基于SLAM的多源异型设备误差对于精确制导武器半实物仿真试验精度的影响机理研究

Hardware-in-the-loop simulation has played an important role in evaluating precision-guided weapons. For simulation equipment, deviations of dynamic parameter such as innate amplitude or phase, and error factors such as assembly errors or metrical errors, are closely related to working mechanism and performance of simulation objects. This will directly affect hardware-in-the-loop simulation experimental precision, reduce simulation credibility and expand the differences between ground experiment and in-flight experiment. Considering hardware-in-the-loop simulation of precision-guided weapons, error propagation mechanism is researched for various types of simulation equipment in closely coupled and nonlinear systems. Using theoretical analysis and experimental verification construct model of multiple and different types of simulation errors which is based on facility index. In this study, we will analyze coupling principle between simulation equipment and objects to construct model of guidance and control closed loop with simulation equipment errors. This study put forward multi-index weighted fusion algorithm of evaluation criterion on simulation precision. Using SLAM studies simulation equipment errors propagation mechanism in closed coupling and nonlinear systems. We will quantify simulation equipment errors` influence level and define the errors` effect tendency on simulation precision. We will allocate equipment index which is under multi-constrained conditions, such as costs and precision, based on mapping relation simulation experimental precision and equipment index. The achievement of this research will provide theoretical basis and technical support to improve Hardware-in-the-loop simulation experimental precision and reliability of precision-guided weapons.

半实物仿真已成为精确制导武器性能评估的重要手段，仿真设备固有的幅值相位偏差等动态特性，及其装配测量等多种误差因素，与仿真对象的工作机理、性能密切关联，直接影响半实物仿真的试验精度，导致天地一致性差和仿真可信度低。项目针对典型精确制导武器半实物仿真，研究多源异型设备误差对半实物仿真试验精度的影响机理。采用理论分析与试验校核的方式，建立基于设备指标参数表征的多源异型误差模型；深入分析设备与仿真对象的交叉耦合机理，构建包含设备误差的制导控制闭环回路模型。提出多指标加权融合的仿真精度综合评价准则，采用SLAM方法研究设备误差在闭环耦合非线性系统中的传播机理，量化设备误差对仿真精度的影响大小，明确各项误差对仿真精度的影响趋势；基于仿真精度与设备指标的映射关系，开展精度、成本等多约束条件下的设备指标优化分配。研究成果为综合提高精确制导武器半实物仿真系统的仿真精度和可信度水平，提供理论依据和技术支持。

半实物仿真作为精确制导武器性能评估的重要手段，仿真设备误差直接影响仿真试验的试验精度，导致天地一致性差和仿真可信度降等问题。本项目针对典型精确制导武器的半实物仿真系统，建立各种仿真设备误差模型，深入分析设备与仿真对象的交叉耦合机理，构建包含设备误差的制导控制闭环回路模型。采用SLAM方法分析了不同设备性能对于仿真精度的影响，初步给出了仿真设备的指标需求。经分析，三轴转台滚转通道俯仰/偏航通道，其双十频带选取应至少为原控制系统双十频带的3倍和5倍以上；转台与导引头时间常数之比大于7时，转台的引入对制导精度的影响较小。对于目标模拟器而言，其图像生成延迟影响较大，通过分析计算，要求图像生成延迟不超过导引头时间常数。研究成果为综合提高精确制导武器半实物仿真系统的仿真精度和可信度水平，提供理论依据和技术支持；相关研究成果在国内多个科研院所得到应用，支撑了相关型号的仿真实验室建设，保障了相关武器型号科研任务的顺利执行。