The invention relates to a semi-strapdown radar seeker line-of-sight rate extraction method A target motion differential equation is established under an antenna coordinate system so as to obtain the line-of-sight rate information of a target, problems related to rotational motion and rotation order are avoided, and the treatment process is simplified, thereby obtaining the line-of-sight rate information of the target

Semi-strapdown radar seeker line-of-sight rate extraction method

The invention discloses a seeker model identification system based on a parasitism loop. The system comprises a simulation signal generation module, simulation equipment and a model identification module. A simulation frequency sweeping input signal is transmitted to serve as theoretical missile target sight angular velocity information through the simulation signal generation module and guides the simulation equipment to work. A seeker in the simulation equipment outputs the actual missile target sight angular velocity, a seeker model is obtained through the model identification module according to identification of the theoretical missile target sight angular velocity and the actual missile target sight angular velocity, and in other words, seeker transfer functions based on the seeker isolation parasitism loop are obtained. The seeker model obtained through identification is applied to design of a guiding system, and digital simulation precision of the guiding system is improved. Furthermore, digital simulation of a guiding control loop can be made not to be dependent on a seeker semi-physical simulation system, and all-working-condition multi-trajectory guiding control simulation can be achieved only through the digital simulation form, thus the work amount of semi-physical simulation is reduced, and research on the seeker and the guiding control system is digitalized.

Seeker model identification system and guidance control simulation system applying same

The invention relates to a design method of a fast convergence Kalman filter for estimating the missile and target line-of-sight rate, and belongs to the technical field of missile guidance control. The method is provided to improve the convergence speed of present target-missile line-of-sight rate estimating Kalman filtering methods. The method comprises the following steps: setting an initial filter estimate; measuring and calculating the relative distance and the relative rate between a target and a missile at present; measuring and calculating the components of the acceleration of the missile in o' y4 and o' z4 axis directions of a line-of-sight coordinate system; constructing a pitching channel fast-convergence by suing a missile pitching channel line-of-sight motion state equation and a pitching channel line-of-sight angle measurement equation, constructing a yaw channel fast-convergence Kalman filter by using a missile yaw channel line-of-sight motion state equation and a yaw channel line-of-sight angle measurement equation, and respectively finding the line-of-sight pitch angle rate and the line-of-sight yam angle rate between the target and the missile. The method improves the convergence speed of the Kalman filter to obtain high-precision line-of-sight rate estimation.

Design method of fast convergence Kalman filter for estimating missile and target line-of-sight rate

The invention relates to a line-of-sight angular rate estimating method, and concretely relates to a line-of-sight angular rate estimating method of a maneuvering target. The purpose of the invention is to solve the problem of limited precision of the line-of-sight angular rate extraction of the maneuvering target of present maneuvering target line-of-sight angular rate estimating methods. The method provided by the invention comprises the following steps: measuring and calculating a relative distance R from the target to a missile and a relative speed R between the target and the missile, measuring and calculating, the acceleration components a epsilon and a beta of the missile, estimating the components a tepsilon and a tbeta of the target, and calculating the line-of-sight pitch angle q epsilon and the line-of-sight yaw angle q beta; and respectively substituting the a epsilon, the a beta, the a tepsilon, the a tbeta, the q epsilon and the q beta to a pitching channel line-of-sight angular rate Kalman filter and a yam channel line-of-sight angular rate Kalman filter of the missile in order to accurately obtain the line-of-sight pitch angular rate and the line-of-sight yam angular rate between the target and the missile. The method is suitable for estimating the line-of-sight angular rate of maneuvering targets in the missile making field.

Line-of-sight angular rate estimating method of maneuvering target

The invention provides an emulational simple target simulation system for visible image guided missiles. A projector is adopted to project target crosses to a projection curtain; a control computer is adopted for controlling the yawing and pitching direction angles of a triaxial turntable; a visible light guiding head is adopted for detecting the target crosses; a target display computer is adopted for target simulation; the yawing direction angle and the pitching direction angle of an externally input simulation target relative to the center of the triaxial turntable are received, the position coordinates of the cross targets in the projection image can be calculated and obtained according to a two-dimensional mapping table stored inside, and the projector is controlled to project the cross targets to the projection curtain according to the position coordinates; a calibration computer is adopted for calibration; a two-dimensional mapping table in which the yawing direction angle and the pitching direction angle of the triaxial turntable are in one-to-one correspondence with the cross targets is built and then sent to the target display computer. The system can realize simple image generation and guarantee a certain simulation precision.

Emulational simple target simulation system for visible image guided missiles and simulation method thereof

The invention discloses a system for evaluating the disturbance rejection rate parasitical loop of a strap down infrared seeker The system comprises a target simulator, a three-axis rotary table, the seeker and an emulation computer, wherein the target simulator simulates the movement relation of a target; the strap down infrared seeker detects the infrared signal source of the target simulator, and outputs a missile-target LOS (Line of Sight) rate obtained after decoupling filtering to the emulation computer, the emulation computer calculates the attitude and position information of a missile according to a practical kinetic model of the missile and transmits the attitude angle of a missile body to the three-axis rotary table to simulate the movement of the missile body; the emulation computer figures out a theoretical missile-target LOS rate and transmits the theoretical missile-target LOS rate to the target simulator to simulate the movement of the missile-target to form an entire closed-loop testing system In the whole process, the emulation computer stores test data for final disturbance rejection rate calculation The system eliminates the problem of singular point in the traditional disturbance rejection rate testing method, and enables that the disturbance rejection rate test is more accurate and a testing system is closer to the practical combat mode of the missile

System for evaluating disturbance rejection rate parasitical loop of strap down infrared seeker

The invention discloses an apparatus for eliminating a full-strapdown seeker guidance loop calibrated scale coefficient error, and a method thereof. The apparatus comprises an input module, a filtering module, an assessment module and a compensation module, a forced dither signal is superposed on overload instruction information through the input module, a projectile body forward channel and an attitude gyro compensation channel extract a line-of-sight rate signal and a projectile body attitude angle rate signal from signals filtered through the filtering module, the assessment module is used to establish a state equation, a measurement equation and a Kalman filtering equation, the estimation value of the calibrated scale coefficient error is assessed and calculated through the Kalman filtering equation, the compensation module multiplies the estimation value of the calibrated scale coefficient error with the projectile body attitude angle rate information and the multiplied compensation information is input to projectile body disturbance-containing inertial line-of-sight angular rate information in order to complete the compensation of the calibrated scale coefficient error, eliminate the influences of the calibrated scale coefficient error on a guidance loop, substantially improve the guidance precision and reduce the off-target amount.

Apparatus for eliminating full-strapdown seeker guidance loop calibrated scale coefficient error, and method thereof

The invention discloses a variable pneumatic layout structure for a projectile body, and particularly relates to a variable pneumatic layout structure capable of combining the stability of the projectile body in a free flight stage and the hitting accuracy of the projectile body in a correction stage. A variable pneumatic shape scheme is adopted; an empennage is locked into a small-empennage pneumatic layout in an original free flight section of a trajectory, so that the flight stability of the projectile body can be ensured, resistance can be reduced, and the range can be prolonged; in a tail section of the trajectory, the empennage is unfolded into a large-empennage pneumatic layout, so that the static stability of the projectile body is improved, projectile body attitude angle oscillation caused by surging force can be rapidly converged, and the requirements of a control system can be met. According to the variable pneumatic layout structure for the projectile body, the advantages of a fixed-empennage pneumatic layout and the large-empennage pneumatic layout are combined, so that a requirement on the static stability of the projectile body can be met, the influence of the projectile body attitude angle oscillation caused by surging force on the control system can be reduced, the range can be ensured, and a requirement on the correction accuracy can also be met; multiple range tests show that the scheme is feasible.

Variable pneumatic layout structure for projectile body

The invention discloses a semi-physical simulation system and method for a rotor unmanned aerial vehicle cooperative control system. The system comprises a control system installation platform, a rotor unmanned aerial vehicle simulation platform and a visual display screen. The control system installation platform is used for installing a rotor unmanned aerial vehicle cooperative control system, and the rotor unmanned aerial vehicle simulation platform is used for simulating a task execution process; the visual display screen is used for displaying the motion trail of the rotor unmanned aerialvehicle in real time, and therefore the advantages and disadvantages of the rotor unmanned aerial vehicle cooperative control system are judged by observing the motion trail in the visual display screen.

Zheng Duo

Papers

System for evaluating disturbance rejection rate parasitical loop of strap down infrared seeker

Apparatus for eliminating full-strapdown seeker guidance loop calibrated scale coefficient error, and method thereof

Variable pneumatic layout structure for projectile body

Semi-physical simulation system and method for rotor unmanned aerial vehicle cooperative control system