复杂海况下运载火箭自对准算法  

Self-alignment algorithm of launch vehicle in rough sea conditions

作　　者：孙国伟 刘百奇 刘建设 张军锋 何建华 王振华 SUN Guowei;LIU Baiqi;LIU Jianshe;ZHANG Junfeng;HE Jianhua;WANG Zhenhua(Beijing Galactic Energy Equipment Technology Co.,Ltd.,Beijing 100176,China)

机构地区：[1]北京星河动力装备科技有限公司,北京100176

出　　处：《中国惯性技术学报》2024年第7期637-644,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(51909252)。

摘　　要：运载火箭对发射窗口和对准精度高度敏感。海上发射平台受风、浪、涌等复杂海况的综合作用产生低频、宽幅、时变晃动,传统的静基座对准方法不能适应,有限的配套设施又不便开展光瞄辅助对准或传递对准。对此,设计了基于晃动辨识的粗对准方法和在线修正量测噪声阵的精对准方法。对粗对准的影响因素进行量化分析,实时辨识晃动周期和幅值,结合器件特性和精度要求在线调整粗对准时间,为精对准创造良好初始条件。精对准过程中在线修正卡尔曼滤波器的量测噪声阵,从而适应发射平台的时变晃动。所设计方法于2023年9月在谷神星一号海射型运载火箭上完成了飞行实验验证,在晃动角度约2.1°、角速度约2.35(°)/s的复杂海况下,粗对准算法实现了300.0s内小于2.0°的精度,精对准算法实现了小于0.3°的精度,保障了运载火箭首飞成功。The launch vehicle is highly sensitive to the launch window and the self-alignment accuracy.The sea launch platform is affected by rough sea conditions such as wind,wave and surge,which causes low frequency,wide amplitude and time-varying sway.The traditional static base alignment method cannot adapt to this situation,and the limited supporting facilities are inconvenient for carrying out the light-sight auxiliary alignment and transfer alignment.Therefore,a coarse alignment method based on swaying identification and a fine alignment method based on online estimation of measurement noise array are proposed.The influence factors of coarse alignment are quantitatively analyzed,the swaying period and amplitude are identified in real time,and the coarse alignment time is adjusted online according to the sensor characteristics and precision requirements,so as to create good initial conditions for fine alignment.In the process of fine alignment,the measurement noise is estimated,and the Kalman filter is dynamically modified to adapt to the large time-varying swaying of the launching platform.The proposed method was verified by flight experiments on CERES-1 sea-launch vehicle in September 2023.Under rough sea conditions where the shaking angle is greater than 2.1°and the angular velocity is greater than 2.35(°)/s,the coarse alignment algorithm can achieve the accuracy of less than 2.0°within 300.0 s,and the fine alignment algorithm is better than 0.3°,which guarantees the success of the launch vehicle's first flight.

关 键 词：复杂海况 运载火箭 粗对准 精对准 卡尔曼滤波 谷神星一号 

分 类 号：V475.1[航空宇航科学与技术—飞行器设计]