Strapdown seeker nonsingular line-of-sight angular velocity extraction method based on inclined coordinate system

A speed extraction and coordinate system technology, applied in the direction of navigation through speed/acceleration measurement, navigation calculation tools, etc., can solve problems such as attitude singularity, filter divergence, etc., to ensure estimation accuracy, broad application prospects, avoid yaw angle and The effect of roll angle divergence

Inactive Publication Date: 2020-06-05
HARBIN INST OF TECH
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of filter divergence and attitude singularity when the existing strapdown seeker guided weapon strikes the target vertically, and provides a method for extracting the non-singular line-of-sight angular velocity of the strapdown seeker based on the inclined coordinate system

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  • Strapdown seeker nonsingular line-of-sight angular velocity extraction method based on inclined coordinate system
  • Strapdown seeker nonsingular line-of-sight angular velocity extraction method based on inclined coordinate system
  • Strapdown seeker nonsingular line-of-sight angular velocity extraction method based on inclined coordinate system

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specific Embodiment approach 1

[0017] The method for extracting the non-singular line-of-sight angular velocity of the strapdown seeker based on the tilted coordinate system described in the present embodiment comprises the following steps:

[0018] Step 1: Establish an inclined ground coordinate system, an inclined line-of-sight coordinate system, and an inclined projectile coordinate system, and derive the direction cosine matrix between the three coordinate systems;

[0019] Step 2: Obtain the stereoscopic line-of-sight angle under the missile system through strapdown seeker measurement;

[0020] Step 3: Establish the relative motion equation of the missile and target under the coordinate system of the oblique line of sight, derivate the relative motion equation of the missile and target twice to obtain the relationship equation between the second-order derivative of the angular velocity of the oblique line of sight and the relative acceleration of the missile and target, and establish a non-singular filt...

specific Embodiment approach 2

[0026] This embodiment will be described below, and this embodiment will further describe Embodiment 1.

[0027] The non-singular line-of-sight angular velocity extraction method of the strapdown seeker based on the inclined coordinate system, the specific steps are as follows:

[0028] In step 1, the tilted ground coordinate system Ax I the y I z I The definition is as follows: rotate the ground coordinate system Axyz counterclockwise around the Az axis by a certain angle δ, (considering the vertical strike requirements, -π / 4I the y I z I , then Ax I the y I z I The relationship with Axyz is

[0029]

[0030] Oblique eye coordinate system The definition is as follows: the origin O is located at the center of mass of the projectile. The axis is pointed by the missile towards the target, through The axis is relative to the tilted ground coordinate system Ax I the y I z I The plane Ax in I z I Make a vertical plane and pass through point O in this vertical p...

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Abstract

The invention discloses a strapdown seeker nonsingular line-of-sight angular velocity extraction method based on an inclined coordinate system, and belongs to the technical field of guidance and control. On the basis of a traditional coordinate system, the method comprises the steps of: designing an inclined ground coordinate system, an inclined sight coordinate system and an inclined projectile body coordinate system; deriving a direction cosine matrix between coordinate systems; establishing a missile-target relative motion equation under an inclined sight line coordinate system; deriving the missile-target relative motion equation twice to obtain a relation equation between a second derivative of the inclined sight line angular velocity and the missile-target relative acceleration; andestablishing a nonsingular filtering state equation. According to coordinate conversion from the inclined projectile system to the inclined ground system, the conversion equation of the lower body sight angle of the inclined projectile system is obtained by combining an inclined sight angle with projectile body attitude information, the observation equation is established, the divergence problem of a yaw angle and a roll angle caused by singularity is avoided, and meanwhile, the estimation precision of the inertial sight angular velocity during vertical strike is ensured.

Description

technical field [0001] The invention belongs to the technical field of guidance and control, and in particular relates to a non-singular line-of-sight angular velocity extraction method of a strapdown seeker based on an inclined coordinate system. Background technique [0002] Compared with the platform seeker, the strapdown seeker removes sensors such as gyroscopes, gimbals and complex servo mechanisms, which can reduce the design complexity of the seeker, and has the advantages of simple structure, high reliability, small size and Light weight and other advantages, while the cost can be greatly reduced, so the strapdown seeker has been more and more used in guided weapons in recent years. Since the strapdown seeker is directly connected to the projectile, the sight angle measured by the seeker is coupled with the attitude information of the projectile, so it is necessary to design a decoupling algorithm to realize the decoupling of the projectile's attitude motion. [000...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 浦甲伦李源许河川崔乃刚孙立伟
Owner HARBIN INST OF TECH
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