滚仰式导引头跟踪策略研究

doi:10.12382/bgxb.2023.0977

摘要/Abstract

摘要：

为了简化滚转-俯仰式导引头的跟踪过程,提出并通过实验证明了一种应用于此结构的跟踪方案。通过分析滚-仰式导引头的工作原理及特性,提出基于解像旋机理跟踪目标的新方法,以简单、有效地应用于工程实际。与传统坐标转换法不同,新方法的精度受到光轴等机械误差的影响更小,容错率更高,适用性、实时性更强,且可以同时通过角速率陀螺数据作为反馈进行任意方向的扰动补偿。根据陀螺安装方式的不同,通过推导导引头稳定平台状态及导引头与弹体间的相对运动关系得到稳定公式,完成控制系统的设计。通过半实物仿真进行实验验证,静态跟踪实验结果证明了新的跟踪方法具有可实用性。在动态跟踪实验中分别使用传统坐标转换法和新提出的解像旋法进行跟踪。动态实验结果表明:解像旋法在存在载体扰动情况下仍然适用;相比传统坐标转换法,解像旋法较大幅度地提高了跟踪精度,x轴跟踪误差RMSE值减小了79.10%,y轴减小了90.04%。

关键词: 导引头, 横滚-俯仰式, 稳定平台, 伺服系统

Abstract:

In order to simplify the tracking process of roll-pitch seeker, a tracking scheme for roll-pitch structure is proposed and experimentally proven.The working principle and characteristics of roll-pitch seeker are analyzed, and a new method for tracking the targets based on aeliminating image rotation mechanism is proposed, which can be easily and effectively applied in engineering practice. Compared with traditional coordinate conversion methods, the accuracy of the proposed method is less affected by mechanical errors such as optical axis, and has higher fault tolerance, applicability, and real-time performance. It can also compensate for the disturbances in any direction through feedback from angular rate gyroscope data. In addition, based on the different installation methods of gyroscopes, the stability formula is obtained by deriving the stabized platform state of the seeker and the relative motion relationship between the seeker and the missile body, and the design of the control system is completed. Finally, rhe experimental verification is conducted through semi-physical simulation.The static tracking experimental results demonstrate the practicality of the proposed tracking method. The traditional coordinate conversion method and the proposed method are used for tracking in the dynamic tracking experiment. Dynamic experimental results show that the proposed method is still applicable in the presence of carrier disturbances. Compared with traditional coordinate conversion methods, the proposed method significantly improves tracking accuracy, reducing the RMSE values of x-axis and y-axis tracking errors by 79.10% and 90.04%, respectively.

Key words: seeker, roll-pitch type, stabilized platform, servo system

中图分类号:

TJ765.3

姚佳志, 宋延嵩, 宋建林, 王伟, 安岩. 滚仰式导引头跟踪策略研究[J]. 兵工学报, 2024, 45(11): 4031-4038.

YAO Jiazhi, SONG Yansong, SONG Jianlin, WANG Wei, AN Yan. Research on Tracking Strategy of Roll-pitch Seeker[J]. Acta Armamentarii, 2024, 45(11): 4031-4038.

图/表 12

图1 系统工作框图

Fig.1 System block diagram

图2 坐标系定义

Fig.2 Coordinate system definition

图3 库德光路结构图

Fig.3 Structural diagram of Coude optical system

图4 红外探测器视场

Fig.4 Infrared detector field of view

图5 陀螺安装位置

Fig.5 Gyro installation position

图6 闭环稳定跟踪原理图

Fig.6 Schematic diagram of closed-loop stable tracking

图7 导引头跟踪实验实物

Fig.7 Experimental system for tracking

图8 目标在视场成像示意图

Fig.8 Target imaging in the field of view

图9 执行跟踪指令后目标跟踪情况

Fig.9 Target tracking status after executing tracking instructions

图10 目标在视场中的运动轨迹

Fig.10 Motion trajectory of target in the field of view

图11 坐标变换法的跟踪误差

Fig.11 racking accuracy of coordinate conversion method

图12 解像旋法的跟踪误差

Fig.12 Tracking accuracy of the eliminating image rotation method

参考文献 21

[1]	程丹松, 王康, 李晨博, 等. 导引头跟踪精度影响因素分析系统设计[J]. 智能计算机与应用, 2022, 12(9):214-221.
	CHENG D S, WANG K, LI C B, et al. Design of analysis system for factors influencing tracking accuracy of seeker[J]. Intelligent Computer and Applications, 2022, 12(9):214-221. (in Chinese)
[2]	段鹏飞. 空空导弹小/微型化发展趋势与启示[J]. 航空兵器, 2021, 28(3):18-21.
	DUAN P F. Development trend of air-to-air missile micro miniaturization[J]. Aero Weaponry, 2021, 28(3):18-21. (in Chinese)
[3]	马俊林, 邢妍, 高群, 等. 微小型滚仰式红外导引头光机轴系一体化设计[J]. 红外技术, 2021, 43(5):411-416.
	MA J L, XING Y, GAO Q, et al. Design ofmicro-miniature infrared seeker with roll-pitch structure[J]. Infrared Technology, 2021, 43(5):411-416. (in Chinese)
[4]	孙赤全, 赵侃, 孟军合, 等. 滚仰式导引头红外光学系统设计[J]. 红外与激光工程, 2017, 46(2):152-157.
	SUN C Q, ZHAO K, MENG J H, et al. IR optical system design of roll-elevation seeker[J]. Infrared and Laser Engineering, 2017, 46(2):152-157. (in Chinese)
[5]	张鑫, 贾宏光. 90°离轴角红外滚仰式导引头光学系统[J]. 红外与激光工程, 2013, 42(1):143-147.
	ZHANG X, JIA H G. 90°off-axis angle infrared optical system of roll-pitch seeker[J]. Infrared and Laser Engineering, 2013, 42(1):143-147. (in Chinese)
[6]	任淼, 刘晶晶, 文琳. 2021年国外空空导弹发展动态研究[J]. 航空兵器, 2022, 29(4):33-41.
	REN M, LIU J J, WEN L. Research onforeign air-to-air missiles’ development in 2021[J]. Aero Weaponry, 2022, 29(4):33-41. (in Chinese)
[7]	任淼, 刘晶晶, 刘凯, 等. 2022年国外空空导弹发展动态研究[J]. 航空兵器, 2023, 30(4):33-41.
	REN M, LIU J J, LIU K, et al. Research on foreign air-to-air missiles’ development in 2022[J]. Aero Weaponry, 2023, 30(4):33-41. (in Chinese)
[8]	王志伟, 祁载康, 王江. 滚-仰式导引头跟踪原理[J]. 红外与激光工程, 2008, 178(2):274-277.
	WANG Z W, QI Z K, WANG J. Tracking principle for roll-pitch seeker[J]. Infrared and Laser Engineering, 2008, 178(2):274-277. (in Chinese)
[9]	朱明超, 贾宏光. 基于Paden-Kahan子问题求解滚仰式导引头角增量[J]. 光学精密工程, 2011, 19(8):1838-1844.
	ZHU M C, JIA H G. Solution of angle increments for roll-pitch seekers based on Paden-Kahan sub-problems[J]. Optics and Precision Engineering, 2011, 19(8):1838-1844. (in Chinese)
[10]	陈思远, 谢伟, 刘石祥, 等. 滚仰式导引头稳定和跟踪特性研究[J]. 电子机械工程, 2021, 37(2):60-64.
	CHEN S Y, XIE W, LIU S X, et al. Research onstabilizing and tracking characteristics of roll-pitch seeker[J]. Electro-Mechanical Engineering, 2021, 37(2):60-64. (in Chinese)
[11]	LIU X, MO B, LIU F X. Line-of-sight stabilization of roll-pitch seeker using differentiator-based disturbance compensation control[J]. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2020, 234(7):1326-1339.
[12]	LIN F, SHEN X J. Research on command generation strategy of roll and pitch seeker[J]. Journal of Physics:Conference Series, 2021, 2085(1).DOI:10.1088/1742-6596/2085/1/012017.
[13]	DANIEL G, ZBIGNIEW K. Control of optoelectronic scanning and tracking seeker by means the LQR modified method with the input signal estimated using of the extended Kalman filter[J]. Energies, 2021, 14(11):3109.
[14]	马杰, 吴志勇. 光电测量系统故障诊断中跟踪误差预测的CS-BP算法研究[J]. 光电工程, 2022, 49(8):66-74.
	MA J, WU Z Y. Research on CS-BP algorithm of tracking errorprediction in fault diagnosis of photoelectricmeasurement system[J]. Opto-Electronic Engineering, 2022, 49(8):66-74. (in Chinese)
[15]	白瑞. 滚仰导引头关键技术及其在空空导弹上的应用研究[D]. 北京: 北京理工大学, 2017.
	BAI R. Keytechnology of roll-pitch seeker and its application to air-to-air missile[D]. Beijing: Beijing Institute of Technology, 2017. (in Chinese)
[16]	ZARCHAN P. Tactical and strategic missile guidance[M]. Reston, VA, US:AIAA, 2002.
[17]	CHING-FANG L. Modern navigation,guidance and controlprocessing[M]. Upper Saddle River, NJ, US: Prentice Hall,1991.
[18]	金秋延, 刘福祥, 王新春, 等. 滚仰式导引头斜置方案下的过顶奇异问题控制策略[J]. 兵工学报, 2024, 45 (2): 628-640. doi: 10.12382/bgxb.2022.0631
	JIN Q Y, LIU F X, WANG X C, et al. Thecontrol strategy of zenith-pass singularity problem under the roll-pitch seeker oblique scheme[J]. Acta Armamentarii, 2024, 45 (2): 628-640. (in Chinese)
[19]	袁东明, 丁亚林, 张健. 应用分块三次多项式的导引头测角精度标定[J]. 兵工学报, 2019, 40(10):2042-2049. doi: 10.3969/j.issn.1000-1093.2019.10.009
	YUAN D M, DING Y L, ZHANG J. Calibration of seeker angle-measuring error with block three-order polynomial[J]. Acta Armamentarii, 2019, 40(10):2042-2049. (in Chinese) doi: 10.3969/j.issn.1000-1093.2019.10.009
[20]	赵明, 白杨, 刘慧, 等. 导引头稳定平台指向误差建模与参数标定[J]. 红外与激光工程, 2013, 42(增刊2):374-379.
	ZHAO M, BAI Y, LIU H, et al. Pointing error modeling and parameter calibration for seeker stabilized platform[J]. Infrared and Laser Engineering, 2013, 42(S2):374-379. (in Chinese)
[21]	赵毅鑫, 崔颢, 陈晓曾, 等. 滚仰式半捷联光电稳定平台误差分析与补偿[J]. 航空兵器, 2021, 28(6):53-57.
	ZHAO Y X, CUI H, CHEN X Z, et al. Erroranalysis and compensation of roll-pitch semi-strapdown photo-electricity stabilized platform[J]. Aero Weaponry, 2021, 28(6): 53-57. (in Chinese)