CN114963887B - Semi-physical simulation method and system for state of non-launching point turntable of carrier rocket - Google Patents
Semi-physical simulation method and system for state of non-launching point turntable of carrier rocket Download PDFInfo
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- CN114963887B CN114963887B CN202210385073.1A CN202210385073A CN114963887B CN 114963887 B CN114963887 B CN 114963887B CN 202210385073 A CN202210385073 A CN 202210385073A CN 114963887 B CN114963887 B CN 114963887B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The application discloses a carrier rocket non-launching point turntable state semi-physical simulation method and a system, wherein the carrier rocket non-launching point turntable state semi-physical simulation method specifically comprises the following steps: acquiring point location information of a test site where the turntable is located; establishing a relation between a test site emission inertial system where the turntable is positioned and an emission system of a point where the turntable is positioned; establishing conversion from an actual launch point of the carrier rocket to an inertial system at a turntable; according to the conversion relation from the actual emission point to the inertial system at the turntable, deducting the ground speed of the turntable from the instruction sent to the turntable; according to the appointed conversion sequence, solving an instruction transmitted to the turntable after deducting the ground speed of the turntable. The application designs a method for realizing the semi-physical simulation test of the analyzable carrier under the state of non-emission points so as to realize the application of the vertical turntable in various tests of aerospace.
Description
Technical Field
The application relates to the field of semi-physical simulation, in particular to a carrier rocket non-launching point turntable state semi-physical simulation and system.
Background
The space vehicle is generally vertically launched, an launching inertial coordinate system is adopted as a basic coordinate system, and attitude angles under the coordinate system are defined by adopting a Euler angle rotation sequence of '3-2-1'. Before a space carrier is launched, a series of semi-physical simulation tests, formal test verification and the like are required to be carried out. The semi-physical simulation is carried out under the condition that the inertial measurement unit and the turntable are added in the test, and the earth rotation felt by the inertial measurement unit is matched with the actual flight and the three-axis rotation of the turntable is matched with the carrier gesture according to the flight design. At present, simulation gyro pulse or changing rocket launching point information into test local position information is generally adopted in carrier rocket semi-physical simulation for test. By adopting a simulated gyro pulse test method, the pulse number is relatively fixed, and the real gyro information of the rocket in the flight process cannot be verified; and the flight point position is changed, the final orbit precision of the semi-physical simulation test and the flight process parameter of the semi-physical simulation test are greatly interfered, and the flight test cannot simulate the real situation. Aiming at the vertical turntable, the problem of the posture coupling of the outer frame and the inner frame of the turntable exists, so that larger posture deviation is introduced, and even the phenomenon that the turntable cannot be tested due to singular postures is caused, and the interference is brought to the rocket navigation guidance semi-physical test.
Therefore, how to provide a simulation method capable of improving the selectivity of a test site, reducing the time spent on multiple trekking and improving the test efficiency is a problem which needs to be solved by those skilled in the art.
Disclosure of Invention
The application provides a semi-physical simulation method for a state of a non-launching point turntable of a carrier rocket, which specifically comprises the following steps: acquiring point location information of a test site where the turntable is located; according to the point location information of the test site where the turntable is located, establishing a relation between an emission inertial system of the test site where the turntable is located and an emission system of the point where the turntable is located; based on the relation between the launching inertial system of the test site where the turntable is positioned and the launching system of the point where the turntable is positioned, the conversion from the actual launching point of the carrier rocket to the inertial system of the turntable is established; according to the conversion relation from the actual emission point to the inertial system at the turntable, deducting the ground speed of the turntable from the instruction sent to the turntable; according to the appointed conversion sequence, solving an instruction transmitted to the turntable after deducting the ground speed of the turntable.
As above, the point location information of the test site where the turntable is located comprises the launch azimuth of the carrier rocket design, the point location information of the launch point of the carrier rocket, the point location information of the turntable and the longitude of the center of the test site where the turntable is located.
As above, wherein the turntable point location information is specifically represented as [ B ] zt λ zt H zt ]Wherein B is zt Is the geographical latitude of the point where the turntable is located, lambda zt Longitude, H, of the point where the turntable is located zt For the location of the turntableHeight of the steel plate.
As above, wherein the launch point location information of the carrier rocket is represented as [ B ] 0 λ 0 H 0 ]Wherein B is 0 Is the geographic latitude lambda of the launch point of the carrier rocket 0 Longitude, H, of launch point of launch vehicle 0 Is the height of the launch point of the carrier rocket.
As above, the relationship between the test site emission inertia system at which the turret is located and the emission system at which the turret is located includes an emission Gzt system from the test site emission inertia Izt system to the turret location point, and an emission Gzt system from the turret location point to the test site emission inertia Izt system.
As above, the expression of the launch Gzt system from the test site launch inertia Izt system to the turntable point isThe concrete steps are as follows:
wherein the method comprises the steps ofA 0 Representing the design launch azimuth of the carrier rocket, L zt Representing the latitude, omega of the center of the ground of the test site where the turntable is located e Indicating the rotational angular velocity of the earth.
As above, the conversion from the actual launch point of the carrier rocket to the inertial system at the turntable is specifically expressed as:
L zt representing the latitude of the center of the land of the test site where the turntable is positioned, L 0 Represents the geocentric latitude of the launch point of the carrier rocket, in particular m represents an inertial measurement coordinate system,representing the transformation relation of the emission Gzt system of the point of the turntable to the inertial measurement coordinate system, < ->Representing the conversion relation from the inertial measurement coordinate system to a transmitting Gzt system of the point where the turntable is located; e denotes the geocentric coordinate system, I denotes the transmit inertial coordinate system,>representing the conversion from the geocentric coordinate system to the transmission inertial coordinate system,/>Representing the conversion from the geocentric coordinate system to the test site emission inertia Izt system, +.>Representing the conversion from the test site emission inertia Izt system to the geocentric coordinate system, +.>Representing the conversion of the transmit inertial coordinate system to the test site transmit inertial Izt system.
As above, wherein the command after deducting the ground speed of the turntable is gamma inn ,ψ out ,Wherein gamma is inn Corresponding to the inner frame instruction of the turntable, < > and>corresponding to a turntable middle frame instruction, psi out Corresponding to the outer frame instruction of the rotary table.
As above, wherein γ inn ,ψ out ,The solving method comprises the following steps:
wherein the method comprises the steps ofRepresenting the conversion relation from the emission system of the point where the turntable is located to the inertial measurement coordinate system, +.>A value representing the second column of the third row of the matrix,/->Representing the second row of the matrixNumerical values of two columns, ">A value representing the third column of the first row of the matrix,/->A value representing the first column of the first row of the matrix,/->A value representing the first row and the second column of the matrix.
The semi-physical simulation system for the non-launching point turntable state of the carrier rocket specifically comprises a point position acquisition unit, a relation determination unit, a conversion unit, a deduction unit and an instruction solving unit; the point position acquisition unit is used for acquiring the point position of the test site where the turntable is positioned; the relation determining unit is used for establishing a relation between an emission inertial system of the test site where the turntable is positioned and an emission system of the point where the turntable is positioned according to the point location information of the test site where the turntable is positioned; the conversion unit is used for establishing the conversion from the actual launch point of the carrier rocket to the inertial system at the turntable based on the relation between the launch inertial system at the test site where the turntable is positioned and the launch system at the point where the turntable is positioned; the deducting unit is used for deducting the ground speed of the turntable from the instruction sent to the turntable according to the conversion relation from the actual emission point to the inertial system at the turntable; and the instruction solving unit is used for solving the instruction which is sent to the turntable and deducts the ground speed of the turntable according to the appointed conversion sequence.
The application has the following beneficial effects:
(1) The application designs an analyzable carrier semi-physical simulation test under the condition that a non-emission point position is only provided with a vertical turntable and an inertial unit plane installation tool, so that the application of the vertical turntable in various aerospace tests is realized.
(2) According to the application, the influence of local earth rotation on the test is deducted by utilizing the position information of the turntable, and the simulation test precision is improved. The colleague improves the selectivity of the test site, reduces the time spent on trekking and improves the test efficiency.
(3) The application adopts the conversion sequence of 2-3-1 to solve the attitude angle, thereby avoiding the singular problem of the turntable.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a flow chart of a semi-physical simulation method for a state of a non-launch point turntable of a carrier rocket according to an embodiment of the application;
FIG. 2 is an internal structure diagram of a semi-physical simulation system for a non-launch point turntable state of a carrier rocket according to an embodiment of the application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The application relates to a semi-physical simulation method and a semi-physical simulation system for a turntable state of a non-launching point of a carrier rocket, which are designed to perform semi-physical simulation of the turntable state without changing a plane installation tool of an inertial measurement unit and modifying a launching point on the premise that a test site is provided with only a vertical turntable and the non-launching point is tested. The semi-physical simulation test of the analyzable carrier is carried out under the condition that the non-emission points are divided and only the vertical turntable and the inertial unit plane installation tool are arranged, so that the application of the vertical turntable in various aerospace tests is realized.
Example 1
And (3) subtracting the local ground speed felt by the inertial gyro from the gesture sent to the turntable in advance according to the point position value of the location of the turntable, responding the corresponding gesture by the turntable, and accumulating the ground speed again to ensure that the increment of the gyro acquisition pulse number in the process is the corresponding value of the gesture change quantity of the rocket flight process. As shown in FIG. 1, the application provides a semi-physical simulation method for a non-launching point turntable state of a carrier rocket, which specifically comprises the following steps:
step S110: and acquiring point location information of a test site where the turntable is located.
The method comprises the steps of obtaining point location information of a test site where a turntable is located, wherein the point location information comprises a launch azimuth A of a carrier rocket design 0 And acquiring point location information of a launch point of the carrier rocket, point location information of a turntable and the longitude of the center of the test site where the turntable is located.
Specifically, the launch point position information of the carrier rocket is represented as [ B ] 0 λ 0 H 0 ]Wherein B is 0 Is the geographic latitude lambda of the launch point of the carrier rocket 0 Longitude, H, of launch point of launch vehicle 0 Is the height of the launch point of the carrier rocket.
The turntable point location information is denoted as [ B ] zt λ zt H zt ]Wherein B is zt Is the geographical latitude of the point where the turntable is located, lambda zt Longitude, H, of the point where the turntable is located zt Is the height of the place where the turntable is located.
Wherein the center latitude L of the test site where the turntable is located zt The concrete steps are as follows:
L zt ＝arctan((1-e2)*tan(B zt ))
wherein e2= 6.694384875e-03 is the first law of the earth, B zt Is the geographical latitude of the point where the turntable is located.
Step S120: and establishing the relation between the transmitting inertial system of the test site where the turntable is positioned and the transmitting system of the point where the turntable is positioned according to the point position information of the test site where the turntable is positioned.
Wherein the test site emission inertia system of the turntable is Izt system, and the emission system of the turntable point is Gzt system.
Specifically, the relationship between the test site emission inertia system at which the turntable is located and the emission system at which the turntable is located includes a transition from the test site emission inertia system (Izt system) to the emission system at which the turntable is located (Gzt system), and a transition from the emission system at which the turntable is located (Gzt system) to the test site emission inertia system (Izt system).
Wherein the expression of the launching system (Gzt system) from the test site launching inertial system (Izt system) to the point of the turntable isThe concrete steps are as follows:
wherein C represents a matrix, A 0 Representing the design launch azimuth of the carrier rocket, L zt Representing the latitude, omega of the center of the ground of the test site where the turntable is located e Indicating the rotational angular velocity of the earth.
Wherein the method comprises the steps of
Wherein the expression from the launching system (Gzt system) at the point of the turntable to the test site launching inertial system (Izt system) is That is, pair->The matrix in (2) is transposed to obtain +.>
Step S130: based on the relation between the launching inertial system of the test site where the turntable is positioned and the launching system of the point where the turntable is positioned, the conversion from the actual launching point of the carrier rocket to the inertial system of the turntable is established.
The conversion from the actual launch point of the carrier rocket to the inertial system at the turntable is specifically expressed as follows:
L zt representing the latitude of the center of the land of the test site where the turntable is positioned, L 0 Representing the latitude of the launch point of the carrier rocket, wherein C is a matrix,the method is a conversion relation from an emission inertial system (m system) to an arrow body coordinate system (b system) established according to the arrow body posture in the flying process. In particular, m represents the inertial measurement coordinate system,/->Representing the transformation relation from the transmitting system (Gzt system) of the point of the turntable to the inertial measurement coordinate system, < >>Representing the conversion relation from an inertial measurement coordinate system to a Gzt system; e denotes the geocentric coordinate system, I denotes the emission inertial coordinate system,/>representing the conversion from the geocentric coordinate system to the transmission inertial coordinate system,/>Representing the conversion from the geocentric coordinate system to the test site emission inertia Izt system, +.>Representing the conversion of the test site emission inertia Izt system to the geocentric coordinate system,representing the conversion of the transmit inertial coordinate system to the test site transmit inertial Izt system.
Step S140: and according to the conversion relation from the actual emission point to the inertial system at the turntable, deducting the ground speed of the turntable from the instruction sent to the turntable.
Wherein the command after deducting the ground speed of the turntable is gamma inn ,ψ out ,Wherein gamma is inn Corresponding to the inner frame instruction of the turntable, < > and>corresponding to a turntable middle frame instruction, psi out Corresponding to the outer frame instruction of the rotary table.
Step S150: according to the appointed conversion sequence, solving an instruction transmitted to the turntable after deducting the ground speed of the turntable.
Wherein the designated sequence is a "2-3-1" switching sequence, 2 represents rotation about the Y axis, 3 represents rotation about the Z axis, 1 represents rotation about the X axis, and the "2-3-1" switching sequence refers to rotation about the Y axis, then the Z axis, and finally the X axis.
Wherein the command to calculate the speed of the ground where the deducting turntable is sent to the turntable is solvedThe concrete steps are as follows:
wherein the method comprises the steps ofRepresenting the transformation relation from the transmitting system (Gzt system) of the point of the turntable to the inertial measurement coordinate system, < >>A value representing the second column of the third row of the matrix,/->A value representing the second column of the second row of the matrix,/->A value representing the third column of the first row of the matrix,/->A value representing the first column of the first row of the matrix,/->A value representing the first row and the second column of the matrix.
Example two
As shown in FIG. 2, the application provides a semi-physical simulation system for a non-launching point turntable state of a carrier rocket, which specifically comprises: the device comprises a point position acquisition unit 210, a relation determination unit 220, a conversion unit 230, a deduction unit 240 and an instruction solving unit 250.
The point position obtaining unit 210 is configured to obtain a point position of a test site where the turntable is located.
The relationship determining unit 220 is connected to the point location obtaining unit 210, and is configured to establish a relationship between the transmission inertial system of the test site where the turntable is located and the transmission system of the point where the turntable is located according to the earth parameters and the obtained point location information of the test site.
The conversion unit 230 is connected to the relationship determination unit 220 for establishing a conversion of the actual launch point of the launch vehicle into an inertial system at the turntable.
The deduction unit 240 is connected to the conversion unit 230, and is configured to deduct the ground speed of the turntable from the instruction sent to the turntable according to the conversion relationship from the actual emission point to the inertial system at the turntable.
The instruction solving unit 250 is connected to the deducting unit 240, and is configured to solve the instruction sent to the turntable after deducting the ground speed where the turntable is located according to the specified conversion sequence.
The application has the following beneficial effects:
(1) The application designs an analyzable carrier semi-physical simulation test under the condition that a non-emission point position is only provided with a vertical turntable and an inertial unit plane installation tool, so that the application of the vertical turntable in various aerospace tests is realized.
(2) According to the application, the influence of local earth rotation on the test is deducted by utilizing the position information of the turntable, and the simulation test precision is improved. The colleague improves the selectivity of the test site, reduces the time spent on trekking and improves the test efficiency.
(3) The application adopts the conversion sequence of 2-3-1 to solve the attitude angle, thereby avoiding the singular problem of the turntable.
Although the examples referred to in the present application are described for illustrative purposes only and not to be limiting of the application, modifications, additions and/or deletions to the embodiments may be made without departing from the scope of the application.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A semi-physical simulation method for a non-launching point turntable state of a carrier rocket is characterized by comprising the following steps:
acquiring point location information of a test site where the turntable is located;
according to the point location information of the test site where the turntable is located, establishing a relation between an emission inertial system of the test site where the turntable is located and an emission system of the point where the turntable is located;
based on the relation between the launching inertial system of the test site where the turntable is positioned and the launching system of the point where the turntable is positioned, the conversion from the actual launching point of the carrier rocket to the inertial system of the turntable is established;
according to the conversion relation from the actual emission point to the inertial system at the turntable, deducting the ground speed of the turntable from the instruction sent to the turntable;
according to the appointed conversion sequence, solving an instruction transmitted to the turntable after deducting the ground speed of the turntable;
the relation between the test site launching inertia system of the turntable and the launching system of the point of the turntable comprises a launching Gzt system from the test site launching inertia Izt system to the point of the turntable and a launching Gzt system from the point of the turntable to the test site launching inertia Izt system;
the expression of the firing Gzt system from the test site firing inertia Izt system to the turntable point isThe concrete steps are as follows:
wherein the method comprises the steps ofA 0 Representing the design launch azimuth of the carrier rocket, L zt Representing the latitude, omega of the center of the ground of the test site where the turntable is located e Indicating the rotational angular velocity of the earth.
2. The method for semi-physical simulation of a non-launch point turret state of a carrier rocket according to claim 1, wherein the point location information of the test site where the turret is located comprises a carrier rocket design launch azimuth, the point location information of the launch point of the carrier rocket is obtained, and the point location information of the turret and the longitude of the center of the site where the turret is located.
3. The semi-physical simulation method for the state of a non-launch point turntable of a carrier rocket according to claim 2, wherein the turntable point location information is specifically represented as [ B ] zt λ zt H zt ]Wherein B is zt Is the geographical latitude of the point where the turntable is located, lambda zt Longitude, H, of the point where the turntable is located zt Is the height of the place where the turntable is located.
4. The semi-physical simulation method for the state of a non-launch point turntable of a carrier rocket according to claim 2, wherein the launch point position information of the carrier rocket is represented as [ B ] 0 λ 0 H 0 ]Wherein B is 0 Is the geographic latitude lambda of the launch point of the carrier rocket 0 Longitude, H, of launch point of launch vehicle 0 Is the height of the launch point of the carrier rocket.
5. The semi-physical simulation method for the state of a turntable at a non-launching point of a carrier rocket according to claim 1, wherein the conversion from the actual launching point of the carrier rocket to an inertial system at the turntable is specifically expressed as follows:
L zt representing the latitude of the center of the land of the test site where the turntable is positioned, L 0 Represents the geocentric latitude of the launch point of the carrier rocket, in particular m represents an inertial measurement coordinate system,representing the conversion relation of the emission Gzt system of the point where the turntable is located to the inertial measurement coordinate system,representing the conversion relation from the inertial measurement coordinate system to a transmitting Gzt system of the point where the turntable is located; e denotes the geocentric coordinate system, I denotes the transmit inertial coordinate system,>representing the conversion from the geocentric coordinate system to the transmission inertial coordinate system,/>Representing sitting by the earth's centerConversion of standard system to test site emission inertia Izt system, < >>Representing the conversion from the test site emission inertia Izt system to the geocentric coordinate system, +.>Representing the conversion of the transmit inertial coordinate system to the test site transmit inertial Izt system.
6. The method for semi-physical simulation of a state of a turntable at a non-launch point of a carrier rocket as claimed in claim 1, wherein the instructions after deducting the ground speed of the turntable are as followsWherein gamma is inn Corresponding to the inner frame instruction of the turntable, < > and>corresponding to a turntable middle frame instruction, psi out Corresponding to the outer frame instruction of the rotary table.
7. The semi-physical simulation method for the state of a non-launching point turntable of a carrier rocket according to claim 6, wherein,the solving method comprises the following steps:
wherein the method comprises the steps ofRepresenting the transformation relation of the emission Gzt system of the point of the turntable to the inertial measurement coordinate system, < ->Values representing the third row and the second column of the matrix,/->Values representing the second row and the second column of the matrix,/->Values representing the third column of the first row of the matrix, are given by>A value representing the first column of the first row of the matrix, is->The values representing the first row and the second column of the matrix.
8. The semi-physical simulation system for the state of the non-launching point turntable of the carrier rocket is characterized by comprising a point position acquisition unit, a relation determination unit, a conversion unit, a deduction unit and an instruction solving unit;
the point position acquisition unit is used for acquiring the point position of the test site where the turntable is positioned;
the relation determining unit is used for establishing a relation between an emission inertial system of the test site where the turntable is positioned and an emission system of the point where the turntable is positioned according to the point location information of the test site where the turntable is positioned;
the conversion unit is used for establishing the conversion from the actual launch point of the carrier rocket to the inertial system at the turntable based on the relation between the launch inertial system at the test site where the turntable is positioned and the launch system at the point where the turntable is positioned;
the deducting unit is used for deducting the ground speed of the turntable from the instruction sent to the turntable according to the conversion relation from the actual emission point to the inertial system at the turntable;
the instruction solving unit is used for solving the instruction which is sent to the turntable and deducts the ground speed of the turntable according to the appointed conversion sequence;
the relation between the test site launching inertia system of the turntable and the launching system of the point of the turntable comprises a launching Gzt system from the test site launching inertia Izt system to the point of the turntable and a launching Gzt system from the point of the turntable to the test site launching inertia Izt system;
the expression of the firing Gzt system from the test site firing inertia Izt system to the turntable point isThe concrete steps are as follows:
wherein the method comprises the steps ofA 0 Representing the design launch azimuth of the carrier rocket, L zt Representing the latitude, omega of the center of the ground of the test site where the turntable is located e Indicating the rotational angular velocity of the earth.
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| DE19601846A1 (en) * | 1995-01-19 | 2010-01-28 | Tda Armements S.A.S. | Symmetric rocket guiding method, involves actuating actuating elements such that rocket accepts transverse accelerations, and periodically starting parameter detection, calculations and resulting controls of actuating elements |
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