CN116086252A - Rolling missile rolling angle measurement error estimation method containing line deviation measurement noise - Google Patents
Rolling missile rolling angle measurement error estimation method containing line deviation measurement noise Download PDFInfo
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
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- H03H17/0248—Filters characterised by a particular frequency response or filtering method
- H03H17/026—Averaging filters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
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Abstract
The invention aims to provide a rolling missile rolling angle measurement error estimation method with line deviation measurement noise, which is characterized in that a missile is regarded as a second-order low-pass filter and a nonlinear extended state observer of a particle construction system, sampled line deviation data are brought into the filter and the state observer to obtain rolling angle measurement errors, and in order to enable a result to be more accurate, the calculated average value of the obtained rolling angle measurement errors is used for obtaining the rolling angle measurement error value.
Description
Technical Field
The invention relates to a rolling missile rolling angle measurement error estimation method of linear deviation measurement noise, and belongs to the technical field of laser beam steering guided rolling missile guidance control.
Background
And forming a guidance instruction by the laser beam steering guided missile according to the deviation of the position line from the center of the laser beam steering. The laser beam steering rolling missile uses the spatial attitude of a gyroscope sensitive missile body, but the measured rolling angle is caused to have errors due to the fact that the gyroscope has errors in the calibration of the gravity direction. The existence of the roll angle measurement error can lead to deviation between the theoretical control force direction and the actual control force direction, so that the missile is coupled with the control of the pitching and yawing channels, and spiral motion occurs to the trajectory. The estimation of the roll angle measurement error has important significance for improving the hit precision of the laser beam steering roll missile. The estimation of the roll angle measurement error requires the use of line deviation data, but the line deviation data felt by missile sensitivity inevitably has measurement noise, deriving the measurement data containing noise further amplifies the noise, and finally the roll angle measurement error is difficult to obtain.
Currently, a solar azimuth angle measurement method, an accelerometer method and a magnetic detection method are mainly adopted for missile roll angle measurement error compensation. However, the above method inevitably introduces additional sensors into the projectile and increases the weight of the projectile. For laser steering guided missiles, which are commonly used as antitank and low-altitude defense, the introduction of high-precision sensors reduces their low-cost advantage.
Disclosure of Invention
The invention provides a rolling missile rolling angle measurement error estimation method containing line deviation measurement noise, which can accurately estimate the missile rolling angle measurement error under the condition that the line deviation contains measurement noise and is used for correction and compensation of a control system.
A rolling missile rolling angle measurement error estimation method containing line deviation measurement noise comprises the following steps:
step one, a laser receiving device on the missile processes the received laser signals to obtain line deviations delta x and delta y between missile targets, and a controller on the missile obtains a sub-control force F according to the missile control force x2 、F y2 ；
Inputting the line deviation into a second-order low-pass filter and then into a nonlinear extended state observer to obtain the calculated extended state observer
Step three, based on the sub-control force F x2 、F y2 GuideThe mass m and the state of expansion observer
Calculating a roll angle measurement error delta;
repeating the steps for one to four times for N times, and carrying out average value filtering on the obtained result to obtain a final roll angle measurement error estimated value
Further, the transfer function of the second-order low-pass filter of the present invention is:
wherein Y (S) is the expression of the filtered signal in the frequency domain, S is the complex parameter, ω is the cut-off frequency, and R (S) is the expression of the filtered signal in the frequency domain after Law transformation.
Further, the nonlinear extended state observer of the invention:
e＝z 1 -y
wherein beta is 1 ，β 2 ，β 3 ，δ 1 ，α 1 ，α 2 For the set value, the saturation function fal (e, alpha 1 ,δ 1 ) Is expressed as:
saturation function fal (e, alpha 2 ,δ 1 ) Is expressed as:
where sgn (e) is a sign function, outputting the sign of e.
Further, the line deviation is input into a second-order low-pass filter and then is input into a nonlinear extended state observer to obtain the calculated extended state observer
The method comprises the following steps:
the line deviations Deltax and Deltay are input into a second-order low-pass filter as R(s) after being subjected to Law transformation, and the obtained outputs Y(s) are respectively marked as Y 1 (s)、Y 2 (s) for Y 1 (s)、Y 2 (s) carrying out inverse Laplace transformation and then respectively taking the inverse Laplace transformation into the variable y in the extended state observer to obtain z 3 Respectively marked as
Further, the component F is based on x2 、F y2 Missile mass m and calculated by the extended state observer
Calculating a roll angle measurement error delta, including based on the component F x2 、F y2 Missile mass m and +.>
Simultaneous solution to obtain roll angle measurement error delta:
the beneficial effects are that:
the calculation amount used in the calculation process of the method can be collected by only relying on the original laser receiving device and the controller on the missile without adding an additional sensor on the original missile, so that the increase of the weight and the manufacturing cost of the missile after the sensor is added like a solar azimuth measuring method, an accelerometer method and a magnetic detection method in the traditional method is avoided.
In the second, the method constructs a second-order low-pass filter for eliminating the measurement noise in the line deviation signal, and adds a saturation function fal (e, alpha 1 δ) can always signal buffeting, and the system accuracy is higher.
Thirdly, due to the existence of line deviation measurement noise, the rolling angle measurement error obtained in the third step can oscillate within a certain range, and in order to further obtain the accurate rolling angle measurement error, average value filtering is carried out on the result obtained in the third step, so that oscillation is effectively eliminated, and the calculation accuracy is higher.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a coordinate system.
Fig. 2 is a flow chart of roll angle measurement error estimation.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The embodiment of the application provides a laser beam steering guided rolling missile roll angle measurement error estimation method with line deviation measurement noise, which can accurately estimate the missile roll angle measurement error under the condition that the line deviation contains the measurement noise and is used for correction and compensation of a control system.
A rolling missile rolling angle measurement error estimation method containing line deviation measurement noise comprises the following steps (shown in figure 2):
step one, a laser receiving device on the missile processes the received laser signals, continuously acquires distance deviations delta x and delta y between missile eyes, and a controller on the missile acquires a sub-control force F according to the missile control force x2 、F y2 ；
In the calculation process of the embodiment, the calculation of the distance deviation and the sub-control force corresponds to the setting of the standard coordinate system Ox 1 y 1 Taking missile M as a particle, taking mass as M, taking T as a target point, taking mass center of the missile as origin, and taking x as x 1 、y 1 The axis is in the vertical plane of the laser beam axis, x 1 The axis pointing in the horizontal direction, y 1 The axis points to the direction opposite to the component force of gravity on the plane; setting a dynamic coordinate system Ox 2 y 2 The method comprises the following steps: taking the mass center of the missile as an origin, and taking the included angle between a dynamic coordinate system and a standard coordinate system as a roll angle measurement error delta, ox 1 Anticlockwise turn to Ox 2 Is positive; f (F) x2 、F y2 Respectively, the missile control force acts on x under the dynamic coordinate system 2 、y 2 The sub-control forces in the direction, the coordinates of the missile M are (x M 、y M ) The missile T has a coordinate (x T 、y T ) The position line deviation between the missile and the target in the standard coordinate system is as follows:
missile kinematics and dynamics are described in a standard coordinate system as:
wherein V is Mx 、V My Is the velocity value of the missile in the x and y directions.
Step twoConstructing a second-order low-pass filter and a nonlinear extended state observer of the system, inputting the line deviation into the second-order low-pass filter, and then inputting the line deviation into the nonlinear extended state observer to obtain the calculated extended state observer
If the target acceleration a T =0 or the missile acceleration is far greater than the target acceleration, i.e. a T ＜＜a M Let x in x direction under standard coordinate system 1 ＝Δx，
Establishing a system state equation, wherein the output y 1 Is at x 1 Line deviation of direction:
let x in y direction under standard coordinate system 3 ＝Δy，
Establishing a system state equation, wherein the output y 2 To at y 1 Line deviation of direction:
in the above system state equation, f becomes an unknown part due to the existence of the unknown term δ.
Line deviation data y 1 、y 2 And (3) taking the obtained product as an R(s) input second-order low-pass filter after Law transformation, and constructing a second-order low-pass filter, wherein the transfer function of the second-order low-pass filter is as follows:
wherein Y(s) is the expression of the filtered signal in the frequency domain, omega is the cut-off frequency, and when the value of the signal is smaller than the noise signal frequency, the filtering effect is better, and the output Y(s) obtained by the transfer function is respectively recorded as Y 1 (s)、Y 2 (s) obtaining new y after performing inverse Laplace transformation 1 、y 2 。
Then constructing a nonlinear expansion state observer:
e＝z 1 -y
wherein, beta is set in the embodiment 1 ＝100，β 2 ＝300，β 3 ＝1000，δ 1 ＝0.01，α 1 ＝0.5，α 2 =0.25, saturation function fal (e, α 1 δ) acts to suppress signal buffeting, expressed as:
then there is z 1 (t)→x 1 (t)，z 2 (t)→x 2 (t)，z 3 (t)→f。
The filtered line deviation data y 1 、y 2 The variables y respectively carried into the extended state observer are solved to obtain z calculated by the extended state observer 3 Is marked as
Has the following components
Step three, based on the component F x2 、F y2 And the extended state observer
Calculating delta, and obtaining a roll angle measurement error delta by simultaneous solution: />
Repeating the steps one to three for N times, and filtering the average value of the obtained result to obtain the final roll angle measurement error estimated value
Because of the existence of line deviation measurement noise, the obtained roll angle measurement error can oscillate within a certain range, and in order to further obtain the accurate roll angle measurement error, the obtained result is required to be subjected to average value filtering, and the average value filtering calculation process is as follows:
where N is the number of repetitions, delta n The roll angle measurement error calculated for the nth process,
and the estimated value of the rolling angle measurement error is finally obtained.
The reference to gravity, gravity compensation and control forces in the present invention should be understood in a broad sense, and the above-mentioned forces should be understood as components of the actual forces in a plane perpendicular to the laser beam when the laser beam is not horizontal.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (5)
1. A rolling missile rolling angle measurement error estimation method containing line deviation measurement noise is characterized by comprising the following steps:
step one, a laser receiving device on the missile processes the received laser signals to obtain line deviations delta x and delta y between missile targets, and a controller on the missile obtains a sub-control force F according to the missile control force x2 、F y2 ；
Inputting the line deviation into a second-order low-pass filter and then into a nonlinear extended state observer to obtain the calculated extended state observer
Step three, based on the sub-control force F x2 、F y2 Missile mass m and calculated by the extended state observer
Calculating a roll angle measurement error delta;
repeating the steps for one to four times for N times, and carrying out average value filtering on the obtained result to obtain a final roll angle measurement error estimated value
2. The method of claim 1, wherein the transfer function of the second order low pass filter is:
wherein Y (S) is the expression of the filtered signal in the frequency domain, S is the complex parameter, ω is the cut-off frequency, and R (S) is the expression of the filtered signal in the frequency domain after Law transformation.
3. The method of claim 1, wherein the nonlinear extended state observer:
e＝z 1 -y
wherein beta is 1 ，β 2 ，β 3 ，δ 1 ，α 1 ，α 2 For the set value, the saturation function fal (e, alpha 1 ,δ 1 ) Is expressed as:
saturation function fal (e, alpha 2 ,δ 1 ) Is expressed as:
where sgn (e) is a sign function, outputting the sign of e.
4. A method according to claims 1-3, wherein the linear deviation is input into a second order low pass filter and then into a nonlinear extended state observer to obtain the calculated extended state observer
The method comprises the following steps:
the line deviations Deltax and Deltay are input into a second-order low-pass filter as R(s) after being subjected to Law transformation, and the obtained outputs Y(s) are respectively marked as Y 1 (s)、Y 2 (s) for Y 1 (s)、Y 2 (s) carrying out inverse Laplace transformation and then respectively taking the inverse Laplace transformation into the variable y in the extended state observer to obtain z 3 Respectively marked as
5. The method of claim 1, wherein the component F based x2 、F y2 Missile mass m and calculated by the extended state observer
Calculating a roll angle measurement error delta, including based on the component F x2 、F y2 Missile mass m and +.>
Simultaneous solution to obtain roll angle measurement error delta:
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