Cannonball inertial navigation correction method

Abstract

The invention belongs to the technical field of navigation, and particularly relates to a cannonball inertial navigation correction method which is used for correcting an inertia causing device of a cannonball. The method mainly comprises the following steps: synchronizing time between an inertial navigation device and a radar; launching a shell, and recording data of the inertial navigation device; within one second after launching, the radar measures the speed and the position of the shell; information measured by the radar is transmitted to the inertial navigation device through a short-distance radio link; and the inertial navigation device corrects the current position and speed. The method has the advantages that the influence of shell launching impact on inertial navigation is avoided, and the shell inertial navigation precision is improved.

Description

Technical Field

[0001] The invention belongs to the field of navigation technology, and in particular relates to a projectile inertial navigation correction method. Background Art

[0002] The inertial navigation device is an important component of guided artillery shells. The inertial navigation device first determines the initial position, speed, and attitude, then measures the angular velocity through the gyroscope and the acceleration through the accelerometer, and obtains the attitude, speed, and position at the current moment through calculation.

[0003] When a guided artillery shell is fired, it has a large impact acceleration. Due to the limitations of the accelerometer range and measurement bandwidth, the acceleration measured by the accelerometer has a large error when the shell is fired, which further causes the error of the inertial navigation. Therefore, without additional correction, the inertial navigation of the shell has a large error. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The technical problem to be solved by the present invention is: how to provide an inertial navigation correction method to improve the inertial navigation accuracy of a guided artillery shell.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the present invention provides a method for correcting an artillery shell inertial navigation, and the method for correcting an artillery shell inertial navigation comprises the following steps:

[0008] Step 1: Before the shell is fired, the inertial navigation unit synchronizes time with the radar;

[0009] Step 2: Fire the shell and record the data from the inertial navigation unit;

[0010] Step 3: Within 1 second after launch, the radar measures the speed and position of the projectile;

[0011] Step 4: The speed, position, and time information measured by the radar are transmitted to the shell’s inertial navigation unit via a short-range radio link;

[0012] Step 5: The inertial navigation device corrects the current position and speed of the shell based on the inertial navigation device data recorded in step 2 and the radar data sent in step 4.

[0013] Among them, in the step one, in order to use the data measured by the radar to correct the inertial navigation device, the time of the radar and the inertial navigation device must be accurately synchronized to eliminate the adverse effects of time delay in the correction data transmission; pulses are sent to the radar and the inertial navigation device at the same time through a pulse source; the radar and the inertial navigation device both use the pulse time as the time 0 point and start timing, so as to realize the synchronous time function.

[0014] Wherein, in the step 2, the data record length is greater than the time consumed by the radar to measure the speed and position of the artillery shell and transmit them to the inertial navigation device.

[0015] The short-range radio link comprises: a transmitter and a receiver; the transmitter and the receiver transmit information via radio; the transmitter is connected to a radar; and the receiver is connected to an inertial navigation device.

[0016] Wherein, the short-range radio link adopts ultra-wideband communication equipment.

[0017] Among them, the ultra-wideband transmitter is connected to the radar through a ground-based repeater; the ultra-wideband receiver is in the shell and moves together with the shell and the inertial navigation device 11; the ultra-wideband receiver is connected to the inertial navigation device 11 through a shell-borne repeater.

[0018] Wherein, in step 5, the acceleration of the inertial navigation device is integrated with time, and the speed measured by the radar is added to obtain the current speed; the formula is:

[0019] Current speed = radar speed + ∫ acceleration dt

[0020] The velocity is integrated over time, and the position measured by the radar is added to get the current position; the formula is:

[0021] Current position = radar position + ∫ speed dt.

[0022] Wherein, the inertial navigation device includes a gyroscope, an accelerometer, and a computer;

[0023] Gyroscopes measure angular velocity;

[0024] Accelerometers measure acceleration;

[0025] Computers process information and calculate navigation results.

[0026] Wherein, the inertial navigation device comprises a gyroscope, an accelerometer, a magnetometer, and a computer;

[0027] Gyroscopes measure angular velocity;

[0028] Accelerometers measure acceleration;

[0029] Magnetometers measure the Earth’s magnetic field;

[0030] Computers process information and calculate navigation results.

[0031] The method corrects the inertial navigation after the shell is fired, thereby improving the inertial navigation accuracy of the shell.

[0032] (III) Beneficial effects

[0033] Compared with the prior art, the present invention corrects the inertial navigation after the shell is fired, thereby improving the inertial navigation accuracy of the shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is an embodiment of step one of the present invention, in which the inertial navigation device is synchronized with the radar.

[0035] Figure 2 It is a schematic diagram of step 4 of the present invention, in which the speed, position and time information measured by the radar are transmitted to the inertial navigation device of the shell via a short-range radio link. DETAILED DESCRIPTION

[0036] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0037] In order to solve the above technical problems, the present invention provides a method for correcting an artillery shell inertial navigation, and the method for correcting an artillery shell inertial navigation comprises the following steps:

[0038] Step 1: Before the shell is fired, the inertial navigation unit synchronizes time with the radar;

[0039] Step 2: Fire the shell and record the data from the inertial navigation unit;

[0040] Step 3: Within 1 second after launch, the radar measures the speed and position of the projectile;

[0041] Step 4: The speed, position, and time information measured by the radar are transmitted to the shell’s inertial navigation unit via a short-range radio link;

[0042] Step 5: The inertial navigation device corrects the current position and speed of the shell based on the inertial navigation device data recorded in step 2 and the radar data sent in step 4.

[0043] Among them, in the step one, in order to use the data measured by the radar to correct the inertial navigation device, the time of the radar and the inertial navigation device must be accurately synchronized to eliminate the adverse effects of time delay in the correction data transmission; pulses are sent to the radar and the inertial navigation device at the same time through a pulse source; the radar and the inertial navigation device both use the pulse time as the time 0 point and start timing, so as to realize the synchronous time function.

[0044] Wherein, in the step 2, the data record length is greater than the time consumed by the radar to measure the speed and position of the artillery shell and transmit them to the inertial navigation device.

[0045] The short-range radio link comprises: a transmitter and a receiver; the transmitter and the receiver transmit information via radio; the transmitter is connected to a radar; and the receiver is connected to an inertial navigation device.

[0046] Wherein, the short-range radio link adopts ultra-wideband communication equipment.

[0047] Among them, the ultra-wideband transmitter is connected to the radar through a ground-based repeater; the ultra-wideband receiver is in the shell and moves together with the shell and the inertial navigation device 11; the ultra-wideband receiver is connected to the inertial navigation device 11 through a shell-borne repeater.

[0048] Wherein, in step 5, the acceleration of the inertial navigation device is integrated with time, and the speed measured by the radar is added to obtain the current speed; the formula is:

[0049] Current speed = radar speed + ∫ acceleration dt

[0050] The velocity is integrated over time, and the position measured by the radar is added to get the current position; the formula is:

[0051] Current position = radar position + ∫ speed dt.

[0052] Wherein, the inertial navigation device includes a gyroscope, an accelerometer, and a computer;

[0053] Gyroscopes measure angular velocity;

[0054] Accelerometers measure acceleration;

[0055] Computers process information and calculate navigation results.

[0056] Wherein, the inertial navigation device comprises a gyroscope, an accelerometer, a magnetometer, and a computer;

[0057] Gyroscopes measure angular velocity;

[0058] Accelerometers measure acceleration;

[0059] Magnetometers measure the Earth’s magnetic field;

[0060] Computers process information and calculate navigation results.

[0061] The method corrects the inertial navigation after the shell is fired, thereby improving the inertial navigation accuracy of the shell.

[0062] Example 1

[0063] In this embodiment, an implementation example of step 1 is shown in the following Figure 1 The inertial navigation device 11 , the radar 20 and the pulse source 23 are connected.

[0064] Step 1: Before the shell is fired, the inertial navigation device and the radar are synchronized. In order to use the data measured by the radar 20 to correct the inertial navigation device 11, the time of the radar 20 and the inertial navigation device 11 must be accurately synchronized to eliminate the adverse effects of time delay in the correction data transmission.

[0065] Attached Figure 1 In the embodiment of the invention, the pulse source 23 simultaneously sends pulses to the radar 20 and the inertial navigation device 11. The radar 20 and the inertial navigation device 11 both use the pulse time as the time 0 and start timing. Thus, the synchronous time function can be realized.

[0066] Step 2: Fire the shell and record the data of the inertial navigation device. The data recording length should be greater than the time it takes for the radar 20 to measure the speed and position of the shell 10 and transmit them to the inertial navigation device 11.

[0067] Step 3: Within 1 second after firing, the radar 20 measures the speed and position of the shell 10. The present invention uses a short-range radio link, and all steps must be completed before the shell leaves the effective communication range of the short-range radio link. Therefore, the radar 20 needs to measure the speed, position,

[0068] The schematic diagram of step 4 is attached. Figure 2 The speed, position and time information measured by the radar 20 are transmitted to the inertial navigation device 11 of the shell 10 via a short-range radio link.

[0069] A preferred embodiment, a short-range radio link, comprises a transmitter 21 and a receiver 12. The transmitter 21 and the receiver 12 transmit information via radio. The transmitter 21 is connected to the radar 20. The receiver 12 is connected to the inertial navigation device 11.

[0070] In a preferred embodiment, the short-range radio link uses an ultra-wideband (UWB) communication device. The short-range radio link includes an ultra-wideband transmitter and an ultra-wideband receiver. The ultra-wideband transmitter 21 is connected to the radar 20 through a ground repeater. The ultra-wideband receiver 12 is in the shell 10 and moves with the shell 10 and the inertial navigation device 11. The ultra-wideband receiver 12 is connected to the inertial navigation device 11 through a shell-borne repeater.

[0071] In step 5, the inertial navigation device 11 uses the velocity and position data of the shell 10 measured by the radar 20 in step 3 and the data of the inertial navigation device 11 recorded in step 2 to calculate the current position, velocity and attitude, thereby achieving the effect of correcting the inertial navigation.

[0072] An example of step five is:

[0073] The acceleration of the inertial navigation device is integrated over time, and then added to the speed measured by the radar to get the current speed. The formula is:

[0074] Current speed = radar speed + ∫ acceleration dt

[0075] The velocity is integrated over time, and then added to the position measured by the radar to get the current position. The formula is:

[0076] Current position = radar position + ∫ speed dt

[0077] In a preferred solution, the inertial navigation device includes a gyroscope, an accelerometer, and a computer. The gyroscope measures angular velocity; the accelerometer measures acceleration; and the computer processes information and calculates navigation results.

[0078] In a preferred solution, the inertial navigation device includes a gyroscope, an accelerometer, a magnetometer, and a computer. The gyroscope measures angular velocity; the accelerometer measures acceleration; the magnetometer measures the earth's magnetic field; and the computer processes information and calculates navigation results.

[0079] 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 method for correcting inertial navigation of a shell, characterized in that: The projectile inertial navigation correction method comprises the following steps: Step 1: Before the shell is fired, the inertial navigation unit synchronizes time with the radar; Step 2: Fire the shell and record the data from the inertial navigation unit; Step 3: Within 1 second after launch, the radar measures the speed and position of the projectile; Step 4: The speed, position, and time information measured by the radar are transmitted to the shell’s inertial navigation unit via a short-range radio link; Step 5: The inertial navigation device corrects the current position and speed of the shell based on the inertial navigation device data recorded in step 2 and the radar data sent in step 4.

2. The artillery shell inertial navigation correction method according to claim 1, characterized in that: In the step 1, in order to use the data measured by the radar to correct the inertial navigation device, the time of the radar and the inertial navigation device must be accurately synchronized to eliminate the adverse effects of time delay in the correction data transmission; a pulse source is used to simultaneously send pulses to the radar and the inertial navigation device; the radar and the inertial navigation device both use the pulse time as the time 0 point and start timing, thereby realizing the synchronous time function.

3. The artillery shell inertial navigation correction method according to claim 1, characterized in that: In the step 2, the data record length is greater than the time it takes for the radar to measure the speed and position of the shell and transmit them to the inertial navigation device.

4. The artillery shell inertial navigation correction method according to claim 1, characterized in that: The short-range radio link comprises: a transmitter and a receiver; the transmitter and the receiver transmit information via radio; the transmitter is connected to a radar; and the receiver is connected to an inertial navigation device.

5. The artillery shell inertial navigation correction method according to claim 1, characterized in that: The short-range radio link employs ultra-wideband communication equipment.

6. The artillery shell inertial navigation correction method according to claim 5, characterized in that: The short-range radio link comprises: an ultra-wideband transmitter and an ultra-wideband receiver; The ultra-wideband transmitter is connected to the radar through a ground-based repeater; the ultra-wideband receiver is in the shell and moves together with the shell and the inertial navigation device 11; the ultra-wideband receiver is connected to the inertial navigation device 11 through a shell-borne repeater.

7. The artillery shell inertial navigation correction method according to claim 1, characterized in that: In step 5, the acceleration of the inertial navigation device is integrated over time, and the speed measured by the radar is added to obtain the current speed; the formula is: Current speed = radar speed + ∫ acceleration dt The velocity is integrated over time, and the position measured by the radar is added to get the current position; the formula is: Current position = radar position + ∫ speed dt.

8. The artillery shell inertial navigation correction method according to claim 1, characterized in that: The inertial navigation device includes a gyroscope, an accelerometer, and a computer; Gyroscopes measure angular velocity; Accelerometers measure acceleration; Computers process information and calculate navigation results.

9. The artillery shell inertial navigation correction method according to claim 1, characterized in that: The inertial navigation device includes a gyroscope, an accelerometer, a magnetometer, and a computer; Gyroscopes measure angular velocity; Accelerometers measure acceleration; Magnetometers measure the Earth’s magnetic field; Computers process information and calculate navigation results.

10. The artillery shell inertial navigation correction method according to claim 1, characterized in that: The method corrects the inertial navigation after the shell is fired, and can improve the inertial navigation accuracy of the shell.

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