机载微型导弹动基座传递对准方法研究

Research on the transfer alignment method of airborne miniature missiles

为了解决微型导弹应用于轻小型无人机平台的动基座传递对准难题,分析确定了基于姿态匹配修正的传递对准方法,构建了姿态误差方程、姿态矩阵匹配方程、姿态矩阵小角度提取和传递对准滤波器的数学模型,并完成了数值仿真验证.研究表明:基于姿态匹配修正的传递对准方法,在无人机作双轴和三轴分时摇摆机动时均能实现失准角、安装角误差的有效估计,并且估计误差均在5′以内、收敛时间不大于10 s,为轻小型察打一体无人装备研制奠定了良好基础.

In order to solve the problem of the transfer alignment method of miniature missiles when applied to a light Unmanned Aerial Vehicle(UAV),this paper analyzes the transfer alignment method based on the modified attitude matching,constructs the attitude error equation,attitude matrix matching equation,establishes mathematical models of both attitude matrix small angle extraction and transfer alignment filters,and completes the numerical simulation.The results show that the transfer alignment method based on the modified attitude matching is suitable for estimating the misalignment angle error and the installation angle error when the UAV is performing both 2-axis and 3-axis attitude swing maneuver in time-sharing.In this process,the estimated error is within 5',and the algorithm convergence time is not more than 10 seconds,which lays a good foundation for the development of light and small UAVs.