Spiral guidance method based on virtual missile-target connection line orthogonal processing and aircraft
Through the hovering guidance method based on the orthogonal processing of virtual bullet connections, the problem that traditional methods cannot hover the target with unknown coordinates without providing target coordinates is solved, and effective hovering flight of unknown targets is achieved.
Patent Information
- Application Number
- CN202411891490.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-20
- Publication Date
- 2025-04-04
AI Technical Summary
Existing aircraft circling guidance methods require clear target coordinates, and it is impossible to circle a target with unknown coordinate information without providing target coordinates.
The hovering guidance method based on orthogonal processing of virtual bullet connections is adopted, and the target is observed and tracked through the photoelectric pod, and the virtual bullet connection vector is constructed, and then it is projected to the launch coordinate system for orthogonal processing, which is used for hovering guidance as input information of the proportional guidance guidance law.
The correctness of hovering flight for targets with unknown coordinate information is achieved, and the effectiveness of this method is verified.
Smart Images
Figure CN119760883A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of hovering guidance, and in particular to a hovering guidance method and an aircraft based on orthogonal processing of virtual missile-target connection lines. Background Art
[0002] The existing hovering guidance method used by the aircraft to hover around the target requires clear target coordinates as input information for the hovering guidance method, such as longitude and latitude (geographic coordinate system) or front right distance (launch coordinate system). During the target reconnaissance process of the UAV system, if the target coordinate information is not provided, the traditional hovering guidance method cannot hover around the target, and thus cannot perform specific continuous multi-angle observation and reconnaissance tasks of the target. Summary of the invention
[0003] The purpose of the present invention is to design a hovering guidance method based on orthogonal processing of virtual missile-target connection in order to solve the above problems.
[0004] The present invention achieves the above-mentioned purpose through the following technical solutions: The hovering guidance method based on virtual missile-target connection orthogonal processing comprises the following steps: S1. Construct a virtual projectile-target line vector, and project the virtual projectile-target line vector to a launch coordinate system; S2, performing orthogonal processing on the virtual projectile-target line vector in the launch coordinate system; S3. Use the virtual missile-target line vector after orthogonal processing as the input information of the proportional guidance law to perform hovering guidance.
[0005] The present invention also proposes an aircraft, which includes an optoelectronic pod, and the optoelectronic pod is used to implement the above-mentioned hovering guidance method based on orthogonal processing of virtual missile-target connection lines.
[0006] The beneficial effects of the present invention are: The hovering guidance method based on orthogonal processing of virtual projectile-target line observes and tracks the target through an optoelectronic pod to construct a virtual projectile-target line vector, which is then projected into the launch coordinate system for orthogonal processing. Then, particle trajectory and six-degree-of-freedom simulation analysis are performed based on the virtual projectile-target line vector information of the launch coordinate system after orthogonal processing, verifying the correctness of this method in hovering flight of targets with unknown coordinate information. BRIEF DESCRIPTION OF THE DRAWINGS
[0007] Figure 1 It is a flow chart of a hovering guidance method based on orthogonal processing of virtual projectile-target connection line of the present invention; Figure 2It is a schematic diagram of the definition of the frame angle of the optoelectronic pod of the hovering guidance method based on the orthogonal processing of the virtual missile-target connection line of the present invention; Figure 3 It is a schematic diagram of simulation analysis of the three-degree-of-freedom hovering guidance law of the hovering guidance method based on orthogonal processing of the virtual missile-target connection line of the present invention; Figure 4 It is a three-degree-of-freedom hovering track plane projection diagram of the hovering guidance method based on the orthogonal processing of the virtual missile-target connection line of the present invention; Figure 5 It is a six-degree-of-freedom simulated clockwise circling navigation track diagram of the circling guidance method based on the orthogonal processing of the virtual projectile-target connection line of the present invention; Figure 6 The present invention provides a six-degree-of-freedom simulated counterclockwise circling navigation track diagram of a circling guidance method based on orthogonal processing of a virtual missile-target connection line. DETAILED DESCRIPTION
[0008] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.
[0009] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0010] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0011] In the description of the present invention, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use, or are directions or positional relationships commonly understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.
[0012] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.
[0013] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0014] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings.
[0015] like Figure 1-6 As shown, the hovering guidance method based on virtual missile-target connection orthogonal processing includes the following steps: S1. Construct a virtual projectile-target line vector, and project the virtual projectile-target line vector to a launch coordinate system; S2, performing orthogonal processing on the virtual projectile-target line vector in the launch coordinate system; S3. Use the virtual missile-target line vector after orthogonal processing as the input information of the proportional guidance law to perform hovering guidance.
[0016] In one embodiment, the step of constructing a virtual projectile-target line vector and projecting the virtual projectile-target line vector to a launch coordinate system in step S1 is specifically as follows: Assume that the virtual missile-target distance vector in the sight coordinate system is SightLine_h_center[3] = {L,0,0}; The virtual projectile-target distance vector in the sight coordinate system is projected to the projectile body coordinate system, and the virtual projectile-target distance vector in the projectile body coordinate system is obtained as SightLine_b=C_h2body(q_alpha,q_beta)*SightLine_h, where q_beta is the azimuth frame angle of the optoelectronic pod, and q_alpha is the height frame angle of the optoelectronic pod; The virtual projectile-target distance vector in the projectile body coordinate system is projected to the launch coordinate system, and the virtual projectile-target line vector in the launch coordinate system is obtained as SightLine_g=C_b2g(psi,phi,gamma)*SightLine_b, where psi is the yaw angle, phi is the pitch angle, and gamma is the roll angle.
[0017] In one embodiment, the method for performing orthogonal processing on the virtual projectile-target line vector in the launch coordinate system in step S2 is: According to the circling direction, a corresponding circling direction factor is selected for orthogonal processing to obtain the corresponding virtual projectile-target line vector.
[0018] In one embodiment, the step of selecting a corresponding circling direction factor according to the circling direction to perform orthogonal processing to obtain the corresponding virtual bullet-target connecting line vector is specifically as follows: When the circling direction is counterclockwise, the circling direction factor of {0,1,0} is selected for orthogonal processing to obtain the counterclockwise virtual anti-missile-target line vector SightLineOrth_g_Anticlock = SightLine_g×{0,1,0}; When the circling direction is clockwise, select the circling direction factor of {0,-1,0} for orthogonal processing to obtain the clockwise virtual missile-target line vector SightLineOrth_g_Clockwise = SightLine_g×{0,-1,0}.
[0019] Traditional hovering guidance methods cannot complete hovering guidance control for targets with unknown coordinate information. The hovering guidance method based on orthogonal processing of virtual projectile-target line in the present invention observes and tracks the target through an optoelectronic pod to construct a virtual projectile-target line vector, and then projects the virtual projectile-target line vector to the launch coordinate system for orthogonal processing. Then, particle trajectory and six-degree-of-freedom simulation analysis are performed based on the virtual projectile-target line vector information of the launch coordinate system after orthogonal processing, verifying the correctness of this method in hovering flight for targets with unknown coordinate information.
[0020] Since the guidance law design is performed in the launch coordinate system, all input parameters need to be projected to the launch coordinate system for unified calculation. It can be understood that in order to construct the virtual missile-target line vector, first, assume that the virtual missile-target distance vector in the line of sight coordinate system is SightLine_h_center[3] = {L,0,0}, where the distance L can be determined by referring to the actual missile-target distance in the application scenario. In this embodiment, L can be set to 1000m; then, the virtual missile-target distance vector in the line of sight coordinate system is projected to the missile body coordinate system, and the virtual missile-target distance vector in the missile body coordinate system is obtained as SightLine_b=C_h2body(q_alpha,q_beta)*SightLine_h, q_beta is the azimuth frame angle of the optoelectronic pod, q_alpha is the height frame angle of the optoelectronic pod, where C_h2body is the direction cosine matrix from the line of sight coordinate system of the optoelectronic pod to the missile body coordinate system, and its input parameters are the instantaneous frame angle measurement information of the optoelectronic pod: azimuth frame angle q_beta and height frame angle q _alpha; Finally, the virtual missile-target distance vector in the missile body coordinate system is projected to the launch coordinate system, and the virtual missile-target line vector in the launch coordinate system is obtained as SightLine_g=C_b2g(psi,phi,gamma)*SightLine_b, psi is the yaw angle, phi is the pitch angle, and gamma is the roll angle, where psi, phi and gamma are the attitude angles from the launch coordinate system to the missile body coordinate system. According to the frame angle information measured during the tracking and locking process of the optoelectronic pod and the attitude angle of the missile body coordinate system, the direction cosine matrix is constructed respectively, and the virtual missile-target line vector of the sight coordinate system is projected to the launch coordinate system, so as to provide correct data input for the subsequent proportional guidance design and simulation analysis in the launch coordinate system.
[0021] like Figure 2 The photoelectric pod frame angle is firstly rotated around the Y direction of the photoelectric pod optical axis according to the right-hand rule to rotate the pod frame azimuth angle q_beta, and then rotated the pod frame height q_alpha according to the right-hand rule in the Z direction of the newly obtained optical axis, so that the center vector of the photoelectric pod optical axis can be turned to the line of sight direction.
[0022] In this embodiment, the optoelectronic pod first selects the corresponding circling direction factor according to the circling direction requirement for orthogonal processing to obtain the corresponding virtual projectile-target line vector; specifically, when the circling direction is counterclockwise, the circling direction factor of {0,1,0} is selected for orthogonal processing to obtain the counterclockwise virtual projectile-target line vector SightLineOrth_g_Anticlock = SightLine_g×{0,1,0}; when the circling direction is clockwise, the circling direction factor of {0,-1,0} is selected for orthogonal processing to obtain the clockwise virtual projectile-target line vector SightLineOrth_g_Clockwise = SightLine_g×{0,-1,0}; where “×” represents the vector product operation of the vector; that is, the virtual missile-target line and the hovering direction factor vector are orthogonally processed in the launch coordinate system to change the direction of the missile-target line, so that the missile-target line originally facing the target becomes always orthogonal to the actual missile-target line direction, thereby realizing the continuous change of the hovering guidance direction in the normal direction of the missile-target line to achieve the purpose of hovering guidance. The optoelectronic pod then performs a degree of freedom guidance law simulation analysis based on the virtual missile-target line vector after orthogonal processing, that is, the proportional guidance method is used to realize hovering flight of targets with unknown coordinate information.
[0023] In one embodiment, the step of using the virtual missile-target line vector after orthogonal processing as input information of the proportional guidance law to perform hovering guidance is specifically as follows: The six-degree-of-freedom guidance law simulation is performed based on the virtual missile-target line vector after orthogonal processing.
[0024] This embodiment continues to carry out six-degree-of-freedom simulation analysis for engineering applications on the basis of three-degree-of-freedom guidance law simulation analysis. The geographic system data used in the six-degree-of-freedom simulation analysis is different from the launch coordinate system data, which is more in line with the actual engineering application scenario and lays a foundation for subsequent actual engineering applications. The six-degree-of-freedom hovering guidance simulation analysis is as follows: Figure 5 and Figure 6 Of course, this embodiment can also perform three-degree-of-freedom guidance law simulation analysis on the virtual missile-target connection line after orthogonal processing, such as Figure 3 and Figure 4 shown.
[0025] The present invention also proposes an aircraft, comprising an optoelectronic pod, which is used to implement the above-mentioned circling guidance method based on orthogonal processing of virtual missile-target connection lines; the specific method of the circling guidance method based on orthogonal processing of virtual missile-target connection lines refers to the above-mentioned embodiment. Since the present aircraft adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.
[0026] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.
Claims
1. A hovering guidance method based on orthogonal processing of virtual missile-target connection, characterized in that: The hovering guidance method based on virtual missile-target connection orthogonal processing comprises the following steps: S1. Construct a virtual projectile-target line vector, and project the virtual projectile-target line vector to a launch coordinate system; S2, performing orthogonal processing on the virtual projectile-target line vector in the launch coordinate system; S3. Use the virtual missile-target line vector after orthogonal processing as the input information of the proportional guidance law to perform hovering guidance.
2. The hovering guidance method based on virtual projectile-target connection orthogonal processing according to claim 1 is characterized in that: The steps of constructing a virtual projectile-target line vector and projecting the virtual projectile-target line vector to the launch coordinate system in step S1 are specifically as follows: Assume that the virtual missile-target distance vector in the sight coordinate system is SightLine_h_center[3] = {L,0,0}; The virtual projectile-target distance vector in the sight coordinate system is projected to the projectile body coordinate system, and the virtual projectile-target distance vector in the projectile body coordinate system is obtained as SightLine_b=C_h2body(q_alpha,q_beta)*SightLine_h, where q_beta is the azimuth frame angle of the optoelectronic pod, and q_alpha is the height frame angle of the optoelectronic pod; The virtual projectile-target distance vector in the projectile body coordinate system is projected to the launch coordinate system, and the virtual projectile-target line vector in the launch coordinate system is obtained as SightLine_g=C_b2g(psi,phi,gamma)*SightLine_b, where psi is the yaw angle, phi is the pitch angle, and gamma is the roll angle.
3. The hovering guidance method based on virtual projectile-target connection orthogonal processing according to claim 1 is characterized in that: The method for orthogonal processing of the virtual projectile-target line vector in the launch coordinate system in step S2 is: According to the circling direction, a corresponding circling direction factor is selected for orthogonal processing to obtain the corresponding virtual projectile-target line vector.
4. The hovering guidance method based on virtual projectile-target connection orthogonal processing according to claim 3 is characterized in that: The step of selecting a corresponding circling direction factor according to the circling direction for orthogonal processing to obtain the corresponding virtual bullet-target connecting line vector is specifically as follows: When the circling direction is counterclockwise, the circling direction factor of {0,1,0} is selected for orthogonal processing to obtain the counterclockwise virtual anti-missile-target line vector SightLineOrth_g_Anticlock = SightLine_g×{0,1,0}; When the circling direction is clockwise, select the circling direction factor of {0,-1,0} for orthogonal processing to obtain the clockwise virtual missile-target line vector SightLineOrth_g_Clockwise = SightLine_g×{0,-1,0}.
5. The hovering guidance method based on virtual projectile-target connection orthogonal processing according to claim 1 is characterized in that: The steps of using the virtual missile-target line vector after orthogonal processing as input information of the proportional guidance law to perform hovering guidance are specifically as follows: The six-degree-of-freedom guidance law simulation is performed based on the virtual missile-target line vector after orthogonal processing.
6. An aircraft, characterized in that: The aircraft includes an optoelectronic pod, which is used to implement the hovering guidance method based on orthogonal processing of virtual missile-target connection as described in any one of claims 1-5.