CN115309059A - Direct guidance method considering gravity compensation - Google Patents

Direct guidance method considering gravity compensation Download PDF

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CN115309059A
CN115309059A CN202211236421.5A CN202211236421A CN115309059A CN 115309059 A CN115309059 A CN 115309059A CN 202211236421 A CN202211236421 A CN 202211236421A CN 115309059 A CN115309059 A CN 115309059A
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increment
gravity compensation
rocket
acceleration
flight
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CN115309059B (en
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程晓明
禹春梅
李超兵
王晋麟
张惠平
陈曦
包为民
李明华
郑卓
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Beijing Aerospace Automatic Control Research Institute
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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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
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Abstract

A direct guidance method considering gravity compensation belongs to the field of aircraft guidance and control. Firstly, establishing a rocket flight dynamics model, then calculating an average pitching program angle and an average yawing program angle, and obtaining an optimal pitching angle instruction and an optimal yawing angle instruction by using an iterative guidance method; carrying out guided flight, dispersing a flight track into N points, and calculating the position and the speed of a target point through numerical integration; and performing numerical integration, solving to obtain a speed increment and a position increment caused by the gravitational acceleration, repeating the calculation until the difference value between the speed increment and the position increment caused by the gravitational acceleration obtained by the calculation at a certain time and the corresponding increment obtained by the previous calculation is less than a threshold value, and considering convergence to obtain a real-time pitching angle instruction and a yaw angle instruction after gravitational compensation. The invention overcomes the defects of the existing iterative guidance and closed circuit guidance schemes, considers gravity compensation, obtains a guidance instruction closer to a real optimal guidance instruction, improves the guidance precision and has stronger task adaptability.

Description

Direct guidance method considering gravity compensation
Technical Field
The invention belongs to the field of aircraft guidance and control, and relates to a direct guidance method considering gravity compensation.
Background
The existing iterative guidance and closed-circuit guidance scheme takes the current speed and position vector of the rocket as initial values, takes the speed and position vector of a predicted orbit point as terminal conditions, takes the minimum fuel consumption as a performance index, calculates a trajectory in real time according to the maximum principle, and controls the rocket to fly along the trajectory. However, the prior art has the following disadvantages: 1) The gravity and the speed are averagely assumed, so that for a long-time flight task or a task with large gravity acceleration change in the whole flight process, the solution process is not converged due to the fact that the average gravity assumption is not established, and the adaptability of the guidance schemes is greatly reduced; 2) For a conventional flight mission, because average gravity acceleration is adopted, the obtained guidance instruction is different from a real optimal guidance instruction, and a larger margin is needed for aircraft fuel to adapt to program angle approximation brought by various uncertainties and average gravity assumptions, so that the overall design of an aircraft is more conservative.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, and provides the direct guidance method considering the gravity compensation.
The technical scheme of the invention is as follows:
a direct guidance method considering gravity compensation, comprising the steps of:
step one, establishing a rocket flight dynamics model under an inertial coordinate system, wherein the rocket flight dynamics model outside the atmosphere is
Figure 568828DEST_PATH_IMAGE001
Figure 639552DEST_PATH_IMAGE002
In the formula (I), the compound is shown in the specification,
Figure 755275DEST_PATH_IMAGE003
is a real-time position vector of the rocket in an inertial coordinate system,
Figure 595056DEST_PATH_IMAGE004
the real-time velocity vector of the rocket in an inertial coordinate system is obtained;
Figure 75715DEST_PATH_IMAGE005
the unit thrust vector, i.e. the control quantity during flight,
Figure 368156DEST_PATH_IMAGE006
the magnitude of the thrust acceleration is the same as the magnitude of the thrust acceleration,
Figure 225254DEST_PATH_IMAGE007
is gravitational acceleration;
calculating an average pitch program angle and an average yaw program angle according to the apparent velocity increment between the current point and the target point, and acquiring an optimal pitch angle instruction and an optimal yaw angle instruction entering the target track by using an iterative guidance method;
thirdly, performing guided flight by using an optimal pitch angle instruction and an optimal yaw angle instruction, dispersing flight tracks into N points, wherein N is greater than 100, and calculating the position and the speed of a target point through numerical integration;
performing numerical integration on the obtained gravitational acceleration at the N discrete points, and solving to obtain a speed increment and a position increment caused by the gravitational acceleration;
step five, repeating the step two-step four until the calculation result of a certain time meets the following conditions:
calculated acceleration-induced velocity delta for gravitational forces
Figure 984787DEST_PATH_IMAGE008
The difference value of the speed increment obtained by the previous calculation is less than the speed increment threshold value
Figure 636348DEST_PATH_IMAGE009
And position increment caused by gravitational acceleration
Figure 681665DEST_PATH_IMAGE010
The difference value of the position increment obtained by the previous calculation is less than the position increment threshold value
Figure 76874DEST_PATH_IMAGE011
；
The current calculated speed increment is considered
Figure 687984DEST_PATH_IMAGE008
And position increment
Figure 776026DEST_PATH_IMAGE010
Converging and entering a step seven;
and step six, obtaining a real-time optimal pitch angle instruction and a yaw angle instruction after gravity compensation through iterative guidance, and realizing guided flight considering the gravity compensation.
Preferably, in the step one,
Figure 43059DEST_PATH_IMAGE012
wherein, in the process,Tthe thrust of the rocket is the same as the thrust of the rocket,mis the rocket mass.
Preferably, in the step one,
Figure 304276DEST_PATH_IMAGE013
wherein, in the step (A),
Figure 707576DEST_PATH_IMAGE014
is the coefficient of the gravity of the earth.
Preferably, in the actual solving process, the gravitational acceleration is initialized by using the average gravitational acceleration, i.e.
Figure 966519DEST_PATH_IMAGE015
Wherein the content of the first and second substances,
Figure 720848DEST_PATH_IMAGE016
is the average gravitational acceleration of the x, y and z axes under the inertial coordinate system,
Figure 520177DEST_PATH_IMAGE017
is the gravitational acceleration of the x, y and z axes under the inertial coordinate system corresponding to the current point,
Figure 43562DEST_PATH_IMAGE018
and (4) gravitational acceleration of x, y and z axes of an inertial coordinate system corresponding to the target point.
Preferably, in the second step, the average pitch program angle is calculated according to the apparent velocity increment between the current point and the target point
Figure 473406DEST_PATH_IMAGE019
And average yaw program angle
Figure 449452DEST_PATH_IMAGE020
The formula of (1) is as follows:
Figure 52472DEST_PATH_IMAGE021
Figure 695943DEST_PATH_IMAGE022
wherein
Figure 31109DEST_PATH_IMAGE023
The visual velocities of the current point and the target point in the three directions of the x axis, the y axis and the z axis under the inertial coordinate systemAnd (4) degree increment.
Preferably, in the second step, the optimal pitch angle command entering the target track at the time t
Figure 760031DEST_PATH_IMAGE024
And an optimal yaw angle command
Figure 838845DEST_PATH_IMAGE025
Satisfies the following conditions:
Figure 399140DEST_PATH_IMAGE026
Figure 905208DEST_PATH_IMAGE027
wherein the content of the first and second substances,
Figure 121425DEST_PATH_IMAGE028
the guidance coefficient is calculated by using iterative guidance.
Preferably, in step three, the target point position
Figure 3931DEST_PATH_IMAGE029
And velocity
Figure 418731DEST_PATH_IMAGE030
Satisfies the following conditions:
Figure 361280DEST_PATH_IMAGE031
Figure 799214DEST_PATH_IMAGE032
wherein
Figure 282148DEST_PATH_IMAGE033
Is an apparent acceleration value that is acceleration sensitive,
Figure 754718DEST_PATH_IMAGE034
for the time of flight that is currently remaining,
Figure 602588DEST_PATH_IMAGE035
in order to be the initial point of speed,
Figure 527819DEST_PATH_IMAGE036
in order to be the initial point position,
Figure 752127DEST_PATH_IMAGE037
for the velocity increment caused by the acceleration of gravity,
Figure 138590DEST_PATH_IMAGE038
position increments due to gravitational acceleration.
Preferably, in the fourth step, the velocity increment caused by gravitational acceleration
Figure 422941DEST_PATH_IMAGE039
And position increment
Figure 835468DEST_PATH_IMAGE040
Satisfies the following conditions:
Figure 597887DEST_PATH_IMAGE041
Figure 841787DEST_PATH_IMAGE042
wherein the content of the first and second substances,
Figure 297039DEST_PATH_IMAGE043
is as follows
Figure 196862DEST_PATH_IMAGE044
The gravitational acceleration value for a discrete point or points,
Figure 762972DEST_PATH_IMAGE045
in order to average out the discrete time,
Figure 799061DEST_PATH_IMAGE046
is the current remaining time of flight.
Preferably, in the sixth step, at the time t, the real-time optimal pitch angle instruction after gravity compensation
Figure 487532DEST_PATH_IMAGE047
And optimal yaw angle command
Figure 874651DEST_PATH_IMAGE048
The following were used:
Figure 978873DEST_PATH_IMAGE049
Figure 135048DEST_PATH_IMAGE050
wherein, the first and the second end of the pipe are connected with each other,
Figure 994419DEST_PATH_IMAGE051
for the average pitch program angle calculated from the apparent velocity delta between the in-track point and the target point,
Figure 665572DEST_PATH_IMAGE052
the average yaw program angle calculated from the point of entry and the target point,
Figure 839065DEST_PATH_IMAGE053
the guidance coefficients are newly calculated by iterative guidance.
Preferably, when the speed is increased
Figure 849746DEST_PATH_IMAGE054
And position increment
Figure 880019DEST_PATH_IMAGE055
And when the rocket is converged, the rocket position is the point of entering the orbit.
Compared with the prior art, the invention has the beneficial effects that:
(1) The gravity acceleration item of the direct guidance method is compensated, the optimal guidance instruction of the aircraft can be accurately obtained, the optimal guidance instruction is closer to the real optimal guidance instruction, the optimality of generating the guidance instruction in real time is improved, and the burden of the overall design of the aircraft is reduced.
(2) The method compensates the gravitational acceleration term without carrying out average hypothesis, is suitable for long-time and large-arc flight tasks which cannot be adapted by the traditional direct guidance method, and enhances the task adaptability of the guidance method.
Drawings
FIG. 1 is a flow chart of a gravity compensated direct guidance method;
FIG. 2 is a pitch angle simulation curve calculated by using a gravity compensation direct guidance method;
FIG. 3 is a height variation curve calculated using a gravity compensated direct guidance method.
Detailed Description
The invention is further elucidated with reference to the drawing.
The method is a direct guidance program angle calculation method based on gravity compensation. According to the method, on the basis of solving the average program angle, the speed and position increment of the aircraft caused by gravitational acceleration in the flight process are accurately estimated to replace the speed and position increment of the aircraft caused by the gravitational acceleration under the assumption of the original average gravitational force, so that the accurate estimation of the speed and position of the aircraft terminal is realized, and the accurate calculation of the program angles of the yaw angle and the pitch angle is further completed for flight control.
Specifically, as shown in fig. 1, the direct guidance method considering gravity compensation of the present invention includes the following steps:
1) Binding parameters
And binding various parameters of the flight mission terminal in the rocket-borne software before taking off. Each parameter comprises the current speed, position, flight overload, the orbit number of a target orbit, the speed of an orbit point and the initial guess value of the position of the rocket.
2) Kinetic modeling
Establishing a rocket flight dynamics model under an inertial coordinate system, wherein the flight dynamics equation of the rocket outside the atmosphere is
Figure 976151DEST_PATH_IMAGE056
（1）
Figure 422176DEST_PATH_IMAGE057
（2）
In the formula (I), the compound is shown in the specification,
Figure 552943DEST_PATH_IMAGE003
is a real-time position vector of the rocket in an inertial coordinate system,
Figure 754117DEST_PATH_IMAGE004
is the real-time velocity vector of the rocket in an inertial coordinate system,
Figure 337545DEST_PATH_IMAGE058
，
Figure 587261DEST_PATH_IMAGE059
，
Figure 572534DEST_PATH_IMAGE005
the unit thrust vector, i.e. the control quantity during flight,
Figure 944610DEST_PATH_IMAGE006
the magnitude of the thrust acceleration is the magnitude of the thrust acceleration,
Figure 15334DEST_PATH_IMAGE007
is gravitational acceleration. Wherein the content of the first and second substances,
Figure 68741DEST_PATH_IMAGE013
，
Figure 908521DEST_PATH_IMAGE014
is a coefficient of the gravity of the earth,
Figure 454427DEST_PATH_IMAGE012
wherein, in the step (A),Tthe thrust of the rocket is the same as the thrust of the rocket,mis the rocket mass.
In the actual solution process, the gravitational acceleration
Figure 746868DEST_PATH_IMAGE007
Acceleration speed using average gravitational force
Figure 603966DEST_PATH_IMAGE060
（3）
Wherein, the first and the second end of the pipe are connected with each other,
Figure 298252DEST_PATH_IMAGE016
is the average gravitational acceleration of the x, y and z axes under the inertial coordinate system,
Figure 12130DEST_PATH_IMAGE017
is the gravitational acceleration of the x, y and z axes under the inertial coordinate system corresponding to the current point,
Figure 57447DEST_PATH_IMAGE018
the inertia corresponding to the target point is gravity acceleration in three directions.
3) Calculating average pitch and yaw program angles
The average pitch program angle and the average yaw program angle are calculated from the apparent velocity delta between the current point and the target point, as shown below
Figure 452656DEST_PATH_IMAGE061
（4）
Figure 1449DEST_PATH_IMAGE022
（5）
Wherein
Figure 151808DEST_PATH_IMAGE023
The apparent velocity increments in three directions between the current point and the target point. By using iterative guidance, the optimal pitch angle and the optimal pitch angle of the target track can be obtainedYaw angle command:
Figure 418841DEST_PATH_IMAGE026
（6）
Figure 352162DEST_PATH_IMAGE062
（7）
wherein the content of the first and second substances,
Figure 21041DEST_PATH_IMAGE028
are calculated guidance coefficients for use with iterative guidance.
4) Estimate final position
The flight trajectory is discretized into N points (N > 100), for example N may take 20. Calculation of terminal position by numerical integration
Figure 279984DEST_PATH_IMAGE031
（8）
Figure 831051DEST_PATH_IMAGE063
（9）
Wherein
Figure 833642DEST_PATH_IMAGE033
Is an apparent acceleration value that is sensitive to acceleration,
Figure 357027DEST_PATH_IMAGE064
is the current time of flight remaining for the time of flight,
Figure 521292DEST_PATH_IMAGE035
in order to be the initial point of speed,
Figure 825234DEST_PATH_IMAGE036
in order to be the initial point position,
Figure 365937DEST_PATH_IMAGE037
for the velocity increment caused by the acceleration of gravity,
Figure 743829DEST_PATH_IMAGE065
position increments due to gravitational acceleration.
5) Updating velocity and position increments due to gravitational acceleration
The obtained gravitational acceleration at N discrete points is subjected to numerical integration, the integral formula is shown in formulas (10) and (11), and the increment caused by the new gravitational acceleration is obtained by solving
Figure 344575DEST_PATH_IMAGE008
And position increment
Figure 807917DEST_PATH_IMAGE066
。
Figure 214628DEST_PATH_IMAGE041
（8）
Figure 712605DEST_PATH_IMAGE042
（9）
Wherein, the first and the second end of the pipe are connected with each other,
Figure 218673DEST_PATH_IMAGE043
is as follows
Figure 434890DEST_PATH_IMAGE044
The gravitational acceleration value of a discrete point,
Figure 379713DEST_PATH_IMAGE045
is the average discrete time.
6) Repeating the steps 3) -5) until the velocity increment caused by the gravity acceleration obtained by the last calculation
Figure 732197DEST_PATH_IMAGE039
The difference value of the speed increment obtained by the previous calculation is less than the speed increment thresholdValue of
Figure 409166DEST_PATH_IMAGE009
And position increment due to gravitational acceleration
Figure 847100DEST_PATH_IMAGE067
The difference value of the position increment obtained by the previous calculation is less than the position increment threshold value
Figure 533296DEST_PATH_IMAGE011
；
7) Velocity increment by final convergence
Figure 740287DEST_PATH_IMAGE008
And position increment
Figure 916053DEST_PATH_IMAGE067
By using iterative guidance, the real-time program angle equation after gravity compensation can be obtained
Figure 841284DEST_PATH_IMAGE068
（6）
Figure 65592DEST_PATH_IMAGE069
（7）
Wherein the content of the first and second substances,
Figure 392668DEST_PATH_IMAGE070
in order to calculate the average pitch angle and the yaw angle according to the position and the speed of the track entering point obtained by the latest convergence by using the formulas (2) and (3),
Figure 677019DEST_PATH_IMAGE071
the newly calculated guidance coefficients are used for iterative guidance.
Example (b):
by taking a certain type of rocket as an object and considering that the thrust is reduced due to the fault of a main engine, the flight time of the rocket is increased and the flight arc section is increased, the direct guidance method based on the gravitational compensation is utilized to obtain a simulation result, wherein the simulation result comprises an orbit element which finally enters a preset orbit, a flight track from the fault moment to the orbit entering moment and the like.
The direct guidance algorithm based on gravity compensation is as follows:
and (3) target entering the track: at the end of the flight segment, the rocket enters a target elliptical orbit, the height of the near place of the elliptical orbit is 200km, and the height of the far place of the elliptical orbit is 20000km.
Calculating the working condition of force: setting the time when the rocket fails to work to be 1280s, and setting the failure to be thrust reduction of 30% to require that the rocket finally enters a target elliptical orbit.
And (3) direct guidance result: under the above calculation, the rocket main engine has a fault at 1280s, the thrust is reduced by 30%, by the direct guidance method based on gravity compensation provided by the invention, under the condition of ensuring that the available fuel is not changed, the flight time of the rocket is prolonged, finally the rocket completes the orbit at the Height of 508.8km, and the true near point angle corresponding to the time of the orbit is 58.6 degrees, which is caused by the power failure and the time delay of the rocket during the orbit (the obtained pitch angle instruction Fal simulation result is shown in figure 2, and the Height change result is shown in figure 3). If, under this regime, gravity compensation is not employed, divergence may occur using conventional direct guidance methods based on the assumption of average gravity.
The gravity compensation direct guidance method provided by the invention can adapt to accurate orbit entering of a rocket in a small-thrust and large-arc-section power flight task, can provide support for long-time flight of the rocket in future deep space exploration, can adapt to a guidance task of prolonging flight time and increasing an orbit entering arc section due to thrust descent fault of the rocket, and improves the power fault adaptability of the rocket.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (10)

1. A direct guidance method considering gravity compensation, comprising the steps of:
step one, establishing a rocket flight dynamics model under an inertial coordinate system, wherein the rocket flight dynamics model outside the atmosphere is
Figure 399487DEST_PATH_IMAGE001
Figure 316627DEST_PATH_IMAGE002
In the formula (I), the compound is shown in the specification,
Figure 96364DEST_PATH_IMAGE003
is a real-time position vector of the rocket in an inertial coordinate system,
Figure 550961DEST_PATH_IMAGE004
the real-time velocity vector of the rocket in an inertial coordinate system is obtained;
Figure 365333DEST_PATH_IMAGE005
the unit thrust vector, i.e. the control quantity during flight,
Figure 187796DEST_PATH_IMAGE006
the magnitude of the thrust acceleration is the magnitude of the thrust acceleration,
Figure 454829DEST_PATH_IMAGE007
is gravitational acceleration;
calculating an average pitch program angle and an average yaw program angle according to the apparent velocity increment between the current point and the target point, and acquiring an optimal pitch angle instruction and an optimal yaw angle instruction entering the target track by using an iterative guidance method;
thirdly, performing guided flight by using an optimal pitch angle instruction and an optimal yaw angle instruction, dispersing flight tracks into N points, wherein N is greater than 100, and calculating the position and the speed of a target point through numerical integration;
performing numerical integration on the obtained gravitational acceleration at the N discrete points, and solving to obtain a speed increment and a position increment caused by the gravitational acceleration;
step five, repeating the step two-step four until the calculation result of a certain time meets the following conditions:
calculated acceleration-induced velocity delta for gravitational forces
Figure 716046DEST_PATH_IMAGE008
The difference value of the speed increment obtained by the previous calculation is less than the speed increment threshold value
Figure 384925DEST_PATH_IMAGE009
And position increment due to gravitational acceleration
Figure 378288DEST_PATH_IMAGE010
The difference value of the position increment obtained by the previous calculation is less than the position increment threshold value
Figure 132618DEST_PATH_IMAGE011
；
The current calculated speed increment is considered
Figure 728684DEST_PATH_IMAGE008
And position increment
Figure 252069DEST_PATH_IMAGE010
Converging and entering a step seven;
and step six, obtaining a real-time optimal pitch angle instruction and an optimal yaw angle instruction after gravity compensation through iterative guidance, and realizing guided flight considering the gravity compensation.
2. The direct guidance method considering gravity compensation according to claim 1, wherein in the first step,
Figure 681914DEST_PATH_IMAGE012
wherein, in the step (A),Tthe thrust of the rocket is the size of the rocket thrust,mis rocket mass.
3. The direct guidance method considering gravity compensation according to claim 1, wherein in the first step,
Figure 923539DEST_PATH_IMAGE013
wherein, in the process,
Figure 464242DEST_PATH_IMAGE014
is the coefficient of earth's gravity.
4. Direct guidance method taking gravity compensation into account, according to claim 3, characterized in that in the actual solution process the gravitational acceleration is initialized with the average gravitational acceleration, i.e. the gravitational acceleration is calculated
Figure 170030DEST_PATH_IMAGE015
Wherein, the first and the second end of the pipe are connected with each other,
Figure 505196DEST_PATH_IMAGE016
is the average gravitational acceleration of the x, y and z axes under the inertial coordinate system,
Figure 234118DEST_PATH_IMAGE017
is the gravitational acceleration of the x, y and z axes under the inertial coordinate system corresponding to the current point,
Figure 312932DEST_PATH_IMAGE018
and (4) gravitational acceleration of x, y and z axes of an inertial coordinate system corresponding to the target point.
5. The direct guidance method considering gravity compensation according to claim 1, wherein in the second step, the average pitch program angle is calculated according to the apparent velocity increment between the current point and the target point
Figure 669964DEST_PATH_IMAGE019
And average yaw program angle
Figure 441611DEST_PATH_IMAGE020
The formula of (1) is as follows:
Figure 392250DEST_PATH_IMAGE021
Figure 274755DEST_PATH_IMAGE022
wherein
Figure 892818DEST_PATH_IMAGE023
The apparent velocity increment between the current point and the target point in the inertial coordinate system in the three directions of the x axis, the y axis and the z axis.
6. The direct guidance method considering gravity compensation according to claim 5, wherein in the second step, the optimal pitch angle command entering the target track at time t
Figure 835366DEST_PATH_IMAGE024
And optimal yaw angle command
Figure 273301DEST_PATH_IMAGE025
Satisfies the following conditions:
Figure 693918DEST_PATH_IMAGE026
Figure 228805DEST_PATH_IMAGE027
wherein the content of the first and second substances,
Figure 342254DEST_PATH_IMAGE028
to make use of iterative systemsAnd guiding the guidance coefficient obtained by calculation.
7. The direct guidance method considering gravity compensation according to claim 1, wherein in step three, the positions of target points
Figure 267485DEST_PATH_IMAGE029
And velocity
Figure 491793DEST_PATH_IMAGE030
Satisfies the following conditions:
Figure 553290DEST_PATH_IMAGE031
Figure 902887DEST_PATH_IMAGE032
wherein
Figure 315414DEST_PATH_IMAGE033
Is an apparent acceleration value that is sensitive to acceleration,
Figure 343413DEST_PATH_IMAGE034
for the time of flight that is currently remaining,
Figure 524995DEST_PATH_IMAGE035
in order to be the initial point of speed,
Figure 776985DEST_PATH_IMAGE036
in order to be the initial point position,
Figure 676808DEST_PATH_IMAGE037
for the velocity increment caused by the acceleration of gravity,
Figure 242918DEST_PATH_IMAGE038
for gravitational accelerationThe position of the screw is increased.
8. The direct guidance method considering gravity compensation according to claim 1, wherein in the fourth step, the velocity increment caused by gravity acceleration
Figure 544587DEST_PATH_IMAGE039
And position increment
Figure 764216DEST_PATH_IMAGE040
Satisfies the following conditions:
Figure 151335DEST_PATH_IMAGE041
Figure 521136DEST_PATH_IMAGE042
wherein the content of the first and second substances,
Figure 411732DEST_PATH_IMAGE043
is a first
Figure 474366DEST_PATH_IMAGE044
The gravitational acceleration value for a discrete point or points,
Figure 83201DEST_PATH_IMAGE045
in order to average out the discrete time,
Figure 256694DEST_PATH_IMAGE046
is the current remaining time of flight.
9. The direct guidance method considering gravity compensation according to claim 1, wherein in the sixth step, at time t, the real-time optimal pitch angle command after gravity compensation
Figure 267375DEST_PATH_IMAGE047
And optimal yaw angle command
Figure 235331DEST_PATH_IMAGE048
The following were used:
Figure 393780DEST_PATH_IMAGE049
Figure 105384DEST_PATH_IMAGE050
wherein, the first and the second end of the pipe are connected with each other,
Figure 970572DEST_PATH_IMAGE051
for the average pitch program angle calculated from the apparent velocity delta between the in-track point and the target point,
Figure 109429DEST_PATH_IMAGE052
to calculate the average yaw program angle from the point of entry and the target point,
Figure 551912DEST_PATH_IMAGE053
the guidance coefficients are newly calculated by iterative guidance.
10. The direct guidance method considering gravity compensation of claim 9, wherein the velocity is increased
Figure 801628DEST_PATH_IMAGE054
And position increment
Figure 786901DEST_PATH_IMAGE055
And when the rocket is converged, the rocket position is the point of the orbit.
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