摘要
弹丸圆锥运动会对制导系统产生严重的控制干扰,为了补偿该误差,分析了一种新的圆锥误差补偿算法,以提高弹载姿态控制系统在高动态运动环境下的解算精度和实时性。结合四元数四阶龙格-库塔法和三子样等效旋转矢量法,利用修正型罗德里格斯参数改进基于角增量输出的三子样四元数姿态算法,推导相应的微分方程表达式,建立三子样四元数改进算法姿态求解数学模型。仿真结果表明,与传统圆锥误差补偿算法相比,改进算法能更有效的补偿圆锥误差,平均解算精度提高了约17.32%,减少了高动态环境下的计算量,实时性提升了约22.54%。
Projectile conical motion causes significant control disturbances in the guidance system.In order to compensate for this error,a new conical error compensation algorithm has been analyzed to improve the accuracy and real-time performance of the bullet attitude control system in a high-dynamic motion environment.Combining the quaternion four-level Runge-Kutta method and the triad equivalent rotation vector method,an improved triad quaternion attitude algorithm based on modified Rodriguez parameters for angle increment output is utilized.Derive the corresponding differential equation expressions to establish the mathematical model for solving the attitude using the improved triad quaternion algorithm.Simulation results demonstrate that compared to traditional conical error compensation algorithms,improved algorithms can more effectively compensate for conical errors,with an average accuracy improvement of approximately 17.32%,reduce computational load in high-dynamic environment and improve real-time performance by approximately 22.54%.
作者
庞珂
兀伟
刘星
刘强
PANG Ke;WU Wei;LIU Xing;LIU Qiang(School of Electronic Information Engineering,Xi’an Technological University,Xi’an 710021,Shaanxi,China;Northwest Industrial Group Co.,Ltd.,Xi’an 710043,Shaanxi,China)
出处
《弹箭与制导学报》
北大核心
2024年第2期57-63,共7页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
捷联姿态算法
圆锥误差补偿
龙格-库塔法
圆锥运动
strapdown attitude algorithm
conical error compensation
Runge-Kutta algorithm
conical motion
