CN116222301A - Rapid aiming method and system for offshore launching rocket - Google Patents
Rapid aiming method and system for offshore launching rocket Download PDFInfo
- Publication number
- CN116222301A CN116222301A CN202211711547.3A CN202211711547A CN116222301A CN 116222301 A CN116222301 A CN 116222301A CN 202211711547 A CN202211711547 A CN 202211711547A CN 116222301 A CN116222301 A CN 116222301A
- Authority
- CN
- China
- Prior art keywords
- aiming
- navigation system
- rocket
- inertial
- integrated navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000012546 transfer Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000008685 targeting Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 208000004350 Strabismus Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- Navigation (AREA)
Abstract
The application relates to the field of rocket launching, in particular to a quick aiming system for an offshore launching rocket, which comprises: the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer are fixed in the equipment cabin; the inertial-satellite integrated navigation system is used for obtaining the speed, position and attitude information of the inertial-satellite integrated navigation system in real time; the photoelectric autocollimator is used for measuring azimuth angle deviation between the photoelectric autocollimator and the prism on the arrow; the aiming computer takes the speed and the position of the inertial-satellite integrated navigation system as the speed and the position information of the rocket, and obtains the azimuth angle of the prism on the rocket according to the azimuth angle deviation between the received photoelectric autocollimator and the prism on the rocket and the attitude information of the inertial-satellite integrated navigation system; the aiming computer sends the speed, the position and the azimuth angle of the prism on the arrow to the combined navigation system on the arrow in real time, and the combined navigation system on the arrow runs a transfer alignment algorithm to finish transfer alignment. The method can realize the quick aiming of the offshore launching rocket.
Description
Technical Field
The application relates to the technical field of rocket launching, in particular to a method and a system for quickly aiming an offshore launching rocket.
Background
The targeting system is an important component in rocket control systems. The method has the main function of measuring the precise azimuth angle of the rocket inertia instrument coordinate system in the launching inertial coordinate system before the rocket is launched, so that the rocket can realize precise orbit entering or target hitting.
At present, the carrier rocket in China mainly adopts two aiming schemes of long-distance inclined aiming and short-distance horizontal aiming. As shown in fig. 1, the remote inclined aiming scheme is to construct an aiming test room on a launching pad, and the aiming test room is influenced by the height of a rocket, so that the erecting height of a ground collimator 120 is greatly different from the height of a rocket inertial group prism 110, and the aiming elevation angle is larger. As shown in fig. 2, the close-range aiming scheme is to construct an aiming test room on a fixed service tower 230 close to a rocket, and the aiming device 220 is erected at a height similar to that of the rocket inertial group prism 210, so that the aiming elevation angle is smaller.
In the aiming operation, as shown in FIG. 3, the collimator is first aligned with the external optical reference, the optical reference azimuth A jz Then, according to the standard of aiming operation, the collimator is collimated with the rocket aiming prism to obtain the measuring angle delta A of the collimator mz . Will make the optical reference azimuth angle A jz And the collimator measures the angle delta A mz Adding to obtain the aiming azimuth angle A mz ，A mz The collimator is referred to as the large azimuth angle pointed by the aiming direction when the collimator is collimated with the main inertial unit prism.
Aiming azimuth angle is calculated by formula A mz ＝A jz +ΔA mz Performing calculation, wherein A jz The collimator is erected on an aiming point, and when the collimator is aligned with a reference prism or a standard rod erected on the reference point, the collimator emits light in the direction of the large azimuth angle; ΔA mz The difference between the normal direction of the strapdown inertial measurement unit prism (the emergent light direction of the collimator is positive) and the introduced reference direction (clockwise from the reference direction is positive) measured for the collimator.
The traditional aiming technology is only suitable for aiming a traditional tower launching rocket, and the basic assumption is that azimuth references, collimators, rockets and the like are required to be fixed on the ground and are not suitable for aiming a marine launching rocket, and the method is specifically as follows: the traditional aiming technology needs to install an external reference prism or a reference standard pole which is fixedly connected with the ground, the reference prism or the standard pole is used as an azimuth reference, but when the marine launching platform is a moving platform, and an installation position which is fixedly connected with the ground does not exist; the traditional aiming technology needs to fix the aiming device on the ground or a fixed service tower for aiming, and the aiming device does not have a fixed aiming device installation position when in offshore launching; the traditional aiming technology needs to aim after the rocket is erected, and when the rocket is launched at sea, the rocket launching platform is disturbed by sea waves, ocean currents, wind and the like, and has more severe shaking and posture drift, and the traditional aiming mode is difficult to collimate; the traditional aiming technology outputs a fixed azimuth angle, and the rocket posture changes in real time when the rocket is launched at sea, so that the aiming result is fast to lose efficacy. In addition, the traditional aiming technology requires a person to aim in a loop for a long time, is greatly influenced by the climatic conditions such as illumination, rain and snow and the like, and is not beneficial to the realization of quick emission and all-weather emission.
Therefore, how to achieve the rapid aiming of the offshore launching rocket is a technical problem which needs to be solved by the person skilled in the art at present.
Disclosure of Invention
In view of the above, the present application provides a method and a system for quickly aiming an offshore launching rocket, so as to achieve quick aiming of the offshore launching rocket.
In order to solve the technical problems, the application provides the following technical scheme:
an offshore launch rocket quick sighting system comprising: photoelectric auto-collimator, inertial-satellite integrated navigation system, aiming computer and stabilized voltage supply; the inertial-satellite integrated navigation system, the photoelectric auto-collimator and the aiming computer are all fixed in the equipment cabin of the offshore launching platform; the inertial-satellite integrated navigation system is used for obtaining the speed, position and attitude information of the inertial-satellite integrated navigation system in real time; the light-emitting end of the photoelectric autocollimator faces the arrow prism and is used for measuring the azimuth angle deviation between the photoelectric autocollimator and the arrow prism; the aiming computer takes the received speed and position of the inertial-satellite integrated navigation system as speed and position information of the rocket, and obtains the azimuth angle of the prism on the rocket according to the azimuth angle deviation between the received photoelectric autocollimator and the prism on the rocket and the attitude information of the inertial-satellite integrated navigation system; the stabilized voltage power supply is electrically connected with the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer to provide electric energy for the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer.
The marine launch rocket rapid aiming system as described above, wherein the aiming computer preferably transmits the speed, position information and azimuth angle of the rocket on-board prism in real time to the on-board navigation computer as observables of the on-board integrated navigation system operation transfer alignment algorithm.
An offshore launch rocket rapid aiming system as described above, wherein preferably the inertial-satellite integrated navigation system is a combination of an inertial navigation system and a satellite navigation system.
An offshore launch rocket rapid targeting system as described above wherein preferably the inertial-satellite integrated navigation system is signally connected to the targeting computer by a data cable.
An offshore launch rocket rapid targeting system as described above wherein the photoelectric autocollimator is preferably in signal connection with the targeting computer via a data cable.
An offshore launch rocket rapid targeting system as described above wherein the targeting computer is preferably connected to the surface survey launch control system by an ethernet cable.
The rapid aiming system for the marine launch rocket is characterized in that a stabilized voltage power supply is preferably electrically connected with a photoelectric auto-collimator, an inertial-satellite integrated navigation system and an aiming computer through power cables.
The marine launch rocket rapid aiming system as described above, wherein the equipment compartment preferably has a measurement window with the light emitting end of the photo autocollimator facing the measurement window and the measurement window facing the on-arrow prism to ensure that the light emitting end of the photo autocollimator faces the on-arrow prism.
An offshore launch rocket rapid targeting method suitable for use in an offshore launch rocket rapid targeting system according to any one of the preceding claims, comprising: step S710, powering on the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer; step S720, responding to power-on, self-checking the photoelectric auto-collimator, the inertial-satellite integrated navigation system, the aiming computer and the stabilized voltage supply, and feeding back the self-checking state to the ground detection and control system by the aiming computer; step S730, in response to receiving an initial alignment instruction sent by the ground measurement and control system, the inertial-satellite integrated navigation system starts initial alignment to obtain initial position and initial posture information; step S740, after the initial alignment is completed, the inertial-satellite integrated navigation system starts integrated navigation, and the speed, position and attitude information of the inertial-satellite integrated navigation system is output in real time; step S750, after the launching sea area is reached, responding to a starting aiming instruction sent by a ground measurement and control system, and enabling the photoelectric autocollimator to start photoelectric aiming by an aiming computer so as to measure the azimuth deviation between the photoelectric autocollimator and an on-arrow prism; step 760, the aiming computer takes the speed and the position of the inertial-satellite integrated navigation system as the speed and the position information of the rocket, obtains the azimuth angle of the prism on the rocket according to the azimuth angle deviation between the received photoelectric autocollimator and the prism on the rocket and the attitude information of the inertial-satellite integrated navigation system, and sends the information to the integrated navigation system on the rocket in real time through the Ethernet; step S770, responding to a transmission starting alignment instruction sent by a ground detection and control system, and running a transmission alignment algorithm by the on-rocket combined navigation system according to the speed and position information of the rocket and the azimuth angle information of the on-rocket prism received in real time to perform transmission alignment; and step S780, responding to a transmission alignment completion signal sent by the on-arrow integrated navigation system, powering off the photoelectric auto-collimator and the inertial-satellite integrated navigation system by the aiming computer after the on-arrow integrated navigation system completes transmission alignment, and ending the aiming process.
Compared with the background technology, the quick aiming of the marine launching rocket provided by the application adopts an inertial-satellite integrated navigation system as an azimuth reference of aiming, can move along with a marine launching platform, and is suitable for aiming of the moving launching rocket; the method adopts a mode of fixedly connecting the photoelectric auto-collimator and the inertial-satellite integrated navigation system, so that aiming of the reference prism is avoided each time; aiming is carried out before the rocket is erected, so that the elastic shaking of a rocket structure is reduced, the distance between the photoelectric auto-collimator and the rocket is short, and the aiming precision is high; the quick aiming system of the offshore launching rocket and the rocket are simultaneously positioned in the heat insulation shed during aiming, so that the influence of weather conditions such as stormy waves, temperature and the like is avoided, and all-weather work is realized; and the sighting result, the position and the speed data are sent to the on-rocket combined navigation system in real time and used as the observed quantity when the on-rocket combined navigation system operates and transmits an alignment algorithm, and compared with the self-alignment of the on-rocket combined navigation system, the initial alignment precision of the offshore rocket launching can be greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may also be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a schematic diagram of a remote squint scheme in the prior art;
FIG. 2 is a schematic diagram of a close proximity panning scheme in the prior art;
FIG. 3 is a schematic view of the aiming angle relationship of the prior art;
FIG. 4 is a schematic diagram of an offshore launch rocket quick sighting system provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of an installation of an offshore launch rocket quick sighting system provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of the measurement principle of an electro-optic autocollimator of an offshore launch rocket fast targeting system provided by an embodiment of the present application;
FIG. 7 is a flow chart of a method for fast targeting of an offshore launch rocket provided in an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of illustrating the present application and are not to be construed as limiting the present application.
Example 1
Referring to fig. 4 and 5, fig. 4 is a schematic diagram of an offshore launching rocket quick sighting system according to an embodiment of the present application; fig. 5 is a schematic installation view of an offshore launch rocket quick aiming system provided in an embodiment of the present application.
The present application provides an offshore launch rocket quick sighting system 400 comprising: an electro-optical auto-collimator 410, an inertial-satellite integrated navigation system 420, an aiming computer 430, and a regulated power supply 440.
Wherein the integrated inertial-satellite navigation system 420 is fixed to the equipment compartment 510 of an offshore launching platform (e.g., an offshore launching vessel), and the integrated inertial-satellite navigation system 420 is a combination of the inertial navigation system and the satellite navigation system for obtaining the velocity, position and attitude information of the integrated inertial-satellite navigation system 420 in real time. The integrated inertial-satellite navigation system 420 is in signal communication with the aiming computer 430 to transmit the velocity, position and attitude information of the integrated inertial-satellite navigation system 420 obtained in real time to the aiming computer 430. Optionally, the integrated inertial-satellite navigation system 420 is signally connected to the aiming computer 430 via a data cable.
Specifically, the satellite navigation system includes: the double-antenna satellite navigation receiver can receive satellite navigation signals and perform high-precision positioning and orientation; the inertial navigation system includes: and calculating the non-levelness of the tri-axis gyroscope and the tri-axis accelerometer. Initial orientation is carried out through a double-antenna satellite receiver, initial non-levelness is measured through a three-axis gyroscope and a three-axis accelerometer, and real-time tracking and real-time correction of speed, position and attitude information are carried out through an inertia-satellite combined navigation algorithm. Optionally, the tri-axial gyroscope is a laser gyroscope and the tri-axial accelerometer is a quartz flexible accelerometer.
The photo-autocollimator 410 is fixed to the equipment compartment 510 of the offshore launching platform (e.g., an offshore launching vessel) and the light emitting end of the photo-autocollimator 410 is directed towards the arrow prism 520 for measuring the azimuthal deviation between the photo-autocollimator 410 and the arrow prism 520. The equipment bay has a measurement window with the light emitting end of the photo autocollimator 410 facing the measurement window and the measurement window facing the arrow prism 520 to ensure that the light emitting end of the photo autocollimator 410 faces the arrow prism 520. The electro-optical autocollimator 410 is in signal communication with the aiming computer 430 to transmit the measured azimuthal deviation between the electro-optical autocollimator 410 and the on-arrow prism to the aiming computer 430. Optionally, the electro-optic autocollimator 410 is signally connected to the aiming computer 430 via a data cable.
Specifically, as shown in fig. 6, the electro-optical auto-collimator 410 measures the angle change by auto-collimation method, including: a light source 411, a reticle 412, a beam splitter prism 413, an objective lens 414, and an image sensor (not shown in the figure); the light source 411 uniformly irradiates on the reticle 412 to form a uniform measuring slit beam, the reticle 412 is placed on the focal plane of the objective 414, the measuring slit beam on the reticle 412 passes through the objective 414 to form a parallel beam, the parallel beam is projected on the arrow prism 520, and the arrow prism 520 reflects the beam through the spectroscope 413 to form an image on the image sensor.
If the arrow prism 520 is perpendicular to the main optical axis of the photo-autocollimator 410 in azimuth, the autocollimator beam returns in original path, and when the arrow prism 520 changes an angle alpha in azimuth, the reflected beam returns at an angle of 2 alpha, and an image is generated at different positions on the image sensor according to the deviation degree of the reflected beam. Calculation formula for knowing auto-collimation measurement according to trigonometric function principle
Wherein Δy is the image sensor measurement position difference, namely: the difference between the initial position CCD signal and the measured position CCD signal, f, is the focal length of the objective lens 414.
On the basis of the above, the measurement error of the photoelectric auto-collimator 410 is not more than 10 angular seconds, and the optical system and the control system can bear severe use environments such as transportation, high and low temperature and the like.
The aiming computer 430 is fixed in the equipment compartment 510 of the offshore launching platform (for example, an offshore launching vessel), takes the received speed and position of the inertial-satellite integrated navigation system 420 as the speed and position information of the rocket, and obtains the azimuth angle of the prism on the rocket according to the received azimuth angle deviation between the photoelectric autoregistration 410 and the prism on the rocket and the attitude information of the inertial-satellite integrated navigation system 420. And, the pointing computer 430 transmits the velocity, position information, and azimuth of the rocket prism on the rocket to the rocket-based navigation computer as an observed quantity of the rocket-based integrated navigation system operation transfer alignment algorithm. Optionally, the pointing computer 430 is signally connected to the on-arrow navigation computer via an ethernet cable.
Since the offshore launching platform is loaded with a rocket anchored from departure-to-the launching sea, the rocket is fixed to the offshore launching platform, and the inertial-satellite integrated navigation system 420 is also fixed to the offshore launching platform, the velocity and position information obtained in real time can be regarded as velocity and position information of the rocket.
Because the inertial-satellite integrated navigation system 420 and the photoelectric auto-collimator 410 are both fixed in the equipment compartment 510 of the offshore launching platform, when the inertial-satellite integrated navigation system 420 and the photoelectric auto-collimator 410 are fixed in the equipment compartment 510 of the offshore launching platform, the position of the photoelectric auto-collimator 410 relative to the inertial-satellite integrated navigation system 420 can be adjusted so that the azimuth deviation between the photoelectric auto-collimator 410 and the target is equal to the azimuth deviation between the inertial-satellite integrated navigation system 420 and the target. In this way, the azimuth angle deviation between the photoelectric auto-collimator 410 and the on-arrow prism can be used as the azimuth angle deviation between the inertial-satellite integrated navigation system 420 and the on-arrow prism, and the azimuth angle of the on-arrow prism can be obtained through the azimuth angle deviation between the inertial-satellite integrated navigation system 420 and the on-arrow prism and the attitude information of the inertial-satellite integrated navigation system 420.
The stabilized power supply 440 is connected to the photoelectric auto-collimator 410, the inertial-satellite integrated navigation system 420 and the aiming computer 430 by cables to provide electric power for the photoelectric auto-collimator 410, the inertial-satellite integrated navigation system 420 and the aiming computer 430. Optionally, regulated power supply 440 is electrically connected to photo-autocollimator 410, inertial-satellite integrated navigation system 420, aiming computer 430 via power cables.
Example two
Referring to fig. 7, fig. 7 is a flowchart of a method for quickly aiming an offshore launch rocket according to an embodiment of the present application.
The application provides a quick aiming method for an offshore launching rocket, which is suitable for a quick aiming system for the offshore launching rocket in the first embodiment, and comprises the following steps:
step S710, powering on the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer;
before the offshore launching platform leaves the port, the ground testing launching control system starts to work, and the offshore launching rocket quick aiming system is electrified, namely: the power is applied to a photoelectric auto-collimator, an inertial-satellite integrated navigation system and a aiming computer.
Step S720, responding to power-on, self-checking the photoelectric auto-collimator, the inertial-satellite integrated navigation system, the aiming computer and the stabilized voltage supply, and feeding back the self-checking state to the ground detection and control system by the aiming computer;
after the quick aiming system (photoelectric auto-collimator, inertial-satellite integrated navigation system, aiming computer and stabilized voltage supply) of the marine launching rocket is electrified, the photoelectric auto-collimator, inertial-satellite integrated navigation system, aiming computer and stabilized voltage supply respectively perform self-checking, and after the self-checking is completed, the aiming computer feeds the self-checking state back to the ground testing launching control system.
And after the self-checking state is a normal state, the aiming computer enters a preparation state and waits for an initial aiming instruction sent by the ground testing and initiating control system.
Step S730, in response to receiving an initial alignment instruction sent by the ground measurement and control system, the inertial-satellite integrated navigation system starts initial alignment to obtain initial position and initial posture information;
after receiving the feedback self-checking state sent by the aiming computer, the ground detection and control system checks whether the self-checking state is normal or abnormal, if the self-checking state is abnormal, the ground detection and control system checks to find the reason of the abnormality, and if the self-checking state is normal, the ground detection and control system can send an initial alignment instruction to an offshore launching platform.
After the aiming computer of the offshore launching platform receives the initial alignment instruction, the aiming computer enables the inertial-satellite integrated navigation system to start initial alignment so as to obtain initial position and initial posture information.
Step S740, after the initial alignment is completed, the inertial-satellite integrated navigation system starts integrated navigation, and the speed, position and attitude information of the inertial-satellite integrated navigation system is output in real time;
after the initial alignment is completed, the inertial-satellite integrated navigation system acquires the speed, position and attitude information of the inertial-satellite integrated navigation system in real time along with navigation of the offshore launching platform to the launching sea area.
Step S750, after the launching sea area is reached, responding to a starting aiming instruction sent by a ground measurement and control system, and enabling the photoelectric autocollimator to start photoelectric aiming by an aiming computer so as to measure the azimuth deviation between the photoelectric autocollimator and an on-arrow prism;
after the offshore launching platform sails to the launching sea area, the ground detection and launch control system sends a start aiming command to the aiming computer, and the aiming computer enables the photoelectric autocollimator to start photoelectric aiming, so that the azimuth angle deviation between the photoelectric autocollimator and the prism on the arrow is measured.
the aiming computer takes the speed and the position of the inertial-satellite combined navigation system as the speed and the position information of the rocket, and obtains the azimuth angle of the prism on the rocket according to the azimuth angle deviation between the received photoelectric autocollimator and the prism on the rocket and the attitude information of the inertial-satellite combined navigation system.
And the aiming computer periodically transmits the real-time speed, the real-time position information and the real-time azimuth angle of the rocket prism to the rocket combined navigation system.
Step S770, responding to a transmission starting alignment instruction sent by a ground detection and control system, and running a transmission alignment algorithm by the rocket-mounted integrated navigation system according to the speed and position information of the rocket and the azimuth angle of an rocket-mounted prism received in real time to perform transmission alignment;
the on-rocket combined navigation system adopts periodically received real-time rocket speed and position information and real-time on-rocket prism azimuth angle information as observables, and starts to operate a transfer alignment algorithm after receiving a transfer starting alignment instruction sent by the ground test launch control system; after a period of operation, the combined navigation system on the arrow reaches enough alignment precision, namely, the combined navigation system can turn to autonomous navigation, and sends a signal for transmitting alignment completion to the ground test launch control system.
And step S780, responding to the received signal of completing the transfer alignment sent by the combined navigation system on the arrow, and powering off the photoelectric auto-collimator and the inertial-satellite combined navigation system by the aiming computer, so that the aiming process is finished.
After receiving the signal of completing the transfer alignment sent by the combined navigation system on the arrow, the aiming computer cuts off the power of the photoelectric auto-collimator and the inertial-satellite combined navigation system, and the system stops working.
The inertial-satellite integrated navigation system is adopted as the azimuth reference of aiming, can move along with an offshore launching platform, and is suitable for aiming of a mobile launching rocket; the method adopts a mode of fixedly connecting the photoelectric auto-collimator and the inertial-satellite integrated navigation system, so that aiming of the reference prism is avoided each time; aiming is carried out before the rocket is erected, so that the elastic shaking of a rocket structure is reduced, the distance between the photoelectric auto-collimator and the rocket is short, and the aiming precision is high; the quick aiming system of the offshore launching rocket and the rocket are simultaneously positioned in the heat insulation shed during aiming, so that the influence of weather conditions such as stormy waves, temperature and the like is avoided, and all-weather work is realized; transmitting aiming results and position and speed data to the combined navigation system on the arrow in real time as observed quantity of the operation transfer alignment algorithm of the combined navigation system on the arrow; compared with the self-alignment of the rocket-based integrated navigation system, the initial alignment precision of the offshore rocket-based integrated navigation system can be greatly improved.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (9)
1. An offshore launch rocket rapid targeting system, comprising: photoelectric auto-collimator, inertial-satellite integrated navigation system, aiming computer and stabilized voltage supply;
the inertial-satellite integrated navigation system, the photoelectric auto-collimator and the aiming computer are all fixed in the equipment cabin of the offshore launching platform;
the inertial-satellite integrated navigation system is used for obtaining the speed, position and attitude information of the inertial-satellite integrated navigation system in real time; the light-emitting end of the photoelectric autocollimator faces the arrow prism and is used for measuring the azimuth angle deviation between the photoelectric autocollimator and the arrow prism; the aiming computer takes the received speed and position of the inertial-satellite integrated navigation system as speed and position information of the rocket, and obtains the azimuth angle of the prism on the rocket according to the azimuth angle deviation between the received photoelectric autocollimator and the prism on the rocket and the attitude information of the inertial-satellite integrated navigation system;
the stabilized voltage power supply is electrically connected with the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer to provide electric energy for the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer.
2. The marine launch rocket rapid aiming system according to claim 1, wherein the aiming computer transmits the speed, position information and azimuth angle of the rocket on-board prism to the on-board navigation computer in real time through the ethernet as observables of the on-board combined navigation system operation transfer alignment algorithm.
3. An offshore launch rocket rapid aiming system according to claim 1 or 2, wherein the inertial-satellite integrated navigation system is a combination of inertial and satellite navigation systems.
4. An offshore launch rocket rapid aiming system according to claim 2, wherein the inertial-satellite integrated navigation system is signally connected to the aiming computer by data cables.
5. An offshore launch rocket rapid aiming system according to claim 4, wherein the photoelectric auto-collimator is signally connected to the aiming computer via a data cable.
6. An offshore launch rocket rapid aiming system according to claim 5, wherein the aiming computer is signally connected to the ground test launch control system via ethernet cables.
7. An offshore launch rocket rapid aiming system according to claim 6, wherein the stabilized voltage supply is electrically connected with the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer by power cables.
8. An offshore launch rocket speed aiming system according to claim 1 or 2, wherein the equipment compartment has a measurement window with the light emitting end of the photo-autocollimator facing the measurement window and the measurement window facing the on-arrow prism to ensure that the light emitting end of the photo-autocollimator faces the on-arrow prism.
9. A method of marine launch rocket quick sighting according to any one of claims 1-8, comprising:
step S710, powering on the photoelectric auto-collimator, the inertial-satellite integrated navigation system and the aiming computer;
step S720, responding to power-on, self-checking the photoelectric auto-collimator, the inertial-satellite integrated navigation system, the aiming computer and the stabilized voltage supply, and feeding back the self-checking state to the ground detection and control system by the aiming computer;
step S730, in response to receiving an initial alignment instruction sent by the ground measurement and control system, the inertial-satellite integrated navigation system starts initial alignment to obtain initial position and initial posture information;
step S740, after the initial alignment is completed, the inertial-satellite integrated navigation system starts integrated navigation, and the speed, position and attitude information of the inertial-satellite integrated navigation system is output in real time;
step S750, after the launching sea area is reached, responding to a starting aiming instruction sent by a ground measurement and control system, and enabling the photoelectric autocollimator to start photoelectric aiming by an aiming computer so as to measure the azimuth deviation between the photoelectric autocollimator and an on-arrow prism;
step 760, the aiming computer takes the speed and the position of the inertial-satellite integrated navigation system as the speed and the position information of the rocket, obtains the azimuth angle of the prism on the rocket according to the received azimuth angle deviation between the photoelectric autocollimator and the prism on the rocket and the attitude information of the inertial-satellite integrated navigation system, and sends the information to the integrated navigation system on the rocket directly or in real time through the Ethernet;
step S770, responding to a transmission starting alignment instruction sent by a ground detection and control system, and running a transmission alignment algorithm by the on-rocket combined navigation system according to the speed and position information of the rocket and the azimuth angle information of the on-rocket prism received in real time to perform transmission alignment;
and step S780, responding to a transmission alignment completion signal sent by the on-arrow integrated navigation system, powering off the photoelectric auto-collimator and the inertial-satellite integrated navigation system by the aiming computer after the on-arrow integrated navigation system completes transmission alignment, and ending the aiming process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211711547.3A CN116222301A (en) | 2022-12-29 | 2022-12-29 | Rapid aiming method and system for offshore launching rocket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211711547.3A CN116222301A (en) | 2022-12-29 | 2022-12-29 | Rapid aiming method and system for offshore launching rocket |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116222301A true CN116222301A (en) | 2023-06-06 |
Family
ID=86574097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211711547.3A Pending CN116222301A (en) | 2022-12-29 | 2022-12-29 | Rapid aiming method and system for offshore launching rocket |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116222301A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116625165A (en) * | 2023-06-08 | 2023-08-22 | 东方空间技术(山东)有限公司 | Aiming device for marine rocket and parameter determination method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705991A (en) * | 2015-08-07 | 2017-05-24 | 北京航天计量测试技术研究所 | Testing apparatus for installation errors of sighting prism of strapdown inertial measurement unit |
| CN111238438A (en) * | 2020-02-14 | 2020-06-05 | 天津时空经纬测控技术有限公司 | Non-contact attitude measurement method, non-contact attitude measurement device, and storage medium |
| CN111623775A (en) * | 2020-05-15 | 2020-09-04 | 天津时空经纬测控技术有限公司 | Vehicle attitude measurement system, method, device, and storage medium |
-
2022
- 2022-12-29 CN CN202211711547.3A patent/CN116222301A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705991A (en) * | 2015-08-07 | 2017-05-24 | 北京航天计量测试技术研究所 | Testing apparatus for installation errors of sighting prism of strapdown inertial measurement unit |
| CN111238438A (en) * | 2020-02-14 | 2020-06-05 | 天津时空经纬测控技术有限公司 | Non-contact attitude measurement method, non-contact attitude measurement device, and storage medium |
| CN111623775A (en) * | 2020-05-15 | 2020-09-04 | 天津时空经纬测控技术有限公司 | Vehicle attitude measurement system, method, device, and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116625165A (en) * | 2023-06-08 | 2023-08-22 | 东方空间技术(山东)有限公司 | Aiming device for marine rocket and parameter determination method |
| CN116625165B (en) * | 2023-06-08 | 2024-01-12 | 东方空间技术(山东)有限公司 | Aiming device for marine rocket and parameter determination method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107885223A (en) | Unmanned plane recovery guiding system based on laser | |
| US9214022B1 (en) | Enhanced accuracy for tracking tethered airborne vehicles | |
| US20150311755A1 (en) | Wireless Remote Energy Supply for Unmanned Aerial Vehicles | |
| CN109032153B (en) | Unmanned aerial vehicle autonomous landing method and system based on photoelectric-inertial combined guidance | |
| AU769332B2 (en) | Mobile system and method for characterizing radiation fields outdoors in an extensive and precise manner | |
| CN109462033B (en) | Satellite tracking method and device for mobile antenna carrier | |
| CN104931922B (en) | Vehicle double antenna satellite direction finder azimuth transmission apparatus and method | |
| US6653650B2 (en) | Streamlined method and apparatus for aligning a sensor to an aircraft | |
| CN109100733B (en) | Error detection equipment, method and device for laser radar equipment | |
| CN110794260B (en) | Overhead transmission line positioning method based on double RTK unmanned aerial vehicles | |
| US7558688B2 (en) | Angle calibration of long baseline antennas | |
| CN116222301A (en) | Rapid aiming method and system for offshore launching rocket | |
| CN208833907U (en) | Laser radar apparatus error detecting facility | |
| CN111490819B (en) | Shipborne laser communication beam tracking control method based on fiber-optic gyroscope | |
| CN110220536B (en) | Vehicle-mounted strapdown inertial combination field rapid calibration device and method | |
| CN114200396B (en) | Photoelectric positioning system of tethered unmanned aerial vehicle independent of satellite navigation technology | |
| CN201615948U (en) | Single-point distance measurement system | |
| CN114142926B (en) | Ultra-far deep space laser communication capturing and tracking system | |
| Skryja et al. | Autoaligning System for Short-Range Free Space Optics Links | |
| CN114200397A (en) | Mooring unmanned aerial vehicle photoelectric positioning system independent of satellite navigation and distance measuring equipment | |
| RU89217U1 (en) | SELF-PROPELLED FIRE INSTALLATION | |
| CN105135944B (en) | The method that rocket sighting system obtains reference bearing by pendulum-type north finder automatically north seeking | |
| Lu et al. | Automatic alignment of optical-beam-based GPS for a free-space laser communication system | |
| CN103471562B (en) | The auto-collimation measurement method of the remote dynamically registration of quasi-parallel light and device | |
| RU2774839C2 (en) | Method for aiming the line of sight of free-space optical communication transceivers and apparatus for implementation thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |