阅读说明：本技术 一种转捩研究用高精度三维空间制导方法 (High-precision three-dimensional space guidance method for transition research ) 是由 谢佳 郭振西 巩英辉 唐毛 季登高 张宁宁 李欣 刘秀明 张箭飞 陈芳 杨凌霄 于 2019-10-24 设计创作，主要内容包括：一种转捩研究用高精度三维空间制导方法,包括步骤：计算目标坐标系下的弹目视线转率；计算目标坐标系下的需求速度转率；目计算标坐标系下的需求过载；根据弹体外形结构的对称类型,确定控制指令并发送给下一级自控系统。本发明解决了传统比例导引在过顶攻击时存在的奇异问题,适用于各种精确打击飞行任务。(A transition research high-precision three-dimensional space guidance method comprises the following steps: calculating the line of sight rotation rate of the bullet eyes under a target coordinate system; calculating the required speed conversion rate under a target coordinate system; calculating the demand overload under a target coordinate system; and determining a control command according to the symmetry type of the appearance structure of the projectile body and sending the control command to a next-stage automatic control system. The method solves the strange problem existing in the traditional proportional guidance during the over-top attack, and is suitable for various precise striking flight tasks.)

1. A transition research high-precision three-dimensional space guidance method is characterized by comprising the following steps:

1) according to the current real-time speed of the projectile body

2) Constraint of gamma according to the landing time velocity dip_DFVelocity deviation angle constraint gamma from impact time_TFCurrent real-time speed of projectile

3) According to the overload demand of the projectile against gravityCurrent real-time velocity of projectile

4) Judging the symmetry type of the appearance structure of the projectile body, if the projectile body is of an axisymmetric structure, entering the step 5), and if the projectile body is of a plane symmetric structure and a non-axisymmetric structure, entering the step 7);

5) according to the transformation matrix from the projectile coordinate system to the target coordinate system

6) overload of the projectile body in the projectile body coordinate system according to the step 5)

7) according to the current real-time speed of the projectile body

8) according to the direction cosine moment from the target coordinate system to the speed coordinate systemAnd transmitting the direction cosine moment matrix of the coordinate system to the target coordinate system

2. The high-precision three-dimensional space guidance method for transition research according to claim 1, wherein the determination of the line-of-sight transition vector of the missile target under the target coordinate system in step 1) is performed

3. the high-precision three-dimensional space guidance method for transition research according to claim 1, wherein the step 2) is to determine the required velocity transition rate vector under the target coordinate system

4. the high-precision three-dimensional space guidance method for transition research according to claim 1, wherein the step 3) of determining the overload requirement of the projectile body in the target coordinate systemThe method specifically comprises the following steps:

wherein k is₁＞1，k₂＞0，k₁、k₂To guide the gain.

5. The high-precision three-dimensional space guidance method for transition research according to claim 1, wherein the impact time corresponds to a time at which a projectile attacks a target.

6. The high-precision three-dimensional space guidance method for transition research according to any one of claims 1 to 5, wherein the step 5) is to determine the overload requirement of the projectile in the projectile coordinate system

7. the high-precision three-dimensional space guidance method for transition research according to claim 6, wherein the method for determining the projectile attack angle command α and the sideslip angle command β in step 6) specifically comprises:

wherein the content of the first and second substances,

8. The method for guiding in the high-precision three-dimensional space for transition research according to any one of claims 1 to 5, wherein step 7) is performed to determine the attack angle command α_cxThe method specifically comprises the following steps:

wherein N is_yTIndicating a projectile demand overload

9. The high-precision three-dimensional space guidance method for transition research of claim 8, wherein the step 8) is to determine the tilt angle command upsilon_cxThe method specifically comprises the following steps:

wherein the content of the first and second substances,

Technical Field

The invention relates to a high-precision three-dimensional space guidance method for transition research, and belongs to the technical field of aircraft guidance.

Background

The transition research of the reentry aircraft relates to various attack modes, such as attack modes of diving, horizontal turning, top crossing, roundabout and the like, and whether a guidance strategy with accurate striking at the tail end can be adapted to various flight modes is required. The traditional accurate striking adopts a two-dimensional proportion guidance strategy, a half-speed coordinate system vertical to the speed needs to be established, and the problem that the half-speed coordinate system cannot be defined due to certain speed directions exists inevitably because the speed is a moving coordinate system, for example, the local geocentric half-speed coordinate system cannot be defined due to the fact that a speed vector is parallel to a geocentric radial when the overhead attack is carried out, and the half-speed coordinate system defined relative to a transmitting system or a transmitting inertial system cannot be defined due to the fact that the speed vector is vertical to an OXY plane of the transmitting system or the transmitting inertial system when the horizontal turning maneuver is carried out; in addition, the two-dimensional scale guidance relates to the conversion sequence of the coordinate system, and also has certain situations to cause angle singularity, for example, the angle singularity problem exists in the two-dimensional scale guidance in the case of over-top attack. Both of these problems reduce the versatility of two-dimensional proportional steering techniques.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art, provides a high-precision three-dimensional space guidance method for transition research, solves the singularity problem existing in the over-the-top attack of the traditional proportional guidance, and is suitable for various precise striking flight tasks.

The technical scheme of the invention is as follows:

a transition research high-precision three-dimensional space guidance method comprises the following steps:

1) according to the current real-time speed of the projectile bodyThe current position of the projectile body is opposite to the striking targetVector of positions

Determining bullet sight line rotation rate vector under target coordinate system

2) Constraint of gamma according to the landing time velocity dip_DFVelocity deviation angle constraint gamma from impact time_TFCurrent real-time speed of projectile

Vector of current position of projectile body relative to striking target position

Determining a required speed transformation rate vector under a target coordinate system

3) According to the overload demand of the projectile against gravity

Current real-time velocity of projectile

And step 2) the required speed-to-rate vector

Determining demand overload of projectiles in a target coordinate system

4) Judging the symmetry type of the appearance structure of the projectile body, if the projectile body is of an axisymmetric structure, entering the step 5), and if the projectile body is of a plane symmetric structure and a non-axisymmetric structure, entering the step 7);

5) according to the transformation matrix from the projectile coordinate system to the target coordinate system

And step 3) overload of the requirement of the projectile body under the target coordinate system

Obtaining a demand overload of a projectile in a projectile coordinate system

And go to step 6);

6) overload of the projectile body in the projectile body coordinate system according to the step 5)

Determining projectile angle of attack instructions α, sideslip angle instructions β;

7) according to the current real-time speed of the projectile body

And step 3) overload of the requirement of the projectile body under the target coordinate system

Determining angle of attack instruction α_cxAnd entering step 8);

8) according to the direction cosine moment from the target coordinate system to the speed coordinate systemAnd transmitting the direction cosine moment matrix of the coordinate system to the target coordinate system

Determining a direction cosine matrix from a transmission coordinate system to a velocity coordinate system

According to

Determining a tilt angle command upsilon_cx。

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

1) aiming at the particle motion control mechanism of the axisymmetric/plane-symmetric aircraft, the invention establishes a three-dimensional space guidance and guidance model which can adapt to any flight mode and a complete overload control demand and guidance instruction calculation model.

2) The three-dimensional space guidance method provided by the invention solves the problem of singular coordinate system definition in the traditional two-dimensional scale guidance, and can realize centimeter-level striking precision.

3) The invention establishes a proportion guidance demand overload model in a speed coordinate system, and solves the singular problem of over-top attack in the traditional half-speed coordinate system.

Drawings

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

Detailed Description

As shown in fig. 1, the high-precision three-dimensional space guidance method for transition research of the present invention includes the following steps:

1) according to the current real-time speed of the projectile body

Vector of current position of projectile body relative to striking target position

Determining bullet sight line rotation rate vector under target coordinate system

The method specifically comprises the following steps:

2) constraint of gamma according to the landing time velocity dip_DFVelocity deviation angle constraint gamma from impact time_TFCurrent real-time speed of projectile

Vector of current position of projectile body relative to striking target position

Determining a demand speed slew rate vector

The impact moment is the moment corresponding to the attack target of the projectile body;

determining a demand speed slew rate vector

The method specifically comprises the following steps:

wherein, T_togoIs the remaining time of flight.

3) According to the overload demand of the projectile against gravity

Current real-time velocity of projectile

And step 2) the required speed-to-rate vector

Determining demand overload of projectiles in a target coordinate systemThe method specifically comprises the following steps:

wherein k is₁＞1，k₂＞0，k₁、k₂To guide the gain.

4) Judging the symmetry type of the appearance structure of the projectile body, if the projectile body is of an axisymmetric structure, entering the step 5), and if the projectile body is of a plane symmetric structure and a non-axisymmetric structure, entering the step 7);

5) according to the transformation matrix from the projectile coordinate system to the target coordinate system

And step 3) overload of the requirement of the projectile body under the target coordinate system

Obtaining a demand overload of a projectile in a projectile coordinate system

And go to step 6); determining a demand overload of a projectile in a projectile coordinate system

The method specifically comprises the following steps:

6) overload of the projectile body in the projectile body coordinate system according to the step 5)

Determining a projectile attack angle command α and a sideslip angle command β, and outputting a projectile attack angle command α and a sideslip angle command β to a next-level automatic control system;

determining an attack angle instruction α and a sideslip angle instruction β of the projectile, specifically:

wherein the content of the first and second substances,

is the partial derivative of the lateral force coefficient of the projectile to the sideslip angle, S_refIs the pneumatic reference area of the projectile body, and q is the real-time flying dynamic pressure of the projectile body; n is a radical of_yBOverload of demand for projectiles

Component in the Y-axis of the projectile coordinate system, N_zBOverload of demand for projectiles

A component on the Z-axis of the projectile coordinate system; m is the mass of the projectile;

7) according to the current real-time speed of the projectile body

And step 3) overload of the requirement of the projectile body under the target coordinate system

Determining angle of attack instruction α_cxAnd proceed to step 8); determine angle of attack command α_cxThe method specifically comprises the following steps:

wherein N is_yTIndicating a projectile demand overload

A component on the Y-axis of the target coordinate system; m is the mass of the projectile body,

the partial derivative of the coefficient of lift of the projectile with respect to angle of attack, α_cx0The corresponding attack angle S when the lifting coefficient of the projectile body is zero_refIs the pneumatic reference area of the projectile, and q is the real-time flight dynamic pressure of the projectile.

8) According to the direction cosine matrix from the target coordinate system to the speed coordinate system

And transmitting the direction cosine moment matrix of the coordinate system to the target coordinate system

Determining a direction cosine matrix from a transmission coordinate system to a velocity coordinate system

According to

Determining a tilt angle command upsilon_cxAnd outputs an angle of attack command α_cxAnd a tilt angle command v_cxFeeding the next level of automatic control system;

determining a tilt angle command upsilon_cxThe method specifically comprises the following steps:

wherein the content of the first and second substances,is the earth center radial of the emission point,Is the projection vector of the target point earth center radial in the emission coordinate system.