CN106054149A - Radar maneuvering target three-dimensional track simulation method - Google Patents

Abstract

The present invention discloses a radar maneuvering target three-dimensional track simulation method. According to the motion feature of an object, the whole track section is considered to be a linear maneuvering section, an arc maneuvering section in a horizontal plane and an arc maneuvering section in a vertical plane, the end points of each section is subjected to tangent connection to form a smooth track, and the uniform speed and speed-changing motion rule is applied to each section. The radar maneuvering target three-dimensional track simulation method can flexibly simulate and form any track according to the training and the requirement, and can realize the convenient and lifelike simulation of the target space ideal three-dimensional track in the condition without considering the random factor influences such as air flow disturbance and the like.

Description

A kind of radar machine moving-target Three-dimensional Track analogy method

Technical field

The present invention relates to a kind of radar target Three-dimensional Track analogy method.Particularly relate to the most multiple maneuvering target space three The analogy method of dimension flight path.

Background technology

Processing in emulation in radar training emulation and radar data, Radar Target Track simulation is particularly significant and crucial Part.Radar Target Track is modeled as radar controller to be provided under Virtual Conditional close to true environment, it is desirable to have effect is with true to nature The point mark data that simulation radar receives, it is achieved virtual target flight path situation of change, simulate comprehensive, the boat of multi-batch targets Mark, and in view of actually used convenience, meet radar training emulation and radar data processes simulation requirements.At present, to boat The research of mark simulation is the most, is generally directed to aircraft linear motion, horizontal circular movement, Motorized dive and motor-driven several allusion quotation of facing upward The motor-driven flight path of type is studied, and is only modeled these typical flight paths, and these models are in certain environments, it is impossible to well Express more kinds of model simultaneously, there is such as Models Sets incomplete, be extremely difficult to the shortcomings such as optimal result.The most with good grounds aircraft is transported Aircraft track is studied by dynamic dynamic (dynamical) method, and the simulation accuracy of the method is higher, and shortcoming is computationally intensive, and modeling is multiple Miscellaneous.Therefore present stage track model is primarily present following deficiency: one is that typical maneuver modeling in some environments can not be fine Multiple model is expressed on ground simultaneously, it is impossible to form arbitrary flight path；Two is that model is most of complex, is unsuitable for hardware and realizes, And limited by objective condition.

The present invention is directed to problem above, propose a kind of radar target Three-dimensional Track analogy method, establish three kinds basic Maneuver modeling, the model set up both had met motor-driven reality, had been easy to again Mathematical treatment, and model is simple, and amount of calculation is little, was conducive to hard Part realizes, and according to three kinds of mathematical modeies, can form the Three-dimensional Track of any maneuvering target, can simulate comprehensive, many batches simultaneously The flight path of secondary target.

Summary of the invention

It is an object of the invention to provide a kind of radar target Three-dimensional Track analogy method comprehensive, multiple batches of.

The technical solution realizing the object of the invention is: first, sets up the mathematical model of radar target motion, target Motion may be considered the combination of one or more in the motions such as linear motion, underriding, pull-up, turning.We transport with straight line Dynamic model intends target line flight, motor-driven with level perseverance centripetal acceleration motion simulation target level, by vertical permanent centripetal acceleration Motion simulation up-and-down maneuver.Then according to the kinetic characteristic of target, whole for target track segmentation is thought of as straight line motorized segment, water Circular arc motorized segment in plane and the circular arc motorized segment in vertical, more each section of end points is carried out tangent line connection, formed smooth Flight path, each section can be given at the uniform velocity, even acceleration, become accelerate the characteristics of motion.This method have the advantage that can according to training and Scenario requires that simulation forms any flight path flexibly, in the case of not considering the random factor impacts such as flow perturbation, it is possible to real Now object space ideal three-dimensional flight path is facilitated simulation true to nature.

Accompanying drawing explanation

Fig. 1 target Three-dimensional Track stepwise schematic views.

The motor-driven mathematical model of Fig. 2 target line.

The motor-driven mathematical model of Fig. 3 target level circular arc.

The motor-driven mathematical model of Fig. 4 target vertical circular arc.

Fig. 5 this targetpath modeling process chart.

Detailed description of the invention

Present invention is mainly used for radar training emulation and radar data processes radar target Three-dimensional Track in simulation process Generation, according to the kinetic characteristic of target, whole track segmentation is thought of as straight line motorized segment, horizontal circular arc motorized segment and vertical Circumference motorized segment, more each section of end points is carried out tangent line connection, forms smooth flight path, each section can be given at the uniform velocity, even acceleration, Become the characteristics of motion accelerated.As it is shown in figure 1, the flight path of whole target maneuver be divided into a → b section, b → c section, c → d section, d → e section, E → f section.Wherein a → b section, e → f section are linear motion, and motion model is as shown in Figure 2；B → c section is horizontal circular arc motorized segment, Motion model is as shown in Figure 3；C → d section, d → e section are vertical circular arc motorized segment, and motion model is as shown in Figure 4.

1, line straightening machine movable model:

When the flight track of target is straight line, as illustrated in fig. 2, it is assumed that the initial time that target enters observation area is t₀, corresponding space coordinates is (x₀,y₀,z₀).Then from t₀Moment can represent to any time t, the increment of such coordinates of targets For:

Wherein:

$\mathrm{\Δ}s=v_0\mathrm{\Δ}t+\frac{1}{2}{\mathrm{a\Δt}}^2;$

Then t target coordinate (x, y, z) be:

$\left\{\begin{array}{c}x=x_0+\mathrm{\Δ}x\\ y=y_0+\mathrm{\Δ}y\\ z=z_0+\mathrm{\Δ}z\end{array}\right..$

2, horizontal circular arc maneuver modeling:

Horizontal circumference type flight path refers to target and does permanent centripetal acceleration circular motion in horizontal plane.In rectangular coordinate system In, xoy plane is horizontal plane, target travel schematic diagram as it is shown on figure 3, target does uniform circular motion with speed v, acceleration a,Orientation for a certain moment；It is t that target enters the initial time of observation area₀, corresponding space coordinates is (x₀,y₀,z₀), from t₀Moment, in the Δ t time, target tangent distance was changed to Δ S to any time t_t, normal distance is changed to Δ S_n, just like ShiShimonoseki System:

$\left\{\begin{array}{c}\mathrm{\Δ}{S}_t=v\mathrm{\Δ}t\\ \mathrm{\Δ}{S}_n=a\mathrm{\Δ}{t}^2\end{array}\right.;$

Thus obtain (x, y, z) situation of change of coordinate:

Then t target coordinate (x, y, z) be:

$\left\{\begin{array}{c}x=x_0+\mathrm{\Δ}x\\ y=y_0+\mathrm{\Δ}y\\ z=z_0\end{array}\right..$

3, vertical circumference maneuver modeling:

Vertical circumference type flight path refers to target and is doing permanent centripetal acceleration circular motion in the plane of horizontal plane. In rectangular coordinate system, target does uniform circular motion with speed v, acceleration a, and θ is the angle of pitch in a certain moment；Target enters The initial time of observation area is t₀, corresponding space coordinates is (x₀,y₀,z₀), from t₀Moment is to any time t, Δ t time In, target tangent distance is changed to Δ S_t, normal distance is changed to Δ S_n, there is a following relation:

$\left\{\begin{array}{c}\mathrm{\Δ}{S}_t=v\mathrm{\Δ}t\\ \mathrm{\Δ}{S}_n=a\mathrm{\Δ}{t}^2\end{array}\right.$

Target is by t₀Moment point is S to the move distance of moment t, then S is projected as Δ z, in xoy plane in z-axis Be projected as Δ L, as shown in Figure 4.Following relation in like manner can be obtained with horizontal circumference flight path:

$\left\{\begin{array}{c}\mathrm{\Δ}L=\mathrm{\Δ}{S}_{t}cos\mathrm{\θ}-\mathrm{\Δ}{S}_{n}sin\mathrm{\θ}\\ \mathrm{\Δ}z=\mathrm{\Δ}{S}_{t}sin\mathrm{\θ}+\mathrm{\Δ}{S}_n\cos \mathrm{\θ}\end{array}\right.;$

By Δ x and the expression formula of Δ y:

Then:

Then t target coordinate (x, y, z) be:

$\left\{\begin{array}{c}x=x_0+\mathrm{\Δ}x\\ y=y_0+\mathrm{\Δ}y\\ z=z_0+\mathrm{\Δ}z\end{array}\right..$

4, the radar fix of moving target:

In radar application, measuring coordinates of targets and commonly use polar coordinate system, oblique distance R can be used in the position of space either objective, side Parallactic anglePitching angle theta represents.Aforementioned formula is the increment of coordinate in per time increment Δ t, but in actual motion In, it should use real-time coordinates value.Assume target position in rectangular coordinate system for (x, y, z), then have:

In formula, H represents the height of target, and D represents that target arrives the distance of initial point, has:

$\left\{\begin{array}{c}H=\left|z\right|\\ D=\sqrt{x^2+y^2}\end{array}\right..$

5, workflow:

This analogy method is mainly realized by a piece of PowerPC-MPC8640D, and its workflow diagram is as shown in Figure 5.First First, the flight path that will simulate is divided into multiple sections by three of the above model；Secondly sit from batch number and the radar of outside input target Target start position information under mark system, i.e. the orientation of target, the elevation angle, distance, the speed of a ship or plane, course, and set each flight path section Acceleration of motion, motor pattern, the time kept in reserve of target；Then it is assigned to different boat according to the motor pattern information of each motorized segment Mark generation module；Target component under the radar fix system of input is converted into rectangular coordinate system ginseng by the most each flight path generation module Number, and the track data of each motorized segment of target is calculated according to the formula of above-mentioned model；Operation finally according to each motorized segment initiates The track data that each module produces is linked together by the time, forms a complete flight path route and exports.

Claims (5)

1. a radar target Three-dimensional Track analogy method, it is characterised in that:

Step 1: the flight path that will simulate is divided into multiple different motorized segment, sets up radar target motion according to different motorized segment Mathematical model；

Step 2: the target start position information from the batch number and radar fix system of outside input target, the i.e. side of target Position, the elevation angle, distance, the speed of a ship or plane, course, and set the acceleration of motion of each flight path section, motor pattern, the time kept in reserve of target；

Step 3: be assigned to Different Flight generation module according to the motor pattern information of each motorized segment；

Step 4: the target component under the radar fix system of input is converted into rectangular coordinate system parameter by each flight path generation module, and The track data of each motorized segment of target is calculated according to model formation；

Step 5: linked together by the track data that each module produces according to the operation initial time of each motorized segment, forms one Complete flight path route also exports.

2. a radar target Three-dimensional Track analogy method according to claim 1, it is characterised in that: described mathematical model It can be the one or more combination in line straightening machine movable model, horizontal circular arc maneuver modeling, vertical circumference maneuver modeling.

3. a radar target Three-dimensional Track analogy method according to claim 2, it is characterised in that: described straight line is motor-driven Model be the flight track of target be model during straight line, its computational methods are: when the flight track of target is straight line, it is assumed that It is t that target enters the initial time of observation area₀, corresponding space coordinates is (x₀,y₀,z₀), from t₀Moment to any time t, The increment of coordinates of targets can be expressed as:

Wherein

Then t target coordinate (x, y, z) be:

4. one kind according to the radar target Three-dimensional Track analogy method described in Claims 2 or 3, it is characterised in that: described level Circular arc machine movable model is target model when doing permanent centripetal acceleration circular motion in horizontal plane, and its computational methods are: directly In angle coordinate system, xoy plane is horizontal plane, and target does uniform circular motion with speed v, acceleration a,Side for a certain moment Position；It is t that target enters the initial time of observation area₀, corresponding space coordinates is (x₀,y₀,z₀), from t₀Moment is to any time T, in the Δ t time, target tangent distance is changed to Δ S_t, normal distance is changed to Δ S_n, there is a following relation:Mesh The situation of change of mark coordinate is:

Then t target coordinate (x, y, z) be:

5. one kind according to the radar target Three-dimensional Track analogy method described in Claims 2 or 3, it is characterised in that: described vertically Circumference maneuver modeling is target is doing the model of permanent centripetal acceleration circular motion, its calculating side in the plane of horizontal plane Method is: in rectangular coordinate system, and target does uniform circular motion with speed v, acceleration a, and θ is the angle of pitch in a certain moment；Mesh It is t that mark enters the initial time of observation area₀, corresponding space coordinates is (x₀,y₀,z₀), from t₀Moment is to any time t, Δ t In time, target tangent distance is changed to Δ S_t, normal distance is changed to Δ S_n, there is a following relation:Target by t₀Moment point is S to the move distance of moment t, then S is projected as Δ z in z-axis, is projected as Δ L in xoy plane, To following relation:By Δ x and the expression formula of Δ yThen:

Then t target coordinate (x, y, z) be: