A rocket attitude control method, device, medium and equipment

Abstract

This invention provides a rocket attitude control method, device, medium, and equipment. The method includes: determining the velocity of the rocket body in the launch coordinate system; determining the wind speed experienced by the rocket body based on the target flight altitude; determining the airspeed of the rocket body in the launch coordinate system based on the velocity and wind speed; converting the airspeed to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system; determining the trajectory inclination angle based on the projection of the airspeed in the navigation coordinate system; and setting the actual attitude angle of the rocket body based on the trajectory inclination angle. Thus, when the rocket body flies to a certain altitude, the command attitude angle of the rocket body can be adjusted according to the trajectory inclination angle. During flight control, the deviation between the actual attitude angle and the command attitude angle of the rocket body will tend to 0, i.e., the angular deviation will tend to 0. Since the command 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, and the flight angle of attack will gradually approach 0, thereby reducing the aerodynamic interference torque during flight and improving the control accuracy of the rocket attitude.

Description

Technical Field

[0001] This invention relates to the field of launch vehicle guidance and control, and more particularly to a rocket attitude control method, device, medium, and equipment. Background Technology

[0002] In traditional rocket launch missions, the standard ballistic program angle is designed to take into account the influence of statistical wind, adjusting the longitudinal axis of the rocket body and the direction of the rocket's flight velocity to be in the same direction, so as to reduce the angle of attack (also known as the angle of attack) to zero.

[0003] Under this design, the random wind carried by the launch vehicle during flight is the deviation between the actual wind field and the pre-launch wind field, which is significantly reduced compared to the actual wind, effectively lowering the flight load. However, due to factors such as engine thrust deviation, second consumption deviation, specific impulse deviation, and rocket mass deviation during flight, when the rocket reaches a certain altitude on the standard trajectory, the actual flight speed deviates significantly from the standard trajectory speed. This results in a large deviation between the trajectory inclination angle and the pre-programmed angle during actual flight. In this case, the rocket will have a large angle of attack when following the standard trajectory program angle, causing the rocket to be subjected to a large aerodynamic disturbance torque, affecting the control accuracy of the launch vehicle's attitude, and in severe cases, even leading to attitude instability.

[0004] Therefore, there is an urgent need for a rocket attitude control method to reduce the disturbance torque experienced by the rocket body during flight and improve the control accuracy of the rocket attitude. Summary of the Invention

[0005] To address the problems existing in the prior art, 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 where, during actual flight, the rocket body is subjected to a large aerodynamic disturbance torque due to an excessively large angle of attack, 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 reaches the target flight altitude, determine the velocity of the rocket in the launch coordinate system;

[0008] The wind speed experienced by the rocket body is determined based on the target's flight altitude;

[0009] 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 wind speed; and the airspeed is then converted to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system.

[0010] The trajectory inclination angle is determined based on the projection of the airspeed into the navigation coordinate system, and the actual attitude angle of the rocket body is set based on the trajectory inclination angle.

[0011] In the above scheme, determining the wind speed experienced by the rocket body based on the target flight altitude includes:

[0012] Obtain the standard ballistic binding wind field table; the standard ballistic binding wind field interpolation table stores the correspondence between binding flight altitude and wind speed;

[0013] Based on the target flight altitude, the corresponding wind speed is obtained by linear interpolation in the standard ballistic wind field interpolation table.

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

[0015] According to 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 V is the velocity of the rocket body in the launch coordinate system. wind The wind speed is [value].

[0016] In the above scheme, the step of converting the airspeed to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system includes:

[0017] The first, second, and third intermediate variables are determined based on the theoretical launch direction of the rocket body and the geodetic latitude of the launch point.

[0018] The transformation matrix from the launch coordinate system to the navigation coordinate system is determined based on the first intermediate variable, the second intermediate variable, the third intermediate variable, the Earth's rotation angular velocity, and the rocket's flight time.

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

[0020] V k The airspeed; The transformation matrix from the launch coordinate system to the navigation coordinate system; the ω x For the first intermediate variable, ω y ω is the second intermediate variable. z The third intermediate variable, ω eThe Earth's rotational angular velocity is given, and t is the current flight time of the rocket.

[0021] In the above scheme, determining the first, second, and third intermediate variables based on the theoretical launch direction of the rocket body and the geodetic latitude of the launch point includes:

[0022] According to the formula ω x =cosB0×cosA0 determines 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 determines the third intermediate variable ω z Wherein, A0 is the theoretical launch direction, and B0 is the geodetic latitude of the launch point.

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

[0026] According to the formula Determine the ballistic inclination angle θ; where,

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

[0028] In the above scheme, adjusting the actual attitude angle of the rocket body according to the trajectory tilt angle includes:

[0029] The command attitude angle is adjusted to match the trajectory inclination angle, and the actual attitude angle of the rocket 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] The first determining unit is used to determine the velocity of the rocket body in the launch coordinate system when the rocket body reaches the target flight altitude;

[0032] The second determining unit is used to determine the wind speed experienced by the rocket body based on the target's flight altitude;

[0033] A conversion unit is used to determine the airspeed of the rocket body in the launch coordinate system based on the velocity of the rocket body in the launch coordinate system and the wind speed; and to convert the airspeed to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system.

[0034] An adjustment unit is used to determine the trajectory tilt angle based on the projection of the airspeed into the navigation coordinate system, and to set the actual attitude angle of the rocket body based on the trajectory tilt angle.

[0035] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0036] A fourth aspect of the present invention 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, when executing the program, implements the steps of the method described in any of the first aspects.

[0037] This invention provides a rocket attitude control method, device, medium, and equipment. The method includes: determining the velocity of the rocket body in the launch coordinate system when the rocket body reaches the target flight altitude; determining the wind speed experienced by the rocket body based on the target flight altitude; determining the airspeed of the rocket body in the launch coordinate system based on the velocity of the rocket body in the launch coordinate system and the wind speed; converting the airspeed to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system; determining the trajectory inclination angle based on the projection of the airspeed in the navigation coordinate system; and adjusting the actual attitude angle of the rocket body based on the trajectory inclination angle. Thus, when the rocket body flies to a certain altitude, the commanded attitude angle of the rocket body can be adjusted according to the trajectory inclination angle. During flight control, the deviation between the actual attitude angle and the commanded attitude angle of the rocket body will tend to 0, that is, the angular deviation will tend to 0. Since the commanded attitude angle is consistent with the trajectory inclination angle, the velocity direction of the rocket body coincides with the longitudinal axis of the rocket body, and the angle of attack will gradually approach 0, thereby reducing the aerodynamic interference torque during flight and improving the control accuracy of the rocket attitude. Attached Figure Description

[0038] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

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

[0040] Figure 2A schematic diagram showing the actual flight speed and standard ballistic flight speed of an arrow body when it reaches a certain altitude according to an embodiment of the present invention is provided.

[0041] Figure 3 The diagram shows a simulated flight angle-of-attack curve obtained when a rocket follows a standard ballistic program angle and a ballistic inclination angle during its glide phase, according to an embodiment of the present invention.

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

[0043] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0044] This 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 reaches the target flight altitude, determine the velocity of the rocket in the launch coordinate system.

[0046] During flight, due to factors such as engine thrust deviation, second consumption deviation, specific impulse deviation, and rocket mass deviation, when the rocket reaches the target flight altitude H0, if... Figure 2 As shown, the actual trajectory may deviate from the standard trajectory, and the actual velocity V of the rocket body... fs Compared with standard ballistic velocity V bz There will also be a deviation. If it continues to fly at the standard ballistic speed, it will introduce an angle of attack. At this time, the rocket body will be subjected to a large aerodynamic disturbance torque, which will affect the control accuracy of the launch vehicle's attitude.

[0047] Therefore, to solve the above problems, the present invention needs to be based on the actual speed V fs By calculating the trajectory inclination angle and adjusting the rocket's attitude angle accordingly, the rocket can follow the actual trajectory, making the angle of attack approach 0, thereby reducing the aerodynamic interference torque during flight.

[0048] When the rocket reaches the target altitude, it is necessary to determine its velocity in the launch coordinate system. Specifically, the acceleration at each moment during the rocket's flight can be measured by the inertial navigation system (INS). The initial flight velocity is 0. Based on the acceleration measured by the INS, the actual velocity of the rocket at each moment can be obtained by integration.

[0049] The moment when the rocket reaches the target altitude can also be determined, and the actual speed of the rocket in the launch coordinate system can be determined in the above way.

[0050] S111, determine the wind speed experienced by the rocket body based on the target flight altitude.

[0051] The rocket body is also affected by the actual wind field during flight. The wind speed encountered by the rocket body is different at different altitudes, so it is necessary to determine the corresponding wind speed according to the target flight altitude.

[0052] In one implementation, determining the wind speed experienced by the rocket body based on the target flight altitude includes:

[0053] Obtain the standard ballistic binding wind field table; the standard ballistic binding wind field interpolation table stores the correspondence between binding flight altitude and wind speed;

[0054] Based on the target flight altitude, the corresponding wind speed is obtained by linear interpolation in the standard ballistic wind field interpolation table.

[0055] 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 flight altitude of the ballistic trajectory, and f(·) is the wind speed in the launch coordinate system interpolated with altitude for the standard ballistic trajectory.

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

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

[0061] S112, determine the airspeed of the rocket body in the launch coordinate system based on the velocity of the rocket body in the launch coordinate system and the wind speed; and convert the airspeed to the navigation coordinate system to obtain the 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 and corresponding wind speed, as follows:

[0063] According to 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 V is the velocity of the rocket body in the launch coordinate system. wind The wind speed is [value].

[0064] Transform the airspeed into the navigation coordinate system to obtain the projection of the airspeed into the navigation coordinate system, as follows:

[0065] The first, second, and third intermediate variables are determined based on the theoretical launch direction of the rocket body and the geodetic latitude of the launch point.

[0066] The transformation matrix from the launch coordinate system to the navigation coordinate system is determined based on the first intermediate variable, the second intermediate variable, the third intermediate variable, the Earth's rotation angular velocity, and the current flight time of the rocket.

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

[0068]

[0069] V k Airspeed, V is the transformation matrix from the launch coordinate system to the navigation coordinate system. fs Let V be the velocity of the rocket body in the launch coordinate system. wind For wind speed, ω x ω is the first intermediate variable. y ω is the second intermediate variable. z ω is the third intermediate variable. e t represents the Earth's rotational angular velocity, and t represents the current flight time of the rocket.

[0070] Specifically, the first, second, and third intermediate variables are determined based on the theoretical launch direction of the rocket and the geodetic latitude 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 determines the third intermediate variable; where A0 is the theoretical launch direction and B0 is the geodetic latitude of the launch point.

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

[0075] S113, determine the trajectory inclination angle based on the projection of the airspeed onto the navigation coordinate system.

[0076] Once the projection of the airspeed onto the navigation coordinate system is determined, the x-component V of the projection onto the navigation coordinate system can be obtained. x And the component V of the airspeed projected in the navigation coordinate system in the y-direction of the navigation coordinate system. y Therefore, the trajectory inclination angle is determined based on the projection of the airspeed onto the navigation coordinate system, including:

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

[0078] V x V is the x-component of the projection of airspeed in the navigation coordinate system onto the navigation coordinate system. y This is the y-component of the projection of airspeed onto the navigation coordinate system.

[0079] S114, determine the trajectory tilt angle based on the projection of the airspeed into the navigation coordinate system, and set the actual attitude angle of the rocket body based on the trajectory tilt angle.

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

[0081] Adjust the command attitude angle to match the trajectory inclination angle, and then adjust the actual attitude angle of the rocket body according to the command attitude angle.

[0082] Specifically, under normal circumstances, the input control signal of the rocket attitude control system is: in, For the pre-set command attitude angle, The actual attitude angle of the arrow body at the current moment. K represents the attitude angle deviation, and k1 and k2 are the adjustment parameters of the control system.

[0083] And the angle of attack α, the trajectory inclination angle θ, and the actual attitude angle The relationship is: Therefore, to reduce the aerodynamic disturbance torque experienced by the rocket body, it is necessary to adjust the actual attitude angle. The difference between the trajectory angle θ and the trajectory angle becomes very small. This invention aims to bring the flight angle of attack close to 0 in order to minimize the aerodynamic interference torque on the rocket body; therefore, the command attitude angle is directly set... The actual attitude angle of the rocket body tracks the command attitude angle and is adjusted to match 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 process is as follows:

[0085] Obtain the control equations when neglecting the motion of the arrow's center of mass and only considering the angular motion of the arrow's attitude. The control equations are:

[0086] Based on the control signals and control equations, the closed-loop attitude angle motion equations of the rocket body's pitch channel are determined. The motion equations are as follows:

[0087] Performing a Laplace transform on the equations of motion yields 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 guarantees If the rocket's attitude control system is stable, then the rocket's attitude control system is stable; among them,

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

[0090] Specifically, the rocket attitude control system is a closed-loop control system, and the stability of the control system must be ensured during the rocket design process.

[0091] Then, neglecting the motion of the arrow's center of mass and only considering the arrow's attitude angle motion, the control equations are:

[0092]

[0093] control signal Substituting these equations into the control equations above, we can obtain the closed-loop attitude angle motion equations for the rocket's pitch channel:

[0094]

[0095] Applying a Laplace transform to the equations of motion yields the closed-loop characteristic equations of the rocket attitude control system:

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

[0097] For the closed-loop system to be stable, the control system's adjustment parameters k1 and k2 must satisfy the following:

[0098]

[0099] Therefore, it is necessary to ensure during the design process. The rocket body can then adjust its actual attitude angle to the commanded attitude angle under the action of the actuator, which is to say, adjust the actual attitude angle to the trajectory inclination angle. The angle of attack will then approach 0, thereby reducing the aerodynamic interference torque during flight.

[0100] refer to Figure 3 The simulated flight angle of attack curves were obtained when the rocket followed the standard ballistic program angle and the ballistic inclination angle during the gliding phase. Figure 3 Mark 31 represents the flight angle of attack curve obtained when flying along the standard ballistic program angle; Mark 32 represents the flight angle of attack curve obtained when flying along the ballistic inclination angle. It can be seen that the flight angle of attack when flying along the ballistic inclination angle approaches 0.

[0101] In this invention, when the rocket body flies to a certain altitude, the command attitude angle of the rocket body can be adjusted according to the trajectory tilt angle. In this way, the actual attitude angle will gradually approach the trajectory tilt angle during flight. Since the angle of attack is the difference between the actual attitude angle and the trajectory tilt angle, when the command attitude angle is consistent with the trajectory tilt angle, the actual attitude angle will also gradually approach the trajectory tilt angle. In this way, the angle of attack will gradually approach 0, thereby reducing the interference torque during flight and improving the control accuracy of the rocket attitude.

[0102] Based on the same inventive concept as in the foregoing embodiments, this embodiment also provides a rocket attitude control device, such as... Figure 4 As shown, the device includes:

[0103] The 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] The second determining unit 42 is used to determine the wind speed experienced by the rocket body based on the target's flight altitude;

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

[0106] The adjustment unit 44 is used to determine the trajectory tilt angle based on the projection of the airspeed in the navigation coordinate system, and to set the actual attitude angle of the rocket body based on the trajectory tilt angle.

[0107] In one embodiment, the first determining unit 42 is specifically used for:

[0108] Obtain the standard ballistic binding wind field table; the standard ballistic binding wind field interpolation table stores the correspondence between the binding flight altitude and wind speed;

[0109] Based on the target flight altitude, the corresponding wind speed is obtained by linear interpolation in the standard ballistic wind field interpolation table.

[0110] Since the apparatus described in the embodiments of this invention is used to implement the rocket attitude control method of the embodiments of this invention, those skilled in the art can understand the specific structure and variations of the apparatus based on the method described in the embodiments of this invention, and therefore will not be described in detail here. All apparatuses used in the methods of the embodiments of this invention fall within the scope of protection of this 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. When the processor executes the computer program, it implements any step of the method described above.

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

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

[0114] This invention provides a rocket attitude control method, device, medium, and equipment. The method includes: determining the velocity of the rocket body in the launch coordinate system when the rocket body reaches the target flight altitude; determining the wind speed experienced by the rocket body based on the target flight altitude; determining the airspeed of the rocket body in the launch coordinate system based on the velocity of the rocket body in the launch coordinate system and the wind speed; converting the airspeed to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system; determining the trajectory inclination angle based on the projection of the airspeed in the navigation coordinate system; and setting the actual attitude angle of the rocket body based on the trajectory inclination angle. Thus, when the rocket body flies to a certain altitude, the command attitude angle of the rocket body can be set according to the trajectory inclination angle. During flight control, the deviation between the actual attitude angle and the command attitude angle of the rocket body will tend to 0, that is, the angular deviation will tend to 0. Since the command attitude angle is consistent with the trajectory inclination angle, the velocity 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 flight and improving the control accuracy of the rocket attitude.

[0115] In this way, the actual attitude angle will gradually approach the trajectory inclination angle during flight. Since the angle of attack is the difference between the actual attitude angle and the trajectory inclination angle, when the commanded attitude angle is consistent with the trajectory inclination angle, the actual attitude angle will also gradually approach the trajectory inclination angle. This will cause the angle of attack to gradually approach 0, thereby reducing the interference torque during flight and improving the control accuracy of the rocket's attitude.

[0116] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0117] The above description is merely 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 within the scope of protection of the present invention.

Claims

1. A rocket attitude control method, characterized in that, The method includes: When the rocket reaches the target flight altitude, determine the velocity of the rocket in the launch coordinate system; The wind speed experienced by the rocket body is determined based on the target's flight altitude; 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 wind speed; and the airspeed is then converted to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system. The trajectory inclination angle is determined based on the projection of the airspeed into the navigation coordinate system, and the actual attitude angle of the rocket body is set based on the trajectory inclination angle; wherein... The step of converting the airspeed to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system includes: The first, second, and third intermediate variables are determined based on the theoretical launch direction of the rocket body and the geodetic latitude of the launch point. The transformation matrix from the launch coordinate system to the navigation coordinate system is determined based on the first intermediate variable, the second intermediate variable, the third intermediate variable, the Earth's rotation angular velocity, and the rocket's flight time. According to the formula Determine the projection of the airspeed in the navigation coordinate system ;in, ; The airspeed; The transformation matrix from the launch coordinate system to the navigation coordinate system; For the first intermediate variable, the The second intermediate variable, the The third intermediate variable, the The Earth's rotational angular velocity is given, and t is the current flight time of the rocket.

2. The method as described in claim 1, characterized in that, Determining the wind speed experienced by the rocket body based on the target flight altitude includes: Obtain the standard ballistic binding wind field table; the standard ballistic binding wind field interpolation table stores the correspondence between binding flight altitude and wind speed; Based on the target flight altitude, the corresponding wind speed is obtained by linear interpolation in the standard ballistic wind field interpolation table.

3. The method as described in claim 1, characterized in that, Determining the airspeed of the rocket body in the launch coordinate system based on the rocket body's velocity in the launch coordinate system and the wind speed includes: According to the formula Determine the airspeed of the rocket body in the launch coordinate system. ; wherein, the Let be the velocity of the rocket body in the launch coordinate system, and be . The wind speed is [value].

4. The method as described in claim 1, characterized in that, The determination of the first, second, and third intermediate variables based on the theoretical launch direction of the rocket body and the geodetic latitude of the launch point includes: According to the formula Determine the first intermediate variable ; According to the formula Determine the second intermediate variable ; According to the formula Determine the third intermediate variable ; wherein, the The theoretical launch direction, the The geodetic latitude of the launch point.

5. The method as described in claim 1, characterized in that, Determining the trajectory inclination angle based on the projection of the airspeed into the navigation coordinate system includes: According to the formula Determine the ballistic inclination angle ;in, The The projection of the airspeed in the navigation coordinate system is shown in the navigation coordinate system. x The directional component, the The projection of the airspeed in the navigation coordinate system is shown in the navigation coordinate system. y The directional component.

6. The method as described in claim 1, characterized in that, The step of adjusting the actual attitude angle of the rocket body according to the trajectory inclination angle includes: Set the command attitude angle to be consistent with the trajectory inclination angle, and adjust the actual attitude angle of the rocket body according to the command attitude angle.

7. A rocket attitude control device, characterized in that, The device includes: The first determining unit is used to determine the velocity of the rocket body in the launch coordinate system when the rocket body reaches the target flight altitude; The second determining unit is used to determine the wind speed experienced by the rocket body based on the target's flight altitude; A conversion unit is used to determine the airspeed of the rocket body in the launch coordinate system based on the velocity of the rocket body in the launch coordinate system and the wind speed; and to convert the airspeed to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system. The adjustment unit is used to determine the trajectory inclination angle based on the projection of the airspeed into the navigation coordinate system, set the command attitude angle of the rocket body based on the trajectory inclination angle, and adjust the actual attitude angle of the rocket body based on the command attitude angle; wherein... The step of converting the airspeed to the navigation coordinate system to obtain the projection of the airspeed in the navigation coordinate system includes: The first, second, and third intermediate variables are determined based on the theoretical launch direction of the rocket body and the geodetic latitude of the launch point. The transformation matrix from the launch coordinate system to the navigation coordinate system is determined based on the first intermediate variable, the second intermediate variable, the third intermediate variable, the Earth's rotation angular velocity, and the rocket's flight time. According to the formula Determine the projection of the airspeed in the navigation coordinate system ;in, ; The airspeed; The transformation matrix from the launch coordinate system to the navigation coordinate system; For the first intermediate variable, the The second intermediate variable, the The third intermediate variable, the The Earth's rotational angular velocity is given, and t is the current flight time of the rocket.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-6.

9. 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, it implements the steps of the method according to any one of claims 1-6.

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