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毕业设计-捷联导引头视线角速率滤波技术研究，共61页，29318字，附外文翻译、答辩PPT
摘要
精确制导武器是现代战争中重要的攻防手段。导引头是制导系统中的关键部
件。导引头主要用于实现对目标的自主搜索、识别和跟踪。在末制导段，目标的
成功拦截与导引头的性能密切相关。性能较差的导引头会导致导弹的脱靶量加大，
致使成功拦截目标的概率降低。
随着捷联惯性技术以及成像技术的快速发展，捷联成像导引头成为现代导弹
导引头的发展趋势。然而，与采用常平架式导引头的传统导弹相比，捷联导引头
的视线角速率不能直接提取，大的视野范围也导致了大的测量噪声，针对这两个
缺点，本文研究了捷联成像导引头的视线角速率的提取方法。
文章首先对常用坐标系进行了定义。针对捷联成像导引系统，引入了体视线
坐标系的定义，推导了坐标系之间的转换关系矩阵，并进一步推导了视线角速率
解耦公式。
然后以捷联反辐射导引头为例，介绍其工作原理，研究姿态解耦方法，实现
凝视型捷联导引头姿态解耦。有两种方法可以实现凝视型捷联导引头姿态解耦，
其一是姿态角补偿法，为间接法；其二是角速率补偿法，为直接法。
最后针对用速率补偿法得到的目标视线角速率解耦模型，用四阶龙格库塔法
离散化以减小截断误差。在系统只能获得捷联位标器和弹体角速率陀螺输出信息
情况下，分别设计了 UKF，Joint UKF 和 Dual UKF 三种滤波器来有效地估计出
目标视线角和角速率。通过仿真表明 Dual UKF 较 Joint UKF 结构更清晰，更适
合重构系统模型中参数独立于状态的特点，因此滤波效果更佳。
关键词：捷联，视线角速率，姿态解耦，UKF 滤波器

ABSTRACT
Precision guided weapons of modern warfare is an important offensive and
defensive means. Seeker guidance system is a key component. Seeker is mainly used
to achieve the goal of self-searching, identifying and tracking. In the terminal
guidance, closely related to the performance objectives successfully intercepted and
seeker. Poor performance will lead to off-target seeker missiles volume increase,
resulting in a lower probability of successfully intercepted the target.
With the rapid development of technology and SINS imaging technology,
strapdown imaging seeker become the development trend of modern missile seeker.
However, compared with the use of Changping traditional rack-seeker missiles sight
angular rate strapdown seeker can not be directly extracted, large field of view also
led to large measurement noise, for these two shortcomings, this paper studies
Extraction strapdown imaging seeker sight angular rate.
Firstly, on the common coordinate system is defined. Strapdown imaging
guidance system, the introduction of the definition of the coordinate system of the
body sight derived conversion relationship between the coordinate matrix and further
deduced sight angular rate decoupling formula.
Then SINS anti-radiation seeker as an example, it works, research attitude
decoupling method to achieve seeker staring strapdown attitude decoupled. There are
two ways to achieve seeker staring strapdown attitude decoupling, one is the attitude
angle compensation method, the indirect method; second is the angular velocity
compensation method for the direct method.
Finally, the line of sight angle rate target rate decoupling model compensation
method was used, were designed UKF, Joint UKF and Dual UKF three filters to
effectively estimate the target sight angle and angular rate. The simulation shows Dual
UKF over the Joint UKF structure clearer, more suitable for reconstruction of the
system model parameters independent of the characteristics of the state, so the
filtering effect is better.
KEY WORDS: Strap down, LOS rate, attitude decoupling , UKF filter

目录
第一章 绪 论........................................................4
1.1 课题的来源及研究的目的和意义................................4
1.2 当前国内外研究现状及分析....................................5
第二章 视线角速率解耦公式...........................................9
2.1 坐标系定义及坐标转换........................................9
2.1.1 坐标系定义 ............................................9
2.1.2 坐标系之间的转换 .....................................10
2.2 视线角速率解耦公式的推导 ...................................16
2.3 本章小结 ...................................................20
第三章 凝视型捷联导引头姿态解耦研究................................21
3.1 测角原理...................................................21
3.2 解耦方法...................................................22
3.2.1 姿态角补偿法.........................................23
3.2.2 角速率补偿法.........................................26
3.3 解耦方法比较...............................................27
3.4 小结.......................................................29
第四章 目标视线角速率重构滤波器设计................................31
4.1 重构系统离散化 .............................................31
4.2.1 UT 变换 ..............................................33
4.2.2 UKF 滤波器设计 .......................................36
4.3 状态参数联合滤波器.........................................40
4.3.1 Joint UKF 滤波器设计 .................................41
4.3.2 Dual UKF 滤波器设计 ..................................45
4.4 非线性滤波比较 .............................................47
4.5 小结.......................................................49
第五章 总结与展望..................................................51
5.1 总结.......................................................51
5.2 展望.......................................................51
参考文献...........................................................53
致谢...............................................................56
毕业设计小结.......................................................57

指导思想和目的要求
1、选题来源为专题研究，论文类型为设计类型；
2、主要研究内容基于捷联导引头视线角速率滤波技术研究;
3、利用已有的专业知识，培养学生解决实际工程问题的能力；
4、锻炼学生的科研工作能力和培养学生的团结合作攻关能力；
主要技术指标
1. 视线角速率的提取
2．信号滤波与求导
3．滤波函数的选取