A guidance method based on the inertial spatial angular velocity of the target's line of sight.

Abstract

This invention provides a guidance method based on the missile-target line-of-sight inertial spatial angular velocity, belonging to the field of missile guidance calculation. The method includes: obtaining missile and target position information through the guidance radar of a guidance station; projecting the target and missile onto the horizontal and vertical planes, and calculating the missile-target line-of-sight angle q based on the position information and projection parameters; calculating the change dq of the missile-target line-of-sight angle using a total differential equation to obtain the missile-target line-of-sight inertial spatial angular velocity; and transmitting the missile-target line-of-sight inertial spatial angular velocity to the missile control system for guidance. This invention utilizes the guidance radar to measure the missile and target position information, calculates the missile-target line-of-sight inertial spatial angular velocity, and then transmits it to the missile. This eliminates system errors, minimizes the influence of errors when calculating the missile-target line-of-sight inertial spatial angular velocity, and significantly improves the calculation accuracy of the missile-target line-of-sight inertial spatial angular velocity.

Description

Technical Field

[0001] This invention belongs to the field of missile guidance technology, specifically relating to an engineering implementation method for the optimal homing guidance law of a remote-controlled missile that takes into account the error of the angle measurement system. Background Technology

[0002] A missile guidance system measures and calculates the missile's relative position to a target or spatial reference line, controlling the missile to reach the target according to predetermined guidance laws. It includes autonomous guidance, remote control guidance, homing guidance, and composite guidance. A guidance law is a set of rules that guides the missile's flight path when it attacks a target. Currently, most homing missiles in engineering use proportional guidance laws for guidance. With the advancement of computer technology, modern guidance laws based on modern control theory have also developed rapidly.

[0003] The key to achieving optimal homing guidance for a missile lies in calculating the inertial spatial angular velocity of the missile's line of sight through information measured by the guidance radar.

[0004] Currently, the inertial spatial angular velocity of the missile's line-of-sight is determined by the guidance radar of the missile's seeker, and then calculated by the onboard computer. Angle measurement methods include the two-antenna phase method, the maximum signal method, and the equal signal method, while ranging methods include triangulation ranging and amplitude-modulated continuous wave ranging. Factors such as radar leveling, precise radar calibration, antenna beamform gain and scanning mode, receiver sensitivity, transmitter power, and environmental conditions can all contribute to radar measurement errors.

[0005] The existing analytical expression for the inertial spatial angular velocity of the projectile-eye line of sight is as follows:

[0006]

[0007] Among them, V T V M R represents the velocity of the target and the missile, α and β represent the trajectory inclination angles of the target and the missile, and q represents the line-of-sight angle between the target and the missile.

[0008] The current calculation methods cannot eliminate the ranging and angle measurement errors present in engineering guidance radars, which greatly reduces the calculation accuracy of the inertial space angular velocity of the missile-eye line of sight, especially the angle measurement error has a significant impact. Summary of the Invention

[0009] To address the problem of large ranging and angle measurement errors in existing guidance radars, this invention provides a guidance method based on the inertial spatial angular velocity of the missile-eye line of sight.

[0010] To achieve the above objectives, the present invention provides the following technical solution:

[0011] A guidance method based on the inertial spatial angular velocity of a missile's line of sight includes the following steps:

[0012] Collect missile position information and target position information;

[0013] Project the missile and the target onto the horizontal plane respectively, and calculate the projection parameters of the missile's position information and the target's position information onto the horizontal plane.

[0014] The guidance station is projected onto the vertical plane where the missile's line of sight is located, and the projection parameters of the missile's position information and the target's position information in the vertical plane are calculated.

[0015] Construct an expression for the line-of-sight angle q of the projectile based on each projection parameter;

[0016] Construct the total differential equation for the change in the line-of-sight angle dq based on the expression for the line-of-sight angle q.

[0017] The inertial spatial angular velocity of the projectile's line of sight is calculated using the total differential equation of the change in the projectile's line-of-sight angle dq.

[0018] The inertial spatial angular velocity of the bullet's line of sight The data is transmitted to the missile control system for guidance.

[0019] Preferably, the missile position information and target position information are obtained by measuring the guidance radar of the guidance station.

[0020] Preferably, the target location information includes the target elevation angle θ. M Target azimuth ψ M Target slant range R M The missile position information includes the missile elevation angle θ. D Missile azimuth angle ψ D Missile slant range R D .

[0021] Preferably, the step of projecting the missile and the target onto a horizontal plane respectively, and calculating the projection parameters of the missile's position information and the target's position information onto the horizontal plane, specifically includes the following steps:

[0022] Project the target and missile separately into the horizontal plane;

[0023] Based on the target elevation angle θ M Target slant range R M Calculate the projected length R of the target slant range in the horizontal plane. Mh According to the missile's elevation angle θ D Missile slant range R D Calculate the projected length R of the missile's slant range in the horizontal plane. Dh :

[0024] R Mh =R M cos(θ M )

[0025] R Dh =R D cos(θ D )

[0026] Based on the target azimuth angle ψ M Missile azimuth angle ψ D and projection length R Mh Projection length R Dh Calculate the projected length R of the projectile-target distance in the horizontal plane. h :

[0027]

[0028] Based on the projection length R Mh Projection length R Dh and projection length R h Calculate the angle ξ between the projection of the target's slant range onto the horizontal plane and the projection of the projectile's line of sight onto the horizontal plane. M :

[0029]

[0030] Based on the target azimuth angle ψ M Missile azimuth angle ψ D and included angle ξ M Calculate the angle ξ between the projection of the missile's slant range onto the horizontal plane and the projection of the missile's line of sight onto the horizontal plane. D :

[0031] ξ D =ξ M +ψ M -ψ D .

[0032] Preferably, the step of projecting the guidance station onto the vertical plane where the missile's line of sight is located, and calculating the projection parameters of the missile's position information and the target's position information in the vertical plane, specifically includes the following steps:

[0033] Project the guidance station onto the vertical plane where the missile's line of sight is located;

[0034] Based on the target elevation angle θ M Target slant range R M Calculate the target height H M According to the missile's elevation angle θ D Missile slant range R D Calculate missile altitude H D :

[0035] H M =R M sinθ M

[0036] H D =R D sinθ D

[0037] Based on the target height H M Missile altitude H D Projection length R Mh Projection length R Dh Angle ξ M and included angle ξ D Calculate the projected length R of the target's slant range in the vertical plane where the projectile's line of sight is located. Mv and the projected length R of the missile's slant range in the vertical plane where the missile's line of sight is located. Dv :

[0038]

[0039]

[0040] Based on the target height H M Missile altitude H D Projection length R Mv and projection length R Dv Calculate the elevation angle ε of the target's projection point onto the vertical plane where the guidance station's line of sight lies. M and the elevation angle ε of the missile relative to the projection point of the guidance station in the vertical plane where the missile's line of sight is located. D :

[0041]

[0042]

[0043] Based on the projection length R Mv Projection length R Dv Elevation angle ε M and elevation angle ε D Calculate the target distance R:

[0044]

[0045] Based on the projection length R Mv Projection length R Dv Given the target-target distance R, calculate the angle η between the projection of the target slant range onto the vertical plane containing the target's line of sight and the target-target distance. M :

[0046]

[0047] Preferably, the step of constructing the expression for the bullet-eye line-of-sight angle q based on each projection parameter is specifically as follows:

[0048] According to the elevation angle ε M and included angle η M Construct the expression for the line-of-sight angle q of the projectile:

[0049] q=ε M +η M .

[0050] Preferably, the step of constructing the total differential equation for the change in the bullet-eye line-of-sight angle dq based on the expression for the bullet-eye line-of-sight angle q is as follows:

[0051]

[0052] in,

[0053]

[0054]

[0055]

[0056]

[0057]

[0058]

[0059] This indicates that the function takes a partial derivative with respect to the independent variable, dt represents the time interval of the guided radar measurement information; t and t+dt represent the measurement time; e i The measurement error of the measured quantity is represented by , and di represents the change in the measured quantity within the time interval dt, where i = θ M ,ψ M ,R M ,θ D ,ψ D ,R D ).

[0060] Preferably, the inertial spatial angular velocity of the projectile-eye line of sight is calculated using the total differential equation of the change in the projectile-eye line of sight angle dq. Specifically:

[0061]

[0062] The guidance method based on the inertial spatial angular velocity of the projectile-eye line of sight provided by this invention has the following beneficial effects:

[0063] This invention uses a guidance station to measure missile and target position information with a guidance radar. By projecting the missile and target onto a horizontal plane and the guidance station onto the vertical plane where the missile and target's line of sight are located, projection parameters of the relevant position information are calculated. Then, the inertial spatial angular velocity of the missile and target's line of sight is calculated using the projection parameters, and then transmitted to the missile for guidance. The error impact when calculating the inertial spatial angular velocity of the missile and target's line of sight is small, the system error is eliminated, and the calculation accuracy of the inertial spatial angular velocity of the missile and target's line of sight is greatly improved. Attached Figure Description

[0064] To more clearly illustrate the embodiments and design schemes of the present invention, the accompanying drawings required for this embodiment will be briefly described below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 This is a schematic diagram illustrating the inertial spatial relationship between the guidance station, the target, and the missile when calculating the missile-target line-of-sight angle according to the present invention.

[0066] Figure 2 for Figure 1 A schematic diagram projected onto the horizontal plane;

[0067] Figure 3 for Figure 1 A schematic diagram projected onto the vertical plane where the projectile's line of sight is located. Detailed Implementation

[0068] To enable those skilled in the art to better understand and implement the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0069] Example 1

[0070] This invention provides a guidance method based on the inertial spatial angular velocity of the missile-target line of sight. The method involves the guidance station using guidance radar to measure the missile position information and target position information, calculating the inertial spatial angular velocity of the missile-target line of sight, and then transmitting it to the missile for guidance.

[0071] The systematic error measured by the pseudo-customized guidance station radar is constant during an attack. The calculation method of this invention eliminates the systematic error, and the error has little impact when calculating the inertial spatial angular velocity of the missile-target line of sight. The guidance law for the optimal homing of the remote-controlled missile can be implemented with high precision in engineering.

[0072] Specifically, such as Figure 1 As shown, the guidance station is denoted as O, the target as M, and the missile as D. The specific steps of this invention are as follows:

[0073] Step 1: Obtain missile position information and target position information by measuring the guidance radar of the guidance station.

[0074] Specifically, the target location information includes the target elevation angle θ. M Target azimuth ψ M Target slant range R M Missile position information includes the missile's elevation angle θ D Missile azimuth angle ψ D Missile slant range R D .

[0075] Step 2: Project the missile and target onto the horizontal plane respectively, and calculate the projection parameters of the missile's position information and the target's position information onto the horizontal plane. This includes the following steps:

[0076] like Figure 2 As shown, the target and missile are projected onto a horizontal plane, and the projection points are denoted as M0 and D0:

[0077] Step 2.1: Based on the target elevation angle θ M Target slant range R M Calculate the projected length R of the target slant range in the horizontal plane. Mh According to the missile's elevation angle θ D Missile slant range R D Calculate the projected length R of the missile's slant range in the horizontal plane. Dh :

[0078] R Mh =R M cos(θ M )

[0079] R Dh =R D cos(θ D )

[0080] Step 2.2: Based on the target azimuth angle ψ M Missile azimuth angle ψ D and projection length R Mh Projection length R Dh The projected length R of the projectile-target distance in the horizontal plane is calculated using the law of cosines. h :

[0081]

[0082] Step 2.3: Based on the projection length R Mh Projection length R Dh and projection length R hThe angle ξ between the projection of the target's slant range onto the horizontal plane and the projection of the projectile's line of sight onto the horizontal plane is calculated using the law of cosines. M :

[0083] Step 2.4: Based on the target azimuth angle ψ M Missile azimuth angle ψ D and included angle ξ M The angle ξ between the projection of the missile's slant range onto the horizontal plane and the projection of the missile's line of sight onto the horizontal plane is calculated using the exterior angle and formula. D :

[0084] ξ D =ξ M +ψ M -ψ D .

[0085] Step 3: Project the guidance station onto the vertical plane where the missile's line of sight to the target is located, and calculate the projection parameters of the missile's position information and the target's position information in the vertical plane. This includes the following steps:

[0086] like Figure 3 As shown, the guidance station is projected onto the vertical plane where the missile's line of sight is located, and the projection point is recorded as O0. Step 3.1: Based on the target's elevation angle θ M Target slant range R M Calculate the target height H M According to the missile's elevation angle θ D Missile slant range R D Calculate missile altitude H D :

[0087] H M =R M sinθ M

[0088] H D =R D sinθ D

[0089] Step 3.2, based on the target height H M Missile altitude H D Projection length R Mh Projection length R Dh Angle ξ M and included angle ξ D Calculate the projected length R of the target's slant range in the vertical plane where the projectile's line of sight is located. Mv and the projected length R of the missile's slant range in the vertical plane where the missile's line of sight is located. Dv :

[0090]

[0091]

[0092] Step 3.3: Based on the target height H M Missile altitude H D Projection length R Mv and projection length R Dv Calculate the elevation angle ε of the target's projection point onto the vertical plane where the guidance station's line of sight lies. M and the elevation angle ε of the missile relative to the projection point of the guidance station in the vertical plane where the missile's line of sight is located. D :

[0093]

[0094]

[0095] Step 3.4: Based on the projection length R Mv Projection length R Dv Elevation angle ε M and elevation angle ε D The target distance R is calculated using the law of cosines:

[0096]

[0097] Step 3.5: Based on the projection length R Mv Projection length R Dv Given the target-slant distance R, the angle η between the target's slant range projected onto the vertical plane containing the target's line of sight and the target-slant distance is calculated using the law of cosines. M :

[0098]

[0099] Step 4: Construct an expression for the projectile's line-of-sight angle q based on the projection parameters:

[0100] q=ε M +η M .

[0101] Step 5: Construct the total differential equation for the change in the projectile-eye line-of-sight angle dq based on the expression for q:

[0102]

[0103] in,

[0104]

[0105]

[0106]

[0107]

[0108]

[0109]

[0110] This indicates that the function takes a partial derivative with respect to the independent variable, dt represents the time interval of the guided radar measurement information; t and t+dt represent the measurement time; e i d represents the measurement error of the measured quantity. i This represents the change in the measured quantity within the time interval dt, where i = θ M ,ψ M ,R M ,θ D ,ψ D ,R D ).

[0111] Step 6: Calculate the inertial spatial angular velocity of the projectile's line of sight using the total differential equation of the change in the projectile's line-of-sight angle dq.

[0112]

[0113] Step 7: The guidance station will use the missile's line-of-sight inertial spatial angular velocity... The data is transmitted to the missile control system for the implementation of the optimal homing guidance law, thereby achieving the guidance objective.

[0114] This invention disregards random errors, assuming the error of the guidance radar measurement system is a constant value c:

[0115]

[0116]

[0117]

[0118]

[0119]

[0120]

[0121] The change in the missile-target line-of-sight angle dq uses the changes in six measured quantities, which is the value at time (t+dt) minus the value at time t. During this subtraction, the constant systematic error c of the measurement is eliminated. It can be seen that when calculating the changes in missile and target position information, the measurement error, considered constant c, is canceled out. In other words, this invention eliminates the constant systematic error c of the guidance radar measurement when calculating the inertial spatial angular velocity of the missile-target line-of-sight, enabling a more accurate implementation of the optimal homing guidance law in engineering.

[0122] This invention changes the original method, which required the missile to use its own seeker radar and onboard computer for measurement and calculation. Instead, the radar at the guidance station measures the information, and the computer at the guidance station performs the measurement and calculation. This change in calculation method eliminates measurement errors, and the results are then transmitted to the missile for guidance.

[0123] The above-described embodiments are merely preferred embodiments of the present invention, and the scope of protection of the present invention is not limited thereto. Any simple changes or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the scope of the technology disclosed in the present invention shall fall within the scope of protection of the present invention.

Claims

1. A guidance method based on the inertial spatial angular velocity of a projectile's line-of-sight, characterized in that, include: Collect missile position information and target position information; the target position information includes the target elevation angle θ. M Target azimuth ψ M Target slant range R M The missile position information includes the missile elevation angle θ. D Missile azimuth angle ψ D Missile slant range R D ; Project the missile and target onto the horizontal plane respectively, and determine the target's elevation angle θ. M Target slant range R M Calculate the projected length R of the target slant range in the horizontal plane. Mh According to the missile's elevation angle θ D Missile slant range R D Calculate the projected length R of the missile's slant range in the horizontal plane. Dh According to the target azimuth angle ψ M Missile azimuth angle ψ D and projection length R Mh Projection length R Dh Calculate the projected length R of the projectile-target distance in the horizontal plane. h According to the projection length R Mh Projection length R Dh and projection length R h Calculate the angle ξ between the projection of the target's slant range onto the horizontal plane and the projection of the projectile's line of sight onto the horizontal plane. M According to the target azimuth angle ψ M Missile azimuth angle ψ D and included angle ξ M Calculate the angle ξ between the projection of the missile's slant range onto the horizontal plane and the projection of the missile's line of sight onto the horizontal plane. D ; Project the guidance station onto the vertical plane where the missile's line of sight is located, based on the target's elevation angle θ. M Target slant range R M Calculate the target height H M According to the missile's elevation angle θ D Missile slant range R D Calculate missile altitude H D According to the target height H M Missile altitude H D Projection length R Mh Projection length R Dh Angle ξ M and included angle ξ D Calculate the projected length R of the target's slant range in the vertical plane where the projectile's line of sight is located. Mv and the projected length R of the missile's slant range in the vertical plane where the missile's line of sight is located. Dv According to the target height H M Missile altitude H D Projection length R Mv and projection length R Dv Calculate the elevation angle ε of the target's projection point onto the vertical plane where the guidance station's line of sight lies. M And the elevation angle ε of the missile relative to the projection point of the guidance station in the vertical plane where the missile's line of sight is located. D According to the projection length R Mv Projection length R Dv Elevation angle ε M and elevation angle ε D Calculate the target distance R; based on the projected length R Mv Projection length R Dv Given the target-target distance R, calculate the angle η between the projection of the target slant range onto the vertical plane containing the target's line of sight and the target-target distance. M ; Based on the projection parameters, an expression for the projectile-eye line-of-sight angle q is constructed: q = ε M +η M ; Construct the total differential equation for the change in the line-of-sight angle dq based on the expression for the line-of-sight angle q. The inertial spatial angular velocity of the projectile's line of sight is calculated using the total differential equation of the change in the projectile's line-of-sight angle dq. The inertial spatial angular velocity of the bullet's line of sight The data is transmitted to the missile control system for guidance.

2. The guidance method based on the inertial spatial angular velocity of the projectile-eye line of sight according to claim 1, characterized in that, The missile's position information and the target's position information are obtained by measuring the guidance radar of the guidance station.

3. The guidance method based on the inertial spatial angular velocity of the projectile-eye line of sight according to claim 1, characterized in that, The projection length R of the target slant range in the horizontal plane Mh The projected length R of the missile slant range in the horizontal plane Dh The calculation formulas are as follows: R Mh =R M cos(θ M ) R Dh =R D cos(θ D ) The projected length R of the target distance in the horizontal plane h The formula for calculation is: The angle ξ between the projection of the target slant range onto the horizontal plane and the projection of the projectile's line of sight onto the horizontal plane. M The formula for calculation is: The angle ξ between the missile's slant range projected onto the horizontal plane and the projected line of sight onto the horizontal plane is... D The formula for calculation is: x D =ξ M +ψ M -ψ D 。 4. The guidance method based on the inertial spatial angular velocity of the projectile-eye line of sight according to claim 3, characterized in that, The target height H M and missile altitude H D The calculation formulas are as follows: H M =R M sinθ M H D =R D sinθ D The projected length R of the target slant range in the vertical plane where the projectile's line of sight is located. Mv and the projected length R of the missile's slant range in the vertical plane where the missile's line of sight is located. Dv The calculation formulas are as follows: The elevation angle ε of the target's projection point within the vertical plane of the missile's line of sight from the guidance station is... M And the elevation angle ε of the missile relative to the projection point of the guidance station in the vertical plane where the missile's line of sight is located. D The calculation formulas are as follows: The formula for calculating the target distance R is: The angle η between the projection of the target slant range onto the vertical plane where the projectile's line of sight is located and the distance between the projectile and the target is η. M The formula for calculation is:

5. The guidance method based on the inertial spatial angular velocity of the projectile-eye line of sight according to claim 4, characterized in that, The total differential equation for the change in the line-of-sight angle dq, constructed based on the expression for the line-of-sight angle q, is as follows: in, This indicates that the function takes a partial derivative with respect to the independent variable, dt represents the time interval of the guided radar measurement information; t and t+dt represent the measurement time; e i (represents the measurement error of the measured quantity, and di represents the change of the measured quantity within the time interval dt, where i = θ) M ,ψ M ,R M ,θ D ,ψ D ,R D ).

6. The guidance method based on the inertial spatial angular velocity of the projectile-eye line of sight according to claim 5, characterized in that, The inertial spatial angular velocity of the projectile's line of sight is calculated using the total differential equation of the change in the projectile's line-of-sight angle dq. Specifically:

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