Missile body and seeker installation error compensation method and system

Abstract

The application provides a missile body and seeker installation error compensation method and system, comprising: obtaining a first angle value between a missile body and a target source by using a satellite navigation receiver and a strapdown inertial navigation system, the target source being at a preset distance from a launching frame on which the missile is placed and being within a field of view range of the seeker; obtaining an installation error angle value between the missile body and the seeker according to a rotation angle value of a frame of the seeker and the first angle value; and performing error compensation on an installation error of the missile body and the seeker according to the installation error angle value. Compared with the prior art, the first angle value between the missile body and the target source is obtained, the rotation angle value of the frame of the seeker is compared with the first angle value to obtain the installation error angle value, the installation error is reduced by software compensation according to the obtained installation error angle value, the precision of a line-of-sight angle measured by the seeker is effectively improved, and the precision of a missile guidance control system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of missile control, in particular, to a missile body and seeker installation error compensation method and system. BACKGROUND

[0002] The missile seeker can detect the position and angle information of the target in real time, and is the core device of the missile guidance control system. The missile seeker is generally installed on the head of the missile body and connected with the missile body through a rotating frame. The rotating angle of the missile seeker relative to the missile body can be read through the frame gyroscope. It is generally believed that the line-of-sight azimuth angle and the line-of-sight elevation angle output by the missile seeker are the azimuth angle and the elevation angle of the target relative to the missile body after the rotating angle compensation. However, due to the processing error, the frame gyroscope measurement error and the installation error, the three orthogonal axes of the measurement coordinate system of the missile seeker and the coordinate system of the missile body do not completely coincide. There will be a certain deviation if the line-of-sight angle output by the missile seeker is directly used as the real line-of-sight angle of the missile body. Since the missile seeker terminal guidance needs accurate line-of-sight angle velocity information, the installation error will have a great influence on the mid-terminal guidance handover of the missile, and must be eliminated. At present, the installation error precision is generally controlled through structural design (offset pin, etc.) and strict control of mechanical processing error, which has high cost and great implementation difficulty. Therefore, the existing technology cannot effectively reduce the influence of the installation error and improve the precision of the line-of-sight angle measured by the missile seeker.

[0003] Patent document CN109099768B discloses a method and system for boresight installation error calibration of a seeker. The method and system design a rapid calibration device, install the seeker platform and the rapid calibration device on the seeker body, power on the seeker platform and perform image display and communication with the upper computer, adjust the rotating angle of the seeker platform through the control interface to perform calibration, store the calibration error after the calibration in the storage unit of the servo control circuit board, automatically extract the calibration error compensation value after the system is powered on to perform correction, eliminate the boresight installation error of the seeker platform and maintain the orthogonality, and realize accurate and rapid compensation. However, the method still cannot solve the problem of reducing the installation error between the missile body and the seeker. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the present application is to provide a missile body and seeker installation error compensation method and system.

[0005] According to the missile body and seeker installation error compensation method provided by the present application, the following steps are included:

[0006] Step 1: obtaining a first angle value between the missile body and the target source by using a satellite navigation receiver and a strapdown inertial navigation system, the target source being at a preset distance from the launch platform on which the missile is placed and being within the field of view of the seeker;

[0007] Step 2: obtaining the installation error angle value between the missile body and the seeker according to the rotation angle value of the seeker frame and the first angle value;

[0008] Step 3: compensating the installation error between the missile body and the seeker according to the installation error angle value.

[0009] Preferably, step 1 comprises:

[0010] Step 101: placing the missile on the launching frame, and obtaining the attitude angle value of the missile body through the strapdown inertial navigation system on the missile;

[0011] Step 102: calibrating the first azimuth angle value and the first elevation angle value between the launching frame and the target source through the satellite navigation receiver.

[0012] Preferably, the first angle value comprises the attitude angle value, the first azimuth angle value and the first elevation angle value.

[0013] Preferably, step 2 comprises:

[0014] Step 201: rotating the seeker frame to make the target source be at the preset position in the field of view range of the seeker, and obtaining the second azimuth angle value and the second elevation angle value of the target source through the rotation angle value of the seeker frame;

[0015] Step 202: obtaining the installation error angle value between the missile body and the seeker through the second azimuth angle value, the second elevation angle value and the first angle value.

[0016] Preferably, the attitude angle value comprises the third azimuth angle value and the pitch angle value, and step 2 comprises:

[0017] Step 301: obtaining the azimuth error angle value according to the first azimuth angle value, the second azimuth angle value and the third azimuth angle value;

[0018] Step 302: obtaining the elevation error angle value according to the first elevation angle value, the second elevation angle value and the pitch angle value;

[0019] Step 303: determining the installation error angle value through the azimuth error angle value and the elevation error angle value.

[0020] According to the missile body and seeker installation error compensation system provided by the application, the system comprises:

[0021] Module M1: obtaining the first angle value between the missile body and the target source through the satellite navigation receiver and the strapdown inertial navigation system, the target source being at a preset distance from the launching frame on which the missile is placed and being in the field of view range of the seeker;

[0022] Module M2: obtaining the installation error angle value between the missile body and the seeker according to the rotation angle value of the seeker frame and the first angle value;

[0023] Module M3: error compensation for the installation error between the missile body and the seeker according to the installation error angle value.

[0024] Preferably, the module M1 comprises:

[0025] Sub-module M101: placing the missile on the launching rack, and obtaining the attitude angle value of the missile body through the strapdown inertial navigation system on the missile;

[0026] Sub-module M102: calibrating the first azimuth angle value and the first elevation angle value between the launching rack and the target source through the satellite navigation receiver.

[0027] Preferably, the first angle value comprises the attitude angle value, the first azimuth angle value and the first elevation angle value.

[0028] Preferably, the module M2 comprises:

[0029] Sub-module M201: rotating the seeker frame to make the target source be at the preset position in the field of view of the seeker, and obtaining the second azimuth angle value and the second elevation angle value of the target source through the rotation angle value of the seeker frame;

[0030] Sub-module M202: obtaining the installation error angle value between the missile body and the seeker through the second azimuth angle value, the second elevation angle value and the first angle value.

[0031] Preferably, the attitude angle value comprises the third azimuth angle value and the pitch angle value, and the module M2 comprises:

[0032] Module M301: obtaining the azimuth error angle value according to the first azimuth angle value, the second azimuth angle value and the third azimuth angle value;

[0033] Module M302: obtaining the elevation error angle value according to the first elevation angle value, the second elevation angle value and the pitch angle value;

[0034] Module M303: determining the installation error angle value through the azimuth error angle value and the elevation error angle value.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] 1. The present application uses the satellite navigation receiver and the strapdown inertial navigation system to obtain the first angle value between the missile body and the target source, and then compares the rotation angle value of the seeker frame with the first angle value to obtain the installation error angle value between the missile body and the seeker, so that the installation error angle value can be obtained simply and easily.

[0037] 2、The application can obtain the size of the installation error angle value simply and easily without depending on high-precision machining and structural design, and then software compensation is carried out to reduce the influence of the installation error.

[0038] 3、The application carries out compensation for the installation error according to the installation error angle value, effectively improves the precision of the measuring line-of-sight angle of the seeker, and improves the precision of the missile guidance control system. BRIEF DESCRIPTION OF DRAWINGS

[0039] Other features, objects, and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments with reference to the drawings:

[0040] Figure 1 is a flowchart of the application;

[0041] Figure 2 is a schematic diagram of the first angle value of the application;

[0042] Figure 3 is a schematic diagram of the second azimuth angle value of the application. DETAILED DESCRIPTION

[0043] The application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that those skilled in the art can make several changes and improvements without departing from the concept of the application. These all belong to the protection scope of the application.

[0044] Figure 1 is a flowchart of the application, as Figure 1 shown, the application provides a missile body and seeker installation error compensation method, comprising the following steps:

[0045] Step 1: Obtain the first angle value between the missile body and the target source by using a satellite navigation receiver and a strapdown inertial navigation system, the target source is at a preset distance from the launch stand where the missile is placed, and is within the field of view of the seeker.

[0046] The preset distance in the application is not limited and can be described according to specific conditions. For example, in order to reduce the influence of satellite navigation positioning error, the farther the preset distance is, the better, but the seeker needs to be able to see the target source, so the preset distance is generally greater than 1 km, and the target source is within the field of view of the seeker on the missile.

[0047] Preferably, step 1 comprises: step 101: placing the missile on the launch stand, and obtaining the attitude angle value of the missile body by the strapdown inertial navigation system on the missile.

[0048] Specifically, the missile is placed on the launching rack, and the missile body attitude angle value is obtained through missile-borne SINS self-alignment.

[0049] Wherein, the attitude angle includes azimuth angle Ψ, pitch angle θ and roll angle φ, and the three attitude angles of the missile body are obtained through missile-borne SINS self-alignment for a period of time, which are respectively third azimuth angle value Ψ, pitch angle value θ and roll angle φ.

[0050] Step 102: calibrate the first azimuth angle value and the first high-low angle value between the launching rack and the target source through the satellite navigation receiver.

[0051] Specifically, the target source is placed at a preset distance from the launching rack, and the accurate coordinates (λ1, L1, H1) and (λ2, L2, H2) of the two points of the launching rack and the target source are calibrated through the satellite navigation receiver, and the first azimuth angle value Ψ1 and the first high-low angle value θ1 between the launching rack and the target source are calculated according to the two point coordinates.

[0052] In the present application, the first azimuth angle value Ψ1 and the first high-low angle value θ1 between the launching rack and the target source are calculated according to the two point coordinates (λ1, L1, H1) and (λ2, L2, H2) as follows:

[0053] Firstly, define RM=Re*(1-2f+3fsin 2 L1)+H1; RN=Re*(1+fsin 2 L1)+H1;

[0054] ΔY=H2-H1;

[0055] Wherein, Re=6378137m,

[0056] Then, the following can be obtained:

[0057]

[0058] The first azimuth angle value Ψ1 and the first high-low angle value θ1 can be obtained through formula (1).

[0059] Preferably, the first angle value includes the attitude angle value, the first azimuth angle value Ψ1 and the first high-low angle value θ1.

[0060] Figure 2 The principle diagram of the first angle value of the present application is shown as follows: Figure 2 East and north 5 are respectively taken as the horizontal and vertical directions of the coordinate axis, and the missile body is at the origin of the coordinate axis, Figure 2The included angle between the X axis of the middle body and the longitudinal axis is a third azimuth angle value Ψ, and the included angle between the target source and the longitudinal axis is a first azimuth angle value Ψ1.

[0061] It is known that the target source is placed at a preset distance from the launcher, in order to reduce the influence of satellite navigation positioning error, the farther the preset distance is, the better, but the seeker needs to see the target source, so generally more than 1km is selected, and the target source is in the field of view of the missile seeker, and the relative relationship between the target source and the launcher in the azimuth direction is as shown in Figure 2 The high-low direction is the same.

[0062] Step 2: Obtain the installation error angle value between the missile body and the seeker according to the rotation angle value of the seeker frame and the first angle value.

[0063] Preferably, step 2 comprises: step 201: rotate the seeker frame to make the target source at a preset position in the field of view of the seeker, obtain the second azimuth angle value and the second high-low angle value of the target source through the rotation angle value of the seeker frame; step 202: obtain the installation error angle value between the missile body and the seeker through the second azimuth angle value, the second high-low angle value and the first angle value.

[0064] The setting of the preset position in the application is not limited, and the central position of the field of view range can be set as an example.

[0065] Specifically, the on-board seeker is turned on, the seeker frame is rotated to make the target source at the central position of the field of view range of the seeker, and the second azimuth angle value Ψ2 and the second high-low angle value θ2 output by the current gyroscope of the seeker frame are read.

[0066] Figure 3 The principle diagram of the second azimuth angle value of the application is shown in Figure 3 The second azimuth angle value Ψ2 can be represented as the included angle between the X axis of the seeker and the target source.

[0067] Further, the attitude angle value comprises a third azimuth angle value and a pitch angle value, and step 2 comprises: step 301: obtaining an azimuth error angle value ΔΨ according to the first azimuth angle value, the second azimuth angle value and the third azimuth angle value; step 302: obtaining a high-low error angle value Δθ according to the first high-low angle value, the second high-low angle value and the pitch angle value; and step 303: determining the installation error angle value through the azimuth error angle value ΔΨ and the azimuth error angle value Δθ.

[0068] Specifically, the azimuth error angle value ΔΨ and the azimuth error angle value Δθ can be obtained through formula (2).

[0069]

[0070] Table 1 is the azimuth error angle value and the experimental data of the azimuth error angle value provided by the present application. According to the above method, the installation error calibration test of a certain missile is carried out, three groups of tests are carried out, the test data is shown in Table 1, and the mean value is obtained according to the test results of the three groups, that is, the installation error angle in the azimuth direction and the installation error angle in the height direction.

[0071] Table 1

[0072]

[0073] Step 3: compensating the installation error of the missile body and the seeker according to the installation error angle value.

[0074] The present application also provides a missile body and seeker installation error compensation system, comprising:

[0075] Module M1: obtaining the first angle value between the missile body and the target source by using the satellite navigation receiver and the strapdown inertial navigation system, the target source is at a preset distance from the launch frame where the missile is placed, and is within the field of view of the seeker.

[0076] Preferably, module M1 comprises: sub-module M101: placing the missile on the launch frame, obtaining the attitude angle value of the missile body by the strapdown inertial navigation system on the missile; sub-module M102: obtaining the first azimuth angle value and the first height angle value between the launch frame and the target source by the satellite navigation receiver.

[0077] Preferably, the first angle value comprises the attitude angle value, the first azimuth angle value and the first height angle value.

[0078] Module M2: obtaining the installation error angle value between the missile body and the seeker according to the rotation angle value of the seeker frame and the first angle value.

[0079] Preferably, module M2 comprises: sub-module M201: rotating the seeker frame to make the target source at a preset position within the field of view of the seeker, obtaining the second azimuth angle value and the second height angle value of the target source by the rotation angle value of the seeker frame; sub-module M202: obtaining the installation error angle value between the missile body and the seeker by the second azimuth angle value, the second height angle value and the first angle value.

[0080] Preferably, the attitude angle value comprises the third azimuth angle value and the pitch angle value, and module M2 comprises: module M301: obtaining the azimuth error angle value according to the first azimuth angle value, the second azimuth angle value and the third azimuth angle value; module M302: obtaining the height error angle value according to the first height angle value, the second height angle value and the pitch angle value; module M303: determining the installation error angle value by the azimuth error angle value and the height error angle value.

[0081] Module M3: according to the installation error angle value, the installation error of the missile body and the seeker is compensated.

[0082] In the present application, after the full missile assembly is completed, the installation error of the missile body and the seeker remains unchanged, so the satellite navigation receiver and the strapdown inertial navigation system are used to obtain the first angle value between the two points of the missile body and the target source, and then the installation error angle value of the missile body and the seeker is obtained by comparing the rotation angle value of the seeker frame with the first angle value, so that the size of the installation error can be obtained simply and easily without relying on high-precision machining and structural design, and then software compensation is carried out to effectively reduce the influence of the installation error.

[0083] The working principle of the present application is as follows:

[0084] The coordinates of two points with a certain baseline length can determine the azimuth angle and the elevation angle, and the seeker can measure the azimuth angle and the elevation angle of the target source, and the installation error angle of the strapdown inertial navigation system and the seeker is obtained by comparing the two sets of azimuth angles and elevation angles, and the installation error angle is compensated and corrected, specifically, the satellite navigation receiver and the strapdown inertial navigation system are used to obtain the true value of the angle between the two points of the missile body and the target source, i.e. the first angle value, and then the rotation angle value of the seeker frame is compared with the true value of the angle to obtain the installation error angle of the missile body and the seeker, so that the installation error of the missile body and the seeker can be simply and easily calibrated with high precision.

[0085] Compared with the prior art, the present application has the following beneficial effects:

[0086] 1. The satellite navigation receiver and the strapdown inertial navigation system are used to obtain the first angle value between the two points of the missile body and the target source, and then the rotation angle value of the seeker frame is compared with the first angle value to obtain the installation error angle value of the missile body and the seeker, so that the installation error angle value can be obtained simply and easily.

[0087] 2. The installation error angle value can be obtained simply and easily without relying on high-precision machining and structural design, and then software compensation is carried out to reduce the influence of the installation error.

[0088] 3. The installation error is compensated according to the installation error angle value, which effectively improves the precision of the line-of-sight angle measured by the seeker and improves the precision of the missile guidance control system.

[0089] 4. The present application provides a simple and easy method for calibrating the installation error of the missile body and the seeker with high precision. Through a large number of tests, the effectiveness of the method has been verified, and the method has been successfully applied in the initial installation error compensation and correction of a certain type of missile seeker.

[0090] Those skilled in the art know that, in addition to implementing the system, device and each module thereof provided by the present application in the form of pure computer readable program code, the same program can also be implemented in the form of logic gate, switch, special integrated circuit, programmable logic controller and embedded microcontroller, etc. by logically programming the method steps. Therefore, the system, device and each module thereof provided by the present application can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures in the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing methods and structures in the hardware component.

[0091] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.

Claims

1. A method for compensating for missile body and seeker installation errors, comprising: The method comprises: Step 1: obtaining a first angle value between the missile body and a target source by using a satellite navigation receiver and a strapdown inertial navigation system, the target source being at a preset distance from a launcher on which the missile is placed and being within a field of view of the seeker; Step 2: obtaining an installation error angle value between the missile body and the seeker according to a rotation angle value of a seeker frame and the first angle value; Step 3: compensating for an installation error between the missile body and the seeker according to the installation error angle value; The step 1 comprises: Step 101: placing the missile on the launcher and obtaining an attitude angle value of the missile body by using the strapdown inertial navigation system on the missile; Step 102: calibrating a first azimuth angle value and a first elevation angle value between the launcher and the target source by using the satellite navigation receiver; The first angle value comprises the attitude angle value, the first azimuth angle value and the first elevation angle value; The seeker frame is rotated to make the target source be at a preset position within the field of view of the seeker, and an angle value of the rotation of the seeker frame is a rotation angle value.

2. The method of claim 1, wherein, The step 2 comprises: Step 201: obtaining a second azimuth angle value and a second elevation angle value of the target source by using the rotation angle value of the seeker frame, the second azimuth angle value and the second elevation angle value being values read from a gyroscope output of the current seeker frame; Step 202: obtaining an installation error angle value between the missile body and the seeker according to the second azimuth angle value, the second elevation angle value and the first angle value.

3. The method of claim 2, wherein, The attitude angle value comprises a third azimuth angle value and a pitch angle value, and the step 2 comprises: Step 301: obtaining an azimuth error angle value according to the first azimuth angle value, the second azimuth angle value and the third azimuth angle value; Step 302: obtaining an elevation error angle value according to the first elevation angle value, the second elevation angle value and the pitch angle value; Step 303: determining the installation error angle value by using the azimuth error angle value and the elevation error angle value.

4. A missile body and seeker installation error compensation system, characterized by, The system comprises: Module M1: obtaining a first angle value between the missile body and a target source by using a satellite navigation receiver and a strapdown inertial navigation system, the target source being at a preset distance from a launcher on which the missile is placed and being within a field of view of the seeker; Module M2: obtaining an installation error angle value between the missile body and the seeker according to a rotation angle value of a seeker frame and the first angle value; Module M3: compensating for an installation error between the missile body and the seeker according to the installation error angle value; The module M1 comprises: Sub-module M101: placing the missile on the launcher and obtaining an attitude angle value of the missile body by using the strapdown inertial navigation system on the missile; Sub-module M102: calibrating a first azimuth angle value and a first elevation angle value between the launcher and the target source by using the satellite navigation receiver; The first angle value includes the attitude angle value, the first azimuth angle value and the first elevation angle value; The target source is located at a preset position in the field of view of the seeker by rotating the seeker frame, and an angle of rotation of the seeker frame is a rotation angle value.

5. The missile body and seeker installation error compensation system of claim 4, wherein, The module M2 includes: A sub-module M201: obtaining a second azimuth angle value and a second elevation angle value of the target source through the rotation angle value of the seeker frame, the second azimuth angle value and the second elevation angle value being values of reading a gyro output of a current seeker frame; A sub-module M202: obtaining an installation error angle value between the missile body and the seeker through the second azimuth angle value, the second elevation angle value and the first angle value.

6. The missile body and seeker installation error compensation system of claim 5, wherein, The attitude angle value includes a third azimuth angle value and a pitch angle value, and the module M2 includes: A module M301: obtaining an azimuth error angle value according to the first azimuth angle value, the second azimuth angle value and the third azimuth angle value; A module M302: obtaining an elevation error angle value according to the first elevation angle value, the second elevation angle value and the pitch angle value; A module M303: determining the installation error angle value through the azimuth error angle value and the elevation error angle value.

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