Method, device and equipment for identifying equivalent offset of engine thrust line and medium

Abstract

The application discloses a kind of engine thrust line equivalent deflection identification method, device, equipment and medium, the method comprises: obtaining the target angular velocity of missile inertial measurement unit output;The target angular velocity is calculated in the preset three axis directions, and the target moment corresponding to each of the preset three axis directions is obtained;According to the target moment corresponding to each of the preset three axis directions, the equivalent deflection of the engine thrust line in the missile is obtained by calculation.The application can simply, quickly and accurately calculate the equivalent deflection of the engine thrust line in the missile.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to a method, apparatus, equipment and medium for identifying equivalent offset of engine thrust lines. Background Technology

[0002] During flight of a solid-propellant launch vehicle outside the atmosphere (above 100 kilometers), the greatest disturbance to its flight attitude control originates from the solid rocket motor, and the currently commonly used mainstream attitude control method is side-jet control. The actuator for side-jet control is a liquid attitude control engine, which generates control force through propellant combustion. After flight testing, the interference from the solid rocket motor needs to be assessed and identified to verify whether the propellant consumption of the corresponding actuator, the liquid attitude control engine, is normal and reasonable.

[0003] However, in practice, it has been found that there is currently no method for identifying the equivalent skew of a solid rocket motor. Therefore, there is an urgent need to provide a scheme for identifying the equivalent skew of the engine thrust line. Summary of the Invention

[0004] This application provides a method, device, equipment, and medium for identifying the equivalent deviation of the engine thrust line, which can easily, quickly, and accurately calculate the equivalent deviation of the rocket engine thrust line.

[0005] On the one hand, this application provides a method for identifying the equivalent skewness of an engine thrust line through one embodiment of the application, the method comprising:

[0006] Obtain the target angular rate output by the rocket's inertial navigation system;

[0007] The target angular rate is subjected to torque calculation in three preset axial directions to obtain the target torque corresponding to each of the three preset axial directions;

[0008] Based on the target torque corresponding to each of the three preset axial directions, the equivalent deflection of the engine thrust line in the rocket body is calculated.

[0009] Optionally, the step of calculating the torque in three preset axial directions on the target angular rate to obtain the target torque corresponding to each of the three preset axial directions includes:

[0010] The target angular rate output by the inertial navigation system of the rocket body is filtered to obtain the rigid angular rate and time data of the rocket body in three preset axial directions;

[0011] The rigid angular velocity and time data in the three preset axial directions are fitted to obtain the angular acceleration in each of the three preset axial directions;

[0012] Based on the angular acceleration of each of the three preset axial directions, the target torque corresponding to each of the three preset axial directions is calculated.

[0013] Optionally, calculating the target torque corresponding to each of the three preset axial directions based on their respective angular accelerations includes:

[0014] Based on the dynamic equation, the torque is calculated for the angular acceleration in each of the three preset axial directions to obtain the target torque corresponding to each of the three preset axial directions.

[0015] Optionally, the step of calculating the equivalent deflection of the engine thrust line in the rocket body based on the target torque corresponding to each of the three preset axial directions includes:

[0016] Based on the pre-configured torque formula, the component forces of the target torque corresponding to each of the three preset axial directions are calculated to obtain the target component forces corresponding to each of the three preset axial directions.

[0017] Based on the target component forces corresponding to the three preset axial directions, the equivalent deflection of the engine thrust line in the rocket body is calculated.

[0018] Optionally, the target component force corresponding to each of the three preset axial directions includes at least the target component force in the first direction, and the calculation of the equivalent deflection of the engine thrust line in the rocket body based on the target component force corresponding to each of the three preset axial directions includes:

[0019] Based on the target component force in the first direction and the predicted thrust value of the engine, the equivalent deviation of the engine thrust line in the rocket body is calculated.

[0020] On the other hand, this application provides a device for identifying the equivalent skewness of an engine thrust line through one embodiment of the application. The device includes: an acquisition module, a calculation module, and a processing module, wherein:

[0021] The acquisition module is used to acquire the target angular rate output by the rocket body inertial navigation system;

[0022] The calculation module is used to calculate the torque in three preset axial directions on the target angular rate, and obtain the target torque corresponding to each of the three preset axial directions;

[0023] The processing module is used to calculate the equivalent deflection of the engine thrust line in the rocket body based on the target torque corresponding to each of the three preset axial directions.

[0024] For any content not introduced or described in the embodiments of this application, please refer to the relevant descriptions in the foregoing method embodiments; they will not be repeated here.

[0025] On the other hand, this application provides a terminal device through one embodiment of the application. The terminal device includes: a processor, a memory, a communication interface, and a bus; the processor, the memory, and the communication interface are connected through the bus and complete mutual communication; the memory stores executable program code; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to execute the engine thrust line equivalent skew identification method as described above.

[0026] On the other hand, this application provides a computer-readable storage medium through one embodiment of the application, the computer-readable storage medium storing a program that, when the program is run on a terminal device, performs the engine thrust line equivalent skew identification method as described above.

[0027] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: This application obtains the target angular rate output by the rocket body inertial navigation system; calculates the torque in three preset axial directions on the target angular rate to obtain the target torque corresponding to each of the three preset axial directions; and calculates the equivalent skew of the engine thrust line in the rocket body based on the target torque corresponding to each of the three preset axial directions. In the above solution, this application can directly calculate the equivalent skew of the engine thrust line in the rocket body based on the target angular rate of the rocket body inertial navigation system, thus achieving convenience, efficiency, and accuracy in equivalent skew calculation. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a flowchart illustrating a method for identifying the equivalent skewness of an engine thrust line provided in an embodiment of this application.

[0030] Figure 2 This is a Bode schematic diagram of a Chebyshev low-pass filter provided in an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of the structure of an engine thrust line equivalent skew identification device provided in an embodiment of this application;

[0032] Figure 4 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0033] In the process of filing this application, the applicant also discovered that the greatest disturbance to the flight attitude control of a solid-propellant launch vehicle during its flight outside the atmosphere originates from the solid engine, mainly including the deflection of the engine thrust line, the lateral displacement of the engine thrust line, and the lateral displacement of the center of mass of the rocket body structure.

[0034] Thrust line skew refers to the angle between the engine's thrust line and the rocket's theoretical axis, caused by factors such as engine manufacturing errors, structural deformation, and combustion jet asymmetry. Engine thrust line lateral shift refers to the distance between the thrust line and the rocket's theoretical axis, caused by engine manufacturing and assembly errors.

[0035] The transverse displacement of the rocket's center of mass refers to the distance between the measured center of mass line and the theoretical center of mass axis, generally caused by manufacturing and assembly errors. After engine ignition, over time, due to the pressure of the combustion gases, both the combustion chamber and the nozzle will deform and shift. The combustion chamber will increase radially and elongate axially, correspondingly causing displacement of its structural components, especially the nozzle, resulting in gradual changes in the thrust line skew and transverse displacement.

[0036] Engine thrust line skewing and lateral displacement (both engine thrust line displacement and rocket body structural center of mass displacement) introduce additional disturbance torques, requiring corresponding control torques to balance them. Currently, side-jet control is one of the commonly used mainstream attitude control methods for solid-propellant launch vehicles flying outside the atmosphere. The actuator for side-jet control is a liquid attitude control engine, which generates control force through propellant combustion.

[0037] After the flight test, solid rocket motor interference needs to be assessed and identified to verify whether the propellant consumption of the corresponding liquid attitude control engine is normal and reasonable. During the solid rocket motor interference identification process, special attention is paid to the equivalent skewness ultimately generated by the interference torque of the solid rocket motor (including engine thrust line skewness, engine thrust line lateral displacement, and rocket body structure center of mass lateral displacement). The larger the equivalent skewness identified, the greater the error caused by the engine in production, installation, or combustion, and the greater the corresponding liquid attitude control propellant consumption.

[0038] Therefore, the equivalent skew can serve as a characteristic quantity of solid rocket motor disturbances, providing data support for subsequent solid rocket motor design, production, and assembly process optimization, and also providing data input for attitude control design optimization. It is evident that the equivalent skew of the engine thrust line is a very important indicator parameter.

[0039] This application provides a method, device, equipment, and medium for identifying the equivalent deviation of the engine thrust line, which can easily, quickly, and accurately calculate the equivalent deviation of the rocket engine thrust line.

[0040] The technical solution of this application embodiment is to solve the above-mentioned technical problems. The general idea is as follows: obtain the target angular rate output by the rocket body inertial navigation system; calculate the torque in three preset axial directions on the target angular rate to obtain the target torque corresponding to each of the three preset axial directions; calculate the equivalent deflection of the engine thrust line in the rocket body based on the target torque corresponding to each of the three preset axial directions.

[0041] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0042] First, it should be clarified that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0043] Please see Figure 1 This is a flowchart illustrating a method for identifying the equivalent skewness of an engine thrust line provided in an embodiment of this application. Figure 1 The method shown includes the following implementation steps:

[0044] S101. Obtain the target angular rate output by the rocket body inertial navigation system.

[0045] The inertial navigation system (INS) involved in this application typically consists of a gyroscope and an accelerometer. This application requires first obtaining the target angular rate output by the INS.

[0046] S102. Calculate the torque in the three preset axial directions for the target angular rate to obtain the target torque corresponding to each of the three preset axial directions.

[0047] In one specific embodiment, after obtaining the target angular rate output by the inertial navigation system (INS), this application can first filter the target angular rate to obtain the rigid angular rate and time data (also referred to as time vector) of the rocket body in three preset axis directions. Specifically, this application can use a low-pass filter to filter the target angular rate (data) output by the INS to obtain the rigid angular rate ω of the rocket body in three channels. x ω y ω z Both the time data and the corresponding time data t can be represented as 1×N column vectors. The time series interval is the sampling interval T. A low-pass filter can filter out the elastic angular velocity; for example, a Chebyshev low-pass filter, whose bandwidth and depth are selected based on the elastic natural frequency of the rocket body. For example, please refer to... Figure 2 The Bode plot of a Chebyshev low-pass filter is shown in the figure. Figure 2In this example, the Chebyshev low-pass filter has a bandwidth of 8 Hz and a filtering depth of -10 dB.

[0048] Furthermore, this application can fit the rigid angular velocity and time data in three preset axial directions to obtain the angular acceleration α in each of the three preset axial directions. x α y α z Specifically, this application can use the linear least squares method to fit and calculate the corresponding angular acceleration α. x α y α z Taking the angular rate on the pitch channel (z-axis direction) as an example, the independent variable is t, and the rigid angular rate (function) is ω. z Its linear fitting formula is of the type y = kx + b. In the specific implementation, assuming i = 1 and interval points n = 10, this application uses t(i), t(i+1), ..., t(i+n) and ω z (i), ω z (i+1), ...ω z (i+n) is the input. Based on the above linear fitting formula, this application can calculate the slope k1 and its corresponding pitch acceleration α. z (1) = k1. When i = 2, α can be calculated similarly. z (2) = k2. This cycle repeats until i = Nn, at which point α... z (Nn)=k N-n Thus, the complete pitch acceleration α is obtained. z Similarly, the angular acceleration α on the other two channels can be calculated. x α y Among them, α x α y α z All of them can be represented as 1×(Nn) column vectors.

[0049] Finally, this application can calculate the target torque corresponding to each of the three preset axial directions based on their respective angular accelerations. Specifically, for example, this application can calculate the torque based on the dynamic equation of the rocket body rotating around its center of mass for the angular accelerations in the three preset axial directions, thus obtaining the target torque M corresponding to each of the three preset axial directions. x M y M z The dynamic equation is shown in formula (1) below:

[0050]

[0051] Among them, J x J y J zThe pre-acquired moments of inertia in three axial directions can also be referred to as three-channel moments of inertia. M x M y M z All of them can be represented as 1×(Nn) column vectors.

[0052] S103. Based on the target torque corresponding to each of the three preset axial directions, calculate the equivalent deflection of the engine thrust line in the rocket body.

[0053] In one specific embodiment, this application can calculate the component forces of the target torque corresponding to each of the three preset axial directions according to the pre-configured torque formula, thereby obtaining the target component forces corresponding to each of the three preset axial directions, that is, calculating the force components F of the X-axis, Y-axis and Z-axis in the rocket body coordinate system. x F y F z .

[0054] Specifically, this application can be based on the torque formula M z =F y ·ΔL and M y =F z ·ΔL, calculate the force components (i.e., target force components) F along the Y and Z axes respectively. y F z Where ΔL is the distance from the engine throat to the theoretical tip of the rocket body. Furthermore, this application calculates the force component in the X-axis direction based on the predicted engine thrust value P0. Among them, F x F y F z All of them can be represented as 1×(Nn) column vectors.

[0055] Furthermore, this application can calculate the equivalent deflection of the engine thrust line in the rocket body based on the target component forces corresponding to each of the three preset axial directions. Specifically, for example, the target component forces corresponding to each of the three preset axial directions include at least the target component force F in the first direction. x This application can determine the target component force F in the first direction. x Based on the predicted thrust value P0 of the engine, the equivalent skewness θ of the engine thrust line in the rocket body is calculated. px .

[0056] In its specific implementation, this application can determine the target component force F along the X-axis direction. x θ is obtained by calculating the predicted thrust P0 of the engine. px The specific calculation is shown in the following formula (2):

[0057]

[0058] Where, θ pxIt is a 1×(Nn) column vector that varies with time.

[0059] By implementing the embodiments of this application, the target angular rate output by the rocket body's inertial navigation system is obtained; the target angular rate is used to calculate the torque in three preset axial directions to obtain the target torque corresponding to each of the three preset axial directions; based on the target torque corresponding to each of the three preset axial directions, the equivalent skewness of the engine thrust line in the rocket body is calculated. In the above scheme, this application can directly calculate the equivalent skewness of the engine thrust line in the rocket body from the target angular rate of the rocket body's inertial navigation system, thus achieving convenience, efficiency, and accuracy in equivalent skewness calculation. In addition, the above scheme of this application is simple to implement, has good reliability, and has high engineering application value.

[0060] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: This application obtains the target angular rate output by the rocket body inertial navigation system; calculates the torque in three preset axial directions on the target angular rate to obtain the target torque corresponding to each of the three preset axial directions; and calculates the equivalent skew of the engine thrust line in the rocket body based on the target torque corresponding to each of the three preset axial directions. In the above solutions, this application can directly calculate the equivalent skew of the engine thrust line in the rocket body based on the target angular rate of the rocket body inertial navigation system, thus achieving convenience, efficiency, and accuracy in equivalent skew calculation. Furthermore, the above solutions of this application are simple to implement, have good reliability, and high engineering application value.

[0061] Based on the same inventive concept, another embodiment of this application provides a device and terminal equipment corresponding to the identification method for equivalent deviation of engine thrust line in the embodiments of this application.

[0062] Please see Figure 3 This is a schematic diagram of the structure of an engine thrust line equivalent skew identification device provided in an embodiment of this application. Figure 3 The device 30 shown includes: an acquisition module 301, a calculation module 302, and a processing module 303, wherein:

[0063] The acquisition module 301 is used to acquire the target angular rate output by the rocket body inertial navigation system;

[0064] The calculation module 302 is used to calculate the torque in three preset axial directions of the target angular rate, and obtain the target torque corresponding to each of the three preset axial directions;

[0065] The processing module 303 is used to calculate the equivalent skew of the engine thrust line in the rocket body based on the target torque corresponding to each of the three preset axial directions.

[0066] Optionally, the calculation module 302 is specifically used for:

[0067] The target angular rate output by the rocket body inertial navigation system is filtered to obtain the rigid angular rate and time data of the rocket body in three preset axis directions;

[0068] By fitting the rigid angular velocity and time data in three preset axial directions, the angular acceleration in each of the three preset axial directions is obtained;

[0069] Based on the angular accelerations of the three preset axes, the target torques corresponding to the three preset axes are calculated.

[0070] Optionally, the calculation module 302 is specifically used for:

[0071] Based on the dynamic equations, the torque is calculated for the angular acceleration in each of the three preset axial directions to obtain the target torque corresponding to each of the three preset axial directions.

[0072] Optionally, the processing module 303 is specifically used for:

[0073] Based on the pre-configured torque formula, the component forces of the target torque corresponding to each of the three preset axial directions are calculated to obtain the target component forces corresponding to each of the three preset axial directions.

[0074] Based on the target component forces corresponding to the three preset axial directions, the equivalent deflection of the engine thrust line in the rocket body is calculated.

[0075] Optionally, the target component force corresponding to each of the three preset axial directions includes at least the target component force in the first direction, and the processing module 303 is specifically used for:

[0076] Based on the target component force in the first direction and the predicted thrust of the engine, the equivalent deviation of the engine thrust line in the rocket body is calculated.

[0077] Please also refer to Figure 4, which is a structural schematic diagram of a terminal device provided in an embodiment of this application. Figure 4 The terminal device 40 shown includes at least one processor 401, a communication interface 402, a user interface 403, and a memory 404. The processor 401, communication interface 402, user interface 403, and memory 404 can be connected via a bus or other means; this embodiment of the invention takes connection via bus 405 as an example.

[0078] Processor 401 can be a general-purpose processor, such as a central processing unit (CPU).

[0079] The communication interface 402 can be a wired interface (e.g., an Ethernet interface) or a wireless interface (e.g., a cellular network interface or a wireless LAN interface) for communicating with other terminals or websites. In this embodiment of the invention, the communication interface 402 is specifically used to acquire the target angular rate.

[0080] User interface 403 can specifically be a touch panel, including a touch screen and a touch screen display, used to detect operation commands on the touch panel. User interface 403 can also be a physical button or a mouse. User interface 403 can also be a display screen, used to output and display images or data.

[0081] Memory 404 may include volatile memory, such as random access memory (RAM); memory may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); memory 404 may also include combinations of the above types of memory. Memory 404 is used to store a set of program code, and processor 401 is used to call the program code stored in memory 404 to perform the following operations:

[0082] Obtain the target angular rate output by the rocket's inertial navigation system;

[0083] The torque is calculated in three preset axial directions based on the target angular rate, and the target torque corresponding to each of the three preset axial directions is obtained.

[0084] Based on the target torque corresponding to each of the three preset axial directions, the equivalent deflection of the engine thrust line in the rocket body is calculated.

[0085] Optionally, the target angular rate is subjected to torque calculation in three preset axial directions to obtain the target torque corresponding to each of the three preset axial directions, including:

[0086] The target angular rate output by the rocket body inertial navigation system is filtered to obtain the rigid angular rate and time data of the rocket body in three preset axis directions;

[0087] By fitting the rigid angular velocity and time data in three preset axial directions, the angular acceleration in each of the three preset axial directions is obtained;

[0088] Based on the angular accelerations of the three preset axes, the target torques corresponding to the three preset axes are calculated.

[0089] Optionally, based on the angular accelerations in the three preset axial directions, the target torques corresponding to the three preset axial directions are calculated, including:

[0090] Based on the dynamic equations, the torque is calculated for the angular acceleration in each of the three preset axial directions to obtain the target torque corresponding to each of the three preset axial directions.

[0091] Optionally, based on the target torque corresponding to each of the three preset axial directions, the equivalent deflection of the engine thrust line in the rocket body is calculated, including:

[0092] Based on the pre-configured torque formula, the component forces of the target torque corresponding to each of the three preset axial directions are calculated to obtain the target component forces corresponding to each of the three preset axial directions.

[0093] Based on the target component forces corresponding to the three preset axial directions, the equivalent deflection of the engine thrust line in the rocket body is calculated.

[0094] Optionally, the target component forces corresponding to each of the three preset axial directions include at least the target component force in the first direction. Based on the target component forces corresponding to each of the three preset axial directions, the equivalent deflection of the engine thrust line in the rocket body is calculated, including:

[0095] Based on the target component force in the first direction and the predicted thrust of the engine, the equivalent deviation of the engine thrust line in the rocket body is calculated.

[0096] For any content not introduced or described in the embodiments of this application, please refer to the relevant descriptions in the foregoing method embodiments; they will not be repeated here.

[0097] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: This application obtains the target angular rate output by the rocket body inertial navigation system; calculates the torque in three preset axial directions on the target angular rate to obtain the target torque corresponding to each of the three preset axial directions; and calculates the equivalent skew of the engine thrust line in the rocket body based on the target torque corresponding to each of the three preset axial directions. In the above solution, this application can directly calculate the equivalent skew of the engine thrust line in the rocket body based on the target angular rate of the rocket body inertial navigation system, thus achieving convenience, efficiency, and accuracy in equivalent skew calculation.

[0098] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0100] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0102] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0103] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method of identification of engine thrust line equivalent deflection, characterized in that, The method comprises: acquiring a target angular rate output by an inertial measurement unit of an arrow body; performing moment calculation on the target angular rate in three preset axial directions to obtain a target moment corresponding to each of the three preset axial directions; calculating an equivalent deflection of a thrust line of an engine in the arrow body according to the target moment corresponding to each of the three preset axial directions; the calculating an equivalent deflection of a thrust line of an engine in the arrow body according to the target moment corresponding to each of the three preset axial directions comprises: performing force calculation on the target moment corresponding to each of the three preset axial directions according to a preset moment formula to obtain a target force corresponding to each of the three preset axial directions; calculating an equivalent deflection of a thrust line of an engine in the arrow body according to the target force corresponding to each of the three preset axial directions; the target force corresponding to each of the three preset axial directions at least comprises a target force in a first direction, and the calculating an equivalent deflection of a thrust line of an engine in the arrow body according to the target force corresponding to each of the three preset axial directions comprises: calculating an equivalent deflection of a thrust line of an engine in the arrow body according to the target force in the first direction and a thrust prediction value of the engine.

2. The method of claim 1, wherein, the performing moment calculation on the target angular rate in three preset axial directions to obtain a target moment corresponding to each of the three preset axial directions comprises: filtering the target angular rate output by the inertial measurement unit of the arrow body to obtain rigid angular rate and time data of the arrow body in the three preset axial directions; fitting the rigid angular rate and time data in the three preset axial directions to obtain angular acceleration of each of the three preset axial directions; calculating a target moment corresponding to each of the three preset axial directions according to the angular acceleration of each of the three preset axial directions.

3. The method of claim 2, wherein, the calculating a target moment corresponding to each of the three preset axial directions according to the angular acceleration of each of the three preset axial directions comprises: performing moment calculation on the angular acceleration of each of the three preset axial directions according to a dynamic equation to obtain a target moment corresponding to each of the three preset axial directions.

4. An apparatus for identifying engine thrust line equivalent deflection, characterized by The device comprises an acquisition module, a calculation module and a processing module, wherein: the acquisition module is configured to acquire a target angular rate output by an inertial measurement unit of an arrow body; the calculation module is configured to perform moment calculation on the target angular rate in three preset axial directions to obtain a target moment corresponding to each of the three preset axial directions; the processing module is configured to calculate an equivalent deflection of a thrust line of an engine in the arrow body according to the target moment corresponding to each of the three preset axial directions; the processing module is specifically configured to: perform force calculation on the target moment corresponding to each of the three preset axial directions according to a preset moment formula to obtain a target force corresponding to each of the three preset axial directions; calculate an equivalent deflection of a thrust line of an engine in the arrow body according to the target force corresponding to each of the three preset axial directions; the target force corresponding to each of the three preset axial directions at least comprises a target force in a first direction, and the calculating an equivalent deflection of a thrust line of an engine in the arrow body according to the target force corresponding to each of the three preset axial directions comprises: calculating an equivalent deflection of a thrust line of an engine in the arrow body according to the target force in the first direction and a thrust prediction value of the engine. The target component force corresponding to each of the three preset axial directions at least includes a target component force in a first direction, and the calculation of the equivalent deflection of the engine thrust line in the missile body according to the target component force corresponding to each of the three preset axial directions comprises: calculating the equivalent deflection of the engine thrust line in the missile body according to the target component force in the first direction and the predicted value of the engine thrust.

5. The apparatus of claim 4, wherein, The calculation module is specifically configured to: filter the target angular rate output by the missile body inertial measurement unit to obtain rigid angular rate and time data of the missile body in the three preset axial directions; fit the rigid angular rate and time data in the three preset axial directions to obtain angular acceleration in each of the three preset axial directions; calculate the target torque corresponding to each of the three preset axial directions according to the angular acceleration in each of the three preset axial directions.

6. A terminal device, characterized by comprising: The terminal device comprises a processor, a memory, a communication interface and a bus; the processor, the memory and the communication interface are connected through the bus and complete communication among each other; the memory stores executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, to execute the identification method of the equivalent deflection of the engine thrust line as claimed in any one of claims 1-3.

7. A computer readable storage medium characterized by The computer readable storage medium stores a program, which, when running in a terminal device, executes the identification method of the equivalent deflection of the engine thrust line as claimed in any one of claims 1-3.

Images