A method for autonomous initial alignment of a rapid response rocket

Abstract

The invention relates to an autonomous initial alignment method for a fast-response rocket, the method comprising: automatic alignment calculation of the rocket in a horizontal state to obtain the initial azimuth of the rocket; automatic leveling calculation of the rocket in a horizontal state to obtain the pitch angle and the roll angle of the rocket in a horizontal state; real-time navigation calculation of the rocket in an erection process to obtain the attitude quaternion of the rocket in the erection process; initial azimuth calculation of the rocket in a vertical state to obtain the initial azimuth in a vertical state; automatic leveling calculation of the rocket in a vertical state to obtain the initial attitude of the rocket in a vertical state; adopting the above-mentioned autonomous initial alignment method for a fast-response rocket, the method can realize the autonomous and rapid initial alignment of the fast-response rocket, without manual intervention in the whole process, automatically obtain the initial attitude angle of the rocket, realize no support, and the method simplifies the rocket launch process to a certain extent, and can better achieve the purpose of fast launch.

Description

Technical Field

[0001] The invention relates to the technical field of rocket launching, and in particular to an autonomous initial alignment method for a fast-response rocket. Background Art

[0002] The rapid response rocket, also known as the rapid reaction rocket, actually represents a development branch in the current aerospace field, that is, rapid launch technology.

[0003] With the development of rapid response rockets, there are increasingly higher requirements for the autonomy and rapidity of the launch process, and requirements such as independent launch, rapid launch, and unmanned operation have been put forward. The traditional launch vehicle initial alignment method cannot fully meet these requirements.

[0004] There are three methods for initial alignment of rockets in the prior art. Method 1: Rely on external equipment (such as launch vehicles, ground equipment, etc.) for initial alignment. The initial alignment results of the ground equipment are passed to the rocket for use. The defects of this method are that an additional set of high-precision inertial groups and an anti-interference algorithm are required, which not only increases the system cost, but also increases the complexity of the algorithm, and cannot achieve true unassisted launch; Method 2: Use optical aiming equipment to rely on manual initial alignment. The rocket is placed vertically on the launch site, and an optical device is used to align the prism on the rocket for angle measurement, and finally converted to the azimuth of the rocket. This method is technically mature, but the defects are that it takes a long time and requires reliance on optical aiming equipment, and cannot achieve unassisted and rapid launch; Method 3: Use automatic alignment method. Generally, it is self-aligned in the vertical state of the rocket. The defects of this method are that it is not only easily interfered by the external environment, but also has a low degree of automation. It requires manual early rocket erection and other processes, and cannot achieve true autonomous and rapid launch. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a fully automatic, independent, fast and efficient autonomous initial alignment method for a fast-response rocket.

[0006] The technical solution adopted by the present invention is a method for autonomous initial alignment of a rapid response rocket, the method comprising the following steps:

[0007] S1. Automatic alignment of the rocket in the horizontal state: When the rocket is in the horizontal state, the onboard computer runs the rocket self-alignment algorithm, completes the self-alignment calculation, and obtains the rocket's initial azimuth angle. ;

[0008] S2. Automatic leveling of the rocket: Get the initial azimuth of the rocket After that, the onboard computer runs the rocket leveling algorithm to complete the leveling calculation and obtain the pitch angle of the rocket in the horizontal state. and roll angle ;

[0009] S3, real-time navigation during the rocket erection process: before the rocket is erected, the initial pitch angle of the rocket in the horizontal state is obtained according to step S1 and step S2 , initial yaw angle And the initial roll angle ,Right now: = , = - , ;in, Indicates the theoretical azimuth of the rocket; according to the initial pitch angle , initial yaw angle And the initial roll angle The initial attitude quaternion of the horizontal state is calculated; after the rocket is erected, the onboard computer starts navigation calculation based on the obtained initial attitude quaternion to obtain the attitude quaternion of the rocket in real time during the erection process;

[0010] S4. Get the initial azimuth of the rocket in the vertical state: After the rocket is vertically erected, get the attitude quaternion of the rocket in the final vertical state , according to the attitude quaternion Get the initial azimuth in the vertical state ;

[0011] S5. Automatic leveling of the rocket in the vertical state: After obtaining the initial azimuth of the rocket in the vertical state, the onboard computer runs the rocket vertical leveling algorithm to complete the leveling calculation and obtain the pitch angle of the rocket in the vertical state. and yaw angle ;

[0012] S6. Obtain the initial attitude of the rocket in the vertical state: According to step S4 and step S5, obtain the initial pitch angle of the rocket in the vertical state , initial yaw angle And the initial roll angle ,Right now: , , ;in, Indicates the theoretical azimuth of the rocket;

[0013] S7. The initial alignment is completed and the rocket enters the launch-ready state.

[0014] The beneficial effects of the present invention are: by adopting the above-mentioned autonomous initial alignment method for a fast-response rocket, the method can realize the rapid response rocket to perform initial alignment autonomously and quickly, without human intervention throughout the process, automatically obtain the rocket's initial attitude angle, and achieve no support. In addition, the method simplifies the rocket launch process to a certain extent, and can better achieve the purpose of rapid launch.

[0015] Preferably, in step S1, the onboard computer runs a rocket self-alignment algorithm to obtain the rocket's initial azimuth by self-alignment calculation. The specific process includes the following steps:

[0016] S1.1. Collect several angular velocities and accelerations output by the arrow inertia group within T3, calculate the average of several angular velocities and several accelerations, and obtain the average angular velocity and the average acceleration ;

[0017] S1.2, average angular velocity obtained according to step S1.1 and the average acceleration Get the transformation matrix from the rocket body coordinate system to the north-east ground coordinate system , the transformation matrix from the rocket body coordinate system to the north-east ground coordinate system The expression is: ,in, represents the local gravitational acceleration at the rocket launch point, is the angular velocity of the Earth's rotation, Indicates the geographical latitude of the launch point;

[0018] S1.3. Transformation matrix from rocket body coordinate system to north-east ground coordinate system Get the rocket body coordinate system to the guide

[0019] Transformation matrix of the navigation coordinate system , the transformation matrix from the rocket body coordinate system to the navigation coordinate system The expression is: in,

[0020] ; According to the transformation matrix from the rocket body coordinate system to the navigation coordinate system The expression of is solved to obtain the transformation matrix from the rocket body coordinate system to the navigation coordinate system for: ,in, , , , , , , , as well as Both represent the transformation matrix The matrix elements of ;

[0021] S1.4. Obtain the pitch angle deviation based on the transformation matrix M2 from the rocket body coordinate system to the navigation coordinate system , yaw angle deviation , Roll angle deviation and the initial azimuth , the pitch angle deviation , the yaw angle deviation , the rolling angle deviation , the initial azimuth .

[0022] Preferably, in step S2, the onboard computer runs a rocket leveling algorithm to calculate the pitch angle of the rocket in a horizontal state. and roll angle The specific expression is: , ;in, It represents the cumulative sum of the velocity increment of the inertia group on the arrow in the X-axis direction during the T1 period. Indicates the velocity increment of the inertia group on the arrow in the Z-axis direction. The cumulative sum over the time period, is the local gravitational acceleration, The cumulative duration.

[0023] Preferably, in step S3, according to the initial pitch angle , initial yaw angle And the initial roll angle The expression of the calculated initial attitude quaternion of the horizontal state is:

[0024]

[0025]

[0026]

[0027]

[0028] Preferably, in step S3, the onboard computer starts navigation calculation to obtain the specific expression of the attitude quaternion of the rocket in the erection process in real time:

[0029] ;in, , , , The quaternion represents the attitude of the rocket during the erection process. Indicates the current time point. Indicates the previous time point, ,

[0030] , ,

[0031] They represent the output angular velocity of the arrow's inertia group in the X-axis, Y-axis, and Z-axis directions of the arrow body coordinate system, respectively. Respectively represent the arrow on the inertial group The angular increment output in time, , as well as They represent the components of the Earth's rotational angular velocity in the X-axis, Y-axis, and Z-axis directions of the rocket body coordinate system, respectively. Indicates the cumulative duration.

[0032] Preferably, in step S4, the posture quaternion Get the initial azimuth in the vertical state The specific expression is: ,in, , , .

[0033] Preferably, in step S5, the onboard computer calculates the pitch angle of the rocket in the vertical state by running the rocket vertical leveling algorithm. and yaw angle The specific expression is:

[0034] ;in, Indicates the velocity increment of the inertia group on the arrow in the Y-axis direction. The cumulative sum over the time period, It represents the cumulative sum of the velocity increments of the inertia group on the arrow in the Z-axis direction during the T2 time period, g represents the local gravitational acceleration, and T2 represents the cumulative duration. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flowchart of an autonomous initial alignment method for a rapid response rocket according to the present invention;

[0036] Figure 2 The rocket self-alignment algorithm is used in the present invention to perform self-alignment calculation to obtain the initial azimuth of the rocket. Flowchart of the process. DETAILED DESCRIPTION

[0037] The invention will be further described below with reference to the accompanying drawings and in combination with specific implementations, so that those skilled in the art can implement the invention with reference to the description. The protection scope of the invention is not limited to the specific implementations.

[0038] An embodiment of the present invention provides an autonomous initial alignment method for a rapid response rocket, the method comprising the following steps:

[0039] Step 1: Park the launch device in place according to the predetermined requirements: Place the rocket horizontally on the launch device, and park the launch device in place according to the predetermined requirements; the launch device here generally refers to a launch vehicle or a launch stand;

[0040] Step 2: The ground test launch control system completes the horizontal state test of the whole arrow; the ground test launch control system refers to the hardware and software combination for testing and launching control of the launch vehicle or missile; the modern ground test launch control system is actually a distributed system with a ground computer as the core, which adopts a test scheme combining missile test with ground test and a launch control method combining automatic and manual;

[0041] Step 3: Figure 1 As shown, the onboard computer begins the initial alignment workflow:

[0042] S1. Automatic alignment of the rocket in the horizontal state: When the rocket is in the horizontal state, the onboard computer runs the rocket self-alignment algorithm, completes the self-alignment calculation, and obtains the rocket's initial azimuth angle. ; The specific process of the rocket self-alignment algorithm for self-alignment calculation is:

[0043] S1.1. Collect several angular velocities and accelerations output by the arrow inertia group within T3, calculate the average of several angular velocities and several accelerations, and obtain the average angular velocity and the average acceleration ;

[0044] S1.2, average angular velocity obtained according to step S1.1 and the average acceleration Get the transformation matrix from the rocket body coordinate system to the north-east ground coordinate system , the transformation matrix from the rocket body coordinate system to the north-east ground coordinate system The expression is: ,in, represents the local gravitational acceleration at the rocket launch point, is the angular velocity of the Earth's rotation, Indicates the geographical latitude of the launch point; average angular velocity is a vector containing three elements, the average acceleration is also a vector containing three elements;

[0045] S1.3. Transformation matrix from rocket body coordinate system to north-east ground coordinate system Get the rocket body coordinate system to the guide

[0046] Transformation matrix of the navigation coordinate system , the transformation matrix from the rocket body coordinate system to the navigation coordinate system The expression is: in,

[0047] According to the expression of the transformation matrix M2 from the arrow body coordinate system to the navigation coordinate system, the transformation matrix from the arrow body coordinate system to the navigation coordinate system is obtained by solving for: ,in, , , , , , , , as well as Both represent the transformation matrix The matrix elements of ;

[0048] S1.4. Transformation matrix from rocket body coordinate system to navigation coordinate system Get the pitch angle deviation , yaw angle deviation , Roll angle deviation and the initial azimuth , the pitch angle deviation , the yaw angle deviation , the rolling angle deviation , the initial azimuth ;

[0049] S2. Automatic leveling of the rocket in horizontal state: After obtaining the initial azimuth of the rocket, the onboard computer runs the rocket horizontal leveling algorithm to complete the leveling calculation and obtain the pitch angle of the rocket in horizontal state. and roll angle ; The specific expression of the rocket horizontal leveling algorithm for leveling calculation is: , ;in, It represents the cumulative sum of the velocity increment of the inertia group on the arrow in the X-axis direction during the T1 period. It represents the cumulative sum of the velocity increment of the inertia group on the arrow in the Z-axis direction during the T1 period. is the local gravitational acceleration, is the cumulative duration;

[0050] S3, real-time navigation during the rocket erection process: before the rocket is erected, the initial pitch angle of the rocket in the horizontal state is obtained according to step S1 and step S2 , initial yaw angle And the initial roll angle , = , = , ;in, Indicates the theoretical azimuth of the rocket; according to the initial pitch angle , initial yaw angle And the initial roll angle The initial posture quaternion of the horizontal state is calculated, and the expression of the initial posture quaternion of the horizontal state is:

[0051] ;

[0052] ;

[0053] ;

[0054] ;

[0055] After the rocket is erected, the onboard computer starts to perform navigation calculations based on the initial attitude quaternion of the horizontal state and the traditional inertial navigation method to obtain the attitude quaternion of the rocket in the erection process in real time; the specific expression of the onboard computer starting to perform navigation calculations to obtain the attitude quaternion of the rocket in the erection process in real time is:

[0056] ;in, , , , The quaternion represents the attitude of the rocket during the erection process. Indicates the current time point. Indicates the previous time point, ,

[0057] , ,

[0058] They represent the output angular velocity of the arrow's inertia group in the X-axis, Y-axis, and Z-axis directions of the arrow body coordinate system, respectively. Respectively represent the arrow on the inertial group The angular increment output in time, , as well as They represent the components of the Earth's rotational angular velocity in the X-axis, Y-axis, and Z-axis directions of the rocket body coordinate system, respectively. Indicates the cumulative duration;

[0059] S4. Get the initial azimuth of the rocket in the vertical state: After the rocket is vertically erected, get the attitude quaternion of the rocket in the final vertical state , according to the attitude quaternion Get the initial azimuth in the vertical state ; The quaternion according to the attitude Get the initial azimuth in the vertical state The specific expression is: ,in, , , ;

[0060] S5. Automatic leveling of the rocket in the vertical state: After obtaining the initial azimuth of the rocket in the vertical state, the onboard computer runs the rocket vertical leveling algorithm to complete the leveling calculation and obtain the pitch angle of the rocket in the vertical state. and yaw angle , its specific expression is: ;in, Indicates the velocity increment of the inertia group on the arrow in the Y-axis direction. The cumulative sum over the time period, It represents the cumulative sum of the velocity increment of the inertia group on the arrow in the Z-axis direction during the T2 time period. represents the local gravitational acceleration;

[0061] S6. Obtain the initial attitude of the rocket in the vertical state: According to step S4 and step S5, obtain the initial pitch angle of the rocket in the vertical state , initial yaw angle And the initial roll angle ,Right now: , , ;in, Indicates the theoretical azimuth of the rocket;

[0062] S7. The initial alignment is completed and the rocket enters the launch-ready state.

[0063] By adopting the above-mentioned method for autonomous initial alignment of a rapid response rocket, the onboard computer only needs about 30 minutes to complete the initial alignment of the rocket when starting the initial alignment workflow. Compared with the existing technology (taking the Kuaizhou rocket as an example, it generally takes half a day to complete the initial alignment of the rocket), this method can realize the rapid response rocket to autonomously and quickly perform initial alignment. The onboard computer starts the initial alignment workflow without human intervention, and automatically obtains the initial attitude angle of the rocket, realizing no support. In addition, this method simplifies the rocket launch process to a certain extent, and can better achieve the purpose of rapid launch.

[0064] The following is a specific example to illustrate the autonomous initial alignment method of a rapid response rocket proposed by the present invention.

[0065] A method for autonomous initial alignment of a rapid response rocket, the method comprising the following steps:

[0066] Step 1: Park the launcher in place according to the predetermined requirements: Place the rocket horizontally on the launcher and park the launch vehicle in place according to the predetermined requirements;

[0067] Step 2: Ground test: The launch control system completes the horizontal state test of the entire arrow;

[0068] Step 3: The onboard computer starts the initial alignment process:

[0069] S1. Automatic alignment of the rocket in horizontal state: When the rocket is in horizontal state, the onboard computer runs the rocket self-alignment algorithm. The process of the rocket self-alignment algorithm is as follows:

[0070] S1.1. Collect several angular velocities and accelerations output by the arrow inertia group within 600 seconds, calculate the average value of several angular velocities and several accelerations, and obtain the average angular velocity The values ​​are:

[0071] 1.0e-04 *[-0.3674125759433320.029955106166667 -0.638357478449998],

[0072] Average acceleration The values ​​are:

[0073] 1.0e+02 *[-9.794438725117315 0.032417716400000 -0.031235106483333];

[0074] S1.2, average angular velocity obtained according to step S1.1 and the average acceleration Get the transformation matrix M1 from the rocket body coordinate system to the north-east ground coordinate system:

[0075] [-0.003334905728471 0.045046486039584 0.998979325361275

[0076] -0.003162740647528 0.998979408944295 -0.045057048026961

[0077] -0.999989437681908 -0.003309773525933 -0.003189031801088];

[0078] M1 is a 3*3 matrix;

[0079] S1.3. Transformation matrix from rocket body coordinate system to north-east ground coordinate system Get the rocket body coordinate system to the guide

[0080] The transformation matrix M2 of the navigation coordinate system:

[0081] [0.003164810299937 0.007297791238072 -0.999968362608943 0.999989437681908 0.003309773525933 0.003189031801088

[0083] 0.003332941701670 -0.999967893305706 -0.007287239351134];

[0084] M2 is a 3*3 matrix;

[0085] S1.4. Obtain the pitch angle deviation based on the transformation matrix M2 from the rocket body coordinate system to the navigation coordinate system , yaw angle deviation , Roll angle deviation and the initial azimuth ;

[0086] Complete the self-alignment calculation and obtain the initial azimuth of the rocket ;

[0087] S2. Automatic leveling of the rocket in horizontal state: After obtaining the initial azimuth of the rocket, the onboard computer runs the rocket horizontal leveling algorithm to complete the leveling calculation and obtain the pitch angle of the rocket in horizontal state. and roll angle , ,in, , , = 20 (seconds), get the pitch angle of the rocket in the horizontal state = ;Roll angle of the rocket in horizontal state = ;

[0088] S3, real-time navigation during the rocket erection process: before the rocket is erected, the initial pitch angle of the rocket in the horizontal state is obtained according to step S1 and step S2 = , initial yaw angle =177 3.863 and the initial roll angle ; According to the initial pitch angle , initial yaw angle and the initial roll angle Calculate the initial attitude quaternion of the horizontal state:

[0089] ;

[0090] ;

[0091] ;

[0092] ;

[0093] After the rocket is erected, the onboard computer starts to perform navigation calculations based on the initial attitude quaternion obtained and the traditional inertial navigation method to obtain the attitude quaternion of the rocket during the erection process in real time:

[0094] ;

[0095] S4. Get the initial azimuth of the rocket in the vertical state: After the rocket is vertically erected, get the attitude quaternion of the rocket in the final vertical state:

[0096] ; According to the attitude quaternion Get the roll angle in vertical state , and further obtain the initial azimuth of the vertical state:

[0097] ;

[0098] S5. Automatic leveling of the rocket in the vertical state: After obtaining the initial azimuth of the rocket in the vertical state, the onboard computer runs the rocket vertical leveling algorithm to complete the leveling calculation and obtain the pitch angle of the rocket in the vertical state. , yaw angle ;in, = , , T2 = 20 (seconds), we get , ;

[0099] S6. Obtain the initial attitude of the rocket in the vertical state: According to step S4 and step S5, obtain the initial pitch angle of the rocket in the vertical state , initial yaw angle and the initial roll angle ,Right now:

[0100] , ,

[0101] ;

[0102] S7. The initial alignment is completed and the rocket enters the launch-ready state.

Claims

1. A method for autonomous initial alignment of a rapid response rocket, characterized in that: The method comprises the following steps: S1. Automatic alignment of the rocket in horizontal state: When the rocket is in horizontal state, the onboard computer runs the rocket self-alignment algorithm, completes the self-alignment calculation, and obtains the rocket's initial azimuth angle. ; S2. Automatic leveling of the rocket: Get the initial azimuth of the rocket After that, the onboard computer runs the rocket leveling algorithm to complete the leveling calculation and obtain the pitch angle of the rocket in the horizontal state. and roll angle ; S3, real-time navigation of the rocket erection process: before the rocket is erected, the initial pitch angle of the rocket in the horizontal state is obtained according to step S1 and step S2 , initial yaw angle and the initial roll angle , = , = - , ;in, Indicates the theoretical azimuth of the rocket; according to the initial pitch angle , initial yaw angle and the initial roll angle The initial attitude quaternion of the horizontal state is calculated; after the rocket is erected, the on-rocket computer starts to perform navigation calculations based on the obtained initial attitude quaternion to obtain the attitude quaternion of the rocket in the erection process in real time; S4. Get the initial azimuth of the rocket in the vertical state: After the rocket is vertically erected, get the attitude quaternion of the rocket in the final vertical state , according to the attitude quaternion Get the initial azimuth in the vertical state ; S5. Automatic leveling of the rocket in vertical state: Obtain the initial azimuth of the rocket in vertical state After that, the onboard computer runs the rocket vertical leveling algorithm to complete the leveling calculation and obtain the rocket's pitch angle in the vertical state. and yaw angle ; S6. Obtain the initial attitude of the rocket in the vertical state: According to step S4 and step S5, obtain the initial pitch angle of the rocket in the vertical state , initial yaw angle and the initial roll angle ,Right now: , , ;in, Indicates the theoretical azimuth of the rocket; S7. The initial alignment is completed and the rocket enters the launch-ready state.

2. The method for autonomous initial alignment of a rapid response rocket according to claim 1, characterized in that: In step S1, the onboard computer runs the rocket self-alignment algorithm to calculate the initial azimuth of the rocket. The specific process includes the following steps: S1.

1. Collect several angular velocities and accelerations output by the arrow inertia group within T3, calculate the average of several angular velocities and several accelerations, and obtain the average angular velocity and the average acceleration ; S1.2, average angular velocity obtained according to step S1.1 and the average acceleration Get the transformation matrix from the rocket body coordinate system to the north-east ground coordinate system , the transformation matrix from the rocket body coordinate system to the north-east ground coordinate system The expression is: ,in, represents the local gravitational acceleration at the rocket launch point, is the angular velocity of the Earth's rotation, Indicates the geographical latitude of the launch point; S1.3, according to the transformation matrix from the rocket body coordinate system to the north-east ground coordinate system Get the coordinates of the rocket body Transformation matrix from the system to the navigation coordinate system , the transformation matrix from the rocket body coordinate system to the navigation coordinate system The expression is: in, According to the expression of the transformation matrix M2 from the arrow body coordinate system to the navigation coordinate system, the transformation matrix from the arrow body coordinate system to the navigation coordinate system is obtained by solving for: ,in, , , , , , , , as well as All represent matrix elements of the transformation matrix M2; S1.4, according to the transformation matrix M2 from the rocket body coordinate system to the navigation coordinate system, the pitch angle deviation is obtained , yaw angle deviation , Roll angle deviation and the initial azimuth , the pitch angle deviation , the yaw angle deviation , the rolling angle deviation , the initial azimuth .

3. The autonomous initial alignment method for a rapid response rocket according to claim 2, characterized in that: In step S2, the onboard computer runs the rocket leveling algorithm to calculate the pitch angle of the rocket in the horizontal state. and roll angle The specific expression is: , ;in, Indicates the velocity increment of the inertia group on the arrow in the X-axis direction. The cumulative sum over the time period, Indicates the velocity increment of the inertia group on the arrow in the Z-axis direction. The cumulative sum over the time period, is the local gravitational acceleration, Indicates the cumulative duration.

4. The autonomous initial alignment method for a rapid response rocket according to claim 3, characterized in that: In step S3, according to the initial pitch angle , initial yaw angle and the initial roll angle The expression of the calculated initial attitude quaternion of the horizontal state is: 。 5. The method for autonomous initial alignment of a rapid response rocket according to claim 4, characterized in that: In step S3, the onboard computer starts to perform navigation calculations to obtain the specific expression of the rocket's attitude quaternion during the erection process in real time: ;in, , , , The quaternion represents the attitude of the rocket during the erection process. Indicates the current time point. Indicates the previous time point, , ， ， They represent the output angular velocity of the arrow's inertia group in the X-axis, Y-axis, and Z-axis directions of the arrow body coordinate system, respectively. Respectively represent the arrow on the inertial group The angular increment output in time, , as well as They represent the components of the Earth's rotational angular velocity in the X-axis, Y-axis, and Z-axis directions of the rocket body coordinate system, respectively. Indicates the cumulative duration.

6. The method for autonomous initial alignment of a rapid response rocket according to claim 5, characterized in that: In step S4, according to the attitude quaternion Get the initial azimuth in the vertical state The specific expression is: ,in, , , .

7. The method for autonomous initial alignment of a rapid response rocket according to claim 6, characterized in that: In step S5, the onboard computer calculates the pitch angle of the rocket in the vertical state by running the rocket vertical leveling algorithm. and yaw angle The specific expression is: ;in, Indicates the velocity increment of the inertia group on the arrow in the Y-axis direction. The cumulative sum over the time period, Indicates the velocity increment of the inertia group on the arrow in the Z-axis direction. The cumulative sum over the time period, is the local gravitational acceleration, Indicates the cumulative duration.

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