RU2732520C1 - Device for determination of spatial orientation of soyuz-2 space rocket - Google Patents

Abstract

FIELD: astronautics.SUBSTANCE: invention relates to rocket engineering. Device for determination of spatial orientation of Soyuz-2 space rocket, with installed on-board standard units of navigation equipment of consumer and triaxial gyrostabilizer, comprises unit of angular speeds sensors, which inputs are directly connected to on-board digital computer. Unit of angular velocity sensors includes a unit of sensitive elements consisting of at least three accelerometers.EFFECT: higher accuracy of orientation.1 cl, 1 dwg

Description

The proposed invention relates to the field of rocketry, in particular to devices for determining the orientation of a space rocket (ILV).

The relevance of this invention is determined by the need to improve the accuracy of determining the orientation of the launch vehicle in space, constant independent control of the location and redundancy of the ILV orientation process itself.

Background of the invention:

Consideration of approaches to solving the problem of determining the attitude of the launch vehicle should begin with devices already used in rocket technology, which are alternative to the use of devices for determining attitude using gyroscopes.

A device based on the use of the principles of astronavigation is known. This approach is used in the control system (CS) of intercontinental ballistic missiles, mainly sea-based. In the described approach, the position of the gyrostabilized platform (GSP) is corrected by determining the direction to predetermined celestial bodies. In terms of its accuracy characteristics, such an approach is more accurate than the standard set of command instruments (KKP) [1], which can be easily applied to solve the problem of determining the orientation. But the financial costs for the production of astronavigation equipment, built on this principle, significantly exceed the costs of manufacturing a regular PSC.

A known method for determining the orientation of the launch vehicle using spaced apart antenna devices of the consumer's navigation equipment (NAP). In this approach, the NAP receives signals from antenna devices located at the ends of the base, and determines the orientation of the base in space by the interferometric method. There are no samples of equipment for determining the orientation of objects based on this principle for use in rocket technology. However, the error in determining the orientation in this approach can be estimated from the characteristics of the MRK-11 equipment of the FSUE NPP Radio Communication, built using the considered approach. The error in determining the pitch angle by this equipment at a base distance between the antennas of 0.7 meters is an order of magnitude higher than the error of the standard means for determining the LV orientation. Approaching the accuracy of standard equipment is possible only by spacing the antennas of the described equipment at a distance of 10 meters. At the same time, it is difficult to place such equipment on board the launch vehicle, since the length of the launch vehicle can decrease to emergency 4-5 meters as the stages are separated.

Depending on the physical entity, the navigation parameters are divided into groups:

I. Navigation parameters characterizing the position and displacement of the ILV center of mass relative to various reference systems: ILV coordinates, its linear velocity and acceleration.

P. Navigation parameters that determine the movement of the ILV relative to its center of mass: the angular coordinates of the object in the horizontal coordinate system, the angular coordinates of the ILV relative to the velocity vector, the angular velocity of movement.

III. Navigational parameters that determine the state of the environment: atmospheric parameters, parameters of the Earth's magnetic field.

IV. Navigational parameters characterizing the position and movement of the ILV relative to other objects.

For ILV, navigation parameters of groups I, II are used.

Since the ILV is equipped with an RV, it is possible to use the RV to determine the LV orientation in flight. In this case, there is no need for significant revision of the LV CS, which will affect the cost of the LV CS.

The reasons that prevent this device and the above method from obtaining the technical result, which is provided by the proposed technical solution, are the low accuracy of the launch vehicle orientation and the high cost of upgrading the launch vehicle control system.

In the process of information retrieval from the prior art, a system for navigation redundancy was identified (patent US 7058505 B1, published 06.06.2006, This system differs from the claimed device as follows:

- the difference in the results obtained, namely:

the system provides redundancy of the navigation parameters of group I using a GPS receiver (position of the center of mass of the object and the speed of movement of the center of mass of the object in the Greenwich coordinate system (GSK);

the system ensures the operability check of the inertial measuring units included in the control system by comparing the navigation parameters of the first group, issued by the inertial measuring units, with the data received from the GPS receiver;

when determining the operability of the inertial measuring unit (the coincidence of the navigation parameters of the I group), a complete set of navigation parameters (I and II groups (angular position and movement of the object relative to the center of mass)) are sent to the central processor for further work.

In addition, this system works only in the GPS and GSK systems, which are not used in the control system of the domestic rocket and spacecraft.

As part of the ILV, only the domestic element base is used.

The claimed device provides navigation parameters of groups I and II using the information of the NAP installed on the launch vehicle and the angular rate sensor unit, and thereby replaces the operation of the standard inertial gyroscopic system of the ILV.

The claimed device operates using the signals of the domestic KNS "GLONASS" and calculates the navigation parameters of groups I and II in the starting coordinate system (SSC).

The objective of the claimed invention is the development of a device for determining the orientation of the launch vehicle according to the information of the NAP using a block of angular velocity sensors, which provides the ability with a certain discreteness to obtain the coordinates of the location of the LV center of mass and the angular position of the LV longitudinal axis in the starting coordinate system.

A device for determining the spatial orientation of a space rocket (block 1), equipped with blocks of consumer navigation equipment (NAP) (block 2) and a triaxial gyro stabilizer (TGS), is declared, which differs from the known ones in that it contains a block of angular velocity sensors (RCDS) (block 3 ), the inputs of which are directly connected to the on-board digital computer (BCVM) (block 4), which ensures accurate determination of the complete set of navigation parameters and their delivery to consumers (block 5) of the ILV in flight and makes it possible to completely replace the installed standard TGS unit, shown schematically in fig. 1.

The block of angular velocity sensors is designed to measure the instantaneous angular velocity of the launch vehicle in projections on the SSC axis, and to issue digital information about the measured angular velocity to the onboard computer (block 4).

The ODUS includes a block of sensitive elements, at least consisting of three sensitive elements, for example, accelerometers.

The technical result of the invention is to obtain the values of the navigation parameters of the LV orientation according to the NAP information with the condition of minimal revision of the control system of the LV and an increase in the orientation accuracy, replacement (reservation) of the currently used gyroscopic navigation systems and, as a consequence, the reduction in cost and increase in the possibility of successfully performing ILV tasks.

The required technical result is achieved by the fact that the angular velocities measured by the BDUS together with the received information of the NAP enter the arithmetic-logic device and there, using the calculation algorithms, the location of the LV center of mass and the angular position of the LV longitudinal axis in the SSK are determined.

The operation of this device is as follows:

Based on the measurement information of the NAP, the arithmetic-logic device determines the projection of the absolute velocity vector of the object on which it is installed.

At the same time, the arithmetic-logic device receives measurement information from the RCS, according to which the angular position of the LV longitudinal axis is calculated.

Thus, the exact location of the launch vehicle in flight is determined by the incoming measuring information of the NAP and the BDUS and using the algorithms for calculating the arithmetic-logic device.

The essence of determining the orientation of the launch vehicle from the information of the NAP is to compare the orientation of the launch vehicle with the orientation of the apparent acceleration vector in space and determine this vector in two starting coordinates (SC) according to the data of the NAP and at least three accelerometers of the NDUS. The determination of the orientation angles of the launch vehicle is carried out by calculating the elements of the transition matrix between these two SCs.

Thus, the positive effect of setting the attitude of the launch vehicle according to the NAP information with the help of the NDUS is:

- in ensuring the orientation of the launch vehicle according to the measurements of the NAP and BDUS;

- ensuring the required accuracy of the launch vehicle orientation;

- in duplication (replacement) of angular measurements with a standard TGS unit;

- in the low cost of the proposed invention;

- in using the signals of the domestic SPS "GLONASS";

- in the use of domestic element base.

SOURCES OF INFORMATION

1.GOST R 51794-2001. Radio navigation equipment of the global navigation satellite system and the global positioning system Coordinate systems Methods for transforming coordinates of determined points Gosstandart of Russia, Moscow.

2. Ed. IN AND. Varfolomeeva and M.I. Kopytov. Design and testing of ballistic missiles / - M .: Oborongiz, 1970. - 392 p., Ill.

3. N.I. Panichkin, Yu.V. Slekushkin, V.P. Shinkin, N.A. Yatsinin. Design and design of spacecraft: Textbook for secondary educational institutions / - M .: Mechanical engineering, 1986. - 344 p., Ill.

4. Pencak I.P. Flight theory and ballistic missile design: A textbook for technical schools. - M .: Mechanical Engineering, 1974 .-- 344 p., Ill.

5. Edited by V.N. Kharisov, A.I. Perov, V.A. Boldin. Global satellite radio navigation system GLONASS, M., IPRZhR, 1998 - 400 p.

Claims (1)

A device for determining the spatial orientation of a space rocket "Soyuz-2", with standard units of user navigation equipment (NAP) and a triaxial gyrostabilizer (TGS) installed on board, characterized in that it contains a unit of angular rate sensors (RCS), the inputs of which are directly connected to an onboard digital computer, while the ODUS includes a block of sensitive elements, consisting of at least three accelerometers.

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