A method for acquiring real-time attitude data and real-time angular velocity data of a guided shell
By normalizing and processing the measurement data of guided projectiles with finite-time complementary filters, the speed and accuracy problems of acquiring real-time attitude and angular velocity data in existing technologies have been solved, enabling rapid and accurate data acquisition and improving the strike accuracy and combat effectiveness of guided projectiles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SOUTHEAST UNIV
- Filing Date
- 2024-04-09
- Publication Date
- 2026-06-23
AI Technical Summary
Existing technologies cannot quickly and accurately acquire real-time attitude and angular velocity data of guided projectiles, resulting in limitations on strike accuracy and combat effectiveness.
After normalizing the measured angular velocity, acceleration, and magnetic force data, the data is fused using a finite-time complementary filter to calculate the real-time attitude and angular velocity data of the guided projectile.
It enables rapid and accurate acquisition of real-time attitude and angular velocity data of guided projectiles, exhibits strong robustness, reduces measurement noise interference, and improves strike accuracy and combat effectiveness.
Smart Images
Figure CN118066952B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of guided projectile technology, and more specifically to a method for acquiring real-time attitude data and real-time angular velocity data of guided projectiles. Background Technology
[0002] Guided artillery shells are advanced munition systems that, after launch, utilize their own guidance systems and employ rocket boosters, gliding range extenders, and combined range extenders to accurately locate and attack predetermined targets. The design of guided artillery shells endows artillery platforms with long-range strike capabilities, making them a crucial component for achieving precision strikes in modern warfare.
[0003] Compared to traditional tactical missiles, the precise control of guided artillery projectiles relies more heavily on their real-time attitude and angular velocity data. In other words, the speed and accuracy of acquiring these data directly affect the projectile's strike accuracy and overall combat effectiveness.
[0004] Currently, the method of obtaining real-time attitude and angular velocity data of guided projectiles by integrating gyroscopes is generally adopted. However, this method does not integrate information from accelerometers and magnetometers. Not only can it not completely eliminate the measurement error of gyroscopes, but it also requires a large amount of computation, which restricts the accuracy and speed of obtaining real-time attitude and angular velocity data of guided projectiles.
[0005] Therefore, how to provide a method for quickly and accurately acquiring real-time attitude data and real-time angular velocity data of guided projectiles is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0006] In view of this, the purpose of this invention is to provide a method for acquiring real-time attitude data and real-time angular velocity data of guided projectiles. This method can quickly and accurately acquire the real-time attitude data and real-time angular velocity data of guided projectiles.
[0007] To achieve the above objectives, the present invention adopts the following technical solution:
[0008] A method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile includes the following steps:
[0009] S1: Acquire the angular velocity, acceleration, and magnetic force data of the guided projectile;
[0010] The measured angular velocity data, the measured acceleration data, and the measured magnetic force data are normalized to obtain standard angular velocity data, standard acceleration data, and standard magnetic force data;
[0011] S2: Design of a finite-time complementary filter based on the attitude kinematics of guided projectile flight;
[0012] S3: Input the standard angular velocity data, the standard acceleration data, and the standard magnetic force data into the finite-time complementary filter to obtain the estimated values of angular velocity measurement deviation, acceleration, and magnetic force.
[0013] S4: Based on the estimated angular velocity measurement deviation, the estimated acceleration, and the estimated magnetic force, the real-time attitude data and real-time angular velocity data of the guided projectile are calculated.
[0014] Preferably, the normalization formula for the measured angular velocity data is:
[0015]
[0016] Where, ω g The standard angular velocity data; ω x ω y ω z ω in sequence g Components in the X, Y, and Z directions; v g The measured angular velocity data; v x v y v z v in sequence g Components in the X, Y, and Z directions; ||v g || indicates v g The 2-norm.
[0017] Preferably, the normalization formula for the measured acceleration data is:
[0018]
[0019] Among them, a g The standard acceleration data; a x a y a z The order is a g Components in the X, Y, and Z directions; n g The measured acceleration data; n x n y n z n g Components in the X, Y, and Z directions; ||n g || represents n g The 2-norm.
[0020] Preferably, the normalization formula for the measured magnetic force data is:
[0021]
[0022] Where, m g The standard magnetic force data; m x m y m z m in sequence g Components in the X, Y, and Z directions; c g The measured magnetic force data; c x c y c z c in order g Components in the X, Y, and Z directions; ||c g || represents c g The 2-norm.
[0023] Preferably, the expression for the finite-time complementary filter is:
[0024]
[0025]
[0026]
[0027] Where, ω g The standard angular velocity data; a g The standard acceleration data; a x a y a z The order is a g Components in the X, Y, and Z directions; m g The standard magnetic force data; m x m y m z m in sequence g Components in the X, Y, and Z directions; This is the estimated value of the angular velocity measurement deviation; This is the estimated acceleration value; The estimated magnetic force value; for The derivative with respect to time; for The derivative with respect to time; for The derivative with respect to time; k1 is a constant and k1 > 0; k2 is a constant and k2 > 0; α1 is a constant and 1 / 2 < α1 < 1; α2 is a constant and α2 = 2α1 - 1; sig represents the sign function; represent α1 to the power of α; represent α1 to the power of α; represent α²; represent α².
[0028] Preferably, S4 specifically includes:
[0029] S41: The real-time angular velocity data of the guided projectile is calculated based on the estimated angular velocity measurement deviation value;
[0030] S42: Based on the acceleration estimate, calculate the real-time elevation angle and roll angle data of the guided projectile;
[0031] S43: Based on the real-time pitch angle data, the real-time roll angle data, and the magnetic estimation value, the real-time yaw angle data of the guided projectile is calculated.
[0032] Preferably, the formula for calculating the real-time angular velocity data is:
[0033]
[0034] in, The real-time angular velocity data; for Components in the X, Y, and Z directions respectively; ω g The standard angular velocity data; This is the estimated value of the angular velocity measurement deviation.
[0035] Preferably, the calculation formulas for the real-time pitch angle data and the real-time roll angle data are as follows:
[0036]
[0037] Wherein, θ is the real-time pitch angle data, and φ is the real-time roll angle data; In order Components in the X, Y, and Z directions; This is the estimated acceleration value.
[0038] Preferably, the formula for calculating the real-time yaw angle data is:
[0039]
[0040] Wherein, ψ represents the real-time yaw angle data. In order Components in the X, Y, and Z directions; θ is the estimated magnetic force; θ is the real-time pitch angle data; φ is the real-time roll angle data.
[0041] Preferably, the measured angular velocity data is obtained by a three-axis gyroscope; the measured acceleration data is obtained by a three-axis accelerometer; the measured magnetic force data is obtained by a three-axis magnetometer; and the three-axis gyroscope, the three-axis accelerometer, and the three-axis magnetometer are all mounted on the guided projectile.
[0042] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a method for obtaining real-time attitude data and real-time angular velocity data of guided projectiles. It can not only quickly and accurately obtain real-time attitude data and real-time angular velocity data of guided projectiles, but also has strong robustness against measurement noise interference. Attached Figure Description
[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0044] Figure 1 This invention provides a flowchart of a method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile.
[0045] Figure 2 A comparison of the attitude response curves of guided projectiles in the following scenario;
[0046] Figure 3 A comparison of the angular velocity response curves of guided projectiles in the following scenario;
[0047] Figure 4 A comparison chart of the attitude response curves of guided projectiles in scenario two;
[0048] Figure 5 This is a comparison chart of the angular velocity response curves of guided projectiles in Scenario 2. Detailed Implementation
[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0050] like Figure 1 As shown in the figure, this invention discloses a method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile, comprising the following steps:
[0051] S1: Acquire the angular velocity, acceleration, and magnetic force data of the guided projectile;
[0052] The measured angular velocity data, the measured acceleration data, and the measured magnetic force data are normalized to obtain standard angular velocity data, standard acceleration data, and standard magnetic force data;
[0053] S2: Design of a finite-time complementary filter based on the attitude kinematics of guided projectile flight;
[0054] S3: Input the standard angular velocity data, the standard acceleration data, and the standard magnetic force data into the finite-time complementary filter to obtain the estimated values of angular velocity measurement deviation, acceleration, and magnetic force.
[0055] S4: Based on the estimated angular velocity measurement deviation, the estimated acceleration, and the estimated magnetic force, the real-time attitude data and real-time angular velocity data of the guided projectile are calculated.
[0056] In one embodiment, the normalization formula for the measured angular velocity data is:
[0057]
[0058] Where, ω g The standard angular velocity data; ω x ω y ω z ω in sequence g Components in the X, Y, and Z directions; v g The measured angular velocity data; v x v y v z v in sequence g Components in the X, Y, and Z directions; ||v g || indicates v g The 2-norm.
[0059] In one embodiment, the normalization formula for the measured acceleration data is:
[0060]
[0061] Among them, a g The standard acceleration data; a x a y a z The order is a g Components in the X, Y, and Z directions; n g The measured acceleration data; n x n y n zn g Components in the X, Y, and Z directions; ||n g || represents n g The 2-norm.
[0062] In one embodiment, the normalization formula for the measured magnetic force data is:
[0063]
[0064] Where, m g The standard magnetic force data; m x m y m z m in sequence g Components in the X, Y, and Z directions; c g The measured magnetic force data; c x c y c z c in order g Components in the X, Y, and Z directions; ||c g || represents c g The 2-norm.
[0065] In one embodiment, the expression for the finite-time complementary filter is:
[0066]
[0067]
[0068]
[0069] Where, ω g The standard angular velocity data; a g The standard acceleration data; a x a y a z The order is a g Components in the X, Y, and Z directions; m g The standard magnetic force data; m x ,m y m z m in sequence g Components in the X, Y, and Z directions; This is the estimated value of the angular velocity measurement deviation; This is the estimated acceleration value; The estimated magnetic force value; for The derivative with respect to time; for The derivative with respect to time; for The derivative with respect to time; k1 is a constant and k1 > 0; k2 is a constant and k2 > 0; α1 is a constant and 1 / 2 < α1 < 1; α2 is a constant and α2 = 2α1 - 1; sig represents the sign function; represent α1 to the power of α; represent α1 to the power of α; represent α²; represent α².
[0070] In one embodiment, a feasibility analysis of the finite-time complementary filter is also included:
[0071] The error dynamic equation of the finite-time complementary filter is as follows:
[0072]
[0073] Among them, e a e m ,e η This refers to the error term in the aforementioned error dynamic equation; For e a The derivative with respect to time; For e m The derivative with respect to time; For e η The derivative with respect to time; Represents sig(e) a ) to the power of α1; Represents sig(e) m ) to the power of α1; Represents sig(e) a ) to the power of α²; Represents sig(e) m ) to the power of α2.
[0074] Based on the theory of nonsmooth stability, the error term e is analyzed. a e m e η Will it converge to 0 within a finite time t1? That is, after reaching time t1, will e satisfy...? a ≡0, e m ≡0, e η ≡0. This condition indicates that the estimated deviation in the angular velocity measurement of the guided projectile is ≡0. The guided projectile's acceleration estimate will converge to η within a finite time t1. It will converge to a within a finite time t1.g Magnetic estimation value of guided projectiles It will converge to m within a finite time t1. g .
[0075] In one embodiment, S4 specifically includes:
[0076] S41: The real-time angular velocity data of the guided projectile is calculated based on the estimated angular velocity measurement deviation value;
[0077] S42: Based on the acceleration estimate, calculate the real-time elevation angle and roll angle data of the guided projectile;
[0078] S43: Based on the real-time pitch angle data, the real-time roll angle data, and the magnetic estimation value, the real-time yaw angle data of the guided projectile is calculated.
[0079] In one embodiment, the formula for calculating the real-time angular velocity data is:
[0080]
[0081] in, The real-time angular velocity data; for Components in the X, Y, and Z directions respectively; ω g The standard angular velocity data; This is the estimated value of the angular velocity measurement deviation.
[0082] In one embodiment, the formulas for calculating the real-time pitch angle data and the real-time roll angle data are as follows:
[0083]
[0084] Wherein, θ is the real-time pitch angle data, and φ is the real-time roll angle data; In order Components in the X, Y, and Z directions; This is the estimated acceleration value.
[0085] In one embodiment, the formula for calculating the real-time yaw angle data is:
[0086]
[0087] Wherein, ψ represents the real-time yaw angle data. In order Components in the three directions of X, Y, and Z; θ is the estimated magnetic force; θ is the real-time pitch angle data; φ is the real-time roll angle data.
[0088] In one embodiment, the measured angular velocity data is obtained by a three-axis gyroscope; the measured acceleration data is obtained by a three-axis accelerometer; the measured magnetic force data is obtained by a three-axis magnetometer; the three-axis gyroscope, the three-axis accelerometer, and the three-axis magnetometer are all mounted on the guided projectile.
[0089] It should be noted that the real-time attitude data described in this invention includes real-time pitch angle data, real-time roll angle data, and real-time yaw angle data.
[0090] In this embodiment, MATLAB 2022a is used as the simulation software to simulate the motion of the guided projectile in three-dimensional space. The inertial measurement unit on the guided projectile includes a three-axis accelerometer, a three-axis magnetometer, and a three-axis gyroscope. It is assumed that the guided projectile rotates from an initial horizontal attitude (θ = 0°, φ = 0°, ψ = 0°) to reach the final desired attitude (θ = 5°, φ = 15°, ψ = 30°).
[0091] The following comparison is made between the real-time attitude data and real-time angular velocity data of the guided projectile obtained using the calculation method of this invention and the real-time attitude data and real-time angular velocity data obtained using the gyroscope calculation method:
[0092] To verify the superiority of the present invention, two comparative scenarios are set up in this embodiment:
[0093] Scenario 1: No additional measurement noise is added to the inertial measurement unit;
[0094] Scenario 2: Adding a variance of σ to the inertial measurement unit 2 =1×10 -4 Measurement noise.
[0095] Let the gain values in the complementary filter of this invention be k1 = 7.82, k2 = 3.21; α1 = 2 / 3, α2 = 1 / 3; The initial iteration value is
[0096] like Figure 2As shown, this is a comparison of the attitude response curves of a guided projectile in a given scenario. The solid black line in the figure represents the attitude curve of the guided projectile output using the calculation method of this invention, while the dotted black line represents the attitude curve of the guided projectile output using the gyroscope calculation method. Using the calculation method of this invention, pitch angle data can be obtained in 5.236s, roll angle data in 4.994s, and yaw angle data in 1.521s. Using the gyroscope calculation method, pitch angle data can be obtained in 10.264s, roll angle data in 10.892s, and yaw angle data in 9.862s. Therefore, it can be seen that this invention acquires pitch angle, roll angle, and yaw angle data much faster.
[0097] like Figure 3 As shown, this is a comparison of the angular velocity response curves of guided projectiles in a given scenario. The solid black line in the figure represents the angular velocity curve of the guided projectile output using the calculation method of this invention, while the dotted black line represents the angular velocity curve of the guided projectile output using the gyroscope calculation method. Using the calculation method of this invention, angular velocity data in the X direction can be obtained in 5.073s, in the Y direction in 4.701s, and in the Z direction in 3.134s. Using the gyroscope calculation method, angular velocity data in the X direction can be obtained in 10.807s, in the Y direction in 10.831s, and in the Z direction in 11.152s. Therefore, it can be seen that this invention acquires angular velocity data much faster.
[0098] like Figure 4 As shown, this is a comparison of the attitude response curves of the guided projectile in Scenario 2. The solid black line in the figure represents the attitude curve of the guided projectile output using the calculation method of this invention, while the dotted black line represents the attitude curve of the guided projectile output using the gyroscope calculation method. The boxes in the figure represent local attitude magnification curves between 10s and 15s. It can be seen from the figure that, after adding noise, the pitch, roll, and yaw angle data obtained by this invention have higher accuracy.
[0099] like Figure 5 As shown, this is a comparison of the angular velocity response curves of guided projectiles under scenario two. The solid black line in the figure represents the angular velocity curve of the guided projectile output using the calculation method of this invention, while the dotted black line represents the angular velocity curve of the guided projectile output using the gyroscope calculation method. The box in the figure represents a magnified angular velocity curve between 10s and 15s. It can be seen from the figure that, after adding noise, the angular velocity data obtained by this invention has higher accuracy.
[0100] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0101] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile, characterized in that, Includes the following steps: S1: Acquire the angular velocity, acceleration, and magnetic force data of the guided projectile; The measured angular velocity data, the measured acceleration data, and the measured magnetic force data are normalized to obtain standard angular velocity data, standard acceleration data, and standard magnetic force data; S2: Design of a finite-time complementary filter based on the attitude kinematics of guided projectile flight; S3: Input the standard angular velocity data, the standard acceleration data, and the standard magnetic force data into the finite-time complementary filter to obtain the estimated values of angular velocity measurement deviation, acceleration, and magnetic force. The expression for the finite-time complementary filter is as follows: ； ； ； in, The standard angular velocity data; The standard acceleration data; In order Components in the X, Y, and Z directions; The standard magnetic force data; In order Components in the X, Y, and Z directions; This is the estimated value of the angular velocity measurement deviation; This is the estimated acceleration value; The estimated magnetic force value; for The derivative with respect to time; for The derivative with respect to time; for The derivative with respect to time; It is a constant and satisfies ; It is a constant and satisfies ; It is a constant and satisfies ; It is a constant and satisfies ; Represents a symbolic function; represent of Power; represent of Power; represent of Power; represent of Power; S4: Based on the estimated angular velocity measurement deviation, the estimated acceleration, and the estimated magnetic force, the real-time attitude data and real-time angular velocity data of the guided projectile are calculated.
2. The method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile according to claim 1, characterized in that: The normalization formula for the measured angular velocity data is: ； in, The standard angular velocity data; In order Components in the X, Y, and Z directions; The measured angular velocity data; In order Components in the X, Y, and Z directions; express The 2-norm.
3. The method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile according to claim 2, characterized in that: The normalization formula for the measured acceleration data is: ； in, The standard acceleration data; In order Components in the X, Y, and Z directions; The measured acceleration data; In order Components in the X, Y, and Z directions; express The 2-norm.
4. The method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile according to claim 3, characterized in that: The normalization formula for the measured magnetic force data is: ； in, The standard magnetic force data; In order Components in the X, Y, and Z directions; The measured magnetic force data; In order Components in the X, Y, and Z directions; express The 2-norm.
5. The method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile according to claim 1, characterized in that, S4 specifically includes: S41: The real-time angular velocity data of the guided projectile is calculated based on the estimated angular velocity measurement deviation value; S42: Based on the acceleration estimate, calculate the real-time elevation angle and roll angle data of the guided projectile; S43: Based on the real-time pitch angle data, the real-time roll angle data, and the magnetic estimation value, the real-time yaw angle data of the guided projectile is calculated.
6. The method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile according to claim 5, characterized in that, The formula for calculating the real-time angular velocity data is: ； in, The real-time angular velocity data; for The components in the X, Y, and Z directions, respectively; The standard angular velocity data; This is the estimated value of the angular velocity measurement deviation.
7. The method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile according to claim 6, characterized in that, The formulas for calculating the real-time pitch angle data and the real-time roll angle data are as follows: ； in, The real-time pitch angle data, The real-time roll angle data; In order Components in the X, Y, and Z directions; This is the estimated acceleration value.
8. The method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile according to claim 7, characterized in that, The formula for calculating the real-time yaw angle data is: ； in, The real-time yaw angle data, In order Components in the X, Y, and Z directions; The estimated magnetic force value; The real-time pitch angle data; This refers to the real-time roll angle data.
9. The method for acquiring real-time attitude data and real-time angular velocity data of a guided projectile according to claim 1, characterized in that, The measured angular velocity data is obtained by a three-axis gyroscope; the measured acceleration data is obtained by a three-axis accelerometer; the measured magnetic force data is obtained by a three-axis magnetometer; the three-axis gyroscope, the three-axis accelerometer, and the three-axis magnetometer are all mounted on the guided projectile.