基于组合测量的弹箭图像末修技术
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摘要
为提高单兵武器对目标的打击精度和我方人员在战场上的生存概率,本文以单兵火箭弹为平台,研究了基于组合测量的弹箭图像末修技术。基于组合测量的弹箭图像末修技术以弹载CCD为目标探测器,利用地磁计和MEMS陀螺组合测量弹丸姿态,由微处理计算弹道偏差,并在弹道末段对弹丸进行脉冲修正。该技术不但可以用于单兵火箭弹,还可以用于其它野战火箭弹及各种炮兵弹药上。本文的主要研究内容有:
1.以单兵火箭为研究背景,详细阐述了基于组合测量的图像末修弹药的系统组成和工作原理。通过对系统的三个关键子系统进行分析,重点研究了图像测量系统的目标测量原理、测量精度和姿态测量系统中的MEMS陀螺误差补偿方法。根据单兵火箭的运动特点,建立了适用于快速、准确计算的质点弹道方程和带修正的4自由度弹道方程。利用Simulink和6自由度弹道方程对某型单兵火箭弹进行了外弹道模型仿真。
2.研究了利用CCD测量弹目相对位置的方法。根据弹丸运动方程和CCD成像特点,建立了弹丸运动时弹目相对运动方程和目标点在CCD上的成像轨迹方程;研究了利用CCD测量目标相对位置的估测方法,同时设计了利用单个CCD测量弹目相对位置的方法;分析了由于弹丸旋转对弹目测量所造成的误差;对各模型进行了Matlab仿真及转台实验验证。仿真及实验结果表明,利用文中模型可在一定条件下较准确测量弹目相对位置,但测量精度受姿态及基线距离测量精度的影响较大。
3.研究了组合测量弹丸姿态的方法。针对单兵武器平台的弹丸运动特点,结合地磁矢量在弹体坐标系内的投影规律,利用椭圆拟合方法,建立了计算弹丸运动条件下的姿态角模型;通过引入中位数和修正系数,将中位法、UKF和椭圆理论相结合,提出了改进的椭圆参数拟合方法,提高了在奇异值干扰下的弹丸滚转角计算精度;设计了基于伺服稳定平台的弹丸姿态角测量方法;利用三轴地磁计和MEMS陀螺组成磁-陀螺系统,建立了组合测量模型,并进行了转台仿真实验。从对实验数据的处理结果可以得出:利用椭圆理论计算弹丸滚转角能得到较好的精度,而且实用性很强,但计算其余两姿态角的精度不高;磁-陀螺测量系统可互补磁强计和陀螺测量中的不足,测量弹丸姿态能得到较高的精度。
4.以验证组合测量弹目相对位置模型为目的,设计了弹载测试系统和实验方案,并完成了用弹载测试系统组合测量弹目相对方位和弹丸姿态的原理性演示飞行实验。实验结果表明,本次实验较成功的测得了弹丸的姿态角和目标相对弹丸方位的变化规律,测量结果与文中仿真结果比较接近。
5.研究了基于单兵火箭平台的修正策略。利用前文测量方法计算求取弹目相对偏差作为弹道修正量,将修正量分为距离偏差和角度偏差分别求取;根据某型脉冲发动机和单兵火箭运动特点,建立了弹道修正过程中的弹道变化模型;利用最优控制理论和弹道修正量,设计了以冲量为最优控制量的距离偏差、角度偏差的修正律;分析了修正过程中弹丸转速对修正的影响,提出了使弹丸保持稳定的方法,并计算出了本文修正方案的修正效率;最后设计了脉冲修正点火方案;并进行了仿真计算和转台实验进行验证。
In order to improve the firing accuracy to target and survival probabilities in battlefield, the technology of terminal trajectory correction is studied in this paper based on the combined measured method, applied in individual rocket. The technology makes use of CCD which is fixed in projectile as target detector and combines magnetometers and MEMS gyro to measure the projectile's attitudes, and then the trajectory error is calculated by microcomputer, and connect the trajectory by controlling small pulse motors at the end of trajectory at last. The technology not only can be used in individual rocket, but also in other artillery rockets and munitions.
1. This paper expounds the system's composing and working principle of terminal trajectory correction munitions based on the combined measured technology and CCD. The principle detected target and accuracy of the image measured system and the error compensated method of MEMS gyro in attitude measured system are studied through analyzing to the three key sub-systems. According to the characteristics of projectile's motion, the projectile equations are built in this paper which can calculate the trajectory quickly and accurately. The trajectory of individual rocket is simulated by using of Simulink and 6-D equations.
2. The method measured to target by CCD is studied in this paper. According to motion equations of projectile and the characteristics of imaging in CCD, the equations disturbed the relative motion between projectile and target is built and the method which is used to measure the relative position of target by CCD is studied in this paper. The measured error caused by the projectile rotation is analyzed. To test the above methods and equations, several experiments and simulations are designed. The results indicate that the relative positions of target can be measured accurately by the methods and equations.
3. The method measured to projectile's attitudes is studied in this paper. According to the characteristics of individual rocket's motion, the attitudes measured model is built by using of B2AC and the projective geometry of geomagnetic vector in projectile coordinate. Through bringing several coefficients and UKF into B2AC, the improved B2AC is proposed which can calculated the attitude angle of projectile accurately when a part of the original data is not correct. A method is proposed which can measured the attitude based on the servo mechanism. The combine measured model is built using three-axes magnetometers and MEMS. To test the above methods and equations, several experiments and simulations are designed. The results indicate that the roll angle can be calculated accurately using improved B2AC, but the other two angles' accuracy is not very good while the combine measured model can compensate the shortage.
4. To test the above models and methods, the experiment plan and detect system are designed. The test is finished to measure the attitude of projectile and the relative position between the projectile and target. The results show that the data is identical with the simulated data.
5. The correct policy is studied in this paper. Using the trajectory error as correct parameter which can be calculated by the above models and methods, the trajectory equations which have been changed are built firstly, and then the correct policy is designed by use of optimized cybernetics. The influence of rotation to correcting is analyzed and the method to keep the projectile stabilized is proposed and the correct efficiency is calculated. Finally, the correct plan is designed and tested by simulation and experiments.
1.以单兵火箭为研究背景,详细阐述了基于组合测量的图像末修弹药的系统组成和工作原理。通过对系统的三个关键子系统进行分析,重点研究了图像测量系统的目标测量原理、测量精度和姿态测量系统中的MEMS陀螺误差补偿方法。根据单兵火箭的运动特点,建立了适用于快速、准确计算的质点弹道方程和带修正的4自由度弹道方程。利用Simulink和6自由度弹道方程对某型单兵火箭弹进行了外弹道模型仿真。
2.研究了利用CCD测量弹目相对位置的方法。根据弹丸运动方程和CCD成像特点,建立了弹丸运动时弹目相对运动方程和目标点在CCD上的成像轨迹方程;研究了利用CCD测量目标相对位置的估测方法,同时设计了利用单个CCD测量弹目相对位置的方法;分析了由于弹丸旋转对弹目测量所造成的误差;对各模型进行了Matlab仿真及转台实验验证。仿真及实验结果表明,利用文中模型可在一定条件下较准确测量弹目相对位置,但测量精度受姿态及基线距离测量精度的影响较大。
3.研究了组合测量弹丸姿态的方法。针对单兵武器平台的弹丸运动特点,结合地磁矢量在弹体坐标系内的投影规律,利用椭圆拟合方法,建立了计算弹丸运动条件下的姿态角模型;通过引入中位数和修正系数,将中位法、UKF和椭圆理论相结合,提出了改进的椭圆参数拟合方法,提高了在奇异值干扰下的弹丸滚转角计算精度;设计了基于伺服稳定平台的弹丸姿态角测量方法;利用三轴地磁计和MEMS陀螺组成磁-陀螺系统,建立了组合测量模型,并进行了转台仿真实验。从对实验数据的处理结果可以得出:利用椭圆理论计算弹丸滚转角能得到较好的精度,而且实用性很强,但计算其余两姿态角的精度不高;磁-陀螺测量系统可互补磁强计和陀螺测量中的不足,测量弹丸姿态能得到较高的精度。
4.以验证组合测量弹目相对位置模型为目的,设计了弹载测试系统和实验方案,并完成了用弹载测试系统组合测量弹目相对方位和弹丸姿态的原理性演示飞行实验。实验结果表明,本次实验较成功的测得了弹丸的姿态角和目标相对弹丸方位的变化规律,测量结果与文中仿真结果比较接近。
5.研究了基于单兵火箭平台的修正策略。利用前文测量方法计算求取弹目相对偏差作为弹道修正量,将修正量分为距离偏差和角度偏差分别求取;根据某型脉冲发动机和单兵火箭运动特点,建立了弹道修正过程中的弹道变化模型;利用最优控制理论和弹道修正量,设计了以冲量为最优控制量的距离偏差、角度偏差的修正律;分析了修正过程中弹丸转速对修正的影响,提出了使弹丸保持稳定的方法,并计算出了本文修正方案的修正效率;最后设计了脉冲修正点火方案;并进行了仿真计算和转台实验进行验证。
In order to improve the firing accuracy to target and survival probabilities in battlefield, the technology of terminal trajectory correction is studied in this paper based on the combined measured method, applied in individual rocket. The technology makes use of CCD which is fixed in projectile as target detector and combines magnetometers and MEMS gyro to measure the projectile's attitudes, and then the trajectory error is calculated by microcomputer, and connect the trajectory by controlling small pulse motors at the end of trajectory at last. The technology not only can be used in individual rocket, but also in other artillery rockets and munitions.
1. This paper expounds the system's composing and working principle of terminal trajectory correction munitions based on the combined measured technology and CCD. The principle detected target and accuracy of the image measured system and the error compensated method of MEMS gyro in attitude measured system are studied through analyzing to the three key sub-systems. According to the characteristics of projectile's motion, the projectile equations are built in this paper which can calculate the trajectory quickly and accurately. The trajectory of individual rocket is simulated by using of Simulink and 6-D equations.
2. The method measured to target by CCD is studied in this paper. According to motion equations of projectile and the characteristics of imaging in CCD, the equations disturbed the relative motion between projectile and target is built and the method which is used to measure the relative position of target by CCD is studied in this paper. The measured error caused by the projectile rotation is analyzed. To test the above methods and equations, several experiments and simulations are designed. The results indicate that the relative positions of target can be measured accurately by the methods and equations.
3. The method measured to projectile's attitudes is studied in this paper. According to the characteristics of individual rocket's motion, the attitudes measured model is built by using of B2AC and the projective geometry of geomagnetic vector in projectile coordinate. Through bringing several coefficients and UKF into B2AC, the improved B2AC is proposed which can calculated the attitude angle of projectile accurately when a part of the original data is not correct. A method is proposed which can measured the attitude based on the servo mechanism. The combine measured model is built using three-axes magnetometers and MEMS. To test the above methods and equations, several experiments and simulations are designed. The results indicate that the roll angle can be calculated accurately using improved B2AC, but the other two angles' accuracy is not very good while the combine measured model can compensate the shortage.
4. To test the above models and methods, the experiment plan and detect system are designed. The test is finished to measure the attitude of projectile and the relative position between the projectile and target. The results show that the data is identical with the simulated data.
5. The correct policy is studied in this paper. Using the trajectory error as correct parameter which can be calculated by the above models and methods, the trajectory equations which have been changed are built firstly, and then the correct policy is designed by use of optimized cybernetics. The influence of rotation to correcting is analyzed and the method to keep the projectile stabilized is proposed and the correct efficiency is calculated. Finally, the correct plan is designed and tested by simulation and experiments.
引文
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