CN116086252A - Rolling missile rolling angle measurement error estimation method containing line deviation measurement noise - Google Patents

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

A method for estimating the roll angle measurement error of a rolling missile with linear deviation measurement noise

Technical Field

The invention relates to a rolling missile rolling angle measurement error estimation method containing linear deviation measurement noise, and belongs to the technical field of laser beam-riding guided rolling missile guidance control.

Background Art

Laser beam-riding guided missiles form guidance instructions based on the position line deviation from the center of the laser beam. Laser beam-riding guided rolling missiles use gyroscopes to sense the spatial attitude of the missile body, but due to the error in the calibration of the gyroscope for the direction of gravity, the measured roll angle has an error. The existence of roll angle measurement error will lead to a deviation between the theoretical control force direction and the actual control force direction, resulting in coupling between the missile's pitch and yaw channel control and spiral motion in the trajectory. Estimation of roll angle measurement error is of great significance to improving the hit accuracy of laser beam-riding guided rolling missiles. Estimation of roll angle measurement error requires the use of line deviation data, but the line deviation data sensed by the missile will inevitably have measurement noise. Derivation of the noisy measurement data will further amplify the noise, and it is ultimately difficult to obtain the roll angle measurement error.

At present, the sun azimuth angle measurement method, accelerometer method and magnetic detection method are mostly used to compensate for the missile roll angle measurement error. However, the above methods will inevitably introduce additional sensors into the missile body, increasing the weight of the missile body. For laser beam-riding guided missiles, which are generally used for anti-tank and low-altitude defense, the introduction of expensive high-precision sensors will reduce their low-cost advantages.

Summary of the invention

The present invention proposes a method for estimating the roll angle measurement error of a rolling missile containing line deviation measurement noise. When the line deviation contains measurement noise, the missile roll angle measurement error can be estimated more accurately for correction and compensation of the control system.

A method for estimating the roll angle measurement error of a rolling missile containing linear deviation measurement noise comprises the following steps:

Step 1: The laser receiving device on the missile processes the received laser signal to obtain the linear deviations Δx and Δy between the missile and the target, and the controller on the missile obtains the sub-control forces F _x2 and F _y2 according to the missile control force;

Step 2: Input the line deviation into the second-order low-pass filter and then into the nonlinear extended state observer to obtain the

计算滚转角测量误差δ；Step 3: Based on the control forces F _x2 , F _y2 , the missile mass m and the extended state observer,

Calculate the roll angle measurement error δ;

Step 4: Repeat steps 1 to 4 N times, perform average filtering on the obtained results, and obtain the final roll angle measurement error estimate.

Furthermore, the transfer function of the second-order low-pass filter of the present invention is:

Among them, Y(s) is the frequency domain expression of the signal after filtering, S is a complex parameter, ω is the cutoff frequency, and R(s) is the frequency domain expression of the signal input to the filter after Laplace transform.

Furthermore, the nonlinear extended state observer of the present invention:

e＝z ₁ -y

Among them, β ₁ , β ₂ , β ₃ , δ ₁ , α ₁ , α ₂ are set values, and the saturation function fal(e,α ₁ ,δ ₁ ) is expressed as:

The saturation function fal(e,α ₂ ,δ ₁ ) is expressed as:

Among them, sgn(e) is the sign function, which outputs the positive or negative sign of e.

包括如下内容：Furthermore, the line deviation is input into a second-order low-pass filter and then into a nonlinear extended state observer to obtain the

It includes the following:

The line deviations Δx and Δy are Laplace transformed and input into the second-order low-pass filter as R(s), and the output Y(s) is recorded as Y ₁ (s) and Y ₂ (s) respectively. After Y ₁ (s) and Y ₂ (s) are inversely Laplace transformed, they are respectively brought into the variable y in the extended state observer, and the z ₃ is solved and recorded as

计算滚转角测量误差δ，包括如下内容，基于所述分量F_x2、F_y2、导弹质量m和所述扩张状态观测器算出的

联立求解得滚转角测量误差δ：Furthermore, the component F _x2 , F _y2 , the missile mass m and the extended state observer calculated

Calculating the roll angle measurement error δ includes the following: based on the components F _x2 , F _y2 , the missile mass m and the extended state observer

The roll angle measurement error δ is obtained by simultaneous solution:

Beneficial effects:

First, the amount of calculation used in the calculation process of this method does not require the addition of additional sensors to the original missile body, and can be collected only by relying on the original laser receiving device and controller on the missile, avoiding the increase in missile body weight and manufacturing cost after adding sensors like the traditional methods of solar azimuth measurement, accelerometer method and magnetic detection method.

Second, in the calculation process of this method, in order to eliminate the measurement noise in the line deviation signal, a second-order low-pass filter is constructed, and the addition of a saturation function fal(e,α ₁ ,δ) in the nonlinear extended state observer can suppress signal jitter, and the system has higher accuracy.

Third, due to the existence of line deviation measurement noise, the roll angle measurement error obtained in step three will oscillate within a certain range. In order to further obtain an accurate roll angle measurement error, the result obtained in step three is averaged and filtered to effectively eliminate oscillation and achieve higher calculation accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

Figure 1 is a schematic diagram of the coordinate system.

FIG2 is a flow chart of the roll angle measurement error estimation.

DETAILED DESCRIPTION

The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

The embodiment of the present application proposes a method for estimating the roll angle measurement error of a laser beam-riding guided rolling missile containing line deviation measurement noise. The method can more accurately estimate the missile roll angle measurement error when the line deviation contains measurement noise, which is used for correction and compensation of the control system.

A method for estimating the roll angle measurement error of a rolling missile containing linear deviation measurement noise comprises the following steps (as shown in FIG. 2 ):

Step 1: The laser receiving device on the missile processes the received laser signal and continuously obtains the distance deviations Δx and Δy between the missile and the target. The controller on the missile obtains the sub-control forces F _x2 and F _y2 according to the missile control force;

In the calculation process of this embodiment, the calculation of the distance deviation and the component control force is equivalent to setting the standard coordinate _{system Ox1y1 ,} taking the missile M as a mass point with a mass of m, T as the target point, and taking the missile mass center as the origin. Its _x1 and _y1 axes are located in the vertical plane of the laser beam axis, the _x1 axis points to the horizontal direction, and the _y1 axis points to the opposite direction of the component force of gravity in the plane; setting the moving coordinate system _Ox2y2 as _follows : taking the missile mass center as the origin, the angle between the moving coordinate system and the standard coordinate system is the roll angle measurement error δ, and _Ox1 is positive when it rotates counterclockwise to _Ox2 ; _Fx2 and _Fy2 are the component control forces of the missile control force acting on the moving coordinate system in the _x2 and _y2 directions, respectively. The coordinates of the missile M are ( _xM , _yM ), and the coordinates of the missile T are ( _xT , _yT ). The position line deviation between the missile and the target in the standard coordinate system is:

The missile kinematics and dynamics are described in standard coordinates as:

Where V _Mx and V _My are the velocity values of the missile in the x and y directions.

Step 2: Construct a second-order low-pass filter and a nonlinear extended state observer for the system. Input the line deviation into the second-order low-pass filter and then into the nonlinear extended state observer to obtain the

建立系统状态方程，其中输出y₁为在x₁方向的线偏差：If the target acceleration a _T = 0 or the missile acceleration is much greater than the target acceleration, that is, a _T << a _M , in the x direction of the standard coordinate system, let x ₁ = Δx,

The system state equation is established, where the output y ₁ is the line deviation in the x ₁ direction:

建立系统状态方程，其中输出y₂为在y₁方向的线偏差：In the y direction of the standard coordinate system, let x ₃ = Δy,

The system state equation is established, where the output _y2 is the line deviation in the _y1 direction:

In the above system state equation, f becomes the unknown part due to the existence of the unknown term δ.

The line deviation data y ₁ and y ₂ are Laplace transformed and input into a second-order low-pass filter as R(s) to construct a second-order low-pass filter, whose transfer function is:

Among them, Y(s) is the frequency domain expression of the signal after filtering, ω is the cutoff frequency. When its value is less than the frequency of the noise signal, the filtering effect is better. Through the above transfer function, the output Y(s) can be obtained and recorded as Y ₁ (s) and Y ₂ (s), and the new y ₁ and y ₂ are obtained after inverse Laplace transform.

Then construct the nonlinear extended state observer:

e＝z ₁ -y

In this embodiment, β ₁ =100, β ₂ =300, β ₃ =1000, δ ₁ =0.01, α ₁ =0.5, α ₂ =0.25 are set, and the saturation function fal(e, α ₁ , δ) is used to suppress signal jitter, which is expressed as:

Then z ₁ (t)→x ₁ (t), z ₂ (t)→x ₂ (t), z ₃ (t)→f.

有Substitute the filtered line deviation data y ₁ and y ₂ into the variable y in the extended state observer, and solve for z ₃ calculated by the extended state observer, which is recorded as

have

计算δ，联立求解得滚转角测量误差δ：Step 3: Based on the components F _x2 , F _y2 and the extended state observer,

Calculate δ and solve the roll angle measurement error δ:

由于线偏差测量噪声的存在，求得的滚转角测量误差会在一定范围内振荡，为了进一步获得准确的滚转角测量误差，需要得到的结果进行平均值滤波，所述平均值滤波计算过程如下：Step 4: Repeat steps 1 to 3 for a total of N times, perform average filtering on the obtained results, and obtain the final roll angle measurement error estimate.

Due to the existence of line deviation measurement noise, the roll angle measurement error obtained will oscillate within a certain range. In order to further obtain an accurate roll angle measurement error, the result needs to be averaged and filtered. The average filtering calculation process is as follows:

为最终求得的滚转角测量误差估计值。Where N is the number of repetitions, _δn is the roll angle measurement error calculated in the nth process,

is the final estimated value of the roll angle measurement error.

The gravity, gravity compensation and control force mentioned in the present invention should be understood in a broad sense. When the laser beam is non-horizontal, the above-mentioned force should be understood as the component of the actual force in the plane perpendicular to the laser beam.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be 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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