Rocket attitude control method and device, medium and equipment

Abstract

The invention provides a rocket attitude control method and device, a medium and equipment. The method comprises the steps that the speed of a rocket body in a launching coordinate system is determined; determining the wind speed of the rocket body according to the target flight height; determining the airspeed of the rocket body in the launching coordinate system based on the speed of the rocket body in the launching coordinate system and the wind speed; converting the airspeed into a navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system; determining a ballistic inclination angle according to the projection of the airspeed in the navigation coordinate system, and setting an actual attitude angle of the rocket body according to the ballistic inclination angle; thus, when the rocket body flies to a certain height, the instruction attitude angle of the rocket body can be adjusted according to the trajectory inclination angle, and the deviation between the actual attitude angle and the instruction attitude angle of the rocket body tends to be 0 in the flight control process, namely, the angular deviation tends to be 0; as the instruction attitude angle is equal to the trajectory inclination angle, the velocity direction of the rocket body coincides with the longitudinal axis of the rocket body, the flight attack angle gradually approaches 0, then the aerodynamic disturbance torque in the flight process can be reduced, and the control precision of the rocket attitude is improved.

Description

Technical Field

[0001] The present invention relates to the field of launch vehicle guidance control, and in particular to a rocket attitude control method, device, medium and equipment. Background Art

[0002] In traditional rocket launch missions, the standard ballistic program angle is designed with the influence of statistical wind in mind, and the longitudinal axis of the rocket body and the direction of the rocket body's flight speed are adjusted to the same direction so that the flight angle of attack (also referred to as angle of attack) can be reduced to zero.

[0003] Under this design, the random wind carried by the rocket body during flight is the deviation between the actual wind field and the pre-launch binding wind field, which is greatly reduced compared to the actual wind, and can effectively reduce the flight load. However, due to factors such as engine thrust deviation, second consumption deviation, specific impulse deviation, and rocket body mass deviation during flight, when the rocket body flies to a certain height of the standard trajectory, the actual flight speed deviates greatly from the standard ballistic speed, resulting in a large deviation between the ballistic inclination angle and the binding program angle during the actual flight. At this time, the rocket will have a large flight angle of attack if it follows the standard ballistic program angle, causing the rocket body to be subjected to a large aerodynamic interference torque, affecting the control accuracy of the launch vehicle's attitude, and in severe cases, it may even cause attitude instability.

[0004] Based on this, there is an urgent need for a rocket body attitude control method to reduce the interference torque on the rocket body during flight and improve the control accuracy of the rocket attitude. Summary of the invention

[0005] In response to the problems existing in the prior art, the embodiments of the present invention provide a rocket attitude control method, device, medium and equipment to solve or partially solve the technical problem in the prior art that during the actual flight of the rocket body, due to the excessively large flight angle of attack, the rocket body is subjected to a large aerodynamic interference torque, resulting in a decrease in the control accuracy of the rocket attitude.

[0006] A first aspect of the present invention provides a rocket attitude control method, the method comprising:

[0007] When the rocket body reaches the target flight altitude, determining the velocity of the rocket body in the launch coordinate system;

[0008] Determining the wind speed to which the arrow body is subjected according to the target flight altitude;

[0009] Determine the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed; and convert the airspeed into the navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system;

[0010] The trajectory inclination angle is determined according to the projection of the airspeed in the navigation coordinate system, and the actual attitude angle of the arrow body is set according to the trajectory inclination angle.

[0011] In the above scheme, the step of determining the wind speed to which the arrow body is subjected according to the target flight altitude includes:

[0012] Obtaining a standard trajectory binding wind field table; the standard trajectory binding wind field interpolation table stores a corresponding relationship between a binding flight altitude and a wind speed;

[0013] Based on the target flight altitude, linear interpolation is performed in the standard trajectory binding wind field interpolation table to obtain the corresponding wind speed.

[0014] In the above scheme, the determining the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed includes:

[0015] According to the formula V k =V fs -V wind Determine the airspeed V of the rocket body in the launch coordinate system k ; wherein, the V fs is the velocity of the rocket body in the launch coordinate system, and V wind is the wind speed.

[0016] In the above solution, converting the airspeed into a navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system includes:

[0017] Determine the first intermediate variable, the second intermediate variable and the third intermediate variable according to the theoretical launch direction of the rocket body and the geodetic latitude of the launch point;

[0018] Determine a conversion matrix from the launch coordinate system to the navigation coordinate system according to the first intermediate variable, the second intermediate variable, the third intermediate variable, the earth's rotation angular velocity, and the rocket body flight time;

[0019] According to the formula Determine the projection V of the airspeed in the navigation coordinate system xd ;in,

[0020] V k is the airspeed; is the transformation matrix from the emission coordinate system to the navigation coordinate system; the ω x is the first intermediate variable, the ω y is the second intermediate variable, the ω z is the third intermediate variable, the ω eis the angular velocity of the earth's rotation, and t is the current flight time of the arrow body.

[0021] In the above scheme, the determining of the first intermediate variable, the second intermediate variable and the third intermediate variable according to the theoretical launch direction of the rocket body and the geodetic dimension of the launch point includes:

[0022] According to the formula ω x =cosB0×cosA0 Determine the first intermediate variable ω x ;

[0023] According to the formula ω y = sinB0 determines the second intermediate variable ω y ;

[0024] According to the formula ω z =-cosB0×sinA0 Determine the third intermediate variable ω z ; Wherein, A0 is the theoretical emission direction, and B0 is the geodetic latitude of the emission point.

[0025] In the above scheme, determining the trajectory inclination angle according to the projection of the airspeed on the navigation coordinate system includes:

[0026] According to the formula Determine the trajectory inclination angle θ; wherein,

[0027] The V x is the component of the airspeed in the x direction of the projection of the navigation coordinate system in the navigation coordinate system, and the V y is the component of the projection of the airspeed in the navigation coordinate system in the y direction in the navigation coordinate system.

[0028] In the above solution, the actual attitude angle of the arrow body is adjusted according to the trajectory inclination angle, including:

[0029] The command attitude angle is adjusted to be consistent with the trajectory inclination angle, and the actual attitude angle of the arrow body is adjusted according to the command attitude angle.

[0030] A second aspect of the present invention provides a rocket attitude control device, the device comprising:

[0031] A first determining unit, configured to determine a velocity of the rocket body in a launch coordinate system when the rocket body reaches a target flight altitude;

[0032] A second determining unit is used to determine the wind speed to which the arrow body is subjected according to the target flight altitude;

[0033] a conversion unit, configured to determine the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed; and convert the airspeed into a navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system;

[0034] An adjustment unit is used to determine the ballistic inclination angle according to the projection of the airspeed in the navigation coordinate system, and to set the actual attitude angle of the arrow body according to the ballistic inclination angle.

[0035] 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.

[0036] 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.

[0037] The present invention provides a method, device, medium and equipment for controlling the attitude of a rocket, the method comprising: when a rocket body reaches a target flight altitude, determining the speed of the rocket body in a launch coordinate system; determining the wind speed to which the rocket body is subjected according to the target flight altitude; determining the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed; and converting the airspeed into a navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system; determining a ballistic inclination angle according to the projection of the airspeed in the navigation coordinate system, and adjusting the actual attitude angle of the rocket body according to the ballistic inclination angle; in this way, when the rocket body flies to a certain altitude, the command attitude angle of the rocket body can be adjusted according to the ballistic inclination angle, and the deviation between the actual attitude angle of the rocket body and the command attitude angle during the flight control process will tend to 0, that is, the angular deviation will tend to 0; since the command attitude angle is consistent with the ballistic inclination angle, the speed direction of the rocket body coincides with the longitudinal axis of the rocket body, and the flight angle of attack will gradually approach 0, thereby reducing the aerodynamic interference torque during the flight and improving the control accuracy of the rocket attitude. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0039] Figure 1 A schematic diagram of a rocket attitude control method flow chart according to an embodiment of the present invention is shown;

[0040] Figure 2A schematic diagram showing the actual flight speed and the standard ballistic flight speed when the arrow body flies to a certain height according to an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of a flight angle of attack curve obtained by simulation when a rocket glide segment follows a standard trajectory program angle and follows a trajectory inclination angle according to an embodiment of the present invention is shown;

[0042] Figure 4 A schematic structural diagram of a rocket attitude control device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0043] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the 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. On the contrary, 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.

[0044] The present invention provides a rocket attitude control method, such as Figure 1 As shown, the method mainly includes the following steps:

[0045] S110, when the rocket body reaches the target flight altitude, determine the speed of the rocket body in the launch coordinate system.

[0046] During the flight of the rocket, due to factors such as engine thrust deviation, second consumption deviation, specific impulse deviation and rocket mass deviation, when the rocket flies to the target flight altitude H0, Figure 2 As shown in the figure, the actual trajectory may deviate from the standard trajectory, and the actual speed V of the arrow body fs With standard ballistic velocity V bz There will also be a deviation. If it continues to fly at the standard ballistic speed, an angle of attack will be introduced. At this time, the rocket body will be subject to a larger aerodynamic interference torque, affecting the control accuracy of the launch vehicle's attitude.

[0047] Therefore, in order to solve the above problem, the present invention needs to be based on the actual speed V fs Calculate the ballistic inclination angle, adjust the arrow body attitude angle according to the ballistic inclination angle, and make the arrow body fly along the actual trajectory. This can make the flight angle of attack approach 0, thereby reducing the aerodynamic interference torque during flight.

[0048] Then when the rocket body flies to the target flight altitude, it is necessary to determine the speed of the rocket body in the launch coordinate system. Specifically, during the flight of the rocket body, the acceleration at each moment can be measured by the inertial group. The initial flight speed is 0. According to the acceleration measured by the inertial group, the actual speed of the rocket body at each moment can be obtained by integration.

[0049] The moment when the rocket body flies to the target flight altitude can also be obtained, and then the actual speed of the rocket body in the launch coordinate system can be determined according to the above method.

[0050] S111, determining the wind speed to which the arrow body is subjected according to the target flight altitude.

[0051] The rocket body will also be affected by the actual wind field during flight. The wind speed it is exposed to is different at different altitudes, so the corresponding wind speed also needs to be determined based on the target flight altitude.

[0052] In one embodiment, determining the wind speed to which the arrow body is subjected according to the target flight altitude includes:

[0053] Obtaining a standard trajectory binding wind field table; the standard trajectory binding wind field interpolation table stores the corresponding relationship between the binding flight altitude and the wind speed;

[0054] Based on the target flight altitude, linear interpolation is performed in the standard ballistic binding wind field interpolation table to obtain the corresponding wind speed.

[0055] Among them, the standard ballistic binding wind field table is shown in Table 1:

[0056] Table 1

[0057] H(km) 0 3 6 7 8 9 10 11 12 … f(·)(m / s) 0 0 16.33 19.88 22.99 26.04 37.91 29.05 29.75 …

[0058] In Table 1, H is the bound flight altitude, and f(·) is the wind field velocity (wind speed) in the launch coordinate system interpolated with altitude for standard trajectory binding.

[0059] However, it can be seen from Table 1 that Table 1 only contains bound flight altitudes such as 3km, 6km, and 7km and the corresponding wind speeds. However, assuming that the target flight altitude does not exist in the above Table 1, it is also necessary to find the altitudes adjacent to the target flight altitude in Table 1, perform linear interpolation processing, and obtain the corresponding wind speed at the target flight altitude.

[0060] For example, assuming that the target flight altitude is 10.5 km, it is necessary to use 10 km and 11 km in Table 1 and the corresponding wind speed data to construct a linear function, substitute the target flight altitude into the linear function, and obtain the wind speed corresponding to the target flight altitude.

[0061] S112, determining the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed; and converting the airspeed into a navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system.

[0062] After obtaining the velocity and wind speed of the rocket body in the launch coordinate system, the airspeed of the rocket body in the launch coordinate system is determined based on the velocity of the rocket body in the launch coordinate system and the corresponding wind speed, which is implemented as follows:

[0063] According to the formula V k =V fs -V wind Determine the airspeed V of the rocket body in the launch coordinate system k ; wherein, the V fs is the velocity of the rocket body in the launch coordinate system, and V wind is the wind speed.

[0064] Convert the airspeed to the navigation coordinate system and obtain the projection of the airspeed in the navigation coordinate system, which can be achieved as follows:

[0065] Determine the first intermediate variable, the second intermediate variable and the third intermediate variable according to the theoretical launch direction of the rocket body and the geodetic latitude of the launch point;

[0066] Determine a conversion matrix from a launch coordinate system to a navigation coordinate system according to the first intermediate variable, the second intermediate variable, the third intermediate variable, the angular velocity of the earth's rotation, and the current flight time of the rocket body;

[0067] According to the formula Determine the projection V of the airspeed in the navigation coordinate system xd ;in,

[0068]

[0069] V k is the airspeed, is the transformation matrix from the launch coordinate system to the navigation coordinate system, V fs is the velocity of the rocket in the launch coordinate system, V wind is the wind speed, ω x is the first intermediate variable, ω y is the second intermediate variable, ω z is the third intermediate variable, ω e is the angular velocity of the earth's rotation, and t is the current flight time of the rocket.

[0070] Specifically, firstly, the first intermediate variable, the second intermediate variable and the third intermediate variable are determined according to the theoretical launch direction of the rocket body and the geodetic dimension of the launch point, including:

[0071] According to the formula ω x =cosB0×cosA0 determines the first intermediate variable;

[0072] According to the formula ω y =sinB0 determines the second intermediate variable;

[0073] According to the formula ω z =-cosB0×sinA0 to determine the third intermediate variable; wherein A0 is the theoretical emission direction, and B0 is the geodetic latitude of the emission point.

[0074] Then, according to the formula Determine the airspeed V xd .

[0075] S113, determining the trajectory inclination angle according to the projection of the airspeed on the navigation coordinate system.

[0076] After the projection of the airspeed in the navigation coordinate system is determined, the component V of the projection of the airspeed in the navigation coordinate system in the x direction in the navigation coordinate system can be obtained: x And the projection of the airspeed in the navigation coordinate system in the y direction of the navigation coordinate system V y Then the trajectory inclination is determined based on the projection of the airspeed in the navigation coordinate system, including:

[0077] According to the formula Determine the trajectory inclination angle θ; where,

[0078] V x V is the x-direction component of the projection of the airspeed in the navigation coordinate system, y It is the component of the projection of the airspeed in the navigation coordinate system in the y direction in the navigation coordinate system.

[0079] S114, determining a trajectory inclination angle according to a projection of the airspeed in the navigation coordinate system, and setting an actual attitude angle of the arrow body according to the trajectory inclination angle.

[0080] In one embodiment, adjusting the actual attitude angle of the arrow body according to the trajectory inclination angle includes:

[0081] Adjust the command attitude angle to be consistent with the trajectory inclination angle, and adjust the actual attitude angle of the arrow body according to the command attitude angle.

[0082] Specifically, in general, the input control signal of the rocket attitude control system is in, is the preset command attitude angle, is the actual attitude angle of the arrow body at the current moment, is the attitude angle deviation, k1 and k2 are the adjustment parameters of the control system.

[0083] The angle of attack α, the trajectory inclination θ and the actual attitude angle The relationship is: Therefore, if you want to reduce the aerodynamic disturbance torque on the arrow body, you need to adjust the actual attitude angle The present invention aims to make the flight angle of attack close to 0, so as to reduce the aerodynamic disturbance torque on the arrow body to the greatest extent. Therefore, the command attitude angle is directly The actual attitude angle of the arrow body tracks the command attitude angle and is adjusted to be consistent with the trajectory inclination angle.

[0084] It should be noted that during the design phase of the rocket attitude control system, it is necessary to ensure the stability of the rocket attitude control system. The implementation process is as follows:

[0085] Obtain the control equation when ignoring the motion of the center of mass of the arrow body and only considering the motion of the arrow body attitude angle. The control equation is

[0086] The closed-loop attitude angle motion equation of the rocket body pitch channel is determined according to the control signal and the control equation. The motion equation is:

[0087] By performing Laplace transform on the equation of motion, we can obtain the closed-loop characteristic equation of the rocket attitude control system. The characteristic equation is: D(s) = s 2 +(k2b3+b1)s+k1b3+b2;

[0088] If the design process ensures , it means that the rocket attitude control system is stable; among them,

[0089] M b is the structural disturbance torque, b1 is the damping coefficient of the rocket attitude control system, b2 is the stability characteristic coefficient, s is the complex variable in Laplace transform, δ is the control signal, is the deviation between the command attitude angle and the actual attitude angle, Δα is the deviation between the current angle of attack and the 0 angle of attack, for The second-order derivative of for The first derivative of .

[0090] Specifically, the rocket attitude control system is a closed-loop control system. During the rocket design process, the control system stability must be met.

[0091] Then, ignoring the motion of the center of mass of the arrow body and only considering the motion of the arrow body attitude angle, the control equation is:

[0092]

[0093] The control signal Substituting into the above control equation, the closed-loop attitude angle motion equation of the rocket body pitch channel can be obtained:

[0094]

[0095] The closed-loop characteristic equation of the rocket attitude control system is obtained by Laplace transforming the motion equation:

[0096] D(s)=s 2 +(k2b3+b1)s+k1b3+b2;

[0097] To make the closed-loop system stable, the control system's adjustment parameters k1 and k2 need to satisfy:

[0098]

[0099] Therefore, it is necessary to ensure during design Then the arrow body can adjust the actual attitude angle to the command attitude angle under the action of the actuator, that is, adjust the actual attitude angle to the ballistic inclination angle, and the angle of attack will approach 0 to reduce the aerodynamic interference torque during flight.

[0100] refer to Figure 3 , the flight angle of attack curves obtained by simulation when the rocket follows the standard ballistic program angle and the ballistic inclination angle during the gliding phase. Figure 3 Mark 31 is the flight angle of attack curve obtained when flying along the standard trajectory program angle; mark 32 is the flight angle of attack curve obtained when flying along the trajectory inclination angle. It can be seen that the flight angle of attack when flying along the trajectory inclination angle approaches 0.

[0101] In the present invention, when the rocket body flies to a certain height, the command attitude angle of the rocket body can be adjusted according to the ballistic inclination angle, so that the actual attitude angle will gradually tend to the ballistic inclination angle during the flight. Since the angle of attack is the difference between the actual attitude angle and the ballistic inclination angle, when the command attitude angle is consistent with the ballistic inclination angle, the actual attitude angle will gradually tend to the ballistic inclination angle, so that the angle of attack will gradually approach 0, thereby reducing the interference torque during the flight and improving the control accuracy of the rocket attitude.

[0102] Based on the same inventive concept as in the above-mentioned embodiment, this embodiment also provides a rocket attitude control device, such as Figure 4 As shown, the device comprises:

[0103] A first determining unit 41 is used to determine the velocity of the rocket body in the launch coordinate system when the rocket body reaches the target flight altitude;

[0104] A second determining unit 42 is used to determine the wind speed to which the arrow body is subjected according to the target flight altitude;

[0105] A conversion unit 43 is used to determine the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed; and convert the airspeed into a navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system;

[0106] The adjustment unit 44 is used to determine the ballistic inclination angle according to the projection of the airspeed in the navigation coordinate system, and set the actual attitude angle of the arrow body according to the ballistic inclination angle.

[0107] In one implementation, the first determining unit 42 is specifically configured to:

[0108] Obtaining a standard trajectory binding wind field table; the standard trajectory binding wind field interpolation table stores the corresponding relationship between the binding flight altitude and the wind speed;

[0109] Based on the target flight altitude, linear interpolation is performed in the standard trajectory bound wind field interpolation table to obtain the corresponding wind speed.

[0110] Since the device introduced in the embodiment of the present invention is a device used to implement the rocket attitude control method of the embodiment of the present invention, based on the method introduced in the embodiment of the present invention, the person skilled in the art can understand the specific structure and deformation of the device, so it is not repeated here. All devices used in the method of the embodiment of the present invention belong to the scope of protection of the present invention.

[0111] Based on the same inventive concept, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any step of the method described above when executing the computer program.

[0112] Based on the same inventive concept, this embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the methods described above are implemented.

[0113] Through one or more embodiments of the present invention, the present invention has the following beneficial effects or advantages:

[0114] The present invention provides a method, device, medium and equipment for controlling the attitude of a rocket, the method comprising: when a rocket body reaches a target flight altitude, determining the speed of the rocket body in a launch coordinate system; determining the wind speed to which the rocket body is subjected according to the target flight altitude; determining the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed; and converting the airspeed into a navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system; determining a ballistic inclination angle according to the projection of the airspeed in the navigation coordinate system, and setting the actual attitude angle of the rocket body according to the ballistic inclination angle; in this way, when the rocket body flies to a certain altitude, the command attitude angle of the rocket body can be set according to the ballistic inclination angle, and the deviation between the actual attitude angle of the rocket body and the command attitude angle during the flight control process will tend to 0, that is, the angular deviation will tend to 0; since the command attitude angle is consistent with the ballistic inclination angle, the speed direction of the rocket body coincides with the longitudinal axis of the rocket body, and the flight angle of attack will gradually approach 0, thereby reducing the aerodynamic interference torque during the flight and improving the control accuracy of the rocket attitude.

[0115] In this way, the actual attitude angle will gradually tend to the ballistic inclination angle during the flight. Since the angle of attack is the difference between the actual attitude angle and the ballistic inclination angle, when the command attitude angle is consistent with the ballistic inclination angle, the actual attitude angle will gradually tend to the ballistic inclination angle. In this way, the angle of attack will gradually approach 0, thereby reducing the interference torque during the flight and improving the control accuracy of the rocket attitude.

[0116] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other 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 invention.

[0117] 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 rocket attitude control method, characterized in that: The method comprises: When the rocket body reaches the target flight altitude, determining the velocity of the rocket body in the launch coordinate system; Determining the wind speed to which the arrow body is subjected according to the target flight altitude; Determine the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed; and convert the airspeed into the navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system; The trajectory inclination angle is determined according to the projection of the airspeed in the navigation coordinate system, and the actual attitude angle of the arrow body is set according to the trajectory inclination angle.

2. The method according to claim 1, characterized in that The step of determining the wind speed to which the arrow body is subjected according to the target flight altitude comprises: Obtaining a standard trajectory binding wind field table; the standard trajectory binding wind field interpolation table stores a corresponding relationship between a binding flight altitude and a wind speed; Based on the target flight altitude, linear interpolation is performed in the standard trajectory binding wind field interpolation table to obtain the corresponding wind speed.

3. The method according to claim 1, characterized in that The determining the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed comprises: According to the formula V k =V fs -V wind Determine the airspeed V of the rocket body in the launch coordinate system k ; wherein, the V fs is the velocity of the rocket body in the launch coordinate system, and V wind is the wind speed.

4. The method according to claim 1, characterized in that The converting the airspeed into a navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system includes: Determine the first intermediate variable, the second intermediate variable and the third intermediate variable according to the theoretical launch direction of the rocket body and the geodetic latitude of the launch point; Determine a conversion matrix from the launch coordinate system to the navigation coordinate system according to the first intermediate variable, the second intermediate variable, the third intermediate variable, the earth's rotation angular velocity, and the rocket body flight time; According to the formula Determine the projection V of the airspeed in the navigation coordinate system xd ;in, V k is the airspeed; is the transformation matrix from the emission coordinate system to the navigation coordinate system; the ω x is the first intermediate variable, the ω y is the second intermediate variable, the ω z is the third intermediate variable, the ω e is the angular velocity of the earth's rotation, and t is the current flight time of the arrow body.

5. The method according to claim 4, characterized in that The method of determining the first intermediate variable, the second intermediate variable and the third intermediate variable according to the theoretical launch direction of the rocket body and the geodetic dimension of the launch point includes: According to the formula ω x =cosB0×cosA0 Determine the first intermediate variable ω x ; According to the formula ω y = sinB0 determines the second intermediate variable ω y ; According to the formula ω z =-cosB0×sinA0 Determine the third intermediate variable ω z ; Wherein, A0 is the theoretical emission direction, and B0 is the geodetic latitude of the emission point.

6. The method according to claim 1, characterized in that Determining the trajectory inclination angle according to the projection of the airspeed on the navigation coordinate system includes: According to the formula Determine the trajectory inclination angle θ; wherein, The V x is the component of the airspeed in the x direction of the projection of the navigation coordinate system in the navigation coordinate system, and the V y is the component of the projection of the airspeed in the navigation coordinate system in the y direction in the navigation coordinate system.

7. The method according to claim 1, characterized in that The step of adjusting the actual attitude angle of the arrow body according to the trajectory inclination angle comprises: The command attitude angle is set to be consistent with the trajectory inclination angle, and the actual attitude angle of the arrow body is adjusted according to the command attitude angle.

8. A rocket attitude control device, characterized in that: The device comprises: A first determining unit, configured to determine a velocity of the rocket body in a launch coordinate system when the rocket body reaches a target flight altitude; A second determining unit is used to determine the wind speed to which the arrow body is subjected according to the target flight altitude; a conversion unit, configured to determine the airspeed of the rocket body in the launch coordinate system based on the speed of the rocket body in the launch coordinate system and the wind speed; and convert the airspeed into a navigation coordinate system to obtain a projection of the airspeed in the navigation coordinate system; An adjustment unit is used to determine a trajectory inclination angle according to a projection of the airspeed in the navigation coordinate system, set a command attitude angle of the rocket body according to the trajectory inclination angle, and adjust an actual attitude angle of the rocket body according to the command attitude angle.

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, characterized in that: 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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