CN105223568A - A kind of examine and determine target speed stabilizing surely to Pure orientation algorithm - Google Patents
A kind of examine and determine target speed stabilizing surely to Pure orientation algorithm Download PDFInfo
- Publication number
- CN105223568A CN105223568A CN201510668336.XA CN201510668336A CN105223568A CN 105223568 A CN105223568 A CN 105223568A CN 201510668336 A CN201510668336 A CN 201510668336A CN 105223568 A CN105223568 A CN 105223568A
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- surely
- target
- sin
- ship
- speed stabilizing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The stealthy attack of submarine often adopts Pure orientation to resolve, a kind of new mathematical model be calibrating target speed stabilizing surely to key, through simulating, verifying, there is feasibility.(1) target speed stabilizing surely to calibration method: find that azimuth of target is a in identical sampling period spaced points
1, a
2, a
3, a
4.Then have: sin (a
2-a
3) sin (a
1-a
4)=3sin (a
1-a
2) sin (a
3-a
4); If U= sin (a
2-a
3) sin (a
1-a
4), K=3sin (a
1-a
2) sin (a
3-a
4), U/ K=1(is approximately 1) be this ship speed stabilizing surely to target speed stabilizing under condition surely to test condition.
Description
Technical field
The invention belongs to the Pure orientation algorithmic technique field of the stealthy attack of submarine, relate to a kind of target speed stabilizing surely to calibration method research, be suitable for the judgement state of motion character of target being carried out to science.
Background technology
In submarine under water Tactical Application, Pure orientation calculation method relates to the key point of its stealthy attack, being that the topmost method of fighting taked attacked by submarine to enemy, is the real-time resolving utilizing sonar parsing target passive Noise measurement parameter to carry out realize target kinematicchain element.Original Pure orientation algorithm, require that submarine must make underwater manoeuvre, the clear and definite convergence of this algorithm is that first continuous 4 points of target moving element first difference enter 3 σ, continuous 4 points enter 2 σ more afterwards, finally continuous 4 points enter 1 σ and just calculate convergence, target moving element data effectively, could belong to and indirectly solve.If determine target be in speed stabilizing surely to situation, then application of pure orientation method can carry out direct solution, and the time upper can be faster.Therefore whether speed stabilizing is surely to being Key technique problem how to judge the state of motion of target.Seek a kind of target speed stabilizing surely to more scientific calibration method research, this technological difficulties problem can be solved preferably.
Summary of the invention
1 submarine speed stabilizing surely to target speed stabilizing under condition surely to calibration method
Coordinate system is set up with this ship and the actual situation of motion of target ship.Position when getting this ship tenacious tracking target is initial point, and positive north orientation is Y-axis, positive east orientation is X-axis.This ship speed stabilizing surely to parameter be V
w(unit turns to m/s), C
w, numerical value is known; Hypothetical target certain hour speed stabilizing surely to parameter be V
m(unit turns to m/s), C
m, numerical value is unknown; Relative distance when getting this ship tenacious tracking target is that D(unit turns to m), and numerical value is unknown.If passive sonar detection sampling period or cycle identical multiple are that T(unit turns to s), nT, numerical value is known; Within the sampling period, this ship finds that the position angle of target is a
1, a
2, a
3, a
4, numerical value is known.
As shown in Figure 1, in this ship and target speed stabilizing surely in situation, B
0b
1=B
1b
2=B
2b
3=B
3b
4=TV
m; A
0a
1=A
1a
2=A
2a
3=A
3a
4=TV
w; ∠ A
0eA
1=a
1-a
2, ∠ A
1fA
2=a
2-a
3, ∠ A
2gA
3=a
3-a
4; ∠ EB
0b
1=180 ° of-C
m+ C
w-a
1, ∠ B
0b
1e=C
m-C
w+ a
2, ∠ FB
1b
2=180 ° of-C
m+ C
w-a
2, ∠ B
1b
2g=C
m-C
w+ a
3, ∠ GB
2b
3=180 ° of-C
m+ C
w-a
3, ∠ B
2b
3g=C
m-C
w+ a
4.
By △ A
0eA
1, △ A
1fA
2, △ A
2gA
3known, nTV
w/ sin (a
1-a
2)=A
1e/sina
1, nTV
w/ sin (a
2-a
3)=A
1f/sina
3=A
2f/sina
2, nTV
w/ sin (a
3-a
4)=A
2g/sina
4; By △ B
0eB
1, △ B
1fB
2, △ B
2gB
3known, nTV
m/ sin (a
1-a
2)=B
1e/sin (C
m-C
w+ a
1), nTV
m/ sin (a
2-a
3)=B
1f/sin (C
m-C
w+ a
3)=B
2f/ (C
m-C
w+ a
2), nTV
m/ sin (a
3-a
4)=B
2g/sin (C
m-C
w+ a
4).Due to A
1e-A
1f=B
1e-B
1f, A
2f-A
2g=B
2f-B
2g, then can derive: { sin (a in the lump
2-a
3) sin (a
1-a
4)-3sin (a
1-a
2) sin (a
3-a
4) tg (C
m-C
w)=0.
Due to above formula identically vanishing and tg (C
m-C
w) being generally not equal to zero, and surely derive to condition from target speed stabilizing and go out, then must exist: sin (a
2-a
3) sin (a
1-a
4)=3sin (a
1-a
2) sin (a
3-a
4) (1)
If U=sin is (a
2-a
3) sin (a
1-a
4), K=3sin (a
1-a
2) sin (a
3-a
4), from (1): U/K=1(2)
From derivation, this ship and target speed stabilizing surely to the sufficient and necessary condition being U/K=1, and U/K=1 be this ship with target speed stabilizing surely to necessity and insufficient condition.That is there is U/K=1, but this ship and target ship may not be speed stabilizing surely to situation.As this ship, target ship speed change, break-in, but its position angle, some position Output rusults in same period should meet and (1), (2) requirement, and mathematically there is this probability may.But this ship speed stabilizing is surely after term restriction, target ship is made possible speed change or break-in or speed and direction changing and is moved, and the some position of its result in same period meets the requirement of (2), the probability of this generation is very little, therefore can think: U/K=1(is approximately 1) be this ship speed stabilizing surely to target speed stabilizing under condition surely to test condition.Simulating, verifying can carried out afterwards.
Accompanying drawing explanation
Fig. 1 be submarine speed stabilizing of the present invention surely to target speed stabilizing under condition surely to calibrating resolve schematic diagram.
Fig. 2 is that submarine speed stabilizing of the present invention is surely to non-delayed Firing data calculation schematic diagram under condition.
Fig. 3 is that submarine speed stabilizing of the present invention is surely to non-delayed Firing data calculation formula under condition.
Fig. 4 is that submarine of the present invention and target speed stabilizing are surely to situation under condition and and input, export data message.
Fig. 5 is that submarine of the present invention and target are surely to situation under Variable Velocity Condition and and input, export data message.
In figure: when 1 ship tenacious tracking accepts Target indication and the distance of target; The course value that 2 ships are stable; The position angle of target when 3 ship tenacious trackings accept Target indication; 4, the position angle of 5,6 targets when being respectively full 1st, 2,3 the nT periodic knot of this ship; The speed of a ship or plane value that 7 ships are stable; The course value that 8 targets are stable; The speed of a ship or plane value that 9 targets are stable; The position angle of target during 10 i-th nT periodic knot full of this ship; 11 tenacious tracking targets are to the mistiming needed when attacking; The n sampling cycle of the 12 submarine passive sonar detections of a target.
Embodiment
Instantiation of the present invention is described in detail below in conjunction with technical scheme.
2 submarine speed stabilizings are surely to non-delayed Firing data calculation under condition
After drawing the movement velocity 9 of target, course 8 and my ship and the rear key element of target initial distance 1, according to the needs attacked in real time, following non-delayed Firing data calculation can be carried out in good time.
∠ GA as shown in Figure 2
xa
0=∠ B
0b
ca
0=C
m-C
w, ∠ A
0gAx=∠ A
0gA
x=180 ° of-C
m+ C
w-a
1, wherein △ T is tenacious tracking target to the mistiming needed when attacking, then: A
xa
0=V
m△ Tsin (180 ° of-C
m+ C
w-a
1)/sina
1=V
m△ Tsin (C
m-C
w+ a
1)/sina
1, A
0g=V
m△ Tsin (C
m-C
w)/sina
1, A
xb
i=D-V
m△ Tsin (C
m-C
w)/sina
1, A
xa
i=V
w△ T-V
m△ Tsin (C
m-C
w+ a
1)/sina
1.Then draw computing formula in Fig. 3.
3 submarine speed stabilizings surely to target speed stabilizing under condition surely to calibration method simulating, verifying
This ship and target speed stabilizing are surely to situation illustration: each 1 group of target moving element data of sampling for 4 times to sonar under this ship 2 situation are only chosen in following emulation, try to achieve a in substitution Fig. 3 after formula
2, a
3, a
4, utilize ` formula (2) to carry out inverting checking.As shown in Figure 4.
This ship speed stabilizing surely to target surely to speed change situation illustration: each 1 group of target moving element data of sampling for 4 times to sonar under this ship 2 situation are only chosen in following emulation, and wherein target ship 2nT week after date speed change is V
m3, a is tried to achieve in the calculating similar by formula in Fig. 3
2, a
3, a
4, utilize ` formula (2) to carry out inverting checking.As shown in Figure 5.
From sequence number in Fig. 41,2, U
1/ K
1=1.00005, U
2/ K
2=1.00012, then think U
1/ K
1=1, U
2/ K
2=1, namely in this ship speed stabilizing surely in situation, can this confirm target data acquisition phase be in speed stabilizing surely to situation.
From sequence number in Fig. 53,4, U
3/ K
3=17.0865, U
4/ K
4=1.3289, then think U
3/ K
3≠ 1, U
4/ K
4≠ 1, namely in this ship speed stabilizing surely in situation, can this confirm target data acquisition phase be in non-speed stabilizing surely to situation.
U, K speed stabilizing surely to standard on data, need to carry out further research and defining in submarine at sea actual job interval with reference to using.
In sum, this ship and target be all speed stabilizing surely to and under Pure orientation solves situation, through the logical relation rule searched out between target azimuth of oppositely deriving in some cycles, can judge successively target speed stabilizing surely to applicable elements, can be and ensure that application of pure orientation method direct solution creates favorable conditions, certain tactical instruction effect can be played for submarine naval warfare application.For the bearing data that aerial flash ranging, thunder survey, wireless electrical measurement etc. relate to, the method judges that target speed stabilizing is surely to having same directive significance.
Claims (1)
1. submarine speed stabilizing surely to target speed stabilizing under condition surely to calibration method, set up coordinate system, as Fig. 1 with the actual situation of motion of this ship and target ship; Position when getting this ship tenacious tracking target is initial point, and positive north orientation is Y-axis, positive east orientation is X-axis; This ship speed stabilizing surely to speed 7 be V
w(unit turns to m/s), course 2 is C
w, numerical value is known; Hypothetical target certain hour speed stabilizing surely to speed 9 be V
m(unit turns to m/s), course 8 is C
m, numerical value is unknown; Relative distance 1 when getting this ship tenacious tracking target turns to m) for D(unit, and numerical value is unknown; If passive sonar detection sampling period or cycle identical multiple are that T(unit turns to s), nT, numerical value is known; Within the sampling period, this ship finds that the position angle 3,4,5,6 of target is a
1, a
2, a
3, a
4, numerical value is known; Then try to achieve: sin (a
2-a
3) sin (a
1-a
4)=3sin (a
1-a
2) sin (a
3-a
4) (1)
U/K=1
U/K=1(is approximately 1) be this ship speed stabilizing surely to target speed stabilizing under condition surely to test condition; If U=sin is (a
2-a
3) sin (a
1-a
4), K=3sin (a
1-a
2) sin (a
3-a
4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510668336.XA CN105223568A (en) | 2015-10-17 | 2015-10-17 | A kind of examine and determine target speed stabilizing surely to Pure orientation algorithm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510668336.XA CN105223568A (en) | 2015-10-17 | 2015-10-17 | A kind of examine and determine target speed stabilizing surely to Pure orientation algorithm |
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| Publication Number | Publication Date |
|---|---|
| CN105223568A true CN105223568A (en) | 2016-01-06 |
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ID=54992625
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Citations (5)
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|---|---|---|---|---|
| WO2001075480A2 (en) * | 2000-03-31 | 2001-10-11 | Thales Underwater Systems S.A.S. | Device for controlling navigation of a towed submarine object |
| CN102999696A (en) * | 2012-11-13 | 2013-03-27 | 杭州电子科技大学 | Capacity information filtering-based pure direction tracking method of noise-related system |
| CN104422921A (en) * | 2013-08-22 | 2015-03-18 | 郁涛 | Fixed single station passive positioning system based on orientation and self time difference measurement |
| CN104569915A (en) * | 2015-01-15 | 2015-04-29 | 中国电子科技集团公司第二十八研究所 | Positioning method used in multiple photoelectric detection systems and based on target movement model |
| CN104833981A (en) * | 2015-05-11 | 2015-08-12 | 西北工业大学 | Bearings-only target tracking method based on distance parameterization SRCKF in mixed coordinate system |
-
2015
- 2015-10-17 CN CN201510668336.XA patent/CN105223568A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001075480A2 (en) * | 2000-03-31 | 2001-10-11 | Thales Underwater Systems S.A.S. | Device for controlling navigation of a towed submarine object |
| CN102999696A (en) * | 2012-11-13 | 2013-03-27 | 杭州电子科技大学 | Capacity information filtering-based pure direction tracking method of noise-related system |
| CN104422921A (en) * | 2013-08-22 | 2015-03-18 | 郁涛 | Fixed single station passive positioning system based on orientation and self time difference measurement |
| CN104569915A (en) * | 2015-01-15 | 2015-04-29 | 中国电子科技集团公司第二十八研究所 | Positioning method used in multiple photoelectric detection systems and based on target movement model |
| CN104833981A (en) * | 2015-05-11 | 2015-08-12 | 西北工业大学 | Bearings-only target tracking method based on distance parameterization SRCKF in mixed coordinate system |
Non-Patent Citations (3)
| Title |
|---|
| YUN JUN ZHANG等: ""Bearings-only target motion analysis via instrumental variable estimation"", 《IEEE TRANSACTIONS ON SIGNAL PROCESSING》 * |
| 武志东等: ""潜艇不机动纯方位解算编队目标运动要素方法"", 《指挥控制与仿真》 * |
| 石章松等: ""一种单站纯方位目标跟踪算法研究"", 《系统工程与电子技术》 * |
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Application publication date: 20160106 |