Optimal Design of Turning Law for Vertical Launch of Missile Based on Quaternion

Aiming at the turning problem of missile after vertical launch, this paper takes the vector nozzle as thrust vector mechanism to study the optimal turning law with variable time. Firstly, based on quaternion, the missile vertical launch motion equation is established in the missile body coordinate system, and the linear perturbation model of longitudinal channel is analyzed; Then, based on the optimized method of combining particle swarm optimization and genetic algorithm, the attitude angle in the turning process is selected as the optimized variable, and the high-order one-variable function is used to approximate the optimal turning law; Finally, the expression of the turning law is obtained by optimized calculation. The optimized results satisfy the process and terminal constraints. The law of angle of attack and pitch is consistent with the engineering experience.