Guidance information extraction method for guided munitions with angle constraints adapted to image seeker

Abstract

The present invention relates to a method for extracting guidance information of guided munitions with angle of fall constraints that is adapted to an image seeker, and belongs to the field of guidance control. The present invention innovatively improves the existing guidance information extraction method by deeply analyzing the image seeker's definition of the sight angle and sight angular velocity and the conversion relationship between them and the commonly used coordinate system, and effectively ensures the accuracy and angle of fall requirements of the guided munitions when the terminal posture changes drastically. The present invention first filters the sight angular velocity measured by the seeker to eliminate the influence of noise; secondly, the attitude information obtained by the inertial navigation measurement and the frame angle information obtained by the seeker are innovatively introduced, and the sight angular velocity is rotated to obtain the sight angular velocity under the sight system; finally, the longitudinal and lateral overload instructions are calculated to participate in the closed-loop guidance control. The method for extracting guidance information of image-guided munitions with angle of fall constraints is universal in structure and has strong engineering practice capabilities.

Description

Technical Field

[0001] The invention belongs to the field of guidance control and relates to a method for extracting guidance information of guided ammunition with fall angle constraint adapted to an image seeker. Background Art

[0002] The image seeker can directly give the line of sight angular velocity, which is convenient for guided munitions to form guidance control instructions. The guidance law with angle of impact constraint can achieve the maximum impact of guided munitions on targets by binding different angles of impact on the ground for different attack targets. The existing guidance law with angle of impact constraint can only adapt to the large angle of impact precision strike of guided munitions when the terminal posture is stable, and cannot meet the demand for large angle of impact precision strike when the posture of guided munitions changes drastically after various interferences. Therefore, it is necessary to make adaptive improvements to the existing guidance law with angle of impact constraint. In view of the above problems, the present invention first filters the line of sight angular velocity measured by the seeker to eliminate the influence of noise; secondly, the attitude information obtained by the inertial navigation measurement and the frame angle information obtained by the seeker measurement are introduced, the line of sight angular velocity is rotated, and the line of sight angular velocity under the line of sight system is obtained; finally, the longitudinal and lateral overload instructions are calculated to participate in the closed-loop guidance control. The guidance information extraction method with angle of impact constraint for guided munitions adapted to the image seeker has a universal structure and strong engineering practice ability. Summary of the invention

[0003] The purpose of the present invention is to provide a method for extracting guidance information of guided munitions with angle constraints that is adapted to an image seeker, so as to solve the problem of precise strike at a large angle when the attitude of the guided munition changes drastically after being subjected to various interferences.

[0004] In order to solve the above technical problems, the present invention provides a method for extracting guidance information of guided ammunition with fall angle constraint adapted to an image seeker, the method comprising the following steps:

[0005] Step 1: Determine the low-pass filter parameters. The image seeker obtains the target information and gives the pitch line of sight angular velocity and the yaw line of sight angular velocity to the low-pass filter. After the low-pass filter is processed, the low-pass filter is output to the angle guidance law for processing.

[0006] Step 2: Calculate the line of sight angular velocity of the missile system;

[0007] Step 3, calculate the line of sight angular velocity in the launch system;

[0008] Step 4, solve the sight angle;

[0009] Step 5, calculating the line of sight angular velocity under the line of sight system;

[0010] Step 6: Resolve overload instructions.

[0011] The present invention provides a method for extracting guidance information of guided munitions with angle constraints that are adapted to image seekers. The method of the present invention has been applied to the development of a certain guided rocket project. The designed method for extracting guidance information of guided munitions with angle constraints that are adapted to image seekers solves the need for high-angle precision strikes when the attitude of guided munitions changes dramatically after being subjected to various interferences. The method has broad prospects for military applications.

[0012] The present invention first filters the line-of-sight angular velocity obtained by the seeker measurement to eliminate the influence of noise; secondly, the attitude information obtained by the inertial navigation measurement and the frame angle information obtained by the seeker measurement are innovatively introduced to rotate the line-of-sight angular velocity to obtain the line-of-sight angular velocity under the line-of-sight system; finally, the longitudinal and lateral overload instructions are calculated to participate in the closed-loop guidance control. The method for extracting guidance information for image-guided munitions with fall angle constraints has a universal structure and strong engineering practice ability. It can be widely used in the design of various guided munitions guidance control systems that require high requirements on fall angle and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a system block diagram of the present invention;

[0014] Figure 2 It is the pitch overload command comparison curve;

[0015] Figure 3 It is the yaw overload command comparison curve;

[0016] Figure 4 It is the trajectory inclination comparison curve;

[0017] Figure 5 It is the comparison curve of the projectile-target distance;

[0018] Figure 6 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0020] The present invention relates to a method for extracting guidance information of guided munitions with falling angle constraints adapted to image seekers. The scheme can be generally used in the design of guidance control systems for various image seeker guided munitions with high requirements on falling angle and accuracy.

[0021] The problem to be solved by the present invention is to provide a simple, universal and effective method for extracting guidance information of guided munitions with angle constraints that are suitable for image seekers, solve the problem of large angle precision strike when the posture of guided munitions changes drastically after being subjected to various interferences, and improve the guidance control system performance of image seeker guided munitions.

[0022] In order to solve the above technical problems, the present invention is a guidance information extraction method with angle of impact constraint. The innovation of the guidance information extraction method is that the present invention makes full use of the line of sight angular velocity and frame angle information of the image seeker, combined with the missile body attitude information sensed by the guided munition inertial navigation, can effectively overcome the influence of the drastic change of the missile body attitude on the guidance accuracy and angle of impact constraint, and improve the guidance accuracy and angle of impact control accuracy.

[0023] The present invention relates to a method for extracting guidance information suitable for image-guided munitions with angle-of-fall constraints. By deeply analyzing the definition of the line-of-sight angle and line-of-sight angular velocity by an image seeker and the conversion relationship between them and a commonly used coordinate system, the existing guidance information extraction method is innovatively improved, effectively ensuring the accuracy and angle-of-fall requirements of guided munitions when the terminal posture changes dramatically.

[0024] The present invention first filters the line-of-sight angular velocity obtained by the seeker measurement to eliminate the influence of noise; secondly, the attitude information obtained by the inertial navigation measurement and the frame angle information obtained by the seeker measurement are innovatively introduced to rotate the line-of-sight angular velocity to obtain the line-of-sight angular velocity under the line-of-sight system; finally, the longitudinal and lateral overload instructions are calculated to participate in the closed-loop guidance control. The method for extracting guidance information for image-guided munitions with fall angle constraints has a universal structure and strong engineering practice ability. It can be widely used in the design of various guided munitions guidance control systems that require high requirements on fall angle and accuracy.

[0025] The principle structure diagram of the guidance law of guided munitions with angle constraint adapted to image seeker is as follows: Figure 1 and Figure 6 shown.

[0026] The design steps are described as follows:

[0027] Step 1: determine the low-pass filter parameters K1, K2, K3, the image seeker obtains the target information and gives the pitch line of sight angular velocity and the yaw line of sight angular velocity to the low-pass filter, and the low-pass filter is processed and output to the angle guidance law for processing;

[0028] They represent the pitch and yaw angular velocities given by the image seeker, kT represents the current time of the missile-borne computer, and T represents the calculation cycle of the missile-borne computer. Simplified to

[0029] Step 2: Calculate the line of sight angular velocity of the missile system.

[0030] Combined with the yaw frame angle given by the image seeker, the line of sight angular velocity of the missile system is calculated as:

[0031]

[0032] in is the pitch and yaw line of sight angular velocity of the missile system, β g (k) is the yaw frame angle given by the image seeker.

[0033] Step 3: Calculate the line-of-sight angular velocity in the launch system.

[0034] The yaw angle and roll angle obtained by inertial navigation measurement are used to calculate the line of sight angular velocity in the launch system:

[0035]

[0036] in are the pitch line of sight angular velocity and yaw line of sight angular velocity in the transmitting system, ψ(k), γ(k) are the yaw angle and roll angle obtained by inertial navigation measurement.

[0037] Step 4: Calculate the sight angle.

[0038] The rotation order between the launch system and the missile system is pitch first and then yaw. The coordinate transformation matrix from the launch system to the missile system is as follows:

[0039]

[0040] in The pitch angle is obtained by inertial navigation measurement.

[0041] The sight angle is calculated by combining the pitch frame angle and yaw frame angle given by the image seeker:

[0042]

[0043] where q f (k), q b (k) is the pitch sight angle and the yaw sight angle; ε g (k) is the pitch frame angle given by the image seeker; They are The second and third column elements of .

[0044] Step 5: Calculate the line of sight angular velocity in the line of sight system.

[0045] Combined with the solved sight angle, the sight angular velocity in the sight system is:

[0046]

[0047] in are the pitch line of sight angular velocity and yaw line of sight angular velocity in the launching system.

[0048] Step 6: Resolve overload instructions.

[0049] The remaining time is:

[0050]

[0051] R is distance, V is speed;

[0052] The overload instructions are:

[0053]

[0054] Where: K f ,K2,K b is the optimal guidance law coefficient derived mathematically; θ DF is the expected angle of fall of the launch system.

[0055] Embodiment 1:

[0056] The invention is further described in conjunction with a calculation example of a guided rocket weapon system. The guided rocket launch point is 1300m above sea level, and a precise large-angle attack is performed on a target at the launch system (x=150000m, y=-1746m, z=0m).

[0057] Step 1: Select low-pass filter parameters K1=0.02302, K2=0.02302, K3=0.954.

[0058] Filter the pitch and yaw angular velocities given by the image seeker

[0059]

[0060] Step 2: Calculate the line of sight angular velocity of the missile system.

[0061] Combined with the yaw frame angle given by the image seeker, the line of sight angular velocity of the missile system is calculated as:

[0062]

[0063] Step 3: Calculate the line-of-sight angular velocity in the launch system.

[0064] The yaw angle and roll angle obtained by inertial navigation measurement are used to calculate the line of sight angular velocity in the launch system:

[0065]

[0066] Step 4: Calculate the sight angle.

[0067] The sight angle is calculated by combining the pitch frame angle and yaw frame angle given by the image seeker:

[0068]

[0069] Step 5: Calculate the line of sight angular velocity in the line of sight system.

[0070] Combined with the solved sight angle, the sight angular velocity in the sight system is:

[0071]

[0072] in are the pitch line of sight angular velocity and yaw line of sight angular velocity in the launching system.

[0073] Step 6: Select K f =4, K2=2, θ DF =-85 / 57.3 resolves the overload instruction.

[0074]

[0075] In order to verify the feasibility of the present invention, the guidance law proposed in the present invention and the existing guidance information extraction method with angle constraint were respectively simulated for the target with a large angle of -85°. Figure 2 to Figure 5 The simulation results show that the guidance information extraction method of guided ammunition with fall angle constraint designed by the present invention, which is adapted to the image seeker, can achieve a smaller miss amount on the basis of more accurate fall angle.

[0076] Embodiment 2:

[0077] A method for extracting guidance information of guided munitions with angle constraints that are suitable for image seekers is proposed. It innovatively proposes to improve the existing precise angle guidance law to meet the precise angle requirements of guided munitions when their terminal posture changes dramatically.

[0078] The attitude information and frame angle information are uniquely introduced to rotate the line-of-sight angular velocity measured by the seeker to obtain the line-of-sight angular velocity under the line-of-sight system, and then solve the overload command.

[0079] The method of the present invention has been applied to the development of a certain guided rocket project. The designed method for extracting guidance information of guided munitions with angle constraints adapted to image seekers solves the need for high angle precision strike when the attitude of guided munitions changes dramatically after being subjected to various interferences. The method has broad prospects for military applications.

[0080] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for extracting guidance information of guided munitions with angle-of-fall constraints adapted to an image seeker, characterized in that: The method comprises the following steps: Step 1: Determine the low-pass filter parameters. The image seeker obtains the target information and gives the pitch line of sight angular velocity and the yaw line of sight angular velocity to the low-pass filter. After the low-pass filter is processed, the low-pass filter is output to the angle guidance law for processing. Step 2: Calculate the line of sight angular velocity of the missile system; Step 3, calculate the line of sight angular velocity in the launch system; Step 4, solve the sight angle; Step 5, calculating the line of sight angular velocity under the line of sight system; Step 6, solving the overload instruction; in, The step 1 specifically includes: the filter processing output is: They represent the pitch line of sight angular velocity and the yaw line of sight angular velocity given by the image seeker, kT represents the current time of the missile-borne computer, T represents the calculation cycle of the missile-borne computer, and Simplified to K1, K2, K3 are low-pass filter parameters; The step 2 specifically includes: combining the yaw frame angle given by the image seeker to solve the line of sight angular velocity of the missile system: in is the pitch and yaw line of sight angular velocity of the missile system, β g (k) is the yaw frame angle given by the image seeker; The step three specifically includes: combining the yaw angle and roll angle obtained by inertial navigation measurement to calculate the line-of-sight angular velocity in the transmitting system: in are the pitch and yaw line-of-sight angular velocities in the transmitting system, ψ(k), γ(k) are the yaw and roll angles obtained by inertial navigation measurement; The fourth step specifically includes: the rotation order of the conversion between the launch system and the missile system is first pitch and then yaw, and the coordinate conversion matrix from the launch system to the missile system is as follows: Where θ(k) is the pitch angle obtained by inertial navigation measurement; The sight angle is calculated by combining the pitch frame angle and yaw frame angle given by the image seeker: where q f (k), q b (k) is the pitch sight angle and the yaw sight angle; ε g (k) is the pitch frame angle given by the image seeker; They are The second and third column elements of ; The step five specifically includes: combining the sight angle obtained by solving the sight angle to solve the sight angular velocity in the sight system: in is the pitch line of sight angular velocity and the yaw line of sight angular velocity in the line of sight system; The step six specifically includes: the remaining time is: R is distance, V is speed; The overload instructions are: Where: K f ,K2,K b is the optimal guidance law coefficient derived mathematically; θ DF is the expected angle of fall of the launch system.

2. The method for extracting guidance information of guided munitions with fall angle constraints adapted to an image seeker as claimed in claim 1, characterized in that: The low-pass filter parameters are selected as: K1=0.02302, K2=0.02302, K3=0.

954.

3. The method for extracting guidance information of guided munitions with fall angle constraints adapted to an image seeker as claimed in claim 1, characterized in that: The attitude information and frame angle information are introduced, and the line-of-sight angular velocity measured by the seeker is rotated to obtain the line-of-sight angular velocity under the line-of-sight system, and then the overload command is solved.

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