Methods and devices for controlling the attitude of a turntable

Abstract

This invention provides a method and apparatus for controlling the attitude of a turntable. The method includes: in response to the turntable being in an attitude control state, acquiring target data, the target data including the firing direction of a target, the initial attitude angle of the projectile, the installation attitude angle of the inertial navigation system, and the attitude angle of the turntable; based on the target data, determining a turntable rotation command matrix for adjusting the attitude of the turntable, and adjusting the attitude of the turntable based on the turntable rotation command matrix. By integrating dimensional information from multiple angles and determining the turntable rotation command matrix based on matrix operations, the relationship between various coordinate systems can be comprehensively and accurately described, thereby achieving high-precision turntable attitude adjustment.

Description

Technical Field

[0001] This invention relates to the field of target inertial navigation technology, and in particular to a method and apparatus for controlling the attitude of a turntable. Background Technology

[0002] The inertial navigation system (INS) is the core component of a target inertial navigation system, mainly composed of three mutually perpendicular accelerometers and gyroscopes. Inertial navigation is a fully autonomous recursive navigation method that requires prior knowledge of the initial state variables. Initial target alignment utilizes the angle information sensed by the gyroscopes and known information to determine the initial attitude of the projectile in the navigation coordinate system, providing the prerequisite for subsequent precision guidance. The turntable is one of the important pieces of equipment for conducting ground-based hardware-in-the-loop simulation experiments of aircraft attitude. It typically has three frames (inner, middle, and outer) and three degrees of freedom, used to simulate the attitude angle or angular velocity changes of an aircraft in space. Controlling the turntable attitude is possible only if commands are input to the inner, middle, and outer frames.

[0003] When the input turntable commands are inaccurate, the turntable's rotation attitude will not be the expected attitude, and the inertial navigation system (INS) mounted on it will not match the actual launch attitude angle. Improving the accuracy of turntable attitude determination is a crucial issue that the industry urgently needs to address. Summary of the Invention

[0004] This invention provides a method and apparatus for controlling the attitude of a turntable, thereby improving the accuracy of turntable attitude determination.

[0005] This invention provides a method for controlling the attitude of a turntable, wherein an inertial navigation system is mounted on the turntable for controlling the launch attitude of a projectile. The control method includes: In response to the turntable being in attitude control state, target data is acquired, including the target's firing direction, the projectile's initial attitude angle, the inertial navigation system's installation attitude angle, and the turntable's attitude angle; Based on the target data, a turntable rotation command matrix is ​​determined to adjust the attitude of the turntable, and the attitude of the turntable is adjusted based on the turntable rotation command matrix.

[0006] According to a method for controlling the attitude of a turntable provided by the present invention, the step of determining a turntable rotation command matrix for adjusting the attitude of the turntable based on the target data includes: Based on the target data, the first rotation matrix of the inertial group in the north-eastern celestial sphere, the second rotation matrix of the turntable in the north-eastern celestial sphere, and the third rotation matrix of the inertial group relative to the turntable are determined. Based on the first rotation matrix, the second rotation matrix, and the third rotation matrix, a turntable rotation command matrix for adjusting the attitude of the turntable is determined.

[0007] According to a turntable attitude control method provided by the present invention, the step of determining, based on the target data, a first rotation matrix of the inertial navigation system (INS) in the north-eastern celestial coordinate system (NOC), a second rotation matrix of the turntable in the NOC, and a third rotation matrix of the INS relative to the turntable includes: Based on the target's firing direction, the projectile's initial attitude angle, and the inertial navigation system's installation attitude angle, the first rotation matrix of the inertial navigation system in the north-eastern celestial sphere is determined. Based on the attitude angle of the turntable, determine the second rotation matrix of the turntable in the north-eastern celestial sphere; Based on the installation attitude angle of the inertial navigation system (INS), the third rotation matrix of the INS relative to the turntable is determined.

[0008] According to a method for controlling the attitude of a turntable provided by the present invention, the step of determining a turntable rotation command matrix for adjusting the attitude of the turntable based on a first rotation matrix, a second rotation matrix, and a third rotation matrix includes: Based on the first rotation matrix and the second rotation matrix, a fourth rotation matrix of the inertial navigation system relative to the turntable is determined; The turntable rotation command matrix is ​​determined based on the third rotation matrix and the fourth rotation matrix.

[0009] According to the turntable attitude control method provided by the present invention, the first rotation matrix is: ; in, Let be the first rotation matrix. The firing direction of the target. The initial attitude angle of the projectile is... The installation attitude angle of the inertial navigation system. Let be an elementary rotation matrix. The pitch angle, Yaw angle For roll angle, It belongs to the northern eastern system. For inertial navigation system, The projectile system of the target.

[0010] According to the turntable attitude control method provided by the present invention, the second rotation matrix is: ; in, This is the second rotation matrix. Let be the attitude angle of the turntable. This is the attitude coordinate system corresponding to the initial state of the turntable.

[0011] According to the turntable attitude control method provided by the present invention, the third rotation matrix is: ; in, For the third rotation matrix, The installation attitude angle of the inertial navigation system. This is the expected coordinate system after the turntable's attitude is adjusted.

[0012] According to the turntable attitude control method provided by the present invention, the fourth rotation matrix is: ; in, For the fourth rotation matrix, Let be the first rotation matrix. This is the second rotation matrix. For inertial navigation system, This is the attitude coordinate system corresponding to the initial state of the turntable. It belongs to the northern eastern system.

[0013] According to the present invention, a method for controlling the attitude of a turntable is provided, wherein the turntable rotation command matrix is: ; in, The turntable rotation command matrix, For the third rotation matrix, This is the expected coordinate system after the turntable's attitude is adjusted.

[0014] The present invention also provides a control device for the attitude of a turntable, wherein an inertial navigation system is mounted on the turntable for controlling the launch attitude angle of the projectile, the control device comprising: The data acquisition module is used to acquire target data in response to the turntable being in attitude control state. The target data includes the firing direction of the target, the initial attitude angle of the projectile, the installation attitude angle of the inertial navigation system, and the attitude angle of the turntable. The attitude adjustment module is used to determine a turntable rotation command matrix for attitude adjustment of the turntable based on the target data, and to adjust the attitude of the turntable based on the turntable rotation command matrix.

[0015] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the turntable attitude control method as described above.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the turntable attitude control method as described above.

[0017] The turntable attitude control method and apparatus provided by this invention comprehensively considers multiple dimensions of information, including the target's firing direction, the projectile's initial attitude angle, the inertial navigation system's installation attitude angle, and the turntable's attitude angle. Through precise matrix operations, it determines the turntable's rotation command matrix, comprehensively and accurately describing the relationships between various coordinate systems, thereby achieving high-precision turntable attitude adjustment. Furthermore, it can quickly calculate the turntable's rotation command matrix based on real-time acquired attitude angle information and adjust the turntable's attitude promptly, exhibiting excellent real-time performance. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the turntable attitude control method provided by the present invention.

[0020] Figure 2 This is a schematic diagram of the process for determining the turntable control command provided by the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the turntable attitude control device provided by the present invention.

[0022] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] Figure 1 This is a flowchart illustrating the turntable attitude control method provided by the present invention, as shown below. Figure 1 As shown, the method includes the following: Step 110: In response to the turntable being in attitude control state, acquire target data, the target data including the target's firing direction, the projectile's initial attitude angle, the inertial navigation system's installation attitude angle, and the turntable's attitude angle; Step 120: Based on the target data, determine the turntable rotation command matrix for adjusting the attitude of the turntable, and adjust the attitude of the turntable based on the turntable rotation command matrix.

[0025] The execution subject of the turntable attitude control method provided by this invention can be an electronic device, a component in an electronic device, an integrated circuit, or a chip. The electronic device can be a mobile electronic device or a non-mobile electronic device. For example, a mobile electronic device can be a mobile phone, tablet computer, laptop computer, PDA, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc., while a non-mobile electronic device can be a server, network attached storage (NAS), or personal computer (PC), etc. This invention does not impose specific limitations.

[0026] The following describes the technical solution of the present invention in detail, taking the control method for the turntable attitude provided by the present invention executed by a computer as an example.

[0027] In step 110, in response to the turntable being in attitude control state, target data is acquired, the target data including the target's firing direction, the initial attitude angle of the projectile, the installation attitude angle of the inertial navigation system, and the attitude angle of the turntable.

[0028] Once the turntable is determined to be in attitude control mode, target data for subsequent turntable attitude adjustments is acquired. Specifically, the target data includes the target's trajectory, the projectile's initial attitude angle, the inertial navigation system's installation attitude angle, and the turntable's attitude angle.

[0029] It should be noted that the target's trajectory determines its initial orientation at launch. The projectile's initial attitude angles, on the other hand, describe its specific attitude relative to the launch system (specifically determined by pitch, yaw, and roll angles). These attitude angles can be precisely measured using appropriate measuring equipment (such as gyroscopes).

[0030] The inertial measurement unit (IMU) used in the target launch process is a device that uses the principle of inertia to measure the motion state of an object. Specifically, an IMU may consist of a gyroscope, an accelerometer, and a control unit. The IMU is mounted on a turntable and operates based on the principle of inertia in Newtonian mechanics. Before target launch, the IMU performs initial alignment to determine the target's initial attitude and position. After launch, the gyroscope continuously measures the target's angular velocity, and the accelerometer measures the acceleration.

[0031] The inertial measurement unit (INS) has a specific mounting method on the projectile, and its mounting attitude angle relative to the projectile's coordinate system reflects the relationship between the INS coordinate system and the projectile's coordinate system. This mounting attitude angle is known and determined during INS installation. The INS coordinate system is the coordinate system of the inertial measurement unit itself, composed of gyroscopes, accelerometers, and a control unit, used to measure the object's angular velocity and acceleration. The INS coordinate system changes with the installation and attitude of the INS, and its coordinate axis directions are related to the arrangement and measurement directions of the sensors within the INS. The projectile's coordinate system is fixed to the projectile and is used to describe the projectile's attitude and motion in space. The coordinate axes of the projectile's coordinate system are usually aligned with the projectile's main structural directions (such as the longitudinal, transverse, and vertical axes), and change accordingly as the projectile flies and its attitude is adjusted.

[0032] The attitude angle of a turntable can specifically be its attitude angle relative to the North-Eastern celestial coordinate system. Specialized angle measuring equipment (such as high-precision angle sensors and gyroscopes) can be used to measure the turntable's attitude angle relative to the North-Eastern celestial coordinate system, including pitch, yaw, and roll angles. The North-Eastern celestial coordinate system, also known as the Northeast-Northern celestial coordinate system, is a local rectangular coordinate system centered on the observation station (such as the installation point of a satellite receiving station or radar station). Its coordinate axes point as follows: X-axis (East): pointing due east along the tangent to the Earth's ellipsoid; Y-axis (North): pointing due north along the tangent to the Earth's ellipsoid; Z-axis (Celestial): perpendicular to the Earth's ellipsoid, pointing to the zenith (directly above).

[0033] In step 120, based on the target data, a turntable rotation command matrix for adjusting the attitude of the turntable is determined, and the attitude of the turntable is adjusted based on the turntable rotation command matrix.

[0034] It should be noted that the target's trajectory determines its initial orientation at launch, serving as a crucial reference for attitude control. The projectile's initial attitude angles describe its specific attitude relative to the launching system. The inertial navigation system's (INS) installation attitude angles reflect the relative relationship between the INS, the projectile, and the turntable; these angles are determined during INS installation. The turntable's attitude angles describe its current attitude. Specifically, using the basic principles of rotation matrices and coordinate transformation methods, this angle information can be converted into rotation matrices, which are then combined into a final rotation matrix representing the rotation from the INS to the turntable—the turntable rotation command matrix. The turntable rotation command matrix contains the direction and angle information required for the turntable's rotation, guiding precise attitude adjustments.

[0035] Optionally, based on the target's trajectory, the projectile's initial attitude angle, and the inertial navigation system's (INS) installation attitude angle, the first rotation matrix of the INS in the north-sky-east (NSH) system can be derived using the basic principles of rotation matrices and coordinate transformation methods. First, the rotation matrix corresponding to the projectile's initial attitude angle in the launch system is expressed. Then, considering the rotation matrix corresponding to the INS's installation attitude angle relative to the projectile system, the rotation matrix from the launch system to the INS system is obtained through the transitivity of coordinate transformation. Since there is a transformation relationship between the launch system and the NSH system, the first rotation matrix of the INS in the NSH system can be obtained after further transformation and calculation.

[0036] Specialized angle measurement equipment (such as high-precision angle sensors, gyroscopes, etc.) is used to measure the attitude angles of the turntable relative to the north-northeast galaxy, which are also the pitch, yaw, and roll angles. These measurements are the basis for determining the second rotation matrix.

[0037] Based on the definition and properties of rotation matrices, the second rotation matrix of the turntable in the north-eastern celestial sphere is constructed by measuring the attitude angle of the turntable relative to the north-eastern celestial sphere.

[0038] The inertial navigation system (INS) also has a specific installation method on the turntable, and its installation attitude angles relative to the turntable coordinate system are known. These angles describe the relative relationship between the INS coordinate system and the turntable coordinate system.

[0039] The installation attitude angle of the inertial navigation system (INS) relative to the turntable coordinate system is used as the INS's installation attitude angle. For the INS's installation attitude angle relative to the turntable coordinate system, a third rotation matrix from the INS to the turntable is obtained using the rotation matrix construction method. This can be achieved by determining the rotation angles around different axes, constructing corresponding elementary rotation matrices, and then obtaining the third rotation matrix through matrix multiplication.

[0040] Based on the obtained first, second, and third rotation matrices, the turntable rotation command matrix can be determined through matrix operations. Specifically, the first, second, and third rotation matrices can be combined to obtain a final rotation matrix representing the rotation from the inertial navigation system to the turntable, i.e., the turntable rotation command matrix.

[0041] The turntable rotation command matrix is ​​converted into a command format that the turntable controller can understand and sent to the turntable's control system. Based on the received commands, the turntable's control system drives the turntable's actuators (such as motors) to rotate the turntable in the direction and angle indicated by the command matrix, thereby adjusting the turntable's attitude to match the inertial navigation system's attitude or meet specific requirements.

[0042] The turntable attitude control method provided by this invention comprehensively considers multiple dimensions of information, including the target's firing direction, the projectile's initial attitude angle, the inertial navigation system's installation attitude angle, and the turntable's attitude angle. Through precise matrix operations, it determines the turntable's rotation command matrix, comprehensively and accurately describing the relationships between various coordinate systems, thereby achieving high-precision turntable attitude adjustment. Furthermore, it can quickly calculate the turntable's rotation command matrix based on real-time acquired attitude angle information and adjust the turntable's attitude promptly, exhibiting excellent real-time performance.

[0043] In one embodiment, determining a turntable rotation command matrix for attitude adjustment of the turntable based on the target data includes: determining a first rotation matrix of the inertial navigation system (INS) in the north-eastern celestial sphere, a second rotation matrix of the turntable in the north-eastern celestial sphere, and a third rotation matrix of the INS relative to the turntable based on the target data; and determining a turntable rotation command matrix for attitude adjustment of the turntable based on the first rotation matrix, the second rotation matrix, and the third rotation matrix.

[0044] Specifically, determining the first rotation matrix of the inertial navigation system (INS) in the north-eastern celestial sphere, the second rotation matrix of the turntable in the north-eastern celestial sphere, and the third rotation matrix of the INS relative to the turntable, based on the target data, includes: determining the first rotation matrix of the INS in the north-eastern celestial sphere based on the target's firing direction, the initial attitude angle of the projectile, and the installation attitude angle of the INS; determining the second rotation matrix of the turntable in the north-eastern celestial sphere based on the attitude angle of the turntable; and determining the third rotation matrix of the INS relative to the turntable based on the installation attitude angle of the INS.

[0045] It should be noted that the initial attitude angle of the projectile can be the attitude angle of the projectile in the launching system when the target is launched; the installation attitude angle of the inertial navigation system can be the installation attitude angle of the inertial navigation system relative to the projectile system; and the attitude angle of the turntable can be the attitude angle of the turntable relative to the north-south axis.

[0046] Based on the target's trajectory, the projectile's attitude angles in the launch frame, and the inertial navigation system's (INS) installation attitude angles relative to the projectile system, the first rotation matrix of the INS in the north-sky-east (NSO) frame can be derived using the basic principles of rotation matrices and coordinate transformation methods. First, the rotation matrix corresponding to the projectile's attitude angles in the launch frame is expressed. Then, considering the rotation matrix corresponding to the INS's installation attitude angles relative to the projectile system, the rotation matrix from the launch frame to the INS frame is obtained through the transitivity of coordinate transformation. Since there is a transformation relationship between the launch frame and the NSO frame, the first rotation matrix of the INS in the NSO frame can be obtained through further transformation and calculation.

[0047] Specialized angle measurement equipment (such as high-precision angle sensors, gyroscopes, etc.) is used to measure the attitude angles of the turntable relative to the north-northeast galaxy, including pitch, yaw, and roll angles. These measurements form the basis for determining the second rotation matrix.

[0048] Based on the definition and properties of rotation matrices, the measured attitude angles of the turntable relative to the north-eastern celestial sphere are substituted into the corresponding formulas to construct the second rotation matrix of the turntable in the north-eastern celestial sphere.

[0049] The inertial navigation system (INS) also has a specific installation method on the turntable, and its installation attitude angles relative to the turntable coordinate system are known. These angles describe the relative relationship between the INS coordinate system and the turntable coordinate system.

[0050] Based on the installation attitude angles of the inertial navigation system (INS) relative to the turntable coordinate system, the third rotation matrix from the INS to the turntable is obtained using the rotation matrix construction method. This can be achieved by determining the rotation angles around different axes, constructing corresponding elementary rotation matrices, and then obtaining the third rotation matrix through matrix multiplication.

[0051] Based on the first rotation matrix, the second rotation matrix, and the third rotation matrix, the turntable rotation command matrix is ​​determined, and the attitude of the turntable is adjusted based on the turntable rotation command matrix.

[0052] In one embodiment, determining the turntable rotation command matrix based on the first rotation matrix, the second rotation matrix, and the third rotation matrix includes: determining a fourth rotation matrix from the inertial navigation system to the turntable based on the first rotation matrix and the second rotation matrix; and determining the turntable rotation command matrix based on the third rotation matrix and the fourth rotation matrix.

[0053] It should be noted that the initial attitude angle of the projectile can be the attitude angle of the projectile in the launching system when the target is launched; the installation attitude angle of the inertial navigation system can be the installation attitude angle of the inertial navigation system relative to the projectile system; and the attitude angle of the turntable can be the attitude angle of the turntable relative to the north-south axis.

[0054] The first rotation matrix is ​​determined based on the target's firing direction, the projectile's attitude angle in the launch system when the target is launched, and the inertial navigation system's (INS) installation attitude angle relative to the projectile system. It describes the attitude relationship of the INS relative to the north-sky-east system.

[0055] The second rotation matrix is ​​determined based on the attitude angle of the turntable relative to the North-Eastern galaxy, and describes the attitude relationship of the turntable relative to the North-Eastern galaxy.

[0056] From the perspective of coordinate system transformation, to obtain the transformation relationship between the inertial navigation system (INS) and the turntable, the North-East coordinate system can be used as an intermediate bridge for transformation. Based on matrix operations, the fourth rotation matrix from the INS to the turntable can be obtained.

[0057] In one embodiment, the first rotation matrix is: ; in, Let be the first rotation matrix. The firing direction of the target. The initial attitude angle of the projectile is... The installation attitude angle of the inertial navigation system. Let be an elementary rotation matrix. The pitch angle, Yaw angle For roll angle, It belongs to the northern eastern system. For inertial navigation system, The projectile system of the target.

[0058] It should be noted that the final form of the first rotation matrix is ​​a 3x3 matrix. It represents the attitude transformation of the projectile in the launch system from the inertial navigation system to the target launch.

[0059] Determining the first rotation matrix involves a complex calculation involving multiple angle transformations and rotation matrix multiplications. Through this process, a rotation matrix describing the target's attitude at launch can be obtained, which can then be used for subsequent analysis and calculations.

[0060] Optionally, the theoretical attitude angles of the inertial navigation system in the north-northeast sphere can be determined based on the first rotation matrix. ; Specifically, the theoretical attitude angle of the inertial navigation system under the northern sky eastward system can be: ; The theoretical attitude angles of the inertial navigation system (INS) under the northern sky-eastern galaxy can be used to assist in the final determination of the turntable rotation command matrix for comparison, and to measure the INS alignment accuracy.

[0061] Specifically, after determining the turntable rotation command matrix, the turntable is adjusted in attitude according to the turntable rotation command matrix. After the adjustment is completed, the inertial navigation system performs initial alignment to obtain an actual attitude angle under the north-sky-east system.

[0062] The actual attitude angles of the inertial navigation system (INS) under the northern sky east system can be compared with the theoretical attitude angles of the INS under the northern sky east system to determine the INS alignment accuracy.

[0063] In one embodiment, based on the definition and properties of the rotation matrix, the measured attitude angle of the turntable relative to the north-east celestial sphere is substituted into the corresponding formula to construct the second rotation matrix of the turntable in the north-east celestial sphere.

[0064] The resulting second rotation matrix is: ; in, This is the second rotation matrix. Let be the attitude angle of the turntable. This is the attitude coordinate system corresponding to the initial state of the turntable. The initial state of the turntable refers to its state before attitude adjustment.

[0065] In one embodiment, based on the installation attitude angle of the inertial navigation system (INS) relative to the turntable coordinate system, a third rotation matrix from the INS to the turntable is obtained using a rotation matrix construction method. This can be achieved by determining the rotation angles around different axes, constructing corresponding elementary rotation matrices, and then obtaining the third rotation matrix through matrix multiplication.

[0066] The resulting third rotation matrix is: ; in, For the third rotation matrix, The installation attitude angle of the inertial navigation system. This is the expected coordinate system after the turntable's attitude is adjusted.

[0067] Among them, the expected coordinate system after the turntable attitude adjustment is the coordinate system corresponding to the expected attitude obtained after the turntable is adjusted according to the command.

[0068] In one embodiment, the fourth rotation matrix can be: ; in, For the fourth rotation matrix, Let be the first rotation matrix. This is the second rotation matrix. For inertial navigation system, This is the attitude coordinate system corresponding to the initial state of the turntable. It belongs to the northern eastern system.

[0069] After obtaining the fourth rotation matrix, in order to obtain a more accurate and comprehensive turntable rotation command matrix that reflects the turntable attitude adjustment, it can be calculated and determined based on the third and fourth rotation matrices.

[0070] Generally, according to the rules for combining rotation matrices, the third and fourth rotation matrices are appropriately calculated to obtain the turntable rotation command matrix. The information from these two matrices can be fused through matrix multiplication, or other forms of combination operations can be performed based on specific physical meanings and mathematical models. However, the essence is to integrate the attitude information from the inertial navigation system to the turntable contained in the two matrices, ultimately obtaining a rotation command matrix that can accurately guide the turntable to make attitude adjustments.

[0071] The resulting turntable rotation command matrix is: ; in, The turntable rotation command matrix, For the third rotation matrix, This is the expected coordinate system after the turntable's attitude is adjusted.

[0072] The turntable rotation command matrix contains all the rotation information required to get from the current inertial navigation system state to the desired turntable state. By executing the rotation operation corresponding to this matrix on the turntable, the turntable can be adjusted to a suitable attitude.

[0073] It should be noted that the turntable rotation command matrix is ​​a 3×3 orthogonal matrix that contains the rotation information of the turntable in three-dimensional space.

[0074] After obtaining the turntable rotation command matrix, specific mathematical methods, such as Euler angle decomposition and quaternion decomposition, can be used to decompose the rotation command matrix into specific attitude angles, such as pitch, yaw, and roll. Taking Euler angle decomposition as an example, by decomposing the matrix in a certain order, the corresponding three Euler angles can be obtained.

[0075] Using the decomposition method described above, the target pitch angle, target yaw angle, and target roll angle that the turntable needs to be adjusted to are extracted from the turntable rotation command matrix. These angles are the target values ​​for turntable attitude adjustment.

[0076] The calculated control quantity is converted into a control signal that the turntable control system can recognize and execute. Common control signal types include analog signals and digital signals. If the turntable control system uses analog circuits, the control quantity needs to be converted into a corresponding voltage or current signal; if it is a digital control system, the control quantity is converted into a digitally encoded signal, such as a PWM (Pulse Width Modulation) signal.

[0077] The converted control signal is sent to the actuators of the turntable, such as motor drivers and hydraulic servo valves. The actuators drive the various axes of the turntable to rotate according to the received control signal, thereby adjusting the turntable's posture and gradually bringing it to the target posture.

[0078] This invention also provides a schematic diagram of the process for determining turntable control commands, such as... Figure 2 As shown, the process for determining turntable control commands includes: First, determine the input parameters, which include the target's firing direction 0, the target's attitude angle 1 in the launch system, the inertial navigation system's (INS) installation attitude angle relative to the target system 2, the turntable's attitude angle relative to the north-sky-east system 3, and the INS installation attitude angle 4 relative to the turntable coordinate system.

[0079] The first rotation matrix of the inertial navigation system (INS) under the north-eastern sphere is obtained from the direction 0, attitude angle 1, and attitude angle 2; the second rotation matrix of the turntable under the north-eastern sphere is obtained from the attitude angle 3; and the fourth rotation matrix from the INS to the turntable is obtained from the first and second rotation matrices.

[0080] The third rotation matrix from the inertial navigation system to the turntable is obtained from the attitude angle 4.

[0081] The turntable rotation command matrix is ​​obtained from the third rotation matrix and the fourth rotation matrix, and the turntable control command for controlling the turntable attitude adjustment is obtained from the turntable rotation command matrix.

[0082] The theoretical attitude angle of the inertial navigation system (INS) under the north-eastern celestial system is obtained from the first rotation matrix. This theoretical attitude angle is then compared with the actual attitude angle of the INS under the north-eastern celestial system to determine the INS alignment accuracy.

[0083] The turntable attitude control device provided by the present invention is described below. The turntable attitude control device described below and the turntable attitude control method described above can be referred to in correspondence.

[0084] like Figure 3 As shown, the device includes: The data acquisition module 310 is used to acquire target data in response to the turntable being in attitude control state. The target data includes the firing direction of the target, the initial attitude angle of the projectile, the installation attitude angle of the inertial navigation system, and the attitude angle of the turntable. The attitude adjustment module 320 is used to determine a turntable rotation command matrix for attitude adjustment of the turntable based on the target data, and to adjust the attitude of the turntable based on the turntable rotation command matrix.

[0085] The turntable attitude control device provided by this invention comprehensively considers multiple dimensions of information, including the target's firing direction, the projectile's initial attitude angle, the inertial navigation system's installation attitude angle, and the turntable's attitude angle. Through precise matrix operations, it determines the turntable's rotation command matrix, comprehensively and accurately describing the relationships between various coordinate systems, thereby achieving high-precision turntable attitude adjustment. Furthermore, it can quickly calculate the turntable's rotation command matrix based on real-time acquired attitude angle information and adjust the turntable's attitude promptly, exhibiting excellent real-time performance.

[0086] In one embodiment, the attitude adjustment module 320 is specifically used for: The step of determining the turntable rotation command matrix for attitude adjustment based on the target data includes: Based on the target data, the first rotation matrix of the inertial group in the north-eastern celestial sphere, the second rotation matrix of the turntable in the north-eastern celestial sphere, and the third rotation matrix of the inertial group relative to the turntable are determined. Based on the first rotation matrix, the second rotation matrix, and the third rotation matrix, a turntable rotation command matrix for adjusting the attitude of the turntable is determined.

[0087] In one embodiment, the attitude adjustment module 320 is further configured to: The step of determining the first rotation matrix of the inertial group (INS) in the north-eastern celestial sphere, the second rotation matrix of the turntable in the north-eastern celestial sphere, and the third rotation matrix of the INS relative to the turntable based on the target data includes: Based on the target's firing direction, the projectile's initial attitude angle, and the inertial navigation system's installation attitude angle, the first rotation matrix of the inertial navigation system in the north-eastern celestial sphere is determined. Based on the attitude angle of the turntable, determine the second rotation matrix of the turntable in the north-eastern celestial sphere; Based on the installation attitude angle of the inertial navigation system (INS), the third rotation matrix of the INS relative to the turntable is determined.

[0088] In one embodiment, the attitude adjustment module 320 is further configured to: The step of determining the turntable rotation command matrix for attitude adjustment based on the first rotation matrix, the second rotation matrix, and the third rotation matrix includes: Based on the first rotation matrix and the second rotation matrix, a fourth rotation matrix of the inertial navigation system relative to the turntable is determined; The turntable rotation command matrix is ​​determined based on the third rotation matrix and the fourth rotation matrix.

[0089] In one embodiment, the attitude adjustment module 320 is further configured to: The first rotation matrix is: ; in, Let be the first rotation matrix. The firing direction of the target. The initial attitude angle of the projectile is... The installation attitude angle of the inertial navigation system. Let be an elementary rotation matrix. The pitch angle, Yaw angle For roll angle, It belongs to the northern eastern system. For inertial navigation system, The projectile system of the target.

[0090] In one embodiment, the attitude adjustment module 320 is further configured to: The second rotation matrix is: ; in, This is the second rotation matrix. Let be the attitude angle of the turntable. This is the attitude coordinate system corresponding to the initial state of the turntable.

[0091] In one embodiment, the attitude adjustment module 320 is further configured to: The third rotation matrix is: ; in, For the third rotation matrix, The installation attitude angle of the inertial navigation system. This is the expected coordinate system after the turntable's attitude is adjusted.

[0092] In one embodiment, the attitude adjustment module 320 is further configured to: The fourth rotation matrix is: ; in, For the fourth rotation matrix, Let be the first rotation matrix. This is the second rotation matrix. For inertial navigation system, This is the attitude coordinate system corresponding to the initial state of the turntable. It belongs to the northern eastern system.

[0093] In one embodiment, the attitude adjustment module 320 is further configured to: The turntable rotation command matrix is ​​as follows: ; in, The turntable rotation command matrix, For the third rotation matrix, This is the expected coordinate system after the turntable's attitude is adjusted.

[0094] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4As shown, the electronic device may include a processor 410, a communications interface 420, a memory 430, and a communication bus 440, wherein the processor 410, communications interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a turntable attitude control method, which includes: in response to the turntable being in an attitude control state, acquiring target data, the target data including the target's firing direction, the projectile's initial attitude angle, the inertial navigation system's installation attitude angle, and the turntable's attitude angle; Based on the target data, a turntable rotation command matrix is ​​determined to adjust the attitude of the turntable, and the attitude of the turntable is adjusted based on the turntable rotation command matrix.

[0095] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being able to be stored on a non-transitory computer-readable storage medium, the computer program being executed by a processor, the computer being able to execute the turntable attitude control method provided by the above methods, the method including: in response to the turntable being in an attitude control state, acquiring target data, the target data including the firing direction of the target, the initial attitude angle of the projectile, the installation attitude angle of the inertial navigation system and the attitude angle of the turntable; Based on the target data, a turntable rotation command matrix is ​​determined to adjust the attitude of the turntable, and the attitude of the turntable is adjusted based on the turntable rotation command matrix.

[0097] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for the attitude of a turntable provided by the methods described above, the method comprising: in response to the turntable being in an attitude control state, acquiring target data, the target data including the firing direction of a target, the initial attitude angle of the projectile, the installation attitude angle of the inertial navigation system, and the attitude angle of the turntable; Based on the target data, a turntable rotation command matrix is ​​determined to adjust the attitude of the turntable, and the attitude of the turntable is adjusted based on the turntable rotation command matrix.

[0098] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. 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 the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the attitude of a turntable, characterized in that, An inertial navigation system is mounted on the turntable to control the launch attitude of the projectile. The control method includes: In response to the turntable being in attitude control state, target data is acquired, including the target's firing direction, the projectile's initial attitude angle, the inertial navigation system's installation attitude angle, and the turntable's attitude angle; Based on the target data, a turntable rotation command matrix for adjusting the attitude of the turntable is determined, and the attitude of the turntable is adjusted based on the turntable rotation command matrix. The step of determining the turntable rotation command matrix for attitude adjustment based on the target data includes: Based on the target data, the first rotation matrix of the inertial group in the north-eastern celestial sphere, the second rotation matrix of the turntable in the north-eastern celestial sphere, and the third rotation matrix of the inertial group relative to the turntable are determined. Determining a turntable rotation command matrix for attitude adjustment based on the first rotation matrix, the second rotation matrix, and the third rotation matrix includes: determining a fourth rotation matrix of the inertial navigation system relative to the turntable based on the first rotation matrix and the second rotation matrix; and determining the turntable rotation command matrix based on the third rotation matrix and the fourth rotation matrix. The first rotation matrix is: ； in, Let be the first rotation matrix. The firing direction of the target. The initial attitude angle of the projectile is... The installation attitude angle of the inertial navigation system. Let be an elementary rotation matrix. The pitch angle, Yaw angle For roll angle, It belongs to the northern eastern system. For inertial navigation system, The projectile system of the target; The second rotation matrix is: ； in, This is the second rotation matrix. Let be the attitude angle of the turntable. This refers to the attitude coordinate system corresponding to the initial state of the turntable. The third rotation matrix is: ； in, For the third rotation matrix, The installation attitude angle of the inertial navigation system. The expected coordinate system after the turntable attitude adjustment; The fourth rotation matrix is: ； in, For the fourth rotation matrix, Let be the first rotation matrix. This is the second rotation matrix. For inertial navigation system, This is the attitude coordinate system corresponding to the initial state of the turntable. It belongs to the northern eastern system; The turntable rotation command matrix is ​​as follows: ； in, The turntable rotation command matrix, For the third rotation matrix, This is the expected coordinate system after the turntable's attitude is adjusted.

2. The method for controlling the attitude of a turntable according to claim 1, characterized in that, The step of determining the first rotation matrix of the inertial group (INS) in the north-eastern celestial sphere, the second rotation matrix of the turntable in the north-eastern celestial sphere, and the third rotation matrix of the INS relative to the turntable based on the target data includes: Based on the target's firing direction, the projectile's initial attitude angle, and the inertial navigation system's installation attitude angle, the first rotation matrix of the inertial navigation system in the north-eastern celestial sphere is determined. Based on the attitude angle of the turntable, determine the second rotation matrix of the turntable in the north-eastern celestial sphere; Based on the installation attitude angle of the inertial navigation system (INS), the third rotation matrix of the INS relative to the turntable is determined.

3. A control device for the attitude of a turntable, characterized in that, An inertial navigation system is mounted on the turntable to control the launch attitude angle of the projectile. The control device includes: The data acquisition module is used to acquire target data in response to the turntable being in attitude control state. The target data includes the firing direction of the target, the initial attitude angle of the projectile, the installation attitude angle of the inertial navigation system, and the attitude angle of the turntable. The attitude adjustment module is used to determine a turntable rotation command matrix for attitude adjustment of the turntable based on the target data, and to adjust the attitude of the turntable based on the turntable rotation command matrix. The step of determining the turntable rotation command matrix for attitude adjustment based on the target data includes: Based on the target data, the first rotation matrix of the inertial group in the north-eastern celestial sphere, the second rotation matrix of the turntable in the north-eastern celestial sphere, and the third rotation matrix of the inertial group relative to the turntable are determined. Determining a turntable rotation command matrix for attitude adjustment based on the first rotation matrix, the second rotation matrix, and the third rotation matrix includes: determining a fourth rotation matrix of the inertial navigation system relative to the turntable based on the first rotation matrix and the second rotation matrix; and determining the turntable rotation command matrix based on the third rotation matrix and the fourth rotation matrix. The first rotation matrix is: ； in, Let be the first rotation matrix. The firing direction of the target. The initial attitude angle of the projectile is... The installation attitude angle of the inertial navigation system. Let be an elementary rotation matrix. The pitch angle, Yaw angle For roll angle, It belongs to the northern eastern system. For inertial navigation system, The projectile system of the target; The second rotation matrix is: ； in, This is the second rotation matrix. Let be the attitude angle of the turntable. This refers to the attitude coordinate system corresponding to the initial state of the turntable. The third rotation matrix is: ； in, For the third rotation matrix, The installation attitude angle of the inertial navigation system. The expected coordinate system after the turntable attitude adjustment; The fourth rotation matrix is: ； in, For the fourth rotation matrix, Let be the first rotation matrix. This is the second rotation matrix. For inertial navigation system, This is the attitude coordinate system corresponding to the initial state of the turntable. It belongs to the northern eastern system; The turntable rotation command matrix is ​​as follows: ； in, The turntable rotation command matrix, For the third rotation matrix, This is the expected coordinate system after the turntable's attitude is adjusted.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the turntable attitude control method as described in any one of claims 1 to 2.

5. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the turntable attitude control method as described in any one of claims 1 to 2.

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