CN113687096A - Crosswind estimation method based on embedded atmospheric data system - Google Patents
Crosswind estimation method based on embedded atmospheric data system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/025—Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
Abstract
The invention discloses a crosswind estimation method based on an embedded atmospheric data system. The crosswind estimation method is used for a parent bomb with an inertial navigation system, an embedded atmospheric data system is arranged on the parent bomb, and the embedded atmospheric data system is composed of a plurality of pressure measuring points arranged on the left side and the right side of the head of the parent bomb. The crosswind estimation method comprises the steps of selecting a pressure measuring point position on the surface of a parent bomb model, constructing a mathematical model of a parent bomb sideslip angle beta and pressure of the pressure measuring point, calculating the parent bomb sideslip angle beta, obtaining flight parameters of a parent bomb during flat flight measured by an inertial navigation system, and calculating the crosswind speed. The crosswind estimation method meets the requirements of the new generation of aircrafts on stealth and high-precision performance, can obtain a high-precision sideslip angle, can estimate the wind speed and the wind direction of local crosswind more accurately, and has engineering popularization value.
Description
Technical Field
The invention belongs to the technical field of flight power, and particularly relates to a crosswind estimation method based on an embedded atmospheric data system.
Background
The primary and secondary bomb comprises a primary bomb and a plurality of bullets loaded in the primary bomb, and the primary and secondary bomb is mainly used for attacking the surface targets of cluster armored vehicles, technical weapon places, command communication centers, airport runways, parking ramps, highway and railway transportation hubs, large-scale electric facilities, ports, bridges, oil depots, heavy equipment factories and the like.
The actuation process of the snap bomb is as follows:
1. the primary and secondary bombs are buried in a carrier and fly to a predetermined combat airspace;
2. after the primary bomb is launched and departed from the aircraft, the combined navigation system of the primary bomb fuses the inertial navigation system and satellite positioning information, the position, speed, attitude and other information of the bomb body are measured in real time, a guidance computer of the primary bomb combines the combined target point parameters to carry out guidance law resolving, a steering engine is controlled to drive a control surface to deflect to generate aerodynamic force, and the primary bomb and the secondary bomb are enabled to accurately fly to a target according to a preset guidance rule;
3. before the mother bullet approaches the target and opens the cabin, the mother bullet can deflect through a deflection rudder to rotate (also called to be rotated) the mother bullet in order to enlarge the damage area. Before the mother bounce rotates, the mother is in a guided flight state without rolling and with an attack angle of zero basically, namely a plane flight state. In a flat flight state, measuring and pre-estimating an open cabin point region wind field through a device on a mother bomb, and correcting the open cabin point position by applying a wind correction technology (WCMD) to improve the hit precision;
4. and after the condition of opening the cabin is met, giving a cabin opening and scattering instruction by the combined navigation system of the mother bullet, scattering the bullet out of the cabin by the scattering system, and damaging the target by the action of the bullet according to a preset time sequence after the bullet is out of the cabin.
In order to ensure the accuracy of the bullet drop point, besides the integrated navigation system which needs high accuracy, the interference of crosswind during the bullet drop process must be considered. If the disturbance of the crosswind is not reasonably considered before the bullet reaches the drop point, the drop precision of the bullet is greatly reduced and even deviates from the predetermined target point, so that the crosswind correction technology needs to be vigorously developed, and the accurate measurement of the crosswind is the basis of the crosswind correction technology.
Currently, a traditional atmospheric data system on a parent bomb is an exposed airspeed tube and wind vane manufactured based on a pitot tube principle, and various crosswind correction technologies are developed on the basis. However, because the airspeed head and the vane occupy a large volume and have a complex structure, the requirements of the new generation of aircraft on stealth and high-precision performance cannot be met, a novel embedded air data system (FADS system) needs to be sought, and a crosswind estimation method is developed on the basis of the embedded air data system to provide basic data for a crosswind correction technology.
Disclosure of Invention
The invention aims to provide a crosswind estimation method based on an embedded atmospheric data system.
The crosswind estimation method based on the embedded atmospheric data system is used for a parent bomb with an inertial navigation system, is based on the embedded atmospheric data system arranged on the parent bomb, and consists of a plurality of pressure measuring points arranged on the left side and the right side of the head of the parent bomb; the crosswind estimation method comprises the following steps:
a. arranging pressure measuring points on the mother bullet model
a1. Determining a horizontal symmetry plane of the head of the female bullet;
a2. determining the intersection line of the horizontal symmetry plane and the head of the female bullet, namely a left line L0 and a right line R0 of the female bullet;
a3. determining a series of vertical sections perpendicular to the central axis at the head of the female bullet from front to back along the central axis of the female bullet, drawing section lines S1, S2, … … and SN, wherein the intersection points of a left side line L0 and the section lines are L01, L02, … … and L0N in sequence, the intersection points of a right side line R0 and the section lines are R01, R02, … … and R0N in sequence, and N is more than or equal to 3 and less than or equal to 6;
a4. on a cross-sectional line S1, determining L11 above L01 and L21 below L01 according to experience to obtain a group of L11, L01 and L21, and obtaining L12, L02, L22, … …, L1N, L0N and L2N in the same way;
a5. on a section line S1, according to experience, R11 is determined above R01, R21 is determined below R01, a group of R11, R01 and R21 is obtained, and in the same way, R12, R02, R22, … …, R1N, R0N and R2N are obtained;
a6. arranging pressure measuring points on the mother bullet model according to the marking points of the steps a4 and a 5;
b. on the mother bullet model, a pressure measuring point is selected
b1. Determining flat flight state parameters of the grenade, including flight speedv e Altitude H, and speed of flightv e Step amount ofv e Step amount delta alpha of an attack angle alpha and step amount delta beta of a sideslip angle beta;
b2. determining a flight speed sequence:v e -Δv e 、v e 、v e +Δv e (ii) a Determining an angle of attack sequence: -2 Δ α, - Δ α, 0 °, Δ α, 2 Δ α; determining a sideslip angle sequence: -2 Δ β, - Δ β, 0 °, Δ β, 2 Δ β;
b3. obtaining pressure values of the points of the steps a4 and a5 under each parameter sequence of the step b2 through wind tunnel tests or numerical simulation;
b4. calculating the pressure P of each pressure measuring point on the left side of each section line of the parent bomb under each parameter sequence of the step b2LPressure P of the pressure measurement points on the corresponding right sideRCalculating the respective sideslip angle pressure coefficients K β by:
b5. at the same flying speedv e Drawing a K beta-beta data curve under the flying height H and the attack angle alpha, and fitting the K beta-beta data curve by adopting least square normative;
b6. according to Kbeta pair of flight speedv e According to the principle that the change of the attack angle alpha is insensitive, namely the root mean square of the K beta is small, and the linearity of a K beta-beta data curve is good, at least one group of left pressure measuring points and at least one group of right pressure measuring points are selected from the points of the steps a4 and a5 and are used as the pressure measuring points of the embedded atmospheric data system;
c. mathematical model for constructing lateral slip angle beta of mother projectile and pressure of pressure measuring point
c1. Installing a pressure sensor on the parent bomb according to the pressure measuring point position of the embedded atmospheric data system determined by the parent bomb model, and meanwhile, adding a sideslip angle calculation module in the combined navigation system of the parent bomb;
c2. introducing the following formula into a sideslip angle calculation module to calculate the sideslip angle beta of the parent projectile:
in the formula, K is a proportionality coefficient, the reciprocal of K is a derivative of K beta relative to beta, and after a pressure measuring point of the embedded atmospheric data system is determined, the K value and the b value of the selected pressure measuring point can be obtained by linearly fitting a K beta-beta data curve of the pressure measuring point; b is an intercept, and for a mother bullet shape which is symmetrical left and right, b = 0;
d. calculating the sideslip angle beta of the parent projectile
In the flat flight stage before the opening of the cabin of the mother bullet, the sideslip angle calculation module acquires the pressure value of the pressure sensor in the delta t time period, and the pressure mean value of the pressure sensor on the left side is taken as PLPressure mean value of the pressure sensor on the right side is PR(ii) a The sideslip angle calculation module calculates according to the formula (2) to obtain a sideslip angle beta;
e. acquiring flight parameters of a mother bomb during flat flight measured by an inertial navigation system
Obtaining ground speed by using inertial navigation system of mother bombv e Yaw angleψDeviation angle of trajectoryψ v ；
f. Calculating crosswind velocity
Calculating crosswind by using a guidance computer of a combined navigation system of the parent bomb;
under the ground coordinate system, the ground coordinate system is set,x 0 taking a connection line between the projection of the parent bomb on the ground and a bomb throwing target point as a bomb target direction;x b is in the axial direction of the projectile body;v e the flying speed of the mother bullet relative to the ground, namely the ground speed,v a the moving speed of the mother bullet relative to the air is the airspeed,v w the wind speed is the plane wind;ψin order to determine the yaw angle,ψ v is the ballistic declination; the inertial navigation system of the mother bomb gives the flying speed of the mother bomb relative to the groundv e Yaw angleψDeviation angle of trajectoryψ v If the parent projectile flies in the direction of the bullet, the trajectory deflection angle is determinedψ v =0；
The combined navigation system of the parent bomb gives the following calculation results:
ground speedv e The component in the lateral direction isv ez =│v e │sin(ψ v )；
Airspeedv a The component in the lateral direction is |v a │sin(ψ-β)；
v a =v e - v w Due to wind speedv w Relative ground speedv e Smaller, approximately |v a │=│v e L, then airspeedv a The component in the lateral direction isv az =│v e │sin(ψ-β) ；
Wind speedv w =v e - v a Velocity of windv w The component in the lateral direction, i.e. the side wind size, is:
the crosswind estimation method based on the embedded atmospheric data system is characterized in that one or more pressure sensors are respectively arranged at the left and right positions of the surface of a parent bomb on the basis of parent bomb hardware with an inertial navigation system to form the embedded atmospheric data system, and the sideslip angle of the parent bomb is calculated by measuring the pressure of the embedded atmospheric data system. After the sideslip angle of the parent projectile is obtained, the wind speed and the wind direction of local crosswind are estimated by combining the movement speed, the yaw angle and the trajectory deflection angle of the parent projectile relative to the ground, which are provided by the inertial navigation system, so that basic data are provided for a crosswind correction technology.
The pressure measuring point pressure selected by the crosswind estimation method based on the embedded atmospheric data system is sensitive to change along with the sideslip angle, the linearity is good, the correlation degree along with the flight speed and the attack angle is small, the physical representation is visual, and the sideslip angle obtained through calculation is ensured to have higher precision.
The crosswind estimation method based on the embedded atmospheric data system meets the requirements of a new generation of aircrafts on stealth and high-precision performance, can obtain a high-precision sideslip angle, can estimate the wind speed and the wind direction of local crosswind more accurately, and has engineering popularization value.
Drawings
FIG. 1 is a flow chart of a crosswind estimation method based on an embedded atmospheric data system according to the present invention;
FIG. 2 is a schematic diagram (left side) of the distribution of pressure points of the crosswind estimation method based on the embedded atmospheric data system of the present invention;
FIG. 3 is a K β - β curve of example 1;
fig. 4 is a diagram showing a relationship between velocity vectors in a horizontal plane.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
The crosswind estimation method based on the embedded atmospheric data system is used for a parent bomb with an inertial navigation system, is based on the embedded atmospheric data system arranged on the parent bomb, and consists of a plurality of pressure measuring points arranged on the left side and the right side of the head of the parent bomb; the crosswind estimation method comprises the following steps:
a. arranging pressure measuring points on the mother bullet model
a1. Determining a horizontal symmetry plane of the head of the female bullet;
a2. determining the intersection line of the horizontal symmetry plane and the head of the female bullet, namely a left line L0 and a right line R0 of the female bullet;
a3. determining a series of vertical sections perpendicular to the central axis at the head of the female bullet from front to back along the central axis of the female bullet, drawing section lines S1, S2, … … and SN, wherein the intersection points of a left side line L0 and the section lines are L01, L02, … … and L0N in sequence, the intersection points of a right side line R0 and the section lines are R01, R02, … … and R0N in sequence, and N is more than or equal to 3 and less than or equal to 6;
a4. on a cross-sectional line S1, determining L11 above L01 and L21 below L01 according to experience to obtain a group of L11, L01 and L21, and obtaining L12, L02, L22, … …, L1N, L0N and L2N in the same way;
a5. on a section line S1, according to experience, R11 is determined above R01, R21 is determined below R01, a group of R11, R01 and R21 is obtained, and in the same way, R12, R02, R22, … …, R1N, R0N and R2N are obtained;
a6. arranging pressure measuring points on the mother bullet model according to the marking points of the steps a4 and a 5;
b. on the mother bullet model, a pressure measuring point is selected
b1. Determining flat flight state parameters of the grenade, including flight speedv e Altitude H, and speed of flightv e Step amount ofv e Step amount delta alpha of an attack angle alpha and step amount delta beta of a sideslip angle beta;
b2. determining a flight speed sequence:v e -Δv e 、v e 、v e +Δv e (ii) a Determining an angle of attack sequence: -2 Δ α, - Δ α, 0 °, Δ α, 2 Δ α; determining a sideslip angle sequence: -2 Δ β, - Δ β, 0 °, Δ β, 2 Δ β;
b3. obtaining pressure values of the points of the steps a4 and a5 under each parameter sequence of the step b2 through wind tunnel tests or numerical simulation;
b4. calculating the pressure P of each pressure measuring point on the left side of each section line of the parent bomb under each parameter sequence of the step b2LPressure P of the pressure measurement points on the corresponding right sideRCalculating the respective sideslip angle pressure coefficients K β by:
b5. at the same flying speedv e Drawing a K beta-beta data curve under the flying height H and the attack angle alpha, and fitting the K beta-beta data curve by adopting least square normative;
b6. according to Kbeta pair of flight speedv e According to the principle that the change of the attack angle alpha is insensitive, namely the root mean square of the K beta is small, and the linearity of a K beta-beta data curve is good, at least one group of left pressure measuring points and at least one group of right pressure measuring points are selected from the points of the steps a4 and a5 and are used as the pressure measuring points of the embedded atmospheric data system;
c. mathematical model for constructing lateral slip angle beta of mother projectile and pressure of pressure measuring point
c1. Installing a pressure sensor on the parent bomb according to the pressure measuring point position of the embedded atmospheric data system determined by the parent bomb model, and meanwhile, adding a sideslip angle calculation module in the combined navigation system of the parent bomb;
c2. introducing the following formula into a sideslip angle calculation module to calculate the sideslip angle beta of the parent projectile:
in the formula, K is a proportionality coefficient, the reciprocal of K is a derivative of K beta relative to beta, and after a pressure measuring point of the embedded atmospheric data system is determined, the K value and the b value of the selected pressure measuring point can be obtained by linearly fitting a K beta-beta data curve of the pressure measuring point; b is an intercept, and for a mother bullet shape which is symmetrical left and right, b = 0;
d. calculating the sideslip angle beta of the parent projectile
In the flat flight stage before the opening of the cabin of the mother bullet, the sideslip angle calculation module acquires the pressure value of the pressure sensor in the delta t time period, and the pressure mean value of the pressure sensor on the left side is taken as PLPressure mean value of the pressure sensor on the right side is PR(ii) a The sideslip angle calculation module calculates according to the formula (2) to obtain a sideslip angle beta;
e. acquiring flight parameters of a mother bomb during flat flight measured by an inertial navigation system
Obtaining ground speed by using inertial navigation system of mother bombv e Yaw angleψDeviation angle of trajectoryψ v ；
f. Calculating crosswind velocity
Calculating crosswind by using a guidance computer of a combined navigation system of the parent bomb;
under the ground coordinate system, the ground coordinate system is set,x 0 taking a connection line between the projection of the parent bomb on the ground and a bomb throwing target point as a bomb target direction;x b is in the axial direction of the projectile body;v e the flying speed of the mother bullet relative to the ground, namely the ground speed,v a the moving speed of the mother bullet relative to the air is the airspeed,v w the wind speed is the plane wind;ψin order to determine the yaw angle,ψ v is the ballistic declination; the inertial navigation system of the mother bomb gives the flying speed of the mother bomb relative to the groundv e Yaw angleψDeviation angle of trajectoryψ v If the parent projectile flies in the direction of the bullet, the trajectory deflection angle is determinedψ v =0；
The combined navigation system of the parent bomb gives the following calculation results:
ground speedv e The component in the lateral direction isv ez =│v e │sin(ψ v )；
Airspeedv a The component in the lateral direction is |v a │sin(ψ-β)；
v a =v e - v w Due to wind speedv w Relative ground speedv e Smaller, approximately |v a │=│v e L, then airspeedv a The component in the lateral direction isv az =│v e │sin(ψ-β) ；
Wind speedv w =v e - v a Velocity of windv w The component in the lateral direction, i.e. the side wind size, is:
example 1
The flow chart of the crosswind estimation method based on the embedded atmospheric data system of the embodiment is shown in fig. 1. The shape of the mother bullet is symmetrical left and right, and b =0, N =5, Δ α =2 °, and Δ β =2 °. The implementation process of this embodiment is as follows:
1. selecting pressure point position on surface of mother bullet model
Drawing the pressure measuring point position shown in figure 2 on the surface of the mother bullet model; the leveling flight parameters are as follows: the flight speed V is 270m/s, 285m/s and 300 m/s, the height H =1000 m, the attack angle alpha is-4 degrees, -2 degrees, 0 degrees, 2 degrees and 4 degrees, the sideslip angle beta is 0 degrees, 2 degrees and 4 degrees, and the pressure of the pressure measuring point is obtained through a wind tunnel test; calculate the average pressure P of the left pointLAverage pressure P of left side pointRCalculating the sideslip angle pressure coefficient K beta under each level flight parameter by the following formula:
by comparison, L12, L02, L22 and R12, R02 and R22 of the section S2 are selected as pressure measuring points of the embedded atmospheric data system, and the pressure values are shown in Table 1; when the lateral slip angle beta of the pressure measuring point of the S2 section is 0 degrees, 2 degrees and 4 degrees, the K beta values are-5 e-6, 6.75e-2 and 1.324e-1, the linear fitting K beta-beta data curve is shown in figure 3, and the linear fitting table is shown in figureHas a formula of K beta=0.0331 beta +0.0004, coefficient of correlation R2=0.9999, close to 1, indicating good conformity and good linearity of K β with sideslip angle variation; the root mean square values of K beta at 0 degree, 2 degree and 4 degree of sideslip are respectively 5e-6, 8e-4 and 2.3e-3, the root mean square value is far smaller than the K beta value with sideslip, which shows that the K beta value is insensitive along with the change of flight and attack angle and accords with the standard for constructing an embedded atmospheric data system;
2. mathematical model for constructing lateral slip angle beta of mother projectile and pressure of pressure measuring point
Pressure measurement point pressures at the sideslip angles beta of 0 °, 2 ° and 4 ° are obtained with the flight speed V =285m/s and the attack angle alpha =0, and the pressure mean values of L12, L02, and L22 are taken as PLThe mean value of the pressures of R12, R02 and R22 is taken as PR(ii) a K beta is calculated, and K is obtained through least square normal linear fitting of beta and K beta; calculating a parent slip angle β by the following equation:
where the reciprocal of the proportionality coefficient K is the derivative of K β with respect to β, the derivative of K β with respect to β is 0.0331, the proportionality coefficient K =1/0.0331=30.2, b = 0; the mathematical model of the sideslip angle and the gauge pressure of this embodiment is as follows:
3. calculating the sideslip angle beta of the parent projectile
Pressure data of left and right pressure measuring points when the mother bomb flies flatly, P of the embodimentR=84000Pa、PL=88000 Pa, and the sideslip angle β =0.7 ° calculated according to equation (4);
4. acquiring flight parameters of a mother bomb during flat flight measured by an inertial navigation system
The embodiment utilizes the ground speed measured by the inertial navigation systemv e =280m/s, yaw angleψ=0.1 degree ballistic declinationψ v =1.5°。
5. Calculating crosswind velocity
The crosswind velocity calculated using equation (3) is:
v wz =v ez - v az =│v e │sin(ψ v )-│v e │sin(ψ-β)=3.4m/s
the coordinate axis system is shown in figure 4,v wz the direction is from left to right (parent projectile back view).
Claims (1)
1. A crosswind estimation method based on an embedded atmospheric data system is characterized in that the crosswind estimation method is used for a mother bomb with an inertial navigation system, the crosswind estimation method is based on the embedded atmospheric data system installed on the mother bomb, the embedded atmospheric data system is composed of a plurality of pressure measuring points arranged on the left side and the right side of the head of the mother bomb, and the crosswind estimation method comprises the following steps:
a. arranging pressure measuring points on the mother bullet model
a1. Determining a horizontal symmetry plane of the head of the female bullet;
a2. determining the intersection line of the horizontal symmetry plane and the head of the female bullet, namely a left line L0 and a right line R0 of the female bullet;
a3. determining a series of vertical sections perpendicular to the central axis at the head of the female bullet from front to back along the central axis of the female bullet, drawing section lines S1, S2, … … and SN, wherein the intersection points of a left side line L0 and the section lines are L01, L02, … … and L0N in sequence, the intersection points of a right side line R0 and the section lines are R01, R02, … … and R0N in sequence, and N is more than or equal to 3 and less than or equal to 6;
a4. on a cross-sectional line S1, determining L11 above L01 and L21 below L01 according to experience to obtain a group of L11, L01 and L21, and obtaining L12, L02, L22, … …, L1N, L0N and L2N in the same way;
a5. on a section line S1, according to experience, R11 is determined above R01, R21 is determined below R01, a group of R11, R01 and R21 is obtained, and in the same way, R12, R02, R22, … …, R1N, R0N and R2N are obtained;
a6. arranging pressure measuring points on the mother bullet model according to the marking points of the steps a4 and a 5;
b. on the mother bullet model, a pressure measuring point is selected
b1. Determining flat flight state parameters of the grenade, including flight speedv e Altitude H, and speed of flightv e Step amount ofv e Step amount delta alpha of an attack angle alpha and step amount delta beta of a sideslip angle beta;
b2. determining a flight speed sequence:v e -Δv e 、v e 、v e +Δv e (ii) a Determining an angle of attack sequence: -2 Δ α, - Δ α, 0 °, Δ α, 2 Δ α; determining a sideslip angle sequence: -2 Δ β, - Δ β, 0 °, Δ β, 2 Δ β;
b3. obtaining pressure values of the points of the steps a4 and a5 under each parameter sequence of the step b2 through wind tunnel tests or numerical simulation;
b4. calculating the pressure P of each pressure measuring point on the left side of each section line of the parent bomb under each parameter sequence of the step b2LPressure P of the pressure measurement points on the corresponding right sideRCalculating the respective sideslip angle pressure coefficients K β by:
b5. at the same flying speedv e Drawing a K beta-beta data curve under the flying height H and the attack angle alpha, and fitting the K beta-beta data curve by adopting least square normative;
b6. according to Kbeta pair of flight speedv e According to the principle that the change of the attack angle alpha is insensitive, namely the root mean square of the K beta is small, and the linearity of a K beta-beta data curve is good, at least one group of left pressure measuring points and at least one group of right pressure measuring points are selected from the points of the steps a4 and a5 and are used as the pressure measuring points of the embedded atmospheric data system;
c. mathematical model for constructing lateral slip angle beta of mother projectile and pressure of pressure measuring point
c1. Installing a pressure sensor on the parent bomb according to the pressure measuring point position of the embedded atmospheric data system determined by the parent bomb model, and meanwhile, adding a sideslip angle calculation module in the combined navigation system of the parent bomb;
c2. introducing the following formula into a sideslip angle calculation module to calculate the sideslip angle beta of the parent projectile:
in the formula, K is a proportionality coefficient, the reciprocal of K is a derivative of K beta relative to beta, and after a pressure measuring point of the embedded atmospheric data system is determined, the K value and the b value of the selected pressure measuring point can be obtained by linearly fitting a K beta-beta data curve of the pressure measuring point; b is an intercept, and for a mother bullet shape which is symmetrical left and right, b = 0;
d. calculating the sideslip angle beta of the parent projectile
In the flat flight stage before the opening of the cabin of the mother bullet, the sideslip angle calculation module acquires the pressure value of the pressure sensor in the delta t time period, and the pressure mean value of the pressure sensor on the left side is taken as PLPressure mean value of the pressure sensor on the right side is PR(ii) a The sideslip angle calculation module calculates according to the formula (2) to obtain a sideslip angle beta;
e. acquiring flight parameters of a mother bomb during flat flight measured by an inertial navigation system
Obtaining ground speed by using inertial navigation system of mother bombv e Yaw angleψDeviation angle of trajectoryψ v ；
f. Calculating crosswind velocity
Calculating crosswind by using a guidance computer of a combined navigation system of the parent bomb;
under the ground coordinate system, the ground coordinate system is set,x 0 taking a connection line between the projection of the parent bomb on the ground and a bomb throwing target point as a bomb target direction;x b is in the axial direction of the projectile body;v e the flying speed of the mother bullet relative to the ground, namely the ground speed,v a the moving speed of the mother bullet relative to the air is the airspeed,v w the wind speed is the plane wind;ψin order to determine the yaw angle,ψ v is the ballistic declination; relative ground of mother bullet given by inertial navigation system of mother bulletFlight speed of a surfacev e Yaw angleψDeviation angle of trajectoryψ v If the parent projectile flies in the direction of the bullet, the trajectory deflection angle is determinedψ v =0；
The combined navigation system of the parent bomb gives the following calculation results:
ground speedv e The component in the lateral direction isv ez =│v e │sin(ψ v )；
Airspeedv a The component in the lateral direction is |v a │sin(ψ-β)；
v a =v e - v w Due to wind speedv w Relative ground speedv e Smaller, approximately |v a │=│v e L, then airspeedv a The component in the lateral direction isv az =│v e │sin(ψ-β) ；
Wind speedv w =v e - v a Velocity of windv w The component in the lateral direction, i.e. the side wind size, is:
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