| 引用本文: | 许瑞,方斌,明宝印,聂光戌,徐洋.导引头角跟踪系统前置滤波控制方法[J].哈尔滨工业大学学报,2021,53(12):106.DOI:10.11918/202006115 |
| XU Rui,FANG Bin,MING Baoyin,NIE Guangxu,XU Yang.A pre-filter control method for seeker angle tracking system[J].Journal of Harbin Institute of Technology,2021,53(12):106.DOI:10.11918/202006115 |
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| 摘要: |
| 为解决传统基于速率陀螺反馈的模拟式导引头角跟踪回路控制方法跟踪现代高速、大机动目标能力较弱的问题,引入卡尔曼滤波概念,提出了一种基于滤波环节前置的导引头角跟踪系统控制方法。首先在导弹弹体视线坐标系中建立数学模型,推导了导引头角跟踪系统状态方程,并以目标“当前”统计模型描述目标机动,依据导引头实际可测量条件选取失调角作为系统唯一观测量；而后分析了传统角跟踪控制方式跟踪精度低、发散早的内在限制因素,构想了前置卡尔曼滤波改进控制方法；在此基础上设计了卡尔曼时域离散状态估计器,实现了导引头信息的在线实时迭代解算；最后分别针对导弹从迎头、尾后、侧向3个角度攻击采取不同机动规避策略目标的场景,进行了导引头角跟踪情况对比。仿真结果表明,基于滤波环节前置的改进控制方法可减小因目标机动所造成的失调角震荡,延迟角跟踪系统的发散时间,进一步压缩导引头末段失控距离,改善导引头抗大机动目标能力并最终提高导弹命中概率。 |
| 关键词: 角跟踪系统 卡尔曼滤波 导引头 失调角 视线角速度 |
| DOI：10.11918/202006115 |
| 分类号:E927 |
| 文献标识码:A |
| 基金项目:空军工程大学校长基金(XZJY2019020) |
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| A pre-filter control method for seeker angle tracking system |
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XU Rui1,FANG Bin1,MING Baoyin2,NIE Guangxu1,XU Yang3
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(1.Aeronautics Engineering College, Air Force Engineering University, Xi’an 710038, China; 2.Equipment Academy of Air Force, Beijing 100076, China; 3.China Aerodynamics Research and Development Center, Mianyang 621000, Sichuan, China)
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| Abstract: |
| To address the problem that the traditional angle tracking loop based on rate gyros has difficulties in tracking modern high-speed and large maneuvering targets, a novel control method of angle tracking system based on pre-filter was proposed by introducing the concept of Kalman filter. Firstly, the mathematical model was established in body LOS coordinates, and tracking state equations of the angle tracking system were derived. The target maneuver was described by the “current” statistical model, and the misalignment angle was selected as the only observed quantity according to the actual measurable conditions of the seeker. Then the internal factors of low accuracy and early divergence of the traditional angle tracking control method were analyzed, and the improved method of pre-filter was proposed. The discrete state estimator of Kalman filter was designed, and the online real-time iterative solution of seeker was realized. Finally, considering the scenarios that the target adopts different evasive maneuvering strategies accordingly under the attacks of the missile from three different angles, the tracking results were compared. Results show that the improved pre-filter control method could reduce the shock caused by target maneuvering, delay the divergence time of the angle tracking system, further increase the terminal control distance of the seeker, enhance the capability of the seeker against large maneuvering targets, and thus effectively improve the hit probability of the missile. |
| Key words: angle tracking system Kalman filter seeker misalignment angle LOS rate |
