阅读说明：本技术 一种激光半主动导引头制导信息异常跳动处理方法 (Laser semi-active seeker guidance information abnormal jumping processing method ) 是由 程新占 张超 王亚军 张�杰 黄广 吴伯淳 于 2020-11-17 设计创作，主要内容包括：本发明公开了一种激光半主动导引头制导信息异常跳动处理方法,包括包括如下步骤：判断当前导引头增益状态；若没有能级切换,则不修正脱靶量,并用实时解算的脱靶量数据进行制导控制；若存在能级切换,则记录能级切换时前n帧及后m帧目标方位、俯仰脱靶量,采用能级切换前倒数第n帧的目标方位、俯仰脱靶量替换切换时刻前n-1帧、后m-1帧的脱靶量数据,进行制导控制,其中n、m均为自然数,取值1-5。本发明充分利用导引头输出的增益切换及脱靶量信息,对用于伺服控制的脱靶量进行修正,以消除导引头能级切换时刻制导信息异常跳动的问题,提高了激光制导飞行器稳定性,确保了激光制导飞行器的精度。(The invention discloses a method for processing guidance information abnormal jumping of a laser semi-active seeker, which comprises the following steps: judging the gain state of the current seeker; if no energy level is switched, the miss distance is not corrected, and guidance control is performed by using miss distance data calculated in real time; and if energy level switching exists, recording target orientations and pitching miss-hits of the previous n frames and the next m frames during energy level switching, replacing miss-hits data of the previous n-1 frames and the next m-1 frames before the switching time by using the target orientation and the pitching miss-hits of the last n frames before energy level switching, and performing guidance control, wherein n and m are natural numbers and take values of 1-5. The invention makes full use of the gain switching and miss distance information output by the seeker to correct the miss distance for servo control, so as to eliminate the problem of abnormal jumping of guidance information at the moment of energy level switching of the seeker, improve the stability of the laser guidance aircraft and ensure the precision of the laser guidance aircraft.)

1. A laser semi-active seeker guidance information abnormal jumping processing method is characterized by comprising the following steps:

s1, judging the gain state of the current seeker;

s11, if no energy level switching exists, the miss distance is not corrected, and guidance control is performed by using miss distance data calculated in real time;

s12, if energy level switching exists, recording target orientations and pitching miss-hits of previous n frames and next m frames during energy level switching, replacing miss-hits data of previous n-1 frames and next m-1 frames at the switching time by target orientations and pitching miss-hits of the last n frames and next m frames before energy level switching, and conducting guidance control, wherein n and m are natural numbers and take values of 1-5;

and S2, judging whether the seeker stably tracks, if so, correcting the miss distance calculated in real time by using the difference between the miss distance of the mth frame after energy level switching and the miss distance of the nth frame before switching, and if not, not correcting.

2. The guidance information abnormal bounce processing method according to claim 1, wherein the guidance head is a frame-type laser semi-active guidance head, and the guidance control using the off-target amount data calculated in real time in step S11 is specifically the guidance head servo control;

in step S12, the guidance control is specifically a guidance head servo control.

3. The guidance information abnormal runout processing method according to claim 2, wherein in the step S12: if energy level switching exists, preferably, the target azimuth and the pitching miss distance of the first two frames, namely n-2 and the second two frames, namely m-2, are recorded during energy level switching, and the target azimuth and the pitching miss distance of the last but one frame before and after the switching time are adopted to replace the miss distance data of the frames before and after the switching time, so as to perform guidance head servo control;

in step S2, the miss distance calculated in real time is corrected by the difference between the miss distance of the second frame after the energy level is switched and the miss distance of the last frame before the energy level is switched.

4. The guidance information abnormal bounce processing method according to claim 3, wherein the principle of judging whether the guidance head is stably tracked in the step S2 is whether the guidance head captures the target and the capture state is stable within a certain time, and the certain time is obtained according to statistics of experimental data.

5. The guidance information abnormal jump processing method according to claim 4, wherein the method of correcting the off-target amount calculated in real time in step S2 is as follows:

if energy level switching exists, recording target orientations and pitching miss-hits of the first two frames and the second two frames during energy level switching, replacing miss-hits data of the first frame and the second frame by target orientations and pitching miss-hits of the last frame and the last frame before energy level switching, wherein the first two frames during energy level switching are an A frame corresponding to an A laser period and a B frame corresponding to a B laser period, the second two frames during energy level switching are a C frame corresponding to a C laser period and a D frame corresponding to a D laser period, and if alpha and beta are respectively a target orientation and a pitching miss-hits, then:

α_B＝α_C＝α_A

β_B＝β_C＝β_A

the correction parameters alpha 'and beta' of the D period and the later time are as follows:

α’＝α_D-α_A

β’＝β_D-β_A

the cycle D and the later moment output of the corrected miss distance are as follows:

α_N＝α_N-α’

β_N＝β_N-β’

where each α, β with subscripts A, B, C and D represents the corresponding target azimuth and elevation miss-target amount, respectively, for each laser cycle.

Technical Field

The invention belongs to the technical field of laser seeker, and particularly relates to a method for processing guidance information abnormal jumping of a laser semi-active seeker.

Background

The traditional aircraft utilizes an inertial navigation technology to conduct guidance, is a completely autonomous guidance system, is not interfered by the outside, and is relatively low in guidance precision.

The modern war has higher and higher requirement on guidance precision, small-scale military conflict and point-to-point accurate strike all depend on guidance control equipment and technology with higher guidance precision, such as wired guidance, microwave radar guidance, television guidance, infrared guidance, laser guidance and the like on the basis of inertial navigation. The laser guidance technology is applied more, the technology is relatively mature, and the development is extremely rapid.

A large number of experiments and tests show that various interference signals are mixed in the output signals of the seeker, meanwhile, the seeker is interfered by target background light at the moment of energy level switching of the seeker, output guidance information has large amplitude jumping, and the seeker is likely to be missed in case of serious conditions, so that the guidance precision and stability of the guidance aircraft are affected.

Disclosure of Invention

The invention aims to solve the problems, eliminate the influence of guidance information jumping after the energy level of a seeker is switched, and improve the stability of an aircraft and the precision of a guidance control system.

In order to achieve the above object, the present invention provides the following method:

a laser semi-active seeker guidance information abnormal jumping processing method is characterized by comprising the following steps:

s1, judging the gain state of the current seeker;

s11, if no energy level is switched (at zero level), correcting miss distance, and performing guidance control by using miss distance data calculated in real time, wherein the miss distance is a miss angle;

s12, if energy level switching exists, recording the target orientation and pitching miss distance of the previous n frames and the next m frames during energy level switching, wherein the target orientation and the pitching miss distance are yaw miss angle and pitching miss angle, replacing miss distance data of the previous n-1 frames and the next m-1 frames before switching time by the target orientation and the pitching miss distance of the last n frames before energy level switching, and carrying out guidance control, wherein n and m are natural numbers and take the value of 1-5;

and S2, judging whether the seeker stably tracks, if so, correcting the miss distance calculated in real time by using the difference between the miss distance of the mth frame after energy level switching and the miss distance of the nth frame before switching, and if not, not correcting.

Furthermore, the invention is suitable for both the strapdown laser semi-active seeker and the frame type laser semi-active seeker.

Preferably, the seeker is a frame-type laser semi-active seeker, and the guidance control by using the real-time calculated miss amount data in the step S1 is specifically to perform seeker servo control;

in step S12, the guidance control is specifically a guidance head servo control.

Preferably, in step S2, it is preferable that: if energy level switching exists, recording the target azimuth and the pitching miss distance of the first two frames, namely n-2 and the second two frames, namely m-2, during energy level switching, replacing the miss distance data of each frame before and after the switching time by the target azimuth and the pitching miss distance of the last but one frame before and after the energy level switching, and performing seeker servo control;

in step S3, the miss distance calculated in real time is corrected by the difference between the miss distance of the second frame after the energy level is switched and the miss distance of the last frame before the energy level is switched.

Preferably, the principle of determining whether the seeker is stably tracking in step S3 is whether the seeker captures the target and the capture state is stable within a certain time, which is obtained statistically according to experimental data.

Preferably, the method for correcting the miss distance calculated in real time in step S3 is as follows:

if energy level switching exists, recording target orientations and pitching miss-hits of the first two frames and the second two frames during energy level switching, replacing miss-hits data of the first frame and the second frame by target orientations and pitching miss-hits of the last frame and the last frame before energy level switching, wherein the first two frames during energy level switching are an A frame corresponding to an A laser period and a B frame corresponding to a B laser period, the second two frames during energy level switching are a C frame corresponding to a C laser period and a D frame corresponding to a D laser period, and if alpha and beta are respectively a target orientation and a pitching miss-hits, then:

α_B＝α_C＝α_A

β_B＝β_C＝β_A

the correction parameters alpha 'and beta' of the D period and the later time are (stably tracking for a certain time, otherwise, zero):

α’＝α_D-α_A

β’＝β_D-β_A

the cycle D and the later moment output of the corrected miss distance are as follows:

α_N＝α_N-α’

β_N＝β_N-β’

where subscripts A, B, C and D represent the corresponding target azimuth and pitch miss, respectively, for each laser cycle.

Compared with the prior art, the technical scheme of the invention can obtain the following beneficial effects:

1. the invention makes full use of the gain switching and miss distance information output by the seeker to correct the miss distance for servo control, so as to eliminate the problem of abnormal jumping of guidance information at the moment of energy level switching of the seeker, improve the stability of the laser guidance aircraft and ensure the precision of the laser guidance aircraft.

2. The method is simple in design and easy to implement.

Drawings

FIG. 1 is a flow chart of an embodiment of a method for handling abnormal jumping of guidance information of a guided vehicle according to the present invention;

fig. 2 is a schematic diagram of guidance information abnormal jump, wherein A, B represents the laser period a and the laser period B of the previous two laser periods during energy level switching, respectively, and the miss distance data of the previous two frames during energy level switching are the frame a corresponding to the laser period a and the frame B corresponding to the laser period B; C. d respectively represents a C laser period and a D laser period of the last two laser periods during energy level switching, and the two frames of miss distance data after corresponding energy level switching are a C frame corresponding to the C laser period and a D frame corresponding to the D laser period.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Example 1

Taking a certain guided missile A as an example, a frame type laser semi-active seeker is used, as shown in fig. 1, the invention provides a method for processing abnormal jumping of guidance information of the laser semi-active seeker, which comprises the following steps:

s1, judging the gain state of the current seeker

S11, if no energy level switching gain state is zero level at present, the miss distance is not corrected, and guidance control is carried out by using miss distance data calculated in real time, wherein the miss distance is the miss angle;

s12, if energy level switching exists, recording the target orientation and pitching miss distance of the previous n frames and the next m frames during energy level switching, wherein the target orientation and the pitching miss distance are yaw miss angle and pitching miss angle, replacing miss distance data of the previous n-1 frames and the next m-1 frames before switching time by the target orientation and the pitching miss distance of the last n frames before energy level switching, and carrying out guidance control, wherein n and m are natural numbers and take the value of 1-5; in the embodiment, n is 2, m is 2; another embodiment is where n is 5 and m is 5; in another embodiment n-1, m-1;

s2, judging whether the seeker stably tracks, if so, correcting the miss distance calculated in real time by using the difference between the miss distance of the mth frame after energy level switching and the miss distance of the nth frame before switching, otherwise, not correcting;

the seeker is a frame-type laser semi-active seeker, and the guidance control is performed by using the off-target amount data calculated in real time in the step S11 and the guidance control is specifically performed in the step S12, namely the seeker servo control is performed; the frame type laser semi-active seeker miss distance, namely misalignment angle (yaw misalignment angle and pitch misalignment angle) signal output is used for seeker servo control, and then a speed ring signal is generated for guided missile control;

in the step S12: if the gain state is switched from zero level to one level, preferably, the target azimuth and the pitching miss amount of the first two frames, i.e. n is 2 and the target azimuth and the pitching miss amount of the last two frames, are recorded during energy level switching, and the target azimuth and the pitching miss amount of the last but one frame before and after the switching time are adopted to replace the miss amount data of each frame before and after the switching time, so as to perform the servo control of the seeker;

in step S2, the miss distance calculated in real time is corrected by the difference between the miss distance of the second frame after the energy level is switched and the miss distance of the last frame before the energy level is switched.

The principle of determining whether the seeker is stably tracking in step S2 is whether the seeker captures the target and the capture state is stable within 1.2S, where 1.2S is obtained according to statistics of experimental data.

The method for correcting the miss distance calculated in real time in step S2 is as follows:

if the gain state is switched from zero level to one level, recording target orientations and pitching miss-hits of the first two frames and the second two frames during energy level switching, and replacing miss-hits data of the first frame and the second frame by using target orientations and pitching miss-hits of the last frame and the last frame before energy level switching, as shown in fig. 2, the first two frames during energy level switching are an a frame corresponding to an a laser period and a B frame corresponding to a B laser period, the second two frames during energy level switching are a C frame corresponding to a C laser period and a D frame corresponding to a D laser period, and assuming that α and β are respectively a target orientation and a pitching miss-hits, then:

α_B＝α_C＝α_A

β_B＝β_C＝β_A

the correction parameters alpha 'and beta' of the D period and the later time are (stably tracking for 1.2s, otherwise alpha 'and beta' are zero):

α’＝α_D-α_A

β’＝β_D-β_A

the cycle D and the later moment output of the corrected miss distance are as follows:

α_N＝α_N-α’

β_N＝β_N-β’

where each α, β with subscripts A, B, C and D represents the corresponding target azimuth and elevation miss-target amount, respectively, for each laser cycle.

In order to avoid the servo control amount (miss amount data) of the B laser period being assigned after the energy level switching, which may cause the control amount to be suddenly adjusted, the miss amount data of the B frame needs to be replaced.

When the seeker gain state is switched from one-level to two-level, the process proceeds as per step S2.

Example 2

Taking a certain B guided missile as an example, the invention provides a method for processing abnormal jumping of guidance information of a laser semi-active seeker by using a strapdown laser semi-active seeker as shown in figure 1, which comprises the following steps:

s1, judging the gain state of the current seeker

S11, if the current gain state is zero-order, the miss distance is not corrected, and guidance control is carried out by using miss distance data calculated in real time, wherein the miss distance is a miss angle;

s12, if energy level switching exists, recording the target orientation and pitching miss distance of the previous n frames and the next m frames during energy level switching, wherein the target orientation and the pitching miss distance are yaw and pitching miss angles, replacing miss distance data of the previous n-1 frames and the next m-1 frames before the switching time by the target orientation and the pitching miss distance of the last n frames before energy level switching, and carrying out guidance control, wherein n and m are natural numbers and take the value of 1-5; in the embodiment, n is 2, m is 2; another embodiment is where n is 5 and m is 5; in another embodiment n-1, m-1;

and S2, judging whether the seeker stably tracks, if so, correcting the miss distance calculated in real time by using the difference between the miss distance of the mth frame after energy level switching and the miss distance of the nth frame before switching, and if not, not correcting.

The seeker is a strapdown laser semi-active seeker, and the guidance control performed by the real-time calculated miss distance data in the step S11 is specifically directly controlled by an on-missile control system;

the guidance control in step S12 is specifically performed directly by the pop-up control system.

In the step S12: if the gain state is switched from zero level to one level, it is preferable that the first two frames, i.e., n, are equal to each other when the recording level is switched2And the last two frames, namely m is 2 target position and pitching miss distance, the target position and pitching miss distance of the last but one frame before and after the switching time are replaced by the target position and pitching miss distance of the last frame before energy level switching, and the data are directly controlled by the pop-up control system;

in step S2, the miss distance calculated in real time is corrected by the difference between the miss distance of the second frame (D frame) after the energy level is switched and the miss distance of the second frame (a frame) before the switching.

The principle of determining whether the seeker is stably tracking in step S2 is whether the seeker captures the target and the capture state is stable within 1.4S, where 1.4S is obtained statistically according to experimental data.

The method for correcting the miss distance calculated in real time in step S2 is as follows:

if the gain state is switched from zero level to one level, recording target orientations and pitching miss-hits of the first two frames and the second two frames during energy level switching, and replacing miss-hits data of the first frame and the second frame by using target orientations and pitching miss-hits of the last frame and the last frame before energy level switching, as shown in fig. 2, the first two frames during energy level switching are an a frame corresponding to an a laser period and a B frame corresponding to a B laser period, the second two frames during energy level switching are a C frame corresponding to a C laser period and a D frame corresponding to a D laser period, and assuming that α and β are respectively a target orientation and a pitching miss-hits, then:

α_B＝α_C＝α_A

β_B＝β_C＝β_A

the correction parameters alpha 'and beta' of the D period and the later time are (stably tracking for 1.2s, otherwise alpha 'and beta' are zero):

α’＝α_D-α_A

β’＝β_D-β_A

the cycle D and the later moment output of the corrected miss distance are as follows:

α_N＝α_N-α’

β_N＝β_N-β’

where subscripts A, B, C and D represent the corresponding target azimuth and pitch miss, respectively, for each laser cycle.

When the seeker gain state is switched from one-level to two-level, the process proceeds as per step S2.