Omni-directional launch control method and device for carrier rocket as well as computer equipment

A carrier rocket and launch control technology, which is applied to space navigation equipment, launch systems, transportation and packaging, etc., can solve problems such as high cost and long time, and achieve the effect of improving rapid response capability and automation level

Active Publication Date: 2019-10-08
宁波天擎航天科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides an all-round launch control method for launch vehicles, which aims to solve the problems of long time and high cost caused by the need to perform azimuth alignment through the rotation and indexing mechanism before the launch of existing rockets

Method used

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  • Omni-directional launch control method and device for carrier rocket as well as computer equipment
  • Omni-directional launch control method and device for carrier rocket as well as computer equipment
  • Omni-directional launch control method and device for carrier rocket as well as computer equipment

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Effect test

Embodiment 1

[0048] Such as image 3 as shown, image 3 The omni-directional launch control method for a launch vehicle provided by the embodiment of the present invention includes the following steps:

[0049]101. Acquire an initial attitude angle and calculate an initial quaternion, where the initial attitude angle includes an initial roll angle.

[0050] In this embodiment, any initial attitude angle can be obtained by placing the rocket at any position of the launch system, including initial roll angle, initial yaw angle, and initial pitch angle. Among them, the initial rolling angle is the angle between the actual azimuth angle of the rocket and the theoretical shooting direction, and the initial yaw angle and initial pitch angle can be obtained through initial leveling. Then, based on the above-mentioned initial attitude angle, the above-mentioned initial quaternion can be obtained through the calculation formula of the initial quaternion.

[0051] 102. Obtain the real-time angle ...

Embodiment 2

[0059] Further, after the step of calculating the attitude angle deviation based on the real-time quaternion and the standard quaternion, and obtaining a guidance control signal according to the attitude angle deviation and outputting it to the actuator, the method further includes:

[0060] If the total time of the control cycle is less than the preset time threshold, iteratively calculate the real-time quaternion and standard quaternion of the next control cycle and recalculate the attitude angle deviation.

[0061] In this embodiment, the attitude needs to be adjusted before the rocket enters the standard flight track, and the adjustment time can be a preset time threshold according to the actual situation, such as 40s; The time (that is, the control cycle, such as 10ms) sends a control signal to gradually adjust the flight attitude, so as to finally meet the conditions for entering orbit. Therefore, it is necessary to iteratively calculate the real-time quaternion and the s...

Embodiment 3

[0063] Further, the step of obtaining the initial attitude angle and calculating the initial quaternion specifically includes:

[0064] Obtain the theoretical shooting angle and the initial actual azimuth;

[0065] Obtaining the initial rolling angle through the theoretical shooting angle and the initial actual azimuth;

[0066] The initial quaternion is calculated based on the initial attitude angle.

[0067] In this example, if figure 1 , figure 2 As shown, the theoretical launch direction of the rocket is A0, which is calculated by the ballistic calculation software based on the standard flight trajectory; the initial actual azimuth A1 is obtained by placing the rocket at any position of the launch system and aiming at the +Y1 direction optically, or it can be is obtained by self-alignment (self-seeking).

[0068] The initial attitude angle includes initial roll angle, initial yaw angle, and initial pitch angle. Among them, the initial rolling angle γ0 is the angle be...

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Abstract

The invention is applicable to the technical field of rocket control, and provides an omni-directional launch control method and device for a carrier rocket as well as computer equipment and a storagemedium. The method comprises the following steps that an initial attitude angle is acquired, moreover, an initial quaternion is calculated, wherein the initial attitude angle comprises an initial rolling angle; a real-time angle increment of the current control period is acquired, and the real-time quaternion is calculated; a standard quaternion is calculated according to the initial rolling angle; an attitude angle deviation is calculated on the basis of the real-time quaternion and the standard quaternion, and a target attitude control signal is obtained according to the attitude angle deviation and is output to an execution mechanism. The initial quaternion is calculated through the initial attitude angle to obtain the standard quaternion and the real-time quaternion, the attitude angle deviation is obtained through calculation and is resolved to obtain the target attitude control signal for controlling the rocket, omni-directional launch control of the rocket is realized without rotating an indexing mechanism, the indexing mechanism is omitted, so that the cost is saved, the time for rotating the rocket for alignment is shortened, and the rapid response capability and the automatic level of the rocket are improved.

Description

technical field [0001] The invention belongs to the technical field of rocket control, and in particular relates to an omnidirectional launch control method, device, computer equipment and storage medium for launch vehicles. Background technique [0002] At present, the navigation of traditional liquid rockets or solid rockets mostly uses platform inertial navigation (inertial navigation). With the advancement of technology, the use of strapdown inertial navigation has gradually become a major navigation control method for rockets, especially solid rockets. . The inertial navigation system is an autonomous navigation system that does not depend on any external information, and is mainly divided into two categories: platform inertial navigation system and strapdown inertial navigation system. The strapdown inertial navigation system (SINS) is developed on the basis of the platform inertial navigation system. It is a frameless system consisting of a rate gyroscope, a linear a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/00
CPCB64G1/002
Inventor 不公告发明人
Owner 宁波天擎航天科技有限公司
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