Intra-atmosphere solid sounding rocket guidance method and system
By obtaining disturbance factors in solid sounding rockets and performing random target shooting simulations, and calculating program angles in real time, the problem that traditional guidance methods are difficult to meet the landing accuracy requirements is solved, and a higher landing accuracy and simplified guidance process is achieved.
Patent Information
- Application Number
- CN202411960864.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-29
- Publication Date
- 2025-03-14
AI Technical Summary
The landing accuracy of existing solid sounding rockets in the atmosphere is difficult to meet the requirements, mainly due to the large acceleration and aerodynamic disturbance of solid engines, resulting in a large parameter disturbance range, which makes traditional perturbation guidance difficult to effectively deal with.
A solid sounding rocket guidance method is proposed in the atmosphere. By obtaining disturbance factors and forming a deviation data table, random target shooting simulation is carried out to obtain nominal, upper and lower deviation ballistic data, calculate the program angle in real time, determine whether the predetermined time has reached and perform a fixed axis processing.
It achieves higher landing accuracy, simplifies guidance algorithms and equipment requirements, and reduces the amount of data and calculation step size before injection.
Smart Images
Figure CN119617972A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of rockets, and in particular, to a solid sounding rocket guidance method and system within the atmosphere. Background Art
[0002] Solid sounding rockets are rockets used for exploration and scientific experiments in near-Earth space. In order to recover the scientific experimental equipment on the rocket body, sounding rockets generally use high-altitude parabolic trajectories and their landing accuracy is generally better than 3km. In order to achieve a higher landing accuracy, in the active stage (when the solid engine is working), it is necessary to perform guidance calculations based on the actual flight state in the atmosphere, and calculate the program angle that the rocket needs to meet in real time to control the landing accuracy. After the engine is shut down, it lands at the specified landing point after the passive stage of flight. At present, the guidance method of sounding rockets is mainly perturbation guidance. This guidance method requires a large amount of calculations before the rocket is launched to cope with the disturbances of various factors encountered during the actual flight. However, due to the large acceleration of the solid engine and the large influence of aerodynamics in the atmosphere, the actual flight parameter disturbance is large, so a large range of parameter perturbations will occur, and perturbation guidance is mainly used to deal with small factor disturbances. It is difficult to meet the landing accuracy requirements using only perturbation guidance in the traditional sense.
[0003] Therefore, how to provide a guidance method that ensures landing point accuracy has become an urgent problem to be solved in this field. Summary of the invention
[0004] The present application proposes a solid sounding rocket guidance method within the atmosphere, comprising the following steps: obtaining disturbance factors and determining the values of the disturbance factors to form a deviation data table; performing random target shooting simulation on rocket flight according to the deviation data in the deviation data table, obtaining nominal, upward and downward deviation ballistic data, and saving them; determining an online real-time calculation program angle according to the saved nominal, upward and downward deviation ballistic data; judging whether a predetermined time has been reached; and performing axis fixing processing if the predetermined time has been reached.
[0005] The solid sounding rocket guidance method within the atmosphere as described above, wherein random target shooting simulation is performed on the rocket flight according to the deviation data in the deviation data table to obtain nominal, upward and downward deviation ballistic data, including, random target shooting simulation is performed on the rocket flight according to the deviation data to obtain nominal, upward and downward deviation ballistic data, and form a flight envelope.
[0006] The solid sounding rocket guidance method within the atmosphere as described above, wherein determining the online real-time calculation program angle based on the stored nominal, upward deviation and downward deviation trajectory data includes the following sub-steps: determining the real-time guidance data; interpolating the stored nominal trajectory to determine the guidance data after interpolation; comparing the real-time guidance data with the guidance data obtained by interpolation to determine whether it is currently in an upward deviation flight or a downward deviation flight; after determining whether it is currently in an upward deviation flight or a downward deviation flight, calculating and determining the program angle.
[0007] In the above-mentioned solid sounding rocket guidance method within the atmosphere, the real-time guidance data is the real-time guidance data such as flight altitude, flight time and apparent speed calculated based on the navigation information output by inertial navigation / integrated navigation.
[0008] In the above-mentioned solid sounding rocket guidance method within the atmosphere, interpolating the stored nominal trajectory includes interpolating the stored nominal trajectory according to the current flight position to obtain interpolated navigation information.
[0009] A solid sounding rocket guidance system in the atmosphere specifically comprises: a disturbance factor acquisition unit, a trajectory data acquisition and storage unit, a program angle determination unit, a judgment unit and an axis fixing processing unit; the disturbance factor acquisition unit is used to acquire disturbance factors and determine disturbance factor values to form a deviation data table; the trajectory data acquisition and storage unit is used to perform random target shooting simulation on rocket flight according to deviation data in the deviation data table, acquire nominal, upward deviation and downward deviation trajectory data, and save them; the program angle determination unit is used to determine the online real-time calculation program angle according to the saved nominal, upward deviation and downward deviation trajectory data; the judgment unit is used to judge whether a predetermined time has been reached; if the predetermined time has been reached, the axis fixing processing unit performs axis fixing processing.
[0010] The solid sounding rocket guidance system within the atmosphere as described above, wherein the ballistic data acquisition and storage unit performs random target shooting simulation on the rocket flight according to the deviation data in the deviation data table to obtain the nominal, upward and downward deviation ballistic data, including performing random target shooting simulation on the rocket flight according to the deviation data to obtain the nominal, upward and downward deviation ballistic data and form a flight envelope.
[0011] In the above-mentioned solid sounding rocket guidance system within the atmosphere, the program angle determination unit determines the online real-time calculation of the program angle based on the stored nominal, upward deviation and downward deviation trajectory data, including the following sub-steps: determining the real-time guidance data; interpolating the stored nominal trajectory to determine the guidance data after interpolation; comparing the real-time guidance data with the guidance data obtained by interpolation to determine whether it is currently in an upward deviation flight or a downward deviation flight; after determining whether it is currently in an upward deviation flight or a downward deviation flight, calculate and determine the program angle.
[0012] In the solid sounding rocket guidance system within the atmosphere as described above, the real-time guidance data determined by the program angle determination unit are real-time guidance data such as flight altitude, flight time and apparent speed calculated based on the navigation information output by the inertial navigation / integrated navigation.
[0013] In the above-mentioned solid sounding rocket guidance system within the atmosphere, the program angle determination unit interpolates the stored nominal trajectory, including interpolating the stored nominal trajectory according to the current flight position to obtain interpolated navigation information.
[0014] This application has the following beneficial effects:
[0015] In the guidance method proposed in this application, the guidance algorithm principle is simple, and the amount of data required for pre-launch calculation is small. The entire guidance calculation process is easy to understand, and there is no high requirement for the calculation step length, and the requirements for the arrow equipment are not high. The landing point accuracy achieved by the guidance algorithm proposed in this application is relatively high. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.
[0017] Figure 1 is a flow chart of a solid sounding rocket guidance method in the atmosphere provided according to an embodiment of the present application;
[0018] Figure 2 It is a schematic diagram of a program angle for online real-time calculation provided in an embodiment of the present application;
[0019] Figure 3 It is a schematic diagram of the internal structure of an intra-atmospheric solid sounding rocket guidance system provided according to an embodiment of the present application. DETAILED DESCRIPTION
[0020] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0021] The present application proposes a solid sounding rocket guidance method and system in the atmosphere. In the algorithm design stage, the existing data is fully used, and various disturbance factors that can affect the accuracy of the landing point when the rocket flies in the atmosphere are fully considered. In combination with the overall input data, mathematical simulation is performed on the disturbance factors and the disturbances of the disturbance factors, and finally the nominal trajectory data, the maximum upper deviation trajectory data and the maximum lower deviation trajectory data are formed. The flight envelope of a solid sounding rocket can be formed by using the above three data. When designing the guidance, the three envelope data are fully used and the real-time arrow body motion information sensed by the inertial combination on the arrow is used to perform corresponding guidance calculations, and finally a program angle that can cope with the actual flight state is formed to complete the solution of the guidance instruction. During the flight, the flight control can obtain the navigation information in real time, and compare and linearly combine it with the navigation parameters of the nominal trajectory stored in the computer, and determine the size of the actual program angle deviating from the nominal program angle according to the degree to which the actual trajectory deviates from the nominal trajectory.
[0022] This method is easier to implement than other existing guidance algorithms, and the onboard equipment does not need to perform a large number of complex calculations. It only needs to save some guidance data on the onboard computer before launch, and perform simple combination operations during the actual flight. It has the advantages of simple implementation, low computational complexity, and low requirements for onboard equipment, and can ensure the accuracy of the landing point.
[0023] Embodiment 1
[0024] like Figure 1 As shown, a solid sounding rocket guidance method in the atmosphere specifically includes the following steps:
[0025] Step S110: Obtain disturbance factors and determine disturbance factor values to form a deviation data table.
[0026] It collects statistics on various disturbance factors that may exist in the flight of a rocket, and determines the values of these disturbance factors based on the aerodynamics, power and structure of the rocket body to form a deviation data table.
[0027] The various disturbance factors include rocket mass deviation, engine specific impulse deviation, wind interference, thrust deviation, thrust lateral shift, thrust line deviation and other disturbance factors.
[0028] Step S120: Perform random target shooting simulation on rocket flight according to the deviation data in the deviation data table, obtain nominal, upward deviation and downward deviation trajectory data, and save them.
[0029] According to the deviation data, the rocket flight is subjected to random target shooting simulation to obtain the nominal, upward and downward deviation trajectory data, form a flight envelope, and save the data of each trajectory (nominal, upward and downward deviation trajectory) such as flight time, flight program angle and related navigation information.
[0030] During actual flight, all ballistic data are uploaded to the onboard computer in the form of elements and stored as a txt file for subsequent use in interpolation and calculation.
[0031] Step S130: Determine the online real-time calculation program angle based on the saved nominal, upward and downward trajectory data.
[0032] In the actual flight process, due to the random disturbance, the program angle in the flight process cannot be accurately determined in advance, and the actual trajectory deviates from the predetermined trajectory. Therefore, it is necessary to calculate the program angle online in real time, such as Figure 2 shown.
[0033] Wherein step S130 specifically includes the following sub-steps:
[0034] Step S1301: Determine real-time guidance data.
[0035] When designing the guidance algorithm, real-time guidance data such as flight altitude, flight time and apparent speed are calculated based on the navigation information output by the inertial navigation / integrated navigation.
[0036] Step S1302: interpolate the stored nominal trajectory to determine the interpolated guidance data.
[0037] The stored nominal trajectory is interpolated according to the current flight position to obtain interpolated guidance information, such as flight altitude, apparent speed and other guidance information.
[0038] Step S1303: Compare the real-time guidance data with the interpolated guidance data to determine whether the current state is an upward deviation flight or a downward deviation flight.
[0039] Step S1304: After determining whether the aircraft is currently in an upward deviation flight or a downward deviation flight, the program angle is calculated and determined.
[0040] The upper and lower deviation trajectories are the trajectory envelopes determined in advance based on the upper and lower limits of each deviation. When calculating the program angle, the actual trajectory falls in a certain area between the upper and lower trajectories. Then, the actual program angle should also be within the range of the upper and lower deviation trajectory program angles. The program angle can be determined according to the following formula:
[0041] If the actual trajectory is an upward deviation trajectory, then:
[0042]
[0043] From the above formula, we can get:
[0044]
[0045] Among them, p i ,p std ,pup They are the position information determined by the actual trajectory, the nominal trajectory and the upward deviation trajectory. i ,fai std _cx,fai up _cx are the program angles of the active segment corresponding to the actual trajectory, nominal trajectory and upward deflection trajectory. i is the actual output program angle. K up It is a proportional coefficient added based on smoothing considerations. The maximum value of the proportional coefficient is 1 and the minimum value is 0.
[0046] If the actual trajectory is a downward deviation trajectory, then:
[0047]
[0048] From the above formula, we can get:
[0049]
[0050] Among them, p i ,p std ,p up They are the position information determined by the actual trajectory, the nominal trajectory and the downward deflection trajectory. i ,fai std _cx,fai up _cx are the program angles of the active segment corresponding to the actual trajectory, nominal trajectory and downward deflection trajectory. i is the actual output program angle. K down It is a proportional coefficient that is increased based on smoothing considerations.
[0051] Step S140: Determine whether the preset time has been reached.
[0052] If the preset time is reached, step S150 is executed. Otherwise, step S130 is executed.
[0053] Step S150: performing axis fixing processing.
[0054] When the engine is almost exhausted, fixed axis processing is performed and the program angle calculated in real time is not used.
[0055] Embodiment 2
[0056] like Figure 3 As shown, this embodiment provides a solid sounding rocket guidance system within the atmosphere, which specifically includes: a disturbance factor acquisition unit 310, a trajectory data acquisition and storage unit 320, a program angle determination unit 330, a judgment unit 340, and a fixed axis processing unit 350.
[0057] The disturbance factor acquisition unit 310 is used to acquire disturbance factors and determine disturbance factor values to form a deviation data table.
[0058] It collects statistics on various disturbance factors that may exist in the flight of a rocket, and determines the values of these disturbance factors based on the aerodynamics, power and structure of the rocket body to form a deviation data table.
[0059] The trajectory data acquisition and storage unit 320 is used to perform random target shooting simulation on the rocket flight according to the deviation data in the deviation data table, obtain the nominal, upward deviation and downward deviation trajectory data, and save them.
[0060] According to the deviation data, the rocket flight is subjected to random target shooting simulation to obtain the nominal, upward and downward deviation trajectory data, form a flight envelope, and save the data of each trajectory (nominal, upward and downward deviation trajectory) such as flight time, flight program angle and related navigation information.
[0061] During actual flight, all ballistic data are uploaded to the onboard computer in the form of elements and stored as a txt file for subsequent use in interpolation and calculation.
[0062] The program angle determination unit 330 is used to determine the online real-time calculation program angle according to the stored nominal, upward deviation and downward deviation trajectory data.
[0063] In the actual flight process, due to the random disturbance, the program angle in the flight process cannot be accurately determined in advance, and the actual trajectory deviates from the predetermined trajectory. Therefore, it is necessary to calculate the program angle online in real time, such as Figure 2 shown.
[0064] The program angle determination unit 330 includes the following submodules: a real-time guidance data determination module, an interpolation guidance data determination module, a flight determination module, and a program angle determination module.
[0065] The real-time guidance data determination module is used to determine the real-time guidance data. When designing the guidance algorithm, the guidance data such as flight altitude, flight time and apparent speed are obtained according to the navigation information of the inertial combination.
[0066] The interpolation guidance data determination module is used to interpolate the stored nominal trajectory and determine the interpolated guidance data. According to the current flight position, the stored nominal trajectory is interpolated to obtain interpolated navigation information, such as flight altitude, apparent speed and other guidance information.
[0067] The flight determination module is used to compare the real-time guidance data with the interpolated guidance data to determine whether the current state is an upward deviation flight or a downward deviation flight.
[0068] The program angle determination module is used to determine whether the current flight is in an upper deviation flight or a lower deviation flight, and then calculate and determine the program angle. The upper and lower deviation trajectories are the trajectory envelopes determined in advance according to the upper and lower limits of each deviation. When calculating the program angle, the actual trajectory falls in a certain area between the upper and lower trajectories. Then, the actual program angle should also be within the range of the upper and lower deviation trajectory program angles. The program angle can be determined according to the following formula:
[0069] If the actual trajectory is an upward deviation trajectory, then:
[0070]
[0071] From the above formula, we can get:
[0072]
[0073] Among them, p i ,p std ,p up They are the position information determined by the actual trajectory, the nominal trajectory and the upward deviation trajectory. i ,fai std _cx,fai up _cx are the program angles of the active segment corresponding to the actual trajectory, nominal trajectory and upward deflection trajectory. i is the actual output program angle. K up It is a proportional coefficient added based on smoothing considerations. The maximum value of the proportional coefficient is 1 and the minimum value is 0.
[0074] If the actual trajectory is a downward deviation trajectory, then:
[0075]
[0076] From the above formula, we can get:
[0077]
[0078] Among them, p i ,p std ,p up They are the position information determined by the actual trajectory, the nominal trajectory and the downward deflection trajectory. i ,fai std _cx,fai up _cx are the program angles of the active segment corresponding to the actual trajectory, nominal trajectory and downward deflection trajectory. i is the actual output program angle. K down It is a proportional coefficient that is increased based on smoothing considerations.
[0079] The judging unit 340 is used to judge whether a predetermined time has been reached.
[0080] If the predetermined time is reached, the axis determination unit 350 is executed. Otherwise, the program angle determination unit 330 is executed.
[0081] The fixed axis processing unit 350 is used to perform fixed axis processing. When the engine is about to run out of power, the fixed axis processing is performed without using the program angle calculated in real time.
[0082] This application has the following beneficial effects:
[0083] In the guidance method proposed in this application, the guidance algorithm principle is simple, and the amount of data required for pre-launch calculation is small. The entire guidance calculation process is easy to understand, and there is no high requirement for the calculation step length, and the requirements for the arrow equipment are not high. The landing point accuracy achieved by the guidance algorithm proposed in this application is relatively high.
[0084] Although the present application is described with reference to examples, this is for illustrative purposes only and is not intended to limit the present application, and changes, additions and / or deletions to the embodiments may be made without departing from the scope of the present application.
[0085] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A solid sounding rocket guidance method in the atmosphere, characterized in that: The following steps are involved: Obtain disturbance factors and determine disturbance factor values to form a deviation data table; According to the deviation data in the deviation data table, a random target shooting simulation is performed on the rocket flight to obtain the nominal, upward deviation and downward deviation trajectory data and save them; Determine the online real-time calculation program angle based on the saved nominal, upward and downward trajectory data; Determine whether the scheduled time has been reached; If the preset time is reached, the axis fixing process is performed.
2. The solid sounding rocket guidance method in the atmosphere as claimed in claim 1, characterized in that: According to the deviation data in the deviation data table, a random target shooting simulation is performed on the rocket flight to obtain the nominal, upward and downward deviation ballistic data, including performing a random target shooting simulation on the rocket flight according to the deviation data to obtain the nominal, upward and downward deviation ballistic data and form a flight envelope.
3. The solid sounding rocket guidance method in the atmosphere as claimed in claim 1, characterized in that: Based on the stored nominal, up and down trajectory data, determining the online real-time calculation program angle includes the following sub-steps: Determine real-time guidance data; interpolating the stored nominal trajectory to determine interpolated guidance data; Compare the real-time guidance data with the interpolated guidance data to determine whether the current flight is in an upward deviation flight or a downward deviation flight; After determining whether the aircraft is currently in an upward deviation flight or a downward deviation flight, the program angle is calculated and determined.
4. The solid sounding rocket guidance method in the atmosphere as claimed in claim 3, characterized in that: Real-time guidance data includes flight altitude, flight time, apparent speed, etc., which are calculated based on the navigation information output by inertial navigation / integrated navigation.
5. The solid sounding rocket guidance method in the atmosphere as claimed in claim 3, characterized in that: Interpolating the stored nominal trajectory includes interpolating the stored nominal trajectory according to the current flight position to obtain interpolated navigation information.
6. An intra-atmospheric solid sounding rocket guidance system, characterized in that: Specifically include: A disturbance factor acquisition unit, a trajectory data acquisition and storage unit, a program angle determination unit, a judgment unit, and an axis fixing processing unit; A disturbance factor acquisition unit, used to acquire disturbance factors and determine disturbance factor values to form a deviation data table; A trajectory data acquisition and storage unit is used to perform random target shooting simulation on rocket flight according to the deviation data in the deviation data table, obtain the nominal, upward deviation and downward deviation trajectory data, and save them; A program angle determination unit, for determining an online real-time calculation program angle based on the stored nominal, upward and downward trajectory data; A judging unit, used for judging whether a predetermined time has been reached; If the preset time is reached, the axis fixing processing unit performs the axis fixing processing.
7. The solid sounding rocket guidance system in the atmosphere as claimed in claim 6, characterized in that: The trajectory data acquisition and storage unit performs random target shooting simulation on the rocket flight according to the deviation data in the deviation data table to obtain the nominal, upward and downward deviation trajectory data, including performing random target shooting simulation on the rocket flight according to the deviation data to obtain the nominal, upward and downward deviation trajectory data and form a flight envelope.
8. The solid sounding rocket guidance system in the atmosphere as claimed in claim 6, characterized in that: The program angle determination unit determines the online real-time calculation program angle according to the stored nominal, upward and downward trajectory data, including the following sub-steps: Determine real-time guidance data; interpolating the stored nominal trajectory to determine interpolated guidance data; Compare the real-time guidance data with the interpolated guidance data to determine whether the current flight is in an upward deviation flight or a downward deviation flight; After determining whether the aircraft is currently in an upward deviation flight or a downward deviation flight, the program angle is calculated and determined.
9. The solid sounding rocket guidance system in the atmosphere as claimed in claim 8, characterized in that: The real-time guidance data determined by the program angle determination unit are the real-time guidance data such as flight altitude, flight time and apparent speed calculated according to the navigation information output by the inertial navigation / integrated navigation.
10. The solid sounding rocket guidance system in the atmosphere as claimed in claim 8, characterized in that: The program angle determination unit interpolates the stored nominal trajectory, including interpolating the stored nominal trajectory according to the current flight position to obtain interpolated navigation information.