CN104573220A - Photoelectric detection system target observation data simulation method - Google Patents

Abstract

The invention discloses a photoelectric detection system target observation data simulation method, belongs to the technical of photoelectric detection and specifically relates to a photoelectric detection system target observation data (an azimuth angle and a pitch angle) simulation method. The photoelectric detection system target observation data simulation method is characterized in that photoelectric detection system target observation data simulation is performed to produce target observation data from a photoelectric detection system, and the target observation data are transmitted to a central station to serve as a data source so as to test and verify the problems including a data processing method, working process and the like of the central station. The photoelectric detection system target observation data simulation method is convenient to use, low in cost and good in effect and is suitable for key technical identification of the photoelectric detection system using the data source as a basis.

Description

A kind of electro optical reconnaissance system target observation data simulation method

Technical field

The invention belongs to photoelectronic reconnaissance technical field, relate generally to a kind of electro optical reconnaissance system target observation data simulation method, particularly relate to a kind of electro optical reconnaissance system target observation position angle and angle of pitch emulation mode.

Background technology

Electro optical reconnaissance system networking technology is by the suitable cloth station of photoelectronic reconnaissance equipment by different for multi-section spectrographic detection, different system, is linked into net, the organic whole formed by central station unified allocation of resources by means of communication.In net, the information of each electro optical reconnaissance system is collected by central station, the information in networking coverage is formed after overall treatment, and the duty of each equipment in self-adaptative adjustment net is changed according to war posture, play the advantage of each equipment, thus complete detection in whole coverage, the task such as location and tracking.

For target is attacked in more effective interception, usually dispose certain troops in the area, forward position of main direction of operation or area of operations, protract warning line as far as possible, strives early warning as early as possible, implementing monitoring.Can structure the formation as band shape in front, target navigation channel, formed and scout array, each unit interval 10 ~ 20 kilometers in array, complex tracking is formed to target, the scout element target acquisition in front when guiding Fire Unit to attack, follow-up scout element can carry out preparing and form relay with Force Reconnaissance Company unit measuring, and direct subsequent Fire Unit is ready.Just can form the many ripples time lasting Strike to enemy's target thus, significantly improve interception probability.

Multiple electro optical reconnaissance system coordinates, more effectively can play its effect, original proximity detection centered by single electro optical reconnaissance system is followed the tracks of and becomes long-range detection tracking, extending space coverage and time coverage, make up the detection blind area of single electro optical reconnaissance system, improve Methods for Target Detection Probability, improve detecting and tracking precision.

Carry out the research of array electro optical reconnaissance system first to need to obtain electro-optical system to the observed data of target as data source, the correctness of checking electro optical reconnaissance system gordian technique, central station data processing method and workflow.The way of usual acquisition target observation data is erection multi-section electro optical reconnaissance systems; true aircraft multi rack time Route reform; which price is high; need very large man power and material; need to carry out the research of electro optical reconnaissance system target observation data simulation for this reason, in laboratory by the scene of simulation algorithm research simulated target and RTE DATA, emulation electro optical reconnaissance system target observation data; formed data source, checking follow-up function modular unit and gordian technique, data processing method correctness.

The object of simulation study sets up one to be enclosed within the verification method that laboratory completes the process of electro optical reconnaissance system target data, namely by setting up realistic model, output electro optical reconnaissance system is to the observation data of target, be transferred to central station as data source, with the generation etc. of the gordian technique and multi-target traces of verifying array electro optical reconnaissance system.

Summary of the invention

Object of the present invention is exactly the data source problem that will solve the checking of array electro optical reconnaissance system gordian technique, propose a kind of emulation mode of electro optical reconnaissance system target observation data for this reason, electro optical reconnaissance system is produced to the observation data of target at laboratory environment, be transferred to central station as data source, to verify the gordian technique of array electro optical reconnaissance system.

Technical scheme of the present invention is:

Described a kind of electro optical reconnaissance system target observation data simulation method, is characterized in that: comprise the following steps:

Step 1: set up rectangular coordinate system centered by electro optical reconnaissance system physical location A point, and initiation parameter and setting electro optical reconnaissance system scan mode and target flight condition; Initialized parameter is needed to comprise electro optical reconnaissance system sweep velocity ω, scope of reconnaissance R, target flight condition comprises the spacing d of target speed of a ship or plane v, target flight height h, target flight direction, target and rectangular coordinate system x-axis, target start point distance from the vertical range D of rectangular coordinate system y-axis, the initial orientation angle θ ' of target electro optical reconnaissance system departure time;

Step 2: calculate the time t that target arrives electro optical reconnaissance system border ₀, and target arrive electro optical reconnaissance system border time electro optical reconnaissance system azimuth angle theta;

Step 3: when calculating target arrival scouting zone boundary, from the azimuth angle alpha of electro optical reconnaissance system observed object ₀, angle of pitch β ₀with horizontal range amount L ₀;

Step 4: arrive electro optical reconnaissance system from target and scout region boundary time t ₀start, with time t for independent variable, set up the instantaneous azimuth α of reconnaissance system in scanning process _aiwith the functional relation of time t, and from the instantaneous azimuth α of electro optical reconnaissance system observed object _miwith the functional relation of time t, i ∈ n;

Step 5: the α set up according to step 4 _aiwith functional relation and the α of time t _miwith the functional relation of time t, pass through interative computation, t is changed by 0 to n △ t, △ t is step-length, the value of △ t is relevant with the integral time of the photoelectric sensor of electro optical reconnaissance system, and usual value is between 0.01ms ~ 10ms, and △ t value is less, simulation calculation data precision is higher, calculates the instantaneous azimuth α of electro optical reconnaissance system in scanning process successively according to the change of time t _ai, and from the instantaneous azimuth α of electro optical reconnaissance system observed object _mi, i ∈ n; And in interative computation process, if | α _ai-α _mi|≤ω Δ t, then get the azimuth angle alpha that electro optical reconnaissance system observes target for i-th time _i=α _ai, and according to α _icalculate the angle of pitch β of electro optical reconnaissance system i-th observed object _iand electro optical reconnaissance system is when observing target i-th time, target is to the horizontal range L of electro optical reconnaissance system _i, i ∈ n, judges L _iwhether being greater than target scouting the horizontal range of boundary position apart from electro optical reconnaissance system, if Rule of judgment is set up, then emulating end.If Rule of judgment is false, make i=i+1, repeat step 5, calculate the observation data of a bit.

Beneficial effect

In electro optical reconnaissance system target observation data simulation method provided by the invention, first centered by electro optical reconnaissance system physical location A point, set up rectangular coordinate system, target setting heading, electro optical reconnaissance system scan mode, initiation parameter, then interative computation is passed through, the condition criterion that specification error amount spies out as target by electro optical reconnaissance system is less than using the difference of the instantaneous azimuth of the instantaneous azimuth of electro optical reconnaissance system in scanning process and electro optical reconnaissance system observed object, export the position angle of target under the coordinate system of electro optical reconnaissance system place and the angle of pitch, realize electro optical reconnaissance system target observation data simulation thus, realistic model carries out rigorous mathematical derivation according to the space geometry relation of target kinematics equation and target and electro optical reconnaissance system, advantage is that the acquisition of electro optical reconnaissance system target observation data source is simple to operation, the more important thing is that it is with low cost, can under the different flying condition of laboratory simulations the observation data of target, possesses use repeatly.This method is applicable to the checking of electro optical reconnaissance system gordian technique and the proof of algorithm of central station based on data source.

Accompanying drawing explanation

Fig. 1: the process flow diagram of electro optical reconnaissance system target observation data simulation.

Fig. 2: the horizontal projection schematic diagram that in embodiment 1, target is flown over from y-axis positive axis.

Fig. 3: scan Angle Position horizontal projection schematic diagram during target in embodiment 1 for the first time.

Fig. 4: scan Angle Position horizontal projection schematic diagram during target in embodiment 1 for the second time.

Fig. 5: in embodiment 2, target bears from y-axis the horizontal projection schematic diagram that semiaxis flies over.

Fig. 6: scan Angle Position horizontal projection schematic diagram during target in embodiment 2 for the first time.

Fig. 7: scan Angle Position horizontal projection schematic diagram during target in embodiment 2 for the second time.

Embodiment

Below in conjunction with specific embodiment, the present invention is described:

Centered by the A point of electro optical reconnaissance system position, set up plane right-angle coordinate, target through coordinate conversion, can be summarized as following two kinds of situations close to the mode of electro optical reconnaissance system:

1) target is flown over from y-axis positive axis,

2) target is born semiaxis from y-axis and is flown over.

Electro optical reconnaissance system target observation data simulation method of the present invention is implemented on laboratory environment computing machine, and above-mentioned two situations are all perform according to process step shown in Fig. 1.

Embodiment 1: when target is flown over from y-axis positive axis:

Step 1: set up rectangular coordinate system centered by electro optical reconnaissance system physical location A point, and initiation parameter and setting electro optical reconnaissance system scan mode and target flight condition.

Electro optical reconnaissance system sweep velocity ω=180 °/s, scope of reconnaissance R are 20km to need initialized parameter to comprise, and electro optical reconnaissance system is by scanning clockwise; Target flight condition comprises that target speed of a ship or plane v is 400m/s, target flight height h is 5km, the spacing d of bogey heading and rectangular coordinate system x-axis is 6km, target start point distance is 30km from the vertical range D of rectangular coordinate system y-axis, the initial orientation angle θ ' of target electro optical reconnaissance system departure time is 20 °, target along with the horizontal flight from left to right of x-axis parallel direction.Fig. 2 is target flight process perspective view in the horizontal plane.

Step 2: calculate the time t that target arrives electro optical reconnaissance system A border E point ₀, and the azimuth angle theta of now electro optical reconnaissance system;

Can be calculated by known quantity:

Target is scouting the horizontal range r of region boundary position apart from electro optical reconnaissance system:

$r=\sqrt{R^2-h^2}=19364.9\left(m\right)$

$\mathrm{AP}=\sqrt{r^2-d^2}$

The time that can calculate target arrival E point is:

$t_0=\frac{D-\mathrm{AP}}{v}=\frac{D-\sqrt{r^2-d^2}}{v}=\frac{D-\sqrt{R^2-h^2-d^2}}{v}=28.970\left(s\right)$

The azimuth angle theta of electro optical reconnaissance system:

θ＝(θ'+t ₀·ω)\360＝194.6°

Step 3: when calculating target arrival scouting zone boundary, from the azimuth angle alpha of electro optical reconnaissance system observed object ₀, angle of pitch β ₀with horizontal range amount L ₀.

Can calculate according to space geometry relation:

L ₀＝AE＝r＝19364.9(m)

Step 4: arrive electro optical reconnaissance system from target and scout region boundary time t ₀start, with time t for independent variable, according to input parameter and initial value, adopt kinematical equation and space geometry relation, set up the instantaneous azimuth α of reconnaissance system in scanning process _aiwith the functional relation of time t, and from the instantaneous azimuth α of electro optical reconnaissance system observed object _miwith the functional relation of time t, i ∈ n;

First the instantaneous azimuth α of derivation electro optical reconnaissance system in scanning process _ai.For electro optical reconnaissance system A, due to the difference of initial angle position, there are following two kinds of situations:

A) as initial azimuth angle theta≤α ₀time, have:

360-α _A1＝ωt-θ

Can draw: α _a1=360+ θ-ω t

B) as initial azimuth angle theta > α ₀time, have:

θ-α _A1＝ωt

Can draw: α _a1=θ-ω t

θ=194.6 ° in the present embodiment, α ₀=161.95 °, can calculate:

α _A1＝θ-ωt＝194.6-180t。

When electro optical reconnaissance system A second time scans target M, now the initial angle of electro optical reconnaissance system can regard α as _a1, i.e. θ=α _a1, the instantaneous azimuth can listing electro optical reconnaissance system A is:

α _A2＝360+θ-ωt＝360+α _A1-ωt

In like manner, electro optical reconnaissance system A can be derived when scanning target M i-th time, the instantaneous azimuth of electro optical reconnaissance system A:

α _Ai＝360+θ-ωt＝360+α _A(i-1)-ωt

Derive from the instantaneous azimuth α of electro optical reconnaissance system observed object _mi.When target arrives the border of electro optical reconnaissance system, photoelectronic reconnaissance reconnaissance system is centered by A point, and initial angle is θ, continuous sweep in the direction of the clock, electro optical reconnaissance system will scan target, necessarily along on the heading of target, in target flight process, hypothetical target flies to H ₁point, Angle Position schematic diagram when first time scans target M as shown in Figure 3.

So, at triangle AEH ₁in, utilize the cosine law to draw:

AH ₁ ²＝AE ²+EH ₁ ²-2·AE·EH ₁·cos∠AEH ₁(1)

Wherein:

${\mathrm{AH}}_1=\frac{d}{\sin (180-{\mathrm{\α}}_{M1})}$

AE＝L ₀

EH ₁＝v·t

∠AEH ₁＝180-α ₀

(1) formula of substitution is:

${\left(\frac{d}{\sin (180-{\mathrm{\α}}_{M1})}\right)}^2={L_0}^2+{(v\·t)}^2-2{\·L}_0\·v\·t\·\cos (180-{\mathrm{\α}}_0)$

Can show that the instantaneous azimuth of target is α by (2) _m1for:

${\mathrm{\α}}_{M1}=180-\arcsin \frac{d}{\sqrt{{L_0}^2+{(v\·t)}^2-2\·L_0\·v\·t\·\cos (180-{\mathrm{\α}}_0)}}$

In target M flight course, by electro optical reconnaissance system, second time by electro optical reconnaissance system A sweep then, as shown in Figure 4, observes that the instantaneous azimuth of target is α _m2, at triangle AH ₁h ₂in, utilize the cosine law to draw:

AH ₂ ²＝AH ₁ ²+H ₁H ₂ ²-2·AH ₁·H ₁H ₂·cos∠AH ₁H ₂(3)

Wherein:

${\mathrm{AH}}_2=\frac{d}{\sin (180-{\mathrm{\θ}}_{M2})}$

AH ₁＝L ₁

H ₁H ₂＝v·t

∠AH ₁H ₂＝180-α ₁

(3) formula of substitution is:

${\left(\frac{d}{\sin (180-{\mathrm{\α}}_{M2})}\right)}^2={L_1}^2+{(v\·t)}^2-2\·L_1\·v\·t\·\cos (180-{\mathrm{\α}}_1)---\left(4\right)$

Can show that the instantaneous azimuth of target is α by (4) _m2for:

${\mathrm{\α}}_{M2}=180-\arcsin \frac{d}{\sqrt{{L_1}^2+{(v\·t)}^2-2\·L_1\·v\·t\·\cos (180-{\mathrm{\α}}_1)}}$

In like manner, target M i-th time can be derived by electro optical reconnaissance system A sweep then, from the instantaneous azimuth α of electro optical reconnaissance system observed object _mi:

α _miduring >90: ${\mathrm{AH}}_i=\frac{d}{\sin (180-{\mathrm{\α}}_{\mathrm{Mi}})}$

${\mathrm{\α}}_{\mathrm{Mi}}=180-\arcsin \frac{d}{\sqrt{{L_{i-1}}^2+{(v\·t)}^2-2\·L_1\·v\·t\·\cos (180-{\mathrm{\α}}_{i-1})}}$

α _miwhen≤90: ${\mathrm{AH}}_i=\frac{d}{\sin {\mathrm{\α}}_{\mathrm{Mi}}}$

${\mathrm{\α}}_{\mathrm{Mi}}=\arcsin \frac{d}{\sqrt{{L_{i-1}}^2+{(v\·t)}^2-2\·L_1\·v\·t\·\cos (180-{\mathrm{\α}}_{i-1})}}$

Step 5: the α set up according to step 4 _aiwith functional relation and the α of time t _miwith the functional relation of time t, pass through interative computation, t is changed by 0 to n △ t, △ t is step-length, the value of △ t is relevant with the integral time of the photoelectric sensor of electro optical reconnaissance system, and usual value is between 0.01ms ~ 10ms, and △ t value is less, simulation calculation data precision is higher, calculates the instantaneous azimuth α of electro optical reconnaissance system in scanning process successively according to the change of time t _ai, and from the instantaneous azimuth α of electro optical reconnaissance system observed object _mi, i ∈ n; And in interative computation process, if | α _ai-α _mi|≤ω Δ t, then get the azimuth angle alpha that electro optical reconnaissance system observes target for i-th time _i=α _ai, and according to α _icalculate the angle of pitch β of electro optical reconnaissance system i-th observed object _iand electro optical reconnaissance system is when observing target i-th time, target is to the horizontal range L of electro optical reconnaissance system _i, i ∈ n, judges L _iwhether being greater than target scouting the horizontal range of boundary position apart from electro optical reconnaissance system, if Rule of judgment is set up, then emulating end.If Rule of judgment is false, make i=i+1, repeat step 5, calculate the observation data of a bit.

In the present embodiment when resolving, using time t as variable, along with the time increases progressively, calculate α respectively _ai, α _miangle compares, and works as α _ai=α _mitime, electro optical reconnaissance system observes target, i.e. α _i=α _ai=α _mi, but in actual use, α _ai=α _mimay be very close but not necessarily completely equal, because target flies at a constant speed, α _mibe a continuous quantity, change very little in time, and reconnaissance system adopt the mode of continuous sweep usually, α _aibe a discrete magnitude, alter a great deal in time, need to provide certain error range, the interval of this error range and v, ω value and time t is relevant, namely has for this reason

Δα _A＝ω·Δt

Work as v=400m/s, ω=180o/s, get △ t=0.0001s, the error under this condition: Δ α _a=0.018 °;

Therefore maximum error scope can be set to 0.018 °, and the Angle Position that electro optical reconnaissance system first time scans target M is (α ₁, β ₁) and horizontal range be L ₁, time t ₁, | α _ai-α _mi|≤ω Δ t, then have:

α ₁＝α _A1＝α _M1

${\mathrm{\β}}_1=\arctan \left(\frac{h}{\mathrm{AH}}\right)=\arctan \left(\frac{h\·\sin (180-{\mathrm{\α}}_1)}{d}\right)$

Its horizontal range is L ₁,

$L_1={\mathrm{AH}}_1=\frac{d}{\sin (180-{\mathrm{\α}}_1)}$

t ₁＝t ₀+Δt

$r_1=\sqrt{{L_1}^2-h^2}$

α ₂＝α _A2＝α _M2

${\mathrm{\β}}_1=\arctan \left(\frac{h}{{\mathrm{AH}}_2}\right)=\arctan \left(\frac{h\·\sin (180-{\mathrm{\α}}_2)}{d}\right)$

Its horizontal range is L ₂,

$L_2={\mathrm{AH}}_2=\frac{d}{\sin (180-{\mathrm{\α}}_2)}$

t ₂＝t ₁+Δt

$r_2=\sqrt{{L_2}^2-h^2}$

According to above model, by recursion, Angle Position (α when scanning target by electro optical reconnaissance system can be calculated successively _i, β _i), if | α _ai-α _mi|≤ω Δ t, (i=1,2 ... n) set up, then electro optical reconnaissance system observes the azimuth angle alpha of target for i-th time _i=α _ai=α _mi,

${\mathrm{\β}}_i=\arctan \left(\frac{h}{{\mathrm{AH}}_i}\right)=\arctan \left(\frac{h\·\sin (180-{\mathrm{\α}}_i)}{d}\right)$

Its horizontal range is L _i,

$L_i={\mathrm{AH}}_i=\frac{d}{\sin (180-{\mathrm{\α}}_i)}$

t _i＝t _i-1+Δt

$r_i=\sqrt{{L_i}^2-h^2}$

Table 1 meets L for target along in the capable embodiment of y-axis forward _i46 the points of measurement certificates of≤r condition

Embodiment 2: when target from y-axis bear semiaxis fly over time:

Step 1: set up rectangular coordinate system centered by electro optical reconnaissance system physical location A point, and initiation parameter and setting electro optical reconnaissance system scan mode and target flight condition.

Electro optical reconnaissance system sweep velocity ω=180 °/s, scope of reconnaissance R are 20km to need initialized parameter to comprise, and electro optical reconnaissance system is by scanning clockwise; Target flight condition comprises that target speed of a ship or plane v is 400m/s, target flight height h is 5km, the spacing d of bogey heading and rectangular coordinate system x-axis is 9km, target start point distance is 30km from the vertical range D of rectangular coordinate system y-axis, the initial orientation angle θ ' of target electro optical reconnaissance system departure time is 30 °, target along with the horizontal flight from left to right of x-axis parallel direction.Fig. 5 is the projection in the horizontal plane of target flight process.

Step 2: calculate the time t that target arrives electro optical reconnaissance system A border E point ₀, and the azimuth angle theta of now electro optical reconnaissance system;

Can be calculated by known quantity:

Target is scouting the horizontal range r of region boundary position apart from electro optical reconnaissance system:

$r=\sqrt{R^2-h^2}=19364.9\left(m\right)$

$\mathrm{AP}=\sqrt{r^2-d^2}$

The time that can calculate target arrival E point is:

$t_0=\frac{D-\mathrm{AP}}{v}=\frac{D-\sqrt{r^2-d^2}}{v}=\frac{D-\sqrt{R^2-h^2-d^2}}{v}=32.133\left(s\right)$

θ＝(θ'+t ₀·ω)\360＝53.94°

Step 3: when calculating target arrival scouting zone boundary, from the azimuth angle alpha of electro optical reconnaissance system observed object ₀, angle of pitch β ₀with horizontal range amount L ₀.

Can calculate according to space geometry relation:

L ₀＝AE＝r＝19364.9(m)

Step 4: arrive electro optical reconnaissance system from target and scout region boundary time t ₀start, with time t for independent variable, according to input parameter and initial value, adopt kinematical equation and space geometry relation, set up the instantaneous azimuth α of reconnaissance system in scanning process _aiwith the functional relation of time t, and from the instantaneous azimuth α of electro optical reconnaissance system observed object _miwith the functional relation of time t, i ∈ n;

First the instantaneous azimuth α of derivation electro optical reconnaissance system in scanning process _ai.For electro optical reconnaissance system A, due to the difference of initial angle position, there are following two kinds of situations:

A) as initial azimuth angle theta≤α ₀time, have:

360-α _A1＝ωt-θ

Can draw: α _a1=360+ θ-ω t

B) as initial azimuth angle theta > α ₀time, have:

θ-α _A1＝ωt

Can draw: α _a1=θ-ω t

θ=53.94 ° in the present embodiment, α ₀=207.69 °, can calculate:

α _A1＝360+θ-ωt＝413.94-180t。

When electro optical reconnaissance system A second time scans target M, now the initial angle of electro optical reconnaissance system can regard α as _a1, i.e. θ=α _a1, the instantaneous azimuth can listing electro optical reconnaissance system A is:

α _A2＝360+θ-ωt＝360+α _A1-ωt

In like manner, electro optical reconnaissance system A can be derived when scanning target M i-th time, the instantaneous azimuth of electro optical reconnaissance system A:

α _Ai＝360+θ-ωt＝360+α _A(i-1)-ωt

Derive from the instantaneous azimuth α of electro optical reconnaissance system observed object _mi.When target arrives the border of electro optical reconnaissance system, photoelectronic reconnaissance reconnaissance system is centered by A point, and initial angle is θ, continuous sweep in the direction of the clock, electro optical reconnaissance system will scan target, necessarily along on the heading of target, in target flight process, hypothetical target flies to H ₁point, Angle Position schematic diagram when first time scans target M as shown in Figure 6.

So, at triangle AEH ₁in, utilize the cosine law to draw:

AH ₁ ²＝AE ²+EH ₁ ²-2·AE·EH ₁·cos∠AEH ₁(5)

Wherein:

${\mathrm{AH}}_1=\frac{d}{\sin ({\mathrm{\α}}_{M1}-180)}$

AE＝L ₀

EH ₁＝v·t

∠AEH ₁＝α ₀-180

(5) formula of substitution is:

${\left(\frac{d}{\sin ({\mathrm{\α}}_{M1}-180)}\right)}^2={L_0}^2+{(v\·t)}^2-2{\·L}_0\·v\·t\·\cos ({\mathrm{\α}}_0-180)---\left(6\right)$

Can show that the instantaneous azimuth of target is α by (6) _m1for:

${\mathrm{\α}}_{M1}=180-\arcsin \frac{d}{\sqrt{{L_0}^2+{(v\·t)}^2-2\·L_0\·v\·t\·\cos ({\mathrm{\α}}_0-180)}}$

In target M flight course, by electro optical reconnaissance system, second time by electro optical reconnaissance system A sweep then, as shown in Figure 7, observes that the instantaneous azimuth of target is α _m2, at triangle AH ₁h ₂in, utilize the cosine law to draw:

AH ₂ ²＝AH ₁ ²+H ₁H ₂ ²-2·AH ₁·H ₁H ₂·cos∠AH ₁H ₂(7)

Wherein:

${\mathrm{AH}}_2=\frac{d}{\sin ({\mathrm{\α}}_{M1}-180)}$

AH ₁＝L ₁

H ₁H ₂＝v·t

∠AH ₁H ₂＝α ₁-180

(7) formula of substitution is:

${\left(\frac{d}{\sin ({\mathrm{\α}}_{M2}-180)}\right)}^2={L_1}^2+{(v\·t)}^2-2\·L_1\·v\·t\·\cos ({\mathrm{\α}}_1-180)---\left(8\right)$

Can show that the instantaneous azimuth of target is α by (8) _m2for:

${\mathrm{\α}}_{M2}=180+\arcsin \frac{d}{\sqrt{{L_1}^2+{(v\·t)}^2-2\·L_1\·v\·t\·\cos ({\mathrm{\α}}_1-180)}}$

In like manner, target M i-th time can be derived by electro optical reconnaissance system A sweep then, from the instantaneous azimuth α of electro optical reconnaissance system observed object _mi:

α _miduring >270: ${\mathrm{AH}}_i=\frac{d}{\sin (360-{\mathrm{\α}}_{\mathrm{Mi}})}$

${\mathrm{\α}}_{\mathrm{Mi}}=360-\arcsin \frac{d}{\sqrt{{L_{i-1}}^2+{(v\·t)}^2-2\·L_1\·v\·t\·\cos ({\mathrm{\α}}_{i-1}-180)}}$

α _miwhen≤270: ${\mathrm{AH}}_i=\frac{d}{\sin ({\mathrm{\α}}_{\mathrm{Mi}}-180)}$

${\mathrm{\α}}_{\mathrm{Mi}}=180+\arcsin \frac{d}{\sqrt{{L_{i-1}}^2+{(v\·t)}^2-2\·L_1\·v\·t\·\cos ({\mathrm{\α}}_{i-1}-180)}}$

Step 5: the α set up according to step 4 _aiwith functional relation and the α of time t _miwith the functional relation of time t, pass through interative computation, t is changed by 0 to n △ t, △ t is step-length, the value of △ t is relevant with the integral time of the photoelectric sensor of electro optical reconnaissance system, and usual value is between 0.01ms ~ 10ms, and △ t value is less, simulation calculation data precision is higher, calculates the instantaneous azimuth α of electro optical reconnaissance system in scanning process successively according to the change of time t _ai, and from the instantaneous azimuth α of electro optical reconnaissance system observed object _mi, i ∈ n; And in interative computation process, if | α _ai-α _mi|≤ω Δ t, then get the azimuth angle alpha that electro optical reconnaissance system observes target for i-th time _i=α _ai, and according to α _icalculate the angle of pitch β of electro optical reconnaissance system i-th observed object _iand electro optical reconnaissance system is when observing target i-th time, target is to the horizontal range L of electro optical reconnaissance system _i, i ∈ n, judges L _iwhether being greater than target scouting the horizontal range of boundary position apart from electro optical reconnaissance system, if Rule of judgment is set up, then emulating end.If Rule of judgment is false, make i=i+1, repeat step 5, calculate the observation data of a bit.

In the present embodiment when resolving, using time t as variable, along with the time increases progressively, calculate α respectively _ai, α _miangle compares, and works as α _ai=α _mitime, electro optical reconnaissance system observes target, i.e. α _i=α _ai=α _mi, but in actual use, α _ai=α _mimay be very close but not necessarily completely equal, because target flies at a constant speed, α _mibe a continuous quantity, change very little in time, and reconnaissance system adopt the mode of continuous sweep usually, α _aibe a discrete magnitude, alter a great deal in time, need to provide certain error range, the interval of this error range and v, ω value and time t is relevant, namely has for this reason

Δα _A＝ω·Δt

Work as v=400m/s, ω=180o/s, get △ t=0.0001s, the error under this condition: Δ α _a=0.018 °;

Therefore maximum error scope can be set to 0.018 °, and the Angle Position that electro optical reconnaissance system first time scans target M is (α ₁, β ₁) and horizontal range be L ₁, time t ₁, | α _ai-α _mi|≤ω Δ t, then have:

α ₁＝α _A1＝α _M1

${\mathrm{\β}}_1=\arctan \left(\frac{h}{{\mathrm{AH}}_1}\right)=\arctan \left(\frac{h\·\sin ({\mathrm{\α}}_1-180)}{d}\right)$

Its horizontal range is L ₁,

$L_1={\mathrm{AH}}_1=\frac{d}{\sin ({\mathrm{\α}}_1-180)}$

t ₁＝t ₀+Δt

$r_1=\sqrt{{L_1}^2-h^2}$

α ₂＝α _A2＝α _M2

${\mathrm{\β}}_2=\arctan \left(\frac{h}{{\mathrm{AH}}_2}\right)=\arctan \left(\frac{h\·\sin ({\mathrm{\α}}_2-180)}{d}\right)$

Its horizontal range is L ₂,

$L_2={\mathrm{AH}}_2=\frac{d}{\sin ({\mathrm{\α}}_2-180)}$

t ₂＝t ₁+Δt

$r_2=\sqrt{{L_2}^2-h^2}$

According to above model, by recursion, Angle Position (α when scanning target by electro optical reconnaissance system can be calculated successively _i, β _i), if | α _ai-α _mi|≤ω Δ t, (i=1,2 ... n) set up, then electro optical reconnaissance system observes the azimuth angle alpha of target for i-th time _i=α _ai=α _mi,

${\mathrm{\β}}_i=\arctan \left(\frac{h}{{\mathrm{AH}}_i}\right)=\arctan \left(\frac{h\·\sin ({\mathrm{\α}}_i-180)}{d}\right)$

Its horizontal range is L _i,

$L_i={\mathrm{AH}}_i=\frac{d}{\sin ({\mathrm{\α}}_i-180)}$

t _i＝t _i-1+Δt

$r_i=\sqrt{{L_i}^2-h^2}$

Table 2 is that target meets L along in y-axis negative sense flight embodiment _i43 the points of measurement certificates of≤r condition

Claims (1)

1. an electro optical reconnaissance system target observation data simulation method, is characterized in that: comprise the following steps:

Step 1: set up rectangular coordinate system centered by electro optical reconnaissance system physical location A point, and initiation parameter and setting electro optical reconnaissance system scan mode and target flight condition; Initialized parameter is needed to comprise electro optical reconnaissance system sweep velocity ω, scope of reconnaissance R, target flight condition comprises the spacing d of target speed of a ship or plane v, target flight height h, target flight direction, target and rectangular coordinate system x-axis, target start point distance from the vertical range D of rectangular coordinate system y-axis, the initial orientation angle θ ' of target electro optical reconnaissance system departure time;

Step 2: calculate the time t that target arrives electro optical reconnaissance system border ₀, and target arrive electro optical reconnaissance system border time electro optical reconnaissance system azimuth angle theta;

Step 3: when calculating target arrival scouting zone boundary, from the azimuth angle alpha of electro optical reconnaissance system observed object ₀, angle of pitch β ₀, horizontal range amount L ₀;

Step 4: arrive electro optical reconnaissance system from target and scout region boundary time t ₀start, with time t for independent variable, set up the instantaneous azimuth α of reconnaissance system in scanning process _aiwith the functional relation of time t, and from the instantaneous azimuth α of electro optical reconnaissance system observed object _miwith the functional relation of time t, i ∈ n;

Step 5: the α set up according to step 4 _aiwith functional relation and the α of time t _miwith the functional relation of time t, by interative computation, t is changed by 0 to n △ t, and △ t is step-length, calculates the instantaneous azimuth α of electro optical reconnaissance system in scanning process successively according to the change of time t _ai, and from the instantaneous azimuth α of electro optical reconnaissance system observed object _mi, i ∈ n; And in interative computation process, if | α _ai-α _mi|≤ω Δ t, then get the azimuth angle alpha that electro optical reconnaissance system observes target for i-th time _i=α _ai, and according to α _icalculate the angle of pitch β of electro optical reconnaissance system i-th observed object _iand electro optical reconnaissance system is when observing target i-th time, target is to the horizontal range L of electro optical reconnaissance system _i, i ∈ n, judges L _iwhether being greater than target scouting the horizontal range of boundary position apart from electro optical reconnaissance system, if Rule of judgment is set up, then emulating end.