Fast aerial alignment method of rotating guided projectile based on previous data

Abstract

The invention provides a front data based rapid air alignment method of rotary guided projectiles. The method comprises the following steps: giving the alignment position and speed by a satellite navigation system and calculating course angles and pitching angles at corresponding moments by using the speed information output by the satellite navigation system; then outputting Np groups of pitching angles, the change rate of the course angles, the change rate of the pitching angles and the gyro output angle speed in INS data from a moment T0 to a set moment T according to a satellite navigation result, determining a coefficient matrix of a rolling angle observation equation, and solving the rolling angle observation equation through a least square method so as to accurately calculate the inertial navigation initial position, the speed and the attitude angle, namely to implement rapid air alignment of the rotary guided projectiles and greatly improve the fall point precision of the rotary guided projectiles. The alignment algorithm is simple and is high in precision, the alignment time is short and the alignment speed is high; the important preparation is made for improving the fall point precision of the rotary guided projectiles and reducing the striking time.

Description

technical field [0001] The present invention relates to the technical field of initial alignment technology and integrated navigation system, in particular to a method for rapid air alignment of rotating guided projectiles based on previous data, which can be used for unmanned aerial vehicles, spin guided projectiles, etc. that need self-alignment in the air occasion. Background technique [0002] The spin-guided projectile is a high-precision weapon that is launched in the air and needs to be self-aligned. It includes systems such as inertial navigation and GPS. The error of the inertial navigation system is corrected by GPS to achieve the ability to accurately strike the target. Air alignment estimates the misalignment angle of the inertial navigation system from the deviation of the inertial navigation system relative to the navigation parameters (such as speed, etc.) provided by other navigation systems and corrects it. [0003] The inertial navigation system is a range...

AI Technical Summary

Problems solved by technology

The commonly used alignment method is realized by Kalman filtering algorithm, which needs to establish a systematic error model, and the stability of the algorithm depends heavily on the correctness and accuracy of the navigation error model, and the time cost is large, and the filtering period is long; Inertial navigation is not considered in the Kalman filtering process. In a weightless environment, the output of the accelerometer is almost zero, the observation effect on the roll angle is poor, and the alignment accuracy is not high and it takes a long time

Using the accelerometer method, due to the fact that the guided projectile is in weightlessness in the air, the output result of the accelerometer is too noisy, and even hides the real output, resulting in inaccurate results of the final calculated roll angle

Using the output results of the gyroscope for calculation, because the rotation speed is relatively fast, the measurement of the gyroscope used is relatively large, the accuracy is relatively low, and the output disturbance is large, resulting in unpredictable results

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