• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for determining the roll angle of a guidable and substantially or partially roll-stable projectile comprising control system, radio-based positioning receiver and sensor for measuring roll angular velocity, in which the following steps are included: actuation of the actuators of the projectile by the control system, included in the projectile, for manoeuvring of the projectile; estimation of a first signal, the projectile control force, on the basis of the control system included in the projectile; measurement of a second signal, the velocity of the projectile relative to the ground- fixed coordinate system, with the radio-based positioning receiver mounted in the projectile; measurement of a third signal, the rotational velocity, with the sensor for roll angular velocity mounted in the projectile; calculation of a roll angle on the basis of the first, second and third signals, estimated projectile control force, measured projectile velocity, and measured rotational velocity, by summation of the absolute angle change with weighting of an angle evaluation. The invention additionally relates to a GNC system for a guidable projectile comprising control system, radio-based positioning system, and a sensor for measuring roll angular velocity.
    公开号:SE1130087A1
    申请号:SE1130087
    申请日:2011-09-20
    公开日:2013-03-21
    发明作者:Daniel Brohede
    申请人:Bae Systems Bofors Ab；
    IPC主号:
    专利说明:

    Sensors and the earth's magnetic field as a reference for calculating the rotation of the projectile. Utilizing the Earth's magnetic field limits how the projectile can be oriented relative to the magnetic field, which entails limitations in functionality for the projectile.
    Examples of another prior art solution are found in US-6,779,752 B1 which describes a guidance system without a gyroscope. The described system uses three accelerometers and a GPS receiver. A problem with the described system is that no or limited information is obtained about roll angle, which means that the navigation system does not provide a correct or complete position determination.
    Problems with existing solutions according to the above-mentioned document US-6, l63.022 A is that a rotating projectile for determining the roll angle is assumed. Problems with currently existing solutions according to the above-mentioned document US-6,779,752 B1 is that the described navigation system does not provide a correct or complete position determination.
    Further problems which the invention intends to solve appear in connection with the following detailed description of the various embodiments.
    OBJECT OF THE INVENTION AND ITS FEATURES The present invention provides roll angle information for a projectile with good accuracy based on a smaller number of sensors than conventional systems.
    The present invention consists of a method for roll angle determination of steerable and mainly or partially roll stable projectile comprising control system, radio-based positioning receiver and sensor for measuring roll angle velocity where the following steps are included; (a) actuation of the projectile actuators by the projectile control system included in the projectile; (b) estimating a first signal, the projectile control force, from the control system included in the projectile; (c) measuring a second signal, the velocity of the projectile relative to the ground-fixed coordinate system, with the radio-based positioning receiver mounted in the projectile; (d) measuring a third signal, the rotational speed, with the roll angle velocity sensor mounted in the projectile; (e) calculating a roll angle from the first, second and third signals, estimated projectile strength fi, measured projectile velocity and measured rotational speed, by summing the absolute angular change by weighting an angle estimate.
    According to further aspects of the improved method of roll angle determination according to the invention; that the absolute angular change is set to correspond to the resultant angle of the projectile velocity vector tilt angle change and the projectile velocity vector turning angle change. that the angle estimate is perceived as an average value of the angle of attack estimate. that the angle estimate is perceived as an average value of the control angle angle estimate. that the mean value of the angle of attack estimation is assumed to correspond to the mean of the resultant angle of the projectile control force controlling the angle of attack gear component, ß, and the projectile force fi controlling the angle of attack angle component, u. the projectile-powered fl that controls the tipping component of the velocity vector. that calculation is done by filtering. that the sensor for measuring roll angle velocity is a gyroscope. that the radio-based positioning receiver is a GPS receiver. that the tilt angle, 6, is calculated by summing the resultant of the projectile velocity components measured by the radio-based positioning system and estimating the projectile control rudder which controls the tilt component of the angle of attack, ot. that the tilt angle, 6, is calculated by summing the resultant of the projectile velocity components measured by the radio-based positioning system and estimating the projectile-controlled fi which controls the tilt component of the velocity vector. The turning angle, | 1, is calculated by subtracting the estimate of the projectile control force that controls the turning angle component ß, from the resultant of the projectile velocity components measured by the radio-based positioning system. that the yaw angle, w, is calculated by subtracting the estimate of the projectile-controlled fi that controls the yaw component of the velocity vector, from the resultant of the projectile velocity components measured by the radio-based positioning system.
    The invention further relates to a GNC system for controllable projectiles including control system, radio-based positioning system, sensor for measuring roll angle velocity for determining roll angle there; (a) the comprehensive projectile control control system is arranged to actuate the projectile actuators; (b) the control system included in the projectile is arranged to estimate a first signal, projectile control force fi; (c) the radio-based positioning receiver mounted in the projectile measures a second signal, the speed of the projectile relative to the ground-fixed coordinate system; (d) the roll angle velocity sensor mounted in the projectile measures a third signal, rotational speed; (e) the first, second and third signals, estimated projectile control force, measured projectile velocity and measured rotational speed, together calculate a roll angle by summing the absolute angular change with weighting of an angular estimate.
    According to further aspects of the improved GNC controllable projectile system according to the invention; that the absolute angular change is set to correspond to the resultant angle of the projectile velocity vector tilt angle change and the projectile velocity vector turning angle change. that the angle estimate is perceived as an average value of the angle of attack estimate. that the angle estimate is perceived as an average value of the control angle angle estimate. 10 15 20 25 30 35 that the mean value of the angle of attack estimation is assumed to correspond to the mean of the resultant angle of the projectile force fi that controls the angle of attack gear component, ß, and the projectile control force that controls the angle of attack angle, u. That the mean value of the angle styr angle angle control is assumed to correspond to the mean which controls the gear component of the speed vector, and the projectile-controlled fi which controls the tilt component of the speed vector. that calculation is done by filtering. that the sensor for measuring roll angle velocity is a gyroscope. that the radio-based positioning receiver is a GPS receiver. that the tilt angle, 0, is calculated by summing the resultant of the projectile velocity components measured by the radio-based positioning system and estimating the projectile control force that controls the tilt component of the angle of attack, u. that the tilt angle, 9, is calculated by summing the results measured by the radio-based positioning system. of the projectile control rudder that controls the tipping component of the velocity vector. that the yaw angle, w, is calculated by subtracting the estimate of the projectile-controlled fi that controls the yaw component's angle of attack, ß, from the resultant of the projectile velocity components measured by the radio-based positioning system. that turning angle, | 1, is calculated by subtracting the estimate of the projectile control force controlling the gear component of the velocity vector, from the resultant of the projectile velocity components measured by the radio-based positioning system.
    ADVANTAGES AND EFFECTS OF THE INVENTION Based on the proposed method, information from a GPS receiver, a roll gyro and an angle of attack estimate can be used to calculate the roll angle. Roll, tilt and turn angles together with a GPS receiver provide complete sensor information for a GNC system. It is thus possible to design a complete GNC system using only one gyroscope, which results in cost savings and simplification of construction, reduced physical size of the navigation system and also a more robust system compared to a conventional GNC system with three gyroscopes. In an alternative solution, information from a GPS receiver, a roll gyro and the control force acting on the control device can be used to calculate the roll angle.
    LIST OF FIGURES The invention will be described in more detail below with reference to the accompanying figures where: Fig. 1 shows a block diagram for calculating the roll angle in a first embodiment in the case that the angle of attack is estimated from the projectile control force that controls the angle of attack component and the projectile control angle. according to the invention.
    Fig. 2 shows a block diagram for calculating the roll angle in a second embodiment in the case that the direction and size of the force vector are estimated on the basis of the tipping component of the speed vector and the gear component of the speed vector according to the invention.
    Fig. 3 shows a projectile made with roll angle determination according to the invention.
    DETAILED DESCRIPTION OF EMBODIMENTS IN FIG. 1 shows a block diagram of a reduced GNC system 1 comprising a guidance system 2, a navigation system 3 and a control system 4. The control system 4 controls controls in the form of fins or canards. Aerodynamics 4 'acting on the projectile affects the projectile in the projectile's trajectory. Changes in the projectile affect the information from sensors 5, such as roll gyro 6, GPS receiver 7 and angle of attack meter referred to as u-ß meter 8. Measured information from the sensors 5 is input data for calculating roll angle.
    I F ig. 2 shows a block diagram of a reduced GNC system 1 'comprising a guidance system 2, a navigation system 3' and a control system 4. The control system 4 controls controls in the form of fins or canards. Aerodynamics 4 'acting on the projectile affects the projectile in the projectile's trajectory. Changes in the projectile affect the information from sensors 5 ', such as rollgyro 6 and GPS receiver 7.
    Measured information from the sensors 5 is input data for calculating the roll angle. Fig. 3 shows över gur over controllable projectile 9 made with GNC system including roll angle determination according to the invention. The figure shows a body-fixed coordinate system X, Y and Z for the projectile, a velocity vector V and an angle of attack a and ß, where u symbolizes the tipping component of the angle of attack and ß symbolizes the gear component of the angle of attack. The tilt component for the angle of attack is thus the change in the plane tensed by the X-axis and the Z-axis and the gear component for the angle of attack is the change in the plane tensed by the X-axis and Y-axis and where the plane is angled along the Y-axis by the angle u. In fi guren the projectile fins are shown in the form of canard fins 10.
    By measuring roll angle (roll), yaw angle, pitch angle and current coordinates with a radio-based positioning system, a complete GNC system is obtained in a first embodiment as shown in Figure 1. The radio-based positioning receiver, which can be a GPS receiver 7, a receiver for radar instruction or other radio-based positioning equipment, is designed to receive positioning information and thus also be able to calculate speed information. Roll angle velocity can be measured with a gyroscope 6, preferably a so-called rategyro that measures roll angle velocity.
    Rolling angle speed can also be measured with a magnetometer or in another way. Angle of attack is measured with or estimated with an a-ß-meter 8 included in the projectile.
    The angles of attack are denoted a and ß, where a symbolizes the tipping component of the angle of attack and ß symbolizes the gear component of the angle of attack, shown in Figure 3.
    The GNC system l mounted in the projectile, where GNC stands for Guidance, Navigation and Control, measures current measured values from sensors, calculates and forecasts the trajectory to reach the target and controls and regulates the control devices or actuators and thus the control devices with which the projectile is equipped. with. The Navigation System 3 (Navigation) gives the Control System 4 information about the current position and speed of the projectile. The guidance system 2 determines and calculates the preferred path to the target and thus the desired change regarding speed, rotation and / or acceleration to follow the calculated path to the target. The control system 4 (Control) controls and regulates the forces that control the projectile, the forces are applied with for example actuators, motors or servos which in turn move or otherwise actuate controls in the form of fins / rudders or control canards 10 to control the projectile from the Guidance system 2 calculated the path to the goal. The control system 4 is also responsible for keeping the projectile stable during its trajectory from launch device to target. 10 l5 20 25 30 The projectile is equipped with canards / fins 10 or other control devices to steer the projectile in the projectile's trajectory between the launching device and the target. When the projectile is steered to change course, the change in velocity vector Vi is measured in relation to a forecasted ballistic trajectory. The changes are fed back into a control algorithm and compared with the setpoint of the control signals for controlling the angle of attack. Speed vector change Measurement with roll angle velocity sensor, which measures rotational speed, and the radio-based positioning system, which provides speed relative to the ground-fixed coordinate system.
    With input role velocity, velocity loss change relative to the ground-fixed coordinate system and forecasted angle of attack change, the role angle can be calculated. Calculation is preferably done with different forms of alter functions. The calculation takes place in the projectile's navigation system 3. The result is that a complete GNC system is achieved by calculating the roll angle, tipping angle and turning angle and that position and speed from the ground-fixed coordinate system can be measured with the radio-based positioning system.
    Calculation of the tilt angle, 6, is done by summing the resultant of the velocity components measured by the radio-based positioning system and estimating the projectile-controlled fi which controls the tilt component of the angle of attack, u, according to the relationship: -V Ûßalïtan ï-z-'TV + Vy X] + a where vx , v, and vz are components of the velocity vector.
    Calculation of yaw angle, w, is done by subtracting the estimate of the projectile-controlled fi that controls the yaw component yaw component, ß, from the resultant of the velocity components measured by the radio-based positioning system according to the relationship: y / w arctaníyl) - ß where v and v are velocity vector VI components.
    Calculation of roll angle, (p, is done by summing the absolute angular change of the velocity vector by weighting the mean value of the angle of attack estimate.
    Calculation of the mean value of the angle of attack estimation corresponds to the mean of the resultant angle of the projectile strength fl that controls the angle of attack gear component, ß, and the projectile strength fl that controls the angle of inclination, u. The absolute value of 10 15 20 25 30 roll angle is thus obtained by [k: ß [k-1] + ... + ß [k-n + 1] + ß [kn])} q) 0 = ço H-arctan _ ”WR” M 'ia [k] + a [k-1 ] + ... + a [k-n + 1] + a [kn] Calculation of the absolute angular change for the velocity vector corresponds to the resultant angle of the velocity vector's tilt angle change and the velocity vector's angular change according to the relationship: çoAbsVe, = arctan (iï} DIFF k and n are time steps, calculated according to the relation WDIFF ik] = Wveliki "l // Velik _" i - Where the yaw angle of the velocity vector, wvel, is calculated according to the relation: z / fve, = arctan (Li-} I where v, and v, are components of the velocity vector.
    And where the tilt angle change of the velocity vector is calculated in the same way as the rotation angle change but with compensation for the gravity according to the relationship: '(Vzik _ "] + g'n'Ts) JVÅk-nlz + vy [kn] 2 velocity vector components, g is the gravity, k and n are time step and T, is ÛDIFF = If [k] - arctan where vx, v, and v, are sample time.
    Where the tipping angle of the velocity vector, Gvei, is calculated according to the relationship: - v HVC, = arctan 2 2 2 Jvx + vy The calculations are preferably performed with fi lter fi functions but also on other applications where vx, vy and v, are the components of the velocity vector. way including tables (lookup table), estimates or in other ways. Preferably, computation takes place in some form of programmable system including a microprocessor, signal processor or other electronics for computation.
    A second embodiment of the GNC system 1 ', for example for projectiles that generate strengths without creating an angle of attack, is shown in Figure 2. In the second embodiment of the GNC system 1', roll angle can be determined from the tipping component of the velocity vector 10 15 20 25 10 and the velocity vector, respectively. gear component. With input data roll speed, speed change relative to the ground-fixed coordinate system and the gear vector gear component and the velocity vector tipping component, the roll angle can be calculated.
    Calculation is preferably done with different forms of alter functions. The calculation takes place in the projectile's navigation system 3 '. The result is that a complete GNC system is achieved by calculating the roll angle, tipping angle and turning angle as well as that position and speed based on the ground-fixed coordinate system can be measured with the radio-based positioning system.
    An example of a projectile with GNC system application method for roll angle determination is a roll-stabilized 155 mm artillery grenade equipped with four control cannons, GPS receiver, angle of attack determination and gyro for measuring roll angle.
    ALTERNATIVE EMBODIMENTS The invention is not limited to the specially designed embodiments but can be varied in various ways within the scope of the claims.
    It will be appreciated, for example, that the number, size, material and shape of the elements and components of the GNC system used in the method for determining the roll angle and the details are adapted to the system or other design features currently available.
    It is understood that the method described above for determining the roll angle and / or navigation system can be applied to in principle all vehicles and systems including aircraft, projectiles and missiles.
    权利要求:
    Claims (1)
    [1]
    A patent method determination of roll angle determination of controllable and substantially or partially roll stable projectile comprising control system, radio based positioning receiver and sensor for measuring roll angle velocity characterized in that the following steps are included; (a) actuation of the projectile actuators through the projectile control system included in the projectile; (b) estimating a first signal, the projectile control force, from the control system included in the projectile; (c) measuring a second signal, the velocity of the projectile relative to the ground-fixed coordinate system, with the radio-based positioning receiver mounted in the projectile; (d) measuring a third signal, the rotational speed, with the roll angle velocity sensor mounted in the projectile; (e) calculating a roll angle from the first, second and third signals, estimated projectile strength fl, measured projectile velocity and measured rotational speed, by summing the absolute angular change by weighting an angle estimate. Method for determining the roll angle according to Claim 1, characterized in that the absolute angle change is set to correspond to the resultant angle of the tilt angle change of the projectile velocity vector and the yaw angle change of the projectile velocity vector. Method for roll angle determination according to one of Claims 1 to 2, characterized in that the angle estimate is perceived as an average value of the angle of attack estimate. Method for determining angle of inclination according to one of Claims 1 to 2, characterized in that the angle estimation is perceived as an average value of the control force angle estimation. Method for determining the roll angle according to claim 3, characterized in that the mean value of the angle of attack estimation is assumed to correspond to the mean value of the resultant angle of the projectile control force controlling the angle of attack gear component, ß, and the projectile control force controlling the angle of attack angle, a. 10 15 20 25 30 35 10. 11. 12 Method for determining the angle of inclination according to Claim 4, characterized in that the mean value of the force fi angle estimate is assumed to correspond to the mean value of the resultant angle of the projectile control force controlling the gear vector gear component and the projectile control force controlling the velocity vector tipping component. Method for determination of roll angle according to one of the preceding claims, characterized in that the calculation takes place by filtration. Method for determining roll angle according to one of the preceding claims, characterized in that the sensor for measuring roll angle velocity is a gyroscope. Method for determining the angle of inclination according to one of the preceding claims, characterized in that the radio-based positioning receiver is a GPS receiver. Method for determination of roll angle according to one of the preceding claims, characterized in that the tilt angle, 0, is calculated by summing the resultant of the projectile velocity components measured by the radio-based positioning system and estimating the projectile control force which controls the tilt angle of the angle of attack, a. , characterized in that the tilt angle, 6, is calculated by summing the resultant of the projectile velocity components measured by the radio-based positioning system and estimating the projectile control force which controls the tilt component of the velocity vector. Method for determining the roll angle according to one of the preceding claims, characterized in that the yaw angle, xp, is calculated by subtracting the estimate of the projectile strength fl that controls the angle of attack gear component, ß, from the resultant projectile velocity components measured by the radio-based positioning system. Method for determining the roll angle according to any one of the preceding claims, characterized in that the turning angle, w, is calculated by subtracting the estimate of the projectile control force which controls the gear component of the velocity vector, from those of the radio-based radio 15. the positioning system measured the resultant of the projectile velocity components. GNC controllable projectile systems comprising control systems, radio-based positioning systems, roll angle velocity measuring sensor for determining roll angle characterized by; (a) the comprehensive control system for operating the projectile is arranged to actuate the actuators of the projectile; (b) the control system included in the projectile is arranged to estimate a first signal, projectile control force fi; (c) the radio-based positioning receiver mounted in the projectile measures a second signal, the velocity of the projectile relative to the ground-fixed coordinate system; (d) the roll angle velocity sensor mounted in the projectile measures a third signal, rotational speed; (e) the first, second and third signals, estimated projectile steering force, measured projectile velocity and measured rotational speed, together calculate a roll angle by summing the absolute angular change with weighting of an angular estimate. GNC controllable projectile system according to claim 14, characterized in that the absolute angular change is set to correspond to the resultant angle of the projectile velocity vector tilt angle change and the projectile velocity vector gear angle change. GNC system for steerable projectile according to one of Claims 14 to 15, characterized in that the angle estimate is perceived as an average value of the angle of attack estimate. GNC system for steerable projectile according to one of Claims 14 to 15, characterized in that the angular estimation is perceived as an average value of the guided angular estimation. GNC controllable projectile system according to claim 16, characterized in that the mean of the angle of attack estimation is assumed to correspond to the mean of the resultant angle of the projectile control force controlling the angle of attack gear component, ß, and the projectile control force controlling the angle of attack, a. 10 15 20 25 30 35 19. GNC controllable projectile system according to claim 17, characterized in that the mean value of the force fi angle estimate is assumed to correspond to the mean value of the resultant angle of the projectile force fi which controls the gear component of the velocity vector, and the projectile force fi which controls velocity vector tipping component. GNC system for steerable projectile according to one of Claims 14 to 19, characterized in that the calculation takes place by filtration. GNC system for controllable projectile according to one of Claims 14 to 20, characterized in that the sensor for measuring roll angle velocity is a gyroscope. GNC controllable projectile system according to one of Claims 14 to 21, characterized in that the radio-based positioning receiver is a GPS receiver. GNC controllable projectile system according to any one of claims 14 to 22, characterized in that the tilt angle, 9, is calculated by summing the resultant of the projectile velocity components measured by the radio-based positioning system and estimating the projectile control force controlling the angle of attack component, U .. GNC system for steerable projectile according to any one of claims 14 to 23, characterized in that the tilt angle, 6, is calculated by summing the resultant of the projectile velocity components measured by the radio-based positioning system and estimating the projectile-guided fi which controls the tilt component of the velocity vector. GNC controllable projectile system according to any one of claims 14 to 24, characterized in that the turning angle, w, is calculated by subtracting the estimate of the projectile control force controlling the angle of attack gear component, ß, from the resultant projectile velocity components measured by the radio-based positioning system. GNC systems for steerable projectiles according to any one of claims 14 to 25, characterized in that the turning angle, | 1, is calculated by subtracting the estimate of the projectile control force controlling the gear component of the velocity vector from the resultant of the projectile velocity components measured by the radio-based positioning system.
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1130087A|SE536846C2|2011-09-20|2011-09-20|Method and GNC system for determining the angle of roll of a projectile|SE1130087A| SE536846C2|2011-09-20|2011-09-20|Method and GNC system for determining the angle of roll of a projectile|
    ES12833569.2T| ES2656243T3|2011-09-20|2012-09-13|GNC method and system for determining the angle of rotation|
    PL12833569T| PL2758741T3|2011-09-20|2012-09-13|Method and gnc system for determination of roll angle|
    PCT/SE2012/000135| WO2013043097A1|2011-09-20|2012-09-13|Method and gnc system for determination of roll angle|
    EP12833569.2A| EP2758741B1|2011-09-20|2012-09-13|Method and gnc system for determination of roll angle|
    US14/345,791| US9354028B2|2011-09-20|2012-09-13|Method and GNC system for determination of roll angle|
    RS20171326A| RS57579B1|2011-09-20|2012-09-13|Method and gnc system for determination of roll angle|
    HRP20171887TT| HRP20171887T1|2011-09-20|2017-12-05|Method and gnc system for determination of roll angle|
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