Midair integrated navigation method for high-dynamic spinning guided cartridge

Abstract

Provided is a midair integrated navigation method for a high-dynamic spinning guided cartridge. The position, speed and posture at the initial moment are obtained through a spinning guided cartridge midair coarse alignment method, and navigation resolving is carried out through an inertial navigation system to obtain a navigation result at each moment; the course angles, pitch angles, three speeds, three speed error values, pitch angle error values and course angle error values at the corresponding moments are obtained according to navigation information output by a GPS at corresponding time, and adopted as an observation matrix C evaluated through nine-dimensional Kalman filtering, three posture corrected values, three speed corrected values and three gyroscope zero offset values at the corresponding moments are evaluated, and the posture, speed and position information of the spinning guided cartridge at the midair corresponding moment can be obtained. Integrated navigation of the high-dynamic spinning guided cartridge under the condition of midair weightlessness is achieved, meanwhile, navigation noise and gyroscope zero offset are filtered out through a kalman filter, the drop point precision of the spinning guided cartridge is improved, and the controllability of the guided cartridge is improved.

Description

technical field [0001] The invention relates to an air integrated navigation method, in particular to an air integrated navigation method for high-dynamic spin-guided projectiles, which belongs to guidance control technology and integrated navigation system design technology, and can be used for unmanned aerial vehicles, spin-guided projectiles, etc. Combined navigation occasions. Background technique [0002] The spin-guided projectile is a high-precision weapon that is launched in the air and requires navigation and control. 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. Integrated navigation is to estimate 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 correct it. [0003] The inert...

AI Technical Summary

Problems solved by technology

But inertial systems have inherent disadvantages: navigation accuracy diverges over time and poor long-term stability

The three accelerometers not only contain their own errors, because the MEMS accelerometers are used, so their own errors are relatively large, but also include the lever arm effect, which leads to inaccurate output results of the measured accelerometers, resulting in the real acceleration information being distorted. Hidden in the noise and cannot be applied as a real result

The coupling relationship between speed change and attitude change is weak, and the attitude angle information cannot be effectively observed through the deviation of speed and position

The commonly used integrated navigation method is a classic alignment scheme implemented by the Kalman filter algorithm using velocity and position as observations. Since the random interference factors and weightlessness in the inertial navigation working environment are not considered, such as the spin-guided shells caused by gusts, etc. Random swaying, random changes in aerodynamics during flight, and warped deformation of the guided bomb structure, etc., lead to low navigation accuracy and take a long time

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