CN102878872B

CN102878872B - Guidance information processing method aiming at seeker loss-of-lock conditions

Info

Publication number: CN102878872B
Application number: CN201210278133.6A
Authority: CN
Inventors: 尹永鑫
Original assignee: China Academy of Aerospace Aerodynamics CAAA
Current assignee: Rainbow UAV Technology Co Ltd
Priority date: 2012-08-07
Filing date: 2012-08-07
Publication date: 2014-06-18
Anticipated expiration: 2032-08-07
Also published as: CN102878872A

Abstract

The invention discloses a guidance information processing method aiming at seeker loss-of-lock conditions. The guidance information processing method comprises the following steps of: calculating a theoretical line-of-sight rate according to the position and speed information of a guided missile, and employing different switching methods between the actually measured line-of-sight rate and the theoretical line-of-sight rate under the condition that the seeker loses a target according to different distances between the guided missile and the target; and calculating a theoretical frame angle according to the position and attitude angle information of the guided missile, and presetting the frame angle of the seeker under the condition that the seeker loses the target.

Description

Guidance information processing method for seeker unlocking condition

Technical Field

And designing a low-cost tactical missile high-precision guidance control system.

Background

At present, the high performance of the missile is basically realized by the high performance of a guide head, an inertial navigation device and a rudder system. The seeker determines the performance of the missile to a great extent, but for low-cost missiles, the deficiency of the seeker performance can be made up only to a certain extent through an advanced guidance control algorithm. The defects are mainly reflected in the aspects of high noise of the line-of-sight angular velocity measurement, high probability of target loss of the seeker, low isolation between the seeker and the projectile body and the like. If the guidance control algorithm cannot improve the above adverse factors to a certain extent, the hit precision of the missile is finally influenced.

Advanced guidance control algorithms should be able to compensate for deficiencies in the hardware performance of the seeker system to some extent, such as reducing noise in line-of-sight angular velocity, increasing the probability of recapturing targets after the seeker is out of lock, increasing the accuracy of missile hits if the seeker loses a target, and the like. At present, a low-pass filter is generally designed to filter an actual measurement value of the line-of-sight angular velocity, and a conventional filtering method is already mature under the condition that a seeker locks a target in the whole course. However, for the guided missile adopting the laser guidance mode and the like, when the guided missile passes through a cloud layer or a target releases a smoke curtain, the phenomenon that the target is lost by a seeker cannot be avoided, and under the circumstances, an effective method for reference is not available on how to ensure the miss distance of the guided missile by utilizing the existing information.

Disclosure of Invention

The technical problem of the invention is solved: in order to solve the problem that the existing low-cost tactical missile cannot hit the target under the condition that the seeker loses the target, a guidance information processing method aiming at the condition that the seeker loses the lock is provided, and the miss distance can be reduced under the condition that the seeker loses the target.

The technical solution of the invention is as follows: a guidance information processing method aiming at the condition that a seeker is unlocked comprises the following steps:

(1) measuring the angular rate and overload of the missile by using a rate gyroscope and an adder table;

(2) carrying out strapdown resolving by utilizing the actually measured angular rate and overload to obtain the attitude angle, speed and position information of the missile;

(3) calculating theoretical line-of-sight angular velocity according to the missile velocity and the position information; calculating a theoretical frame angle according to the position and attitude angle information of the missile;

(4) when the seeker is unlocked, the processing of the guidance information comprises the processing of the visual angular velocity and the frame angle information; the line-of-sight angular velocity processing firstly needs to judge whether the remaining flight time of the missile is greater than the preset time T, if so, the seeker is in a remote unlocking state, the theoretical line-of-sight angular velocity calculated in the step (3) is used for replacing the actual line-of-sight angular velocity for filtering, otherwise, the seeker is in a close-distance unlocking state, and the actual line-of-sight angular velocity filtering output value at the moment before the seeker is unlocked is used as the input of the filtering; in the two-state processing process, when the target is locked again, the actually measured line-of-sight angular velocity is used as the input of filtering; and (4) frame angle information processing, namely presetting the frame angle of the seeker by adopting the theoretical frame angle calculated in the step (3), and searching on the basis of the preset frame angle.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention can provide available guidance information for the guidance law under the condition that the seeker is unlocked, and effectively overcomes the defect that the conventional technology cannot help the seeker unlocking phenomenon.

(2) Semi-physical simulation data show that the scheme can ensure that the missile hits the target under the conditions of remote unlocking of the seeker and remote recapture; it is possible to ensure that the amount of miss is reduced to within an acceptable range in the event that the seeker is short out of lock.

Drawings

FIG. 1 is a flow chart of the present invention;

FIG. 2 is a ballistic contrast curve for a long-range loss of lock;

FIG. 3 is a ballistic contrast curve for a short-range loss-of-lock condition;

figure 4 is an enlarged partial view of the ballistic tip of figure 3.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings, as shown in fig. 1, the steps of the present invention are as follows:

(2) carrying out strapdown resolving by utilizing the actually measured angular rate and overload to obtain the attitude angle, speed and position information of the missile; the specific algorithm is as follows:

wherein n is_xg、n_yg、n_zgRespectively overload three shafts of the missile under a ground coordinate system; psi, theta and gamma are respectively a yaw angle, a pitch angle and a roll angle of the missile; n is_xb、n_yb、n_zbAnd respectively, missile triaxial overload under a missile coordinate system.

[\begin{matrix} a_{xg} \\ b_{yg} \\ a_{zg} \end{matrix}] = [\begin{matrix} g & 0 & 0 \\ 0 & g & 0 \\ 0 & 0 & g \end{matrix}] ([\begin{matrix} n_{xg} \\ n_{yg} \\ n_{zg} \end{matrix}] + [\begin{matrix} 0 \\ 1 \\ 0 \end{matrix}])

Wherein, a_xg、a_yg、a_zgThe three-axis acceleration of the missile under a ground coordinate system is respectively; g is the acceleration of gravity.

<math><mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>V</mi> <mi>xg</mi> </msub> <mo>=</mo> <msub> <mi>V</mi> <mrow> <mi>xg</mi> <mn>0</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <msub> <mi>a</mi> <mi>xg</mi> </msub> <mi>dt</mi> </mtd> </mtr> <mtr> <mtd> <msub> <mi>V</mi> <mi>yg</mi> </msub> <mo>=</mo> <msub> <mi>V</mi> <mrow> <mi>yg</mi> <mn>0</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <msub> <mi>a</mi> <mi>yg</mi> </msub> <mi>dt</mi> </mtd> </mtr> <mtr> <mtd> <msub> <mi>V</mi> <mi>zg</mi> </msub> <mo>=</mo> <msub> <mi>V</mi> <mrow> <mi>zg</mi> <mn>0</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <msub> <mi>a</mi> <mi>zg</mi> </msub> <mi>dt</mi> </mtd> </mtr> </mtable> </mfenced></math>

Wherein, V_xg、V_yg、V_zgThe three-axis speeds of the missile under a ground coordinate system are respectively; v_xg0、V_yg0、V_zg0Respectively is the missile triaxial initial velocity under the ground coordinate system; and t is the missile flight time.

<math><mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mi>g</mi> </msub> <mo>=</mo> <msub> <mi>x</mi> <mrow> <mi>g</mi> <mn>0</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <msub> <mi>V</mi> <mi>xg</mi> </msub> <mi>dt</mi> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mi>g</mi> </msub> <mo>=</mo> <msub> <mi>y</mi> <mrow> <mi>g</mi> <mn>0</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <msub> <mi>V</mi> <mi>yg</mi> </msub> <mi>dt</mi> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mi>g</mi> </msub> <mo>=</mo> <msub> <mi>z</mi> <mrow> <mi>g</mi> <mn>0</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <msub> <mi>V</mi> <mi>zg</mi> </msub> <mi>dt</mi> </mtd> </mtr> </mtable> </mfenced></math>

Wherein x is_g、y_g、z_gThe three-axis positions of the missile under a ground coordinate system are respectively; x is the number of_g0、y_g0、z_g0The initial positions of the three axes of the missile are respectively in the ground coordinate system.

<math><mfenced open='{' close=''> <mtable> <mtr> <mtd> <mi>ψ</mi> <mo>=</mo> <msub> <mi>ψ</mi> <mn>0</mn> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mfrac> <mrow> <msub> <mi>ω</mi> <mi>y</mi> </msub> <mi>cos</mi> <mi>γ</mi> <mo>-</mo> <msub> <mi>ω</mi> <mi>z</mi> </msub> <mi>sin</mi> <mi>γ</mi> </mrow> <mrow> <mi>cos</mi> <mi>θ</mi> </mrow> </mfrac> <mi>dt</mi> </mtd> </mtr> <mtr> <mtd> <mi>θ</mi> <mo>=</mo> <msub> <mi>θ</mi> <mn>0</mn> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mrow> <mo>(</mo> <msub> <mi>ω</mi> <mi>y</mi> </msub> <mi>sin</mi> <mi>γ</mi> <mo>+</mo> <msub> <mi>ω</mi> <mi>z</mi> </msub> <mi>cos</mi> <mi>γ</mi> <mo>)</mo> </mrow> <mi>dt</mi> </mtd> </mtr> <mtr> <mtd> <mi>γ</mi> <mo>=</mo> <msub> <mi>γ</mi> <mn>0</mn> </msub> <mo>+</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mrow> <mo>(</mo> <msub> <mi>ω</mi> <mi>x</mi> </msub> <mo>-</mo> <mi>tan</mi> <mi>θ</mi> <mrow> <mo>(</mo> <msub> <mi>ω</mi> <mi>y</mi> </msub> <mi>cos</mi> <mi>γ</mi> <mo>-</mo> <msub> <mi>ω</mi> <mi>z</mi> </msub> <mi>sin</mi> <mi>γ</mi> <mo>)</mo> </mrow> <mo>)</mo> </mrow> <mi>dt</mi> </mtd> </mtr> </mtable> </mfenced></math>

Wherein psi₀、θ₀、γ₀Respectively an initial yaw angle, a pitch angle and a roll angle of the missile; omega_x、ω_y、ω_zThe three-axis attitude angular velocities of the projectile body are respectively.

(3) Calculating theoretical line-of-sight angular velocity according to the velocity and the position information; calculating a theoretical frame angle according to the position and attitude angle information of the missile;

<math><mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>q</mi> <mi>ϵ</mi> </msub> <mo>=</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <msub> <mi>y</mi> <mi>g</mi> </msub> <msub> <mi>x</mi> <mi>g</mi> </msub> </mfrac> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mi>β</mi> </msub> <mo>=</mo> <mi>arcsin</mi> <mrow> <mo>(</mo> <mfrac> <msub> <mi>z</mi> <mi>g</mi> </msub> <msqrt> <msubsup> <mi>x</mi> <mi>g</mi> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>y</mi> <mi>g</mi> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>z</mi> <mi>g</mi> <mn>2</mn> </msubsup> </msqrt> </mfrac> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced></math>

wherein q is_ε、q_βRespectively a theoretical pitch line-of-sight angle and a theoretical yaw line-of-sight angle.

Wherein,

respectively, a theoretical pitch line-of-sight angular velocity and a theoretical yaw line-of-sight angular velocity.

And G is a coordinate transformation matrix from the missile coordinate system to the sight line coordinate system.

<math><mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>θ</mi> <mi>g</mi> </msub> <mo>=</mo> <mn>57.3</mn> <mo>×</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <msub> <mi>G</mi> <mn>12</mn> </msub> <msub> <mi>G</mi> <mn>11</mn> </msub> </mfrac> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>ψ</mi> <mi>g</mi> </msub> <mo>=</mo> <mn>57.3</mn> <mo>×</mo> <mi>arcsin</mi> <mrow> <mo>(</mo> <mo>-</mo> <msub> <mi>G</mi> <mn>13</mn> </msub> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced></math>

Wherein, theta_g、ψ_gRespectively a theoretical pitching frame angle and a theoretical yawing frame angle; g₁₁Is the 1 st row and 1 st column element in the matrix G; g₁₂Is the 1 st row and 2 nd column element in the matrix G; g₁₃Is the 1 st row, 3 rd column element in matrix G.

(4) When the seeker is unlocked, the processing of the guidance information comprises the processing of the visual angular velocity and the frame angle information; the line-of-sight angular velocity processing firstly needs to judge whether the remaining flight time of the missile is greater than the preset time T, if so, the seeker is in a remote unlocking state, the theoretical line-of-sight angular velocity calculated in the step (3) is used for replacing the actual line-of-sight angular velocity for filtering, otherwise, the seeker is in a close-distance unlocking state, and the actual line-of-sight angular velocity filtering output value at the moment before the seeker is unlocked is used as the input of the filtering; in the two-state processing process, when the target is locked again, the actually measured line-of-sight angular velocity is used as the input of filtering; the frame angle information processing is to preset the frame angle of the seeker by adopting the theoretical frame angle calculated in the step (3), and search (can be performed by adopting methods such as rectangular search) on the basis of the preset frame angle so as to improve the probability of recapturing the target or shorten the time for recapturing the target, thereby reducing the miss amount.

The preset time T is calculated according to the formula

T＝K·T_b

Where K is the minimum control stiffness, T_bIs the time constant of the projectile.

Examples of applications are as follows:

in the case of long-distance unlocking of the seeker (9-12 s after launching, the remaining flight time is greater than 8s), the trajectory pair is as shown in fig. 2, wherein the solid line is the trajectory obtained by using the scheme, the miss distance is 0.29m, the dotted line is the trajectory obtained without using the scheme, and the miss distance is 91 m. Therefore, under the condition that the seeker is remotely unlocked, the miss distance is obviously reduced by using the scheme, and the target can be directly hit.

Under the condition that the seeker is short-distance unlocked (18 s-21 s after launching and the residual flight time is less than 8s), the trajectory pair is shown in figure 3, the local magnification of the trajectory tail end is shown in figure 4, wherein the solid line is the trajectory obtained by using the scheme, the miss distance is 0.63m, the dotted line is the trajectory obtained by not using the scheme, and the miss distance is 8.7 m. Therefore, under the condition that the seeker is short-distance unlocked, the miss distance is obviously reduced by using the scheme, and the target can be directly hit.

The invention has not been described in detail in part of the common general knowledge of those skilled in the art.

Claims

1. A guidance information processing method aiming at the condition that a seeker is unlocked is characterized by comprising the following steps:

(4) when the seeker is unlocked, the processing of the guidance information comprises the processing of the visual angular velocity and the frame angle information; the line-of-sight angular velocity processing firstly needs to judge whether the remaining flight time of the missile is greater than the preset time T, if so, the seeker is in a remote unlocking state, the theoretical line-of-sight angular velocity calculated in the step (3) is used for replacing the actual line-of-sight angular velocity for filtering, otherwise, the seeker is in a close-distance unlocking state, and the actual line-of-sight angular velocity filtering output value at the moment before the seeker is unlocked is used as the input of the filtering; in the two-state processing process, when the target is locked again, the actually measured line-of-sight angular velocity is used as the input of filtering; the frame angle information processing is to preset the frame angle of the seeker by adopting the theoretical frame angle calculated in the step (3) and search on the basis of the preset frame angle; the preset time T is calculated as follows: t = K · T_b(ii) a Where K is the minimum control stiffness, T_bIs the time constant of the projectile.