Body gain calculation method and system applicable to rotating missiles

Abstract

The present invention provides a method and system for calculating the body gain of a rotating missile, comprising: step 1: obtaining a boundary characteristic trajectory according to a predicted hit point and a body gain coefficient on a combat airspace boundary; step 2: performing trajectory calculation on all boundary characteristic trajectories to obtain a two-dimensional interpolation table of body gain; step 3: obtaining the body gain coefficient according to the two-dimensional interpolation table of body gain and an interpolation method. Compared with the prior art, the present invention adopts a variable launch angle, calculates the body gain coefficient by two-dimensional interpolation according to the rudder deflection angle and the flight time, provides a new method and new idea for calculating the body gain of a rotating missile, and can more accurately reflect the missile body gain coefficient.

Description

Technical Field

[0001] The invention relates to the technical field of design of a guidance control system for a rotating projectile air defense missile, and in particular to a projectile gain calculation method and system suitable for a rotating missile. Background Art

[0002] Projectile gain coefficient K m It is the stable value of the attitude angular velocity that the missile can achieve with the unit equivalent rudder deflection angle. Since rotating missiles mostly use open-loop control, the attitude error cannot be adjusted directly in the guidance and control system, and the projectile gain coefficient must be estimated for guidance and compensation. The following method is usually used to obtain the projectile gain during flight. At a certain launch angle, the control sequence of the rudder deflection angle is selected, and the rudder deflection angle is fixed in turn for flight simulation. The calculated projectile gain data is weighted to obtain a comprehensive projectile gain coefficient fitting curve or a one-dimensional interpolation data set that only changes with time. In subsequent simulations, the current flight time is substituted to obtain the current projectile gain coefficient. However, this method fixes the launch angle and cannot be well adapted to the full airspace trajectory simulation; at the same time, the weighted method only selects the degree of influence of different rudder deflection angles according to experience, and the projectile gain data obtained cannot well reflect the current actual projectile gain. This paper considers the use of variable launch angles, and the projectile gain coefficient is calculated by two-dimensional interpolation according to the rudder deflection angle and flight time, which can effectively overcome the limitations of the above traditional methods.

[0003] Patent document CN110285711B discloses a guided munition flight attitude correction simulation system based on an information-physical system, wherein a flight attitude error injection module is used to generate corresponding non-ideal flight attitude information; a three-axis turntable is used to control the flight attitude of a guided munition entity model according to the non-ideal flight attitude information; an attitude sensor is used to sense the actual flight attitude information of the guided munition entity model; a real-time analysis module is used to filter the actual flight attitude information to obtain the real-time actual flight attitude information of the guided munition entity model; a decision module is used to obtain the deviation of the real-time actual flight attitude information of the guided munition entity model relative to the ideal flight attitude of the guided munition at the corresponding moment; and the three-axis turntable is controlled by the three-axis turntable control instruction for flight attitude correction to simulate the flight attitude correction of the guided munition entity model at the corresponding moment. However, this method does not solve the problem of fixed launch angle and cannot be well adapted to full airspace trajectory simulation. Summary of the invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a network attack security risk assessment method and system based on knowledge graph.

[0005] A method for calculating a body gain of a rotating missile provided by the present invention comprises:

[0006] Step 1: Obtain boundary characteristic trajectory based on the predicted hit point and missile body gain coefficient on the boundary of combat airspace;

[0007] Step 2: Solve the trajectory of all boundary feature trajectories to obtain a two-dimensional interpolation table of projectile gain;

[0008] Step 3: Obtain the projectile gain coefficient according to the projectile gain two-dimensional interpolation table and interpolation method.

[0009] Preferably, step 1 comprises:

[0010] Step 101: Select multiple boundary feature points at preset intervals on the upper boundary and the far boundary of the longitudinal symmetry plane of Zero Hangjie in the combat airspace;

[0011] Step 102: Using the boundary feature point as the predicted hit point, the boundary feature trajectory is obtained according to the projectile gain coefficient.

[0012] Preferably, step 2 comprises:

[0013] Step 201: for each boundary characteristic trajectory, a balanced attack angle sequence corresponding to the rudder deflection angle value sequence is trimmed by an iterative method;

[0014] Step 202: Calculate the missile body gain sequence according to the balanced attack angle sequence combined with the state variables of the rotating missile;

[0015] Step 203: According to the projectile gain sequence, a two-dimensional interpolation table of projectile gain corresponding to each boundary trajectory is obtained.

[0016] Preferably, step 3 comprises:

[0017] Step 301: Determine a two-dimensional interpolation table of adjacent missile body gains according to the rotating missile and the actual estimated hit point;

[0018] Step 302: Obtaining a projectile gain coefficient according to a two-dimensional interpolation table of adjacent projectile gains and an interpolation method.

[0019] Preferably, step 302 includes: performing a two-dimensional interpolation operation on the adjacent two-dimensional interpolation table of projectile gain coefficients, and then continuing to perform a one-dimensional interpolation operation.

[0020] A body gain calculation system applicable to a rotating missile provided by the present invention comprises:

[0021] Module M1: Obtain boundary characteristic trajectory based on the predicted hit point and missile body gain coefficient on the boundary of combat airspace;

[0022] Module M2: Perform ballistic calculations on all boundary feature trajectories to obtain a two-dimensional interpolation table of projectile gain;

[0023] Module M3: Obtain the projectile gain coefficient according to the projectile gain two-dimensional interpolation table and interpolation method.

[0024] Preferably, module M1 comprises:

[0025] Submodule M101: Select multiple boundary feature points at preset intervals on the upper boundary and far boundary of the longitudinal symmetry plane of Zero Hangjie in the combat airspace;

[0026] Submodule M102: Use boundary feature points as predicted hit points and obtain boundary feature trajectories based on projectile gain coefficients.

[0027] Preferably, module M2 comprises:

[0028] Submodule M201: For each boundary characteristic trajectory, the balanced attack angle sequence corresponding to the rudder deflection angle value sequence is trimmed by an iterative method;

[0029] Submodule M202: Calculates the missile body gain sequence based on the balanced attack angle sequence combined with the state variables of the rotating missile;

[0030] Submodule M203: According to the projectile gain sequence, a two-dimensional interpolation table of projectile gain corresponding to each boundary trajectory is obtained.

[0031] Preferably, module M3 comprises:

[0032] Submodule M301: Determine the adjacent two-dimensional interpolation table of missile body gain based on the rotating missile and the actual estimated hit point;

[0033] Submodule M302: Obtain the projectile gain coefficient according to the adjacent projectile gain two-dimensional interpolation table and interpolation method.

[0034] Preferably, the submodule M302 includes: after performing a two-dimensional interpolation operation on the adjacent two-dimensional interpolation table of projectile gain coefficients, continuing to perform a one-dimensional interpolation operation.

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

[0036] 1. The present invention provides a new method and new idea for calculating the body gain of a rotating missile.

[0037] 2. The method for calculating the gain of a rotating missile body proposed in the present invention is designed based on the entire combat airspace, and has better simulation adaptability and more comprehensive considerations.

[0038] 3. The method for calculating the gain of the rotating missile body proposed in the present invention is obtained by two-dimensional interpolation of the rudder deflection angle and the flight time, which can more accurately reflect the missile body gain coefficient compared with the traditional calculation method. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0040] Figure 1 It is a schematic diagram of the process of the present invention;

[0041] Figure 2 An example diagram is selected for a certain combat airspace boundary feature point of the present invention;

[0042] Figure 3 This is an example diagram of actual predicted encounter points and adjacent boundary points in a certain combat airspace of the present invention;

[0043] Figure 4 This is the divergence of line of sight angular velocity when different projectile gain calculation methods are used for a certain trajectory of the present invention. DETAILED DESCRIPTION

[0044] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0045] Figure 1 It is a schematic diagram of the process of the present invention, such as Figure 1 As shown, the present invention provides a method for calculating the body gain of a rotating missile, comprising the following steps:

[0046] Step 1: Obtain the boundary characteristic trajectory based on the predicted hit point and missile body gain coefficient on the combat airspace boundary.

[0047] Among them, step 1 includes: step 101: selecting multiple boundary feature points at preset intervals on the upper boundary and far boundary of the longitudinal symmetry plane of Zero Hangjie in the combat airspace; step 102: using the boundary feature points as predicted hit points, and obtaining the boundary feature trajectory according to the projectile gain coefficient.

[0048] Specifically, on the upper boundary and far boundary of the longitudinal symmetry plane of Zero Hangjie in the combat airspace, multiple boundary feature points are selected at preset intervals, and the real body gain coefficient of the missile is introduced into the guidance and control system to generate the corresponding boundary characteristic trajectory.

[0049] Step 2: Perform ballistic solution on all boundary feature trajectories to obtain a two-dimensional interpolation table of projectile gain.

[0050] Wherein, step 2 comprises: step 201: for each boundary characteristic trajectory, using an iterative method to balance the balanced angle of attack sequence corresponding to the rudder deflection angle value sequence; step 202: calculating the projectile gain sequence according to the balanced angle of attack sequence combined with the state variable of the rotating missile; step 203: obtaining a two-dimensional interpolation table of projectile gain corresponding to each boundary trajectory according to the projectile gain sequence.

[0051] Specifically, in the present invention, a missile rudder deflection angle sequence and a time interval are first set. For a selected first boundary characteristic trajectory, when the time interval is satisfied during trajectory calculation, a balanced attack angle sequence corresponding to the rudder deflection angle value sequence is trimmed by an iteration method, a projectile gain sequence at this moment is calculated in combination with a state variable of a rotating missile, and the projectile gain sequence at each moment is recorded to obtain a projectile gain two-dimensional interpolation table corresponding to the boundary characteristic trajectory; then, all selected boundary characteristic trajectories are processed in a loop to generate an offline projectile gain two-dimensional interpolation table data group.

[0052] Step 3: Obtain the projectile gain coefficient according to the projectile gain two-dimensional interpolation table and interpolation method.

[0053] Among them, step 3 includes: step 301: determining the adjacent two-dimensional interpolation table of projectile gain according to the rotating missile and the actual estimated hit point; step 302: obtaining the projectile gain coefficient according to the adjacent two-dimensional interpolation table of projectile gain and the interpolation method.

[0054] Wherein, step 302 includes: performing a two-dimensional interpolation operation on the adjacent two-dimensional interpolation table of projectile gain coefficients, and then continuing to perform a one-dimensional interpolation operation.

[0055] Specifically, the generated projectile gain interpolation table data group is applied to select the adjacent projectile gain coefficient two-dimensional interpolation table according to the actual estimated hit point of the rotating missile and target simulation model, and the projectile gain coefficient is obtained by online real-time interpolation and introduced into the guidance control system for use.

[0056] Embodiment 1

[0057] The boundary feature trajectory selected in the present invention should cover the entire combat airspace. Specifically, all turning feature points in the combat airspace can be selected, the interval number n is set, and n boundary feature points are selected again at equal intervals between the turning points to form all boundary feature points together with the turning feature points. The boundary feature point S uses the feature point slant distance R mz , feature point height H mz and feature point Hangjie P mz It can be expressed as formula (1):

[0058] S l =(R mz,l ,H mz,l ,P mz,l),l∈[1,2,...,L]; (1)

[0059] In the formula, l represents the number of the boundary feature point; L represents the total number of boundary feature points; S l represents the lth boundary feature point; R mz,l represents the slope distance of the lth boundary feature point; H mz,l represents the height of the lth boundary feature point; P mz,l represents the shortcut of the lth boundary feature point, where shortcut refers to the shortcut of the route. Since the selected vertical symmetry plane is zero shortcut, P here mz,l =0.

[0060] Furthermore, the boundary feature points are used as the predicted hit points, and the real body gain coefficient of the rotating missile is introduced into the guidance and control system to solve the boundary feature trajectory. m Calculated by the missile power coefficient, that is, by formula (2):

[0061]

[0062] Among them, a 22 represents the damping dynamic coefficient; a 24 represents the static stability dynamic coefficient; a 25 represents the control power coefficient; a 34 represents the normal dynamic coefficient; a 35 Represents the rudder surface dynamic coefficient.

[0063] For the selected boundary characteristic trajectory, when the time interval constraint is met, the Newton iteration method is used to calculate the corresponding rudder deflection angle δ i ∈[δ0,δ1,...,δ n ] Specifically, it can be expressed by formula (3):

[0064]

[0065] Among them, i∈[1,2,...,n], represents the currently selected rudder angle; n represents the total number of rudder angle sequences; m represents the moment coefficient; z represents the pitch direction; represents the pitch moment coefficient with respect to the angle of attack The slope of represents the pitch moment coefficient with respect to the rudder deflection angle δ i The slope of ; k represents the number of times of progression according to the time interval; Represents the boundary characteristic trajectory S l The flight time corresponding to k times of time interval increment; j represents the number of iteration steps; represents the pitching moment; and represents the angle of attack obtained by the j+1, j and j-1 iterations; and respectively is the pitching moment at the j-th and j-1-th steps.

[0066] Furthermore, by trimming the angle of attack Combined with the missile state variables, the missile dynamic coefficient value is solved, and according to the missile body gain calculation method, the missile body gain sequence corresponding to the rudder deflection angle sequence at the current moment is obtained.

[0067] Specifically, after the current boundary feature trajectory is solved, the corresponding current feature trajectory S is obtained. l Offline two-dimensional interpolation table of projectile gain It can be expressed as formula (4):

[0068]

[0069] Where M represents the total number of recorded moments. Indicates the final encounter moment of the current characteristic trajectory.

[0070] Furthermore, after all boundary feature trajectory solutions are completed, the projectile gain offline two-dimensional interpolation table data set is obtained.

[0071] In the present invention, the adjacent projectile gain coefficient two-dimensional interpolation table K m The determination of (near) can be done by the boundary feature point S l The actual estimated hit point S of the current target simulation model real The angle relationship is determined by the boundary feature point S l The height angle and the actual estimated hit point S of the current target simulation model real The height angle θ real It can be expressed as formula (5):

[0072]

[0073] Among them, H mz,real Indicates the height of the actual estimated hit point of the current target simulation model; R mz,real Indicates the slant distance of the actual estimated hit point of the current target simulation model; P mz,real Indicates the actual estimated hit point of the current target simulation model.

[0074] Furthermore, the adjacent projectile gain coefficient two-dimensional interpolation table K m (near) can be determined by formula (6):

[0075]

[0076] Among them, S l1 ∈[S1,S2,...,S L-1 ] represents the l1th selected boundary feature point; and are the height angles of the 1st, l1th, l1+1th and Lth selected boundary feature points respectively; and They are the two-dimensional interpolation tables of projectile gains corresponding to the 1st, l1th, l1+1th and Lth characteristic trajectories respectively.

[0077] Then the adjacent boundary feature point S(near) can be expressed as formula (7):

[0078]

[0079] Among them, the projectile gain coefficient K m The online real-time interpolation operation is performed in two layers. First, the two-dimensional interpolation table K of the adjacent projectile gain coefficient is completed. m (near) is used for two-dimensional interpolation operation, and then the neighboring interpolation table K is completed. m The one-dimensional interpolation operation between (near) can be expressed as formula (8):

[0080]

[0081] Among them, fr represents the one-dimensional interpolation scale coefficient; t real Indicates the current flight time of the missile; δ real Indicates the current rudder deflection angle of the missile; t trans Indicates the time converted from the current flight time of the missile to the corresponding two-dimensional interpolation table; K m,real (t real ,δ real ) represents the real-time interpolation result of the missile body gain coefficient in the current state; K m,1 (t trans ,δ real ) means in Zhongyout trans and δ real The interpolated projectile gain coefficient; K m,L (t trans ,δ real ) means in Zhongyout trans and δ real The interpolated projectile gain coefficient; K m,l1 (t trans ,δ real ) means in Zhongyout trans and δ real The interpolated projectile gain coefficient; Km,l1+1 (t trans ,δ real ) means in Zhongyout trans and δ real Interpolated projectile gain coefficient.

[0082] In the present invention, the conversion time t trans , can be calculated by formula (9):

[0083]

[0084] Among them, t cur_max Indicates that the current prediction hit point S real Extending outward along the slant range direction, the intersection point S with the boundary of the combat airspace real_ext The calculated predicted hit time; Indicates the time when the missile reaches the boundary feature point S(near).

[0085] Embodiment 2

[0086] This example takes the calculation of the body gain of a rotating body air defense missile as an example.

[0087] Figure 2 An example diagram is selected for the boundary feature points of a combat airspace of the present invention, such as Figure 2 As shown, the horizontal axis is the distance X, and the vertical axis is the height H, including: boundary feature points S1, S2, S3, S4, S5, S6, S7, S8, S9, S 10 , S 11 , S 12 , S 13 and S 14 Specifically, according to the combat airspace of a rotating air defense missile, three turning feature points are first selected in the longitudinal plane of Zero Hangjie: the intersection of the upper near boundary and the upper boundary, the intersection of the upper boundary and the far boundary, and the intersection of the far boundary and the lower boundary. The number of separations is set to 10 to select the remaining boundary feature points, which are evenly distributed on the upper boundary and the far boundary, for a total of 21 boundary feature points, namely S l =(R mz,l ,H mz,l ,0), where l∈[1,2,...,21]. Then, the 21 boundary feature points are used as the actual estimated hit points, and the real missile body gain coefficient is introduced into the guidance control system to solve the boundary feature trajectory. The calculation sequence of the missile rudder angle is set to δ∈[1°,2°,...,18°] and the time interval is 0.1s. For the first boundary feature trajectory, the Newton iteration method is used to solve the equilibrium angle sequence under the rudder angle sequence at the current moment at every 0.1s flight interval, and the dynamic coefficient a is obtained in combination with the flight state. 22 、a 24 、a25 、a 34 and a 35 , and obtain the body gain coefficient sequence of the boundary characteristic trajectory at this moment. Table 1 is a two-dimensional interpolation table of the body gain coefficient at the first boundary point of the present invention. After the boundary characteristic trajectory is calculated, the body gain coefficient is stored in a two-dimensional array form with each row representing each time Time and each column representing each rudder deflection angle delta. The two-dimensional interpolation table of the body gain coefficient at the first boundary point is As shown in Table 1.

[0088] Table 1

[0089]

[0090] Among them, xx represents different numbers.

[0091] Furthermore, all boundary characteristic trajectories are solved cyclically to obtain a two-dimensional interpolation table data set of the projectile gain coefficient

[0092] Figure 3 This is an example diagram of actual predicted encounter points and adjacent boundary points in a certain combat airspace of the present invention, such as Figure 3 As shown, the horizontal axis is the distance X, and the vertical axis is the height H, including: boundary feature points S1, S2, S3, S4, S5, S6, S7, S8, S9, S 10 , S 11 , S 12 , S 13 and S 14 ,in, Figure 3 The neighboring boundary feature points in are S9 and S 10 . Set the target simulation model actual estimated hit point S real =(4000,2600,1000), solve the height angle to get And 13 =45.154°,θ 14 =39.510° After comparison, we can get the adjacent projectile gain coefficient table The corresponding adjacent boundary feature point S(near) = {S 13 ,S 14}.

[0093] Further, the one-dimensional interpolation proportional coefficient fr is calculated as fr = (42.169-39.510) / (45.154-39.510) = 0.471, and the interpolation result of the missile body gain coefficient in the current state is expressed as formula (10):

[0094] K m,real (t real ,δ real )=0.471×Km,13 (t trans ,δ real )+0.529×K m,14 (t trans ,δ real );(10)

[0095] Calculate t by using formula (10) cur_max =12.063s, The corresponding time t real In the adjacent table The conversion time t trans =t real / 12.063×11.623≈0.964t real , in the neighboring table The conversion time t trans =t real / 12.063×11.857≈0.983t real .

[0096] Through two-dimensional bilinear interpolation, K m,13 (t trans ,δ real ) and K m,14 (t trans ,δ real ) value, and then obtain the projectile gain coefficient K m,real (t real ,δ real ).

[0097] Figure 4 The divergence of the line of sight angular velocity when a certain trajectory of the present invention adopts different projectile gain calculation methods, such as Figure 4 As shown in FIG. 1 , the horizontal axis is time in seconds (s), and the vertical axis is the line of sight angular velocity in degrees per second (° / s), wherein the dashed line represents the traditional method and the dashed line represents the method of the present invention. Table 2 shows the comparison results of the miss amount when using different missile gain calculation methods of the present invention. The comparison results of the line of sight angular velocity divergence of the missile gain calculation method proposed by the present invention and the traditional calculation method are shown in FIG. Figure 4 The comparison results of the miss amount are shown in Table 2. Compared with the traditional method, the projectile gain calculation method proposed in the present invention can delay the divergence of the line of sight angular velocity, reduce the overshoot and oscillation frequency of the terminal line of sight angular velocity, and reduce the miss amount, indicating that this projectile gain calculation method has a better fitting effect.

[0098] Table 2

[0099]

[0100] The present invention also provides a missile body gain calculation system applicable to a rotating missile, comprising:

[0101] Module M1: Obtain boundary characteristic trajectory based on predicted impact point and missile body gain coefficient on combat airspace boundary.

[0102] Among them, module M1 includes: sub-module M101: selecting multiple boundary feature points at preset intervals on the upper boundary and far boundary of the longitudinal symmetry plane of Zero Hangjie in the combat airspace; sub-module M102: using the boundary feature points as predicted hit points, and obtaining the boundary feature trajectory according to the projectile gain coefficient.

[0103] Module M2: Perform ballistic solution on all boundary feature trajectories to obtain a two-dimensional interpolation table of projectile gain.

[0104] Among them, module M2 includes: sub-module M201: for each boundary characteristic trajectory, the balanced angle of attack sequence corresponding to the rudder deflection angle value sequence is balanced by an iterative method; sub-module M202: according to the balanced angle of attack sequence combined with the state variable of the rotating missile, the projectile gain sequence is calculated; sub-module M203: according to the projectile gain sequence, a two-dimensional interpolation table of the projectile gain corresponding to each boundary trajectory is obtained.

[0105] Module M3: Obtain the projectile gain coefficient according to the projectile gain two-dimensional interpolation table and interpolation method.

[0106] Among them, module M3 includes: submodule M301: determining the adjacent two-dimensional interpolation table of projectile gain according to the rotating missile and the actual estimated hit point; submodule M302: obtaining the projectile gain coefficient according to the adjacent two-dimensional interpolation table of projectile gain and the interpolation method.

[0107] Specifically, the submodule M302 includes: performing a two-dimensional interpolation operation on the adjacent two-dimensional interpolation table of the projectile gain coefficient, and then continuing to perform a one-dimensional interpolation operation.

[0108] The technical principle of the present invention is:

[0109] The invention selects the upper boundary and far boundary points covering the combat airspace as the predicted hit points to solve the boundary trajectory, and completes the generation of the offline two-dimensional interpolation table of the projectile gain coefficient. The method comprises the following steps: setting the rudder deflection angle value sequence and the time interval, and for each selected boundary trajectory, when the time interval constraint is satisfied during the solution process, balancing the balanced attack angle sequence corresponding to the rudder deflection sequence by an iteration method, and calculating the projectile gain sequence in combination with the state variables of the missile, and obtaining the projectile gain two-dimensional interpolation table corresponding to the boundary trajectory after the solution of each boundary trajectory is completed; and then, based on the data group of the offline two-dimensional interpolation table of the projectile gain of all selected boundary trajectories, the data are introduced into the guidance and control system by real-time interpolation, so as to realize the online interpolation application of the projectile gain.

[0110] Compared with the prior art, the present invention has the following beneficial effects:

[0111] 1. The present invention provides a new method and new idea for calculating the body gain of a rotating missile.

[0112] 2. The method for calculating the gain of a rotating missile body proposed in the present invention is designed based on the entire combat airspace, and has better simulation adaptability and more comprehensive considerations.

[0113] 3. The method for calculating the gain of the rotating missile body proposed in the present invention is obtained by two-dimensional interpolation of the rudder deflection angle and the flight time, which can more accurately reflect the missile body gain coefficient compared with the traditional calculation method.

[0114] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method submodule M. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing methods and structures within hardware components.

[0115] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for calculating the body gain of a rotating missile, characterized in that: include: Step 1: Obtain boundary characteristic trajectory based on the predicted hit point and missile body gain coefficient on the boundary of combat airspace; Step 2: performing trajectory calculation on all the boundary feature trajectories to obtain a two-dimensional interpolation table of projectile gain; Step 3: Obtaining a projectile gain coefficient according to the projectile gain two-dimensional interpolation table and an interpolation method; The missile rudder deflection angle sequence and time interval are set. For the first selected boundary characteristic trajectory, when the time interval is met during the trajectory solution process, the balanced attack angle sequence corresponding to the rudder deflection angle value sequence is trimmed by an iterative method, and the missile body gain sequence at that moment is calculated in combination with the state variables of the rotating missile. The missile body gain sequence at each moment is recorded to obtain a two-dimensional interpolation table of the missile body gain corresponding to the boundary characteristic trajectory. All selected boundary feature trajectories are processed in a loop to generate an offline two-dimensional interpolation table data set of projectile gain. The generated two-dimensional interpolation table data set of projectile gain is applied to select adjacent two-dimensional interpolation tables of projectile gain coefficients according to the actual estimated hit points of the rotating missile and target simulation model, and the projectile gain coefficients are obtained by online real-time interpolation and introduced into the guidance control system for use. Taking the boundary feature point as the predicted hit point, the real body gain coefficient of the rotating missile is introduced into the guidance control system to solve the boundary feature trajectory. The real body gain coefficient Km of the missile is calculated by the missile dynamic coefficient, that is, calculated by formula (2): Among them, a 22 represents the damping dynamic coefficient, a 24 represents the static stability dynamic coefficient, a 25 represents the control dynamic coefficient, a 34 represents the normal dynamic coefficient, a 35 Represents the rudder surface dynamic coefficient.

2. The method for calculating the body gain of a rotating missile according to claim 1, characterized in that: The step 1 comprises: Step 101: Select multiple boundary feature points at preset intervals on the upper boundary and the far boundary of the longitudinal symmetry plane of Zero Hangjie in the combat airspace; Step 102: Using the boundary feature point as the predicted hit point, the boundary feature trajectory is obtained according to the projectile gain coefficient.

3. The method for calculating the body gain of a rotating missile according to claim 1, characterized in that: The step 2 comprises: Step 201: for each of the boundary characteristic trajectories, an iterative method is used to trim the balanced attack angle sequence corresponding to the rudder deflection angle value sequence; Step 202: Calculating a missile body gain sequence according to the balanced attack angle sequence combined with the state variables of the rotating missile; Step 203: According to the projectile gain sequence, a two-dimensional interpolation table of projectile gain corresponding to each of the boundary characteristic trajectories is obtained.

4. The method for calculating the body gain of a rotating missile according to claim 1, characterized in that: The step 3 comprises: Step 301: determining a two-dimensional interpolation table of the adjacent missile body gain according to the rotating missile and the actual estimated hit point; Step 302: Obtain the projectile gain coefficient according to the adjacent two-dimensional interpolation table of the projectile gain and the interpolation method.

5. The method for calculating the body gain of a rotating missile according to claim 4, characterized in that: The step 302 includes: performing a two-dimensional interpolation operation on the adjacent two-dimensional interpolation table of projectile gain coefficients, and then continuing to perform a one-dimensional interpolation operation.

6. A missile body gain calculation system suitable for a rotating missile, characterized in that: include: Module M1: Obtain boundary characteristic trajectory based on the predicted hit point and missile body gain coefficient on the boundary of combat airspace; Module M2: performing trajectory calculation on all the boundary characteristic trajectories to obtain a two-dimensional interpolation table of projectile gain; Module M3: obtaining the projectile gain coefficient according to the projectile gain two-dimensional interpolation table and interpolation method; The missile rudder deflection angle sequence and time interval are set. For the first selected boundary characteristic trajectory, when the time interval is met during the trajectory solution process, the balanced attack angle sequence corresponding to the rudder deflection angle value sequence is trimmed by an iterative method, and the missile body gain sequence at that moment is calculated in combination with the state variables of the rotating missile. The missile body gain sequence at each moment is recorded to obtain a two-dimensional interpolation table of the missile body gain corresponding to the boundary characteristic trajectory. All selected boundary feature trajectories are processed in a loop to generate an offline two-dimensional interpolation table data set of projectile gain. The generated two-dimensional interpolation table data set of projectile gain is applied to select adjacent two-dimensional interpolation tables of projectile gain coefficients according to the actual estimated hit points of the rotating missile and target simulation model, and the projectile gain coefficients are obtained by online real-time interpolation and introduced into the guidance control system for use. Taking the boundary feature point as the predicted hit point, the real body gain coefficient of the rotating missile is introduced into the guidance control system to solve the boundary feature trajectory. The real body gain coefficient Km of the missile is calculated by the missile dynamic coefficient, that is, calculated by formula (2): Among them, a 22 represents the damping dynamic coefficient, a 24 represents the static stability dynamic coefficient, a 25 represents the control dynamic coefficient, a 34 represents the normal dynamic coefficient, a 35 Represents the rudder surface dynamic coefficient.

7. The body gain calculation system for a rotating missile according to claim 6, characterized in that: The module M1 comprises: Submodule M101: selecting a plurality of boundary feature points at preset intervals on the upper boundary and the far boundary of the longitudinal symmetry plane of Zero Hangjie in the combat airspace; Submodule M102: using the boundary feature point as the predicted hit point, and obtaining the boundary feature trajectory according to the projectile gain coefficient.

8. The body gain calculation system for a rotating missile according to claim 6, characterized in that: The module M2 comprises: Submodule M201: for each of the boundary characteristic trajectories, a balanced attack angle sequence corresponding to the rudder deflection angle value sequence is trimmed by an iterative method; Submodule M202: Calculate the missile body gain sequence according to the balanced attack angle sequence combined with the state variable of the rotating missile; Submodule M203: According to the projectile gain sequence, a two-dimensional interpolation table of projectile gain corresponding to each boundary trajectory is obtained.

9. The missile body gain calculation system applicable to a rotating missile according to claim 6, characterized in that: The module M3 comprises: Submodule M301: determining a two-dimensional interpolation table of the adjacent missile body gain according to the rotating missile and the actual estimated hit point; Submodule M302: Obtaining the projectile gain coefficient according to the adjacent two-dimensional interpolation table of the projectile gain and the interpolation method.

10. The missile body gain calculation system suitable for a rotating missile according to claim 9, characterized in that: The submodule M302 includes: performing a two-dimensional interpolation operation on the adjacent two-dimensional interpolation table of projectile gain coefficients, and then continuing to perform a one-dimensional interpolation operation.

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