Multi-source information fusion navigation and guidance control integrated machine

Abstract

The application discloses a multi-source information fusion navigation and guidance control integrated machine. The application integrates the receiver, the missile-borne computer and the rudder controller on a circuit board through reasonable layout, the three subsystems communicate and interact through a serial bus, and are all powered by a rectifier power generation module of the rudder controller subsystem, redundant modules and components are simplified and discarded, the space inside the fuze is saved to a certain extent, and the reliability of the correction fuze is improved. The integrated machine can realize position, speed and attitude measurement of the multi-source receiver, and realizes optimal estimation of the position, speed and attitude through fusion of multi-source satellite and peripheral sensor data, so that the accuracy and reliability of the measurement information are greatly enhanced. Meanwhile, the application can receive a military code directly injected by an external filling gun through a PRM chip arranged in the receiver subsystem, and then realize military code direct capture positioning, so that the anti-interference and anti-deception capability of the trajectory correction fuze is improved.

Description

Technical Field

[0001] This invention relates to the field of two-dimensional ballistic correction fuse technology, specifically to a multi-source information fusion navigation, guidance and control integrated machine. Background Technology

[0002] As ballistic correction fuses become increasingly miniaturized and cost-effective, higher demands are placed on the overall space utilization within the fuse. Furthermore, the integration of multiple sensors within the fuse presents a significant challenge in fully integrating and utilizing sensor information. Currently, each subsystem in a ballistic correction fuse is designed independently, resulting in complex wiring between different systems and redundancy in some modules (such as power supply and communication interface modules), leading to a substantial waste of internal space. Summary of the Invention

[0003] In view of this, the present invention provides a multi-source information fusion navigation, guidance, and control integrated machine. Through a reasonable layout, the three most critical systems of the ballistic correction fuze—the receiver, the onboard computer, and the servo controller—are integrated onto a single circuit board. These three systems communicate and interact via a serial bus and are all powered by the rectifier-generator module of the servo controller. This streamlines and eliminates redundant power supply modules, voltage conversion modules, communication modules, wiring harnesses, connectors, and other modules and components, saving internal space in the fuze to a certain extent and improving the reliability of the correction fuze. Simultaneously, the present invention can receive military codes directly injected by an external refueling gun through the PRM chip in the receiver subsystem, and then achieve direct acquisition and positioning of the military codes by acquiring satellite signals at the BeiDou B3 frequency, improving the anti-interference and anti-spoofing capabilities of the ballistic correction fuze. Furthermore, the integrated machine of the present invention can also perform position, velocity, and attitude measurements of the receiver, and by fusing data from multiple satellite sources and external sensors, achieve optimal estimation of position, velocity, and attitude, significantly enhancing the accuracy and reliability of the measurement information.

[0004] The present invention provides a multi-source information fusion navigation, guidance and control integrated machine, which integrates a receiver subsystem, an onboard computer subsystem and a servo motor control subsystem on a single circuit board, and the subsystems communicate and interact through a serial bus.

[0005] The receiver subsystem includes a radio frequency (RF) processing module, a baseband processing module, and a positioning, navigation, and attitude measurement (PSTM) module. The RF processing module converts the received navigation satellite signals into digital intermediate frequency (IF) signals and transmits these signals to the baseband processing module via a serial port. The baseband processing module performs carrier stripping and random code stripping on the received IF signals to obtain the measurement values ​​and navigation messages for each satellite, and transmits these values ​​and messages to the PSTM module via a serial port. Based on the received satellite measurement values ​​and navigation messages, the PSTM module performs positioning and navigation calculations and attitude measurement calculations to obtain the positioning and attitude measurement results for each satellite, and transmits these results to the onboard computer subsystem via a serial port.

[0006] The onboard computer subsystem includes an installation module, a control algorithm module, and an information calculation module. The installation module loads the current firing parameters into the flash memory. The information calculation module performs weighted fusion of the positioning results from each satellite calculated by the positioning, navigation, and attitude measurement module to obtain the final position and velocity information, which is then sent to the control algorithm module via serial port. Simultaneously, it performs weighted fusion of the attitude measurement results from each satellite calculated by the positioning, navigation, and attitude measurement module with attitude information measured by other sensors to obtain the final attitude information, which is then sent to the servo controller subsystem via serial port. The control algorithm module, based on the firing parameters loaded by the installation module, the final position and velocity information obtained by the information calculation module, and the servo angle information fed back by the servo controller subsystem, generates ballistic control commands based on the ballistic control algorithm and sends these commands to the servo controller subsystem via serial port.

[0007] The servo controller subsystem includes a rectifier power generation module and a servo control module. The servo control module controls the servo in real time based on the control commands generated by the control algorithm module and the current attitude information obtained by the information calculation module, and feeds back the actual controlled servo blade angle to the control algorithm module. The rectifier power generation module rectifies and converts the three-phase electricity generated by the servo rotation before supplying it to each subsystem.

[0008] Preferably, the baseband processing module also includes a PRM chip; the PRM chip is equipped with a serial port, and the injection gun injects military codes into the PRM chip through the serial port; when the military codes are injected, the external power supply synchronously supplies power to each subsystem and module of the all-in-one machine through the serial port.

[0009] The PRM chip generates a local military code random code based on the injected military code; the radio frequency processing module converts the received B3 frequency BeiDou satellite signal into a digital intermediate frequency signal; the baseband processing module performs carrier stripping and random code stripping on the B3 frequency BeiDou satellite digital intermediate frequency signal based on the local military code random code generated by the PRM chip to obtain the B3 frequency BeiDou satellite measurement value and navigation message; the positioning, navigation and attitude measurement module performs positioning and navigation calculations and attitude measurement calculations based on the B3 frequency BeiDou satellite measurement value and navigation message to obtain the B3 frequency BeiDou satellite positioning result and attitude measurement result.

[0010] Preferably, the information calculation module first filters the receiver positioning information obtained by the positioning, navigation, and attitude measurement module from each satellite signal channel to remove noise interference and satellite positioning information that deviates significantly from the average value. Then, based on the deviation comparator, the filtered positioning information of each satellite is compared with the theoretical trajectory. By judging the difference between the filtered value and the current theoretical value, and the consistency between the amplitude change of the filtered value and the amplitude change of the theoretical value over a period of time, the weights of each satellite channel are assigned, and the positioning information of each satellite channel is then weighted and fused to obtain the final satellite positioning information.

[0011] The information processing module filters the attitude information obtained from each satellite signal channel by the positioning, navigation and attitude measurement module, as well as the projectile attitude information measured by other sensors, to remove noise interference and attitude information that deviates significantly from the average value. Then, based on the deviation comparator, the filtered attitude information is compared with the theoretical trajectory. By judging the difference between the attitude information and the current theoretical value, and the consistency between the amplitude change of the attitude information over a period of time and the amplitude change of the theoretical value, weights are assigned to each satellite channel and each sensor. Finally, the attitude information of each satellite channel and the attitude information of the sensors are weighted and fused to obtain the final attitude information.

[0012] A better approach is to use distributed nonlinear Kalman filtering during the filtering process.

[0013] Preferably, the ballistic control algorithm employs an impact point prediction algorithm, a proportional guidance algorithm, or a ballistic tracking algorithm.

[0014] Beneficial effects:

[0015] (1) This invention integrates the receiver, onboard computer, and servo controller onto a single circuit board through a rational layout. The three systems share a common power supply module and communication module, simplifying and eliminating redundant modules and components, thus saving internal space to a certain extent and laying the foundation for further miniaturization of the two-dimensional ballistic correction fuze. At the same time, due to integration, a large number of wiring harnesses and connectors are eliminated, simplifying the previously weak connection parts between the systems and increasing the overload resistance of the integrated unit.

[0016] (2) A PRM chip is installed in the baseband processing module of the integrated receiver subsystem. The PRM chip can be connected to an external refueling gun via a serial port. The refueling gun enables the refueling of military code ephemeris. During military code ephemeris refueling, the external power supply synchronously supplies power to each module of each subsystem of the integrated receiver via the serial port. By modifying the power supply interface, different power sources can be identified, thereby identifying different working modes and laying the foundation for the use of military codes in ballistic correction fuses. The military code direct acquisition process enables rapid positioning using military codes, further enhancing the anti-interference capability of the integrated receiver.

[0017] (3) The information calculation module of the onboard computer subsystem is equipped with a multi-information fusion unit. The multi-information fusion unit adopts a distributed nonlinear Kalman filter fusion algorithm to perform weighted fusion of position, velocity and attitude information from different sources. For example, the position and velocity information provided by the fusion receiver and the theoretical trajectory information are used to achieve position and velocity fusion estimation. The attitude measurement information provided by the fusion receiver and the attitude information provided by external Hall sensors, geomagnetic sensors, etc. are used to achieve projectile attitude fusion estimation. The weights are set according to the quality of the information and dynamically adjusted to achieve optimal information estimation, which greatly enhances the stability and reliability of the entire system. Attached Figure Description

[0018] Figure 1 Overall design scheme for ballistic correction fuze navigation guidance control integrated machine.

[0019] Figure 2 This is a multi-source data fusion process.

[0020] Figure 3 This is the process for direct capture of military codes. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] This invention provides a multi-source information fusion navigation, guidance, and control integrated machine, such as... Figure 1 As shown, it includes a receiver subsystem, an onboard computer subsystem, and a servo control subsystem; all subsystems are integrated on a single circuit board and communicate with each other via a serial bus.

[0023] The receiver subsystem is used to receive satellite signals and calculate the receiver's three-dimensional position, velocity, and attitude in real time.

[0024] Specifically, the receiver subsystem mainly includes an RF processing module 1, a baseband processing module 2, and a positioning, navigation, and attitude determination module 3. The RF processing module 1 first filters and amplifies all visible navigation satellite signals received by the antenna using a pre-filter and amplifier. Then, it performs down-conversion mixing on the sinusoidal local oscillator signal generated by the down-converter and local oscillator to convert it into an intermediate frequency (IF) signal. Next, it converts this signal into a discrete digital IF signal using an analog-to-digital (A / D) converter, and finally sends the digital IF signal to the baseband processing module 2. The baseband processing module 2, upon receiving the digital IF signal, first extracts the carrier wave of the digital IF signal using a digital signal processor unit and copies the local carrier wave and local pseudocode signal consistent with the received satellite signal. Then, it uses a carrier tracking loop... The frequency of the internally replicated carrier is adjusted to match the carrier frequency in the digital intermediate frequency (IF) signal, and then carrier stripping is achieved through down-conversion mixing. Simultaneously, the internally replicated pseudocode is adjusted based on the code tracking loop to match the phase of the replicated random code with the phase of the random code in the IF signal. Random code stripping is then achieved through code correlation operations, resulting in measurements of satellite pseudorange and carrier phase, as well as the navigation message. Finally, the satellite measurements and navigation message are sent to the positioning, navigation, and attitude measurement module 3. The positioning, navigation, and attitude measurement module 3, based on the received satellite measurements and navigation message, obtains the satellite positioning result (including position and velocity information) based on the processing of the positioning and navigation calculation unit, and simultaneously obtains the attitude measurement result of the ground reference based on the processing of the attitude measurement calculation unit. Finally, the satellite positioning result and attitude measurement result are sent to the onboard computer subsystem via serial port.

[0025] The onboard computer subsystem fuses the positioning and attitude measurement results of each navigation satellite sent by the receiver subsystem, as well as the attitude information measured by peripheral Hall sensors, geomagnetic sensors, etc., to obtain the optimal estimate of position, velocity, and attitude information. Based on the installed theoretical trajectory information and the servo angle fed back by the servo controller subsystem, it generates control commands based on the control algorithm. The optimal estimate of position, velocity, and attitude information and the generated control commands are sent to the servo controller subsystem via serial port.

[0026] Specifically, the missile-borne computer subsystem mainly includes: setting module 4, control algorithm module 5, and information calculation module 6.

[0027] Among them, the setting module 4 sets the current firing data (such as gun position coordinates, firing angle, firing direction, etc.), high-altitude weather, ephemeris, control mode, target point coordinates, aerodynamic torque system and other parameter information into the flash of the missile-borne computer subsystem for the control algorithm module 5 to call.

[0028] The information calculation module 6 receives the satellite positioning results and attitude measurement results sent by the receiver subsystem, and performs filtering and noise reduction processing on the satellite positioning results and attitude measurement results based on the data filtering and noise reduction unit. Then, based on the multi-source information fusion unit, it fuses the filtered and noise-reduced satellite positioning results to obtain the optimal estimate of the projectile's position and velocity information, and sends it to the control algorithm module via serial port. At the same time, based on the attitude calculation module, it fuses the filtered and noise-reduced attitude measurement results of each satellite with the attitude measurement results of the peripheral Hall sensor and geomagnetic sensor to obtain the optimal estimate of the projectile's attitude information, and sends it to the servo controller subsystem via serial port.

[0029] Based on the firing parameter information set by the setting module, the current projectile position and velocity information calculated by the information calculation module, and the servo angle information fed back by the servo controller, the control algorithm module 5 comprehensively evaluates and decides to adopt control algorithms such as impact point prediction, proportional guidance, and ballistic tracking, and generates control commands in real time. The control commands are then sent to the servo controller subsystem via serial port.

[0030] In the information calculation module 6, based on the position, velocity and attitude information of the theoretical trajectory loaded by the loading module 4, different fusion weights can be assigned to the positioning results and attitude measurement results of each satellite sent by the receiver subsystem and the attitude measurement results of the peripheral sensors.

[0031] Specifically, the position and velocity information obtained from each signal channel is filtered to remove noise interference and channels that significantly deviate from the average value. Then, it enters a deviation comparator and is compared with the theoretical trajectory. By judging the difference between the filtered value and the current theoretical value, and the consistency between the amplitude changes of the filtered value and the amplitude changes of the theoretical value over a period of time, weights are assigned and weighted fusion is performed to obtain the optimal estimate of position and velocity information. Similarly, the projectile attitude information obtained from the Hall sensor and the geomagnetic sensor, along with the attitude information obtained from the satellite channel, is filtered, compared with the theoretical trajectory value, and weighted fusion is performed to finally obtain the optimal estimate of attitude information. The multi-source data flow is as follows: Figure 2 As shown.

[0032] The servo controller subsystem dynamically adjusts the current of the servo motors based on control commands and attitude information sent by the onboard computer subsystem, thereby controlling the servo motors. It mainly includes a rectifier generator module 7 and a servo motor control module 8. The servo motor control module 8 determines the steering direction and position based on control commands generated by the control algorithm module 5 and current attitude information obtained from the information calculation module 6. It then converts the control signal into voltage via a D / A converter to control the servo motors in real time and feeds back the actual controlled servo motor angle to the control algorithm module 5. The rectifier generator module 7 rectifies and converts the three-phase electricity generated by the rotation of the servo motors before supplying it to the entire integrated system.

[0033] Furthermore, this invention can also achieve direct acquisition of military codes by adding military codes and utilizing the BeiDou satellite navigation signal at the B3 frequency point, thereby enabling rapid satellite navigation positioning and further enhancing the anti-interference capability of the integrated device. Specifically, the baseband processing module 2 of the receiver subsystem is equipped with a PRM chip, which has an external serial port. Before transmission, the receiver subsystem can use a refill gun to add military codes to the PRM chip through the external serial port. During refilling, the receiver subsystem operates in a low-power state, and its power supply is provided by an external power source via the external serial port. After refilling, the receiver subsystem operates in normal working state, and its power supply is provided by the rectifier power generation module 7. The PRM chip generates a local military code random code based on the added military code. Baseband processing module 2, based on the local military code random code generated by the PRM chip, performs carrier tracking and code tracking on the B3 frequency BeiDou satellite signal received and processed by RF processing module 1. Then, it strips the carrier and random code to obtain the B3 frequency BeiDou satellite measurement values ​​and navigation message. Subsequently, positioning, navigation, and attitude measurement module 3 performs positioning, navigation, and attitude measurement calculations for the B3 frequency BeiDou satellite military code. The onboard equipment sets accurate time and ephemeris information for the receiver. The receiver uses the set accurate time and satellite ephemeris to achieve rapid positioning via direct acquisition of the military code. Under a timing accuracy of 5ms, the initial positioning time is no more than 10s. The direct acquisition process of the military code is as follows: Figure 3 As shown.

[0034] The receiver subsystem identifies the power source and enters different operating modes. In low-power operating mode, the power consumption of the receiver subsystem does not exceed 1.3W.

[0035] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-source information fusion navigation, guidance, and control integrated machine, characterized in that, The receiver subsystem, the missile-borne computer subsystem, and the servo control subsystem are integrated on a single circuit board, and the subsystems communicate and interact with each other through a serial bus. The receiver subsystem includes a radio frequency processing module (1), a baseband processing module (2), and a positioning, navigation, and attitude measurement module (3). The radio frequency processing module (1) converts the received navigation satellite signals into digital intermediate frequency signals and sends the digital intermediate frequency signals to the baseband processing module (2) via a serial port. The baseband processing module (2) performs carrier stripping and random code stripping on the received digital intermediate frequency signals to obtain the measurement values ​​and navigation messages of each satellite and sends the measurement values ​​and navigation messages of each satellite to the positioning, navigation, and attitude measurement module (3) based on the received measurement values ​​and navigation messages of each satellite to perform positioning and navigation calculations and attitude measurement calculations to obtain the positioning results and attitude measurement results of each satellite and sends the positioning results and attitude measurement results of each satellite to the onboard computer subsystem via a serial port. The onboard computer subsystem includes an installation module (4), a control algorithm module (5), and an information calculation module (6). The installation module (4) is used to install the current firing parameter information into the flash memory. The information calculation module (6) is used to perform weighted fusion of the positioning results of each satellite calculated by the positioning, navigation, and attitude measurement module (3) to obtain the final position and velocity information and send it to the control algorithm module (5) via serial port. At the same time, the attitude measurement results of each satellite calculated by the positioning, navigation, and attitude measurement module (3) are weighted and fused with the attitude information measured by other sensors to obtain the final attitude information and send it to the servo controller subsystem via serial port. The control algorithm module (5) generates ballistic control commands based on the ballistic control algorithm according to the firing parameter information installed by the installation module (4), the final position and velocity information obtained by the information calculation module (6), and the servo angle information fed back by the servo controller subsystem. The control commands are then sent to the servo controller subsystem via serial port. The servo controller subsystem includes a rectifier power generation module (7) and a servo control module (8); wherein, the servo control module (8) controls the servo in real time according to the control command generated by the control algorithm module (5) and the current attitude information obtained by the information calculation module (6), and feeds back the actual controlled servo blade angle to the control algorithm module (5); the rectifier power generation module (7) rectifies and converts the three-phase electricity generated by the rotation of the servo and supplies it to each subsystem; The information calculation module (6) first filters the receiver positioning information obtained by the positioning, navigation and attitude measurement module (3) from each satellite signal channel to remove noise interference and satellite positioning information that deviates significantly from the average value; then, based on the deviation comparator, it compares the filtered positioning information of each satellite with the theoretical trajectory, and by judging the difference between the filtered value and the current theoretical value, as well as the consistency between the amplitude change of the filtered value and the amplitude change of the theoretical value over a period of time, it assigns weights to each satellite channel, and then performs weighted fusion of the positioning information of each satellite channel to obtain the final satellite positioning information; The information calculation module (6) filters the attitude information obtained by the positioning, navigation and attitude measurement module (3) from each satellite signal channel and the projectile attitude information measured by the Hall sensor and the geomagnetic sensor, removing noise interference and attitude information that deviates significantly from the average value. Then, based on the deviation comparator, the filtered attitude information is compared with the theoretical trajectory. By judging the difference between the attitude information and the current theoretical value, and the consistency between the amplitude change of the attitude information and the amplitude change of the theoretical value over a period of time, the weights of each satellite channel and each sensor are assigned, and then the attitude information of each satellite channel and the attitude information of the sensor are weighted and fused to obtain the final attitude information.

2. The multi-source information fusion navigation, guidance, and control integrated machine as described in claim 1, characterized in that, The baseband processing module (2) also includes a PRM chip; the PRM chip is equipped with a serial port, and the injection gun injects military code into the PRM chip through the serial port; When the military code is added, the external power supply synchronously supplies power to each subsystem and module of the all-in-one machine through this serial port; The PRM chip generates a local military code random code based on the injected military code; The radio frequency processing module (1) converts the received B3 frequency Beidou satellite signal into a digital intermediate frequency signal; the baseband processing module (2) performs carrier stripping and random code stripping on the B3 frequency Beidou satellite digital intermediate frequency signal based on the local military code random code generated by the PRM chip, and obtains the B3 frequency Beidou satellite measurement value and navigation message. The positioning, navigation and attitude measurement module (3) performs positioning and navigation calculations and attitude measurement calculations based on the B3 frequency point Beidou satellite measurement values ​​and navigation messages, and obtains the B3 frequency point Beidou satellite positioning results and attitude measurement results.

3. The multi-source information fusion navigation, guidance, and control integrated machine as described in claim 1, characterized in that, Distributed nonlinear Kalman filtering is used for filtering.

4. The multi-source information fusion navigation, guidance, and control integrated machine as described in claim 1, characterized in that, The ballistic control algorithm employs an impact point prediction algorithm, a proportional guidance algorithm, or a ballistic tracking algorithm.

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