Bistable system-based multi-data fusion command instrument fire control servo control method

Abstract

The application discloses a multi-data fusion command instrument fire control follow-up control method based on a bistable system, belongs to the technical field of control, and is characterized in that: a fire control sighting device is used to aim at a target and measure the distance of the target, a gyro collection sensor and a control device are used to feed forward, and a target and a convergence time of a propellant are used to fuse and calculate an advance. The installation positions of the fire control sighting device and a station body servo device are used to solve the position deviation of the station body servo device, and finally, a PID control is used to complete the follow-up of the station body servo device to the fire control sighting device, so as to realize the command instrument fire control follow-up control under the bistable system. Compared with a traditional single-stable command instrument fire control system, the bistable system improves the response speed of the system. Through multi-data fusion and calculation correction of gyro data, attitude data, operation control data and shooting data, the system control response of the weapon station is improved, the adaptability of the system to a complex environment is enhanced, and the rapid response and dynamic shooting precision ability of the weapon station are improved.

Description

Technical Field

[0001] This invention belongs to the field of control technology, and in particular relates to a multi-data fusion command and control fire control follow-up method based on a bistable system. Background Technology

[0002] The weapon station mainly consists of modules such as a station servo unit, fire control and observation device, weapon equipment, and control device. These modules interact via a control bus to perform the weapon station's control functions. To meet the fire control requirements of a dynamic, rapid-response, and high-precision weapon station, and to enable applications in complex scenarios, a control method is needed to fulfill these requirements.

[0003] Traditional fire control technologies mainly include: disturbance-based fire control, non-disturbance-based fire control, and command-and-ceremonial fire control.

[0004] Disturbance-based fire control systems are simple in structure, but the disturbance to the aiming line during setup slows down the system's reaction speed. The passive nature of the system reduces dynamic accuracy, making it suitable for static stop firing. Non-disturbance-based fire control systems are similar to those with a rigid connection between the fire control observation device and the weapon, but the electro-optical system allows for independent azimuth and elevation adjustments. While less complex and without significant disturbance, non-disturbance-based systems improve reaction speed, but the passive nature makes it difficult to improve stabilization accuracy, thus making them suitable for short stop firing. Command-based fire control systems separate the observation device from the weapon, each operating independently with a stabilizing device for the aiming line. They offer short reaction times and simple operation. Due to different usage scenarios, traditional command-based fire control systems employ a single-stabilization system for the fire control observation device, which suffers from low dynamic firing accuracy in complex environments. Summary of the Invention

[0005] The present invention aims to solve the above problems and provide a fire control follow-up method for command ceremonies based on a bistable system and multi-data fusion.

[0006] The fire control follow-up control method for multi-data fusion command ceremony based on a bistable system described in this invention includes: determining the installation positions of the fire control observation and aiming device and the station servo device; performing coordinate transformation through the rotation of the fire control observation and aiming device to complete the rotation control of the station servo device; and calculating the coordinate transformation correction amount of the station servo device. Due to different combat environments, the attitude of the weapon station will undergo various changes. The attitude information of the current weapon station is obtained through the attitude sensor, and the azimuth and pitch compensation correction calculation of the station servo device is completed through spatial coordinate calculation to calculate the attitude correction amount of the station servo device; thereby eliminating system errors caused by attitude.

[0007] The system performs target recognition and tracking to identify, track, and measure the distance to the target, while simultaneously calculating the target's velocity using a gyroscope. Combined with the weapon's firing parameters, it calculates the target's lead, thus enabling the calculation of target recognition and tracking corrections for the station's servo device.

[0008] By acquiring environmental information from the weapon station's environmental sensors and target distance information from the fire control observation and aiming device, and combining this with a lookup table, the firing data corrections for multiple weapons are obtained, and then the firing data corrections for the station's servo device are calculated.

[0009] The four correction quantities of the station servo device—coordinate transformation correction, attitude correction, target recognition and tracking correction, and firing data correction—are fused and calculated. Combined with the PID control algorithm of the station servo device's speed and position, the fire control follow-up control of the command ceremony is realized, ultimately achieving precise strike control of static and dynamic targets.

[0010] Furthermore, in the multi-data fusion command ceremony fire control follow-up control method based on a bistable system described in this invention, the target identification and tracking modes include automatic and / or manual modes;

[0011] In the automatic mode, the target is tracked and ranged by the target automatic identification function of the fire control observation and aiming device; in the manual mode, the target is identified, tracked and ranged by the fire control observation and aiming device and the control device.

[0012] By setting multiple target recognition and tracking modes, the system's compatibility is improved, thereby increasing the applicability of the control method.

[0013] Furthermore, the fire control follow-up method for command and control based on a bistable system in this invention includes weapon firing parameter corrections such as wind drift correction, air pressure correction, temperature correction, altitude correction, and thermal correction. By independently summing the above corrections for azimuth and pitch, the correction amount of the control station's servo device is calculated, thus completing the control of the control station.

[0014] Furthermore, in the multi-data fusion command ceremony fire control follow-up control method based on a bistable system described in this invention, when performing fusion calculation, all calculation quantities are converted into the azimuth and pitch correction quantities of the station servo device, and a timer is used to update the current attitude and environmental correction quantities in real time.

[0015] Furthermore, the fire control follow-up control method for multi-data fusion command ceremony based on a bistable system described in this invention combines a PID control algorithm for the speed and position of the station servo device. The PID algorithm adjusts the control variables in real time, performs position positioning through coordinate calculation, and controls the station servo device to follow the fire control observation device through speed PID. It employs segmented PID and control device component feedforward, and the system adjustment coefficient is automatically adjusted according to the position deviation between the fire control observation device and the station servo device.

[0016] The multi-data fusion command and control method based on a bistable system described in this invention improves the system's response speed compared to traditional monostable command and control systems. By fusing and correcting multi-data sources such as gyroscope data, attitude data, control data, and firing parameters, the system control response of the weapon station is improved, enhancing its adaptability to complex environments and increasing its rapid response and dynamic firing accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the fire control follow-up control method for multi-data fusion command ceremony based on a bistable system according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the attitude compensation coordinates according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of vector coordinates for dynamic target recognition and tracking as described in an embodiment of the present invention. Detailed Implementation

[0020] The following detailed description of the fire control follow-up method for multi-data fusion command ceremony based on a bistable system, as described in this invention, is provided with reference to the accompanying drawings and embodiments.

[0021] This embodiment discloses a multi-data fusion command ceremony fire control follow-up control method based on a bistable system, such as... Figure 1 As shown, the specific steps included in this embodiment are as follows:

[0022] Step 1: Determine the installation positions of the fire control observation device and the station servo device. Perform coordinate transformation by rotating the fire control observation device to complete the rotation control of the station servo device. Calculate the coordinate transformation correction amount of the station servo device.

[0023] In this embodiment, the station servo device's adjustment correction is first calculated, with a, b, and c representing the horizontal, vertical, and height differences between the station servo device and the fire control observation device, respectively, and L representing the distance measured by the fire control observation device to the target. β and α are the current encoder values ​​for the azimuth and elevation of the fire control observation device. The positional relationship between the target, the station servo device, and the fire control observation device is projected onto the azimuth and elevation planes, forming two trigonometric functions, which respectively form the trigonometric function equations (1) and (2). The theoretical azimuth β1 and elevation α1 of the station servo device are calculated by solving the equations. The measured values ​​consist of the theoretical calculated values ​​and the fixed zero-position deviation. Then, the azimuth β0 and elevation α0 of the station servo device are obtained through actual measurement. The fixed zero-position deviations Δβ and Δα between the station servo device and the fire control observation device are calculated using equation (3). Finally, the corresponding coordinate transformation and fixed zero-position deviation are completed according to the distance, thus completing the station servo device's adjustment correction.

[0024] tanβ1*(L*cosβ-b)=aL*sinβ (1)

[0025] L*sinβ-c=(L*cosα-b)*tanα (2)

[0026] β0=β1+Δβ, α0=α1+Δα (3)

[0027] Step 2: Obtain the current attitude information of the weapon station through the attitude sensor, complete the compensation and correction calculation of the azimuth and pitch of the station servo device through spatial coordinate calculation, and calculate the attitude correction amount of the station servo device; thereby eliminating the system error caused by attitude.

[0028] When the station servo device is tilted incorrectly, the resulting tilt angle will deviate from the firing data correction. The roll angle of the current station servo device can be obtained using a tilt sensor. Using the coordinate diagram below, the pitch and azimuth correction values ​​of the station servo device are calculated and corrected to ensure the accuracy of the system's firing data corrections. In this embodiment, as... Figure 2 As shown, the attitude changes according to different environments, which in turn affects the fire control instrument and the system's firing hit rate. In order to improve the firing hit rate, the vehicle attitude is obtained by using an tilt sensor. The roll component of the current station servo device is α, and the azimuth and pitch components of the firing element correction are γ and δ. Equation (4) represents the correction relationship between the vehicle attitude roll component and the azimuth firing element correction, and Equation (5) represents the correction relationship between the vehicle attitude roll component and the pitch firing element correction. The azimuth and pitch vehicle attitude corrections are calculated by Equations (4) and (5) to complete the correction of the current vehicle attitude.

[0029] γ / |cosα|(4)

[0030] δ*(-sinα)(5)

[0031] Step 3: Perform target recognition and tracking. Complete the identification, tracking and ranging of the target, and calculate the target's speed using a gyroscope. Combine the firing data of the weapon device to calculate the target's lead, that is, to calculate the target recognition and tracking correction amount for the station servo device.

[0032] In the embodiments disclosed herein, such as Figure 3 As shown, this section mainly includes two correction methods: manual and automatic identification and tracking. Successfully engaging a moving target requires calculating the direction and velocity of both the target and the weapon station. The calculation method is as follows: the moving target is represented by T, and the relative velocity is expressed as a vector V. R The weapon station is at point W, moving with a vector velocity V. T During the exercise, the desired lead time point is T. q1 That is, the weapon station on the move towards T q1 Shoot at point, t f The time it takes for the target and the ammunition to meet, such as Figure 3 As shown, equations (6)-(10) are established through vector relationships to calculate the correction amount, and the azimuth lead rotation angle is calculated. Similarly, the pitch correction amount can be calculated. Wherein, D is the current position vector relative to the target, D q1 D is the position vector for firing at the target. q2 V is the actual position vector of the hit. Rx and V Ry The target motion vector V R The velocity has two components in azimuth and pitch, β q1 The angle of rotation is the lead time.

[0033] D q1 -DV R *t f =0 (6)

[0034] D q1 -Dcosβ q1 -(V Ry sinβ q1 +V Rx cosβ q1 )*t f =0 (7)

[0035] Dsinβ q1 +(V Ry cosβ q1 -V Rx sinβ q1 )*t f =0 (8)

[0036] V = V R +V T (9)

[0037] D q2 -D-(V R +V T )*t f =0 (10)

[0038] In fact, such as Figure 3 As shown, T q1 The point can be considered a virtual or relative lead point. According to the principles of inertial coordinate systems, using this point as the lead point can resolve the issue of the projectile and target colliding. However, the point where the projectile and target actually collide in space is not T. q1 Instead, T is earlier. q2 The lead time can be calculated using the above equations, thus completing the calculation of the identification and tracking correction amount.

[0039] Step 4: Obtain environmental information from the weapon station's environmental sensors and target distance information from the fire control observation and aiming device. Combine this with a lookup table to obtain the firing data corrections for multiple weapons. In this embodiment, the weapon firing data corrections include wind drift correction, air pressure correction, temperature correction, altitude correction, and thermal correction. The correction amount for the control station's servo device is calculated by independently summing the azimuth and elevation values. Thermal correction X v Y v The calculations are as follows: a, b, and c represent the horizontal, vertical, and height differences of the installation positions, respectively; α and β are the correction values ​​of the current encoder for the azimuth and elevation of the fire control observation and aiming device; L is the ranging value measured by the electro-optical rangefinder; and x... i and y i Let n be the coordinates of the impact point, and n be the number of impact points in a set. Equation (11) represents the sum of wind correction, air pressure correction, temperature correction, altitude correction, and thermal correction. The first four are obtained by looking up the firing table. Equation (12) calculates the thermal correction amount for azimuth, and Equation (13) calculates the thermal correction amount for pitch.

[0040]

[0041]

[0042]

[0043] Step 5: Perform fusion calculation on the four correction values ​​of the station servo device: coordinate transformation correction, attitude correction, target recognition and tracking correction, and firing parameters correction.

[0044] In this embodiment, by fusing the four calculated correction quantities, all calculated quantities are transformed into the azimuth and pitch correction quantities of the station servo device. A timer is used to update the current attitude and environmental correction quantities in real time. The combined azimuth and pitch correction quantity A of the station servo device is... s and P s , where X S1 and Y S1 The coordinate transformation corrections for azimuth and pitch components, and X, calculated in step 1. S2 and Y S2 For the attitude corrections in step 2, azimuth and pitch components, X S3 and Y S3 For the azimuth and pitch components of the target identification and tracking correction calculated in step 3, X S4 and Y S4 The azimuth and elevation components are the shooting data corrections calculated in step 4.

[0045] A s =X S1 +X S2 +X S3 +X S4 (14)

[0046] P s =Y S1 +Y S2 +Y S3 +Y S4 (15)

[0047] Step 6: Combining the PID control algorithm of the station servo device speed and position, realize the fire control follow-up control of the command ceremony, and finally complete the precise strike control of static and dynamic targets.

[0048] In this embodiment, the control variables are adjusted in real time using PID control, the position is determined by coordinate calculation, and the station servo device is controlled to follow the fire control observation device using speed PID control. To improve the system's response and high / low speed response, a piecewise PID control with control device component feedforward is adopted, and the system adjustment coefficient K is... P K I K D The system automatically adjusts based on the positional deviation between the fire control observation device and the station servo device to meet the system's response and accuracy requirements. α and β represent the current encoder values ​​for azimuth and elevation of the fire control observation device, and β represents the current azimuth of the station servo device. C and pitch β C Code value. Among them, E k E represents the current deviation between the actual value and the target value. i Due to historical bias, E k-1 This is the deviation from the previous time. EKα E represents the azimuth deviation between the current azimuth and the correction value of the station servo device. Kβ The pitch deviation between the current pitch and the correction amount of the station servo device. Equation (16) is PID control. Substitute (17) and (18) into equation (16) for real-time calculation to complete the azimuth pitch command ceremony fire control follow-up control.

[0049]

[0050] E Kα =A s +α-α C (17)

[0051] E Kβ =P s +β-β C (18)

[0052] Step 7: Determine whether to end control. If yes, end the follow-up control; otherwise, jump to step 1 and continue the follow-up calculation control.

[0053] The fire control follow-up method for command ceremonies based on a bistable system, as described in this embodiment, is a fire control follow-up method for a bistable system command instrument. It solves the problem of precise strike against dynamic targets. The fire control observation and aiming device aims at and follows the target while measuring its distance in real time. Then, it uses the feedforward data from the gyroscope sensor and control device, along with the time of convergence between the target and the propellant, to calculate the lead. Furthermore, by considering the installation positions of the fire control observation and aiming device and the station servo device, the positional deviation of the station servo device is calculated. This deviation data is then fused with weapon firing data, and finally, PID control is used to make the station servo device follow the fire control observation and aiming device, thus realizing fire control follow-up control for command ceremonies under a bistable system.

Claims

1. A fire control follow-up method for multi-data fusion command ceremony based on a bistable system, characterized in that... include: The installation positions of the fire control observation and aiming device and the station servo device are determined. The rotation of the fire control observation and aiming device is used to perform coordinate transformation and complete the rotation control of the station servo device. The coordinate transformation correction amount of the station servo device is calculated. The attitude information of the current weapon station is obtained through the attitude sensor. The azimuth and pitch compensation correction calculation of the station servo device is completed through spatial coordinate calculation. The attitude correction amount of the station servo device is calculated. The system performs target recognition and tracking to identify, track, and measure the distance to the target, while simultaneously calculating the target's velocity using a gyroscope. Combined with the weapon's firing parameters, it calculates the target's lead, thus enabling the calculation of target recognition and tracking corrections for the station's servo device. By acquiring environmental information from the weapon station's environmental sensors and target distance information from the fire control observation and aiming device, and combining this with a lookup table, the firing data corrections for multiple weapons are obtained, and then the firing data corrections for the station's servo device are calculated. The four correction quantities of the station servo device—coordinate transformation correction, attitude correction, target recognition and tracking correction, and firing data correction—are fused and calculated. Combined with the PID control algorithm of the station servo device's speed and position, the fire control follow-up control of the command ceremony is realized, ultimately achieving precise strike control of static and dynamic targets.

2. The fire control follow-up method for multi-data fusion command ceremony based on a bistable system according to claim 1, characterized in that: The target identification and tracking modes include automatic and / or manual modes; In the automatic mode, the target is tracked and ranged by the target automatic identification function of the fire control observation and aiming device; in the manual mode, the target is identified, tracked and ranged by the fire control observation and aiming device and the control device.

3. The fire control follow-up method for multi-data fusion command ceremony based on a bistable system according to claim 2, characterized in that: The weapon's firing parameters corrections include windage correction, air pressure correction, temperature correction, altitude correction, and thermal correction.

4. The fire control follow-up method for multi-data fusion command ceremony based on a bistable system according to claim 3, characterized in that: During the fusion calculation, all calculation quantities are converted into the azimuth and pitch correction quantities of the station servo device, and a timer is used to update the current attitude and environmental correction quantities in real time.

5. The fire control follow-up method for multi-data fusion command ceremony based on a bistable system according to claim 4, characterized in that: The PID control algorithm combining the speed and position of the station servo device adjusts the control variables in real time through PID, completes the position positioning through coordinate calculation, and controls the station servo device to follow the fire control observation device through speed PID. It adopts segmented PID and control device component feedforward, and the system adjustment coefficient is automatically adjusted according to the position deviation between the fire control observation device and the station servo device.

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