CN109708525B - Missile flight trajectory calculation method and system and terminal equipment - Google Patents
Missile flight trajectory calculation method and system and terminal equipment Download PDFInfo
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Abstract
The invention provides a method, a system and terminal equipment for resolving a missile flight trajectory, wherein the method comprises the following steps: acquiring real data information of a signal sent by the missile according to preset time; calculating to obtain state data of the missile at different time according to the real data information and the electromagnetic wave transmission speed; calculating to obtain theoretical polar coordinates of the missile when the missile sends a signal next time according to the state data and the real data information; calculating to obtain the theoretical position of the missile when the missile sends a signal next time according to the theoretical polar coordinate; calculating to obtain the real position of the current missile according to the real data information; and drawing the theoretical flight trajectory and the real flight trajectory of the missile by using the theoretical position and the real position of the missile. The invention can accurately obtain the real gain trajectory and the theoretical flight trajectory of the missile, and optimizes the flight performance of the missile by comparing the real flight trajectory with the theoretical flight trajectory.
Description
Technical Field
The invention belongs to the technical field of data processing, and particularly relates to a missile flight trajectory calculation method, a missile flight trajectory calculation system and terminal equipment.
Background
The flying state of the missile directly influences the launching accuracy of the missile and the effect generated after the missile is launched out, the flying state of the missile can be reflected through a flying trajectory, the flying state of the missile can be analyzed, the flying performance of the missile can be judged, and the flying performance of the missile is optimized.
The prior art has the defects of inaccuracy in analyzing the flight trajectory of the missile and the like.
Disclosure of Invention
In view of this, the embodiment of the invention provides a method, a system and a terminal device for resolving a missile flight trajectory, so as to solve the problem that the analysis of the missile flight trajectory in the prior art is inaccurate.
The first aspect of the embodiment of the invention provides a missile flight trajectory calculation method, which comprises the following steps:
acquiring real data information of a signal sent by the missile according to preset time, wherein the real data information comprises: azimuth angle of the missile, pitch angle of the missile, signal arrival time, signal arrival frequency, signal sending frequency and slope distance;
calculating state data of the missile at different times according to the real data information and the electromagnetic wave transmission speed, wherein the state data comprises azimuth angle speed, pitch angle speed and radial speed;
calculating to obtain theoretical polar coordinates of the missile when the missile sends a signal next time according to the state data and the real data information;
calculating to obtain the theoretical position of the missile when the missile sends a signal next time according to the theoretical polar coordinate;
calculating to obtain the real position of the current missile according to the real data information;
and drawing the theoretical flight trajectory and the real flight trajectory of the missile by using the theoretical position and the real position of the missile.
A second aspect of an embodiment of the present invention provides a solution system for a trajectory, including:
the data acquisition module is used for acquiring real data information of a signal sent by the missile according to preset time, wherein the real data information comprises: azimuth angle of the missile, pitch angle of the missile, signal arrival time, signal arrival frequency, signal sending frequency and slope distance;
the first calculation module is used for calculating state data of the missile at different times according to the real data information and the electromagnetic wave transmission speed, wherein the state data comprises azimuth angle speed, pitch angle speed and radial speed;
the second calculation module is used for calculating to obtain a theoretical polar coordinate of the missile when the missile sends a signal next time according to the state data and the real data information;
the third calculation module is used for calculating and obtaining the theoretical position of the missile when the missile sends a signal next time according to the theoretical polar coordinate;
the fourth calculation module is used for calculating the real position of the current missile according to the real data information;
and the image generation module is used for drawing the theoretical flight trajectory and the real flight trajectory of the missile by utilizing the theoretical position and the real position of the missile.
A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the missile trajectory solution method as described above when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the missile trajectory solution method as described above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the invention, the real flight trajectory is obtained through the acquired real flight data of the missile, the theoretical coordinate of the missile is obtained through the real flight data, and the theoretical flight trajectory of the missile is further drawn.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic coordinate diagram of a missile launching point, a missile and a ground acquisition device provided by an embodiment of the invention;
FIG. 2 is a schematic flow chart of an implementation of a solution method for a missile flight trajectory provided by an embodiment of the invention;
fig. 3 is a flowchart illustrating an implementation of step S102 in fig. 1 according to an embodiment of the present invention;
FIG. 4 is an exemplary diagram of a solution system for ballistic trajectory provided by one embodiment of the present invention;
fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The terms "comprises" and "comprising," as well as any other variations, in the description and claims of this invention and the drawings described above, are intended to mean "including but not limited to," and are intended to cover non-exclusive inclusions. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third," etc. are used to distinguish between different objects and are not used to describe a particular order.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example 1:
FIG. 1 shows a schematic diagram of a missile launching point, a missile and a ground acquisition device.
Fig. 2 shows a flowchart of an implementation of a solution method for a missile flight trajectory provided by an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, which is detailed as follows:
as shown in fig. 2, a method for resolving a missile flight trajectory provided by an embodiment of the present invention includes:
in step S101, real data information of a signal sent by the missile according to a preset time is obtained, where the real data information includes: azimuth angle of the missile, pitch angle of the missile, signal arrival time, signal arrival frequency, signal emission frequency and slope distance.
In this embodiment, the preset time is the period of the signal emitted by the missile. The missile sends out signals according to a certain period, and the ground acquisition device receives real data information sent out by the missile.
In this embodiment, the real polar coordinates of the missile flight can be obtained according to the currently received real data information.
In step S102, state data of the missile at different times is calculated according to the real data information and the electromagnetic wave transmission speed, where the state data includes an azimuth angle speed, a pitch angle speed, and a radial speed.
In step S103, a theoretical polar coordinate of the missile at the next time of sending a signal is calculated according to the state data and the real data information.
In this embodiment, the received real data information of the current time point and the calculated state data can be calculated to obtain the theoretical polar coordinate when the signal is sent next time. According to the real data information and the corresponding state data received next time, the theoretical polar coordinates of the next time after the signal is sent can be calculated, and by analogy, the theoretical polar coordinates of all time points can be calculated.
In step S104, a theoretical position of the missile at the next time of sending a signal is calculated according to the theoretical polar coordinates.
In step S105, the actual position of the current missile is calculated according to the actual data information.
In this embodiment, the actual polar coordinates of the missile can be known by using the slant range, the azimuth angle of the missile, and the pitch angle of the missile in the actual data information, and the actual position of the missile flight can be calculated by using the actual polar coordinates.
In step S106, a theoretical flight trajectory and a real flight trajectory of the missile are drawn by using the theoretical position and the real position of the missile.
In the embodiment of the invention, the real flight trajectory and the theoretical flight trajectory of the flying missile can be calculated and drawn according to the received real data information, and the flying performance of the flying missile can be known by analyzing the real flight trajectory and the theoretical flight trajectory, so as to guide the optimization of the flying performance.
In an embodiment of the present invention, after step S101, the method further includes:
and calculating to obtain the real polar coordinates of the missile flight by using the slope distance, the azimuth angle of the missile and the pitch angle of the missile.
Wherein,
is the true polar coordinate of the current missile, alphakIs an azimuth angle, betakTo a pitch angle, rkIs the slant pitch.
As shown in fig. 3, in one embodiment of the present invention, step S102 includes:
in step S201, the azimuth velocity is calculated by using the azimuth and the signal arrival time.
In this embodiment, the azimuth angle is derived from the time derivative to obtain the azimuth angle velocity.
In step S202, the pitch angle rate is calculated by using the pitch angle and the signal arrival time.
In this embodiment, the derivative of the pitch angle with respect to time is used to derive the pitch angle velocity.
In step S203, the radial velocity is calculated by using the signal arrival frequency, the signal emission frequency, and the electromagnetic wave transmission speed.
In this embodiment, the time derivative of the azimuthal angular velocity is used to obtain the azimuthal acceleration; the derivative of time is made to the pitch angle velocity and the pitch angle acceleration is obtained.
In one embodiment of the present invention, step S201 includes:
and setting the current time as the time of sending the signal at the kth time.
Wherein v isαkIs the azimuth velocity, T, at the kth signal emitted by the missilek-1The signal arrival time, T, at the k-1 signal emitted by the missilekThe signal arrival time, alpha, at the kth signal emitted by the missilek-1Is said Tk-1Azimuth angle, alpha, of said missile corresponding in timekIs said TkThe azimuth angle of the missile corresponding to the moment.
In one embodiment of the present invention, step S202 includes:
wherein v isβkThe pitch angle velocity T of the kth signal emitted by the missilek-1The signal arrival time, T, at the k-1 signal emitted by the missilekIs the signal arrival time, beta, at the kth signal emitted by the missilek-1Is said Tk-1Pitch angle of the missile, beta, corresponding to the momentkIs said TkAnd the pitch angle of the missile corresponds to the moment.
In one embodiment of the present invention, step S203 includes:
fdk＝frk-fxk
wherein f isdkFrequency shift of the signal at the kth signal from the missile, frkThe signal arrival frequency f of the kth signal from the missilexkThe k-th signal emitted by the missileThe signal emission frequency;
vdk＝c·fdk/fxk
wherein v isdkThe radial velocity of the kth signal sent by the missile, and c is the transmission velocity of the electromagnetic wave.
In one embodiment of the present invention, step S103 includes:
using extended kalman filter algorithm (EKF) as the positioning algorithm, the following formula is given:
Xk+1＝Φk+1,k·Xk+Wk
Xk＝[αk βk rk vαk vβk vdk ΔTk]T
Xk+1＝[αk+1 βk+1 rk+1 vαk+1vβk+1 vdk+1 ΔTk+1]T
vαk+1＝vαk+ΔTk+1·wαk；
vβk+1＝vβk+ΔTk+1·wβk；
vdk+1＝vdk+ΔTk+1·wrk；
ΔTk+1＝ΔTk+wTk；
Yk+1＝(αk+1、βk+1、rk+1)；
wherein, Yk+1The theoretical polar coordinates of the missile at the k +1 th signal sent by the missile; alpha is alphak、βk、rk、vαk、vβk、vdk、ΔTkThe difference value of the azimuth angle, the pitch angle, the slope distance, the azimuth angle speed, the pitch angle speed and the radial speed of the missile when the missile sends the kth signal and the difference value of the signal arrival time when the missile sends the kth signal and the signal arrival time when the missile sends the kth-1 signal are respectively; alpha is alphak+1、βk+1、rk+1、vαk+1、vβk+1、vdk+1、ΔTk+1The difference value of the azimuth angle, the pitch angle, the slope distance, the azimuth angle speed, the pitch angle speed and the radial speed of the missile when the missile sends the k +1 th signal and the difference value of the signal arrival time when the missile sends the k +1 th signal and the signal arrival time when the missile sends the k th signal are respectively calculated; xk+1State phasor when the missile sends a signal for the (k + 1) th time; xkState phasor when the k-th signal is sent out for the missile; wkDisturbance phasors are used; w is aαk、wβk、wrk、wTkRespectively providing an azimuth angle interference coefficient, a pitch distance interference coefficient and an observation time interference coefficient when the missile sends a kth signal; phik+1,kAnd a transformation matrix is formed between the state phasor when the missile sends the signal for the (k + 1) th time and the state phasor when the missile sends the signal for the (k) th time.
In one embodiment of the present invention, step S104 includes:
Zk+1L＝(xk+1L、yk+1L、zk+1L)；
xk+1L＝rk+1·cosαk+1·sinβk+1；
yk+1L＝rk+1·sinαk+1；
zk+1L＝rk+1·cosαk+1·cosβk+1；
wherein Z isk+1LIs the theoretical position of the missile.
In one embodiment of the present invention, step S105 includes:
Zkz＝(xkz、ykz、zkz)；
xkz＝rk·cosαk·sinβk；
ykz＝rk·sinαk；
zkz＝rkz·cosαkz·cosβkz；
wherein Z iskZThe current true position, i.e. the position from which the missile signaled the kth time.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Example 2:
as shown in fig. 4, an embodiment of the invention provides a solution system 100 for ballistic trajectory, which is used to perform the method steps in the embodiment corresponding to fig. 1, and includes:
the data obtaining module 110 is configured to obtain real data information of a signal sent by the missile according to a preset time, where the real data information includes: azimuth angle of the missile, pitch angle of the missile, signal arrival time, signal arrival frequency, signal sending frequency and slope distance;
the first calculation module 120 is configured to calculate state data of the missile at different times according to the real data information and the electromagnetic wave transmission speed, where the state data includes an azimuth angle speed, a pitch angle speed, and a radial speed;
the second calculation module 130 is configured to calculate, according to the state data and the real data information, a theoretical polar coordinate of the missile when the missile sends a signal next time;
the third calculation module 140 is configured to calculate, according to the theoretical polar coordinates, a theoretical position of the missile when the missile sends a signal next time;
the fourth calculation module 150 is configured to calculate a real position of the current missile according to the real data information;
and the image generating module 160 is configured to draw a theoretical flight trajectory and a real flight trajectory of the missile by using the theoretical position and the real position of the missile.
In an embodiment of the present invention, the data acquisition module 110 further includes:
and the polar coordinate generating module is used for obtaining the real polar coordinates of the guided missile flight by utilizing the slant range, the azimuth angle of the guided missile and the pitch angle of the guided missile.
Wherein,
is the true polar coordinate of the current missile, alphakIs an azimuth angle, betakTo a pitch angle, rkIs the slant pitch.
As shown in FIG. 3, in one embodiment of the present invention, the first calculation module 120 includes:
and the first calculation unit is used for calculating the azimuth velocity by utilizing the azimuth and the signal arrival time.
And the second calculation unit is used for calculating the pitch angle speed by utilizing the pitch angle and the signal arrival time.
And the third calculating unit is used for calculating the radial speed by utilizing the signal arrival frequency, the signal emission frequency and the electromagnetic wave transmission speed.
In one embodiment of the present invention, the first calculation unit includes:
and setting the current time as the time of sending the signal at the kth time.
Wherein v isαkIs the azimuth velocity, T, at the kth signal emitted by the missilek-1The signal arrival time, T, at the k-1 signal emitted by the missilekThe signal arrival time, alpha, at the kth signal emitted by the missilek-1Is said Tk-1Azimuth angle, alpha, of said missile corresponding in timekIs said TkThe azimuth angle of the missile corresponding to the moment.
In one embodiment of the present invention, the second calculation unit includes:
wherein v isβkThe pitch angle velocity T of the kth signal emitted by the missilek-1The signal arrival time, T, at the k-1 signal emitted by the missilekIs the signal arrival time, beta, at the kth signal emitted by the missilek-1Is said Tk-1Pitch angle of the missile, beta, corresponding to the momentkIs said TkAnd the pitch angle of the missile corresponds to the moment.
In one embodiment of the present invention, the third calculation unit includes:
fdk＝frk-fxk
wherein f isdkFrequency shift of the signal at the kth signal from the missile, frkThe signal of the k-th signal sent by the missileNumber arrival frequency, fxkSending a frequency for the signal sent by the missile at the kth signal;
vdk＝c·fdk/fxk
wherein v isdkThe radial velocity of the kth signal sent by the missile, and c is the transmission velocity of the electromagnetic wave.
In one embodiment of the present invention, the second calculation module 130 includes:
using extended kalman filter algorithm (EKF) as the positioning algorithm, the following formula is given:
Xk+1＝Φk+1,k·Xk+Wk
Xk＝[αk βk rk vαk vβk vdk ΔTk]T
Xk+1＝[αk+1 βk+1 rk+1 vαk+1 vβk+1 vdk+1 ΔTk+1]T
vαk+1＝vαk+ΔTk+1·wαk；
vβk+1＝vβk+ΔTk+1·wβk；
vdk+1＝vdk+ΔTk+1·wrk；
ΔTk+1＝ΔTk+wTk；
Yk+1＝(αk+1、βk+1、rk+1)；
wherein, Yk+1The theoretical polar coordinates of the missile at the k +1 th signal sent by the missile; alpha is alphak、βk、rk、vαk、vβk、vdk、ΔTkThe difference value of the azimuth angle, the pitch angle, the slope distance, the azimuth angle speed, the pitch angle speed and the radial speed of the missile when the missile sends the kth signal and the difference value of the signal arrival time when the missile sends the kth signal and the signal arrival time when the missile sends the kth-1 signal are respectively; alpha is alphak+1、βk+1、rk+1、vαk+1、vβk+1、vdk+1、ΔTk+1The difference value of the azimuth angle, the pitch angle, the slope distance, the azimuth angle speed, the pitch angle speed and the radial speed of the missile when the missile sends the k +1 th signal and the difference value of the signal arrival time when the missile sends the k +1 th signal and the signal arrival time when the missile sends the k th signal are respectively calculated; xk+1State phasor when the missile sends a signal for the (k + 1) th time; xkState phasor when the k-th signal is sent out for the missile; wkDisturbance phasors are used; w is aαk、wβk、wrk、wTkRespectively providing an azimuth angle interference coefficient, a pitch distance interference coefficient and an observation time interference coefficient when the missile sends a kth signal; phik+1,kAnd a transformation matrix is formed between the state phasor when the missile sends the signal for the (k + 1) th time and the state phasor when the missile sends the signal for the (k) th time.
In one embodiment of the present invention, the third calculation module 140 includes:
Zk+1L＝(xk+1L、yk+1L、zk+1L)；
xk+1L＝rk+1·cosαk+1·sinβk+1；
yk+1L＝rk+1·sinαk+1；
zk+1L＝rk+1·cosαk+1·cosβk+1；
wherein Z isk+1LIs the theoretical position of the missile.
In one embodiment of the present invention, the fourth calculation module 150 includes:
Zkz＝(xkz、ykz、zkz)；
xkz＝rk·cosαk·sinβk；
ykz＝rk·sinαk；
zkz＝rkz·cosαkz·cosβkz；
wherein Z iskZThe current true position, i.e. the position from which the missile signaled the kth time.
It is clearly understood by those skilled in the art that, for convenience and simplicity of description, the above-mentioned division of the functional modules is merely used as an example, and in practical applications, the above-mentioned function distribution may be performed by different functional modules according to needs, that is, the internal structure of the ballistic solution system is divided into different functional modules to perform all or part of the above-mentioned functions. Each functional module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated module may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional modules are only used for distinguishing one functional module from another, and are not used for limiting the protection scope of the application. The specific working process of the module in the ballistic solution system may refer to the corresponding process of the foregoing method embodiment, and is not described herein again.
Example 3:
fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 5, the terminal device 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the embodiments as described in embodiment 1, such as steps S101 to S106 shown in fig. 2. Alternatively, the processor 50, when executing the computer program 52, implements the functions of the modules/units in the system embodiments as described in embodiment 2, such as the functions of the modules 110 to 160 shown in fig. 4.
The terminal device 5 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 50, a memory 51. It will be understood by those skilled in the art that fig. 5 is only an example of the terminal device 5, and does not constitute a limitation to the terminal device 5, and may include more or less components than those shown, or combine some components, or different components, for example, the terminal device 5 may further include an input-output device, a network access device, a bus, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may also be an external storage device of the terminal device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing the computer program and other programs and data required by the terminal device 5. The memory 51 may also be used to temporarily store data that has been output or is to be output.
Example 4:
an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps in the embodiments described in embodiment 1, for example, step S101 to step S106 shown in fig. 2. Alternatively, the computer program, when executed by a processor, implements the functions of the respective modules/units in the respective system embodiments as described in embodiment 2, for example, the functions of the modules 110 to 160 shown in fig. 4.
The computer program may be stored in a computer readable storage medium, which when executed by a processor, may implement the steps of the various method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The modules or units in the system of the embodiment of the invention can be combined, divided and deleted according to actual needs.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system/terminal device and method can be implemented in other ways. For example, the above-described system/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method for resolving a missile flight trajectory is characterized by comprising the following steps:
acquiring real data information of a signal sent by the missile according to preset time, wherein the real data information comprises: azimuth angle of the missile, pitch angle of the missile, signal arrival time, signal arrival frequency, signal sending frequency and slope distance;
calculating state data of the missile at different times according to the real data information and the electromagnetic wave transmission speed, wherein the state data comprises azimuth angle speed, pitch angle speed and radial speed;
calculating to obtain theoretical polar coordinates of the missile when the missile sends a signal next time according to the state data and the real data information;
calculating to obtain the theoretical position of the missile when the missile sends a signal next time according to the theoretical polar coordinate;
calculating to obtain the real position of the current missile according to the real data information;
and drawing the theoretical flight trajectory and the real flight trajectory of the missile by using the theoretical position and the real position of the missile.
2. The missile trajectory calculation method according to claim 1, wherein the step of calculating the state data of the missile at different times according to the real data information and the electromagnetic wave transmission speed comprises the following steps:
calculating to obtain the azimuth speed by using the azimuth and the signal arrival time;
calculating the pitch angle speed by using the pitch angle and the signal arrival time;
and calculating to obtain the radial velocity by using the signal arrival frequency, the signal emission frequency and the electromagnetic wave transmission speed.
3. The method for resolving a projectile trajectory as claimed in claim 2, wherein said calculating said azimuthal velocity using said azimuth angle and said time of arrival of said signal comprises:
wherein v isαkIs the azimuth velocity, T, at the kth signal emitted by the missilek-1The signal arrival time, T, at the k-1 signal emitted by the missilekThe signal arrival time, alpha, at the kth signal emitted by the missilek-1Is said Tk-1Azimuth angle, alpha, of said missile corresponding in timekIs said TkThe azimuth angle of the missile corresponding to the moment.
4. The method for resolving a projectile trajectory according to claim 3, wherein said calculating the pitch angle rate using the pitch angle and the signal arrival time comprises:
wherein v isβkThe pitch angle velocity T of the kth signal emitted by the missilek-1The signal arrival time, T, at the k-1 signal emitted by the missilekIs the signal arrival time, beta, at the kth signal emitted by the missilek-1Is said Tk-1Pitch angle of the missile, beta, corresponding to the momentkIs said TkAnd the pitch angle of the missile corresponds to the moment.
5. The method for resolving a projectile trajectory according to claim 4, wherein the calculating the radial velocity using the signal arrival frequency, the signal emission frequency and the electromagnetic wave propagation velocity comprises:
fdk＝frk-fxk
wherein f isdkFrequency shift of the signal at the kth signal from the missile, frkThe signal arrival frequency f of the kth signal from the missilexkSending a frequency for the signal sent by the missile at the kth signal;
vdk＝c·fdk/fxk
wherein v isdkThe radial velocity of the kth signal sent by the missile, and c is the transmission velocity of the electromagnetic wave.
6. The missile trajectory calculation method of claim 5, wherein the step of calculating theoretical polar coordinates of the missile at the next signal sending of the missile according to the state data and the real data information comprises:
Xk+1＝Φk+1,k·Xk+Wk
Xk＝[αk βk rk vαk vβk vdk ΔTk]T
Xk+1＝[αk+1 βk+1 rk+1 vαk+1 vβk+1 vdk+1 ΔTk+1]T
vαk+1＝vαk+ΔTk+1·wαk；
vβk+1＝vβk+ΔTk+1·wβk；
vdk+1＝vdk+ΔTk+1·wrk；
ΔTk+1＝ΔTk+wTk；
Yk+1＝(αk+1、βk+1、rk+1)；
wherein, Yk+1The theoretical polar coordinates of the missile at the k +1 th signal sent by the missile; alpha is alphak、βk、rk、vαk、vβk、vdk、ΔTkThe difference value of the azimuth angle, the pitch angle, the slope distance, the azimuth angle speed, the pitch angle speed and the radial speed of the missile when the missile sends the kth signal and the difference value of the signal arrival time when the missile sends the kth signal and the signal arrival time when the missile sends the kth-1 signal are respectively; alpha is alphak+1、βk+1、rk+1、vαk+1、vβk+1、vdk+1、ΔTk+1The difference value of the azimuth angle, the pitch angle, the slope distance, the azimuth angle speed, the pitch angle speed and the radial speed of the missile when the missile sends the k +1 th signal and the difference value of the signal arrival time when the missile sends the k +1 th signal and the signal arrival time when the missile sends the k th signal are respectively calculated; xk+1State phasor when the missile sends a signal for the (k + 1) th time; xkIs the guideThe state phasor when the kth signal is shot; wkDisturbance phasors are used; w is aαk、wβk、wrk、wTkRespectively providing an azimuth angle interference coefficient, a pitch distance interference coefficient and an observation time interference coefficient when the missile sends a kth signal; phik+1,kAnd a transformation matrix is formed between the state phasor when the missile sends the signal for the (k + 1) th time and the state phasor when the missile sends the signal for the (k) th time.
7. The method for resolving the missile trajectory according to claim 6, wherein the step of calculating the theoretical position of the missile at the next signal sending according to the theoretical polar coordinates comprises the following steps:
Zk+1L＝(xk+1L、yk+1L、zk+1L)；
xk+1L＝rk+1·cosαk+1·sinβk+1；
yk+1L＝rk+1·sinαk+1；
zk+1L＝rk+1·cosαk+1·cosβk+1
wherein Z isk+1LIs the theoretical position of the missile.
8. A ballistic solution system, comprising:
the data acquisition module is used for acquiring real data information of a signal sent by the missile according to preset time, wherein the real data information comprises: azimuth angle of the missile, pitch angle of the missile, signal arrival time, signal arrival frequency, signal sending frequency and slope distance;
the first calculation module is used for calculating state data of the missile at different times according to the real data information and the electromagnetic wave transmission speed, wherein the state data comprises azimuth angle speed, pitch angle speed and radial speed;
the second calculation module is used for calculating to obtain a theoretical polar coordinate of the missile when the missile sends a signal next time according to the state data and the real data information;
the third calculation module is used for calculating and obtaining the theoretical position of the missile when the missile sends a signal next time according to the theoretical polar coordinate;
the fourth calculation module is used for calculating the real position of the current missile according to the real data information;
and the image generation module is used for drawing the theoretical flight trajectory and the real flight trajectory of the missile by utilizing the theoretical position and the real position of the missile.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the method of resolving a missile trajectory according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a method of resolving a missile flight trajectory according to any one of claims 1 to 7.
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