【作者】 赵占祥；

【导师】 李兴国；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2006， 博士

【摘要】 该文主要研究攻击慢速目标的巡航导弹制导系统中段导航、中末交班和末制导导引头设计与仿真三部分内容。中段导航、中末交班是MMW(毫米波)导引头可靠的捕获目标的关键，导航误差的大小决定中末交班的成功与否，而MMW导引头是攻击慢速目标的关键部件，因此三部分内容是GPS／SINS／MMW(GPS：全球卫星定位系统；SINS：捷联惯导系统；MMW：毫米波)复合制导系统相互关联的关键技术。文中首先研究弹载陀螺仪编排方案，根据该方案中陀螺仪输出角增量，结合GPS／SINS／MMW导弹的动态特性提出一种角增量姿态算法。针对陆基GPS／SINS／MMW制导的巡航导弹，捷联惯导的初始对准采用两位置对准算法，文中提出有别于传统多位置对准算法的两位置对准改进算法，节省了对准时间，而且不用进行三位置对准就可以估计陀螺的天向漂移，通过仿真表明方位误差角估计精度满足中远程巡航导弹的要求。从导弹的研制规律出发，在设计阶段尽量采用状态变量少的卡尔曼滤器，在进行风洞试验确定了导弹的气动外形后，再增加卡尔曼滤波器的维数，以达到提高制导精度的目的，为此文中对21维和15维卡尔曼滤波器都进行研究，对中制导系统精度进行仿真，并设计根据中制导系统误差计算末制导启控点散布域的Matlab算法，给出散布域仿真结果。中末交班段首先研究横向捕获域和MMW导引头参数之间的关系，设计一种易实现的中段导引律，提出满足GPS／SINS／MMW复合制导交班要求的中末交接律，仿真表明，该交接律能够实现中末弹道的二阶平滑过渡。在中末交班段要求卡尔曼滤波器的数据更新频率比中段要快得多，为此文中设计交班段的简化卡尔曼滤器，而且精度在交班段内满足要求。最后部分研究MMW导引头的总体技术方案和关键参数设计，提出导引头角跟踪算法和天线稳定去耦算法，通过计算捷联姿态阵来实现天线稳定，数学平台可以对复合制导过程中的视线和天线的夹角进行处理，实现文中提出的角跟踪算法。建立烟雾降低MMW末制导导弹杀伤概率的数学模型，若巡航导弹攻击目标时MMW无源干扰严重，可由卡尔曼外推器预测目标状态，向导弹自动驾驶仪提供信号控制导弹攻击目标，以实现制导系统的抗干扰功能。文中对制导系统进行仿真表明：GPS／SINS／MMW制导导弹的圆概率偏差和命中概率比单一的GPS／SINS导引头有较大改进，加装MMW导引头不但使巡航导弹可攻击慢速战略目标，而且降低对SINS硬件的精度要求，仿真表明，GPS／中等精度SINS／MMW制导导弹的CEP和GPS／高精度SINS制导导弹的CEP相当。更多还原

【Abstract】 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.更多还原