Projectile-missile relative motion simulation method based on vertical three-axis turntable

Abstract

The application discloses a missile-target relative motion simulation method based on a vertical three-axis turntable, which comprises the following steps: determining the installation position relationship of an infrared seeker, the turntable and a target source; determining the definition of a missile-target line-of-sight angle and a rotation angle of the turntable; calculating a real missile-target relative line-of-sight angle and a real missile-target relative line-of-sight angular velocity by using the position and velocity information of the target and the missile in a three-dimensional space; calculating a rotation angle and an angular velocity command of an outer frame and a middle frame of the turntable according to the real missile-target relative line-of-sight angle and the angular velocity; and simulating the movement of the target in the field of view of the infrared seeker by controlling the rotation angle and the rotation angular velocity of the turntable, and then simulating the missile-target relative motion.

Description

Technical Field

[0001] This invention relates to the field of hardware-in-the-loop simulation technology for tactical weapon guidance and control, specifically to a method for simulating the relative motion between a projectile and its target based on a vertical three-axis turntable. Background Technology

[0002] As one of the most important subsystems of a missile, the guidance and control system directly affects the missile's flight stability, strike accuracy, and other combat effectiveness indicators. However, directly evaluating the performance of the guidance and control system through flight tests is not only inefficient in iteration but also extremely costly. Hardware-in-the-loop (HIL) simulation, as one of the most effective techniques for evaluating the performance of guidance and control systems, has been widely recognized and applied by many engineers. A flexible, low-cost, and highly reliable HIL simulation system can significantly improve the design efficiency of guidance and control systems.

[0003] Currently, the hardware-in-the-loop simulation of infrared imaging guidance mainly uses a five-axis turntable for system construction. The inner three axes of the turntable are used to simulate the attitude motion of the missile body, and the outer two axes are used to simulate the relative motion between the missile and the target. The high precision and large rotation range of the five-axis turntable make it suitable for simulation verification of complex working conditions in the final stage of the guidance and control system design. However, its high integration also leads to an exponential increase in cost compared to the three-axis turntable, and its reliability is not as good as that of the three-axis turntable. For missile models in the preliminary research stage, the simulation of their guidance and control system mainly focuses on a few typical working conditions. Directly using a five-axis turntable for hardware-in-the-loop simulation verification is costly and has a low cost-effectiveness ratio. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a method for simulating the relative motion between a missile and its target based on a vertical three-axis turntable, which is used for the design of a hardware-in-the-loop simulation system for guidance and control of tactical weapons. This method solves the problem of simulating the real relative motion relationship between a missile and its target when using a vertical three-axis turntable to build a hardware-in-the-loop simulation system for guidance and control of infrared guided missiles.

[0005] The technical solution of this invention is: a method for simulating the relative motion between a projectile and an object based on a vertical three-axis turntable, the method comprising the following steps:

[0006] S1. Mount the target source T onto the inner frame of the turntable using a tooling fixture, and let it rotate with the turntable;

[0007] S2. Determine the installation position relationship between the infrared seeker, turntable, and target source;

[0008] S3. Calculate the relative position and velocity of the missile and the target using the position and velocity information of the target and the missile in three-dimensional space;

[0009] S4. Based on the relative position and velocity of the projectile and the target, calculate the elevation angle of the projectile's line of sight as q.ε The azimuth angle of the bullet's line of sight is q. β The elevation angular velocity of the bullet's line of sight is The azimuth velocity of the bullet's line of sight is

[0010] S5. Based on the installation position relationship between the infrared seeker, turntable, and target source, the elevation angle of the missile-target line of sight is q. ε The azimuth angle of the bullet's line of sight is q. β The elevation angular velocity of the bullet's line of sight is The azimuth velocity of the bullet's line of sight is This is converted into rotation angle and angular velocity commands for the outer and middle frames of the turntable.

[0011] Preferably, the installation position relationship of the infrared seeker, turntable, and target source includes: the distance r between the target source and the intersection point O of the rotation axis of the inner frame, middle frame, and outer frame of the turntable, and the distance d between the infrared seeker and the intersection point O of the rotation axis of the inner frame, middle frame, and outer frame of the turntable, where d>r.

[0012] Preferably, when the target's position in the ground coordinate system is X t =[x t y t z t ] T Speed ​​V t =[vx t vy t vz t ] T The missile's position in the ground coordinate system is X. m =[x m y m z m ] T The speed is V m =[vx m vy m vz m ] T The relative positions of the projectile and the target are [dX dY dZ]. T The relative velocities between the projectile and the target are [dVx dVy dVz] T At that time, the expressions for the relative positions and relative velocities of the projectile and the target are as follows:

[0013]

[0014]

[0015] Preferably, the elevation angle q of the bullet's line of sight ε The angle between the line connecting the infrared seeker and the target source and the horizontal plane; the azimuth angle of the missile-target line of sight, q. βThe angle between the projection of the line connecting the infrared seeker and the target source onto the horizontal plane and the line connecting the infrared seeker to the intersection point O of the rotation axis of the inner frame, middle frame, and outer frame of the turntable.

[0016] Preferably, the elevation angle of the bullet's line of sight is q. ε The azimuth angle of the bullet's line of sight is q. β The elevation angular velocity of the bullet's line of sight is The azimuth velocity of the bullet's line of sight is Relative distance R between projectile and target, relative velocity between projectile and target The calculation is as follows:

[0017]

[0018] Preferably, the rotation angle and angular velocity commands for the turntable's outer frame and middle frame include the outer frame rotation angle command as ψ and the outer frame rotation angular velocity command as... The command for the rotation angle of the middle frame is θ, and the command for the rotation angular velocity of the middle frame is...

[0019] Preferably, the rotation angle θ of the turntable's middle frame is:

[0020]

[0021] Preferably, the rotation angle ψ of the outer frame of the turntable is:

[0022]

[0023] Preferably, the rotational angular velocity of the middle frame of the turntable for:

[0024]

[0025] Preferably, the rotational angular velocity of the outer frame of the turntable for:

[0026]

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] This invention uses a vertical three-axis turntable to simulate the relative motion between the projectile and the target. The turntable rotation command is obtained through mathematical derivation. The hardware-in-the-loop simulation system built using this algorithm can decouple the projectile attitude motion from the relative motion between the projectile and the target. Compared with the hardware-in-the-loop simulation system built using a five-axis turntable, it reduces system complexity, provides better flexibility, and lowers costs. It is beneficial to carry out hardware-in-the-loop simulation in the early stage of the guidance and control system design and provides a new solution for hardware-in-the-loop simulation systems. Attached Figure Description

[0029] Figure 1This is a flowchart of a projectile-target relative motion simulation algorithm based on a vertical three-axis turntable according to the present invention;

[0030] Figure 2 This is a schematic diagram showing the installation position relationship between the infrared seeker, the turntable, and the target source in an embodiment of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and by providing a detailed description of a preferred embodiment.

[0032] This invention provides a method for simulating the relative motion between a missile and its target based on a vertical three-axis turntable. This method utilizes the real spatial positional relationship between the seeker and the three-axis turntable, and calculates the real missile-target line-of-sight angle and angular velocity based on the positional and rotational relationship between the missile and the target. These are then used as inputs to calculate the rotation angle and angular velocity commands of the turntable. This method solves the problem of simulating the real relative motion between a missile and its target using a vertical three-axis turntable to build a semi-physical closed-loop simulation system for guidance and control of infrared-guided missiles.

[0033] like Figure 1 As shown, a method for simulating the relative motion between a projectile and an object based on a vertical three-axis turntable includes the following steps:

[0034] S1. Mount the target source T onto the inner frame of the turntable using a tooling fixture, and let it rotate with the turntable;

[0035] During the rotation of the turntable, the tooling should ensure that the line connecting the target source T and the center of the inner frame of the turntable is always collinear with the rotation axis of the inner frame, that is, the line connecting the inner frame is always perpendicular to the rotation plane of the inner frame.

[0036] S2. Determine the installation position relationship between the infrared seeker, turntable, and target source;

[0037] Let O be the intersection point of the rotation axes of the inner, middle, and outer frames of the turntable, and M be the location of the seeker head. The installation position relationship of the infrared seeker head, turntable, and target source includes: the distance r between the target source and the intersection point O of the rotation axes of the inner, middle, and outer frames of the turntable, and the distance d between the infrared seeker head and the intersection point O of the rotation axes of the inner, middle, and outer frames of the turntable, where d > r. Let O1 be the projection of the target source on the horizontal plane, and let OMO1 be parallel to the horizontal plane. The schematic diagram is defined as follows. Figure 2 As shown.

[0038] The line-of-sight angle of the projectile and the rotation angle of the turntable are defined as follows:

[0039] The turntable used is a vertical three-axis turntable. The outer frame rotates in the yaw direction, let its rotation angle be ψ, and the middle frame rotates in the pitch direction, let its rotation angle be θ; let the elevation angle of the projectile's line of sight be q. ε The azimuth angle of the bullet's line of sight is q. β Where θ = 0 when MT is parallel to the horizontal plane, qε =0, when T is above M, θ>0, q ε >0, when T is below M, θ<0, q ε <0; Looking from point M to point O, when point O1 is to the left of the line connecting MO, q β >0, ψ<0, when point O1 is to the right of the line connecting MO, q β <0,ψ>0, the definition diagram is as follows: Figure 2 As shown.

[0040] S3 uses the position and velocity information of the target and missile in three-dimensional space to calculate the relative position and velocity between the missile and the target.

[0041] Let the position of the target in the ground coordinate system be X. t =[x t y t z t ] T Speed ​​V t =[vx t vy t vz t ] T Let the missile's position in the ground coordinate system be X. m =[x m y m z m ] T The speed is V m =[vx m vy m vz m ] T Let the relative positions of the projectile and the target be [dX dY dZ]. T The relative velocities between the projectile and the target are [dVx dVy dVz] T The expressions for the relative positions and relative velocities of the projectile and the target are as follows:

[0042]

[0043]

[0044] S4. Based on the relative position and velocity of the projectile and the target, calculate the elevation angle of the projectile's line of sight as q. ε The azimuth angle of the bullet's line of sight is q. β The elevation angular velocity of the bullet's line of sight is The azimuth velocity of the bullet's line of sight is

[0045] Bullet eye line height angle q ε , Azimuth angle of the bullet's line of sight q β Angular velocity of the bullet's line of sight azimuth velocity of bullet sight line The expression is as follows:

[0046]

[0047] S4. Based on the installation position relationship between the infrared seeker, turntable, and target source, the elevation angle of the missile-target line of sight is q. ε The azimuth angle of the bullet's line of sight is q. β The elevation angular velocity of the bullet's line of sight is The azimuth velocity of the bullet's line of sight is This is converted into rotation angle and angular velocity commands for the outer and middle frames of the turntable.

[0048] Let the outer frame rotation angle command be ψ, and the outer frame rotation angular velocity command be... The command for the rotation angle of the middle frame is θ, and the command for the rotation angular velocity of the middle frame is... Its expression is as follows:

[0049]

[0050]

[0051]

[0052]

[0053] Among them, [q] ε q β ] T To provide the actual elevation and azimuth angles relative to the line of sight of the target, The values ​​represent the relative elevation and azimuth angular velocities of the projectile and the target relative to the line of sight.

[0054] In summary, this invention utilizes the real spatial positional relationship between the seeker and the three-axis turntable, defines and calculates the real missile-target line-of-sight angle and angular velocity based on the positional and rotational relationship between the missile and the target, and uses these as inputs to calculate the desired rotation angle and angular velocity of the turntable. This establishes a missile-target relative motion simulation algorithm based on a vertical three-axis turntable, solving the problem of simulating the real missile-target relative motion in a semi-physical closed-loop simulation system for guidance and control of infrared-guided missiles using a vertical three-axis turntable.

[0055] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for simulating the relative motion between a projectile and an object based on a vertical three-axis rotary table, characterized in that, Includes the following steps: S1, target source The fixture is mounted on the inner frame of the turntable and rotates with the turntable; during the rotation of the turntable, the fixture is used to ensure the target source is secure. The line connecting the center of the inner frame of the turntable is always collinear with the rotation axis of the inner frame, that is, the line connecting the inner frame is always perpendicular to the rotation plane of the inner frame. S2. Determine the installation position relationship between the infrared seeker, turntable, and target source; S3. Calculate the relative position and velocity of the missile and the target using the position and velocity information of the target and the missile in three-dimensional space; S4. Based on the relative position and velocity of the projectile and the target, calculate the elevation angle of the projectile's line of sight. The azimuth angle of the bullet's line of sight is The elevation angular velocity of the bullet's line of sight is The azimuth velocity of the bullet's line of sight is ; S5. Based on the installation position relationship between the infrared seeker, turntable, and target source, determine the elevation angle of the missile-target line of sight as follows: The azimuth angle of the bullet's line of sight is The elevation angular velocity of the bullet's line of sight is The azimuth velocity of the bullet's line of sight is This is converted into rotation angle and angular velocity commands for the outer and middle frames of the turntable. The elevation angle of the bullet's line of sight is: The azimuth angle of the bullet's line of sight is The elevation angular velocity of the bullet's line of sight is The azimuth velocity of the bullet's line of sight is Relative distance between bullet and target Relative velocity of projectile and target The calculation is as follows: The rotation angle and angular velocity commands for the turntable's outer and middle frames, including the outer frame rotation angle command, are as follows: The outer frame rotation angular velocity command is The command for rotating the middle frame is as follows: The angular velocity command for the middle frame rotation is ; The rotation angle of the middle frame of the turntable for: The rotation angle of the outer frame of the turntable for: The rotational angular velocity of the middle frame of the turntable for: The rotational angular velocity of the outer frame of the turntable for: 。 2. The method for simulating the relative motion of a projectile and its target based on a vertical three-axis rotary table according to claim 1, characterized in that... The installation positional relationship between the infrared seeker, turntable, and target source includes: the intersection points of the target source with the rotation axes of the inner frame, middle frame, and outer frame of the turntable. distance The intersection points of the infrared seeker with the rotation axes of the inner frame, middle frame, and outer frame of the turntable. The distance d, .

3. The method for simulating the relative motion of a projectile and its target based on a vertical three-axis turntable according to claim 1, characterized in that... When the target's position in the ground coordinate system is ,speed The missile's position in the ground coordinate system is The speed is The relative positions of the bullet and the target are The relative velocity between the projectile and the target is At that time, the expressions for the relative positions and relative velocities of the projectile and the target are as follows:

4. The method for simulating the relative motion of a projectile and its target based on a vertical three-axis turntable according to claim 1, characterized in that... The elevation angle of the bullet's line of sight The angle between the line connecting the infrared seeker and the target source and the horizontal plane; the azimuth angle of the missile-target line of sight. The projection of the line connecting the infrared seeker and the target source onto the horizontal plane, and the intersection point of the infrared seeker with the rotation axes of the inner, middle, and outer frames of the turntable. The angle between the lines.

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