CN105180728B - Front data based rapid air alignment method of rotary guided projectiles - Google Patents

Abstract

The invention provides a front data based rapid air alignment method of rotary guided projectiles. The method comprises the following steps: giving the alignment position and speed by a satellite navigation system and calculating course angles and pitching angles at corresponding moments by using the speed information output by the satellite navigation system; then outputting Np groups of pitching angles, the change rate of the course angles, the change rate of the pitching angles and the gyro output angle speed in INS data from a moment T0 to a set moment T according to a satellite navigation result, determining a coefficient matrix of a rolling angle observation equation, and solving the rolling angle observation equation through a least square method so as to accurately calculate the inertial navigation initial position, the speed and the attitude angle, namely to implement rapid air alignment of the rotary guided projectiles and greatly improve the fall point precision of the rotary guided projectiles. The alignment algorithm is simple and is high in precision, the alignment time is short and the alignment speed is high; the important preparation is made for improving the fall point precision of the rotary guided projectiles and reducing the striking time.

Description

Alignment methods in rotation guided cartridge Quick airs based on front data

Technical field

The present invention relates to Initial Alignment Technique and integrated navigation system technical field, particularly to a kind of based on front data Rotating alignment methods in guided cartridge Quick air, may be used for unmanned plane, spin guided cartridge etc. needs the most self aligned Occasion.

Background technology

Spin guided cartridge is that one is aloft launched, and needs to carry out a kind of advanced precision strike munitions of self-aligned, and it comprises The system such as inertial navigation and GPS, is revised the error of inertial navigation system, reaches the ability of precision strike target by GPS. The deviation of the navigational parameter (such as speed etc.) that Air launching provides relative to other navigation system from inertial navigation estimates inertial navigation system Misalignment and correct it.

Inertial navigation system is a voyage Estimation System based on acceleration quadratic integral, and it fully relies on plant equipment With corresponding algorithm automatically, complete independently navigation task, and there is not any optical, electrical contact in the external world.Owing to it has disguise Good, working environment not by advantages such as meteorological condition are limited, become in space flight, aviation, navigational field a kind of widely used mainly Navigation system.Before inertial navigation system work resolves, need to provide original state, it is simply that need initially to be directed at.Conventional Alignment methods be use Kalman filter algorithm realize, this algorithm needs to set up the error model of system, and algorithm stability is tight Heavily depending on correctness and the levels of precision of navigation error model, and time overhead is relatively big, the filtering cycle is longer；Additionally exist Not considering during Kalman filter that inertial navigation is operated in weightlessness, accelerometer output is almost nil, the sight to roll angle Survey weak effect, and the precision that is directed at is the highest and requires time for long.Accelerometer method is used aloft to be in because of guided cartridge Under reduced gravity situations, accelerometer output result noise is too big, and the even true output of disappearance causes final calculated roll angle Result is inaccurate.Gyroscope output result is used to calculate, because rotary speed ratio is very fast, therefore the measurement ratio of the gyroscope used Relatively big, precision the most just ratio is relatively low, and the disturbance of output is relatively big, causes result to estimate.

Summary of the invention

Present invention solves the technical problem that and be: overcome the deficiencies in the prior art, it is provided that a kind of rotation systems based on front data Leading alignment methods in shell Quick air, in the method, position and the speed of alignment are given by satellite navigation system, and utilize satellite The velocity information of navigation output calculates course angle and the angle of pitch in corresponding moment, solves roll by method of least square the most again Angle observation equation, thus realize the accurate resolving to inertial navigation initial position, speed and attitude angle, i.e. realize spin guided cartridge Quickly Air launching, substantially increases the impact accuracy of spin guided cartridge.

The above-mentioned purpose of the present invention is realized by below scheme:

Alignment methods in rotation guided cartridge Quick airs based on front data, comprises the steps:

(1), launch after guided cartridge receive satellite navigation signals carry out navigation process, wherein realize satellite navigation signals and catch Obtaining and following the tracks of and export moment of navigation results is T₀；Then from described moment T₀To the alignment moment T set₁Preserve satellite navigation system The M group satellite navigation result of system output and the N group INS data of INS output, wherein: T_GPSCycle, T is exported for satellite navigation result_INSFor INS data output period, and T_GPS=Q × T_INS, i.e. N=Q × M, Q are just Integer；

Described satellite navigation result includes speed and the position of guided cartridge；Described INS data include forward direction gyro, left-hand Gyro and on to gyro output angular velocity, wherein, forward direction gyro sensitivity body roll angle angular velocity, left-hand gyro sensitivity pitching Angle angular velocity, on to gyro sensitivity course angle angular velocity；

(2), according to the speed of the seeker in M group satellite navigation result, it is calculated corresponding M group course angle and bows The elevation angle；

(3), to the result of calculation of step (2) calculated M group course angle and the angle of pitch it is fitted calculating, is navigated To angle and the angle of pitch at moment T₀To moment T₁Between the function that converts in time；Then described function is carried out derivative operation, To course angle rate of change and the time function of Elevation angle changing rate；

(4), the moment value of output N group INS data is updated in 4 time function that step (3) determines, is calculated The course angle of guided cartridge, the angle of pitch, course angle rate of change and Elevation angle changing rate during output N group INS data；

(5), according to moment T₀To the N setting moment T_pThe group angle of pitch, course angle rate of change, Elevation angle changing rate and INS number Gyro output angle speed according to, the observing matrix H in calculating observation equation Z=H × X and calculation matrix Z；Wherein X is bidimensional Measurement vector, X (1) is the sine value of guided cartridge roll angle, and X (2) is the cosine value of guided cartridge roll angle；Wherein, if It is T that the span of T is carved in timing₀≤T<T₁, positive integer $N_p=\frac{T-T_0}{T_{INS}}+1;$

(6), utilize method of least square that observational equation Z=H × X is solved, obtain observation vector X=(H^TH)^-1H^TZ；

(7), according to the sine value of the guided cartridge roll angle in observation vector X result of calculation and cosine value, it is calculated The roll angle of guided cartridge；

(8), by step (7) calculated roll angle, and moment T₀Satellite navigation result in speed, position and The course angle obtained according to described speed calculation and the angle of pitch, as Air launching result, the navigation system of output to guided cartridge System, for navigating to described guided cartridge and controlling.

Alignment methods in above-mentioned rotation guided cartridge Quick airs based on front data, in step (5), according to moment T₀ ～the N of T_pGyro output angle speed in the group angle of pitch, course angle rate of change and Elevation angle changing rate, and INS data, calculates Observing matrix H and calculation matrix Z, concrete calculating process is as follows:

(5a), observing matrix H and calculation matrix Z is initialized, obtain initial observation matrix H₀With calculation matrix Z₀:

If initializing H₀=[a (T₀) b(T₀)], then Z₀=z (T₀)；

If initializing H₀=[-b (T₀) a(T₀)], then Z₀=z ' (T₀)；

Wherein:

$a\left(T_0\right)=cos\&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)sin\left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_0\right)=sin\&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)sin\left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_0\right)=\frac{{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_0))-{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_0\right)=\frac{{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_0))+{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

Wherein: ω_x(T₀)、ω_y(T₀) and ω_z(T₀) it is respectively moment T₀Forward direction gyro, left-hand gyro and on defeated to gyro The angular velocity measurement value gone out；φ_gx(T₀) it is moment T₀The angle of pitch；WithIt is respectively moment T₀Course angle Rate of change and Elevation angle changing rate；

(5b), at moment T_n'=T₀+n×T_INS, n=1,2 ... N_p-1, according to following iterative formula to observing matrix H It is iterated updating with calculation matrix Z, obtains moment T_n' observing matrix H_nWith calculation matrix Z_n；

If H_n=[H_n-1；a(T_n′),b(T_n')], then Z_n=[Z_n-1；z(T_n′)]；

If H_n=[H_n-1；-b(T_n′),a(T_n')], then Z_n=[Z_n-1；z′(T_n′)]；

Wherein:

$a\left(T_n^{\&prime;}\right)=cos\&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_n^{\&prime;}\right)=sin\&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))-{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))+{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

Wherein: ω_x(T_m′)、ω_y(T_m') and ω_z(T_m') it is respectively moment T_m' forward direction gyro, left-hand gyro and on to top The angular velocity measurement value of spiral shell output, φ_gx(T_m') andIt is respectively moment T_m' the angle of pitch and course angle rate of change, m= 0～n and T₀'=T₀；φ_gx(T_n') it is moment T_n' the angle of pitch；WithIt is respectively moment T_n' course angle Rate of change and Elevation angle changing rate；ω_x(T_n′)、ω_y(T_n') and ω_z(T_n') it is respectively moment T_n' forward direction gyro, left-hand gyro To the angular velocity measurement value of gyro output on；

(5c), the moment T=T that step (5b) iteration is obtained₀+(N_p-1)×T_INSObserving matrixWith measurement square Battle arrayAs observing matrix H and the final calculation result of calculation matrix Z, for the least-squares calculation of step (6).

Alignment methods in above-mentioned rotation guided cartridge Quick airs based on front data, in step (7), according to observation to The sine value of the guided cartridge roll angle in amount X result of calculation and cosine value, be calculated the roll angle γ of guided cartridge₀, tool Body computational methods are as follows:

As | X (1) | < 1, | X (2) | < when 1:

If X (1) > 0, X (2) > 0, γ₀=(arcsin (X (1))+arccos (X (2)))/2；

If X (1)>0, X (2)<0, γ₀=(180-arcsin (X (1))+arccos (X (2)))/2；

If X (1)<0, X (2)>0, γ₀=(arcsin (X (1))-arccos (X (2)))/2；

If X (1) < 0, X (2) < 0, γ₀=(-arcsin (X (1))-arccos (X (2)))/2.

As | X (1) |>1, | X (2) |<when 1:

If X (1) > 0, X (2) > 0, γ₀=arccos (X (2))/2；

If X (1)>0, X (2)<0, γ₀=arccos (X (2))；

If X (1)<0, X (2)>0, γ₀=-arccos (X (2))；

If X (1) < 0, X (2) < 0, γ₀=-arccos (X (2)).

As | X (1) |<1, during | X (2) |>1:

If X (1) > 0, X (2) > 0, γ₀=arcsin (X (1))；

If X (1)>0, X (2)<0, γ₀=180-arcsin (X (1))；

If X (1)<0, X (2)>0, γ₀=arcsin (X (1))；

If X (1) < 0, X (2) < 0, γ₀=-arcsin (X (1)).

Alignment methods in above-mentioned rotation guided cartridge Quick airs based on front data, in step (2), according to guidance big gun The formula playing speed calculation course angle and the angle of pitch is as follows:

${\mathrm{\&phi;}}_{gz}=arctan\left(\frac{V_{gn}}{V_{ge}}\right);{\mathrm{\&phi;}}_{gx}=-arctan\left(\frac{V_{gu}}{\sqrt{V_{ge}^2+V_{gn}^2}}\right);$

Wherein: φ_gzAnd φ_gxIt is respectively course angle and the angle of pitch of guided cartridge；V_gn、V_geAnd V_guIt is respectively guided cartridge North speed, east speed and sky speed.

Alignment methods in above-mentioned rotation guided cartridge Quick airs based on front data, in step (3), uses a young waiter in a wineshop or an inn Take advantage of 4 curve-fitting methods to be fitted the result of calculation of M group course angle and the angle of pitch calculating, obtain course angle and the angle of pitch At moment T₀To moment T₁Between the function that converts in time as follows:

φ_gz(t)=k_z4t⁴+k_z3t³+k_z2t²+k_z1t+k_z0；

φ_gx(t)=k_x4t⁴+k_x3t³+k_x2t²+k_x1t+k_x0；

Wherein, φ_gz(t) and φ_gxT () is respectively course angle and the time function of the angle of pitch that matching obtains；k_z0、k_z1、 k_z2、k_z3、k_z4It is respectively the constant coefficient of course angle time function matching, coefficient of first order, quadratic coefficients, three ordered coefficients and is for four times Number；k_x0、k_x1、k_x2、k_x3、k_x4It is respectively the constant coefficient of angle of pitch time function matching, coefficient of first order, quadratic coefficients, is for three times Number and four ordered coefficients；Time variable t=T₀～T₁。

Alignment methods in above-mentioned rotation guided cartridge Quick airs based on front data, to course angle time function φ_gz(t) With angle of pitch time function φ_gxT () carries out derivative operation, obtain course angle rate of change time functionBecome with the angle of pitch Rate time functionWherein:

$\&dtri;{\mathrm{\&phi;}}_{gz}\left(t\right)=4k_{z4}{t}^3+3k_{z3}{t}^2+2k_{z2}t+k_{z1};$

$\&dtri;{\mathrm{\&phi;}}_{gx}\left(t\right)=4k_{x4}{t}^3+3k_{x3}{t}^2+2k_{x2}t+k_{x1}.$

Present invention advantage compared with prior art is as follows:

(1), the angular velocity information that the present invention is exported by velocity information and the gyroscope of satellite navigation, it is achieved to inertial navigation system The estimation of system initial horizontal roll angle, does not relies on correctness and the levels of precision of navigation error model, and the roll angle therefore obtained is estimated Meter result is more accurate；

(2), the present invention uses method of least square to realize solving of roll angle observational equation, relative to employing in prior art Kalman filtering algorithm for, the alignment methods of this present invention can be substantially reduced time overhead, improves arithmetic speed and estimates Meter precision；

(3), the angular velocity information that the present invention uses gyroscope to export carries out roll angle calculating, it is adaptable to weightlessness.

(4), the present invention use front data calculate, complete flight path can be calculated, in follow-up integrated navigation In, follow-up data has added navigation data, comparatively speaking restrains the most earlier, can control the time longer.

Accompanying drawing explanation

Fig. 1 is rotation guided cartridge based on the front data quick Air launching flow chart of the present invention；

Fig. 2 is for using the inventive method calculated angle of pitch information；

Fig. 3 is for using the inventive method calculated course angle information；

Fig. 4 is for using the inventive method calculated Elevation angle changing rate information；

Fig. 5 is for using the inventive method calculated course angle rate of change information；

Fig. 6 is coordinate system and output axis of gyro on bullet；

Fig. 7 is for using the inventive method calculated initial horizontal roll angle information.

Detailed description of the invention

The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings:

Inertial navigation system is a voyage Estimation System based on acceleration quadratic integral, and it fully relies on plant equipment With corresponding algorithm automatically, complete independently navigation task, and there is not any optical, electrical contact in the external world.Owing to it has disguise Good, working environment not by advantages such as meteorological condition are limited, become in space flight, aviation, navigational field a kind of widely used mainly Navigation system.Before inertial navigation system work resolves, need to provide original state, it is simply that need initially to be directed at.Inertia Navigation system is when ground static state, and position can be given by GPS system, and three attitude angle can be by inertia system from right Standard is given, because being resting state, three speed are zero；During inertial navigation system state of flight aloft, position and speed are still So can be given by GPS system, but attitude angle cannot be given by inertial navigation system autoregistration.Carry out aerial inertial navigation system Self aligned effective way is to use GPS navigation information to resolve and estimation technique, is i.e. calculated by the navigation information that GPS exports The course angle in corresponding moment and the angle of pitch, because position and speed directly can be exported by GPS, so also surplus horizontal stroke in original state One parameter of roll angle needs to carry out estimating to resolve.

Conventional alignment methods is to use Kalman filter algorithm to realize, owing to not considering that inertial navigation is operated in weightlessness In, accelerometer output is almost nil, poor to the observation effect of roll angle, and the precision that is directed at is the highest and requires time for growing. Therefore, in order to improve accuracy and the rapidity of correction algorithm of the spin initial alignment parameter of guided cartridge, system design is reduced Difficulty, quickly revises navigation attitude, improves the accuracy of navigation results, the invention provides a kind of rotation system based on front data Lead alignment methods in shell Quick air.

The present invention calculates roll angle according to least-squares algorithm, and its principle is described below:

With the velocity measurement of GPS offer component V on each axle of earth axes_x、V_y、V_z, calculate guidance The trajectory tilt angle of shell and trajectory deflection angle, computing formula is as follows

$\left\{\begin{array}{c}\mathrm{\&theta;}=-arctan(V_z/\sqrt{V_x^2+V_y^2})\\ \mathrm{\&psi;}=arctan(V_y/V_x)\end{array}\right.---\left(1\right)$

The speed measurement data of GPS output is discontinuous, can be able to be calculated at output point according to (1) formula Trajectory tilt angle and trajectory deflection angle.Data between output point can obtain with curve-fitting method, the rate of change of trajectory tilt angle and bullet The rate of change of road inclination can be obtained by digital simulation curve slope at each point.

Play the kinematical equation of arrow rotation around center of mass motion, i.e. the attitude differential equation is:

Here have ignored the rotational-angular velocity of the earth impact on attitude, ω_xm、ω_ym、ω_zmIt is the output of three gyroscopes Data.

Can resolve and obtain:

${\mathrm{\&omega;}}_{ym}^2+{\mathrm{\&omega;}}_{zm}^2={\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}^2+{\left(\stackrel{\&CenterDot;}{\mathrm{\&psi;}}cos\mathrm{\&theta;}\right)}^2---\left(3\right)$

Convolution (2) and formula (3) can calculate sin γ and cos γ, it may be assumed that

Forwards algorithm is exactly to use navigation initial point to estimate the roll angle letter of navigation initial point to the data setting the moment Breath.Roll angle γ can be write as angular speed and the form of initial horizontal roll angle:

$\mathrm{\&gamma;}=\&Integral;\stackrel{\&CenterDot;}{\mathrm{\&gamma;}}dt+{\mathrm{\&gamma;}}_0---\left(5\right)$

Can be solved by formula (2)

Formula (6) both sides integration is obtained

Therefore formula (7) both sides can be written as

$\{\begin{array}{c}\sin \mathrm{\&gamma;}=\sin \&lsqb;\&Integral;({\mathrm{\&omega;}}_{xm}+\stackrel{\&CenterDot;}{\mathrm{\&psi;}}\sin \mathrm{\&theta;})dt\&rsqb;{\mathrm{cos\&gamma;}}_0+\cos \&lsqb;\&Integral;({\mathrm{\&omega;}}_{xm}+\stackrel{\&CenterDot;}{\mathrm{\&psi;}}\sin \mathrm{\&theta;})dt\&rsqb;{\mathrm{sin\&gamma;}}_0\\ \cos \mathrm{\&gamma;}=\cos \&lsqb;\&Integral;({\mathrm{\&omega;}}_{xm}+\stackrel{\&CenterDot;}{\mathrm{\&psi;}}\sin \mathrm{\&theta;})dt\&rsqb;{\mathrm{cos\&gamma;}}_0-\sin \&lsqb;\&Integral;({\mathrm{\&omega;}}_{xm}+\stackrel{\&CenterDot;}{\mathrm{\&psi;}}\sin \mathrm{\&theta;})dt\&rsqb;{\mathrm{sin\&gamma;}}_0\end{array}---\left(8\right)$

Comparison expression (4) and formula (8) can get

Formula (8) can be written as:

$\left[\begin{array}{cc}a\left(t\right)& b\left(t\right)\\ -b\left(t\right)& a\left(t\right)\end{array}\right]\&CenterDot;\left[\begin{array}{c}sin{\mathrm{\&gamma;}}_0\\ {\mathrm{cos\&gamma;}}_0\end{array}\right]=\left[\begin{array}{c}{z}_1\left(t\right)\\ z_2\left(t\right)\end{array}\right]---\left(11\right)$

Use Least Square Method, initial horizontal roll angle γ can be tried to achieve₀。

Based on above theory analysis, method flow diagram as shown in Figure 1, the rotations based on front data that the present invention provides Alignment methods in guided cartridge Quick air, implements step as follows:

(1), launch after guided cartridge receive GPS navigation signal carry out navigation process, wherein realize GPS navigation signal and catch Obtaining and following the tracks of and export moment of navigation results is T₀；Then from this moment T₀To the alignment moment T set₁Preserve GPS navigation system The M group GPS navigation result of output and the N group INS data of INS output, wherein:T_GPS Cycle, T is exported for GPS navigation result_INSFor INS data output period, and T_GPS=Q × T_INS, i.e. N=Q × M, Q are positive integer.

Above-described GPS navigation result includes speed and the position of guided cartridge, and INS data include forward direction gyro, a left side To gyro and on to gyro output angular velocity, wherein, forward direction gyro sensitivity body roll angle angular velocity, left-hand gyro sensitivity is bowed Elevation angle angular velocity, on to gyro sensitivity course angle angular velocity；

(2), according to the speed of the seeker in M group GPS navigation result, it is calculated corresponding M group course angle and bows The elevation angle, specific formula for calculation is as follows:

${\mathrm{\&phi;}}_{gz}=\arctan \left(\frac{V_{gn}}{V_{ge}}\right);{\mathrm{\&phi;}}_{gx}=-ar\tan \left(\frac{V_{gu}}{\sqrt{V_{ge}^2+V_{gn}^2}}\right);$

Wherein: φ_gzAnd φ_gxIt is respectively course angle and the angle of pitch of calculated guided cartridge；V_gn、V_geAnd V_guRespectively North speed, east speed and sky speed for the guided cartridge in GPS navigation result.

(3), due to the output cycle of GPS navigation result oversize, output time in INS data not necessarily has correspondence GPS navigation result exports, it is therefore desirable to intend the result of calculation of step (2) calculated M group course angle and the angle of pitch Add up to and calculate, obtain course angle and the angle of pitch at moment T₀To moment T₁Between the function that converts in time；Then described function is entered Row derivative operation, obtains the time function of course angle rate of change and Elevation angle changing rate；

In the present embodiment, use 4 curve-fitting methods of least square to M group course angle and the result of calculation of the angle of pitch It is fitted calculating, obtains course angle and the angle of pitch at moment T₀To moment T₁Between the function that converts in time as follows:

φ_gz(t)=k_z4t⁴+k_z3t³+k_z2t²+k_z1t+k_z0；

φ_gx(t)=k_x4t⁴+k_x3t³+k_x2t²+k_x1t+k_x0；

Wherein, φ_gz(t) and φ_gxT () is respectively course angle and the time function of the angle of pitch that matching obtains；k_z0、k_z1、 k_z2、k_z3、k_z4It is respectively the constant coefficient of course angle time function matching, coefficient of first order, quadratic coefficients, three ordered coefficients and is for four times Number；k_x0、k_x1、k_x2、k_x3、k_x4It is respectively the constant coefficient of angle of pitch time function matching, coefficient of first order, quadratic coefficients, is for three times Number and four ordered coefficients；Time variable t=T₀～T₁。

Then to above course angle time function φ_gz(t) and angle of pitch time function φ_gxT () carries out derivative operation, Obtain course angle rate of change time functionWith Elevation angle changing rate time functionWherein:

$\&dtri;{\mathrm{\&phi;}}_{gz}\left(t\right)=4k_{z4}{t}^3+3k_{z3}{t}^2+2k_{z2}t+k_{z1};$

$\&dtri;{\mathrm{\&phi;}}_{gx}\left(t\right)=4k_{x4}{t}^3+3k_{x3}{t}^2+2k_{x2}t+k_{x1}.$

(4), the moment value of output N group INS data is updated in 4 time function that step (3) determines, is calculated The course angle of guided cartridge, the angle of pitch, course angle rate of change and Elevation angle changing rate during output N group INS data；

(5), according to moment T₀To the N setting moment T_pThe group angle of pitch, course angle rate of change, Elevation angle changing rate and INS number Gyro output angle speed according to, the observing matrix H in calculating observation equation Z=H × X and calculation matrix Z；Wherein X is bidimensional Measurement vector, X (1) is the sine value of guided cartridge roll angle, and X (2) is the cosine value of guided cartridge roll angle；Wherein, if It is T that the span of T is carved in timing₀≤T<T₁, positive integer $N_p=\frac{T-T_0}{T_{INS}}+1;$

In this step, the concrete calculating process of observing matrix H and calculation matrix Z is as follows:

(5a), observing matrix H and calculation matrix Z is initialized, obtain initial observation matrix H₀With calculation matrix Z₀:

If initializing H₀=[a (T₀) b(T₀)], then Z₀=z (T₀)；

If initializing H₀=[-b (T₀) a(T₀)], then Z₀=z ' (T₀)；

Wherein:

$a\left(T_0\right)=cos\&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)sin\left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_0\right)=sin\&lsqb;\left({\mathrm{\&omega;}}_x\right(T_0)+\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)sin\left({\mathrm{\&phi;}}_{gx}\right(T_0)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_0\right)=\frac{{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_0))-{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_0\right)=\frac{{\mathrm{\&omega;}}_z\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_0\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_0))+{\mathrm{\&omega;}}_y\left(T_0\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_0\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_0\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_0\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_0\right)\left)\right)}^2};$

Wherein: ω_x(T₀)、ω_y(T₀) and ω_z(T₀) it is respectively moment T₀Forward direction gyro, left-hand gyro and on defeated to gyro The angular velocity measurement value gone out；φ_gx(T₀) it is moment T₀The angle of pitch；WithIt is respectively moment T₀Course angle Rate of change and Elevation angle changing rate；

(5b), at moment T_n'=T₀+n×T_INS, n=1,2 ... N_p-1, according to following iterative formula to observing matrix H It is iterated updating with calculation matrix Z, obtains moment T_n' observing matrix H_nWith calculation matrix Z_n；

If H_n=[H_n-1；a(T_n′),b(T_n')], then Z_n=[Z_n-1；z(T_n′)]；

If H_n=[H_n-1；-b(T_n′),a(T_n')], then Z_n=[Z_n-1；z′(T_n′)]；

Wherein:

$a\left(T_n^{\&prime;}\right)=cos\&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$b\left(T_n^{\&prime;}\right)=\sin \&lsqb;\underset{m=0}{\overset{n}{\&Sigma;}}\left({\mathrm{\&omega;}}_x\right(T_m^{\&prime;})+\&dtri;{\mathrm{\&phi;}}_{gz}(T_m^{\&prime;}\left)\sin \right({\mathrm{\&phi;}}_{gx}\left(T_m^{\&prime;}\right)\left)\right)\&times;T_{INS}\&rsqb;;$

$z\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))-{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

$z^{\&prime;}\left(T_n^{\&prime;}\right)=\frac{{\mathrm{\&omega;}}_z\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gz}\left(T_n^{\&prime;}\right)cos\left({\mathrm{\&phi;}}_{gx}\right(T_n^{\&prime;}))+{\mathrm{\&omega;}}_y\left(T_n^{\&prime;}\right)\&dtri;{\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)}{\&dtri;{\mathrm{\&phi;}}_{gx}{\left(T_n^{\&prime;}\right)}^2+{(\&dtri;{\mathrm{\&phi;}}_{gz}(T_n^{\&prime;}\left)cos\right({\mathrm{\&phi;}}_{gx}\left(T_n^{\&prime;}\right)\left)\right)}^2};$

Wherein: ω_x(T_m′)、ω_y(T_m') and ω_z(T_m') it is respectively moment T_m' forward direction gyro, left-hand gyro and on to top The angular velocity measurement value of spiral shell output, φ_gx(T_m') andIt is respectively moment T_m' the angle of pitch and course angle rate of change, m= 0～n and T₀'=T₀；φ_gx(T_n') it is moment T_n' the angle of pitch；WithIt is respectively moment T_n' course angle Rate of change and Elevation angle changing rate；ω_x(T_n′)、ω_y(T_n') and ω_z(T_n') it is respectively moment T_n' forward direction gyro, left-hand gyro To the angular velocity measurement value of gyro output on；

(5c), the moment T=T that step (5b) iteration is obtained₀+(N_p-1)×T_INSObserving matrixWith measurement square Battle arrayAs observing matrix H and the final calculation result of calculation matrix Z, for the least-squares calculation of step (6).

The observing matrix H of present invention offer and the computational methods of calculation matrix Z, be not likely to produce ill-condition matrix, and can solve Except the result caused because of gyroscope output error can not the property estimated such that it is able under any circumstance export result, will not cause Algorithm dissipates or without solving, estimation result precision is higher, is therefore applicable to high speed rotating guided cartridge.

(6), utilize method of least square that observational equation Z=H × X is solved, obtain observation vector X=(H^TH)^-1H^TZ；

(7), according to the sine value of the guided cartridge roll angle in observation vector X result of calculation and cosine value, it is calculated The roll angle of guided cartridge, wherein:

As | X (1) | < 1, | X (2) | < when 1:

If X (1) > 0, X (2) > 0, γ₀=(arcsin (X (1))+arccos (X (2)))/2；

If X (1)>0, X (2)<0, γ₀=(180-arcsin (X (1))+arccos (X (2)))/2；

If X (1)<0, X (2)>0, γ₀=(arcsin (X (1))-arccos (X (2)))/2；

If X (1) < 0, X (2) < 0, γ₀=(-arcsin (X (1))-arccos (X (2)))/2.

As | X (1) |>1, | X (2) |<when 1:

If X (1) > 0, X (2) > 0, γ₀=arccos (X (2))/2；

If X (1)>0, X (2)<0, γ₀=arccos (X (2))；

If X (1)<0, X (2)>0, γ₀=-arccos (X (2))；

If X (1) < 0, X (2) < 0, γ₀=-arccos (X (2)).

As | X (1) |<1, during | X (2) |>1:

If X (1) > 0, X (2) > 0, γ₀=arcsin (X (1))；

If X (1)>0, X (2)<0, γ₀=180-arcsin (X (1))；

If X (1)<0, X (2)>0, γ₀=arcsin (X (1))；

If X (1) < 0, X (2) < 0, γ₀=-arcsin (X (1)).

(8), by step (7) calculated roll angle, and moment T₀Speed, position and root in GPS navigation result The course angle obtained according to described speed calculation and the angle of pitch, as Air launching result, the navigation system of guided cartridge is arrived in output, For described guided cartridge being navigated and controlling.

Embodiment:

In the present embodiment, after guided cartridge is launched, gps signal is caught again, is realizing acquisition and tracking also After output navigation results, preserve GPS navigation result and INS data, and when arriving the setting alignment moment, it is the most right to proceed by Accurate.

Wherein, Fig. 2 is the angle of pitch that the rate calculations according to GPS output obtains, and the angle of pitch curve that matching obtains. Figure it is seen that angle of pitch excursion is bigger in this process.Fig. 3 is for obtain according to angle of pitch matched curve derived function The Elevation angle changing rate curve arrived, it can be seen that the noise ratio of Elevation angle changing rate is relatively big, reduces noise after matching.Fig. 4 In illustrate course angle calculated curve and matched curve, can as seen from the figure, course angle is almost unchanged.Fig. 5 is that course angle becomes Rate curve, can therefrom find out that the noise ratio of course angle rate of change is relatively big, reduce noise after matching.Fig. 6 illustrates guidance big gun Gyroscope mounting means on bullet and the relation of output information, the coordinate system of three gyros follows right hand rule, as Fig. 6 places Time, the change of forward direction gyro sensitivity body roll angle, the change of the left-hand gyro sensitivity angle of pitch, on to gyro sensitivity course angle Change, their output is respectively ω_x、ω_yAnd ω_z.Fig. 7 is calculated initial horizontal roll angle curve, can be from figure Going out, the most how many points carry out calculating initial horizontal roll angle, and Dependence Results is restrained, and convergence rate comparatively fast reaches true value.Thus may be used To obtain accurate initial horizontal roll angle information, initial pitch angle information, initial heading angle information, initial position message and initial speed Degree information, provides complete navigation information for follow-up navigation and control.

The above, only one detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and appoints How those familiar with the art is in the technical scope that the invention discloses, the change that can readily occur in or replacement, all Should contain within protection scope of the present invention.

The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.

Claims (6)

1. alignment methods in rotation guided cartridge Quick airs based on front data, it is characterised in that comprise the steps:

(1), launch after guided cartridge receive satellite navigation signals carry out navigation process, wherein realize satellite navigation signals capture The moment following the tracks of and exporting navigation results is T₀；Then from described moment T₀To the alignment moment T set₁Preserve satellite navigation system The M group satellite navigation result of system output and the N group INS data of INS output, wherein: T_GPSCycle, T is exported for satellite navigation result_INSFor INS data output period, and T_GPS=Q × T_INS, i.e. N=Q × M, Q are just Integer；

Described satellite navigation result includes speed and the position of guided cartridge；Described INS data include forward direction gyro, left-hand gyro To the angular velocity of gyro output, wherein, forward direction gyro sensitivity body roll angle angular velocity, left-hand gyro sensitivity angle of pitch angle on Speed, on to gyro sensitivity course angle angular velocity；

(2), according to the speed of the guided cartridge in M group satellite navigation result, it is calculated corresponding M group course angle and pitching Angle；

(3), to the result of calculation of step (2) calculated M group course angle and the angle of pitch it is fitted calculating, obtains course angle With the angle of pitch at moment T₀To moment T₁Between the function that converts in time；Then described function is carried out derivative operation, navigated To angular rate of change and the time function of Elevation angle changing rate；

(4), the moment value of output N group INS data is updated in 4 time function that step (3) determines, is calculated output The course angle of guided cartridge, the angle of pitch, course angle rate of change and Elevation angle changing rate during N group INS data；

(5), according to moment T₀To the N setting moment T_pIn the group angle of pitch, course angle rate of change, Elevation angle changing rate and INS data Gyro output angle speed, the observing matrix H in calculating observation equation Z=H × X and calculation matrix Z；Wherein X is the survey of bidimensional Amount vector, X (1) is the sine value of guided cartridge roll angle, and X (2) is the cosine value of guided cartridge roll angle；Wherein, during setting The span carving T is T₀≤T<T₁, positive integer

(6), utilize method of least square that observational equation Z=H × X is solved, obtain observation vector X=(H^TH)^-1H^TZ；

(7), according to the sine value of the guided cartridge roll angle in observation vector X result of calculation and cosine value, it is calculated guidance The roll angle of shell；

(8), by step (7) calculated roll angle, moment T₀Satellite navigation result in speed and position, and according to Course angle that described speed calculation obtains and the angle of pitch, as Air launching result, the navigation system of output to guided cartridge, use In described guided cartridge being navigated and controlling.

Alignment methods in rotation guided cartridge Quick air based on front data the most according to claim 1, it is characterised in that: In step (5), according to moment T₀～the N of T_pIn the group angle of pitch, course angle rate of change and Elevation angle changing rate, and INS data Gyro output angle speed, calculating observation matrix H and calculation matrix Z, it is concrete that to calculate process as follows:

(5a), observing matrix H and calculation matrix Z is initialized, obtain initial observation matrix H₀With calculation matrix Z₀:

If initializing H₀=[a (T₀) b(T₀)], then Z₀=z (T₀)；

If initializing H₀=[-b (T₀) a(T₀)], then Z₀=z ' (T₀)；

Wherein:

Wherein: ω_x(T₀)、ω_y(T₀) and ω_z(T₀) it is respectively moment T₀Forward direction gyro, left-hand gyro and on to gyro output angle Velocity measurement；φ_gx(T₀) it is moment T₀The angle of pitch；WithIt is respectively moment T₀Course angle rate of change And Elevation angle changing rate；

(5b), at moment T '_n=T₀+n×T_INS, n=1,2 ... N_p-1, according to following iterative formula to observing matrix H and survey Moment matrix Z is iterated updating, and obtains moment T '_nObserving matrix H_nWith calculation matrix Z_n；

If H_n=[H_n-1；a(T′_n),b(T′_n)], then Z_n=[Z_n-1；z(T′_n)]；

If H_n=[H_n-1；-b(T′_n),a(T′_n)], then Z_n=[Z_n-1；z′(T′_n)]；

Wherein:

Wherein: ω_x(T′_m)、ω_y(T′_m) and ω_z(T′_m) it is respectively moment T '_mForward direction gyro, left-hand gyro and on to gyro export Angular velocity measurement value, φ_gx(T′_m) andIt is respectively moment T '_mThe angle of pitch and course angle rate of change, m=0～n and T′₀=T₀；φ_gx(T′_n) it is moment T '_nThe angle of pitch；WithIt is respectively moment T '_nCourse angle change Rate and Elevation angle changing rate；ω_x(T′_n)、ω_y(T′_n) and ω_z(T′_n) it is respectively moment T '_nForward direction gyro, left-hand gyro and on Angular velocity measurement value to gyro output；

(5c), the moment T=T that step (5b) iteration is obtained₀+(N_p-1)×T_INSObserving matrixAnd calculation matrixAs observing matrix H and the final calculation result of calculation matrix Z, for the least-squares calculation of step (6).

Alignment methods in rotation guided cartridge Quick air based on front data the most according to claim 1, it is characterised in that: In step (7), according to sine value and the cosine value of the guided cartridge roll angle in observation vector X result of calculation, it is calculated The roll angle γ of guided cartridge₀, circular is as follows:

As | X (1) | < 1, | X (2) | < when 1:

If X (1) > 0, X (2) > 0, γ₀=(arcsin (X (1))+arccos (X (2)))/2；

If X (1)>0, X (2)<0, γ₀=(180-arcsin (X (1))+arccos (X (2)))/2；

If X (1)<0, X (2)>0, γ₀=(arcsin (X (1))-arccos (X (2)))/2；

If X (1) < 0, X (2) < 0, γ₀=(-arcsin (X (1))-arccos (X (2)))/2；

As | X (1) |>1, | X (2) |<when 1:

If X (1) > 0, X (2) > 0, γ₀=arccos (X (2))/2；

If X (1)>0, X (2)<0, γ₀=arccos (X (2))；

If X (1)<0, X (2)>0, γ₀=-arccos (X (2))；

If X (1) < 0, X (2) < 0, γ₀=-arccos (X (2))；

As | X (1) |<1, during | X (2) |>1:

If X (1) > 0, X (2) > 0, γ₀=arcsin (X (1))；

If X (1)>0, X (2)<0, γ₀=180-arcsin (X (1))；

If X (1)<0, X (2)>0, γ₀=arcsin (X (1))；

If X (1) < 0, X (2) < 0, γ₀=-arcsin (X (1)).

Alignment methods in rotation guided cartridge Quick air based on front data the most according to claim 1, it is characterised in that: In step (2), the formula according to guided cartridge speed calculation course angle and the angle of pitch is as follows:

Wherein: φ_gzAnd φ_gxIt is respectively course angle and the angle of pitch of guided cartridge；V_gn、V_geAnd V_guIt is respectively the north of guided cartridge Speed, east speed and sky speed.

Alignment methods in rotation guided cartridge Quick air based on front data the most according to claim 1, it is characterised in that: In step (3), use 4 curve-fitting methods of least square that the result of calculation of M group course angle and the angle of pitch is fitted Calculate, obtain course angle and the angle of pitch at moment T₀To moment T₁Between the function that converts in time as follows:

φ_gz(t)=k_z4t⁴+k_z3t³+k_z2t²+k_z1t+k_z0；

φ_gx(t)=k_x4t⁴+k_x3t³+k_x2t²+k_x1t+k_x0；

Wherein, φ_gz(t) and φ_gxT () is respectively course angle and the time function of the angle of pitch that matching obtains；k_z0、k_z1、k_z2、 k_z3、k_z4It is respectively the constant coefficient of course angle time function matching, coefficient of first order, quadratic coefficients, three ordered coefficients and four ordered coefficients； k_x0、k_x1、k_x2、k_x3、k_x4Be respectively the constant coefficient of angle of pitch time function matching, coefficient of first order, quadratic coefficients, three ordered coefficients and Four ordered coefficients；Time variable t=T₀～T₁。

Alignment methods in rotation guided cartridge Quick air based on front data the most according to claim 5, it is characterised in that: To course angle time function φ_gz(t) and angle of pitch time function φ_gxT () carries out derivative operation, when obtaining course angle rate of change Between functionWith Elevation angle changing rate time functionWherein: