CN116202379A - Laser beam steering guided rolling missile roll angle measurement error estimation method - Google Patents

Laser beam steering guided rolling missile roll angle measurement error estimation method Download PDF

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CN116202379A
CN116202379A CN202211371812.8A CN202211371812A CN116202379A CN 116202379 A CN116202379 A CN 116202379A CN 202211371812 A CN202211371812 A CN 202211371812A CN 116202379 A CN116202379 A CN 116202379A
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missile
coordinate system
acceleration
roll angle
measurement error
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于剑桥
周洪淼
赵新运
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Beijing Institute of Technology BIT
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/24—Beam riding guidance systems
    • F41G7/26—Optical guidance systems
    • F41G7/266—Optical guidance systems for spin-stabilized missiles
    • 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
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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    • G—PHYSICS
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Abstract

A method for estimating the roll angle measurement error of a laser steering guided roll missile uses the information which can be obtained by the laser steering guided roll to calculate the difference between the theoretical acceleration and the actual acceleration generated by the missile control force, and the roll angle measurement error is obtained. The method can accurately estimate the roll angle measurement error only by knowing the line deviation and the control force generated by the missile under the dynamic coordinate system.

Description

Laser beam steering guided rolling missile roll angle measurement error estimation method
Technical Field
The invention relates to the technical field of missile guidance control, in particular to a roll angle measurement error estimation method.
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 in the control of pitching and yawing channels, and a spiral line appears on a trajectory, and even off-target is caused. The estimation of the roll angle measurement error has important significance for improving the hit precision of the laser beam steering roll missile.
At present, no effective estimation means is available for measuring the roll angle error of the laser beam steering guided roll missile.
Disclosure of Invention
The invention provides a laser driving beam guided rolling missile roll angle measurement error estimation method, which can accurately estimate the missile roll angle measurement error and is used for correction and compensation of a control system.
A laser beam steering guided rolling missile roll angle measurement error estimation method comprises the following steps:
s1, calculating theoretical acceleration generated by missile control force under the ideal condition of no error of a roll angle;
s2, processing the received laser signals by the missile-borne laser receiving device, continuously acquiring the distance deviation between the missiles, and calculating the actual acceleration generated by the missile control force;
and S3, calculating an included angle between the theoretical acceleration generated by the control force and the actual acceleration generated by the control force, and determining a measurement error of the roll angle.
Further, the step S1 specifically includes:
taking the mass center of the missile as an origin, establishing a 1 st coordinate system, namely a standard coordinate system Ox 1 y 1 z 1 X is of 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 pointing in the opposite direction to the component of gravity in this plane, z 1 The direction meets the right hand rule;
taking the mass center of the missile as an origin, establishing a 2 nd coordinate system, namely a movable coordinate system Ox 2 y 2 X is of 2 、y 2 The axis also lies in the vertical plane of the laser beam axis, y 2 The axis points to the direction opposite to the plane component force in the gravity direction marked by the inertial measurement device on the bullet;
in the ideal case of a roll angle measurement error δ=0, the acceleration vector a generated by the missile control force ideal X in standard coordinate system 1 、y 1 The axis components are:
Figure BDA0003925674070000021
wherein ,(·)i Representing a projected component of the vector in an ith coordinate system;
Figure BDA0003925674070000022
is calculated by the missile controller and the force calculated by the missile controller is in the 2 nd coordinate system x 2 、y 2 A component of the shaft; m is missile mass.
Further, the step S2 specifically includes:
taking the mass center of the missile as an origin, establishing a 3 rd coordinate system, namely a missile-eye connecting line coordinate system Ox 3 y 3 ；
Obtaining a bullet mesh connecting line coordinate system Ox according to the distance deviation delta x and delta y between bullet meshes 3 y 3 And a standard coordinate system Ox 1 y 1 The included angle theta between them is
Figure BDA0003925674070000023
Decomposing the missile acceleration along the missile-borne link direction and the direction perpendicular to the missile-borne link direction:
Figure BDA0003925674070000024
Figure BDA0003925674070000025
wherein ,
Figure BDA0003925674070000026
for normal acceleration +.>
Figure BDA0003925674070000027
For tangential acceleration, r is the bullet distance, < ->
Figure BDA0003925674070000028
The actual acceleration vector a generated by the missile control force real X in standard coordinate system 1 、y 1 The axis components are:
Figure BDA0003925674070000029
wherein g is the component of gravitational acceleration in the plane perpendicular to the laser beam axis.
Further, the step S3 specifically includes:
the measurement error of the roll angle is as follows:
Figure BDA0003925674070000031
where sign represents the sign of the error angle, which can be determined by:
setting a vector
Figure BDA0003925674070000032
Figure BDA0003925674070000033
Then
Figure BDA0003925674070000034
wherein (·)i (j) Representing the jth component of the vector projected under the i coordinate system.
The disclosure also provides a laser driving beam guidance rolling missile roll angle measurement error estimation device applying the method, comprising:
the theoretical acceleration calculation module is used for calculating the theoretical acceleration generated by the missile control force under the ideal condition of no error of the roll angle;
the actual acceleration measurement calculation module is used for continuously acquiring the distance deviation between the missile and the target and calculating the actual acceleration generated by the missile control force;
and the roll angle measurement error calculation module is used for calculating the included angle between the two vectors of the theoretical acceleration and the actual acceleration and determining the measurement error of the roll angle.
According to the method provided by the disclosure, the rolling angle measurement error is obtained by solving the difference between the actual acceleration and the theoretical acceleration generated by the control force. Compared with the prior art, the beneficial effects of the present disclosure are: (1) The rolling angle measurement error can be accurately estimated only by the known line deviation and the control force generated by the missile under the dynamic coordinate system; (2) Although the formula deduced by the present disclosure is based on a stationary target, actual simulation results show that for a target with an initial velocity and acceleration, when the target motion acceleration is far less than the missile motion acceleration, the method provided by the present disclosure can still accurately estimate the roll angle measurement error; and (3) the method is simple and convenient, and the calculation efficiency is high.
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The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the disclosure.
FIG. 1 shows a flow chart in accordance with an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an established coordinate system;
FIG. 3 is an exploded view of missile acceleration, with the vector directions in the view representing the positive directions of tangential and normal accelerations.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are illustrated in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The present disclosure provides a method for estimating a roll angle measurement error of a laser steering guided roll missile, which uses information that can be obtained by the laser steering guided roll missile to obtain the roll angle measurement error according to the difference between a theoretical acceleration and an actual acceleration, as shown in fig. 1.
Exemplary embodiments include the steps of:
step 1: the missile motion in the plane perpendicular to the laser beam is examined, and the missile M is regarded as a particle, and T is the target point. Definition of a Standard coordinate System Ox 1 y 1 The coordinate system after the gravitational direction is calibrated by the gyroscope is defined as a dynamic coordinate system Ox 2 y 2 Bullet mesh wire coordinate system Ox 3 y 3 . The included angle between the dynamic coordinate system and the standard coordinate system is delta, ox 1 Anticlockwise turn to Ox 2 And positive, which is numerically equal to the missile roll angle measurement error. Bullet mesh wire coordinate system Ox 3 y 3 And a standard coordinate system Ox 1 y 1 The included angle between them is theta, ox 1 Anticlockwise turn to Ox 3 The time is positive. The bullet mesh distance is r. The control forces generated by the missile include control forces created by the line deviation through a correction network and gravity compensation.
The transformation matrix from the standard coordinate system to the dynamic coordinate system is:
Figure BDA0003925674070000051
the transformation matrix from the standard coordinate system to the bullet mesh wire coordinate system is as follows:
Figure BDA0003925674070000052
/>
deviation of position line
Figure BDA0003925674070000053
wherein
Figure BDA0003925674070000054
Step 2: missile kinematics and dynamics are described in a standard coordinate system as:
Figure BDA0003925674070000055
wherein m is missile mass, F x and Fy The projection of the control force generated by the missile under a standard coordinate system is calculated by the following formula:
Figure BDA0003925674070000056
wherein
Figure BDA0003925674070000057
Is the force calculated by the missile controller.
Step 3:
decomposing the missile acceleration in the direction perpendicular to the missile connecting line and along the missile connecting line according to the acceleration synthesis theorem
a a ＝a r +a e +a C (7)
wherein ,aa For the absolute acceleration of the missile, a r For relative acceleration, a e To tie up acceleration, a C Is the coriolis acceleration. Formula (7) may furtherWritten as
Figure BDA0003925674070000061
Wherein ω is the rotational angular velocity of the bullet wire. Obtained by the formula (8):
Figure BDA0003925674070000062
Figure BDA0003925674070000063
in the ideal case of an error angle δ=0, the component of the acceleration vector generated by the missile control force in the standard coordinate system can be expressed as:
Figure BDA0003925674070000064
wherein (·)i Representing the projected component of the vector in the coordinate system i.
The components of the actual acceleration vector generated by the missile control force in the standard coordinate system can be expressed as:
Figure BDA0003925674070000065
when the laser beam is not horizontal, g is the component of gravitational acceleration in the plane of the vertical laser beam under investigation, at which time information about the angle between the laser beam and the horizontal plane needs to be known.
Step 4:
solving error angle
Figure BDA0003925674070000066
Where sign represents the sign of the error angle, which can be determined by:
setting a vector
Figure BDA0003925674070000071
Figure BDA0003925674070000072
Then
Figure BDA0003925674070000073
wherein (·)i (j) Representing the jth component of the vector projected under the i coordinate system.
By applying the method disclosed by the disclosure, the distance line deviation between the missile and the laser beam center is obtained by utilizing the characteristics of the laser beam-driving missile. If the laser beam is not horizontal, additional angle information of the included angle between the laser beam and the horizontal plane is needed, but the information is difficult to obtain by the current technical means. The following method (i.e., no need to acquire laser beam angle information) can be adopted for this problem: for hitting ground targets, the laser beam is approximately horizontal, and the method is still applicable, and because the missile roll angle error resolving speed is high, the missile can fly for a short time under the laser beam horizontal condition, and then the target is aimed after the error angle is resolved, namely, the laser beam angle is changed.
The foregoing technical solutions are merely exemplary embodiments of the present invention, and various modifications and variations can be easily made by those skilled in the art based on the application methods and principles disclosed in the present invention, not limited to the methods described in the foregoing specific embodiments of the present invention, so that the foregoing description is only preferred and not in a limiting sense.

Claims (5)

1. A laser beam steering guided rolling missile roll angle measurement error estimation method comprises the following steps:
s1, calculating theoretical acceleration generated by missile control force under the ideal condition of no error of a roll angle;
s2, processing the received laser signals by the missile-borne laser receiving device, continuously acquiring the distance deviation between the missiles, and calculating the actual acceleration generated by the missile control force;
and S3, calculating an included angle between the theoretical acceleration generated by the control force and the actual acceleration generated by the control force, and determining a measurement error of the roll angle.
2. The estimation method according to claim 1, wherein the step S1 specifically includes:
taking the mass center of the missile as an origin, establishing a 1 st coordinate system, namely a standard coordinate system Ox 1 y 1 z 1 X is of 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 pointing in the opposite direction to the component of gravity in this plane, z 1 The direction meets the right hand rule;
taking the mass center of the missile as an origin, establishing a 2 nd coordinate system, namely a movable coordinate system Ox 2 y 2 X is of 2 、y 2 The axis also lies in the vertical plane of the laser beam axis, y 2 The axis points to the direction opposite to the plane component force in the gravity direction marked by the inertial measurement device on the bullet;
in the ideal case of a roll angle measurement error δ=0, the acceleration vector a generated by the missile control force ideal X in standard coordinate system 1 、y 1 The axis components are:
Figure FDA0003925674060000011
wherein ,(·)i Representing a projected component of the vector in an ith coordinate system;
Figure FDA0003925674060000012
is calculated by the missile controller and the force calculated by the missile controller is in the 2 nd coordinate system x 2 、y 2 A component of the shaft; m is missile mass.
3. The estimation method according to claim 2, wherein the step S2 specifically includes:
taking the mass center of the missile as an origin, establishing a 3 rd coordinate system, namely a missile-eye connecting line coordinate system Ox 3 y 3 ；
Obtaining a bullet mesh connecting line coordinate system Ox according to the distance deviation delta x and delta y between bullet meshes 3 y 3 And a standard coordinate system Ox 1 y 1 The included angle theta between them is
Figure FDA0003925674060000021
Decomposing the missile acceleration along the missile-borne link direction and the direction perpendicular to the missile-borne link direction:
Figure FDA0003925674060000022
Figure FDA0003925674060000023
wherein ,
Figure FDA0003925674060000024
for normal acceleration +.>
Figure FDA0003925674060000025
For tangential acceleration, r is the bullet distance, < ->
Figure FDA0003925674060000026
The actual acceleration vector a generated by the missile control force real X in standard coordinate system 1 、y 1 The axis components are:
Figure FDA0003925674060000027
wherein g is the component of gravitational acceleration in the plane perpendicular to the laser beam axis.
4. The estimation method according to claim 3, wherein the step S3 specifically includes:
the measurement error of the roll angle is as follows:
Figure FDA0003925674060000028
where sign represents the sign of the error angle, which can be determined by:
setting a vector
Figure FDA0003925674060000029
Figure FDA00039256740600000210
Then
Figure FDA00039256740600000211
wherein (·)i (j) Representing the jth component of the vector projected under the i coordinate system.
5. A laser steering guided roll missile roll angle measurement error estimation apparatus according to the method of any one of claims 1-4 including:
the theoretical acceleration calculation module is used for calculating the theoretical acceleration generated by the missile control force under the ideal condition of no error of the roll angle;
the actual acceleration measurement calculation module is used for continuously acquiring the distance deviation between the missile and the target and calculating the actual acceleration generated by the missile control force;
and the roll angle measurement error calculation module is used for calculating the included angle between the two vectors of the theoretical acceleration and the actual acceleration and determining the measurement error of the roll angle.
CN202211371812.8A 2022-11-03 2022-11-03 Laser beam steering guided rolling missile roll angle measurement error estimation method Pending CN116202379A (en)

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JPH0942898A (en) * 1995-07-27 1997-02-14 Mitsubishi Electric Corp Automatic pilot device
US6163021A (en) * 1998-12-15 2000-12-19 Rockwell Collins, Inc. Navigation system for spinning projectiles
CN105700520A (en) * 2014-06-26 2016-06-22 波音公司 Flight vehicle autopilot
CN107179021A (en) * 2017-06-14 2017-09-19 北京理工大学 Many bullet collaboration zero-miss guidance control methods under a kind of beam rider guidance system
CN110017830A (en) * 2019-03-25 2019-07-16 北京理工大学 The method for resolving attitude of flight vehicle using Geomagnetism Information and gravity sensor
CN115014335A (en) * 2021-03-04 2022-09-06 霍尼韦尔国际公司 System and method for model-based inertial navigation of a spinning projectile

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