CN113074586A - Guidance method based on virtual three-point method and aircraft using same - Google Patents

Guidance method based on virtual three-point method and aircraft using same Download PDF

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CN113074586A
CN113074586A CN202110252929.3A CN202110252929A CN113074586A CN 113074586 A CN113074586 A CN 113074586A CN 202110252929 A CN202110252929 A CN 202110252929A CN 113074586 A CN113074586 A CN 113074586A
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aircraft
target
virtual
guidance
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段鑫尧
王江
林德福
王亚东
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Beijing Institute of Technology BIT
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
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  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

The invention discloses a guidance method based on a virtual three-point method and an aircraft using the same.A launching device is used for aiming and tracking a target before the aircraft is launched, and the rotation angle rate of a connecting line between the launching device and the target is obtained; the method comprises the steps that an inertia measuring device is arranged in the aircraft, so that the aircraft can acquire own speed information and angular speed information in real time, the distance between the transmitting device and a target and the speed direction of the target are combined, and a guidance instruction can be generated through a virtual three-point method guidance law on the assumption that the target speed is unchanged, so that the aircraft is controlled to fly to the target.

Description

Guidance method based on virtual three-point method and aircraft using same
Technical Field
The invention relates to a guidance method and an aircraft using the same, in particular to a guidance method based on a virtual three-point method and an aircraft using the same.
Background
In the equipment used by individual soldiers within 1km in a short distance, when aiming at typical moving targets such as armored vehicles, troop cars and the like, the selectable equipment can be roughly divided into two types of guidance and non-guidance, in the equipment with guidance, if a guidance individual anti-tank missile is provided, a guidance device is arranged on the equipment, the manufacturing cost is high, the cost is high, and the ultra-large-scale train installation is difficult, and after the missile is launched, a launcher or other personnel are required to be matched and guided nearby the target, so that the exposure possibility of the personnel in the own is increased, and the battlefield survival rate is reduced. For unguided weapons, an operator needs to prejudge according to the target speed, the aircraft speed and the distance, the technical requirements on the operator are extremely high, and the operator with skillful technology is difficult to culture on a very large scale in fact.
Based on the problems, the aircraft which is low in cost, low in requirement on operation technology and allowed to be transmitted is designed, the number of the trains of the aircraft can be increased, and the attacking capacity of an enemy and the survival capacity of the enemy can be improved.
For the above reasons, the present inventors have conducted intensive studies on the existing guidance aircraft and guidance mode, and have awaited the design of a new guidance method and aircraft that can solve the above problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention makes a keen study, designs a guidance method based on a virtual three-point method and an aircraft using the guidance method, aims and tracks a target before the aircraft launches, and obtains the rotation angular rate of a connecting line between a launching device and the target through a gyroscope; the method comprises the steps of arranging an inertia measuring device in the aircraft, enabling the aircraft to acquire own speed information in real time, combining the distance between the launching device and a target and the speed direction of the target, and assuming that the speed of the target is unchanged, generating a guidance instruction through a virtual three-point method guidance law, and controlling the aircraft to fly to the target, thereby completing the invention.
Specifically, the invention aims to provide a guidance method based on a virtual three-point method, wherein in the method, a target is aimed and tracked before an aircraft is launched, and further, the rotation angle rate of a connecting line between a launching device and the target is obtained;
after the aircraft is launched, a guidance instruction is generated in real time through a virtual three-point method guidance law, and then the aircraft is controlled to fly to a target through the guidance instruction.
The virtual three-point method guidance law generates a guidance instruction according to the following formula (one):
ac＝N·(qM-qT) (A)
Wherein q isMRepresenting an included angle between a connecting line of the launching device and the aircraft and the positive direction of the z axis;
qTrepresenting an included angle between a connecting line of the transmitting device and the virtual target and the positive direction of the x axis;
n represents a scaling factor.
Wherein q isMObtained by the real-time calculation of the following formula (II),
Figure BDA0002966144810000021
q is a number ofTObtained by the real-time calculation of the following formula (III),
Figure BDA0002966144810000022
wherein Z isMRepresenting the coordinate values of the aircraft on the Oz axis in the emission coordinate system,
XMthe coordinate value of the Ox axis in the launching coordinate system of the aircraft is shown,
ZTcoordinate values on the Oz axis of the target in the emission coordinate system,
XTthe coordinate value of the target on the Ox axis in the emission coordinate system is shown,
Z0indicating the coordinate values of the transmitting device on the Oz axis in the transmitting coordinate system,
X0indicating the Ox axis of the emitter in the emission coordinate systemAnd (4) coordinate values of (c).
The position of the aircraft in the launch coordinate system is obtained by the following formula (four):
Figure BDA0002966144810000031
wherein a ═ ax，ay，az]TRepresenting the acceleration of the aircraft in the launch coordinate system;
t represents the aircraft time of flight.
Wherein the coordinate value Z of the target on the Oz axis in the emission coordinate systemTObtained by the following formula (V):
Figure BDA0002966144810000032
wherein,
Figure BDA0002966144810000033
representing an initial position, and taking the value as 0;
ωTrepresenting the rotation angular rate of a connecting line between the transmitting device and the target;
coordinate value X of the target on the Ox axis in the emission coordinate systemTDistance R between the launching device and the target before launching the aircraftTAre equal in value.
Wherein, before launching of the aircraft, the distance R between the launching device and the target is measured by means of a distance meterTOr by visual estimation of RTAnd inputs it into the aircraft.
Wherein a set distance value is prestored in the aircraft,
distance R between transmitting device and target when no input is obtained before aircraft transmissionTReplacing the distance R between the transmitting device and the target with the set distance valueT。
Wherein the set distance value is 500 meters.
Wherein the target is aimed and tracked prior to launch of the aircraftAnd (4) during time calibration, obtaining the rotation angular rate omega of the connecting line between the transmitting device and the target by measuring and calculating through a gyroscope on the aircraftT。
The invention also provides an aircraft, wherein the aircraft adopts the guidance method based on the virtual three-point method for guidance;
preferably, a sighting telescope is arranged on the launching device of the aircraft,
a gyroscope and an inertia measuring device are arranged on the aircraft;
the target is tracked through the sighting telescope before the aircraft is launched, namely, the launching device is deflected along with the movement of the target, so that the gyroscope on the aircraft is deflected along with the movement of the target, and the rotation angular rate omega of the connection line between the launching device and the target is measured and calculated through the gyroscopeT。
After the aircraft is launched, a guidance instruction is generated in real time through a virtual three-point method guidance law, and then the aircraft is controlled to fly to a target through the guidance instruction.
The invention has the advantages that:
(1) according to the guidance method based on the virtual three-point method and the aircraft using the same, when launching, a shooter only needs to aim and track a target for 1-2 s, then the missile is launched, the missile flies to the target according to the guidance law, and the shooter can evacuate after launching to prevent the missile from being discovered and attacked by enemy firepower, so that 'no matter after launching' is realized;
(2) according to the guidance method based on the virtual three-point method and the aircraft using the guidance method, only an inertia measuring device is arranged, and an expensive guidance device is not needed, so that the aircraft is extremely low in manufacturing cost and convenient for large-scale train installation;
(3) according to the virtual three-point method-based guidance method and the aircraft using the same, provided by the invention, the speed of the aircraft can reach about 300m/s for targets within 1km, and the traveling speed and direction of the targets are basically difficult to adjust after the aircraft is sent out, so that the hitting precision is higher, the miss distance is extremely small, and the targets can be effectively damaged.
Drawings
FIG. 1 shows a guidance method based on a virtual three-point method and a guidance law principle diagram in an aircraft using the same;
figure 2 shows a ballistic curve obtained in example 1 of the invention;
FIG. 3 is a graph showing the minimum distance between the impact point and the target according to example 3 of the present invention as a function of θ;
FIG. 4 is a graph showing the minimum distance between the impact point and the target according to example 4 of the present invention as a function of θ.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the guidance method based on the virtual three-point method, provided by the invention, the target is aimed and tracked before the aircraft is launched, and the rotation angular rate omega of a connecting line between a launching device and the target is obtainedT；
The transmitting device is a device for transmitting the aircraft, the position of the device is regarded as a point, which is called as an origin, a virtual plane which passes through the origin and is parallel to the horizontal plane is made, the position of the target is regarded as a point, which is called as a target point, a projection point of the target point on the virtual plane is obtained, which is called as a projection point, a straight line which passes through the projection point and the origin is a connecting line between the transmitting device and the target, as the target is moved, the position of the projection point is correspondingly changed, and the position of the origin is unchanged, so that the connecting line between the transmitting device and the target rotates around the origin along with the movement of the target, and the rotating angular rate is the rotating angular rate omega of the connecting line between the transmitting device and the targetT. In practical engineering, because the target is selected to be a ground maneuvering target, and the distance between the launching point and the target is generally less than 2km, the method can be used for solving the problem that the target is not easy to be launched in the ground maneuvering targetThe target and the emission point are considered to be both located on the same horizontal plane, so the projection point coincides with the target point.
The launching coordinate system involved in the application is also arranged on the virtual plane, the position of the launching point of the aircraft, namely the launching device, is taken as an origin O, the connecting line from the launching point to the target origin is an Ox axis, the pointing target is positive, the Oy axis passes through the origin and is positive upwards along the vertical direction, and the Oz axis and other two axes form an orthogonal relation.
And (3) defining a bullet coordinate system: using instantaneous center of mass of aircraft as origin O1，Ox1Axis coincident with the longitudinal axis of the projectile body and pointing to the positive head, Oy1The axis lying in the longitudinal plane of symmetry of the aircraft and perpendicular to Ox1Pointing upwards is positive, Oz1Axis perpendicular to Ox1 y1And the plane satisfies the right-hand coordinate system relation.
According to the method and the device, after the aircraft is launched, a guidance instruction is generated in real time through a virtual three-point method guidance law, and then the aircraft is controlled to fly to a target through the guidance instruction.
Wherein, preferably, the virtual three-point method guidance law generates the guidance instruction according to the following formula (one):
let ac＝N·(qM-qT) (A)
Wherein q isMThe included angle between the connecting line of an aircraft of the launching device and the positive direction of the Ox axis is shown;
qTshowing the included angle between a target connecting line of the launching device and the positive direction of the Ox axis;
n is the proportionality coefficient, selects and adjusts according to actual projectile body characteristic is suitable, and the value is 2 ~ 4 in this application, and the preferred value is 4.
The instruction is used for meeting the instruction generation principle of a virtual three-point method guidance law, namely, the q in the ballistic flight process is obtainedM＝qTThe guidance law principle is shown in fig. 1: the kinematic equation set is as follows:
Figure BDA0002966144810000061
where V represents the speed of the aircraft,
RTindicating the distance between the transmitting device and the target,
Figure BDA0002966144810000062
representing the distance between the emitting device and the target at the moment of emission of the aircraft,
θTrepresents the included angle between the target advancing direction and the positive direction of the Oz axis,
ωTrepresenting the angular rate of rotation of the line connecting the transmitting device and the target.
In a preferred embodiment of the present invention,
RT is initially bound to the aircraft by the launcher.
In a preferred embodiment, the speed V of the aircraft is obtained by: vT＝ωT·RT
In a preferred embodiment, when θTThe aircraft can be launched at any angle, when the actual target distance is 500m, the maximum miss distance is 0.9m, when the actual target distance is 800m, the maximum miss distance is 2.8m, and when the actual target distance is 1000m, the maximum miss distance is 3.5 m;
preferably, θTThe miss distance is 0 degree, 90 degree, 180 degree or 270 degree<0.1 m. The virtual three-point method-based guidance method and the aircraft using the same are suitable for thetaTAs would be the case within any angular range.
In a preferred embodiment, said q isMObtained by the real-time calculation of the following formula (II),
Figure BDA0002966144810000071
q is a number ofTObtained by the real-time calculation of the following formula (III),
Figure BDA0002966144810000072
wherein Z isMRepresenting the coordinate values of the aircraft on the Oz axis in the emission coordinate system,
XMthe coordinate value of the Ox axis in the launching coordinate system of the aircraft is shown,
ZTcoordinate values on the Oz axis of the target in the emission coordinate system,
XTthe coordinate value of the target on the Ox axis in the emission coordinate system is shown,
Z0indicating the coordinate values of the transmitting device on the Oz axis in the transmitting coordinate system,
X0and the coordinate value of the emitting device on the Ox axis in the emitting coordinate system is shown.
Preferably, the position of the aircraft in the launch coordinate system is obtained by the following equation (iv):
Figure BDA0002966144810000081
wherein a ═ ax，ay，az]TRepresenting the acceleration of the aircraft in the launch coordinate system;
t represents the aircraft time of flight.
In a preferred embodiment, the target has a coordinate value Z on the Oz axis in the emission coordinate systemTObtained by the following formula (V):
Figure BDA0002966144810000082
wherein,
Figure BDA0002966144810000083
representing an initial position, and taking the value as 0;
ωTrepresenting the rotation angular rate of a connecting line between the transmitting device and the target;
coordinate value X of the target on the Ox axis in the emission coordinate systemTDistance R between the launching device and the target before launching the aircraftTValue of (A)And the like.
In a preferred embodiment, XMInitial value
Figure BDA0002966144810000084
YMIs 0. Acceleration a under projectile coordinate system1The conversion relation with the acceleration a under the emission coordinate system is as follows:
Figure BDA0002966144810000085
in a preferred embodiment, the distance R between the transmitting device and the target is measured by a distance meter before the aircraft is launchedTOr by visual estimation of RTAnd inputs it into the aircraft. The distance meter can be an infrared distance meter or a laser distance meter, even if certain deviation exists in a measuring result due to the influence of a battlefield environment, the influence on final hit precision is small, and distance measurement can be carried out under the condition of ensuring safety.
Preferably, a set distance value is prestored in the aircraft, and the distance R between the transmitting device and the target, for which no input is obtained before the aircraft transmits, is stored in the aircraftTWhen the distance measurement or estimation is not possible and the distance value is not input into the aircraft, the set distance value is used for replacing the distance R between the transmitting device and the targetTAccurate striking of the target can be achieved as well; further, the set distance value is 400-600 meters, preferably 500 meters.
In a preferred embodiment, when the aircraft aims and tracks the target before launching, the rotation angular rate omega of the connection line between the launching device and the target is obtained by the measurement and calculation of a gyroscope on the aircraftT. The target is tracked through the sighting telescope before the aircraft is launched, namely, the launching device is deflected along with the movement of the target, so that the gyroscope on the aircraft is deflected along with the movement of the target, and the rotation angular rate omega of the connection line between the launching device and the target is measured and calculated through the gyroscopeT。
The invention also provides an aircraft, wherein the aircraft is guided by adopting the virtual three-point method-based guidance method.
In a preferred embodiment, a sighting telescope is arranged on the launching device of the aircraft, and a gyroscope and an inertia measuring device are arranged on the aircraft; the method comprises the steps that a target is tracked, the rotating angle rate of a connecting line between an emitting device and the target is obtained through the target, after the aircraft is emitted, speed information of the aircraft is obtained in real time through an inertia measuring device, then a guidance instruction is generated through a virtual three-point method guidance law in real time after the aircraft is emitted, and the aircraft is controlled to fly to the target through the guidance instruction.
The aircraft provided by the application is suitable for targets within 1km from the transmitting device, and the optimal hitting distance is about 500 meters.
Example 1:
hitting a moving target by an aircraft, the relevant parameters are as follows:
θT180 degrees, namely the included angle between the target advancing direction and the positive direction of the z axis is 180 degrees,
rotation angular rate omega of connecting line of transmitting device and targetT＝0.024rad/s，
Distance between launching device and target at moment of launching of aircraft
Figure BDA0002966144810000091
Is a mixture of the raw materials with the grain size of 500m,
thereby obtaining the target speed VT＝12m/s，
The flying speed of the aircraft is calculated according to uniform flying, namely V is 250 m/s.
The instruction is resolved in real time by the formula (I),
ac＝N·(qM-qT) (A)
Controlling the aircraft to fly according to the guidance instruction until the target is hit; the resulting ballistic curve of the aircraft is shown in figure 2. As can be seen from the ballistic graph, the vehicle travels approximately 500 meters in the X-axis direction and is offset approximately 24 meters in the negative Z-axis direction within two seconds of flight, and the target basically moves approximately 24 meters in the negative Z-axis direction within two seconds, and therefore can hit the target.
Example 2:
when the target is moved by hitting with the aircraft, the relevant parameters are substantially the same as those in embodiment 1, except that the distance between the transmitting device and the target
Figure BDA0002966144810000101
Uncertain, will
Figure BDA0002966144810000102
Are respectively set to be 100m, 200m, 300m and 400m, because
Figure BDA0002966144810000103
Different, the target speed calculated is different, specifically as follows:
Figure BDA0002966144810000104
obtaining the trajectory curves of the aircraft under the four conditions, and calling out coordinate points on the four trajectory curves, as shown in the following table:
Figure BDA0002966144810000105
as can be seen from the table and fig. 1, the trajectory obtained in the above four cases is substantially superposed on the trajectory in example 1, and the abscissa values of the ordinate values are equal, so that it can be seen that the trajectory generation is only related to the angular rate obtained during the aiming process, and the distance between the launching device and the target
Figure BDA0002966144810000106
The target can still be hit when the distance between the transmitting device and the target cannot be accurately measured only by meeting the calculation requirement and having little influence on the precision.
Example 3:
by hitting the moving target with the aircraft, the relevant parameters substantially agree with those in embodiment 1, except for the target traveling directionForms an included angle theta with the positive direction of the z axisTNot 180 degrees, target speed VT12 m/s. For the convenience of observation, θ is set to 270 ° - θT。
Figure BDA0002966144810000111
Figure BDA0002966144810000112
Obtaining the minimum distance between the impact point and the target through the formula (six) and the formula (seven); wherein (x)1，z1) The position coordinates of the target in the coordinate system when the aircraft lands are represented, and (x, z) the position coordinates of the impact point in the coordinate system when the aircraft lands are represented;
Δ represents the minimum distance between the impact point and the target.
θTThe value of (2) is taken once every 5 degrees from 265 degrees to 100 degrees, and Δ is calculated to obtain a graph of the change of the minimum distance between the impact point and the target along with θ, as shown in fig. 3.
Example 4:
by hitting the moving object by the aircraft, the relevant parameters substantially agree with those in embodiment 3, except that:
rotation angular rate omega of connecting line of transmitting device and targetT＝0.067rad/s，
Distance between launching device and target at moment of launching of aircraft
Figure BDA0002966144810000113
Is a mixture of the raw materials with the grain size of 300m,
solve to obtain the target speed VT＝20m/s。
A plot of the minimum distance between the impact point and the target as a function of theta was obtained, as shown in fig. 4.
As can be seen from Experimental examples 3 and 4, the angle θ between the target traveling direction and the positive direction of the z-axisTThe impact on hit accuracy is also related to range and target speed. Viewed in combination, the instant of transmissionDistance between the emitting device and the target
Figure BDA0002966144810000121
When the value of (a) is within the range of 100 to 800, the angle theta between the target advancing direction and the positive direction of the z axisTWhen the temperature is in the range of-30 to 30 ℃, 60 to 120 ℃ and 150 to-150 ℃, the aircraft can be well controlled to hit the target, and the minimum distance between the impact point and the target can be controlled to be less than 1 m. Wherein, the rotation in the counterclockwise direction from the positive direction of the z-axis is positive, and the rotation in the clockwise direction is negative.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.

Claims (10)

1. A guidance method based on a virtual three-point method is characterized in that in the method, a target is aimed and tracked before an aircraft is launched, and further, the rotation angle rate of a connecting line between a launching device and the target is obtained;
after the aircraft is launched, a guidance instruction is generated in real time through a virtual three-point method guidance law, and then the aircraft is controlled to fly to a target through the guidance instruction.
2. The virtual three-point method-based guidance method according to claim 1,
the virtual three-point method guidance law generates a guidance instruction according to the following formula (one):
ac＝N·(qM-qT) (A)
Wherein q isMThe included angle between the connecting line of the launching device and the aircraft and the positive direction of the Ox axis is shown;
qTrepresenting the included angle between the connecting line of the transmitting device and the target and the positive direction of the x axis;
n represents a scaling factor.
3. The virtual three-point method-based guidance method according to claim 2,
q is a number ofMObtained in real time by the following formula (II),
Figure FDA0002966144800000011
q is a number ofTObtained in real time by the following formula (three),
Figure FDA0002966144800000012
wherein Z isMRepresenting the coordinate values of the aircraft on the Oz axis in the emission coordinate system,
XMthe coordinate value of the Ox axis in the launching coordinate system of the aircraft is shown,
ZTcoordinate values on the Oz axis of the target in the emission coordinate system,
XTthe coordinate value of the target on the Ox axis in the emission coordinate system is shown,
Z0indicating the coordinate values of the transmitting device on the Oz axis in the transmitting coordinate system,
X0and the coordinate value of the emitting device on the Ox axis in the emitting coordinate system is shown.
4. The virtual three-point method-based guidance method according to claim 3,
the position of the aircraft in the launch coordinate system is obtained by the following formula (four):
Figure FDA0002966144800000021
wherein a ═ ax,ay,az]TRepresenting the acceleration of the aircraft in the launch coordinate system;
t represents the aircraft time of flight.
5. The virtual three-point method-based guidance method according to claim 3,
coordinate value Z of the target on an Oz axis in a transmitting coordinate systemTObtained by the following formula (V):
Figure FDA0002966144800000022
wherein,
Figure FDA0002966144800000023
representing an initial position, and taking the value as 0;
ωTrepresenting the rotation angular rate of a connecting line between the transmitting device and the target;
coordinate value X of the target on the Ox axis in the emission coordinate systemTDistance R between the launching device and the target before launching the aircraftTAre equal in value.
6. The virtual three-point method-based guidance method according to claim 5,
before launching of the aircraft, the distance R between the launching device and the target is measured by a distance meterTOr by visual estimation of RTAnd inputs it into the aircraft.
7. The virtual three-point method-based guidance method according to claim 6,
a set distance value is pre-stored in the aircraft,
distance R between transmitting device and target when no input is obtained before aircraft transmissionTReplacing the distance R between the transmitting device and the target with the set distance valueT。
8. The virtual three-point method-based guidance method according to claim 7,
the pre-stored set distance value is 500 meters.
9. The virtual three-point method-based guidance method according to claim 1,
when the aircraft aims and tracks the target before launching, the rotation angular rate omega of the connection line between the launching device and the target is obtained by measuring and calculating the rotation angular rate omega of the launching device and the target through a gyroscope on the aircraftT。
10. An aircraft, characterized in that the aircraft is guided by a virtual three-point method-based guidance method according to one of claims 1 to 9;
preferably, a sighting telescope is arranged on the launching device of the aircraft,
a gyroscope and an inertia measuring device are arranged on the aircraft;
the target is tracked through the sighting telescope before the aircraft is launched, namely, the launching device is deflected along with the movement of the target, so that the gyroscope on the aircraft is deflected along with the movement of the target, and the rotation angular rate omega of the connection line between the launching device and the target is measured and calculated through the gyroscopeT；
Further preferably, after the aircraft is launched, a guidance instruction is generated in real time through a virtual three-point method guidance law, and then the aircraft is controlled to fly to a target through the guidance instruction.
CN202110252929.3A 2021-03-08 2021-03-08 Guidance method based on virtual three-point method and aircraft using same Pending CN113074586A (en)

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Application publication date: 20210706