The Research Of Key Techniques Of GPS/SINS/MMW Compounded Controlling And Guiding System

This paper mainly researches midcourse navigation, handing-over, terminalhoming tracker design and emulation of the cruise missile attacking the slow velocitytarget. Midcourse navigation and handingover are both sticking points for the MMWtracker to catch the target. Navigation error magnitude decides whether the handingoverbetween midcourse guidance and terminal guidance will be successful or not. The MMWtracker is the key component to attack the slow velocity target. Therefore, the three partsare interdependent and pivotal techniques of GPS/S1NS/MMW compounded controllingand guiding system.The paper firstly works over missile-carrying gyro collocation scheme. Basing on thescheme gyro outputting angle increment and the GPS/SINS/MMW missile dynamiccharacteristic, the paper brings forward a kind of angle increment pose arithmetic. Inallusion to GPS/SINS/MMW contolling and guiding cruise missile, strapdown inertialnavigation system initial alignment adopts two-position alignment algorithm. The paperbrings forward an improved two-position alignment algorithm which is different fromtraditional multi-position alignment algorithm. The improved algorithm saves alignmenttime and has the advantage of estimating the vertical gyro drift without three-positionalignment. The simulation verifies that the azimuth error meets the mid-long range cruisemissile precision requirement. From the developing principle of missile, to improve thecontrolling and guiding precision, we should adopt fewness state variables kalman filterat the designing phase and increase the state variables after fixing the missile pneumaticshape by wind tunnel experiments. So the paper researches both the 15 dimensions and 21dimensions kalman filter and simulates the midcourse contolling and guiding precision.The paper designs the Matlab algorithm of calculating terminal homing start pointdistributing field by midcourse controlling and guiding error and gives the simulationresult.The handing-over phase firstly researches the relationship between transverse capturefield and mmw tracker parameter, and the paper designs a midcourse guidance law andbrings forward the handing over guidance law which meets the GPS/SINS/MMWcompounded guidance handing over requirement. The simulation verfies that the handingover guidance law can achieve the midcourse and terminal trajectory second rank linked upsmoothly. At the handing over phase, the kalman filter data update frequence should bemuch more than that at the midcourse, so the paper designs compact kalman filter at the handing over phase, whose precision meets the requirement at the handing over phase.The last part of the paper researches MMW tracker general technique scheme andpivotal parameters design. The paper brings forward MMW tracker angle trackingalgorithm and antenna stabilization algorithm, which calculates the strap-down posematrix to realize the antenna stabilization. The maths fiat roof can carry out the anglesignal processing in the compounded guidance course, realizing the angle trackingalgorithm. The last part builds a model which reflects the smog decreases the MMWterminal homing missile destroy probability. When the cruise missile attacks target, if theMMW passive jam is severe, the kahnan predictor can provide the target state and outputthe signal to the missile automatic driver to contol the missile attacking the target, whichachieves the control and guidance system anti-jam function.the simulation of the controland guidance system verifies that GPS/SINS/MMW CEP and probability of hitting thetarget is much better than the GPS/SINS'. Not only can the cruise missile attack the slowvelocity strategical target but also decrease the requirement of SINS hardware precision byadding the MMW tracker. The simulation verifies that the CEP of GPS/medium precisionSINS/MMW guidance missile is as good as that of GPS/high precision SINS guidancemissile.