一种多级全固体运载火箭上升段自主制导方法

针对多子级全固体运载火箭在终端多约束下的耗尽关机制导问题，设计了一种基于“助推-滑行-助推”飞行模式的真空段自主制导方法。根据轨道动量矩守恒定律，推导出一种同时具有速度和位置矢量约束的定点制导算法(PA)。在PA理论基础上，建立了满足能量匹配的滑行轨道非线性方程组并降阶至一维迭代求解，解决了多级固定总冲约束的两点边值问题。蒙特卡洛仿真结果表明：该算法对固体运载火箭模型的参数偏差和不确定性具有强鲁棒性，并对多终端轨道任务(不同轨道高度和不同载荷质量)具有较强的自适应能力，因此该算法具有重要的理论意义和工程应用价值。

An Autonomous Ascent Guidance Method for Multi Stage Solid Launch Vehicles

 In order to achieve the high precision orbit injection satisfied with the terminal multi-constrained orbit elements, an autonomous guidance method based upon the “burn-coast-burn” task model is generated to solve the guidance problem of the solid launch vehicles which shut off by the fuel exhaustion in vacuum. In terms of the law of conservation of orbital momentum, a pointing algorithm (PA) with the constraints of the velocity vectors and the position vectors is derived. On this foundation, the nonlinear system of the equations of the sliding track satisfied with the energy constraints is established, the order of which is reduced，  one-dimension iterative solution obtained by solving the two-point boundary value problems with the given arc length constraint. The results of the Monte Carlo simulation demonstrate that the proposed guidance algorithm has strong robustness and excellent performance to the deviations and uncertainties of the solid launch vehicles and also has powerful adaptability to the multiple terminal orbit tasks, which has the important theoretical significance and a certain reference value for practical engineering applications.