Iterative guidance method and device for launch vehicle based on optimized step length, and storage medium

Abstract

The present invention is applicable to the field of launch vehicle technology, and provides a launch vehicle iterative guidance method and device based on optimized step length, storage medium, and computer equipment, the method comprising: monitoring navigation information and acceleration information of the launch vehicle; based on real-time navigation information, real-time acceleration information, and standard program angle information, using the launch vehicle iterative guidance algorithm based on optimized step length to perform multiple iterative calculations to determine the program angle correction of the launch vehicle, wherein the iterative step length of any iterative calculation is less than the iterative step length of the previous iterative calculation; and performing program angle correction on the launch vehicle according to the program angle correction. The present invention can improve the iterative guidance calculation accuracy, and ultimately achieve the purpose of optimizing iterative guidance.

Description

Technical Field

[0001] The present invention belongs to the technical field of launch vehicles, and in particular relates to a launch vehicle iterative guidance method and device based on optimized step length, a storage medium, and a computer device. Background Art

[0002] Iterative guidance is an adaptive guidance technology that has emerged with the development of modern computer technology and optimal control theory. It can continuously adjust its flight trajectory according to the current speed, position and estimated orbital entry point of the rocket, calculate the required orbital entry point, and then plan a new trajectory based on the spatial relative relationship between the current position and the orbital entry point, thereby ensuring the accuracy and attitude of the orbital entry. At present, since the rocket trajectory design requires iterative guidance to be carried out in advance, the distance to the orbital entry point is far away at this time. In the initial stage of the iteration, the conventional fixed-step iteration will cause a single iteration to take a long time, which will seriously threaten the real-time operation of the flight control software on the rocket.

[0003] For iterative guidance calculations with a longer period, there are generally the following solutions:

[0004] First, the iterative guidance only iterates the working time of the last stage engine, but this is not enough, and there is also the problem of insufficient orbit insertion accuracy;

[0005] The second is to divide it into multiple stages of trajectory for step-by-step iterative guidance calculation. Because the theoretical time cannot be simply used, but it should be accurately estimated and iterated according to the shutdown method, which is important for ensuring the continuity of the program angle at each stage; and necessary measures must be taken at the segmentation for smooth control. The segmentation algorithm is generally relatively complex. At the same time, because the acceleration of the subsequent stage needs to be integrated multiple times, the complexity of the iterative algorithm is closely related to the number of segments. Each additional segment will increase a large number of calculations and control branches, which is not conducive to improving reliability. Therefore, it is not recommended to use too many segments. Summary of the invention

[0006] The embodiment of the present invention provides a launch vehicle iterative guidance method based on optimized step length, aiming to solve the problems of low efficiency and poor precision of the current launch vehicle iterative guidance.

[0007] The embodiment of the present invention is implemented as follows: an iterative guidance method for a launch vehicle, the method comprising:

[0008] Monitor the launch vehicle's navigation and acceleration information;

[0009] Based on the real-time navigation information, the real-time acceleration information and the standard program angle information, the iterative guidance algorithm of the launch vehicle is used to perform multiple iterative calculations to determine the program angle correction amount of the launch vehicle, wherein the iterative step length of any iterative calculation is smaller than the iterative step length of the previous iterative calculation;

[0010] According to the program angle correction amount, a program angle correction is performed on the launch vehicle.

[0011] Furthermore, the method of performing multiple iterative calculations based on the real-time navigation information, the real-time acceleration information and the standard program using the iterative guidance algorithm of the launch vehicle to determine the program angle correction of the launch vehicle specifically includes:

[0012] Calculate the iteration step length according to the real time and the preset iteration end time, and determine the iteration calculation time corresponding to the iteration step length;

[0013] When the iterative calculation time is reached, based on the real-time navigation information, the real-time acceleration information and the standard program angle information, the iterative guidance algorithm is used to perform iterative calculation to determine an iterative intermediate value;

[0014] Continue to calculate a new iteration step size and determine a new iteration calculation time based on the real-time time and the preset iteration end time, and when the new iteration calculation time is reached, continue to perform iterative calculation based on the real-time navigation information, the real-time acceleration information and the iterative intermediate value until the iteration termination condition is met.

[0015] Furthermore, the calculation of the iteration step length according to the real time and the preset iteration end time specifically includes:

[0016] Substitute the real time and the preset iteration end time into the iteration step calculation formula to obtain the iteration step, where the iteration step calculation formula is T step = k*(T end -T now ), T step is the iteration step length, T end is the preset iteration end time, T now is the real time, and k is a preset coefficient.

[0017] Furthermore, the determining of the iterative calculation time corresponding to the iterative step size specifically includes:

[0018] Based on a preset limiting step length, the iteration step length is limited, and the sum of the real time and the iteration step length after the limiting process is used as the iteration calculation time.

[0019] Furthermore, when the iterative calculation time is reached, the iterative guidance algorithm is used to perform iterative calculation based on the real-time navigation information, the real-time acceleration information and the standard program angle information, and after determining the iterative intermediate value, the method further includes:

[0020] Count the number of iterations of iterative calculation;

[0021] When the number of iterations reaches a preset iteration number threshold, or when the preset iteration end time is reached, the iterative calculation ends.

[0022] Furthermore, the navigation information includes speed information and position information of the launch vehicle, and the program angle information is used to describe the orbital attitude information of the launch vehicle.

[0023] An embodiment of the present invention further provides a launch vehicle iterative guidance device based on an optimized step length, the device comprising:

[0024] A monitoring module, used to monitor the navigation information and acceleration information of the launch vehicle;

[0025] an iterative calculation module, for performing multiple iterative calculations using an iterative guidance algorithm of the launch vehicle based on real-time navigation information, real-time acceleration information and standard program angle information to determine a program angle correction amount of the launch vehicle, wherein an iterative step length of any iterative calculation is smaller than an iterative step length of a previous iterative calculation;

[0026] A correction module is used to perform a program angle correction on the launch vehicle according to the program angle correction amount.

[0027] Furthermore, the iterative calculation module is specifically used for:

[0028] Calculate the iteration step length according to the real time and the preset iteration end time, and determine the iteration calculation time corresponding to the iteration step length;

[0029] When the iterative calculation time is reached, based on the real-time navigation information, the real-time acceleration information and the standard program angle information, the iterative guidance algorithm is used to perform iterative calculation to determine an iterative intermediate value;

[0030] Continue to calculate a new iteration step size and determine a new iteration calculation time based on the real-time time and the preset iteration end time, and when the new iteration calculation time is reached, continue to perform iterative calculation based on the real-time navigation information, the real-time acceleration information and the iterative intermediate value until the iteration termination condition is met.

[0031] Furthermore, the iterative calculation module is further used to: substitute the real time and the preset iteration end time into the iteration step calculation formula to obtain the iteration step, wherein the iteration step calculation formula is T step = k*(T end -T now ), T step is the iteration step length, T end is the preset iteration end time, T now is the real time, and k is a preset coefficient.

[0032] Furthermore, the iterative calculation module is also used to: based on a preset limiting step, perform a limiting process on the iterative step, and use the sum of the real time and the iterative step after the limiting process as the iterative calculation time.

[0033] Furthermore, the device also includes:

[0034] A number statistics module is used for performing iterative calculation using the iterative guidance algorithm based on the real-time navigation information, the real-time acceleration information and the standard program angle information when the iterative calculation time is reached, and after determining the iterative intermediate value, counting the number of iterations of the iterative calculation;

[0035] The iterative calculation module is further used to end the iterative calculation when the number of iterations reaches a preset iteration number threshold or reaches the preset iteration end time.

[0036] Furthermore, the navigation information includes speed information and position information of the launch vehicle, and the program angle information is used to describe the orbital attitude information of the launch vehicle.

[0037] An embodiment of the present invention further provides a storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned iterative guidance method for a launch vehicle based on optimized step size is implemented.

[0038] An embodiment of the present invention also provides a computer device, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the above-mentioned iterative guidance method for a launch vehicle based on optimized step size when executing the program.

[0039] An embodiment of the present invention further provides a computer device, comprising an iterative guidance device, wherein the iterative guidance device is used to implement the above-mentioned launch vehicle iterative guidance method based on optimized step size.

[0040] The beneficial effect achieved by the present invention is that, since the conventional iterative guidance algorithm adopts a fixed step length, the method has a good effect on the iterative guidance calculation of short distances, but for the entire iterative calculation process of the launch vehicle, the far end will take a long time, and the closer to the near end, the faster the iteration speed will be, and finally the iterative end condition is reached to complete the iterative guidance process. Therefore, the present invention adopts a variable step length design idea, with a large step length at the far end, the calculation accuracy is lost, but the time consumption is small, and the entire calculation accuracy continues to converge with the iterative process; a small step length is adopted at the near end, which can improve the calculation accuracy compared with the previous fixed step length, and finally achieve the purpose of optimizing iterative guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flow chart of a launch vehicle iterative guidance method based on optimized step length provided by an embodiment of the present invention;

[0042] Figure 2 It is a flow chart of another launch vehicle iterative guidance method based on optimized step length provided by an embodiment of the present invention;

[0043] Figure 3 It is a flow chart of another launch vehicle iterative guidance method based on optimized step length provided by an embodiment of the present invention;

[0044] Figure 4 It is a schematic structural diagram of a launch vehicle iterative guidance device based on optimized step length provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] The invention achieves the purpose of optimizing iterative guidance by adjusting the iterative step size in the iterative calculation process, and improves the efficiency and accuracy of iterative guidance compared with the iterative guidance method of the prior art.

[0047] Embodiment 1

[0048] In this embodiment, a launch vehicle iterative guidance method based on optimized step length is provided. Figure 1 As shown, the method includes:

[0049] Step 101, monitoring the navigation information and acceleration information of the launch vehicle;

[0050] Step 102, based on the real-time navigation information, the real-time acceleration information and the standard program angle information, using the iterative guidance algorithm of the launch vehicle to perform multiple iterative calculations to determine the program angle correction amount of the launch vehicle, wherein the iterative step length of any iterative calculation is smaller than the iterative step length of the previous iterative calculation;

[0051] Step 103: Performing a program angle correction on the launch vehicle according to the program angle correction amount.

[0052] In the embodiment of the present invention, iterative guidance technology is a guidance method for launch vehicles. Iterative guidance is an adaptive guidance technology that has emerged with the development of modern computer technology and optimal control theory. It can continuously adjust its flight trajectory according to the current speed, position and estimated orbital entry point of the rocket, calculate the required orbital entry point, and then plan a new trajectory according to the spatial relative relationship between the current position and the orbital entry point, thereby ensuring the orbital entry accuracy and orbital entry attitude. During the flight of a launch vehicle, if Figure 2 As shown, after entering the iterative guidance stage, the correction amount of the program angle is calculated by iterative guidance through the navigation information (speed and position information), acceleration value and other information at the iteration time, combined with the theoretical attitude information (i.e., standard program angle information), and the program angle is corrected by the correction amount to obtain the program angle information, and the launch vehicle is controlled to control the orbital attitude of the launch vehicle. Among them, in the process of iterative guidance calculation, the iteration step length of multiple iterative calculations follows the law of gradual decrease, and the conventional iterative guidance algorithm adopts a fixed step length method. This method has a good effect on the iterative guidance calculation of short distances. For the entire iterative calculation process of the launch vehicle, the far end will take a long time, and the closer to the near end, the faster the iteration speed, and finally the iterative end condition is reached to complete the iterative guidance process. The present invention adopts a variable step length design idea. At the far end, the large step length has a loss of calculation accuracy, but the time consumption is small, and the entire calculation accuracy continues to converge with the iterative process; a small step length is adopted at the near end, which can improve the calculation accuracy compared with the previous fixed step length, and finally achieves the purpose of optimizing iterative guidance.

[0053] Embodiment 2

[0054] In the embodiment of the present invention, optionally, step 102 specifically includes:

[0055] Step 102-1, calculating the iteration step length according to the real time and the preset iteration end time, and determining the iteration calculation time corresponding to the iteration step length.

[0056] In the embodiment of the present invention, the iteration step length can be calculated by a preset iteration step length calculation formula. Optionally, the real time and the preset iteration end time are substituted into the iteration step length calculation formula to obtain the iteration step length. The iteration step length calculation formula is:step = k*(T end -T now ), T step is the iteration step length, T end is the preset iteration end time, T now is the real time, and k is a preset coefficient.

[0057] In this embodiment, if Figure 3 As shown, the iteration step size in the iterative calculation process is variable, which can be specifically determined according to the real-time time T now and the preset iteration end time T end The difference changes linearly, according to the above formula T step = k*(T end -T now ), as time goes by, each time an iterative calculation is performed, the next iterative step size is larger than the current iterative step size. The conventional iterative guidance algorithm adopts a fixed step size method. This method has no problem for short-distance iterative guidance calculation. The entire iterative calculation process will take a long time at the far end, and the closer to the near end, the faster the iteration speed will be, and finally the iterative end condition is reached to complete the iterative guidance process.

[0058] It should be noted that in the embodiment of the present invention, other methods can also be used to calculate the iteration step length, as long as the iteration step length decreases.

[0059] In the embodiment of the present invention, optionally, based on a preset limiting step, the iteration step is limited, and the sum of the real time and the iteration step after the limiting process is used as the iteration calculation time.

[0060] In this embodiment, after calculating the iteration step length, the iteration step length is limited according to the preset limit step length to avoid the iteration accuracy being low due to the interval between two iteration calculations being too large, and to balance the iteration calculation speed and accuracy. Iteration calculation time = real time + iteration step length.

[0061] Step 102-2: When the iterative calculation time is reached, the iterative guidance algorithm is used to perform iterative calculation based on the real-time navigation information, the real-time acceleration information and the standard program angle information to determine the iterative intermediate value.

[0062] After determining the iterative calculation time, when the iterative calculation time is reached, the iterative guidance algorithm is used to perform iterative calculations to determine the iterative intermediate value of the correction amount so as to perform multiple iterative calculations using the intermediate value.

[0063] Step 102-3, continue to calculate the new iteration step size based on the real-time time and the preset iteration end time, determine the new iteration calculation time, and when the new iteration calculation time is reached, continue to perform iterative calculation based on the real-time navigation information, real-time acceleration information and the iteration intermediate value until the iteration termination condition is met.

[0064] In this embodiment, after one iterative calculation is completed, the iteration step size of the next iterative calculation is recalculated based on the real-time time and the preset iteration end time, and the iteration step size is accumulated on the basis of the real-time time to obtain the iterative calculation time of the next iterative calculation, and the iterative calculation is repeated until the iteration termination condition is met.

[0065] In an embodiment of the present invention, the iteration termination condition may include reaching a preset iteration end time and reaching a preset iteration number threshold. Optionally, the method further includes: counting the number of iterations of the iterative calculation; when the number of iterations reaches the preset iteration number threshold, or reaches the preset iteration end time, the iterative calculation is terminated.

[0066] In this embodiment, each iterative calculation is marked as ending when the iteration time is recursively extended to the specified end time. Generally, the iterative guidance can converge quickly after several calculations according to the iteration step length, but when the iteration step length is too small, the convergence speed will decrease. If it is allowed to iterate until convergence, it will take a long time, which will seriously threaten the real-time operation of the flight control software on the arrow. Therefore, the maximum number of iterations can be limited each time. When the limit is reached, the iterative guidance calculation is forced to exit to ensure the stability of the flight control software on the arrow. After each iterative calculation, the number of iterations + 1, as the number of iterative calculations accumulates, when the number of iterations reaches the preset iteration number threshold, that is, the set value, or when the time reaches the iteration end time, it is determined whether the iteration result obtained by the last iterative calculation is valid, and if it is determined to be valid, it is confirmed that the iteration result is the program angle correction amount, the program angle of the launch vehicle is corrected, and the iterative calculation ends.

[0067] Embodiment 3

[0068] The embodiment of the present invention also provides a launch vehicle iterative guidance device based on the optimized step length, such as Figure 4 As shown, the device comprises:

[0069] A monitoring module, used to monitor the navigation information and acceleration information of the launch vehicle;

[0070] an iterative calculation module, for performing multiple iterative calculations using an iterative guidance algorithm of the launch vehicle based on real-time navigation information, real-time acceleration information and standard program angle information to determine a program angle correction amount of the launch vehicle, wherein an iterative step length of any iterative calculation is smaller than an iterative step length of a previous iterative calculation;

[0071] A correction module is used to perform a program angle correction on the launch vehicle according to the program angle correction amount.

[0072] Furthermore, the iterative calculation module is specifically used for:

[0073] Calculate the iteration step length according to the real time and the preset iteration end time, and determine the iteration calculation time corresponding to the iteration step length;

[0074] When the iterative calculation time is reached, based on the real-time navigation information, the real-time acceleration information and the standard program angle information, the iterative guidance algorithm is used to perform iterative calculation to determine an iterative intermediate value;

[0075] Continue to calculate a new iteration step size and determine a new iteration calculation time based on the real-time time and the preset iteration end time, and when the new iteration calculation time is reached, continue to perform iterative calculation based on the real-time navigation information, the real-time acceleration information and the iterative intermediate value until the iteration termination condition is met.

[0076] Furthermore, the iterative calculation module is further used to: substitute the real time and the preset iteration end time into the iteration step calculation formula to obtain the iteration step, wherein the iteration step calculation formula is T step = k*(T end -T now ), T step is the iteration step length, T end is the preset iteration end time, T now is the real time, and k is a preset coefficient.

[0077] Furthermore, the iterative calculation module is also used to: based on a preset limiting step, perform a limiting process on the iterative step, and use the sum of the real time and the iterative step after the limiting process as the iterative calculation time.

[0078] Furthermore, the device also includes:

[0079] A number statistics module is used for performing iterative calculation using the iterative guidance algorithm based on the real-time navigation information, the real-time acceleration information and the standard program angle information when the iterative calculation time is reached, and after determining the iterative intermediate value, counting the number of iterations of the iterative calculation;

[0080] The iterative calculation module is further used to end the iterative calculation when the number of iterations reaches a preset iteration number threshold or reaches the preset iteration end time.

[0081] Furthermore, the navigation information includes speed information and position information of the launch vehicle, and the program angle information is used to describe the orbital attitude information of the launch vehicle.

[0082] It should be noted that for other corresponding descriptions of the functional units involved in the launch vehicle iterative guidance device based on the optimized step length provided in the embodiment of the present application, reference can be made to Figures 1 to 3 The corresponding description in the method will not be repeated here.

[0083] The present application also provides a launch vehicle, including an iterative guidance device, through which the above-mentioned Figures 1 to 3 The method shown.

[0084] Based on the above Figures 1 to 3 The method shown in the embodiment of the present application is accordingly provided with a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned Figures 1 to 3 The method shown.

[0085] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0086] Based on the above Figures 1 to 3 The method shown, and Figure 4 In order to achieve the above-mentioned purpose, the embodiment of the present application further provides a computer device, which can be a personal computer, a server, a network device, etc. The computer device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above-mentioned Figures 1 to 3 The method shown.

[0087] Optionally, the computer device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Bluetooth interface, a WI-FI interface), etc.

[0088] Those skilled in the art will appreciate that the computer device structure provided in this embodiment does not limit the computer device, and may include more or fewer components, or a combination of certain components, or different component arrangements.

[0089] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages and saves the hardware and software resources of the computer device, and supports the operation of information processing programs and other software and / or programs. The network communication module is used to realize communication between the components inside the storage medium, and communication with other hardware and software in the physical device.

[0090] Through the description of the above implementation methods, the technical personnel in this field can clearly understand that the present application can be implemented by means of software plus the necessary general hardware platform, or by hardware implementation. After entering the iterative guidance stage, the navigation information (speed and position information), acceleration value and other information at the iteration time are combined with the theoretical attitude information (i.e., standard program angle information) to perform iterative guidance calculation to correct the program angle, and the program angle is corrected by the correction amount to obtain the program angle information, and the launch vehicle is controlled so as to control the orbital attitude of the launch vehicle. Among them, in the process of iterative guidance calculation, the iteration step length of multiple iterative calculations follows the law of gradual decrease, and the conventional iterative guidance algorithm adopts a fixed step length method. This method has a good effect on short-distance iterative guidance calculation. For the entire iterative calculation process of the launch vehicle, the far end will take a long time, and the closer to the near end, the faster the iteration speed will be, and finally the iterative end condition is reached to complete the iterative guidance process. The present invention adopts a variable step size design concept. At the far end, a large step size is used, which results in a loss of calculation accuracy, but the time consumption is small, and the entire calculation accuracy continues to converge with the iterative process; a small step size is used at the near end, which can improve the calculation accuracy compared to the previous fixed step size, and ultimately achieve the purpose of optimizing iterative guidance.

[0091] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the description of the implementation scenario, or can be changed accordingly and located in one or more devices different from the present implementation scenario. The modules of the above-mentioned implementation scenario can be combined into one module, or can be further split into multiple submodules.

[0092] The above serial numbers of this application are only for description and do not represent the advantages and disadvantages of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of this application, but this application is not limited to them, and any changes that can be thought of by technicians in this field should fall within the scope of protection of this application.

Claims

1. A launch vehicle iterative guidance method based on optimized step length, characterized in that: The method comprises: Monitor the launch vehicle's navigation and acceleration information; Based on the real-time navigation information, the real-time acceleration information and the standard program angle information, the iterative guidance algorithm of the launch vehicle is used to perform multiple iterative calculations to determine the program angle correction amount of the launch vehicle, wherein the iterative step length of any iterative calculation is smaller than the iterative step length of the previous iterative calculation; performing a program angle correction on the launch vehicle according to the program angle correction amount; The method of performing multiple iterative calculations based on the real-time navigation information, the real-time acceleration information and the standard program angle information using the iterative guidance algorithm of the launch vehicle to determine the program angle correction amount of the launch vehicle includes: According to the real-time time and the preset iteration end time, the iteration step length is calculated, and the iteration calculation time corresponding to the iteration step length is determined, including: substituting the real-time time and the preset iteration end time into the iteration step length calculation formula to obtain the iteration step length, wherein the iteration step length calculation formula is Tstep=k*(Tend-Tnow), Tstep is the iteration step length, Tend is the preset iteration end time, Tnow is the real-time time, and k is a preset coefficient; based on the preset limiting step length, the iteration step length is limited, and the sum of the real-time time and the iteration step length after the limiting step length is used as the iteration calculation time; when the iteration calculation time is reached, based on the real-time navigation information, the real-time acceleration information and the standard program angle information, the iterative guidance algorithm of the launch vehicle is used to perform iterative calculation to determine the iteration intermediate value; Continue to calculate a new iteration step size and determine a new iteration calculation time based on the real-time time and the preset iteration end time, and when the new iteration calculation time is reached, continue to perform iterative calculation based on the real-time navigation information, the real-time acceleration information and the iterative intermediate value until the iteration termination condition is met.

2. The method according to claim 1, characterized in that: When the iterative calculation time is reached, the iterative calculation is performed using the iterative guidance algorithm based on the real-time navigation information, the real-time acceleration information and the standard program angle information, and after determining the iterative intermediate value, the method further includes: Count the number of iterations of iterative calculation; When the number of iterations reaches a preset iteration number threshold, or when the preset iteration end time is reached, the iterative calculation ends.

3. The method according to claim 1 or 2, characterized in that: The navigation information includes speed information and position information of the launch vehicle, and the program angle information is used to describe the orbital attitude information of the launch vehicle.

4. A launch vehicle iterative guidance device based on optimized step length, characterized in that: The device comprises: A monitoring module, used to monitor the navigation information and acceleration information of the launch vehicle; an iterative calculation module, for performing multiple iterative calculations using an iterative guidance algorithm of the launch vehicle based on real-time navigation information, real-time acceleration information and standard program angle information to determine a program angle correction amount of the launch vehicle, wherein an iterative step length of any iterative calculation is smaller than an iterative step length of a previous iterative calculation; A correction module, used for performing a program angle correction on the launch vehicle according to the program angle correction amount; The iterative calculation module is specifically used for: Calculate the iteration step length according to the real time and the preset iteration end time, and determine the iteration calculation time corresponding to the iteration step length; When the iterative calculation time is reached, based on the real-time navigation information, the real-time acceleration information and the standard program angle information, the iterative guidance algorithm is used to perform iterative calculation to determine an iterative intermediate value; Continuing to calculate a new iteration step length and determine a new iteration calculation time according to the real-time time and the preset iteration end time, and when the new iteration calculation time is reached, continuing to perform iterative calculation based on the real-time navigation information, the real-time acceleration information and the iteration intermediate value until the iteration termination condition is met; The iterative calculation module is further used to: substitute the real time and the preset iteration end time into the iteration step calculation formula to obtain the iteration step, wherein the iteration step calculation formula is T step = k*(T end -T now ), T step is the iteration step length, T end is the preset iteration end time, T now is the real time, k is a preset coefficient; The iterative calculation module is further used to: based on a preset limiting step length, perform a limiting process on the iterative step length, and use the sum of the real time and the iterative step length after the limiting process as the iterative calculation time.

5. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to claim 1 or 2 is implemented.

6. A computer device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that: When the processor executes the computer program, the method according to claim 1 or 2 is implemented.

7. A launch vehicle, characterized in that: The launch vehicle comprises an iterative guidance device, and the iterative guidance device is used to implement the method as claimed in claim 1 or 2.

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