Containerized carrier rocket targeting system for emergency launch

Abstract

The present invention provides a containerized carrier rocket aiming system for emergency launch, comprising: a launch box, an inertial measurement unit (IMU), a launch platform, and a camera device. The launch box is designed to be placed horizontally on the ground. The IMU is installed in the launch box, away from one end of the rocket body and located on the long axis of the launch box, and is horizontally fixedly connected to the bottom plate of the launch box. The launch platform is hinged to the launch box and is used to drive the rocket body to complete an upright position from a horizontal position in the box to a vertical position, or to reverse from a vertical position to a horizontal position in the box. The rocket body is placed on the launch platform of the launch box and can complete a certain angle of rotation. The camera is installed in the launch box, facing the scale grid at the rear of the rocket body, and is used to read the angle value displayed on the scale grid. The present invention can meet all firing requirements without a firing dead zone, thereby improving reliability.

Description

Technical Field

[0001] The present invention relates to rocket aiming, in particular to an emergency launch container-type carrier rocket aiming system. Background Art

[0002] Rapid space equipment response can effectively shorten support response times for emergencies such as disasters and wars, and is crucial for improving a nation's space application capabilities and space control capabilities. Emergency space launches are fundamental to rapid space equipment response, primarily enabling the rapid integration, maneuvering, testing, and launch of launch systems within a short timeframe. Containerized launch vehicles, stored and launched in standard containers, are a suitable launch mode for emergency launch missions due to their excellent field maneuverability and concealment.

[0003] To ensure mission quality, the launch of a carrier rocket requires high direction accuracy. In order to respond to flexible mission requirements, box-type launch is generally carried out in a whole box, unmanned, and deployed in multiple locations. Therefore, each single product on the rocket must have the characteristics of low cost and modularity. Moreover, box-type launch generally includes the relative movement process of structural mechanisms such as unpacking, leveling, and erecting. The relative position and installation relationship of the box and the rocket will change greatly from the static state to the ignition moment. Due to the influence of structural deformation, temperature, etc., the above relative position and installation relationship will introduce uncertain errors, which are difficult to accurately calibrate in advance, making the transfer alignment proposed in the patent entitled "A SINS Arbitrary Misalignment Angle Non-Singular Fast Transfer Alignment Method" (CN 108981696 A) inapplicable. In addition, the container is generally in a static state before launch, and cannot provide the maneuvering conditions required by the inertial equipment on the rocket, making the transfer alignment proposed in the literature such as "Application of Transfer Alignment in Guided Multiple Rocket Launch Systems" (Piezoelectricity and Acousto-Optics, Vol. 32(4), 2010) and "Research on Transfer Alignment Method of Vehicle-mounted Long-range Guided Missiles" (Computer Measurement and Control, 2020) inapplicable.

[0004] Traditional optical alignment has high requirements for ground supporting facilities, requires personnel at the front end, and the method takes a long time and has a low degree of automation. In recent years, autonomous alignment methods based on high-precision inertial equipment on rockets have appeared on launch vehicles. Through algorithm design, the alignment time required for a direction deviation within 0.5° is about 20 minutes. This method can achieve unmanned autonomous alignment at the front end, but high-precision inertial equipment (such as 3σ0.1° / h) is expensive, the rocket should be in the erection and launch state during alignment, and the alignment takes a long time, which is not suitable for box-type emergency launch. In fact, the navigation error caused by the low-precision inertial group (such as 3σ1.5° / h) on the rocket during flight can be compensated by combined navigation technology, thereby reducing the impact on the orbital deviation. However, as far as the ground autonomous alignment process is concerned, the low-precision inertial group will not be able to meet the requirements of advanced algorithms. For example, the rapid alignment method during the erection process introduced in "A method for fast alignment of strapdown inertial navigation during the erection process" (Journal of Ordnance Equipment Engineering, Vol. 39(3), March 2018) has an inertial group accuracy of 0.01° / h. Therefore, for box-type launch scenarios where the accuracy of the arrow inertia group is low, the erection condition is involved, and the alignment speed after erection is required to be high, it is necessary to propose a new alignment system that meets the requirements. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a container-type carrier rocket aiming system for emergency launch.

[0006] The container-type carrier rocket aiming system for emergency launch provided by the present invention comprises: a launch box, an inertial measurement unit, a launch platform and a camera device;

[0007] The launch box is used to be placed horizontally on the ground;

[0008] The inertial measurement unit is installed in the launch box away from one end of the rocket body and is located on the long axis of the launch box. The inertial measurement unit is horizontally fixed to the bottom plate of the launch box;

[0009] The launching platform is hinged to the launching box through a hinge, and is used to drive the rocket body to complete the action of standing up from the horizontal position in the box to the vertical position or falling back from the vertical position to the horizontal position in the box. The rocket body is placed on the launching platform of the launching box and can complete a certain angle of rotation.

[0010] The camera is installed in the launch box, facing the scale grid at the tail of the rocket body, and is used to read the angle value displayed on the scale grid.

[0011] Preferably, it also includes an erecting arm;

[0012] The erection arm is hinged on the launch box and is used to share the weight of the rocket body.

[0013] Preferably, the scale grid is used to quantify the circumferential angle of the rocket body.

[0014] Preferably, an inner partition is provided inside the launch box, and the inner partition divides the space inside the launch box into an installation box at the head and a rocket body storage space at the tail;

[0015] The inertial measurement unit is installed in the installation box, and the rocket body, launch platform and erection arm are stored in the rocket body storage space.

[0016] Preferably, the rocket body is equipped with an on-board inertia group, and the axes of the on-board inertia group point in the same direction as the axes of the rocket body.

[0017] Preferably, the orientation of the inertial measurement unit is: x b The axis is perpendicular to the bottom of the launch box and faces upwards, b The axis is parallel to the long axis of the launch box and points away from the rocket body. b Axis and x b 、y b The axes form a right-handed system;

[0018] The inertial measurement unit is used to complete its attitude angle relative to the North Celestial East coordinate system based on the apparent acceleration and angular velocity information it senses. Estimates.

[0019] Preferably, the launch box body carries the rocket body in the launch state, and the main axis of the box body is deformed by an angle δ when viewed from above. eq Calibration is performed through a collimator;

[0020] Among them, δ eq It is the angle between the tangent of the main axis of the box at the installation point of the inertial measurement unit in the box and the tangent of the main axis of the rocket body at the intersection of the launch platform in the horizontal state. The positive direction is the high-precision inertial measurement unit in the box -x b Right-hand orientation of the axis.

[0021] Preferably, the camera device includes a camera and a decoding device;

[0022] The camera faces the direction of the rocket body, and after the rocket body is erected, the camera's field of view should face the grid, and the center of the field of view should coincide with the section plane of the main axis of the launch box's long axis;

[0023] The decoding device is used to complete video stream parsing in real time;

[0024] The camera device is used to obtain the scale grid and scale value δ in the field of view num , where 0≤δ num <360. Preferably, the launch azimuth angle A0 of the rocket body can be calculated according to the following formula:

[0025] A0=π-γ+δ eq +πδ num / 180.

[0026] Preferably, the axes of the launch box, the inertial measurement unit and the launch platform are in the same plane; the axis of the rocket body intersects perpendicularly with the long axis of the launch box.

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

[0028] 1. The present invention quantifies the angular position of the arrow body by means of a scale on the tail of the arrow body, rather than determining the angular position of the arrow body relative to a reference axis by measuring the error in the onboard inertial group readings. This reduces the accuracy requirements of the onboard inertial group readings. Furthermore, the quantification of the angular position in the present invention is mechanical rather than algorithmic, thus meeting all firing requirements without a dead zone, thereby improving reliability.

[0029] 2. In the present invention, the arrow body is shot toward the reference position on the box after erection. Since the reading is taken after erection is completed and the scale is located at the tail of the arrow, the influence of the erection process on the relative position of the arrow body and the erection frame can be eliminated, and the lever arm effect after the arrow body is erected can be weakened.

[0030] 3. The reference orientation in the present invention is obtained through the self-alignment of the high-precision inertial group of the box. The self-alignment is completed before the box is opened and erected. The shooting direction after erection is completed can be obtained by directly adding and subtracting the reading from the reference shooting direction of the launch box. Compared with filtering means or solidification analysis methods, it does not require long-term sampling after erection and has good speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0032] Figure 1 Schematic diagram of a containerized carrier rocket aiming system for emergency launch according to an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of angle measurement in an embodiment of the present invention;

[0034] Figure 3 Schematic diagram of camera reading in an embodiment of the present invention.

[0035] In the picture:

[0036] 1 is the launch box, 2 is the high-precision inertial measurement unit, 3 is the partition inside the launch box, 4 is the camera device, 5 is the hinge, 6 is the launch platform, 7 is the scale grid, 8 is the erection arm, 9 is the rocket body, and 10 is the on-rocket inertial group. DETAILED DESCRIPTION

[0037] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several variations and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0038] like Figure 1 As shown, the container-type carrier rocket aiming system for emergency launch provided by the present invention includes a launch box 1, a high-precision inertial measurement unit 2 and a camera device 4;

[0039] The launch box 1 is placed horizontally on the ground. The high-precision inertial measurement unit 2 is installed in the launch box 1 at one end away from the rocket body 9 and is located on the long axis of the launch box 1. It is horizontally fixed to the bottom plate of the launch box 1 and is separated from the rocket body storage space by a partition 3 inside the launch box.

[0040] The rocket body 9 is placed on the launching platform 6 of the launching box 1. The launching platform 6 is hinged to the launching box 1 through a hinge 5 and can complete a certain angle of rotation, which is used to drive the rocket body 9 to complete the action of standing up from the horizontal position in the box to the vertical position or returning from the vertical position to the horizontal position in the box.

[0041] When the rocket is large, for example, with a total weight exceeding 5 tons, the erection or retraction action requires an erection arm 8 to share the weight of the rocket body 9. The erection arm 8 is also a mechanical structure hinged on the launch box.

[0042] The scale grid 7 is a series of scale grids sprayed on the tail of the rocket body 9, which is used to quantify the circumferential angle of the rocket body; the camera device 4 is installed in the launch box 1, facing the scale grid 7 at the tail of the rocket body 9, and is used to read the angle value displayed by the scale grid 7;

[0043] The on-arrow inertia group 10 is installed on the rocket body 9, and the axes of the on-arrow inertia group 10 point in the same direction as the axes of the rocket body 9.

[0044] In the embodiment of the present invention, the gyro zero drift stability of the high-precision inertial measurement unit 2 should be better than 3σ0.1° / h, and its direction is: x b The axis is perpendicular to the bottom of the launch box and faces upwards, b The axis is parallel to the long axis of the launch box and points away from the rocket body. b Axis and x b 、y b The axes form a right-hand system.

[0045] The high-precision inertial measurement unit 2 should be able to complete its own attitude angle relative to the North Celestial East coordinate system based on the apparent acceleration and angular velocity information it senses and the binding data of the launch point. An estimate of , where 0≤γ<2π.

[0046] The launch box 1 is a standard container with an internal partition 3 that divides the space inside the launch box into two parts. The high-precision inertial measurement unit 2 is installed in the installation box at the head, and the rocket body storage space at the tail stores the launch vehicle body 9, launch platform 6, erection arm 8 and other mechanisms. The central axis of the launch box 1 in the longitudinal direction is the main axis of the box. When the box is loaded, the angle δ of the main axis of the box when viewed from above is eq A collimator is required for calibration, δ eq It is the angle between the tangent of the main axis of the box at the installation point of the high-precision inertial measurement unit in the box and the tangent of the main axis of the rocket body when the launch platform is horizontal. The positive direction is the high-precision inertial measurement unit in the box -x b Right-handed orientation of the axis, where -π≤δ eq <π.

[0047] In the embodiment of the present invention, the scale grid 7 is a series of symbolic marks indicating the circumferential angles of the arrow body, where quadrant I of the arrow body is 0°, quadrant II is 90°, and so on up to 360°; the grid division value can be selected according to the accuracy requirement. Generally, the angle division value that can be selected if the error of the shooting direction is required to be within 0.5° is 1°. The grid scale is clear, and the spacing and readings should be distinguishable from the picture taken by the camera device. There should be obvious scale values ​​at the ten scales.

[0048] In the embodiment of the present invention, the camera device includes a high-definition camera and a decoding device, which is installed at the tail of the launch box. The camera looks in the direction of the rocket body, and after the rocket body is erected, the camera field of view should be directly opposite the grid, and the center of the field of view should coincide with the main axis section of the launch box long axis; the decoding device is used to complete the video stream analysis in real time; the camera device should clearly observe the scale grid and the scale value δ in the field of view. num , where 0≤δ num <360.

[0049] In the embodiment of the present invention, the rocket body 9 should be in a vertical position after being erected, and the directions of the axes of the onboard inertia group 10 should be consistent with the axes of the rocket body.

[0050] The launch azimuth angle A0 (rad) of the rocket body can be calculated according to the following formula, where 0≤A0<2π:

[0051] A0=π-γ+δ eq +πδ num / 180.

[0052] Those skilled in the art will easily understand that the embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Any equivalent replacement, such as using a high-precision star sensor to replace the high-precision inertial group in the box, or equivalent transformation, such as vertical positioning at a non-90° position and installing the camera not on the main axis of the box, are all covered within the scope of protection required by the present invention.

[0053] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various variations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A containerized carrier rocket aiming system for emergency launch, characterized in that: include: launch box, inertial measurement unit, launch pad, and camera equipment; The launch box is used to be placed horizontally on the ground; The inertial measurement unit is installed in the launch box away from one end of the rocket body and is located on the long axis of the launch box. The inertial measurement unit is horizontally fixed to the bottom plate of the launch box; The launching platform is hinged to the launching box through a hinge, and is used to drive the rocket body to complete the action of standing up from the horizontal position in the box to the vertical position or falling back from the vertical position to the horizontal position in the box. The rocket body is placed on the launching platform of the launching box and can complete a certain angle of rotation. The camera device is installed in the launch box, facing the scale grid at the tail of the rocket body, and is used to read the angle value displayed on the scale grid.

2. The containerized carrier rocket aiming system for emergency launch according to claim 1, characterized in that: Also includes erection arm; The erection arm is hinged on the launch box and is used to share the weight of the rocket body.

3. The containerized carrier rocket aiming system for emergency launch according to claim 1, characterized in that: The scale grid is used to quantify the circumferential angle of the rocket body.

4. The containerized carrier rocket aiming system for emergency launch according to claim 2, characterized in that: The interior of the launch box is provided with an inner partition, which divides the space inside the launch box into a mounting box at the head and a rocket body storage space at the tail; The inertial measurement unit is installed in the installation box, and the rocket body, launch platform and erection arm are stored in the rocket body storage space.

5. The containerized carrier rocket aiming system for emergency launch according to claim 1, characterized in that: The rocket body is provided with an onboard inertia group, and the axes of the onboard inertia group point in the same direction as the axes of the rocket body.

6. The containerized carrier rocket aiming system for emergency launch according to claim 1, characterized in that: The inertial measurement unit is pointed at: x b The axis is perpendicular to the bottom of the launch box and faces upwards, b The axis is parallel to the long axis of the launch box and points away from the rocket body. b Axis and x b 、y b The axes form a right-handed system; The inertial measurement unit is used to complete its attitude angle relative to the North Celestial East coordinate system based on the apparent acceleration and angular velocity information it senses. Estimates.

7. The containerized carrier rocket aiming system for emergency launch according to claim 6, characterized in that: The launch box body carries the rocket body in the launch state, and the main axis of the box body is deformed by an angle δ when viewed from above. eq Calibration is performed through a collimator; Among them, δ eq It is the angle between the tangent of the main axis of the box at the installation point of the inertial measurement unit in the box and the tangent of the main axis of the rocket body at the intersection of the launch platform in the horizontal state. The positive direction is the high-precision inertial measurement unit in the box -x b Right-hand orientation of the axis.

8. The containerized carrier rocket aiming system for emergency launch according to claim 7, characterized in that: The camera device includes a camera and a decoding device; The camera faces the direction of the rocket body, and after the rocket body is erected, the camera's field of view should face the grid, and the center of the field of view should coincide with the section plane of the main axis of the launch box's long axis; The decoding device is used to complete video stream parsing in real time; The camera device is used to obtain the scale grid and scale value δ in the field of view num , where 0≤δ num <360.

9. The containerized carrier rocket aiming system for emergency launch according to claim 8, characterized in that: The launch azimuth angle A0 of the rocket body can be calculated according to the following formula: A0=π-γ+δ eq +pd num / 180.

10. The containerized carrier rocket aiming system for emergency launch according to claim 1, characterized in that: The axes of the launch box, the inertial measurement unit and the launch platform are in the same plane; the axis of the rocket body intersects perpendicularly with the long axis of the launch box.

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