A method, device, medium and equipment for determining a rocket program angle
By determining the rocket program angle using the Lagrange fitting method, the problem of interference torque caused by the large interval of program angle during rocket flight was solved, and precise control of rocket attitude was achieved.
Patent Information
- Application Number
- CN202410552388.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-07
- Publication Date
- 2025-11-21
- Estimated Expiration
- 2044-05-07
AI Technical Summary
During rocket flight, if the angular interval of the mounting program is too large, the rocket body will be affected by the disturbance torque, which will affect the rocket's attitude control accuracy.
The program angle fitting function is determined by using the Lagrange fitting method. By obtaining the standard ballistic program angle binding data table, multiple binding times closest to the current time are selected, and the fitting program angle at the current time is calculated according to the polynomial fitting function to improve the fitting accuracy.
Even with a larger time interval for setting the program angle, the Lagrange fitting method can be used to improve the fitting accuracy, reduce the rocket's flight angle of attack, reduce the influence of disturbance torque, and improve the rocket's attitude control accuracy.
Smart Images
Figure CN119620774B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of rocket attitude control, and in particular to a method and device for determining a rocket program angle, a medium and equipment. BACKGROUND
[0002] In a conventional launch mission of a carrier rocket, a standard trajectory program angle is a smooth curve. Before the launch of the rocket, the standard trajectory program angle needs to be bound so as to constrain the flight attitude of the rocket by using the bound program angle.
[0003] However, in actual application, if the program angle is bound at a small time interval (such as 0.1 s) within a fixed time period (such as 80 s), the bound data can reach 800 rows, and the amount of data that can be stored is also limited due to the capacity of the onboard computer. In addition to checking the bound parameters by using a computer program before performing a launch mission at a launch site, the bound parameters also need to be checked and interpreted manually, and too many parameters can affect the accuracy of manual checking and increase the risk of errors.
[0004] If the program angle is bound at a large time interval (such as 1 s), only 80 rows of data need to be bound, which can reduce the occupation of the capacity of the computer, and therefore many launch missions choose to reduce the amount of bound program angle data to reduce the requirements on the onboard computer. However, at this time, due to the large interval of the bound data, a flight attack angle is introduced in the process of controlling the flight of the rocket body based on the program angle, which causes the rocket body to be affected by a large aerodynamic disturbance moment, the attitude control jet repeatedly switches on and off or the rudder system swings back and forth in a short time, and there is a large and rapid shock in the attitude angular velocity and angular deviation, which is not conducive to the attitude control of the rocket. SUMMARY
[0005] In view of the problems in the prior art, the embodiments of the present application provide a method and device for determining a rocket program angle, a medium and equipment, to solve or partially solve the technical problem in the prior art that, in the process of controlling the flight of a rocket body based on a program angle, a flight attack angle is introduced due to a large interval of the bound program angle, which causes the rocket body to be affected by a disturbance moment, thereby affecting the attitude control precision of the rocket.
[0006] In a first aspect, the present application provides a method for determining a rocket program angle, the method comprising:
[0007] obtaining a standard trajectory program angle bound data table, wherein each bound time and a corresponding bound program angle are recorded in the standard trajectory program angle bound data table;
[0008] determining a Lagrange fitting order, and determining a program angle fitting function according to the Lagrange fitting order and the standard trajectory program angle bound data table;
[0009] Determine the fitting program angle corresponding to the current time according to the current time and the program angle fitting function.
[0010] In the scheme, the determination of the Lagrange fitting order includes:
[0011] Obtain the deviation accuracy between the fitting program angle and the standard trajectory program angle.
[0012] Determine the Lagrange fitting order according to the deviation accuracy.
[0013] In the scheme, the determination of the program angle fitting function according to the Lagrange fitting order and the standard trajectory program angle book data table includes:
[0014] Select m+1 book times closest to the current time in the standard trajectory program angle book data table; m is the Lagrange fitting order;
[0015] When t1 n , determine m+1 polynomials according to the m+1 book times, the m+1 polynomials are:
[0016]
[0017] Determine the program angle fitting function according to the m+1 polynomials and the book program angles corresponding to each book time; wherein,
[0018] x1 is the first book time of the m+1 book times closest to the current time, x2 is the second book time of the m+1 book times closest to the current time, x3 is the third book time of the m+1 book times closest to the current time, x m is the mth book time of the m+1 book times closest to the current time, x m+1 is the m+1 book time of the m+1 book times closest to the current time, t is the current time, L1(t) is the first polynomial, L2(t) is the second polynomial, L m+1 (t) is the m+1 polynomial.
[0019] In the scheme, the determination of the program angle fitting function according to the m+1 polynomials and the book program angles corresponding to each book time includes:
[0020] Determine the program angle fitting function according to the formula ; wherein, L1(t) is the first polynomial, L2(t) is the second polynomial, L m+1(t) is the m+1 polynomial, y1 is the binding procedure angle corresponding to the x1 binding time, y2 is the binding procedure angle corresponding to the x2 binding time, y m+1 is the binding procedure angle corresponding to x m+1 binding time.
[0021] In the above scheme, the fitting procedure angle corresponding to the current time is determined according to the current time and the procedure angle fitting function, comprising:
[0022] The current time is substituted into the procedure angle fitting function to obtain the fitting procedure angle corresponding to the current time.
[0023] In the above scheme, after the fitting procedure angle corresponding to the current time is determined according to the current time and the procedure angle fitting function, the method further comprises:
[0024] Determine the procedure angle deviation between the fitting procedure angle and the standard trajectory procedure angle at the current time.
[0025] If it is determined that the procedure angle deviation does not meet the preset deviation accuracy, the Lagrange fitting order needs to be increased, and the procedure angle fitting function is determined again.
[0026] The second aspect of the application provides a rocket procedure angle determination device, the device comprising:
[0027] An acquisition unit is configured to acquire a standard trajectory procedure angle binding data table, wherein each binding time and the corresponding binding procedure angle are recorded in the standard trajectory procedure angle binding data table.
[0028] A fitting unit is configured to determine a Lagrange fitting order if the current time is not in the standard trajectory procedure angle binding data table, and to fit a procedure angle fitting function according to the Lagrange fitting order and the standard trajectory procedure angle binding data table.
[0029] A determination unit is configured to determine a fitting procedure angle corresponding to the current time according to the current time and the procedure angle fitting function.
[0030] In the above scheme, the fitting unit is specifically configured to:
[0031] Select the m+1 binding times closest to the current time in the standard trajectory procedure angle binding data table; the m is the Lagrange fitting order;
[0032] When t1 < t < t n , determine m+1 polynomials according to the m+1 binding times, the m+1 polynomials are:
[0033]
[0034] determining a program angle fitting function according to the m+1 polynomials and the program angles corresponding to the binding time instants;
[0035] x1 is the first binding time instant of the m+1 binding time instants closest to the current time instant, x2 is the second binding time instant of the m+1 binding time instants closest to the current time instant, x3 is the third binding time instant of the m+1 binding time instants closest to the current time instant, x m x1 is the first binding time instant of the m+1 binding time instants closest to the current time instant, x2 is the second binding time instant of the m+1 binding time instants closest to the current time instant, x3 is the third binding time instant of the m+1 binding time instants closest to the current time instant, x m+1 x1 is the first binding time instant of the m+1 binding time instants closest to the current time instant, x2 is the second binding time instant of the m+1 binding time instants closest to the current time instant, x3 is the third binding time instant of the m+1 binding time instants closest to the current time instant, x m+1 x1 is the first binding time instant of the m+1 binding time instants closest to the current time instant, x2 is the second binding time instant of the m+1 binding time instants closest to the current time instant, x3 is the third binding time instant of the m+1 binding time instants closest to the current time instant, x
[0036] In a third aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, which when executed by a processor, implements the steps of the method according to any one of the first aspect.
[0037] In a fourth aspect, the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of the first aspect when executing the program.
[0038] The present application provides a rocket program angle determination method, device, medium and equipment, the method comprises the following steps: obtaining a standard trajectory program angle binding data table, the standard trajectory program angle binding data table records each binding time and the corresponding binding program angle; determining a Lagrange fitting order, determining a program angle fitting function according to the Lagrange fitting order and the standard trajectory program angle binding data table; determining a fitting program angle corresponding to the current time according to the current time and the program angle fitting function; in this way, even if the program angle is bound at a larger time interval, the present application can select a Lagrange fitting order according to the launch task requirement, and obtain a fitting program angle at the current time by Lagrange interpolation according to the standard trajectory program angle binding data table. Since the higher the Lagrange fitting order is, the higher the fitting program angle accuracy is, but the higher the order is, the higher the function complexity is, therefore, a suitable Lagrange fitting order can be selected based on the fitting accuracy to obtain a suitable program angle fitting function, the flight height is substituted into the fitting function to obtain a fitting program angle, and the fitting program angle is used as an input instruction to control the attitude of the rocket, so that the attitude angle of the rocket when flying to a certain height is close to the standard trajectory attitude angle, the flight attack angle of the rocket body is reduced, the influence of the interference moment on the rocket body is reduced, and the control accuracy of the rocket attitude is improved. BRIEF DESCRIPTION OF DRAWINGS
[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not intended to limit the scope of the application. Furthermore, like reference numerals are intended to denote like parts throughout the various drawings. In the drawings:
[0040] Figure 1 A flowchart of a rocket program angle determination method according to an embodiment of the present application is shown;
[0041] Figure 2 A curve diagram of a standard trajectory program angle and a binding program angle when the binding time interval is 1s according to an embodiment of the present application is shown;
[0042] Figure 3 A curve diagram of a fitting program angle and a standard trajectory program angle obtained according to an embodiment of the present application is shown;
[0043] Figure 4 A structure diagram of a rocket program angle determination device according to an embodiment of the present application is shown. DETAILED DESCRIPTION
[0044] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.
[0045] The present application provides a method for determining a program angle of a rocket, as shown in the accompanying drawings, the method comprises the following steps: Figure 1
[0046] S110, obtaining a standard trajectory program angle tabulation data table, wherein each tabulation time and corresponding tabulation program angle are recorded in the standard trajectory program angle tabulation data table.
[0047] The program angle in the standard trajectory is a continuous and smooth curve. Due to the limited capacity of the onboard computer, the program angle is tabulated at certain time intervals, thereby forming the standard trajectory program angle tabulation data table. As shown in Table 1, the standard trajectory program angle tabulation data table records each tabulation time and corresponding tabulation program angle.
[0048] Table 1
[0049] Time (s) 1 2 3 4 5 6 … 80 Program angle (°) 90 90 90 89 87 84 … 47
[0050] As can be seen from Table 1, the tabulation time interval is 1s, the tabulation time is 1s, 2s, …, 80s, and each tabulation time has a corresponding tabulation program angle, such as: the tabulation program angle corresponding to 1s is 90 degrees, the tabulation program angle corresponding to 2s is 90 degrees, and so on.
[0051] Referring to Figure 2 , the standard trajectory program angle is a continuous and smooth curve, as indicated by reference numeral 21; when the rocket body follows the standard trajectory program angle, the angle of attack tends to 0, which can reduce the influence of aerodynamic disturbance moment during flight. The tabulation program angle curve is indicated by reference numeral 22.
[0052] S111, determining a Lagrange fitting order, and determining a program angle fitting function according to the Lagrange fitting order and the standard trajectory program angle tabulation data table.
[0053] During the flight of the rocket body along the standard trajectory, the program angle is smoothly changed with time. However, due to the limited capacity of the onboard computer, the tabulation program angle is stored in the computer at a relatively large time interval. The present application needs to fit the fitting program angle corresponding to the current time according to the Lagrange interpolation method, so that the fitting program angle is close to the standard trajectory program angle.
[0054] Then, the Lagrange fitting order needs to be determined first, and a trajectory angle fitting function is fitted according to the Lagrange fitting order and a standard trajectory angle bookbinding data table.
[0055] In an embodiment, the determination of the Lagrange fitting order comprises:
[0056] The deviation precision between the fitted trajectory angle and the standard trajectory angle is obtained.
[0057] The Lagrange fitting order is determined according to the deviation precision.
[0058] Generally, the higher the deviation precision is, the higher the Lagrange fitting order needs to be. For example, when the Lagrange fitting order is 3, the deviation between the fitted trajectory angle and the standard trajectory angle is 0.1°, and if the fitting precision needs to be improved, the Lagrange fitting order needs to be increased.
[0059] After the Lagrange fitting order is determined, in an embodiment, the trajectory angle fitting function is determined according to the Lagrange fitting order and the standard trajectory angle bookbinding data table, comprising:
[0060] In the standard trajectory angle bookbinding data table, m+1 bookbinding time points closest to the current time are selected; m is the Lagrange fitting order.
[0061] When t1 n , m+1 m-degree polynomials are determined according to the m+1 bookbinding time points, and the m+1 polynomials are:
[0062]
[0063] The trajectory angle fitting function is determined according to the m+1 polynomials and the bookbinding trajectory angles corresponding to the bookbinding time points; wherein,
[0064] x1 is the first bookbinding time point of the m+1 bookbinding time points closest to the current time, x2 is the second bookbinding time point of the m+1 bookbinding time points closest to the current time, x3 is the third bookbinding time point of the m+1 bookbinding time points closest to the current time, x m is the mth bookbinding time point of the m+1 bookbinding time points closest to the current time, x m+1 is the m+1th bookbinding time point of the m+1 bookbinding time points closest to the current time, t is the current time, L1(t) is the first polynomial, L2(t) is the second polynomial, L m+1 (t) is the m+1th polynomial.
[0065] In an embodiment, the trajectory angle fitting function is determined according to the m+1 polynomials and the bookbinding trajectory angles corresponding to the bookbinding time points, comprising:
[0066] According to the formula The program angle fitting function is determined; wherein y1 is the program angle corresponding to the first binding time x1, y2 is the program angle corresponding to the second binding time x2, y m+1 is the program angle corresponding to the first binding time x1, y2 is the program angle corresponding to the second binding time x2, y m+1 is the program angle corresponding to the first binding time x1, y2 is the program angle corresponding to the second binding time x2, y
[0067] For example, assuming that the Lagrange fitting order is 3, then there are four cubic polynomials, which are:
[0068]
[0069] The program angle fitting function is:
[0070] Assuming that the current time is 3.5s, then the four binding times closest to 3.5s include: 2s, 3s, 4s and 5s, the 2s time is the first binding time x1, the 3s time is the second binding time x2, the 4s time is the third binding time x3, and the 5s time is the fourth binding time x4. Then according to Table 1, y1 is 90, y2 is 90, y3 is 89, and y4 is 87.
[0071] In another embodiment, if it is determined that when t≤t1, the fitting program angle corresponding to the current time t is the program angle corresponding to the first binding time in the binding data table.
[0072] If it is determined that when t≥t n , the fitting program angle corresponding to the current time t is the program angle corresponding to the last binding time in the binding data table.
[0073] For example, assuming that t is 0.5s, at this time the fitting program angle corresponding to 0.5s can be directly determined as the program angle corresponding to the 1s time in the binding data table (90°); assuming that t is 80.1s, at this time the fitting program angle corresponding to 80.1s can be directly determined as the program angle corresponding to the 80s time in the binding data table (47°).
[0074] S112, according to the current time and the program angle fitting function, determining the fitting program angle corresponding to the current time.
[0075] After the above program angle fitting function is determined, the fitting program angle corresponding to the current time is determined according to the current time and the program angle fitting function, which includes:
[0076] Substituting the current time into the program angle fitting function, the fitting program angle corresponding to the current time is obtained.
[0077] Continuing the above example, if the current time is 3.5s and the Lagrange fitting order is 3, then:
[0078]
[0079] The corresponding fitting program angle is:
[0080] Thus, the fitting program angle corresponding to the current time (t=3.5s) is determined.
[0081] In one embodiment, after determining the fitting program angle corresponding to the current time according to the current time and the program angle fitting function, the method further comprises:
[0082] determining the program angle deviation between the fitting program angle and the standard trajectory program angle at the current time;
[0083] If the program angle deviation does not meet the preset deviation accuracy, the Lagrange fitting order needs to be increased to re-determine the program angle fitting function.
[0084] For example, if the fitting program angle at 3.5s is determined to be 90.5°, and the standard trajectory program angle corresponding to 3.5s is 90°, the program angle deviation is 0.5°, which does not meet the
[0085] If the fitting program angle at the current time does not meet the preset deviation accuracy, the Lagrange fitting order needs to be increased to re-determine a new fitting program angle in the same way as described above. If the re-determined fitting program angle meets the deviation accuracy, this fitting order is selected for Lagrange fitting of the program angle during the rocket flight.
[0086] Reference Figure 3 The fitting program angle curve determined by the present application is shown as marker 31, and the standard trajectory program angle curve is shown as marker 32. As can be seen from Figure 3 , the deviation between the fitting program angle and the standard trajectory program angle is small.
[0087] In this way, even if the program angle is bound at a larger time interval, the present application can select the Lagrange fitting order according to the launch task requirements, and obtain the fitting program angle at the current time by Lagrange interpolation based on the standard trajectory program angle binding data table. Since the higher the Lagrange fitting order, the higher the fitting program angle accuracy, but the function complexity also increases with the increase of the fitting order, therefore, a suitable fitting program angle can be obtained based on a suitable Lagrange fitting order, the rocket attitude is controlled, the attack angle during the rocket flight is reduced, the interference moment acting on the rocket body is reduced, the rudder shaking phenomenon is effectively eliminated, the smooth control of the rocket body attitude is achieved, and the control accuracy of the rocket attitude is improved.
[0088] Based on the same inventive concept as in the foregoing embodiments, the present embodiment also provides a device for determining a program angle of a rocket, as shown in the accompanying drawings, the device comprises: Figure 4
[0089] An acquisition unit 41 is configured to acquire a standard trajectory program angle binding data table, wherein each binding time and a corresponding binding program angle are recorded in the standard trajectory program angle binding data table.
[0090] A fitting unit 42 is configured to determine a Lagrange fitting order, and determine a program angle fitting function according to the Lagrange fitting order and the standard trajectory program angle binding data table.
[0091] A determination unit 43 is configured to determine a fitting program angle corresponding to the current time according to the current time and the program angle fitting function.
[0092] In an embodiment, the fitting unit 42 is specifically configured to:
[0093] select m+1 binding times closest to the current time in the standard trajectory program angle binding data table; wherein m is the Lagrange fitting order;
[0094] when t1 n , determine m+1 polynomials according to the m+1 binding times, wherein the m+1 polynomials are:
[0095]
[0096] determine a program angle fitting function according to the m+1 polynomials and the binding program angles corresponding to the binding times; wherein,
[0097] x1 is the first binding time among the m+1 binding times closest to the current time, x2 is the second binding time among the m+1 binding times closest to the current time, x3 is the third binding time among the m+1 binding times closest to the current time, x m is the mth binding time among the m+1 binding times closest to the current time, and x m+1 is the m+1th binding time among the m+1 binding times closest to the current time, t is the current time, L1(t) is the first polynomial, L2(t) is the second polynomial, L m+1 (t) is the m+1th polynomial.
[0098] Since the device introduced in the embodiment of the present application is the device used in the method for determining the rocket program angle of the embodiment of the present application, the specific structure and deformation of the device can be understood by those skilled in the art based on the method introduced in the embodiment of the present application, and thus will not be described here again. Any device used in the method of the embodiment of the present application belongs to the scope of the present application.
[0099] Based on the same inventive concept, the embodiment provides a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements any step of the method described above when executing the computer program.
[0100] Based on the same inventive concept, the embodiment provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of any method described above when executed by a processor.
[0101] Through one or more embodiments of the present application, the present application has the following beneficial effects or advantages:
[0102] The present application provides a rocket program angle determination method, device, medium and equipment, the method comprising: obtaining a standard trajectory program angle binding data table, the standard trajectory program angle binding data table records each binding time and the corresponding binding program angle; determining the Lagrange fitting order, determining the program angle fitting function according to the Lagrange fitting order and the standard trajectory program angle binding data table; determining the fitting program angle corresponding to the current time according to the current time and the program angle fitting function; in this way, even if the program angle is bound at a larger time interval, the present application can select the Lagrange fitting order according to the launch task requirement, obtain the fitting program angle at the current time by Lagrange interpolation according to the standard trajectory program angle binding data table, since the higher the Lagrange fitting order, the higher the fitting program angle precision, therefore, a suitable fitting program angle can be obtained based on a suitable Lagrange fitting order, the rocket program angle is fitted by Lagrange in the rocket flight process with this fitting order, the rocket program angle is obtained as input to control the rocket attitude, reduce the attack angle of the rocket body to reduce the influence of the interference moment on the rocket body, and improve the control precision of the rocket attitude.
[0103] The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems can be used with programs in accordance with the teachings herein, or it can prove convenient to construct more specialized apparatus to perform the required method steps. The required structure for a variety of these systems will be apparent from the description above. In addition, the present application is not intended to be limited to any particular programming language. It will be appreciated that there are many programming languages that can be used to implement the teachings herein, and any such programming language can be used in connection with the teachings herein. The descriptions above are intended to cover all possible combinations of computer software that can be utilized in implementing the present application.
[0104] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order not to obscure the understanding of this description.
[0105] Similarly, it is to be understood that the phraseology or terminology employed herein, and not otherwise specifically set forth in this specification, is for the purpose of description only and not of limitation. Rather, the disclosed aspects will be understood to apply to any apparatus, device, system or method featuring the functionality specified in this specification, and the terminology used can include the terms specified in the description presented in this specification, and / or by the IEEE standards dictionary, as well as others that are or become known.
[0106] Those skilled in the art will appreciate that the modules in the apparatuses in the embodiments can be adapted and placed in one or more apparatuses other than the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and further can be split into multiple sub-modules or sub-units or sub-components. Any combination of all the features disclosed in this specification (including the accompanying claims, abstract and drawings), and any method or process or apparatus of any combination of the features disclosed in this specification (including the accompanying claims, abstract and drawings) can be taken, except that at least some of such features and / or processes or units are mutually exclusive, unless specifically stated otherwise. Each feature disclosed in this specification (including the accompanying claims, abstract and drawings) can be replaced by alternative features serving the same, equivalent or a similar purpose, unless specifically stated otherwise.
[0107] Further, those skilled in the art will appreciate that, while certain aspects of the disclosure have been described here in with respect to particular embodiments, various changes and modifications can be suggested to one skilled in the art, and that the elements of disclosed embodiments can be arranged and combined in a variety of different configurations, all of which are intended to be within the scope of the disclosure. Additionally, it will be recognized that changes can be made in the operation of the methods and systems described herein in light of the description and figures. It is, therefore, intended that such changes and modifications be within the full scope of the appended claims.
[0108] The various component embodiments of the present application can be implemented in hardware, or as software modules running in one or more processors, or in combinations thereof. As will be appreciated by one skilled in the art, a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functionality of some or all of the components in the gateway, proxy server, system according to embodiments of the present application. The present application can also be implemented as a program of instructions for performing part or all of the methods described herein, e.g., a computer program and a computer program product. Such program of the present application can be stored on a computer readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier medium, or in any other form.
[0109] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the system claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the word 'at least' followed by a list of one or more items means that any item in the list can be present or there can be more than one of a certain item. The use of the terms 'first','second' and 'third', etc. does not limit the quantity and / or order of those terms. These terms are used to distinguish between two entities or steps involved with the application and are not necessarily used to describe a 'first','second' or 'third' or the like by their appearance or order of appearance in the claims or description.
[0110] Although preferred embodiments of the application have been described herein, additional changes and modifications can be suggested to one skilled in the art once given the benefit of the basic inventive concept. Accordingly, the scope of the present application is intended to embrace all such changes and modifications as fall within the scope of the appended claims.
[0111] The above-described embodiments are merely preferred embodiments of the present application, but not to confine the protection scope of the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A method for determining the program angle of a rocket, characterized in that, The method includes: Obtain a standard ballistic program angle binding data table, which records each binding time and the corresponding binding program angle. Determine the Lagrange fitting order, and determine the program angle fitting function based on the Lagrange fitting order and the standard ballistic program angle binding data table; The fitted program angle corresponding to the current time is determined based on the current time and the program angle fitting function; wherein... The step of determining the program angle fitting function based on the Lagrange fitting order and the standard ballistic program angle binding data table includes: Select the data from the standard ballistic program angle binding data table that is closest to the current time. m +1 binding time; m Let the order of the Lagrange fit be [the order of the fit]. When determined At that time, according to the above m +1 binding time confirmed m +1 polynomials, the m +1 polynomial is: According to the above m The binding procedure angle fitting function is determined by +1 polynomials and the binding procedure angles corresponding to each binding time; where... The The closest to the current time m +1 binding times, the first binding time in the binding times, the The closest to the current time m +1 binding time of the second binding time, the The closest to the current time m +1 binding time of the third binding time, the The closest to the current time m +1 binding time m At the binding time, the aforementioned The closest to the current time m +1 binding time m +1 binding time, t For the current time, the For the first polynomial, the For the second polynomial, the For the first m+ One polynomial; According to the m +1 polynomials and the binding procedure angle corresponding to each binding moment determine the procedure angle fitting function, including: According to the formula Determine the program angle fitting function; wherein, the For the first polynomial, the For the second polynomial, the For the first m+ One polynomial, for The binding procedure corresponding to the binding time. for The binding procedure corresponding to the binding time. To and The binding procedure corresponding to the binding time.
2. The method as described in claim 1, characterized in that, Determining the order of the Lagrange fit includes: Obtain the accuracy of the deviation between the fitted program angle and the standard ballistic program angle; The Lagrange fitting order is determined based on the deviation accuracy.
3. The method as described in claim 1, characterized in that, The step of determining the fitting program angle corresponding to the current time based on the current time and the program angle fitting function includes: Substitute the current time into the program angle fitting function to obtain the fitted program angle corresponding to the current time.
4. The method as described in claim 1, characterized in that, After determining the fitted program angle corresponding to the current time based on the current time and the program angle fitting function, the method further includes: Determine the program angle deviation between the fitted program angle and the standard ballistic program angle at the current moment; If it is determined that the program angle deviation does not meet the preset deviation accuracy, then it is necessary to increase the Lagrange fitting order and redetermine the program angle fitting function.
5. A device for determining the program angle of a rocket, characterized in that, The device includes: The acquisition unit is used to acquire a standard ballistic program angle binding data table, which records each binding time and the corresponding binding program angle. The fitting unit determines the Lagrange fitting order and, based on the Lagrange fitting order and the standard ballistic program angle binding data table, determines the program angle fitting function. The determining unit is configured to determine the fitting program angle corresponding to the current time based on the current time and the program angle fitting function; wherein, The fitting unit is specifically used for: Select the data from the standard ballistic program angle binding data table that is closest to the current time. m +1 binding time; m Let the order of the Lagrange fit be [the order of the fit]. When determined At that time, according to the above m +1 binding time confirmed m +1 polynomials, the m +1 polynomial is: According to the above m The binding procedure angle fitting function is determined by +1 polynomials and the binding procedure angles corresponding to each binding time; where... The The closest to the current time m +1 binding times, the first binding time in the binding times, the The closest to the current time m +1 binding time of the second binding time, the The closest to the current time m +1 binding time of the third binding time, the The closest to the current time m +1 binding time m At the binding time, the aforementioned The closest to the current time m +1 binding time m +1 binding time, t For the current time, the For the first polynomial, the For the second polynomial, the For the first m+ One polynomial; According to the m +1 polynomials and the binding procedure angle corresponding to each binding moment determine the procedure angle fitting function, including: According to the formula Determine the program angle fitting function; wherein, the For the first polynomial, the For the second polynomial, the For the first m+ One polynomial, for The binding procedure corresponding to the binding time. for The binding procedure corresponding to the binding time. To and The binding procedure corresponding to the binding time.
6. 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 1-4.
7. 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 1-4.