Projectile Trajectory Estimation Method Integrating Scheme Trajectory Information

LIANG Chen; SHEN Qiang; DENG Zilong; LI Hongyun; JING Yingxi

doi:10.12382/bgxb.2026.0182

您当前的位置：

首页 >

文章列表页 >

Projectile Trajectory Estimation Method Integrating Scheme Trajectory Information

更新时间：2026-10-13

- Projectile Trajectory Estimation Method Integrating Scheme Trajectory Information
- ACTA ARMAMENTARII Vol. 47, Issue 9, Pages: 260182(2026)
- 作者机构：
  
  1.北京遥感设备研究所，北京 100854
  2.北京理工大学机电学院，北京 100081
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2026.0182
  CLC： TJ43
- Received：28 February 2026，
  
  Revised：2026-08-24，
  
  Accepted：21 May 2026，
  
  Online First：03 September 2026，
  
  Published：30 September 2026
- 稿件说明：
移动端阅览
梁晨,申强,邓子龙等.融合方案弹道信息的弹丸轨迹估计方法[J].兵工学报,2026,47(09):260182.

LIANG Chen,SHEN Qiang,DENG Zilong,et al.Projectile Trajectory Estimation Method Integrating Scheme Trajectory Information[J].ACTA ARMAMENTARII,2026,47(09):260182.
梁晨,申强,邓子龙等.融合方案弹道信息的弹丸轨迹估计方法[J].兵工学报,2026,47(09):260182. DOI： 10.12382/bgxb.2026.0182.

LIANG Chen,SHEN Qiang,DENG Zilong,et al.Projectile Trajectory Estimation Method Integrating Scheme Trajectory Information[J].ACTA ARMAMENTARII,2026,47(09):260182. DOI： 10.12382/bgxb.2026.0182.

摘要

针对二维弹道修正组件在真实飞行环境下定位测速易受干扰，导致导航精度下降的问题，提出一种融合方案弹道信息的弹丸轨迹估计方法。在弹丸飞行过程中引入6自由度弹道方程推导的方案弹道信息，与接收机提供的位置速度信息共同作为观测量，实时参与解算弹道轨迹信息。通过计算方案弹道和接收机的新息值与新息协方差矩阵，构建二者的权重似然函数，加权融合不同观测方式的测量结果，实现飞行全程的弹丸轨迹融合估计，从而减缓只依靠接收机信息造成的误差影响。仿真实验表明：所提方法相较于对比方法具有更高的估计效果，位置估计精度相对于常规方法提升40%，速度估计精度相对于常规方法提升43%；该方法可以有效提升修正组件只能依靠接收机进行弹丸轨迹估计的精度，为后续的制导控制打下基础。

Abstract

To address the problem that the positioning and velocity measurement of the two-dimensional trajectory correction kit is susceptible to interference in the actual flight environment， which leads to the degradation of navigation accuracy， this paper proposes a projectile trajectory estimation method fused with programmed trajectory information.During the flight of the projectile， the programmed trajectory information derived from the 6-degree-of-freedom ballistic equation was introduced， and was adopted as observations together with the position and velocity information provided by the satellite receiver， to participate in the real-time solution of the projectile trajectory information. By calculating the innovation values and innovation covariance matrices of the programmed trajectory and the satellite receiver， a weighted likelihood function for the two was constructed to realize the weighted fusion of the measurement results from different observation modes， and the fusion estimation of the projectile trajectory throughout the full flight process was achieved， thus mitigating the error impact caused by relying solely on the receiver information. Simulation experiments were conducted， and the results show that the algorithm proposed in this paper has better estimation performance than the comparison algorithms： the position estimation accuracy is improved by 40% compared with the conventional method， and the velocity estimation accuracy is improved by 43% compared with the conventional method. The method proposed in this paper can effectively improve the accuracy of projectile trajectory estimation for the correction kit when it relies solely on the satellite receiver， and lays a solid foundation for the subsequent guidance and control.

关键词

Keywords

references

王中原，史金光，常思江，等 . 弹道修正弹技术发展综述［J］. 弹道学报， 2021 ， 33 （ 2 ）： 1 - 12 .

Wang Z Y ， Shi J G ， Chang S J ， et al . Review on development of technology of trajectory correction projectile ［J］. Journal of Ballistics ， 2021 ， 33 （ 2 ）： 1 - 12 . （in Chinese）

柯知非，宋卫东 . 二维弹道修正组件发展现状及关键技术［J］. 飞航导弹， 2018 （ 5 ）： 81 - 85 .

Ke Z F ， Song W D . Development status and key technologies of two-dimensional trajectory correction components ［J］. Aerospace Technology ， 2018 （ 5 ）： 81 - 85 . （in Chinese）

蒋宇，霍鹏飞，贺强 . 一维弹道修正弹多目标优化全弹道符合方法［J］. 探测与控制学报， 2025 ， 47 （ 4 ）： 149 - 155 .

Jiang Y ， Huo P F ， He Q . One-dimensional ballistic correction projectile multi-objective optimization full trajectory coincidence method ［J］. Journal of Detection & Control ， 2025 ， 47 （ 4 ）： 149 - 155 . （in Chinese）

冯单翔 . 基于精确制导组件的二维弹道修正弹气动与修正研究［D］. 南京：南京理工大学， 2021 .

Feng D X . Research on aerodynamic and correction of two-dimensional trajectory correction projectile based on precision guidance kit ［D］. Nanjing ： Nanjing University of Science & Technology ， 2021 . （in Chinese）

Luu V T ， Grignon C ， Plourde F . Toward a CFD/6 DOF coupled model enhancing projectile trajectory prediction ［C］// 21st AIAA Computational Fluid Dynamics Conference ， 2013 .

Hainz L C ， Costello M . Modified projectile linear theory for rapid trajectory prediction ［J］. Journal of Guidance， Control， and Dynamics ， 2005 ， 28 （ 5 ）： 1006 - 1014 .

Harlin W J ， Cicci D A . Ballistic missile trajectory prediction using a state transition matrix ［J］. Applied Mathematics and Computation ， 2007 ， 188 ： 1832 - 1847 .

Geng L Y ， Wu N ， Meng F K ， et al . A analytical method of trajectory prediction considering J2 perturbations and including short-period terms ［C］// 2018 4th International Conference on Control， Automation and Robotics ， 2018 ： 498 - 503 .

Lee D G ， Cho K S ， Shin J H . A simple prediction method of ballistic missile trajectory to designate search direction and its verification using a testbench ［C］// 2015 10th Asian Control Conference ， 2015 ： 1 - 7 .

Almogi-Nadler M ， Oshman Y ， Ben-Asher J Z . Boost-phase identification of theater ballistic missiles using radar measurements ［J］. Journal of Guidance， Control， and Dynamics ， 2004 ， 27 ： 197 - 208 .

Schmitt ， L ， Fichter W . Observability criteria and null-measurement kalman filter for vision-aided inertial navigation ［J］. Journal of Guidance， Control， and Dynamics ， 2016 ， 39 ： 770 - 780 .

Lu K L ， Zhou R ， Zhang J . Approximate Chernoff fusion of Gaussian mixtures for ballistic target tracking in the re-entry phase ［J］. Aerospace Science and Technology ， 2017 ， 61 ： 21 - 28 .

Ravindra V C ， Bar-Shalom Y ， Willett P . Projectile identification and impact point prediction ［J］. IEEE Transactions on Aerospace and Electronic Systems ， 2010 ， 46 （ 4 ）： 2004 - 2021 .

Ji R P ， Liang Y ， Xu L F ， et al . Trajectory prediction of ballistic missiles using Gaussian process error model ［J］. Chinese Journal of Aeronautics ， 2022 ， 35 （ 1 ）： 458 - 469 .

Han L X ， Feng C Q ， Hu X W ， et al . Ballistic target recognition based on multiple data representations and deep-learning algorithms ［J］. Chinese Journal of Aeronautics ， 2024 ， 37 （ 6 ）： 167 - 181 .

Cimmino N ， Opromolla R ， Fasano G . Machine learning-based approach for ballistic coefficient estimation of resident space objects in LEO ［J］. Advances in Space Research ， 2023 ， 71 （ 12 ）： 5007 - 5025 .

Lee S K ， Shin H S ， Tsourdos A . Intent-informed state estimation for tracking guided targets ［J］. Aerospace Science and Technology ， 2023 ， 143 ： 108713 .

Wang Y K ， Liu J X ， Liu R W ， et al . Interval prediction of vessel trajectory based on lower and upper bound estimation and attention-modified LSTM with bayesian optimization ［J］. Physica A： Statistical Mechanics and its Applications ， 2023 ， 630 ： 129275 .

Wang R P ， Lam S K ， Wu M Q ， et al . Destination intention estimation-based convolutional encoder-decoder for pedestrian trajectory multimodality forecast ［J］. Measurement ， 2025 ， 239 ： 115470 .

Wu J W ， Liu H D ， Li B ， et al . Precision trajectory control in underwater vehicle-manipulator systems using advanced sliding mode techniques and state estimation ［J］. Ocean Engineering ， 2025 ， 318 ： 120129 .

Liang C ， Shen Q ， Deng Z L ， et al . Research on aiming methods for small sample size shooting tests of two-dimensional trajectory correction fuse ［J］. Defence Technology ， 2024 ， 33 ： 506 - 517 .

Oh H ， Kim S . Persistent standoff tracking guidance using constrained particle filter for multiple UAVs ［J］. Aerospace Science and Technology ， 2019 ， 84 ： 257 - 264 .

申强，葛腼，彭博，等 . 基于GPS弹道测量的卡尔曼滤波参数估计算法［J］. 北京理工大学学报， 2009 ， 29 （ 12 ）： 1048 - 1051 .

Shen Q ， Ge M ， Peng B ， et al . Parameters estimation algorithm by Kalman filtering based on GPS measurement for projectile trajectory ［J］. Transactions of Beijing Institute of Technology ， 2009 ， 29 （ 12 ）： 1048 - 1051 . （in Chinese）

曾凡桥 . 制导弹药的弹道滤波与落点估计技术研究［D］. 太原：中北大学， 2017 .

Zeng F Q . Research on the technology of trajectory filter and falling point estimation for guided ammunition ［D］. Taiyuan ： North University of China ， 2017 . （in Chinese）

Deng Z L ， Shen Q ， Cheng J S ， et al . Trajectory estimation method of spinning projectile without velocity input ［J］. Measurement ， 2020 ， 160 ： 107831 .

Nobahari H ， Mohammadkarimi H . Application of model aided inertial navigation for precise altimetry of unmanned aerial vehicles in ground proximity ［J］. Aerospace Science and Technology ， 2017 ， 69 ： 650 - 658 .

Huang J S ， Li Z H ， Liu D ， et al . An adaptive state estimation for tracking hypersonic glide targets with model uncertainties ［J］. Aerospace Science and Technology ， 2023 ， 136 ： 108235 .

Jin L T ， Ning J ， Li T S . Event-triggered adaptive fuzzytrajectory tracking control of unmanned surface vehicle with time-varying output constraints and input quantization ［J］. ISA Transactions ， 2026 ， 168 ： 18 - 28 .

Hu J C ， Wang Z X ， Wu X G ， et al . Kinematic priors guide generative trajectory planning for autonomous vehicles ［J］. Pattern Recognition ， 2026 ， 175 ： 113061 .

Chen X ， Bian H ， Li F ， et al . Time-varying current estimation method for SINS/DVL integrated navigation based on augmented observation algorithm ［J］. Symmetry ， 2025 ， 17 ， 1881 .

Su H ， Guo Y F ， Xue A K ， et al . An adaptive virtual measurement STGP algorithm for self-occluded 3D extended object tracking with time-varying shapes ［J］. Digital Signal Processing ， 2026 ， 168 （ Part D ）： 105622 .

Tang S W ， Qian W X ， Wang S ， et al . Zero-velocity update-aided navigation method for miniature quadruped robot based on adapted virtual inertial measurement unit ［J］. Engineering Applications of Artificial Intelligence ， 2026 ， 163（Part 2）： 112807.

Zhi Z ， Liu D T ， Liu L S . A performance compensation method for GPS/INS integrated navigation system based on CNN-LSTM during GPS outages ［J］. Measurement ， 2022 ， 188 ： 110516 .

Cai Y P ， Zhuang X B . Hypersonic glide vehicle trajectory prediction based on frequency enhanced channel attention and light sampling-oriented MLP network ［J］. Defence Technology ， 2025 ， 46 ： 199 - 212 .

程骥思 . 基于固定舵的高旋弹弹道修正特性及修正策略研究［D］. 北京：北京理工大学， 2019 .

CHENG J S . Research on trajectory correction characteristics and correction strategy of spin-stabilized projectile with course correction fuze actuated by fixed-canards ［D］. Beijing ： Beijing Institute of Technology ， 2019 . （in Chinese）

Views

下载量

CNKI被引量

Alert me when the article has been cited

提交

Tools

Publicity Resources

Vertical State Estimation and Attitude Control of a Reconfigurable Heavy-duty Unmanned Vehicle for Autonomous Docking

Research on Information Fusion for Equipment Counting Inspection Based on Bayesian Method

Integrated Adaptive Compliance Control for Wheeled-legged Platforms Based on State Estimation

Joint State Equality Constraint Identification and Recursive Filtering Based on Deep Learning

Analysis of Macroscopically Continuous-microscopic Heterostructured Vehicle Body Structure

Related Author

NI Jun

YANG Xu

WU Kun

WANG Feiyu

WANG Tiezhen

LÜ Wencheng

WEI Yanxu

XIONG Wei

Related Institution

State Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology

Inner Mongolia First Machinery Group Co., Ltd.

School of Mechanical Engineering, Beijing Institute of Technology

Army Department

Postal code：100089
Tel：010-68963060/68962718 Fax：010-68963025 Email：bgxb@cos.org.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备05059581号-4 京公网安备11010802024360号
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.
Total Visits：222925 Visits Today：1086 Online Users：9

⁰