CN112182857A - Rocket sublevel debris falling point prediction method, device and storage medium - Google Patents

Rocket sublevel debris falling point prediction method, device and storage medium Download PDF

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CN112182857A
CN112182857A CN202010957543.8A CN202010957543A CN112182857A CN 112182857 A CN112182857 A CN 112182857A CN 202010957543 A CN202010957543 A CN 202010957543A CN 112182857 A CN112182857 A CN 112182857A
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debris
sub
deviation
level
sublevel
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CN112182857B (en
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赵洪
高峰
龚旻
张东
黄建友
马奥家
张磊
卜奎晨
康珅
姜春旺
葛云鹏
宋志国
张意国
曾伟
冯铁山
周国哲
张志勇
刘博�
韩敬永
谭杰
孙晓峰
陈政
罗波
于贺
任新宇
王冀宁
年永尚
戴新进
吴佳雯
黄超
付陶陶
刘娟
陆梦娟
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China Academy of Launch Vehicle Technology CALT
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract

The embodiment of the application provides a rocket sublevel debris drop point prediction method, rocket sublevel debris drop point prediction equipment and a storage medium, wherein the method comprises the following steps: obtaining separation parameters of rocket sublevel debris during separation and environment deviation parameters influencing motion trail of the sublevel debris; and determining the range of the landing points of the sub-level debris according to the separation parameters, the environment deviation parameters and the preset rigid body motion model of the sub-level debris. The method, the device and the storage medium for indicating the landing point of the rocket sublevel debris can indicate the landing position of the rocket sublevel debris more accurately and reduce the landing range.

Description

Rocket sublevel debris falling point prediction method, device and storage medium
Technical Field
The application relates to a technology for recovering debris after rocket launching, in particular to a method, equipment and a storage medium for predicting falling points of rocket sublevel debris.
Background
In order to improve the carrying capacity of the multi-stage solid carrier rocket, useless structures such as a shell of the engine and the like are thrown away after the engine at each stage works, and sub-stage remains of the rocket are formed. In the flight process of the rocket, the falling area of the sub-level debris cannot be a dense population area, and meanwhile, the falling area needs to be subjected to safety control, so that the falling point of the sub-level debris of the rocket needs to be predicted, a possible falling point area of the rocket needs to be predicted in advance, and safety control is performed.
The rocket is controllable in the flying process, and can be used for track adjustment and tracking. The rocket substage debris is separated and then flies uncontrollably, the flight track of the rocket substage debris can be predicted only by means of mathematical simulation, the falling point range is defined, and the substage debris is ensured to fall in the range so as to be conveniently managed and controlled. The traditional prediction methods are various, but the prediction precision is not accurate enough.
Disclosure of Invention
In order to solve one of the technical defects, embodiments of the present application provide a rocket sublevel debris drop point prediction method, device, and storage medium.
The embodiment of the first aspect of the application provides a rocket sublevel debris drop point prediction method, which comprises the following steps:
obtaining separation parameters of rocket sublevel debris during separation and environment deviation parameters influencing motion trail of the sublevel debris;
and determining the range of the landing points of the sub-level debris according to the separation parameters, the environment deviation parameters and the preset rigid body motion model of the sub-level debris.
An embodiment of a second aspect of the present application provides a rocket sublevel debris drop point prediction apparatus, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method as described above.
A third aspect of the present application provides a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the method as described above.
According to the technical scheme adopted by the embodiment of the application, the separation parameters of rocket sublevel debris during separation and the environment deviation parameters influencing the motion trail of the sublevel debris are obtained, then the landing point range of the sublevel debris is determined according to the separation parameters, the environment deviation parameters and the preset sublevel debris rigid body motion model, the landing point range of the sublevel debris is calculated by taking the separated sublevel debris as a rigid body and utilizing the sublevel debris rigid body motion model in combination with the environment deviation parameters, so that the calculation accuracy is higher, the landing point range of the sublevel debris can be determined more accurately, the recovery rate of the sublevel debris is improved without being found through manpower and material resources after the sublevel debris falls on the ground, the safe control of the landing point range in time is facilitated, and the property loss is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flowchart of a rocket sublevel debris drop point prediction method according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of a rocket substage debris drop point prediction method according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a rocket sublevel debris drop point prediction device according to a third embodiment of the present application.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example one
The embodiment provides a rocket sublevel debris landing point prediction method, which can accurately predict landing points of separated sublevel debris of a rocket so as to recover the sublevel debris and perform safety control on areas near the landing points
In practical application, the rocket sublevel debris falling point prediction method can be realized by a computer program, such as application software; alternatively, the method may also be implemented as a medium storing a related computer program, for example, a usb disk, a cloud disk, or the like; still alternatively, the method may be implemented by a physical device, such as a chip, a removable smart device, etc., into which the associated computer program is integrated or installed.
Fig. 1 is a flowchart of a rocket sublevel debris drop point prediction method according to an embodiment of the present application. As shown in fig. 1, the method for predicting the landing point of the rocket substage debris provided in this embodiment includes:
step 101, obtaining separation parameters of rocket sublevel debris during separation and environment deviation parameters influencing motion trail of the sublevel debris.
The separation parameters of rocket level debris during separation can be as follows: speed, direction, etc. Since the sub-level debris is identical to the rocket body in the running direction and speed at the moment of separation, the separation parameters can be detected by the detection equipment arranged in the rocket body and are transmitted back to the ground equipment in a communication mode with the ground equipment.
After the sub-level debris is separated, the motion trajectory of the sub-level debris is influenced by the environment besides the direction and the speed at the moment of separation. The environmental deviation parameters affecting the motion trajectory of the sub-level debris may be: wind, atmospheric density, atmospheric temperature, etc., which affect the speed and direction of motion of the sub-level debris. The parameters can be obtained by processing and calculating according to the current meteorological data of rocket launching, and can also be obtained by combining a probability distribution calculation mode.
And 102, determining the range of the landing points of the sub-level debris according to the separation parameters, the environment deviation parameters and the preset sub-level debris rigid body motion model.
After the sub-level debris is separated, the sub-level debris is regarded as a rigid body to calculate the drop point of the rigid body, and compared with the traditional method adopting limit resistance, the method can simulate the motion of the sub-level debris in the air more truly, and is beneficial to the true simulation of the flight process of the sub-level debris so as to obtain a more accurate result.
And pre-establishing a sub-level debris rigid body motion model according to the characteristics of the shape, the quality and the like of the sub-level debris, wherein the motion model can be established by considering the motion conditions of the sub-level debris in six spatial directions.
And substituting the separation parameters and the environment deviation parameters of the sub-level debris into a sub-level debris rigid body motion model, and calculating to obtain the landing point range of the sub-level debris.
According to the technical scheme adopted by the embodiment, the separation parameters of rocket sub-level debris during separation and the environmental deviation parameters influencing the movement track of the rocket sub-level debris are obtained, then the landing point range of the sub-level debris is determined according to the separation parameters, the environmental deviation parameters and the preset sub-level debris rigid body movement model, the separated rocket sub-level debris is regarded as the rigid body, the landing point range of the rocket sub-level debris is calculated by utilizing the sub-level debris rigid body movement model and combining the environmental deviation parameters, the calculation accuracy is higher, the landing point range of the rocket sub-level debris can be determined more accurately, the rocket sub-level debris can not be searched by manpower and material resources after the rocket sub-level debris falls on the ground, the recovery rate of the rocket sub-level debris is improved, the safe control of the landing point range is facilitated in time, and the property loss is avoided.
Example two
The embodiment provides a specific implementation manner of the rocket sublevel debris landing point prediction method on the basis of the above embodiment.
Fig. 2 is a flowchart of a rocket sublevel debris drop point prediction method according to a second embodiment of the present application. As shown in fig. 2, the method for predicting the landing point of the rocket substage debris provided in this embodiment includes:
step 201, establishing a sub-level rigid body motion model of the remains.
The forces borne by the rocket sub-level debris in the flying process comprise aerodynamic force, earth attraction and additional force, the moment comprises aerodynamic moment and additional moment, the rocket sub-level debris rolls in the flying process, and in order to avoid matrix singularity in calculation, quaternions are adopted for resolving the attitude angle. The secondary debris rigid body motion model provided by the embodiment is a six-degree-of-freedom rigid body model based on quaternions, and is used for simulating the actual flight process of the secondary debris so as to enable the calculated coordinates of the landing point to be more accurate.
The embodiment provides a rigid body motion model of self-body remains as follows:
Figure BDA0002679296980000051
where m is the mass of the sub-level debris, (v)x,vy,vz) Three components of the current motion velocity of the sub-level debris in the emission system, GBIs a coordinate transformation matrix from an arrow system to a launching system, X is an axial force, Y is a normal force, Z is a lateral force, (g)x,gy,gz) Is the gravitational acceleration in the three components of the launching system (a)ex,aey,aez) Is the three components of centrifugal acceleration in the launching system (a)kx,aky,akz) Is the three components of the Coriolis acceleration in the transmitting system;
Figure BDA0002679296980000054
wherein (I)x1,Iy1,Iz1) Is the moment of inertia (omega) along three axes of the arrow coordinate systemTx1,ωTy1,ωTz1) The rotation angular velocity of the arrow body relative to the inertia space is in three components of the arrow system, (0, M)y1st,Mz1st) The aerodynamic moment is three components of an arrow system;
Figure BDA0002679296980000052
Figure BDA0002679296980000053
wherein, (x, y, z) is the current position in three directions under the emission system of the sub-level debris, (v)x,vy,vz) The current motion velocity of the sub-level debris is the three-component of the emission system (omega)x,ωy,ωz) The relative angular velocity of the arrow body is in three components of the arrow system (omega)Tx1,ωTy1,ωTz1) The rotation angular velocity of the arrow body relative to the inertia space is in three components of the arrow system, BGFor the coordinate transformation matrix from the launch system to the arrow system, (ω)ex,ωey,ωez) For earth rotation in the transmitting systemAmount of the compound (A).
In order to avoid singularity, attitude calculation is carried out by adopting a quaternion method, and the equation of the quaternion form is as follows:
Figure BDA0002679296980000061
wherein q is0Is the real part of a quaternion, q1、q2、q3Is the imaginary part of the quaternion,
Figure BDA0002679296980000063
is the rate of change of the real part of the quaternion,
Figure BDA0002679296980000064
is the fractional rate of change of the imaginary part of the quaternion (ω)x,ωy,ωz) The relative rotational angular velocity of the arrow body is in three components of the arrow system.
The initial value of the attitude angle represented by the quaternion is as follows:
Figure BDA0002679296980000062
wherein q is0(0) Is an initial value of the real part of a quaternion, q1(0)、q2(0) Q is3(0) Is the initial value of the imaginary part of the quaternion,
Figure BDA0002679296980000065
initial pitch angle, psi, relative to the emitter train for separation of sub-level debris0Is the initial yaw angle, gamma, of the relative launch train during separation of sub-level debris0Is the initial roll angle of the relative emission system at the time of separation of the sub-level debris.
In the calculation, considering that the orthogonality of the quaternion transformation is destroyed by the integral error, the norm of the quaternion needs to be corrected each time the differential equation is solved, that is:
Figure BDA0002679296980000071
wherein q is0Is the real part of a quaternion, q1、q2、q3Is the imaginary part of a quaternion, q0 *Is the real part of the integrated quaternion, q1 *、q2 *、q3 *Is the imaginary part of the quaternion after integration.
And then according to the quaternion, resolving to obtain an attitude angle:
ψ＝arcsin(-a(1,3))
Figure BDA0002679296980000072
Figure BDA0002679296980000073
Figure BDA0002679296980000074
wherein psi is the current pitch angle of the sub-level debris relative to the emission system,
Figure BDA0002679296980000077
the current pitch angle of the substage debris relative to the transmission system is gamma, the current pitch angle of the substage debris relative to the transmission system is a, a is a quaternion-related matrix, a (1,1) represents a first column and a first row of data of the matrix, a (1,2) represents a first column and a second row of data of the matrix, a (1,3) represents a first column and a third row of data of the matrix, a (2,3) represents a second column and a third row of data of the matrix, and a (3,3) represents a third column and a third row of data of the matrix.
And solving the attitude angle of the relative emission inertia system.
Figure BDA0002679296980000075
Wherein psiTIn order to be at a pitch angle relative to the launch inertia system,
Figure BDA0002679296980000078
for relative launch of yaw angle, gamma, of the inertial systemTIs the roll angle of the relative emission inertial system, t is the flight time (omega)ex,ωey,ωez) Three components of the earth rotation in the transmitting system.
Figure BDA0002679296980000076
Where θ is the velocity dip angle and σ is the velocity slip angle. v is the flying speed and can be calculated by the following formula
Calculating to obtain:
Figure BDA0002679296980000081
Figure BDA0002679296980000082
Figure BDA0002679296980000083
Figure BDA0002679296980000084
where φ is longitude, α is angle of attack, β is sideslip angle, ν is roll angle, R is0x、R0y、R0zThree components of the earth center distance vector of the launching point in the launching system are shown, and r is the distance between the rocket sublevel debris and the earth center at the current moment.
Figure BDA0002679296980000085
Wherein, aeIs the earth's major semi-axis, beIs the minor semi-axis of the earth, R is the current time, rocket sublevelThe geocentric distance of the projected point on the ground.
h＝r-R，
Wherein h is the flying height.
Step 202, obtaining separation parameters of rocket sublevel debris during separation.
And calculating separation parameters of rocket sublevel debris during separation according to the particle trajectory model. The particle ballistic model may be a model commonly used in the art.
The separation parameters may include: three-directional velocity (V) of sub-level debris under launching systemx0,Vy0,Vzo) Three-directional position (X) under the emission system0,Y0,Zo) And pitch, yaw and roll angles relative to the launch train
Figure BDA0002679296980000086
Separation parameters may also include pitch, yaw, and roll rates of the substage debris at the time of separation
Figure BDA0002679296980000094
And step 203, obtaining environmental deviation parameters influencing the motion trail of the rocket sublevel debris.
The environment deviation parameters include: separation point parameter deviation, sublevel debris mass characteristic deviation, sublevel debris aerodynamic coefficient deviation, atmospheric density deviation, atmospheric pressure deviation, atmospheric temperature deviation, and wind direction deviation.
The distribution rule of the environmental deviation parameters depends on statistical data. The parameter deviation of the separation points, the quality characteristic deviation of the sub-level debris, the aerodynamic coefficient deviation of the sub-level debris, the atmospheric density deviation, the atmospheric pressure deviation and the atmospheric temperature deviation all follow normal distribution.
The probability density function of a normal distribution is:
Figure BDA0002679296980000091
where μ is the mean and σ is the standard deviation.
The wind direction deviation comprises: no wind deviation, no downwind deviation and no upwind deviation.
Setting up the nth environmental deviation parameter, obeying normal distribution, and recording as:
Figure BDA0002679296980000095
and determining the landing point of the sub-level debris by adopting a Monte Carlo target shooting mode under the condition of considering the deviation. Wherein, parameters adopted in the targeting process are as follows:
when the environmental deviation parameter is an absolute quantity, such as mass deviation and the like:
Figure BDA0002679296980000092
for environmental deviation parameters as relative quantities, such as atmospheric density deviation, aerodynamic deviation, etc.:
Figure BDA0002679296980000093
and 204, determining the number of times of shooting for the floor point shooting calculation of the sub-level debris according to a preset probability model.
In this embodiment, the probability model may be a bernoulli probability model, and the number of times of shooting is obtained according to the following formula:
Figure BDA0002679296980000101
wherein N is the number of times of target shooting, phi is p0Is as follows. Gamma is the confidence level and is generally 0.8-0.98. Zeta is relative accuracy, and is generally 0.001 to 0.005.
Step 205, determining the coordinates of the landing points of the sub-level debris according to the separation parameters, the environment deviation parameters and the preset rigid body motion model of the sub-level debris.
The number of coordinates of the landing points is equal to the number of times of target shooting N.
The method comprises the following steps: and substituting the separation parameters and the environment deviation parameters into a six-degree-of-freedom sub-level debris rigid body motion model to obtain coordinates of the floor point, wherein the horizontal coordinate and the vertical coordinate in the coordinates of the floor point respectively represent the precision and the latitude. And carrying out N times of simulation through the model to obtain N coordinates of the floor points.
And step 206, determining the landing point range of the sub-level debris according to the coordinates of the landing points.
And enveloping the coordinates of the floor points by using the minimum envelope curve, so that the range covered by the envelope curve is the range of the floor points.
One implementation is as follows: and determining a minimum rectangle capable of enveloping all the coordinates of the landing points according to the coordinates of the landing points, wherein the size of the minimum rectangle is the landing point range of the sub-level debris.
In the scheme, the method for simulating shooting by adopting the Monte Carlo considers the occurrence probability of various deviation parameters, and predicts the falling point range of the debris under different working conditions, so that the method is more consistent with the real situation, the obtained falling point range is more accurate, and the prediction range of the sub-level falling point of the debris is effectively reduced.
In addition to the above implementation provided in this embodiment, the types of the environmental deviation parameters are not limited to the above, and other random distribution methods may be adopted as the acquisition method. The sub-level debris rigid body motion model is not limited to the above manner, and may be set according to the specific structure and shape of the sub-level debris, the preset flight speed law of the rocket, and the like.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a rocket sublevel debris drop point prediction device according to a third embodiment of the present application. As shown in fig. 3, the present embodiment provides a rocket substage debris falling point predicting apparatus, including: memory 31, processor 32, and computer programs. Wherein a computer program is stored in the memory 31 and configured to be executed by the processor 32 to implement a method as provided in any of the above.
The present embodiments also provide a computer readable storage medium having stored thereon a computer program for execution by a processor to implement a method as provided in any of the above.
The present embodiment provides an apparatus and a storage medium having the same technical effects as the above-described method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (10)

1. A rocket sublevel debris falling point prediction method is characterized by comprising the following steps:
obtaining separation parameters of rocket sublevel debris during separation and environment deviation parameters influencing motion trail of the sublevel debris;
and determining the range of the landing points of the sub-level debris according to the separation parameters, the environment deviation parameters and the preset rigid body motion model of the sub-level debris.
2. The method of claim 1, wherein determining a landing point range for sub-level debris according to the separation parameter, the environmental deviation parameter, and a preset rigid body motion model for sub-level debris comprises:
determining the number of times of shooting for performing the floor point shooting calculation on the sub-level debris according to a preset probability model;
determining the coordinates of landing points of the sub-level debris according to the separation parameters, the environment deviation parameters and a preset rigid body motion model of the sub-level debris, wherein the number of the coordinates of the landing points is equal to the number of times of target shooting;
and determining the range of the landing points of the sub-level debris according to the coordinates of the landing points.
3. The method of claim 2, wherein the separation parameters comprise: the three-directional velocity, the three-directional position, and the pitch angle, yaw angle, and roll angle of the sub-level debris under the launching system.
4. A method according to claim 2 or 3, wherein the environmental bias parameters comprise: separation point parameter deviation, sublevel debris mass characteristic deviation, sublevel debris aerodynamic coefficient deviation, atmospheric density deviation, atmospheric pressure deviation, atmospheric temperature deviation, and wind direction deviation.
5. The method according to claim 4, wherein the deviation of parameters of the separation points, the deviation of mass characteristics of the sub-level debris, the deviation of aerodynamic coefficient of the sub-level debris, the deviation of atmospheric density, the deviation of atmospheric pressure and the deviation of atmospheric temperature are all subject to normal distribution;
the wind direction deviation comprises: no wind deviation, no downwind deviation and no upwind deviation.
6. The method of claim 2, wherein the number of times of landing spot shooting calculation for the sub-level debris is determined according to a preset probabilistic model, specifically determined by the following formula:
Figure FDA0002679296970000021
wherein N is the number of times of target shooting, phi is the inverse function of the standard normal distribution, gamma is the confidence level, zeta is the relative precision, p0Is the probability level.
7. The method of claim 2, wherein determining the landing spot range for the sub-level debris according to the coordinates of each landing spot comprises:
and determining a minimum rectangle capable of enveloping all the coordinates of the landing points according to the coordinates of the landing points, wherein the size of the minimum rectangle is the landing point range of the sub-level debris.
8. The method of claim 4, wherein the sub-level debris rigid body motion model is:
Figure FDA0002679296970000022
where m is the mass of the sub-level debris, (v)x,vy,vz) Three components of the current motion velocity of the sub-level debris in the emission system, GBIs a coordinate transformation matrix from an arrow system to a launching system, X is an axial force, Y is a normal force, Z is a lateral force, (g)x,gy,gz) Is the gravitational acceleration in the three components of the launching system (a)ex,aey,aez) Is the three components of centrifugal acceleration in the launching system (a)kx,aky,akz) Is the three components of the Coriolis acceleration in the transmitting system;
Figure FDA0002679296970000023
wherein (I)x1,Iy1,Iz1) Is the moment of inertia (omega) along three axes of the arrow coordinate systemTx1,ωTy1,ωTz1) The rotation angular velocity of the arrow body relative to the inertia space is in three components of the arrow system, (0, M)y1st,Mz1st) The aerodynamic moment is three components of an arrow system;
Figure FDA0002679296970000031
Figure FDA0002679296970000032
wherein, (x, y, z) is the current position in three directions under the emission system of the sub-level debris, (v)x,vy,vz) The current motion velocity of the sub-level debris is the three-component of the emission system (omega)x,ωy,ωz) The relative angular velocity of the arrow body is in three components of the arrow system (omega)Tx1,ωTy1,ωTz1) The angular velocity of the arrow body relative to the inertia space isArrow system three components, BGFor the coordinate transformation matrix from the launch system to the arrow system, (ω)ex,ωey,ωez) Three components of the earth rotation in the transmitting system.
9. A rocket substage debris fall point prediction device, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-8.
10. A computer-readable storage medium, having stored thereon a computer program; the computer program is executed by a processor to implement the method of any one of claims 1-8.
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