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CN112099532A - Image guidance aircraft delay compensation method and system - Google Patents

Image guidance aircraft delay compensation method and system Download PDF

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Publication number
CN112099532A
CN112099532A CN202010652811.5A CN202010652811A CN112099532A CN 112099532 A CN112099532 A CN 112099532A CN 202010652811 A CN202010652811 A CN 202010652811A CN 112099532 A CN112099532 A CN 112099532A
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aircraft
guidance
filter
image
delay compensation
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CN112099532B (en
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王辉
李涛
林德福
王伟
王江
袁亦方
宋韬
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Beijing Institute of Technology BIT
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Priority to PCT/CN2021/094852 priority patent/WO2022007509A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a time delay compensation method and a time delay compensation system for an image guidance aircraft
Figure DDA0002575623190000011
And a pitch angle
Figure DDA0002575623190000012
And reconstructing the field angle, arranging a first channel model behind the strapdown seeker, arranging a second channel model behind the angular rate gyro, and compensating two channels where the strapdown seeker and the angular rate gyro are positioned, so that the bandwidths of the strapdown seeker channel and the angular rate gyro channel are consistent. The inventionThe image guidance aircraft delay compensation method effectively solves the problem that the guidance precision is affected by strapdown seeker delay, and improves the phenomena that the guidance system is unstable due to a line-of-sight angular velocity estimation error of the aircraft caused by the delay and a parasitic loop caused by the estimation error.

Description

Image guidance aircraft delay compensation method and system
Technical Field
The invention relates to a time delay compensation method for an image guidance aircraft, and belongs to the field of guidance.
Background
The image guidance aircraft system comprises an emitting unit and a command unit; the aircraft head carries an infrared imaging seeker which can ensure the stability of an optical axis of the aircraft in space and can simultaneously complete the functions of searching, intercepting, tracking a target and the like, so that the aircraft transmits image information in a field of view to a command unit at the rear through a radio data link in real time in the flight process, a shooter observes images returned by the aircraft in front of an image display screen of the command unit, the scene and the condition of the target in a battlefield area are known, the target is flexibly locked according to the current battle scene, and then the shooter operates a handle to control the aircraft to track the target until the target is successfully hit.
The method is particularly suitable for target identification under complex natural environment interference, battlefield environment interference and modern camouflage technology by utilizing the identification capability of a shooter, also allows the aircraft to be transmitted from a limited space and has wider target selection capability, but the time delay of the imaging seeker directly influences the bandwidth size and tracking performance of the seeker, and can cause time domain response oscillation and even instability of the seeker under the condition of large time delay, and finally has adverse effect on the hit precision of the aircraft.
Specifically, the delaying includes: 1) the seeker signal output delay caused by limited missile-borne hardware computing resources; 2) image transmission delays caused by image compression, decompression and shooter response capabilities.
In addition, the traditional imaging seeker is a rate gyro type platform seeker, and a control system of the traditional imaging seeker is complex, large in size, high in cost and high in assembly and debugging difficulty. In the prior art, a strapdown seeker is adopted, the stability of a seeker platform is realized through information output by a strapdown inertial system, although components such as a platform seeker rate gyroscope and the like are omitted, the structure of the seeker is simplified, and the volume of the seeker is reduced, the algorithm for extracting the angular velocity of the optical axis rotating under the inertial system is complex, the field angle needs to be reconstructed, the angular velocity of the line of sight is obtained through differentiation, the estimation error of the angular velocity of the line of sight is caused by a delay link, and the guidance system is possibly unstable due to a parasitic loop caused by the delay link.
In the traditional time delay processing process, a Smith predictor is generally adopted, the Smith predictor is a classic time delay compensation technology, the control structure is simple and easy to debug, the application frequency in a time delay system in the industry is frequent, but the Smith predictor has the defects in engineering application: for a stable time-lag system, the controller responds slowly to disturbance rejection; for a time-lag system comprising an integral link, a controller has a steady-state error on load interference; the method can not be applied to an unstable time-lag system, so that the defect of the strapdown seeker is difficult to improve when a Smith predictor is applied to compensate the time delay, and the guidance system still has great instability.
Therefore, there is a need to develop a method for compensating for image-guided aircraft delay that overcomes the above-mentioned disadvantages.
Disclosure of Invention
In order to solve the above problems, the present inventors have conducted intensive studies, and on one hand, devised an image-guided aircraft delay compensation system, on which a strapdown seeker, a guidance filter, an autopilot, and an angular rate gyro are provided,
the strapdown seeker is used for measuring a target visual angle, and an output signal of the strapdown seeker is transmitted to the guidance filter;
the guidance filter is used for forming a guidance instruction and transmitting the instruction to the automatic pilot;
and the automatic pilot controls the flight state of the aircraft according to the control command.
The image-guided aircraft delay compensation system further comprises an alpha-beta filter, and the alpha-beta filter is used for estimating the transmitted parameters so as to obtain the line-of-sight angular velocity.
The image-guided aircraft delay compensation system further comprises a first channel model and a second channel model,
the output signal of the strapdown seeker is corrected by the first channel model and then transmitted to the alpha-beta filter, the output signal of the angular rate gyroscope is compensated by the second channel model and then transmitted to the alpha-beta filter, the resolving signal of the alpha-beta filter is transmitted to the guidance filter, the guidance filter forms a guidance instruction according to the output signal of the alpha-beta filter, and the guidance instruction is transmitted to the automatic pilot to control the flight state of the aircraft at the next moment.
On the other hand, the invention also provides an image guidance aircraft delay compensation method, which obtains a target view angle measured value through the measurement of the strapdown guide head on the aircraft state at the last moment
Figure BDA0002575623170000031
Measuring the target view angle
Figure BDA0002575623170000032
Pitch angle rate measured from the gyro of angular rate at the last moment
Figure BDA0002575623170000033
And the information is transmitted to a guidance filter, the guidance filter resolves the information to generate a control instruction, the control instruction is transmitted to an automatic pilot, and the automatic pilot controls the state of the aircraft at the next moment according to the instruction information. And repeating the process, and continuously measuring the state of the aircraft at the next moment and controlling the state of the aircraft, thereby forming a guidance loop.
The parameters passed are estimated by an alpha-beta filter before the lead filter.
The following second-order transfer function G is carried out in the angular rate gyrogAnd (3) treatment:
Figure BDA0002575623170000034
time-delay link function G in strapdown seekersComprises the following steps:
Figure BDA0002575623170000035
wherein,
Figure BDA0002575623170000036
and ζgNatural frequency and damping ratio, T, of an angular rate gyro, respectivelySDThe duration of the signal processing for the strapdown seeker.
By viewing the target before the waveguide filter
Figure BDA0002575623170000037
And a pitch angle
Figure BDA0002575623170000038
Reconstructing a field angle, decoupling the angular motion of the aircraft, and estimating through an alpha-beta filter after decoupling;
wherein the pitch angle
Figure BDA0002575623170000039
For pitch angle rate measured by a diagonal rate gyro
Figure BDA0002575623170000041
And (5) performing integration to obtain.
And arranging a first channel model behind the strapdown seeker, arranging a second channel model behind the angular rate gyroscope, and compensating two channels where the strapdown seeker and the angular rate gyroscope are positioned, so that the bandwidths of the strapdown seeker channel and the angular rate gyroscope channel are consistent.
The processing function in the first channel model is the same as the processing function in the angular rate gyro, and the processing function in the second channel model is the same as the delay link function in the strapdown seeker.
Performing the following function in the first channel model
Figure BDA0002575623170000042
And (3) treatment:
Figure BDA0002575623170000043
performing the following function in the second channel model
Figure BDA0002575623170000044
And (3) treatment:
Figure BDA0002575623170000045
wherein,
Figure BDA0002575623170000046
and ζgNatural frequency and damping ratio, T, of an angular rate gyro, respectivelySDThe duration of the signal processing for the strapdown seeker.
The image guidance aircraft delay compensation method provided by the invention has the following beneficial effects:
(1) the strapdown seeker is adopted, the stability of the seeker platform is realized through information output by a strapdown inertial system, components such as a platform seeker rate gyro and the like are omitted, the structure of the seeker is simplified, the volume of the seeker is reduced, and meanwhile, the development and production cost is reduced;
(2) the influence of strapdown seeker delay on guidance precision is effectively solved;
(3) the estimation error of the line-of-sight angular velocity of the aircraft caused by time delay is improved, and the phenomenon that a guidance system is possibly unstable due to a parasitic loop caused by the estimation error is avoided.
Drawings
FIG. 1 shows a schematic view of an image-guided aircraft system of a preferred embodiment;
FIG. 2 shows a schematic view of an image-guided aircraft system of a preferred embodiment;
FIG. 3 is a schematic diagram of a preferred embodiment image-guided vehicle line-of-sight angular velocity estimation method;
FIG. 4 is a schematic diagram illustrating a preferred embodiment of a method for time delay compensation of an image-guided vehicle based on an estimation of line-of-sight angular velocity;
FIG. 5 shows a schematic diagram of an undelayed compensated image-guided aircraft system with initial velocity pointing error in example 1;
FIG. 6 is a schematic diagram of a time-delay compensation image guidance aircraft system with an initial speed pointing error in embodiment 2;
FIG. 7 shows the results of the change with time of the amount of off-target in Experimental example 1;
fig. 8 shows the results of the change in the pitch angle rate with time in experimental example 1.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention, as illustrated in the accompanying drawings.
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.
On one hand, the invention also provides an image guidance aircraft delay compensation system which comprises a strapdown seeker, a guidance filter, an automatic pilot and an angular rate gyro.
The strapdown seeker is used for measuring a target visual angle, and an output signal of the strapdown seeker is transmitted to the guidance filter;
the guidance filter is used for forming a guidance instruction and transmitting the instruction to the automatic pilot;
the autopilot operates an actuating mechanism (control surface) to deflect by a certain angle according to a control instruction, and adjusts the flight attitude of the aircraft to change the acceleration, namely the autopilot changes the speed of the aircraft by outputting the acceleration of the aircraft, and finally changes the position of the aircraft;
an angular rate gyro is used to measure pitch angular rate.
In a preferred embodiment, the image-guided vehicle delay compensation system further comprises an alpha-beta filter, and the parameters transferred are estimated.
Performing the following second order discrete transfer function G in the alpha-beta filterf(z) processing:
Figure BDA0002575623170000061
wherein, alpha and beta are undetermined parameters, TsIs the update step size of the alpha-beta filter and z is a discrete domain variable.
Preferably, an output signal of the strapdown seeker is transmitted to an alpha-beta filter, a resolving signal of the alpha-beta filter is transmitted to a guidance filter, an output signal of the angular rate gyro is transmitted to the guidance filter, the guidance filter forms a guidance instruction according to the output signals of the alpha-beta filter and the angular rate gyro, the guidance instruction is transmitted to an automatic pilot to control the flight state of the aircraft, and the angular rate gyro detects the pitch angle speed of the aircraft to monitor the flight state of the aircraft; and the strapdown seeker measures the target view angle according to the flight state of the aircraft.
In a preferred embodiment, the image-guided aircraft delay compensation system further comprises a first channel model and a second channel model, and further, the first channel model and the second channel model are chips with resolving capability.
Preferably, output signals of the strapdown seeker are corrected through the first channel model and then transmitted to the alpha-beta filter, output signals of the angular rate gyroscope are compensated through the second channel model and then transmitted to the alpha-beta filter, resolving signals of the alpha-beta filter are transmitted to the guidance filter, the guidance filter forms guidance instructions according to the output signals of the alpha-beta filter, and the instructions are transmitted to the automatic pilot to control the flight state of the aircraft at the next moment.
The two channels where the strapdown seeker and the angular rate gyroscope are located are compensated through the first channel model and the second channel model, the field angle is reconstructed after compensation, the reconstructed signals are transmitted to the alpha-beta filter, compensation adjustability of the two channels is achieved, the isolation degree is zero after compensation can be achieved through reasonable arrangement of the first channel model and the second channel model, and therefore disturbance of the strapdown seeker to an aircraft is reduced.
In a preferred embodiment, the following second-order transfer function G is performed in the angular rate gyrogAnd (3) treatment:
Figure BDA0002575623170000071
time-delay link G in strapdown seekersComprises the following steps:
Figure BDA0002575623170000072
performing the following function in the first channel model
Figure BDA0002575623170000073
And (3) treatment:
Figure BDA0002575623170000074
performing the following function in the second channel model
Figure BDA0002575623170000075
And (3) treatment:
Figure BDA0002575623170000076
wherein,
Figure BDA0002575623170000077
and ζgNatural frequency and damping ratio, T, of an angular rate gyro, respectivelySDThe duration of the signal processing for the strapdown seeker.
On the other hand, the invention provides an image guidance aircraft delay compensation method, which effectively reduces the influence of delay on guidance precision and overcomes various defects in the guidance process of a strapdown seeker.
Obtaining a target view angle measurement value through measurement of a strapdown guide head on the state of an aircraft at the last moment
Figure BDA0002575623170000078
Measuring the target view angle
Figure BDA0002575623170000079
Pitch angle rate measured from the gyro of angular rate at the last moment
Figure BDA00025756231700000710
And the information is transmitted to a guidance filter, the guidance filter resolves the information to generate a control instruction, the control instruction is transmitted to an automatic pilot, and the automatic pilot controls the state of the aircraft at the next moment according to the instruction information. And repeating the process, and continuing to measure the state of the aircraft at the next moment and control the state of the aircraft so as to form a guidance loop, as shown in figure 1.
In a preferred embodiment, a filter, preferably an α - β filter, is also provided on the aircraft, the parameters of the transfer being estimated before the wave-guiding filter.
The alpha-beta filter is a filter which can be used for state estimation and data smoothing, does not depend on a specific model of a system, is simple and effective, and is commonly used for estimating distance, angle and speed.
In one embodiment, by looking at the measured target perspective
Figure BDA0002575623170000081
Estimating to obtain the angular velocity of the target view angle
Figure BDA0002575623170000082
Angular velocity according to target view angle
Figure BDA0002575623170000083
And pitch angular velocity
Figure BDA0002575623170000084
Reconstructing the field angle to obtain the angular velocity of the reconstructed aircraft and the target sight line
Figure BDA0002575623170000085
Will be provided with
Figure BDA0002575623170000086
And transmitting the signal to a guidance filter for resolving.
Further, as shown in FIG. 2, the target view angle resolved by the strapdown seeker
Figure BDA0002575623170000087
Figure BDA0002575623170000088
Is the line of sight angle of the target; reconstructing the angular velocity of the post-aircraft and the target line of sight
Figure BDA0002575623170000089
More preferably, the following second order discrete transfer function G is performed in the alpha-beta filterf(z) processing:
Figure BDA00025756231700000810
wherein alpha and beta are undetermined parameters, and satisfy the conditions that alpha is more than 0 and less than 1, beta is more than 0 and less than or equal to 2, and alpha-beta is more than 0 and less than 4-2;
Tsthe updating step length of the alpha-beta filter is generally 0.01-0.05;
z is a variable of a discrete domain, and is introduced in the Laplace transform for a sampling signal, and further, z is equal to eTsWherein T is a sampling period and s is a complex variable;
the alpha-beta filter has a simple structure and good performance, and can effectively complete estimation of angular velocity.
In a preferred embodiment, the transfer function G is performed in a guidance filter1(s) processing, transfer function G in autopilot2(s) processing:
Figure BDA0002575623170000091
wherein, TgIs the guidance system dynamics time constant, and s is a complex variable.
Preferably, the transfer function between the guidance filter and the autopilot is NVcWherein N is a navigation coefficient, generally, the value is between 4 and 6, and V iscIs the relative speed of the aircraft and the target; transfer function between autopilot and angular rate gyro is
Figure BDA0002575623170000092
Wherein VmAs aircraft speed, TαIs the time constant of the angle of attack of the aircraft.
In a preferred embodiment, the following successive second-order system G is implemented in the angular rate gyrogAnd (3) treatment:
Figure BDA0002575623170000093
time-delay link function G in strapdown seekersComprises the following steps:
Figure BDA0002575623170000094
wherein,
Figure BDA0002575623170000095
and ζgThe natural frequency and the damping ratio of the angular rate gyroscope are respectively;
TSDthe duration of the signal processing for the strapdown seeker.
In a preferred embodiment, the true target perspective
Figure BDA0002575623170000096
Obtained by calculation from projectile kinematics, i.e.
Figure BDA0002575623170000097
Specifically, after the acceleration of the aircraft is subjected to quadratic integration, the position projection Z of the aircraft on the Z axis is takenmCombined with projection Z of the position of the object on the Z axistBy the formula
Figure BDA0002575623170000098
The sight angle between the aircraft and the target can be obtained
Figure BDA0002575623170000099
Wherein, VcThe relative speed of the aircraft and the target is shown, T is the terminal guidance time of the aircraft, and T is the time of flying in the terminal guidance section of the aircraft;
the Z axis is vertical to the horizontal plane, and the position projection Z of the target on the Z axistObtained by imaging a guide head.
In an aircraft, an isolation degree is generally adopted to characterize the disturbance isolation capability of a strapdown seeker to the aircraft, and the greater the isolation degree is, the lower the capability of the strapdown seeker to isolate the disturbance of the aircraft is.
The inventors have found that by acquiring the angular velocity of the target view angle
Figure BDA0002575623170000101
And pitch angular velocity
Figure BDA0002575623170000102
Although an image guidance loop is formed in the mode of reconstructing the visual angle, the time delay T of the strapdown seekerSDAnd when the dynamics of the alpha-beta filter is inconsistent with the dynamics of the angular rate gyroscope, time domain response oscillation and instability of the seeker can be caused, and the performance of the guidance system can be severely influenced due to extremely high isolation degree in production.
In the invention, a delay model is arranged to perform delay compensation on the image guidance aircraft, and the compensated isolation degree can be reduced to zero through the delay model, so that the effect that the guidance instruction output by the strapdown seeker is approximately undisturbed by the attitude motion of the aircraft is realized, but how to obtain the isolation degree before and after compensation is the difficult point of the invention.
Preferably by acquiring the target perspective
Figure BDA0002575623170000103
And a pitch angle
Figure BDA0002575623170000104
And reconstructing a field angle, decoupling the angular motion of the aircraft, and estimating through an alpha-beta filter after decoupling, as shown in fig. 3.
Specifically, the target view angle is measured by a strapdown seeker
Figure BDA0002575623170000105
Pitch angle rate measured by a diagonal rate gyro
Figure BDA0002575623170000106
Integral obtaining is carried out
Figure BDA0002575623170000107
Will be provided with
Figure BDA0002575623170000108
And
Figure BDA0002575623170000109
decoupling is carried out to obtain the visual line angle of the decoupled aircraft and the target
Figure BDA00025756231700001010
The alpha-beta filter will
Figure BDA00025756231700001011
Filtering to obtain an estimated line-of-sight angular velocity
Figure BDA00025756231700001012
Decoupling the angular velocity of the aircraft and the target line of sight through field angle reconstruction
Figure BDA00025756231700001013
The corresponding isolation transfer function can be obtained:
Figure BDA00025756231700001014
further, a model is added in the strapdown seeker channel and the angular rate gyro channel, and the two channels are compensated, so that the bandwidths of the strapdown seeker channel and the angular rate gyro channel are consistent, as shown in fig. 4.
Specifically, a first channel model is arranged behind the strapdown seeker
Figure BDA0002575623170000111
Setting a second channel model in an angular rate gyro channel
Figure BDA0002575623170000112
And compensating the two channels, wherein the compensated isolation transfer function is as follows:
Figure BDA0002575623170000113
in the invention, the isolation degree after compensation can be zero by enabling the processing function in the first channel model to be the same as the processing function in the angular rate gyro and enabling the processing function in the second channel model to be the same as the delay link function in the strapdown seeker.
In a preferred real-time manner, the processing function performed in the first channel model is set as:
Figure BDA0002575623170000114
setting the processing function performed in the second channel model to be
Figure BDA0002575623170000115
Wherein,
Figure BDA0002575623170000116
and ζgNatural frequency and damping ratio, T, of an angular rate gyro, respectivelySDThe duration of the signal processing for the strapdown seeker.
Through the first channel model and the second channel model, the bandwidth of the strapdown seeker channel is consistent with that of the angular rate gyro channel, the line-of-sight angular velocity estimation error caused by a delay link is solved, the influence of strapdown seeker delay on guidance precision is effectively compensated, and the hitting precision of an aircraft is improved.
Examples
Example 1
Differential operation is carried out on the output signal of the strapdown seeker through an alpha-beta filter to obtain the angular velocity of the target visual angle
Figure BDA0002575623170000117
Angular rate gyroscope obtains pitch angle speed through measurement
Figure BDA0002575623170000118
Angular velocity of aircraft according to target view angle
Figure BDA0002575623170000121
And pitch angular velocity
Figure BDA0002575623170000122
And reconstructing a field angle, resolving through a guidance filter, transmitting the resolved information to an autopilot, controlling the aircraft by the autopilot according to the received information, and outputting information such as aircraft acceleration and the like. According to the acceleration information and the transfer function of the aircraft
Figure BDA0002575623170000123
Obtaining the real pitch angle speed of the aircraft, and carrying out primary integration to obtain the pitch angle of the aircraft
Figure BDA0002575623170000124
Performing twice integration according to the acceleration information of the aircraft and integrating the image information to obtain the line-of-sight angle between the aircraft and the target
Figure BDA0002575623170000125
Thereby obtaining the real target view angle
Figure BDA0002575623170000126
Will be provided with
Figure BDA0002575623170000127
And
Figure BDA0002575623170000128
and feeding back to the strapdown seeker to form a guidance loop and realize image guidance.
Wherein, an initial speed pointing error V of the aircraft is set in the model of the guidance systemm ν；
The guidance loop is not provided with a delay model and does not compensate the aircraft, as shown in figure 5.
In the simulation experiment, the error angle of the initial speed of the aircraft deviating from the ideal track is described by the initial speed pointing error of the aircraft, and the error isv＝5deg。
Example 2
A guidance system simulation software is used for carrying out simulation experiment, and a first channel model is arranged behind the strapdown seeker
Figure BDA0002575623170000129
Measuring target view angle of strapdown seeker
Figure BDA00025756231700001210
Compensating, and setting a second channel model after the angular rate gyro
Figure BDA00025756231700001211
To pair
Figure BDA00025756231700001212
And (3) compensating, reconstructing the field angle of the compensated signal, decoupling the angular motion of the aircraft, estimating the decoupled signal by an alpha-beta filter, resolving guidance filtering, transmitting the resolved information to an autopilot, and setting the rest as in embodiment 1, wherein the system is shown in fig. 6.
Wherein the parameters of the aircraft are set as follows: alpha-beta filter where alpha is 0.99, beta is 1.72, Ts0.02 s; the parameter of the guidance system is N-4, Tg＝0.4s，Tα＝0.68s，Vc＝Vm160 m/s; the strapdown seeker delay and rate gyro parameter is TSD＝40ms，
Figure BDA0002575623170000131
ζg＝0.7。
Experimental example 1
And the performance of the aircraft guidance system is represented by the change of the miss distance and the aircraft pitch angle speed along with the terminal guidance time.
The miss distance is the deviation of the final hit point distance target of the aircraft caused by the error signal, and is an important parameter reflecting the performance of the aircraft guidance system, and the damage efficiency of the aircraft is a strong correlation function of the miss distance;
the aircraft pitch angle speed can represent the stability of the aircraft in the flight process, and the faster the aircraft pitch angle change speed is, the more unstable the aircraft is in flight.
The results of the guidance system simulation in the embodiment 1 and the embodiment 2 are shown in fig. 7 and fig. 8, the aircraft delay is not compensated in the embodiment 1, so that the variation of the aircraft miss distance and the pitch angle speed along with the terminal guidance time shows the oscillation divergence trend, the miss distance is about 10m and the pitch angle speed is about 12deg/s at the terminal guidance end/aircraft landing. In contrast, embodiment 2, which compensates for aircraft delays, can enable the image-guided aircraft to achieve a better terminal guidance effect.
As can be seen from FIG. 7, the miss distance of the aircraft in the late guidance middle and later periods in the embodiment 2 approaches to 0, i.e. the guidance precision of the aircraft is higher.
As can be seen from fig. 8, the change of the pitch angle speed of the aircraft in the late guidance middle and later periods in the embodiment 2 is stable and tends to 0, which shows that the change is beneficial for the strapdown seeker to continuously and stably track the target.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on operational states of the present invention, and are only used for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.

Claims (10)

1. An image guidance aircraft delay compensation system is characterized in that a strapdown seeker, a guidance filter, an automatic pilot and an angular rate gyro are arranged on an aircraft,
the strapdown seeker is used for measuring a target visual angle, and an output signal of the strapdown seeker is transmitted to the guidance filter;
the guidance filter is used for forming a guidance instruction and transmitting the instruction to the automatic pilot;
and the autopilot adjusts the flight attitude of the aircraft according to the control instruction, so that the acceleration of the aircraft is changed, and the speed and the position of the aircraft are changed.
2. The image-guided vehicle delay compensation system of claim 1,
the image-guided aircraft delay compensation system further comprises an alpha-beta filter, and the alpha-beta filter is used for estimating the transmitted parameters so as to obtain the line-of-sight angular velocity.
3. The image-guided vehicle delay compensation system of claim 1,
the image-guided aircraft delay compensation system further comprises a first channel model and a second channel model,
the output signal of the strapdown seeker is corrected by the first channel model and then transmitted to the alpha-beta filter, the output signal of the angular rate gyroscope is compensated by the second channel model and then transmitted to the alpha-beta filter, the resolving signal of the alpha-beta filter is transmitted to the guidance filter, the guidance filter forms a guidance instruction according to the output signal of the alpha-beta filter, and the guidance instruction is transmitted to the automatic pilot to control the flight state of the aircraft at the next moment.
4. An image guidance aircraft delay compensation method is characterized in that,
obtaining a target view angle measurement value through measurement of a strapdown guide head on the state of an aircraft at the last moment
Figure FDA0002575623160000011
Measuring the target view angle
Figure FDA0002575623160000012
Pitch angle rate measured from the gyro of angular rate at the last moment
Figure FDA0002575623160000013
And the information is transmitted to a guidance filter, the guidance filter resolves the information to generate a control command and transmits the control command to an automatic pilot, the automatic pilot controls the state of the aircraft at the next moment according to the command information, the process is repeated, and the state of the aircraft at the next moment is continuously measured and controlled, so that a guidance loop is formed.
5. The image-guided vehicle delay compensation method according to claim 4,
the parameters passed are estimated by an alpha-beta filter before the lead filter to obtain the line of sight angular velocity.
6. The image-guided vehicle delay compensation method according to claim 4,
the following second-order transfer function G is carried out in the angular rate gyrogAnd (3) treatment:
Figure FDA0002575623160000021
time-delay link function G in strapdown seekersComprises the following steps:
Figure FDA0002575623160000022
wherein,
Figure FDA0002575623160000023
and ζgNatural frequency and damping ratio, T, of an angular rate gyro, respectivelySDThe duration of the signal processing for the strapdown seeker.
7. The image-guided vehicle delay compensation method according to claim 4,
by viewing the target before the waveguide filter
Figure FDA0002575623160000024
And a pitch angle
Figure FDA0002575623160000025
Reconstructing the angle of view, decoupling the angular motion of the aircraft, and filtering the decoupled angular motion by alpha-betaEstimating by the device;
wherein the pitch angle
Figure FDA0002575623160000026
For pitch angle rate measured by a diagonal rate gyro
Figure FDA0002575623160000027
And (5) performing integration to obtain.
8. The image-guided vehicle delay compensation method according to claim 4,
and arranging a first channel model behind the strapdown seeker, arranging a second channel model behind the angular rate gyroscope, and compensating two channels where the strapdown seeker and the angular rate gyroscope are positioned, so that the bandwidths of the strapdown seeker channel and the angular rate gyroscope channel are consistent.
9. The image-guided vehicle delay compensation method according to claim 8,
the processing function in the first channel model is the same as the processing function in the angular rate gyro, and the processing function in the second channel model is the same as the delay link function in the strapdown seeker.
10. The image-guided vehicle delay compensation method according to claim 9,
performing the following function in the first channel model
Figure FDA0002575623160000031
And (3) treatment:
Figure FDA0002575623160000032
performing the following function in the second channel model
Figure FDA0002575623160000033
And (3) treatment:
Figure FDA0002575623160000034
wherein,
Figure FDA0002575623160000035
and ζgNatural frequency and damping ratio, T, of an angular rate gyro, respectivelySDThe duration of the signal processing for the strapdown seeker.
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