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将光流传感器多点布置在弹体上,建立了纵向平面内的弹体运动学模型和光流传感器量测模型,利用离散卡尔曼滤波器对光流信息和速率陀螺信息进行融合,估计弹体的高度、姿态和速度信息,并利用估计信息进行了超低空飞行的高度控制仿真,仿真结果表明:利用多个光流传感器和一个速率陀螺,可以准确地、实时地估计出弹体的高度、垂直速度、俯仰角、俯仰角速度和攻角等信息,并可利用这些信息实现导弹的超低空突防任务.
The multi-point optical flow sensor is arranged on the projectile, and the projectile kinematics model and the optical flow sensor measurement model in the longitudinal plane are established. The discrete Kalman filter is used to fuse the optical flow information and the rate gyro information, The height, attitude and speed of the missile are analyzed. The altitude control simulation of the ultralow altitude flight is carried out by using the estimated information. The simulation results show that the height of the projectile can be accurately and real-time estimated by using multiple optical flow sensors and a rate gyro, Vertical speed, pitch angle, pitch angle and angle of attack and other information, and can use this information to achieve ultra-low-altitude missile penetration task.