Guided grenade control method, electronic equipment and storage medium

Abstract

The invention is suitable for the technical field of grenade control, and provides a guided grenade control method, electronic equipment and a storage medium. The method comprises the following steps: determining a launching angle of the grenade according to a seeker field angle of the grenade, and controlling launching of the grenade based on the launching angle; controlling a grenade engine to boost the grenade; if boosting is not finished and the seeker does not detect the target, a first rudder deflection angle is determined based on the deviation between the real-time pitch angle of the grenade body and the expected pitch angle, and a pitch rudder of the grenade is controlled according to the first rudder deflection angle so that the grenade can climb at the launching angle; and if the boosting is finished and the seeker does not detect the target, determining a second rudder deflection angle based on the deviation between the real-time attitude data and the expected attitude data of the grenade, and controlling the pitching rudder according to the second rudder deflection angle to enable the grenade to fly flatly. According to the invention, the grenade can detect the ground in the climbing section and the level flight section, the detection time of the seeker for detecting the target is increased, the seeker can accurately and rapidly detect the target, and the guidance precision is improved.

Description

Technical Field

[0001] The present application relates to the field of grenade control technology, and in particular to a guided grenade control method, electronic equipment, and storage medium. Background Art

[0002] The trajectory of a howitzer's projectile is relatively curved, forming a parabola. This allows it to bypass obstacles and hit its target, making it suitable for striking targets hidden behind other objects. To ensure more accurate impact, grenades can be guided.

[0003] However, in related technologies, when a guided grenade adopts a parabolic trajectory, when the grenade is in the ascending section of the parabolic trajectory, the grenade seeker cannot detect the target due to field of view reasons. When the grenade reaches the highest point of the parabolic trajectory and begins to descend, although the seeker can detect the target, the time for the seeker to detect the target is short, resulting in a decrease in guidance accuracy or even inability to achieve guidance. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a guided grenade control method, electronic device and storage medium to solve the technical problems of low guidance accuracy or even inability to achieve guidance in related methods.

[0005] In a first aspect, an embodiment of the present application provides a guided grenade control method, comprising: determining a launch angle of the grenade according to a field of view angle of a grenade seeker, and controlling the launch of the grenade based on the launch angle; controlling the engine of the grenade to boost the grenade, and determining whether the boost has ended and whether the seeker of the grenade has detected a target; If the boost is not terminated and the seeker does not detect a target, determining a first rudder deflection angle based on a deviation between the real-time body pitch angle of the grenade and a desired pitch angle, and controlling the pitch rudder of the grenade according to the first rudder deflection angle so that the grenade climbs at the launch angle; the desired pitch angle is determined according to the launch angle; If the boost ends and the seeker does not detect the target, a second rudder deflection angle is determined based on the deviation between the real-time attitude data of the grenade and the expected attitude data, and the pitch rudder is controlled according to the second rudder deflection angle to make the grenade fly level.

[0006] In a possible implementation of the first aspect, determining the launch angle of the grenade based on the field of view angle of the grenade seeker includes: determining a first launch angle according to the field of view angle of the seeker head, and determining a maximum launch angle based on the first launch angle; The emission angle is determined according to the maximum emission angle and a preset minimum emission angle.

[0007] In a possible implementation manner of the first aspect, the expression for the first emission angle is:

[0008] Where, is the first emission angle, is the seeker field of view angle, is the height of the grenade launch point, is the gravitational acceleration at the grenade launch point, The time from when the grenade is launched from the barrel to when the engine ignites. is the minimum horizontal distance between the target and the grenade launch point, The speed of the grenade when it leaves the barrel.

[0009] In a possible implementation of the first aspect, before determining the first rudder angle based on the deviation between the real-time body pitch angle of the grenade and the expected pitch angle, the method further includes: determining a desired trajectory inclination angle based on the launch angle; A desired pitch angle is determined based on the desired trajectory inclination angle and a preset thrust of the engine.

[0010] In a possible implementation of the first aspect, the expression for the desired trajectory inclination angle is:

[0011] Where, is the desired trajectory inclination angle, is the emission angle, is the preset time, which is the total time for engine ignition boost. is the grenade flight time; The expression of the desired pitch angle is:

[0012] Where, is the desired pitch angle, is the grenade gravity, is the dynamic pressure head, is the characteristic area of the grenade, is the lift coefficient, The lift generated by the grenade's tail fins, is the preset thrust of the engine, is the first-order derivative coefficient of lift generated by the angle of attack.

[0013] In a possible implementation of the first aspect, the real-time posture data includes the real-time height, real-time ballistic inclination, and real-time projectile pitch angle and angular velocity of the grenade; the expected posture data includes the expected height, expected inclination, and expected angular velocity of the grenade; and the deviation between the real-time posture data and the expected posture data includes a first deviation, a second deviation, and a third deviation. The step of determining a second rudder deflection angle based on a deviation between the real-time attitude data of the grenade and the expected attitude data comprises: determining a first deviation based on the real-time altitude and the desired altitude, determining a second deviation based on the real-time trajectory inclination and the desired inclination, and determining a third deviation based on the real-time projectile pitch angle angular velocity and the desired angular velocity; wherein the desired altitude is determined based on the altitude of the grenade at the end of the boost and the maximum flight altitude, and the maximum flight altitude is determined based on the seeker head field of view angle; A second rudder angle is determined based on the first deviation, the second deviation, and the third deviation.

[0014] In a possible implementation of the first aspect, the method further includes: If the boost is not completed and the seeker detects a target, or if the boost is completed and the seeker detects a target, the grenade is controlled to strike the target.

[0015] In a possible implementation of the first aspect, before determining the maximum emission angle based on the first emission angle, the method further includes: determining a maximum flight altitude according to the seeker head field of view angle, and determining a second launch angle based on the maximum flight altitude; Accordingly, determining the maximum emission angle based on the first emission angle includes: The smaller value between the first emission angle and the second emission angle is used as the maximum emission angle.

[0016] In a second aspect, an embodiment of the present application provides a guided grenade control device, comprising: The determination module is used to determine the launch angle of the grenade according to the field of view angle of the grenade's seeker, and control the launch of the grenade based on the launch angle.

[0017] The judgment module is used to control the engine of the grenade to boost the grenade, and to judge whether the boost is completed and whether the seeker of the grenade detects the target.

[0018] A first control module is configured to determine a first rudder deflection angle based on a deviation between a real-time body pitch angle of the grenade and a desired pitch angle when the boost has not ended and the seeker has not detected a target, and control the pitch rudder of the grenade according to the first rudder deflection angle so that the grenade climbs at the launch angle; the desired pitch angle is determined according to the launch angle.

[0019] The second control module is configured to determine a second rudder deflection angle based on a deviation between the real-time attitude data of the grenade and the expected attitude data when the boost ends and the seeker fails to detect a target, and control the pitch rudder according to the second rudder deflection angle to make the grenade fly level.

[0020] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the guided grenade control method as described in any one of the first aspects is implemented.

[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the guided grenade control method as described in any one of the first aspects.

[0022] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0023] The guided grenade control method, electronic device, and storage medium provided in the embodiments of the present application determine the launch angle of the grenade based on the field of view of the grenade's seeker, and control the grenade to climb at the launch angle during the climb phase based on the grenade's real-time body pitch angle and the expected pitch angle, thereby ensuring that the seeker of the grenade climbing at the launch angle can always detect the ground during the climb phase. If the climb phase ends and the seeker has not detected the target, the grenade is controlled to fly horizontally based on the grenade's real-time attitude data and the expected attitude data, thereby ensuring that the seeker of the grenade can always detect the ground during the level flight phase, avoiding the problem of short target detection time caused by the grenade starting to descend after reaching the highest point of the parabolic trajectory in the related art. Since the present application ensures that the grenade can detect the ground during both the climb phase and the level flight phase, it increases the detection time of the seeker to detect the target, thereby enabling the seeker to accurately and quickly detect the target, thereby improving the guidance accuracy.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present application; Figure 2 1 is a flow chart of a guided grenade control method provided in one embodiment of the present application; Figure 3 is a schematic diagram of a grenade trajectory provided by an embodiment of the present application; Figure 4 This is a schematic structural diagram of a guided grenade control device provided in one embodiment of the present application; Figure 5 It is a structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0027] The present application will be described more clearly below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the function of the present application, but are not intended to limit the present application in any form. It should be noted that those skilled in the art may make a number of modifications and improvements without departing from the concept of the present application. These all fall within the scope of protection of the present application.

[0028] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0029] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0030] In the description of this application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0032] In addition, the “plurality” mentioned in the embodiments of the present application should be interpreted as two or more.

[0033] In order to improve the guidance accuracy and achieve precise guidance, this application controls the grenade to climb at a launch angle in the climbing section based on the real-time body pitch angle and the expected pitch angle of the grenade. The launch angle is determined according to the field of view angle of the seeker head, thereby ensuring that the grenade seeker can always detect the ground in the climbing section. If the climbing stage ends and the seeker head fails to detect the target, the grenade is controlled to fly level according to the real-time attitude data and the expected attitude data of the grenade, thereby ensuring that the grenade seeker can always detect the ground in the level flight section. Since the grenade is guaranteed to detect the ground in both the climbing section and the level flight section, the detection time of the seeker head to detect the target is increased, so that the seeker head can detect the target accurately and quickly, thereby improving the guidance accuracy.

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0035] First reference Figure 1 , Figure 1 An application scenario of the present application is schematically shown, which includes electronic equipment, grenades and targets.

[0036] The electronic equipment determines the launch angle of the grenade based on the field of view of the grenade's seeker, and controls the launch of the grenade based on the launch angle. It then controls the grenade's engine to boost the grenade and determines whether the boost has ended and whether the grenade's seeker has detected the target.

[0037] If boost has not yet ended and the seeker has not detected a target, a first rudder angle is determined based on the deviation between the grenade's real-time body pitch angle and the desired pitch angle, and the grenade's pitch rudder is controlled based on the first rudder angle to cause the grenade to climb at the launch angle. If boost has ended and the seeker has not detected a target, a second rudder angle is determined based on the deviation between the grenade's real-time attitude data and the desired attitude data, and the pitch rudder is controlled based on the second rudder angle to cause the grenade to fly level. The desired pitch angle is determined based on the launch angle.

[0038] The electronic device may be a hardware device with data storage, processing and analysis functions, such as a controller.

[0039] The following combination Figure 1 ,refer to Figure 2 The guided grenade control method provided in accordance with an exemplary embodiment of the present application will be described.

[0040] Figure 2 FIG. 1 is a flow chart of a guided grenade control method provided by an embodiment of the present application. Figure 2 As shown, the method in the embodiment of the present application may include: Step 201: Determine the launch angle of the grenade according to the field of view of the grenade seeker, and control the launch of the grenade based on the launch angle.

[0041] Exemplarily, different grenades have different seeker field angles, for example, the seeker field angle of a grenade can be ±13°. In order to ensure that the grenade can fly normally, the launch angle of the grenade is restricted.

[0042] In some embodiments, when determining the launch angle of a grenade based on the field of view angle of the grenade's seeker, a first launch angle can be determined based on the field of view of the grenade, a maximum launch angle can be determined based on the first launch angle, and the launch angle can be determined based on the maximum launch angle and a preset minimum launch angle.

[0043] Exemplarily, in this embodiment, the launch angle is greater than or equal to the minimum launch angle, and the launch angle is less than or equal to the maximum launch angle, that is, the launch angle takes any value between the minimum launch angle and the maximum launch angle. The minimum launch angle is determined based on the shape of the grenade, etc., and is the minimum angle to ensure that the grenade can climb normally. For example, the minimum launch angle can be set to 3°. The maximum launch angle is the critical launch angle at which the seeker can detect the ground. When the launch angle is greater than the maximum launch angle, the seeker will not be able to detect the ground due to field of view reasons, and thus will not be able to detect targets on the ground. In this embodiment, the first launch angle is determined as the maximum launch angle based on the seeker field of view angle, and then the launch angle is determined, so that the grenade is subsequently controlled to be launched and climb at this launch angle, ensuring that the grenade seeker can always detect the ground during the climbing phase.

[0044] Optionally, the expression for the first emission angle is:

[0045] Where, is the first emission angle, is the seeker field of view angle. Here, the absolute value of the seeker field of view angle is substituted into the expression of the first launch angle. is the height of the grenade launch point, is the gravitational acceleration at the grenade launch point, The time from when the grenade is launched from the barrel to when the engine ignites. The minimum horizontal distance between the target and the grenade launch point, that is, the target is set at a distance from the grenade launch point. or Locations outside of Can be set to 500 meters, The speed of the grenade when it leaves the barrel.

[0046] Step 202: Control the engine of the grenade to boost the grenade, and determine whether the boost is completed and whether the grenade seeker detects the target.

[0047] For example, after the grenade is launched at a controlled launch angle, the engine of the grenade is controlled to boost the grenade at a preset thrust. The preset thrust and boost time are determined based on the charge of the grenade. For example, the boost time may be 5 seconds. When the engine boosts the grenade, the grenade is in a climbing phase.

[0048] Step 203: If the boost has not ended and the seeker has not detected a target, a first rudder angle is determined based on the deviation between the real-time body pitch angle of the grenade and the desired pitch angle, and the pitch rudder of the grenade is controlled according to the first rudder angle so that the grenade climbs at the launch angle.

[0049] The desired pitch angle is determined according to the launch angle. In this embodiment, after the grenade is launched at the launch angle, the seeker is controlled to continuously detect the target.

[0050] If boost has not yet concluded and the seeker has not detected a target, the grenade is controlled to climb at the launch angle to ensure the seeker can always detect the ground during the climb phase. Because the trajectory angle varies significantly during the climb phase due to engine thrust, it is not easily controlled. In this embodiment, the projectile's pitch angle is used as the controlled object.

[0051] Illustratively, this embodiment may determine a desired ballistic inclination angle according to a launch angle, and determine a desired pitch angle based on the desired ballistic inclination angle and a preset thrust of the engine.

[0052] Optionally, the expression for the desired trajectory inclination is:

[0053] Where, is the desired trajectory inclination angle, is the emission angle, The preset time is the total time of engine ignition boost. Grenade flight time.

[0054] The expression for the desired pitch angle is:

[0055] Where, is the desired pitch angle, is the grenade gravity, is the dynamic pressure head, is the characteristic area of the grenade, is the lift coefficient, The lift generated by the grenade's tail fins, is the preset thrust of the engine, is the first-order derivative coefficient of lift generated by the angle of attack.

[0056] For example, refer to Figure 3 During the climb phase, when the grenade's body pitch angle is adjusted according to the desired pitch angle, the grenade can climb at the launch angle, ensuring that the grenade's seeker can always detect the ground during the climb phase. Therefore, in this embodiment, PID control is performed based on the deviation between the real-time body pitch angle and the desired pitch angle. Specifically, a first rudder deflection angle is determined based on the deviation between the real-time body pitch angle and the desired pitch angle, and the grenade's pitch rudder is controlled based on the first rudder deflection angle to bring the real-time body pitch angle close to or equal to the desired pitch angle, thereby allowing the grenade to climb at the launch angle.

[0057] Optionally, the expression for the first rudder deflection angle is:

[0058] Where, is the first rudder deflection angle, 、 and are the coefficients of the proportional link, integral link and differential link respectively, is the deviation between the real-time projectile pitch angle and the expected pitch angle.

[0059] Step 204: If the boost ends and the seeker does not detect the target, a second rudder deflection angle is determined based on the deviation between the real-time attitude data of the grenade and the expected attitude data, and the pitch rudder is controlled according to the second rudder deflection angle to make the grenade fly level.

[0060] The real-time posture data may include the real-time height, real-time ballistic inclination, and real-time pitch angle and angular velocity of the grenade. Correspondingly, the expected posture data includes the expected height, expected inclination, and expected angular velocity of the grenade. The deviation between the real-time posture data and the expected posture data includes a first deviation, a second deviation, and a third deviation.

[0061] Here, when the boost ends and the seeker does not detect the target, it is necessary to ensure that the seeker can always detect the ground during the subsequent flight of the grenade. Figure 3 After the boost is completed, this embodiment controls the grenade to enter the level flight phase with the height, ballistic inclination and angular velocity of the projectile's pitch angle as the controlled objects, so that the seeker can detect the ground in the level flight phase, thereby avoiding the problem of short target detection time caused by the grenade starting to descend after reaching the highest point of the parabolic trajectory in the related art.

[0062] It should be noted that after the boost ends, the engine no longer provides boost to the grenade, so the thrust given to the grenade by the engine during the level flight phase is 0.

[0063] In some embodiments, when determining the second rudder deflection angle, a first deviation can be determined based on the real-time altitude and the expected altitude, a second deviation can be determined based on the real-time ballistic inclination and the expected inclination, and a third deviation can be determined based on the real-time projectile pitch angle velocity and the expected angular velocity, and the second rudder deflection angle can be determined based on the first deviation, the second deviation and the third deviation.

[0064] Among them, the expected height is determined by the height of the grenade at the end of the boost and the maximum flight altitude. The maximum flight altitude is determined by the field of view angle of the seeker head. The maximum flight altitude is the critical height at which the seeker head can detect the ground. When the height of the grenade is greater than the maximum flight altitude, the seeker head will not be able to detect the ground.

[0065] The expression for the maximum flight altitude is:

[0066] Where, is the maximum flight altitude, is the maximum distance that the seeker can detect in the field of view, is the seeker field of view angle, is the design angle of attack of the grenade. Under this design angle of attack, the grenade can maintain level flight, and the pitch angle of the projectile is equal to the angle of attack.

[0067] Here, a reference altitude is determined based on the grenade's altitude at the end of the boost and the altitude coefficient. To ensure the seeker can detect the ground, the desired altitude is determined by taking the smaller of the reference altitude and the maximum flight altitude. For example, the altitude coefficient can be set to 1.1. Furthermore, since the grenade is controlled for level flight, the desired inclination angle and the desired angular velocity are both set to 0. Furthermore, a first deviation is determined based on the grenade's real-time altitude and the desired altitude. A second deviation is determined based on the real-time ballistic inclination angle, and a third deviation is determined based on the real-time projectile pitch angle and angular velocity.

[0068] Afterwards, the super-helical sliding mode control method is used to determine the second rudder deflection angle based on the first deviation, the second deviation and the third deviation, and the pitch rudder of the grenade is controlled according to the second rudder deflection angle, so that the real-time height of the grenade is close to or equal to the desired height, and the real-time ballistic inclination angle and the real-time projectile pitch angle angular velocity are close to or equal to 0, so that the grenade flies level.

[0069] Optionally, use the super-helical sliding mode control method and set the sliding surface to:

[0070] Where, is the sliding surface, 、 and are the first deviation, the second deviation and the third deviation respectively, 、 and is the sliding mode control parameter.

[0071] make , the expression of the second rudder deflection angle can be obtained as:

[0072] in,

[0073]

[0074] Where, is the second rudder deflection angle, is the equivalent control law, is the moment of inertia of the grenade about the z axis in the projectile coordinate system, is the length of the grenade body, and are the pitching moment coefficients for and The partial derivative of is the angle of attack of the grenade, is the flight speed of the grenade, is the ballistic inclination angle, is the first derivative of the desired height, is the dynamic pressure head, is the characteristic area of the grenade, is the first-order derivative coefficient of the lift generated by the angle of attack, is the lift coefficient, The lift generated by the grenade's tail fins, is the mass of the grenade, is the gravitational acceleration at the grenade launch point, is the grenade zero attack angle moment, is the switching control law, is the gain parameter, is the compensation term of sliding mode control, To regulate The gain parameter of the rate of change. and Both are greater than zero.

[0075] In a possible implementation, this embodiment further controls the grenade to strike the target when the boost has not ended and the seeker has detected the target, or when the boost has ended and the seeker has detected the target.

[0076] Optionally, when the seeker detects a target, the grenade is no longer controlled to climb according to step 202, and the grenade is no longer controlled to fly level according to step 203, but the grenade is controlled to hit the target, that is, the grenade is controlled to enter the guidance mode.

[0077] As can be seen from the preceding, the maximum flight altitude is the critical height at which the seeker can detect the ground. If the grenade's altitude exceeds the maximum flight altitude, the seeker will be unable to detect the ground. To further ensure that the seeker can detect the ground during the climb phase, the launch angle can also be limited based on the grenade's maximum flight altitude.

[0078] In some embodiments, before determining the maximum launch angle based on the first launch angle, the maximum flight altitude may be determined based on the seeker field of view angle, and the second launch angle may be determined based on the maximum flight altitude.

[0079] Accordingly, when determining the maximum emission angle, the smaller value between the first emission angle and the second emission angle may be used as the maximum emission angle.

[0080] In this embodiment, after determining the maximum flight altitude, the Runge-Kutta method is used to integrate the grenade's altitude based on a six-degree-of-freedom projectile model to obtain the launch angle corresponding to the maximum flight altitude, which is then used as the second launch angle. Specifically, the Runge-Kutta method is used to simulate the grenade's altitude based on the six-degree-of-freedom projectile model. The relevant grenade parameters are used as simulation inputs, and the preset launch angles of the grenade are varied. The altitude is then integrated for each preset launch angle to obtain the maximum altitude of the grenade after the boost is completed. This is the maximum altitude corresponding to each preset launch angle. The preset launch angle corresponding to the maximum altitude closest to the maximum flight altitude is then used as the launch angle corresponding to the maximum flight altitude, i.e., the second launch angle.

[0081] Therefore, the smaller of the first and second launch angles is used as the maximum launch angle to limit the grenade's launch angle. This way, when determining the launch angle, not only the seeker's field of view is taken into account, but also the impact of the grenade's flight altitude on the seeker's field of view. This further ensures that the seeker can always detect the ground during the grenade's climb phase, and thus detect targets on the ground.

[0082] The guided grenade control method provided in an embodiment of the present application determines the launch angle of the grenade based on the field of view angle of the grenade's seeker, and controls the grenade to climb at the launch angle during the climb phase based on the grenade's real-time body pitch angle and the expected pitch angle, thereby ensuring that the seeker of the grenade climbing at the launch angle can always detect the ground during the climb phase. If the climb phase ends and the seeker has not detected the target, the grenade is controlled to fly horizontally based on the grenade's real-time attitude data and the expected attitude data, thereby ensuring that the seeker of the grenade can always detect the ground during the level flight phase, avoiding the problem of short target detection time caused by the grenade starting to descend after reaching the highest point of the parabolic trajectory in the related art. Since the present application ensures that the grenade can detect the ground during both the climb phase and the level flight phase, it increases the detection time of the seeker to detect the target, thereby enabling the seeker to accurately and quickly detect the target, thereby improving the guidance accuracy.

[0083] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0084] Figure 4 FIG is a schematic diagram of the structure of a guided grenade control device provided in one embodiment of the present application. Figure 4 As shown, the guided grenade control device provided in this embodiment may include: a determination module 401 , a judgment module 402 , a first control module 403 and a second control module 404 .

[0085] The determination module 401 is configured to determine a launch angle of the grenade according to a field of view angle of a grenade seeker, and control the launch of the grenade based on the launch angle.

[0086] The judgment module 402 is used to control the engine of the grenade to boost the grenade, and to judge whether the boost is completed and whether the seeker of the grenade detects the target.

[0087] The first control module 403 is used to determine a first rudder deflection angle based on the deviation between the real-time body pitch angle of the grenade and the expected pitch angle when the boost has not ended and the seeker has not detected a target, and control the pitch rudder of the grenade according to the first rudder deflection angle so that the grenade climbs at the launch angle; the expected pitch angle is determined according to the launch angle.

[0088] The second control module 404 is used to determine a second rudder deflection angle based on the deviation between the real-time attitude data of the grenade and the expected attitude data when the boost ends and the seeker fails to detect the target, and control the pitch rudder according to the second rudder deflection angle to make the grenade fly level.

[0089] Optionally, the determining module 401 is further configured to: determining a first launch angle according to the field of view angle of the seeker head, and determining a maximum launch angle based on the first launch angle; The emission angle is determined according to the maximum emission angle and a preset minimum emission angle.

[0090] Optionally, the first control module 403 is further configured to: determining a desired trajectory inclination angle based on the launch angle; A desired pitch angle is determined based on the desired trajectory inclination angle and a preset thrust of the engine.

[0091] Optionally, the real-time posture data includes the real-time height, real-time ballistic inclination, and real-time projectile pitch angle and angular velocity of the grenade; the expected posture data includes the expected height, expected inclination, and expected angular velocity of the grenade; the deviation between the real-time posture data and the expected posture data includes a first deviation, a second deviation, and a third deviation; and the second control module 404 is further configured to: determining a first deviation based on the real-time altitude and the desired altitude, determining a second deviation based on the real-time trajectory inclination and the desired inclination, and determining a third deviation based on the real-time projectile pitch angle angular velocity and the desired angular velocity; wherein the desired altitude is determined based on the altitude of the grenade at the end of the boost and the maximum flight altitude, and the maximum flight altitude is determined based on the seeker head field of view angle; A second rudder angle is determined based on the first deviation, the second deviation, and the third deviation.

[0092] Optionally, the first control module 403 is further configured to: If the boost is not completed and the seeker detects a target, or if the boost is completed and the seeker detects a target, the grenade is controlled to strike the target.

[0093] Optionally, the determining module 401 is further configured to: determining a maximum flight altitude according to the seeker head field of view angle, and determining a second launch angle based on the maximum flight altitude; And, the smaller value between the first emission angle and the second emission angle is used as the maximum emission angle.

[0094] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0095] Figure 5 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 5 As shown, the electronic device 500 of this embodiment includes: a processor 510 and a memory 520, wherein the memory 520 stores a computer program 521 that can be run on the processor 510. When the processor 510 executes the computer program 521, the steps of any of the above-mentioned method embodiments are implemented, such as Figure 2 Alternatively, when the processor 510 executes the computer program 521, the functions of the modules / units in the above-mentioned device embodiments are realized, for example Figure 4 Functions of modules 401 to 404 are shown.

[0096] For example, the computer program 521 may be divided into one or more modules / units, one or more of which are stored in the memory 520 and executed by the processor 510 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 521 in the electronic device 500.

[0097] Those skilled in the art will understand that Figure 5 These are merely examples of electronic devices and do not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0098] The processor 510 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0099] The memory 520 can be an internal storage unit of the electronic device, such as a hard drive or memory, or an external storage device, such as a plug-in hard drive, a SmartMedia Card (SMC), a Secure Digital (SD) card, or a flash memory card. The memory 520 can also include both an internal storage unit and an external storage device. The memory 520 is used to store computer programs and other programs and data required by the electronic device. The memory 520 can also be used to temporarily store data that has been output or is about to be output.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0101] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0102] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0103] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0104] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0105] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0106] If the integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention can also implement all or part of the processes in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium.

[0107] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A guided grenade control method, characterized in that: include: determining a launch angle of the grenade according to a field of view angle of a grenade seeker, and controlling the launch of the grenade based on the launch angle; controlling the engine of the grenade to boost the grenade, and determining whether the boost has ended and whether the seeker of the grenade has detected a target; If the boost is not terminated and the seeker does not detect a target, determining a first rudder deflection angle based on a deviation between the real-time body pitch angle of the grenade and a desired pitch angle, and controlling the pitch rudder of the grenade according to the first rudder deflection angle so that the grenade climbs at the launch angle; the desired pitch angle is determined according to the launch angle; If the boost ends and the seeker does not detect the target, a second rudder deflection angle is determined based on the deviation between the real-time attitude data of the grenade and the expected attitude data, and the pitch rudder is controlled according to the second rudder deflection angle to make the grenade fly level.

2. The guided grenade control method according to claim 1, characterized in that: Determining the launch angle of the grenade according to the field of view angle of the grenade seeker includes: determining a first launch angle according to the field of view angle of the seeker head, and determining a maximum launch angle based on the first launch angle; The emission angle is determined according to the maximum emission angle and a preset minimum emission angle.

3. The guided grenade control method according to claim 2, characterized in that: The expression of the first emission angle is: Where, is the first emission angle, is the seeker field of view angle, is the height of the grenade launch point, is the gravitational acceleration at the grenade launch point, The time from when the grenade is launched from the barrel to when the engine ignites. is the minimum horizontal distance between the target and the grenade launch point, The speed of the grenade when it leaves the barrel.

4. The guided grenade control method according to any one of claims 1 to 3, characterized in that: Before determining the first rudder deflection angle based on the deviation between the real-time body pitch angle of the grenade and the expected pitch angle, the method further includes: determining a desired trajectory inclination angle based on the launch angle; A desired pitch angle is determined based on the desired trajectory inclination angle and a preset thrust of the engine.

5. The guided grenade control method according to claim 4, characterized in that: The expression of the desired trajectory inclination angle is: Where, is the desired trajectory inclination angle, is the emission angle, is the preset time, which is the total time for engine ignition boost. is the grenade flight time; The expression of the desired pitch angle is: Where, is the desired pitch angle, is the grenade gravity, is the dynamic pressure head, is the characteristic area of the grenade, is the lift coefficient, The lift generated by the grenade's tail fins, is the preset thrust of the engine, is the first-order derivative coefficient of lift generated by the angle of attack.

6. The guided grenade control method according to any one of claims 1 to 3, characterized in that: The real-time posture data includes the real-time height, real-time ballistic inclination angle, and real-time projectile pitch angle and angular velocity of the grenade; the expected posture data includes the expected height, expected inclination angle, and expected angular velocity of the grenade; the deviation between the real-time posture data and the expected posture data includes a first deviation, a second deviation, and a third deviation; The step of determining a second rudder deflection angle based on a deviation between the real-time attitude data of the grenade and the expected attitude data comprises: determining a first deviation based on the real-time altitude and the desired altitude, determining a second deviation based on the real-time trajectory inclination and the desired inclination, and determining a third deviation based on the real-time projectile pitch angle angular velocity and the desired angular velocity; wherein the desired altitude is determined based on the altitude of the grenade at the end of the boost and the maximum flight altitude, and the maximum flight altitude is determined based on the seeker head field of view angle; A second rudder angle is determined based on the first deviation, the second deviation, and the third deviation.

7. The guided grenade control method according to any one of claims 1 to 3, characterized in that: The method further comprises: If the boost is not completed and the seeker detects a target, or if the boost is completed and the seeker detects a target, the grenade is controlled to strike the target.

8. The guided grenade control method according to claim 2, characterized in that: Before determining the maximum emission angle based on the first emission angle, the method further includes: determining a maximum flight altitude according to the seeker head field of view angle, and determining a second launch angle based on the maximum flight altitude; Accordingly, determining the maximum emission angle based on the first emission angle includes: The smaller value between the first emission angle and the second emission angle is used as the maximum emission angle.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the guided grenade control method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the guided grenade control method according to any one of claims 1 to 8 is implemented.

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