CN115096311A - Method and device for iterative guidance of launch vehicle based on optimized step size, and storage medium - Google Patents

Abstract

The invention is suitable for the technical field of carrier rockets, and provides a carrier rocket iterative guidance method and device based on optimized step length, a storage medium and computer equipment, wherein the method comprises the following steps: monitoring navigation information and acceleration information of a carrier rocket; performing multiple iterative calculations by using the optimization step length-based carrier rocket iterative guidance algorithm based on real-time navigation information, real-time acceleration information and standard program angle information to determine the program angle correction amount of the carrier rocket, wherein the iteration step length of any iterative calculation is smaller than that of the previous iterative calculation; and performing programmed angle correction on the carrier rocket according to the programmed angle correction. The invention can improve the calculation precision of the iterative guidance and finally achieve the aim of optimizing the iterative guidance.

Description

Method and device for iterative guidance of launch vehicle based on optimized step size, and storage medium

technical field

The invention belongs to the technical field of launch vehicles, and in particular relates to an iterative guidance method and device, storage medium and computer equipment for a launch vehicle based on an optimized step size.

Background technique

Iterative guidance is an adaptive guidance technology that emerged with the development of modern computer technology and optimal control theory. It can continuously adjust its flight trajectory according to the current speed, position and estimated entry point of the rocket, and calculate the required The orbit entry point, and then plan a new trajectory according to the spatial relationship between the current position and the orbit entry point, so as to ensure the orbit entry accuracy and the orbit entry attitude. At present, because the rocket trajectory design requires iterative guidance to be carried out in advance, the distance from the entry point is far away, and the regular fixed-step iteration in the initial stage of the iteration will cause a single iteration to take a long time, and in severe cases, it will threaten the flight control on the rocket. real-time operation of the software.

For long-period iterative guidance calculations, there are generally the following solutions:

First, the iterative guidance only iterates on the working time of the last stage of the engine, but this is not enough, and there is also the problem of insufficient orbital accuracy;

The second is to divide the ballistic trajectory into multiple stages for step-by-step iterative guidance calculation. Because the theoretical time cannot be simply used, but accurate estimation and iteration should be carried out according to the shutdown method, which plays an important role in ensuring the continuity of the program angles at each stage; and necessary measures must be taken at the subsection for smooth control. Algorithms are generally relatively complex. At the same time, the complexity of the iterative algorithm is closely related to the number of segments due to the multiple integration of the acceleration in the subsequent stages. Each additional segment will increase a large number of calculation and control branches, which is not conducive to reliability. increase, so excessive segmentation is not recommended.

SUMMARY OF THE INVENTION

The embodiments of the present invention provide an iterative guidance method for a launch vehicle based on an optimized step size, which aims to solve the problems of low efficiency and poor precision of the current iterative guidance of the launch vehicle.

The embodiments of the present invention are implemented in this way, an iterative guidance method for a launch vehicle, the method comprising:

Monitor the navigation information and acceleration information of the launch vehicle;

Based on the real-time navigation information, real-time acceleration information and standard program angle information, the iterative guidance algorithm of the launch vehicle is used to perform multiple iterative calculations to determine the program angle correction of the launch vehicle, wherein the iterative step size of any iteration calculation is It is smaller than the iteration step size calculated by the previous iteration;

According to the program angle correction amount, the program angle correction is performed on the launch vehicle.

Further, based on real-time navigation information, real-time acceleration information and standard programs, using the iterative guidance algorithm of the launch vehicle to perform multiple iterative calculations to determine the program angle correction of the launch vehicle, specifically including:

Calculate the iteration step size according to the real-time time and the preset iteration end time, and determine the iterative calculation time corresponding to the iteration step size;

When the iterative calculation time is reached, based on real-time navigation information, real-time acceleration information and the standard program angle information, the iterative guidance algorithm is used to perform iterative calculation, and an iterative intermediate value is determined;

Continue to calculate a new iteration step size according to the real-time time and the preset iteration end time, determine a new iterative calculation time, and when the new iterative calculation time is reached, based on real-time navigation information, real-time acceleration information and the The iterative calculation continues for the iterative intermediate value until the iteration termination condition is satisfied.

Further, the calculation of the iteration step size according to the real-time time and the preset iteration end time specifically includes:

Substitute the real-time time and the preset iteration end time into the iteration step size calculation formula to obtain the iteration step size, wherein the iteration step size calculation formula is T _step =k*(T _end -T _now ), T _step is the iteration step size, T _end is the preset iteration end time, T _now is the real-time time, and k is a preset coefficient.

Further, the determining the iterative calculation time corresponding to the iterative step size specifically includes:

Based on a preset clipping step, clipping is performed on the iteration step, and the sum of the real-time time and the clipped iteration step is taken as the iterative calculation time.

Further, when the iterative calculation time is reached, based on real-time navigation information, real-time acceleration information and the standard program angle information, the iterative guidance algorithm is used to perform the iterative calculation, and after the iterative intermediate value is determined, the method Also includes:

The number of iterations of statistical iterative calculation;

When the number of iterations reaches a preset number of iterations threshold, or when the preset iteration end time is reached, the iterative calculation is ended.

Further, the navigation information includes speed information and position information of the launch vehicle, and the program angle information is used to describe the attitude information of the launch vehicle into orbit.

An embodiment of the present invention further provides an iterative guidance device for a launch vehicle based on an optimized step size, the device comprising:

The monitoring module is used to monitor the navigation information and acceleration information of the launch vehicle;

The iterative calculation module is used to perform multiple iterative calculations based on the real-time navigation information, real-time acceleration information and standard program angle information using the iterative guidance algorithm of the launch vehicle to determine the program angle correction of the launch vehicle, wherein any one The iterative step size of the iterative calculation is smaller than the iteration step size of the previous iterative calculation;

The correction module is used to correct the program angle of the launch vehicle according to the program angle correction amount.

Further, the iterative calculation module is specifically used for:

Calculate the iteration step size according to the real-time time and the preset iteration end time, and determine the iterative calculation time corresponding to the iteration step size;

When the iterative calculation time is reached, based on real-time navigation information, real-time acceleration information and the standard program angle information, the iterative guidance algorithm is used to perform iterative calculation, and an iterative intermediate value is determined;

Continue to calculate a new iteration step size according to the real-time time and the preset iteration end time, determine a new iterative calculation time, and when the new iterative calculation time is reached, based on real-time navigation information, real-time acceleration information and the The iterative calculation continues for the iterative intermediate value until the iteration termination condition is satisfied.

Further, the iterative calculation module is further configured to: substitute the real-time time and the preset iteration end time into the iteration step size calculation formula to obtain the iteration step size, wherein the iteration step size calculation formula is: T _step =k*(T _end −T _now ), T _step is an iteration step size, T _end is the preset iteration end time, T _now is the real-time time, and k is a preset coefficient.

Further, the iterative calculation module is further configured to: limit the iterative step size based on a preset limiter step size, and calculate the sum of the real-time time and the iterative step size after the limiter processing. as the iterative computation time.

Further, the device also includes:

The number of times statistics module is used to perform iterative calculation using the iterative guidance algorithm based on real-time navigation information, real-time acceleration information and the standard program angle information when the iterative calculation time is reached, and after determining the iterative intermediate value, count the The number of iterations of the iterative calculation;

The iterative calculation module is further configured to: end the iterative calculation when the iteration number reaches a preset iteration number threshold, or when the preset iteration end time is reached.

Further, the navigation information includes speed information and position information of the launch vehicle, and the program angle information is used to describe the attitude information of the launch vehicle into orbit.

An embodiment of the present invention further provides a storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned iterative guidance method for a launch vehicle based on an optimized step size is implemented.

An embodiment of the present invention further provides a computer device, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, where the processor implements the above-mentioned optimization based on the step size when executing the program The iterative guidance method for launch vehicles.

An embodiment of the present invention also provides a computer device, including an iterative guidance device, and the iterative guidance device is used to implement the above-mentioned iterative guidance method for a launch vehicle based on an optimized step size.

The beneficial effect achieved by the present invention is that because the conventional iterative guidance algorithm adopts the method of fixed step size, the method is acceptable for short-distance iterative guidance calculation, but for the entire iterative calculation process of the launch vehicle, it will take a long time at the remote end, and the more The faster the iteration speed is at the proximal end, the iterative guidance process is completed when the iteration end condition is finally reached. Therefore, the present invention adopts the design idea of variable step size, the large step size at the far end leads to the loss of calculation accuracy, but the time consumption is small, and the entire calculation accuracy continues to converge with the iterative process. The fixed step size can improve the calculation accuracy, and finally achieve the purpose of optimizing iterative guidance.

Description of drawings

1 is a schematic flowchart of an iterative guidance method for a launch vehicle based on an optimized step size provided by an embodiment of the present invention;

2 is a schematic flowchart of another iterative guidance method for a launch vehicle based on an optimized step size provided by an embodiment of the present invention;

3 is a schematic flowchart of another iterative guidance method for a launch vehicle based on an optimized step size provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an iterative guidance device for a launch vehicle based on an optimized step size provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The invention achieves the purpose of optimizing the iterative guidance by adjusting the iterative step size in the iterative calculation process, and improves the efficiency and precision of the iterative guidance compared with the iterative guidance method in the prior art.

Example 1

In this embodiment, an iterative guidance method for a launch vehicle based on an optimized step size is provided, as shown in FIG. 1 , the method includes:

Step 101, monitoring the navigation information and acceleration information of the launch vehicle;

Step 102, based on real-time navigation information, real-time acceleration information and standard program angle information, use the iterative guidance algorithm of the launch vehicle to perform multiple iterative calculations to determine the program angle correction of the launch vehicle, wherein the value of any one iteration calculation is calculated. The iteration step size is smaller than the iteration step size calculated by the previous iteration;

Step 103, performing a program angle correction on the launch vehicle according to the program angle correction amount.

In the embodiment of the present invention, the iterative guidance technology is a guidance method of a launch vehicle. Iterative guidance is an adaptive guidance technology that emerged with the development of modern computer technology and optimal control theory. It can continuously adjust its flight trajectory according to the current speed, position and estimated entry point of the rocket, and calculate the required The orbit entry point, and then plan a new trajectory according to the spatial relationship between the current position and the orbit entry point, so as to ensure the orbit entry accuracy and the orbit entry attitude. During the flight of the launch vehicle, as shown in Figure 2, after entering the iterative guidance stage, the iterative is performed through the navigation information (speed and position information), acceleration value and other information at the iteration time, combined with the theoretical attitude information (ie, the standard program angle information). The guidance calculates the correction amount of the program angle, and the program angle is corrected by the correction amount to obtain the program angle information, and control the launch vehicle in order to control the attitude of the launch vehicle into orbit. Among them, in the process of iterative guidance calculation, the iterative step size of multiple iterative calculations follows the law of gradual decrease, and the conventional iterative guidance algorithm adopts a fixed step size, which is acceptable for short-distance iterative guidance calculation. The entire iterative calculation process of the launch vehicle will take a long time at the far end, and the closer it is to the near end, the faster the iteration speed will be, and finally the iteration end condition is reached to complete the iterative guidance process. The invention adopts the design idea of variable step size, and the calculation accuracy is lost at the far end with large step size, but the time consumption is small, and the whole calculation accuracy is continuously converged with the iterative process; the small step size is adopted at the near end, compared with the previous fixed step Long can improve the calculation accuracy, and finally achieve the purpose of optimizing iterative guidance.

Embodiment 2

In this embodiment of the present invention, optionally, step 102 specifically includes:

Step 102-1: Calculate the iteration step size according to the real-time time and the preset iteration end time, and determine the iterative calculation time corresponding to the iteration step size.

In this embodiment of the present invention, the iterative step size can be calculated by using a preset iteration step size calculation formula. Optionally, the real-time time and the preset iteration end time are substituted into the iteration step size calculation formula to obtain the Iteration step size, wherein, the calculation formula of the iteration step size is T _step =k*(T _end -T _now ), T _step is the iteration step size, T _end is the preset iteration end time, and T _now is the Real time, k is the preset coefficient.

In this embodiment, as shown in FIG. 3 , the iterative step size in the iterative calculation process is variable. Specifically, it can be linearly changed according to the difference between the real-time time T _now and the preset iteration end time T _end . According to the above formula T _step =k*(T _end -T _now ), with the passage of time, each time an iterative calculation is performed, the next iteration step size is larger than the current iteration step size. The conventional iterative guidance algorithm adopts a fixed-step method. This method has no problem with short-distance iterative guidance calculation. The entire iterative calculation process will take a long time at the far end. Iterative guidance process.

It should be noted that, in this embodiment of the present invention, the iteration step size may also be calculated in other manners, as long as the iteration step size is decreased.

In this embodiment of the present invention, optionally, based on a preset slicing step, slicing is performed on the iterative step, and the sum of the real-time time and the iterative step after slicing is used as the Iterative computation time.

In this embodiment, after calculating the iterative step size, limit the iterative step size according to the preset limiting step size, so as to avoid excessively large interval steps between two iterative computations, resulting in low iterative precision, and balance the iterative computation speed and precision. Iterative computation time = real-time time + iteration step size.

Step 102-2, when the iterative calculation time is reached, based on real-time navigation information, real-time acceleration information and the standard program angle information, use the iterative guidance algorithm to perform iterative calculation to determine an iterative intermediate value.

After the iterative calculation time is determined, when the iterative calculation time is reached, the iterative calculation is performed using the iterative guidance algorithm, and the iterative intermediate value of the correction amount is determined, so as to use the intermediate value to perform multiple iterative calculations.

Step 102-3, continue to calculate a new iteration step size according to the real-time time and the preset iteration end time, determine a new iterative calculation time, and when the new iterative calculation time is reached, based on real-time navigation information, real-time The acceleration information and the iterative intermediate value continue to be iteratively calculated until the iteration termination condition is satisfied.

In this embodiment, after an iterative calculation ends, the iteration step size of the next iterative calculation is recalculated based on the real-time time and the preset iteration end time, and the iteration step size of the next iterative calculation is obtained by accumulating the iteration step size on the basis of the real-time time. Calculation time, iterative calculation is repeated until the iteration termination condition is satisfied.

In this embodiment of the present invention, the iteration termination condition may include reaching a preset iteration end time and reaching a preset iteration number threshold. Optionally, the method further includes: counting the number of iterations of the iterative calculation; when the number of iterations reaches a preset threshold of the number of iterations, or when the preset iteration end time is reached, ending the iterative calculation.

In this embodiment, each iterative calculation is based on the iteration time recursive to the specified end time as the end mark. Generally, the iterative guidance can quickly converge after several calculations according to the iteration step size, but when the iteration If the step size is too small, the convergence speed will be reduced. If it is allowed to iterate until convergence, it will take a long time. In severe cases, it will threaten the real-time operation of the flight control software on the arrow. Therefore, the maximum number of iterations can be limited. When the limit is reached When the number of times, the iterative guidance calculation is forced to exit to ensure the stability of the flight control software on the arrow. After each iteration calculation ends, the number of iterations is +1, and as the number of iteration calculations accumulates, when the number of iterations reaches the preset number of iteration thresholds, that is, the set value, or when the time reaches the end time of the iteration, it is judged that the calculated value obtained by the last iteration is calculated. Whether the iteration result is valid, and when it is judged to be valid, confirm that the iteration result is the program angle correction amount, correct the program angle of the launch vehicle, and end the iterative calculation.

Embodiment 3

An embodiment of the present invention also provides an iterative guidance device for a launch vehicle based on an optimized step size. As shown in FIG. 4 , the device includes:

The monitoring module is used to monitor the navigation information and acceleration information of the launch vehicle;

The iterative calculation module is used to perform multiple iterative calculations based on the real-time navigation information, real-time acceleration information and standard program angle information using the iterative guidance algorithm of the launch vehicle to determine the program angle correction of the launch vehicle, wherein any one The iterative step size of the iterative calculation is smaller than the iteration step size of the previous iterative calculation;

The correction module is used to correct the program angle of the launch vehicle according to the program angle correction amount.

Further, the iterative calculation module is specifically used for:

Calculate the iteration step size according to the real-time time and the preset iteration end time, and determine the iterative calculation time corresponding to the iteration step size;

When the iterative calculation time is reached, based on real-time navigation information, real-time acceleration information and the standard program angle information, the iterative guidance algorithm is used to perform iterative calculation, and an iterative intermediate value is determined;

Continue to calculate a new iteration step size according to the real-time time and the preset iteration end time, determine a new iterative calculation time, and when the new iterative calculation time is reached, based on real-time navigation information, real-time acceleration information and the The iterative calculation continues for the iterative intermediate value until the iteration termination condition is satisfied.

Further, the iterative calculation module is further configured to: substitute the real-time time and the preset iteration end time into the iteration step size calculation formula to obtain the iteration step size, wherein the iteration step size calculation formula is: T _step =k*(T _end −T _now ), T _step is an iteration step size, T _end is the preset iteration end time, T _now is the real-time time, and k is a preset coefficient.

Further, the iterative calculation module is further configured to: limit the iterative step size based on a preset limiter step size, and calculate the sum of the real-time time and the iterative step size after the limiter processing. as the iterative computation time.

Further, the device also includes:

The number of times statistics module is used to perform iterative calculation using the iterative guidance algorithm based on real-time navigation information, real-time acceleration information and the standard program angle information when the iterative calculation time is reached, and after determining the iterative intermediate value, count the The number of iterations of the iterative calculation;

The iterative calculation module is further configured to: end the iterative calculation when the iteration number reaches a preset iteration number threshold, or when the preset iteration end time is reached.

Further, the navigation information includes speed information and position information of the launch vehicle, and the program angle information is used to describe the attitude information of the launch vehicle into orbit.

It should be noted that, for other corresponding descriptions of the functional units involved in an optimized step-size-based iterative guidance device for launch vehicles provided in the embodiments of the present application, reference may be made to the corresponding descriptions in the methods in FIGS. Repeat.

Embodiments of the present application further provide a launch vehicle, including an iterative guidance device, and the above-mentioned methods shown in FIGS. 1 to 3 are implemented by the iterative guidance device.

Based on the above-mentioned methods shown in FIGS. 1 to 3 , correspondingly, an embodiment of the present application further provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned FIGS. 1 to 3 are implemented. method shown.

Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, and the software product can be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.), including several The instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in various implementation scenarios of this application.

Based on the above methods shown in FIGS. 1 to 3 and the virtual device embodiment shown in FIG. 4 , in order to achieve the above purpose, an embodiment of the present application further provides a computer device, which may specifically be a personal computer, a server, a network equipment, etc., the computer equipment includes a storage medium and a processor; the storage medium is used to store the computer program; the processor is used to execute the computer program to implement the above-mentioned methods shown in FIGS. 1 to 3 .

Optionally, the computer device may further include a user interface, a network interface, a camera, a radio frequency (Radio Frequency, RF) circuit, a sensor, an audio circuit, a WI-FI module, and the like. The user interface may include a display screen (Display), an input unit such as a keyboard (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, and the like. Optional network interfaces may include standard wired interfaces, wireless interfaces (such as Bluetooth interfaces, WI-FI interfaces), and the like.

Those skilled in the art can understand that the structure of a computer device provided in this embodiment does not constitute a limitation on the computer device, and may include more or less components, or combine some components, or arrange different components.

The storage medium may also include an operating system and a network communication module. An operating system is a program that manages and saves the hardware and software resources of computer equipment, supports the operation of information processing programs and other software and/or programs. The network communication module is used to realize the communication between various components inside the storage medium, as well as the communication with other hardware and software in the physical device.

From the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, and can also be implemented by hardware after entering the iterative guidance stage, through the navigation at the iterative moment Information (speed and position information), acceleration value and other information, combined with theoretical attitude information (that is, standard program angle information), iterative guidance calculation is performed to correct the program angle, and the program angle is corrected by the correction amount to obtain the program angle information. The launch vehicle is controlled so as to control the attitude of the launch vehicle into orbit. Among them, in the process of iterative guidance calculation, the iterative step size of multiple iterative calculations follows the law of gradual decrease, and the conventional iterative guidance algorithm adopts the method of fixed step size. The entire iterative calculation process of the launch vehicle will take a long time at the far end, and the closer it is to the near end, the faster the iteration speed will be, and finally the iteration end condition is reached to complete the iterative guidance process. The invention adopts the design idea of variable step size, and the calculation accuracy is lost at the far end with large step size, but the time consumption is small, and the whole calculation accuracy is continuously converged with the iterative process; the small step size is adopted at the near end, compared with the previous fixed step Long can improve the calculation accuracy, and finally achieve the purpose of optimizing iterative guidance.

Those skilled in the art can understand that the accompanying drawing is only a schematic diagram of a preferred implementation scenario, and the modules or processes in the accompanying drawing are not necessarily necessary to implement the present application. Those skilled in the art can understand that the modules in the device in the implementation scenario may be distributed in the device in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the implementation scenario with corresponding changes. The modules of the above implementation scenarios may be combined into one module, or may be further split into multiple sub-modules.

The above serial numbers in the present application are only for description, and do not represent the pros and cons of the implementation scenarios. The above disclosures are only a few specific implementation scenarios of the present application, however, the present application is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present application.

Claims (10)

1. A carrier rocket iterative guidance method based on optimization step length is characterized by comprising the following steps:

monitoring navigation information and acceleration information of a carrier rocket;

performing multiple iterative computations by using an iterative guidance algorithm of the carrier rocket based on real-time navigation information, real-time acceleration information and standard program angle information to determine a program angle correction amount of the carrier rocket, wherein the iteration step length of any iterative computation is smaller than that of the previous iterative computation;

and performing programmed angle correction on the carrier rocket according to the programmed angle correction.

2. The method according to claim 1, wherein determining the programmed angle corrections of the launch vehicle by performing a plurality of iterative calculations using an iterative guidance algorithm of the launch vehicle based on the real-time navigation information, the real-time acceleration information, and a standard program comprises:

calculating an iteration step length according to the real-time and the preset iteration ending time, and determining iteration calculation time corresponding to the iteration step length;

when the iterative computation time is reached, performing iterative computation by using the iterative guidance algorithm based on real-time navigation information, real-time acceleration information and the standard program angle information to determine an iterative intermediate value;

and continuously calculating a new iteration step length according to the real-time and the preset iteration ending time, determining new iteration calculation time, and continuously performing iteration calculation based on the real-time navigation information, the real-time acceleration information and the iteration intermediate value until an iteration termination condition is met when the new iteration calculation time is reached.

3. The method according to claim 2, wherein the calculating the iteration step size according to the real-time and the preset iteration end time specifically comprises:

substituting the real-time and the preset iteration ending time into an iteration step calculation formula to obtain the iteration step, wherein the iteration step calculation formula is T _step ＝k*(T _end -T _now )，T _step For the iteration step, T _end For said predetermined iteration end time, T _now And k is a preset coefficient for the real-time.

4. The method according to claim 3, wherein the determining the iterative computation time corresponding to the iterative step size specifically includes:

and carrying out amplitude limiting processing on the iteration step length based on a preset amplitude limiting step length, and taking the sum of the real-time and the iteration step length after amplitude limiting processing as the iteration calculation time.

5. The method of claim 2, wherein the iterative computation is performed using the iterative guidance algorithm based on real-time navigation information, real-time acceleration information, and the standard procedure angle information at the time of the iterative computation, and after determining an iterative intermediate value, the method further comprises:

counting the iteration times of iterative computation;

and when the iteration times reach a preset iteration time threshold value or reach the preset iteration ending time, ending the iterative computation.

6. The method of any one of claims 1 to 5, wherein the navigation information comprises velocity information and position information of the launch vehicle, and wherein procedure angle information is used to describe the launch vehicle's attitude in orbit.

7. An iterative guidance device for a launch vehicle based on an optimized step size, the device comprising:

the monitoring module is used for monitoring navigation information and acceleration information of the carrier rocket;

the iterative computation module is used for carrying out multiple iterative computations by utilizing an iterative guidance algorithm of the carrier rocket based on real-time navigation information, real-time acceleration information and standard program angle information to determine the program angle correction quantity of the carrier rocket, wherein the iteration step length of any iterative computation is smaller than that of the previous iterative computation;

and the correction module is used for carrying out program angle correction on the carrier rocket according to the program angle correction quantity.

8. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of any of claims 1 to 6.

9. A computer device comprising a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, characterized in that the processor implements the method of any one of claims 1 to 6 when executing the computer program.

10. A launch vehicle characterized in that it comprises iterative guidance means for implementing the method according to any one of claims 1 to 6.

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