基于弹道弯曲角速度单矢量的制导炮弹滚转角空中粗对准方法

doi:10.12382/bgxb.2021.0707

摘要/Abstract

摘要：

制导炮弹内弹道呈现高转速、大过载的特点,其导航坐标系统滚转通道无法进行初始对准。针对以上难点问题,根据无控段飞行特性,提出一种基于弹道弯曲角速度矢量的滚转角空中粗对准方法。在无需卫星、机动辅助的条件下,利用重力引起的弹道弯曲角速度矢量作为基准,通过单矢量定姿实现滚转角对准。为消除低精度陀螺仪的零偏、轴偏角等误差的影响,分析了弹体姿态运动测量信息的频域特性,利用FIR带通滤波器提取角速率陀螺信息中弹体滚转频点处的有用分量,并采取对准起始时刻冻结弹体坐标系下的积分策略,平滑随机测量噪声,从而提高对准精度。通过数学仿真手段,探究了惯性陀螺误差对对准精度的影响。数学仿真结果表明:该方法仅利用低精度角速率陀螺即可实现在无控段快速粗对准滚转角,误差在1°左右;在飞行搭载试验中,滚转角对准误差可控制在2°以内。

关键词: 制导炮弹, 矢量定姿, 弹道弯曲角速度, 频域特性, 空中粗对准

Abstract:

As the interior ballistics of guided projectiles feature high rotational speed and high overload, the initial alignment of roll angle can only be achieved in air. To solve this problem, a coarse roll angle alignment method based on trajectory bending angular velocity in free flight phase is proposed. Without satellite and maneuver assistance, using the trajectory bending angular velocity induced by gravity as reference, the roll angle is obtained by single vector attitude determination. Then, the frequency domain characteristics of the projectile attitude motion measurement is analyzed to reduce the impact of the zero bias, misalignment and other errors of the low accuracy gyroscope. A FIR bandpass filter is utilized to extract desired component of the angular rate measurement at the rolling frequency point. An integration strategy under the frozen projectile system at the beginning of alignment is adopted to suppress the random noise, thereby improving the performance of the alignment. The influence of inertial gyroscope error on alignment accuracy is explored by mathematical simulation. The simulation results show that through this method, fast coarse alignment of roll angle in free flight can be realized only using low precision angular rate gyroscope, and the error is about 1°. In the flight test, the roll angle alignment error can be controlled within 2°.

Key words: guided projectile, vector attitude determination, trajectory bending angular velocity, frequency domain characteristics, in-flight coarse alignment

中图分类号:

TJ413.⁺6

杨启帆, 王江, 范世鹏, 白婵, 周永佳, 胡少勇. 基于弹道弯曲角速度单矢量的制导炮弹滚转角空中粗对准方法[J]. 兵工学报, 2023, 44(2): 417-427.

YANG Qifan, WANG Jiang, FAN Shipeng, BAI Chan, ZHOU Yongjia, HU Shaoyong. In-flight Alignment Method of Guided Projectile Roll Angle Based on Trajectory Bending Angular Velocity Single Vector[J]. Acta Armamentarii, 2023, 44(2): 417-427.

图/表 22

图1 制导炮弹弹道

Fig.1 Guided projectile trajectory

图2 导航坐标系与弹体坐标系的关系

Fig.2 Relationship between navigation coordinate system and projectile coordinate system

图3 准弹体坐标系与准速度坐标系的关系

Fig.3 Relationship between quasi-projectile coordinate system and quasi-velocity coordinate system

图4 准弹体坐标系与弹体坐标系的关系

Fig.4 The relation between quasi-projectile coordinate system and projectile coordinate system

图5 初始滚转角对准算法示意图

Fig.5 Schematic diagram of initial roll angle alignment algorithm

表1 象限判断规则

Table 1 Quadrant judgment rule

Δϑ_y>0 Δϑ_z>0	Δϑ_y<0 Δϑ_z<0	Δϑ_y<0 Δϑ_z>0	Δϑ_y>0 Δϑ_z<0
γ₀=γ_m-π	γ₀=γ_m	γ₀=γ_m+π	γ₀=γ_m

图6 仿真陀螺仪测量值

Fig.6 Simulation of gyroscope measurement

图7 陀螺仪测量值频谱图

Fig.7 Spectrum diagram of gyroscope measurement

图8 频域处理后的陀螺仪测量值

Fig.8 Gyroscope measurement processed in frequency domain

图9 弹道弯曲角速度重构效果

Fig.9 Reconstruction effect of trajectory bending angular velocity

图10 两种对准方法的误差对比

Fig.10 Error comparison of the two alignment methods

图11 陀螺仪零偏对滚转角对准精度的影响

Fig.11 Effect of gyroscope bias on roll Angle alignment accuracy

图12 陀螺仪白噪声对对准精度的影响

Fig.12 Effect of white noise of gyroscope on alignment accuracy

图13 实物图

Fig.13 Picture of real products

图14 空间定向陀螺示意图

Fig.14 Schematic diagram of gyroscope for spatial orientation

图15 某型号制导炮弹的陀螺仪测量值

Fig.15 Gyroscope measurement of a certain type of guided missile

图16 飞行试验陀螺仪测量值频谱图

Fig.16 Spectrum diagram of gyroscope measurement in flight test

图17 带通滤波器幅频特性

Fig.17 Amplitude-frequency characteristics of bandpass filters

图18 飞行试验频域处理后的陀螺测量值

Fig.18 Gyroscope measurement processed in frequency domain in flight test

图19 飞行试验弹道弯曲角速度重构效果

Fig.19 Reconstruction effect of trajectory bending angular velocity in flight test

图20 飞行试验中滚转角对准结果

Fig.20 Roll Angle alignment results in flight test

图21 飞行试验中滚转角对准误差

Fig.21 Roll Angle alignment error in flight test

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