CN110285724B - Aircraft tracking measurement system and method - Google Patents

Aircraft tracking measurement system and method Download PDF

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Publication number
CN110285724B
CN110285724B CN201910655075.6A CN201910655075A CN110285724B CN 110285724 B CN110285724 B CN 110285724B CN 201910655075 A CN201910655075 A CN 201910655075A CN 110285724 B CN110285724 B CN 110285724B
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CN
China
Prior art keywords
tracking
aircraft
data
cabinet
angle
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CN201910655075.6A
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Chinese (zh)
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CN110285724A (en
Inventor
宋祥君
李万领
王新民
郭晓冉
韩宁
马飒飒
黄文斌
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32181 Troops of PLA
Beijing Institute of Remote Sensing Equipment
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32181 Troops of PLA
Beijing Institute of Remote Sensing Equipment
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Priority to CN201910655075.6A priority Critical patent/CN110285724B/en
Publication of CN110285724A publication Critical patent/CN110285724A/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B35/00—Testing or checking of ammunition
    • F42B35/02—Gauging, sorting, trimming or shortening cartridges or missiles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J2005/0077—Imaging

Abstract

The invention provides an aircraft tracking and measuring system, and belongs to the technical field of aircraft tracking and measuring. According to the aircraft tracking measurement system and method, the data processing stations and the two tracking measurement stations with different arrangement positions are respectively arranged, so that the detection tracking device in the tracking measurement stations can be used for collecting flight data of the aircraft, the electronic control device is used for following the aircraft, the data of the two tracking measurement stations are finally transmitted to the data processing stations, the calculation of the included angle and the distance is carried out through the data collected by the two different positions, the position of the aircraft is accurately determined finally, the use is simple and convenient, the measurement error can be reduced, the measurement accuracy is improved, meanwhile, the flight orbit of the aircraft can be calculated so as to be compared with the preset orbit, the impact point and other data are checked through the flight orbit, and the measurement accuracy is further improved.

Description

Aircraft tracking measurement system and method
Technical Field
The invention belongs to the technical field of aircraft tracking measurement, and particularly relates to an aircraft tracking measurement system and method.
Background
Aircraft such as shells and missiles are subjected to a large number of tests in the research and development and production processes. The operation accuracy test is an important content, the accuracy test is mainly carried out in a trial-and-shoot mode, and the operation accuracy is determined through measurement of deviation between an operation track or impact point and a preset track or impact point. However, because of uncertainty in the position of the running track or impact point, large-scale test equipment is inconvenient to transport, so that the existing test usually adopts relatively simple measurement equipment, and the measurement error is relatively large.
Disclosure of Invention
The invention aims to provide an aircraft tracking and measuring system and method, which are used for solving the technical problem of larger error of the existing aircraft operation precision measuring equipment in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: the aircraft tracking and measuring system comprises at least two tracking and measuring stations and a data processing station, wherein the tracking and measuring stations are used for tracking and measuring an aircraft; the data processing station is respectively connected with the two tracking measurement stations through a data transmission module and is used for receiving and processing the data signals measured by the tracking measurement stations; the tracking measurement station comprises a detection tracking device, an electronic control device and a power supply assembly, wherein the detection tracking device comprises a data acquisition mechanism with two degrees of freedom of horizontal rotation and elevation angle adjustment, and the data acquisition mechanism is used for tracking an aircraft and acquiring data; the electronic control device is electrically connected with the detection tracking device and is used for controlling the detection tracking device to track the aircraft, receiving data acquired by the detection tracking device, and connecting the data with the data processing station through the data transmission module for data transmission; the power supply assembly is used for supplying power to the detection tracking device and the electronic control device.
Further, in the foregoing aircraft tracking measurement system, the detection tracking device includes a connection platform, a tracking angle adjustment mechanism, a data acquisition module, and a package support mechanism, where the tracking angle adjustment mechanism is disposed on the connection platform and has two degrees of freedom of horizontal rotation and elevation adjustment; the data acquisition module is arranged on the tracking angle adjusting mechanism and is used for acquiring data of the aircraft along with the angle change of the tracking angle adjusting mechanism; the packaging supporting mechanism is connected with the outer edge of the connecting platform, is used for being located on one side of the connecting platform in a first state, forms a closed space with the connecting platform for accommodating the tracking angle adjusting mechanism and the data acquisition module, is located on the other side of the connecting platform in a second state, and supports the connecting platform on a working surface.
Further, in the aforementioned aircraft tracking and measuring system, the package support mechanism includes a plurality of flaps rotatably connected to the edges of the connection platform, and adjacent flaps are hermetically connected to each other in the first state.
Further, in the aircraft tracking and measuring system, the positions, which are used for being contacted with the adjacent valve plates, of the edges of the valve plates and/or the positions, which are used for being contacted with the connecting platform, of the valve plates are provided with sealing rubber strips, and the valve plates and the connecting platform are jointly sealed to form a space after being closed.
Further, in the aforementioned aircraft tracking measurement system, the flap plate includes a side plate and a top plate, and one side of the side plate is rotatably connected with the connection platform; one side of the top plate is connected with one side of the side plate away from the connecting platform; the side plates of the plurality of clack plates are used for enclosing the periphery of the tracking angle adjusting mechanism in the first state, and the top plates of the plurality of clack plates are used for enclosing one side, far away from the connecting platform, of the tracking angle adjusting mechanism in the first state.
Further, in the aforementioned aircraft tracking measurement system, the side plates are hinged to the top plates along edges that are in contact with each other, and a locking structure for mutual fixation is provided between adjacent top plates; the side plates are rotationally connected with the connecting platform through a hinged support and a hinged shaft, a slideway and a hinged support fastening structure are arranged on the side plates, and the slideway is in sliding connection with the hinged support and is used for enabling the side plates to slide in the direction perpendicular to the hinged shaft; the hinged support fastening structure is used for fixing the hinged support at a preset position of the slideway.
Further, in the aforementioned aircraft tracking measurement system, an opening angle limiting structure for limiting an opening angle between the adjacent valve plates is provided between the side edges of the adjacent valve plates.
Further, in the aforementioned aircraft tracking measurement system, the opening angle limiting structure includes a traction belt and a winch, and one end of the traction belt is detachably connected with one side edge of one of the adjacent petals; the winch is arranged on the other one of the adjacent petal plates and is connected with the other end of the traction belt for winding and unwinding the traction belt.
Further, in the aircraft tracking and measuring system, each flap plate comprises a plurality of sliding plates and fastening components, the sliding plates are sequentially arranged, the adjacent sliding plates are connected with each other in a sliding manner along the plate surface direction of the sliding plates, and the sliding plate at the head end is connected with the outer edge of the connecting platform; the fastening component is arranged between the adjacent sliding plates and is used for fixing the positions of the adjacent sliding plates.
Further, in the aircraft tracking and measuring system, a movable wheel is arranged outside one side of the flap plate, which is far away from the connecting platform; the side surface of the flap plate, which is close to the tracking angle adjusting mechanism in the first state, is provided with a flexible air bag; the side surface of the connecting platform, which is far away from the tracking angle adjusting mechanism, is provided with a connecting flange and a handle.
Further, in the foregoing aircraft tracking measurement system, the tracking angle adjusting mechanism is a servo turntable, the data acquisition module includes an infrared thermal imager and a visible light detector coaxially arranged on the servo turntable, the aircraft detection tracking device further includes a signal processing module and a control module, the control module is respectively and electrically connected with the signal processing module, the infrared thermal imager and the servo turntable, and is used for receiving signals acquired by the infrared thermal imager and transmitting the signals to the signal processing module for processing, and then controlling the rotation angle of the servo turntable according to the processing result.
Further, in the foregoing aircraft tracking measurement system, the electronic control device includes a cabinet, a top cover, and a drawer, wherein the cabinet is internally provided with a functional component, and the top is provided with a control panel for data input or data display; the inner side of the top cover is provided with a display screen, one side edge of the top cover is hinged with one side edge of the top of the cabinet and is used for being buckled at the top of the cabinet, and a first airtight space for accommodating the display screen and the control panel is formed with the cabinet; the drawer is arranged in the cabinet and is connected with the cabinet in a sealing way after being placed in the cabinet.
Further, in the aircraft tracking measurement system, a data interface, an interface baffle and an external component fixing structure are arranged in the drawer, and the data interface is used for being connected with the functional component and the external component arranged in the drawer; the interface baffle is hinged with the bottom plate of the drawer and is clamped with the side plate of the drawer, and is used for enclosing a space for accommodating the data interface with the bottom plate and the side plate of the drawer; the external component fixing structure is arranged on the bottom plate and/or the side plate and used for fixing the external component.
Further, in the aforementioned aircraft tracking measurement system, the drawer includes an outer side plate exposed on the cabinet, a receiving groove for receiving the outer side plate is provided on the cabinet, and a sealing strip structure for sealing between the outer side plate and the receiving groove is provided between the outer side plate and the receiving groove.
Further, in the aforementioned aircraft tracking measurement system, the sealing strip structure includes a first sealing strip, the first sealing strip is fixedly disposed at a portion of the accommodating groove for contacting with the outer side plate, the first sealing strip includes a vertical portion parallel to a plate surface of the outer side plate and a flat portion parallel to a side edge of the outer side plate, the vertical portion is provided with a suction cup for being adsorbed on the plate surface of the outer side plate, the flat portion is provided with a first raised strip disposed along a length direction of the first sealing strip, and a cavity is disposed in the first raised strip; the side of the outer side plate is provided with a first groove for accommodating the first raised strip, and the first raised strip and the first groove are used for being tightly matched to form sealing connection.
Further, in the aforementioned aircraft tracking measurement system, the first groove is internally provided with a second protruding strip arranged along the length direction of the first groove, and the first protruding strip is provided with a second groove for accommodating the second protruding strip.
Further, in the aforementioned aircraft tracking measurement system, the suction cup includes two flexible outer sheets that are parallel to each other and all set up along first sealing strip length direction, and two flexible outer sheets all incline to the direction of keeping away from another flexible outer sheet, are equipped with a plurality of flexible spacers between two flexible outer walls, and a plurality of flexible spacers separate two flexible outer sheets into a plurality of suction cup chambers.
Further, in the foregoing aircraft tracking measurement system, the electronic control device further includes an outer bracket and a stabilizer, the outer bracket being mounted on the cabinet; the stabilizer is arranged on the outer bracket and is used for being connected with the data acquisition component.
Further, in the foregoing aircraft tracking measurement system, the electronic control device further includes a communication module, a signal processing module, a time system module, and a control module, where the communication module is disposed on the cabinet and is used for receiving and transmitting data signals; the signal processing module is arranged in the cabinet and is electrically connected with the communication module and used for processing data signals; the time system module is used for interacting time and position signals with the GPS system and/or the Beidou system; the control module is electrically connected with the control panel, the display screen, the communication module, the signal processing module and the time system module respectively.
Further, in the foregoing aircraft tracking measurement system, the electronic control device further includes a moving wheel, an angle protection pad, an elastic packaging belt, and a handle, where the moving wheel is disposed at the lower part of the cabinet; the corner protection cushion block is arranged at the corner parts of the cabinet and the top cover; one end of the elastic packaging belt is connected with the top cover, the middle part is used for bypassing the exposed surface of the drawer, and the other end of the elastic packaging belt is detachably connected with the lower part of the cabinet; the handle is arranged on the cabinet or the top cover.
In order to achieve the above purpose, another technical scheme adopted by the invention is as follows: the provided aircraft tracking measurement method uses the aircraft tracking measurement system to measure, and comprises the following steps:
tracking the aircraft through two tracking measuring stations, collecting data information and transmitting the data information to a data processing station;
and II, calculating the data signals by the data processing station to obtain the deviation between the actual flight orbit of the aircraft and the preset flight orbit.
Further, in the foregoing method for tracking and measuring an aircraft, taking calculation of a target deviation in missile or shell firing as an example, a servo turntable is provided on a tracking and measuring station, and a thermal infrared imager and a visible light detector are coaxially provided on the servo turntable, and in step i, the step of tracking the aircraft by the tracking and measuring station includes:
the servo turntable is adjusted to enable the thermal infrared imager to be aligned with a launching hand of the missile or the shell, after the missile or the shell is launched, the thermal infrared imager detects a track of the missile or the shell, the servo turntable is controlled to adjust the angle, the missile or the shell is located near the center of a field of view of the thermal infrared imager to perform closed tracking, and meanwhile data information collected by the visible light detector and angle change data information of the servo turntable are recorded and transmitted to the data processing station.
Further, in the foregoing aircraft tracking measurement method, step ii includes:
two tracking measurement stations participating in calculation are respectively an A station and a B station, the impact point of a missile or a shell is a D point, the target point of the missile or the shell is a M point, and an origin is A, so that a North Tiandong geodetic coordinate system is established;
according to the longitude, latitude and elevation data of the A station and the B station, neglecting curvature bending of the earth, setting the ABMD points on the horizontal plane, namely assuming the same elevation, respectively calculating the coordinates of A, B, M according to the following conversion formula from longitude, latitude and elevation to a rectangular coordinate system of the earth,
wherein (lambda) a ,φ a ,h a )、(λ b ,φ b ,h b ) The longitude and latitude elevation of A, B points (x) b ,y b ,z b ) The coordinates of the point B in a North Tiandong coordinate system taking the point A as an origin;
calculating the line length of AB, and the < MAB and the < MBA according to the coordinates of A, B, M;
after shooting is completed, the missile track can be drawn in the image of the imager, so as to measure the included angle between D and M, namely, the intersection point of the shell track and the ground plane deviates from the angle of the azimuth center, namely, the angle MBD and the angle MAD;
in the triangle delta ABD, the position of the D point is calculated according to one side of the two corner clips, and finally DM is calculated according to the coordinate value, namely the distance of the shell from the target point.
The aircraft tracking and measuring system provided by the invention has the beneficial effects that: compared with the prior art, the method has the advantages that the data processing stations and the two tracking measuring stations with different arrangement positions are respectively arranged, the detection tracking devices in the tracking measuring stations can be used for collecting flight data of the aircraft, the electronic control device is used for following the aircraft, finally, the data of the two tracking measuring stations are transmitted to the data processing stations, the calculation of the included angle and the distance is carried out through the data collected by the two groups of different positions, the position of the aircraft is accurately determined finally, the method is simple and convenient to use, the measurement error can be reduced, the measurement accuracy is improved, meanwhile, the flight orbit of the aircraft can be calculated so as to be compared with the preset orbit, the impact point and other data can be checked through the flight orbit, and the measurement accuracy is further improved.
The aircraft tracking and measuring method provided by the invention has the beneficial effects that: compared with the prior art, the method has the advantages that the data acquisition is carried out by utilizing the two tracking measuring stations with different arrangement positions, the calculation of the included angle and the distance is carried out on the data acquired by the two groups of different positions by the data processing station, the position of the aircraft is finally and accurately determined, the method is simple and convenient to use, the measuring error can be reduced, the measuring accuracy is improved, meanwhile, the flight orbit of the aircraft can be calculated so as to be compared with the preset orbit, the data such as the impact point are checked by the flight orbit, and the measuring accuracy is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an aircraft tracking measurement system according to an embodiment of the present invention;
FIG. 2 is a computational assistance diagram of an aircraft tracking measurement method according to an embodiment of the present invention;
FIG. 3 is a schematic view of a partial cross-sectional structure of a probe tracking device of an aircraft tracking measurement system according to an embodiment of the present invention, with a cross-sectional line of a sealing strip omitted;
FIG. 4 is a schematic view of a partially cut-away configuration of a probe tracking device of an aircraft tracking measurement system during an opening process according to another embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a front view of an electronic control device of an aircraft tracking measurement system according to an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a drawer portion of an electronic control device of an aircraft tracking and measuring system according to an embodiment of the present invention, wherein cross-sectional lines are omitted;
fig. 7 is a schematic control structure diagram of an aircraft tracking measurement system according to an embodiment of the present invention.
Wherein, each reference sign in the figure:
1000. tracking a measurement station; 2000. a data processing station; 3000. a target;
100. a detection tracking device;
110. a connecting platform;
120. a tracking angle adjusting mechanism; 121. a corner assembly; 122. an elevation assembly;
130. a data acquisition module; 131. an infrared thermal imager; 132. a visible light detector;
141. A flap plate; 142. a sealing rubber strip; 143. a side plate; 144. a top plate;
145. a hinged support; 146. a slideway; 147. a hinged support fastening structure;
150. an opening angle limiting structure; 151. a traction belt; 152. a winch;
160. a moving wheel; 170. a flexible balloon; 181. a connecting flange; 182. a handle;
200. an electronic control device;
210. a cabinet; 211. a control panel; 212. a receiving groove;
220. a top cover; 221. a display screen;
230. a drawer; 231. a data interface; 232. an interface baffle;
233. an outer panel; 234. a first groove; 235. a second protruding strip;
241. a moving wheel; 242. corner protection cushion blocks; 243. an elastic packaging belt; 244. a handle;
250. a first sealing strip; 251. a vertical portion; 252. a flat portion; 253. a first protruding strip;
254. a cavity; 255. a second groove; 256. a suction cup; 257. a flexible outer sheet; 258. a flexible spacer;
260. an outer bracket; 270. a stabilizer;
281. a communication module; 282. a signal processing module; 283. a time system module; 284. a control module;
300. and a power supply assembly.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 and fig. 2 together, the present invention provides an aircraft tracking measurement system, which includes a tracking measurement station 1000 and a data processing station 2000, wherein at least two tracking measurement stations 1000 are used for tracking and measuring an aircraft; the data processing station 2000 is respectively connected with the two tracking measurement stations 1000 through a data transmission module, and is used for receiving and processing data signals measured by the tracking measurement stations 1000; the tracking measurement station 1000 comprises a detection tracking device 100, an electronic control device 200 and a power supply assembly 300, wherein the detection tracking device 100 comprises a data acquisition mechanism with two degrees of freedom of horizontal rotation and elevation angle adjustment, and the data acquisition mechanism is used for tracking an aircraft and acquiring data; the electronic control device 200 is electrically connected with the detection tracking device 100, and is used for controlling the detection tracking device 100 to track the aircraft, receiving data acquired by the detection tracking device 100, and connecting with the data processing station 2000 through the data transmission module for data transmission; the power supply assembly 300 is used to power the detection tracking device 100 and the electronic control device 200. The power supply unit 300 may be a power supply line, and may be a power generation device such as a diesel generator.
Compared with the prior art, the aircraft tracking measurement system provided by the invention has the advantages that the data processing station 2000 and the two tracking measurement stations 1000 with different arrangement positions are respectively arranged, the detection tracking device 100 in the tracking measurement station 1000 can be used for collecting the flight data of the aircraft, the electronic control device 200 is used for following the aircraft, the data of the two tracking measurement stations 1000 are finally transmitted to the data processing station 2000, the calculation of the included angle and the distance is carried out through the data collected by the two groups of different positions, the position of the aircraft is finally and accurately determined, the use is simple and convenient, the measurement error can be reduced, the measurement accuracy is improved, meanwhile, the flight orbit of the aircraft can be calculated so as to be compared with the preset orbit, the data such as the impact point and the like are checked through the flight orbit, and the measurement accuracy is further improved.
Referring to fig. 3 and fig. 4 together, the present invention further provides an aircraft detecting and tracking device 100, which includes a connection platform 110, a tracking angle adjusting mechanism 120, a data acquisition module 130 and a package supporting mechanism, wherein the tracking angle adjusting mechanism 120 is disposed on the connection platform 110 and has two degrees of freedom of horizontal rotation and elevation angle adjustment; the data acquisition module 130 is arranged on the tracking angle adjusting mechanism 120 and is used for acquiring data of the aircraft along with the angle change of the tracking angle adjusting mechanism 120; the package supporting mechanism is connected to the outer edge of the connection platform 110, and is configured to be located on one side of the connection platform 110 in the first state, form a closed space together with the connection platform 110 for accommodating the tracking angle adjusting mechanism 120 and the data acquisition module 130, and be located on the other side of the connection platform 110 in the second state, so as to support the connection platform 110 on the working surface.
Compared with the prior art, the aircraft detection tracking device provided by the invention has the advantages that the tracking angle adjusting mechanism 120 and the data acquisition module 130 can be sealed when not in use by arranging the connecting platform 110 and the package supporting mechanism, so that damages to the tracking angle adjusting mechanism 120 and the data acquisition module 130 caused by collision or water inflow in transportation are avoided; moreover, the package support mechanism and the connecting platform 110 are relatively regular in shape after being closed, so that the package support mechanism is more convenient to move and transport; meanwhile, the package supporting mechanism can also be used as a supporting frame of the tracking angle adjusting mechanism 120 and the data acquisition module 130, so that the data acquisition module can be conveniently adjusted to a proper acquisition height, and the stability of data adoption is improved.
Referring to fig. 3 and fig. 4 together, as an embodiment of the aircraft detecting and tracking device provided by the present invention, the package supporting mechanism includes a plurality of flaps 141 rotatably connected to the edge of the connection platform 110, and adjacent flaps 141 are hermetically connected to each other in the first state.
Referring to fig. 3 and fig. 4 together, as a specific embodiment of the aircraft detecting and tracking device provided by the present invention, a sealing strip 142 is provided at a portion of an edge of each of the petal plates 141 for contacting with an adjacent petal plate 141 and/or a portion of the edge of each of the petal plates for contacting with the connecting platform 110, and a plurality of petal plates 141 are closed to jointly seal a space with the connecting platform 110.
Referring to fig. 3 and fig. 4 together, as a specific embodiment of the aircraft detecting and tracking device provided by the present invention, the flap 141 includes a side plate 143 and a top plate 144, and one side of the side plate 143 is rotatably connected to the connection platform 110; one side of the top plate 144 is connected with one side of the side plate 143 away from the connecting platform 110; the side plates 143 of the plurality of clacks 141 are used for enclosing the circumference of the tracking angle adjusting mechanism 120 in the first state, and the top plates 144 of the plurality of clacks 141 are used for enclosing the side of the tracking angle adjusting mechanism 120 away from the connecting platform 110 in the first state.
Referring to fig. 4, as a specific embodiment of the aircraft detecting and tracking device provided by the invention, the side plates 143 are hinged to the top plates 144 along the sides contacting each other, and locking structures for mutual fixation are arranged between the adjacent top plates 144, wherein the locking structures can be connection structures such as plugging, clamping, pin joint, bolt connection and the like, locking members such as locking pieces and the like between the adjacent top plates 144, and mechanisms for limiting, fixing or locking the hinged positions of the side plates 143 and the top plates 144; the side plate 143 is rotatably connected with the connecting platform 110 through a hinge support 145 and a hinge shaft, a slide way 146 and a hinge support fastening structure 147 are arranged on the side plate 143, and the slide way 146 is slidably connected with the hinge support 145 and is used for enabling the side plate 143 to slide in a direction perpendicular to the hinge shaft; the hinge seat fastening structure 147 is used to fix the hinge seat 145 to a preset position of the slide 146. The hinge seat fastening structure 147 may be a fastening bolt penetrating through the side plate 143, or may be a connector that can be connected to the hinge seat 145 by a connection such as a snap-fit connection or a pin connection.
After the side edge of each petal plate 141 is tightly connected with the side edge of the adjacent petal plate 141, a plurality of petal plates 141 are enclosed into a cylindrical structure capable of being connected with the sliding on the platform 110. To avoid the problem of the flap 141 being difficult to turn over due to space limitations or the like.
Referring to fig. 3 and fig. 4 together, as a specific embodiment of the aircraft detecting and tracking device provided by the present invention, an opening angle limiting structure 150 for limiting the opening angle between the adjacent petals 141 is disposed between the sides of the adjacent petals 141.
Referring to fig. 3, as a specific embodiment of the aircraft detecting and tracking device provided by the present invention, the opening angle limiting structure 150 includes a traction belt 151 and a winch 152, wherein one end of the traction belt 151 is detachably connected with one side edge of one of the adjacent petals 141; a winch 152 is provided on the other of the adjacent flap plates 141 and is connected to the other end of the traction belt 151 for winding and unwinding the traction belt 151. The detachable connection can be in the connection forms of hook connection, buckling connection, clamping connection, pin connection, bolt connection and the like.
As a specific implementation mode of the aircraft detecting and tracking device provided by the invention, each petal plate 141 comprises a plurality of sliding plates and fastening components, wherein the sliding plates are sequentially arranged, the adjacent sliding plates are mutually connected in a sliding manner along the plate surface direction of the sliding plates, and the sliding plate positioned at the head end is connected with the outer edge of the connecting platform 110; the fastening component is arranged between the adjacent sliding plates and is used for fixing the positions of the adjacent sliding plates.
The sliding plates of the same stage on the plurality of clack plates 141 are connected with each other to form a small sleeve structure, and the small sleeve structures of the plurality of different stages form a telescopic cylindrical structure.
Referring to fig. 3, as a specific embodiment of the aircraft detecting and tracking device provided by the present invention, a moving wheel 160 is disposed outside a side of the flap 141 away from the connection platform 110; the side of the flap 141, which is close to the tracking angle adjusting mechanism 120 in the first state, is provided with a flexible air bag 170; the side of the connection platform 110 away from the tracking angle adjustment mechanism 120 is provided with a connection flange 181 and a handle 182.
Referring to fig. 3, fig. 4 and fig. 7 together, as a specific embodiment of the aircraft detection tracking device provided by the invention, the tracking angle adjusting mechanism 120 is a servo turntable, the data acquisition module 130 includes a thermal infrared imager 131 and a visible light detector 132 coaxially arranged on the servo turntable, the aircraft detection tracking device further includes a signal processing module 282 and a control module 284, and the control module 284 is electrically connected with the signal processing module 282, the thermal infrared imager 131 and the servo turntable respectively, and is configured to receive signals acquired by the thermal infrared imager 131, transmit the signals to the signal processing module 282, and control a rotation angle of the servo turntable according to a processing result after processing.
Referring to fig. 3 and fig. 4 together, as a specific embodiment of the aircraft detecting and tracking device provided by the present invention, the servo turntable includes a corner assembly 121 and an elevation assembly 122, the corner assembly 121 is rotatably connected with the connection platform 110 through a first rotation shaft, for providing a degree of freedom of horizontal rotation, and the first rotation shaft is perpendicular to the connection platform 110; the elevation angle assembly 122 is disposed on the corner assembly 121 and is rotatably connected to the corner assembly 121 via a second rotation shaft, which is perpendicular to the first rotation shaft, for providing freedom of elevation angle adjustment.
The invention also provides an aircraft tracking measurement station, which comprises the aircraft detection tracking device 100 and an electronic control device 200 connected with the aircraft detection tracking device 100 and used for controlling the aircraft detection tracking device 100 and receiving signals acquired by the aircraft detection tracking device 100.
Compared with the prior art, the aircraft tracking measurement station provided by the invention can avoid damages to the tracking angle adjusting mechanism 120 and the data acquisition module 130 caused by collision or water inflow in transportation, is convenient to move and transport, can be adjusted to a proper acquisition height, and improves the stability of data adoption.
Referring to fig. 5, the present invention further provides an electronic control device 200, which includes a cabinet 210, a top cover 220 and a drawer 230, wherein functional components are arranged inside the cabinet 210, and a control panel 211 for data input or data display is arranged on the top; the inner side of the top cover 220 is provided with a display screen 221, one side edge of the top cover is hinged with one side edge of the top of the cabinet 210 and is used for being buckled on the top of the cabinet 210, and a first closed space for accommodating the display screen 221 and the control panel 211 is formed with the cabinet 210; the drawer 230 is disposed in the cabinet 210, and is sealed with the cabinet 210 after being placed into the cabinet 210.
Compared with the prior art, the electronic control device provided by the invention integrates the control aircraft detection tracking device 100 and other functional components in the cabinet 210 by arranging the cabinet 210, the top cover 220 and the drawer 230, has a compact overall structure, and can be conveniently and movably arranged; in addition, the cabinet 210 is matched with the top cover 220, other parts do not need to be stretched, and after the top cover 220 is opened, the display screen 221 and the control panel 211 are exposed, so that the cabinet 210 is equivalent to a console, and the use is rapid and convenient; meanwhile, the drawer 230 fully utilizes the lower space of the cabinet 210, not only can be used for accommodating some articles, and improves the compactness of the structure, but also can be used as a placement mechanism of externally connected functional components such as a hard disk, a cipher device and the like, and the falling or losing of the tiny components is avoided.
Referring to fig. 6, as a specific embodiment of the electronic control device provided by the present invention, a data interface 231, an interface baffle 232 and an external component fixing structure are disposed in the drawer 230, and the data interface 231 is used for connecting with a functional component and for connecting with an external component placed in the drawer 230; the interface baffle 232 is hinged with the bottom plate of the drawer 230 and is clamped with the side plate of the drawer 230, so that a space for accommodating the data interface 231 is formed by the interface baffle 232, the bottom plate of the drawer 230 and the side plate; the external component fixing structure is arranged on the bottom plate and/or the side plate and used for fixing the external component. The external component fixing structure can be a structure such as a mounting seat, a clamping groove, a slot, a binding belt and an elastic sleeve body.
Referring to fig. 6, as a specific embodiment of the electronic control apparatus provided by the present invention, the drawer 230 includes an outer panel 233 exposed on the cabinet 210, the cabinet 210 is provided with a receiving groove 212 for receiving the outer panel 233, and a sealing strip structure for sealing between the outer panel 233 and the receiving groove 212 is provided between the outer panel 233 and the receiving groove 212.
Referring to fig. 6, as a specific embodiment of the electronic control device provided by the present invention, the sealing strip structure includes a first sealing strip 250, the first sealing strip 250 is fixedly disposed at a portion of the accommodating groove 212 for contacting the outer side plate 233, the first sealing strip 250 includes a vertical portion 251 parallel to a plate surface of the outer side plate 233 and a flat portion 252 parallel to a side edge of the outer side plate 233, the vertical portion 251 is provided with a suction cup 256 for being adsorbed on the plate surface of the outer side plate 233, the flat portion 252 is provided with a first raised strip 253 disposed along a length direction of the first sealing strip 250, and a cavity 254 is disposed in the first raised strip 253; the lateral surface of the outer panel 233 is provided with a first groove 234 for accommodating the first protrusion 253, and the first protrusion 253 and the first groove 234 are tightly matched to form a sealing connection.
Referring to fig. 6, as a specific embodiment of the electronic control device provided by the present invention, the first groove 234 is provided with a second protruding strip 235 along the length direction of the first groove 234, and the first protruding strip 253 is provided with a second groove 255 for accommodating the second protruding strip 235.
Referring to fig. 6, as a specific embodiment of the electronic control device provided by the present invention, the suction cup 256 includes two flexible outer sheets 257 parallel to each other and disposed along the length direction of the first sealing strip 250, each of the two flexible outer sheets 257 is inclined away from the other flexible outer sheet 257, a plurality of flexible spacers 258 are disposed between the two flexible outer walls, and the plurality of flexible spacers 258 divide the two flexible outer sheets 257 into a plurality of suction cup chambers.
Referring to fig. 5, as a specific embodiment of the electronic control device provided by the present invention, the electronic control device further includes an outer bracket 260 and a stabilizer 270, where the outer bracket 260 is disposed on the cabinet 210; a stabilizer 270 is provided on the outer bracket 260 for connection with the data acquisition assembly.
Referring to fig. 7, as a specific embodiment of the electronic control device provided by the present invention, the electronic control device further includes a communication module 281, a signal processing module 282, a time system module 283 and a control module 284, where the communication module 281 is disposed on the cabinet 210 and is configured to receive and transmit data signals; the signal processing module 282 is disposed in the cabinet 210 and electrically connected to the communication module 281, for processing data signals; the time system module 283 is used for interacting time and position signals with the GPS system and/or the Beidou system; the control module 284 is electrically connected to the control panel 211, the display 221, the communication module 281, the signal processing module 282, and the timing module 283, respectively.
Referring to fig. 5, as a specific embodiment of the electronic control device provided by the present invention, the electronic control device further includes a moving wheel 241, an angle protection pad 242, an elastic packing belt 243, and a handle 244, where the moving wheel 241 is disposed at the lower portion of the cabinet 210; corner pads 242 are provided at corner portions of the cabinet 210 and the top cover 220; one end of the elastic packing belt 243 is connected with the top cover 220, the middle part is used for bypassing the exposed surface of the drawer 230, and the other end is detachably connected with the lower part of the cabinet 210; a handle 244 is provided on the cabinet 210 or the top cover 220.
Referring to fig. 5, the present invention further provides an aircraft tracking measurement station, which includes the electronic control device 200 and the aircraft detection and tracking device 100 for tracking an aircraft and transmitting acquired data information to the electronic control device 200.
Compared with the prior art, the aircraft tracking measurement station provided by the invention integrates the control aircraft detection tracking device 100 and other functional components in the cabinet 210 by arranging the electronic control device 200 with the cabinet 210, the top cover 220 and the drawer 230 and the aircraft detection tracking device 100, has a compact overall structure, is light and portable, and can be conveniently and movably arranged.
Referring to fig. 1 and 2 together, the present invention further provides an aircraft tracking measurement method, which uses the above-mentioned aircraft tracking measurement system to perform measurement, comprising the following steps:
i, tracking the aircraft through two tracking measurement stations 1000, collecting data information and transmitting the data information to a data processing station 2000;
and II, the data processing station 2000 calculates the data signals to obtain the deviation of the actual flight orbit of the aircraft and the preset flight orbit.
Compared with the prior art, the aircraft tracking measurement method provided by the invention has the advantages that the data acquisition is carried out by utilizing the two tracking measurement stations 1000 with different arrangement positions, the calculation of the included angle and the distance is carried out on the data acquired by the two groups of different positions by the data processing station 2000, the position of the aircraft is finally and accurately determined, the use is simple and convenient, the measurement error can be reduced, the measurement accuracy is improved, meanwhile, the flight orbit of the aircraft can be calculated so as to be compared with the preset orbit, the data such as the impact point and the like is checked by the flight orbit, and the measurement accuracy is further improved.
Referring to fig. 1 and fig. 2 together, taking calculation of target deviation in missile or shell emission as an example, a tracking measurement station 1000 is provided with a servo turntable, and a thermal infrared imager 131 and a visible light detector 132 are coaxially arranged on the servo turntable, and in step i, the step of tracking the aircraft by the tracking measurement station 1000 includes:
The servo turntable is adjusted to enable the thermal infrared imager 131 to be aligned with a launching hand of the missile or the shell, after the missile or the shell is launched, the thermal infrared imager 131 detects a track of the missile or the shell, the servo turntable is controlled to adjust the angle, the missile or the shell is located near the center of the field of view of the thermal infrared imager 131, closed tracking is conducted, and meanwhile data information collected by the visible light detector 132 and angle change data information of the servo turntable are recorded and transmitted to the data processing station 2000.
Because the visible light detector 132 is coaxial with the thermal infrared imager 131, the missile or shell is also at the center of the field of view of the visible light detector 132, and therefore, the angle of deviation of the center of view and the center of mass of the target such as a target point and the like and the angle value of the servo turntable are overlapped to obtain the angle value of the target in the north-east coordinate system.
Referring to fig. 1 and fig. 2 together, as a specific embodiment of the method for tracking and measuring an aircraft provided by the present invention, step ii includes:
two tracking measurement stations 1000 participating in calculation are respectively an A station and a B station, the impact point of a missile or a shell is a D point, the target point of the missile or the shell is an M point, and an origin is A, so that a North Tiandong geodetic coordinate system is established;
according to the longitude, latitude and elevation data of the A station and the B station, neglecting curvature bending of the earth, setting the ABMD points on the horizontal plane, namely assuming the same elevation, respectively calculating the coordinates of A, B, M according to the following conversion formula from longitude, latitude and elevation to a rectangular coordinate system of the earth,
Wherein (lambda) a ,φ a ,h a )、(λ b ,φ b ,h b ) The longitude and latitude elevation of A, B points (x) b ,y b ,z b ) The coordinates of the point B in a North Tiandong coordinate system taking the point A as an origin;
calculating the line length of AB, and the < MAB and the < MBA according to the coordinates of A, B, M;
after shooting is completed, a missile track can be drawn in an image of an imager, and then an included angle between D and M is measured, namely an intersection point of the projectile track and a ground plane, and an angle deviating from the azimuth center is measured, namely ++MBD and ++MAD in the image;
in the triangle delta ABD, the position of the D point is calculated according to one side of the two corner clips, and finally DM is calculated according to the coordinate value, namely the distance of the shell from the target point.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (8)

1. An aircraft tracking measurement system, comprising:
-at least two tracking and measuring stations (1000) for tracking and measuring the aircraft; and
the data processing stations (2000) are respectively connected with the two tracking measurement stations (1000) through data transmission modules and are used for receiving and processing data signals measured by the tracking measurement stations (1000);
The tracking measurement station (1000) comprises:
the detection tracking device (100) comprises a data acquisition mechanism with two degrees of freedom of horizontal rotation and elevation angle adjustment, and is used for tracking an aircraft and acquiring data;
the electronic control device (200) is electrically connected with the detection tracking device (100) and is used for controlling the detection tracking device (100) to track an aircraft, receiving data acquired by the detection tracking device (100), and connecting with the data processing station (2000) through a data transmission module for data transmission; and
-a power supply assembly (300) for powering said detection and tracking device (100) and said electronic control device (200);
the detection tracking device (100) comprises:
a connection platform (110);
the tracking angle adjusting mechanism (120) is arranged on the connecting platform (110) and has two degrees of freedom of horizontal rotation and elevation angle adjustment;
the data acquisition module (130) is arranged on the tracking angle adjusting mechanism (120) and is used for acquiring data of the aircraft along with the angle change of the tracking angle adjusting mechanism (120); and
the package supporting mechanism is connected with the outer edge of the connecting platform (110), is used for being positioned on one side of the connecting platform (110) in a first state, forms a closed space with the connecting platform (110) for accommodating the tracking angle adjusting mechanism (120) and the data acquisition module (130) together, and is positioned on the other side of the connecting platform (110) in a second state, so that the connecting platform (110) is supported on a working surface;
The package supporting mechanism comprises a plurality of petal plates (141) which are rotationally connected with the edge of the connecting platform (110), and the adjacent petal plates (141) are mutually connected in a sealing way in the first state; an opening angle limiting structure (150) for limiting the opening angle between the adjacent petal plates (141) is arranged between the side edges of the adjacent petal plates (141).
2. The aircraft tracking measurement system of claim 1 wherein: the opening angle limiting structure (150) comprises:
a traction belt (151) one end of which is detachably connected with one side edge of one of the adjacent petal plates (141); and
a winch (152) provided on the other of the adjacent flaps (141) and connected to the other end of the traction belt (151) for winding and unwinding the traction belt (151);
the tracking angle adjusting mechanism (120) is a servo turntable, the data acquisition module (130) comprises an infrared thermal imager (131) and a visible light detector (132) which are coaxially arranged on the servo turntable, the electronic control device (200) further comprises a signal processing module (282) and a control module (284), and the control module (284) is respectively electrically connected with the signal processing module (282), the infrared thermal imager (131) and the servo turntable and is used for receiving signals acquired by the infrared thermal imager (131) and transmitting the signals to the signal processing module (282) for processing, and then controlling the rotation angle of the servo turntable according to the processing result.
3. The aircraft tracking measurement system of claim 1, wherein the electronic steering device (200) comprises:
the cabinet (210) is internally provided with functional components, and the top of the cabinet is provided with a control panel (211) for data input or data display;
the top cover (220) is provided with a display screen (221) on the inner side, one side edge of the top cover is hinged with one side edge of the top of the cabinet (210) and is used for being buckled on the top of the cabinet (210), and a first airtight space for accommodating the display screen (221) and the control panel (211) is formed with the cabinet (210); and
the drawer (230) is arranged in the cabinet (210) and is connected with the cabinet (210) in a sealing way after being placed in the cabinet (210).
4. An aircraft tracking measurement system according to claim 3, characterized in that the drawer (230) has disposed therein:
a data interface (231) for connecting with the functional component and for connecting with an external component placed in the drawer (230);
the interface baffle (232) is hinged with the bottom plate of the drawer (230) and is clamped with the side plate of the drawer (230), and is used for enclosing a space for accommodating the data interface (231) with the bottom plate and the side plate of the drawer (230); and
The external component fixing structure is arranged on the bottom plate and/or the side plate and used for fixing the external component;
the drawer (230) comprises an outer side plate (233) exposed on the cabinet (210), a containing groove (212) for containing the outer side plate (233) is formed in the cabinet (210), and a sealing strip structure for sealing the outer side plate (233) and the containing groove (212) is arranged between the outer side plate (233) and the containing groove (212); the sealing strip structure comprises a first sealing strip (250), the first sealing strip (250) is fixedly arranged at a position, which is used for being contacted with the outer side plate (233), of the accommodating groove (212), the first sealing strip (250) comprises a vertical part (251) parallel to the plate surface of the outer side plate (233) and a flat part (252) parallel to the side edge of the outer side plate (233), the vertical part (251) is provided with a sucker (256) used for being adsorbed on the plate surface of the outer side plate (233), the flat part (252) is provided with a first raised strip (253) arranged along the length direction of the first sealing strip (250), and a cavity (254) is formed in the first raised strip (253); the side surface of the outer side plate (233) is provided with a first groove (234) for accommodating the first raised strip (253), and the first raised strip (253) and the first groove (234) are used for being tightly matched to form a sealing connection; a second raised line (235) arranged along the length direction of the first groove (234) is arranged in the first groove (234), and a second groove (255) for accommodating the second raised line (235) is arranged on the first raised line (253); the sucking disc (256) comprises two flexible outer sheets (257) which are parallel to each other and are arranged along the length direction of the first sealing strip (250), the two flexible outer sheets (257) are inclined towards the direction away from the other flexible outer sheets (257), a plurality of flexible separation sheets (258) are arranged between the two flexible outer walls, and the flexible separation sheets (258) divide the two flexible outer sheets (257) into a plurality of sucking disc cavities.
5. An aircraft tracking measurement system according to claim 3, characterized in that the electronic steering device (200) further comprises:
a communication module (281) disposed on the cabinet (210) for receiving and transmitting data signals;
the signal processing module (282) is arranged in the cabinet (210) and is electrically connected with the communication module (281) for processing the data signal;
the time system module (283) is used for interacting time and position signals with the GPS system and/or the Beidou system; and
and the control module (284) is respectively and electrically connected with the control panel (211), the display screen (221), the communication module (281), the signal processing module (282) and the time system module (283).
6. An aircraft tracking measurement method, characterized in that the measurement is performed with an aircraft tracking measurement system according to any one of claims 1-5, comprising the steps of:
tracking the aircraft through the two tracking measurement stations (1000), collecting data information and transmitting the data information to the data processing station (2000);
and II, the data processing station (2000) calculates the data signals to obtain the deviation between the actual flight orbit of the aircraft and the preset flight orbit.
7. The method for tracking and measuring an aircraft according to claim 6, wherein, taking as an example a calculation of a target deviation in the firing of a missile or a shell, the tracking and measuring station (1000) is provided with a servo turntable, and the servo turntable is coaxially provided with a thermal infrared imager (131) and a visible light detector (132), and in the step i, the step of tracking the aircraft by the tracking and measuring station (1000) includes:
And adjusting the servo turntable to enable the thermal infrared imager (131) to be aligned with a launching hand of the missile or the shell, after the missile or the shell is launched, the thermal infrared imager (131) detects the track of the missile or the shell, and controlling the servo turntable to adjust the angle to enable the missile or the shell to be positioned near the center of the field of view of the thermal infrared imager (131), carrying out closed tracking, and simultaneously recording and transmitting data information acquired by the visible light detector (132) and angle change data information of the servo turntable to the data processing station (2000).
8. The aircraft tracking measurement method according to claim 7, wherein step ii comprises:
two tracking measurement stations (1000) participating in calculation are respectively an A station and a B station, the impact point of a missile or a shell is a D point, the target point of the missile or the shell is an M point, and an origin is A, so that a North Tiandong geodetic coordinate system is established;
according to the longitude, latitude and elevation data of the A station and the B station, neglecting curvature bending of the earth, setting the ABMD points on the horizontal plane, namely assuming the same elevation, respectively calculating the coordinates of A, B, M according to the following conversion formula from longitude, latitude and elevation to a rectangular coordinate system of the earth,
wherein (lambda) a ,φ a ,h a )、(λ b ,φ b ,h b ) The longitude and latitude elevation of A, B points (x) b ,y b ,z b ) The coordinates of the point B in a North Tiandong coordinate system taking the point A as an origin;
calculating the line length of AB, and the < MAB and the < MBA according to the coordinates of A, B, M;
after shooting is completed, the missile track can be drawn in the image of the imager, so as to measure the included angle between D and M, namely, the intersection point of the shell track and the ground plane deviates from the angle of the azimuth center, namely, the angle MBD and the angle MAD;
in the triangle delta ABD, the position of the D point is calculated according to one side of the two corner clips, and finally DM is calculated according to the coordinate value, namely the distance of the shell from the target point.
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CN110736396B (en) * 2019-10-24 2020-11-06 中国人民解放军32181部队 Missile testing system

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