Method and device for integrated high spin guidance control driven by look-ahead roll rate

Abstract

The application belongs to the technical field of guidance control, and particularly relates to a kind of advanced line of sight rotation rate driven high spin guidance control integration method and device, which is suitable for high spin flying body guidance control of tail-mounted micro spoiler.The process of the method is as follows: obtaining the motion and attitude information of the projectile, when the projectile flies to the start control section, in each guidance cycle, it is judged whether the current trajectory deviation exceeds the correction threshold, if yes, the trajectory correction link is entered, otherwise, it is waited for the next guidance to arrive and re-judged;the trajectory correction link: calculating the rotation angular velocity of the advanced line of sight, calculating the required overload based on the rotation angular velocity;calculating the spoiler control azimuth angle that meets the required overload requirement;when the spoiler is detected to turn to the azimuth angle, the spoiler is controlled to be deployed.

Description

Technical Field

[0001] This invention belongs to the field of guidance and control technology, specifically relating to an integrated method and device for high-spin guidance and control driven by forward line-of-sight rotation, applicable to high-spin flight guidance and control with micro spoilers installed at the tail. Background Technology

[0002] As warfare increasingly shifts towards intelligent warfare, weapon accuracy is becoming ever more crucial, and conventional weapons are no longer sufficient to meet the demands of modern warfare. Guiding existing conventional weapons is an effective way to improve their accuracy at a relatively low cost. Currently, most guided weapon modifications focus on non-rolling and low-speed rolling projectiles, with limited research on guiding high-speed, high-spin projectiles, and few mature technologies available.

[0003] Meanwhile, most current ballistic correction mechanisms are servo motors, pulse engines, and damping rings, but these three types of mechanisms have drawbacks such as high control difficulty, limited correction times, and the ability to perform only one correction. Micro-spoilers, as a type of actuator, have advantages such as simple control, low cost, and the ability to perform continuous and multiple controls, making them theoretically advantageous for correcting the trajectory of high-spinning aircraft. Currently, research on the guidance modification of high-spinning aircraft using micro-spoilers is limited. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide an integrated method and device for high-spin guidance and control driven by advanced line-of-sight rotation, which achieves ballistic correction and thus precise guidance and control by controlling the micro spoilers installed at the tail of the weapon.

[0005] The technical solution for implementing the present invention is as follows:

[0006] In a first aspect, embodiments of this application provide an integrated method for high-spin guidance and control driven by forward line-of-sight rotation, the method comprising:

[0007] Acquire the projectile's motion and attitude information. Once the projectile reaches the initiation phase, during each guidance cycle T... g Inside, it determines whether the current ballistic deviation exceeds the correction threshold. If so, it enters the ballistic correction stage; otherwise, it waits for the next guided missile to arrive before re-evaluating.

[0008] The ballistic correction process involves: first, calculating the angular velocity ω of the forward line of sight. s Based on the rotational angular velocity ω s Calculation requires overload A c Secondly, calculate the required overload A. c Required spoiler control azimuth angle γ s0 Finally, when the spoiler is detected to have turned to the azimuth angle, the spoiler is controlled to deploy.

[0009] Furthermore, the rotational angular velocity ω of the forward-looking vision described in this invention s for:

[0010]

[0011] Among them, L s For forward line of sight, the symbol × represents the vector cross product, and v is the projectile velocity.

[0012] Furthermore, the forward-looking line of sight L described in this invention s for:

[0013] The target point in the trajectory of the selected scheme is selected based on the forward line-of-sight time T, denoted as... The line connecting the projectile's position and the target point is the forward line of sight L. s ,Right now:

[0014]

[0015] In the formula, This indicates the current position of the projectile.

[0016] Furthermore, the overload A required by the present invention c This was calculated based on the vector proportional guidance law.

[0017] A c =(k pn ω s )×v

[0018] In the formula, k pn This is a proportional guide coefficient.

[0019] Furthermore, the calculation described in this invention satisfies the required overload A. c Required spoiler control azimuth angle γ s0 for;

[0020]

[0021]

[0022] In the formula, A cζ and A cη These represent the overload A required. c The two normal components in the plane of the spring axis, ω aξ The rotational speed of the projectile's rear body during the deployment of the spoiler is Δt, which is the deployment time of each spoiler.

[0023] Secondly, an embodiment of this application provides an integrated high-spin guidance and control device driven by forward line-of-sight rotation, comprising: a sensor module, a main control module, and an actuator module; wherein...

[0024] The sensor module is used to acquire the projectile's motion and attitude information;

[0025] The main control module receives information from the sensor module. When the projectile reaches the initiation phase, it performs actions during each guidance cycle T. g Inside, determine if the current ballistic deviation exceeds the correction threshold. If so, proceed to the ballistic correction stage: calculate the angular velocity ω of the forward line of sight. s Based on the rotational angular velocity ω s Calculation requires overload A c ; Obtain the required overload A c The required azimuth angle for spoiler control is specified, and when the spoiler is detected to have rotated to the specified azimuth angle, a spoiler control command is output.

[0026] When the actuator module receives the spoiler control command sent by the main control module, it controls the servo motor to deploy the spoiler.

[0027] Furthermore, the main control module of this invention calculates the rotational angular velocity ω of the forward line of sight. s for:

[0028]

[0029] In the formula, L s For forward line of sight, the symbol × represents the vector cross product, and v is the projectile velocity.

[0030] Furthermore, the forward-looking line of sight L described in this invention s for:

[0031] The target point in the trajectory of the selected scheme is selected based on the forward line-of-sight time T, denoted as... The line connecting the projectile's position and the target point is the forward line of sight L. s ,Right now:

[0032]

[0033] In the formula, This indicates the current position of the projectile.

[0034] Furthermore, the main control module described in this invention requires overload A. c This was calculated based on the vector proportional guidance law.

[0035] A c =(k pn ω s )×v

[0036] Where, k pn This is a proportional guide coefficient.

[0037] Furthermore, the main control module of the present invention calculates the required overload A. c Required spoiler control azimuth angle γ s0 for;

[0038]

[0039] In the formula, A cζ and A cη These represent the overload A required. c The two normal components in the plane of the spring axis, ω aξ The rotational speed of the projectile's rear body during the deployment of the spoiler is Δt, which is the deployment time of each spoiler.

[0040] Beneficial effects:

[0041] First, the present invention periodically detects the trajectory deviation between the actual position of the projectile and the planned trajectory. If the deviation exceeds the correction threshold, the required overload is calculated by using the vector proportional guidance law, and the azimuth angle corresponding to the deployment position of the spoiler is calculated. Then, the position of the spoiler is detected in real time. Whenever the spoiler rotates to the calculated azimuth angle of the spoiler deployment position, the spoiler is controlled to deploy, and the projectile trajectory is corrected to ensure that the projectile flies according to the planned trajectory.

[0042] Secondly, by detecting and correcting ballistic deviations in real time, this invention ensures that the actual position of the projectile deviates from the planned trajectory within a small range, ensuring that the projectile can fly according to the planned trajectory, overcoming various disturbances, and ensuring that the projectile can accurately strike the target.

[0043] Third, the present invention obtains the required overload by performing vector calculations based on the forward line-of-sight rotation rate and proportional guidance law, which has the characteristics of low computational load, high reliability and high correction accuracy. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 Control framework diagram of the integrated high-spin guidance and control method driven by advanced line-of-sight rotation rate;

[0046] Figure 2 This is a schematic diagram of a high-speed flying body structure applicable to the present invention;

[0047] Figure 3 Overall flowchart of the integrated high-spin guidance and control method driven by advanced line-of-sight rotation rate;

[0048] Figure 4 A schematic diagram of the trajectory of a proposed ballistic missile and the ideal trajectory under a certain launch condition;

[0049] Figure 5 This diagram illustrates the trajectory deviation and the vector relationship between the line of sight ahead and the projectile velocity.

[0050] Figure 6 Schematic diagram of adding lift to the equivalent spoiler and the azimuth angle of the spoiler;

[0051] Figure 7 This is a schematic diagram showing the azimuth angle of the required overload in the plane of the spring shaft;

[0052] Figure 8 This is a schematic diagram of the integrated high-spin guidance and control device driven by the forward line-of-sight rotation rate of the present invention.

[0053] Figure 9 This is a schematic diagram of the results of 100 simulation tests for ballistic correction. Specific implementation methods

[0054] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0055] It should be noted that, in the absence of conflict, the following embodiments and features can be combined with each other; and, based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0056] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0057] The design concept of this application is as follows: A pre-set trajectory and correction threshold are defined, and guidance control parameters such as the initiation phase, lead time, and guidance cycle are set. If the trajectory deviation exceeds the threshold after reaching the initiation phase, the required overload is obtained by vector proportional guidance calculation using the forward line-of-sight rotation angular velocity and projectile velocity. Then, based on the required overload, micro-spoilers are controlled to correct the projectile trajectory. Figure 1 As shown.

[0058] Example 1

[0059] This invention provides an integrated method for high-spin guidance and control driven by forward line-of-sight rotation, the overall process of which is as follows: Figure 3 As shown, the specific implementation steps are as follows:

[0060] Step 1: Construct a ballistic model describing the projectile's motion, including the projectile's center of mass motion and the projectile's motion around the center of mass.

[0061] Based on Newton's second law, the motion of the projectile's center of mass is analyzed. For ease of expression, a dynamic equation describing the motion of the projectile's center of mass is constructed in the ballistic coordinate system, as follows:

[0062]

[0063] In the formula, v is the projectile velocity, Ω is the angular velocity of the ballistic coordinate system relative to the reference coordinate system, F is the net external force on the projectile, and m is the mass of the projectile.

[0064] Expanding the above equation and transforming it to a velocity coordinate system, we get the set of dynamic equations for the motion of the projectile's center of mass:

[0065]

[0066] In the formula, θ V and These are the trajectory inclination angle and the trajectory deviation angle, respectively. and These are the three-axis components of the net external force acting on the projectile in the ballistic coordinate system.

[0067] Expressing the projectile velocity in scalar form in the reference coordinate system yields the kinematic equations for the projectile's center of mass motion:

[0068]

[0069] Based on the angular momentum theorem, the motion of a projectile around its center of mass is analyzed. For ease of expression, a dynamic equation describing the projectile's motion around its center of mass is constructed in a quasi-projectile coordinate system. Furthermore, this invention is applicable to highly rotating flight vehicles with a double-spinning structure, whose motion around the center of mass should be analyzed in two parts: the front and rear sections. Specifically:

[0070]

[0071] In the formula, G f and G a Let ω1 and ω2 be the angular momentum of the projectile's fore and aft bodies about its center of mass, respectively, and M be the angular velocity of the quasi-projectile coordinate system relative to the reference coordinate system. f and M a M represents the net external torque acting on the front and rear of the projectile, respectively. b and F bThese represent the constraint torque and constraint force at the connection between the front and rear bearings of the projectile, respectively. b It is the radius vector from the center of mass of the projectile to the connection point of the bearings at the front and rear of the projectile.

[0072] Expressing the angular momentum as the product of the moment of inertia and the angular velocity, substituting it into the above equation and transforming it to the quasi-projectile coordinate system, and neglecting the small quantities in the product, we can obtain the dynamic equations of the projectile's motion around its center of mass:

[0073]

[0074] In the formula, ω fξ ω aξ ω η and ω ζ Let A and C represent the three-axis components of the projectile's forward and aft rotational angular velocities in the quasi-projectile coordinate system. f and C a Let be the moment of inertia.

[0075] like Figure 3 As shown, by expressing the rotational angular velocities of the projectile's fore and aft bodies in component form in the reference coordinate system, we can obtain the kinematic equations of the projectile's motion around its center of mass:

[0076]

[0077] In the formula, γ f and γ a θ and ψ are the roll angles of the projectile's fore and aft bodies, respectively, and θ and ψ are the projectile's pitch angle and yaw angle, respectively.

[0078] Step 2: Based on the ballistic model describing the projectile's motion constructed in Step 1, the projectile's structural parameters, aerodynamic coefficients, and atmospheric parameters are set. The trajectory is iteratively calculated using the fourth-order Runge-Kutta numerical integration method. The solution equation is:

[0079]

[0080] In the formula, f represents a series of differential equations in the ballistic model, y and x represent ballistic parameters, and h is the solution step size.

[0081] Step 3: Pre-program the planned trajectory and correction threshold, and set guidance control parameters such as the initiation phase, lead time, and guidance cycle. The planned trajectory is obtained from the trajectory planning, and the correction threshold is determined based on the trajectory correction capability of the micro-spoiler.

[0082] This example simulates a real-world trajectory affected by various random disturbances by adding launch angle, initial velocity, azimuth deviation, and random wind interference. First, a pre-set trajectory correction threshold and a proposed trajectory are established, as shown below. Figure 4As shown, guidance control parameters such as the initiation phase range, forward line-of-sight time, and guidance cycle are set. Steps 4-6 of this embodiment calculate the required overload by performing vector proportional guidance calculations based on the forward line-of-sight rotational angular velocity and projectile velocity, and then control the micro-spoilers to correct the projectile trajectory according to the required overload. This is the core of this application, and the specific content is as follows:

[0083] Step 4: After reaching the control activation phase, proceed according to the guidance cycle T. g Circularly detect ballistic deviation, ballistic deviation as follows Figure 5 As shown, it determines whether the current ballistic deviation exceeds the correction threshold, specifically:

[0084] Assume the current flight time is t. n The current position of the projectile is Reading the trajectory of the scheme t n The position of the bullet at that moment is denoted as The current trajectory deviation is the deviation l between the projectile's position and the projectile's position in the planned trajectory. e ,Right now:

[0085]

[0086] Assume t n The correction threshold corresponding to time is like Then ballistic correction is required; proceed to step 5. Then no ballistic correction is needed; wait until the next guidance cycle and proceed to step 4.

[0087] Step 5: Calculate the required overload to correct the trajectory based on the vector proportional guidance law. Specifically, select the target point in the proposed trajectory based on the line-of-sight time T, denoted as... The line connecting the projectile's position and the target point is the forward line of sight L. s ,Right now:

[0088]

[0089] Assume t n The projectile velocity at that moment is v, and the line-of-sight is L. s The vector relationship between the projectile velocity v and the projectile velocity v is as follows Figure 4 As shown. The required projectile velocity and rotational angular velocity ω are calculated based on the vector proportional guidance law. v The required overload A can then be calculated. c ,Right now:

[0090]

[0091] In the formula, the symbol × represents the vector cross product, and k pn This is a proportional guide coefficient.

[0092] Based on the fundamental relationship of proportional guidance, the required projectile velocity and rotational angular velocity ω v Should be in line with forward vision v s The rotational angular velocity (i.e., the forward line-of-sight rotation rate) ω s Proportional, that is:

[0093] ω v =k pn ω s

[0094] From the relationship between angular motion and linear motion, we can see that the forward line of sight L s rotational angular velocity ω s The relative tangential velocity v between the projectile and the target point can be determined by... r We obtain, where:

[0095] v r =ω s ×L s

[0096] The forward line of sight L can then be calculated using the above formula. s rotational angular velocity ω s The modulus is:

[0097]

[0098] In the formula, sin < ω s ,L s >For forward-looking vision L s Its rotational angular velocity ω s The sine of the included angle, since the two are perpendicular, is sin < ω. s ,L s >=sin90°=1. Since the selected target point is a fixed position, the relative tangential motion between the projectile and the target point is caused only by the projectile's linear motion, that is:

[0099] v r =vsin <v,L s >

[0100] In the formula, sin <v,L s >For the projectile velocity v and the line-of-sight L s The sine of the included angle. Combining this with the above formula, the forward line of sight v can be calculated. s rotational angular velocity ω s The direction, that is:

[0101] ω s ∥(-L s )×v r ∥v r ×L s∥(vsin <v,L s >)×L s ∥v×L s

[0102] In the formula, the symbol / / represents vector parallelism, combined with the forward line-of-sight rotational angular velocity ω s Given the magnitude and direction, ω can be obtained. s for:

[0103]

[0104] Then, overload A is required. c for:

[0105]

[0106] Step 6: Correct the trajectory using micro spoilers as needed for overload control.

[0107] Based on the impulse equivalence principle, the additional lift generated by the spoiler during a single deployment is considered as a constant ΔF. y Simultaneously, the spoiler will roll with the rear of the projectile, and the additional lift generated during the roll of the spoiler is equivalent to the equivalent additional lift at the midpoint of its rotation range, such as... Figure 6 As shown, assuming the spoiler rotates through a 2θ angle range during one deployment, the equivalent additional lift is:

[0108]

[0109] To ensure that the equivalent additional lift meets the required overload, the direction of the equivalent additional lift must be consistent with the direction of the required overload. That is, the azimuth angles of the equivalent additional lift and the required overload must be consistent within the plane of the projectile shaft. Let's assume the azimuth angle of the required overload within the plane of the projectile shaft is γ. c Then the azimuth angle of the equivalent spoiler position corresponding to the equivalent additional lift is:

[0110] γ s =γ c +π

[0111] The overload needs to be applied in the azimuth angle γ within the plane of the spring shaft. c The required overload needs to be transformed to the coordinate system of the spring shaft plane for calculation. The specific calculation method is as follows:

[0112]

[0113] In the formula, A cζ and A cη These represent the overload A required. c Two normal components in the plane of the spring axis, such as Figure 7 As shown, This is the coordinate transformation matrix that transforms the reference coordinate system to the coordinate system containing the spring axis plane.

[0114] The spoiler control method in this invention is a fixed deployment time control. The spoiler is deployed for a fixed time Δt each time and then automatically retracts. To ensure that the azimuth angle of the intermediate position of the spoiler as it rotates with the projectile's rear body within the time Δt is γ, s This requires calculating the deployment time of the spoiler, i.e., calculating the azimuth angle corresponding to the deployment position of the spoiler. Assume that the projectile's rear body rotation speed remains constant during one spoiler deployment, denoted as ω. aξ Then, the range of angles through which the spoiler can rotate in time Δt is:

[0115] θ=ω aξ Δt

[0116] To ensure that the midpoint of the spoiler's rotation angle range is the same as the required equivalent spoiler position, the midpoint of angle θ must be γ. s The azimuth angle γ corresponding to the deployment position of the spoiler s0 for:

[0117]

[0118] After obtaining the required overload, the required azimuth angle γ of the spoiler deployment position can be determined according to the above formula. s0 Whenever the spoiler rotates to γ s0 Position control is used to deploy the spoilers. Then, within the current guidance cycle, the spoiler azimuth angle is monitored in real time; when the spoiler rotates to γ... s0 The azimuth angle controls the deployment of the spoilers.

[0119] Ballistic correction is achieved using miniature spoilers as actuators. These spoilers are fan-shaped planes perpendicular to the projectile's longitudinal axis and parallel to its axial tangent. They are installed in the projectile's aft control compartment and deployed and retracted via servo motors. Each deployment lasts a fixed time, which is typically negligible. Furthermore, the spoiler extends to a consistent height each time it is deployed; that is, this invention only controls the deployment position of the spoiler each time, while the external area of ​​the spoiler remains constant.

[0120] Example 2

[0121] This invention also provides an integrated high-spin guidance and control device driven by forward line-of-sight rotation, the overall structure of which is as follows: Figure 8 As shown, it includes a sensor module 101, a storage module 102, a main control module 103, an actuator module 104, a communication bus 105, and a power supply module 106.

[0122] The sensor module measures the projectile's motion and attitude information using inertial measurement units (IMUs) and magnetoresistive sensors.

[0123] The storage module is used to save preset correction thresholds, trajectory plans, lead time, initiation phase, and guidance cycle parameters, as well as trajectory information and guidance control commands.

[0124] The main control module receives data from the sensor module, processes it to obtain the projectile's navigation information, combines it with the planned trajectory and correction threshold stored in the storage module, calculates the required overload according to the vector proportional guidance law, and then obtains the azimuth angle corresponding to the spoiler deployment position. After that, the spoiler position is detected in real time, and when the spoiler rotates to the required azimuth angle, the spoiler control command is output.

[0125] The actuator module is used to control the deployment of the spoilers. When it receives the spoiler control command from the main control module, it controls the servo motor to deploy the spoilers.

[0126] The communication bus is used for data communication between the aforementioned sensor module, storage module, main control module, and actuator module.

[0127] The power supply module is used to supply power to the above modules.

[0128] Based on this invention, 100 Monte Carlo shooting experiments were conducted, and the range of added perturbations was:

[0129]

[0130]

[0131] The results of the Monte Carlo shooting experiment are as follows Figure 9 As shown, the uncontrolled impact point circular error is about 190m, while the corrected impact point circular error is about 30m, proving that the present invention can effectively reduce the circular error and improve the accuracy of the strike.

[0132] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for integrating high-spin guidance and control driven by forward line-of-sight rotation, characterized in that, The method includes: Acquire the projectile's motion and attitude information. Once the projectile reaches the control activation phase, in each guidance cycle... Inside, it determines whether the current ballistic deviation exceeds the correction threshold. If so, it enters the ballistic correction stage; otherwise, it waits for the next guided missile to arrive before re-evaluating. The ballistic correction process involves: first, calculating the rotational angular velocity of the forward line of sight. Based on the rotational angular velocity Calculation requires overload Secondly, calculate the required overload. Required spoiler control azimuth angle Finally, when the spoiler is detected to have turned to the azimuth angle, the spoiler is controlled to deploy. The required overload This was calculated based on the vector proportional guidance law. In the formula, For proportional guidance, the proportional coefficient, The velocity of the projectile; The calculation satisfies the required overload. Required spoiler control azimuth angle for; In the formula, and These respectively indicate the need for overload. Two normal components in the plane of the spring axis To determine the projectile's rear rotation speed during the deployment of the spoilers, This refers to the time it takes for the spoiler to deploy each time.

2. The integrated method for high-speed rotation guidance and control driven by forward line-of-sight rotation according to claim 1, characterized in that, The rotational angular velocity of the forward-looking line of sight for: in, For forward-looking vision, symbols Represents the vector cross product.

3. The integrated high-spin guidance and control method driven by the forward line-of-sight rotation rate according to claim 2, characterized in that, The forward-looking vision for: Based on forward vision time Select the target point in the trajectory of the proposed ballistics, denoted as... The line connecting the projectile's position and the target point is the forward line of sight. ,Right now: In the formula, This indicates the current position of the projectile.

4. A high-spin guidance and control integrated device driven by forward line-of-sight rotation rate, characterized in that, include: Sensor module, main control module, and actuator module; in The sensor module is used to acquire the projectile's motion and attitude information; The main control module receives information from the sensor module and, after the projectile reaches the control activation phase, initiates control in each guidance cycle. Inside, determine if the current ballistic deviation exceeds the correction threshold. If so, proceed to the ballistic correction stage: calculate the rotational angular velocity of the forward line of sight. Based on the rotational angular velocity Calculation requires overload ; Obtain the required overload The required azimuth angle for spoiler control is specified, and when the spoiler is detected to have rotated to the specified azimuth angle, a spoiler control command is output. When the actuator module receives the spoiler control command sent by the main control module, it controls the servo motor to deploy the spoiler. Overload required This was calculated based on the vector proportional guidance law. in, For proportional guidance, the proportional coefficient, The velocity of the projectile; The main control module calculates the required overload. Required spoiler control azimuth angle for; In the formula, and These respectively indicate the need for overload. Two normal components in the plane of the spring axis To determine the projectile's rear rotation speed during the deployment of the spoilers, This refers to the time it takes for the spoiler to deploy each time.

5. The high-spin guidance and control integrated device driven by the forward line-of-sight rotation rate according to claim 4, characterized in that, The main control module calculates the rotational angular velocity of the forward line of sight. for: In the formula, For forward-looking vision, symbols Represents the vector cross product.

6. The high-speed rotation guidance and control integrated device driven by the forward line-of-sight rotation rate according to claim 5, wherein the forward line-of-sight rotation rate... for: Based on forward vision time Select the target point in the trajectory of the proposed ballistics, denoted as... The line connecting the projectile's position and the target point is the forward line of sight. ,Right now: In the formula, This indicates the current position of the projectile.

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