CN-117537669-B - Bomb navigation method based on double data chain assistance

CN117537669BCN 117537669 BCN117537669 BCN 117537669BCN-117537669-B

Abstract

The invention relates to the technical field of inertial navigation, in particular to a projectile navigation method based on double data chain assistance, which comprises the steps that a ground signal receiving end obtains the distance between the positions of a projectile at two adjacent moments and the ground signal receiving end through a data chain, the distances at two moments are projected into a transmitting coordinate system, a flight path at two moments is obtained through calculation, flight path information is converted into a ground rectangular coordinate system and then into a geographic coordinate system, longitude, latitude, altitude and course angle in the geographic coordinate system are combined with the natural speed, eastern speed, north speed, longitude, latitude and altitude of inertial navigation to serve as observation values of Kalman filtering, the position information of the projectile is corrected through Kalman filtering, and the final projectile position is obtained.

Inventors

LIU CHENG
YANG DESHENG
ZHANG SHIYU
XU CHANGYAN
DUAN ZHIQIANG
WANG XUDONG
LI LING
XIE CHANGCHENG
XU HUCHAO
HU JIANDONG

Assignees

中国电子科技集团公司第二十六研究所

Dates

Publication Date: 20260505
Application Date: 20230427

Claims (3)

1. A projectile body navigation method based on double data chain assistance is characterized by comprising the following steps: the ground signal receiving end obtains the distance between the positions of the projectile bodies at two adjacent moments and the ground signal receiving end through a data chain; The distance between the two moments is projected into the emission coordinate system, comprising: wherein, the method comprises the following steps of ) Is the coordinates of the projectile under the transmitting system when the projectile is positioned at P 1 ) R L1 is the distance between the projectile and the ground measurement and control station when the projectile is positioned at P t+1 , R L2 is the distance between the projectile and the ground measurement and control station when the projectile is positioned at P t+1 , q 1 、q 2 is the elevation angle of the projectile relative to the origin ground measurement and control station at two moments in the emission coordinate system, and ψ is the heading angle of the projectile in the emission coordinate system; calculating to obtain tracks at two moments, converting track information into a rectangular coordinate system of the earth, and converting the track information into a geographic coordinate system; Taking longitude, latitude, altitude and course angle under a geographic coordinate system as observed values of Kalman filtering along with the tangential speed, the east speed, the north speed, the longitude, the latitude and the altitude of inertial navigation; Correcting the position information of the projectile body through Kalman filtering, namely, when the projectile body has course angle observation data measured by double data chains in the flight process, the observation data adjusts the predicted course angle of the inertial measurement unit to obtain an optimal estimated value of an optimal parameter to be measured, the optimal estimated value is used as an initial value of the inertial measurement unit at the next moment, the course angle simulation value is obtained through integration, and the continuous prediction and updating of the model are realized by cycling the steps when the double data chains observation data at the next moment are encountered, and the method specifically comprises the following steps: Wherein, the The predicted value of the heading angle of the projectile body at the moment k+1; A state transition relation from the time k to the time k+1; The value is an analysis value of the heading angle of the projectile body at the moment k; An error covariance matrix of the predicted value at the time k+1; Is that Is a transpose of (2); an analysis value error covariance matrix at the moment k; acquiring an error variance matrix of the course angle for the double data chains; the state analysis value of the heading angle of the projectile body at the moment k+1; the predicted value of the heading angle of the projectile body at the moment k+1; A gain matrix at time k+1; The heading angle observation value at the moment k+1; is an observation operator, namely a functional relation between an observation value and a state value; An analysis value error covariance matrix at the time k+1; Observing covariance of noise at time k+1; the course angle phi of the projectile body in a transmitting coordinate system is calculated by the difference of the tracks R L at two adjacent moments of a double data chain, the course angle at the k+1 moment is used as an observation value to carry out Kalman filtering, and the course angle calculation process comprises the following steps: Ψ=arctan(Δy/Δx) Where Δy is the longitudinal axis distance difference calculated by the track R L differential and Δx is the lateral axis distance difference calculated by the track R L differential.
2. The method for navigating a projectile based on the assistance of a double data chain as claimed in claim 1, wherein the process of converting the track information into the ground rectangular coordinate system comprises the following steps: Wherein (x e ,y e ,z e ) is the geocentric rectangular coordinate of the real-time position of the projectile body, R N is the radius of curvature of the meridian, and (lambda, L, h) is the coordinate output by the navigation system, lambda represents longitude, L represents latitude, and h represents altitude; Indicating the coordinates of the projectile in the transmission system, Is a transformation matrix between the transmission coordinate system and the geocentric rectangular coordinate system.
3. The method for navigating a projectile based on the assistance of a double data chain as claimed in claim 2, wherein the transformation matrix between the transmission coordinate system and the geocentric rectangular coordinate system is Expressed as: Wherein, the For the azimuth of the emission.

Description

Bomb navigation method based on double data chain assistance Technical Field The invention relates to the technical field of inertial navigation, in particular to a projectile navigation method based on double data chain assistance. Background The navigation system is used as positioning navigation equipment, can provide accurate attitude, speed and position information for projectile launching so as to realize accurate hit on a target, and is a vital ring in the projectile launching process. In the flight process of the projectile, the air flow around the projectile is disordered and complex, and the airspeed measured by the projectile dynamic pressure sensor has fixed deviation, so that the accuracy of a conductor navigation system is seriously influenced, a navigation system based on data chain assistance can provide a target azimuth angle of the projectile relative to an emission point or a data chain observation point, and the navigation position accuracy of the projectile can be improved under the condition of no GPS and large airspeed measurement error. Disclosure of Invention In order to overcome the defects in the prior art, the invention provides a projectile navigation method based on double data chain assistance, which specifically comprises the following steps: the ground signal receiving end obtains the distance between the positions of the projectile bodies at two adjacent moments and the ground signal receiving end through a data chain; Projecting the distance between the two moments into a transmitting coordinate system, calculating to obtain tracks of the two moments, converting track information into a rectangular coordinate system of the earth, and then converting into a geographic coordinate system; taking longitude, latitude, altitude and course angle under a geographic coordinate system as observed values of Kalman filtering along with the tangential speed, the east speed, the north speed, the longitude, the latitude and the altitude of inertial navigation; And correcting the position information of the projectile body through Kalman filtering to obtain the final projectile body position. Further, the projection of the distance between the adjacent two time shells and the ground signal receiving end into the transmitting coordinate system comprises the following steps: Wherein, the Coordinates under the emission system for the elastomer at P 1; The method comprises the steps of setting a coordinate of a projectile in a transmitting system when the projectile is located in P t+1, setting R L1 as a distance of the projectile relative to a ground measurement and control station when the projectile is located in P 1, setting R L2 as a distance of the projectile relative to the ground measurement and control station when the projectile is located in P t+1, setting q 1 as an elevation angle of the projectile relative to an origin ground measurement and control station in the transmitting coordinate system, setting q 2 as an elevation angle of the projectile relative to the origin ground measurement and control station in the transmitting coordinate system, and setting ψ as a course angle of the projectile in the transmitting coordinate system. Further, the process of converting the track information into the ground rectangular coordinate system comprises the following steps: Wherein (x e,ye,ze) is the geocentric rectangular coordinate of the real-time position of the projectile body, R N is the radius of curvature of the meridian, and (lambda, L, h) is the coordinate output by the navigation system, lambda represents longitude, L represents latitude, and h represents altitude; Indicating the coordinates of the projectile in the transmission system, Is a transformation matrix between the transmission coordinate system and the geocentric rectangular coordinate system. Further, the transformation matrix between the emission coordinate system and the geocentric rectangular coordinate systemExpressed as: where α is the azimuth of the emission. Further, when the projectile body has course angle observation data measured by a double data chain in the flight process, the observation data adjusts the predicted course angle of the inertial measurement unit to obtain an optimal estimated value of an optimal parameter to be measured, the optimal estimated value is used as an initial value of the inertial measurement unit at the next moment, a course angle simulation value is obtained through integration, and the continuous prediction and updating of the model are realized by cycling the above steps when the double data chain observation data at the next moment is encountered, and the method specifically comprises the following steps: Wherein, the M k,k+1 is the state transformation relation from the moment k to the moment k+1; The value is an analysis value of the heading angle of the projectile body at the moment k; An error covariance matrix of the predicted value at the time k+1; Transpose of M