CN114995517A - Subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction - Google Patents
Subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction Download PDFInfo
- Publication number
- CN114995517A CN114995517A CN202210886144.6A CN202210886144A CN114995517A CN 114995517 A CN114995517 A CN 114995517A CN 202210886144 A CN202210886144 A CN 202210886144A CN 114995517 A CN114995517 A CN 114995517A
- Authority
- CN
- China
- Prior art keywords
- trajectory
- coordinate system
- section
- aircraft
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000006641 stabilisation Effects 0.000 claims description 10
- 238000011105 stabilization Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction, which comprises the steps of determining a longitudinal plane reference trajectory based on maximum flight speed constraint, maximum attack angle constraint, drop point trajectory inclination angle constraint and drop point Y-direction position constraint; establishing a launching coordinate system and a trajectory coordinate system, and respectively calculating a trajectory deflection angle and a trajectory deflection angle control command; and taking the longitudinal plane reference trajectory as a six-degree-of-freedom simulated pitch channel tracking signal, and planning the launch coordinate system xOz plane trajectory according to the landing point requirement of the aircraft. The invention can realize the arbitrary trajectory deflection angle trajectory of the xOz plane of the launching coordinate system, simultaneously meet the index requirement of accurate guidance and improve the flexibility of trajectory planning.
Description
Technical Field
The invention relates to the technical field of aircraft trajectory planning, in particular to a subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction.
Background
The subsonic aircraft aims to maneuver after being thrown at high altitude and accurately reach a load throwing point. The technical support is provided for accurately launching the anti-diving equipment at low cost in future war in China. The aircraft can fly in a 0.3-0.6 Ma speed domain in a large-range airspace of 0-8 km, and can realize stable maneuvering in a full envelope. As the subsonic aircraft has maximum speed constraint, attack angle constraint and drop point trajectory inclination angle constraint in the flying process, the subsonic aircraft cannot adopt a large trajectory inclination angle descending scheme in the flying process, and only can adopt a small trajectory inclination angle to slowly descend, so that the aircraft is increased in the plane flying distance, lateral maneuver is required, and the target point is accurately reached.
However, in the process of subsonic aircraft flight, the trajectory planning method which adopts the X-direction position deviation and the Z-direction position deviation to generate the lateral overload instruction can only generate the trajectory perpendicular to the axis and the shaft of the launching system. The guidance scheme is not flexible enough to constrain the shape of the plane trajectory and constrain the direction of the drop point. Therefore, a key technology of the subsonic aircraft is to generate a trajectory planning technology with the trajectory deflection angle of +/-90 degrees and different from 0 degrees.
Disclosure of Invention
The invention provides a subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction, aiming at the trajectory planning problem of a subsonic aircraft, planning trajectory deflection angle deviation correction points of a task before the task is started, setting trajectory deflection angle deviation correction points in an xOz plane coordinate of a launching system, and calculating trajectory deflection angle instruction psi in real time according to the current position of the aircraft after launching v_c Taking a difference with the current trajectory inclination angleWith a gain of k p Forming overload command needed by lateral direction, and performing lateral maneuver to correct deviation delta psi of trajectory deflection angle by tracking command v 。
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
a subsonic aircraft trajectory planning method based on trajectory deviation angle correction comprises the following steps:
s1, determining a longitudinal plane reference trajectory based on maximum flight speed constraint, maximum attack angle constraint, drop point trajectory inclination angle constraint and drop point Y direction position constraint;
s2, establishing a launching coordinate system and a trajectory coordinate system, and respectively calculating a trajectory deflection angle and a trajectory deflection angle control command;
and S3, taking the longitudinal plane reference trajectory as a six-degree-of-freedom simulated pitch channel tracking signal, and planning the xOz plane trajectory of the launching coordinate system according to the landing point requirement of the aircraft.
Optionally, step S1 specifically includes:
dividing a longitudinal plane reference trajectory into an attitude stabilization section, a trajectory pulling deceleration section, a fixed trajectory inclination angle gliding section and a plane flight section;
the attitude stabilization segment of the longitudinal plane reference trajectory is represented as
n y1 ＝0g
Wherein n is y1 Normal overload of the projectile system, g is gravity acceleration;
the ballistic pull-up deceleration section of the longitudinal planar reference trajectory is represented as
Wherein the content of the first and second substances,
normal overload of the projectile system corresponding to the maximum attack angle;
the fixed trajectory inclination angle downslide section of the longitudinal plane reference trajectory is represented as
θ＝0°
Wherein θ is the ballistic inclination;
the flat flight segment of the longitudinal plane reference trajectory is represented as
n y1 ＝1g
Vy＝0m/s
h＝500m
Wherein Vy is the speed of the emitting coordinate system in the y-axis direction, and h is the height.
Optionally, step S2 specifically includes:
fixedly connecting a coordinate origin of an emission coordinate system with an emission point O, wherein an Ox axis points to an emission aiming direction in an emission point horizontal plane, an Oy axis points upwards perpendicular to the emission point horizontal direction, and an Oz axis is perpendicular to an xOy plane to form a right-hand coordinate system;
coordinate origin O of trajectory coordinate system 2 Is taken at the center of mass of the projectile body, O 2 x 2 Coincident with the velocity vector, O 2 y 2 The axis lying in a vertical plane containing the velocity vector and perpendicular to O 2 x 2 Axial, upward is positive, O 2 z 2 Axes are determined according to the right hand rule;
calculating a ballistic declination according to the projection of the speed of the aircraft on an xOz plane of a launching coordinate system;
and calculating a ballistic deflection angle control command according to the coordinates of the ballistic deflection angle deviation correcting point on the xOz plane of the launching system.
Optionally, the calculation formula of the ballistic declination angle is as follows:
wherein psi v The trajectory deflection angle is shown, Vz is the speed in the direction of the z axis of the emission coordinate system, Vx is the speed in the direction of the x axis of the emission coordinate system, and pi is the circumferential rate.
Optionally, the calculation formula of the ballistic declination control command is as follows:
ΔZ＝Z target -Z
ΔX＝X target -X
wherein psi v_c For ballistic declination control command, (X) target ,Z target ) The trajectory deviation angle correction point is the coordinate of the trajectory deviation angle correction point on the xOz plane of the launching coordinate system, pi is the circumferential rate, X is the position of the aircraft on the X axis of the launching coordinate system, and Z is the position of the aircraft on the Z axis of the launching coordinate system.
Optionally, step S3 specifically includes:
dividing the transmitting coordinate system xOz plane trajectory into a longitudinal control section, a course adjusting section, a turning section and a course correcting section;
the time of a longitudinal control section in the launching coordinate system xOz plane trajectory is coincided with the time of an attitude stabilization section and a trajectory pulling deceleration section in a longitudinal plane reference trajectory;
in a course adjusting section in an xOz plane trajectory of a launching coordinate system, controlling the projection of the speed of the aircraft on the xOz plane of the launching coordinate system to point to a trajectory deviation angle correcting point according to the set trajectory deviation angle correcting point, and enabling the longitudinal plane trajectory to be in a flat flight section when the aircraft reaches a target point by adjusting the flight distance after the aircraft exceeds the trajectory deviation angle correction;
setting a turning radius according to the vertical distance between the course adjusting section and the course correcting section at a turning section in the xOz plane trajectory of the launching coordinate system, and calculating overload required by the turning section through the turning radius;
and in a course deviation correction section in the launching coordinate system xOz plane trajectory, setting the trajectory deviation angle deviation correction point coordinate as an aircraft landing point coordinate when the switching condition of the course deviation correction section is reached, and realizing accurate guidance.
The invention has the following beneficial effects:
according to the invention, in the subsonic aircraft fixed trajectory dip gliding section, a trajectory deflection angle instruction is formed by adopting aircraft position information and target point position information, and a lateral overload instruction required for BTT maneuver is formed by the difference value of the trajectory deflection angle instruction and the aircraft trajectory deflection angle, so that any trajectory deflection angle trajectory of an xOz plane of a launching coordinate system can be realized, the requirement of accurate guidance index can be met, and the flexibility of trajectory planning can be improved.
Drawings
FIG. 1 is a schematic flow chart of a subsonic vehicle trajectory planning method based on trajectory deviation angle rectification according to an embodiment of the present invention;
FIG. 2 is a schematic view of a longitudinal plane reference trajectory in an embodiment of the present invention;
FIG. 3 is a schematic diagram of the ballistic trajectory of the xOz plane of the launch coordinate system in an embodiment of the present invention;
FIG. 4 is a diagram of ballistic trajectory simulation in the xOz plane of the launch coordinate system in an embodiment of the present invention;
FIG. 5 is a velocity profile of an embodiment of the present invention;
FIG. 6 is a graph of height H in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
The technical idea provided by the invention is as follows: the method comprises the steps of designing a trajectory based on constraint of a landing point position of an aircraft of a task, calculating overload required by lateral maneuver by using a trajectory deflection angle correction algorithm, designing a guidance instruction switching condition by adopting a BTT maneuver mode and considering an actual flight effect, and realizing accurate guidance of the subsonic aircraft.
As shown in fig. 1, a subsonic vehicle trajectory planning method based on trajectory deviation correction provided by an embodiment of the present invention includes the following steps S1 to S3:
s1, determining a longitudinal plane reference trajectory based on maximum flight speed constraint, maximum attack angle constraint, drop point trajectory inclination angle constraint and drop point Y direction position constraint;
in an optional embodiment of the present invention, step S1 specifically includes:
based on maximum flight speed constraint, maximum attack angle constraint, drop point trajectory inclination angle constraint and drop point Y-direction position constraint, the longitudinal plane reference trajectory is designed in a segmented manner and is specifically divided into an attitude stabilization segment, a trajectory pulling deceleration segment, a fixed trajectory inclination angle gliding segment and a plane flight segment, as shown in fig. 2.
The attitude stabilization segment of the longitudinal plane reference trajectory is represented as
n y1 ＝0g
Wherein n is y1 Normal overload of the projectile system, g is gravity acceleration;
the ballistic pull-up deceleration section of the longitudinal planar reference trajectory is represented as
Wherein, the first and the second end of the pipe are connected with each other,
normal overload of the corresponding missile system at the maximum attack angle;
the fixed trajectory inclination angle downslide section of the longitudinal plane reference trajectory is represented as
θ＝0°
Wherein θ is the ballistic inclination;
the flat flight segment of the longitudinal plane reference trajectory is represented as
n y1 ＝1g
Vy＝0m/s
h＝500m
Wherein Vy is the speed of the y axis direction of the emission coordinate system, and h is the height.
S2, establishing a launching coordinate system and a trajectory coordinate system, and respectively calculating a trajectory deflection angle and a trajectory deflection angle control command;
in an optional embodiment of the present invention, step S2 specifically includes:
fixedly connecting a coordinate origin of an emission coordinate system with an emission point O, wherein an Ox axis points to an emission aiming direction in an emission point horizontal plane, an Oy axis points upwards perpendicular to the emission point horizontal direction, and an Oz axis is perpendicular to an xOy plane and forms a right-hand coordinate system, so that an emission coordinate system O-xyz is established;
coordinate origin O of trajectory coordinate system 2 Is taken at the center of mass of the projectile body, O 2 x 2 Coincident with the velocity vector, O 2 y 2 The axis lying in a vertical plane containing the velocity vector and perpendicular to O 2 x 2 Axial, upward, is positive, O 2 z 2 Axes are determined according to the right-hand rule, thereby establishing a ballistic coordinate system O 2 -x 2 y 2 z 2 ；
Calculating a ballistic declination according to the projection of the speed of the aircraft on an xOz plane of a launching coordinate system; the ballistic deflection angle refers to an included angle between the projection of a velocity vector on a horizontal plane xOz and an Ox axis, and takes the Oy axis direction as positive; since the value range of the calculation angle of the inverse trigonometric function is [ -90 °,90 ° ] and cannot include a range of 360 °, a mathematical method is adopted to expand the value range from [ -90 °,90 ° ] to [ -180 °,180 ° ]; the calculation formula for obtaining the ballistic declination angle is as follows:
wherein psi v The trajectory deflection angle is shown, Vz is the speed in the direction of the z axis of the emission coordinate system, Vx is the speed in the direction of the x axis of the emission coordinate system, and pi is the circumferential rate.
Assuming that the coordinate of the trajectory deflection angle deviation correcting point on the xOz plane of the launching coordinate system is (X) target ,Z target ) Calculating a ballistic deflection angle control command according to the coordinates of the ballistic deflection angle deviation correcting point on the xOz plane of the launching system, wherein the calculation formula is as follows:
ΔZ＝Z target -Z
ΔX＝X target -X
wherein psi v_c As ballistic declination control commands, (X) target ,Z target ) The coordinate of the deviation angle correction point of the trajectory in the xOz plane of the launching coordinate system is represented, pi is the circumferential rate, X is the position of the aircraft on the X axis of the launching coordinate system, and Z is the position of the aircraft on the launching coordinate systemThe position of the z-axis.
And S3, taking the longitudinal plane reference trajectory as a six-degree-of-freedom simulated pitch channel tracking signal, and planning the xOz plane trajectory of the launching coordinate system according to the landing point requirement of the aircraft.
In an alternative embodiment of the invention, a BTT maneuver is used because of the planar symmetric layout of the subsonic vehicle. In order to ensure the maneuvering capability and meet the maximum attack angle constraint, maneuvering is carried out on the downward sliding section with a fixed ballistic inclination angle. And performing trajectory planning according to the position of the drop point after the maneuvering time is determined. Because the flight capability of the subsonic aircraft is strong, the drop point is accurately guided in a roundabout mode. A ballistic diagram of the firing coordinate system xOz plane is shown in fig. 3.
Step S3 specifically includes:
dividing the transmitting coordinate system xOz plane trajectory into a longitudinal control section, a course adjusting section, a turning section and a course correcting section;
the time of a longitudinal control section in the launching coordinate system xOz plane trajectory is coincided with the time of an attitude stabilization section and a trajectory pulling deceleration section in a longitudinal plane reference trajectory;
in a course adjusting section in an xOz plane trajectory of a launching coordinate system, controlling the projection of the speed of the aircraft on the xOz plane of the launching coordinate system to point to a trajectory deviation angle correcting point according to the set trajectory deviation angle correcting point, and enabling the longitudinal plane trajectory to be in a flat flight section when the aircraft reaches a target point by adjusting the flight distance after the aircraft exceeds the trajectory deviation angle correction;
setting a turning radius according to the vertical distance between the course adjusting section and the course correcting section at a turning section in the xOz plane trajectory of the launching coordinate system, and calculating overload required by the turning section through the turning radius;
and in a course deviation correction section in the launching coordinate system xOz plane trajectory, setting the trajectory deviation angle deviation correction point coordinate as an aircraft landing point coordinate when the switching condition of the course deviation correction section is reached, and realizing accurate guidance.
Taking the landing point of the aircraft as (12000,9000) as an example, the trajectory of the xOz plane is divided into a longitudinal control section, a course adjusting section, a turning section and a course correcting section.
For the longitudinal control segment, when the longitudinal plane trajectory is in the attitude stabilization segment, the yaw channel control command is:
ψ c ＝ψ 0
wherein psi 0 The trajectory deflection angle value at the launching moment is taken as the trajectory deflection angle value;
when the longitudinal plane trajectory is in the ballistic pull-up segment, the yaw channel control commands are:
n z1c ＝0g
the control command of the rolling channel comprises:
γ c ＝0°
for the course adjusting section, the turning section and the course deviation correcting section, a BTT maneuvering mode is adopted, so that the control instruction of the rolling channel is as follows:
wherein n is y1c Overload required to maintain the projectile gliding at a fixed trajectory angle, n z1c_BTT Overload is required for lateral maneuvers.
The yaw channel control command is as follows:
n z1c ＝0g
the course correcting segment is used for directing the projection of the speed of the aircraft on the xOz plane to the target point. Let the coordinates of the target point in the xOz plane be (12000, 4500). The ballistic declination command is:
ΔZ＝Z target -Z
ΔX＝X target -X
wherein Z target ＝4500，X target ＝12000。
The current ballistic declination angle is:
the overload required for the lateral maneuver is:
n z1c_BTT ＝kp*(ψ v_c -ψ v )
wherein kp is a gain coefficient;
in order to avoid sudden change of the rolling angle instruction caused by sudden change of the ballistic deflection angle instruction when the aircraft approaches the target point, when X is more than or equal to 11500, the ballistic deflection angle instruction is as follows:
ψ v_c ＝ψ v | X≥11500
when X is more than or equal to 12000, the projection of the speed on the xOz plane is integrated:
wherein L is the movement length of the aircraft in the plane of the launching system xoz from the moment when the axial position of the aircraft in the launching coordinate system x is more than 12000 to the turning section, and t is zw Is the turn time;
and when L is larger than or equal to R, R is the length of the energy management section and enters the turning section. The overload required by the lateral maneuvering of the turning section is as follows:
wherein V is the transmission coordinate system combination speed;
when the following conditions are satisfied:
X≥12000&&ψ v <0&&(|ψ v |+|ψ v || X＝12000 )<180
wherein, | ψ v || X＝12000 Setting the X-axis position of the aircraft in a launching coordinate system as a ballistic deflection angle at 12000 m;
the aircraft enters a course correction segment.
The heading deviation correction section trajectory deviation angle instruction is as follows:
wherein Z is target ＝9000，X target ＝12000。
The current ballistic declination angle is:
the overload required for the lateral maneuver is:
n z1c_BTT ＝kp*(ψ v_c -ψ v )
in order to avoid sudden change of the rolling angle instruction caused by sudden change of the ballistic deflection angle instruction when the aircraft approaches the target point, when X is less than or equal to 12500, the ballistic deflection angle instruction is as follows:
ψ v_c ＝ψ v | X≤12500
the subsonic vehicle xOz plane trajectory simulation diagram is shown in FIG. 4. The velocity V is shown in fig. 5. The height versus time curve is shown in fig. 6. It can be seen from fig. 4 that the subsonic vehicle passes through (12000, 4500) and (12000,9000) precisely during flight, and the trajectory planning assumption and the landing point position constraint are satisfied. As can be seen from FIG. 5, the speed of the aircraft when the aircraft reaches the load drop point is 110m/s, and the maximum speed during flight is 205m/s, so that the speed constraint is met. As can be seen from FIG. 6, the height of the aircraft when reaching the load drop point is 500m, and the landing point height constraint is satisfied. And the final flight track is flat flight, so that the trajectory inclination angle constraint is met. Therefore, the method is effective and has higher engineering value.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (6)
1. A subsonic aircraft trajectory planning method based on trajectory deviation angle correction is characterized by comprising the following steps:
s1, determining a longitudinal plane reference trajectory based on maximum flight speed constraint, maximum attack angle constraint, drop point trajectory inclination angle constraint and drop point vertical direction position constraint;
s2, establishing a launching coordinate system and a trajectory coordinate system, and respectively calculating a trajectory deflection angle and a trajectory deflection angle control command;
and S3, taking the longitudinal plane reference trajectory as a six-degree-of-freedom simulated pitch channel tracking signal, and planning the xOz plane trajectory of the launching coordinate system according to the landing point requirement of the aircraft.
2. The subsonic vehicle trajectory planning method based on ballistic deflection correction according to claim 1, wherein step S1 specifically includes:
dividing a longitudinal plane reference trajectory into an attitude stabilization section, a trajectory pulling deceleration section, a fixed trajectory inclination angle gliding section and a plane flight section;
the attitude stabilization segment of the longitudinal plane reference trajectory is represented as
n y1 ＝0g
Wherein n is y1 Normal overload of the projectile system, and g is gravity acceleration;
the ballistic pull-up deceleration section of the longitudinal planar reference trajectory is represented as
Wherein the content of the first and second substances,
normal overload of the projectile system corresponding to the maximum attack angle;
the fixed trajectory inclination angle downslide section of the longitudinal plane reference trajectory is represented as
θ＝0°
Wherein θ is the ballistic inclination;
the flat flight segment of the longitudinal plane reference trajectory is represented as
n y1 ＝1g
Vy＝0m/s
h＝500m
Wherein Vy is the speed of the y axis direction of the emission coordinate system, and h is the height.
3. The subsonic vehicle trajectory planning method based on ballistic deflection correction according to claim 1, wherein step S2 specifically includes:
fixedly connecting a coordinate origin of an emission coordinate system with an emission point O, wherein an Ox axis points to an emission aiming direction in an emission point horizontal plane, an Oy axis points upwards perpendicular to the emission point horizontal direction, and an Oz axis is perpendicular to an xOy plane to form a right-hand coordinate system;
the coordinate origin O of the ballistic coordinate system 2 Is taken at the center of mass of the projectile body, O 2 x 2 Coincident with the velocity vector, O 2 y 2 The axis lying in a vertical plane containing the velocity vector and perpendicular to O 2 x 2 Axial, upward, is positive, O 2 z 2 Axes are determined according to the right hand rule;
calculating a ballistic declination according to the projection of the speed of the aircraft on an xOz plane of a launching coordinate system;
and calculating a ballistic deflection angle control command according to the coordinates of the ballistic deflection angle deviation correcting point on the xOz plane of the launching system.
4. The subsonic vehicle trajectory planning method based on ballistic deflection angle deviation correction according to claim 3, wherein the calculation formula of the ballistic deflection angle is as follows:
wherein psi v The trajectory deflection angle is shown, Vz is the speed in the direction of the z axis of the emission coordinate system, Vx is the speed in the direction of the x axis of the emission coordinate system, and pi is the circumferential rate.
5. The subsonic vehicle trajectory planning method based on ballistic deflection correction according to claim 3, characterized in that the ballistic deflection control command is calculated by the formula:
ΔZ＝Z target -Z
ΔX＝X target -X
wherein psi v_c For ballistic declination control command, (X) target ,Z target ) The trajectory deviation angle deviation correcting point is the coordinate of the launching coordinate system xOz plane, pi is the circumferential ratio, X is the position of the aircraft on the X axis of the launching coordinate system, and Z is the position of the aircraft on the Z axis of the launching coordinate system.
6. The subsonic vehicle trajectory planning method based on ballistic deflection correction according to claim 1, wherein step S3 specifically includes:
dividing the transmitting coordinate system xOz plane trajectory into a longitudinal control section, a course adjusting section, a turning section and a course correcting section;
the time of a longitudinal control section in the launching coordinate system xOz plane trajectory is coincided with the time of an attitude stabilization section and a trajectory pulling deceleration section in a longitudinal plane reference trajectory;
in a course adjusting section in an xOz plane trajectory of a launching coordinate system, controlling the projection of the speed of the aircraft on the xOz plane of the launching coordinate system to point to a trajectory deviation angle correcting point according to the set trajectory deviation angle correcting point, and enabling the longitudinal plane trajectory to be in a flat flight section when the aircraft reaches a target point by adjusting the flight distance after the aircraft exceeds the trajectory deviation angle correction;
setting a turning radius according to the vertical distance between the course adjusting section and the course correcting section in a turning section in an xOz plane trajectory of the launching coordinate system, and calculating overload required by the turning section through the turning radius;
and in a course deviation correction section in the launching coordinate system xOz plane trajectory, setting the trajectory deviation angle deviation correction point coordinate as an aircraft landing point coordinate when the switching condition of the course deviation correction section is reached, and realizing accurate guidance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210886144.6A CN114995517A (en) | 2022-07-26 | 2022-07-26 | Subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210886144.6A CN114995517A (en) | 2022-07-26 | 2022-07-26 | Subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114995517A true CN114995517A (en) | 2022-09-02 |
Family
ID=83021272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210886144.6A Pending CN114995517A (en) | 2022-07-26 | 2022-07-26 | Subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114995517A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116719333A (en) * | 2023-05-25 | 2023-09-08 | 西安现代控制技术研究所 | Design method for vertical-launching missile speed vector control turning instruction |
-
2022
- 2022-07-26 CN CN202210886144.6A patent/CN114995517A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116719333A (en) * | 2023-05-25 | 2023-09-08 | 西安现代控制技术研究所 | Design method for vertical-launching missile speed vector control turning instruction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111306998B (en) | Parameter perturbation self-adaptive guided rocket projectile vertical attack guidance method | |
| CN111473696B (en) | Guidance rocket vertical attack guidance method based on drop point estimation | |
| CN108168381A (en) | A kind of control method of more pieces of guided missile cooperations | |
| CN110471456B (en) | Hypersonic aircraft diving section guidance, attitude control and deformation integrated control method | |
| CN111580547B (en) | Hypersonic aircraft formation control method | |
| CN109190852B (en) | Aircraft target strike track planning method | |
| CN111692919B (en) | Precise guidance control method for aircraft with ultra-close range | |
| CN109737812B (en) | Air-to-ground guided weapon side attack method and device | |
| CN105867426B (en) | Goods and materials bootstrap technique is launched automatically for the aircraft of mobile target | |
| CN110717245B (en) | Design method of quasi-gliding trajectory based on falling angle and falling speed constraints | |
| CN106444822A (en) | Space vector field guidance based stratospheric airship's trajectory tracking control method | |
| CN114995517A (en) | Subsonic aircraft trajectory planning method based on trajectory deflection angle deviation correction | |
| CN113485400A (en) | Roll control method for vertical launch unmanned aerial vehicle | |
| CN114815888B (en) | Affine form guidance control integrated control method | |
| CN114756959A (en) | Design method of aircraft short-distance air combat maneuver intelligent decision machine model | |
| CN107102547B (en) | RLV landing stage guidance law obtaining method based on sliding mode control theory | |
| CN114509946A (en) | Aircraft guidance control integrated design method based on preset time sliding mode | |
| CN109407688A (en) | A kind of center of mass motion decoupling method of the online trajectory planning of VTOL rocket | |
| CN114035616B (en) | Method and system for controlling striking of aircraft to moving target | |
| CN117270402B (en) | Unmanned aerial vehicle composite anti-interference track tracking control method suitable for extreme wind field | |
| CN110823016B (en) | High-precision three-dimensional space guidance method for transition research | |
| CN112629339A (en) | Rocket soft landing trajectory planning method based on direct method | |
| CN115993769A (en) | Integrated guidance control method for high-dynamic aircraft | |
| CN114153226B (en) | Unmanned aerial vehicle view field keeping and guiding method and system assisted by dynamic sight line information | |
| RU2654238C1 (en) | Method of controlling unmanned planning aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |