CN104236541A - Method for determining rolling attitude of carrier rocket - Google Patents

Abstract

The invention provides a method for determining the rolling attitude of a carrier rocket, belonging to the field of aerospace measurement and control. Three high-speed movie cameras are adopted for the method to complete the measurement task of measuring the vertical take-off section of a rocket in a tracking way. Under the condition that a series of red small attribute blocks cannot be seen clearly in the image obtained by the tracking measurement of three observation stations, the imaging markers which can be utilized on the rocket are fully used; the rolling attitude of the carrier rocket can be determined by a rectangle. The reality check proves that the research of the computing method not only is capable of accurately determining the rolling attitude of the carrier rocket, but also provides important support for improving the structure of a rocket body in the model part, perfecting the performances of the measurement system and improving the safety of the launching process.

Description

Carrier rocket roll attitude defining method

Affiliated field

Patent of the present invention belongs to aerospace measurement and control field, relates to a kind of carrier rocket roll attitude defining method of the tracking measurement based on distinctive mark on carrier rocket rocket body.

Background technology

Rocket attitude measurement calculates mainly for the stability of three-axis platform in the inertial guidance system of model segment analysis rocket when taking off vertically provides important technical support, is also used to flight safety and the flying quality of evaluating the rocket section of taking off vertically (namely rocket is switched to a period of time of the pylon that flies out from lift-off contact).By the treatment and analysis of the attitude to rocket body, can therefrom find and analyze the flight progress of model carrier rocket, to improving rocket body structure, improve Measure and launch system performance, improve the security of emission process and provide support.But in actual combat task, the impact of the factors such as the contrast reduction of, target and background less than normal with the angle of the sun is pointed to due to atmospheric disturbance, instrument, make the rocket body of rocket thickens unclear for the edge line of the little attribute block of a succession of redness measuring roll attitude, have a strong impact on the extraction of red-label measurement data, more cannot calculate and determine rocket body roll attitude.In order to complete the calculating of rocket body roll attitude and determine, separately approach must be opened.This project gives a kind of computing method realizing rocket body roll attitude based on other imaging flag informations on rocket rocket body.

Summary of the invention

In Launch vehicle range test, three rapid cinematography instrument are adopted to complete the measurement task of the tracking measurement rocket section of taking off vertically.When all not seeing the little attribute block of a series of redness in the imaging of three survey station tracking measurements, utilizable imaging mark on rocket body can be made full use of: rectangle.Utilize the special measurement data of rectangle imaging to complete the determination of carrier rocket roll attitude.

It is as follows that roll attitude calculates detailed process:

The main thought that measurement data position is chosen utilizes the side of rocket body imaging and the feature locations of oblong lateral surface, consults Fig. 1.The method setting up this data acquisition be based on: one is the special cloth station situation of following the tracks of the rocket section of taking off vertically equipment, and two is utilize the edge in image procossing to strengthen extracting method, can extract the metrical information of oblong lateral surface easily.Fig. 1 is wherein rectangle mark imaging schematic diagram on the rocket body that measures of two tracking testing equipment.

Consult Fig. 2, s is the projection centre of rapid cinematography instrument tracking equipment; Measurement data chosen position one m be rectangle upper edge or lower edge in the imaging position point of rocket body edge, sm ' is for projection centre is to the direction at rocket edge; Measurement data chosen position two n is another marginal point of rectangle (upper edge or lower edge choose same m consistent), the interpretation point direction that sn ' is target; R is rocket radius; R is the distance of survey station to Launching origin.Because survey station and launching centre are apart from enough far away, then can think that s, o, m, n 4 is same plane.

Due to: ∠ mse=arcsin (r/R)

Utilize interpreting system, obtain m, n 2 angle measurement measurement data, namely

$\left\{\begin{array}{c}{A}_j^{\′}=\mathrm{arctg}\left(\frac{x_j}{f\cos E_j-y_j\cos E_j}\right)+A_j\\ E_j^{\′}=\arcsin \left(\frac{f\sin E_j+y_j\cos E_j}{\sqrt{f^2+x_j^2+y_j^2}}\right),j=m,n\end{array}\right.---\left(1\right)$

In formula, A _j, E _jthe target angle measurement data obtained when being respectively interpretation m, n at 2; F is photography focal length; x _j, y _jbe respectively m, n 2 tracking errors in photo coordinate system.

Formula (1) is carried out systematic features, obtains m, n 2 bearing datas, namely

$A_j^{\′\′}=A_j^{\′}+{\mathrm{\ΔA}}_0+\mathrm{tg}(E_j^{\′}+{\mathrm{\ΔE}}_0)[b+I\sin (A_H-A_j^{\′}-{\mathrm{\ΔA}}_0)]+c\sec (E_j^{\′}+{\mathrm{\ΔE}}_0),j=m,n---\left(2\right)$

In formula, Δ A ₀, Δ E ₀for zero error; B is horizontal axis error; I is vertical axis error; A _hfor the position angle in vertical axis direction; C is for sighting difference.

Try to achieve:

$\∠m^{\′}{\mathrm{sn}}^{\′}=A_m^{\′\′}-A_n^{\′\′}---\left(3\right)$

Then

ΔA＝arcsin(r/R)-∠m′sn′ (4)

Shown in composition graphs 2, make go=a, gn=b, sn=c, ∠ gon=γ, then:

r ²＝c ²+R ²-2R·c·cosΔA

Solve

$c=R\cos \mathrm{\ΔA}\±\sqrt{r^2-R^2{\sin }^2\mathrm{\ΔA}}---\left(5\right)$

$\mathrm{\γ}={\sin }^{-1}\frac{b}{r}={\sin }^{-1}\frac{\sin \mathrm{\ΔA}\·c}{r}={\sin }^{-1}\frac{\sin \mathrm{\ΔA}-(R\cos \mathrm{\ΔA}-\sqrt{r^2-R^2{\sin }^2\mathrm{\ΔA}})}{r}---\left(6\right)$

In (5), before Section 2 ± symbol can only get "-", if get "+" symbol, when measurement point n levels off to measurement point e, then there will be the situation of c>R, but this is contradiction,

Determine roll angle size thus

α _i＝γ _i-γ ₀ (7)

In formula, α _ifor the roll angle in i moment, γ _ifor the γ angle in i moment, γ ₀for t ₀the γ angle in moment.

Accompanying drawing explanation

Fig. 1 is the imaging schematic diagram that in embodiment, equipment follows the tracks of rectangle national flag mark

The rectangle imaging schematic diagram that a rectangle imaging schematic diagram (b) survey station 2 that () survey station 1 records records

Fig. 2 is roll angle measurement point schematic diagram in embodiment

Embodiment

Illustrate with instantiation below, be calculated as example with certain experiment carrier rocket roll attitude, the oblong lateral surface in this embodiment is the rectangle national flag mark on rocket.Provide implementation process.According to the site location of certain survey station; Rocket configuration size; Measuring equipment systematic features amount; The information such as m, n 2 interpretation datas.In conjunction with above-mentioned computing formula, (limit by length, only provide some numerical results, when wherein T is relative, unit is second as follows to obtain rocket roll attitude result of calculation; α _iunit is degree):

。

Claims (1)

1. carrier rocket roll attitude defining method, is characterized in that, comprises following process:

Definition s is the projection centre of rapid cinematography instrument tracking equipment; Measurement data chosen position one m be the upper edge of rectangle symbol on rocket body or lower edge in the imaging position point of rocket body edge, sm ' is for projection centre is to the direction at rocket edge; Measurement data chosen position two n is another marginal point of rectangle, the interpretation point direction that sn ' is target; R is rocket radius; R is the distance of survey station to Launching origin; Think that s, o, m, n 4 is same plane.

Due to: ∠ mse=arcsin (r/R)

Utilize interpreting system, obtain m, n 2 angle measurement measurement data, namely

In formula, A _j, E _jthe target angle measurement data obtained when being respectively interpretation m, n at 2; F is photography focal length; x _j, y _jbe respectively m, n 2 tracking errors in photo coordinate system.

Formula (1) is carried out systematic features, obtains m, n 2 bearing datas, namely

In formula, Δ A ₀, Δ E ₀for zero error; B is horizontal axis error; I is vertical axis error; A _hfor the position angle in vertical axis direction; C is for sighting difference.

Try to achieve:

Then

ΔA＝arcsin(r/R)-∠m′sn′ (4)

Shown in composition graphs 2, make go=a, gn=b, sn=c, ∠ gon=γ, then:

r ²＝c ²+R ²-2R·c·cosΔA

Solve

In (5), before Section 2 ± symbol can only get "-";

Determine roll angle size thus

α _i＝γ _i-γ ₀ (7)。