Airborne missile secondary transfer alignment method and system and electronic equipment

Abstract

The invention relates to the technical field of inertial navigation systems, in particular to an airborne missile secondary transfer alignment method and system and electronic equipment. The method comprises the following steps: controlling a main inertial navigation system on an aircraft body to send navigation parameters to a sub inertial navigation system at a fixed frequency, and controlling the sub inertial navigation system arranged on an airborne missile to complete first transfer alignment by utilizing the navigation parameters of the main inertial navigation system; a laser radar arranged on an aircraft body is used for monitoring the variation of the position and posture of an airborne missile arranged on an aircraft wing in real time, so that the position matrix and posture matrix of a sub inertial navigation system are corrected according to the variation of the position and posture of the airborne missile, and the secondary transfer alignment of the sub inertial navigation system is completed. The airborne missile transfer alignment method solves the technical problems that a method in the prior art is not only difficult to apply to an actual occasion but also reduces the alignment precision due to unknown wing deformation, and greatly improves the alignment precision and the intelligent degree of airborne missile transfer alignment.

Description

Technical Field

[0001] The invention relates to the technical field of inertial navigation systems, and in particular to a secondary transfer alignment method and system for an airborne missile, and electronic equipment. Background Art

[0002] Transfer alignment is the process of matching the speed, attitude and other navigation parameters of the main and sub-INS systems, filtering and estimating the misalignment angle of the sub-INS system relative to the main INS system, thereby establishing an accurate sub-INS mathematical platform and initializing the navigation information of the sub-INS.

[0003] According to the different measured values, transfer alignment can be divided into three methods: measurement parameter matching, calculation parameter matching and mixed parameter matching. Regardless of which method is used, the basic principle is similar. The parameter matching results of the main and sub-INS are used as the measured values, and the Kalman filter is used to estimate the error of the sub-INS. Since the wing is not an absolute rigid body, it will inevitably deform under the influence of factors such as airflow impact, maneuvering mode and load change. This deformation brings measurement errors to the filter. The processing of wing deformation is an important topic in transfer alignment. In the past, the most commonly used method in transfer alignment was to add a second-order Markov process to the alignment model to describe the deformation angle. In addition, due to the unknown nature of wing deformation, the above method is not only difficult to apply to actual occasions, but also reduces the alignment accuracy. There is no effective method in traditional transfer alignment to deal with wing deformation.

[0004] Therefore, the prior art needs to be further developed. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide an airborne missile secondary transfer alignment method and system, and electronic equipment to solve the problems existing in the prior art.

[0006] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides an airborne missile secondary transfer alignment method, comprising: S100, controlling the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controlling the sub-inertial navigation system disposed on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and using the laser radar disposed on the aircraft body to obtain point cloud data of the airborne missile disposed on the wing of the aircraft at a preset time interval; S200, calculating the position and posture data of the airborne missile at the current moment and the position and posture data of the airborne missile at the previous moment according to the acquired point cloud data of the airborne missile, and then calculating the change amount of the position and the change amount of the posture of the airborne missile; S300, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile, and obtaining the strapdown initial attitude matrix and the strapdown initial position matrix, so as to complete the second transfer alignment.

[0007] Specifically, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile comprises: S310, calculating the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment, and calculating the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the previous moment according to the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment; S320, calculating the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the onboard missile respectively according to the attitude data of the onboard missile at the current moment and the attitude data of the onboard missile at the previous moment; S330, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile based on the judgment results.

[0008] Specifically, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the judgment results, including: If the absolute value of the distance is greater than or equal to a first preset threshold, or the absolute value of the change in the pitch angle, yaw angle or roll angle of the airborne missile is greater than or equal to a second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

[0009] Specifically, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the judgment results, including: If the absolute value of the distance is less than the first preset threshold, and the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are all less than the second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the changes in the position and attitude of the airborne missile.

[0010] Specifically, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the change in the position and attitude of the airborne missile also includes: According to the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the previous moment and the preset time interval, the first average moving speed of the center of mass of the airborne missile is calculated; according to the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the next moment and the preset time interval, the second average moving speed of the center of mass of the airborne missile is calculated; according to the first average moving speed, the second average moving speed and the preset time interval, the absolute value of the acceleration of the center of mass of the airborne missile is calculated, and it is judged whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold value; according to the judgment result, it is judged whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change amount of the position and attitude of the airborne missile.

[0011] Specifically, the determining whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold value, and determining whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the determination result, include: If the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to the third preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

[0012] Specifically, the determining whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold value, and determining whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the determination result, include: If the absolute value of the acceleration of the center of mass of the airborne missile is less than the third preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the change in the position and attitude of the airborne missile.

[0013] Specifically, the calculation of the position data of the center of mass of the airborne missile at the current moment includes: The three-dimensional model of the airborne missile corresponding to the airborne missile is obtained, and the shape matching is performed between the three-dimensional model of the airborne missile and the point cloud data of the airborne missile obtained. According to the distance of the points in the preset point cloud, the point cloud data of the airborne missile is completed, and the mass data of each mass element corresponding to the three-dimensional model of the airborne missile corresponding to the airborne missile, the x, y and z coordinate data of the points in the point cloud corresponding to each mass element and the total mass data of the airborne missile are obtained, and the coordinates of the center of mass (x1, y1, z1) of the airborne missile are calculated using the following formula: X1=(Σmixi) / M; Y1=(Σmiyi) / M; Z1=(Σmizi) / M; Among them, mi represents the mass of each mass element of the airborne missile, xi, yi and zi represent the x, y and z coordinates of each mass element in the point cloud data of the airborne missile, Σ represents the sum of all mass elements of the airborne missile, and M represents the total mass of the airborne missile.

[0014] According to a second aspect of the present invention, there is provided an airborne missile secondary transfer alignment system, comprising: An acquisition module, including a laser radar disposed on the aircraft body, for acquiring point cloud data of an airborne missile disposed on the wing of the aircraft at a preset time interval; The control module is used to control the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, control the sub-inertial navigation system arranged on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and use the laser radar arranged on the aircraft body to obtain the point cloud data of the airborne missile arranged on the wing of the aircraft according to the preset time interval; calculate the position and posture data of the airborne missile at the current moment and the position and posture data of the airborne missile at the previous moment according to the acquired point cloud data of the airborne missile, and then calculate the change amount of the position and the change amount of the attitude of the airborne missile; and judge whether to correct the position matrix and the attitude matrix of the sub-inertial navigation system according to the change amount of the position and the change amount of the attitude of the airborne missile, so as to obtain the strapdown initial attitude matrix and the strapdown initial position matrix, so as to complete the second transfer alignment.

[0015] According to a third aspect of the present invention, there is provided an electronic device, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the above-mentioned airborne missile secondary transfer alignment method is implemented.

[0016] Beneficial effects: The present invention controls the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controls the sub-inertial navigation system arranged on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and uses the laser radar arranged on the aircraft body to monitor the change of the position and attitude of the airborne missile arranged on the wing of the aircraft in real time, thereby realizing the correction of the position matrix and attitude matrix of the sub-inertial navigation system according to the change of the position and attitude of the airborne missile, and completing the second transfer alignment of the sub-inertial navigation. The present invention provides an effective method for processing wing deformation, solves the technical problem that the method in the prior art is not only difficult to apply to actual occasions due to the unknown nature of wing deformation, but also reduces the alignment accuracy, and greatly improves the alignment accuracy and intelligence level of the airborne missile transfer alignment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of the airborne missile secondary transfer alignment method provided in a specific embodiment of the present invention.

[0018] Figure 2 It is a flowchart provided in a specific embodiment of the present invention for judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile.

[0019] Figure 3 It is a schematic diagram of the system composition of an airborne missile secondary transfer alignment system provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0021] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0022] See also Figure 1-Figure 2 The present invention provides an airborne missile secondary transfer alignment method, comprising: S100, controlling the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controlling the sub-inertial navigation system arranged on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and using the laser radar arranged on the aircraft body to obtain the point cloud data of the airborne missile arranged on the wing of the aircraft at a preset time interval.

[0023] It should be noted that the step before step S100 includes: A preset time interval, a first preset threshold, a second preset threshold, a third preset threshold, a distance between points in a preset point cloud, mass data of each mass element corresponding to the three-dimensional model of the airborne missile, and total mass data of the airborne missile are preset in the control module.

[0024] It should be noted here that the preset time interval, the first preset threshold, the second preset threshold, the third preset threshold, the preset distance of points in the point cloud, the mass data of each mass element corresponding to the three-dimensional model of the airborne missile, and the total mass data of the airborne missile can be specifically set according to the actual needs of the user of the present invention. The present invention does not limit the specific values ​​of the preset time interval, the first preset threshold, the second preset threshold, the third preset threshold, the preset distance of points in the point cloud, the mass data of each mass element corresponding to the three-dimensional model of the airborne missile, and the total mass data of the airborne missile, as long as it is applicable to the airborne missile secondary transfer alignment method proposed in the present invention.

[0025] Preferably, the present invention sets the preset time interval to 0.1 seconds, the present invention sets the first preset threshold to 0.005 meters, the present invention sets the second preset threshold to 0.1 degrees, and the present invention sets the third preset threshold to 0.02m / s². The above settings are obtained by the technicians of the present invention through a large number of tests, and can well implement the secondary transfer alignment method of the airborne missile described in the present invention, further improving the practicality, usability, and transfer alignment accuracy of the present invention.

[0026] It should be noted here that the airborne missile is fixedly installed under the wing, the laser radar is fixedly installed under the aircraft body, and the detection direction of the laser radar is towards the airborne missile, which is used to obtain point cloud data of the airborne missile set on the wing of the aircraft at preset time intervals.

[0027] S200, calculating the position and posture data of the airborne missile at the current moment and the position and posture data of the airborne missile at the previous moment according to the acquired point cloud data of the airborne missile, and then calculating the change amount of the position and the change amount of the posture of the airborne missile.

[0028] S300, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile, and obtaining the strapdown initial attitude matrix and the strapdown initial position matrix, so as to complete the second transfer alignment.

[0029] Specifically, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile comprises: S310, calculating the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment, and calculating the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the previous moment according to the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment.

[0030] Specifically, the calculation of the position data of the center of mass of the airborne missile at the current moment includes: The three-dimensional model of the airborne missile corresponding to the airborne missile is obtained, and the shape matching is performed between the three-dimensional model of the airborne missile and the point cloud data of the airborne missile obtained. According to the distance of the points in the preset point cloud, the point cloud data of the airborne missile is completed, and the mass data of each mass element corresponding to the three-dimensional model of the airborne missile corresponding to the airborne missile, the x, y and z coordinate data of the points in the point cloud corresponding to each mass element and the total mass data of the airborne missile are obtained, and the coordinates of the center of mass (x1, y1, z1) of the airborne missile are calculated using the following formula: X1=(Σmixi) / M; Y1=(Σmiyi) / M; Z1=(Σmizi) / M; Among them, mi represents the mass of each mass element of the airborne missile, xi, yi and zi represent the x, y and z coordinates of each mass element in the point cloud data of the airborne missile, Σ represents the sum of all mass elements of the airborne missile, and M represents the total mass of the airborne missile.

[0031] It should be noted here that the airborne missile is generated based on a first design drawing, which includes geometric feature information of the airborne missile; based on the geometric feature information of the three-dimensional model of the airborne missile and the geometric feature information of the airborne missile included in the first design drawing, the geometric feature matching relationship between the three-dimensional model of the airborne missile and the first design drawing is determined.

[0032] It should be noted here that if the geometric feature recognition is performed on the three-dimensional model of the airborne missile to obtain the geometric feature information of the three-dimensional model of the airborne missile, a least squares matching algorithm or a cluster matching algorithm is used to process the geometric feature information of the three-dimensional model of the airborne missile and the geometric feature information of the object entity included in the first design drawing to obtain the geometric feature matching relationship between the three-dimensional model of the airborne missile and the first design drawing. If the geometric feature recognition is performed on the three-dimensional model of the airborne missile and no geometric feature information of the three-dimensional model of the airborne missile is obtained, a point cloud matching algorithm is used to determine the point cloud matching relationship between the three-dimensional model of the airborne missile and the first design drawing.

[0033] S320, respectively calculating the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the onboard missile according to the attitude data of the onboard missile at the current moment and the attitude data of the onboard missile at the previous moment.

[0034] S330, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile based on the judgment results.

[0035] Specifically, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the judgment results, including: If the absolute value of the distance is greater than or equal to a first preset threshold, or the absolute value of the change in the pitch angle, yaw angle or roll angle of the airborne missile is greater than or equal to a second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

[0036] It can be understood that if the absolute value of the distance is greater than or equal to the first preset threshold, or the absolute value of the change in the pitch angle, yaw angle or roll angle of the airborne missile is greater than or equal to the second preset threshold, it proves that the change in the position and attitude of the airborne missile is large, which may be caused by the large deformation of the wing. At this time, if the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the change in the position and attitude of the airborne missile, the accuracy of the inertial navigation of the sub-inertial navigation on the airborne missile will be affected. Therefore, the present invention corrects the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile to complete the second transfer alignment. Otherwise, the second transfer alignment is not required.

[0037] It should be noted here that the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile to complete the second transfer alignment. This is a mature existing technology and the present invention will not be elaborated on in detail here.

[0038] Specifically, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the judgment results, including: If the absolute value of the distance is less than the first preset threshold, and the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are all less than the second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the changes in the position and attitude of the airborne missile.

[0039] Specifically, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the change in the position and attitude of the airborne missile also includes: According to the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the previous moment and the preset time interval, the first average moving speed of the center of mass of the airborne missile is calculated; according to the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the next moment and the preset time interval, the second average moving speed of the center of mass of the airborne missile is calculated; according to the first average moving speed, the second average moving speed and the preset time interval, the absolute value of the acceleration of the center of mass of the airborne missile is calculated, and it is judged whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold value; according to the judgment result, it is judged whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change amount of the position and attitude of the airborne missile.

[0040] Specifically, the determining whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold value, and determining whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the determination result, include: If the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to the third preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

[0041] It can be understood that if the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to the third preset threshold value, it proves that the absolute value of the acceleration of the center of mass of the airborne missile is large, which may be caused by the instantaneous large deformation of the wing. At this time, if the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the change in the position and attitude of the airborne missile, the accuracy of the inertial navigation of the sub-inertial navigation on the airborne missile will be affected. Therefore, the present invention corrects the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile to complete the second transfer alignment. Otherwise, the second transfer alignment is not required.

[0042] Specifically, the determining whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold value, and determining whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the determination result, include: If the absolute value of the acceleration of the center of mass of the airborne missile is less than the third preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the change in the position and attitude of the airborne missile.

[0043] It can be understood that the present invention controls the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controls the sub-inertial navigation system arranged on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and uses the laser radar arranged on the aircraft body to monitor the change in the position and attitude of the airborne missile arranged on the wing of the aircraft in real time, thereby realizing the correction of the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile, and completing the second transfer alignment of the sub-inertial navigation. The present invention provides an effective method for processing wing deformation, solves the technical problem that the method in the prior art is not only difficult to apply to actual occasions due to the unknown nature of wing deformation, but also reduces the alignment accuracy, and greatly improves the alignment accuracy and intelligence of the airborne missile transfer alignment.

[0044] See also Figure 3 The present invention provides another embodiment, which provides an airborne missile secondary transfer alignment system, the airborne missile secondary transfer alignment system comprising: The acquisition module 100 includes a laser radar disposed on the aircraft body, and is used to acquire point cloud data of an airborne missile disposed on the wing of the aircraft at a preset time interval; The control module 200 is used to control the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, control the sub-inertial navigation system set on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and use the laser radar set on the aircraft body to obtain the point cloud data of the airborne missile set on the wing of the aircraft according to the preset time interval; calculate the position and posture data of the airborne missile at the current moment and the position and posture data of the airborne missile at the previous moment according to the acquired point cloud data of the airborne missile, and then calculate the change amount of the position and the change amount of the attitude of the airborne missile; and judge whether to correct the position matrix and the attitude matrix of the sub-inertial navigation system according to the change amount of the position and the change amount of the attitude of the airborne missile, so as to obtain the strapdown initial attitude matrix and the strapdown initial position matrix, so as to complete the second transfer alignment.

[0045] It should be noted that the present invention controls the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controls the sub-inertial navigation system arranged on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and uses the laser radar arranged on the aircraft body to monitor the change in the position and attitude of the airborne missile arranged on the wing of the aircraft in real time, thereby realizing the correction of the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile, and completing the second transfer alignment of the sub-inertial navigation. The present invention provides an effective method for processing wing deformation, solves the technical problem that the method in the prior art is not only difficult to apply to actual occasions due to the unknown nature of wing deformation, but also reduces the alignment accuracy, and greatly improves the alignment accuracy and intelligence of the airborne missile transfer alignment.

[0046] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising: A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the airborne missile secondary transfer alignment method is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0047] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0048] It will be appreciated by a person skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present invention to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, database, or other media herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0049] It can be understood that the present invention controls the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controls the sub-inertial navigation system arranged on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and uses the laser radar arranged on the aircraft body to monitor the change in the position and attitude of the airborne missile arranged on the wing of the aircraft in real time, thereby realizing the correction of the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile, and completing the second transfer alignment of the sub-inertial navigation. The present invention provides an effective method for processing wing deformation, solves the technical problem that the method in the prior art is not only difficult to apply to actual occasions due to the unknown nature of wing deformation, but also reduces the alignment accuracy, and greatly improves the alignment accuracy and intelligence of the airborne missile transfer alignment.

[0050] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0051] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A secondary transfer alignment method for an airborne missile, characterized in that: The method comprises: S100, controlling the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controlling the sub-inertial navigation system disposed on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and using the laser radar disposed on the aircraft body to obtain point cloud data of the airborne missile disposed on the wing of the aircraft at a preset time interval; S200, calculating the position and posture data of the airborne missile at the current moment and the position and posture data of the airborne missile at the previous moment according to the acquired point cloud data of the airborne missile, and then calculating the change amount of the position and the change amount of the posture of the airborne missile; S300, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile, and obtaining the strapdown initial attitude matrix and the strapdown initial position matrix, so as to complete the second transfer alignment.

2. The airborne missile secondary transfer alignment method according to claim 1, characterized in that: The method of judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile comprises: S310, calculating the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment, and calculating the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the previous moment according to the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment; S320, calculating the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the onboard missile respectively according to the attitude data of the onboard missile at the current moment and the attitude data of the onboard missile at the previous moment; S330, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile based on the judgment results.

3. The airborne missile secondary transfer alignment method according to claim 2, characterized in that: The step of judging whether the absolute value of the distance is greater than or equal to a first preset threshold value, respectively judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold value, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile according to the judgment results, includes: If the absolute value of the distance is greater than or equal to a first preset threshold, or the absolute value of the change in the pitch angle, yaw angle or roll angle of the airborne missile is greater than or equal to a second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

4. The airborne missile secondary transfer alignment method according to claim 2, characterized in that: The step of judging whether the absolute value of the distance is greater than or equal to a first preset threshold value, respectively judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold value, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile according to the judgment results, includes: If the absolute value of the distance is less than the first preset threshold, and the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are all less than the second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the changes in the position and attitude of the airborne missile.

5. The airborne missile secondary transfer alignment method according to claim 2, characterized in that: The method of determining whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile comprises: According to the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the previous moment and the preset time interval, the first average moving speed of the center of mass of the airborne missile is calculated; according to the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the next moment and the preset time interval, the second average moving speed of the center of mass of the airborne missile is calculated; according to the first average moving speed, the second average moving speed and the preset time interval, the absolute value of the acceleration of the center of mass of the airborne missile is calculated, and it is judged whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold value; according to the judgment result, it is judged whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change amount of the position and attitude of the airborne missile.

6. The airborne missile secondary transfer alignment method according to claim 5, characterized in that: The step of determining whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold, and determining whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the determination result, includes: If the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to the third preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

7. The airborne missile secondary transfer alignment method according to claim 5, characterized in that: The step of determining whether the absolute value of the acceleration of the center of mass of the airborne missile is greater than or equal to a third preset threshold, and determining whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the determination result, includes: If the absolute value of the acceleration of the center of mass of the airborne missile is less than the third preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the change in the position and attitude of the airborne missile.

8. The airborne missile secondary transfer alignment method according to claim 2, characterized in that: The calculation of the position data of the center of mass of the airborne missile at the current moment includes: The three-dimensional model of the airborne missile corresponding to the airborne missile is obtained, and the shape matching is performed between the three-dimensional model of the airborne missile and the point cloud data of the airborne missile obtained. According to the distance of the points in the preset point cloud, the point cloud data of the airborne missile is completed, and the mass data of each mass element corresponding to the three-dimensional model of the airborne missile corresponding to the airborne missile, the x, y and z coordinate data of the points in the point cloud corresponding to each mass element and the total mass data of the airborne missile are obtained, and the coordinates of the center of mass (x1, y1, z1) of the airborne missile are calculated using the following formula: X1=(Σmixi) / M; Y1=(Σmiyi) / M; Z1=(Σmizi) / M; Among them, mi represents the mass of each mass element of the airborne missile, xi, yi and zi represent the x, y and z coordinates of each mass element in the point cloud data of the airborne missile, Σ represents the sum of all mass elements of the airborne missile, and M represents the total mass of the airborne missile.

9. An airborne missile secondary transfer alignment system, characterized in that: include: An acquisition module, including a laser radar disposed on the aircraft body, for acquiring point cloud data of an airborne missile disposed on the wing of the aircraft at a preset time interval; The control module is used to control the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, control the sub-inertial navigation system set on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and use the laser radar set on the aircraft body to obtain the point cloud data of the airborne missile set on the wing of the aircraft at a preset time interval; and is used to calculate the position and posture data of the airborne missile at the current moment and the position and posture data of the airborne missile at the previous moment according to the acquired point cloud data of the airborne missile, and then calculate the change amount of the position and the change amount of the attitude of the airborne missile; It is used to determine whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile, and obtain the strapdown initial attitude matrix and strapdown initial position matrix to complete the second transfer alignment.

10. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the airborne missile secondary transfer alignment method according to any one of claims 1 to 8 is implemented.

Images