Semi-physical simulation system and method for satellite / inertial navigation combined rotating projectile

Abstract

The present invention provides a semi-physical simulation system and method for a satellite / inertial navigation combined rotating projectile, the method comprising: decoupling the projectile angular velocity provided by the IMU inertial component in a real-time simulator; integrating the decoupled data with the digitally injected acceleration information to generate an IMU signal; performing attitude angle calculation according to the IMU signal to obtain attitude angle information; performing guidance control calculation based on the attitude angle information and target azimuth information to obtain actual physical steering control instructions; completing steering engine loading according to the actual physical steering control instructions, and transmitting the steering angle feedback signal to the real-time simulator to complete closed-loop simulation. The present invention can solve the technical problems that in a high-rotation state, the angular velocity error of the inertial navigation feedback becomes larger, thereby affecting the calculation of the combined navigation attitude angle, causing the attitude angle, especially the roll angle, to have larger calculation errors.

Description

Technical Field

[0001] The invention relates to the technical field of guidance control simulation, and in particular to a semi-physical simulation system and method for a satellite / inertial navigation combined rotating projectile. Background Art

[0002] Semi-physical simulation is the process of combining mathematical models with physical models or physical models to conduct experiments. Semi-physical simulation builds mathematical models for the simpler parts of the system or the parts whose laws are relatively clear, and implements them on the computer; for the more complex parts or the parts whose laws are not clear, physical models or physical objects are directly used.

[0003] Semi-physical simulation of artillery shells refers to the process of connecting some physical objects to the simulation test for simulation verification. It can be closer to the actual situation and can greatly shorten the development cycle and reduce the development funds. For the guidance and control system, it is usually necessary to provide the same working conditions as the real environment for the hardware links such as the G satellite positioning device, inertial group, missile-borne computer, and steering gear in the semi-physical simulation.

[0004] At present, in the existing semi-physical simulation technology, the rotation speed of the real-time turntable is less than 5r / s, while the guided artillery shells are controlled by rotating shells, and the rotation speed is generally controlled within 10r / s. In the high-rotation state, the angular velocity error of the inertial navigation feedback becomes larger, affecting the solution of the combined navigation attitude angle, causing the attitude angle, especially the roll angle solution error to become larger, affecting the control effect. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, the present invention provides a semi-physical simulation system and method for a satellite / inertial navigation combined rotating projectile.

[0007] The technical solution of the present invention is as follows:

[0008] According to one aspect, a semi-physical simulation method of a satellite / inertial navigation combined rotating projectile is provided, the semi-physical method comprising:

[0009] Decouple the projectile angular velocity provided by the IMU inertial component in the real-time simulator;

[0010] Integrate the decoupled data with the digitally injected acceleration information to generate an IMU signal;

[0011] Performing attitude angle calculation according to the IMU signal to obtain attitude angle information;

[0012] Performing guidance control calculation based on the attitude angle information and the target azimuth information to obtain actual physical steering control instructions;

[0013] The servo loading is completed according to the actual physical rudder control instruction, and the rudder angle feedback signal is transmitted to the real-time simulator to complete the closed-loop simulation.

[0014] Furthermore, the angular velocity of the projectile provided by the IMU inertial component is decoupled in the real-time simulator by the following formula:

[0015]

[0016] Among them, ω x ,ω y ,ω z is the IMU measurement data, ω x0 ,ω y0 ,ω z0 is the output data after decoupling, and a is the coupling coefficient.

[0017] Furthermore, the method further includes: before performing guidance control solution, compensating the roll angle in the attitude angle information, as shown in the following formula:

[0018] roll=roll0+0.36*ω x t / 360

[0019] Among them, roll is the output roll angle, roll0 is the roll angle calculated in real time, ω x is the x-axis angular velocity measured by the IMU, and t is the delay compensation time.

[0020] According to another aspect, a semi-physical simulation system of a satellite / inertial navigation combined rotating projectile is provided, the semi-physical simulation system comprising a real-time simulator, an integrated navigation circuit unit, a three-axis real-time turntable, a steering gear loading system and a control system, the control system comprising a satellite positioning device, an IMU inertial component, an integrated navigation circuit unit, a missile-borne computer and a steering gear, wherein:

[0021] The IMU inertial component is arranged on a three-axis real-time turntable, and is used to provide the angular velocity information of the projectile, and input the angular velocity information into the real-time simulator;

[0022] The real-time simulator performs decoupling processing on the received IMU angular velocity information, integrates the decoupled data with the digitally injected acceleration information to generate an IMU signal and transmits it to the integrated navigation circuit unit;

[0023] The integrated navigation circuit unit performs attitude angle calculation based on the IMU signal and the position and speed information provided by the satellite positioning device and outputs the obtained attitude angle information to the onboard computer;

[0024] The missile-borne computer performs guidance control calculation according to the attitude information angle information and the target azimuth information to obtain the actual physical steering control instruction;

[0025] The servo loading system completes servo loading according to the servo control command, and the rudder angle feedback signal is transmitted to the real-time simulator via the missile-borne computer to complete the closed-loop simulation.

[0026] Furthermore, an IMU signal generation model is provided in the real-time simulator, in which the received IMU angular velocity information is decoupled and the decoupled data is integrated with the digitally injected acceleration information to generate an IMU signal.

[0027] Furthermore, the real-time simulator decouples the received IMU angular velocity information using the following formula:

[0028]

[0029] Among them, ω x ,ω y ,ω z is the IMU measurement data, ω x0 ,ω y0 ,ω z0 is the output data after decoupling, and a is the coupling coefficient.

[0030] Furthermore, before performing guidance control solution, the onboard computer also performs compensation processing on the roll angle in the attitude angle information, as shown in the following formula:

[0031] roll=roll0+0.36*ω x t / 360

[0032] Among them, roll is the output roll angle, roll0 is the roll angle calculated in real time, ω x is the x-axis angular velocity measured by the IMU, and t is the delay compensation time.

[0033] Furthermore, the semi-physical simulation system also includes a host, in which a group of motion equations of the rotating projectile is established, and the digitally injected acceleration information is solved by the group of motion equations and converted into acceleration information in the projectile coordinate system.

[0034] Furthermore, the real-time simulation machine also calculates the projectile attitude angle and attitude angular velocity information within the current control cycle, and sends it to the three-axis real-time turntable as a turntable control instruction, controlling the three-axis real-time turntable to deflect according to the projectile attitude angle within the current control cycle to simulate the change of the projectile attitude.

[0035] Furthermore, the IMU inertial component coordinate system is consistent with the three-axis turntable coordinate system.

[0036] The above technical solution decouples the received IMU angular velocity information, integrates the decoupled data with the digitally injected acceleration information to generate an IMU signal for combined navigation solution (the prior art does not process the angular velocity information measured by the IMU, and directly performs combined navigation solution on it, which is mainly suitable for the low-spin state of the projectile). In addition, the calculated attitude angle information is first compensated for the roll angle in the attitude angle using a compensation formula before the next guidance control solution is performed; thereby solving the problem of lag and coupling of the IMU measured angular velocity in the high-spin state, making the attitude angle information closer to the true value, thereby making the semi-physical simulation results more in line with the actual situation and the simulation results more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 This is a block diagram of the semi-physical simulation system of the present invention. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0042] In one embodiment of the present invention, a semi-physical simulation method of a satellite / inertial navigation combined rotating projectile is provided, and the semi-physical method comprises:

[0043] Step 1: Decouple the projectile angular velocity provided by the IMU inertial component in the real-time simulator;

[0044] Step 2: Integrate the decoupled data with the digitally injected acceleration information to generate an IMU signal;

[0045] Step 3: Calculate the attitude angle according to the IMU signal to obtain attitude angle information;

[0046] Step 4: performing guidance control calculation based on the attitude angle information and the target azimuth information to obtain actual physical steering control instructions;

[0047] Step 5: Complete the loading of the servo according to the actual physical rudder control command, and transmit the rudder angle feedback signal to the real-time simulator to complete the closed-loop simulation.

[0048] Preferably, the projectile angular velocity provided by the IMU inertial component is decoupled in the real-time simulator by the following formula:

[0049]

[0050] Among them, ω x ,ω y ,ω z is the IMU measurement data, ω x0 ,ω y0 ,ω z0 is the output data after decoupling, a is the coupling coefficient, which can be obtained by testing the IMU separately on a turntable.

[0051] That is, the angular velocity information measured by the IMU is not processed in the prior art, and is directly used for combined navigation solution. The prior art is mainly applicable to the low-spin state of the projectile. In the high-spin state, a large error will occur between the attitude angle information and the true value, affecting the guidance control and simulation effect. The embodiment of the present invention is different from the prior art. The received IMU angular velocity information is decoupled in the real-time simulator, and the decoupled data is integrated with the digitally injected acceleration information to generate an IMU signal that is transmitted to the combined navigation solution. Thereby, the semi-physical simulation results are more in line with the actual situation and the simulation results are more accurate.

[0052] In addition, according to a preferred embodiment of the present invention, the method further comprises: before performing guidance control solution, compensating the roll angle in the attitude angle information, as shown in the following formula:

[0053] roll=roll0+0.36*ω x t / 360

[0054] Among them, roll is the output roll angle, roll0 is the roll angle calculated in real time, ω x is the x-axis angular velocity measured by the IMU in degrees / s, and t is the delay compensation time in milliseconds, which can be calculated by the phase difference between the angular rate turntable input value and the IMU feedback value.

[0055] That is, when the turntable simulates the high-spin state of the projectile, there is a delay in response due to its own characteristics, that is, there is a lag between the angular velocity input to the turntable and the angular velocity measured by the IMU. This embodiment solves the problem of the lag in the angular velocity measured by the IMU in the high-spin state by compensating for the roll angle in the attitude angle information, making the attitude angle information closer to the true value, thereby making the semi-physical simulation results more consistent with the actual situation and more accurate.

[0056] In another embodiment of the present invention, Figure 1As shown, a semi-physical simulation system of a satellite / inertial navigation combined rotating projectile is provided, the semi-physical simulation system comprises a real-time simulator, an integrated navigation circuit unit, a three-axis real-time turntable, a steering gear loading system and a control system, the control system comprises a satellite positioning device, an IMU inertial component, an integrated navigation circuit unit, a missile-borne computer and a steering gear, wherein: the IMU inertial component is arranged on the three-axis real-time turntable, and is used to provide projectile body angular velocity information, and the angular velocity information is input into the real-time simulator; the real-time simulator performs decoupling processing on the received IMU angular velocity information, integrates the decoupled data with the digitally injected acceleration information to generate an IMU signal, and transmits it to the integrated navigation circuit unit; the integrated navigation circuit unit performs attitude angle solution according to the IMU signal and the position and velocity information provided by the satellite positioning device, and outputs the obtained attitude angle information to the missile-borne computer; the missile-borne computer performs guidance control solution according to the attitude information angle information and the target azimuth information to obtain the actual physical steering control instruction; the steering gear loading system completes the steering gear loading according to the steering control instruction, and the steering angle feedback signal is transmitted to the real-time simulator via the missile-borne computer to complete the closed-loop simulation.

[0057] In an embodiment of the present invention, the three-axis real-time turntable includes a turntable controller and a driver, a turntable control host, etc. The three-axis turntable is used to simulate the working posture of a rotating artillery shell, and the IMU component is installed on the three-axis turntable. Preferably, the coordinate system of the IMU component and the coordinate system of the three-axis turntable are kept consistent, so that the coordinate system of the three-axis turntable itself is the coordinate system of the artillery shell body.

[0058] In the embodiment of the present invention, the real-time simulator can be installed with a controller and a serial communication card with an Intel825X network card, which is used for real-time calculation of the trajectory mathematical model and serial data transmission; the program of the real-time simulator includes various mathematical models required for simulation, mainly D-body kinematics, dynamics model, power model, inertial model, satellite signal generation model, IMU signal generation model, combined navigation signal generation model, etc. In the mathematical simulation stage, it can complete the solution of all participating mathematical models, and can independently perform full system mathematical simulation; in the guidance control loop simulation stage, it can provide information such as trajectory flight status and flight parameters to each interface as required; in the semi-physical simulation stage, it can simulate and generate satellite navigation information, IMU information, and combined navigation information as required, send corresponding information to related equipment, and solve the system model by collecting the information fed back by the steering gear to complete the closed-loop simulation. At the same time, the real-time simulator has the functions of generating timing signals and data storage.

[0059] In the embodiment of the present invention, the real-time simulator is provided with an IMU signal generation model, in which the received IMU angular velocity information is decoupled and the decoupled data is integrated with the digitally injected acceleration information to generate an IMU signal. The specific decoupling processing method is shown in the above method content, which will not be described in detail here.

[0060] In an embodiment of the present invention, the semi-physical simulation system further comprises a host, in which a group of motion equations of a rotating projectile is established, and the digitally injected acceleration information is solved by the group of motion equations and converted into acceleration information in a projectile coordinate system.

[0061] That is, the real-time simulator and the host realize data transmission and model import through the Ethernet port. The real-time simulator receives or sends inertial navigation, satellite positioning information, turntable control instructions and onboard computer feedback information through the serial port. The turntable control host receives the turntable control instructions through the serial port receiving device, and realizes the three-axis rotation through the turntable controller and driver.

[0062] Preferably, before performing guidance control solution, the onboard computer also performs compensation processing on the roll angle in the attitude angle information. The specific compensation strategy is described in the above embodiment method and will not be described in detail here.

[0063] It can be seen that the semi-physical simulation system of the embodiment of the present invention receives the satellite navigation information sent by the real-time simulator through the satellite simulator, and simulates the satellite signal required by the satellite positioning device according to the information; the IMU inertial component is installed on the turntable, used to provide the angular velocity information of the missile body, and inputs the angular velocity information into the real-time simulator, the real-time simulator generates a model according to the IMU signal, and transmits the generated IMU signal to the combined navigation circuit unit; the combined navigation circuit unit performs attitude angle solution according to the position and velocity information provided by the satellite positioning device and the IMU signal output by the real-time simulator, the onboard computer performs solution according to the attitude information and the target azimuth information, and obtains the actual physical rudder control instruction; the rudder loading system completes the rudder loading according to the rudder control instruction; the rudder feedback signal is transmitted to the real-time simulator via the onboard computer to complete the closed-loop simulation; the real-time simulator forwards the real-time data to the host through the Ethernet port to complete the functions such as data display.

[0064] In order to have a further understanding of the semi-physical simulation system of the rotating shell in the embodiment of the present invention, a semi-physical simulation method based on the semi-physical simulation system is described in detail below.

[0065] The semi-physical simulation method of the missile guidance system of the simulation system comprises the following steps:

[0066] 1. Establish the rotating spring motion equations in the host;

[0067] For example, the equations of motion can be formulated as follows:

[0068]

[0069]

[0070]

[0071]

[0072]

[0073]

[0074]

[0075]

[0076]

[0077] β * =arcsin[cosθsin(ψ-ψ V )]

[0078]

[0079]

[0080]

[0081]

[0082]

[0083]

[0084] 2. Check and confirm the communication status of the entire system, and confirm the communication protocol between the onboard computer, integrated navigation circuit unit, IMU inertial component, real-time simulator, and three-axis real-time turntable;

[0085] 3. Set the initial simulation parameters and simulation scenes in the real-time simulator, including the target position in the launch system; the initial parameters of the missile in the inertial system: initial position, initial attitude angle, initial attitude angular velocity, initial velocity, initial ballistic inclination angle and initial ballistic deviation angle;

[0086] 4. Power on the IMU inertial components, satellite positioning device, integrated navigation circuit unit, onboard computer, servo, and servo loading system;

[0087] 5. The satellite simulator's position information is in the CGCS coordinate system, and its velocity information is in the Northeast Sky navigation coordinate system. However, the position and velocity information solved by the motion equations are all in the launch coordinate system. Therefore, the real-time simulator needs to convert the position information in the launch system to the CGCS coordinate system, and the velocity information to the navigation coordinate system.

[0088] Among them, in the IMU signal generation model in the real-time simulator program, the received measured angular velocity information is processed and integrated with the digitally injected acceleration information to generate the IMU signal for external transmission. The digitally injected acceleration information comes from the solution of the motion equations and needs to be converted into the missile body coordinate system;

[0089] The onboard computer executes the control process of the projectile body according to the pre-set control cycle, specifically: after launch, in the current control cycle, obtain the virtual position and speed information, the attitude angle and angular velocity information of the projectile body in the launch coordinate system, take the position of the bound target point as the target, and according to the control strategy, generate a rudder control command for the purpose of controlling the projectile body to deflect in the target direction, and send the rudder control command to the steering gear component for rudder control, and obtain the rudder angle feedback information of the steering gear; the rudder angle feedback information generated in the control cycle is sent to the real-time simulator through the serial port for real-time solution;

[0090] 6. The real-time simulator initializes the system, and the three-axis turntable moves to the initial position. The three-axis turntable is driven based on the missile body posture information. In the control cycle, the real-time simulator calculates the missile body posture angle and posture angular velocity information in the current control cycle, and sends it to the three-axis turntable as the turntable control instruction, controlling the three-axis turntable to deflect according to the missile body posture angle in the current control cycle to simulate the change of the projectile posture;

[0091] When the IMU inertial group measures angular velocity, the error of its measured value becomes larger than the angular velocity value input by the turntable, which affects the combined navigation circuit unit's solution of the attitude angle, causing the attitude angle solution error to become larger, affecting the control effect. After analysis, the main causes of the angular velocity error are the following two aspects: First, when the IMU component is installed on the turntable, the IMU component coordinate system and the three-axis turntable coordinate system are orthogonally coupled due to the mounting surface and mounting fixtures. Second, when the turntable rotates at high speed, the turntable response delay increases, which is characterized by a lag in the angular velocity measurement value;

[0092] For a rotating projectile, the roll angle data in the attitude angle has the greatest influence on the trajectory control, and the result of the angular rate delay can be characterized by the roll angle hysteresis. Therefore, the following measures can be taken to address the above problems:

[0093] (1) Orthogonal coupling can be decoupled by the following formula (that is, it can be realized in the IMU signal generation model of the real-time simulator, that is, the received IMU angular velocity information is decoupled, and the decoupled data is integrated with the digitally injected acceleration information to generate an IMU signal and transmit it to the integrated navigation circuit unit)

[0094]

[0095] Among them, ω x ,ω y ,ω z is the IMU measurement data, ω x0 ,ω y0 ,ω z0 is the output data after decoupling, a is the coupling coefficient, which can be obtained by testing the IMU separately on a turntable.

[0096] (2) Angular rate delay can be solved by compensating the lag angle (that is, it is implemented inside the missile-borne computer. After receiving the attitude angle information solved by the integrated navigation circuit unit, the missile-borne computer first uses the compensation formula to compensate the roll angle in the attitude angle before performing the next guidance control solution). The formula is as follows: roll = roll0 + 0.36*ω x t / 360

[0097] Among them, roll is the output roll angle, roll0 is the roll angle solved in real time by the integrated navigation system, wx is the measured x-axis angular velocity in degrees / s, and t is the delay compensation time in milliseconds, which can be obtained by calculating the phase difference between the angular rate turntable input value and the IMU feedback value;

[0098] 7. The real-time simulator controls the simulation to start running. When the model determines that the simulation end condition is met (the shell lands), the semi-physical simulation test ends, and the shell guidance and control system are verified. The simulation data is saved during the entire operation process to facilitate data analysis after the simulation.

[0099] Features described and / or illustrated above for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or used in place of features in other embodiments.

[0100] It should be emphasized that the term "include / comprises" when used herein refers to the presence of features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps, components or combinations thereof.

[0101] The above method of the present invention can be implemented by hardware, or by hardware combined with software. The present invention relates to such a computer-readable program, which, when executed by a logic component, enables the logic component to implement the above-mentioned device or component, or enables the logic component to implement the above-mentioned various methods or steps. The present invention also relates to a storage medium for storing the above program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, etc.

[0102] The many features and advantages of these embodiments are apparent from this detailed description, and thus the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. Furthermore, since numerous modifications and changes will readily occur to those skilled in the art, it is not intended that the embodiments of the invention be limited to the exact construction and operation illustrated and described, but rather all suitable modifications and equivalents falling within the scope thereof are intended to be covered.

[0103] Parts of the present invention that are not described in detail are well known to those skilled in the art.

Claims

1. A semi-physical simulation method for a satellite / inertial navigation combined rotating projectile, characterized in that: The semi-physical simulation method comprises: Decouple the projectile angular velocity provided by the IMU inertial component in the real-time simulator; Integrate the decoupled data with the digitally injected acceleration information to generate an IMU signal; Performing attitude angle calculation according to the IMU signal to obtain attitude angle information; Performing guidance control calculation based on the attitude angle information and the target azimuth information to obtain actual physical steering control instructions; The servo loading is completed according to the actual physical rudder control instruction, and the rudder angle feedback signal is transmitted to the real-time simulator to complete the closed-loop simulation; The angular velocity of the projectile provided by the IMU inertial component is decoupled in the real-time simulator using the following formula: Among them, ω x ,ω y ,ω z is the IMU measurement data, ω x0 ,ω y0 ,ω z0 is the output data after decoupling, a is the coupling coefficient, which can be obtained by testing the IMU separately on a turntable.

2. The semi-physical simulation method of a satellite / inertial navigation combined rotating projectile according to claim 1 is characterized in that: The method further includes: before performing guidance control solution, compensating the roll angle in the attitude angle information, as shown in the following formula: roll=roll0+0.36*ω x t / 360 Among them, roll is the output roll angle, roll0 is the roll angle calculated in real time, ω x is the x-axis angular velocity measured by the IMU, and t is the delay compensation time.

3. A semi-physical simulation system for satellite / inertial navigation combined rotating projectile, characterized in that: The semi-physical simulation system includes a real-time simulator, an integrated navigation circuit unit, a three-axis real-time turntable, a steering gear loading system and a control system. The control system includes a satellite positioning device, an IMU inertial component, an integrated navigation circuit unit, an onboard computer and a steering gear, wherein: The IMU inertial component is arranged on a three-axis real-time turntable, and is used to provide the angular velocity information of the projectile, and input the angular velocity information into the real-time simulator; The real-time simulator performs decoupling processing on the received IMU angular velocity information, integrates the decoupled data with the digitally injected acceleration information to generate an IMU signal and transmits it to the integrated navigation circuit unit; The integrated navigation circuit unit performs attitude angle calculation based on the IMU signal and the position and speed information provided by the satellite positioning device and outputs the obtained attitude angle information to the onboard computer; The missile-borne computer performs guidance control calculation according to the attitude information angle information and the target azimuth information to obtain the actual physical steering control instruction; The steering gear loading system completes the steering gear loading according to the steering control command, and the steering angle feedback signal is transmitted to the real-time simulator via the missile-borne computer to complete the closed-loop simulation; The real-time simulator decouples the received IMU angular velocity information using the following formula: Among them, ω x ,ω y ,ω z is the IMU measurement data, ω x0 ,ω y0 ,ω z0 is the output data after decoupling, a is the coupling coefficient, which can be obtained by testing the IMU separately on a turntable.

4. A semi-physical simulation system for a satellite / inertial navigation combined rotating projectile according to claim 3, characterized in that: The real-time simulator is provided with an IMU signal generation model, in which the received IMU angular velocity information is decoupled and the decoupled data is integrated with the digitally injected acceleration information to generate an IMU signal.

5. The semi-physical simulation system of a satellite / inertial navigation combined rotating projectile according to claim 3 is characterized in that: Before performing guidance control calculation, the missile-borne computer also performs compensation processing on the roll angle in the attitude angle information, as shown in the following formula: roll=roll0+0.36*ω x t / 360 Among them, roll is the output roll angle, roll0 is the roll angle calculated in real time, ω x is the x-axis angular velocity measured by the IMU, and t is the delay compensation time.

6. A semi-physical simulation system for a satellite / inertial navigation combined rotating projectile according to claim 3, characterized in that: The semi-physical simulation system also includes a host computer, in which a motion equation group of a rotating projectile is established. The digitally injected acceleration information is solved by the motion equation group and converted into acceleration information in a projectile body coordinate system.

7. A semi-physical simulation system for a satellite / inertial navigation combined rotating projectile according to claim 3, characterized in that: The real-time simulator also calculates the projectile attitude angle and attitude angular velocity information within the current control cycle, and sends it to the three-axis real-time turntable as a turntable control instruction, controlling the three-axis real-time turntable to deflect according to the projectile attitude angle within the current control cycle to simulate the change of the projectile attitude.

8. The semi-physical simulation system of a satellite / inertial navigation combined rotating projectile according to claim 3 is characterized in that: The IMU inertial component coordinate system is consistent with the three-axis turntable coordinate system.

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