星光/惯性复合制导最佳星快速确定方法与精度分析
|
摘要
星光/惯性复合制导方法利用星光矢量的测量信息修正惯性平台的漂移误差,能较大地提高弹道导弹的制导精度和快速发射能力,同时降低武器系统的成本,具有较强的环境适应能力,在机动发射和水下发射的弹道导弹的制导中有着重要作用,目前已经在美俄等军事强国的先进战略弹道导弹中得到了成功应用,结果表明星光/惯性复合制导方法能够显著的提高导弹的命中精度。本论文主要针对单星调平台星光/惯性复合制导方案进行研究,论文主要工作包括以下几个方面:
首先,通过对星光/惯性复合制导方法的原理分析,提出了单星调平台方案中斜调平台的方法,建立了星敏感器的测量方程以及平台失准角与初始误差和惯导工具误差的关系方程,分析了导弹的落点偏差随恒星方位的变化规律。数值仿真验证了模型的正确性,结果表明单星调平台方案能够有效提高导弹的落点精度。
其次,提出了基于单纯形调优法的最佳星快速确定方法,并通过编制最佳测星方位表来提高其全局搜索能力。考虑到导弹实际发射时强光源对测星的影响和可用恒星的分布,导致理论最佳星无法使用的情况,提出了次佳星的快速确定方法,进一步完善了最佳星快速确定问题的研究,为实际最佳导航星的选择提供了参考。数值仿真结果验证了方法的可行性和有效性。
最后,考虑到诸元计算时采用的惯导误差模型可能与实际情况不一致的问题,分析了惯导误差模型对复合制导精度的影响,以及最佳星方位和最佳修正系数在不同误差模型下的适应性,为复合制导方案中误差模型的选择提供了参考。同时,分析了星敏感器安装角对复合制导精度的影响,并采用单纯形调优法对星敏感器的安装角进行了优化,在简单假设下分析了星敏感器最佳安装角的变化规律,相关结果能够为星敏感器安装角的优化选择提供借鉴。
论文的研究内容与弹道导弹制导的工程实际紧密结合,所做工作和研究成果能为我国相关武器装备的发展提供理论依据和技术支持。
The celestial-inertial composite guidance,which combines the advantages of celestial guidance and inertial navigation,plays an important role in the guidance and control of underwater launched maneuverable ballistic missile.Therefore,this method has been widely actualized in America and Russia.This thesis bases on the single-star scheme with altered platform,and the main contents and innovative points are introduced as follows:
Firstly,we obtain the mode of platform adjusting,deduce the model of star-light observation and build equation between error angle of platform and various error source,which based on the analyzing of the single-star scheme with altered platform.In addition, the circle error probability of missile changing with the star azimuth is simulated,whose result shows that the hit precision has been improved efficiently.
Secondly,as one solution,we propose a method for quick ascertaining of optimal star,and establish the table of reference azimuth to offer the initial position which supports the searching method with better performance in the whole range.Taking into account that the optimal star may be not available or inexistent in the sky,the ascertaining method of sub-optimal star is put forward,which could provide reference for an optimized choice of navigation star,and consummate the study of quick ascertaining method of optimal star.In the end,the rationality and feasibility of the method are validated by simulation results.
Finally,the influence of different inertial error model and fixed azimuth angle of star sensor are considered.The former could be referred to build the inertial error model and set coefficients,while the latter is important for the hit precision of the missile system,which has been proved in the simulation,so we propose optimizing solution based on four dimension simplex method,and furthermore,analyze the regularity of fixed azimuth angle of star sensor in case of simple suppose,that is interrelated results could be used for reference in design of star sensor.
In short,all contents of this thesis combine compactly with the ballistic missile project requirements,and large amount of simulations conform the conclusions of the research.It is believed that it could supply theoretical and technological reference for the research and development of interrelated weapon equipment.
首先,通过对星光/惯性复合制导方法的原理分析,提出了单星调平台方案中斜调平台的方法,建立了星敏感器的测量方程以及平台失准角与初始误差和惯导工具误差的关系方程,分析了导弹的落点偏差随恒星方位的变化规律。数值仿真验证了模型的正确性,结果表明单星调平台方案能够有效提高导弹的落点精度。
其次,提出了基于单纯形调优法的最佳星快速确定方法,并通过编制最佳测星方位表来提高其全局搜索能力。考虑到导弹实际发射时强光源对测星的影响和可用恒星的分布,导致理论最佳星无法使用的情况,提出了次佳星的快速确定方法,进一步完善了最佳星快速确定问题的研究,为实际最佳导航星的选择提供了参考。数值仿真结果验证了方法的可行性和有效性。
最后,考虑到诸元计算时采用的惯导误差模型可能与实际情况不一致的问题,分析了惯导误差模型对复合制导精度的影响,以及最佳星方位和最佳修正系数在不同误差模型下的适应性,为复合制导方案中误差模型的选择提供了参考。同时,分析了星敏感器安装角对复合制导精度的影响,并采用单纯形调优法对星敏感器的安装角进行了优化,在简单假设下分析了星敏感器最佳安装角的变化规律,相关结果能够为星敏感器安装角的优化选择提供借鉴。
论文的研究内容与弹道导弹制导的工程实际紧密结合,所做工作和研究成果能为我国相关武器装备的发展提供理论依据和技术支持。
The celestial-inertial composite guidance,which combines the advantages of celestial guidance and inertial navigation,plays an important role in the guidance and control of underwater launched maneuverable ballistic missile.Therefore,this method has been widely actualized in America and Russia.This thesis bases on the single-star scheme with altered platform,and the main contents and innovative points are introduced as follows:
Firstly,we obtain the mode of platform adjusting,deduce the model of star-light observation and build equation between error angle of platform and various error source,which based on the analyzing of the single-star scheme with altered platform.In addition, the circle error probability of missile changing with the star azimuth is simulated,whose result shows that the hit precision has been improved efficiently.
Secondly,as one solution,we propose a method for quick ascertaining of optimal star,and establish the table of reference azimuth to offer the initial position which supports the searching method with better performance in the whole range.Taking into account that the optimal star may be not available or inexistent in the sky,the ascertaining method of sub-optimal star is put forward,which could provide reference for an optimized choice of navigation star,and consummate the study of quick ascertaining method of optimal star.In the end,the rationality and feasibility of the method are validated by simulation results.
Finally,the influence of different inertial error model and fixed azimuth angle of star sensor are considered.The former could be referred to build the inertial error model and set coefficients,while the latter is important for the hit precision of the missile system,which has been proved in the simulation,so we propose optimizing solution based on four dimension simplex method,and furthermore,analyze the regularity of fixed azimuth angle of star sensor in case of simple suppose,that is interrelated results could be used for reference in design of star sensor.
In short,all contents of this thesis combine compactly with the ballistic missile project requirements,and large amount of simulations conform the conclusions of the research.It is believed that it could supply theoretical and technological reference for the research and development of interrelated weapon equipment.
引文
[1]孟秀云.导弹制导与控制系统原理[M].北京:北京理工大学出版社,2003.
[2]孙旦平.SINS/GPS/星光组合在弹道导弹导航中的应用[D].哈尔滨:哈尔滨工业大学,2004.
[3]吴开林.航天器基本特点与设计要求概述(三)[J].航天标准化,2002(3):43-47.
[4]吴俊伟,惯性技术基础[M].哈尔滨:哈尔滨工程大学出版社,2002.
[5]陆元九,惯性器件[M].北京:中国宇航出版社,1990.
[6]邓正隆.惯性导航原理[M].哈尔滨:哈尔滨工业大学出版社,1994.
[7] Anthony L . Modern Inertial Technology , Navigation , Guidance and Control.New York:Springer-Verlag,1992:27-35.
[8]张辉.恒星敏感器[J].河池学院学报,2004,24(4):54-56.
[9]谭伟明.星敏感器恒星检测若干问题研究[J] .光学与光电技术,2004,2(1):8-10.
[10]陈世年主编.控制系统设计[M].北京:宇航出版社,1996.
[11]贾沛然,陈克俊,何力.远程火箭弹道学[M].长沙:国防科技大学出版社,1993.
[12]钱杏芳,林瑞雄,赵亚男.导弹飞行力学[M].北京:北京理工大学出版社,2006.
[13]张金槐主编.远程火箭精度分析与评估[M].长沙:国防科技大学出版社,1995.
[14]董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用[M].长沙:国防科技大学出版社,1998.
[15]刘瑞华,刘建业,孙永荣.多传感器组合导航系统研究[J].航天控制,2001(2):67-72.
[16]袁国雄,任章.星光/惯性复合制导在战略导弹上的应用前景分析[J].战略导弹控制技术,2006(2):19-22.
[17] Carl Christian Liebe. Star Trackers for Attitude Determination[J] . IEEE Aerospace and Electronics Systems Magazine,1995,10(6):10-16.
[18]伍赣湘.美俄战略导弹发展及趋势分析[J].航天控制,2004,22(4):11-16.
[19] Wahba G.A Least Squares Estimate of Spacecraft Attitude[J].SIAM Review,1965,7(3):409-415.
[20] Schmid Schmidtbauer B.High-accuracy Sounding Rocket Attitude EstimationUsing Star Sensor Data[J].IEEE Transactions on Aerospace and Electronic Systems,1978,14(5):891-897.
[21] Bar-Itzhack I Y,Harman R R.Optimized TRIAD Algorithm for Attitude Determination [J] .Journal of Guidance,Control and Dynamics,1997,20(1): 208-211.
[22] Sangwoo Cho,Joahwan Chun.Satellite Attitude Acquisition Using Dual Star Sensors with a Bootstrap Filter[J].Sensors,2002(2):1723-1727.
[23] IDAN M . Estimation of Rodrigues Parameters from Vector Observations[J] .IEEE Transactions on Aerospace and Electronic Systems,1996,32(2):578-585.
[24] Crassidis J L,Markley F L.Mimimum Model Error Approach for Attitude Estimation[J] . Journal of Guidance,Control and Dynamics,1997,20(6): 1241-1247.
[25]陈雪芹,耿云海.一种利用星敏感器对陀螺进行在轨标定的算法[J].系统工程与电子技术,2005,27(12):2112-2116.
[26]张红梅,邓正隆,林玉荣.一种基于模型误差预测的UKF方法[J].航空学报,2004,25(6):598-601.
[27] Dong Yunfeng,Zhang Renwei.Stellar Sensor-Based Automatic Satellite Navigation.China Astronautics and Missilery Abstracts,1996,16(4):36-41.
[28]王涛,冯展军,尤太华.基于星敏感器的飞行器姿态确定方法[J].导航与控制,2005,4(1):15-21.
[29]齐艳丽.国外战略弹道导弹发展概述[J].中国航天,2007(4):41-44.
[30]穆利军,蔡远文.国外战略导弹的现状及发展趋势[J].兵工自动化,2007,26(4):L03-L07.
[31]肖称贵.单星-星光制导方案[J].航天控制,1997(1):11-16.
[32]肖称贵.捷联星光制导方案与误差研究[J].导弹与航天运载技术,1997,4:1-8.
[33]肖称贵.捷联星光制导仿真方法研究[J].航天控制,1997(2):55-57.
[34]李连仲.星光―惯性制导原理与实现[C].北京:航空航天部第二研究院科学技术委员会,1992,46-55.
[35]王鹏,张迎春.基于SINS/星敏感器的组合导航模式[J].东南大学学报,35(增刊):84-89.
[36]金振山,申功勋.适合于机动弹道导弹的星光-惯性组合制导系统研究[J].航空学报,2005,26(2):168-172.
[37] Fan Zhengwen.Current State of the Development of Star Light Inertial Guidance Technology and Performance Analysis[R].ADA310487,1996,5.
[38]刘大军,陈宇.捷联惯导+G/G接收机+星光组合导航应用研究[J].现代防御技术,2003,31(6):38-40.
[39]黄圳圭.航天器姿态动力学[M].长沙:国防科技大学出版社,1997.
[40]程国采.四元数方法及其应用[M],长沙:国防科技大学出版社,1991.
[41]杨洪森.弹载SINS/双星组合导航系统建模与仿真精度分析[D],长沙:国防科技大学航天与材料工程学院,2005.
[42]甘楚雄,刘冀湘.弹道导弹与运载火箭总体设计[M].北京:国防工业出版社,1996.
[43]吴杰,范利涛等编著.惯导工具误差辨识及弹道折合[M].长沙:国防科技大学出版社,2004.
[44]贾沛然,沈为民.弹道导弹弹道学[M].长沙:国防科技大学出版社,1996.
[45] Dantzig , GB . Computational Algorithm of the Revised Simplex Method[R].Calif.: RAND Report RM,The RAND Corporation,Santa Monica,1953,1266-1267.
[46] J.A.NELDER,R.MEAD.A simplex method for function minimization[J] .The Computer Journal,1965(7):308.
[47] D.M.OLSSON,L.S.NELSON.Nelder-Mead simplex procedure for function minimization[J].Technometries,1975,(17):45.
[48] J.M.PARKINSON,D.HUTCHINSON.An investigation into the efficiency of variants of the simplex method , Numerical methods for Non-linear optimization[Z].London and New York:Academic press,1972.
[49]沈飞.非线性规划单纯形算法的改进算法[J].测绘信息与工程,2004,29(4):14-15.
[50]罗文广.一种改进的单纯形优化算法及其仿真研究[J].计算机仿真,2003,20(10):62-64.
[51]粟塔山,彭维杰等.最优化计算原理与算法程序设计[M].长沙:国防科技大学出版社,2002.
[52]黄海林.单纯形算法对指数曲线拟合的应用[J].数理医药学,1997,10 (3):206-207.
[53]张耐民,李赣湘,严佳民等.误差分离技术及其在导弹精度分析中的应用[J].导弹与航天运载技术,2005(6):28-31.
[2]孙旦平.SINS/GPS/星光组合在弹道导弹导航中的应用[D].哈尔滨:哈尔滨工业大学,2004.
[3]吴开林.航天器基本特点与设计要求概述(三)[J].航天标准化,2002(3):43-47.
[4]吴俊伟,惯性技术基础[M].哈尔滨:哈尔滨工程大学出版社,2002.
[5]陆元九,惯性器件[M].北京:中国宇航出版社,1990.
[6]邓正隆.惯性导航原理[M].哈尔滨:哈尔滨工业大学出版社,1994.
[7] Anthony L . Modern Inertial Technology , Navigation , Guidance and Control.New York:Springer-Verlag,1992:27-35.
[8]张辉.恒星敏感器[J].河池学院学报,2004,24(4):54-56.
[9]谭伟明.星敏感器恒星检测若干问题研究[J] .光学与光电技术,2004,2(1):8-10.
[10]陈世年主编.控制系统设计[M].北京:宇航出版社,1996.
[11]贾沛然,陈克俊,何力.远程火箭弹道学[M].长沙:国防科技大学出版社,1993.
[12]钱杏芳,林瑞雄,赵亚男.导弹飞行力学[M].北京:北京理工大学出版社,2006.
[13]张金槐主编.远程火箭精度分析与评估[M].长沙:国防科技大学出版社,1995.
[14]董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用[M].长沙:国防科技大学出版社,1998.
[15]刘瑞华,刘建业,孙永荣.多传感器组合导航系统研究[J].航天控制,2001(2):67-72.
[16]袁国雄,任章.星光/惯性复合制导在战略导弹上的应用前景分析[J].战略导弹控制技术,2006(2):19-22.
[17] Carl Christian Liebe. Star Trackers for Attitude Determination[J] . IEEE Aerospace and Electronics Systems Magazine,1995,10(6):10-16.
[18]伍赣湘.美俄战略导弹发展及趋势分析[J].航天控制,2004,22(4):11-16.
[19] Wahba G.A Least Squares Estimate of Spacecraft Attitude[J].SIAM Review,1965,7(3):409-415.
[20] Schmid Schmidtbauer B.High-accuracy Sounding Rocket Attitude EstimationUsing Star Sensor Data[J].IEEE Transactions on Aerospace and Electronic Systems,1978,14(5):891-897.
[21] Bar-Itzhack I Y,Harman R R.Optimized TRIAD Algorithm for Attitude Determination [J] .Journal of Guidance,Control and Dynamics,1997,20(1): 208-211.
[22] Sangwoo Cho,Joahwan Chun.Satellite Attitude Acquisition Using Dual Star Sensors with a Bootstrap Filter[J].Sensors,2002(2):1723-1727.
[23] IDAN M . Estimation of Rodrigues Parameters from Vector Observations[J] .IEEE Transactions on Aerospace and Electronic Systems,1996,32(2):578-585.
[24] Crassidis J L,Markley F L.Mimimum Model Error Approach for Attitude Estimation[J] . Journal of Guidance,Control and Dynamics,1997,20(6): 1241-1247.
[25]陈雪芹,耿云海.一种利用星敏感器对陀螺进行在轨标定的算法[J].系统工程与电子技术,2005,27(12):2112-2116.
[26]张红梅,邓正隆,林玉荣.一种基于模型误差预测的UKF方法[J].航空学报,2004,25(6):598-601.
[27] Dong Yunfeng,Zhang Renwei.Stellar Sensor-Based Automatic Satellite Navigation.China Astronautics and Missilery Abstracts,1996,16(4):36-41.
[28]王涛,冯展军,尤太华.基于星敏感器的飞行器姿态确定方法[J].导航与控制,2005,4(1):15-21.
[29]齐艳丽.国外战略弹道导弹发展概述[J].中国航天,2007(4):41-44.
[30]穆利军,蔡远文.国外战略导弹的现状及发展趋势[J].兵工自动化,2007,26(4):L03-L07.
[31]肖称贵.单星-星光制导方案[J].航天控制,1997(1):11-16.
[32]肖称贵.捷联星光制导方案与误差研究[J].导弹与航天运载技术,1997,4:1-8.
[33]肖称贵.捷联星光制导仿真方法研究[J].航天控制,1997(2):55-57.
[34]李连仲.星光―惯性制导原理与实现[C].北京:航空航天部第二研究院科学技术委员会,1992,46-55.
[35]王鹏,张迎春.基于SINS/星敏感器的组合导航模式[J].东南大学学报,35(增刊):84-89.
[36]金振山,申功勋.适合于机动弹道导弹的星光-惯性组合制导系统研究[J].航空学报,2005,26(2):168-172.
[37] Fan Zhengwen.Current State of the Development of Star Light Inertial Guidance Technology and Performance Analysis[R].ADA310487,1996,5.
[38]刘大军,陈宇.捷联惯导+G/G接收机+星光组合导航应用研究[J].现代防御技术,2003,31(6):38-40.
[39]黄圳圭.航天器姿态动力学[M].长沙:国防科技大学出版社,1997.
[40]程国采.四元数方法及其应用[M],长沙:国防科技大学出版社,1991.
[41]杨洪森.弹载SINS/双星组合导航系统建模与仿真精度分析[D],长沙:国防科技大学航天与材料工程学院,2005.
[42]甘楚雄,刘冀湘.弹道导弹与运载火箭总体设计[M].北京:国防工业出版社,1996.
[43]吴杰,范利涛等编著.惯导工具误差辨识及弹道折合[M].长沙:国防科技大学出版社,2004.
[44]贾沛然,沈为民.弹道导弹弹道学[M].长沙:国防科技大学出版社,1996.
[45] Dantzig , GB . Computational Algorithm of the Revised Simplex Method[R].Calif.: RAND Report RM,The RAND Corporation,Santa Monica,1953,1266-1267.
[46] J.A.NELDER,R.MEAD.A simplex method for function minimization[J] .The Computer Journal,1965(7):308.
[47] D.M.OLSSON,L.S.NELSON.Nelder-Mead simplex procedure for function minimization[J].Technometries,1975,(17):45.
[48] J.M.PARKINSON,D.HUTCHINSON.An investigation into the efficiency of variants of the simplex method , Numerical methods for Non-linear optimization[Z].London and New York:Academic press,1972.
[49]沈飞.非线性规划单纯形算法的改进算法[J].测绘信息与工程,2004,29(4):14-15.
[50]罗文广.一种改进的单纯形优化算法及其仿真研究[J].计算机仿真,2003,20(10):62-64.
[51]粟塔山,彭维杰等.最优化计算原理与算法程序设计[M].长沙:国防科技大学出版社,2002.
[52]黄海林.单纯形算法对指数曲线拟合的应用[J].数理医药学,1997,10 (3):206-207.
[53]张耐民,李赣湘,严佳民等.误差分离技术及其在导弹精度分析中的应用[J].导弹与航天运载技术,2005(6):28-31.