CN115031763B - Rapid alignment method for rotary shell based on angular rate information - Google Patents

Rapid alignment method for rotary shell based on angular rate information Download PDF

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CN115031763B
CN115031763B CN202210437633.3A CN202210437633A CN115031763B CN 115031763 B CN115031763 B CN 115031763B CN 202210437633 A CN202210437633 A CN 202210437633A CN 115031763 B CN115031763 B CN 115031763B
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navigation system
inertial navigation
rolling angle
alignment
micro
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CN115031763A (en
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邓继权
尚克军
邹思远
郭玉胜
刘洋
刘冲
周亚男
杨研蒙
闫红松
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Beijing Automation Control Equipment Institute BACEI
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • 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
    • F42B15/01—Arrangements thereon for guidance or control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • 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 invention provides a method for rapidly aligning a rotary bullet based on angular rate information, which comprises the following steps: acquiring gyro angular rate information of a micro inertial navigation system during alignment in real time; acquiring a rolling angle of the micro-inertial navigation system based on the gyro angular rate information of the micro-inertial navigation system; acquiring an initial rolling angle corresponding to the rolling angle at the current moment based on the rolling angle of the micro inertial navigation system; establishing a mean square error equation of an initial rolling angle at each moment in the alignment period and a preset optimal initial rolling angle; acquiring a preset optimal initial rolling angle based on a mean square error equation; and acquiring the compensated rolling angle of the micro inertial navigation system based on the preset optimal initial rolling angle, the gyro angular rate information of the micro inertial navigation system during alignment and the navigation period so as to finish alignment of the rotary bullet. The invention can solve the technical problems that the micro inertial navigation system in the prior art has poor alignment precision on the rotating bullets flying uncontrollably and is difficult to meet the requirement of initial alignment precision.

Description

Rapid alignment method for rotary shell based on angular rate information
Technical Field
The invention relates to the technical field of micro inertial navigation system alignment, in particular to a rotating bullet rapid alignment method based on angular rate information.
Background
Guided munitions will play a very important role in wars under high technical conditions in the future, and at present, various guided munitions adopting different guidance modes have been successfully or are being developed in countries around the world. The micro inertial navigation system has the characteristics of small volume, light weight, strong autonomy, good concealment and the like, and has wide application prospect in the field of missile medicine preparation.
The initial alignment is the premise of normal operation of the micro inertial navigation system, and because the flight time of the guided munition is short, the speed of the initial alignment also determines the time for the guided munition to conduct guidance control to a great extent, and has important significance for increasing the range and improving the striking precision. For the micro inertial navigation system for pharmaceutical missiles, the initial alignment algorithm of the micro inertial navigation system requires high alignment precision and short alignment time.
The guided ammunition can simultaneously have rotary motion in the flying process, namely, the guided ammunition rotates around the longitudinal axis of the guided ammunition while advancing, and certain stability can be obtained through the gyroscopic effect generated by high-speed rotation. The shell navigation needs to provide not only the position and velocity information of the shell but also the attitude information. In the initial alignment process of the attitude, due to the high-speed rotation of the projectile body in the flight process, it is important to accurately obtain the initial roll angle of the projectile body, and the initial roll angle is a key factor for the success or failure of the initial alignment of the rotary guided ammunition.
In the aspect of initial alignment of a guided ammunition micro inertial navigation system, a phase-locked loop method is adopted in a Honiser laboratory in the United states, when an ammunition body rotates at a high speed in the air, a sine signal which is sensitive to a Y-axis accelerometer (or a Y-axis gyroscope) and a Z-axis accelerometer (or a Y-axis gyroscope) is utilized, and the phase of the signal is demodulated by adopting a phase-locked loop (PLL) and a related operation principle, so that the purpose of calculating an initial roll angle is achieved.
Disclosure of Invention
The invention provides a quick alignment method of a rotary bomb based on angular rate information, which can solve the technical problems that in the prior art, a micro inertial navigation system has poor alignment precision on the rotary bomb flying uncontrollably, and the requirement on initial alignment precision is difficult to meet.
According to an aspect of the present invention, there is provided a method of rapid alignment of a rotating bullet based on angular rate information, the method comprising:
acquiring gyro angular rate information of a micro inertial navigation system during alignment in real time;
acquiring a rolling angle of the micro-inertial navigation system based on the gyro angular rate information of the micro-inertial navigation system;
acquiring an initial rolling angle corresponding to the rolling angle at the current moment based on the rolling angle of the micro inertial navigation system;
establishing a mean square error equation of an initial rolling angle at each moment in the alignment period and a preset optimal initial rolling angle;
acquiring a preset optimal initial rolling angle based on a mean square error equation;
and acquiring the compensated rolling angle of the micro inertial navigation system based on the preset optimal initial rolling angle, the gyro angular rate information of the micro inertial navigation system during alignment and the navigation period so as to finish alignment of the rotary bullet.
Preferably, the roll angle of the micro inertial navigation system is obtained by the following formula:
Figure BDA0003613213980000021
wherein, gamma is the rolling angle of the micro inertial navigation system, omega by 、ω bz And the angular rates of the Y-axis gyroscope and the Z-axis gyroscope of the micro inertial navigation system are respectively.
Preferably, the initial roll angle corresponding to the roll angle at the current time is obtained by:
Figure BDA0003613213980000031
wherein, gamma 0i An initial roll angle corresponding to the roll angle at the i-th time, gamma i For the roll angle, ω, at time i bxi The angular rate of the X-axis gyroscope at the ith moment is represented by T, the navigation period is represented by T, and the initial alignment moment is ended by n.
Preferably, a mean square error equation of the initial roll angle at each time during alignment with a preset optimal initial roll angle is established by:
Figure BDA0003613213980000032
where f is the mean square error,
Figure BDA0003613213980000033
is the preset optimal initial rolling angle.
Preferably, obtaining the preset optimal initial rolling angle based on the mean square error equation includes:
acquiring a first derivative of the mean square error;
the first derivative of the mean square error is made zero to minimize the mean square error, thereby obtaining a preset optimal initial roll angle.
Preferably, the first derivative of the mean square error is obtained by:
Figure BDA0003613213980000034
preferably, the preset optimal initial roll angle is obtained by:
Figure BDA0003613213980000035
preferably, the roll angle compensated by the micro inertial navigation system is obtained by the following formula:
Figure BDA0003613213980000036
wherein, gamma i ' is the roll angle after the micro inertial navigation system compensation.
According to a further aspect of the present invention there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the methods described above when executing the computer program.
By applying the technical scheme of the invention, the gyro angular rate information of the micro inertial navigation system during alignment is obtained in real time, the characteristic that the course angular rate is zero in a short time in the high dynamic flight process of the projectile body is utilized, the rolling angle of the micro inertial navigation system at any moment is obtained according to the mapping relation between the Y-axis gyro angular rate and the Z-axis gyro angular rate and the rolling angle in the flight process of the projectile body, the rolling angle error is restrained by utilizing the X-axis gyro angular rate, and the rapid alignment precision of the rolling angle is improved. The method is suitable for the rapid alignment of the guided projectile which is electrified in the air after being launched and rotates at a high speed in the flying process, is convenient for engineering realization, and has very important significance for a micro inertial navigation system for the guided projectile.
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The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 shows a flow chart of a method for fast alignment of a rotating projectile based on angular rate information according to one embodiment of the invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, the present invention provides a method for fast alignment of a rotating bullet based on angular rate information, the method comprising:
s10, acquiring gyro angular rate information of a micro inertial navigation system during alignment in real time;
s20, acquiring a rolling angle of the micro-inertial navigation system based on gyro angular rate information of the micro-inertial navigation system;
s30, acquiring an initial rolling angle corresponding to the rolling angle at the current moment based on the rolling angle of the micro inertial navigation system;
s40, establishing a mean square error equation of an initial rolling angle at each moment in the alignment period and a preset optimal initial rolling angle;
s50, acquiring a preset optimal initial rolling angle based on a mean square error equation;
s60, acquiring the compensated rolling angle of the micro inertial navigation system based on the preset optimal initial rolling angle, the gyro angular rate information of the micro inertial navigation system during alignment and the navigation period so as to finish alignment of the rotary shell.
According to the invention, the gyro angular rate information of the micro-inertial navigation system during alignment is obtained in real time, the characteristic that the course angular rate of change is zero in a short time in the high-dynamic flight process of the projectile body is utilized, the rolling angle of the micro-inertial navigation system at any moment is obtained according to the mapping relation between the Y-axis gyro angular rate and the Z-axis gyro angular rate and the rolling angle in the flight process of the projectile body, and then the rolling angle error is restrained by utilizing the X-axis gyro angular rate, so that the rapid alignment precision of the rolling angle is improved. The method is suitable for the rapid alignment of the guided projectile which is electrified in the air after being launched and rotates at a high speed in the flying process, is convenient for engineering realization, and has very important significance for a micro inertial navigation system for the guided projectile.
In the invention, the micro inertial navigation system can be obtained according to the transfer relation of Euler angles with time during initial alignment:
Figure BDA0003613213980000061
wherein gamma is the roll angle of the micro-inertial navigation system, theta is the pitch angle of the micro-inertial navigation system, psi is the course angle of the micro-inertial navigation system, omega bx X-axis gyro angular velocity omega of micro inertial navigation system by Y-axis gyro angular rate omega of micro inertial navigation system bz The Z-axis gyro angular rate of the micro inertial navigation system.
When the guided projectile flies in high dynamic state, the high-speed rotation of the projectile body is utilized to keep the projectile body stable, and the change rate of the course angle can be regarded as zero in a short time, namely
Figure BDA0003613213980000062
Then it can be derived from the above equation:
sinγsecθω by +cosγsecθω bz ＝0；
wherein, pitch angle theta is less than 90 degrees in the flight process of the guided projectile.
Thus, according to ω in the above formula by 、ω bz The roll angle of the micro inertial navigation system in S20 can be obtained:
Figure BDA0003613213980000071
namely:
Figure BDA0003613213980000072
the roll angle at the initial alignment start time can be obtained by the above method:
Figure BDA0003613213980000073
likewise, the roll angle at any time during alignment can also be obtained:
Figure BDA0003613213980000074
wherein, gamma 0 To start the roll angle at the initial alignment time ω by0 、ω bz0 The angular rates of a Y-axis gyroscope and a Z-axis gyroscope of the micro inertial navigation system at the initial alignment moment are gamma i For the roll angle, ω, at time i byi 、ω bzi And the angular rates of the Y-axis gyroscope and the Z-axis gyroscope of the micro inertial navigation system at the ith moment are respectively equal to the angular rates of the Y-axis gyroscope and the Z-axis gyroscope at the ith moment, and n is the initial alignment ending moment.
Due to passing the above formula
Figure BDA0003613213980000075
The calculated rolling angle at the initial alignment time is easily influenced by the disturbance of the instantaneous projectile body, and larger errors are caused, so that the error suppression is carried out by utilizing the X-axis gyro angular rate during the alignment.
Specifically, in the invention, the elastic body rotates at a high speed during the alignment, and n initial rolling angles which are calculated by the rolling angles at any moment can be obtained by combining the angular rate information of the X-axis gyroscope, namely, the rolling angle at each moment during the alignment corresponds to one calculated initial rolling angle:
Figure BDA0003613213980000076
wherein, gamma 0i An initial roll angle corresponding to the roll angle at the i-th time, gamma i For the roll angle, ω, at time i bxi The angular rate of the X-axis gyroscope at the ith moment is represented by T, the navigation period is represented by T, and the initial alignment moment is ended by n.
According to one embodiment of the present invention, in S40 of the present invention, a mean square error equation of the initial roll angle at each time during alignment and a preset optimal initial roll angle is established by:
Figure BDA0003613213980000081
namely:
Figure BDA0003613213980000082
where f is the mean square error,
Figure BDA0003613213980000083
for a preset optimal initial roll angle gamma 01 、γ 02 、……γ 0n The initial scroll angles corresponding to the scroll angles at the first, second, and nth times, respectively.
According to one embodiment of the present invention, in S50 of the present invention, acquiring a preset optimal initial rolling angle based on a mean square error equation includes:
s51, acquiring a first derivative of a mean square error;
s52, enabling the first derivative of the mean square error to be zero so as to minimize the mean square error, and thus obtaining a preset optimal initial rolling angle.
Specifically, in S51 of the present invention, the first derivative of the mean square error is obtained by:
Figure BDA0003613213980000084
in S52 of the present invention, a preset optimal initial roll angle is obtained by:
Figure BDA0003613213980000085
according to one embodiment of the present invention, in S60 of the present invention, the roll angle compensated by the micro inertial navigation system is obtained by:
Figure BDA0003613213980000091
wherein, gamma i ' is the roll angle after the micro inertial navigation system compensation.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the methods described above when executing the computer program.
In summary, the invention provides a method for rapidly aligning a rotating projectile based on angular rate information, which is used for acquiring the gyro angular rate information of a micro inertial navigation system in real time during alignment, and utilizing the characteristic that the course angle change rate is zero in a short time in the high dynamic flight process of the projectile body, according to the mapping relation between the Y-axis gyro angular rate and the Z-axis gyro angular rate and the rolling angle in the flight process of the projectile body, the rolling angle of the micro inertial navigation system at any moment is obtained, and then the rolling angle error is restrained by utilizing the X-axis gyro angular rate, so that the rapid alignment precision of the rolling angle is improved. The method is suitable for the rapid alignment of the guided projectile which is electrified in the air after being launched and rotates at a high speed in the flying process, is convenient for engineering realization, and has very important significance for a micro inertial navigation system for the guided projectile.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A method for rapid alignment of a rotating projectile based on angular rate information, the method comprising:
acquiring gyro angular rate information of a micro inertial navigation system during alignment in real time;
acquiring a rolling angle of the micro-inertial navigation system based on the gyro angular rate information of the micro-inertial navigation system;
acquiring an initial rolling angle corresponding to the rolling angle at the current moment based on the rolling angle of the micro inertial navigation system;
establishing a mean square error equation of an initial rolling angle at each moment in the alignment period and a preset optimal initial rolling angle;
acquiring a preset optimal initial rolling angle based on a mean square error equation;
acquiring a rolling angle compensated by the micro inertial navigation system based on a preset optimal initial rolling angle, gyro angular rate information of the micro inertial navigation system during alignment and a navigation period so as to finish alignment of the rotary shell;
the obtaining the preset optimal initial rolling angle based on the mean square error equation comprises the following steps:
acquiring a first derivative of the mean square error;
the first derivative of the mean square error is made zero to minimize the mean square error, thereby obtaining a preset optimal initial roll angle.
2. The method of claim 1, wherein the roll angle of the micro inertial navigation system is obtained by:
Figure FDA0004186008790000011
wherein, gamma is the rolling angle of the micro inertial navigation system, omega by 、ω bz And the angular rates of the Y-axis gyroscope and the Z-axis gyroscope of the micro inertial navigation system are respectively.
3. The method of claim 1, wherein the initial roll angle corresponding to the roll angle at the current time is obtained by:
Figure FDA0004186008790000012
wherein, gamma 0i An initial roll angle corresponding to the roll angle at the i-th time, gamma i For the roll angle, ω, at time i bxi The angular rate of the X-axis gyroscope at the ith moment is represented by T, the navigation period is represented by T, and the initial alignment moment is ended by n.
4. The method of claim 1, wherein the mean square error equation of the initial roll angle at each time during alignment with the preset optimal initial roll angle is established by:
Figure FDA0004186008790000021
where f is the mean square error,
Figure FDA0004186008790000022
is the preset optimal initial rolling angle.
5. The method of claim 1, wherein the first derivative of the mean square error is obtained by:
Figure FDA0004186008790000023
6. the method of claim 1, wherein the preset optimal initial roll angle is obtained by:
Figure FDA0004186008790000024
7. the method of claim 1, wherein the compensated roll angle of the micro inertial navigation system is obtained by:
Figure FDA0004186008790000025
/>
wherein, gamma i ' is the roll angle after the micro inertial navigation system compensation.
8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 1 to 7 when executing the computer program.
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