CN104280046B

CN104280046B - Aircraft movement parameter measurement method

Info

Publication number: CN104280046B
Application number: CN201410546553.7A
Authority: CN
Inventors: 张彤; 张敏; 孙德玉; 赵奇峰; 吴江; 胡军照; 田传艳
Original assignee: Northwest Institute of Nuclear Technology
Current assignee: Northwest Institute of Nuclear Technology
Priority date: 2014-10-15
Filing date: 2014-10-15
Publication date: 2017-11-14
Anticipated expiration: 2034-10-15
Also published as: CN104280046A

Abstract

The present invention relates to aircraft movement parameter measurement method, measuring point is measured using some micro acoustics being laid near aircraft movement locus floor projection, each measuring point includes 1 sonic transducer and its corollary equipment, using shock-Wave Signal arrival time difference caused by the aircraft supersonic flight measured, the track of aircraft motion, speed, the parameter such as acceleration of time-varying can be quickly and accurately provided.Give the complete mathematical description of aircraft motion, solve the problems, such as to calculate movement locus, speed, acceleration and its higher differentiation amount by measuring shock-Wave Signal arrival time difference near movement locus, a kind of novel, cheap, accurate, convenient, practical technical method is provided for aircraft movement parameter measurement.

Description

Aircraft movement parameter measurement method

Technical field

The present invention relates to a kind of acoustic method of quick accurate measurement supersonic vehicle kinematic parameter, more particularly to one kind The computational methods of aircraft kinematic parameter are determined using the acoustic characteristic of aircraft movement locus shock wave.

Background technology

Various Detection Techniques researchs for aircraft kinematic parameter are constantly subjected to the attention of countries in the world, existing at present Method has：IRDS, acoustic detection system, laser detection system and ultra-short wave radar detection system etc..Existing meter Calculation method is that directly target is positioned by observed quantity mostly, obtains moving rail further according to discrete or continuous positional information Mark and kinematic parameter；And simultaneously inverting is measured indirectly using derivative signal (such as Shock-Motion) progress of moving target and is transported The research work of dynamic parameter uses fairly simple model mostly, it is difficult to reflects the real motion situation of target.High-speed motion Aircraft can rub in atmosphere produces vortex, shock wave and flight noise, when aircraft movement velocity approaches and exceedes velocity of sound, This flight noise becomes apparent.

In acoustic detection alignment system and the method field of aircraft kinematic parameter both at home and abroad existing Patents and In the domestic and international disclosed paper delivered, it is related to content related to the present invention without something in common.By verification experimental verification, this hair A kind of bright weak point for being novel, cheap, accurate, convenient, practical technical method, overcoming previous methods.

The present invention uses acoustic detection, and by laying a series of sonic transducers, the accurate Shock-Motion that determines reaches each The time difference of sensor, it is established that rational mathematical modeling and cost function, can accurately calculate aircraft motion track, Speed, the parameter such as acceleration of time-varying.

Another national inventing patent " acoustic measurement method for sniping trajectory " of Zhang Tong et al., the patent No.： ZL201110194046.8, authorized announcement date：On August 14th, 2013.The patent is by 3 sound according to uniform rectilinear motion model The observed quantity for learning basic matrix calculates trajectory shock wave direction line, and then the method searched for by loop iteration obtains trajectory linear equation And target and sniper position, and the track that the measurement object of the present invention is moving target is arbitrary curve, velocity, Acceleration and its higher differentiation amount can be time-varying, have more wide applicability.

The content of the invention

It is an object of the present invention to provide a kind of acoustic measurement method that can be quick and precisely measured aircraft kinematic parameter, The complete mathematical description of aircraft motion is given, aircraft space position measurement existing for existing acoustic detection method is solved and misses Difference is big, calculating process is long and can not measure and calculate the parameter such as movement locus, speed and acceleration and its higher differentiation amount Problem.

The present invention technical solution be：

Aircraft movement parameter measurement method, it is characterized in that：Including following key step：

1】Test system building, and establish coordinate system：

Test system includes：13 measuring points, the wireless data laid near aircraft movement locus floor projection line converge Collect processing unit；

Coordinate system：It is arbitrarily designated a little as the three dimensions orthogonal coordinate system of the origin of coordinates with test site；

Each measuring point sets a microphone, and each measuring point also includes the data acquisition unit supporting with microphone, storage Unit, GPS, radio transmission apparatus and microprocessor unit,

The data acquisition unit is used to sample the analog signal from microphone and quantization obtains data signal； The memory cell is used to receive data signal and temporarily be deposited；The microprocessor unit is used for from memory cell Data judge shock wave due in value, and the moment value is sent to wireless data by radio transmission apparatus and collects processing list Member；Each measuring point realizes the time unification of whole test system by GPS；

2】With total station survey and calibrate the space coordinates of each measuring point microphone in a coordinate system：

3】At the time of each microphone being reached using shock wave produced by the aircraft that each measuring point measures and records：The measuring point for being initially received shock-Wave Signal is named as measuring point 0, its coordinate is：

The shock wave reaching time-difference between other measuring points and measuring point 0 is calculated,

3.1】Estimate any one group of kinematic parameter with 4 trivectors：WithCorresponding aircraft institute Produce the point coordinates that bursts out of shock waveThe instantaneous bullet speed of the pointThe instantaneous accelerationThe instantaneous rate of change of the accelerationStarting point using this 12 values as search；

3.1.1】CalculateShock-Motion conical surface half angle θ at point₀,

Wherein v_SFor local velocity of sound；

3.1.2】CalculateVelocity line at pointWith A₀、C₀The included angle of line₀,

Velocity lineLinear equation：

A₀C₀The linear equation of line：

Included angle between above-mentioned two straight line₀Calculation formula be：

3.1.3】Processing unit given threshold δ is collected by wireless data, if | φ₀-(90°-θ₀) | ＞ δ, then adjustWithValue so that | φ₀-(90°-θ₀) |≤δ；

3.2】Any setting step delta t,In formulaIt is flight Device reachesAt the time of；In formulaSearch for successivelyWith

3.2.1】CalculateShock-Motion conical surface half angle θ at point_i,

Wherein v_SFor local velocity of sound；

3.2.2】CalculateVelocity line at pointWith A_i、C_iThe angle of line φ_i,

Velocity lineLinear equation：

A_iC_i, i=1,2 ..., the linear equation of 12 lines：

Included angle between above-mentioned two straight line_iCalculation formula be：

3.3】If | φ_i-(90°-θ_i) | ＞ δ, then repeatedly the 3.2nd】Step, changeContinue search forWithUntil | φ_i-(90°-θ_i) |≤δ；

4】Defined function Q is：

Wherein The 3.2nd】 Step obtains,

5】Aircraft kinematic parameter searching scope adaptive adjusts：

5.1】Other values of search starting point are constant, only changeIt is step-length with δ x ＞ 0, its excursion is set as carrying out n Step search, 5 ＜ n ＜ 500；

If function Q minimum Q_minTakeThen perform step 5.2】；

If function Q minimum Q_minTakeThe both ends of setting range, i.e.,Or α=n, then ChangeInitiating searches point beOrThis step is repeated, execution is gone to until meeting Step 5.2】Condition；

5.2】Other values of search starting point are constant, only changeIt is step-length with δ y ＞ 0, its excursion is set as carrying out N step search, each step first carry out step 5.1 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.3】；

If function Q minimum Q_minTakeThe both ends of setting range, i.e.,Or β=n,

Then changeInitiating searches point beOrRepeat this step, Zhi Daofu Conjunction, which is gone to, performs step 5.3】Condition；

5.3】Other values of search starting point are constant, only changeIt is step-length with δ z ＞ 0, its excursion is set as carrying out n Step search, each step first carry out step 5.2 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.4】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or γ=n,

Then changeInitiating searches point beOrRepeat this step, Zhi Daofu Conjunction, which is gone to, performs step 5.4】Condition；

5.4】Other values of search starting point are constant, only change v_0x, with δ v_x＞ 0 is step-length, and its excursion is set as carrying out N step search, each step first carry out step 5.3 when searching for】；

If function Q minimum Q_minTake in v_0x+ε·δv_x, 0 ＜ ε ＜ n, then perform step 5.5】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. v_0x+ε·δv_x, ε=0 or ε=n,

Then change v_0xInitiating searches point be v_0x-(n-2)·δv_xOr v_0x+(n-2)·δv_x, repeat this step, Zhi Daofu Conjunction, which is gone to, performs step 5.5】Condition；

5.5】Other values of search starting point are constant, only change v_0y, with δ v_y＞ 0 is step-length, and its excursion is set as carrying out N step search, each step first carry out step 5.4 when searching for】；

If function Q minimum Q_minTake in v_0y+ξ·δv_y, 0 ＜ ξ ＜ n, then perform step 5.6】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. v_0y+ξ·δv_y, ξ=0 or ξ=n,

Then change v_0yInitiating searches point be v_0y-(n-2)·δv_yOr v_0y+(n-2)·δv_y, repeat this step, Zhi Daofu Conjunction, which is gone to, performs step 5.6】Condition；

5.6】Other values of search starting point are constant, only change v_0z, with δ v_z＞ 0 is step-length, and its excursion is set as carrying out N step search, each step first carry out step 5.5 when searching for】；

If function Q minimum Q_minTake in v_0z+η·δv_z, 0 ＜ η ＜ n, then perform step 5.7】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. v_0z+η·δv_z, η=0 or η=n,

Then change v_0zInitiating searches point be v_0z-(n-2)·δv_zOr v_0z+(n-2)·δv_z, repeat this step, Zhi Daofu Conjunction, which is gone to, performs step 5.7】Condition；

5.7】Other values of search starting point are constant, only change a_0x, with δ a_x＞ 0 is step-length, and its excursion is set as carrying out N step search, each step first carry out step 5.6 when searching for】；

If function Q minimum Q_minTake in a_0x+ρ·δa_x, 0 ＜ ρ ＜ n, then perform step 5.8】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. a_0x+ρ·δa_x, ρ=0 or ρ=n then change Become a_0xInitiating searches point be a_0x-(n-2)·δa_xOr a_0x+(n-2)·δa_x, this step is repeated, step is performed until meeting to go to Rapid 5.8】Condition；

5.8】Other values of search starting point are constant, only change a_0y, with δ a_y＞ 0 is step-length, and its excursion is set as carrying out N step search, each step first carry out step 5.7 when searching for】；

If function Q minimum Q_minTake in a_0y+σ·δa_y, 0 ＜ σ ＜ n, then perform step 5.9】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. a_0y+σ·δa_y, σ=0 or σ=n then change Become a_0yInitiating searches point be a_0y-(n-2)·δa_yOr a_0y+(n-2)·δa_y, this step is repeated, step is performed until meeting to go to Rapid 5.9】Condition；

5.9】Other values of search starting point are constant, only change a_0z, with δ a_z＞ 0 is step-length, and its excursion is set as carrying out N step search, each step first carry out step 5.8 when searching for】；

If function Q minimum Q_minTake in a_0z+τ·δa_z, 0 ＜ τ ＜ n, then perform step 5.10】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. a_0z+τ·δa_z, τ=0 or τ=n then change Become a_0zInitiating searches point be a_0z-(n-2)·δa_zOr a_0z+(n-2)·δa_z, this step is repeated, step is performed until meeting to go to Rapid 5.10】Condition；

5.10】Other values of search starting point are constant, only change b_0x, with δ b_x＞ 0 is step-length, its excursion be set as into Row n step search, each step first carry out step 5.9 when searching for】；

If function Q minimum Q_minTake in b_0x+d·δb_x, 0 ＜ d ＜ n, then perform step 5.11】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. b_0x+d·δb_x, d=0 or d=n then change Become b_0xInitiating searches point be b_0x-(n-2)·δb_xOr b_0x+(n-2)·δb_x, this step is repeated, step is performed until meeting to go to Rapid 5.11】Condition；

5.11】Other values of search starting point are constant, only change b_0y, with δ b_y＞ 0 is step-length, its excursion be set as into Row n step search, each step all first carry out step 5.10 when searching for】；

If function Q minimum Q_minTake in b_0y+e·δb_y, 0 ＜ e ＜ n, then perform step 5.12】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. b_0y+e·δb_y, e=0 or e=n then change Become b_0yInitiating searches point be b_0y-(n-2)·δb_yOr b_0y+(n-2)·δb_y, this step is repeated, step is performed until meeting to go to Rapid 5.12】Condition；

5.12】Other values of search starting point are constant, only change b_0z, with δ b_z＞ 0 is step-length, its excursion be set as into Row n step search, each step first carry out step 5.11 when searching for】；

If function Q minimum Q_minTake in b_0z+f·δb_z, 0 ＜ f ＜ n, then perform step 6】；

If function Q minimum Q_minTake at the both ends of setting range, i.e. b_0z+f·δb_z, f=0 or f=n then change Become b_0zInitiating searches point be b_0z-(n-2)·δb_zOr b_0z+(n-2)·δb_z, this step is repeated, until function Q minimum Q_minTake in b_0z+f·δb_z, 0 ＜ f ＜ n；

6】Will(v_0x,v_0y,v_0z)、(a_0x,a_0y,a_0z)、(b_0x,b_0y,b_0z), output, aircraft motion ginseng Counting the calculation formula changed over time is：

Above-mentioned steps 5.1】In n be 10.

The present invention is had the advantage that：

1st, hardware device quantity needed for the present invention it is few, it is cheap, be easy to lay and safeguard, if aircraft undetermined fortune Dynamic parameter is m trivector, it is only necessary to no less than 3m+1 miniature sound are laid near aircraft movement locus floor projection line Measurement measuring point (each measuring point is only with 1 microphone) is learned, using the mathematical modeling and quick calculation method established in the present invention, The parameters such as the acceleration of track, speed and time-varying that aircraft moves can be quickly and accurately provided, overcoming existing method needs The measuring point wanted is more, parameter measurement error is big, calculating process is long and can not measure aircraft movement velocity and its higher differentiation amount The deficiencies of part, for carry out high level experiment and test analysis it is significant.

2nd, the present invention devises a kind of aircraft kinematic parameter searching scope adaptive adjustment quick calculation method.

3rd, the present invention is easy to Software for Design and debugging, by searching for letter by setting up rational mathematical modeling and function Q Number Q extreme points can obtain rational aircraft kinematic parameter, without Nonlinear System of Equations is solved, avoid cumbersome calculating Journey.

4th, the present invention realizes the track vector, speed arrow that aircraft moves under the conditions of ground acoustic sensor is arbitrarily laid The accurate calculating of amount, the parameter such as acceleration of time-varying, give aircraft motion parameters and ground transaucer number, The description of the complete mathematical of distribution and mutual alignment relation.

Brief description of the drawings

Fig. 1 is the structural representation of measuring system.

Fig. 2 is aircraft movement parameter measurement and the overview flow chart calculated.

Embodiment

Shock-Motion can be produced with the object of supersonic flight in atmosphere, its wavy curve is in alphabetical " N " shape, therefore again Claim " N ripples ".N ripples are propagated with the velocity of sound, and the circular cone of for example same motion of its shape, Vehicle nose is always positioned at the top of the circular cone Point.Any bin of Shock-Motion wave surface, moved towards its normal direction.When the wave surface skims over some microphone, according to The arrival time difference of observation signal can calculate function Q value, be adjusted by aircraft kinematic parameter searching scope adaptive quick Computational methods can obtain one group of aircraft kinematic parameter.As shown in figure 1, the present invention will at least 3m+1 (such as 13) it is miniature Acoustic measurement basic matrix (each basic matrix is only with 1 microphone) is laid near aircraft movement locus floor projection line, it becomes possible to Obtain the kinematic parameter of even variable accelerated motion model.Shock-Motion due in is respectively obtained by the acoustics basic matrix of measuring point, passed through WLAN (WLAN) is pooled to each measuring point data in one central station computer.Determine to fly further according to the inventive method The track of row device motion, speed, the parameter such as acceleration of time-varying.

Embodiment：(v_0x,v_0y,v_0z)、(a_0x,a_0y,a_0z) and (b_0x,b_0y,b_0z) this 4 vectors needs Measurement, then we just set up 3 × 4+1 (i.e. 13) individual measuring point.Idiographic flow is as shown in Figure 2.

Utilize the aircraft kinematic parameter method for fast measuring of one group of acoustic sensor, including following key step：

1】Test system building, and establish coordinate system：

Test system includes：13 measuring points 1, the wireless data laid near aircraft movement locus floor projection line converge Collect processing unit 2；

Such as：Northeast day coordinate system, x-axis point to positive east, and y-axis points to the positive north, and z-axis is pointed on just perpendicular to ground Side, form right-handed Cartesian coordinate system.After establishing coordinate system, the follow-up measurement of coordinates and result of calculation for measuring point Description all on the basis of this coordinate system；

3.1】Estimate any one group of kinematic parameter with 4 trivectors：WithCorresponding aircraft The point coordinates that bursts out of produced shock waveThe instantaneous bullet speed of the pointThe instantaneous accelerationThe instantaneous rate of change of the accelerationStarting point using this 12 values as search；

3.1.1】CalculateShock-Motion conical surface half angle θ at point₀,

Wherein v_SFor local velocity of sound；

Velocity lineLinear equation：

A₀C₀The linear equation of line：

3.1.3】Processing unit given threshold δ is collected by wireless data, if | φ₀-(90°-θ₀) | ＞ δ, then

AdjustmentWithValue so that | φ₀-(90°-θ₀) |≤δ；

3.2】Using Δ t as step-length (using binary search in practical operation), Δ t can arbitrarily be set, such as setting Δ t For 1ms,

In formulaIt is that aircraft reaches's Moment；In formula

Search for successivelyWith

3.2.1】CalculateShock-Motion conical surface half angle θ at point_i,

Wherein v_SFor local velocity of sound；

3.2.2】CalculateVelocity line at pointWith A_i、C_iThe angle of line φ_i,

Velocity lineLinear equation：

A_iC_i, i=1,2 ..., the linear equation of 12 lines：

4】Defined function Q is：

Wherein 3.2】Step obtains,

5】The even aircraft kinematic parameter searching scope adaptive adjustment for becoming acceleration curve motion model：

5.1】Other values of search starting point are constant, only changeIt is step-length with δ x ＞ 0, its excursion is set as carrying out N step search, 5 ＜ n ＜ 500, such as set n=10；

If function Q minimum Q_minTakeThen perform step 5.2】；

If function Q minimum Q_minTakeThe both ends of setting range, i.e.,Or α=n, then ChangeInitiating searches point beOr

This step is repeated, step 5.2 is performed until meeting to go to】Condition；

If function Q minimum Q_minTakeThen continue executing with step 5.3】；

If function Q minimum Q_minTakeThe both ends of setting range, i.e.,Or β=n,

If function Q minimum Q_minTakeThen perform step 5.4】；

5.7】Other values of search starting point are constant, only change a_0x, with δ a_x＞ 0 is step-length, and its excursion is set as carrying out N step search, each step first carry out step 5.6 when searching for】：

Can be " step 5.1】" function is used as, its function isChange in given scope, search function Q Minimum Q_min；In " step 5.2】" in, it is step-size change with δ y ＞ 0Each step calculate in, will call once " step Rapid 5.1】", obtain a minimum Q_min, it is rightN step search, it becomes possible to obtain n minimum Q_min, then take this n minimum Result Q of the minimum value as this step among value_min, can be " step 5.2】" function is also served as, its function is Change in given scope, search function Q minimum Q_min；In " step 5.3】" in, it is step-size change with δ z ＞ 0 Each step calculate in, once " step 5.2 will be called】", obtain a minimum Q_min, it is rightN step search, it becomes possible to Obtain n minimum Q_min, then take result Q of the minimum value among this n minimum as this step_min, can be " step 5.3】" function is also served as, its function isChange in given scope, search function Q minimum Q_min；According to this Analogize, until " step 5.12】", the computational methods of this nesting allocation (or being loop iteration) can make programming very Succinctly.

6】Will(v_0x,v_0y,v_0z)、(a_0x,a_0y,a_0z) and (b_0x,b_0y,b_0z) output, aircraft motion ginseng Counting the calculation formula changed over time is：

Claims

1. aircraft movement parameter measurement method, it is characterised in that：Comprise the following steps：

1】Test system building, and establish coordinate system：

Test system includes：13 measuring points, the wireless data junction laid near aircraft movement locus floor projection line Manage unit；

Each measuring point sets a microphone, each measuring point also include the data acquisition unit supporting with microphone, memory cell, GPS, radio transmission apparatus and microprocessor unit,

The data acquisition unit is used to sample the analog signal from microphone and quantization obtains data signal；It is described Memory cell is used to receive data signal and temporarily be deposited；The microprocessor unit is used for from the data in memory cell Judge shock wave due in value, and the moment value is sent to by radio transmission apparatus by wireless data and collects processing unit； Each measuring point realizes the time unification of whole test system by GPS；

3】At the time of each microphone being reached using shock wave produced by the aircraft that each measuring point measures and records： The measuring point for being initially received shock-Wave Signal is named as measuring point 0, its coordinate is：

3.1】Estimate any one group of kinematic parameter with 4 trivectors：WithProduced by corresponding aircraft The point coordinates that bursts out of shock waveThe a little instantaneous bullet speed that bursts outThe instantaneous accelerationThe instantaneous rate of change of the accelerationStarting point using this 12 values as search；

3.1.1】CalculateShock-Motion conical surface half angle θ at point₀,

Wherein v_SFor local velocity of sound；

Velocity lineLinear equation：

A₀C₀The linear equation of line：

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3.2】Any setting step delta t,In formulaIt is that aircraft arrives ReachAt the time of；In formula

Search for successivelyWith

3.2.1】CalculateShock-Motion conical surface half angle θ at point_i,

Wherein v_SFor local velocity of sound；

3.2.2】CalculateVelocity line at pointWith A_i、C_iThe included angle of line_i,

Velocity lineLinear equation：

A_iC_i, i=1,2 ..., the linear equation of 12 lines：

<mrow> <msub> <mi>&phi;</mi> <mi>i</mi> </msub> <mo>=</mo> <msup> <mi>cos</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mfrac> <mrow> <msub> <mi>v</mi> <mrow> <mi>i</mi> <mi>x</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>x</mi> <msub> <mi>C</mi> <mi>i</mi> </msub> </msub> <mo>-</mo> <msub> <mi>x</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>v</mi> <mrow> <mi>i</mi> <mi>y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>y</mi> <msub> <mi>C</mi> <mi>i</mi> </msub> </msub> <mo>-</mo> <msub> <mi>y</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>v</mi> <mrow> <mi>i</mi> <mi>z</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>z</mi> <msub> <mi>C</mi> <mi>i</mi> </msub> </msub> <mo>-</mo> <msub> <mi>z</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msqrt> <mrow> <msup> <msub> <mi>v</mi> <mrow> <mi>i</mi> <mi>x</mi> </mrow> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>v</mi> <mrow> <mi>i</mi> <mi>y</mi> </mrow> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>v</mi> <mrow> <mi>i</mi> <mi>z</mi> </mrow> </msub> <mn>2</mn> </msup> </mrow> </msqrt> <mo>&CenterDot;</mo> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <msub> <mi>C</mi> <mi>i</mi> </msub> </msub> <mo>-</mo> <msub> <mi>x</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <msub> <mi>C</mi> <mi>i</mi> </msub> </msub> <mo>-</mo> <msub> <mi>y</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>z</mi> <msub> <mi>C</mi> <mi>i</mi> </msub> </msub> <mo>-</mo> <msub> <mi>z</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> </mrow> </mfrac> <mo>;</mo> </mrow>

3.3】If | φ_i-(90°-θ_i) | ＞ δ, then repeatedly the 3.2nd】Step, changeContinue search for WithUntil | φ_i-(90°-θ_i) |≤δ；

4】Defined function Q is：

<mrow> <mi>Q</mi> <mo>=</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mn>12</mn> </munderover> <msup> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mrow> <msub> <mi>C</mi> <mn>0</mn> </msub> <msub> <mi>C</mi> <mi>i</mi> </msub> </mrow> </msub> <mo>-</mo> <msub> <mi>t</mi> <mrow> <msub> <mi>C</mi> <mn>0</mn> </msub> <msub> <mi>C</mi> <mi>i</mi> </msub> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow>

Wherein

The 3.2nd】Step obtains,

<mrow> <msub> <mi>T</mi> <mrow> <msub> <mi>A</mi> <mi>i</mi> </msub> <msub> <mi>C</mi> <mi>i</mi> </msub> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>v</mi> <mi>S</mi> </msub> </mfrac> <mo>&CenterDot;</mo> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>-</mo> <msub> <mi>x</mi> <msub> <mi>C</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>-</mo> <msub> <mi>y</mi> <msub> <mi>C</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>z</mi> <msub> <mi>A</mi> <mi>i</mi> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <mo>,</mo> <mi>i</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>2</mn> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mn>12</mn> </mrow>

<mrow> <msub> <mi>T</mi> <mrow> <msub> <mi>A</mi> <mn>0</mn> </msub> <msub> <mi>C</mi> <mn>0</mn> </msub> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>v</mi> <mi>S</mi> </msub> </mfrac> <mo>&CenterDot;</mo> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <msub> <mi>A</mi> <mn>0</mn> </msub> </msub> <mo>-</mo> <msub> <mi>x</mi> <msub> <mi>C</mi> <mn>0</mn> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <msub> <mi>A</mi> <mn>0</mn> </msub> </msub> <mo>-</mo> <msub> <mi>y</mi> <msub> <mi>C</mi> <mn>0</mn> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>z</mi> <msub> <mi>A</mi> <mn>0</mn> </msub> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> </mrow>

5】Aircraft kinematic parameter searching scope adaptive adjusts：

5.1】Other values of search starting point are constant, only changeIt is step-length with δ x ＞ 0, its excursion is set as that carrying out n steps searches Rope, 5 ＜ n ＜ 500；

If function Q minimum Q_minTakeThen perform step 5.2】；

5.2】Other values of search starting point are constant, only changeIt is step-length with δ y ＞ 0, its excursion is set as that carrying out n steps searches Rope, each step first carry out step 5.1 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.3】；

If function Q minimum Q_minTakeThe both ends of setting range, i.e.,Or β=n,

Then changeInitiating searches point beOrThis step is repeated, is turned until meeting To execution step 5.3】Condition；

5.3】Other values of search starting point are constant, only changeIt is step-length with δ z ＞ 0, its excursion is set as that carrying out n steps searches Rope, each step first carry out step 5.2 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.4】；

Then changeInitiating searches point beOrThis step is repeated, is gone to until meeting Perform step 5.4】Condition；

5.4】Other values of search starting point are constant, only changeWith δ v_x＞ 0 is step-length, and its excursion is set as carrying out n steps Search, each step first carry out step 5.3 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.5】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or ε=n,

Then changeInitiating searches point beOrThis step is repeated, is turned until meeting To execution step 5.5】Condition；

5.5】Other values of search starting point are constant, only changeWith δ v_y＞ 0 is step-length, and its excursion is set as that carrying out n steps searches Rope, each step first carry out step 5.4 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.6】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or ξ=n,

Then changeInitiating searches point beOrThis step is repeated, is turned until meeting To execution step 5.6】Condition；

5.6】Other values of search starting point are constant, only changeWith δ v_z＞ 0 is step-length, and its excursion is set as that carrying out n steps searches Rope, each step first carry out step 5.5 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.7】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or η=n,

Then changeInitiating searches point beOrThis step is repeated, is turned until meeting To execution step 5.7】Condition；

5.7】Other values of search starting point are constant, only changeWith δ a_x＞ 0 is step-length, and its excursion is set as carrying out n steps Search, each step first carry out step 5.6 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.8】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or ρ=n, then change Initiating searches point beOrThis step is repeated, execution step is gone to until meeting 5.8】Condition；

5.8】Other values of search starting point are constant, only changeWithFor step-length, its excursion is set as carrying out n steps Search, each step first carry out step 5.7 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.9】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or σ=n, then change Initiating searches point beOrThis step is repeated, execution step is gone to until meeting 5.9】Condition；

5.9】Other values of search starting point are constant, only changeWith δ a_z＞ 0 is step-length, and its excursion is set as carrying out n steps Search, each step first carry out step 5.8 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.10】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or τ=n, then change Initiating searches point beOrThis step is repeated, execution step is gone to until meeting 5.10】Condition；

5.10】Other values of search starting point are constant, only changeWith δ b_x＞ 0 is step-length, and its excursion is set as carrying out n steps Search, each step first carry out step 5.9 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.11】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or d=n, then change Initiating searches point beOrThis step is repeated, execution step is gone to until meeting 5.11】Condition；

5.11】Other values of search starting point are constant, only changeWith δ b_y＞ 0 is step-length, and its excursion is set as carrying out n steps Search, each step all first carry out step 5.10 when searching for】；

If function Q minimum Q_minTakeThen perform step 5.12】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or e=n, then change Initiating searches point beOrThis step is repeated, execution step is gone to until meeting 5.12】Condition；

5.12】Other values of search starting point are constant, only changeWith δ b_z＞ 0 is step-length, and its excursion is set as carrying out n steps Search, each step first carry out step 5.11 when searching for】；

If function Q minimum Q_minTakeThen perform step 6】；

If function Q minimum Q_minTake at the both ends of setting range, i.e.,Or f=n, then change Initiating searches point beOrThis step is repeated, until function Q minimum Q_minTake

6】WillOutput, aircraft kinematic parameter with The calculation formula of time change is：

2. aircraft movement parameter measurement method according to claim 1, it is characterised in that：The step 5.1】In n For 10.