捷联导引头视线角速率估计方法研究
摘要
视线角速率是制导控制中的重要参数之一,对其的准确估计关系到系统的整体性能。捷联导引头只能测得弹体视线角信号,无法直接测定惯性坐标系下的视线角速率,因此需要对含有噪声的体视线角测量信息进行求导,然后与速率陀螺数据相加获得目标视线角速率。在多数情况下,可以采用差分方法来近似估计信号的导数,但是由于噪声几乎存在于所有信号中,所以通过这种方法不能正确估计信号的导数。通过建立合适的对象模型,Kalman滤波算法可以抑制噪声,同时求取信号的导数。
本文构建了一个基于FPGA实现Kalman算法的软硬件系统,用于实现对弹体视线角的求导,进而实现对目标视线角速率的正确估计。软件部分采用模块化设计,将系统划分为A/D控制、Kalman滤波算法和D/A控制三个主要模块。滤波算法部分也分解为几个功能模块,采用分时复用方法,最大限度地降低算法复杂度。运算部分采用浮点算法,保证了运算精度。通过对子模块及整个系统的仿真验证,该方法对于目标跟踪及导数估计都有较好的结果,满足设计要求。硬件系统包括FPGA最小系统及AD、DA电路,并对硬件电路进行了测试及软件下载调试。
本文的研究对FPGA在目标视线角速率估计中的应用进行了探索,具有很好的应用前景。
The line of sight (LOS) rate is one of the important parameters in guidance and control system. The precise estimation of LOS rate has a close impact on the overall performance of system. Strapdown seeker can only measure the body LOS angle. The LOS rate in inertial coordinate system can not be measured directly by Strapdown seeker. So we have to add the derivative of body LOS angle with measurement noise and data of rate gyro to obtain LOS rate. In most cases, the differential method can be used to obtain the derivative of a signal approximately, but there is noise in almost all signals, so this method can not estimate the derivative of signals accurately. Through the establishment of an appropriate object model, Kalman filter can suppress noise and obtain the derivative of the signal.
In this thesis, a Kalman filter based on FPGA has been designed, which includes hardware and software systems, in order to obtain the derivative of body LOS angle, thus obtain the precise estimation of LOS rate. In software design, the system is divided into A/D control module, Kalman filtering algorithm module and D/A control module. Kalman filtering algorithm module is also divided into several functional modules. Time division multiplexing method has been used to minimize the complexity of the algorithm; in addition, floating-point arithmetic operations have been used to ensure operational accuracy. Through the simulation tests of modules and entire system, the design has good performance in target tracking and derivative estimation, and meets the design requirement. Hardware system includes least system of FPGA, AD circuit and DA circuit. At last, we test the hardware circuits, download and debug the software in hardware system.
This study explores the application of FPGA in LOS rate estimation, which has good prospects.
本文构建了一个基于FPGA实现Kalman算法的软硬件系统,用于实现对弹体视线角的求导,进而实现对目标视线角速率的正确估计。软件部分采用模块化设计,将系统划分为A/D控制、Kalman滤波算法和D/A控制三个主要模块。滤波算法部分也分解为几个功能模块,采用分时复用方法,最大限度地降低算法复杂度。运算部分采用浮点算法,保证了运算精度。通过对子模块及整个系统的仿真验证,该方法对于目标跟踪及导数估计都有较好的结果,满足设计要求。硬件系统包括FPGA最小系统及AD、DA电路,并对硬件电路进行了测试及软件下载调试。
本文的研究对FPGA在目标视线角速率估计中的应用进行了探索,具有很好的应用前景。
The line of sight (LOS) rate is one of the important parameters in guidance and control system. The precise estimation of LOS rate has a close impact on the overall performance of system. Strapdown seeker can only measure the body LOS angle. The LOS rate in inertial coordinate system can not be measured directly by Strapdown seeker. So we have to add the derivative of body LOS angle with measurement noise and data of rate gyro to obtain LOS rate. In most cases, the differential method can be used to obtain the derivative of a signal approximately, but there is noise in almost all signals, so this method can not estimate the derivative of signals accurately. Through the establishment of an appropriate object model, Kalman filter can suppress noise and obtain the derivative of the signal.
In this thesis, a Kalman filter based on FPGA has been designed, which includes hardware and software systems, in order to obtain the derivative of body LOS angle, thus obtain the precise estimation of LOS rate. In software design, the system is divided into A/D control module, Kalman filtering algorithm module and D/A control module. Kalman filtering algorithm module is also divided into several functional modules. Time division multiplexing method has been used to minimize the complexity of the algorithm; in addition, floating-point arithmetic operations have been used to ensure operational accuracy. Through the simulation tests of modules and entire system, the design has good performance in target tracking and derivative estimation, and meets the design requirement. Hardware system includes least system of FPGA, AD circuit and DA circuit. At last, we test the hardware circuits, download and debug the software in hardware system.
This study explores the application of FPGA in LOS rate estimation, which has good prospects.
引文
[1]姚郁,章国江.捷联成像制导系统的若干问题探讨.红外与激光工程,2006,35(1)：1-6
[2]李保平.精确制导技术在未来制导兵器发展中的应用预测(一).红外与激光工程,1996,25(2)：1-7
[3]李保平.精确制导技术在未来制导兵器发展中的应用预测(二).红外与激光工程,1996,25(3)：54-60
[4]乔元新.由捷联导引头产生比例制导信号技术.制导与引信,1997,1：9-15
[5]周瑞青,刘新华,史守峡,王开斌.捷联导引头稳定与跟踪技术.北京：国防工业出版社,2010
[6]苏身榜.捷联寻的制导技术及其在国外的发展.航空兵器,1994,2：45-50
[7]李璟璟.捷联成像导引头视线角速率估计方法研究.哈尔滨工业大学硕士学位论文,2008
[8]Nesline F W, Zarchan P. Line-of-sight Reconstruction for Faster Homing Guidance. Journal of Guidance, Control, and Dynamic,1984,8:3-8
[9]Lin Zhe, Yao Yu, Ma Ke Mao. The design of LOS reconstruction filter for strapdown imaging seeker. IEEE 2005 International Conference on Machine Learning and Cybernetics,2005,4:2272-2277
[10]高龙海.防空导弹制导与控制先进技术的发展动向.现代防御技术.1991,3：49-52
[11]高庆丰,李向林,夏群力,郭涛.旋转导弹捷联导引头比例导引制导律研究.现代防御技术,2009,37(5)：45-48
[12]孟秀云.导弹制导与控制系统原理.北京：北京理工大学出版社,2003
[13]钱杏芳.导弹飞行力学.北京：北京理工大学出版社,2003
[14]雷虎民.导弹制导与控制原理.北京：国防工业出版社,2006
[15]杨军,杨晨,段朝阳,贾晓洪.现代导弹制导控制系统设计.北京：航空工业出版社,2005
[16]Russel T Rudin. Strapdown stabilization for imaging seekers.2nd Annual AIAA SDIO Interceptor Technology Conference,1993
[17]Riggs Tom L, Jr. Optimal Control and Estimation for Terminal Guidance of Tactical Missiles. ADA092606,1980
[18]张跃,刘波,訚胜利.捷联式光学导引头的稳定、跟踪原理与系统仿真.光学精密工程,2008,16(10)：1942-1948
[19]林喆,姚郁,遆小光,富晓薇.捷联成像导引头相关跟踪算法研究.兵工学报,2009,30(5)：572-579
[20]李璟璟,伊国兴,张迎春.基于粒子滤波的捷联成像导引头视线角速率估计.弹箭与制导,2009,29(2)：91-94
[21]葛健全,张晓今,杨涛.利用捷联导引头信息实现脉冲比例导引.弹道学报,2008,20(1)：98-101
[22]赵妍.捷联导引头解耦系统的研制.哈尔滨工程大学硕士学位论文,2007
[23]宋建梅,曹宇.捷联寻的制导弹药的新型卡尔曼滤波器设计.北京理工大学学报,2005,25(11)：975-980
[24]李全运,宋建梅.捷联寻的制导系统滤波器设计.兵工学报,2005,26(2)：215-219
[25]薛舜,周军,葛致磊.捷联导引头目标视线角速率重构方法研究.计算机仿真,2009,26(3)：82-86
[26]邓自立.卡尔曼滤波与维纳滤波.哈尔滨：哈尔滨工业大学出版社,2001
[27]秦永元,张洪钺,汪叔华.卡尔曼滤波及组合导航原理.西安：西北工业大学出版社,1998
[28]付梦印,邓志红,闫莉萍Kalman滤波理论及其在导航系统中的应用.北京：科学出版社,2003
[29]沈亮,韩军杰,郭军强.卡尔曼滤波和最佳导引在导弹制导系统中的研究.制导与引信,1999,20(2)：1-6
[30]杨挺.雷达制导空空导弹的卡尔曼滤波器.航空兵器,1998,3：17-25
[31]潘泉,杨峰,叶亮.一类非线性滤波器—UKF综述.控制与决策,2005,120(5)：482-494
[32]李翌.基于FPGA实现数字滤波的软硬件设计.华中师范大学硕士学位论文,2006
[33]仲婷婷,王长松,周晓敏,齐听.基于FPGA的卡尔曼滤波器的设计与实现.电子技术应用,-2008,34(8)：20-23
[34]韩梅,陈禾.卡尔曼滤波器的FPGA实现.电子工程师,2006,32(7)：38-40
[35]冯安祥,肖阳辉,王玉良,栗萧峰.基于FPGA的目标运动预测实时Kalman滤波器设计.集成电路应用,2007,12：50-53
[36]周倩.车辆组合导航中卡尔曼滤波器的设计及FPGA实现.北京交通大学硕士学位论文,2009
[37]米月琴,黄军荣.基于FPGA的Kalman滤波器的设计.电子科技,2010,23(2)：52-55
[38]吴玲,卢发兴,刘忠.UKF算法及其在目标被动跟踪中的应用.系统工程与电子技术,2005,27(1)：49-51
[39]赵延.机动目标自适应卡尔曼滤波算法研究.西安电子科技大学硕士学位论文,2004
[40]王诚,吴继华,范丽珍,薛宁,薛小刚Altera FPGA/CPLD设计(基础篇).北京：人民邮电出版社,2005
[41]王诚,吴继华,范丽珍,薛宁,薛小刚Altera FPGA/CPLD设计(高级篇).北京：人民邮电出版社,2005
[42]Stephen Brown, Zvonko Vranesic数字逻辑基础与Verilog设计.北京：机械工业出版社,2008
[43]Analog Devices. DataSheet for AD7888,2010
[44]刘建国,张付祥,付宜利,王树国.AD7888与S3C2410的SPI接口及Linux下嵌入式驱动的实现.工业仪表与自动化装置,2006,5：47-49
[45]Texas Instruments Incorporated. Data Sheet for TLC5615,2000
[46]Altera Corporation. Cyclonelll Device Handbook,2007
[47]刘延飞,郭锁利,王晓戎,李琪,常春藤等.基于Altera FPGA/CPLD的电子系统设计及工程实践.北京：人民邮电出版社,2009
[48]黄艳军.基于FPGA的数字图像预处理算法研究.南京理工大学硕士学位论文,2009
[49]Altera Corporation. CycloneⅢ Design Guidelines,2008
[2]李保平.精确制导技术在未来制导兵器发展中的应用预测(一).红外与激光工程,1996,25(2)：1-7
[3]李保平.精确制导技术在未来制导兵器发展中的应用预测(二).红外与激光工程,1996,25(3)：54-60
[4]乔元新.由捷联导引头产生比例制导信号技术.制导与引信,1997,1：9-15
[5]周瑞青,刘新华,史守峡,王开斌.捷联导引头稳定与跟踪技术.北京：国防工业出版社,2010
[6]苏身榜.捷联寻的制导技术及其在国外的发展.航空兵器,1994,2：45-50
[7]李璟璟.捷联成像导引头视线角速率估计方法研究.哈尔滨工业大学硕士学位论文,2008
[8]Nesline F W, Zarchan P. Line-of-sight Reconstruction for Faster Homing Guidance. Journal of Guidance, Control, and Dynamic,1984,8:3-8
[9]Lin Zhe, Yao Yu, Ma Ke Mao. The design of LOS reconstruction filter for strapdown imaging seeker. IEEE 2005 International Conference on Machine Learning and Cybernetics,2005,4:2272-2277
[10]高龙海.防空导弹制导与控制先进技术的发展动向.现代防御技术.1991,3：49-52
[11]高庆丰,李向林,夏群力,郭涛.旋转导弹捷联导引头比例导引制导律研究.现代防御技术,2009,37(5)：45-48
[12]孟秀云.导弹制导与控制系统原理.北京：北京理工大学出版社,2003
[13]钱杏芳.导弹飞行力学.北京：北京理工大学出版社,2003
[14]雷虎民.导弹制导与控制原理.北京：国防工业出版社,2006
[15]杨军,杨晨,段朝阳,贾晓洪.现代导弹制导控制系统设计.北京：航空工业出版社,2005
[16]Russel T Rudin. Strapdown stabilization for imaging seekers.2nd Annual AIAA SDIO Interceptor Technology Conference,1993
[17]Riggs Tom L, Jr. Optimal Control and Estimation for Terminal Guidance of Tactical Missiles. ADA092606,1980
[18]张跃,刘波,訚胜利.捷联式光学导引头的稳定、跟踪原理与系统仿真.光学精密工程,2008,16(10)：1942-1948
[19]林喆,姚郁,遆小光,富晓薇.捷联成像导引头相关跟踪算法研究.兵工学报,2009,30(5)：572-579
[20]李璟璟,伊国兴,张迎春.基于粒子滤波的捷联成像导引头视线角速率估计.弹箭与制导,2009,29(2)：91-94
[21]葛健全,张晓今,杨涛.利用捷联导引头信息实现脉冲比例导引.弹道学报,2008,20(1)：98-101
[22]赵妍.捷联导引头解耦系统的研制.哈尔滨工程大学硕士学位论文,2007
[23]宋建梅,曹宇.捷联寻的制导弹药的新型卡尔曼滤波器设计.北京理工大学学报,2005,25(11)：975-980
[24]李全运,宋建梅.捷联寻的制导系统滤波器设计.兵工学报,2005,26(2)：215-219
[25]薛舜,周军,葛致磊.捷联导引头目标视线角速率重构方法研究.计算机仿真,2009,26(3)：82-86
[26]邓自立.卡尔曼滤波与维纳滤波.哈尔滨：哈尔滨工业大学出版社,2001
[27]秦永元,张洪钺,汪叔华.卡尔曼滤波及组合导航原理.西安：西北工业大学出版社,1998
[28]付梦印,邓志红,闫莉萍Kalman滤波理论及其在导航系统中的应用.北京：科学出版社,2003
[29]沈亮,韩军杰,郭军强.卡尔曼滤波和最佳导引在导弹制导系统中的研究.制导与引信,1999,20(2)：1-6
[30]杨挺.雷达制导空空导弹的卡尔曼滤波器.航空兵器,1998,3：17-25
[31]潘泉,杨峰,叶亮.一类非线性滤波器—UKF综述.控制与决策,2005,120(5)：482-494
[32]李翌.基于FPGA实现数字滤波的软硬件设计.华中师范大学硕士学位论文,2006
[33]仲婷婷,王长松,周晓敏,齐听.基于FPGA的卡尔曼滤波器的设计与实现.电子技术应用,-2008,34(8)：20-23
[34]韩梅,陈禾.卡尔曼滤波器的FPGA实现.电子工程师,2006,32(7)：38-40
[35]冯安祥,肖阳辉,王玉良,栗萧峰.基于FPGA的目标运动预测实时Kalman滤波器设计.集成电路应用,2007,12：50-53
[36]周倩.车辆组合导航中卡尔曼滤波器的设计及FPGA实现.北京交通大学硕士学位论文,2009
[37]米月琴,黄军荣.基于FPGA的Kalman滤波器的设计.电子科技,2010,23(2)：52-55
[38]吴玲,卢发兴,刘忠.UKF算法及其在目标被动跟踪中的应用.系统工程与电子技术,2005,27(1)：49-51
[39]赵延.机动目标自适应卡尔曼滤波算法研究.西安电子科技大学硕士学位论文,2004
[40]王诚,吴继华,范丽珍,薛宁,薛小刚Altera FPGA/CPLD设计(基础篇).北京：人民邮电出版社,2005
[41]王诚,吴继华,范丽珍,薛宁,薛小刚Altera FPGA/CPLD设计(高级篇).北京：人民邮电出版社,2005
[42]Stephen Brown, Zvonko Vranesic数字逻辑基础与Verilog设计.北京：机械工业出版社,2008
[43]Analog Devices. DataSheet for AD7888,2010
[44]刘建国,张付祥,付宜利,王树国.AD7888与S3C2410的SPI接口及Linux下嵌入式驱动的实现.工业仪表与自动化装置,2006,5：47-49
[45]Texas Instruments Incorporated. Data Sheet for TLC5615,2000
[46]Altera Corporation. Cyclonelll Device Handbook,2007
[47]刘延飞,郭锁利,王晓戎,李琪,常春藤等.基于Altera FPGA/CPLD的电子系统设计及工程实践.北京：人民邮电出版社,2009
[48]黄艳军.基于FPGA的数字图像预处理算法研究.南京理工大学硕士学位论文,2009
[49]Altera Corporation. CycloneⅢ Design Guidelines,2008