JP2022539926A - Integrated guidance and control system with high load capacity - Google Patents

Abstract

Kind Code: A1 The present invention provides a high load-bearing integrated guidance and control system, in which a navigation system, a guidance system and a control system are integrally designed, all of which are micro-data. It is sent to the processor module for processing, avoiding the influence of the time delay of signal transmission between subsystems on the control of the flying object. Compared with the tapered antenna and the improved ring antenna, the sheet antenna not only has stronger satellite signal reception ability, but also has the characteristics of high load capacity, high dynamic and high load capacity. It can operate stably even when In addition, since the line-of-sight angular velocities acquired by the navigation module and the guidance module are not sufficiently accurate and there are errors, navigation calculations are performed using the line-of-sight angular velocities after attitude estimation calculations in the microprocessor module. can be further improved.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guidance and control system for a flying object, and more particularly to a high-load integrated guidance and control system.

Guidance and control systems are one of the irreplaceable core components of high-dynamic missiles, and are the key to determining the performance of high-dynamic missiles. , a flat laser seeker, a pneumatic steering system, etc., but these components essentially determine that the highly dynamic projectiles they design cannot withstand the destructive effects of high loads on the system, and many When the components are highly dynamic, they do not have theoretical operating performance, and the conventional guidance and control system often needs to design the navigation system, guidance system, and control system separately according to the specific model. Not only does this require a large amount of time and effort, but there is also the problem of non-coordination and non-matching between subsystems. In particular, under the action of high loads, such conventional design schemes make the command transmission delays between the navigation system, the guidance system and the control system worse, causing serious consequences. Therefore, the design of a general-purpose integrated navigation guidance and control system that can withstand high loads, and the integration of integrated navigation and control systems that enable normal operation under high-load, high-mobility flight conditions is essential to the performance of highly dynamic flying objects. have significant implications for the improvement of

Due to the above reasons, the inventor of the present invention has diligently studied conventional guidance and control systems, and hopes to design a novel guidance and control system that can solve the above problems.

In order to solve the above problems, the present inventors have intensively researched and designed a high-load-bearing integrated guidance and control system, in which the navigation system, guidance system and control system are designed in an integrated manner. Both of them send data to the microprocessor module for processing, so as to avoid affecting the control of the projectile due to the time delay of signal transmission between subsystems. Designed with a load-bearing antenna, compared with the conventional tapered antenna and the improved ring-shaped antenna, the sheet-shaped antenna not only has stronger satellite signal reception ability, but also has the characteristics of high load-bearing capacity. It can operate stably even in the case of high dynamics and high load. Since the line-of-sight angular velocities acquired by the navigation module and the guidance module are not sufficiently accurate and contain errors, navigation calculations are performed using the line-of-sight angular velocities after attitude estimation calculations in the microprocessor module, It was possible to further improve the accuracy of the hit, and the present invention was accomplished.

Specifically, it is an object of the present invention to provide a high-load integrated guidance and control system capable of accurately controlling the attitude of a flying object even under heavy loads.

Therein, the system includes an integrated microprocessor module 1 for providing the necessary loads and generating steering commands to precisely control the attitude of the projectile.

Wherein, the system further includes a navigation module 2 for real-time acquisition of the position and velocity information of the projectile, and a guidance module for real-time acquisition of the roll angle, rotation speed and line-of-sight information of the projectile. 3, and a control module 4 for executing the steering command, feeding back the steering state to the microprocessor module 1 in real time, performing feedback compensation for the steering command, and improving the steering accuracy.

wherein the navigation module 2 includes a high-load antenna 21, an anti-interference sub-module 22 and a satellite guidance sub-module 23;
The shape of the high load-bearing antenna 21 is sheet-like, so as to receive satellite signals when the load is high, and the anti-interference sub-module 22 is connected to the high load-bearing antenna 21 to filter the satellite signals. The satellite guidance sub-module 23 receives the filtered satellite signals and estimates and calculates the position and velocity information of the flying object in real time based on the signals.

Among them, the high-load-resistant antenna 21 is installed on the outer wall of the flying object, preferably, the concave storage tank 5 is installed on the outer wall of the flying object, and the high-load-resistant antenna 21 is installed in the storage tank. 5 and a protective baffle 51 is installed on the outside of the high load-bearing antenna 21 .

Among them, a plurality of high-load-resistant antennas 21 are installed and uniformly distributed around the flying object. Preferably, four high-load-resistant antennas 21 are installed.

Wherein, the guidance module 3 includes a geomagnetic sensor 31 and a strapdown laser seeker 32 , the geomagnetic sensor 31 is for real-time sensing of the roll angle and rotation speed of the flying object, and the strapdown laser seeker 32 . is for sensing the line-of-sight angle of the flying object in real time.

Wherein, the control module 4 includes a steering gear servo sub-module 41 and an electric steering gear 42, the steering gear servo sub-module 41 receives a steering command, converts it into a steering gear signal, and converts it into an electric steering signal. This is for controlling the steering operation of the device 42, and the steering device servo sub-module 41 is also for sensing the steering state of the electric steering device.

Among them, in the microprocessor module 1, based on the position and velocity information of the flying object obtained from the navigation module 2, the first visual angular velocity

and a second visual line-of-sight angular velocity

and get the above

as well as

The final line-of-sight angular velocity obtained by estimating and processing

is the visual line-of-sight angular velocity of the projectile.

The invention includes the following beneficial effects.

(1) In the guidance control system of the present invention, by using a geomagnetic sensor instead of a conventional spatial orientation gyro, a strap-down laser seeker instead of a flat seeker, and an electric steering device instead of a pneumatic steering device, The system has a good high load resistance, can be used in high-load, high-maneuvering flying objects, can provide accurate guidance data information, and can also reduce the risk of injury.

(2) In the guidance control system of the present invention, by integrally designing the navigation system, the guidance system, and the control system, it is possible to avoid the influence of the time delay of signal transmission between subsystems on the control of the flying object. .

(3) In the guidance and control system of the present invention, a strap-down laser seeker is used instead of the flat seeker, and the navigation system, the guidance system, and the control system are integrally designed to save the loading space of the flying object; Improved the load-bearing capacity of the projectile.

(4) The guidance and control system of the present invention has wide adaptability, is applicable to various types of flying objects, and is a general-purpose guidance and control system.

FIG. 1 shows an overall structural diagram of a high-load-bearing integrated guidance and control system according to one preferred embodiment of the present invention. FIG. 2 shows a structural schematic diagram of a high-load-bearing antenna in a high-load-bearing integrated guidance control system according to a preferred embodiment of the present invention. FIG. 3 shows the trajectory of the projectile under three angular velocity conditions in the experimental example.

The present invention will be described in more detail below with reference to drawings and examples. With these descriptions, the features and advantages of the invention will become clearer and clearer.

The term "exemplary" as used herein exclusively means "used as an example, example, or illustration." Any embodiment described herein as "exemplary" should not be construed as preferred over other embodiments. Although the drawings illustrate various aspects of the embodiments, the drawings are not necessarily drawn to scale unless otherwise indicated.

The high-load-bearing integrated guidance and control system provided by the present invention, as shown in FIG. 1, can accurately control the attitude of a projectile even under heavy loads.

The high load referred to in the present invention means that the ratio of the resultant force of the aerodynamic force and engine thrust acting on the flying object to the gravity of the flying object is 10,000 or more. High dynamics means that the flying object can perform high-maneuver flight, and a large normal acceleration (generally, a flight situation with a normal acceleration of 10 g or more is called high-maneuver flight, where g is the gravitational acceleration. ). In general, in the case of high load/high dynamics, the sensor device of the flying object itself, such as space gyro, inertial gyro, flat laser seeker, etc., loses its measurement standard, and accurate measurement results cannot be obtained. .

In one preferred embodiment, the system includes an integrated microprocessor module 1 for providing the necessary loads and generating steering commands to precisely control the attitude of the projectile. The integration means that the calculation parts of the navigation module, the guidance module and the control module in the guidance and control system are integrally integrated, and after acquiring basic data by sensing, all of them are transmitted to the microprocessor module, and the microprocessor The unified processing by the module avoids the problem of command transmission delay between the navigation system, the guidance system and the control system, and also reduces the system noise caused by the interference of each signal.

Preferably, as shown in FIG. 1, the system further includes a navigation module 2, a guidance module 3 and a control module 4, in which the navigation module 2 acquires the position and velocity information of the projectile in real time. The guidance module 3 is for real-time acquisition of information on the roll angle, rotation speed and line of sight angle of the projectile. 1 in real time, feedback compensation is performed for the steering command, and the steering accuracy is improved. The so-called feedback compensation is to construct a closed loop system by using the real-time steering state as the input quantity of the control module 4 . Feedback compensation can improve the accuracy of the steering command. Feedback compensation in the present invention can use feedback compensation known in the art, and is not particularly limited.

In a further preferred embodiment, as shown in FIGS. 1 and 2, the navigation module 2 includes a high load-bearing antenna 21, an anti-interference sub-module 22 and a satellite guidance sub-module 23. It has a sheet-like shape and is for receiving satellite signals when the load is heavy, the interference prevention sub-module 22 is connected to the high-load antenna 21, and is for filtering the satellite signals. This is because the satellite guidance sub-module 23 receives the filtered satellite signal and estimates the position and velocity information of the flying object in real time based on the signal.

Among them, a high-load-resistant antenna 21 is installed on the outer wall of the flying object, and preferably, as shown in FIG. Antenna 21 is installed in the storage tank 5, the depth dimension of the storage tank 5 is larger than the thickness dimension of the antenna, and a protective baffle 51 is installed outside the high-load antenna 21. .

A high load-bearing antenna 21 is fixed to the bottom of the container 5, preferably the container is just able to accommodate the high load-bearing antenna 21, and the sidewall of the container is a lateral limit for the high load-bearing antenna 21. can prevent the high-load-bearing antenna 21 from sliding, and the protective baffle 51 is fixed to the top of the storage tank, and itself is completely housed inside the storage tank, and the flying object The outer surface of the protective baffle can be substantially smooth, the outer shape of the protective baffle conforms to the outer contour of the projectile, and can be arc-shaped or flat, and the inner side of the protective baffle can be This is because it abuts on the high-load-resistant antenna 21, fixes the high-load-resistant antenna 21, and ensures that the high-load-resistant antenna 21 does not move or break during the acceleration process.

The protective baffle 51 protects the high-load-bearing antenna 21 inside during the acceleration stage of the flying object, and prevents the high-load-bearing antenna 21 from being damaged during the acceleration process. When it enters, the protective baffle 51 separates from the flying object, exposing the high-load-resistant antenna 21 to the outside, making it convenient to receive the satellite signal of the high-load-resistant antenna 21, and the satellite signal is shielded/shielded by the protective baffle 51. Avoid interference. Preferably, the protective baffle 51 and the baffle external to the vehicle's steering system are synchronized, since the high-load antenna 21 is analogous to the steering system on the vehicle, and both begin to operate only during the guidance phase. Detachment can be controlled and synchronous.

The shape of the high-load-resistant antenna 21 is a sheet-like shape, that is, the high-load-resistant antenna 21 is a sheet-like antenna or a thin plate-like antenna, and the antenna may be a rectangular flat shape, or may have an arc degree. It may be in the shape of an arc plate having a circular shape, and can be installed according to the outer contour of the projectile. In the rolling process, the arc plate antenna with radii has a longer time to receive satellite signals and better signal strength.

Preferably, a plurality of high-load-resistant antennas 21 are installed and uniformly distributed around the flying object. Preferably, four high-load-resistant antennas 21 are installed. , the high-load-bearing antenna 21 is arranged along the rolling circumferential direction of the flying object to ensure that the satellite signal reception capability is not weakened when the flying object rolls at high speed.

The sheet-shaped high-load-resistant antenna 21 of the present application occupies a smaller spatial area than a conventional tapered antenna or ring-shaped antenna, so that it is less likely to be affected by external noise or interference. The antenna has higher integration and its satellite signal reception ability is stronger.

Preferably, the sheet-like high-load-bearing antenna 21 can be manufactured using the same material as the conventional ring-shaped antenna or tapered antenna, and the high-load-bearing antenna 21 guarantees stability and physical strength. On the premise that it does, the thickness can be reduced as much as possible for cost reduction.

Preferably, the length dimension of the high-load-resistant antenna 21 is preferably 120-200 mm, the width dimension of the high-load-resistant antenna 21 is preferably 50-70 mm, and the thickness thereof is 4-8 mm. be.

Preferably, the satellite guidance sub-module 23 includes a GPS receiver, a BeiDou receiver and a GLONASS receiver, and multiple receivers are installed to improve the accuracy and reception capability of satellite information.

In one preferred embodiment, the guidance module 3 includes a geomagnetic sensor 31 and a strapdown laser seeker 32, as shown in FIG.

The geomagnetic sensor 31 is for sensing the roll angle and rotation speed of the flying object in real time, and for transmitting the sensed information to the microprocessor module 1. Compared with the conventional spatial orientation gyro, the geomagnetic sensor is not subject to frame angle constraints and can operate normally under high load conditions. Sensing according to the present invention can be understood as measuring or sensing, for obtaining dynamic information of a flying object.

The geomagnetic sensor 31 according to the present invention is a geomagnetic sensor that is often used in this field, and is not particularly limited as long as it can satisfy the above functions.

The strapdown laser seeker 32 according to the present invention is a strapdown laser seeker that is often used in this field, and is not particularly limited as long as it can satisfy the above functions.

The strapdown laser seeker 32 senses the line of sight angle of the flying object in real time and transmits the measured information to the microprocessor module. It can be directly fixed and connected to the flying object, which not only saves the loading space of the aircraft, but also has good operation performance under high load conditions, and is advantageous in realizing the integration of the navigation guidance control system. is.

In one preferred embodiment, the control module 4 includes a steering gear servo sub-module 41 and an electric steering gear 42, as shown in FIG.

Said steering gear servo sub-module 41 is for receiving a steering command and converting it into a steering gear signal for controlling the steering action of an electric steering gear 42, which preferably has a proportional electric steering. Compared with the conventional pneumatic steering system, it has a better high load capacity, and can realize precise control of the attitude of the flying object, especially in the condition of large maneuvers.

The steering device servo sub-module 41 is also for sensing the steering state of the electric steering device.

In one preferred embodiment, the microprocessor module 1 calculates a first visual angular velocity based on the position and velocity information of the projectile obtained from the navigation module 2.

to get

Further, based on the visual line-of-sight angle of the flying object acquired from the guidance module 3, a second visual line-of-sight angular velocity

to get

Said

as well as

The final line of sight angular velocity obtained after estimating and processing

is the visual line-of-sight angular velocity of the projectile.

specifically,

is obtained by the following formula (1).

(one)
During the ceremony,

,

,

,

is the target in the ground coordinate system

Represents a position along an axis.

is the target in the ground coordinate system

Represents a position along an axis.

is a projectile in the ground coordinate system

Represents a position along an axis.

is a projectile in the ground coordinate system

Represents a position along an axis.

is the projectile and target in the ground coordinate system

Represents relative distance along an axis.

is the projectile and target in the ground coordinate system

Represents relative distance along an axis.

is a projectile in the ground coordinate system

Represents velocity along the axial direction.

is a projectile in the ground coordinate system

Represents velocity along the axial direction.

is the target in the ground coordinate system

Represents velocity along the axial direction.

is the target in the ground coordinate system

Represents velocity along the axial direction.

is the projectile and target in the ground coordinate system

Represents the relative velocity along the axial direction.

is the projectile and target in the ground coordinate system

Represents the relative velocity along the axial direction.

For the ground coordinate system, we usually take the coordinate origin as the starting point,

The axial direction is the direction from the launch point to the target point,

axial direction

If it is perpendicular to the axis and pointing vertically upwards, and the target is a static target, then the target's velocity is zero, the target's position is pre-stored in the projectile, and the position and velocity of the projectile itself is It is obtained by sensing with the above device.

In general, since navigation systems receive satellite signals, there is always a time delay. is not accurate enough and errors exist. The line-of-sight angle measured by the strap-down laser seeker can be calculated with a differentiator to obtain the line-of-sight angular velocity, but the calculation result of the differentiator usually has a large error. For this reason, in the present invention, the microprocessor module performs data estimation calculations on the line-of-sight angular velocities calculated by the navigation module and the strapdown laser seeker, and improves the accuracy of the line-of-sight angular velocities finally obtained. A more accurate steering command is estimated and calculated to improve the accuracy of projectile hit.

visual line of sight

can be obtained by direct sensing by the strapdown laser seeker 32, and the second line-of-sight angular velocity

can be obtained.

Estimate calculation is performed by the following formula (2).

(two)
In the present invention, the microprocessor module calculates the final sight line angular velocity by data estimation calculation.

is obtained, and then the eye line angular velocity

Calculate the required load based on, specifically, required load = line of sight angular velocity

*Relative bullet speed*Navigation ratio.

In one preferred embodiment, the induction control system further comprises a power module, the power module is connected to the thermal power source on board the aircraft, and the input and output of the entire circuit are matched, so that problems such as short circuit will cause the system to malfunction. prevent it from being damaged. The power supply module can provide the required rated voltage to each module and ensure the normal operation of each component. For the specific needs of some subsystems, power supply modules can provide reset voltage signals.

The present invention further provides a high load bearing guidance and control method, in which the high load bearing integrated guidance and control system described above is used to control a projectile. Specifically, in the method, the satellite signal is received by the high-load-bearing antenna 21 under the condition of high load, the satellite signal is filtered by the anti-interference sub-module 22, and the satellite guidance sub-module 23 is based on the signal. Estimate and calculate the position and speed information of the flying object in real time, sense the roll angle and rotation speed of the flying object in real time with the geomagnetic sensor 31, sense the line of sight angle of the flying object in real time with the strapdown laser seeker 32, The microprocessor module 1 estimates and calculates the required load, generates a steering command, converts the steering command into a steering device signal by the steering device servo submodule 41, and performs a steering operation with the electric steering device. to precisely control the posture of

Wherein, the microprocessor module first calculates the final sight line angular velocity by data estimation operation.

is obtained, and based on this, the required load is estimated and calculated.

Experimental example Multiple projectiles of the same type are launched at the same target position at the same launch location. Controlled at 6 to 10 r/sec, the load on each projectile was 10,000 g or more, and the flight trajectory of each projectile was measured and drawn to obtain FIG.

Among them, the first flying object is equipped with a high-load-resistant antenna shown in FIG. line of sight angular velocity

After estimating and calculating the required load based on this, here, in the estimation calculation process, the visual line of sight angular velocity is calculated by the following formula (2)

to get

(two)
Among them,

and

is directly sensed and acquired by a strapdown laser seeker,

teeth,

is obtained by differential operation.

,

,

,

is 15000,

is 0, and

,

,

,

,

,

are all obtained by sensing with a device on the flying object, and change in real time, generally,

is 15000 or less,

is between -200 and 200,

is between 0 and 1000,

as well as

are all 0. The trajectory curve of the projectile is shown in FIG.

where the unit of length is meter and the unit of speed is meter/second.

The second flying object, compared with the first flying object, selects and uses a spiral antenna or a line antenna in the prior art for the antenna thereon, and the microprocessor module thereon: Navigation guidance is performed using the line-of-sight angular velocity acquired by the navigation module, and the required load is estimated and calculated. The trajectory curve of the projectile is shown in FIG.

is represented by

The third flying object, compared with the first flying object, selects and uses the spiral antenna or line antenna in the prior art for the antenna thereon, and the microprocessor module thereon: Navigation guidance is performed using the line-of-sight angular velocity acquired by the guidance module, and the required load is estimated and calculated. The trajectory curve of the projectile is shown in FIG.

is represented by

As can be seen from FIG. 3, the line-of-sight angular velocity generated by the data estimation calculation

can provide a more accurate steering command, and by the action of the steering command generated based on the line-of-sight angular velocity, the projectile can accurately hit the target, and the estimated circle error is 15 meters. can be controlled within In addition, for the other two flying objects, due to the action of the steering command generated based on the other two types of line-of-sight angular velocities, the circle probable error is generally about 100 meters, and the final result is disappointing. quantity exists.

Although the invention has been described with reference to preferred embodiments, these embodiments are exemplary and serve the purpose of illustration only. On this basis, various replacements and improvements can be made to the present invention, all of which fall within the protection scope of the present invention.

1-microprocessor module 2-navigation module 21-heavy load antenna 22-anti-interference sub-module 23-satellite guidance sub-module 3-guidance module 31-geomagnetic sensor 32-strapdown laser seeker 4-control module 41-steering gear servo submodule 42 - electric steering gear 5 - containment tank 51 - protective baffle 6 - power supply module

Claims (10)

A high-load integrated guidance and control system characterized by being able to accurately control the attitude of a flying object even in the case of a high load. 2. Guidance and control system according to claim 1, characterized in that it includes an integrated microprocessor module (1) for providing the necessary loads to precisely control the attitude of the vehicle and for generating the rudder commands. . a navigation module (2) for acquiring position and velocity information of a flying object in real time;
a guidance module (3) for obtaining real-time roll angle, rotational speed and line-of-sight angle information of the projectile;
a control module (4) for executing a steering command, feeding back the steering state to the microprocessor module (1) in real time, performing feedback compensation for the steering command, and improving steering accuracy;
3. The guidance and control system of claim 2, further comprising: The navigation module (2) includes a high-load antenna (21), an anti-interference sub-module (22) and a satellite guidance sub-module (23),
The shape of the high-load-resistant antenna (21) is a sheet-like shape for receiving satellite signals when the load is high,
the anti-interference sub-module (22) is connected to the high-load antenna (21) for filtering the satellite signals;
Guidance according to claim 3, characterized in that the satellite guidance sub-module (23) receives the filtered satellite signal and estimates and calculates the position and velocity information of the flying object in real time based on the signal. control system. A high load-resistant antenna (21) is provided on the outer wall of the flying object,
Preferably, a concave storage tank (5) is installed on the outer wall of the flying object, the high-load-resistant antenna (21) is mounted in the storage tank (5), and the high-load-resistant antenna is mounted in the storage tank (5). 5. Guidance and control system according to claim 4, characterized in that a protective baffle (51) is installed on the exterior of (21). A plurality of high-load-resistant antennas (21) are installed and uniformly distributed around the flying object. Preferably, four high-load-resistant antennas (21) are installed. Item 6. The guidance control system according to Item 5. said guidance module (3) includes a geomagnetic sensor (31) and a strapdown laser seeker (32);
The geomagnetic sensor (31) is for sensing the roll angle and rotation speed of the flying object in real time,
4. Guidance and control system according to claim 3, characterized in that the strapdown laser seeker (32) is for sensing the line-of-sight angle of the projectile in real time. said control module (4) includes a steering gear servo sub-module (41) and an electric steering gear (42);
said steering gear servo sub-module (41) for receiving a steering command and converting it into a steering gear signal for controlling the steering operation of the electric steering gear (42);
4. Guidance and control system according to claim 3, characterized in that said steering gear servo sub-module (41) is further for sensing the steering state of the electric steering gear. In the microprocessor module (1), based on the position and velocity information of the flying object acquired from the navigation module (2), a first visual angular velocity

and get
Further, based on the visual line-of-sight angle of the projectile acquired from the guidance module (3), a second visual line-of-sight angular velocity

and get
Said

as well as

The final line-of-sight angular velocity obtained by estimating and processing

is the line-of-sight angular velocity of the flying object. A guidance and control method with high load resistance, comprising: controlling a flying object by using the integrated guidance and control system with high load resistance according to any one of claims 1 to 9.

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