CN105447228B

CN105447228B - A kind of earth disturbance gravitation assignment model applicability energy appraisal procedure

Info

Publication number: CN105447228B
Application number: CN201510765613.9A
Authority: CN
Inventors: 刘鲁华; 王建华; 汤国建
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2015-11-11
Filing date: 2015-11-11
Publication date: 2018-10-19
Anticipated expiration: 2035-11-11
Also published as: CN105447228A

Abstract

The invention discloses a kind of earth to disturb gravitation assignment model applicability energy appraisal procedure, and step includes：Flight path sampling test factor and its test level are set, the experimental design of flight path sample is completed；Design single index；According to the experimental design of the flight path sample, ballistic vehicles flight path simulating is carried out to the earth to be assessed disturbance gravitation assignment model, and the data for calculating each single index obtain each data sample library；The analysis and assessment of each single index are completed using Bayesian Estimation method；Nondimensionalization processing is carried out to the analysis and assessment result of each single index, obtains the degree of membership of each single index；The applicable performance assessment result of COMPREHENSIVE CALCULATING earth disturbance gravitation assignment model to be assessed.The present invention can complete any given form earth and disturb assessment and the analysis of gravitation assignment model applicability energy to determine that it, in the applicable performance of ballistic vehicles control field, has the advantages that assessment comprehensive and reasonable, fast and reliable, implementation is convenient.

Description

A kind of earth disturbance gravitation assignment model applicability energy appraisal procedure

Technical field

The present invention relates to flying vehicles control technologies, and in particular to a kind of earth disturbance gravitation assignment model applicability can be assessed Method.

Background technology

It includes mainly guidance instrument error and guidance method error to cause the factor of long-range ballistic vehicles offset landings. Guidance instrument error is not perfect due to the guidance units performance such as inertial platform, accelerometer, gyroscope and missile-borne computer Caused offset landings；Guidance method error, which is mainly method of guidance itself, fundamentally to eliminate disturbance gravitation error, hair Influence of the disturbing factors such as characteristics of motivation error, Flight Vehicle Structure error and pneumatic system errors to guidance precision is to caused by Offset landings, and continuously improving with guidance hardware device, the influence of guidance method error becomes increasingly conspicuous.According to existing experience And related data, engine characteristics error, Flight Vehicle Structure error and pneumatic system errors etc., which can act on aircraft and regard, to be added The disturbing factor of speed can be eliminated by inertial navigation system and explicit guidance method.In comparison, as guidance The disturbance gravitation field error of method error main error source can not be by inertial navigation system sensitivity, can only be by disturbing gravitation Field models and then is modified in guiding model；Therefore, gravitational field is disturbed to long-range ballistic vehicles system to effectively eliminate Lead the influence of precision, it is necessary to carry out disturbance gravitational field accurate model and model, disturbance gravitation assignment, disturb gravitational field influence guidance benefit The research work of levels such as repay.It should be noted that, although high-accuracy disturbance gravitational field Modeling Research has gradually formed model and has forced Closely with two kinds of main methods of numerical radius；It disturbs gravitation assignment and disturbance gravity model reconstructs quick valuation also based on different numerical value Computation schema completes the assignment requirement of disturbance gravitation different accuracy；However the related ends that above-mentioned two are studied are applied to disturb Before dynamic gravitational field influences guidance compensatory theory method and engineer application, it is required to fit earth evaluation of disturbing gravitational field model System and comprehensive assessment are carried out with performance, and then clearly the earth disturbs the appropriate of gravitation assignment model, therefore carried out The research of earth evaluation of disturbing gravitational field model applicability energy appraisal procedure will have great importance.

Invention content

The technical problem to be solved in the present invention：For the above problem of the prior art, provide one kind can complete arbitrarily to The setting formula earth disturbs assessment and the analysis of gravitation assignment model applicability energy to determine it in ballistic vehicles control field Applicable performance, assessment comprehensive and reasonable, it is fast and reliable, implement easily the earth disturbance gravitation assignment model applicability can the side of assessment Method.

In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：

A kind of earth disturbance gravitation assignment model applicability energy appraisal procedure, step include：

1) flight path sampling test factor and its test level are set, completed for ground using positive quadraturing design test method Ball disturbs the experimental design of the flight path sample of the applicable performance assessment of gravitation assignment model；

2) individual event in terms of assignment precision, assignment speed and assignment Model suitability three designed for applicable performance assessment Index is to establish the index system that earth disturbance gravitation assignment model applicability can be assessed；

3) according to the experimental design of the flight path sample, bullet is carried out for the earth to be assessed disturbance gravitation assignment model Road formula aircraft flight track emulation, and the data of each single index are calculated, obtain the data sample library of each single index；

4) assume that the sample data changing rule of each single index meets normal distribution statistical rule, be based on the hypothesis The analysis and assessment of each single index are completed using Bayesian Estimation method；

5) preset dimensionless membership function is used, nondimensionalization is carried out to the analysis and assessment result of each single index Processing, obtains the degree of membership of each single index；

6) according to the default weight of each single index and the degree of membership of each single index, the COMPREHENSIVE CALCULATING earth to be assessed Disturb the applicable performance assessment result of gravitation assignment model.

Preferably, when flight path sampling test factor and its test level are set in the step 1), the flight of setting Track sampling test factor includes：Transmitting position landform, TRAJECTORY CONTROL mode, voyage, the propulsion device class of ballistic vehicles Type, flight path type and initial time heading.

Preferably, when flight path sampling test factor and its test level are set in the step 1), ballistic flight The test level of the transmitting position landform of device is 4 horizontal, and the test level of TRAJECTORY CONTROL mode is 3 horizontal, the experiment water of voyage It puts down as 6 levels, the test level of propulsion device type is 3 horizontal, and the test level of flight path type is 4 horizontal, when initial The test level for carving heading is 10 horizontal.

Preferably, it when choosing the single index for applicable performance assessment in the step 2), is chosen according to assignment precision Single index include：Disturb gravitation assignment residual error δ_t, assignment model offset landings ε_xAnd ε_z, assignment residual error percentageAccording to Assignment speed choose single index include：Disturb gravitation assignment time T_c, penetrate before calculate time T_SQ, airborne computer resolve when Between T_DS；According to assignment Model suitability choose single index include：Different flight path mode adaptationsDifferent rails Mark control mode adaptabilityDifferent terrain adaptability

Preferably, the disturbance gravitation assignment residual error δ_tCalculating formula such as formula (1) shown in, the assignment model offset landings ε_xAnd ε_zCalculating formula such as formula (2) shown in, the assignment residual error percentageCalculating formula such as formula (3) shown in；The disturbance is drawn Power assignment time T_cCalculating formula such as formula (4) shown in, it is described penetrate before calculate time T_SQCalculating formula such as formula (5) shown in, the machine Carry machine solution evaluation time T_DSCalculating formula such as formula (6) shown in；The difference flight path mode adaptationCalculating formula As shown in formula (7), the different tracks control mode adaptabilityCalculating formula such as formula (8) shown in, the different terrain is suitable Ying XingCalculating formula such as formula (9) shown in；

In formula (1), δ_tThe disturbance gravitation assignment residual error of spatial position where indicating arbitrary t moment ballistic vehicles, The practical disturbance gravitation value of spatial position where indicating arbitrary t moment ballistic vehicles,Indicate that earth disturbance to be assessed is drawn Power assignment model calculates gained and disturbs gravitation value,Indicate practical disturbance gravitation valueGravitation is disturbed with the earth to be assessed Assignment model calculates gained and disturbs gravitation valueDifference Euclid norm；

In formula (2), is deviateed using aiming point as OX axis and OZ axis, drop point as origin O, vertical and horizontal and use (X, Z) It indicates, ε_xIndicate the offset landings of X-direction；ε_zIndicate the offset landings of Z-direction；x_cIt indicates to disturb gravitation using the earth to be assessed Assignment model carries out the X of drop point obtained by flight path simulating to component, x_nIndicate the X of dreamboat point position coordinates to component, z_n Indicate the Z-direction component of dreamboat point position coordinates, z_cIt indicates to fly using the earth to be assessed disturbance gravitation assignment model The Z-direction component of drop point obtained by track emulation；

In formula (3),The assignment residual error percentage of spatial position, δ where indicating arbitrary t moment ballistic vehicles_tTable The disturbance gravitation assignment residual error of spatial position where showing arbitrary t moment ballistic vehicles,Indicate arbitrary t moment ballistic The practical disturbance gravitation value of spatial position where aircraftEuclid norm；

In formula (4), T_cIndicate the disturbance gravitation assignment time, n indicate to call the earth to be assessed disturb gravitation assignment model into The number that row disturbance gravitation assignment calculates,Indicate that ith is called earth disturbance gravitation assignment model to be assessed to carry out disturbance and drawn Power assignment calculates the time used；

T_SQ=T_CX+T_ZY (5)

In formula (5), T_SQExpression calculates time, T before penetrating_CXWhen indicating that the ballistic vehicles initial position deviation of plumb line obtains Between, T_ZYIndicate the ballistic vehicles data computation time；

In formula (4), T_DSIndicate that airborne computer resolving time, n indicate during ballistic vehicles flight path simulating The called number of earth disturbance gravitation assignment model to be assessed,Indicate that ballistic vehicles simulate airborne computer ith It calls earth disturbance gravitation assignment model to be assessed to carry out disturbance gravitation and resolves the required time；

In formula (7),Indicate different flight path mode adaptations,It indicates to be directed to i-th kind of flight path pattern The simulated flight total number of tracks mesh of progress,Indicate the flight path number for meeting demanding terminal in total flight path simulating number Mesh, n indicate flight path model number；

In formula (8),Indicate different tracks control mode adaptability,It indicates to be directed to i-th kind of TRAJECTORY CONTROL mode The simulated flight total number of tracks mesh of progress,Indicate the flight rail for meeting TRAJECTORY CONTROL requirement in total flight path simulating number Mark number, n indicate the number of TRAJECTORY CONTROL mode；

In formula (9),Indicate different terrain adaptability,Indicate the simulated flight rail carried out for i-th kind of landform Mark total number,Indicate that the flight path number for meeting aerial mission requirement in total flight path simulating number, n indicate ground The number of shape type.

Preferably, the detailed step of the step 3) includes：

3.1) determine that earth disturbance to be assessed is drawn according to the constraint of preset space boundary or the flight range constraint of aircraft The spatial dimension constraint of power assignment model application；

3.2) it is directed to the space boundary constraint of spatial dimension constraint, in conjunction with the earth to be assessed disturbance gravitation assignment model regulation Uniformly subdivision criterion complete the spatial domain subdivision of the earth to be assessed disturbance gravitation assignment model designated flying zone；

3.3) the Space finite element node formed according to spatial domain subdivision using the earth to be assessed disturbance gravitation assignment model into Row disturbance gravitation assignment obtains the finite element nodal values model of earth disturbance gravitation assignment model to be assessed；

3.4) on the basis of the finite element nodal values model, disturbance gravitation assignment in any position in space is completed Resolve and for ballistic vehicles flight path simulating；

3.5) data that each single index is calculated during ballistic vehicles flight path simulating, obtain each The data sample library of single index.

Preferably, the normal distribution statistical rule of hypothesis is in the step 4)Wherein, I_s.jTable Show j-th of single index, μ_Is.jIndicate earth disturbance gravitation assignment model and flight path simulating to be assessed systematicness in the process The parameter values to be estimated for j-th of single index that error determines,Indicate j-th of single index value in data sample Opposite single index I_s.jStroll degree, D_Is.jIndicate the variance of j-th of single index, σ_Is.jIndicate j-th single index Standard deviation, the variance D of j-th of single index_Is.j, standard deviation sigma_Is.jIt is parameter to be estimated；It is described complete using Bayesian Estimation method At every single index analysis and assessment the step of include：

4.1) the current single index j of a conduct is taken out from all single indexs；

4.2) n is arbitrarily chosen in the data sample library of current single index j_QFGroup simulation sample dataMake To test preceding increment, then the parameter μ to be estimated of current single index j_Is.jPrior probability density beWhereinIndicate simulation sample data mean value, simulation sample data mean valueCalculating formula such as formula (10) shown in；D_Is.jIndicate current The variance of single index j, the variance D of current single index j_Is.jPrior probability density be Inv-Gamma distribution density function g (D_x；α₀,β₀), in-between parameter alpha₀And β₀Calculating formula such as formula (11) shown in, n_QFIndicate that current single index j's tests preceding increment Number of samples；

In formula (10),Indicate simulation sample data mean value, n_QFIndicate the sample for testing preceding increment of current single index j Number,Indicate the sample value for testing i-th of sample in preceding increment of current single index j；

In formula (11), α₀And β₀Density function g (the D of Inv-Gamma distribution are indicated respectively_x；α₀,β₀) intermediate parameters, n_QFTable Show the number of samples for testing preceding increment of current single index j,Indicate that current single index j's tests i-th of sample in preceding increment Sample value,Indicate the simulation sample data mean value of current single index j；

4.3) assume to share n sample x in the data sample library of current single index j₁,…,x_n, determine (μ_Is.j,D_Is.j) Test rear and be conjugation before testing and obey shown in normal state-Inv-Gamma distribution such as formula (12)；

In formula (12), μ_Is.jIndicate earth disturbance gravitation assignment model and flight path simulating to be assessed systematicness in the process The parameter values to be estimated for the current single index j that error determines, D_Is.jIndicate that the variance of current single index j, X indicate current single N sample x in the data sample library of item index j₁,…,x_nThe data set of composition, intermediate parameters η₁、α₁、β₁、μ₁Such as formula (13) institute Show；

In formula (13), η₁、α₁、β₁、μ₁Respectively intermediate parameters, n indicate the sample data total number of current single index j, n_QFIndicate the number of samples for testing preceding increment of current single index j, α₀,β₀For intermediate parameters, u indicates current single index j's The variance of sample data, x in data sample library_iIndicate i-th of sample value in the data sample library of current single index j, Indicate the mean value of all sample datas in the data sample library of current single index j,Indicate the emulation of current single index j Sample data mean value；

4.4) Systematic Errors determine during determining earth disturbance gravitation assignment model and flight path simulating to be assessed Current single index j parameter values μ to be estimated_Is.jAs shown in formula (14)；

In formula (14), μ_Is.jIndicate earth disturbance gravitation assignment model and flight path simulating to be assessed systematicness in the process The parameter values to be estimated for the current single index j that error determines, η₁、α₁、β₁、μ₁Respectively intermediate parameters shown in formula (13), Y Indicate Xue Shengshi t distributions, p_Y(y) probability density function of Y is indicated；

4.5) parameter μ to be estimated of current single index j is determined_Is.jBayesian Estimation valueAnd its variance Var (μ_Is.j) As shown in formula (15), the variance D of current single index j_Is.jBayesian Estimation valueAnd its variance Var (D_Is.j) such as formula (16) shown in, the standard deviation sigma of current single index j_Is.jBayesian Estimation valueAnd its variance Var (σ_Is.j) such as formula (17) It is shown；

In formula (15),Indicate the parameter μ to be estimated of current single index j_Is.jBayesian Estimation value, μ_Is.jIndicate to be evaluated Estimate the current single index j that Systematic Errors during earth disturbance gravitation assignment model and flight path simulating determine to wait estimating Parameter values, Var (μ_Is.j) indicate Bayesian Estimation valueVariance, parameter η₁、α₁、β₁、μ₁Respectively shown in expression (13) Intermediate parameters；

In formula (16),Indicate the variance D of current single index j_Is.jBayesian Estimation value, D_Is.jIndicate current single The variance of item index j, Var (D_Is.j) indicate the variance D of current single index j_Is.jBayesian Estimation value, parameter η₁、α₁、β₁、 μ₁Respectively intermediate parameters shown in formula (13)；

In formula (17),Indicate the standard deviation sigma of current single index j_Is.jBayesian Estimation value, σ_Is.jIndicate current single The standard deviation of item index j, Var (σ_Is.j) indicate Bayesian Estimation valueVariance, parameter η₁、α₁、β₁、μ₁Respectively formula (13) Shown in intermediate parameters, Γ is gamma function；

4.6) according to the simulation sample data mean value of current single index jParameter μ to be estimated_Is.jBayesian Estimation valueAnd its variance Var (μ_Is.j), variance D_Is.jBayesian Estimation valueAnd its variance Var (D_Is.j), standard deviation sigma_Is.j's Bayesian Estimation valueAnd its Var (σ_Is.j), quantitative or qualitative evaluation is carried out to current single index j；

4.7) judge whether that all single indexs have been disposed, if be not yet disposed, redirect execution step 4.1), otherwise judge that the analysis and assessment for being completed every single index using Bayesian Estimation method are finished, redirect and execute step 5).

Preferably, when the step 5) carries out nondimensionalization processing to the analysis and assessment result of each single index：

◆ shown in the dimensionless membership function such as formula (18) used for the single index chosen according to assignment precision；

In formula (18),Indicate the nondimensionalization membership function value of each single index of assignment precision, k and R₀For with it is each The numerical value of single index and assessment require relevant unknown parameter, R to indicate each single index independent variable of assignment precision；For every One single index designs two known points to determine unknown parameter k and R₀, to obtain the dimensionless person in servitude of the single index Category degree function；For disturbance gravitation assignment residual error δ_t, setting is as disturbance gravitation assignment residual error δ_tEqual to disturbance gravitation assignment residual error Maximum permissible value δ_r.maxWhen, dimensionless membership function value S_δEqual to the default minimum of assignment residual error dimensionless membership function Value S_δ.min, wherein S_δ.min∈[0,1]；As disturbance gravitation assignment residual error δ_tEqual to the minimum preset value of disturbance gravitation assignment residual error δ_r.minWhen, dimensionless membership function value S_δEqual to the preset maximum value S of assignment residual error dimensionless membership function_δ.max, wherein S_δ.max∈[0,1]；For assignment model offset landings ε_xAnd ε_z, X, Z both directions are identical and relatively independent, and setting is worked as Assignment model offset landings ε_xEqual to the maximum permissible value ε of assignment model X-direction offset landings_xr.maxWhen, dimensionless degree of membership Functional value S_xEqual to the predetermined minimum S of assignment model X-direction offset landings dimensionless membership function_x.min, wherein S_x.min∈ [0,1]；As assignment model offset landings ε_xEqual to the minimum preset value ε of assignment model X-direction offset landings_xr.minWhen, it is immeasurable Guiding principle membership function value S_xEqual to the preset maximum value S of assignment model X-direction offset landings dimensionless membership function_x.max, Middle S_x.max∈[0,1]；For assignment residual error percentageWhen assignment residual error percentageMost equal to assignment residual error percentage Big permissible value ζ_r.maxWhen, dimensionless membership function value S_ζEqual to the minimum of assignment residual error percentage dimensionless membership function Preset value S_ζ.min, wherein S_ζ.min∈[0,1]；When assignment residual error percentageEqual to the minimum allowable value of assignment residual error percentage ζ_r.minWhen, dimensionless membership function value S_ζEqual to the maximum preset value of assignment residual error percentage dimensionless membership function S_ζ.max, wherein S_ζ.max∈[0,1]；

◆ shown in the dimensionless membership function such as formula (19) used for the single index chosen according to assignment speed；

In formula (19),Indicate the nondimensionalization membership function value of each single index of assignment speed, k and R₀For with it is each The numerical value of single index and assessment require relevant unknown parameter, R to indicate each single index independent variable of assignment speed；For every One single index designs two known points to determine unknown parameter k and R₀, to obtain the dimensionless person in servitude of the single index Category degree function；For disturbance gravitation assignment time T_c, as disturbance gravitation assignment time T_cEqual to the maximum of disturbance gravitation assignment time Permissible value T_cr.maxWhen, dimensionless membership function value S_TcMost equal to disturbance gravitation assignment time dimensionless membership function Small preset value S_Tc.min, wherein S_Tc.min∈[0,1]；As disturbance gravitation assignment time T_cLess than or equal to the disturbance gravitation assignment time Minimum preset value T_cr.minWhen, dimensionless membership function value S_TcEqual to 1；For calculating time T before penetrating_SQ, when penetrating preceding meter Evaluation time T_SQEqual to the maximum permissible value T for calculating the time before penetrating_SQr.maxWhen, dimensionless membership function value S_TSQBefore penetrating Calculate the minimum preset value S of time dimensionless membership function_TSQ.min, wherein S_TSQ.min∈[0,1]；Time T is calculated before penetrating_SQ Less than or equal to the minimum preset value T for calculating the time before penetrating_SQr.minWhen, dimensionless membership function value S_TSQEqual to 1；For Airborne computer resolving time T_DS, as airborne computer resolving time T_DSIt is maximum allowable equal to the airborne computer resolving time Value T_DSr.maxWhen, dimensionless membership function value S_TDSMost equal to airborne computer resolving time dimensionless membership function Small preset value S_TDS.min, wherein S_TDS.min∈ [0,1], as airborne computer resolving time T_DSLess than or equal to airborne computer solution The minimum preset value T of evaluation time_DSr.minWhen, dimensionless membership function value S_TDSEqual to 1；

◆ the dimensionless membership function such as formula (20) used for the single index chosen according to assignment Model suitability It is shown；

In formula (20),Indicate nondimensionalization membership function value, k and R₀To be wanted with the numerical value and assessment of each single index Relevant unknown parameter, R is asked to indicate each single index independent variable of assignment Model suitability；For each single index, design Two known points determine unknown parameter k and R₀, to obtain the dimensionless membership function of the single index；For difference Flight path mode adaptationWhen different flight path mode adaptationsEqual to different flight path mode adaptives Property maximum preset valueWhen, dimensionless membership function value S_ε.trajIt is immeasurable equal to different flight path mode adaptations The maximum preset value S of guiding principle membership function_ε.traj.max, wherein S_ε.traj.max∈[0,1]；When different flight path mode adaptationsEqual to different flight path mode adaptation minimum preset valuesWhen, dimensionless membership function value S_ε.trajDeng In 0；For different tracks control mode adaptabilityWhen different tracks control mode adaptabilityEqual to different tracks Control mode adaptability maximum preset valueWhen, dimensionless membership function value S_ε.ctlEqual to different tracks control mode The maximum preset value S of adaptability dimensionless membership function_ε.ctl.max, wherein S_ε.ctl.max∈[0,1]；When different tracks controlling party Formula adaptabilityEqual to different tracks control mode adaptability minimum preset valueWhen, dimensionless membership function value S_ε.ctlEqual to 0；For different terrain adaptabilityWhen different terrain adaptabilityMost equal to different terrain adaptability Big preset valueWhen, dimensionless membership function value S_ε.hypsoEqual to different terrain adaptability dimensionless degree of membership letter Several maximum preset value S_ε.hypso.max, wherein S_ε.hypso.max∈[0,1]；When different terrain adaptabilityEqual to different terrain The minimum preset value of adaptabilityWhen, dimensionless membership function value S_ε.hypsoEqual to 0.

Preferably, the detailed step of the step 6) includes：

6.1) it is directed to the degree of membership of each single index, according to, as bottom, assignment precision is assigned based on each single index It is worth speed and assignment Model suitability three as middle layer, the applicable performance assessment of earth disturbance gravitation assignment model to be assessed Layered structure of the index as top layer, the default weight of default weight, each middle layer based on each single index, which uses, divides The method of layer weighted comprehensive assessment finally obtains the applicable performance evaluation index A of earth disturbance gravitation assignment model to be assessed；

6.2) it carries out being blurred qualitative processing for applicable performance evaluation index A, obtains earth disturbance gravitation to be assessed and assign It is worth the applicable performance assessment result of model.

Preferably, the step 6.2) be blurred qualitative processing for applicable performance evaluation index A and specifically refers to adopt The membership function shown in formula (21) carries out being blurred qualitative processing to applicable performance evaluation index A；

In formula (21), A is the applicable performance evaluation index that the earth to be assessed disturbs gravitation assignment model,Expression is subordinate to Functional value is spent, k is to be blurred qualitative processing parameter.

Earth disturbance gravitation assignment model applicability energy appraisal procedure tool of the present invention has the advantage that：The present invention is smart from assignment Degree, assignment speed and three aspect of assignment Model suitability are designed for the single index of applicable performance assessment to establish earth disturbance The index system that gravitation assignment model applicability can be assessed；According to the experimental design of flight path sample, for the earth to be assessed It disturbs gravitation assignment model and carries out ballistic vehicles flight path simulating, and calculate the data of each single index, obtain each The data sample library of a single index；Assuming that the sample data changing rule of each single index meets normal distribution statistical rule Rule, based on the assumption that completing the analysis and assessment of each single index using Bayesian Estimation method；It is subordinate to using preset dimensionless Function is spent, nondimensionalization processing is carried out to the analysis and assessment result of each single index, obtains the degree of membership of each single index； According to the default weight of each single index and the degree of membership of each single index, COMPREHENSIVE CALCULATING earth disturbance gravitation to be assessed is assigned It is worth the applicable performance assessment result of model, commenting for any given form earth disturbance gravitation assignment model applicability energy can be completed Estimate and analyze to determine it in the applicable performance of ballistic vehicles control field, assessment comprehensive and reasonable, fast and reliable, implementation are just Prompt advantage.

Description of the drawings

Fig. 1 is the basic procedure schematic diagram of present invention method.

Fig. 2 is the layered structure schematic diagram of single index in the embodiment of the present invention.

Fig. 3 is the flow diagram in the data sample library that step 3) of the embodiment of the present invention generates each single index.

Fig. 4 is processing flow schematic diagram of the embodiment of the present invention for the data sample library of single index.

Specific implementation mode

As shown in Figure 1, the step of the present embodiment earth disturbance gravitation assignment model applicability energy appraisal procedure, includes：

3) according to the experimental design of flight path sample, ballistic is carried out for the earth to be assessed disturbance gravitation assignment model Aircraft flight track emulation, and the data of each single index are calculated, obtain the data sample library of each single index；

4) assume that the sample data changing rule of each single index meets normal distribution statistical rule, based on the assumption that utilizing Bayesian Estimation method completes the analysis and assessment of each single index；

Earth disturbance gravitation assignment model applicability can refer to that the model is applied to ballistic vehicles Control System Design And the appropriateness of simulation analysis；In view of ballistic vehicles generally can all be endowed different aerial missions, accordingly not Same aerial mission can also correspond to different control modes, different flight path patterns and different flight environment of vehicle etc., to fill Divide verification and analysis earth disturbance gravitation assignment model in the applicable performance of ballistic vehicles control field, it is necessary to design the earth Disturbance gravitation assignment model applicability can assess the flight path sample of needs.In the present embodiment, flight rail is set in step 1) When mark sampling test factor and its test level, the flight path sampling test factor of setting includes：The hair of ballistic vehicles Penetrate position landform, TRAJECTORY CONTROL mode, voyage, propulsion device type, flight path type and initial time heading.This When flight path sampling test factor and its test level are set in embodiment, in step 1), the transmitting position of ballistic vehicles The test level for setting landform is 4 horizontal, and the test level of TRAJECTORY CONTROL mode is 3 horizontal, and the test level of voyage is 6 horizontal, The test level of propulsion device type is 3 horizontal, and the test level of flight path type is 4 horizontal, initial time heading Test level be 10 horizontal.The present embodiment is chosen six experimental factors and is disturbed using positive quadraturing design test method to complete the earth Dynamic gravitation assignment model applicability can assess the experimental design of flight path sample, in clear flight path sampling test design After experimental factor, need to determine that the test level of above-mentioned six experimental factors could be using positive quadraturing design test method come complete respectively At the experimental design of flight path sample；The research mesh more stressed due to the different aerial mission of ballistic vehicles and stage construction , the present embodiment does not do specific regulation to the test level of above-mentioned six experimental factors, and user can need certainly according to research Row, which determines and completes earth disturbance gravitation assignment model applicability using positive quadraturing design test method, can assess flight path sample Experimental design.

The earth disturbs assignment precision, assignment rapidity and the assignment Model suitability of gravitation assignment model and ballistic flies Simulation analysis in device control field has direct contact.The disturbance gravitation stress of assignment accuracy relation to ballistic vehicles is accurate Degree, assignment rapidity can influence the online computing capability of ballistic vehicles airborne computer, and assignment Model suitability is then direct Determine the use scope and object of assignment model.The finger that earth disturbance gravitation assignment model applicability can be assessed in the present invention thus Mark system will surround assignment precision, three aspects of assignment rapidity and assignment Model suitability are established.The requirement of assignment precision index Earth disturbance gravitation assignment model to be assessed calculates the space any position disturbance gravitation value of gained and actually disturbing for the position The difference of dynamic gravitation value must within the acceptable range, and only assignment precision is met the requirements, and just can guarantee that disturbance gravitation causes Method for controlling trajectory error caused by offset landings in acceptable range.Due to ballistic vehicles time and machine Carry the physical constraint of computer calculation amount, it is necessary to assure earth disturbance gravitation assignment model to be assessed is complete within the acceptable time At calculating, so proposing disturbance gravitation assignment evaluation of speed index.The earth disturbs gravitation assignment Model suitability index reflection should The extensive assignment model of the applicable range of assignment model and object, only adaptability could be received.As shown in Fig. 2, this reality When applying the single index that selection is assessed for applicable performance in a step 2), the single index chosen according to assignment precision includes： Disturb gravitation assignment residual error δ_t, assignment model offset landings ε_xAnd ε_z, assignment residual error percentageIt is chosen according to assignment speed Single index includes：Disturb gravitation assignment time T_c, penetrate before calculate time T_SQ, airborne computer resolving time T_DS；According to assignment Model suitability choose single index include：Different flight path mode adaptationsDifferent tracks control mode adapts to PropertyDifferent terrain adaptability

In the present embodiment, gravitation assignment residual error δ is disturbed_tCalculating formula such as formula (1) shown in, assignment model offset landings ε_xWith ε_zCalculating formula such as formula (2) shown in, assignment residual error percentageCalculating formula such as formula (3) shown in；Disturb gravitation assignment time T_c Calculating formula such as formula (4) shown in, penetrate before calculate time T_SQCalculating formula such as formula (5) shown in, airborne computer resolving time T_DS's Shown in calculating formula such as formula (6)；Different flight path mode adaptationsCalculating formula such as formula (7) shown in, different tracks control Mode adaptabilityCalculating formula such as formula (8) shown in, different terrain adaptabilityCalculating formula such as formula (9) shown in；

T_SQ=T_CX+T_ZY (5)

In formula (7),Indicate different flight path mode adaptations,It indicates to be directed to i-th kind of flight path pattern The simulated flight total number of tracks mesh of progress,Indicate the flight path number for meeting demanding terminal in total flight path simulating number Mesh, n indicate flight path model number, according to actual needs or the specific flight path of ballistic vehicles is true by designer It is fixed；

As shown in figure 3, the detailed step of step 3) includes：

3.4) on the basis of finite element nodal values model, the resolving of disturbance gravitation assignment in any position in space is completed With the flight path simulating for ballistic vehicles；

Wherein, space boundary is constrained to the spatial dimension that user is arranged as the case may be；Flight range is constrained to bullet Space flight regional extent determined by road formula aerocraft real flight performance；Disturbing gravitation assignment model space range constraint is The earth disturbs the usable spatial dimension of gravitation assignment model；Uniformly subdivision criterion, which is earth disturbance gravitation assignment model, to be had Limit member divides utilized space partitioning method；Disturbance gravitation assignment model designated flying zone subdivision is to utilize space partitioning method pair The space use scope that the earth disturbs gravitation assignment model carries out spatial domain subdivision, obtains the finite element list after the spatial dimension subdivision Member, cell node and its spatial position；The earth disturbs the common model that resolves of gravitation and resolves mould for current earth disturbance gravitation is common Type can use point mass computational methods, Stokes integration methods, spheric harmonic function method and spheric harmonic function change poles side as needed Method；Subdivision spatial feature node disturbance gravitation is assigned a value of using the common model that resolves of earth disturbance gravitation to the finite element after subdivision The disturbance gravitation of each node of unit is resolved；Any position disturbance gravitation based on spatial feature node is assigned a value of utilizing subdivision The disturbance gravitation value of each node of finite element unit afterwards carries out numerical radius meter to the disturbance gravitation of any position in designated space It calculates；The sample database of each individual event evaluation index is the calculation formula of each individual event evaluation index designed according to the present invention, and ties It closes earth disturbance gravitation assignment model to be assessed and calculates the numerical value of each individual event evaluation index, and then form individual event evaluation index Sample database.

When carrying out ballistic vehicles flight path simulating using the earth to be assessed disturbance gravitation assignment model, due to imitative The influence of the factors such as true condition, assignment model method error and uncertain noises so that applicable performance assesses each single index Variation of floating is presented in the evaluation of different moments.In the present embodiment, the normal distribution statistical rule assumed in step 4) isWherein, I_s.jIndicate j-th of single index, μ_Is.jIndicate earth disturbance gravitation assignment model to be assessed The parameter values to be estimated of j-th of the single index determined with Systematic Errors during flight path simulating,It indicates J-th of single index value is with respect to single index I in data sample_s.jStroll degree, D_Is.jIndicate the side of j-th of single index Difference, j=0,1 ... 8, σ_Is.jIndicate the standard deviation of j-th of single index, the variance D of j-th of single index_Is.j, standard deviation sigma_Is.j It is parameter to be estimated；In view of the above analysis, the earth is disturbed commenting for gravitation assignment model applicability energy single index by the present embodiment Estimate problem and be converted into Parameter Estimation Problem, and then completes the single index under above-mentioned assumed condition using Bayesian Estimation method and comment Estimate analysis.The step of completing the analysis and assessment of every single index using Bayesian Estimation method include：

In formula (11), α₀And β₀Density function g (the D of Inv-Gamma distribution are indicated respectively_x；α₀,β₀) intermediate parameters, n_QFTable Show the number of samples for testing preceding increment of current single index j,Indicate that current single index j's tests i-th of sample in preceding increment This sample value,Indicate the simulation sample data mean value of current single index j；

4.5) parameter μ to be estimated of current single index j is determined_Is.jBayesian Estimation valueAnd its variance Var (μ_Is.j) As shown in formula (15), the variance D of current single index j_Is.jBayesian Estimation valueAnd its variance Var (D_Is.j) such as formula (16) shown in, the standard deviation sigma of current single index j_Is.jBayesian Estimation valueAnd its variance Var (σ_Is.j) such as formula (17) institute Show；

In formula (15),Indicate the parameter μ to be estimated of current single index j_Is.jBayesian Estimation value, μ_Is.jExpression waits for The current single index j's that Systematic Errors determine during assessment earth disturbance gravitation assignment model and flight path simulating waits for Estimate parameter values, Var (μ_Is.j) indicate Bayesian Estimation valueVariance, parameter η₁、α₁、β₁、μ₁Expression (13) institute respectively The intermediate parameters shown；

In formula (17),Indicate the standard deviation sigma of current single index j_Is.jBayesian Estimation value, σ_Is.jIndicate current The standard deviation of single index j, Var (σ_Is.j) indicate Bayesian Estimation valueVariance, parameter η₁、α₁、β₁、μ₁Respectively formula (13) intermediate parameters shown in, Γ are gamma function；

4.6) according to the simulation sample data mean value of current single index jParameter μ to be estimated_Is.jBayesian Estimation valueAnd its variance Var (μ_Is.j), variance D_Is.jBayesian Estimation valueAnd its variance Var (D_Is.j), standard deviation sigma_Is.j's Bayesian Estimation valueAnd its Var (σ_Is.j), quantitative or qualitative evaluation is carried out to current single index j；Obtain j-th of list It, can be to each list with reference to the quantitative target in practical flight task after the estimated value of the mean value of index, variance and standard deviation Item index carries out analysis and assessment；It, also can rule of thumb or expert opinion obtains each individual event and refers to even without quantitative target requirement Target qualitative evaluation conclusion；

In view of the individual event estimation flow of each individual event evaluation index is almost the same, here only with " assignment model drop point is inclined Difference " carries out detailed calculatings analysis for single index, the Bayesian Estimation method and analysis process of other 8 single indexs and The single index is similar, does not repeat here.The hardness that assignment model offset landings single index is arranged according to actual requirement can Receive quantization ranging from 200~500m, then according to assignment model offset landings single index data sample to the single index into Row analysis and assessment.50 groups of data are chosen from the data sample of assignment model offset landings index first as preceding increment is tested, such as Shown in table 1.

Table 1：Assignment model offset landings index tests preceding increment data

Obtain X according to Bayesian Estimation method, the Bayesian Estimation intermediate parameters of the assignment model offset landings of Z-direction and Estimated result is as shown in table 2.

Table 2：The Bayesian Estimation result of calculation of assignment model offset landings.

According to Bayesian Estimation as a result, carrying out flight path simulating using earth disturbance gravitation assignment model, may make The X of ballistic vehicles is respectively 358.1142m and 259.6198m to the offset landings mean value with Z-direction, and both direction drop point is inclined The standard deviation of difference is in hundred meters of magnitudes, according to the rigid index of offset landings set in advance it is found that the disturbance gravitation assignment model Assignment model offset landings index meet the requirements.

It is identical as assignment model offset landings individual event evaluation index, the individual event assessment of other 8 individual event evaluation indexes To be implemented using identical method；According to the sample data of other 8 individual event evaluation indexes, is assessed and flowed using identical individual event Journey is calculated disturbance gravitation assignment residual error, assignment residual error percentage, the disturbance gravitation assignment time, penetrates the preceding calculating time, is airborne 8 machine solution evaluation time, different trajectory mode adaptations, different tracks control mode adaptability and different terrain adaptability lists The results are shown in Table 3 for the Bayes evaluation of item evaluation index and assignment model offset landings individual event evaluation index.

Table 3：The Bayes evaluation result of each individual event evaluation index.

The assessment of each individual event evaluation index can combine each according to the Bayesian Estimation result of each single index shown in table 3 The specific requirement of individual event evaluation index carries out comparison and obtains specific assessment result.

Each single index attribute for weighing earth disturbance gravitation assignment model differs, distinct and respective dimension is not united One, applicable performance comprehensive assessment is directly carried out using unified metric form and lacks reasonability；For this purpose, step 5) in the present embodiment It will use Fuzzy Comprehensive Evaluation that each single index is carried out nondimensionalization processing.In the present embodiment, step 5) is to each list When the analysis and assessment result of item index carries out nondimensionalization processing：

In formula (20),Indicate nondimensionalization membership function value, k and R₀To be wanted with the numerical value and assessment of each single index Relevant unknown parameter, R is asked to indicate each single index independent variable of assignment Model suitability；For each single index, design Two known points determine unknown parameter k and R₀, to obtain the dimensionless membership function of the single index；For difference Flight path mode adaptationWhen different flight path mode adaptationsEqual to different flight path mode adaptations Maximum preset valueWhen, dimensionless membership function value S_ε.trajEqual to different flight path mode adaptation dimensionless The maximum preset value S of membership function_ε.traj.max, wherein S_ε.traj.max∈[0,1]；When different flight path mode adaptationsEqual to different flight path mode adaptation minimum preset valuesWhen, dimensionless membership function value S_ε.trajDeng In 0；For different tracks control mode adaptabilityWhen different tracks control mode adaptabilityEqual to different tracks Control mode adaptability maximum preset valueWhen, dimensionless membership function value S_ε.ctlEqual to different tracks control mode The maximum preset value S of adaptability dimensionless membership function_ε.ctl.max, wherein S_ε.ctl.max∈[0,1]；When different tracks controlling party Formula adaptabilityEqual to different tracks control mode adaptability minimum preset valueWhen, dimensionless membership function value S_ε.ctlEqual to 0；For different terrain adaptabilityWhen different terrain adaptabilityMost equal to different terrain adaptability Big preset valueWhen, dimensionless membership function value S_ε.hypsoEqual to different terrain adaptability dimensionless degree of membership letter Several maximum preset value S_ε.hypso.max, wherein S_ε.hypso.max∈[0,1]；When different terrain adaptabilityEqual to different terrain The minimum preset value of adaptabilityWhen, dimensionless membership function value S_ε.hypsoEqual to 0.

According to the Bayesian Estimation of each individual event evaluation index shown in table 3 as a result, referring in conjunction with each individual event assessment in the present embodiment The fuzzy membership function of target sample data and each individual event evaluation index provided by the invention carries out each individual event evaluation index Nondimensionalization processing, specifically design is as follows for the nondimensionalization membership function of each single index：

◆ disturbance gravitation assignment residual error.Setting is as disturbance gravitation assignment residual error δ_tWhen=30mgal, S_δ=0.05；Work as δ_t= When 0mgal, S_δ=1, dimensionless membership function isS in formula_δTo disturb gravitation assignment residual error single index Dimensionless fuzzy membership function value, δ_tTo disturb gravitation assignment residual error.

◆ assignment model offset landings.Assignment model offset landings ε is worked as in setting_x=500m, ε_zWhen=500m, S_x=0.01, S_z=0.01；Work as ε_x=50m, ε_zWhen=50m, S_x=1, S_z=1, dimensionless membership function is

S in formula_x,S_zRespectively X, Z-direction assignment model offset landings single index Dimensionless fuzzy membership function value, ε_x,ε_zRespectively X, Z-direction assignment model offset landings.

◆ assignment residual error percentage.Assignment residual error percentage is worked as in settingWhen, S_ζ=0.02；WhenWhen, S_ζ= 1；Its dimensionless membership function is S_ζ=e^-0.1956ζ, S in formula_ζFor the dimensionless degree of membership of assignment residual error percentage single index Functional value,For assignment residual error percentage.

◆ the disturbance gravitation assignment time.Setting is as disturbance gravitation assignment time T_cWhen=50ms, S_Tc=0.1；When disturbance is drawn Power assignment time T_cWhen≤3ms, S_Tc=1；Its dimensionless membership function is：

S in formula_TcTo disturb the dimensionless membership function value of gravitation assignment time single index, T_cTo disturb gravitation assignment Time.

◆ the time is calculated before penetrating.Setting calculates time T before penetrating_SQAt=5 minutes, S_TSQ=0.01；The time is calculated before penetrating T_SQAt=0.5 minute, S_TSQ=1；Its dimensionless membership function is：

S in formula_TSQTo penetrate the preceding dimensionless membership function value for calculating time single index, T_SQTo penetrate the preceding calculating time.

◆ the airborne computer resolving time.Airborne computer resolving time T is worked as in setting_DSWhen=10ms, S_TDS=0.05；When Airborne computer resolving time T_DSWhen=0.5ms, S_TDS=1；Its dimensionless membership function is：

S in formula_TDSFor the dimensionless membership function value of airborne computer resolving time single index, T_DSFor airborne computer Resolving time.

◆ different flight path mode adaptations.Different flight path mode adaptations are worked as in settingWhen, S_ε.traj=0；When different flight path mode adaptationsWhen, S_ε.traj=0.99；Its dimensionless membership function For：

S in formula_ε.trajFor the dimensionless membership function value of different flight path mode adaptation single indexs,For Different flight path mode adaptations.

◆ different tracks control mode adaptability.Different tracks control mode adaptability is worked as in settingWhen, S_ε.ctl=0；When different tracks control mode adaptabilityWhen, S_ε.ctl=0.99；Its dimensionless membership function For：

S in formula_ε.ctlFor the dimensionless membership function value of different tracks control mode adaptability single index,For not With TRAJECTORY CONTROL mode adaptability.

◆ different terrain adaptability.Different terrain adaptability is worked as in settingWhen, S_ε.hypso=0；When differently Shape adaptabilityWhen, S_ε.hypso=0.99；Its dimensionless membership function is

S in formula_ε.hypsoFor the dimensionless membership function value of different terrain adaptability single index,For different terrain Adaptability.

Disturbance gravitation assignment residual error, assignment residual error percentage, the disturbance gravitation assignment time, is penetrated assignment model offset landings The preceding calculating time, the airborne computer resolving time, different flight path mode adaptation, different tracks control mode adaptability and The nondimensionalization handling result of nine single indexs of different terrain adaptability is as shown in table 4.

Table 4：Each single index nondimensionalization result

The core concept that the earth disturbs gravitation assignment model applicability energy comprehensive assessment is layered to each single index The weight of weighting, different levels index can obtain the contribution margin and expert estimation method of overall objective by each index, in conjunction with nothing The magnitude of applicable performance overall objective can be obtained in the magnitude of dimensionization treated single index, then carries out Fuzzy processing and obtains To the qualitative evaluation conclusion of the earth to be assessed disturbance gravitation assignment model applicability energy；It is to be appreciated that the present embodiment will only divide Layer weighting appraisal procedure innovatively be applied to the earth disturb gravitation assignment model applicability energy evaluation problem, not to layering plus Power appraisal procedure itself is improved and is supplemented, and the earth disturbs the specific think of of gravitation assignment model applicability energy comprehensive estimation method Road is as shown in Figure 4.The earth disturbs the comprehensive assessment of gravitation assignment model applicability energy and integrally uses two parallel flows：1) individual event refers to The acquisition of weight, intermediary outcomes weight is marked, the weight that applicable performance assesses each level evaluation index is to fully consider each individual event The importance of index and its to overall objective contribution margin on the basis of, pass through expert estimation and specific objective assessment and require to complete Design；2) processing of the present embodiment single index sample database.As shown in figure 4, the detailed step of step 6) includes：

6.1) it is directed to the degree of membership of each single index, according to, as bottom, assignment precision is assigned based on each single index It is worth speed and assignment Model suitability three as middle layer, the applicable performance assessment of earth disturbance gravitation assignment model to be assessed Layered structure (as shown in Figure 2) of the index as top layer, default weight, each middle layer based on each single index are preset The applicable performance that weight finally obtains earth disturbance gravitation assignment model to be assessed using the method for stratified calculation comprehensive assessment is commented Estimate index A；

In the present embodiment, the default weight of each single index, the default weight of each middle layer are as shown in table 5.

Table 5：Table is arranged in default weight, the default weight of each middle layer of each single index.

In the present embodiment, step 6.2) be blurred qualitative processing for applicable performance evaluation index A and specifically refers to adopt The membership function shown in formula (21) carries out being blurred qualitative processing to applicable performance evaluation index A；

In formula (21), A is the applicable performance evaluation index that the earth to be assessed disturbs gravitation assignment model,Expression is subordinate to Functional value is spent, k is to be blurred qualitative processing parameter.In the present embodiment, it is blurred qualitative processing parameter k=2.5；Setting is worked asWhen, assessment result is defined as " very poor "；Setting is worked asWhen, assessment result is defined as " poor "；WhenWhen, assessment result is defined as " can receive "；WhenWhen, assessment result is defined as " good "； WhenWhen, assessment result is defined as " outstanding ".In conjunction with table 4 and table 5, according to each single index nondimensionalization result With the design weight of each single index, gravitation assignment mould is disturbed along the flight path earth using what stratified calculation method was calculated The applicable performance index value of type is 0.7993, obscures qualitative handling result according to applicable performance it is found that earth disturbance gravitation is assigned It is " good " to be worth model and be applied to ballistic vehicles control field and the assessment result of flight path simulating.Along flight path It is acceptable that ball, which disturbs gravitation assignment model for ballistic vehicles simulation analysis, and it is imitative can to meet ballistic vehicles The true basic demand for calculating required disturbance gravitation assignment precision, assignment rapidity and assignment Model suitability.

In conclusion the present embodiment, which is based on above-mentioned six steps, can carry out any given form earth disturbance gravitation assignment Model applicability can assessment and analysis, user can as needed to the earth disturbance gravitation assignment model carry out comprehensively, rationally, Quickly and reliable assessment with analysis, and then determination its ballistic vehicles control field applicable performance.Generally speaking, this hair The earth disturbance gravitation assignment model applicability energy appraisal procedure of bright proposition has the characteristics that：1) it is put forward for the first time with assignment essence Degree, assignment rapidity and assignment Model suitability are as core index and carry out the applicable performance of earth disturbance gravitation assignment model Assessment, the estimation flow that specification earth disturbance gravitation assignment model applicability can be assessed devise and rationally comprehensively and implement just Prompt evaluation scheme；2) index system that design earth disturbance gravitation assignment model applicability can be assessed, provides each single index Definition and determine the computation model of each single index；3) propose that earth disturbance gravitation assignment model applicability can assess " six steps Three layers " embodiment, " six steps " refers to concrete operation step as defined in the step 1)~step 6) of the invention provided, and " three layers " are Refer to the generation of single index sample data, single index Bayesian Estimation and applicable performance comprehensive assessment.The present invention is disturbed for the earth Dynamic gravitation assignment model is used for the applicable performance evaluation problem of ballistic vehicles simulation analysis, reasonable design and covers comprehensive Applicable performance evaluation index system, the thinking analyzed using individual event evaluation index and applicable performance overall target serial evaluation is successively Complete the comprehensive assessment of the analysis and assessment and applicable performance of single index；Appraisal procedure combination test design method, Bayes estimate Meter method and fuzzy membership method and stratified calculation method, which propose a kind of clear thinking, implements the earth convenient, that conclusion is rigorous disturbs Dynamic gravitation assignment model applicability energy appraisal procedure disturbs gravitation assignment model for the earth and is led in ballistic vehicles simulation analysis The application in domain provides basic foundation.

The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims

1. a kind of earth disturbs gravitation assignment model applicability energy appraisal procedure, it is characterised in that step includes：

1) flight path sampling test factor and its test level are set, complete to disturb for the earth using positive quadraturing design test method The experimental design of the flight path sample of the applicable performance assessment of dynamic gravitation assignment model；

2) single index in terms of assignment precision, assignment speed and assignment Model suitability three designed for applicable performance assessment To establish the index system that earth disturbance gravitation assignment model applicability can be assessed；

3) according to the experimental design of the flight path sample, ballistic is carried out for the earth to be assessed disturbance gravitation assignment model Aircraft flight track emulation, and the data of each single index are calculated, obtain the data sample library of each single index；

4) assume that the sample data changing rule of each single index meets normal distribution statistical rule, utilized based on the hypothesis Bayesian Estimation method completes the analysis and assessment of each single index；

5) preset dimensionless membership function is used, the analysis and assessment result of each single index is carried out at nondimensionalization Reason, obtains the degree of membership of each single index；

6) according to the default weight of each single index and the degree of membership of each single index, COMPREHENSIVE CALCULATING earth disturbance to be assessed The applicable performance assessment result of gravitation assignment model；

The detailed step of the step 6) includes：

6.1) it is directed to the degree of membership of each single index, according to, as bottom, assignment precision, assignment are fast based on each single index Degree and assignment Model suitability three are as middle layer, the applicable performance evaluation index of earth disturbance gravitation assignment model to be assessed As the layered structure of top layer, the default weight of default weight, each middle layer based on each single index is added using layering The method of power comprehensive assessment finally obtains the applicable performance evaluation index A of earth disturbance gravitation assignment model to be assessed；

6.2) it carries out being blurred qualitative processing for applicable performance evaluation index A, obtains earth disturbance gravitation assignment mould to be assessed The applicable performance assessment result of type.

2. disturbing gravitation assignment model applicability energy appraisal procedure according to the earth described in claim 1, which is characterized in that the step When rapid 1) middle setting flight path sampling test factor and its test level, the flight path sampling test factor of setting includes： The transmitting position landform of ballistic vehicles, TRAJECTORY CONTROL mode, voyage, propulsion device type, flight path type and just Begin moment heading.

3. the earth according to claim 2 disturbs gravitation assignment model applicability energy appraisal procedure, which is characterized in that described When flight path sampling test factor and its test level are set in step 1), the examination of the transmitting position landform of ballistic vehicles It is 4 horizontal to test horizontal, and the test level of TRAJECTORY CONTROL mode is 3 horizontal, and the test level of voyage is 6 levels, propulsion device class The test level of type is 3 horizontal, and the test level of flight path type is 4 horizontal, the test level of initial time heading For 10 levels.

4. the earth according to claim 3 disturbs gravitation assignment model applicability energy appraisal procedure, which is characterized in that described When choosing the single index for applicable performance assessment in step 2), the single index chosen according to assignment precision includes：Disturbance Gravitation assignment residual error δ_t, assignment model offset landings ε_xAnd ε_z, assignment residual error percentageThe individual event chosen according to assignment speed Index includes：Disturb gravitation assignment time T_c, penetrate before calculate time T_SQ, airborne computer resolving time T_DS；According to assignment model The single index of Adaptive selection includes：Different flight path mode adaptationsDifferent tracks control mode adaptabilityDifferent terrain adaptability

5. the earth according to claim 4 disturbs gravitation assignment model applicability energy appraisal procedure, which is characterized in that described Disturb gravitation assignment residual error δ_tCalculating formula such as formula (1) shown in, the assignment model offset landings ε_xAnd ε_zCalculating formula such as formula (2) shown in, the assignment residual error percentageCalculating formula such as formula (3) shown in；The disturbance gravitation assignment time T_cCalculating It is described to penetrate preceding calculating time T shown in formula such as formula (4)_SQCalculating formula such as formula (5) shown in, the airborne computer resolving time T_DS Calculating formula such as formula (6) shown in；The difference flight path mode adaptationCalculating formula such as formula (7) shown in, it is described not With TRAJECTORY CONTROL mode adaptabilityCalculating formula such as formula (8) shown in, the different terrain adaptabilityCalculating formula such as Shown in formula (9)；

In formula (1), δ_tThe disturbance gravitation assignment residual error of spatial position where indicating arbitrary t moment ballistic vehicles,It indicates to appoint The practical disturbance gravitation value of spatial position where t moment of anticipating ballistic vehicles,Indicate earth disturbance gravitation assignment to be assessed Model calculates gained and disturbs gravitation value,Indicate practical disturbance gravitation valueGravitation assignment mould is disturbed with the earth to be assessed Type calculates gained and disturbs gravitation valueDifference Euclid norm；

In formula (2), is deviateed using aiming point as OX axis and OZ axis, drop point as origin O, vertical and horizontal and is indicated with (X, Z), ε_xIndicate the offset landings of X-direction；ε_zIndicate the offset landings of Z-direction；x_cIt indicates to disturb gravitation assignment mould using the earth to be assessed Type carries out the X of drop point obtained by flight path simulating to component, x_nIndicate the X of dreamboat point position coordinates to component, z_nIndicate reason Think the Z-direction component of aiming spot coordinate, z_cIndicate that carrying out flight path using the earth to be assessed disturbance gravitation assignment model imitates The Z-direction component of true gained drop point；

In formula (3),The assignment residual error percentage of spatial position, δ where indicating arbitrary t moment ballistic vehicles_tIndicate arbitrary The disturbance gravitation assignment residual error of spatial position where t moment ballistic vehicles,Indicate arbitrary t moment ballistic vehicles The practical disturbance gravitation value of place spatial positionEuclid norm；

In formula (4), T_cIndicate that disturbance gravitation assignment time, n indicate that earth disturbance gravitation assignment model to be assessed is called to be disturbed The number that gravitation assignment calculates,Indicate that ith calls earth disturbance gravitation assignment model to be assessed to carry out disturbance gravitation assignment meter Calculate the time used；

T_SQ=T_CX+T_ZY (5)

In formula (5), T_SQExpression calculates time, T before penetrating_CXIndicate that the ballistic vehicles initial position deviation of plumb line obtains time, T_ZY Indicate the ballistic vehicles data computation time；

In formula (4), T_DSIndicate the airborne computer resolving time, n indicate ballistic vehicles flight path simulating during it is to be evaluated Estimate the called number of earth disturbance gravitation assignment model,Indicate that ballistic vehicles simulation airborne computer ith is called Earth disturbance gravitation assignment model to be assessed carries out disturbance gravitation and resolves the required time；

In formula (7),Indicate different flight path mode adaptations,It indicates to carry out for i-th kind of flight path pattern Simulated flight total number of tracks mesh,Indicate the flight path number for meeting demanding terminal in total flight path simulating number, n Indicate flight path model number；

In formula (8),Indicate different tracks control mode adaptability,It indicates to be directed to what i-th kind of TRAJECTORY CONTROL mode carried out Simulated flight total number of tracks mesh,Indicate the flight path number for meeting TRAJECTORY CONTROL requirement in total flight path simulating number, N indicates the number of TRAJECTORY CONTROL mode；

In formula (9),Indicate different terrain adaptability,Indicate that the simulated flight track carried out for i-th kind of landform is total Number,Indicate that the flight path number for meeting aerial mission requirement in total flight path simulating number, n indicate landform class The number of type.

6. the earth according to claim 5 disturbs gravitation assignment model applicability energy appraisal procedure, which is characterized in that described The detailed step of step 3) includes：

3.1) determine that earth disturbance gravitation to be assessed is assigned according to the constraint of preset space boundary or the flight range constraint of aircraft It is worth the spatial dimension constraint of model application；

3.2) it is directed to the space boundary constraint of spatial dimension constraint, it is empty in conjunction with as defined in the earth to be assessed disturbance gravitation assignment model Between subdivision criterion complete the spatial domain subdivision of the earth to be assessed disturbance gravitation assignment model designated flying zone；

3.3) the Space finite element node formed according to spatial domain subdivision using the earth to be assessed disturbance gravitation assignment model is disturbed Dynamic gravitation assignment obtains the finite element nodal values model of earth disturbance gravitation assignment model to be assessed；

3.4) on the basis of the finite element nodal values model, the resolving of disturbance gravitation assignment in any position in space is completed With the flight path simulating for ballistic vehicles；

3.5) data that each single index is calculated during ballistic vehicles flight path simulating, obtain each individual event The data sample library of index.

7. the earth according to claim 6 disturbs gravitation assignment model applicability energy appraisal procedure, which is characterized in that described The normal distribution statistical rule of hypothesis is in step 4)Wherein, I_s.jIndicate j-th of single index, μ_Is.j Indicate that j-th of individual event that Systematic Errors determine during the earth to be assessed disturbs gravitation assignment model and flight path simulating refers to Target parameter values to be estimated,Indicate that j-th of single index value is with respect to single index I in data sample_s.jStroll Degree, D_Is.jIndicate the variance of j-th of single index, σ_Is.jIndicate the standard deviation of j-th of single index, j-th single index Variance D_Is.j, standard deviation sigma_Is.jIt is parameter to be estimated；The assessment point that every single index is completed using Bayesian Estimation method The step of analysis includes：

4.2) n is arbitrarily chosen in the data sample library of current single index j_QFGroup simulation sample dataAs testing Preceding increment, the then parameter μ to be estimated of current single index j_Is.jPrior probability density beWhereinTable Show simulation sample data mean value, simulation sample data mean valueCalculating formula such as formula (10) shown in；D_Is.jIndicate that current individual event refers to Mark the variance of j, the variance D of current single index j_Is.jPrior probability density be Inv-Gamma distribution density function g (D_x；α₀, β₀), in-between parameter alpha₀And β₀Calculating formula such as formula (11) shown in, n_QFIndicate the sample number for testing preceding increment of current single index j Mesh；

In formula (10),Indicate simulation sample data mean value, n_QFIndicate the number of samples for testing preceding increment of current single index j, x_i ^QFIndicate the sample value for testing i-th of sample in preceding increment of current single index j；

In formula (11), α₀And β₀Density function g (the D of Inv-Gamma distribution are indicated respectively_x；α₀,β₀) intermediate parameters, n_QFExpression is worked as The number of samples for testing preceding increment of preceding single index j, x_i ^QFIndicate the sample for testing i-th of sample in preceding increment of current single index j This value,Indicate the simulation sample data mean value of current single index j；

4.3) assume to share n sample x in the data sample library of current single index j₁,…,x_n, determine (μ_Is.j,D_Is.j) test It is conjugation afterwards and before testing and obeys shown in normal state-Inv-Gamma distribution such as formula (12)；

In formula (12), μ_Is.jIndicate that the earth to be assessed disturbs Systematic Errors during gravitation assignment model and flight path simulating The parameter values to be estimated of the current single index j determined, D_Is.jIndicate that the variance of current single index j, X indicate that current individual event refers to Mark n sample x in the data sample library of j₁,…,x_nThe data set of composition, intermediate parameters η₁、α₁、β₁、μ₁As shown in formula (13)；

In formula (13), η₁、α₁、β₁、μ₁Respectively intermediate parameters, n indicate the sample data total number of current single index j, n_QFTable Show the number of samples for testing preceding increment of current single index j, α₀,β₀For intermediate parameters, u indicates the data sample of current single index j The variance of sample data, x in this library_iIndicate i-th of sample value in the data sample library of current single index j,Indicate current The mean value of all sample datas in the data sample library of single index j,Indicate the simulation sample data of current single index j Mean value；

4.4) determine that Systematic Errors during the earth to be assessed disturbance gravitation assignment model and flight path simulating determined works as The parameter values μ to be estimated of preceding single index j_Is.jAs shown in formula (14)；

In formula (14), μ_Is.jIndicate that the earth to be assessed disturbs Systematic Errors during gravitation assignment model and flight path simulating The parameter values to be estimated of the current single index j determined, η₁、α₁、β₁、μ₁Respectively intermediate parameters shown in formula (13), Y are indicated Xue Shengshi t distributions, p_Y(y) probability density function of Y is indicated；

4.5) parameter μ to be estimated of current single index j is determined_Is.jBayesian Estimation valueAnd its variance Var (μ_Is.j) such as formula (15) shown in, the variance D of current single index j_Is.jBayesian Estimation valueAnd its variance Var (D_Is.j) such as formula (16) institute Show, the standard deviation sigma of current single index j_Is.jBayesian Estimation valueAnd its variance Var (σ_Is.j) as shown in formula (17)；

In formula (15),Indicate the parameter μ to be estimated of current single index j_Is.jBayesian Estimation value, μ_Is.jIt indicates to be assessedly The parameter to be estimated for the current single index j that Systematic Errors determine during ball disturbance gravitation assignment model and flight path simulating Numerical value, Var (μ_Is.j) indicate Bayesian Estimation valueVariance, parameter η₁、α₁、β₁、μ₁It is intermediate shown in expression (13) respectively Parameter；

In formula (16),Indicate the variance D of current single index j_Is.jBayesian Estimation value, D_Is.jIndicate current single index The variance of j, Var (D_Is.j) indicate the variance D of current single index j_Is.jBayesian Estimation value, parameter η₁、α₁、β₁、μ₁Respectively For intermediate parameters shown in formula (13)；

In formula (17),Indicate the standard deviation sigma of current single index j_Is.jBayesian Estimation value, σ_Is.jIndicate that current individual event refers to Mark the standard deviation of j, Var (σ_Is.j) indicate Bayesian Estimation valueVariance, parameter η₁、α₁、β₁、μ₁Respectively shown in formula (13) Intermediate parameters, Γ is gamma function；

4.6) according to the simulation sample data mean value of current single index jParameter μ to be estimated_Is.jBayesian Estimation valueAnd Its variance Var (μ_Is.j), variance D_Is.jBayesian Estimation valueAnd its variance Var (D_Is.j), standard deviation sigma_Is.jBayes Estimated valueAnd its Var (σ_Is.j), quantitative or qualitative evaluation is carried out to current single index j；

4.7) judge whether that all single indexs have been disposed, if be not yet disposed, redirect and execute step 4.1), Otherwise judge that the analysis and assessment for being completed every single index using Bayesian Estimation method are finished, redirect and execute step 5).

8. the earth according to claim 7 disturbs gravitation assignment model applicability energy appraisal procedure, which is characterized in that described When step 5) carries out nondimensionalization processing to the analysis and assessment result of each single index：

In formula (18),Indicate the nondimensionalization membership function value of each single index of assignment precision, k and R₀For with each individual event The numerical value of index and assessment require relevant unknown parameter, R to indicate each single index independent variable of assignment precision；For each Single index designs two known points to determine unknown parameter k and R₀, to obtain the dimensionless degree of membership of the single index Function；For disturbance gravitation assignment residual error δ_t, setting is as disturbance gravitation assignment residual error δ_tEqual to the maximum of disturbance gravitation assignment residual error Permissible value δ_r.maxWhen, dimensionless membership function value S_δEqual to the predetermined minimum of assignment residual error dimensionless membership function S_δ.min, wherein S_δ.min∈[0,1]；As disturbance gravitation assignment residual error δ_tEqual to the minimum preset value of disturbance gravitation assignment residual error δ_r.minWhen, dimensionless membership function value S_δEqual to the preset maximum value S of assignment residual error dimensionless membership function_δ.max, wherein S_δ.max∈[0,1]；For assignment model offset landings ε_xAnd ε_z, X, Z both directions are identical and relatively independent, and setting is worked as Assignment model offset landings ε_xEqual to the maximum permissible value ε of assignment model X-direction offset landings_xr.maxWhen, dimensionless degree of membership Functional value S_xEqual to the predetermined minimum S of assignment model X-direction offset landings dimensionless membership function_x.min, wherein S_x.min∈ [0,1]；As assignment model offset landings ε_xEqual to the minimum preset value ε of assignment model X-direction offset landings_xr.minWhen, it is immeasurable Guiding principle membership function value S_xEqual to the preset maximum value S of assignment model X-direction offset landings dimensionless membership function_x.max, Middle S_x.max∈[0,1]；For assignment residual error percentageWhen assignment residual error percentageEqual to the maximum of assignment residual error percentage Permissible value ζ_r.maxWhen, dimensionless membership function value S_ζIt is pre- equal to the minimum of assignment residual error percentage dimensionless membership function If value S_ζ.min, wherein S_ζ.min∈[0,1]；When assignment residual error percentageEqual to the minimum allowable value of assignment residual error percentage ζ_r.minWhen, dimensionless membership function value S_ζEqual to the maximum preset value of assignment residual error percentage dimensionless membership function S_ζ.max, wherein S_ζ.max∈[0,1]；

In formula (19),Indicate the nondimensionalization membership function value of each single index of assignment speed, k and R₀For with each individual event The numerical value of index and assessment require relevant unknown parameter, R to indicate each single index independent variable of assignment speed；For each Single index designs two known points to determine unknown parameter k and R₀, to obtain the dimensionless degree of membership of the single index Function；For disturbance gravitation assignment time T_c, as disturbance gravitation assignment time T_cEqual to disturbance the gravitation assignment time it is maximum allowable Value T_cr.maxWhen, dimensionless membership function value S_TcMinimum equal to disturbance gravitation assignment time dimensionless membership function is pre- If value S_Tc.min, wherein S_Tc.min∈[0,1]；As disturbance gravitation assignment time T_cMost less than or equal to the disturbance gravitation assignment time Small preset value T_cr.minWhen, dimensionless membership function value S_TcEqual to 1；For calculating time T before penetrating_SQ, when being calculated before penetrating Between T_SQEqual to the maximum permissible value T for calculating the time before penetrating_SQr.maxWhen, dimensionless membership function value S_TSQEqual to penetrating preceding calculating The minimum preset value S of time dimensionless membership function_TSQ.min, wherein S_TSQ.min∈[0,1]；Time T is calculated before penetrating_SQIt is less than Or equal to the minimum preset value T for calculating the time before penetrating_SQr.minWhen, dimensionless membership function value S_TSQEqual to 1；For airborne Machine solution evaluation time T_DS, as airborne computer resolving time T_DSEqual to the maximum permissible value of airborne computer resolving time T_DSr.maxWhen, dimensionless membership function value S_TDSEqual to the minimum of airborne computer resolving time dimensionless membership function Preset value S_TDS.min, wherein S_TDS.min∈ [0,1], as airborne computer resolving time T_DSIt is resolved less than or equal to airborne computer The minimum preset value T of time_DSr.minWhen, dimensionless membership function value S_TDSEqual to 1；

◆ shown in the dimensionless membership function such as formula (20) used for the single index chosen according to assignment Model suitability；

In formula (20),Indicate nondimensionalization membership function value, k and R₀To require phase with the numerical value and assessment of each single index The unknown parameter of pass, R indicate each single index independent variable of assignment Model suitability；For each single index, two are designed Known point determines unknown parameter k and R₀, to obtain the dimensionless membership function of the single index；For different flights Trajectory model adaptabilityWhen different flight path mode adaptationsEqual to different flight path mode adaptations maximum Preset valueWhen, dimensionless membership function value S_ε.trajIt is subordinate to equal to different flight path mode adaptation dimensionless Spend the maximum preset value S of function_ε.traj.max, wherein S_ε.traj.max∈[0,1]；When different flight path mode adaptationsDeng In different flight path mode adaptation minimum preset valuesWhen, dimensionless membership function value S_ε.trajEqual to 0；Needle To different tracks control mode adaptabilityWhen different tracks control mode adaptabilityEqual to different tracks control mode Adaptability maximum preset valueWhen, dimensionless membership function value S_ε.ctlEqual to different tracks control mode adaptability without The maximum preset value S of dimension membership function_ε.ctl.max, wherein S_ε.ctl.max∈[0,1]；When different tracks control mode adaptabilityEqual to different tracks control mode adaptability minimum preset valueWhen, dimensionless membership function value S_ε.ctlIt is equal to 0；For different terrain adaptabilityWhen different terrain adaptabilityEqual to the maximum preset value of different terrain adaptabilityWhen, dimensionless membership function value S_ε.hypsoEqual to the maximum of different terrain adaptability dimensionless membership function Preset value S_ε.hypso.max, wherein S_ε.hypso.max∈[0,1]；When different terrain adaptabilityEqual to different terrain adaptability Minimum preset valueWhen, dimensionless membership function value S_ε.hypsoEqual to 0.

9. the earth according to claim 1 disturbs gravitation assignment model applicability energy appraisal procedure, which is characterized in that described Step 6.2) be blurred qualitative processing for applicable performance evaluation index A and specifically refers to using degree of membership letter shown in formula (21) It is several that applicable performance evaluation index A is carried out being blurred qualitative processing；

In formula (21), A is the applicable performance evaluation index that the earth to be assessed disturbs gravitation assignment model,Indicate membership function Value, k are to be blurred qualitative processing parameter.