CN114674181A - Data fusion method for roll-up seeker and gyroscope - Google Patents
Data fusion method for roll-up seeker and gyroscope Download PDFInfo
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- CN114674181A CN114674181A CN202210100852.2A CN202210100852A CN114674181A CN 114674181 A CN114674181 A CN 114674181A CN 202210100852 A CN202210100852 A CN 202210100852A CN 114674181 A CN114674181 A CN 114674181A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
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- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The application discloses roll up formula seeker, including base, roll frame, camera module, servo drive mechanism, controller, set up the roll axis between base and the roll frame, the roll frame passes through the roll axis and installs on the base, sets up the every single move pivot between camera module and the roll frame, and the camera module passes through the every single move pivot and installs on the roll frame, its characterized in that sets up the roll gyroscope module on the roll frame, sets up the every single move gyroscope module in the camera module. The application also discloses a gyroscope data fusion method of the roll-up seeker, a simplified coordinate system transformation method is adopted, a pitch angle is not introduced, sine and cosine calculation is not involved, and the problem of singular values generated in calculation by a traditional method can be well solved. Meanwhile, the calculation does not relate to the pitch angle, and the extraction precision and accuracy of the angular rate can be further improved. The gyroscope module applied to the roll-up seeker has the advantages of being high in integration level, small in size and low in cost.
Description
Technical Field
The application belongs to the technical field of aviation aircrafts, and particularly relates to a roll-up seeker and a gyroscope data fusion method.
Background
The seeker is arranged at the head of the guided weapon, a device for measuring the motion parameters of the target relative to the guided weapon and generating the guidance information is used as a core component of the patrol missile, the autonomous detection, identification and tracking services are provided for the patrol missile, the information such as the sight angle speed required by guidance is provided, and the performance of the seeker directly determines the detection effect, the attack precision, the damage effect and the like of the missile.
The guidance heads are divided into an inclined elevation type guidance head and a rolling elevation type guidance head according to different rolling modes, and compared with the inclined elevation type guidance head, the rolling elevation type guidance head has larger off-axis angle and view angle range.
The roll-up seeker mainly comprises a frame structure, a servo motor, a gyroscope, an angle sensor, an image detector and a controller. The gyroscope is an important inertial device, can be used as an attitude sensor to detect attitude change of a carrier, and can realize self-stabilization control of the seeker platform by using information obtained by the gyroscope sensor as feedback of a speed loop.
In actual flight, due to the influence of rotation of the seeker platform frame, the visual axis is changed, the influence factors are considered in the use process of gyroscope data, coordinate conversion is carried out on the gyroscope data, and the physical quantities are converted into the same coordinate system to be represented.
Generally, coordinate system transformation relates to matrix operation, and the calculation is relatively large, and meanwhile, when the frame angle is near 0 degrees, due to the structural characteristics of the roll-up type seeker, the pitch frame and the visual axis of the detector are in the same direction, tan (0 degrees) is 0, 1/tan (0 degrees) is infinite, and a singular value phenomenon occurs, so that the seeker can roll greatly due to small actions of a target or small changes of the pitch frame angle.
For the above problems, a commonly used solution at present is to keep the angular velocity information of the roll frame unchanged at the previous time in the sight line information extraction algorithm when the pitching frame angle of the seeker is near 0 °, but this method may reduce the system performance, and meanwhile, in a low-cost missile seeker, to reduce the cost, a position sensor with lower precision may be used, resulting in poor precision of the measured position angle, and resulting in a large error in the calculated angular rate.
Therefore, designing a new roll-up seeker with high precision, simple method and easy engineering realization, and exploring a new gyroscope data fusion method becomes a technical problem to be solved in the technical field of the seeker at present.
Disclosure of Invention
The utility model aims at providing a formula seeker of rolling up has solved the gyroscope module integrated level of present traditional seeker and has hanged down, bulky, problem with high costs.
In order to solve the above problems, the technical scheme adopted by the application is as follows:
the utility model provides a roll formula seeker, includes the base, rolls frame, camera module, servo drive mechanism, the controller, sets up the roll axle between base and the frame of rolling, and the frame of rolling passes through the roll axle to be installed on the base, sets up the every single move pivot between camera module and the frame of rolling, and the camera module is installed on the frame of rolling through the every single move pivot, sets up the gyro wheel module of rolling on the frame of rolling, sets up the gyro wheel module of every single move in the camera module.
The pitching and rolling gyroscope module comprises a plurality of gyroscopes and a circuit board, wherein the plurality of gyroscopes are welded on the circuit board after being rotated by 90 degrees in sequence by taking one of the gyroscopes as a reference.
The rolling gyroscope module comprises at least one gyroscope.
The roll shaft is provided with a roll shaft position sensor, the pitch rotating shaft is provided with a pitch rotating shaft position sensor, and the roll shaft position sensor and the pitch rotating shaft position sensor adopt AD acquisition chips and are used for reading position information and realizing roll and pitch angle measurement.
In addition, the present bookThe application also provides a gyroscope data fusion method of the rolling seeker, which comprises the following steps: defining a frame coordinate system O of the seeker sXsYsZsVisual line coordinate system O of seekerlXlYlZlThe coordinate system OXYZ of the gyroscope and the pitching gyroscope module are placed on the imaging module and coincide with the sight line coordinate system of the seeker;
setting a reading period in the controller, finishing the reading of the three-axis data of a plurality of gyroscopes on the pitching gyroscope module at regular time, and rolling the X of the gyroscope modulesReading axis data;
redefining X according to definition of seeker sight coordinate systemlAxis, YlAxis, ZlAxial data set, respectively acquiring XlAxis, YlAxis, ZlThe axial triaxial data respectively arrange the collected data into corresponding XlAxis, YlAxis, ZlIn the axis data set;
to XlAxis, YlAxis, ZlProcessing the data sets of the three axes, eliminating abnormal values and processing to obtain XlAxis, YlAxis, ZlProcessing three-axis data to obtain three-axis angular velocity values of a seeker sight coordinate system;
in order to realize stable control of the visual axis of the seeker, closed-loop control of the frame is needed, the angular rates of the rolling frame and the pitching frame need to be known, because the gyroscope is arranged on the pitching axis, the measured angular rate is measured in a sight line coordinate system and cannot reflect the real angular rates of the rolling frame and the pitching frame, therefore, the sight line coordinate system of the seeker needs to be converted into a frame coordinate system of the seeker, and the X-ray-surrounding frame coordinate system needs to be firstly wound sRotating the shaft and then about ZsRotating the shaft;
obtaining the Z axis of the frame coordinate system according to the fact that the sight line coordinate system of the seeker and the pitching axis of the frame coordinate system are the same structural frame, and the sight line coordinate system of the seeker is overlapped with the Z axis of the frame coordinate systemsThe angular velocity of the shaft being ZlThe angular speed of the axis simplifies the sight line coordinate system and the frame coordinate system of the seeker into two axesA coordinate system;
defining theta as a coordinate system XlAnd XsAngle of rotation of the shaft, omegasxFor angular rate of rotation, ω, of the frame X-axislxIs the angular rate of rotation, omega, of the X axis of the line-of-sight coordinate systemlyThe rolling angular velocity omega required by stable control can be directly obtained according to the converted simplified coordinate system for the Y axial rotation angular velocity of the sight line coordinate systemx：
(ωx)2＝(ωlx)2+(ωly)2
Pitch angle rate required for stability control: omegaz＝-ωlzAnd resolving to obtain | omegaxI is the absolute value of the angular rate of the frame of the guide head, and the symbol is judged;
according to the obtained XsAxis, YsAnd the axial angle speed is used for carrying out speed closed loop on the seeker, so that the visual axis speed loop is stably controlled.
The application has the beneficial effects that:
1. the utility model provides a pitching gyroscope module of roll-up seeker comprises the low-cost gyroscope of multi-disc, the gyro gyroscope module that rolls adopts a slice low-cost gyroscope, the high-cost gyroscope of using at present has been replaced, the gyroscope module carries out optimal design on structural layout, the structural design that the low-cost gyroscope of multi-disc combined has been adopted on the pitching gyroscope module of seeker, can reach the technological effect that can reach of the high-cost gyroscope that uses at present even being superior to, have the integrated level height, small in size, characteristics with low costs.
2. The gyroscope data fusion method for the roll-up type seeker is improved on the structure of the gyroscope module of the roll-up type seeker, the fault-tolerant design is introduced into three-axis data processing, fusion processing is carried out on residual data after abnormal data are eliminated, compared with a traditional single gyroscope, abnormal values can be effectively eliminated, the fault-tolerant capability is greatly improved, and meanwhile data accuracy is also greatly improved.
3. According to the gyroscope data fusion method of the roll-up seeker, when angular rates of the roll direction and the pitch direction are extracted, the sight line coordinate system of the seeker is in a sitting state with the frameThe pitching axes of the standard system are the same structural frame, the sight line coordinate system of the seeker is superposed with the Z axis of the frame coordinate system, and the Z axis of the frame coordinate system is obtainedsThe angular velocity of the shaft being ZlAnd the angular speed of the axis simplifies a sight line coordinate system and a frame coordinate system of the seeker into a two-axis coordinate system. By adopting the simplified coordinate system transformation method, the pitching angle is not introduced, the sine and cosine calculation is not involved, and the problem of singular value in the traditional method can be better avoided. Meanwhile, the calculation does not relate to the pitch angle, and the extraction precision and accuracy of the angular rate can be further improved.
Drawings
Fig. 1 is a schematic structural view of a roll-up seeker according to the present application;
FIG. 2 is a view of the sight coordinate system of the seeker of the present invention in relation to the frame coordinate system of the seeker;
FIG. 3 is a simplified view of the sight coordinate system of the seeker in relation to the frame coordinate system of the seeker in accordance with aspects of the present invention;
FIG. 4 is a schematic view of a pitch gyroscope module layout of the present application;
FIG. 5 is a schematic diagram of a gyroscope coordinate system layout of the present application;
FIG. 6 is a graph comparing roll rate to direct measurements obtained by the fusion method employed in the present application;
fig. 7 is a partially enlarged view of fig. 6.
Description of reference numerals:
in the figure: 1. a base; 2. rolling the frame; 3. a camera module; 4. a servo drive mechanism; 5. a roll shaft; 6. a pitching rotation shaft; 7. a rolling gyroscope module; 8. a pitch gyroscope module; 9. a roll axis position sensor; 10. pitching rotation shaft position sensor.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the following explains the present solution by way of specific embodiments and with reference to the accompanying drawings.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
As shown in fig. 1, the present application discloses a roll-up seeker, which includes a base 1, a roll frame 2, a camera module 3, a servo drive mechanism 4, and a controller, wherein the servo drive mechanism 4 is used as a power and a drive mechanism to drive axial rolling of the roll frame 2 and pitch rolling movement of the camera module 3, respectively.
A rolling shaft 5 is arranged between the base 1 and the rolling frame 2, the rolling frame 2 is installed on the base 1 through the rolling shaft 5, and the rolling frame 2 can axially rotate on the base 1 around the rolling shaft 5 under the driving of a servo driving mechanism. The camera module 3 is mounted on the rolling frame 2 through a pitching rotating shaft 6, and the camera module 3 can perform pitching rotation along the pitching rotating shaft 6 under the driving of the servo driving mechanism 4.
The rolling gyroscope module 7 is arranged on the rolling frame 2, the rolling gyroscope module 7 is composed of a piece of gyroscope, and the piece of gyroscope is welded on the circuit board and is arranged on the rolling frame 2.
The pitching gyroscope module 8 is arranged in the camera module 3, the pitching and rolling gyroscope module 8 comprises four gyroscopes and a circuit board for mounting the four gyroscopes, and the four gyroscopes are sequentially rotated by 90 degrees and then respectively and correspondingly welded on the circuit board by taking one of the gyroscopes as a reference.
A rolling shaft position sensor 9 is arranged on the rolling shaft 6, a pitching rotating shaft position sensor 10 is arranged on the pitching rotating shaft 7, and the rolling shaft position sensor 9 and the pitching rotating shaft position sensor 10 both adopt AD acquisition chips and are used for reading position information and realizing rolling and pitching angle measurement.
The application also discloses a gyroscope data fusion method of the roll-up seeker, which comprises the following specific steps: defining coordinate system, defining frame coordinate system O of the seeker respectivelysXsYsZsVisual line coordinate system O of seekerlXlYlZl-coordinate system of gyroscope xyz.
As shown in fig. 2, seeker frame coordinate system OsXsYsZs：OsXsThe axis coincides with the longitudinal axis of the seeker with a positive front, OsYsThe axis being in the longitudinal plane of the seeker and co-operating with OsXsThe axis is vertical and is positive in the upward direction, OsZsThe axis is perpendicular to the other two axes to form a right-hand rectangular coordinate system.
Seeker eye coordinate system OlXlYlZl：OlXlAxis is the line connecting the seeker and target, and pointing to the target is positive, OlYlThe shaft being in the longitudinal plane of the seeker and co-operating with OlXlWith the axis vertical and pointing upwards as positive, OlZlThe axis is perpendicular to the other two axes to form a right-hand rectangular coordinate system.
As shown in fig. 4 and 5, the gyroscope chip coordinate system oyx: chip 1 pin designator is at the top left, OX axis is parallel to the chip plane and positive to the right, OY axis is parallel to the chip plane and positive up, OZ axis is perpendicular to the chip plane and positive up.
The pitching gyroscope module is arranged on the imaging module and is superposed with a sight line coordinate system of the seeker, namely a coordinate system OlXlYlZl。
Setting a reading period in the controller, finishing the three-axis data reading of 4 pieces of gyroscopes on the pitching gyroscope module at regular time and finishing the X-axis data reading of the rolling gyroscope modulesReading axis data;
because the arrangement directions of the gyroscope chips are different and are not consistent with the sight line coordinate system, the X is redefined according to the definition of the sight line coordinate systemlAxis, YlAxis, ZlThe axis data set is used for respectively sorting the collected 12 groups of data into corresponding X according to the welding direction of each gyroscope of the pitch gyroscope modulelAxis, YlAxis, ZlIn axis data sets, e.g. XlThe number of the channels is { X1, Y2,-X3，-Y4}，Ylis { Y1, -X2, -Y3, X4}, ZlIs { Z1, Z2, Z3, Z4 }.
To XlAxis, YlAxis, ZlProcessing the data sets of the three axes, eliminating abnormal values and processing to obtain XlAxis, YlAxis, ZlAngular rates of the three axes of the shaft.
The three-axis data obtained by processing is the three-axis angular rate value of a sight line coordinate system, the speed of a servo frame of the seeker is closed-loop, the frame needs to be closed-loop controlled to realize the stable control of the visual axis of the seeker, the angular rates of a rolling frame and a pitching frame need to be known, because a gyroscope is arranged on the pitching axis, the measured angular rate is measured under the sight line coordinate system and cannot reflect the real angular rates of the rolling frame and the pitching frame, therefore, the sight line coordinate system needs to be converted into the guide head frame coordinate system, namely, X needs to be known sAxis, ZsAngular rate of the two axes of the shaft.
As can be seen from FIG. 3, the transformation of the visual axis coordinate system to the frame coordinate system requires first winding X aroundsRotating the shaft and then about ZsThe shaft rotates. According to the structural characteristics of the seeker, the elevation axes of the sight line coordinate system and the frame coordinate system adopt the same structural frame, so that the sight line coordinate system and the frame coordinate system are overlapped, and the elevation speed is closed and the required Z is required by the loopsAxial angular rate is ZlAxial angular rate. At the same time, the frame speed closed loop only needs XsAxis, ZsThe angular velocities of the two axes of the shaft, and therefore the coordinate system conversion can be simplified, the simplified coordinate system being shown in fig. 3.
The simplified coordinate system is a two-axis coordinate system, and theta is a coordinate system XlAnd XsAngle of rotation of the shaft, omegaxsIs the angular rate of rotation, omega, of the X axis of the frame coordinate systemxlIs the angular rate of rotation, omega, of the X axis of the line-of-sight coordinate systemylIs the rotation angle rate of the Y axis of the sight line coordinate system, can be directly obtained according to the converted simplified coordinate system,
i.e. the roll angular velocity omega required for servo stability controlx：
(ωx)2＝(ωlx)2+(ωly)2
Pitch angle rate required for servo stability control: omegaz＝-ωlz
The defect that the traditional extraction method needs to use the theta angle is avoided, and meanwhile, the problem of generating singular values is also avoided.
Resolving to obtain | omegaxAnd | is the absolute value of the angular velocity of the high-precision guide head frame, and the sign judgment is carried out. Omega obtained from rolling gyroscope module * SxAccuracy, though low, may be in accordance with ω* SxAnd obtaining the angular speed direction of the frame of the guide head, and further obtaining the high-precision angular speed of the frame.
According to the obtained XsAxis, YsAnd the axial angle rate is used for carrying out rate closed loop on the seeker, so that the stable control of the sight line speed loop is realized.
Wherein Z issThe angular rate is the value of the angular rate of the pitch axis and can be measured directly from the gyroscope without decoupling or fusion.
As shown in fig. 6 and 7, the gyroscope data fusion method adopted in the present application greatly improves the frame angular rate accuracy obtained by the conventional method, effectively avoids the problem of singular values, and has stable performance, good fault tolerance, and low cost.
Matrix calculation is needed by adopting traditional coordinate transformation, a pitching frame angle is used, and in the low-cost missile inspection seeker, the accuracy of a position sensor is low, the rate extraction error can be increased, and the control accuracy is reduced. The specific traditional method comprises the following steps:
and (3) coordinate system transformation: seeker frame coordinate system OsXsYsZsGuide head sight line coordinate system OlXlYlZlAnd (6) transforming. According to the definition of the coordinate system of the seeker frame and the coordinate system of the sight line of the seeker, the coordinate system of the seeker frame is OsXsYsZsThe rotation is first around the X axis and then around the Z axis.
θxFor the angle of rotation of the roll, θ zFor the angle of rotation of pitch, let ωsx，ωsy，ωszIs the angular velocity of the frame threeComponent of each coordinate axis, is
Seeker frame coordinate system OsXsYsZsFirstly, a rotation matrix rotating around an X axis is Rx, a rotation matrix rotating around a Z axis is Rz, and a sight axis coordinate system is obtained, wherein the coordinate system transformation relation is as follows:
wherein, ω isx、ωzAngular rates generated for roll and pitch;
θx、θZthe rotation angles of rolling and pitching;
ωx、ωzroll and pitch rates.
In the ideal case, the seeker visual axis is stable, and the X, Z axis is required to feel a disturbance rate of zero:
namely:
namely, the method comprises the following steps:
ωx、ωzi.e. the roll and pitch rates required for servo control.
But at thetaZAt 90 degrees there is a singular value problem because sec (pi/2) is infinite, which can result in small target motions or small changes in pitch frame angle can result in large roll of the seeker.
The foregoing is only a preferred embodiment of the present application and it will be apparent to those skilled in the art that numerous modifications and adaptations can be made without departing from the principles of the present application and these are intended to be included within the scope of the present application.
Claims (5)
1. The utility model provides a roll formula seeker of pitching, includes base, roll frame, camera module, servo drive mechanism, controller, sets up the roll axis between base and the roll frame, and the roll frame passes through the roll axis and installs on the base, sets up the every single move pivot between camera module and the roll frame, and the camera module passes through the every single move pivot and installs on the roll frame, its characterized in that sets up the gyro-gyro module on the roll frame, sets up the every single move gyro-gyro module in the camera module.
2. The rolling seeker of claim 1, wherein the pitching and rolling gyroscope module comprises a plurality of gyroscopes and a circuit board, and the plurality of gyroscopes are sequentially rotated by 90 degrees based on one of the gyroscopes and then soldered to the circuit board.
3. The rolling seeker of claim 1, wherein the rolling gyroscope module comprises at least one gyroscope.
4. The roll-up seeker of claim 1, wherein the roll axis is configured with a roll axis position sensor, the pitch axis is configured with a pitch axis position sensor, and the roll axis position sensor and the pitch axis position sensor are electrically connected to the controller.
5. A gyroscope data fusion method of a rolling and pitching seeker is characterized by comprising the following steps:
defining a frame coordinate system O of the seekersXsYsZsVisual line coordinate system O of seekerlXlYlZlThe coordinate system OXYZ of the gyroscope and the pitching gyroscope module are placed on the camera module and coincide with the sight line coordinate system of the seeker;
setting a reading period in the controller, finishing the reading of the triaxial data of a plurality of gyroscopes on the pitching gyroscope module at regular time, and rolling the X of the gyroscope module sReading axis data;
redefining X according to definition of seeker sight coordinate systemlAxis, YlAxis, ZlAxial data set, respectively acquiring XlAxis, YlAxis, ZlData of three axes of the shaft, and respectively arranging the acquired data to corresponding XlAxis, YlAxis, ZlIn the axis data set;
to XlAxis, YlAxis, ZlProcessing the data sets of the three axes, eliminating abnormal values and processing to obtain XlAxis, YlAxis, ZlProcessing three-axis data to obtain three-axis angular velocity values of a seeker sight coordinate system;
converting the sight line coordinate system of the seeker to the frame coordinate system of the seeker requires first winding the X aroundsRotating the shaft and then about ZsRotating the shaft;
according to the condition that the elevation axis of the sight line coordinate system of the seeker and the elevation axis of the frame coordinate system are of the same structure frame, the sight line of the seekerThe coordinate system is superposed with the Z axis of the frame coordinate system to obtain the Z axis of the frame coordinate systemsThe angular velocity of the shaft being ZlThe angular rate of the axis simplifies a sight coordinate system and a frame coordinate system of the seeker into a two-axis coordinate system;
defining theta as a coordinate system XlAnd XsAngle of rotation of the shaft, omegasxFor angular rate of rotation, ω, of the frame X-axislxIs the angular rate of rotation, omega, of the X axis of the line-of-sight coordinate systemlyThe rolling angular velocity omega required by stable control can be directly obtained according to the converted simplified coordinate system for the Y axial rotation angular velocity of the sight line coordinate system x：
(ωx)2＝(ωlx)2+(ωly)2
Pitch angle rate required for stability control: omegaz＝-ωlzAnd resolving to obtain | omegaxI is the absolute value of the angular rate of the frame of the guide head, and the symbol is judged;
according to the obtained XsAxis, YsAnd the axial angle speed is used for carrying out speed closed loop on the seeker, so that the visual axis speed loop is stably controlled.
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| CN117539145B (en) * | 2024-01-10 | 2024-04-02 | 北京理工大学 | A stable platform servo control method based on deep reinforcement learning |
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