阅读说明：本技术 一种同时考核惯性导航和模拟飞行的地面试验方法 (Ground test method for simultaneously checking inertial navigation and simulating flight ) 是由 徐帆 吕建强 吕新广 冯昊 邹军 王光辉 于 2020-12-23 设计创作，主要内容包括：本发明涉及一种同时考核惯性导航和模拟飞行的地面试验方法,步骤包括：确定模拟飞行初始参数；获取初始时刻测试地点导航初始参数；通过推力曲线模拟轨道飞行；根据实测主从惯性测量组合实时输出的数据和测试点的初始速度、位置和姿态信息为初值以及主从惯性导航设备实时测量的陀螺数据和加表数据,主从惯组分别使用一套导航进行惯性导航解算,第一套导航获得主惯性测量组合导航结果,第二套导航获得从惯性测量组合导航结果,用于考核主从惯组的导航精度；由此,获得三套导航结果,第三套导航完成的飞行器推力曲线飞行模拟用于飞行控制。本发明采用推力曲线模拟,既可以模拟真实轨道,又反应了真实的惯组特性,使地面试验更加真实可靠。(The invention relates to a ground test method for simultaneously examining inertial navigation and simulating flight, which comprises the following steps: determining simulated flight initial parameters; acquiring initial navigation parameters of a test site at an initial moment; simulating orbit flight through a thrust curve; the method comprises the steps that data output in real time by a master-slave inertia measurement combination and initial speed, position and attitude information of a test point are used as initial values according to actual measurement, and gyro data and tabulation data measured in real time by master-slave inertia navigation equipment are used by the master-slave inertia measurement combination; therefore, three sets of navigation results are obtained, and the flight simulation of the aircraft thrust curve completed by the third set of navigation is used for flight control. The invention adopts thrust curve simulation, can simulate a real track, reflects the characteristics of a real inertial measurement unit and ensures that a ground test is more real and reliable.)

1. A ground test method for simultaneously checking inertial navigation and simulating flight is characterized by comprising the following specific steps:

s1, determining the initial parameters of the simulated flight

Obtaining the initial velocity V of the track starting point₀Position S₀And attitude information theta₀(ii) a And obtains the program angle of all points of the standard orbitψ_cx、γ_cxAnd engine thrust P_mfAnd aircraft mass M_mf0；

S2, obtaining initial time test point navigation initial parameter

According to the latitude B of the test site₀Shoot to A₀And obtaining an initial value of inertial navigation: initial velocity V_GPosition S_GAnd attitude information theta_G；

S3, simulating orbit flight through thrust curve

Obtaining the aircraft angle increment delta theta by adopting thrust curve simulation_{x_mf}、δθ_{y_mf}、δθ_{z_mf}And apparent velocity increment delta W under the coordinate system of the aircraft body_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}Using a third set of navigation to complete the flight simulation of the thrust curve of the aircraft;

s4, according to the data output by the actual measurement master-slave inertia measurement combination in real time and the initial speed, position and attitude information of the test point as initial values and the gyro data and the tabulation data measured by the master-slave inertia navigation equipment in real time, the master-slave inertia measurement combination respectively uses one set of navigation to carry out inertial navigation resolving, the first set of navigation obtains the master inertia measurement combination navigation result, the second set of navigation obtains the slave inertia measurement combination navigation result, and the navigation precision of the master-slave inertia measurement combination is checked;

and S5, obtaining three sets of navigation results, wherein the flight simulation of the thrust curve of the aircraft completed by the third set of navigation is used for flight control, and the main inertial measurement integrated navigation result obtained by the first set of navigation and the auxiliary inertial measurement integrated navigation result obtained by the second set of navigation are used for checking the navigation precision of the master-slave inertial measurement set.

2. The ground test method for simultaneously assessing inertial navigation and simulating flight according to claim 1, wherein in S3, the angular increment δ θ of the aircraft body coordinate system is_{x_mf}、δθ_{y_mf}、δθ_{z_mf}Obtained by the following method:

program angle increment is equal to the program angle of the cycle-program angle of the last cycle

The programmed angular increment of the aircraft is obtained by the following formula:

Δψ_{cx_mf}＝ψ_cx-ψ_cx,-1

Δγ_{cx_mf}＝γ_cx-γ_cx,-1

wherein the content of the first and second substances,ψ_cx、γ_cxrespectively are program angles of pitch, yaw and rolling directions of the period under the navigation coordinate system,ψ_cx，-1、γ_cx，-1is the program angle of the pitch, yaw and roll directions of the upper period under the navigation coordinate system,Δψ_{cx_mf}、Δγ_{cx_mf}for navigating the coordinate systemProgrammed angular increments of yaw, roll direction.

3. The ground test method for simultaneously assessing inertial navigation and simulating flight according to claim 2, characterized in that the programmed angle increment in the aircraft navigation coordinate systemΔψ_{cx_mf}、Δγ_{cx_mf}Obtaining the three-direction angle increment delta theta under the coordinate system of the aircraft body by the following formula_{x_mf}、δθ_{y_mf}、δθ_{z_mf}：

4. The ground test method for simultaneously assessing inertial navigation and simulating flight according to claim 1, wherein in S3, the apparent velocity increment δ W is in an aircraft body coordinate system_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}Obtained by the following method:

aircraft mass M_mfObtained by the following formula:

M_mf＝M_mf-1-dm_{CD_mf}t, wherein M_mf-1Mass of aircraft for the last guidance period, dm_{CD_mf}The aircraft mass consumption rate is shown, and T is a guidance period; initial mass value of M_mf0。

5. The ground test method for simultaneously assessing inertial navigation and simulating flight according to claim 4, wherein the thrust P of the aircraft is determined according to the thrust P_mfWith aircraft mass M_mfObtaining the apparent speed increment delta W of the aircraft by the following formula_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}：

6. The ground test method for simultaneously assessing inertial navigation and simulating flight according to claim 1, wherein in S3, V is used_t、S_t、θ_tInitial inertial navigation speed, position and attitude information used as a thrust curve segment simulation, and angular increment delta theta of an aircraft body coordinate system_{x_mf}、δθ_{y_mf}、δθ_{z_mf}And the apparent speed increment delta W under the coordinate system of the aircraft body_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}And performing inertial navigation calculation by using a third set of navigation until the flight is finished, obtaining the track data of the thrust curve segment, and completing the flight simulation after the thrust curve is accessed.

Technical Field

The invention relates to a ground test method for simultaneously checking inertial navigation and simulating flight, belonging to the technical field of carrier rocket control.

Background

In the process of aircraft development, ground simulated flight verification needs to be carried out on various control processes and inertia measurement combination products in the flight process before flight, therefore, a simulated flight test needs to be adopted to comprehensively examine an aircraft guidance control process and an inertia measurement combination hardware system, the conventional simulated flight method mainly adopts a thrust curve or 1g simulated flight method, the thrust curve simulated flight mainly adopts a software calculation simulation control process, the accuracy of an inertial set cannot be examined without considering real inertial set information, the 1g simulated flight method introduces real inertial set information but cannot completely simulate the guidance control process, and the two methods have advantages and disadvantages and cannot simultaneously achieve the purpose of efficient examination by adopting the actual measurement data of the inertial set.

Disclosure of Invention

The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a ground test method for simultaneously examining inertial navigation and simulating flight, establishes three sets of navigation, uses one set of navigation for a master set and a slave set of inertial sets respectively, and participates in the simulated flight control by a third set of navigation equations, thereby realizing one-time simultaneous examination of the inertial sets and completion of the guidance control.

The technical scheme of the invention is as follows:

a ground test method for simultaneously checking inertial navigation and simulating flight comprises the following specific steps:

s1, determining the initial parameters of the simulated flight

Obtaining the initial velocity V of the track starting point₀Position S₀And attitude information theta₀(ii) a And obtains the program angle of all points of the standard orbitψ_cx、γ_cxAnd engine thrust P_mfAnd aircraft mass M_mf0；

S2, obtaining initial time test point navigation initial parameter

According to the latitude B of the test site₀Shoot to A₀And obtaining an initial value of inertial navigation: initial velocity V_GPosition S_GAnd attitude information theta_G；

S3, simulating orbit flight through thrust curve

Obtaining the aircraft angle increment delta theta by adopting thrust curve simulation_{x_mf}、δθ_{y_mf}、δθ_{z_mf}And apparent velocity increment delta W under the coordinate system of the aircraft body_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}Using a third set of navigation to complete the flight simulation of the thrust curve of the aircraft;

s4, according to the data output by the actual measurement master-slave inertia measurement combination in real time and the initial speed, position and attitude information of the test point as initial values and the gyro data and the tabulation data measured by the master-slave inertia navigation equipment in real time, the master-slave inertia measurement combination respectively uses one set of navigation to carry out inertial navigation resolving, the first set of navigation obtains the master inertia measurement combination navigation result, the second set of navigation obtains the slave inertia measurement combination navigation result, and the navigation precision of the master-slave inertia measurement combination is checked;

and S5, obtaining three sets of navigation results, wherein the flight simulation of the thrust curve of the aircraft completed by the third set of navigation is used for flight control, and the main inertial measurement integrated navigation result obtained by the first set of navigation and the auxiliary inertial measurement integrated navigation result obtained by the second set of navigation are used for checking the navigation precision of the master-slave inertial measurement set.

Further, in S3, the angle increment δ θ of the aircraft body coordinate system is set_{x_mf}、δθ_{y_mf}、δθ_{z_mf}Obtained by the following method:

program angle increment is equal to the program angle of the cycle-program angle of the last cycle

The programmed angular increment of the aircraft is obtained by the following formula:

Δψ_{cx_mf}＝ψ_cx-ψ_cx,-1

Δγ_{cx_mf}＝γ_cx-γ_cx,-1

wherein the content of the first and second substances,ψ_cx、γ_cxrespectively are program angles of pitch, yaw and rolling directions of the period under the navigation coordinate system,ψ_cx，-1、γ_cx，-1is the program angle of the pitch, yaw and roll directions of the upper period under the navigation coordinate system,Δψ_{cx_mf}、Δγ_{cx_mf}and the program angle increment of the pitching, yawing and rolling directions under the navigation coordinate system.

Further, the angle increment of the program angle under the coordinate system is navigated by the aircraftΔψ_{cx_mf}、Δγ_{cx_mf}Obtaining the three-direction angle increment delta theta under the coordinate system of the aircraft body by the following formula_{x_mf}、δθ_{y_mf}、δθ_{z_mf}：

Further, in S3, the apparent velocity increment δ W in the aircraft body coordinate system_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}Obtained by the following method:

aircraft mass M_mfObtained by the following formula:

M_mf＝M_mf-1-dm_{CD_mf}t, wherein M_mf-1Mass of aircraft for the last guidance period, dm_{CD_mf}The aircraft mass consumption rate is shown, and T is a guidance period; initial mass value of M_mf0。

Further, according to aircraft thrust P_mfWith aircraft mass M_mfObtaining the apparent speed increment delta W of the aircraft by the following formula_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}：

Further, in S3, V is set as_t、S_t、θ_tInitial inertial navigation speed, position and attitude information used as a thrust curve segment simulation, and angular increment delta theta of an aircraft body coordinate system_{x_mf}、δθ_{y_mf}、δθ_{z_mf}And the apparent speed increment delta W under the coordinate system of the aircraft body_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}And performing inertial navigation calculation by using a third set of navigation until the flight is finished, obtaining the track data of the thrust curve segment, and completing the flight simulation after the thrust curve is accessed.

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

(1) the invention adopts thrust curve simulation, which can simulate real track and reflect real inertia group characteristic, so that ground test is more real and reliable;

(2) the inertial navigation of the two sets of inertial measurement units can test the accuracy of the inertial measurement combination hardware, and compared with the traditional simulation method, the method can realize software multiplexing and complete inertial measurement unit evaluation;

(3) the simulation method is simple and high in efficiency.

Drawings

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

Detailed Description

The invention is further illustrated by the following examples.

A ground test method for simultaneously assessing inertial navigation and simulating flight comprises the following specific steps as shown in figure 1:

s1, determining the initial parameters of the simulated flight

Acquisition railInitial velocity V of the track start point₀Position S₀And attitude information theta₀(ii) a And obtains the program angle of all points of the standard orbitψ_cx、γ_cxAnd engine thrust P_mfAnd aircraft mass M_mf0；

S2, obtaining initial time test point navigation initial parameter

According to the latitude B of the test site₀Shoot to A₀And obtaining an initial value of inertial navigation: initial velocity V_GPosition S_GAnd attitude information theta_G；

S3, simulating orbit flight through thrust curve

Obtaining the aircraft angle increment delta theta by adopting thrust curve simulation_{x_mf}、δθ_{y_mf}、δθ_{z_mf}And apparent velocity increment delta W under the coordinate system of the aircraft body_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}And completing aircraft thrust curve flight simulation using a third set of navigation, wherein:

s3.1 aircraft body coordinate system angular increment delta theta_{x_mf}、δθ_{y_mf}、δθ_{z_mf}Obtained by the following method:

program angle increment is equal to the program angle of the cycle-program angle of the last cycle

The programmed angular increment of the aircraft is obtained by the following formula:

Δψ_{cx_mf}＝ψ_cx-ψ_cx,-1

Δγ_{cx_mf}＝γ_cx-γ_cx,-1

wherein the content of the first and second substances,ψ_cx、γ_cxrespectively the pitching of the period under the navigation coordinate systemThe programmed angle of yaw, roll direction,ψ_cx，-1、γ_cx，-1is the program angle of the pitch, yaw and roll directions of the upper period under the navigation coordinate system,Δψ_{cx_mf}、Δγ_{cx_mf}program angle increment of pitching, yawing and rolling directions under a navigation coordinate system;

programmed angle increment in a coordinate system navigated by an aircraftΔψ_{cx_mf}、Δγ_{cx_mf}Obtaining the three-direction angle increment delta theta under the coordinate system of the aircraft body through the following formula_{x_mf}、δθ_{y_mf}、δθ_{z_mf}：

S3.2 apparent velocity increment delta W of aircraft body coordinate system_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}Obtained by the following method:

aircraft mass M_mfObtained by the following formula:

M_mf＝M_mf-1-dm_{CD_mf}t, wherein M_mf-1Mass of aircraft for the last guidance period, dm_{CD_mf}The aircraft mass consumption rate is shown, and T is a guidance period; initial mass value of M_mf0；

According to aircraft thrust P_mfWith aircraft mass M_mfObtaining the apparent speed increment delta W of the aircraft by the following formula_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}：

S3.3 by V_t、S_t、θ_tInitial inertial navigation speed, position and attitude information used as a thrust curve segment simulation, and angular increment delta theta of an aircraft body coordinate system_{x_mf}、δθ_{y_mf}、δθ_{z_mf}And the apparent speed increment delta W under the coordinate system of the aircraft body_{x1_mf}、δW_{y1_mf}、δW_{z1_mf}Performing inertial navigation resolving by using a third set of navigation until the flight is finished, obtaining the track data of the thrust curve segment, and completing the flight simulation after the thrust curve is accessed;

s4 flight simulation of combined output of actual measurement master-slave inertia measurement

The method comprises the steps that data output in real time by actually measured main and auxiliary inertia measurement combination and initial speed, position and attitude information of a test point are used as initial values, gyro data and tabulation data measured in real time by main and auxiliary inertia navigation equipment are used, the main and auxiliary inertia groups respectively use one set of navigation to carry out inertia navigation resolving, the first set of navigation obtains a main inertia measurement combination navigation result, and the second set of navigation obtains a auxiliary inertia measurement combination navigation result and is used for checking the navigation precision of the main and auxiliary inertia groups;

and S5, obtaining three sets of navigation results, wherein the flight simulation of the thrust curve of the aircraft completed by the third set of navigation is used for flight control, and the main inertial measurement integrated navigation result obtained by the first set of navigation and the auxiliary inertial measurement integrated navigation result obtained by the second set of navigation are used for checking the navigation precision of the master-slave inertial measurement set.

The invention adopts thrust curve simulation, which can simulate real track and reflect real inertia group characteristic, so that ground test is more real and reliable;

the inertial navigation of the two sets of inertial measurement units can test the accuracy of the inertial measurement combination hardware, and compared with the traditional simulation method, the method can realize software multiplexing and complete inertial measurement unit evaluation; the simulation method is simple and high in efficiency.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.