CN112379603A - Compensation system and method for mounting eccentricity of strapdown seeker in radio frequency guidance simulation - Google Patents
Compensation system and method for mounting eccentricity of strapdown seeker in radio frequency guidance simulation Download PDFInfo
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Abstract
A compensation system and method for mounting eccentricity of a strapdown seeker in radio frequency guidance simulation are disclosed, wherein the system comprises a radiation signal antenna, a seeker and a control unit; the radiation signal antenna is fixed in a darkroom, has a known position and is used for carrying out target simulation; the seeker is arranged on the rotary table, rotates along with the rotary table to detect target radiation information and gives a stereoscopic line angle; the control unit solves the rotation angle of the rotary table, so that the relative spatial position relation between the central point of the antenna aperture surface of the seeker and the position of the radiation signal antenna just meets the expected stereoscopic angle, and controls the rotary table to rotate by a corresponding angle according to the solved rotation angle of the rotary table, thereby eliminating the measurement deviation caused by the installation eccentricity of the seeker.
Description
Technical Field
The invention relates to a compensation method for mounting eccentricity of a strapdown seeker in radio frequency guidance simulation, and belongs to the technical field of aircraft guidance control simulation.
Background
With the rapid development of computer and microelectronic technologies, system simulation technology has been widely applied to each link of missile model development, especially semi-physical simulation tests. For the development of a seeker, a guidance semi-physical simulation test is an important design and performance evaluation means. The seeker real object is introduced into a simulation loop to replace a corresponding mathematical model, so that the influence of factors such as a mathematical model modeling error and model uncertainty is overcome, and the precision and confidence of a simulation test are improved.
In a semi-physical simulation test of a radar seeker, a three-axis rotary table is matched with a radio frequency target simulation system to simulate relative angular motion of a missile and a target. The installation requirement of the seeker on the three-axis turntable is to ensure that the center of the antenna aperture surface of the seeker coincides with the rotation center of the turntable, and in actual engineering, in order to avoid shielding and interference of the turntable body on radio frequency signals, eccentric installation is generally needed, even if the center of the antenna aperture surface of the seeker is positioned in front of the rotation center of the turntable, as shown in fig. 1. And such a mounting manner will introduce additional system errors, which affect the testing accuracy.
Through the search of the prior art documents, the system error caused by the installation eccentricity is analyzed in the article published by Zhang hongxi and Chilianhu in computer simulation (2010, 27 th volume, 12 th period, 31-34 th page), namely the analysis of the influence of the installation error of the guide head in the semi-physical simulation, and two compensation methods are provided: firstly, errors are compensated before the measured data of the seeker enters the guidance calculation. And secondly, the measured line-of-sight angle is consistent with the theoretical line-of-sight angle by adjusting the radiation position of the simulated target. The first method requires modification of the on-board software algorithm, and additional error is introduced by measuring the delay. The second method is simple in calculation, but is not suitable for the test scene of the radiation position of the fixed simulation target researched by the invention. Wangquan, Zheng and Jishuang were published in laser and Infrared (2018, volume 48, stage 10, page 1278-1282) in the article "semi-physical simulation synthesis line-of-sight method research of seeker's head by laser strapdown" to study the system deviation problem caused by seeker's installation eccentricity, and a simulation error correction model of strapdown seeker's head line-of-sight angle based on synthetic sight line was provided, which is a nonlinear equation, and cannot solve the precise analytic solution, and a proper nonlinear equation solving method needs to be selected to solve the numerical solution, and the calculation of the method is complicated.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art, and provides a compensation method for the mounting eccentricity of the strapdown seeker in radio frequency guidance simulation.
The technical solution of the invention is as follows: a compensation system for mounting eccentricity of a strapdown seeker in radio frequency guidance simulation comprises a radiation signal antenna, a seeker and a control unit;
the radiation signal antenna is fixed in a darkroom, has a known position and is used for carrying out target simulation;
the seeker is arranged on the rotary table, rotates along with the rotary table to detect target radiation information and gives a stereoscopic line angle;
the control unit solves the rotation angle of the rotary table, so that the relative spatial position relation between the central point of the antenna aperture surface of the seeker and the position of the radiation signal antenna just meets the expected stereoscopic angle, and controls the rotary table to rotate by a corresponding angle according to the solved rotation angle of the rotary table, thereby eliminating the measurement deviation caused by the installation eccentricity of the seeker.
Preferably, the control unit solves the turntable rotation angle by:
solving an included angle Q between a line of the bullet eyes and a longitudinal axis of the seeker according to the expected stereoscopic view angle;
calculating Euler angles theta and phi of a bomb coordinate system relative to a turntable coordinate system according to the relation among the rotation center of the turntable, the position of a radiation signal antenna and the center of the antenna opening surface of the seeker; further calculating the direction cosine matrix from the turntable coordinate system to the projectile coordinate system
According to the position coordinates of the radiation signal antenna in the geographic coordinate system, calculating a direction cosine matrix from the geographic coordinate system to the turntable coordinate system
According to the direction cosine matrix from the rotary table coordinate system to the projectile body coordinate system
And the direction cosine matrix from the geographic coordinate system to the turntable coordinate system
Calculating a direction cosine matrix from the geographic coordinate system to the projectile coordinate system
Thereby obtaining the rotation angle of the turntable corresponding to the expected stereoscopic angle relative to the geographic coordinate system
Preferably, the desired body view angle is a body view angle in a 3-2-1 rotation sequence for the horizontal turntable; aiming at the vertical turntable, the stereoscopic view angle is in the sequence of 2-3-1 rotation.
Preferably, the geographic coordinate system O-xgygzg: using the rotation center of the turntable as the origin O, OxgIn a horizontal plane, pointing in front of the turntable, OygIn the vertical plane and with OxgPerpendicular, OzgAccording with the right-hand rule.
Coordinate system O-x of the turntabletytzt: using the rotation center of the turntable as the origin O, OxtCoinciding with the axis of rotation of the inner frame of the turntable, pointing towards the radiating antenna, OytIn the vertical plane and with OxtPerpendicular, OztAccording with the right-hand rule.
Projectile coordinate system O-xbybzb: using the rotation center of the turntable as the origin O, OxbPositive forward, Oy, along the longitudinal axis of the projectilebIn the longitudinal plane of the projectile body and co-operates with OxbPerpendicular, OzbAccording with the right-hand rule.
Preferably, the euler angles θ and φ of the projectile coordinate system relative to the turntable coordinate system are calculated as follows:
according to the rotation center O of the turntable and the center O of the antenna aperture of the seekersSimulating a plane triangle formed by three points of a target position, namely a radiation signal antenna position T, and calculating the center O of the antenna opening surface of the seeker by combining the cosine lawsA distance D to the simulated target position T;
O、Osp, solving for OsDistance D of P2Distance R from OP2(ii) a P is the position T of the radiation signal antenna on the plane OsxsysInner projection;
according to the desired stereoscopic angle, combined with a distance D2、R2And calculating Euler angles theta and phi of the projectile coordinate system relative to the turntable coordinate system.
Preferably, the euler angles θ and φ of the projectile coordinate system relative to the turntable coordinate system are calculated by the formula:
wherein sign (·) is a sign function,
is the desired stereoscopic angle.
Preferably, the cosine matrix of the direction from the turntable coordinate system to the projectile coordinate system
Preferably, the direction cosine matrix from the geographic coordinate system to the turntable coordinate system
The position of the radiation signal antenna in the geographic coordinate system is recorded as
Preferably, the rotation angle of the turntable with respect to the geographical coordinate system
A compensation method for the mounting eccentricity of a strapdown seeker in radio frequency guidance simulation is realized by the following steps:
fixing a radiation signal antenna as a simulation target in a darkroom, wherein the position of the radiation signal antenna is known;
installing a seeker on a rotary table, wherein the seeker rotates along with the rotary table to detect target radiation information and give a stereoscopic line angle;
solving an included angle Q between a line of the bullet eyes and a longitudinal axis of the seeker according to the expected stereoscopic view angle;
calculating Euler angles theta and phi of a bomb coordinate system relative to a turntable coordinate system according to the relation among the rotation center of the turntable, the position of a radiation signal antenna and the center of the antenna opening surface of the seeker; further calculating the direction cosine matrix from the turntable coordinate system to the projectile coordinate system
According to the position coordinates of the radiation signal antenna in the geographic coordinate system, calculating a direction cosine matrix from the geographic coordinate system to the turntable coordinate system
According to the direction cosine matrix from the rotary table coordinate system to the projectile body coordinate system
And the direction cosine matrix from the geographic coordinate system to the turntable coordinate system
Calculating a direction cosine matrix from the geographic coordinate system to the projectile coordinate system
Thereby obtaining the rotation angle of the turntable corresponding to the expected stereoscopic angle relative to the geographic coordinate system
Turn table corner according to solution
The corresponding angle of the rotation of the rotary table is controlled, and the measurement deviation caused by the installation eccentricity of the seeker is eliminated.
Compared with the prior art, the invention has the beneficial effects that:
the method fully utilizes the large rotation angle range of the rotary table to simulate the relative motion of the missile and the target on the basis of meeting the requirements of radio frequency guidance semi-physical simulation tests. Meanwhile, a method for calculating the rotation angle of the rotary table by the theoretical line-of-sight angle is provided by adopting space geometric analysis, the method effectively solves the problem of eccentricity in the installation of the seeker, and can be popularized to simulation tests of the seeker with other systems.
(1) The invention adopts a single fixed radiation antenna to carry out target simulation, and the sight angle change is detected by the rotary simulation seeker of the rotary table, so that a larger sight angle change range can be covered, and the system deviation introduced by a multi-antenna synthetic signal is reduced.
(2) According to theoretical line-of-sight angle input, an expected rotary table rotation angle is calculated by combining the installation position of the seeker and the position of the radiation antenna, and system errors caused by installation eccentricity are effectively compensated.
(3) The method only needs one radiation antenna, and complexity of a target radiation simulation system is reduced.
Drawings
FIG. 1 is a simplified schematic view of the eccentric installation of the seeker of the present invention;
FIG. 2 is a comparison simulation test result of the viewing angle of the present invention;
FIG. 3 is a schematic view of a coordinate system of the present invention;
FIG. 4 is a perspective view angle definition according to the present invention;
FIG. 5 is a schematic diagram of a semi-physical simulation seeker test according to the present invention;
FIG. 6 is a schematic diagram of the geometric analysis of the present invention.
Detailed Description
The invention is described in detail below with reference to the accompanying fig. 1 and examples.
For convenience of description of the present invention, as shown in fig. 3, the following coordinate system and description variables are defined:
geographical coordinate system O-xgygzg: using the rotation center of the turntable as the origin O, OxgIn a horizontal plane, pointing in front of the turntable, OygIn the vertical plane and with OxgPerpendicular, OzgAccording with the right-hand rule.
Coordinate system O-x of the turntabletytzt: using the rotation center of the turntable as the origin O, OxtCoinciding with the axis of rotation of the inner frame of the turntable, pointing towards the radiating antenna, OytIn the vertical plane and with OxtPerpendicular, OztAccording with the right-hand rule.
Projectile coordinate system O-xbybzb: using the rotation center of the turntable as the origin O, OxbPositive forward, Oy, along the longitudinal axis of the projectilebIn the longitudinal plane of the projectile body and co-operates with OxbPerpendicular, OzbAccording with the right-hand rule.
Seeker detection coordinate system O-xsyszs: using the center of the antenna opening surface of the seeker as the origin OsAnd the direction of each axis is consistent with the direction of each axis of the projectile coordinate system.
The stereoscopic angle definition is shown in fig. 4. T is the target point, let OsT in the plane O-xszsProjection and OxsThe included angle between is the azimuth angle and is recorded as qhLet OsT and plane O-xszsThe included angle of (A) is a high-low angle and is marked as qv. It can be seen that q ishAnd q isvThe Euler angles defined for the 2-3-1 rotation order. In addition, the line O is connected to the bullet eyessT and longitudinal axis Ox of the seekersThe included angle between them is Q.
The seeker test scenario of the present invention is shown in figure 5,the radiation signal antenna is fixed in a darkroom, the position of the radiation signal antenna is known, and the radiation signal antenna is marked as a geographic coordinate system
The seeker is arranged on the rotary table and rotates along with the rotary table to detect the target radiation information and give a stereoscopic line angle. As known, the length of the center of the antenna aperture surface of the seeker from the rotation center of the turntable is L. The problem solved by the present invention can be described as follows: solving the rotating angle of the rotary table under the condition that the seeker is installed eccentrically
So that the relative spatial position relationship between the center point of the antenna aperture of the seeker and the position of the simulation target point (radiation signal antenna) just meets the expected stereoscopic angle [ qhc,qvc]。
The compensation algorithm proposed by the invention is as follows:
1) defining a sequence of rotations of 2-3-1 to define a desired stereoscopic angle qhc,qvc]Conversion to 3-2-1 rotation sequence defined stereoscopic angles
While solving for Q.
2) As shown in fig. 6, O, OsThe three points T form a plane triangle, and the center O of the antenna aperture surface of the seeker is calculated by combining the cosine theoremsDistance D to the simulated target position T.
3) As shown in fig. 6, analysis O, OsP, solving for OsDistance D of P2Distance R from OP2。
4) And calculating Euler angles theta and phi of the projectile coordinate system relative to the turntable coordinate system.
Wherein sign (·) is a sign function.
5) Calculating the direction cosine matrix from the rotary table coordinate system to the projectile coordinate system
6) Calculating direction cosine matrix from geographic coordinate system to rotary table coordinate system
8) Calculating the rotation angle of the turntable with respect to a geographical coordinate system
The vertical turntable is suitable for vertical turntables (outer frame yawing, middle frame pitching and inner frame rolling).
Through the steps, the rotating angle of the rotary table required for realizing the expected stereoscopic angle can be obtained, and the measurement deviation caused by installation eccentricity is eliminated.
Examples
The center of the antenna aperture surface of the seeker antenna is located 0.4m in front of the rotation center of the turntable, and the target radiation position is located 10m in front of the turntable. And (3) performing sinusoidal scanning motion with the amplitude of 30 degrees in the pitching direction of the rotary table, and performing a simulation test.
And (3) simulation result surface: as shown in fig. 2, under the above-described setting conditions, the angle measurement error due to the eccentric mounting of the seeker increases as the body view angle increases, and it can be seen from the figure that the angle measurement error is about 1.2 ° when α is 30 °. After the compensation method is adopted, the angle measurement error is completely eliminated.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. A compensation system for mounting eccentricity of a strapdown seeker in radio frequency guidance simulation is characterized in that: the device comprises a radiation signal antenna, a seeker and a control unit;
the radiation signal antenna is fixed in a darkroom, has a known position and is used for carrying out target simulation;
the seeker is arranged on the rotary table, rotates along with the rotary table to detect target radiation information and gives a stereoscopic line angle;
the control unit solves the rotation angle of the rotary table, so that the relative spatial position relation between the central point of the antenna aperture surface of the seeker and the position of the radiation signal antenna just meets the expected stereoscopic angle, and controls the rotary table to rotate by a corresponding angle according to the solved rotation angle of the rotary table, thereby eliminating the measurement deviation caused by the installation eccentricity of the seeker.
2. The compensation system of claim 1, wherein: the control unit solves the rotating angle of the rotary table in the following way:
solving an included angle Q between a line of the bullet eyes and a longitudinal axis of the seeker according to the expected stereoscopic view angle;
calculating Euler angles theta and phi of a bomb coordinate system relative to a turntable coordinate system according to the relation among the rotation center of the turntable, the position of a radiation signal antenna and the center of the antenna opening surface of the seeker; further calculating the direction cosine matrix from the turntable coordinate system to the projectile coordinate system
According to the position coordinates of the radiation signal antenna in the geographic coordinate system, calculating a direction cosine matrix from the geographic coordinate system to the turntable coordinate system
According to the direction cosine matrix from the rotary table coordinate system to the projectile body coordinate system
And the direction cosine matrix from the geographic coordinate system to the turntable coordinate system
Calculating a direction cosine matrix from the geographic coordinate system to the projectile coordinate system
So as to obtain the rotating platform corresponding to the expected stereoscopic angle relative to the geographic coordinate systemCorner of
3. The compensation system of claim 2, wherein: the expected stereoscopic angle is a 3-2-1 rotation sequence lower body visual angle for the horizontal turntable; aiming at the vertical turntable, the stereoscopic view angle is in the sequence of 2-3-1 rotation.
4. The compensation system of claim 2, wherein:
geographical coordinate system O-xgygzg: using the rotation center of the turntable as the origin O, OxgIn a horizontal plane, pointing in front of the turntable, OygIn the vertical plane and with OxgPerpendicular, OzgAccording with the right-hand rule.
Coordinate system O-x of the turntabletytzt: using the rotation center of the turntable as the origin O, OxtCoinciding with the axis of rotation of the inner frame of the turntable, pointing towards the radiating antenna, OytIn the vertical plane and with OxtPerpendicular, OztAccording with the right-hand rule.
Projectile coordinate system O-xbybzb: using the rotation center of the turntable as the origin O, OxbPositive forward, Oy, along the longitudinal axis of the projectilebIn the longitudinal plane of the projectile body and co-operates with OxbPerpendicular, OzbAccording with the right-hand rule.
5. The compensation system of claim 4, wherein: the calculation steps of the Euler angles theta and phi of the projectile coordinate system relative to the turntable coordinate system are as follows:
according to the rotation center O of the turntable and the center O of the antenna aperture of the seekersSimulating a plane triangle formed by three points of a target position, namely a radiation signal antenna position T, and calculating the center O of the antenna opening surface of the seeker by combining the cosine lawsA distance D to the simulated target position T;
O、Osa plane triangle formed by the three points P, and solvingSolution of OsDistance D of P2Distance R from OP2(ii) a P is the position T of the radiation signal antenna on the plane OsxsysInner projection;
according to the desired stereoscopic angle, combined with a distance D2、R2And calculating Euler angles theta and phi of the projectile coordinate system relative to the turntable coordinate system.
6. The compensation system of claim 5, wherein: the Euler angle theta and phi of the projectile coordinate system relative to the turntable coordinate system is calculated by the formula:
wherein sign (·) is a sign function,
is the desired stereoscopic angle.
7. The compensation system of claim 4, wherein: cosine matrix from rotating table coordinate system to projectile coordinate system
8. The compensation system of claim 4, wherein: cosine matrix from geographical coordinate system to rotary table coordinate system
The position of the radiation signal antenna in the geographic coordinate system is recorded as
9. The compensation system of claim 4, wherein: rotation angle of the turntable with respect to a geographical coordinate system
10. A compensation method for the mounting eccentricity of a strapdown seeker in radio frequency guidance simulation is characterized by being realized in the following mode:
fixing a radiation signal antenna as a simulation target in a darkroom, wherein the position of the radiation signal antenna is known;
installing a seeker on a rotary table, wherein the seeker rotates along with the rotary table to detect target radiation information and give a stereoscopic line angle;
solving an included angle Q between a line of the bullet eyes and a longitudinal axis of the seeker according to the expected stereoscopic view angle;
calculating Euler angles theta and phi of a bomb coordinate system relative to a turntable coordinate system according to the relation among the rotation center of the turntable, the position of a radiation signal antenna and the center of the antenna opening surface of the seeker; further calculating the direction cosine matrix from the turntable coordinate system to the projectile coordinate system
According to the position coordinates of the radiation signal antenna in the geographic coordinate system, calculating a direction cosine matrix from the geographic coordinate system to the turntable coordinate system
According to the direction cosine matrix from the rotary table coordinate system to the projectile body coordinate system
And the direction cosine matrix from the geographic coordinate system to the turntable coordinate system
Calculating a direction cosine matrix from the geographic coordinate system to the projectile coordinate system
Thereby obtaining the rotation angle of the turntable corresponding to the expected stereoscopic angle relative to the geographic coordinate system
Turn table corner according to solution
The corresponding angle of the rotation of the rotary table is controlled, and the measurement deviation caused by the installation eccentricity of the seeker is eliminated.
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| CN114200390A (en) * | 2022-02-17 | 2022-03-18 | 中国人民解放军空军预警学院 | Two-dimensional direction finding method and device for passive radar seeker based on spatial spectrum estimation |
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| CN113640589A (en) * | 2021-07-21 | 2021-11-12 | 上海机电工程研究所 | Eccentricity measurement compensation system, method and medium based on radiation signal monitoring |
| CN113640589B (en) * | 2021-07-21 | 2023-08-25 | 上海机电工程研究所 | Eccentric measurement compensation system, method and medium based on radiation signal monitoring |
| CN114200390A (en) * | 2022-02-17 | 2022-03-18 | 中国人民解放军空军预警学院 | Two-dimensional direction finding method and device for passive radar seeker based on spatial spectrum estimation |
| CN114200390B (en) * | 2022-02-17 | 2022-05-13 | 中国人民解放军空军预警学院 | Space spectrum estimation-based passive radar seeker two-dimensional direction finding method and device |
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