CN113759955B - Guidance method and guidance system applied to laser/satellite composite aircraft - Google Patents
Guidance method and guidance system applied to laser/satellite composite aircraft Download PDFInfo
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Abstract
The invention discloses a guidance method and a guidance system applied to a laser/satellite composite aircraft, wherein a guidance section in the aircraft adopts a proportional guidance law, a terminal guidance section of the aircraft adopts a heavy compensation proportional guidance law, the terminal guidance section realizes falling angle constraint by setting a reasonable gravity compensation coefficient, and a handover guidance law resolving method is adopted in a handover section where the middle guidance section and the terminal guidance section are handover, so that guidance instructions and abrupt changes of flight trajectories are avoided, and the whole flight process of the aircraft is stable.
Description
Technical Field
The invention relates to the field of aircraft guidance control, in particular to a guidance method and a guidance system applied to a laser/satellite composite aircraft.
Background
In the traditional guidance mode, a single guidance mode is adopted, and the aircraft in the form is easy to interfere when collecting guidance information, so that the flight quality is reduced, and the flight task is failed. The multi-sensor is used for the aircraft in the multi-mode composite mode, so that the reduction of the flight quality caused by the failure of a single sensor is effectively avoided; however, due to sampling differences among different sensors, the inside of the aircraft is disturbed, when a guidance instruction is generated, due to switching of the sensors, jump of the guidance instruction is caused, the flight track is correspondingly changed along with the jump, the flight instability is easily caused, and the energy loss in the flight process is larger, so that the range of the aircraft is reduced.
For the above reasons, the present inventors have made intensive studies on a laser/satellite composite guidance vehicle, in hopes of designing a new guidance method and guidance system capable of solving the above problems.
Disclosure of Invention
In order to overcome the problems, the inventor performs intensive research and designs a guidance method and a guidance system applied to a laser/satellite composite aircraft, wherein the guidance section in the aircraft adopts a proportional guidance law, the terminal guidance section of the aircraft adopts a re-complement proportional guidance law, the terminal guidance section realizes falling angle constraint by setting a reasonable gravity compensation coefficient, and a handover guidance law resolving method is adopted in a handover section where the middle guidance section and the terminal guidance section are handover, so that abrupt changes of guidance instructions and flight tracks are avoided, and the whole flight process of the aircraft is stable, thereby completing the invention.
In particular, it is an object of the present invention to provide a guidance method for a laser/satellite hybrid aircraft, in which method,
When the aircraft is in the middle guidance section, the overload instruction is solved through the proportional guidance law,
When the aircraft is in the terminal guidance section, the overload instruction is solved by the re-complement proportional guidance law,
When the aircraft is positioned at the junction section between the middle guidance section and the tail guidance section, the overload instruction is solved through the junction section guidance law obtained by weighting the proportional guidance law and the re-complement proportional guidance law.
The proportional guidance law specifically solves the overload instruction by the following formula (I):
a c (t) represents an intermediate guidance section overload command, N represents a scaling factor, V m represents the speed of the aircraft, Representing the angular velocity of the view line of sight obtained by the satellite navigation module at the mid-guide section.
The re-complement proportion guidance law specifically solves the overload instruction by the following formula (II):
a 2 (t) represents an end guidance overload command, N represents a scaling factor, V m represents the speed of the aircraft, The angular velocity of the view line of sight obtained by the laser guidance head at the end guidance segment is represented by c, the gravity compensation coefficient is represented by g, and the gravity acceleration is represented by g.
Wherein, the handover section guiding rule specifically solves the overload instruction by the following formula (III):
a m(t)＝a2(t)+[ac(t0)-ac (t) ] w (t) (three)
A m (T) denotes a handover section overload instruction, a c (T) denotes a middle guidance section overload instruction, a 2 (T) denotes a terminal guidance section overload instruction, a c(t0) denotes an overload instruction at time T 0, that is, when entering a handover section, w (T) denotes a weight function, T denotes a handover section duration, and T 0 denotes a time point when entering the handover section.
The invention also provides a guidance system for a laser/satellite composite aircraft, the system comprising,
A handover section setting module for setting a time for the aircraft to enter the handover section according to the range of the aircraft,
The satellite navigation module is used for receiving satellite signals and calculating the speed of the aircraft and the elastic visual angular speed according to the satellite signals,
The laser guide head is used for receiving the laser signals and calculating the bullet mesh realization angular velocity of the aircraft according to the laser signals.
A guidance calculation module for calculating an overload command based on the speed of the aircraft and the angular velocity of the missile vision line, and
And the steering engine system is used for steering according to the overload instruction.
Wherein the handover section setting module calculates a time point of entering the handover section by the following equation (IV),
T 0＝(r-3000)/Vm (four)
Wherein r represents the monocular relative distance.
The guidance resolving module resolves the overload instruction through the proportional guidance law when the aircraft is in the middle guidance section, resolves the overload instruction through the re-complement proportional guidance law when the aircraft is in the terminal guidance section, and resolves the overload instruction through the intersection section guidance law when the aircraft is in the intersection section between the middle guidance section and the terminal guidance section.
Wherein, the overload instruction is specifically calculated according to the following formula (III):
a m(t)＝a2(t)+[ac(t0)-ac (t) ] w (t) (three)
Wherein a m (T) represents a handover section overload instruction, a c (T) represents a middle guidance section overload instruction, a 2 (T) represents a terminal guidance section overload instruction, a c(t0) represents an overload instruction at a time point T 0, that is, when entering a handover section, w (T) represents a weight function, T represents a handover section duration, and T 0 represents a time point when entering the handover section.
The invention has the beneficial effects that:
(1) According to the guidance method and the guidance system applied to the laser/satellite composite aircraft, which are provided by the invention, the middle terminal guidance handing-over process is gentle by arranging the middle terminal guidance handing-over section, so that overload instruction jump on the aircraft is avoided, the stability of the aircraft is improved, and steering engine damage caused by the overload instruction jump can be avoided;
(2) According to the guidance method and the guidance system applied to the laser/satellite composite aircraft, which are provided by the invention, the energy loss in the flight process of the aircraft, especially the energy loss during middle-terminal guidance handover can be reduced, and the maximum range of the aircraft is effectively improved.
Drawings
FIG. 1 is a schematic diagram showing the trajectory of experimental example 1 according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram showing an overload curve in experimental example 1 according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram showing the trajectory of experimental example 2 according to a preferred embodiment of the present invention;
Fig. 4 shows a schematic diagram of an overload curve in experimental example 2 according to a preferred embodiment of the present invention.
Detailed Description
The invention is further described in detail below by means of the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used 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. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In the application, the middle guidance section refers to a trajectory before a steering engine opens a rudder to terminal guidance, and aims to introduce an aircraft into a proper distance so that the terminal guidance head can capture a target in a field of view, the terminal guidance section refers to a terminal guidance section, the impact of the aircraft on the target is completed, and the handover section refers to an excessive process of transition of the middle guidance to the terminal guidance.
According to the guidance method applied to the laser/satellite composite aircraft, which is provided by the invention, when the aircraft is in the middle guidance section, the overload instruction is solved through the proportional guidance law,
When the aircraft is in the terminal guidance section, the overload instruction is solved by the re-complement proportional guidance law,
When the aircraft is positioned at the junction section between the middle guidance section and the tail guidance section, the overload instruction is solved through the junction section guidance law obtained by weighting the proportional guidance law and the re-complement proportional guidance law.
The proportional guidance law specifically solves the overload instruction by the following formula (I):
Wherein a c (t) represents an overload instruction of the middle guidance section, N represents a proportionality coefficient, the value is 3, V m represents the speed of the aircraft, Representing the angular velocity of the view line of sight obtained by the satellite navigation module at the mid-guide section.
Obtained by the satellite navigation module, which is specifically calculated by the following formula:
wherein θ represents the ballistic tilt angle, calculated by the microprocessor, specifically by Find/>Then the microprocessor pair/>Integrating to obtain a ballistic dip angle theta, a c represents overload of the aircraft, x m、ym represents coordinates of the aircraft, the ballistic dip angle theta is obtained by direct measurement of a satellite navigation module, x t、yt represents coordinates of a target, and the ballistic dip angle theta is filled in the aircraft before the aircraft is launched; q represents the view angle of the bullet, obtained by:
The re-complement proportion guidance law specifically solves the overload instruction by the following formula (II):
wherein a 2 (t) represents an end guidance section overload instruction, N represents a proportionality coefficient, a value of 3, V m represents the speed of the aircraft, The angular velocity of the bullet eye line of sight obtained by the laser guide head during the terminal guidance section is measured in real time, c represents the gravity compensation coefficient, g represents the gravity acceleration, and the value is 9.81m/s 2.
The gravity compensation coefficient has a value in the range of 1 to 2, wherein the value is preferably 1.1.
The handover section guiding rule specifically solves the overload instruction through the following (III):
a m(t)＝a2(t)+[ac(t0)-ac (t) ] w (t) (three)
Wherein a m (t) represents a handover section overload instruction, a c (t) represents a middle guidance section overload instruction, a 2 (t) represents a terminal guidance section overload instruction, a c(t0) represents an overload instruction at time t 0, namely, when entering a handover section, and the value calculated at the time is taken as a fixed value in subsequent calculation; w (T) represents a weight function, T represents a handover period duration, which takes a value of 3 to 5 seconds, preferably 4 seconds, and T 0 represents a time point of entering the handover period. As can be seen from the above, in this interface section, both the laser guide head and the satellite navigation module are working properly at the same time.
Preferably, t 0 is solved by the following formula (four):
t 0＝(r-3000)/Vm (IV);
wherein r represents the relative distance between the aircraft and the target, and the relative distance is recorded on the aircraft microcomputer by the fire control computer.
Preferably, w (t) is solved by the following formula (five):
Wherein t 0 represents a time point of entering the handover section, which is a time point relative to the launching time of the aircraft, and the launching time of the aircraft is 0, if the aircraft enters the handover section after launching for 15 seconds, the value of t 0 is 15 seconds, and if the aircraft enters the handover section after launching for 20 seconds, the value of t 0 is 20 seconds; t represents the current time of the aircraft, which is a time value relative to the time of the aircraft launching, and T represents the duration of the handover section, preferably 4 seconds, after 5 seconds of the aircraft launching, and after 15 seconds of the aircraft launching, T represents 15 seconds, and after 25 seconds of the aircraft launching, T represents 25 seconds.
In both the middle and end guidance segments, the aircraft velocity V m is calculated by the satellite navigation module.
The invention also provides a guidance system applied to the laser/satellite composite aircraft, which comprises:
A handover section setting module for setting a time for the aircraft to enter the handover section according to the range of the aircraft,
The satellite navigation module is used for receiving satellite signals and calculating the speed of the aircraft and the elastic visual angular speed according to the satellite signals, and the satellite navigation module can be selected from the satellite navigation modules existing in the field, so that the functions described in the application can be realized, and the application is not particularly limited;
The laser guide head is used for receiving the laser signals and calculating the bullet mesh realization angular speed of the aircraft according to the laser signals; the guiding head can be a laser guiding head existing in the field, and can realize the functions described in the application, and the application is not particularly limited to the functions;
a guidance calculation module for calculating an overload command based on the speed of the aircraft and the angular velocity of the missile vision line, and
The steering engine system is used for rudder operation according to an overload instruction, the steering engine system can comprise an executing mechanism and an autopilot, and the steering engine system existing in the field can be selected, so that the steering engine system is not particularly limited, and the functions described in the application can be realized.
In a preferred embodiment, the time point of entry into the handover section is calculated in the handover section setting module by the following equation (four),
T 0＝(r-3000)/Vm (four)
R represents the relative distance between the aircraft and the target, and the relative distance is recorded on the microcomputer of the aircraft by the fire control computer.
In a preferred embodiment, the guidance calculation module calculates the overload command by means of a proportional guidance law when the aircraft is in the middle guidance section, calculates the overload command by means of a resumption of the proportional guidance law when the aircraft is in the end guidance section, and calculates the overload command by means of an intersection guidance law when the aircraft is in the intersection section between the middle guidance section and the end guidance section.
And (3) solving an overload instruction according to the following formula (III) in the handover section guiding rule:
a m(t)＝a2(t)+[ac(t0)-ac (t) ] w (t) (three)
Wherein a m (T) represents a handover section overload instruction, a c (T) represents a middle guidance section overload instruction, a 2 (T) represents a terminal guidance section overload instruction, a c(t0) represents an overload instruction at a time point T 0, that is, when entering a handover section, w (T) represents a weight function, T represents a handover section duration, and T 0 represents a time point when entering the handover section.
Experimental example 1
Setting the emission coordinates of the aircraft as (0, 0), setting the speeds of the aircraft in the middle guidance section, the cross section and the terminal guidance section as V m = 300m/s, setting the proportionality coefficient N = 3, setting the resupply coefficient c = 1.1, setting the initial speed dip angle to be 10 degrees, and fixing the target coordinates (6000,0).
Two aircraft are respectively simulated to fly from the emission coordinates to the target coordinates,
The first aircraft is guided by adopting a proportional guidance law in the middle guidance section, is guided by adopting a re-complement proportional guidance law in the terminal guidance section, has no cross section, and has an obtained trajectory curve shown by a broken line (without cross section) in fig. 1 and an overload curve shown by a broken line (without cross section) in fig. 2;
The second aircraft is guided by adopting a proportional guidance law in a middle guidance section, is guided by adopting a re-compensation proportional guidance law in a terminal guidance section, and is subjected to calculation of an overload instruction in a handover section by a m(t)＝a2(t)+[ac(t0)-ac(t)]w(t),t0, wherein the value of a m(t)＝a2(t)+[ac(t0)-ac(t)]w(t),t0 is 10s, the obtained trajectory curve is shown as a solid line (with a handover section) in fig. 1, and the overload curve is shown as a solid line (with a handover section) in fig. 2;
as can be seen from FIG. 1, with the guidance method and guidance system provided by the present application, the flight trajectory of the aircraft is smoother, while with the guidance law without the cross section in the prior art, the flight trajectory is raised when the guidance law is changed, thus increasing the energy loss of the aircraft;
As can be seen from FIG. 2, if the guidance law of the cross section is not adopted in the process of making guidance law conversion, the overload of the aircraft can jump, which is not beneficial to the working stability of the aircraft actuator and easily causes the damage of the actuator; by adopting the guidance law considering the handover section, the overload change of the aircraft is smoother, no jump occurs, and the stable control of the aircraft is facilitated.
Experimental example 2
Setting the emission coordinates of the aircraft as (0, 0), setting the speeds of the aircraft in the middle guidance section, the cross section and the terminal guidance section as V m = 300m/s, setting the proportionality coefficient N = 3, setting the resupply coefficient c = 1.1, setting the initial speed dip angle to be 60 degrees, and fixing the target coordinates (27000,0).
Two aircraft are respectively simulated to fly from the emission coordinates to the target coordinates,
The first aircraft is guided by adopting a proportional guidance law in the middle guidance section, is guided by adopting a re-complement proportional guidance law in the terminal guidance section, and has no cross section, and the obtained trajectory curve is shown as a solid line in fig. 3, and the overload curve is shown as a solid line in fig. 4;
The second aircraft is guided by adopting a proportional guidance law in the middle guidance section, is guided by adopting a re-complement proportional guidance law in the terminal guidance section, and is subjected to calculation of an overload instruction in the handover section, wherein a m(t)＝a2(t)+[ac(t0)-ac(t)]w(t),t0 has a value of 10s, the obtained trajectory curve is shown as a dash-dot line in fig. 3, and the overload curve is shown as a dash-dot line in fig. 4;
As can be seen from FIG. 3, by adopting the guidance method and guidance system provided by the application, the flight path of the aircraft is smoother, the flight distance of the aircraft is long, targets beyond 27km can be hit, and by adopting the guidance law without a cross section in the prior art, the flight path can be raised when the guidance law is changed, the energy loss of the aircraft is increased, and finally the targets beyond 25km cannot be reached;
As can be seen from FIG. 4, if the guidance law of the cross section is not adopted in the present application, the overload of the aircraft can jump, which is not beneficial to the working stability of the aircraft actuator and easily causes the damage of the actuator; by adopting the guidance law considering the handover section, the overload change of the aircraft is smoother, no jump occurs, and the stable control of the aircraft is facilitated.
The invention has been described above in connection with preferred embodiments, which are, however, exemplary only and for illustrative purposes. On this basis, the invention can be subjected to various substitutions and improvements, and all fall within the protection scope of the invention.
Claims (3)
1. A guidance method applied to a laser/satellite composite aircraft is characterized in that in the method,
When the aircraft is in the middle guidance section, the overload instruction is solved through the proportional guidance law,
When the aircraft is in the terminal guidance section, the overload instruction is solved by the re-complement proportional guidance law,
When the aircraft is positioned at the junction section between the middle guidance section and the terminal guidance section, resolving an overload instruction through the junction section guidance law obtained by weighting the proportional guidance law and the re-complement proportional guidance law;
The handover section guiding rule specifically solves the overload instruction through the following (III):
a m(t)＝a2(t)+[ac(t0)-ac (t) ] w (t) (three)
Wherein a m (T) represents a handover section overload instruction, a c (T) represents a middle guidance section overload instruction, a 2 (T) represents a terminal guidance section overload instruction, a c(t0) represents an overload instruction at a time point T 0, that is, when entering a handover section, w (T) represents a weight function, T represents a handover section duration, and T 0 represents a time point when entering the handover section;
the t 0 is solved by the following formula (four):
Where r represents the relative distance between the aircraft and the target and V m represents the speed of the aircraft;
the w (t) is solved by the following formula (five):
Wherein T 0 represents a time point of entering the handover section, T represents a current time of the aircraft, and T represents a duration of the handover section.
2. The method for guidance for a laser/satellite composite aircraft according to claim 1, characterized in that,
The proportional guidance law specifically solves the overload instruction by the following formula (I):
Wherein a c (t) represents an intermediate guidance section overload command, N represents a scaling factor, V m represents the speed of the aircraft, Representing the angular velocity of the view line of sight obtained by the satellite navigation module at the mid-guide section.
3. The method for guidance for a laser/satellite composite aircraft according to claim 1, characterized in that,
The re-complement proportion guidance law specifically solves the overload instruction by the following formula (II):
where a 2 (t) represents the terminal guidance segment overload command, N represents the scaling factor, V m represents the speed of the aircraft, The angular velocity of the view line of sight obtained by the laser guidance head at the end guidance segment is represented by c, the gravity compensation coefficient is represented by g, and the gravity acceleration is represented by g.
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| CN106406344A (en) * | 2016-09-28 | 2017-02-15 | 北京理工大学 | Rotating guidance aircraft's extended range system and the method |
| CN108490773A (en) * | 2018-03-16 | 2018-09-04 | 北京理工大学 | A kind of bionical segmentation combined terminal guidance method of view-based access control model sensing |
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| FR3030456B1 (en) * | 2014-12-17 | 2016-12-16 | Thales Sa | GUIDING METHOD FOR THE POSITIONING OF A SATELLITE |
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|---|---|---|---|---|
| CN106406344A (en) * | 2016-09-28 | 2017-02-15 | 北京理工大学 | Rotating guidance aircraft's extended range system and the method |
| CN108490773A (en) * | 2018-03-16 | 2018-09-04 | 北京理工大学 | A kind of bionical segmentation combined terminal guidance method of view-based access control model sensing |
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