidance method, system and medium based on line of sight variable coefficient of bullet eyes - Google Patents

Proportion guidance method, system and medium based on line of sight variable coefficient of bullet eyes Download PDF

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CN113587727A
CN113587727A CN202110692822.0A CN202110692822A CN113587727A CN 113587727 A CN113587727 A CN 113587727A CN 202110692822 A CN202110692822 A CN 202110692822A CN 113587727 A CN113587727 A CN 113587727A
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guidance
sight
coefficient
variable coefficient
bullet
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CN113587727B (en
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王明光
李广
魏丽霞
李世海
崔俊根
周楠
董思宇
赵凌雪
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Beijing Aerospace Feiteng Equipment Technology Co ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • 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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  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

The invention relates to a proportion guidance method based on a line of sight variable coefficient of a bullet eye. For strapdown guidance, a guidance law based on a line-of-sight angle is usually adopted in engineering, in general, a proportional guidance method with a fixed coefficient is adopted, the guidance precision is considered, the guidance coefficient is large, namely after terminal guidance is carried out, the flying speed direction of a missile rapidly approaches upwards to the sight of a missile eye, and therefore the guidance instruction is large in jumping in the initial stage of terminal guidance, and in addition, the range is also influenced. The invention discloses a variable coefficient guidance method, which has the advantages that the guidance coefficient is linearly increased along with time, relatively good guidance ballistic characteristics and a far range can be obtained, and the guidance precision is not sacrificed.

Description

Proportion guidance method, system and medium based on line of sight variable coefficient of bullet eyes
Technical Field
The invention relates to a proportion guidance method, a proportion guidance system and a proportion guidance medium based on a line of sight variable coefficient of a bullet eye, and belongs to the technical field of strapdown guidance.
Background
With the development of science and technology, in consideration of miniaturization, low cost and reliability improvement of tactical missiles, more and more tactical missiles adopt a strapdown guidance technology, a guidance law based on a line-of-sight angle is often adopted in engineering, generally, a proportional guidance method with a fixed coefficient is adopted, the guidance precision is considered, the guidance coefficient is large, namely after terminal guidance is carried out, the flying speed direction of the missiles rapidly approaches upwards to the sight line of a missile eyes, and therefore the guidance instruction is large in jumping at the initial stage of terminal guidance, and in addition, the range is also influenced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and a proportion guidance method and a proportion guidance system based on the line-of-sight variable coefficient of the missile are provided, the guidance coefficient of the proportion guidance method and the proportion guidance system is increased linearly along with time, relatively good guidance trajectory characteristics and far range can be obtained, and guidance precision is not lost.
The technical solution of the invention is as follows:
a proportion guidance method based on a bullet sight line variable coefficient comprises the following steps:
(1) determining a variable coefficient for a pilot K-K1+k2t；
Wherein k is1And k2Is a coefficient, t is time;
(2) determining a proportion guidance basic equation and substituting a guidance coefficient K of a variable coefficient;
(3) determining a variable coefficient guidance law according to a proportional guidance basic equation:
Figure BDA0003127363430000011
wherein theta is the inclination angle of the flying trajectory of the missile, q is the visual line angle of the missile, and theta0And q is0Trajectory inclination angle and projectile sight angle at the time of terminal guidance respectively，θtAnd q istThe trajectory inclination angle and the line-of-sight angle of the bullet at the time t are respectively;
(4) and performing guidance according to the obtained variable coefficient guidance law.
Further, the basic equation of proportional steering is
Figure BDA0003127363430000021
Wherein the content of the first and second substances,
Figure BDA0003127363430000022
is the inclination angle speed of the flying trajectory of the missile,
Figure BDA0003127363430000023
the bullet eye line-of-sight angular rate.
Further, the variable coefficient guidance law is obtained by:
the terminal guidance time is t0And the comparison example guides two sides of the basic equation to carry out integral operation to obtain:
Figure BDA0003127363430000024
namely, it is
Figure BDA0003127363430000025
Wherein, theta (-) and q (-) are a trajectory inclination angle and a bullet eye sight angle at the corresponding moment respectively;
let advance terminal guidance time t0＝0，θ(t0)＝θ0，θ(t)＝θt，q(t0)＝q0，q(t)＝qtThen the above formula is simplified to
Figure BDA0003127363430000026
Furthermore, the invention also provides a guidance system based on the proportion of the line of sight variable coefficient of the bullet eyes, which comprises:
the variable coefficient guidance coefficient calculation module: determining a variable coefficient for a pilot K-K1+k2t; wherein k is1And k2Is a coefficient, t is time;
the proportion guidance basic equation determining module: determining a proportion guidance basic equation and substituting a guidance coefficient K of a variable coefficient; the basic equation of proportional guidance is
Figure BDA0003127363430000027
Wherein the content of the first and second substances,
Figure BDA0003127363430000028
is the inclination angle speed of the flying trajectory of the missile,
Figure BDA0003127363430000029
the bullet eye line-of-sight angular rate.
The variable coefficient guidance law determining module: determining a variable coefficient guidance law according to a proportional guidance basic equation:
the variable coefficient guidance law is obtained by the following method:
the terminal guidance time is t0And the comparison example guides two sides of the basic equation to carry out integral operation to obtain:
Figure BDA00031273634300000210
namely, it is
Figure BDA0003127363430000031
Wherein, theta (-) and q (-) are a trajectory inclination angle and a bullet eye sight angle at the corresponding moment respectively;
let advance terminal guidance time t0＝0，θ(t0)＝θ0，θ(t)＝θt，q(t0)＝q0，q(t)＝qtThen the above formula is simplified to
Figure BDA0003127363430000032
Wherein theta is the inclination angle of the flying trajectory of the missile, q is the visual line angle of the missile, and theta0And q is0Trajectory inclination and projectile eye angle, theta, respectively, at the time of terminal guidancetAnd q istThe trajectory inclination angle and the line-of-sight angle of the bullet at the time t are respectively;
a guidance module: and performing guidance according to the obtained variable coefficient guidance law.
Furthermore, the invention also provides a storage medium, which comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the proportion guidance method based on the bullet sight line variable coefficient.
Furthermore, the invention also provides a processor for running a program, wherein the program runs to execute the proportion guidance method based on the bullet sight line variable coefficient.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention develops a proportion guidance method based on the line of sight variable coefficient of the bullet eyes, and no extra hardware on the bullet is added;
(2) the invention can effectively reduce the instruction jumping of the terminal guidance initial section;
(3) the invention can effectively improve the characteristic of the guided trajectory, is beneficial to improving the range, increasing the height angle of the trajectory terminal and improving the hitting effect.
(4) The method has simple mathematical derivation, clear meaning and convenient understanding.
Drawings
FIG. 1 is a schematic diagram of commands and responses for a simulated trajectory;
FIG. 2 is a schematic diagram of the angular velocity of a projectile simulating a trajectory;
FIG. 3 is a schematic diagram of ballistic inclination and loft angles for a simulated trajectory;
FIG. 4 is a flow chart of the method of the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
For strapdown guidance, a guidance law based on a line-of-sight angle is usually adopted in engineering, in general, a proportion guidance method with a fixed coefficient is adopted, the guidance precision and the convergence characteristic of a guidance trajectory are considered, the guidance coefficient is large, namely after terminal guidance is carried out, the flying speed direction of a missile rapidly approaches to the sight direction of a missile, in general, the distance of the missile is long when the terminal guidance is carried out, noise and errors of the output angle of a guidance head are large, and therefore the guidance instruction is large in jumping in the initial stage of terminal guidance, and in addition, the range is also influenced. The invention discloses a proportional guidance method based on a line-of-sight variable coefficient of a bullet eye by combining the output error characteristic and the trajectory characteristic of a seeker, wherein the guidance coefficient is linearly increased along with time, and relatively good guidance trajectory characteristic and a far range can be obtained without sacrificing guidance precision.
As shown in fig. 4, the proportion guidance method based on the line of sight variation coefficient of a bullet eye provided by the invention comprises the following steps:
(1) determining a variable coefficient for a pilot K-K1+k2t；
Wherein k is1And k2Is a coefficient, and t is time.
According to the guide coefficient designed by the invention, the guide coefficient is increased linearly, the speed of the flying speed approaching to the line of sight of the bullet eyes can be controlled, the height angle of the tail section is increased, and the striking effect is improved;
(2) determining a proportion guidance basic equation and substituting a guidance coefficient K of a variable coefficient;
the basic equation of proportional guidance is
Figure BDA0003127363430000041
Wherein the content of the first and second substances,
Figure BDA0003127363430000042
is the inclination angle speed of the flying trajectory of the missile,
Figure BDA0003127363430000043
the bullet eye line-of-sight angular rate.
(3) And determining a variable coefficient guidance law according to the proportional guidance basic equation. The linear of the guide coefficient of the proportional guide method based on the variable coefficient is increased from small to small, so that the instruction oscillation characteristic of initial-stage end guide can be improved;
the variable coefficient guidance law is obtained by the following method:
the terminal guidance time is t0And the comparison example guides two sides of the basic equation to carry out integral operation to obtain:
Figure BDA0003127363430000044
namely, it is
Figure BDA0003127363430000051
Wherein, theta (-) and q (-) are the trajectory inclination angle and the bullet eye sight angle at the corresponding moment respectively.
Let advance terminal guidance time t0＝0，θ(t0)＝θ0，θ(t)＝θt，q(t0)＝q0，q(t)＝qtThen the above formula can be simplified to
Figure BDA0003127363430000052
Wherein theta is the inclination angle of the flying trajectory of the missile, q is the visual line angle of the missile, and theta0And q is0Trajectory inclination and projectile eye angle, theta, respectively, at the time of terminal guidancetAnd q istThe trajectory inclination angle and the line of sight angle of the projectile at the moment t are respectively.
(4) And performing guidance according to the obtained variable coefficient guidance law.
The invention designs the guidance coefficient to increase from small linearity along with time, so that relatively good guidance trajectory characteristics and far range can be obtained without loss of guidance precision. Aiming at the proportional guidance method based on the line of sight of the bullet eyes, the guidance characteristic better than that of a tracking method can be obtained; meanwhile, the linearity of the guidance coefficient is increased from small, and for a certain type of gliding guidance weapon, the terminal guidance can be carried out, and then the gliding guidance weapon can continue to fly at a better gliding attack angle, so that the range can be effectively increased.
Furthermore, the invention also provides a guidance system based on the proportion of the line of sight variable coefficient of the bullet eyes, which comprises:
the variable coefficient guidance coefficient calculation module: determining a variable coefficient for a pilot K-K1+k2t; wherein k is1And k2Is a coefficient, t is time;
the proportion guidance basic equation determining module: determining a proportion guidance basic equation and substituting a guidance coefficient K of a variable coefficient; the basic equation of proportional guidance is
Figure BDA0003127363430000053
Wherein the content of the first and second substances,
Figure BDA0003127363430000054
is the inclination angle speed of the flying trajectory of the missile,
Figure BDA0003127363430000055
the bullet eye line-of-sight angular rate.
The variable coefficient guidance law determining module: determining a variable coefficient guidance law according to a proportional guidance basic equation:
the variable coefficient guidance law is obtained by the following method:
the terminal guidance time is t0And the comparison example guides two sides of the basic equation to carry out integral operation to obtain:
Figure BDA0003127363430000056
namely, it is
Figure BDA0003127363430000061
Wherein, theta (-) and q (-) are a trajectory inclination angle and a bullet eye sight angle at the corresponding moment respectively;
let advance terminal guidance time t0＝0，θ(t0)＝θ0，θ(t)＝θt，q(t0)＝q0，q(t)＝qtThen the above formula is simplified to
Figure BDA0003127363430000062
Wherein theta is the inclination angle of the flying trajectory of the missile, q is the visual line angle of the missile, and theta0And q is0Trajectory inclination and projectile eye angle, theta, respectively, at the time of terminal guidancetAnd q istThe trajectory inclination angle and the line-of-sight angle of the bullet at the time t are respectively;
a guidance module: and performing guidance according to the obtained variable coefficient guidance law.
Furthermore, the invention also provides a storage medium, which comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the proportion guidance method based on the bullet sight line variable coefficient.
Furthermore, the invention also provides a processor for running a program, wherein the program runs to execute the proportion guidance method based on the bullet sight line variable coefficient.
Example (b):
a certain gliding guidance bomb provided with a passive anti-radiation guide head is thrown at a height of 9000m and a throwing speed of 0.8mch at a range of 60 km.
Assuming that terminal guidance is entered at a missile target distance of 15km, longitudinal guidance is divided into a fixed coefficient and a variable coefficient guidance law, wherein the fixed coefficient is K equal to 3.25, and the variable coefficient is K equal to 0.8+0.016t, and simulation results are shown in FIGS. 1-3 and Table 1.
Table 1 six degree of freedom trajectory simulation terminal situation
Figure BDA0003127363430000063
Figure BDA0003127363430000071
Fig. 1 is a schematic diagram of commands and responses of a simulated trajectory, the upper diagram is a command and response curve of a variable coefficient guidance law and a fixed coefficient guidance law command and response curve, and the lower diagram is a partial enlarged diagram of the variable coefficient guidance law and the fixed coefficient guidance law commands. As can be seen from FIG. 1, the variable coefficient ratio guidance method can effectively reduce the instruction jump of the final guidance initial segment, and the range is farther.
Fig. 2 is a schematic diagram of the angular velocity of a projectile body of a simulated trajectory, two curves are angular velocity response curves of a variable coefficient guidance law and a fixed coefficient guidance law respectively, and the angular velocity of the variable coefficient proportional guidance method is more stable.
Fig. 3 is a schematic diagram of the trajectory inclination angle and the altitude angle of the variable coefficient and fixed coefficient guidance law, and it can be known from the diagram that when approaching a target, the velocity vectors and the line of sight of the bullet target tend to coincide, so that guidance accuracy can be ensured, the guidance coefficients of the variable coefficient proportional guidance method increase linearly from small to large, and the speed at which the velocity vectors approach the line of sight of the bullet target can be controlled, so that the trajectory terminal has a higher altitude angle and a longer range.
As can be seen from the data comparison in Table 1, the variable coefficient guidance law is adopted to obtain higher ballistic terminal high-low angle and drop velocity, the hitting effect can be effectively improved, and the guidance precision is not sacrificed.
Those matters not described in detail in the present specification are well known in the art.

Claims (8)

1. A proportion guidance method based on a bullet sight line variable coefficient is characterized by comprising the following steps:
(1) determining a variable coefficient for a pilot K-K1+k2t；
Wherein k is1And k2Is a coefficient, t is time;
(2) determining a proportion guidance basic equation and substituting a guidance coefficient K of a variable coefficient;
(3) determining a variable coefficient guidance law according to a proportional guidance basic equation:
Figure FDA0003127363420000011
wherein theta is the inclination angle of the flying trajectory of the missile, q is the visual line angle of the missile, and theta0And q is0Trajectory inclination and projectile eye angle, theta, respectively, at the time of terminal guidancetAnd q istThe trajectory inclination angle and the line-of-sight angle of the bullet at the time t are respectively;
(4) and performing guidance according to the obtained variable coefficient guidance law.
2. The proportion guidance method based on the line-of-sight variable coefficient of a bullet eye according to claim 1, characterized in that: the basic equation of proportional guidance is
Figure FDA0003127363420000015
Wherein the content of the first and second substances,
Figure FDA0003127363420000016
is the inclination angle speed of the flying trajectory of the missile,
Figure FDA0003127363420000017
the bullet eye line-of-sight angular rate.
3. The proportion guidance method based on the line-of-sight variable coefficient of a bullet eye according to claim 2, characterized in that: the variable coefficient guidance law is obtained by the following method:
the terminal guidance time is t0And the comparison example guides two sides of the basic equation to carry out integral operation to obtain:
Figure FDA0003127363420000012
namely, it is
Figure FDA0003127363420000013
Wherein, theta (-) and q (-) are a trajectory inclination angle and a bullet eye sight angle at the corresponding moment respectively;
let advance terminal guidance time t0＝0，θ(t0)＝θ0，θ(t)＝θt，q(t0)＝q0，q(t)＝qtThen the above formula is simplified to
Figure FDA0003127363420000014
4. The proportion guidance system based on the bullet sight line variable coefficient, which is realized by the proportion guidance method based on the bullet sight line variable coefficient according to claim 1, is characterized by comprising the following steps:
the variable coefficient guidance coefficient calculation module: determining a variable coefficient for a pilot K-K1+k2t; wherein k is1And k2Is a coefficient, t is time;
the proportion guidance basic equation determining module: determining a proportion guidance basic equation and substituting a guidance coefficient K of a variable coefficient;
the variable coefficient guidance law determining module: determining a variable coefficient guidance law according to a proportional guidance basic equation;
Figure FDA0003127363420000021
wherein theta is the inclination angle of the flying trajectory of the missile, q is the visual line angle of the missile, and theta0And q is0Trajectory inclination and projectile eye angle, theta, respectively, at the time of terminal guidancetAnd q istThe trajectory inclination angle and the line-of-sight angle of the bullet at the time t are respectively;
a guidance module: and performing guidance according to the obtained variable coefficient guidance law.
5. The bullet sight based variable coefficient of sight scaling guidance system of claim 4, wherein: the basic equation of proportional guidance is
Figure FDA0003127363420000022
Wherein the content of the first and second substances,
Figure FDA0003127363420000023
is the inclination angle speed of the flying trajectory of the missile,
Figure FDA0003127363420000024
the bullet eye line-of-sight angular rate.
6. The bullet sight based variable coefficient of sight scaling guidance system of claim 4, wherein: the variable coefficient guidance law is obtained by the following method:
the terminal guidance time is t0And the comparison example guides two sides of the basic equation to carry out integral operation to obtain:
Figure FDA0003127363420000025
namely, it is
Figure FDA0003127363420000026
Wherein, theta (-) and q (-) are a trajectory inclination angle and a bullet eye sight angle at the corresponding moment respectively;
let advance terminal guidance time t0＝0，θ(t0)＝θ0，θ(t)＝θt，q(t0)＝q0，q(t)＝qtThen the above formula is simplified to
Figure FDA0003127363420000031
7. A storage medium, characterized by: the storage medium includes a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the proportion guidance method based on the line of sight variation coefficient of the bullet eyes according to any one of claims 1 to 3.
8. A processor, characterized in that: the processor is configured to run a program, wherein the program is configured to execute the bullet sight variation coefficient based scale guidance method according to any one of claims 1 to 3 when the program is run.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103245256A (en) * 2013-04-25 2013-08-14 北京理工大学 Multi-missile cooperative attack guidance law designing method
CN105043171A (en) * 2015-06-30 2015-11-11 北京航天长征飞行器研究所 Longitudinal guidance method of rocket projectile with inclined-angle restraining
CN106556287A (en) * 2016-11-02 2017-04-05 湖北航天技术研究院总体设计所 A kind of integration proportional guidance Nonlinearity Correction Method
CN111351401A (en) * 2018-12-21 2020-06-30 北京理工大学 Anti-sideslip guidance method applied to strapdown seeker guidance aircraft
CN111680426A (en) * 2020-06-12 2020-09-18 孙宏宇 Variable coefficient proportion guidance parameter design method
CN112525003A (en) * 2020-11-30 2021-03-19 北京宇航系统工程研究所 Extension ratio guiding method with corner constraint

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103245256A (en) * 2013-04-25 2013-08-14 北京理工大学 Multi-missile cooperative attack guidance law designing method
CN105043171A (en) * 2015-06-30 2015-11-11 北京航天长征飞行器研究所 Longitudinal guidance method of rocket projectile with inclined-angle restraining
CN106556287A (en) * 2016-11-02 2017-04-05 湖北航天技术研究院总体设计所 A kind of integration proportional guidance Nonlinearity Correction Method
CN111351401A (en) * 2018-12-21 2020-06-30 北京理工大学 Anti-sideslip guidance method applied to strapdown seeker guidance aircraft
CN111680426A (en) * 2020-06-12 2020-09-18 孙宏宇 Variable coefficient proportion guidance parameter design method
CN112525003A (en) * 2020-11-30 2021-03-19 北京宇航系统工程研究所 Extension ratio guiding method with corner constraint

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