CN112379603B - Compensating system and method for installation eccentricity of strapdown seeker in radio frequency guidance simulation - Google Patents
Compensating system and method for installation eccentricity of strapdown seeker in radio frequency guidance simulation Download PDFInfo
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Abstract
A compensating system and method for installing eccentricity of a strapdown seeker in radio frequency guidance simulation, wherein the system comprises a radiation signal antenna, a seeker and a control unit; the radiation signal antenna is fixed in the darkroom and has a known position and is used for carrying out target simulation; the guide head is arranged on the turntable and rotates along with the turntable to detect the radiation information of the target and give a body sight angle; the control unit solves the rotation angle of the turntable, so that the relative spatial position relation between the center point of the opening surface of the guide head antenna and the position of the radiation signal antenna just meets the expected stereoscopic line angle, and controls the turntable to rotate by a corresponding angle according to the solved rotation angle of the turntable, and the measurement deviation caused by the eccentric installation of the guide head is eliminated.
Description
Technical Field
The invention relates to a compensation method for installation eccentricity of a strapdown seeker in radio frequency guidance simulation, and belongs to the technical field of aircraft guidance control simulation.
Background
Along with the rapid development of computer and microelectronic technologies, the system simulation technology has been widely applied to various links of missile model development, in particular to semi-physical simulation tests. For the development of the seeker, the guided semi-physical simulation test is an important design and performance evaluation means. The seeker real object is introduced into the simulation loop to replace a corresponding mathematical model, so that the influence of factors such as modeling errors of the mathematical model, uncertainty of the model and the like is overcome, and the simulation test precision and confidence are improved.
In a semi-physical simulation test of the radar seeker, a three-axis turntable is matched with a radio frequency target simulation system to simulate the relative angular movement of the missile and the target. The requirement for installing the seeker on the three-axis turntable is to ensure that the center of the antenna port surface of the seeker coincides with the rotation center of the turntable, and in practical engineering, in order to avoid shielding and interference of the turntable body to radio frequency signals, eccentric installation is generally required, even if the center of the antenna port surface of the seeker is positioned in front of the rotation center of the turntable, as shown in fig. 1. Such a mounting would introduce additional systematic errors that would affect the accuracy of the test.
Through the search of the prior art documents, zhang Hongxi, cui Lianhu, in the article "influence analysis of seeker installation errors in semi-physical simulation" published in computer simulation (2010, 27, 12, 31-34), analyze the systematic errors caused by installation eccentricities, and two compensation methods are provided: first, the error is compensated before the seeker measurement data enters the guidance solution. Secondly, the radiation position of the simulation target is adjusted, so that the sight angle obtained by measurement is consistent with the theoretical sight angle. The method one needs to modify the software algorithm on the bullet, and extra errors are introduced in the measurement of the delay. The second calculation method is simple in calculation, but is not suitable for a test scene of the fixed simulation target radiation position studied in the invention. Wang Yankui, zheng Jiang and Ji Shuang in the article "laser strapdown seeker semi-physical simulation synthetic line of sight method research" published on laser and infrared (2018, volume 48, 10, 1278-1282), also research on the system deviation problem caused by seeker installation eccentricity, and provide a strapdown seeker line of sight angle simulation error correction model based on synthetic line of sight, wherein the model is a nonlinear equation, an accurate analytical solution cannot be obtained, and a proper nonlinear equation solving method is needed to be adopted to solve the numerical solution, so that the method is complicated to use and calculate.
Disclosure of Invention
The technical solution of the invention is as follows: the method is close to reality, is simple to calculate and is easy to realize engineering.
The technical scheme of the invention is as follows: a compensating system for installing 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 the darkroom and has a known position and is used for carrying out target simulation;
the guide head is arranged on the turntable and rotates along with the turntable to detect the radiation information of the target and give a body sight angle;
the control unit solves the rotation angle of the turntable, so that the relative spatial position relation between the center point of the opening surface of the guide head antenna and the position of the radiation signal antenna just meets the expected stereoscopic line angle, and controls the turntable to rotate by a corresponding angle according to the solved rotation angle of the turntable, and the measurement deviation caused by the eccentric installation of the guide head is eliminated.
Preferably, the control unit solves the rotation angle of the turntable by:
solving an included angle Q between the bullet-eye connection line and the longitudinal axis of the seeker according to the expected stereoscopic line angle;
calculating Euler angles theta and phi of the projectile body coordinate system relative to the turntable coordinate system according to the relation among the turntable rotation center, the radiation signal antenna position and the guide head antenna port surface center; further calculate the cosine matrix from the turntable coordinate system to the projectile coordinate system
According to the position coordinates of the radiation signal antenna under the geographic coordinate system, calculating the cosine matrix from the geographic coordinate system to the turntable coordinate system
Direction cosine matrix from turntable coordinate system to projectile coordinate systemCosine matrix from geographic coordinate system to turntable coordinate system direction>Direction cosine matrix from geographical coordinate system to projectile coordinate system is calculated>Thereby obtaining the rotation angle of the turntable corresponding to the expected body sight angle relative to the geographic coordinate system>
Preferably, the expected stereoscopic line angle is 3-2-1 stereoscopic line angle under the rotation sequence aiming at the horizontal turntable; aiming at the vertical turntable, the stereoscopic line angle is 2-3-1 in the rotation sequence.
Preferably, the geographic coordinate system O-x g y g z g : with the rotation center of the turntable as the origin O, ox g Is positioned in the horizontal plane and points to the front of the turntable, oy g Is positioned in a vertical plane and is connected with Ox g Vertical, oz g The right hand rule is met.
Turret coordinate system O-x t y t z t : with the rotation center of the turntable as the origin O, ox t Coincides with the rotating shaft of the inner frame of the turntable, points to the radiation antenna, oy t Is positioned in a vertical plane and is connected with Ox t Vertical, oz t The right hand rule is met.
Elastomer coordinate system O-x b y b z b : with the rotation center of the turntable as the origin O, ox b Forward along the longitudinal axis of the projectile, oy b Located in the longitudinal plane of the projectile and with Ox b Vertical, oz b The right hand rule is met.
Preferably, the Euler angles θ and φ of the projectile coordinate system relative to the turret coordinate system are calculated as follows:
according to the rotation center O of the turntable, the center O of the opening surface of the seeker antenna s Simulating 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 opening surface of the seeker antenna by combining cosine theorem s Distance D to the simulated target location T;
O、O s plane triangle formed by three points P, solving O s Distance D of P 2 Distance R from OP 2 The method comprises the steps of carrying out a first treatment on the surface of the The P is the position T of the radiation signal antenna on the plane O s x s y s Projection in;
combining distance D according to the desired body view angle 2 、R 2 Euler angles θ and φ of the projectile coordinate system relative to the turret coordinate system are calculated.
Preferably, the Euler angles θ and φ of the projectile coordinate system relative to the turret coordinate system are calculated as:
wherein sign (·) is a sign function,is the desired angle of the body line.
Preferably, the turret coordinate system is oriented to the projectile coordinate system by a cosine matrix
Preferably, the cosine matrix of the directions 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 relative to the geographical coordinate system
A compensation method for installation eccentricity of a strapdown seeker in radio frequency guidance simulation is realized by the following steps:
fixing a radiation signal antenna in a darkroom as a simulation target and knowing the position;
installing a guide head on the turntable, wherein the guide head rotates along with the turntable to detect target radiation information and give a body sight angle;
solving an included angle Q between the bullet-eye connection line and the longitudinal axis of the seeker according to the expected stereoscopic line angle;
calculating Euler angles theta and phi of the projectile body coordinate system relative to the turntable coordinate system according to the relation among the turntable rotation center, the radiation signal antenna position and the guide head antenna port surface center; further calculate the cosine matrix from the turntable coordinate system to the projectile coordinate system
According to the position coordinates of the radiation signal antenna under the geographic coordinate system, calculating the cosine matrix from the geographic coordinate system to the turntable coordinate system
Direction cosine matrix from turntable coordinate system to projectile coordinate systemCosine matrix from geographic coordinate system to turntable coordinate system direction>Direction cosine matrix from geographical coordinate system to projectile coordinate system is calculated>Thereby obtaining the rotation angle of the turntable corresponding to the expected body sight angle relative to the geographic coordinate system>
According to the solved rotation angle of the turntableAnd controlling the turntable to rotate by a corresponding angle, and eliminating measurement deviation caused by eccentric installation of the guide head.
Compared with the prior art, the invention has the beneficial effects that:
the method fully utilizes the large rotation angle range of the turntable to simulate the relative movement of the missile-target on the basis of meeting the requirements of the radio frequency guidance semi-physical simulation test. Meanwhile, a method for calculating the rotation angle of the turntable by the theoretical line of sight angle is provided by adopting space geometric analysis, the method effectively solves the problem of eccentric installation of the seeker, and can be popularized to simulation tests of other body seekers.
(1) According to the invention, a single fixed radiation antenna is adopted to simulate a target, and the simulated seeker is rotated by the turntable to detect the change of the sight angle, so that a larger range of the change of the sight angle can be covered, and meanwhile, the system deviation caused by synthesizing signals by multiple antennas is reduced.
(2) According to the theoretical line of sight angle input, the expected turntable rotation angle is calculated by combining the installation position of the guide head and the position of the radiation antenna, and the system error caused by the installation eccentricity is effectively compensated.
(3) The method only needs one radiation antenna, and reduces the complexity of the target radiation simulation system.
Drawings
FIG. 1 is a simplified schematic illustration of an eccentric mounting of a seeker of the present invention;
FIG. 2 is a view angle comparison simulation test result of the present invention;
FIG. 3 is a schematic diagram of a coordinate system of the present invention;
FIG. 4 is a view angle definition of the body of the present invention;
FIG. 5 is a schematic diagram of a semi-physical simulation seeker test of the present invention;
FIG. 6 is a schematic diagram of the geometric analysis of the present invention.
Detailed Description
The invention will now be described in detail with reference to fig. 1 and examples.
For convenience of description of the present invention, as shown in fig. 3, the following coordinate system and description variable are defined:
geographic coordinate system O-x g y g z g : with the rotation center of the turntable as the origin O, ox g Is positioned in the horizontal plane and points to the front of the turntable, oy g Is positioned in a vertical plane and is connected with Ox g Vertical, oz g The right hand rule is met.
Turret coordinate system O-x t y t z t : with the rotation center of the turntable as the origin O, ox t Coincides with the rotating shaft of the inner frame of the turntable, points to the radiation antenna, oy t Is positioned in a vertical plane and is connected with Ox t Vertical, oz t The right hand rule is met.
Elastomer coordinate system O-x b y b z b : with the rotation center of the turntable as the origin O, ox b Forward along the longitudinal axis of the projectile, oy b Located in the longitudinal plane of the projectile and with Ox b Vertical, oz b The right hand rule is met.
Seeker detection coordinate system O-x s y s z s : with the center of the antenna port surface of the seeker as the origin O s The directions of the axes are consistent with the directions of the axes of the projectile body coordinate system.
The body view angle definition is shown in fig. 4. T is the target point, let O s T is in plane O-x s z s Projection of (x) and Ox s The included angle between them is azimuth angle, which is denoted as q h Let O s T and plane O-x s z s Is the included angle of high and low anglesDenoted as q v . It can be seen that q h And q v For Euler angles defined under the 2-3-1 rotation order. In addition, make bullet mesh line O s T and the longitudinal axis Ox of the seeker s The included angle between the two is Q.
In the invention, a pilot head test scene is shown in fig. 5, a 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 systemThe guide head is arranged on the turntable and rotates along with the turntable to detect the radiation information of the target, so as to give the body sight angle. The center of the opening surface of the guide head antenna is known as L from the rotation center of the turntable. The problems solved by the present invention can be described as: solving the rotation angle of the turntable in the eccentric installation state of the seeker>So that the relative spatial position relation between the central point of the opening surface of the seeker antenna and the position of the simulation target point (radiation signal antenna) just meets the expected stereoscopic line angle q hc ,q vc ]。
The compensation algorithm provided by the invention is as follows:
1) Defining the rotation sequence of 2-3-1 to the desired body line-of-sight angle q hc ,q vc ]Stereoscopic line angle defined by rotation sequence converted into 3-2-1And simultaneously solving Q.
2) As shown in fig. 6, O, O s Three points T form a plane triangle, and the center O of the opening surface of the seeker antenna is calculated by combining cosine theorem s Distance D to the simulated target location T.
3) As shown in fig. 6, analysis O, O s Plane triangle formed by three points P, solving O s Distance D of P 2 Distance R from OP 2 。
4) Euler angles θ and φ of the projectile coordinate system relative to the turret coordinate system are calculated.
Wherein sign (·) is a sign function.
5) Calculating the cosine matrix from the turntable coordinate system to the projectile coordinate system
6) Calculating the cosine matrix from the geographic coordinate system to the turntable coordinate system
8) Calculating the rotation angle of the turntable relative to a geographic coordinate systemThe vertical turntable is suitable for vertical turntable (outer frame yaw, middle frame pitch and inner frame roll).
Through the steps, the turntable angle required to rotate the view angle of the expected body can be obtained, and measurement deviation caused by installation eccentricity is eliminated.
Examples
Assuming that the center of the aperture of the seeker antenna is located 0.4m in front of the turntable rotation center, the target radiation position is located 10m in front of the turntable. Sinusoidal scanning motion with the amplitude of 30 degrees is carried out in the pitching direction of the turntable, and simulation tests are carried out.
Simulation result surface: as shown in fig. 2, under the above setting condition, the angle measurement error caused by eccentric mounting of the seeker increases as the body line of sight angle increases, and it can be seen from the figure that the angle measurement error is about 1.2 ° at α=30°. After the compensation method of the invention is adopted, the angle measurement error is completely eliminated.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (9)
1. A compensation system for installing eccentricity of a strapdown seeker in radio frequency guidance simulation is characterized in that: the antenna comprises a radiation signal antenna, a guide head and a control unit;
the radiation signal antenna is fixed in the darkroom and has a known position and is used for carrying out target simulation;
the guide head is arranged on the turntable and rotates along with the turntable to detect the radiation information of the target and give a body sight angle;
the control unit solves the rotation angle of the turntable, so that the relative spatial position relation between the center point of the opening surface of the guide head antenna and the position of the radiation signal antenna just meets the expected stereoscopic line angle, and controls the turntable to rotate by a corresponding angle according to the solved rotation angle of the turntable, and the measurement deviation caused by the installation eccentricity of the guide head is eliminated;
the control unit solves the rotating angle of the turntable by the following method:
solving an included angle Q between the bullet-eye connection line and the longitudinal axis of the seeker according to the expected stereoscopic line angle;
calculating Euler angles theta and phi of the projectile body coordinate system relative to the turntable coordinate system according to the relation among the turntable rotation center, the radiation signal antenna position and the guide head antenna port surface center; further calculate the cosine matrix from the turntable coordinate system to the projectile coordinate system
According to the position coordinates of the radiation signal antenna under the geographic coordinate system, calculating the cosine matrix from the geographic coordinate system to the turntable coordinate system
Direction cosine matrix from turntable coordinate system to projectile coordinate systemCosine matrix from geographic coordinate system to turntable coordinate system direction>Direction cosine matrix from geographical coordinate system to projectile coordinate system is calculated>Thereby obtaining the rotation angle of the turntable corresponding to the expected body sight angle relative to the geographic coordinate system>
2. The compensation system of claim 1, wherein: the expected stereoscopic line angle is 3-2-1 stereoscopic line angle under the rotation sequence aiming at the horizontal turntable; aiming at the vertical turntable, the stereoscopic line angle is 2-3-1 in the rotation sequence.
3. The compensation system of claim 1, wherein:
geographic coordinate system O-x g y g z g : with the rotation center of the turntable as the origin O, ox g Is positioned in the horizontal plane and points to the front of the turntable, oy g Is positioned in a vertical plane and is connected with Ox g Vertical, oz g Meets the right hand rule;
turret coordinate system O-x t y t z t : with the rotation center of the turntable as the origin O, ox t Coincides with the rotating shaft of the inner frame of the turntable, points to the radiation antenna, oy t Is positioned in a vertical plane and is connected with Ox t Vertical, oz t Meets the right hand rule;
elastomer coordinate system O-x b y b z b : with the rotation center of the turntable as the origin O, ox b Forward along the longitudinal axis of the projectile, oy b Located in the longitudinal plane of the projectile and with Ox b Vertical, oz b The right hand rule is met.
4. A compensation system according to claim 3, characterized in that: the Euler angles θ and φ of the projectile coordinate system relative to the turret coordinate system are calculated as follows:
according to the rotation center O of the turntable, the center O of the opening surface of the seeker antenna s Three-point structure for simulating target position, namely radiation signal antenna position TThe center O of the opening surface of the seeker antenna is calculated by combining the cosine theorem with the plane triangle formed s Distance D to the simulated target location T;
O、O s plane triangle formed by three points P, solving O s Distance D of P 2 Distance R from OP 2 The method comprises the steps of carrying out a first treatment on the surface of the The P is the position T of the radiation signal antenna on the plane O s x s y s Projection in;
combining distance D according to the desired body view angle 2 、R 2 Euler angles θ and φ of the projectile coordinate system relative to the turret coordinate system are calculated.
5. The compensation system of claim 4, wherein: 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 expected azimuth body line-of-sight angle and elevation body line-of-sight angle under the rotation sequence of 3-2-1; the position of the radiation signal antenna in the geographic coordinate system is marked as +.>
6. A compensation system according to claim 3, characterized in that: direction cosine matrix from turntable coordinate system to projectile coordinate system
7. A compensation system according to claim 3, characterized in that: cosine matrix from geographic coordinate system to turntable coordinate system
The position of the radiation signal antenna in the geographic coordinate system is recorded as
8. A compensation system according to claim 3, characterized in that: rotation angle [ gamma, psi, theta ] of the turntable relative to the geographic coordinate system:
。
9. a compensation method for installation eccentricity of a strapdown seeker in radio frequency guidance simulation is characterized by comprising the following steps:
fixing a radiation signal antenna in a darkroom as a simulation target and knowing the position;
installing a guide head on the turntable, wherein the guide head rotates along with the turntable to detect target radiation information and give a body sight angle;
solving an included angle Q between the bullet-eye connection line and the longitudinal axis of the seeker according to the expected stereoscopic line angle;
calculating Euler angles theta and phi of the projectile body coordinate system relative to the turntable coordinate system according to the relation among the turntable rotation center, the radiation signal antenna position and the guide head antenna port surface center; further calculate the cosine matrix from the turntable coordinate system to the projectile coordinate system
According to the position coordinates of the radiation signal antenna under the geographic coordinate system, calculating the cosine matrix from the geographic coordinate system to the turntable coordinate system
Direction cosine matrix from turntable coordinate system to projectile coordinate systemCosine matrix from geographic coordinate system to turntable coordinate system direction>Direction cosine matrix from geographical coordinate system to projectile coordinate system is calculated>Thereby obtaining the rotation angle of the turntable corresponding to the expected body sight angle relative to the geographic coordinate system>
According to the solved rotation angle of the turntableAnd controlling the turntable to rotate by a corresponding angle, and eliminating measurement deviation caused by eccentric installation of the guide head.
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| 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 |
| 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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