Targeting simulation system, method, device and equipment and storage medium

Abstract

The invention relates to the technical field of flight simulation of aircrafts, and discloses a target shooting simulation system, method, device and equipment and a storage medium, the target shooting simulation system comprises an inertial navigation system error random generation model, an overall parameter error random generation model and a trajectory model; the inertial navigation system error random generation model randomly generates a first inertial device error value and a first initial alignment error; the overall parameter error random generation model randomly generates a first overall parameter error value; according to the method, the aircraft target shooting simulation result closer to the actual situation can be obtained, the aircraft development period can be shortened, and the aircraft development cost can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of target shooting simulation of aircraft, and in particular to a target shooting simulation system, method, device, equipment and storage medium. Background Art

[0002] The overall design of aircraft (including missiles, drones, etc.) cannot rely entirely on actual flight tests, so target shooting simulation technology is an indispensable means in the development of aircraft. The basic method of target shooting simulation is to conduct Monte Carlo simulation tests based on a credible mathematical model.

[0003] The Monte Carlo method, also known as the random sampling method, is a method that uses a probabilistic mathematical model and the statistical characteristics of the physical process of the actual problem being studied to reproduce the process. By modeling the random interference factors in the flight process of the aircraft and combining them with the flight dynamics equation of the aircraft, the target accuracy of the aircraft is obtained, providing a method and basis for the design and performance verification of the aircraft.

[0004] However, the current Monte Carlo target shooting simulation method has a low accuracy of the target shooting simulation model and cannot assess the accuracy of the inertial navigation system, which is not close enough to the actual situation. Summary of the invention

[0005] In view of this, the present invention provides a target shooting simulation system, method, device, equipment and storage medium to solve the problem that the target shooting simulation model of the current Monte Carlo target shooting simulation method has low accuracy and cannot assess the accuracy of the inertial navigation system.

[0006] In a first aspect, the present invention provides a target shooting simulation system, the system comprising:

[0007] Inertial navigation system error random generation model, overall parameter error random generation model and trajectory model;

[0008] The inertial navigation system error random generation model is used to randomly generate a first inertial device error value based on preset inertial device error related values; randomly generate a first initial alignment error based on preset initial alignment error related values; add the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain a first angular velocity and / or first acceleration of the aircraft; add the first initial alignment error to the initial alignment attitude to obtain a first initial alignment attitude of the aircraft;

[0009] The first angular velocity and / or the first acceleration, and the first initial alignment posture are used to perform inertial navigation solution, and the obtained navigation result is used to perform guidance and attitude control calculation to obtain the rudder deflection;

[0010] The population parameter error random generation model is used to randomly generate a first population parameter error value based on a preset population parameter error related value; the first population parameter error value is used to add into the population parameter to obtain the first population parameter;

[0011] The trajectory model is used to obtain angular velocity and / or acceleration based on the first overall parameter and the rudder deflection.

[0012] In some optional specific implementations, the various inertial device error-related values ​​include a gyro three-axis zero bias value, a gyro three-axis zero bias stability value, a gyro three-axis cross-coupling value and / or a gyro three-axis scale factor nonlinearity value;

[0013] The first inertial device error value includes a first Gaussian white noise, a gyro three-axis cross-coupling value and / or a gyro three-axis scale factor nonlinear value;

[0014] The first Gaussian white noise takes the gyro three-axis zero bias value as expectation and the gyro three-axis zero bias stability value as variance.

[0015] In some optional specific implementations, the various inertial device error-related values ​​include a three-axis zero bias value, a three-axis zero bias stability value, a three-axis cross-coupling value, and a three-axis scale factor nonlinearity value.

[0016] The first inertial device error value includes a second Gaussian white noise, the three-axis cross-coupling value of the added table and / or the three-axis scale factor nonlinear value of the added table; the second Gaussian white noise takes the three-axis zero bias value of the added table as expectation and takes the three-axis zero bias stability value of the added table as variance.

[0017] In some optional specific implementations, the overall parameter error-related value includes at least one of the following: target binding deviation, initial disturbance, mass deviation, inertia deviation, center of mass deviation, power performance deviation, wind speed deviation, and aerodynamic parameter deviation;

[0018] The first overall parameter includes at least one of the following:

[0019] A first target binding parameter having the target binding deviation added thereto;

[0020] the mass of the vehicle with the mass deviation added;

[0021] A first wind speed to which the wind speed deviation is added;

[0022] A first moment of inertia to which the inertia deviation is added;

[0023] A first rolling moment coefficient, a first yaw moment coefficient and a first pitching moment coefficient to which the center of mass deviation is added;

[0024] The first three-channel torque deviation after adding the power performance deviation;

[0025] A second rolling moment coefficient, a second yaw moment coefficient, and a second pitching moment coefficient after adding the aerodynamic parameter deviation;

[0026] The first drag coefficient, the first lift coefficient, and the first side force coefficient are added with the aerodynamic parameter deviation.

[0027] In some optional specific implementations, the first moment of inertia is determined according to a nominal value of the moment of inertia and the inertia deviation; and / or,

[0028] The first rolling moment coefficient, the first yaw moment coefficient, and the first pitching moment coefficient are determined according to the mass center deviation, the mass center movement caused by engine combustion, the axial force coefficient, the normal force coefficient, the lateral force coefficient, and the reference length; and / or,

[0029] The first three-channel torque deviation is determined based on the engine thrust deviation, the engine thrust nominal value, the engine thrust deflection angle, the engine thrust lateral displacement and the center of mass deviation; and / or,

[0030] The second rolling moment coefficient, the second yaw moment coefficient and the second pitching moment coefficient are determined according to the rolling moment coefficient nominal value, the yaw moment coefficient nominal value, the pitching moment coefficient nominal value, the rolling moment coefficient constant deviation, the yaw moment coefficient constant deviation, the pitching moment coefficient constant deviation, the rolling moment coefficient derivative to the sideslip angle, the yaw moment coefficient derivative to the sideslip angle, the pitching moment coefficient derivative to the angle of attack, the rolling moment coefficient derivative to the rolling rudder deflection, the deviation of the rolling moment coefficient to the derivative of the rolling rudder deflection, the yaw moment coefficient derivative to the yaw rudder deflection, the deviation of the yaw moment coefficient derivative to the yaw rudder deflection, the pitching moment coefficient derivative to the pitch rudder deflection, and the deviation of the pitching moment coefficient derivative to the pitch rudder deflection; and / or,

[0031] The first drag coefficient, the first lift coefficient, and the first side force coefficient are determined according to a nominal value of the drag coefficient, a nominal value of the lift coefficient, a nominal value of the side force coefficient, and corresponding deviations.

[0032] In some optional specific implementations, the first inertial device error value generated by the inertial navigation system error random generation model satisfies a normal distribution; and / or,

[0033] The first initial alignment error generated by the inertial navigation system error random generation model satisfies a normal distribution; and / or,

[0034] The first population parameter error value generated by the population parameter error random generation model satisfies the normal distribution.

[0035] In a second aspect, the invention provides a target shooting simulation method, the method comprising:

[0036] Using the inertial navigation system error random generation model, based on preset values ​​related to various inertial device errors, randomly generate a first inertial device error value; based on preset values ​​related to initial alignment errors, randomly generate a first initial alignment error;

[0037] Adding the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain a first angular velocity and / or a first acceleration of the aircraft;

[0038] Adding the first initial alignment error to the initial alignment attitude to obtain a first initial alignment attitude of the aircraft;

[0039] Performing inertial navigation solution using the first angular velocity and / or the first acceleration, and the first initial alignment posture to obtain a navigation result;

[0040] Perform guidance and attitude control calculations based on the navigation results to obtain rudder deflection;

[0041] Using a population parameter error random generation model, based on a preset population parameter error related value, randomly generate a first population parameter error value;

[0042] Adding the first population parameter error value to the population parameter to obtain a first population parameter;

[0043] The trajectory model is used to obtain angular velocity and / or acceleration based on the first overall parameter and the rudder deflection.

[0044] In a third aspect, the present invention provides a target shooting simulation device, the device comprising:

[0045] A first error generation module is used to randomly generate a first inertial device error value based on preset inertial device error related values ​​by using an inertial navigation system error random generation model; and to randomly generate a first initial alignment error based on preset initial alignment error related values;

[0046] A first calculation module, configured to add the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain a first angular velocity and / or a first acceleration of the aircraft;

[0047] A second calculation module, configured to add the first initial alignment error to an initial alignment attitude to obtain a first initial alignment attitude of the aircraft;

[0048] a navigation solution module, configured to perform inertial navigation solution using the first angular velocity and / or the first acceleration, and the first initial alignment posture to obtain a navigation result;

[0049] A guidance and attitude control calculation module, used for performing guidance and attitude control calculations based on the navigation results to obtain rudder deflection;

[0050] A second error generation module is used to randomly generate a first population parameter error value based on a preset population parameter error related value by using a population parameter error random generation model;

[0051] A third calculation module, used for adding the first overall parameter error value into the overall parameter to obtain a first overall parameter;

[0052] The trajectory solving module is used to obtain the angular velocity and / or acceleration based on the first overall parameter and the rudder deflection by using the trajectory model.

[0053] In a fourth 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 target shooting simulation method of the second aspect or any corresponding embodiment thereof by executing the computer instructions.

[0054] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the target shooting simulation method of the second aspect or any corresponding embodiment thereof.

[0055] In a sixth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the target shooting simulation method of the second aspect or any corresponding embodiment thereof.

[0056] The target shooting simulation system, method, device, equipment and storage medium provided in the embodiments of the present invention can obtain target shooting simulation results that are closer to the actual situation by establishing an accurate inertial navigation system error random generation model and a comprehensive overall parameter error random generation model, combining a navigation guidance control model (for navigation solution) and a trajectory model, which is helpful to determine the overall plan of the aircraft, design control system parameters, improve control system performance, shorten the aircraft development cycle, and reduce the aircraft development cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 is a schematic diagram of a target shooting simulation architecture according to an embodiment of the present invention;

[0059] Figure 2 is a schematic flow chart of a target shooting simulation method according to an embodiment of the present invention;

[0060] Figure 3 is a schematic diagram of a user operation flow according to an embodiment of the present invention;

[0061] Figure 4 is a schematic diagram of a login interface of a target shooting simulation software according to an embodiment of the present invention;

[0062] Figure 5 is a schematic diagram of the main interface of the target shooting simulation software according to an embodiment of the present invention;

[0063] Figure 6 2. It is a schematic diagram of a random deviation setting interface of overall parameters of a target shooting simulation software according to an embodiment of the present invention;

[0064] Figure 7 2. It is a schematic diagram of an error setting interface of an inertial navigation system of a target shooting simulation software according to an embodiment of the present invention;

[0065] Figure 8 This is one of the schematic diagrams of the simulation result analysis interface of the target shooting simulation software according to the embodiment of the present invention;

[0066] Fig. 9 This is a second schematic diagram of a simulation result analysis interface of the target shooting simulation software according to an embodiment of the present invention;

[0067] Fig.10 is a schematic diagram of a posture and position error image drawing interface of a target shooting simulation software according to an embodiment of the present invention;

[0068] Fig.11 is a structural block diagram of a target shooting simulation device according to an embodiment of the present invention;

[0069] Fig.12 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] 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.

[0071] The Monte Carlo target shooting simulation method in the related art lacks consideration of the inertial navigation system errors, and the consideration of the random error terms of the overall parameters is not comprehensive enough, and these error terms have a great impact on the target shooting accuracy of the aircraft.

[0072] The embodiment of the present invention provides a target shooting simulation system, such as Figure 1 As shown, the system includes: an inertial navigation system error random generation model, an overall parameter error random generation model and a ballistic model (also called a projectile model).

[0073] The inertial navigation system error random generation model is used to randomly generate a first inertial device error value based on various preset inertial device error related values; randomly generate a first initial alignment error based on the preset initial alignment error related values; add the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain the first angular velocity and / or first acceleration of the aircraft; and add the first initial alignment error to the initial alignment attitude to obtain the first initial alignment attitude of the aircraft. The preset various inertial device error related values ​​and the preset initial alignment error related values ​​can be preset by the user. The various inertial device error related values ​​can be the error value itself, the error percentage, or the condition that the error value needs to meet. The condition that the error value needs to meet, for example, the number of target shooting in the simulation experiment is 1000, then the expected value and the variance that need to be met when generating 1000 groups of first inertial device error values ​​using the inertial navigation system error random generation model are the conditions that the error value needs to meet. The preset initial alignment error related values ​​are also the same, and will not be repeated here. The above-mentioned inertial devices mainly include gyroscopes (hereinafter referred to as gyros) and accelerometers (hereinafter referred to as accelerometers). The gyroscopes are used to detect the direction changes of the aircraft and output angular velocity; the accelerometers are used to detect the acceleration of the aircraft. The first inertial device error value generated by the inertial navigation system error random generation model satisfies the normal distribution as a whole.

[0074] The first angular velocity and / or the first acceleration, and the first initial alignment attitude are used for inertial navigation solution, and the navigation result obtained is used for guidance and attitude control calculation to obtain rudder deviation; the navigation result here includes the speed, position and attitude information of the aircraft. The inertial navigation solution here can be implemented using a navigation guidance control model, that is, the first angular velocity and / or the first acceleration, and the first initial alignment attitude are input into the navigation guidance control model for navigation solution.

[0075] The population parameter error random generation model is used to randomly generate a first population parameter error value based on a preset population parameter error related value; the first population parameter error value is used to add into the population parameter to obtain the first population parameter. The first population parameter error value randomly generated by the population parameter error random generation model satisfies the normal distribution.

[0076] The trajectory model is used to obtain angular velocity and / or acceleration based on the first overall parameter and the rudder deflection.

[0077] The above-mentioned adding of the error value into the relevant parameter is not limited to the addition operation, but may also include other operations, for example, if the error is a percentage, then it may include a multiplication operation.

[0078] The initial alignment error includes at least one of an initial longitude error, an initial latitude error, an initial altitude error, an initial east speed error, an initial north speed error, an initial sky speed error, an initial roll angle error, an initial yaw angle error and an initial pitch angle error.

[0079] The target shooting simulation system provided by the embodiment of the present invention can obtain target shooting simulation results that are closer to the actual situation by establishing an accurate inertial navigation system error random generation model and a comprehensive overall parameter error random generation model, combining a navigation guidance control model (for navigation solution) and a trajectory model, which is helpful to determine the overall plan of the aircraft, design control system parameters, improve control system performance, shorten the aircraft development cycle, and reduce the aircraft development cost.

[0080] In some optional specific implementations, the various inertial device error-related values ​​include a gyro three-axis zero bias value, a gyro three-axis zero bias stability value, a gyro three-axis cross-coupling value and / or a gyro three-axis scale factor nonlinearity value;

[0081] The first inertial device error value includes a first Gaussian white noise, a gyro three-axis cross-coupling value and / or a gyro three-axis scale factor nonlinear value;

[0082] The first Gaussian white noise takes the gyro three-axis zero bias value as expectation and the gyro three-axis zero bias stability value as variance.

[0083] Accordingly, the calculation formula for adding the first inertial device error value to the angular velocity output by the trajectory model to obtain the first angular velocity of the aircraft may be:

[0084]

[0085] in, is the first angular velocity of the aircraft;

[0086] ω x ,ω y ,ω z is the angular velocity output by the ballistic model;

[0087] is the nonlinear value of the gyro three-axis scale factor;

[0088] is the gyro three-axis cross-coupling value;

[0089] is the first Gaussian white noise, which is a Gaussian white noise with the gyro three-axis zero bias value as the expectation and the gyro three-axis zero bias stability value as the variance.

[0090] In some optional specific implementations, the various inertial device error-related values ​​include a three-axis zero bias value, a three-axis zero bias stability value, a three-axis cross-coupling value, and a three-axis scale factor nonlinearity value.

[0091] The first inertial device error value includes a second Gaussian white noise, the three-axis cross-coupling value of the added table and / or the three-axis scale factor nonlinear value of the added table; the second Gaussian white noise takes the three-axis zero bias value of the added table as expectation and takes the three-axis zero bias stability value of the added table as variance.

[0092] Accordingly, the calculation formula for obtaining the first acceleration of the aircraft by adding the first inertial device error value to the acceleration output by the trajectory model may be:

[0093]

[0094] in, is the first acceleration of the aircraft;

[0095] a x 、a y 、a z is the acceleration output by the ballistic model;

[0096] It is the nonlinear value of the three-axis scale factor.

[0097] To add the three-axis cross-coupling value;

[0098] It is the second Gaussian white noise with the three-axis zero bias added as the expectation and the three-axis zero bias stability value added as the variance.

[0099] The inertial device error and the initial alignment error can be collectively referred to as: inertial navigation system error. Based on the above, it can be known that the inertial navigation system error can have multiple items as shown in Table 1.

[0100] Table 1 Inertial navigation system error terms

[0101]

[0102] In some optional specific implementations, the overall parameter error related value includes at least one of the following: target binding deviation, initial disturbance, mass deviation, inertia deviation, center of mass deviation, power performance deviation, wind speed deviation and aerodynamic parameter deviation; the initial disturbance is the angular velocity disturbance caused by the collision with the launch rail when the aircraft leaves the frame. In the absence of the initial disturbance, the initial pitch angular velocity is not 0, and the initial roll angular velocity and yaw angular velocity are 0;

[0103] The first overall parameter includes at least one of the following:

[0104] A first target binding parameter having the target binding deviation added thereto;

[0105] the mass of the vehicle with the mass deviation added;

[0106] A first wind speed to which the wind speed deviation is added;

[0107] A first moment of inertia to which the inertia deviation is added;

[0108] A first rolling moment coefficient, a first yaw moment coefficient and a first pitching moment coefficient to which the center of mass deviation is added;

[0109] The first three-channel torque deviation after adding the power performance deviation;

[0110] A second rolling moment coefficient, a second yaw moment coefficient, and a second pitching moment coefficient after adding the aerodynamic parameter deviation;

[0111] The first drag coefficient, the first lift coefficient, and the first side force coefficient are added with the aerodynamic parameter deviation.

[0112] Specifically, the first moment of inertia is determined according to the nominal value of the moment of inertia and the inertia deviation. The calculation formula may be:

[0113] J x =J xstd (1+ΔJ x )

[0114] J y =J ystd (1+ΔJ y )

[0115] J z =J zstd (1+ΔJ z )

[0116] Among them, J x , J y , J z is the first moment of inertia, J xstd , J ystd and J zstd is the nominal value of the moment of inertia, ΔJ x , ΔJ y , ΔJ z is the inertia deviation (percentage).

[0117] The first rolling moment coefficient, the first yaw moment coefficient, and the first pitch moment coefficient are determined according to the mass center deviation, mass center movement caused by engine combustion, axial force coefficient, normal force coefficient, lateral force coefficient, and reference length. The calculation formula may be:

[0118]

[0119]

[0120] Among them, C mx , C my , C mz is the first rolling moment coefficient (also called the first rolling moment coefficient), the first yaw moment coefficient, and the first pitch moment coefficient; C mxstd , C mystd , C mzstd is the nominal value of the rolling moment coefficient, the nominal value of the yaw moment coefficient, and the nominal value of the pitch moment coefficient; ΔX t , ΔY t , ΔZ t is the mass center deviation (longitudinal deviation of mass center, lateral deviation of mass center, lateral deviation of mass center), ΔX m is the mass center movement caused by engine combustion, C X , C Y , C Z are the axial force coefficient, normal force coefficient and lateral force coefficient in the aircraft coordinate system, L ref is the reference length.

[0121] The first three channel torque deviations are determined based on the engine thrust deviation, the engine thrust nominal value, the engine thrust deflection angle, the engine thrust lateral displacement and the center of mass deviation. The calculation formula is:

[0122] Mxe=-F y ×(R Z -ΔZ t )+F z ×(R Y -ΔY t )

[0123] Mye=F x ×(R Z -ΔZ t )-F z ×(R X -ΔX t )

[0124] Mze=-F x ×(R Y -ΔY t )+F y ×(R X -ΔX t )

[0125] Among them, Mxe, Mye, and Mze are the torque deviations of the first three channels, R X , R Y , R Z is the engine thrust lateral displacement (i.e. thrust eccentricity) of the three axes, ΔX t , ΔY t , ΔZ t is the mass center deviation (longitudinal deviation of mass center, lateral deviation of mass center, lateral deviation of mass center);

[0126] F x =F×cos(δ1)×cos(δ2)

[0127] F y =F×sin(δ1)

[0128] F z =F×cos(δ1)×sin(δ2)

[0129] Where δ1 and δ2 are the engine thrust deflection angles (i.e., the angles between the engine thrust line and the Y and Z axes); F = F std ×(1+F e ), F std is the nominal thrust of the engine, F e Thrust deviation.

[0130] The second rolling moment coefficient, the second yaw moment coefficient and the second pitching moment coefficient are determined according to the rolling moment coefficient nominal value, the yaw moment coefficient nominal value, the pitching moment coefficient nominal value, the rolling moment coefficient constant deviation, the yaw moment coefficient constant deviation, the pitching moment coefficient constant deviation, the rolling moment coefficient derivative to the sideslip angle, the yaw moment coefficient derivative to the sideslip angle, the pitching moment coefficient derivative to the angle of attack, the rolling moment coefficient derivative to the rolling rudder deflection, the rolling moment coefficient derivative to the rolling rudder deflection deviation, the yaw moment coefficient derivative to the yaw rudder deflection, the yaw moment coefficient derivative to the yaw rudder deflection deviation, the pitching moment coefficient derivative to the pitch rudder deflection, and the pitching moment coefficient derivative to the pitch rudder deflection deviation. The calculation formulas of the second rolling moment coefficient, the second yaw moment coefficient and the second pitching moment coefficient may be:

[0131]

[0132] Among them, C mx , C my , C mz are the second rolling moment coefficient, the second yaw moment coefficient and the second pitch moment coefficient respectively; C mxstd , C mystd , C mzstd They are the nominal values ​​of the rolling moment coefficient, the yaw moment coefficient, and the pitch moment coefficient; are the constant value deviation of the rolling moment coefficient, the constant value deviation of the yaw moment coefficient, and the constant value deviation of the pitch moment coefficient; is the derivative of the rolling moment coefficient with respect to the sideslip angle; is the derivative of the yaw moment coefficient with respect to the sideslip angle; is the derivative of the pitching moment coefficient with respect to the angle of attack; is the derivative of the rolling moment coefficient with respect to the rolling rudder deflection (i.e. the rolling rudder efficiency coefficient); is the deviation of the derivative of the rolling moment coefficient with respect to the rolling rudder deflection (i.e. the deviation of the rolling rudder efficiency coefficient); is the derivative of the yaw moment coefficient with respect to the yaw rudder deflection (i.e., the yaw rudder efficiency coefficient), is the deviation of the derivative of the yaw moment coefficient with respect to the yaw rudder deflection (i.e. the yaw rudder efficiency coefficient deviation); is the derivative of the pitch moment coefficient with respect to the pitch rudder deflection (i.e. the pitch rudder efficiency coefficient); is the deviation of the derivative of the pitch moment coefficient to the pitch rudder deflection (i.e. the pitch rudder efficiency coefficient deviation). β, δ x , δ y , δ z They are sideslip angle, roll rudder deflection, yaw rudder deflection, and pitch rudder deflection.

[0133] The first drag coefficient, the first lift coefficient, and the first side force coefficient are determined according to the drag coefficient nominal value, the lift coefficient nominal value, the side force coefficient nominal value, and corresponding deviations. The specific calculation formula may be:

[0134]

[0135] Among them, C a , C l , C z are the first drag coefficient, the first lift coefficient and the first side force coefficient in the velocity coordinate system, respectively, C astd , C lstd , C zstd is the nominal value of the drag coefficient, the nominal value of the lift coefficient, and the nominal value of the side force coefficient; ΔC a , ΔC l , ΔC z It is the deviation of drag coefficient (percentage), the deviation of lift coefficient (percentage), and the deviation of side force coefficient (percentage); is the constant deviation of the resistance coefficient, is the constant deviation of lift coefficient, is the constant deviation of the lateral force coefficient. The first drag coefficient C in the velocity coordinate system a 、First lift coefficient C l and the first lateral force coefficient C z , and the axial force coefficient C in the aircraft coordinate system X , Normal force coefficient C Y and the lateral force coefficient C Z Can be converted into each other.

[0136] in addition,

[0137]

[0138] in, is the three-channel damping moment coefficient (roll damping coefficient Yaw damping coefficient Pitch damping coefficient ), is the corresponding deviation, is the roll cross damping coefficient, is the yaw cross damping coefficient.

[0139] In an embodiment of the present invention, the damping coefficient deviation, the aerodynamic parameter deviation and the center of mass deviation will all affect the three moment coefficients (rolling moment coefficient, yaw moment coefficient and pitching moment coefficient). Specifically, the damping coefficient deviation can be first incorporated into the three moment coefficients, and then the aerodynamic parameter deviation can be incorporated into the three moment coefficients, and finally the center of mass deviation can be incorporated into the three moment coefficients. That is, the damping coefficient deviation is first added to the nominal values ​​of the three moment coefficients, and then the aerodynamic parameter deviation is added on this basis, and finally the center of mass deviation is added.

[0140] Compared with the related art which does not comprehensively consider the random deviation of overall parameters (deviation can also be called error), the embodiment of the present invention considers 28 items of random deviation of overall parameters in 6 categories, as shown in Table 2 below, including launch condition deviation (also called target binding deviation), initial disturbance, mass inertia center of mass deviation, power system performance deviation, wind field disturbance, and aerodynamic parameter deviation (the deviation here can also be called pull deviation).

[0141] Table 2 Random deviation items of overall parameters

[0142]

[0143]

[0144] Among them, the longitudinal deviation of the center of mass ΔX t The influence of the center of gravity deviation has been included.

[0145] In addition, regarding the ballistic model, it can specifically be a six-degree-of-freedom ballistic model, including the center of mass dynamics equation, the center of mass kinematics equation, the attitude dynamics equation, the attitude kinematics equation, the mass change equation, and the angle relationship equation.

[0146] Specifically, the center-of-mass dynamics equation can be:

[0147]

[0148]

[0149] in:

[0150] P is the engine thrust;

[0151] V is the flight speed of the aircraft;

[0152] G is gravity;

[0153] α and β are the attack angle and sideslip angle of the aircraft;

[0154] m and g are the real-time mass of the aircraft and the gravitational acceleration of the projectile;

[0155] θ、ψ v , γ vIt is the aircraft's trajectory inclination angle, trajectory deviation angle, and velocity tilt angle.

[0156] X, Y, and Z are the pneumatic axial force, normal force, and lateral force.

[0157] The kinematic equation for the center of mass can be:

[0158]

[0159] in:

[0160] x, y, and z are the position coordinates of the center of mass of the aircraft.

[0161] The attitude dynamics equation can be:

[0162]

[0163] in:

[0164] J x , J y , J z is the moment of inertia of the projectile around the longitudinal axis, normal axis and lateral axis;

[0165] ω x ,ω y ,ω z is the angular velocity of the projectile around the longitudinal axis, normal axis and lateral axis;

[0166] M x 、M y 、M z are rolling moment, yaw moment, and pitch moment;

[0167] The attitude kinematics equation can be:

[0168]

[0169]

[0170] in:

[0171] γ, ψ, are the roll angle, yaw angle, and pitch angle;

[0172] The mass change equation can be:

[0173]

[0174] in:

[0175] μ is the mass change rate;

[0176] The angle relationship equation can be:

[0177]

[0178] According to an embodiment of the present invention, an embodiment of a target shooting 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 executable computer 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.

[0179] In this embodiment, a target shooting simulation method is provided, which can be used in a computer device. Figure 2 is a flow chart of a target shooting simulation method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0180] Step S201, using an inertial navigation system error random generation model, based on preset values ​​of various inertial device errors, randomly generating a first inertial device error value; based on preset values ​​of initial alignment errors, randomly generating a first initial alignment error;

[0181] Step S202, adding the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain a first angular velocity and / or a first acceleration of the aircraft;

[0182] Step S203, adding the first initial alignment error to the initial alignment posture to obtain a first initial alignment posture of the aircraft;

[0183] Step S204, performing inertial navigation solution using the first angular velocity and / or the first acceleration, and the first initial alignment posture to obtain a navigation result;

[0184] Step S205, performing guidance and attitude control calculations based on the navigation results to obtain rudder deflection;

[0185] Step S206, using the population parameter error random generation model, based on the preset population parameter error related value, randomly generate a first population parameter error value;

[0186] Step S207, adding the first population parameter error value to the population parameter to obtain the first population parameter;

[0187] Step S208: using the trajectory model, based on the first overall parameter and the rudder deflection, obtain angular velocity and / or acceleration.

[0188] The target shooting simulation method provided in the embodiment of the present invention can obtain target shooting simulation results that are closer to the actual situation by establishing an accurate inertial navigation system error random generation model and a comprehensive overall parameter error random generation model, combining a navigation guidance control model (for navigation solution) and a trajectory model, which is helpful to determine the overall plan of the aircraft, design control system parameters, improve control system performance, shorten the aircraft development cycle, and reduce the aircraft development cost.

[0189] For the specific process of introducing random deviation of overall parameters and inertial navigation system errors, please refer to Figure 1 .

[0190] In order to verify the simulation ideas and algorithms, the embodiment of the present invention develops Monte Carlo ballistic simulation software, which is jointly developed by Matlab / Design and VC++ tools. The ballistic model, that is, the six-degree-of-freedom simulation model is implemented using VC++ tools, and the parameter binding interface is implemented using Matlab / Design tools. Figure 3 As shown, the user operation process includes: setting the number of target shots, setting the value of the overall deviation (i.e., the value of the overall parameter random deviation item), setting the value of the inertial error (the value of the inertial navigation system error item), starting the target shooting simulation, generating the first overall parameter error value and participating in solving the ballistic model, generating the inertial device error value and the initial alignment error and participating in the navigation, guidance and attitude control solutions.

[0191] The interfaces of the above simulation software mainly include login interface, main interface, overall parameter random deviation setting interface, inertial navigation system error setting interface, simulation result analysis interface, and attitude and position error image drawing interface.

[0192] Login interface such as Figure 4 As shown in the figure, it is the first display interface of the simulation software. Click the button icon below "Run" to jump to the main interface. Figure 5 As shown in the figure, it is the second display interface of the simulation software. Through this interface, you can enter the overall parameter random deviation setting interface, the inertial navigation system error setting interface, and the simulation result analysis interface. The simulation process information is also displayed in this interface. By clicking the button icon on the right of "Overall Deviation Setting", you can open the overall parameter random deviation setting interface; click the button icon on the right of "Inertial Error Setting" to open the inertial navigation system error setting interface; click the button icon on the right of "Start Target Shooting Simulation" to call the EXE program generated by VS2017 to start the simulation, and the simulation status can be displayed in real time in the text box; click the button icon on the right of "Simulation Result Analysis" to open the simulation result analysis interface.

[0193] Population parameter random deviation setting interface, such as Figure 6As shown, the user can input the moment of inertia deviation, power performance deviation and aerodynamic parameter deviation, and click the button icon to the right of "Binding" to realize the binding of random deviation of overall parameters.

[0194] Inertial navigation system error setting interface, such as Figure 7 As shown, the user can input the zero bias, zero bias stability, scale factor nonlinearity, cross coupling and initial alignment related errors of the inertial device, and click the button icon to the right of "Bind" to bind the error parameters of the inertial navigation system.

[0195] Simulation result analysis interface, such as Figure 8 As shown in the figure, the user can enter "flight reliability", "seeker recognition probability" and the mid-terminal guidance handover probability and damage probability calculated above in the "hit probability calculation" panel, and click the button icon on the right of "probability calculation" to obtain the hit probability and draw a drop point scatter diagram. Take a set of data as an example, after analysis and calculation by the software, Fig. 9 shown.

[0196] Attitude and position error image drawing interface, such as Fig.10 As shown, entering this interface can automatically draw images of the roll angle error, yaw angle error, pitch angle error, longitude error, latitude error, and altitude error.

[0197] In summary, the embodiment of the present invention provides a Monte Carlo target shooting simulation method based on the random error of the overall parameter and the error of the inertial navigation system. By establishing an accurate random generation model of the inertial navigation system error and a random generation model of the overall parameter error, a simulation result that is closer to the actual situation can be obtained, which is helpful to determine the overall plan of the aircraft, design control system parameters, improve the performance of the control system, shorten the aircraft development cycle, and reduce the aircraft development cost.

[0198] In the present embodiment, a target shooting simulation device is also provided, and the device is used to implement the above-mentioned target shooting simulation method embodiment and preferred implementation mode, and the description has been made no further. 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.

[0199] This embodiment provides a target shooting simulation device, such as Fig.11 As shown, including:

[0200] The first error generating module 1101 is used to randomly generate a first inertial device error value based on preset inertial device error related values ​​by using an inertial navigation system error random generation model; and to randomly generate a first initial alignment error based on preset initial alignment error related values;

[0201] A first calculation module 1102 is used to add the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain a first angular velocity and / or a first acceleration of the aircraft;

[0202] A second calculation module 1103 is used to add the first initial alignment error to the initial alignment posture to obtain a first initial alignment posture of the aircraft;

[0203] A navigation solution module 1104 is used to perform inertial navigation solution using the first angular velocity and / or the first acceleration, and the first initial alignment posture to obtain a navigation result;

[0204] A guidance and attitude control calculation module 1105 is used to perform guidance and attitude control calculations based on the navigation results to obtain rudder deflection;

[0205] The second error generating module 1106 is used to randomly generate a first population parameter error value based on a preset population parameter error related value by using a population parameter error random generation model;

[0206] A third calculation module 1107 is used to add the first overall parameter error value to the overall parameter to obtain a first overall parameter;

[0207] The trajectory solving module 1108 is used to obtain angular velocity and / or acceleration based on the first overall parameter and the steering deflection by using the trajectory model.

[0208] The further functional description of each of the above modules is the same as that of the above corresponding embodiments and will not be repeated here.

[0209] The target shooting 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.

[0210] The embodiment of the present invention also provides a computer device having the above Fig.11 The target shooting simulation device shown.

[0211] See also Fig.12 , Fig.12 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.12As 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). Fig.12 A processor 10 is taken as an example.

[0212] 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.

[0213] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the target shooting simulation method shown in the above embodiment.

[0214] 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.

[0215] 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.

[0216] 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. Fig.12 The example of connecting through bus is taken in the following.

[0217] 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.

[0218] The computer device also includes a communication interface for the computer device to communicate with other devices or a communication network.

[0219] The embodiment of the present invention also provides a computer-readable storage medium. The target shooting simulation 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 and downloaded through a network, so that the target shooting simulation 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 target shooting simulation method shown in the above embodiment is implemented.

[0220] A part of the present invention can be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the target shooting simulation 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 the computer-readable medium includes but is not limited to source files, executable files, installation package files, 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 can be any available computer-readable storage medium or communication medium accessible to the computer.

[0221] 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 target shooting simulation system, characterized in that: The system comprises: an inertial navigation system error random generation model, an overall parameter error random generation model and a trajectory model; The inertial navigation system error random generation model is used to randomly generate a first inertial device error value based on preset inertial device error related values; randomly generate a first initial alignment error based on preset initial alignment error related values; add the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain a first angular velocity and / or first acceleration of the aircraft; add the first initial alignment error to the initial alignment attitude to obtain a first initial alignment attitude of the aircraft; The first angular velocity and / or the first acceleration, and the first initial alignment posture are used to perform inertial navigation solution, and the obtained navigation result is used to perform guidance and attitude control calculation to obtain the rudder deflection; The population parameter error random generation model is used to randomly generate a first population parameter error value based on a preset population parameter error related value; the first population parameter error value is used to add into the population parameter to obtain the first population parameter; The trajectory model is used to obtain angular velocity and / or acceleration based on the first overall parameter and the rudder deflection.

2. The system according to claim 1, characterized in that The various inertial device error-related values ​​include a gyro three-axis zero bias value, a gyro three-axis zero bias stability value, a gyro three-axis cross-coupling value and / or a gyro three-axis scale factor nonlinearity value; The first inertial device error value includes a first Gaussian white noise, a gyro three-axis cross-coupling value and / or a gyro three-axis scale factor nonlinear value; The first Gaussian white noise takes the gyro three-axis zero bias value as expectation and the gyro three-axis zero bias stability value as variance.

3. The system according to claim 1, characterized in that The various inertial device error-related values ​​include a three-axis zero bias value, a three-axis zero bias stability value, a three-axis cross-coupling value, and a three-axis scale factor nonlinearity value. The first inertial device error value includes a second Gaussian white noise, the three-axis cross-coupling value of the added table and / or the three-axis scale factor nonlinear value of the added table; the second Gaussian white noise takes the three-axis zero bias value of the added table as expectation and takes the three-axis zero bias stability value of the added table as variance.

4. The system according to claim 1, characterized in that The overall parameter error related value includes at least one of the following: target binding deviation, initial disturbance, mass deviation, inertia deviation, center of mass deviation, power performance deviation, wind speed deviation and aerodynamic parameter deviation; The first overall parameter includes at least one of the following: A first target binding parameter having the target binding deviation added thereto; the mass of the vehicle with the mass deviation added; A first wind speed to which the wind speed deviation is added; A first moment of inertia to which the inertia deviation is added; A first rolling moment coefficient, a first yaw moment coefficient and a first pitching moment coefficient to which the center of mass deviation is added; The first three-channel torque deviation after adding the power performance deviation; A second rolling moment coefficient, a second yaw moment coefficient, and a second pitching moment coefficient after adding the aerodynamic parameter deviation; The first drag coefficient, the first lift coefficient, and the first side force coefficient are added with the aerodynamic parameter deviation.

5. The system according to claim 4, characterized in that The first moment of inertia is determined according to a nominal value of the moment of inertia and the inertia deviation; and / or, The first rolling moment coefficient, the first yaw moment coefficient, and the first pitching moment coefficient are determined according to the mass center deviation, the mass center movement caused by engine combustion, the axial force coefficient, the normal force coefficient, the lateral force coefficient, and the reference length; and / or, The first three-channel torque deviation is determined based on the engine thrust deviation, the engine thrust nominal value, the engine thrust deflection angle, the engine thrust lateral displacement and the center of mass deviation; and / or, The second rolling moment coefficient, the second yaw moment coefficient and the second pitching moment coefficient are determined according to the rolling moment coefficient nominal value, the yaw moment coefficient nominal value, the pitching moment coefficient nominal value, the rolling moment coefficient constant deviation, the yaw moment coefficient constant deviation, the pitching moment coefficient constant deviation, the rolling moment coefficient derivative to the sideslip angle, the yaw moment coefficient derivative to the sideslip angle, the pitching moment coefficient derivative to the angle of attack, the rolling moment coefficient derivative to the rolling rudder deflection, the deviation of the rolling moment coefficient to the derivative of the rolling rudder deflection, the yaw moment coefficient derivative to the yaw rudder deflection, the deviation of the yaw moment coefficient derivative to the yaw rudder deflection, the pitching moment coefficient derivative to the pitch rudder deflection, and the deviation of the pitching moment coefficient derivative to the pitch rudder deflection; and / or, The first drag coefficient, the first lift coefficient, and the first side force coefficient are determined according to a nominal value of the drag coefficient, a nominal value of the lift coefficient, a nominal value of the side force coefficient, and corresponding deviations.

6. The system according to claim 1, characterized in that The first inertial device error value generated by the inertial navigation system error random generation model satisfies a normal distribution; and / or, The first initial alignment error generated by the inertial navigation system error random generation model satisfies a normal distribution; and / or, The first population parameter error value generated by the population parameter error random generation model satisfies the normal distribution.

7. A target shooting simulation method, characterized in that: The method comprises: Using the inertial navigation system error random generation model, based on preset values ​​related to various inertial device errors, randomly generate a first inertial device error value; based on preset values ​​related to initial alignment errors, randomly generate a first initial alignment error; Adding the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain a first angular velocity and / or a first acceleration of the aircraft; Adding the first initial alignment error to the initial alignment attitude to obtain a first initial alignment attitude of the aircraft; Performing inertial navigation solution using the first angular velocity and / or the first acceleration, and the first initial alignment posture to obtain a navigation result; Perform guidance and attitude control calculations based on the navigation results to obtain rudder deflection; Using a population parameter error random generation model, based on a preset population parameter error related value, randomly generate a first population parameter error value; Adding the first population parameter error value to the population parameter to obtain a first population parameter; The trajectory model is used to obtain angular velocity and / or acceleration based on the first overall parameter and the rudder deflection.

8. A target shooting simulation device, characterized in that: The device comprises: A first error generation module is used to randomly generate a first inertial device error value based on preset inertial device error related values ​​by using an inertial navigation system error random generation model; and to randomly generate a first initial alignment error based on preset initial alignment error related values; A first calculation module, configured to add the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain a first angular velocity and / or a first acceleration of the aircraft; A second calculation module, configured to add the first initial alignment error to an initial alignment attitude to obtain a first initial alignment attitude of the aircraft; a navigation solution module, configured to perform inertial navigation solution using the first angular velocity and / or the first acceleration, and the first initial alignment posture to obtain a navigation result; A guidance and attitude control calculation module, used for performing guidance and attitude control calculations based on the navigation results to obtain rudder deflection; A second error generation module is used to randomly generate a first population parameter error value based on a preset population parameter error related value by using a population parameter error random generation model; A third calculation module, used for adding the first overall parameter error value into the overall parameter to obtain a first overall parameter; The trajectory solving module is used to obtain the angular velocity and / or acceleration based on the first overall parameter and the rudder deflection by using the trajectory model.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the target shooting simulation method according to claim 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the target shooting simulation method described in claim 7.

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