光学学报, 2014, 34 (6): 0612010, 网络出版: 2014-04-29
捷联式光学图像导引头视线角速率估计
Line-of-Sight Angular Rate Estimation of Strapdown Optical Image Seeker
测量 视线角速率 无迹Kalman滤波 捷联式光学图像导引头 measurement line-of-sight angular rate unscented Kalman filtering strapdown optical image seeker
摘要
为准确估计捷联导引头视线角速率,建立了捷联式光学图像导引头数学模型,根据弹目运动相对关系进行视线角速率估计算法研究。定义了估计算法所需坐标系并建立了导引头与陀螺数学模型;根据弹目相对运动学及姿态关系建立视线角速率估计非线性状态方程;针对滤波精度与实时性应用的问题,提出无迹Kalman滤波(UKF)方法估计视线角速率,并建立半物理实验系统进行算法验证,实验结果表明:视线角及视线角速率的最大估计误差分别为0.37°与0.68°/s,估计精度分别为0.1008°与0.2116°/s;数字信号处理器(DSP)中算法运行时间约为3.8 ms,视线角速率估计算法同时能满足制导系统对精度与实时性的要求。基于UKF的视线角速率估计算法为捷联式光学图像导引头的工程应用提供理论依据。
Abstract
In order to estimate line-of-sight (LOS) angular rate of strapdown seeker accurately, strapdown optical image seeker mathematical model is established. According to the relative motion between missile and target, LOS angular rate estimation algorithm is researched. The required algorithm coordinates are defined, strapdown seeker and gyro models are also established. According to the relative kinematics and attitude relationship of missile and target, the nonlinear state equations of LOS angular rate are given. Aimed at filtering accuracy and real-time application problems, LOS angular rate estimation algorithm based on unscented Kalman filtering (UKF) is proposed. Hardware in loop simulation system are established, and experiments are carried out. The result shows that, the maximum estimation errors of LOS angle and LOS angular rate are 0.37° and 0.68°/s, the estimation accuracy are 0.1008° and 0.2116°/s, respectively. Algorithm running time is about 3.8 ms in digital signal processor, the estimation algorithm can meet the accuracy and real-time performance requirements of guidance system simultaneously. LOS angular rate estimation algorithm based on UKF provides a theoretical basis for engineering applications of the strapdown optical image seeker.
孙婷婷, 储海荣, 贾宏光, 张跃, 郭立红. 捷联式光学图像导引头视线角速率估计[J]. 光学学报, 2014, 34(6): 0612010. Sun Tingting, Chu Hairong, Jia Hongguang, Zhang Yue, Guo Lihong. Line-of-Sight Angular Rate Estimation of Strapdown Optical Image Seeker[J]. Acta Optica Sinica, 2014, 34(6): 0612010.