Guidance law design based on stochastic maneuvering model and impact point predictions
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摘要:
针对自旋弹体低成本制导律设计问题，提出了一种基于落点预测的新型制导律设计方法。采用随机机动模型和自适应卡尔曼滤波器估计弹体的飞行状态，并解析求解弹体落点预测值，根据落点预测值与目标的偏差生成制导指令。该制导律不依赖于弹体气动参数和弹体运动方程的在线数值求解，避免了常规基于落点预测的制导律所带来的在线计算成本。根据自旋火箭弹的非线性数学模型，通过数值仿真检验了所提制导律在标称参数条件和参数受扰条件下的性能。通过与比例制导律进行制导性能对比，结果表明：所提制导律的制导性能在绝大多数情况下优于比例制导律。
Abstract:A novel guidance law design method based on impact point predictions is proposed in this paper. A stochastic maneuvering model and the adaptive Kalman filter are used to estimate the projectile states, and predicted impact points are solved analytically. Guidance commands are generated based on errors between predicted impact points and the target. The proposed guidance law is free from projectile aerodynamics data and real-time numerical solutions to projectile equations of motion, which are commonly required by the existing impact point based guidance laws, and thus the on-line computation cost is avoided. Numerical simulations based on the nonlinear model of a spinning artillery rocket are conducted to examine the performance of the proposed guidance law under nominal and perturbed parameter conditions. Performance comparison between the proposed guidance law and the proportional navigation guidance law is also conducted. The results show that the proposed guidance law has better guidance performance than the proportional navigation guidance law in most scenarios.
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图 3 制导和非制导火箭弹轨迹对比
Figure 3. Trajectory comparison between guided and unguided artillery rockets
图 6 制导火箭弹和非制导火箭弹落点分布
Figure 6. Impact point distributions of guided and unguided artillery rockets
图 7 本文制导律与比例制导律的性能对比
Figure 7. Performance comparison between proposed guidance law and proportional navigation guidance law
表 1 火箭弹仿真参数
Table 1. Parameters for artillery rocket simulation
参数 数值 初始速度/(m·s-1) 26.7 初始高度/m 40.0 初始自旋速率/(rad·s-1) 5.8 发射仰角/(°) 50.0 发射方位角/(°) 0 GPS更新频率/Hz 1.0 滚转角更新频率/Hz 50.0 
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表 2 受扰参数的误差
Table 2. Errors of perturbed parameters
受扰参数误差 3σ值 初始速度误差/(m·s-1) 3.5 初始滚转角速率误差/(rad·s-1) 2.0 初始俯仰角速率误差/(rad·s-1) 2.0 初始偏航角速率误差/(rad·s-1) 2.0 发射仰角误差/(°) 0.5 发射方位角误差/(°) 0.5 GPS测量误差/m 4.5 滚转角测量误差/(°) 5.0
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