TBM拦截弹导引策略与滤波方法研究
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摘要
弹道导弹,特别是战术弹道导弹(Tactical Ballistic Millsile, TBM)在全球内扩散趋势日趋明显,已对我国的国防安全构成了严重威胁。TBM再入大气层时速度极高,同时能产生半径和周期都在不断变化的螺旋机动,采用传统的导引方法和滤波手段都无法取得理想的效果,因此对当前反导系统提出了新的挑战。本文以大气层内TBM拦截弹为研究背景,针对反导环节中的相关问题进行了研究,主要内容包括:
首先比较论证当前几种有代表性的数学建模方法,为后续导引品质分析提供依据和参考。在改进极坐标系内,应用非线性H∞理论设计导引规律并分析导引品质。在目标采取最佳逃逸策略的情况下,推导给出捕获区域、拦截时间和脱靶量等指标的解析表达式,并根据实际情况,研究过载受限情况下的捕获区域问题,以揭示相对距离、视线径向相对速度、视线法向相对速度和拦截弹过载限制之间的关系。
然后研究弹体动态特性对导引品质的不利影响。应用滑模变结构理论设计一种基于精确运动模型且考虑拦截弹弹体动态特性的一体化导引控制策略,综合考虑拦截弹的导引回路输出指令和弹体响应特性,可以有效应对目标大机动的逃逸方式和弹体自身动态特性所带来的不利影响,取得良好的导引品质。同时分析了导引头测量精度对一体化导引控制策略的影响,并结合应用条件提出解决办法。之后分别从导引方式和滤波算法两个方面对反导过程中量测信号的降噪方法进行分析和研究。
从导引方式的角度研究导引头量测信号的降噪方法。针对导引头前端气流热效应给测量设备带来的不利影响,引入一种前向拦截的导引方式,结合滑模变结构理论,选取垂直于视线方向的弹目相对速度作为滑动平面,设计变结构导引规律,以此为例论证前向拦截方法的可行性和相关品质。同时将本文之前所提一体化导引控制策略应用于前向拦截方法当中,研究动态特性对导引品质的影响,并通过仿真验证导引规律和导引控制策略的有效性。
最后,从滤波算法设计的角度研究了反导环节中测量信号的降噪方法。在中制导阶段,根据TBM所作螺旋机动的特点,在已有的目标螺旋锥体坐标系的基础上建立了准圆柱坐标系,并基于该坐标系推导了TBM的运动模型,设计了一种线性滤波器,可以在目标机动频率和幅值都未知的情况下,有效地跟踪采取匀速、非匀速圆周运动方式或螺旋运动方式的强机动目标。在末制导阶段,根据弹目相对运动剧烈,导引头视线角变化无规律的特点,设计了一种基于经验模态分解和卡尔曼理论的组合滤波降噪方法,发挥经验模态分解处理非平稳信号的自适应特性,并通过卡尔曼估计削弱经验模态分解方法中“边界效应”的影响,对于具有强非线性特性的视线角速度信号有较好的滤波效果。
With the rapid development of the missile technology, our country has been threatened by the spread of the ballistic missiles, especially tactical ballistic missiles(TBM). Because of the high velocity and spiral maneuver of TBM during their reentry flight, the anti-missile system faces a big challenge. On the background of endoatmospheric TBM interceptor, some key technologies of guidance and filtering are discussed. The main contents of the dissertation are as follows:
After comparing and demonstrating some representative modeling methods, the dissertation proposes an H∞guidance law and analyzes its performance under the modified polar coordinates. On the condition that the target escapes with the optimal strategy, analytical solutions of capture region, interception time and miss distance are demonstrated, and the concept of the capture region with acceleration limitation is proposed and analyzed, which reveals the relationship among the relative distance, the tangent velocity of line of sight (LOS), the normal velocity of LOS and the acceleration limitation.
To avoid the influence of missile’s dynamic feature, based on the precise motion model, an integrated guidance and control strategy is proposed, which considers the missile’s guidance feature and control feature. Facing high maneuvering targets, the strategy can eliminate the negative effect of missile’s dynamic characteristic, and get high precision even without control loop compensation. Then the influence of measurement accuracy is analyzed, and basing on the strategy’s application, the solution is discussed.
Then to reduce the measurement noise while intercepting TBM, some guidance laws and filtering algorithms are reached.
To avoid the disturbance of airflow heat effect, the head-pursuit intercept method is introduced. To analyze the quality of this intercept method, a variable structure guidance is designed in which the normal velocity of LOS is chosen as the slide mode. Then the integrated guidance and control strategy mentioned in the previous section is redesign in the case of head-pursuit interception. The simulation results show the validity and superiority of these methods.
According to the characteristics of ballistic missiles’spiral maneuver, based on the conical spiral coordinates, the quasi-cylinder coordinates are established, the target motion equations are deduced. A linear filter is designed based on the coordinates and motion equations, and the filter can effectively track the conical spiral or circular maneuvering targets without knowing their maneuver frequency. During the terminal guidance period, the line of sight rate measured by the seeker changes irregularly, so the EMD-KF filtering method is proposed. The method can filter nonlinear signals adaptively, and avoids the end effect of empirical mode decomposition (EMD) by using Kalman theory. Simulation results show that the proposed method exhibits good filtering performance for the line of sight rate.
首先比较论证当前几种有代表性的数学建模方法,为后续导引品质分析提供依据和参考。在改进极坐标系内,应用非线性H∞理论设计导引规律并分析导引品质。在目标采取最佳逃逸策略的情况下,推导给出捕获区域、拦截时间和脱靶量等指标的解析表达式,并根据实际情况,研究过载受限情况下的捕获区域问题,以揭示相对距离、视线径向相对速度、视线法向相对速度和拦截弹过载限制之间的关系。
然后研究弹体动态特性对导引品质的不利影响。应用滑模变结构理论设计一种基于精确运动模型且考虑拦截弹弹体动态特性的一体化导引控制策略,综合考虑拦截弹的导引回路输出指令和弹体响应特性,可以有效应对目标大机动的逃逸方式和弹体自身动态特性所带来的不利影响,取得良好的导引品质。同时分析了导引头测量精度对一体化导引控制策略的影响,并结合应用条件提出解决办法。之后分别从导引方式和滤波算法两个方面对反导过程中量测信号的降噪方法进行分析和研究。
从导引方式的角度研究导引头量测信号的降噪方法。针对导引头前端气流热效应给测量设备带来的不利影响,引入一种前向拦截的导引方式,结合滑模变结构理论,选取垂直于视线方向的弹目相对速度作为滑动平面,设计变结构导引规律,以此为例论证前向拦截方法的可行性和相关品质。同时将本文之前所提一体化导引控制策略应用于前向拦截方法当中,研究动态特性对导引品质的影响,并通过仿真验证导引规律和导引控制策略的有效性。
最后,从滤波算法设计的角度研究了反导环节中测量信号的降噪方法。在中制导阶段,根据TBM所作螺旋机动的特点,在已有的目标螺旋锥体坐标系的基础上建立了准圆柱坐标系,并基于该坐标系推导了TBM的运动模型,设计了一种线性滤波器,可以在目标机动频率和幅值都未知的情况下,有效地跟踪采取匀速、非匀速圆周运动方式或螺旋运动方式的强机动目标。在末制导阶段,根据弹目相对运动剧烈,导引头视线角变化无规律的特点,设计了一种基于经验模态分解和卡尔曼理论的组合滤波降噪方法,发挥经验模态分解处理非平稳信号的自适应特性,并通过卡尔曼估计削弱经验模态分解方法中“边界效应”的影响,对于具有强非线性特性的视线角速度信号有较好的滤波效果。
With the rapid development of the missile technology, our country has been threatened by the spread of the ballistic missiles, especially tactical ballistic missiles(TBM). Because of the high velocity and spiral maneuver of TBM during their reentry flight, the anti-missile system faces a big challenge. On the background of endoatmospheric TBM interceptor, some key technologies of guidance and filtering are discussed. The main contents of the dissertation are as follows:
After comparing and demonstrating some representative modeling methods, the dissertation proposes an H∞guidance law and analyzes its performance under the modified polar coordinates. On the condition that the target escapes with the optimal strategy, analytical solutions of capture region, interception time and miss distance are demonstrated, and the concept of the capture region with acceleration limitation is proposed and analyzed, which reveals the relationship among the relative distance, the tangent velocity of line of sight (LOS), the normal velocity of LOS and the acceleration limitation.
To avoid the influence of missile’s dynamic feature, based on the precise motion model, an integrated guidance and control strategy is proposed, which considers the missile’s guidance feature and control feature. Facing high maneuvering targets, the strategy can eliminate the negative effect of missile’s dynamic characteristic, and get high precision even without control loop compensation. Then the influence of measurement accuracy is analyzed, and basing on the strategy’s application, the solution is discussed.
Then to reduce the measurement noise while intercepting TBM, some guidance laws and filtering algorithms are reached.
To avoid the disturbance of airflow heat effect, the head-pursuit intercept method is introduced. To analyze the quality of this intercept method, a variable structure guidance is designed in which the normal velocity of LOS is chosen as the slide mode. Then the integrated guidance and control strategy mentioned in the previous section is redesign in the case of head-pursuit interception. The simulation results show the validity and superiority of these methods.
According to the characteristics of ballistic missiles’spiral maneuver, based on the conical spiral coordinates, the quasi-cylinder coordinates are established, the target motion equations are deduced. A linear filter is designed based on the coordinates and motion equations, and the filter can effectively track the conical spiral or circular maneuvering targets without knowing their maneuver frequency. During the terminal guidance period, the line of sight rate measured by the seeker changes irregularly, so the EMD-KF filtering method is proposed. The method can filter nonlinear signals adaptively, and avoids the end effect of empirical mode decomposition (EMD) by using Kalman theory. Simulation results show that the proposed method exhibits good filtering performance for the line of sight rate.
引文
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