CN114894047A - Station distribution analysis method for optimizing target range key section attitude rendezvous measurement - Google Patents
Station distribution analysis method for optimizing target range key section attitude rendezvous measurement Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
- F42B35/02—Gauging, sorting, trimming or shortening cartridges or missiles
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a station distribution analysis method for intersection measurement optimization of the attitude of a key section of a shooting range, belongs to the field of optical attitude measurement of conventional shooting ranges, and is used for acquiring the optimal trajectory precision of a flat flight section under the condition of conventional symmetrical station distribution of the shooting range in the optical attitude measurement process and determining the optimal symmetrical station distribution of the flat flight section and an active section/attack section. According to the invention, by analyzing different test requirements of the level flight section and the attack section and analyzing independent and joint rules of key influence factors, a symmetrical station distribution analysis method for optimizing intersection measurement of the postures of the key sections of typical targets of the shooting range is firstly established, and a theoretical basis is provided for actual posture measurement. The method can also be expanded and applied to the relevant field of civil attitude measurement.
Description
Technical Field
The invention relates to the field of conventional weapon test, in particular to the field of measuring the optical attitude of a target range.
Background
The attitude measurement of a typical target key section of a firing ground usually adopts a station distribution mode along the center of a key section trajectory, the station distribution mainly considers the image length of substation imaging, and the image length is more than 60 pixels, so that the conventional precision test requirement is met, and the station distribution measurement can be carried out symmetrically. Although the station distribution mode has controllable precision for the level flight section, the selected station distribution station cannot be ensured to be the optimal precision station distribution station, and for low-height areas such as an active section and an attack section, the measurement precision is seriously influenced by the conventional ballistic centrosymmetric station distribution mode, so a scientific and reasonable optimal symmetric station distribution analysis method must be sought.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a symmetrical station distribution analysis method for optimizing the attitude rendezvous measurement of key sections of a shooting range.
The technical scheme adopted by the invention for solving the technical problem comprises a plane flight section and an active section (attack section) station arrangement.
The flat flight section acquires an x-direction component l of a central axis vector acquired under a measurement coordinate system; two measuring substations are symmetrically arranged on the side of the trajectory along the center of the trajectory, and the substationsCoordinate value Z in the Z-direction of the measuring coordinate system 1 ＝-Z 2 ＝Z，(A i E i ) For optical axis orientation of substation i, A 1 +A 2 ＝360，E 1 ＝E 2 E; taking the derivative of l to Z, determining the ballistic height as h,
deriving E by using delta alpha/l, wherein the delta alpha is a direction vector error brought by substation inclination angle interpretation error, and analyzing a change rule of the delta alpha/l along with the E angle to obtain the optimal ballistic height h 0 '，
X, Z, h is the relative coordinates of the trajectory point to the substation site, yaw angle psi and pitch angle
A target theoretical attitude angle; and (4) deriving the Z by the delta alpha/l, and analyzing the change rule of the delta alpha/l along with the Z to obtain the optimal lateral distance Z optimal distribution site Z 0 '，
The active segment (attack segment) is arranged at A ═ A 0 ' position accuracy is highest, wherein A 1 ＝360°-A 2 ＝A，
Wherein, Δ m and Δ n are component errors in the y direction and the z direction caused by the image inclination angle interpretation error of the measuring substation; the image plane inclination angle of the target central axis at substation 1 is alpha 1 Radian, and image plane inclination angle of a target central axis at substation 2 is alpha 2 Radian and maximum error angle quantity of image plane inclination angle interpretation are delta alpha 2 。
The invention has the beneficial effects that: the attitude intersection measurement optimization symmetrical station distribution analysis method for the typical target of the shooting range is established for the first time, and the optimal trajectory precision of the flat flight section and the optimal symmetrical station distribution of the flat flight section and the active section/attack section under the conventional symmetrical station distribution condition of the shooting range are obtained by analyzing different test requirements of the flat flight section and the attack section and analyzing independent and combined rules of key influence factors, so that theoretical basis is provided for actual attitude measurement. The method can also be expanded and applied to other related fields of attitude measurement.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be further described with reference to the following drawings and examples, which include, but are not limited to, the following examples.
The invention provides an optimized symmetrical station distribution analysis method for determining intersection measurement of the postures of typical targets of a target range, and aims to determine the optimized symmetrical station distribution of a horizontal flight section and an active section/attack section of the typical targets of the target range in the optical posture measurement process. The attitude rendezvous measurement optimization analysis method for the horizontal flight section comprises the following steps of:
the first step is as follows: acquiring three key component expressions l/delta m/delta n in a measurement coordinate system based on pure vector synthesis, wherein l is the component of the axis vector in the x direction; Δ m and Δ n are component errors in the Y direction and the Z direction caused by substation image inclination angle interpretation errors;
a typical target of the target range flies basically parallel to the main target way, so that the axis vector of the horizontal flying section is basically concentrated in the component I; and the delta m and the delta n are component errors in the Y direction and the Z direction caused by substation image inclination angle interpretation errors and are main error influence factors of the accuracy of the yaw angle and the pitch angle.
Let substation 1 optical axis point to (A) 1 ,E 1 ) The optical axis of the substation 2 points to (A) 2 ,E 2 ) (ii) a The image plane inclination angle of the target central axis at substation 1 is alpha 1 Radian; the image plane inclination angle of the target central axis at substation 2 is alpha 2 Radian and image plane inclination angle interpretation maximum error angle quantity are delta alpha 2 (substation 2 is here assumed to be the main source of interpretation errors). Coordinate system reference by conventional central axis methodThe standard is. Target theoretical attitude angle psi,
Are known.
The second step: carrying out secondary derivation on the l pair of E, and analyzing the change rule of the l along with different ballistic heights;
the target flies flat, the firing ground is usually symmetrically placed on the side of the trajectory along the centre of the trajectory, in which case the angle a is fixed for the measuring substation (a) 1 +A 2 360), different ballistic heights correspond to different substations E (E) 1 ＝E 2 E), analyzing the change rule of l along with different ballistic heights, namely converting the change rule of l along with different angles E of substations;
wherein:
the third step: ballistic height determination (ballistic h relative to substation Y) symmetrically placed on the sides of the ballistic (Z) along the centre of the ballistic 1 ＝-Z 2 Z), deriving the Z by the l, and analyzing the l-Z change rule;
wherein:
x, Z, h are the relative coordinates of the ballistic point with respect to the substation site, and are otherwise defined as described above with respect to the central axis.
The fourth step: the delta m and the delta n mainly depend on a direction vector error delta alpha caused by substation inclination angle interpretation errors, and analysis of delta m and delta n change rules is converted into analysis of delta alpha change rules along with ballistic height;
wherein:
and (4) conclusion: the change rule of delta alpha is basically synchronous with the change rule of l, and further joint analysis is needed.
The fifth step: and (5) deriving the E by the delta alpha/l, and analyzing a change rule of the delta alpha/l along with the E angle to obtain an optimal ballistic height attitude measurement conclusion.
Wherein:
and (4) conclusion: height h 0 ' is the point of optimum ballistic accuracy.
And a sixth step: deriving the Z by the delta alpha/l, and analyzing a change rule of the delta alpha/l along with the Z to obtain an optimal station distribution conclusion of the optimal lateral distance Z;
wherein:
and (4) conclusion: z ═ Z 0 ' optimal station placement accuracy points for optimal lateral distance.
The active segment/attack segment attitude rendezvous measurement optimization station distribution analysis method comprises the following steps:
the first step is as follows: acquiring three key component expressions l/delta m/delta n under a measurement coordinate system according to the first step of the flat flight section;
the second step is that: the target characteristics of the active section/attack section are not clear, the manual tracking capability is considered firstly, and the substation object distances u and E (the height of the active section is low, and E is approximately 0) can be determined according to the tracking capability of the optical equipment;
the third step: the active/attack E angle is approximately 0, (A) 1 ＝360°-A 2 A), analyzing l-a change rule;
wherein:
and (4) conclusion: the substations are distributed with A 0 Station placement is performed for the center (not with ballistic center station placement), and optimization A is additionally combined with image analysis 0 。
The fourth step: and analyzing the change rule of delta alpha/l along with the angle A to obtain the optimal station distribution conclusion.
Wherein:
and (4) conclusion: the substation is arranged at A ═ A 0 ' position accuracy is highest.
As shown in fig. 1, an embodiment of the present invention includes the steps of:
1. and determining the optimal ballistic height point of the flat flight section. Taking a certain type of target flat flight section of a target range as an example, stations are symmetrically distributed on two sides of the target flat flight section by using a trajectory central point, the height of a target trajectory is unknown, and the trajectory is 5 pointsAs shown in Table 1, the substation position coordinates are set to (1# (100,0, -1000), 2# (100,0,1000)), the target yaw angle ψ (0 °), and the pitch angle
The target central axis length is 2.45 meters and the focal length is 1500 mm. The purpose is to determine the optimal ballistic height point for the level flight segment.
TABLE 1
The first step is as follows: acquiring three key component expressions l/delta m/delta n in a measurement coordinate system based on pure vector synthesis, wherein l is the X-direction component of the central axis vector; Δ m and Δ n are component errors in the Y direction and the Z direction caused by substation image inclination angle interpretation errors;
the second step is that: carrying out secondary derivation on the l pair of E, and analyzing the change rule of the l along with different trajectory heights;
the third step: analyzing the change rule of the delta m and the delta n and converting the change rule of the delta alpha along with the ballistic height into analysis;
the fourth step: and (5) deriving the E by the delta alpha/l, and analyzing a change rule of the delta alpha/l along with the E angle to obtain an optimal ballistic height attitude measurement conclusion.
Calculated by taking the symmetrical point trajectory 3 point as a reference, A 1 Is 90 DEG, the optimal height is obtained as h 0 ' -1000 meters. And (5) according with the conclusion through simulation analysis.
2. And determining the optimal lateral station distribution of the flat flight section. Taking a certain type of target level flight segment of a target range as an example, stations are symmetrically distributed at two sides by the central point of a trajectory, the target trajectory height is determined (1000 meters), the trajectory 5 point is set X, Z and is also shown in table 1, the substation point coordinates X, Y are set (1# (100,0) and 2# (100,0)), the target yaw angle psi (0 °), and the pitch angle
The purpose is to determine the optimal lateral distribution point (Z) of the flat flight section 0 )。
The first step is as follows: according to the first step in the invention content 1, three key component expressions l/delta m/delta n in a measurement coordinate system based on pure vector synthesis are obtained, wherein l is the component in the X direction of the central axis vector; Δ m and Δ n are component errors in the Y direction and the Z direction caused by substation image inclination angle interpretation errors;
the second step is that: according to the third step of the invention 1, the ballistic height is determined (ballistic h with respect to substation Y) and the substations are symmetrically placed on the side of the ballistic (Z) along the centre of the ballistic 1 ＝-Z 2 Z), deriving the Z by the l, and analyzing the l-Z change rule;
the third step: according to the fourth step in the invention content 1, Δ m and Δ n mainly depend on a direction vector error Δ α caused by substation inclination angle interpretation errors, and analysis of the change rules of Δ m and Δ n is converted into analysis of the change rule of Δ α along with ballistic height;
the fourth step: according to the sixth step in the invention content 1, deriving the Δ a/l from Z, and analyzing a variation rule of Δ a/l along with Z to obtain an optimal station distribution conclusion of the optimal lateral distance Z;
calculated by taking the symmetrical point trajectory 3 point as a reference, A 1 Is 90 degrees, and the optimal station distribution precision point for obtaining the optimal lateral distance is abs (Z) 0 ') 866 meters. And (5) according with the conclusion through simulation analysis.
3. And determining the optimal precision site distribution of the active section. Taking a certain target active section of a target range as an example, a trajectory of 5 points, a target yaw psi and a pitch angle
The settings are shown in table 2.
TABLE 2
According to the requirement of the active section tracking capability test (the maximum target speed is 30m/s, and the manual semi-automatic tracking is not more than 1 degree), the object distance of the substation is not less than 1700 meters; the optimization analysis method for determining the attitude rendezvous measurement of the active segment comprises the following steps of:
the first step is as follows: according to the first step in the invention content 1, three key component expressions l/delta m/delta n in a measurement coordinate system based on pure vector synthesis are obtained, wherein l is the component in the x direction of the central axis vector; Δ m and Δ n are component errors in the Y direction and the Z direction caused by substation image inclination angle interpretation errors;
the second step is that: the target characteristics of the active section/attack section are not clear, the manual tracking capability is considered firstly, and the substation object distance u (the object distance is more than 1700m) and the substation object distance E (the height of the active section is low, and E is approximately 0) can be determined according to the tracking capability of the optical equipment;
the third step: the active/attack E angle is approximately 0, (A) 1 ＝360°-A 2 A), analyzing l-a change rule;
the fourth step: and analyzing the change rule of delta alpha/l along with the angle A to obtain the optimal station distribution conclusion.
And (4) conclusion: the substation 1 is arranged at A ═ A 0 The precision is highest at the position of 120 degrees, the station is arranged at the left side of the trajectory, and the sub-station 2 is symmetrically arranged at the right side of the trajectory. The station arrangement positions 1# (1572,0, -825) and 2# (1572,0,879) are consistent with the conclusion through simulation analysis.
Claims (2)
1. A station distribution analysis method for optimizing intersection measurement of key section postures of a shooting range is characterized in that a horizontal flight section acquires a component l in the x direction of a central axis vector acquired under a measurement coordinate system; two measuring substations are symmetrically arranged on the side of the trajectory along the center of the trajectory, and the coordinate value Z of the measuring substations in the Z direction of the measuring coordinate system 1 ＝-Z 2 ＝Z，(A i E i ) For optical axis orientation of substation i, A 1 +A 2 ＝360，E 1 ＝E 2 E; taking the derivative of l to Z, determining the ballistic height as h,
deriving E by using delta alpha/l, wherein the delta alpha is a direction vector error brought by substation inclination angle interpretation error, and analyzing a change rule of the delta alpha/l along with the E angle to obtain the optimal ballistic height h 0 '，
Wherein X, Z, h isRelative coordinates of the trajectory point with respect to the substation site, yaw angle ψ and pitch angle
A target theoretical attitude angle; and (4) deriving the Z by the delta alpha/l, and analyzing the change rule of the delta alpha/l along with the Z to obtain the optimal lateral distance Z optimal distribution site Z 0 '，
The active section is arranged at A ═ A 0 ' position accuracy is highest, wherein A 1 ＝360°-A 2 ＝A，
2. The optimal station analysis method for the attitude rendezvous survey of critical sections of the firing ground of claim 1, wherein said method is characterized in that
Wherein, Δ m and Δ n are component errors in the y direction and the z direction caused by the image inclination angle interpretation error of the measuring substation; the image plane inclination angle of the target central axis at substation 1 is alpha 1 Radian, and image plane inclination angle of a target central axis at substation 2 is alpha 2 Radian and image plane inclination angle interpretation maximum error angle quantity are delta alpha 2 。
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