Abstract
In this paper, the full strap-down seeker of rotating bomb is taken as the research object, and the method of extracting the LOS (line-of-sight) angle and angular rate of the full strap-down seeker of the rotating bomb is studied. The structure of the full strap-down seeker is quite different from that of the conventional rate gyro seeker. The measurement system of full strap-down seeker is fixed to the missile, the seeker can only obtain the measurement information in the projectile coordinate system, and the measurement information is coupled with the body posture information, so it cannot be directly used for the control guidance of the rotating projectile. First, based on the conversion relationship between coordinate systems, the mathematical model of the inertial LOS angle of the rotating bomb is established, and the mathematical model of the extraction of the inertial LOS angle and angular rate of the rotating bomb is further established. Then, the Kalman filter is designed by using the unscented Kalman filter method (UKF), and the extracted LOS angle containing noise information is filtered. Finally, the mathematical simulation is carried out to verify the validity of the mathematical model of LOS angle and angular rate extraction. Compared with the Extended Kalman filter method (EKF), the UKF has a higher accuracy for estimating the navigation information of the full strap-down rotating projectile.
Highlights
Estimation of Full Strap⁃down Rotating Bomb Guidance Information Based on Unscented Kalman Filter
In this paper, the full strap⁃down seeker of rotating bomb is taken as the research object, and the meth⁃ od of extracting the LOS angle and angular rate of the full strap⁃down seeker of the rotating bomb is studied
The measurement system of full strap⁃down seeker is fixed to the missile, the seeker can only obtain the measure⁃ ment information in the projectile coordinate system, and the measurement information is coupled with the body pos⁃ ture information, so it cannot be directly used for the control guidance of the rotating projectile
Summary
旋转弹全捷联导引头视线角信号估计会用到以 下坐标系:地理坐标系( 惯性坐标系) Oxyz, 弹体坐 标系 Oxbybzb, 视线坐标系 Oxsyszs, 体视线坐标系 Oxlylzl。 用到的角度有俯仰角 θ,偏航角 ψ,滚转角 γ,视线方位角 qy,视线高低角 qz,体视线方位角 qβ, 体视线 高 低 角 qα [9] 。 坐标系和角度的相关定义 如下: 1) 地理坐标系 Axyz 坐标系原点 A 取在导弹发射点上,Ax 轴是弹道 面与水平面交线, 指向目标方向为正;Ay 轴与水平 面垂直, 指向上方为正,Az 轴与其他两轴构成右手 坐标系。 在文中, 将地理坐标系作为惯性坐标系 使用。 2) 视线坐标系 Oxsyszs 坐标系原点 O 取在导弹的瞬时质心,Oxs 轴由导 弹质心指向目标的质心;Ozs 轴位于地理坐标系确定 的水平面内,与 Oxs 轴垂直;Oys 轴与 Oxs 轴、Ozs 轴互 相垂直构成右手直角坐标系。 3) 体视线坐标系 OxTyTzT 原点 O 取在导弹的瞬时质心上,OxT 轴由导弹 质心指向目标的质心,OyT 轴位于弹体坐标系确定 的 Ox1z1 平面内,与 OxT 轴垂直。 OzT 轴与 OxT,OyT 轴互相垂直并构成右手直角坐标系。 视线方位角 qλ:视线坐标系的 Oxs 轴在水平面 内的投影和地理坐标系的 Ax 轴之间的夹角。 视线高低角 qγ:视线坐标系的 Oxs 轴和水平面 之间的夹角。 OxT 轴) 和弹体坐标系的 Ox1z1 平面之间的夹角。 体视线方位角 qβ:导弹与目标连线在 Ox1z1 平面 内的投影(即图 2 中的 Ox′ 轴) 和弹体坐标系的 Ox1 轴之间的夹角。 Éêxb ùú éêr ùú éêrcosqαcosqβ ùú ê ëêê yb zb ú ûúú
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