Detection system modeling method suitable for detection, guidance and control integrated evaluation

Abstract

The invention relates to a detection system modeling method suitable for detection, guidance and control integrated evaluation, which is characterized by comprising the following steps: step 1, a detection system adopts an outer frame yawing and inner frame pitching detection system structure, and adopts an aircraft attitude angle, a missile-target relative position and a frame angle to calculate a theoretical misalignment angle of yawing and pitching directions at the current moment; calculating a coupling angular velocity coupled to the detection system at the current moment by adopting a detection system frame angle and a projectile body attitude angular velocity; 2, the theoretical misalignment angle is processed, and the processed misalignment angle serves as input of a control system according to a fixed time interval; 3, establishing a single-channel control model of the detection system, simulating the movement of the detection system in an inertial space, and obtaining the output of a gyroscope of the detection system; and step 4, resolving the line-of-sight angular velocity by adopting a least square method. According to the method, the calculation complexity is remarkably reduced, the simulation efficiency is improved, the field angle constraint and kinematics coupling can be accurately described, and the rapid iteration requirement of guidance control simulation can be met.

Description

Technical Field

[0001] This invention relates to guidance and control simulation and modeling technology, specifically to a modeling method for a detection system suitable for integrated evaluation of detection, guidance, and control. Background Technology

[0002] Modern warfare places increasingly higher demands on the accuracy of aircraft guidance, especially in high-intensity conflicts, where aircraft guidance and control systems must possess higher dynamic response capabilities and anti-jamming capabilities. Guidance and control simulation is an important simulation method for verifying guidance and control strategies. Traditional guidance and control simulations often simplify the aircraft's detection system to a low-order transfer function, making it difficult to accurately reflect the dynamics and kinematic characteristics of the detection system in real-world environments, resulting in significant discrepancies between simulation and experimental results.

[0003] As the core sensor of the aircraft's guidance and control system, the detection system's dynamic characteristics and output accuracy have a decisive impact on guidance accuracy. In guidance and control simulation, the accuracy of the model directly affects the verification effect of the guidance algorithm. However, the dynamic model of the detection system involves complex unmodeled nonlinear factors. If the model is built entirely according to the actual physical principles, the computational complexity is high, the simulation efficiency is low, and it is difficult to meet the requirements of rapid iterative guidance and control simulation. Therefore, it is necessary to reasonably simplify secondary factors while ensuring the key characteristics of the model, and establish a mathematical model that can reflect the main dynamic characteristics of the detection system and is convenient for simulation calculation. This model should be able to accurately characterize key characteristics such as field-of-view constraints, kinematic coupling, and measurement errors, while taking into account computational efficiency to meet the real-time and accuracy requirements of guidance and control simulation. Summary of the Invention

[0004] The technical problem to be solved by this invention is to establish a low-complexity, high-confidence digital model of a detection system, which improves the reliability of digital simulation of aircraft guidance and control while ensuring high simulation efficiency.

[0005] To address the aforementioned technical problems, this invention provides a modeling method for a detection system suitable for integrated assessment of detection, guidance, and control, characterized by comprising the following steps:

[0006] Step 1: The detection system adopts a detection system structure with an outer frame for yaw and an inner frame for pitch. The theoretical misalignment angle of the yaw and pitch directions at the current moment is calculated using the aircraft attitude angle, the relative position of the missile and the target, and the frame angle. The coupling angular velocity coupled to the detection system at the current moment is calculated using the detection system frame angle and the missile attitude angular velocity.

[0007] Step 2: Based on the resolution of the sensitive element, the information processing frame rate, and the angle sensor error, process the theoretical misalignment angle calculated in Step 1, and use the processed misalignment angle as the input of the control system at fixed time intervals.

[0008] Step 3: Establish a single-channel control model for the detection system, simulate the motion of the detection system in inertial space, and obtain the output of the gyroscope of the detection system;

[0009] Step 4: Based on the output misalignment angle of the sensitive element obtained in Step 2 and the output of the gyroscope of the detection system obtained in Step 3, the line-of-sight angular velocity is calculated using the least squares method.

[0010] Compared with existing technologies, the method of this invention has the following advantages and effects: While ensuring the key dynamic characteristics of the detection system, it reasonably simplifies minor nonlinear factors, significantly reducing computational complexity and improving simulation efficiency. Compared with high-precision models, this method can accurately characterize core characteristics such as field-of-view constraints and kinematic coupling, while also meeting the rapid iterative requirements of guidance and control simulation. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a single-channel control loop model for the detection system. Detailed Implementation

[0012] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0013] This invention mainly includes calculating the ideal misalignment angle and coupling angular velocity based on information such as attitude angle and frame angle; converting the theoretical misalignment angle into the output misalignment angle based on the resolution of the sensitive element and the information processing frame frequency; simulating the frame motion based on the frame control model to obtain the frame gyroscope output; and calculating the line-of-sight angular velocity using the least squares method based on the misalignment angle and gyroscope output.

[0014] To establish a mathematical model for the detection system's positioner that facilitates rapid iterative simulation of the guidance and control system, this invention proposes a modeling method for the detection system's positioner suitable for integrated evaluation of detection, guidance, and control. In the simulation of the guidance and control system, the actual misalignment angles of the yaw and pitch directions at the current moment are calculated using the system output aircraft attitude angles, missile-target relative positions, and platform frame angles. The angular velocities coupled to the detection system at the current moment are calculated using the frame angles and missile attitude angular velocities. Based on the resolution of the sensitive element, the information processing frame rate, and the angle sensor error, the output misalignment angle of the sensitive element is simulated based on the actual misalignment angle. Based on the control loop model, the kinematic characteristics of the detection system are simulated. Finally, the line-of-sight angular velocity is calculated using the least squares method to complete the mathematical modeling of the detection system.

[0015] Specifically, the steps of the detection system modeling method applicable to integrated detection, guidance, and control evaluation of the present invention are as follows:

[0016] Step 1: The detection system adopts a detection system structure with an outer frame for yaw and an inner frame for pitch. The theoretical misalignment angle of the yaw and pitch directions at the current moment is calculated using the aircraft attitude angle, the relative position of the missile and the target, and the frame angle. The coupling angular velocity coupled to the detection system at the current moment is calculated using the detection system frame angle and the missile attitude angular velocity.

[0017] The theoretical misalignment angle and coupling angular velocity at the current moment are calculated as follows:

[0018] The theoretical misalignment angle is calculated using the aircraft attitude angle, the relative position of the missile and the target, and the frame angle, as shown in equation (1).

[0019]

[0020] In the formula, ε y ,ε z q represents the misalignment angle in yaw and pitch directions. eb ,q bb To detect the pitch and yaw frame angles of the detection system, dX b ,dY b ,dZ b The projections of the relative positions of the projectile and the target onto the X, Y, and Z axes of the projectile system can be obtained by transforming the relative positions of the projectile and the target from the launch system to the projectile system using coordinate transformation, where r is the relative distance between the projectile and the target.

[0021] The coupling angular velocity coupled to the detection system at the current moment is calculated using the frame angle of the detection system and the angular velocity of the projectile attitude, as shown in equation (2).

[0022]

[0023] In the formula, ω x ,ω y ,ω z Let ω be the projection of the projectile's attitude angular velocity onto the projectile's X, Y, and Z axes. by ,ω bz The attitude angular velocity is coupled to the angular velocity on the yaw and pitch frames of the detection system.

[0024] Step 2: Based on the resolution of the sensitive element, the information processing frame rate, and the angle sensor error, process the theoretical misalignment angle calculated in Step 1, and use the processed misalignment angle as the input of the control system at fixed time intervals.

[0025] The theoretical misalignment angle calculated in step 1 is processed as follows:

[0026] The simulation period is set to T, and the information processing frame rate of the detection system is f. pic The resolution of the sensitive element is A dThe theoretical misalignment angle calculated in step 1 is processed to simulate the output misalignment angle of the sensitive element, which is used to solve the control system of the detection system, as shown in equations (3) to (5).

[0027]

[0028] in, Indicates rounding to the nearest integer, ε yc (k),ε zc (k) represents the elevation and azimuth error angles output by the detection unit, where N is an integer, indicating the update of the error angles when the time value is an integer multiple of the information processing frame rate, and f(ε) y A d The transfer function represents the measurement process of the probe element.

[0029] Step 3: Establish a single-channel control model for the detection system, simulate the motion of the detection system in inertial space, and obtain the output of the gyroscope of the detection system;

[0030] The output of the detection system gyroscope includes: performing kinematic calculations on the detection system frame and outputting the line-of-sight angular velocity, as detailed below:

[0031] A single-channel control model of the detection system is established, and each subsystem is discretized with a period of 0.5ms. In each simulation cycle of the guidance and control simulation, the output misalignment angle of the sensitive element obtained in step 2 and the coupling angular velocity obtained in step 1 are used as inputs to solve the motion of the inner frame and outer frame of the detection system, and output the corresponding line-of-sight angular velocity.

[0032] Single-channel control model of the detection system, such as Figure 1 As shown, in the single-channel control model of the detection system, the feedback coefficient and the correction network are parameters that need to be designed. The correction networks are all lead or lag correction networks. The motor element is a first-order transfer function, and the gyroscope element is a second-order transfer function.

[0033] Step 4: Based on the output misalignment angle of the sensitive element obtained in Step 2 and the output of the gyroscope of the detection system obtained in Step 3, the line-of-sight angular velocity is calculated using the least squares method.

[0034] The line-of-sight angular velocity was calculated using the least squares method as follows:

[0035] Integrate the angular velocity output by the gyroscope and add it to the offset angle output by the sensitive element. Take the result of M frames as the least squares input to calculate the line-of-sight angular velocity. Since the frame rate output by the sensitive element is less than the frame rate output by the frame gyroscope, M should be a multiple of the frame rate output by the sensitive element.

[0036] The line-of-sight angular velocities in the pitch and azimuth directions are obtained by using the least squares method, as shown in equation (6).

[0037]

[0038] Where t is the system time corresponding to the most recent M frames, qyc and qzc are the sums of the inner and outer frame gyroscopes and the corresponding misalignment angles corresponding to the most recent M frames, mean(qyc) and mean(qzc) represent the mean values ​​of qyc and qzc, and dqy and dqz represent the line-of-sight angular velocities in the pitch and azimuth directions obtained by the least squares method.

[0039] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A modeling method for a detection system suitable for integrated assessment of detection, guidance, and control, characterized in that, Includes the following steps: Step 1: The detection system adopts a detection system structure with an outer frame for yaw and an inner frame for pitch. The theoretical misalignment angle of the yaw and pitch directions at the current moment is calculated using the aircraft attitude angle, the relative position of the missile and the target, and the frame angle. The coupling angular velocity coupled to the detection system at the current moment is calculated using the detection system frame angle and the missile attitude angular velocity. Step 2: Based on the resolution of the sensitive element, the information processing frame rate, and the angle sensor error, process the theoretical misalignment angle calculated in Step 1, and use the processed misalignment angle as the input of the control system at fixed time intervals. Step 3: Establish a single-channel control model for the detection system, simulate the motion of the detection system in inertial space, and obtain the output of the gyroscope of the detection system; Step 4: Based on the output misalignment angle of the sensitive element obtained in Step 2 and the output of the gyroscope of the detection system obtained in Step 3, the line-of-sight angular velocity is calculated using the least squares method.

2. The detection system modeling method applicable to integrated detection, guidance, and control evaluation according to claim 1, characterized in that, Step 1, calculating the theoretical misalignment angle and coupling angular velocity at the current moment, includes: The theoretical misalignment angle is calculated using the aircraft attitude angle, the relative position of the missile and the target, and the frame angle, as shown in equation (1): In the formula, ε y ,ε z q represents the misalignment angle in yaw and pitch directions. eb ,q bb To detect the pitch and yaw frame angles of the detection system, dX b ,dY b ,dZ b The relative position of the projectile and the target is projected onto the X, Y, and Z axes of the projectile system. It can be obtained by transforming the coordinates from the launch system to the projectile system based on the relative position of the projectile and the target in the launch system. r is the relative distance between the projectile and the target. The coupling angular velocity coupled to the detection system at the current moment is calculated using the frame angle of the detection system and the angular velocity of the projectile attitude, as shown in equation (2): In the formula, ω x ,ω y ,ω z Let ω be the projection of the projectile's attitude angular velocity onto the projectile's X, Y, and Z axes. by ,ω bz The attitude angular velocity is coupled to the angular velocity on the yaw and pitch frames of the detection system.

3. The detection system modeling method applicable to integrated detection, guidance, and control evaluation according to claim 2, characterized in that, In step 2, the methods for processing the theoretical misalignment angle calculated in step 1 include: The simulation period is set to T, and the information processing frame rate of the detection system is f. pic The resolution of the sensitive element is A d The theoretical misalignment angle calculated in step 1 is processed to simulate the output misalignment angle of the sensing element, which is used for the calculation of the detection system control system, as shown in equations (3) to (5): in, Indicates rounding to the nearest integer, ε yc (k),ε zc (k) represents the elevation and azimuth error angles output by the detection unit, where N is an integer, indicating the update of the error angles when the time value is an integer multiple of the information processing frame rate, and f(ε) y A d The transfer function represents the measurement process of the probe element.

4. The detection system modeling method applicable to integrated detection, guidance, and control evaluation according to claim 3, characterized in that, Step 3, obtaining the output of the detection system gyroscope includes: performing kinematic calculations of the detection system frame and outputting the line-of-sight angular velocity, specifically in the following ways: A single-channel control model of the detection system is established, and each subsystem is discretized with a period of 0.5ms. In each simulation cycle of the guidance and control simulation, the output misalignment angle of the sensitive element obtained in step 2 and the coupling angular velocity obtained in step 1 are used as inputs to solve the motion of the inner frame and outer frame of the detection system, and output the corresponding line-of-sight angular velocity.

5. A detection system modeling method suitable for integrated assessment of detection, guidance, and control, as described in claim 4, is characterized in that... In the single-channel control model of the detection system, the feedback coefficient and the correction network are parameters that need to be designed. The correction networks are all lead or lag correction networks. The motor element is a first-order transfer function, and the gyroscope element is a second-order transfer function.

6. The detection system modeling method applicable to integrated assessment of detection, guidance, and control as described in claim 4, characterized in that, In step 4, the least squares method is used to calculate the line-of-sight angular velocity, which includes: integrating the angular velocity output by the gyroscope and adding it to the offset angle output by the sensitive element. The result of M frames is used as the least squares input to calculate the line-of-sight angular velocity. Since the output frame rate of the sensitive element is less than the output frame rate of the frame gyroscope, M should be a multiple of the output frame rate of the sensitive element.

7. A modeling method for a detection system suitable for integrated assessment of detection, guidance, and control, as described in claim 6, is characterized in that, In step 4, the line-of-sight angular velocities in the pitch and azimuth directions are obtained using the least squares method, as shown in equation (6): Where t is the system time corresponding to the most recent M frames, qyc and qzc are the results of adding the inner and outer frame gyroscopes and the corresponding misalignment angles corresponding to the most recent M frames, mean(qyc) and mean(qzc) represent the mean values ​​of qyc and qzc, and dqy and dqz represent the line-of-sight angular velocities in the pitch and azimuth directions obtained by the least squares method.

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