An infrared guidance weapon desktop hardware-in-the-loop simulation system and simulation method

Abstract

The present application belongs to the technical field of semi-physical simulation test of guided weapons, and particularly relates to a kind of infrared guided weapon desktop semi-physical simulation system and simulation method, the system comprises: simulation fixture, infrared target simulator, simulation computer, test general control system;The method of constructing desktop semi-physical simulation system + seeker frame angle simulation calculation is used to replace five-axis turntable to realize the relative motion of projectile and target and target background environment simulation.The advantage is that the semi-physical simulation of infrared guided weapon can be realized without the help of five-axis turntable, which solves the problem that the traditional semi-physical simulation of infrared guided weapon cannot carry out semi-physical simulation test in the case that the field of view of infrared target simulator is not enough due to the absence of five-axis turntable or the exit pupil distance of five-axis turntable, saves millions of simulation system development costs, the simulation system and the simulation method are simple, effective and practical, the whole simulation process is consistent with the actual flight process of guided weapons, and has good popularization and application space.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of semi-physical simulation test of guided weapons, and particularly relates to a tabletop semi-physical simulation system and simulation method for infrared guided weapons, and especially relates to a semi-physical simulation test for guided weapons with infrared seekers under the condition of no five-axis turntable or limited field of view of infrared target simulator. BACKGROUND

[0002] Currently, the semi-physical simulation test for guided weapons with infrared seekers mainly adopts a simulation scheme based on a five-axis turntable, that is, the relative motion process of the guided weapon and the target is simulated by using the five-axis turntable, and the target and background signals required by the infrared seeker under test are simulated by using an infrared target simulator. The semi-physical simulation system and simulation method have the following problems:

[0003] (1) The five-axis turntable is extremely expensive, generally about 5 million yuan, and some units cannot build it due to funding problems, so the semi-physical simulation test for infrared guided weapons cannot be carried out.

[0004] (2) The field of view of some infrared seekers is large, and when the simulation test is carried out by using the five-axis turntable, the distance from the three-axis rotation center (the position of the seeker exit pupil) inside the five-axis turntable to the two-axis rotation center (the position of the exit pupil of the target simulator) outside the five-axis turntable is long (generally 800mm-1200mm) due to the limitation of the structure of the five-axis turntable. In this case, the field of view provided by some infrared target simulators cannot match and meet the field of view requirement of the infrared seeker simulation.

[0005] In summary, the semi-physical simulation test for infrared guided weapons cannot be carried out under the condition of no five-axis turntable or limited field of view of the infrared target simulator. SUMMARY

[0006] (I) Technical problem to be solved

[0007] The technical problem to be solved by the present application is how to provide a tabletop semi-physical simulation system and simulation method for infrared guided weapons to solve the problem that the traditional semi-physical simulation of infrared guided weapons cannot be carried out under the condition of no five-axis turntable or insufficient field of view of the infrared target simulator due to the exit pupil distance of the five-axis turntable.

[0008] (II) Technical scheme

[0009] In order to solve the above technical problems, the present application provides a tabletop semi-physical simulation system for infrared guided weapons, which comprises: a simulation fixture, an infrared target simulator, a simulation computer, and a test general control system; wherein,

[0010] The simulation fixture is used for clamping the tested infrared homing head and the infrared target simulator to a desktop and making the optical central axes coincide;

[0011] The infrared target simulator is used for simulating the radiation characteristics of the target and the background in the infrared wave band, generating a dynamic infrared scene in real time, providing the target and the background signals in the infrared wave band for the tested homing head, and supplying the homing head for detection and tracking;

[0012] The simulation computer is used for running the dynamic, kinematic model, the guidance control model and the target kinematic model of the guided weapon, outputting the six-degree-of-freedom flight trajectory of the guided weapon, generating the motion parameters of the guided weapon, the target and the relative motion of the guided weapon and the target, and controlling the operation of other simulation devices;

[0013] The test general control system is the control center of the whole semi-physical simulation system, and is used for completing the tasks and initialization settings in the test process, simulating the functions of the tested components, programming and powering on the tested components, converting the interface information, transmitting and interacting the signals, collecting and recording the data, and displaying the real-time situation.

[0014] In the implementation process of the semi-physical simulation system, the simulation fixture is used for clamping the tested infrared homing head and the infrared target simulator to a desktop, adjusting the exit pupil distance between the tested homing head and the infrared target simulator according to the simulation field of view requirement of the tested homing head, making the field of view of the infrared target simulator meet the simulation requirement, using the infrared target simulator to provide the target and the background signals in the infrared wave band for the tested infrared homing head, and supplying the homing head for detection and tracking; in the generation of the infrared scene, the image generation computer maps the line of sight pitch angle and the line of sight yaw angle signals in the line of sight coordinate system calculated by the simulation computer to the image to be generated through coordinate conversion, so as to simulate the infrared image observed by the tested homing head at the current time; the test general control system is used for superimposing and synthesizing the frame angle signal static drift output by the homing head and the theoretical frame angle signal calculated by the simulation computer, and then injecting the frame angle signal into the missile-borne computer, so as to realize the simulation of the frame angle signal of the homing head; the simulation computer is used for real-time trajectory calculation; and the test general control system is used for controlling the test process.

[0015] In addition, the application further provides a semi-physical simulation method of an infrared guided weapon desktop, which is implemented based on the semi-physical simulation system, and comprises the following steps:

[0016] Step 1: using the simulation fixture to clamp the tested infrared homing head and the infrared target simulator to a desktop and making the optical central axes coincide; and connecting each tested component including the homing head, the inertial navigation system, the missile-borne computer and the rudder to the simulation loop according to the communication protocol and the interface definition;

[0017] Step 2: After the start of the test, the simulation computer solves the dynamic model and the kinematic model of the guided weapon in real time, generates the attitude, position, velocity, acceleration of the guided weapon and the target motion signal, and outputs to the communication network;

[0018] Step 3: The simulation interface of the test general control system receives the calculation signal on the communication network and injects it into the inertial navigation system. The inertial navigation system starts to perform navigation calculation and transmits the current attitude and position information of the guided weapon to the missile-borne computer;

[0019] Step 4: The image generation computer generates target background images in real time according to target features, transmits them to the infrared target simulator, and realizes the simulation of infrared target and background infrared images and radiates them to the seeker for detection and tracking;

[0020] Step 5: The missile-borne computer integrates the output signals of the inertial navigation system and the seeker, forms rudder control commands according to the guidance control model, and controls the rudder deflection to control the guided weapon to fly along the planned trajectory;

[0021] Step 6: When the seeker enters the target capture area, the missile-borne computer forms control commands according to the guidance control model and sends them to the rudder to form rudder deflection angles. The simulation computer calculates the control force and torque according to the rudder deflection angles to control the guided weapon to fly until it hits the target.

[0022] The target features include optical image features and geometric change features.

[0023] Between step 1 and step 2, it also includes:

[0024] Before the test, the test general control system configures parameters according to the simulation task book and test conditions, and arranges the test process;

[0025] The test general control system performs self-checking on each test equipment and test component to ensure normal state;

[0026] The test general control system sets the battlefield and simulation initial conditions, disturbance conditions, target / background and interference signal characteristic parameters, sets the test control parameters including simulation period and simulation timing, and binds the target parameters and control parameters of the test components;

[0027] After the firing command is issued, the launch parameters and navigation initial parameters are bound according to the working timing of the guided weapon, and each test component starts working according to the timing;

[0028] The test general control system sends a zero-second synchronization signal to start all test equipment and simulation programs.

[0029] During the whole test, the simulation interface subsystem of the test general control system receives the input and output information of the test components and test equipment in real time, and carries out real-time conversion and interaction of signals; the component function simulation subsystem of the test general control system provides simulated weapon station and on-missile working environment for the test components, and forms the launching process and closed-loop simulation conditions of the guided weapon; various data generated during the test are collected, recorded and stored by the data acquisition subsystem of the test general control system for calling and analysis after the test.

[0030] In step 5, the simulation computer carries out trajectory calculation in real time, and simultaneously sends the position, posture, acceleration and head theoretical frame angle signals of the guided weapon and the target; the simulation interface superimposes the head frame angle static drift and the head theoretical frame angle signal calculated by the simulation computer to form a signal injected into the missile-borne computer; the simulation interface receives the acceleration signal and injects it into the inertial navigation system, and the inertial navigation system calculates the current position and posture information of the guided weapon and sends it to the missile-borne computer; the missile-borne computer forms a control command by synthesizing the output signals of the head and the inertial navigation system, and sends the control command to the rudder for execution.

[0031] During the implementation of the method, simulation calculation of the head frame angle signal is involved.

[0032] In the simulation, the simulation computer calculates the trajectory signal and the theoretical frame angle signal of the head during the flight of the guided weapon, and the simulation interface of the test general control system superimposes the head output frame angle signal static drift and the head theoretical frame angle signal calculated by the simulation computer to form a signal injected into the missile-borne computer, so as to realize simulation of the real head frame angle signal.

[0033] The simulation calculation process of the head frame angle signal is as follows:

[0034] 1) The simulation interface of the test general control system obtains the two real head frame angle signals output by the test head through interface information conversion. Two static drift signals;

[0035] 2) The simulation interface of the test general control system collects the two theoretical frame angle signals calculated by the simulation computer from the communication network. Two theoretical frame angle signals;

[0036] 3) The simulation interface of the test general control system superimposes the above signals to obtain the two real head frame angle signals required by the missile-borne computer, and the calculation formula is as follows: Two real head frame angle signals;

[0037]

[0038]

[0039] 4) The calculated The real frame angle signal of the seeker is obtained by injecting the calculated

[0040] In the above formula (1) and (2) calculation, the physical meaning of each parameter is as follows:

[0041] The static drift of the pitch frame angle output by the seeker;

[0042] The static drift of the yaw frame angle output by the seeker;

[0043] The theoretical pitch frame angle signal of the seeker calculated by the simulation computer;

[0044] The theoretical yaw frame angle signal of the seeker calculated by the simulation computer;

[0045] The real pitch frame angle signal of the seeker required by the missile-borne computer;

[0046] The real yaw frame angle signal of the seeker required by the missile-borne computer.

[0047] In summary, the semi-physical simulation method substitutes the five-axis turntable to realize the simulation of the relative motion of the missile and the target and the target background environment by constructing a desktop semi-physical simulation system and a simulation calculation method of the frame angle of the seeker. The real frame angle signal of the seeker is obtained by superimposing and synthesizing the static drift of the frame angle signal output by the seeker and the theoretical frame angle signal of the seeker calculated by the simulation computer.

[0048] (Three) beneficial effects

[0049] Compared with the prior art, the technical scheme of the present application provides a desktop semi-physical simulation system and simulation method of an infrared guided weapon, which does not need to use expensive equipment such as a five-axis turntable, but substitutes the five-axis turntable to realize the simulation of the relative motion of the missile and the target and the target background environment by constructing a desktop semi-physical simulation system and a simulation calculation method of the frame angle of the seeker, thereby solving the drawbacks of the traditional semi-physical simulation system and simulation method of an infrared guided weapon, i.e., the system and method are seriously dependent on a turntable for testing. The semi-physical simulation system and simulation method of the present application also solve the problem that the semi-physical simulation test cannot be carried out when the field of view of the infrared target simulator is not enough due to the exit pupil distance of the five-axis turntable. The whole simulation system and method are simple, effective, practical, and have a good application space.

[0050] The technical scheme of the present application has also obtained good application effects in the semi-physical simulation test of a certain conventional ground tactical missile weapon type. In summary, the present application has many advantages and has a broad military application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 is a working principle diagram of a traditional infrared guided weapon semi-physical simulation system.

[0052] Figure 2 is a working principle diagram of an infrared guided weapon semi-physical simulation system of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, content and advantages of the present application more clear, the specific embodiments of the present application are described in further detail below in combination with the drawings and examples.

[0054] In order to solve the above technical problems, the present application provides a tabletop semi-physical simulation system for infrared guided weapon, which comprises a simulation clamp, an infrared target simulator, a simulation computer and a test general control system, wherein,

[0055] The simulation clamp is used for clamping the tested infrared homing head and the infrared target simulator to a tabletop and making the optical center axes coincide.

[0056] The infrared target simulator is used for simulating the radiation characteristics of targets and backgrounds in the infrared band, generating dynamic infrared scenes in real time, providing target and background signals in the infrared band for the tested homing head for detection and tracking.

[0057] The simulation computer is used for running the dynamic, kinematic, control and target kinematic models of the guided weapon, outputting the six-degree-of-freedom flight trajectory of the guided weapon, generating the motion parameters of the guided weapon, the target and the relative motion of the target and the guided weapon, and controlling the operation of other simulation devices.

[0058] The test general control system is the control center of the whole semi-physical simulation system, which is used for completing the tasks and initialization settings in the test process, simulating the functions of the tested components, programming and powering on the tested components, converting interface information, transmitting and interacting signals, collecting and recording data and displaying real-time situation.

[0059] The semi-physical simulation system is implemented in the process, the simulation fixture is used for clamping the tested infrared homing head and the infrared target simulator on the desktop, the exit pupil distance between the tested homing head and the infrared target simulator is adjusted according to the simulation field of view requirement of the tested homing head, the field of view of the infrared target simulator meets the simulation requirement, the infrared target simulator is used for providing the target and background signals of the infrared band for the tested infrared homing head, and the homing head is detected and tracked, in the infrared scene generation, the image generation computer maps the homing line elevation angle and the homing line yaw angle signals calculated by the simulation computer in the homing line coordinate system to the image to be generated through coordinate conversion, and the infrared image observed by the tested homing head at the current time is simulated, the frame angle signal static drift of the homing head output by the simulation interface of the test general control system is superimposed and combined with the theoretical frame angle signal of the homing head calculated by the simulation computer, and then is injected into the missile-borne computer, so that the simulation of the frame angle signal of the homing head is realized, the simulation computer is used for real-time trajectory calculation, and the test general control system is used for controlling the test process.

[0060] In addition, the application further provides a tabletop semi-physical simulation method of an infrared guided weapon, wherein the semi-physical simulation method is implemented based on the semi-physical simulation system, and the semi-physical simulation method comprises the following steps:

[0061] Step 1: the simulation fixture is used for clamping the tested infrared homing head and the infrared target simulator on the desktop, and the optical center axes are overlapped; and each tested component including the homing head, the inertial navigation, the missile-borne computer and the rudder is connected to the simulation loop according to the communication protocol and the interface definition;

[0062] Step 2: after the test starts, the simulation computer calculates the dynamic model and the kinematic model of the guided weapon in real time, generates the attitude, the position, the speed, the acceleration and the target motion signal of the guided weapon, and outputs to the communication network;

[0063] Step 3: the simulation interface of the test general control system receives the acceleration signal on the communication network and injects into the inertial navigation, and the inertial navigation starts to calculate the navigation, and the current attitude and position information of the guided weapon are transmitted to the missile-borne computer;

[0064] Step 4: the image generation computer generates the target background image in real time according to the target characteristics, transmits the target background image to the infrared target simulator, realizes the simulation of the infrared target and the background infrared image, and radiates to the homing head, so that the homing head is detected and tracked;

[0065] Step 5: the missile-borne computer integrates the output signals of the inertial navigation and the homing head, forms the rudder control command according to the guided control model, controls the rudder to deflect, and controls the guided weapon to fly according to the planned trajectory;

[0066] Step 6: When the seeker enters the target capture area, the missile-borne computer forms a control command according to a guidance control model, and sends the control command to the rudder to form a rudder deflection angle; the simulation computer calculates a control force and torque according to the rudder deflection angle, and controls the flight of the guided weapon until the guided weapon hits the target.

[0067] The target features include optical image features and geometric change features.

[0068] The steps 1 and 2 further comprise the following steps:

[0069] Before the test starts, the test general control system configures parameters according to a simulation task sheet and test conditions, and arranges a test procedure;

[0070] The test general control system performs self-checking on each test device and test component to ensure that the states are normal;

[0071] The test general control system sets battlefield and simulation initial conditions, disturbance conditions, target / background and interference signal feature parameters, sets test control parameters including a simulation period and a simulation time sequence, and binds target parameters and control parameters of the test component;

[0072] After the firing command is sent, launch parameters and navigation initial parameters are bound according to a working time sequence of the guided weapon, and each test component starts working according to the time sequence;

[0073] The test general control system sends a zero-second synchronization signal to start all test devices and simulation programs.

[0074] During the whole test process, the simulation interface subsystem of the test general control system receives input and output information of each test component and test device in real time, and performs real-time conversion and interaction of signals; the component function simulation subsystem of the test general control system provides a simulated weapon station and a simulated working environment on the missile for the test component, and forms a guided weapon launch procedure and a closed-loop simulation condition; various data generated in the test are collected, recorded and stored by the data acquisition subsystem of the test general control system for calling and analysis after the test.

[0075] In the step 5, the simulation computer performs trajectory calculation in real time, and simultaneously sends position, posture, acceleration and seeker theoretical frame angle signals of the guided weapon and the target; the simulation interface superimposes a static drift of the seeker frame angle and the seeker theoretical frame angle signal calculated by the simulation computer to form a signal injected into the missile-borne computer; the simulation interface receives an acceleration signal to inject into the inertial navigation system, the inertial navigation system calculates current position and posture information of the guided weapon and sends the information to the missile-borne computer; the missile-borne computer forms a control command according to the output signals of the seeker and the inertial navigation system, and sends the control command to the rudder to execute the control command.

[0076] In the method, simulation calculation of the seeker frame angle signal is involved.

[0077] In the simulation, the simulation computer calculates the theoretical frame angle signal of the seeker during the flight of the guided weapon while solving the ballistic signal. By using the simulation interface of the test control system, the static drift of the frame angle signal output by the seeker is superimposed and synthesized with the theoretical frame angle signal of the seeker calculated by the simulation computer and then injected into the onboard computer, so as to realize the simulation of the real frame angle signal of the seeker.

[0078] The simulation calculation process for the seeker frame angle signal is as follows:

[0079] 1) The simulation interface of the test control system obtains the output of the test subject's seeker through interface information conversion. Two static drift signals;

[0080] 2) The simulation interface of the test control system collects data from the communication network calculated by the simulation computer. Two theoretical framework angle signals;

[0081] 3) The above signals are superimposed and synthesized by the simulation interface of the test control system to obtain the signal required by the onboard computer. The two real frame angle signals, ψ and ψ, are calculated using the following formulas:

[0082]

[0083]

[0084] 4) The calculated values ​​are transmitted through the simulation interface of the overall test control system. By injecting ψ into the onboard computer, the simulation of the actual frame angle signal of the seeker head can be achieved.

[0085] The physical meanings of each parameter in the calculations of formulas (1) and (2) above are as follows:

[0086] The static drift of the pitch frame angle output by the seeker head;

[0087] The static drift of the yaw frame angle output by the seeker;

[0088] The theoretical pitch frame angle signal of the seeker is calculated by a simulated computer.

[0089] The theoretical yaw frame angle signal of the seeker is calculated by a simulated computer.

[0090] The actual pitch frame angle signal of the seeker head required by the missile-borne computer;

[0091] ψ: The actual yaw frame angle signal of the seeker required by the missile-borne computer.

[0092] In summary, the semi-physical simulation method substitutes the five-axis turntable to realize the simulation of relative motion between the missile and the target and the target background environment by constructing a desktop semi-physical simulation system and a method for simulating the frame angle of the seeker; the real frame angle signal of the seeker is obtained by superimposing the frame angle signal output by the seeker and the theoretical frame angle signal calculated by the simulation computer.

[0093] The working principle and process of the method are as follows:

[0094] 1) The infrared seeker and the infrared target simulator are clamped to the desktop using the simulation fixture, so that the optical center axes coincide, and the distance between the infrared seeker and the infrared target simulator is adjusted;

[0095] 2) The test components and the simulation equipment are connected according to the connection relationship;

[0096] 3) The image generation computer is used to drive the infrared target simulator to generate the target background image, and the firing signal is waited for;

[0097] 4) After receiving the firing signal, the simulation computer performs real-time trajectory calculation, and sends the position, attitude, acceleration, theoretical frame angle signal of the guided weapon and the target, etc.; the simulation interface superimposes the static drift of the frame angle of the seeker and the theoretical frame angle signal calculated by the simulation computer to form the real frame angle signal of the seeker and injects it into the missile-borne computer; the simulation interface receives the acceleration signal and injects it into the inertial navigation system, which calculates the current position and attitude of the guided weapon and transmits them to the missile-borne computer; the missile-borne computer forms the control command by synthesizing the output signals of the seeker and the inertial navigation system, and sends it to the rudder for execution, the simulation computer collects the rudder feedback signal to form the control force and moment, controls the flight of the guided weapon, and forms a simulation closed loop.

[0098] Embodiment 1

[0099] To solve the problems in the prior art, the technical scheme of the present application is as follows:

[0100] (1) Semi-physical simulation scheme design and simulation system construction

[0101] For the guided weapon using an infrared seeker, the traditional simulation scheme is to construct a semi-physical simulation system based on a "five-axis turntable", simulate the relative motion process of the guided weapon and the target by using the five-axis turntable, install the test seeker on the inner three axes of the five-axis turntable to simulate the attitude change of the guided weapon in the flight process, install the infrared target simulator on the outer two axes of the five-axis turntable to simulate the change trend of the line-of-sight angle between the missile and the target, and the infrared target and background signals required by the seeker are generated in real time by the infrared target simulator, and the working principle of the entire simulation system is as follows: Figure 1As shown. It can be seen that the traditional infrared guided weapon semi-physical simulation must use a five-axis turntable, and its disadvantage is that the semi-physical simulation test cannot be carried out in the case that there is no five-axis turntable or the field of view of the infrared target simulator is not enough due to the pupil distance of the five-axis turntable.

[0102] Unlike the traditional method, the present application proposes an infrared guided weapon desktop semi-physical simulation system and a simulation method, the semi-physical simulation system is composed of a simulation clamp, an infrared target simulator, a simulation computer and a test general control system, and the functions of each component unit are as follows:

[0103] 1) Simulation clamp: the simulation clamp is used to clamp the tested infrared seeker and the infrared target simulator to the desktop, and to make the optical center axes coincide.

[0104] 2) Infrared target simulator: the infrared target simulator is used to simulate the radiation characteristics of the target and the background in the infrared band, to generate a dynamic infrared scene in real time, to provide the target and the background signals in the infrared band for the measured seeker, and to provide the seeker for detection and tracking.

[0105] 3) Simulation computer: the simulation computer can run the guided weapon dynamics, kinematics model, guided control model and target kinematics model, output the six-degree-of-freedom flight trajectory of the guided weapon, generate the motion parameters of the guided weapon, the target and the relative motion of the missile and the target, and control the operation of other simulation devices.

[0106] 4) Test general control system: the test general control system is the control center of the whole simulation system, and is used to complete the tasks and initialization settings in the test process, to simulate the functions of the tested components, to program and power on the tested components, to convert the interface information, to transmit and interact the signals, to collect and record the data, and to display the real-time situation, etc.

[0107] The scheme design of the semi-physical simulation system is as follows: the simulation clamp is used to clamp the tested infrared seeker and the infrared target simulator to the desktop, the pupil distance between the tested seeker and the infrared target simulator is adjusted according to the simulation field of view requirement of the tested seeker, so that the field of view of the infrared target simulator meets the simulation requirement; the infrared target simulator is used to provide the target and the background signals in the infrared band for the tested infrared seeker, for the seeker to detect and track; in the infrared scene generation, the image generation computer maps the missile-target line of sight elevation angle and the missile-target line of sight yaw angle signals calculated by the simulation computer to the image to be generated through coordinate conversion, so as to simulate the infrared image observed by the tested seeker at the current time; the frame angle signal static drift of the seeker output by the simulation interface of the test general control system is superimposed with the theoretical frame angle signal of the seeker calculated by the simulation computer, and then is injected into the missile-borne computer to realize the simulation of the frame angle signal of the seeker; the simulation computer is used for real-time trajectory calculation; and the test general control system is used to control the test process.

[0108] From the above scheme can be seen, the present application does not need to use five-axis turntable, and avoids the disadvantages that the distance from the three-axis rotation center (guide head exit pupil position) in the five-axis turntable to the two-axis rotation center outside the five-axis turntable is limited by the structure of the turntable, and can be adjusted according to the size requirement of the simulation field of view, that is, if the field of view provided by the infrared target simulator is not enough, the exit pupil distance between the test guide head and the infrared target simulator can be appropriately reduced, and then the available field of view can be effectively expanded, so that the disadvantage that the semi-physical simulation test cannot be carried out due to the insufficient field of view of the infrared target simulator caused by the exit pupil distance of the five-axis turntable is avoided.

[0109] (2) Working principle and process of simulation system

[0110] The working principle of the infrared guidance weapon desktop semi-physical simulation system is shown in Figure 2 .

[0111] As shown in the figure, the test infrared homing head and the infrared target simulator are clamped to the desktop using the simulation fixture, and the optical center axes are coincident. The test components such as the homing head, inertial navigation, missile computer, and rudder are connected to the simulation loop according to the communication protocol and interface definition.

[0112] Before the test starts, the test general control system configures parameters according to the simulation task sheet and test conditions, and arranges the test process. The test general control system performs self-checking on each test equipment and test component to ensure that the state is normal. The test general control system sets the battlefield and initial simulation conditions, disturbance conditions, target / background and interference signal characteristic parameters; sets the simulation period, simulation time sequence and other test control parameters, and binds the target parameters and control parameters of the test components. After the firing command is issued, the launch parameters and navigation initial parameters are bound according to the working time sequence of the guidance weapon, and each test component starts working according to the time sequence. The test general control system issues a zero-second synchronization signal to start the operation of all test equipment and simulation programs.

[0113] After the beginning of the test, the simulation computer solves the dynamic and kinematic model of the guided weapon in real time, generates the attitude, position, velocity, acceleration of the guided weapon and the target motion signal, and outputs to the communication network. The simulation interface of the test general control system receives the calculation signal on the communication network to inject into the inertial navigation, and the inertial navigation starts to perform navigation calculation to calculate the current attitude and position of the guided weapon and transmit them to the missile-borne computer. The image generation computer generates the target background image in real time according to the target characteristics (optical image characteristics, geometric change characteristics, etc.), transmits it to the infrared target simulator, realizes the simulation of the infrared target and background infrared image, and radiates to the seeker for detection and tracking. The missile-borne computer synthesizes the measurement information of the inertial navigation and other sensors, forms the rudder control command according to the guidance control model, controls the rudder deflection, and controls the guided weapon to fly along the planned trajectory; when the seeker enters the target capture area, the missile-borne computer forms the control command according to the guidance control model, and sends it to the rudder to form the rudder deflection angle; the simulation computer calculates the control force and torque according to the rudder deflection angle, controls the guided weapon to fly until it hits the target.

[0114] During the entire test process, the simulation interface subsystem of the test general control system receives the input and output information of each test component and test equipment in real time, and performs real-time conversion and interaction of signals; the component function simulation subsystem of the test general control system provides a simulated weapon station and a simulated working environment on the missile for the test components, and forms a guided weapon launch process and a closed-loop simulation condition. Various data generated during the test are collected, recorded and stored by the data acquisition subsystem of the test general control system for calling and analysis after the test.

[0115] (3) Simulation calculation method of seeker frame angle signal

[0116] The above-mentioned semi-physical simulation system and simulation method do not use a five-axis turntable, and its role in semi-physical simulation needs to be replaced by other methods. Since the five-axis turntable can simulate the relative motion process (i.e. the spatial geometric position relationship) of the guided weapon and the target during flight, the image observed by the infrared seeker is actually the target and background image under this spatial geometric position relationship, so it is only necessary to make the target and background image generated by the image generation computer reflect the missile-target line of sight pitch angle and missile-target line of sight yaw angle under the missile-target line of sight coordinate system to simulate the relative motion process between the guided weapon and the target.

[0117] In addition, since the line-of-sight angular velocity signal and the frame angle signal generated by the seeker are used as input signals of the missile-borne computer to participate in the whole process of the guidance control of the guided weapon, another difficulty of the method of the present application is that the conventional simulation method can drive the test seeker to generate real frame angle signals, because the five-axis turntable can simulate the attitude change of the guided weapon in the flight process, and the frame angle signals generated by the seeker under the attitude change are consistent with the frame angle signals generated in the actual flight process. However, in the method of the present application, the test seeker is fixed on the simulation fixture and cannot move, so that the attitude change cannot be simulated, and the frame angle signals output by the seeker are not real and need to be processed. The method adopted is that in the simulation, the simulation computer calculates the theoretical frame angle signals of the seeker in the flight process of the guided weapon while calculating the trajectory signals, and the static drift of the frame angle signals output by the seeker and the theoretical frame angle signals of the seeker calculated by the simulation computer are superimposed and synthesized by the simulation interface of the test general control system and then input to the missile-borne computer, so that the real frame angle signals of the seeker can be simulated. The calculation can be performed according to the following steps:

[0118] 1) Two static drift signals of the frame angle signals output by the test seeker are obtained by the simulation interface of the test general control system through interface information conversion;

[0119] 2) Two theoretical frame angle signals calculated by the simulation computer are collected from the communication network by the simulation interface of the test general control system;

[0120] 3) The above signals are superimposed and synthesized by the simulation interface of the test general control system, so as to obtain two real frame angle signals required by the missile-borne computer, and the calculation formula is as follows:

[0121]

[0122]

[0123] 4) The calculated and and are input to the missile-borne computer by the simulation interface of the test general control system, so that the real frame angle signals of the seeker can be simulated.

[0124] In the above calculation, the physical meanings of the parameters are as follows:

[0125] The static drift of the pitch frame angle output by the seeker;

[0126] The static drift of the yaw frame angle output by the seeker;

[0127] ​​​​The theoretical pitch frame angle signal of the seeker is calculated by a simulated computer.

[0128] The theoretical yaw frame angle signal of the seeker is calculated by a simulated computer.

[0129] The actual pitch frame angle signal of the seeker head required by the missile-borne computer;

[0130] ψ: The actual yaw frame angle signal of the seeker required by the missile-borne computer.

[0131] Example 2

[0132] In a hardware-in-the-loop simulation test of a certain type of conventional surface-to-surface tactical missile, the guidance and control components involved in the simulation included an infrared seeker, inertial navigation system, onboard computer, and servo motors. The simulation equipment used included simulation fixtures, an infrared target simulator, a simulation computer, and a test control system. The test implementation steps are as follows:

[0133] (1) Use a simulation fixture to mount the infrared seeker and infrared target simulator on the table and make their optical center axes coincide. Adjust the distance between the infrared seeker and the infrared target simulator so that the simulation field of view meets the requirements of the seeker.

[0134] (2) According to Figure 2 The connection relationships connect the various test components and simulation equipment;

[0135] (3) At this point, the simulation system has been built. The image generation computer drives the infrared target simulator to generate the target background image while waiting for the firing signal.

[0136] (4) Upon receiving the firing signal, the simulation computer performs ballistic calculations in real time and simultaneously sends the position, attitude, accelerometer, and seeker theoretical frame angle signals of the guided weapon and the target. The simulation interface of the test control system will output the static drift of the frame angle from the seeker. The seeker's theoretical frame angle signal calculated by the simulation computer After being superimposed and synthesized, the signal is injected into the onboard computer. The simulation interface of the test control system receives the accelerator signal from the communication network and injects it into the inertial navigation system. The inertial navigation system begins to perform navigation calculations, calculates the current position, attitude and other information of the guided weapon and transmits it to the onboard computer. The onboard computer integrates the output signals of the seeker and inertial navigation system to form control commands and sends them to the servo motors for execution. The simulation computer collects the servo feedback signals to form control forces and torques, controls the flight of the guided weapon, and forms a simulation closed loop.

[0137] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. An infrared guided weapon desktop hardware-in-the-loop simulation system, characterized in that, The semi-physical simulation system comprises a simulation fixture, an infrared target simulator, a simulation computer and a test general control system, wherein The simulation fixture is used for clamping the tested infrared homing head and the infrared target simulator on a table top and making the optical central axes coincide; The infrared target simulator is used for simulating the radiation characteristics of the target and the background in the infrared band, generating a dynamic infrared scene in real time, providing the target and the background signals in the infrared band for the tested homing head, and providing the homing head for detection and tracking; The simulation computer is used for running the dynamic model, the kinematic model, the guidance control model and the target kinematic model of the guided weapon, outputting the six-degree-of-freedom flight trajectory of the guided weapon, generating the motion parameters of the guided weapon, the target and the relative motion of the guided weapon and the target, and controlling the operation of other simulation devices; The test general control system is the control center of the whole semi-physical simulation system, and is used for completing the tasks and initialization settings in the test process, simulating the functions of the tested components, programming and powering on the tested components, converting the interface information, transmitting and interacting the signals, collecting and recording the data, and displaying the real-time situation; In the implementation process of the semi-physical simulation system, the tested infrared homing head and the infrared target simulator are clamped on the table top by the simulation fixture, the interpupillary distance between the tested homing head and the infrared target simulator is adjusted according to the simulation field of view requirement of the tested homing head, the field of view of the infrared target simulator is adjusted to meet the simulation requirement, the infrared target simulator is used for providing the target and the background signals in the infrared band for the tested infrared homing head, the homing head is used for detection and tracking, in the generation of the infrared scene, the image generation computer maps the line-of-sight elevation angle and the line-of-sight yaw angle of the missile and the target in the line-of-sight coordinate system calculated by the simulation computer to the image to be generated through coordinate conversion, so as to simulate the infrared image observed by the tested homing head at the current time, the frame angle signal output by the homing head is superimposed with the theoretical frame angle signal of the homing head calculated by the simulation computer by the simulation interface of the test general control system, and then is injected into the missile-borne computer to simulate the frame angle signal of the homing head, the simulation computer is used for real-time trajectory calculation, and the test general control system is used for controlling the test process; The simulation calculation process of the frame angle signal of the homing head is as follows: 1) two static drift signals obtained by the simulation interface of the test master system through interface information conversion from the seeker output of the test object , ​ 2) the simulation computer solution is collected from the communication network by the simulation interface of the test master system 、 two theoretical frame angle signals; 3) The above signals are superimposed by the simulation interface of the test master control system to obtain two real frame angle signals required by the missile-borne computer, and the calculation formula is as follows: 、 two real frame angle signals, and the calculation formula is as follows: （1） （2） 4) The calculated 、 injection to the missile computer, you can realize the simulation of the real frame angle signal head. In the calculation of the above formula (1) and (2), the physical meanings of the parameters are as follows: : static drift of the elevation frame angle output by the seeker head; : static yaw frame angle drift of seeker output : simulated computer-derived seeker theoretical elevation gimbal angle signal; : simulated computer resolved seeker theoretical yaw frame angle signal; : Real pitch frame angle signal for missile computer required seeker : Real yaw frame angle signal for seeker required by missile computer.

2. A method for tabletop hardware-in-the-loop simulation of an infrared guided weapon, characterized in that, The semi-physical simulation method is implemented based on the semi-physical simulation system of claim 1, and comprises the following steps: Step 1: clamping the tested infrared homing head and the infrared target simulator on the table top by the simulation fixture, and making the optical central axes coincide; connecting the tested components including the homing head, the inertial navigation system, the missile-borne computer and the rudder to the simulation loop according to the communication protocol and the interface definition; Step 2: after the test starts, the simulation computer calculates the dynamic model and the kinematic model of the guided weapon in real time, generates the attitude, the position, the speed, the acceleration of the guided weapon and the target motion signal, and outputs to the communication network; Step 3: The simulation interface of the test general control system receives the acceleration signal on the communication network to inject into the inertial navigation, and the inertial navigation starts to perform navigation calculation to calculate the current attitude and position information of the guided weapon and transmit the information to the missile-borne computer; Step 4: The image generation computer generates the target background image in real time according to the target features, and transmits the image to the infrared target simulator to realize the simulation of the infrared target and the background infrared image and radiate to the seeker for detection and tracking; Step 5: The missile-borne computer synthesizes the output signals of the inertial navigation and the seeker, forms the rudder control command according to the guidance control model, and controls the rudder deflection to control the guided weapon to fly along the planned trajectory; Step 6: When the seeker enters the target capture area, the missile-borne computer forms the control command according to the guidance control model, and sends the rudder deflection angle to the rudder; the simulation computer calculates the control force and torque according to the rudder deflection angle to control the guided weapon to fly until hitting the target.

3. The tabletop hardware-in-the-loop simulation method of claim 2, wherein, The target features include optical image features and geometric change features.

4. The tabletop hardware-in-the-loop simulation method of claim 2, wherein, Between step 1 and step 2, the following steps are further included: Before the test starts, the test general control system configures parameters according to the simulation task sheet and test conditions, and arranges the test process; The test general control system performs self-checking on each test device and test component to ensure that the states are normal; The test general control system sets battlefield and simulation initial conditions, disturbance conditions, target / background and interference signal feature parameters, sets test control parameters including simulation period and simulation time sequence, and binds target parameters and control parameters of the test component; After the firing command is issued, the launch parameters and navigation initial parameters are bound according to the working time sequence of the guided weapon, and each test component starts to work according to the time sequence; The test general control system issues a zero-second synchronization signal to start all test devices and simulation programs.

5. The tabletop hardware-in-the-loop simulation method of claim 3, wherein, During the whole test process, the simulation interface subsystem of the test general control system receives the input and output information of each test component and test device in real time, and performs real-time conversion and interaction of signals; the component function simulation subsystem of the test general control system provides a simulated weapon station and a simulated working environment on the missile for the test component, forms a guided weapon launch process and a closed-loop simulation condition; various data generated in the test are collected, recorded and stored by the data acquisition subsystem of the test general control system for calling and analysis after the test.

6. The tabletop hardware-in-the-loop simulation method of claim 3, wherein, In step 5, the simulation computer performs trajectory calculation in real time, and simultaneously sends the position, attitude, acceleration and seeker theoretical frame angle signals of the guided weapon and the target; the simulation interface superimposes the static drift of the seeker frame angle and the theoretical frame angle signal calculated by the simulation computer to form a signal to be injected into the missile-borne computer; the simulation interface receives the acceleration signal to inject into the inertial navigation, and the inertial navigation calculates the current position and attitude information of the guided weapon and transmits the information to the missile-borne computer; the missile-borne computer synthesizes the output signals of the seeker and the inertial navigation to form a control command and send the command to the rudder for execution.

7. The tabletop hardware-in-the-loop simulation method of claim 6, wherein, In the implementation process of the method, the simulation calculation of the seeker frame angle signal is involved. In the simulation, the simulation computer calculates the theoretical frame angle signal of the seeker during the flight of the guided weapon, and the static drift of the frame angle signal output by the seeker is superimposed with the theoretical frame angle signal calculated by the simulation computer to obtain the real frame angle signal of the seeker.

8. The tabletop hardware-in-the-loop simulation method of claim 7, wherein, The semi-physical simulation method replaces the five-axis turntable to simulate the relative motion of the missile and the target and the target background environment by constructing a desktop semi-physical simulation system and a method for simulating the frame angle calculation of the seeker; the real frame angle signal of the seeker is obtained by superimposing the static drift of the frame angle signal output by the seeker with the theoretical frame angle signal calculated by the simulation computer.

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