In-flight Alignment Method of Guided Projectile Roll Angle Based on Trajectory Bending Angular Velocity Single Vector

doi:10.12382/bgxb.2021.0707

Abstract

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

CLC Number:

TJ413.⁺6

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.

Figures/Tables 22

Fig.1 Guided projectile trajectory

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

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

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

Fig.5 Schematic diagram of initial roll angle alignment algorithm

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

Fig.6 Simulation of gyroscope measurement

Fig.7 Spectrum diagram of gyroscope measurement

Fig.8 Gyroscope measurement processed in frequency domain

Fig.9 Reconstruction effect of trajectory bending angular velocity

Fig.10 Error comparison of the two alignment methods

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

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

Fig.13 Picture of real products

Fig.14 Schematic diagram of gyroscope for spatial orientation

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

Fig.16 Spectrum diagram of gyroscope measurement in flight test

Fig.17 Amplitude-frequency characteristics of bandpass filters

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

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

Fig.20 Roll Angle alignment results in flight test

Fig.21 Roll Angle alignment error in flight test

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