Method, device, medium and equipment for determining rocket target angle accuracy

Abstract

The present invention provides a method, device, medium and equipment for determining the accuracy of a rocket's target angle, including: obtaining the current mass, acceleration and aerodynamic parameters of the rocket; determining the corresponding aerodynamic force based on the current mass and acceleration, and determining the total differential expression of the target angle based on the relationship between the aerodynamic force and the aerodynamic parameters; determining the accuracy of the rocket's target angle based on the total differential expression of the target angle; in this way, since there is a fixed relationship between the rocket's aerodynamic force and the aerodynamic parameters, the total differential expression of the target angle can be determined based on the relationship between the aerodynamic force and the aerodynamic parameters, thereby performing an accuracy analysis on the identified target angle based on the total differential expression, and judging the accuracy of the target angle based on the analysis result, thereby ensuring the high-angle-of-attack flight attitude control effect of the carrier rocket, the aerodynamic load reduction control effect, the landing area attitude control effect of the separation body, and the reusable return landing attitude control effect of the separation body.

Description

Technical Field

[0001] The present application relates to the field of rocket attitude control technology, and in particular to a method, device, medium and equipment for determining the accuracy of a rocket target angle. Background Art

[0002] Aerodynamic forces act on the surface of a launch vehicle as it moves through the air. During launch vehicle flight, high-altitude winds create large aerodynamic angles of attack and sideslip. At high angles of attack or sideslip, the rocket's aerodynamic environment becomes complex, leading to significant static instability. The aerodynamic forces and moments acting on the rocket exhibit significant nonlinearity, easily causing attitude instability. Attitude control at high angles of attack is challenging. During actual flight, the angle of attack created by the rocket's velocity relative to the airflow also creates significant aerodynamic loads, causing the rocket to bend. Controlling aerodynamic load reduction has always been a challenge in the industry. Furthermore, with the development of launch vehicles, the need for control over the landing zone and the reusability of launch vehicle separation bodies has become increasingly pressing. During the reentry phase, the separation body experiences large angles of attack, drastic aerodynamic changes, and complex characteristics. Therefore, controlling the separation body's landing zone and the reusable separation body's attitude upon return to landing are also challenging.

[0003] Whether controlling attitude at high angles of attack (sideslip angles), aerodynamic load reduction control, attitude control in the landing zone of a detached vehicle, or attitude control for reusable return landing of a detached vehicle, the angle of attack (sideslip angle) must first be measured. Aerodynamic angle of attack measurement generally involves three methods: the first is the traditional pitot tube, which measures velocity and calculates the angle of attack through pressure differential; the second is the angle of attack sensor, which directly measures the angle of attack; and the third is the accelerometer, which measures acceleration and calculates the angle of attack through reverse interpolation of aerodynamic data. The first method has limited applicability and is generally used on aircraft or in wind tunnels. It is prone to clogging and cannot be used on launch vehicles. The second method, which adds an angle of attack sensor, disrupts the flow field and is very expensive. The third method uses the launch vehicle's existing accelerometer, which is economical and affordable. However, the accelerometer is easily affected by various interferences (such as engine deflection, aerodynamic parameter deviation, and tangential acceleration caused by the angular velocity of the vehicle body), resulting in large variations in the accuracy of the calculated angle of attack and sideslip angle. However, the existing technology lacks a corresponding method to analyze the accuracy of the angle of attack and sideslip angles identified by these methods, limiting the use of this method. If the accuracy of the identified angle of attack or sideslip angle cannot be guaranteed, it will introduce uncertainty risks, which will directly affect the flight attitude control, aerodynamic load reduction control, landing area attitude control of the separation body and the reusable return landing attitude control of the separation body at large angles of attack of the launch vehicle. Summary of the Invention

[0004] In response to the problems existing in the prior art, the embodiments of the present invention provide a method, device, medium and equipment for determining the accuracy of the rocket target angle, so as to solve the technical problem that the prior art cannot analyze the accuracy of the identified attack angle and sideslip angle of the carrier rocket, thereby affecting the flight attitude control, aerodynamic load reduction, landing area attitude control of the separation body and the reusable return landing attitude control of the separation body at large attack angles of the carrier rocket.

[0005] A first aspect of the present invention provides a method for determining the accuracy of a rocket target angle, wherein the target angle includes an angle of attack and a sideslip angle; the method comprising:

[0006] Get the current mass, acceleration and aerodynamic parameters of the rocket;

[0007] determining a corresponding aerodynamic force according to the current mass of the rocket and the acceleration, and determining a total differential expression of the target angle according to a relationship between the aerodynamic force and aerodynamic parameters;

[0008] The accuracy of the rocket target angle is determined based on the total differential expression of the target angle; wherein,

[0009] When the target angle is the angle of attack, the acceleration is the Y-direction acceleration; when the target angle is the sideslip angle, the acceleration is the Z-direction acceleration.

[0010] In the above solution, the aerodynamic force includes normal aerodynamic force and lateral aerodynamic force, and the corresponding aerodynamic force is determined according to the current mass of the rocket and the acceleration, including:

[0011] When the aerodynamic force is a normal aerodynamic force, obtaining a first product value between the current mass and the Y-direction acceleration, where the first product value is the normal aerodynamic force;

[0012] When the aerodynamic force is a transverse aerodynamic force, a second product value between the current mass and the Z-direction acceleration is obtained, where the second product value is the transverse aerodynamic force.

[0013] In the above solution, when the target angle is the angle of attack, the aerodynamic parameters include: the rocket body flight pressure, the rocket body aerodynamic characteristic area, and the normal aerodynamic coefficient; the total differential expression for the target angle is determined based on the relationship between the aerodynamic force and the aerodynamic parameters, including:

[0014] Obtain the relationship between aerodynamic forces and aerodynamic parameters: M*a y =CN(Ma,δ p ,α,0)*q*s;

[0015] According to CN(Ma,δ p ,α,0) is used to determine the attack angle analytical expression;

[0016] Perform total differentiation on the angle of attack analytical expression, and determine the corresponding angle of attack total differential expression based on the relationship between the aerodynamic force and the aerodynamic force parameters; wherein,

[0017] The M is the current mass of the rocket, and the a y is the Y-axis acceleration, M is the Mach number of the rocket, and δ p is the pitch channel balance rudder deflection angle, q is the flight pressure of the rocket body, α is the angle of attack, s is the aerodynamic characteristic area of ​​the rocket body, and CN is the normal aerodynamic coefficient.

[0018] In the above scheme, the method according to CN(Ma, δ p ,α,0) to determine the angle of attack analytical formula, including:

[0019] Determine the CN (Ma, δ p ,α,0), the Taylor first-order expansion is:

[0020]

[0021] The angle of attack is determined according to the first-order expansion, and the analytical formula for the angle of attack is: Wherein, the CN(Ma, δ p , 0, 0) is the value of the normal aerodynamic coefficient when the rocket body angle of attack is 0 and the sideslip angle is 0. is the derivative of the normal aerodynamic coefficient with respect to the angle of attack when the rocket body angle of attack and the sideslip angle are 0, and α is the angle of attack.

[0022] In the above solution, performing total differentiation on the angle of attack analytical expression and determining the corresponding angle of attack total differential expression based on the relationship between the aerodynamic force and the aerodynamic force parameters include:

[0023] The angle of attack total differential expression is determined by performing total differentiation on the angle of attack analytical expression:

[0024]

[0025] According to the relationship between aerodynamic force and aerodynamic parameters Determine:

[0026] according to Convert the total differential expression of angle of attack to:

[0027] ;in,

[0028] The CN (Ma, δ p,0,0) is the value of the normal aerodynamic coefficient when the rocket body angle of attack is 0 and the sideslip angle is 0. The CN(Ma,δ p ,α,0) the value of the normal aerodynamic coefficient when the rocket body angle of attack is α and the sideslip angle is 0, is the value of the derivative of the normal aerodynamic coefficient with respect to the angle of attack when the angle of attack of the rocket body is 0 and the sideslip angle is 0, ΔM is the mass deviation of the rocket body, M is the current mass of the rocket body, and Δa y is the Y-axis acceleration deviation, is the normal aerodynamic coefficient deviation, and Δa is the mass deviation ΔM and the Y-direction acceleration deviation Δa y And the normal aerodynamic coefficient deviation is The total change in angle of attack corresponding to .

[0029] In the above solution, determining the rocket target angle accuracy based on the total differential expression of the target angle includes:

[0030] Determine the corresponding target angle change according to the total differential expression of the target angle;

[0031] Determining a corresponding target angle deviation according to the target angle variation;

[0032] If it is determined that the target angle deviation is greater than a preset deviation threshold, it is determined that the rocket target angle accuracy is insufficient;

[0033] If it is determined that the target angle deviation is less than the deviation threshold, it is determined that the rocket target angle accuracy meets the requirements.

[0034] In the above solution, when the target angle is the sideslip angle, the aerodynamic parameters include: rocket body flight pressure, rocket body aerodynamic characteristic area, and lateral aerodynamic coefficient; the total differential expression for the target angle is determined based on the relationship between the aerodynamic force and the aerodynamic parameters, including:

[0035] Obtain the relationship between aerodynamic forces and aerodynamic parameters: M*a z =CZ(Ma,δ y ,0,β)*q*s;

[0036] According to CZ(Ma,δ y , 0, β) by using the Taylor first-order expansion to determine the sideslip angle;

[0037] The sideslip angle analytical expression is fully differentiated, and the corresponding sideslip angle fully differential expression is determined according to the relationship between the aerodynamic force and the aerodynamic force parameters; wherein,

[0038] The M is the current mass of the rocket, and the a z is the Z-axis acceleration, Ma is the rocket's Mach number, and δy is the yaw channel balance rudder deflection angle, q is the flight pressure of the rocket body, β is the sideslip angle, s is the aerodynamic characteristic area of ​​the rocket body, and CZ is the lateral aerodynamic coefficient.

[0039] A second aspect of the present invention provides a device for determining the accuracy of a rocket's target angle, wherein the target angle includes an angle of attack and a sideslip angle; the device comprises:

[0040] The acquisition unit is used to obtain the current mass, acceleration and aerodynamic parameters of the rocket;

[0041] a first determining unit, configured to determine a corresponding aerodynamic force according to the current mass of the rocket and the acceleration, and to determine a total differential expression of the target angle according to a relationship between the aerodynamic force and aerodynamic parameters;

[0042] The second determination unit is used to determine the accuracy of the rocket target angle based on the total differential expression of the target angle; wherein, when the target angle is the angle of attack, the acceleration is the Y-direction acceleration; when the target angle is the sideslip angle, the acceleration is the Z-direction acceleration.

[0043] According to a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0044] According to a fourth aspect of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods described in the first aspect are implemented.

[0045] The present invention provides a method, device, medium and equipment for determining the accuracy of a rocket's target angle, the method comprising: obtaining the current mass, acceleration and aerodynamic parameters of the rocket; determining the corresponding aerodynamic force based on the current mass of the rocket and the acceleration, and determining the total differential expression of the target angle based on the relationship between the aerodynamic force and the aerodynamic parameters; determining the accuracy of the rocket's target angle based on the total differential expression of the target angle; wherein, when the target angle is the angle of attack, the acceleration is the Y-direction acceleration; when the target angle is the sideslip angle, the acceleration is the Z-direction acceleration; thus, since there is a fixed relationship between the rocket's aerodynamic force and the aerodynamic parameters, this embodiment can determine the total differential expression of the target angle based on the relationship between the aerodynamic force and the aerodynamic parameters, thereby performing an accuracy analysis on the angle of the identified target angle based on the total differential expression, and judging the accuracy of the identified target angle based on the analysis result, thereby ensuring the flight attitude control effect, aerodynamic load reduction control effect, landing area attitude control effect of the separation body and the control effect of the reusable return landing attitude of the separation body at a large angle of attack of the carrier rocket. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0047] Figure 1 A schematic flow chart of a method for determining a rocket target angle accuracy according to an embodiment of the present invention is shown;

[0048] Figure 2 A schematic diagram of an arrow body coordinate system according to an embodiment of the present invention is shown;

[0049] Figure 3 shows a schematic diagram of a velocity coordinate system according to an embodiment of the present invention;

[0050] Figure 4 A schematic structural diagram of a device for determining a rocket target angle accuracy according to an embodiment of the present invention is shown;

[0051] Figure 5 A schematic diagram showing the effect of mass deviation on angle of attack as a function of flight time according to an embodiment of the present invention is shown;

[0052] Figure 6 A schematic diagram showing the effect of the normal aerodynamic coefficient deviation on the angle of attack as the flight time changes according to one embodiment of the present invention is shown;

[0053] Figure 7 A schematic diagram showing the effect of acceleration deviation on angle of attack as a function of flight time according to an embodiment of the present invention is shown;

[0054] Figure 8 A schematic diagram of the structure of a computer device according to an embodiment of the present invention is shown;

[0055] Figure 9 A schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0056] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0057] The embodiment of the present invention provides a method for determining the target angle accuracy of a rocket. Figure 1 As shown, the method includes the following steps:

[0058] S110, obtaining the current mass, acceleration and aerodynamic parameters of the rocket;

[0059] The target angle in this embodiment includes the angle of attack and the sideslip angle. In order to better understand the technical solution of this embodiment, the concepts of the angle of attack and the sideslip angle are first introduced here.

[0060] Specifically, please refer to Figure 2 ,exist Figure 2 In the rocket body coordinate system, the coordinate origin is located at the center of mass of the rocket, the OX1 axis is consistent with the longitudinal symmetry axis of the rocket body, pointing in the direction of the head, the OY1 axis is perpendicular to the OX1 axis, located in the longitudinal symmetry plane of the rocket, pointing upward, and the OZ1 axis, OX1 axis, and OY1 axis form a right-handed rectangular coordinate system.

[0061] Figure 3 In the velocity coordinate system, the origin O is the rocket's center of mass. The OXv axis lies along the vehicle's flight velocity, the OYv axis lies within the rocket's principal plane of symmetry and is perpendicular to the OXv axis. The OZv axis is perpendicular to the XvOYv plane, and the Zv axis points to the right when viewed in the direction of flight. The OXvYvZv coordinate system is a right-handed rectangular coordinate system.

[0062] Then the angle of attack is the angle between the projection of the rocket body velocity vector on the main symmetry plane OX1Y1 of the rocket and the longitudinal axis of the rocket body (OX1 axis); the sideslip angle is the angle between the rocket body velocity vector and the longitudinal symmetry plane of the rocket body.

[0063] The forces acting on the rocket in the Y and Z directions during flight primarily include the lateral aerodynamic force when the airflow angle is non-zero, the normal aerodynamic force, the lateral normal force caused by the deflection of the engine thrust line, and the tangential force caused by the rocket's angular velocity. Because the lateral normal force caused by the deflection of the engine thrust line is much smaller than the aerodynamic force, the lateral normal force can be ignored.

[0064] The tangential force caused by the angular velocity of the rocket body can be calculated according to the formula Calculation, M is the mass of the rocket body, is the angular acceleration of the rocket body, and l is the distance from the accelerometer to the center of mass of the rocket body. Generally speaking, the value of the tangential force is also small and can be ignored here. Then the relationship between the lateral aerodynamic force, the normal aerodynamic force, and the Y and Z accelerations of the rocket body can be shown as formula (1):

[0065] F(Ma, δ, α, β)=M*a (1)

[0066] In formula (1), Ma is the rocket's Mach number, δ is the trim angle, α is the angle of attack, β is the sideslip angle, M is the current mass of the rocket body, a is the acceleration, and F is the aerodynamic force corresponding to the corresponding Mach number, trim angle, angle of attack, and sideslip angle.

[0067] Furthermore, when the aerodynamic coupling in the pitch channel and the yaw channel is neglected, the formula F(Ma, δ, α, β) = M*a can be decomposed into formula (2):

[0068]

[0069] Specifically, since the rocket body has a normal aerodynamic force in the pitch channel and a lateral aerodynamic force in the yaw channel, the aerodynamic force F in formula (1) can be decomposed into the normal aerodynamic force F in the lateral and normal directions: y and the lateral aerodynamic force F z . In formula (2), δ p is the pitch channel balance rudder deflection angle, δ y is the yaw channel balance rudder deflection angle, a y is the Y acceleration of the rocket body, a Z is the Z acceleration of the rocket body.

[0070] Therefore, to determine the aerodynamic force at a specific moment, this embodiment requires obtaining the current mass and acceleration of the rocket at that moment. When the target angle is the angle of attack, the acceleration is the Y acceleration; when the target angle is the sideslip angle, the acceleration is the Z acceleration.

[0071] Since there is a certain relationship between aerodynamic force and aerodynamic force parameters (which will be explained in detail in the subsequent steps), it is also necessary to obtain aerodynamic force parameters.

[0072] As can be seen above, aerodynamic forces include normal aerodynamic forces and lateral aerodynamic forces. If the aerodynamic force is normal, the corresponding aerodynamic parameters include: rocket body flight pressure, rocket body aerodynamic characteristic area, and normal aerodynamic force coefficient. If the aerodynamic force is lateral, the corresponding aerodynamic parameters include: rocket body flight pressure, rocket body aerodynamic characteristic area, and lateral aerodynamic force coefficient.

[0073] S111, determining the corresponding aerodynamic force according to the current mass of the rocket and the acceleration, and determining the total differential expression of the target angle according to the relationship between the aerodynamic force and the aerodynamic parameters.

[0074] In one embodiment, the aerodynamic force includes normal aerodynamic force and lateral aerodynamic force, and the corresponding aerodynamic force is determined according to the current mass and acceleration of the rocket, including:

[0075] When the aerodynamic force is normal aerodynamic force, obtain the first product value between the current mass and the Y-axis acceleration. The first product value (M*ay ) is the normal aerodynamic force;

[0076] When the aerodynamic force is a lateral aerodynamic force, obtain the second product value between the current mass and the Z-direction acceleration. The second product value (M*a Z ) is the lateral aerodynamic force.

[0077] It is understandable that since the target angle includes the angle of attack and the sideslip angle, the relationship between the aerodynamic force and the aerodynamic force parameters is slightly different when the target angle is different. These will be introduced one by one below.

[0078] When the target angle is the angle of attack, the relationship between the aerodynamic force and the aerodynamic parameters can be expressed as formula (3):

[0079] F y (Ma, δ p ,α,0)=M*a y =CN(Ma,δ p ,α,0)*q*s(3)

[0080] In formula (3), α is the angle of attack, q is the flight pressure of the rocket body, s is the aerodynamic characteristic area of ​​the rocket body, CN is the normal aerodynamic coefficient, M is the current mass of the rocket, and a y is the Y-axis acceleration, Ma is the rocket's Mach number, δ p Balances rudder angle for the pitch channel.

[0081] Then, when the target angle is the angle of attack, the total differential expression of the target angle is determined according to the relationship between the aerodynamic force and the aerodynamic force parameters, including:

[0082] Obtain the relationship between aerodynamic forces and aerodynamic parameters: M*a y =CN(Ma,δ p ,α,0)*q*s;

[0083] According to CN(Ma,δ p ,α,0) is used to determine the analytical expression of the angle of attack;

[0084] The angle of attack analytical expression is fully differentiated, and the corresponding angle of attack total differential expression is determined based on the relationship between aerodynamic forces and aerodynamic parameters.

[0085] In one embodiment, according to CN(Ma, δ p ,α,0) to determine the angle of attack analytical formula, including:

[0086] Determine CN(Ma,δ p ,a,0)*q*s Taylor first-order expansion, Taylor first-order expansion is:

[0087]

[0088] The analytical formula for the angle of attack is determined based on the first-order expansion formula. The analytical formula for the angle of attack is: in,

[0089] CN(Ma,δ p ,0,0) is the value of the normal aerodynamic coefficient when the rocket body angle of attack is 0 and the sideslip angle is 0, CN(Ma,δ p , 0, 0) is close to 0 and can be ignored; is the derivative of the normal aerodynamic coefficient with respect to the angle of attack when the rocket body angle of attack and the sideslip angle are 0, and α is the angle of attack.

[0090] Specifically, according to Taylor's first-order expansion, ignoring the higher-order terms, we can get formula (4):

[0091]

[0092] In formula (4), CN(Ma, δ p ,0,0) is the value of the normal aerodynamic coefficient when the rocket body angle of attack is 0 and the sideslip angle is 0, CN(Ma,δ p , 0, 0) is also close to 0 and can be ignored. is the value of the derivative of the normal aerodynamic coefficient with respect to the angle of attack when the rocket body angle of attack is 0 and the sideslip angle is 0.

[0093] Based on formula (4), the analytical expression of the angle of attack a can be determined, as shown in formula (5):

[0094]

[0095] That is to say

[0096] When the angle of attack is known, the pitch channel balance rudder deflection angle can be obtained. At the target time, the flight pressure q and Mach number of the rocket body are both known quantities. Therefore, the total differential expression of the angle of attack of formula (5) can be obtained by fully differentiating the analytical expression of the angle of attack:

[0097]

[0098] According to formula (3), we can determine: Then Substituting into formula (6) we get the final total differential expression of the angle of attack:

[0099]

[0100] In formula (7), is the derivative of the normal aerodynamic coefficient with respect to the angle of attack when the angle of attack and sideslip angle of the rocket body are 0, ΔM is the mass deviation of the rocket body (the mass difference between the current mass of the rocket body and the theoretical mass), M is the current mass of the rocket body, and Δa y is the Y-axis acceleration deviation, is the normal aerodynamic coefficient deviation, Δα is the mass deviation ΔM, and the Y-direction acceleration deviation Δa y And the normal aerodynamic coefficient deviation is The total change in angle of attack corresponding to .

[0101] The total change in angle of attack actually includes three changes in angle of attack, namely: the first change in angle of attack obtained when the mass deviation affects the angle of attack, the second change in angle of attack obtained when the Y-axis acceleration deviation affects the angle of attack, and the third change in angle of attack obtained when the normal aerodynamic coefficient deviation affects the angle of attack. Therefore, according to formula (7), the first change in angle of attack obtained when the mass deviation of the rocket body affects the angle of attack can be determined. When the Y-axis acceleration deviation affects the angle of attack, the second angle of attack change is obtained. The third angle of attack change obtained when the normal aerodynamic coefficient deviation affects the angle of attack

[0102] That is, if you want to analyze the accuracy of a certain angle of attack, you can determine the first angle of attack change, the second angle of attack change, and the third angle of attack change according to formula (7), and then judge whether the angle of attack accuracy meets the expected requirements based on the change of each angle of attack. And from formula (7), it can be seen that the main factors affecting the angle of attack accuracy include the mass deviation ΔM of the rocket body, the Y-axis acceleration deviation Δa y and the normal aerodynamic coefficient deviation

[0103] It should be noted that the first and third angle of attack variations have little influence on the angle of attack accuracy and can be ignored. Generally speaking, the angle of attack accuracy is determined based on the second angle of attack variation.

[0104] Similarly, when the target angle is the sideslip angle, the relationship between the aerodynamic force and the aerodynamic parameters can be expressed as formula (8):

[0105] F z (Ma, δ y ,0,β)=M*a z =CZ(Ma,δ y ,0,β)*q*s(8)

[0106] In formula (8), CZ is the lateral aerodynamic coefficient, β is the sideslip angle, q is the flight pressure of the rocket body, s is the aerodynamic characteristic area of ​​the rocket body, M is the current mass of the rocket, and a is zis the Z-axis acceleration, Ma is the rocket's Mach number, δ y Balances the rudder angle for the yaw channel.

[0107] Then, the total differential expression of the target angle is determined according to the relationship between the aerodynamic force and the aerodynamic force parameters, including:

[0108] Obtain the relationship between aerodynamic forces and aerodynamic parameters: M*a z =CZ(Ma,δ y ,0,β)*q*s;

[0109] According to CZ(Ma,δ y , 0, β) to determine the sideslip angle analytical expression;

[0110] The sideslip angle analytical expression is fully differentiated, and the corresponding sideslip angle fully differential expression is determined based on the relationship between aerodynamic force and aerodynamic parameters.

[0111] In one embodiment, according to CZ (Ma, δ y , 0, β) to determine the angle of attack analytical formula, including:

[0112] Determine CZ(Ma,δ y , 0, β), the Taylor first-order expansion is:

[0113]

[0114] The analytical expression of the sideslip angle is determined according to the first-order Taylor expansion, and the sideslip angle is: in,

[0115] CN(Ma,δ y ,0,0) is the value of the lateral aerodynamic coefficient when the rocket body angle of attack is 0 and the sideslip angle is 0, CN(Ma,δ y , 0, 0) is close to 0 and can be ignored. is the value of the derivative of the lateral aerodynamic coefficient with respect to the angle of attack when the rocket body angle of attack is 0 and the sideslip angle is 0.

[0116] Specifically, according to Taylor's first-order expansion, ignoring the higher-order terms, we can get formula (9):

[0117]

[0118] In formula (4), CZ(Ma, δ y ,0,0) is the value of the lateral aerodynamic coefficient when the rocket body angle of attack is 0 and the sideslip angle is 0, CZ(Ma,δ y , 0, 0) is close to 0 and can be ignored. is the value of the derivative of the lateral aerodynamic coefficient with respect to the sideslip angle when the rocket body angle of attack is 0 and the sideslip angle is 0.

[0119] Based on formula (4), the analytical formula of the sideslip angle can be determined, where β is the sideslip angle, as shown in formula (10):

[0120]

[0121] That is to say

[0122] When the sideslip angle is known, the trimmed yaw channel balance rudder deflection angle can be obtained. At the target time, the flight pressure q and the Mach number of the rocket body are both known quantities. Therefore, the sideslip angle total differential expression of formula (10) can be obtained by fully differentiating the sideslip angle expression:

[0123]

[0124] According to formula (8), we can determine: Then Substituting into formula (11) we can get the final total differential expression of the sideslip angle:

[0125]

[0126] In formula (12), is the derivative of the lateral aerodynamic coefficient with respect to the sideslip angle when the angle of attack of the rocket body is 0 and the sideslip angle is 0, ΔM is the mass deviation of the rocket body (the mass difference between the current mass of the rocket body and the theoretical mass), M is the current mass of the rocket body, and Δa z is the Z-axis acceleration deviation, is the lateral aerodynamic coefficient deviation, Δβ is the mass deviation ΔM and the Z-direction acceleration deviation Δa z And the lateral aerodynamic coefficient deviation is The total change in sideslip angle corresponding to .

[0127] The total sideslip angle variation actually includes three sideslip angle variations, namely: the first sideslip angle variation obtained when the mass deviation affects the sideslip angle, the second sideslip angle variation obtained when the Z-axis acceleration deviation affects the sideslip angle, and the third sideslip angle variation obtained when the lateral aerodynamic coefficient deviation affects the sideslip angle. Therefore, the first sideslip angle variation obtained when the mass deviation of the rocket body affects the sideslip angle can be determined according to formula (12): When the Y-axis acceleration deviation affects the sideslip angle, the second sideslip angle change is obtained. The third side slip angle change obtained when the lateral aerodynamic coefficient deviation affects the side slip angle

[0128] It should be noted that the first and third sideslip angle variations have little influence on the sideslip angle accuracy and can be ignored. Generally speaking, the sideslip angle accuracy is determined based on the second sideslip angle variation.

[0129] That is, if you want to analyze the accuracy of a certain sideslip angle, you can determine the first sideslip angle change, the second sideslip angle change, and the third sideslip angle change according to formula (12), and then judge whether the sideslip angle accuracy meets the expected requirements based on each sideslip angle. And from formula (12), it can be seen that the main factors affecting the sideslip angle accuracy include the mass deviation ΔM of the rocket body, the Z-direction acceleration deviation Δa z and the lateral aerodynamic coefficient deviation

[0130] It can be seen that the present invention can analyze the factors affecting the angle of attack and sideslip angle from a mechanistic perspective, and establish functional expressions of the influencing factors (as shown in Formula 7 and Formula 12), providing a basis for determining the accuracy of the angle of attack and sideslip angle.

[0131] S112, determining the accuracy of the rocket target angle based on the total differential expression of the target angle.

[0132] It can be seen from the above formula (7) that the main factors affecting the angle of attack accuracy include the mass deviation ΔM of the rocket body and the Y-axis acceleration deviation Δa y and the normal aerodynamic coefficient deviation

[0133] Therefore, the corresponding angle of attack change can be determined by the rocket mass deviation, Y-axis acceleration deviation and normal aerodynamic coefficient deviation (one parameter corresponds to one angle of attack change).

[0134] Similarly, it can be seen from the above formula (12) that the main factors affecting the sideslip angle accuracy include the mass deviation ΔM of the rocket body and the Z-direction acceleration deviation Δa Z and the lateral aerodynamic coefficient deviation

[0135]

[0136] Therefore, the corresponding sideslip angle variation can be determined by the rocket body mass deviation, Z-axis acceleration deviation and lateral aerodynamic coefficient deviation (one parameter corresponds to one sideslip angle variation).

[0137] Then, in one embodiment, determining the rocket target angle accuracy based on the total differential expression of the target angle includes:

[0138] Determine the corresponding target angle change according to the total differential expression of the target angle;

[0139] Determining a corresponding target angle deviation according to the target angle variation;

[0140] If the target angle deviation is determined to be greater than a preset deviation threshold, it is determined that the rocket target angle accuracy is insufficient and the identified target angle cannot be used;

[0141] If it is determined that the target angle deviation is less than the deviation threshold, it is determined that the rocket target angle accuracy meets the requirements and the identified target angle can be used.

[0142] Specifically, since the above three deviations correspond to the determination of three target angle changes, generally speaking, it is necessary to determine the target angle change that has the greatest impact on the target angle from the three target angle changes, and determine the target angle deviation corresponding to the target angle change with the greatest impact, and compare the target angle deviation with the deviation threshold. If the target angle deviation is greater than the deviation threshold, it means that the target angle accuracy is insufficient.

[0143] Taking angle of attack as an example, the first angle of attack change corresponding to mass deviation and the third angle of attack change corresponding to the normal aerodynamic coefficient have minimal impact on the angle of attack and can be ignored. The second angle of attack change corresponding to acceleration deviation has the greatest impact on the angle of attack. Therefore, the corresponding angle of attack deviation is generally determined based on the second angle of attack change. The angle of attack deviation corresponding to the second angle of attack change is then used to determine whether the accuracy of the identified angle of attack meets the requirements.

[0144] The embodiment of the present invention can determine the total differential expression of the target angle based on the relationship between the aerodynamic force and the aerodynamic force parameters, and then perform accuracy analysis on the angle of the identified target angle according to the total differential expression, and judge the accuracy of the identified target angle according to the analysis result, thereby ensuring the flight attitude control effect of the carrier rocket at a large angle of attack, the aerodynamic load reduction control effect, the landing area attitude control effect of the separation body, and the control effect of the reusable return landing attitude of the separation body.

[0145] Based on the same inventive concept as the above embodiment, this embodiment also provides a device for determining the accuracy of the rocket target angle, such as Figure 4 As shown, the device includes:

[0146] An acquisition unit 41 is used to obtain the current mass, acceleration and aerodynamic parameters of the rocket at the target time;

[0147] A first determining unit 42 is configured to determine a corresponding aerodynamic force according to the current mass and acceleration of the rocket, and to determine a total differential expression of the target angle according to the relationship between the aerodynamic force and the aerodynamic force parameters;

[0148] The second determining unit 43 is used to determine the accuracy of the rocket target angle based on the total differential expression of the target angle; wherein,

[0149] When the target angle is the angle of attack, the acceleration is the Y-direction acceleration; when the target angle is the sideslip angle, the acceleration is the Z-direction acceleration.

[0150] Since the device described in the embodiments of the present invention is a device used to implement the method for determining the rocket target angle accuracy of the embodiments of the present invention, those skilled in the art will be able to understand the specific structure and variations of the device based on the method described in the embodiments of the present invention, and therefore will not be described in detail here. All devices used in the methods of the embodiments of the present invention fall within the scope of protection of the present invention.

[0151] In practical applications, when the embodiment of the present invention uses the method and device provided in the above embodiment to perform accuracy analysis on the identified angle of attack (angle is 3.5°) of a certain model of rocket, the specific implementation is as follows:

[0152] First, it is necessary to determine the pitch channel balance rudder deflection angle δ p The pitch channel balance rudder deflection angle refers to the angle of attack at which the rocket body maintains the pitch moment M Z The required rudder deflection angle when is 0. That is, this embodiment can be based on formula M Z (α, δ p )=0 to determine when M Z When the angle of attack is α, the corresponding pitch channel balance rudder deflection angle δ is 0. p ; where α is the identified angle of attack.

[0153] Secondly, the Mach number Ma, the flight pressure q of the rocket body, and the current mass M of the rocket body can be directly determined according to the trajectory; then the normal aerodynamic coefficient CN (Ma, δ p ,α,0) and the derivative of the normal aerodynamic coefficient with respect to the angle of attack

[0154] Specifically, the normal aerodynamic force coefficient and the derivative of the normal aerodynamic force coefficient with respect to the angle of attack can be calculated using a four-dimensional difference method. For example, the interpolation function interpn can be used to determine the normal aerodynamic force coefficient and the derivative of the normal aerodynamic force coefficient with respect to the angle of attack.

[0155] Taking the normal dynamic coefficient as an example, the four-dimensional interpolation function can be obtained:

[0156] CN_cal=interpn(Ma ch , δ ch , a ch , β ch , CN ch ,Ma,δ p ,α,0)

[0157] Among them, Ma ch , δ ch , ach , β ch are all column vectors, CN ch For the four-dimensional aerodynamic data of the wind tunnel test, Ma ch =[0.3 0.61.0 2.0 3.0 4.0 5.0]; δ ch =[-10.0 -5.0 0 5.0 10.0];a ch =[-9.0 -6.0 -3.00 3.06.0 9.0];β ch =[-9.0 -6.0 -3.0 0 3.0 6.0 9.0].

[0158] Ma, δ p , α is the specific value at the current moment, and the interpolation calculation is performed using the function interpn., which can obtain the normal force coefficient CN_cal corresponding to the current moment. CN_cal is equivalent to CN(Ma, δ p ,α,0).

[0159] The theoretical aerodynamic data includes three-channel force coefficients and moment coefficients for pitch, yaw, and roll, totaling 6 components. The aerodynamic data is obtained from the wind tunnel test of the rocket body before the actual flight. Each component is determined by the four-dimensional variables of Mach number, rudder deflection angle, angle of attack, and sideslip angle. ch , δ ch , a ch , β ch , CN ch This is equivalent to forming a theoretical aerodynamic database. If the Mach number, rudder deflection angle, angle of attack, and sideslip angle at a certain moment are obtained, the three-channel force coefficients or moment coefficients can be interpolated. The normal force coefficient is one of the three-channel force coefficients, so after interpolation, the normal force coefficient at the current moment is also obtained.

[0160] In this way, after determining the Mach number Ma, the flight pressure q, the characteristic area s, the current mass M, the normal aerodynamic coefficient and the derivative of the normal aerodynamic coefficient with respect to the angle of attack corresponding to the current moment (for example, the moment corresponding to the rocket body flying for 40 seconds), the formula (7) is used to calculate the following equations: 2 When the deviation of the normal aerodynamic coefficient is 0.21 (the maximum deviation of the normal aerodynamic coefficient is 10%, and the maximum value of the normal aerodynamic coefficient is 2.1), the first angle of attack change, the second angle of attack change, and the third angle of attack change are determined as shown in Table 1:

[0161] Table 1

[0162] Impact Item The change in angle of attack corresponding to each influencing item at the current moment Deviation corresponding to each attack angle change Quality deviation 0.01o 0.29％ Normal aerodynamic coefficient deviation 0.055o 1.57％ acceleration deviation 0.099o 2.83％

[0163] It can be seen from Table 1 that the mass deviation and the normal aerodynamic coefficient deviation have little effect on the angle of attack accuracy, while the acceleration deviation has a greater impact on the angle of attack accuracy.

[0164] Further, please refer to Figure 5 , Figure 5 The effect of mass deviation on the angle of attack as a function of flight time is shown. Figure 5 It can be seen that the maximum change in the first angle of attack corresponding to the mass deviation is about 0.014°, which has a small impact.

[0165] Figure 6 The effect of the normal aerodynamic coefficient deviation on the angle of attack changes with flight time. Figure 6 It can be seen that the maximum change in the third angle of attack corresponding to the deviation of the normal aerodynamic coefficient is about 0.07°, which has a small impact.

[0166] Figure 7 The effect of acceleration deviation on angle of attack varies with flight time. Figure 7 It can be seen that the influence of the second angle of attack change corresponding to the acceleration deviation on the angle of attack changes concavely with the flight time. That is, the acceleration deviation has a greater influence on the angle of attack at the beginning and end of the flight, while the acceleration deviation has a smaller influence on the angle of attack during the flight.

[0167] Based on this, the first angle of attack change corresponding to the mass deviation and the third angle of attack change corresponding to the normal aerodynamic coefficient have little impact on the angle of attack and can be ignored. The second angle of attack change corresponding to the acceleration deviation has the greatest impact on the angle of attack. Therefore, the corresponding angle of attack deviation is generally determined based on the second angle of attack change, and the accuracy of the angle of attack identification is then determined based on the angle of attack deviation corresponding to the second angle of attack change.

[0168] For example, continue to refer to Figure 7 , when the rocket body is flying for around 40s, the angle of attack deviation can be controlled within 5%. If it is around 65s, the angle of attack deviation is about 14%, which is a large deviation.

[0169] In practical applications, when using angle of attack identification, to ensure high accuracy, it's best to avoid the initial and final stages of flight and instead select an angle of attack in the middle. In reality, the periods of maximum aerodynamic load or control difficulty during flight typically occur during the period of maximum dynamic pressure, generally in the middle of flight, creating a perfect match. This means that the identified angle of attack can be used to reduce load or control attitude at the point of greatest control difficulty. Due to the high accuracy of the identified angle of attack, load reduction or attitude control at high angles of attack can be effectively achieved.

[0170] For example, if the accuracy requirement is 10%, that is, the deviation of the 3.5° attack angle requirement is no more than 0.35°, according to Figure 7It can be seen that the identified angle of attack can be used for load shedding or attitude control within approximately 30 to 50 seconds, and the angle of attack accuracy can be guaranteed to be within 0.2°. If, after 65 seconds, the second angle of attack changes by 0.49° due to the acceleration deviation, the corresponding angle of attack deviation is 14%. In engineering, the highest possible accuracy is generally limited to around 10%. Therefore, after 65 seconds, the identified angle of attack is no longer suitable for load shedding or attitude control. The large error introduces uncertain control risks.

[0171] In other words, the method provided by the present invention provides a theoretical basis for the analysis of angle of attack identification, provides reliable guidance for the engineering use of angle of attack identification based on the accuracy of the ultimately determined angle of attack identification, clarifies the applicable boundaries and risks of the method, and further provides support for the large-scale use of the angle of attack identification method, thereby providing a strategy for solving engineering aerodynamic load problems or high-angle-of-attack flight attitude control problems.

[0172] Based on the same inventive concept, this embodiment provides a computer device 800, such as Figure 8 As shown, it includes a memory 810, a processor 820 and a computer program 811 stored in the memory 810 and executable on the processor 820. When the processor 820 executes the computer program 811, any step of the method described above is implemented.

[0173] Based on the same inventive concept, this embodiment provides a computer-readable storage medium 900, such as Figure 9 As shown, a computer program 911 is stored thereon, and when the computer program 911 is executed by a processor, the steps of any of the above-mentioned methods are implemented.

[0174] Through one or more embodiments of the present invention, the present invention has the following beneficial effects or advantages:

[0175] The present invention provides a method, device, medium and equipment for determining the accuracy of a rocket's target angle, the method comprising: obtaining the current mass, acceleration and aerodynamic parameters of the rocket at a target moment; determining the corresponding aerodynamic force based on the current mass of the rocket and the acceleration, and determining the total differential expression of the target angle based on the relationship between the aerodynamic force and the aerodynamic parameters; determining the accuracy of the rocket's target angle based on the total differential expression of the target angle; wherein, when the target angle is the angle of attack, the acceleration is the Y-direction acceleration; when the target angle is the sideslip angle, the acceleration is the Z-direction acceleration; thus, since there is a fixed relationship between the rocket's aerodynamic force and the aerodynamic parameters, this embodiment can determine the total differential expression of the target angle based on the relationship between the aerodynamic force and the aerodynamic parameters, thereby performing an accuracy analysis on the angle of the identified target angle based on the total differential expression, and judging the accuracy of the identified target angle based on the analysis result, thereby ensuring the high-angle-of-attack flight attitude control effect of the carrier rocket, the aerodynamic load reduction control effect, the landing area attitude control effect of the separation body, and the reusable return landing attitude control effect of the separation body.

[0176] The algorithm and display provided herein are not inherently related to any particular computer, virtual system or other device. Various general-purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious that the structure required for constructing this type of system. In addition, the present invention is not directed to any specific programming language. It should be understood that various programming languages ​​can be utilized to realize the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the best mode of the present invention.

[0177] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0178] Similarly, it should be understood that in order to streamline the present disclosure and aid understanding of one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the appended claims, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Accordingly, the claims that follow the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the invention.

[0179] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition may be divided into multiple submodules or subunits or subcomponents. All features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed herein may be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0180] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of the present invention and to form different embodiments. For example, in the appended claims, any of the claimed embodiments may be used in any combination.

[0181] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the gateway, proxy server, or system according to an embodiment of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0182] It should be noted that the above embodiments illustrate rather than limit the invention, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0183] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0184] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for determining the target angle accuracy of a rocket, characterized in that: The target angle includes an angle of attack and a sideslip angle; and the method includes: Get the current mass, acceleration and aerodynamic parameters of the rocket; determining a corresponding aerodynamic force according to the current mass of the rocket and the acceleration, and determining a total differential expression of the target angle according to a relationship between the aerodynamic force and aerodynamic parameters; The accuracy of the rocket target angle is determined based on the total differential expression of the target angle; wherein, when the target angle is the angle of attack, the acceleration is the Y-direction acceleration; when the target angle is the sideslip angle, the acceleration is the Z-direction acceleration; when the target angle is the angle of attack, the aerodynamic parameters include: the rocket body flight pressure, the rocket body aerodynamic characteristic area and the normal aerodynamic force coefficient; when the target angle is the sideslip angle, the aerodynamic parameters include: the rocket body flight pressure, the rocket body aerodynamic characteristic area and the lateral aerodynamic force coefficient.

2. The method according to claim 1, wherein The aerodynamic force includes normal aerodynamic force and lateral aerodynamic force, and the determining of the corresponding aerodynamic force according to the current mass of the rocket and the acceleration includes: When the aerodynamic force is a normal aerodynamic force, obtaining a first product value between the current mass and the Y-direction acceleration, where the first product value is the normal aerodynamic force; When the aerodynamic force is a transverse aerodynamic force, a second product value between the current mass and the Z-direction acceleration is obtained, where the second product value is the transverse aerodynamic force.

3. The method according to claim 1, wherein The total differential expression of the target angle is determined according to the relationship between the aerodynamic force and the aerodynamic force parameters, including: Obtain the relationship between aerodynamic forces and aerodynamic parameters: M*a y =CN(Ma,δ p ,α,0)*q*s; According to CN(Ma,δ p ,α,0) is used to determine the attack angle analytical expression; Perform total differentiation on the angle of attack analytical expression, and determine the corresponding angle of attack total differential expression based on the relationship between the aerodynamic force and the aerodynamic force parameters; wherein, M is the current mass of the rocket, and a is y is the Y-axis acceleration, Ma is the rocket's Mach number, and δ p is the pitch channel balance rudder deflection angle, q is the flight pressure of the rocket body, α is the angle of attack, s is the aerodynamic characteristic area of ​​the rocket body, and CN is the normal aerodynamic coefficient.

4. The method according to claim 3, wherein According to CN (Ma, δ p ,α,0) to determine the angle of attack analytical formula, including: Determine the CN (Ma, δ p ,α,0), the Taylor first-order expansion is: The angle of attack is determined according to the first-order expansion, and the analytical formula for the angle of attack is: Wherein, the CN(Ma, δ p , 0, 0) is the value of the normal aerodynamic coefficient when the rocket body angle of attack is 0 and the sideslip angle is 0. is the derivative of the normal aerodynamic coefficient with respect to the angle of attack when the rocket body angle of attack and the sideslip angle are 0, and α is the angle of attack.

5. The method according to claim 3, wherein The method of performing total differentiation on the angle of attack analytical expression and determining the corresponding angle of attack total differential expression according to the relationship between the aerodynamic force and the aerodynamic force parameters includes: The angle of attack total differential expression is determined by performing total differentiation on the angle of attack analytical expression: According to the relationship between aerodynamic force and aerodynamic parameters Determine: according to Convert the total differential expression of angle of attack to: in, The CN (Ma, δ p ,0,0) is the value of the normal aerodynamic coefficient when the rocket body angle of attack is 0 and the sideslip angle is 0. The CN(Ma,δ p ,α,0) the value of the normal aerodynamic coefficient when the rocket body angle of attack is α and the sideslip angle is 0, is the value of the derivative of the normal aerodynamic coefficient with respect to the angle of attack when the angle of attack of the rocket body is 0 and the sideslip angle is 0, ΔM is the mass deviation of the rocket body, M is the current mass of the rocket body, and Δa y is the Y-axis acceleration deviation, is the normal aerodynamic coefficient deviation, and Δα is the mass deviation ΔM and the Y-direction acceleration deviation Δa y And the normal aerodynamic coefficient deviation is The total change in angle of attack corresponding to .

6. The method according to claim 1, wherein Determining the rocket target angle accuracy based on the total differential expression of the target angle includes: Determine the corresponding target angle change according to the total differential expression of the target angle; Determining a corresponding target angle deviation according to the target angle variation; If it is determined that the target angle deviation is greater than a preset deviation threshold, it is determined that the rocket target angle accuracy is insufficient; If it is determined that the target angle deviation is less than the deviation threshold, it is determined that the rocket target angle accuracy meets the requirements.

7. The method according to claim 1, wherein The total differential expression of the target angle is determined according to the relationship between the aerodynamic force and the aerodynamic force parameters, including: Obtain the relationship between aerodynamic forces and aerodynamic parameters: M*a z =CZ(Ma,δ y ,0,β)*q*s; According to CZ(Ma,δ y , 0, β) by using the Taylor first-order expansion to determine the sideslip angle analytical expression; The sideslip angle analytical expression is fully differentiated, and the corresponding sideslip angle fully differential expression is determined according to the relationship between the aerodynamic force and the aerodynamic force parameters; wherein, The M is the current mass of the rocket, and the a z is the Z-axis acceleration, Ma is the rocket's Mach number, and δ y is the yaw channel balance rudder deflection angle, q is the flight pressure of the rocket body, β is the sideslip angle, s is the aerodynamic characteristic area of ​​the rocket body, and CZ is the lateral aerodynamic coefficient.

8. A device for determining the accuracy of a rocket's target angle, characterized in that: The target angle includes the angle of attack and the sideslip angle; the device includes: The acquisition unit is used to obtain the current mass, acceleration and aerodynamic parameters of the rocket; a first determining unit, configured to determine a corresponding aerodynamic force according to the current mass of the rocket and the acceleration, and to determine a total differential expression of the target angle according to a relationship between the aerodynamic force and aerodynamic parameters; The second determination unit is used to determine the accuracy of the rocket target angle based on the total differential expression of the target angle; wherein, when the target angle is the angle of attack, the acceleration is the Y-direction acceleration; when the target angle is the sideslip angle, the acceleration is the Z-direction acceleration.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

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