Missile semi-physical simulation method, device and equipment

Abstract

The invention relates to the technical field of missile simulation, and discloses a missile semi-physical simulation method, device and equipment, and the method comprises the steps: obtaining trajectory information of a missile simulation model in a target control period, the trajectory information comprises first basic information and second basic information, the first basic information comprises position information and speed information, and the second basic information comprises position information and speed information; the second basic information comprises angular velocity information and acceleration information; performing combined navigation calculation based on the position information, the speed information, the angular speed information and the acceleration information, and generating a control instruction; the control instruction is sent to the steering engine, and feedback information of the steering engine is collected; and the missile simulation model generates trajectory information of the next control period of the target control period based on the feedback steering engine information. The semi-physical simulation efficiency of the missile is improved, and the actual working condition is simulated to examine the dynamic performance of the satellite receiver.

Description

Technical Field

[0001] The present invention relates to the technical field of missile simulation, and in particular to a method, device and equipment for semi-physical simulation of a missile. Background Art

[0002] During the missile development phase, sufficient ground tests are required to ensure the success of flight tests. Semi-physical simulation experiments are an important part of ground tests. By introducing some physical objects in the system into the simulation loop, the functions and performance of key units, the coordination and matching between software and hardware, and the anti-interference ability of the control system are fully verified.

[0003] In the related technology, the turntable semi-physical simulation system requires a high-precision turntable to simulate the angular motion of the missile body, which is difficult to build and has high testing costs. It is also impossible to verify the positioning capability and integrated navigation strategy of the satellite receiver under high acceleration and high jerk conditions.

[0004] In view of this, a low-cost, high-efficiency missile semi-physical simulation method is needed that can simulate actual working conditions to verify the dynamic performance of satellite receivers. Summary of the invention

[0005] In view of this, the present invention provides a missile semi-physical simulation method to improve the efficiency of missile semi-physical simulation.

[0006] In a first aspect, the present invention provides a method for semi-physical simulation of a missile, the method comprising: obtaining ballistic information of a missile simulation model in a target control cycle, wherein the ballistic information comprises first basic information and second basic information, the first basic information comprises position information and speed information, and the second basic information comprises angular velocity information and acceleration information; performing combined navigation solution based on the position information, speed information, angular velocity information and acceleration information to generate control instructions; sending the control instructions to a steering gear, and collecting feedback information from the steering gear; and generating the ballistic information of the next control cycle of the target control cycle based on the feedback information.

[0007] In the disclosed embodiment, by performing combined navigation and solving the trajectory information of the missile simulation model in the target control cycle and generating corresponding control instructions, the steering gear can be accurately controlled. The trajectory information of the next control cycle is generated according to the feedback information of the steering gear, which can improve the accuracy of the simulation.

[0008] In an optional implementation, generating trajectory information of a next control cycle of the target control cycle based on the feedback information includes: inputting the feedback information into a missile simulation model for calculation to generate trajectory information of a next control cycle of the target control cycle.

[0009] In the disclosed embodiment, the trajectory information of the next control cycle is generated according to the feedback information, so as to improve the accuracy of the simulation.

[0010] In an optional embodiment, before the feedback information is input into the missile simulation model for calculation and the ballistic information of the next control cycle of the target control cycle is generated, it also includes: obtaining a first working parameter of the missile simulation model under a first working condition, wherein the first working condition is a pulling condition; based on the first working parameter, obtaining a performance parameter of the missile simulation model.

[0011] In the disclosed embodiment, by obtaining the working parameters of the missile simulation model under the pulling condition to obtain the performance parameters of the missile simulation model, the anti-interference ability of the missile simulation model can be obtained, and the stability and adaptability of the simulation method can be improved.

[0012] In an optional embodiment, the first working condition is a deviation condition for the trajectory, wherein the deviation condition is at least one of a target binding deviation, an initial disturbance deviation, a structural characteristic deviation, a dynamic performance deviation, and an aerodynamic parameter deviation.

[0013] In the embodiment of the present disclosure, by setting the pulling condition to at least one of the target binding deviation, initial disturbance deviation, structural characteristic deviation, power performance deviation and aerodynamic parameter deviation, the anti-interference ability of the missile simulation model can be obtained, thereby improving the stability and adaptability of the simulation method.

[0014] In an optional embodiment, the method also includes: obtaining initial posture information of the missile to be detected; processing the missile to be detected by an alignment instruction to obtain simulated posture information of the missile to be detected; determining error posture information based on the initial posture information and the simulated posture information; and adjusting the posture of the missile to be detected based on the error posture information.

[0015] In the disclosed embodiment, by initially aligning the missile to be detected, the accuracy of the model can be improved and deviations caused by improper initial conditions can be avoided.

[0016] In an optional embodiment, a combined navigation solution is performed based on the position information, velocity information, angular velocity information and acceleration information, and a control instruction is generated, including: performing a combined navigation solution based on the position information, velocity information, angular velocity information and acceleration information to obtain combined navigation information; based on the combined navigation information, calculating a guidance loop overload instruction to generate an overload instruction value for the missile to be detected; based on the overload instruction value, determining a stability requirement for the attitude control loop of the missile to be detected; and generating a control instruction that meets the stability requirement for the attitude control loop, wherein the control instruction is used to control the flipping of the servo.

[0017] In the disclosed embodiment, the guidance loop overload instruction is calculated based on the combined navigation information to determine the attitude control loop stability requirement of the missile to be detected, which can improve the reliability of the simulation method.

[0018] In an optional embodiment, combined navigation solution is performed based on position information, velocity information, angular velocity information and acceleration information, and obtaining the combined navigation information includes: converting first basic information into a radio frequency signal and sending it to a navigation module to obtain satellite navigation information; performing inertial navigation solution based on the second basic information to obtain inertial navigation information; performing data fusion on the satellite navigation information and the inertial navigation information through state estimation, and determining the combined navigation information based on the data fusion result.

[0019] In the disclosed embodiment, by performing data fusion on the acquired satellite navigation information and inertial navigation information through state estimation to obtain combined navigation information, the positioning accuracy can be improved, thereby improving the missile landing point accuracy.

[0020] In an optional implementation, sending the control instruction to the steering gear and collecting feedback information of the steering gear includes: determining a first flip angle of the steering gear based on the control instruction; and collecting feedback information after the steering gear flips to the first flip angle.

[0021] In the disclosed embodiment, by analyzing the control instructions, driving the steering gear to flip, and obtaining feedback information after the steering gear flips, the robustness of the simulation method can be improved.

[0022] In a second aspect, the present invention provides a semi-physical simulation device for a missile, the device comprising: an acquisition module for acquiring the trajectory information of a missile simulation model in a target control cycle, wherein the trajectory information comprises first basic information and second basic information, the first basic information comprises position information and speed information, and the second basic information comprises angular velocity information and acceleration information; a control instruction generation module for performing combined navigation solution based on the position information, speed information, angular velocity information and acceleration information to generate control instructions; a feedback information collection module for sending the control instructions to a steering gear and collecting feedback information from the steering gear; a trajectory information generation module for generating trajectory information for the next control cycle of the target control cycle based on the feedback information.

[0023] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the missile semi-physical simulation method of the first aspect or any corresponding embodiment thereof by executing the computer instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 1 is a schematic diagram of a process flow of a missile semi-physical simulation method according to an embodiment of the present invention;

[0026] Figure 2 is a schematic flow chart of another missile semi-physical simulation method according to an embodiment of the present invention;

[0027] Figure 3 is a schematic flow chart of another missile semi-physical simulation method according to an embodiment of the present invention;

[0028] Figure 4 It is a structural schematic diagram of a missile semi-physical simulation system according to an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of the operation process of a missile semi-physical simulation system according to an embodiment of the present invention;

[0030] Figure 6 is a structural block diagram of a missile semi-physical simulation device according to an embodiment of the present invention;

[0031] Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0033] The embodiment of the present invention provides a missile semi-physical simulation method, which performs integrated navigation solution on the acquired trajectory information of the missile simulation model in the target control period to obtain the control instructions for the steering gear, thereby realizing the simulation verification of the missile control system. The simulation cost can be reduced, the simulation efficiency can be improved, and the reliability of the satellite receiver and the integrated navigation strategy can be improved.

[0034] According to an embodiment of the present invention, an embodiment of a missile semi-physical simulation method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] In this embodiment, a missile semi-physical simulation method is provided. Figure 1 Flowchart of a missile semi-physical simulation method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0036] Step S101, obtaining trajectory information of the missile simulation model in the target control period, wherein the trajectory information includes first basic information and second basic information, the first basic information includes position information and velocity information, and the second basic information includes angular velocity information and acceleration information.

[0037] There is no restriction on the way of acquiring the trajectory information, and the launch information before the missile is launched can be acquired through the missile simulation model, and the selection of the missile simulation model is not restricted, and can be a six-degree-of-freedom simulation model. The missile to be detected corresponds to the missile simulation model.

[0038] Step S102, performing combined navigation solution based on the position information, speed information, angular velocity information and acceleration information to generate a control instruction.

[0039] Among them, the position information and speed information can be input into the satellite simulator to obtain the radio frequency signal, wherein the radio frequency signal can be received by the satellite receiver and perform satellite positioning calculation. After receiving the radio frequency signal, the satellite receiver outputs the satellite navigation information. Based on the angular velocity information and acceleration information, the inertial navigation calculation is performed to obtain the inertial navigation information of the missile to be detected, wherein the inertial navigation information includes speed, attitude, position information, etc., and the attitude information includes pitch angle, yaw angle, roll angle, etc. A data fusion method is selected to fuse the inertial navigation information and the satellite navigation information to obtain the combined navigation information. The data fusion method is not limited and can be state estimation. After obtaining the combined navigation information, a suitable control algorithm can be selected to generate a control instruction, wherein the selection of the control algorithm is not limited and can be PID (Proportion-Integral-Derivative) control, model predictive control, etc.

[0040] Step S103, sending the control command to the steering gear and collecting feedback information from the steering gear.

[0041] The control command can be transmitted to the servo by wireless communication. The rotation angle, rotation angular velocity, etc. of the servo can be controlled. The feedback information can be collected in any way, and the feedback information of the servo can be collected by installing corresponding sensors on the servo. The feedback information can be transmitted through the RS422 communication protocol.

[0042] Step S104: Generate trajectory information of the next control cycle of the target control cycle based on the feedback information.

[0043] After obtaining the feedback information, the feedback information may be preprocessed first, and then the preprocessed feedback information may be analyzed, and according to the analysis result, the trajectory information of the missile in the next control cycle may be obtained. The data preprocessing method is not limited, and may be filtering, outlier elimination, etc.

[0044] In a practical application, abnormal data appears in the analysis results and the simulation needs to be stopped immediately.

[0045] The missile semi-physical simulation method provided in this embodiment can accurately control the steering gear by performing combined navigation and solving the trajectory information of the missile simulation model in the target control cycle and generating corresponding control instructions. The trajectory information of the next control cycle is generated according to the feedback information of the steering gear, which can improve the accuracy of the simulation.

[0046] In this embodiment, a missile semi-physical simulation method is provided. Figure 2 Flowchart of a missile semi-physical simulation method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0047] Step S201, obtaining trajectory information of the missile simulation model in the target control period, wherein the trajectory information includes first basic information and second basic information, the first basic information includes position information and speed information, and the second basic information includes angular velocity information and acceleration information.

[0048] For details, please see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0049] Step S202, performing combined navigation solution based on the position information, speed information, angular velocity information and acceleration information to generate a control instruction.

[0050] For details, please see Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0051] In some optional implementations, the above step S202 further includes:

[0052] Step a1, obtaining the initial posture information of the missile to be detected.

[0053] Among them, the method of obtaining the initial attitude information is not restricted. The pitch angle and roll angle of the missile to be tested can be obtained by installing sensors such as gyroscopes and accelerometers.

[0054] Step a2, processing the missile to be detected by the alignment instruction, and obtaining the simulated posture information of the missile to be detected.

[0055] There is no restriction on the method of acquiring the simulated attitude information. The environmental information of the missile to be detected can be input into the simulation software and acquired through mathematical simulation.

[0056] Step a3, determining error posture information based on the initial posture information and the simulated posture information.

[0057] The method for determining the error posture information is not limited, and the error posture information can be determined by directly comparing the initial posture information with the simulated posture information.

[0058] Step a4: adjusting the attitude of the missile to be detected based on the error attitude information.

[0059] According to the error attitude information, a suitable control algorithm is selected to adjust the attitude of the missile to be detected. The control algorithm may be an adaptive control.

[0060] By initially aligning the missile to be detected, the accuracy of the model can be improved and deviations due to improper initial conditions can be avoided.

[0061] Step S203, sending the control command to the steering gear and collecting feedback information from the steering gear.

[0062] For details, please see Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0063] Step S204: Generate trajectory information of the next control cycle of the target control cycle based on the feedback information.

[0064] There is no restriction on the method of generating the trajectory information of the next control cycle according to the feedback information. The rudder deflection angle can be generated according to the feedback information, and then the rudder deflection angle can be input into the missile simulation model to obtain the trajectory information of the next control cycle through the numerical analysis method. There is no restriction on the choice of the numerical analysis method, and the Runge-Kutta algorithm can be used.

[0065] In some optional implementations, the above step S204 includes:

[0066] Step S2041, obtaining a first working parameter of the missile simulation model under a first working condition, wherein the first working condition is a pulling condition.

[0067] Among them, the deviation condition setting of the trajectory is not restricted, and the deviation simulation can be performed on the initial disturbance angular velocity, initial alignment posture error, etc.

[0068] In some optional embodiments, the first working condition is a deviation condition for the trajectory, wherein the deviation condition is at least one of a target binding deviation, an initial disturbance deviation, a structural characteristic deviation, a dynamic performance deviation, and an aerodynamic parameter deviation.

[0069] Among them, the settings of target binding deviation, initial disturbance deviation, structural characteristic deviation, dynamic performance deviation and aerodynamic parameter deviation are not restricted. In a practical application, the target binding deviation includes the launch direction deviation and the deviation perpendicular to the launch normal. The initial disturbance deviation includes the initial angular velocity disturbance in any direction. The structural characteristic deviation includes the mass deviation of the missile to be detected, the moment of inertia deviation of the missile to be detected and the center of mass deviation of the missile to be detected. The dynamic performance deviation includes the engine thrust deviation, the engine thrust deflection and the engine thrust lateral displacement. The aerodynamic parameter deviation includes the force coefficient constant deviation, the moment coefficient constant deviation, the damping coefficient and the rudder efficiency coefficient.

[0070] By setting the pulling deviation condition to at least one of the target binding deviation, initial disturbance deviation, structural characteristic deviation, dynamic performance deviation and aerodynamic parameter deviation, the anti-interference ability of the missile simulation model can be obtained, thereby improving the stability and adaptability of the simulation method.

[0071] Step S2042, based on the first working parameter, obtaining the performance parameter of the missile simulation model.

[0072] Among them, according to the first working parameter, the performance of the missile simulation model under the pulling condition can be obtained, the performance under the pulling condition can be compared with the benchmark performance under the standard condition, and the performance parameters of the missile simulation model can be adjusted.

[0073] Step S2043, input the feedback information into the missile simulation model for calculation to generate the trajectory information of the next control cycle of the target control cycle.

[0074] Among them, the rudder deflection angle can be generated according to the feedback information, and then the rudder deflection angle can be input into the missile simulation model, and the angular velocity and acceleration information of the missile to be detected in the next control cycle can be calculated by the Runge-Kutta algorithm.

[0075] The missile semi-physical simulation method provided in this embodiment can obtain the anti-interference ability of the missile simulation model by obtaining the working parameters of the missile simulation model under the pulling deviation condition to obtain the performance parameters of the missile simulation model, and generate the ballistic information of the next control cycle according to the feedback information, so as to improve the stability and adaptability of the simulation method.

[0076] In this embodiment, a missile semi-physical simulation method is provided. Figure 3 Flowchart of a missile semi-physical simulation method according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0077] Step S301, obtaining the trajectory information of the missile simulation model in the target control period, wherein the trajectory information includes first basic information and second basic information, the first basic information includes position information and speed information, and the second basic information includes angular velocity information and acceleration information.

[0078] For details, please see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0079] Step S302, performing combined navigation solution based on the position information, speed information, angular velocity information and acceleration information to generate a control instruction.

[0080] Specifically, the above step S302 includes:

[0081] Step S3021, performing combined navigation solution based on the position information, speed information, angular velocity information and acceleration information to obtain combined navigation information.

[0082] The integrated navigation information may include inertial navigation, satellite navigation, astronomical navigation information, etc. The acquisition method of the integrated navigation information is not limited, and a suitable state estimation method may be selected according to the actual situation to perform data fusion on the acquired navigation information. The data fusion method may be Kalman filtering, etc.

[0083] In some optional implementations, the above step S3021 includes:

[0084] Step b1, converting the first basic information into a radio frequency signal and sending it to a navigation module to obtain satellite navigation information.

[0085] The first basic information can be converted into a radio frequency signal through a satellite simulator, and the satellite simulator can generate a radio frequency signal according to the speed and position information; the navigation module can receive the radio frequency signal through a satellite antenna. Then, the radio frequency signal is processed to obtain the signal parameters of the radio frequency signal, wherein the signal parameters can be signal propagation time, phase difference, etc. According to the signal parameters, the satellite navigation information can be obtained using the corresponding positioning algorithm. The selection of the positioning algorithm is not limited, and can be trilateration, multilateral measurement, etc.

[0086] Step b2: performing inertial navigation solution based on the second basic information to obtain inertial navigation information.

[0087] The data of the second basic information can be filtered and outliers can be eliminated to improve the data quality, and then the angular velocity and acceleration in the second basic information can be converted into the attitude information, speed information and position information of the missile to be detected through the strapdown inertial navigation algorithm, and used as the inertial navigation information.

[0088] Step b3, performing data fusion on the satellite navigation information and the inertial navigation information through state estimation, and determining the combined navigation information based on the data fusion result.

[0089] Among them, the method of state estimation is not restricted and can be through Kalman filter, Bayesian estimation, etc.

[0090] By fusing the acquired satellite navigation information and inertial navigation information to obtain combined navigation information, the positioning accuracy can be improved, and thus the landing point accuracy can be improved.

[0091] Step S3022, based on the combined navigation information, the guidance loop overload command calculation is performed to generate an overload command value for the missile to be detected.

[0092] The method for obtaining the overload command value is not limited and may be proportional guidance, etc. Before calculating the overload command, the navigation data may be fused to improve the accuracy of the overload command calculation. The data processing method may be Kalman filtering, etc.

[0093] Step S3023, based on the overload command value, determine the attitude control loop stability requirement of the missile to be tested.

[0094] Among them, the method of obtaining the stability requirement of the attitude control loop is not restricted, and the stability requirement of the attitude control loop of the missile to be tested can be determined by PID (Proportion-Integral-Derivative) control, model predictive control and other methods.

[0095] Step S3024, generating a control instruction that meets the stability requirement of the attitude control loop, wherein the control instruction is used to control the flipping of the servo.

[0096] According to the stability requirement of the attitude control loop, the angle that the servo needs to rotate is determined, and then a suitable rudder control algorithm is selected, and a control command is generated according to the rudder control algorithm. The selection of the rudder control algorithm is not restricted, and can be fuzzy control, adaptive control, etc.

[0097] Step S303, sending the control command to the steering gear and collecting feedback information from the steering gear.

[0098] Specifically, the above step S303 includes:

[0099] Step S3031, determining a first flip angle of the servo based on the control instruction.

[0100] The control of the servo is achieved by converting the control command into pulse width modulation information. The conversion method is determined according to the control algorithm corresponding to the control command.

[0101] Step S3032, collecting feedback information after the steering gear flips to a first flip angle.

[0102] There is no restriction on the collection method of the feedback information, and the feedback information can be transmitted via the RS422 communication protocol.

[0103] In a practical application, after receiving a control command, the servo system is driven by the rudder control in the servo system to flip the servo, and after the servo flips to a first flip angle, feedback information is collected and transmitted through the RS422 communication protocol.

[0104] Step S304: Generate trajectory information of the next control cycle of the target control cycle based on the feedback information.

[0105] For details, please see Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0106] The missile semi-physical simulation method provided in this embodiment calculates the guidance loop overload instruction according to the combined navigation information to determine the stability requirement of the attitude control loop of the missile to be detected, which can improve the safety of the method. By analyzing the control instruction, determining the first flip angle of the steering gear, and obtaining feedback information after the steering gear flips, the robustness of the simulation method is improved.

[0107] In one possible implementation, see Figure 4 , which shows a functional structure diagram of a missile semi-physical simulation system involved in an embodiment of the present application. Figure 4 As shown, the missile semi-physical simulation system includes an integrated control module, a steering gear module, a satellite navigation information simulator and a ground simulator.

[0108] The integrated control module includes multiple functional units such as on-board mission processing, power management, integrated navigation unit, and guidance attitude control unit. It is used to interact with external single machines and systems such as the servo module and ground simulator to complete the management and control tasks of the missile semi-physical simulation system. It includes the following functions:

[0109] 1) Communication function: Communicate with the ground simulator to obtain the missile's angular velocity signal and acceleration signal, and complete the binding of the missile's parameters. According to the instructions of the ground simulator, the whole missile is tested and the test information is output. Communicate with the servo module to control the servo module.

[0110] 2) Measurement function: measure the three-axis angular velocity and acceleration of the projectile.

[0111] 3) Positioning output function: output the position and speed of the projectile.

[0112] 4) Information acquisition function: obtain the missile's combined navigation information, guidance information and flight control information.

[0113] In some optional implementations, the integrated control module can complete the loading and setting of the onboard flight control software; integrate a satellite receiver to complete the positioning output of the missile body position and speed; complete the power supply and distribution of the rudder system, and complete the communication and control with the onboard servo.

[0114] In some optional implementations, the angular velocity and acceleration signals of the missile are obtained by simulation calculation by a ground simulator and sent to the integrated control module via a cable RS422 interface.

[0115] The steering gear module includes a steering gear controller and an electric steering gear. After receiving the steering gear control signal output by the integrated control module, the steering gear controller controls the deflection of the electric steering gear.

[0116] Satellite navigation information simulator, including the following functions:

[0117] 1) Information reception: Receive missile speed information and missile position information sent by the ground simulator.

[0118] 2) Signal generation: Select ephemeris information and generate RF signals based on missile speed information, missile position information and ephemeris information. The ephemeris information includes orbital parameters, constellation distribution and clock parameters.

[0119] 3) Signal transmission: The generated RF signal is output according to the set power.

[0120] The ground simulator includes the following functions:

[0121] 1) Simulation control and monitoring: simulate the interaction of mission parameters between the launch platform and the missile, display the simulation status in real time, and record and store the simulation status data.

[0122] 2) Simulation solution function: solve the missile simulation model during the missile flight phase to obtain missile speed information, missile position information, missile angular velocity and missile acceleration.

[0123] 3) Simulation output: The calculated missile velocity information and missile position information are output to the satellite navigation information simulator. The calculated missile angular velocity and missile acceleration are output to the integrated control module.

[0124] In some optional embodiments, such as Figure 5 As shown, in a control cycle of the flight phase, the six-degree-of-freedom simulation model generates the dynamic position and velocity information of the missile, and sends it to the satellite simulator in real time. The satellite simulator generates a corresponding radio frequency signal based on the received position and velocity information; the six-degree-of-freedom simulation model generates the dynamic angular velocity and acceleration information of the missile before launch, and sends it to the integrated control unit in real time.

[0125] The satellite antenna in the integrated control unit receives the radio frequency signal sent by the satellite simulator, and the satellite receiver completes the positioning and outputs the positioning result; the inertial navigation unit in the flight control software completes the inertial navigation solution based on the received angular velocity and acceleration information; the satellite navigation positioning result and the strapdown solution result are estimated through the Kalman filter in the navigation module to obtain the combined navigation information.

[0126] The guidance module in the flight control software generates an overload instruction based on the combined navigation information. The attitude control module in the flight control software generates a control instruction based on the received overload instruction and sends it to the servo controller in the rudder system through the integrated control unit. The servo controller generates a rudder instruction based on the control instruction to drive the rudder axis to flip, and collects rudder feedback information, and sends the collected rudder feedback information to the ground simulator through RS422.

[0127] The ground simulator receives the rudder feedback signal, calculates and generates the channel rudder deflection angle, enters the six-degree-of-freedom model, calculates the angular velocity and acceleration information of the missile in the next control cycle through the Runge-Kutta algorithm and sends it to the integrated control unit, repeating the above process.

[0128] During simulation, relevant data needs to be checked. If the data is normal, continue until the simulation experiment task is completed. If an abnormality is encountered, record the abnormal data and stop the simulation test, and conduct a semi-physical simulation system hardware and software inspection. After the test is completed, power off the equipment, shut down the machine, and conduct data analysis.

[0129] In the present embodiment, a missile semi-physical simulation device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived.

[0130] This embodiment provides a missile semi-physical simulation device, such as Figure 6 As shown, including:

[0131] An acquisition module 401 is used to acquire trajectory information of a missile simulation model in a target control period, wherein the trajectory information includes first basic information and second basic information, the first basic information includes position information and velocity information, and the second basic information includes angular velocity information and acceleration information;

[0132] A control instruction generation module 402 is used to perform combined navigation calculation based on position information, velocity information, angular velocity information and acceleration information to generate control instructions;

[0133] The acquisition module 403 is used to send the control command to the steering gear and collect the feedback information of the steering gear;

[0134] The trajectory information generating module 404 is used to generate trajectory information of the next control cycle of the target control cycle based on the feedback information.

[0135] In some optional implementations, the trajectory information generation module 404 includes:

[0136] The trajectory information generating unit is used to input the feedback information into the missile simulation model for calculation, and generate the trajectory information of the next control cycle of the target control cycle.

[0137] In some optional implementations, the trajectory information generation module 404 further includes:

[0138] The first working parameter acquisition unit is used to acquire the first working parameter of the missile simulation model under the first working condition, wherein the first working condition is a pulling deviation condition.

[0139] The performance parameter acquisition unit is used to acquire the performance parameter of the missile simulation model based on the first working parameter.

[0140] In some optional embodiments, the first working condition is a deviation condition for the trajectory, wherein the deviation condition is at least one of a target binding deviation, an initial disturbance deviation, a structural characteristic deviation, a dynamic performance deviation, and an aerodynamic parameter deviation.

[0141] In some optional implementations, the missile semi-physical simulation device further includes:

[0142] The alignment module is used to realize the self-alignment of the missile to be detected. The alignment module includes:

[0143] The initial posture information acquisition unit is used to acquire the initial posture information of the missile to be detected.

[0144] The simulated posture information acquisition unit is used to process the missile to be detected through the alignment instruction to obtain the simulated posture information of the missile to be detected.

[0145] The error posture information determining unit is used to determine the error posture information based on the initial posture information and the simulated posture information.

[0146] The attitude adjustment unit is used to adjust the attitude of the missile to be detected based on the error attitude information.

[0147] In some optional implementations, the control instruction generation module 402 includes:

[0148] The combined navigation information acquisition unit is used to perform combined navigation solution based on the position information, speed information, angular velocity information and acceleration information to acquire the combined navigation information.

[0149] The guidance loop overload instruction value generating unit is used to perform overload calculation based on the combined navigation information to generate the overload value of the missile to be detected.

[0150] The attitude control loop stability requirement determination unit is used to determine the attitude control loop stability requirement of the missile to be detected based on the overload command value.

[0151] The control instruction generation unit is used to generate control instructions that meet the stability requirements of the attitude control loop, wherein the control instructions are used to control the flipping of the rudder axis.

[0152] In some optional implementations, the integrated navigation information acquisition unit includes:

[0153] The satellite navigation information acquisition subunit is used to convert the first basic information into a radio frequency signal and send it to the navigation module to acquire satellite navigation information.

[0154] The inertial navigation information acquisition subunit is used to perform inertial navigation solution based on the second basic information to acquire inertial navigation information.

[0155] The combined navigation information determination subunit is used to perform data fusion on the satellite navigation information and the inertial navigation information through state estimation, and determine the combined navigation information based on the data fusion result.

[0156] In some optional implementations, the acquisition module 403 includes:

[0157] The first flip angle determining unit is used to determine a first flip angle of the steering gear based on the control instruction.

[0158] The feedback information collection unit is used to collect feedback information after the steering gear flips to a first reversal angle.

[0159] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0160] The missile semi-physical simulation device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0161] The embodiment of the present invention also provides a computer device having the above Figure 6 The missile semi-physical simulation device is shown.

[0162] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0163] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0164] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0165] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0166] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0167] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0168] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0169] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0170] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0171] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A missile semi-physical simulation method, characterized in that: The method comprises: Acquire trajectory information of the missile simulation model in a target control period, wherein the trajectory information includes first basic information and second basic information, the first basic information includes position information and velocity information, and the second basic information includes angular velocity information and acceleration information; Performing combined navigation calculation based on the position information, speed information, angular velocity information and acceleration information to generate control instructions; Sending the control command to the steering gear and collecting feedback information from the steering gear; Based on the feedback information, the trajectory information of the next control cycle of the target control cycle is generated.

2. The method according to claim 1, characterized in that The generating the trajectory information of the next control cycle of the target control cycle based on the feedback information comprises: The feedback information is input into a missile simulation model for calculation to generate the trajectory information of the next control cycle of the target control cycle.

3. The method according to claim 2, characterized in that Before the feedback information is input into the missile simulation model for calculation to generate the trajectory information of the next control cycle of the target control cycle, the method further includes: Acquire a first working parameter of the missile simulation model under a first working condition, wherein the first working condition is a pulling condition; Based on the first operating parameters, performance parameters of the missile simulation model are obtained.

4. The method according to claim 3, characterized in that The first working condition is a deviation condition for the trajectory, wherein the deviation condition is at least one of a target binding deviation, an initial disturbance deviation, a structural characteristic deviation, a dynamic performance deviation, and an aerodynamic parameter deviation.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Obtain the initial posture information of the missile to be detected; Processing the missile to be detected by an alignment instruction to obtain simulated posture information of the missile to be detected; Determining error posture information based on the initial posture information and the simulated posture information; Based on the error attitude information, the attitude of the missile to be detected is adjusted.

6. The method according to claim 1, characterized in that The performing combined navigation solution based on the position information, velocity information, angular velocity information and acceleration information to generate a control instruction includes: Performing combined navigation solution based on the position information, velocity information, angular velocity information and acceleration information to obtain combined navigation information; Based on the combined navigation information, a guidance loop overload instruction calculation is performed to generate an overload instruction value of the missile to be detected; Determining the stability requirement of the attitude control loop of the missile to be detected based on the overload command value; Generate a control instruction that meets the stability requirement of the attitude control loop, wherein the control instruction is used to control the flipping of the servo.

7. The method according to claim 6, characterized in that The performing combined navigation solution based on the position information, velocity information, angular velocity information and acceleration information to obtain the combined navigation information includes: Converting the first basic information into a radio frequency signal and sending the signal to a navigation module to obtain satellite navigation information; Performing inertial navigation solution based on the second basic information to obtain inertial navigation information; The satellite navigation information and the inertial navigation information are subjected to data fusion through state estimation, and combined navigation information is determined based on the data fusion result.

8. The method according to claim 1, characterized in that The step of sending the control command to the steering gear and collecting feedback information from the steering gear comprises: Based on the control instruction, determining a first flip angle of the steering gear; Collect feedback information after the servo flips to the first flip angle.

9. A missile semi-physical simulation device, characterized in that: The device comprises: An acquisition module, used for acquiring trajectory information of a missile simulation model in a target control period, wherein the trajectory information includes first basic information and second basic information, the first basic information includes position information and velocity information, and the second basic information includes angular velocity information and acceleration information; A control instruction generation module, used to perform combined navigation solution based on the position information, speed information, angular velocity information and acceleration information to generate control instructions; A collection module, used for sending the control command to the steering gear and collecting feedback information of the steering gear; The trajectory information generating module is used to generate the trajectory information of the next control cycle of the target control cycle based on the feedback information.

10. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the missile semi-physical simulation method according to any one of claims 1 to 8 by executing the computer instructions.

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