CN110320508A - A kind of analogy method of airborne answering machine to high dynamic target property - Google Patents
A kind of analogy method of airborne answering machine to high dynamic target property Download PDFInfo
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- CN110320508A CN110320508A CN201910608762.2A CN201910608762A CN110320508A CN 110320508 A CN110320508 A CN 110320508A CN 201910608762 A CN201910608762 A CN 201910608762A CN 110320508 A CN110320508 A CN 110320508A
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- high dynamic
- dynamic target
- unmanned plane
- answering machine
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of airborne answering machines to the analogy method of high dynamic target property, high dynamic target is simulated using unmanned plane and airborne answering machine, joint ground control station completes observing and controlling verification experimental verification and training test: so that it is in the high dynamic target flight track being modeled on the straight line that the position at the moment is connected with ground observing and controlling station antenna at each moment by controlling unmanned plane；When unmanned plane during flying track is limited by absolute rating is unable to complete continuous analog, the mode of flight path dividual simulation, splicing can be taken；By forwarding the real-time adjustment of ratio to airborne answering machine transmitting-receiving frequency, the round trip Doppler frequency that high dynamic target introduces in continuous wave Instrumentation system is restored, the simulation of element of testing the speed to high dynamic target is completed；By the real-time adjustment to airborne answering machine receiving and transmitting signal delay time, the propagation of signal round trip and Forwarding Latency that high dynamic target introduces in impulsive measurement system are restored, the simulation to high dynamic object ranging element is completed.
Description
Technical field
The present invention relates to space flight simulation technical field, in particular to mould of a kind of airborne answering machine to high dynamic target property
Quasi- method.
Background technique
In the development and use process of high dynamic target TT&C system, the development and use of high dynamic target have cost
The problems such as height, difficulty is big, and serious forgiveness is low；Before actually carrying out high dynamic target TT&C task, need to complete by certain mode
The combined debugging of high dynamic target and ground observing and controlling system and the working condition for examining equipment；Existing conventional method is to pass through meter
The direct-connected mode of calculation machine provides the signal of simulation high dynamic target for TT&C system, and whether verifying system works normally.
" versatility ultrahigh-accuracy dynamic simulator " (patent No. CN102759730B, inventor Lan Hongzhi) proposes one kind
Universal-type ultrahigh-accuracy dynamic simulator controls memory read/write address by FPGA and reads and writes clock progress number to buffer
The control of thickness time delay is realized in phase shift, and speed and acceleration parameter further according to input extrapolates the Doppler for reading should to add on clock
Frequency and its change rate.
This method can verify the basic function of TT&C system, but can not simulate TT&C system in real work completely
Working condition；Therefore it needs to design a kind of new method, it can be with more cheap cost, instead of high dynamic target and observing and controlling
The working condition of TT&C system is simulated in system combined test, realizes the allomeric function verifying of TT&C system.
Summary of the invention
In order to overcome the shortcomings in the prior art, the present invention provides a kind of airborne answering machine to the mould of high dynamic target property
Quasi- method, this method make ground control station really reduce working condition when completing high dynamic target TT&C task, and over the ground
What face tracking telemetry and command station was completed to need in high dynamic target TT&C task test the speed element and ranging element is simulated.
In order to achieve the above object of the invention, it is as follows to solve technical solution used by its technical problem:
A kind of airborne answering machine utilizes unmanned plane and the simulation of airborne answering machine high the analogy method of high dynamic target property
Dynamic object, the tracking of verifying ground control station and measurement function, joint ground control station completes observing and controlling verification experimental verification and training is surveyed
Examination, comprising the following steps:
Step 1: being completed to high dynamic target using unmanned plane simulated flight track with respect to ground control station flight path
It is equivalent；
Step 2: according to high dynamic target flight track and unmanned plane simulated flight track, in unmanned aerial vehicle onboard answering machine
Complete test the speed element and ranging element simulation of the ground control station to high dynamic target.
Further, in the simulation process of step 1:
Make unmanned plane be in the high dynamic target being modeled at each moment by the control to unmanned plane during flying parameter to fly
Row track is on the straight line that the position at the moment is connected with ground observing and controlling station antenna；
Unmanned plane flies within the scope of its level speed, acceleration, lifting speed, the performance indicator of turning radius
The simulation of track；
When the flight path parameter of needs exceeds unmanned plane performance range, the side of splicing after dividual simulation can be passed through
Formula forms complete flight dynamic analog curve, evades the motion state mutation in unmanned plane during flying track and exceeds flight parameter
The case where limit.
Further, in step 2, according to high dynamic target and unmanned plane simulated flight track, by adjusting nobody in real time
On machine airborne answering machine transmitting-receiving frequency forward ratio, the unmanned aerial vehicle onboard answering machine downlink signal for receiving ground control station with
In the high dynamic target received in normal work answering machine downstream signal frequencies it is equal and with ground control station transmitting uplink
Signal coherent completes test the speed element simulation of the ground control station to high dynamic target in unmanned aerial vehicle onboard answering machine；
At each moment, unmanned aerial vehicle onboard transponder relay frequency ratio meets following relationship:
ρ=ρ0·[(1-vrl/c)/(1-vpl/c)]2
Wherein, ρ is unmanned plane transponder relay frequency ratio, ρ0For the fixed forwarding ratio of high dynamic target response machine, vr1It is dynamic for height
Radial velocity of the state target with respect to ground control station antenna, vp1Radial velocity for unmanned plane with respect to ground control station antenna, c are
The light velocity.
Further, in step 2, according to high dynamic target and unmanned plane simulated flight track, by adjusting nobody in real time
The receiving and transmitting signal delay time of airborne answering machine on machine, by the round trip of high dynamic target and the opposite ground control station antenna of unmanned plane
On range difference corresponding propagation delay compensation to answering machine constant time lag, ground control station is made to receive unmanned aerial vehicle onboard answering machine
It is equal to receive the time of answering machine downlink signal in high dynamic target in the time of downlink signal and normal work, in unmanned plane
Ground control station is completed in airborne answering machine to simulate the ranging element of high dynamic target；
At each moment, unmanned aerial vehicle onboard answering machine delay time meets following relationship:
td=td0+2(lr-lp)/c
Wherein, tdDelay after compensating propagation delay for answering machine airborne on unmanned plane, td0For high dynamic target response machine
Receiving and transmitting signal constant time lag, lrIt is high dynamic target at a distance from ground observing and controlling station antenna, lpFor unmanned plane and ground control station day
The distance of line, c are the light velocity.
The present invention due to using the technology described above, is allowed to compared with prior art, have the following advantages that and actively imitate
Fruit:
1, high dynamic target state is simulated: when carrying out the simulated flight Trajectory Design of unmanned plane, when making unmanned plane
It carves in high dynamic target flight track on the straight line that the position at the moment is connected with ground observing and controlling station antenna.Height reduces
Measurement and control signal transmission between high dynamic target and ground control station based on radio, skips physical layer compared with the prior art
Wireless radio transmission process, directly simulate the Dynamic Signal form that receives of ground control station, method of the invention can be more
True reduction working condition provides more strong help to find deficiency present in TT&C system work；
2, at low cost, expend resource it is few: relative to the joint test of high dynamic target and ground control station, pass through unmanned plane
It realizes and is substantially reduced with the joint test cost of ground control station；Meanwhile when carrying out the change of test condition, the present invention is also more
It is flexible；
3, versatility is good: being carried out data transmission relative to using simulation computer by interface and TT&C system, the present invention
It is true to restore TT&C system working condition without designed with the debugging interface of TT&C system, it can be generally applicable to mostly
Base is in the TT&C system of instrumentation control radar.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described.It is clear that drawings in the following description are only some embodiments of the invention, for ability
For field technique personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.It is attached
In figure:
Fig. 1 is that a kind of airborne answering machine of the present invention simulates high dynamic to unmanned plane in the analogy method of high dynamic target property
Target flight schematic diagram；
Fig. 2 is that a kind of airborne answering machine of the present invention simulates high dynamic to unmanned plane in the analogy method of high dynamic target property
The flight path figure of target；
Fig. 3 be a kind of airborne answering machine of the present invention to unmanned plane in the analogy method of high dynamic target property in performance constraints
The flight path figure of lower dividual simulation high dynamic target；
Fig. 4 is that a kind of airborne answering machine of the present invention is illustrated to element simulation is measured in the analogy method of high dynamic target property
Figure.
Specific embodiment
Below with reference to attached drawing of the invention, the technical scheme in the embodiment of the invention is clearly and completely described
And discussion, it is clear that as described herein is only a part of example of the invention, is not whole examples, based on the present invention
In embodiment, those of ordinary skill in the art's every other implementation obtained without making creative work
Example, belongs to protection scope of the present invention.
The invention discloses a kind of analogy method of airborne answering machine to high dynamic target property to utilize nobody refering to fig. 1
Machine and airborne answering machine simulate high dynamic target, the tracking of verifying ground control station and measurement function, and joint ground control station is completed
Observing and controlling verification experimental verification and training test, comprising the following steps:
Step 1: being completed to high dynamic target using unmanned plane simulated flight track with respect to ground control station flight path
It is equivalent；
Step 2: according to high dynamic target flight track and unmanned plane simulated flight track, in unmanned aerial vehicle onboard answering machine
Complete test the speed element and ranging element simulation of the ground control station to high dynamic target.
In the present embodiment, complete to fly to high dynamic target with respect to ground control station to reach unmanned plane simulated flight track
Track it is equivalent, in the simulation process of step 1:
It is moved referring to Fig.2, making unmanned plane be in the height being modeled at each moment by the control to unmanned plane during flying parameter
State target flight track on the straight line that the position at the moment is connected with ground observing and controlling station antenna, realize ground control station state with
Working condition when it cooperates high dynamic target to complete TT&C task is consistent；
Refering to Fig. 3, unmanned plane is within the scope of the performance indicators such as its level speed, acceleration, lifting speed, turning radius
Carry out the simulation of flight path；When high dynamic target is on top excessively, radar pitch angle, azimuth quickly change, corresponding unmanned plane
Simulated flight track, speed are required to corresponding quickly variation and there may be inflection points, and unmanned plane is caused not realize continuously, nobody
The first section of machine simulated flight track and end are also likely to be present the problems such as lifting speed transfinites.
When the flight path parameter of needs exceeds unmanned plane performance range, the side of splicing after dividual simulation can be passed through
Formula forms complete flight dynamic analog curve, evades the motion state mutation in unmanned plane during flying track and exceeds flight parameter
The case where limit.
Refering to Fig. 4, wherein r is high dynamic target, lrIt is high dynamic target away from ground control station antenna distance, vrIt is dynamic for height
Speed of the state target with respect to ground control station antenna, vr1Radial velocity for high dynamic target with respect to ground control station antenna, fRr
For the uplink signal frequency of the received ground control station transmitting of high dynamic target response machine, fTrFor high dynamic target response machine downlink
Signal frequency, ρ0For the fixed forwarding ratio of high dynamic target response machine；P is unmanned plane, lpIt is unmanned plane with respect to ground control station day
The distance of line, vpSpeed for unmanned plane with respect to ground control station antenna, vp1Diameter for unmanned plane with respect to ground control station antenna
To speed, fRpFor the uplink signal frequency for the ground control station transmitting that unmanned plane answering machine receives, fTpFor unmanned plane answering machine
Downstream signal frequencies, ρ are unmanned plane transponder relay frequency ratio；B is ground control station, fTbFor the uplink signal of ground control station transmitting
Frequency, fRbrFor the high dynamic target response machine downstream signal frequencies received in ground control station normal work, fRbpFor ground
The unmanned aerial vehicle onboard answering machine downstream signal frequencies that tracking telemetry and command station receives, c is the light velocity.
Further, in step 2, the element that tests the speed of high dynamic target is mainly that how general the round trip in continuous wave Instrumentation system is
Strangle frequency；The downstream signal frequencies f for the unmanned aerial vehicle onboard answering machine transmitting that ground control station receivesRbp=fTp-fdTp, wherein without
The downstream signal frequencies f of man-machine airborne answering machine transmittingTp=ρ fRp, the downstream signal frequencies of unmanned aerial vehicle onboard answering machine transmitting
Doppler frequency f relative to ground control stationdTp=fTp·vpl/ c, therefore the unmanned aerial vehicle onboard response that ground control station receives
The downstream signal frequencies f of machine transmittingRbp=fTp-fdTp=ρ fRp(1-vpl/ c)=ρ fTb(1-vpl/c)2；Ground control station connects
The high dynamic target downlink signal frequency f receivedRbr=fTr-fdTr, the downlink signal that wherein high dynamic target response machine emits is frequently
Rate fTr=ρ fRr, Doppler frequency of the downstream signal frequencies of high dynamic target response machine transmitting relative to ground control station
fdTr=fTr·vrl/ c, thus ground control station receive high dynamic target response machine transmitting downstream signal frequencies fRbr=fTr-
fdTr=ρ0·fRr(1-vrl/ c)=ρ0·fTb(1-vrl/c)2；Pass through the unmanned aerial vehicle onboard answering machine for receiving ground control station
Downstream signal frequencies and the equal f of answering machine downstream signal frequencies in the high dynamic target that receives in working normallyRbp=fRbr,
That is, unmanned aerial vehicle onboard transponder relay frequency ratio meets following relationship: ρ=ρ at each moment0·[(1-vrl/c)/(1-vpl/c)]2；
Transmitting-receiving frequency by adjusting airborne answering machine on unmanned plane in real time forwards ratio, the unmanned aerial vehicle onboard for receiving ground control station
Answering machine downlink signal and answering machine downstream signal frequencies are equal and and ground in the high dynamic target that receives in working normally
The upstream frequency coherent of tracking telemetry and command station transmitting completes ground control station in unmanned aerial vehicle onboard answering machine and tests the speed member to high dynamic target
The simulation of element.
Further, in step 2, the ranging element of high dynamic target is mainly that the pulse in pulse coherent ranging system turns
Hair delay, by adjusting the receiving and transmitting signal delay time of airborne answering machine on unmanned plane in real time, by high dynamic target and unmanned plane
The corresponding propagation delay Δ t=2 (l of round trip range difference of opposite ground control station antennar-lp)/c compensation is answered to high dynamic target
Answer machine receiving and transmitting signal constant time lag td0On, make the time delay t on unmanned plane after airborne answering machine compensation propagation delayd=td0+2(lr-
lp)/c receives ground control station and receives high move in the time and normal work of unmanned aerial vehicle onboard answering machine downlink signal
The time of answering machine downlink signal is equal in state target, and ground control station is completed in unmanned aerial vehicle onboard answering machine to high dynamic mesh
Simulation of the mapping away from element.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (4)
1. a kind of airborne answering machine simulates high dynamic the analogy method of high dynamic target property using unmanned plane and airborne answering machine
State target, the tracking of verifying ground control station and measurement function, joint ground control station complete observing and controlling verification experimental verification and training test,
Characterized by comprising the following steps:
Step 1: being completed using unmanned plane simulated flight track equivalent with respect to ground control station flight path to high dynamic target；
Step 2: according to high dynamic target flight track and unmanned plane simulated flight track, being completed in unmanned aerial vehicle onboard answering machine
Test the speed element and ranging element simulation of the ground control station to high dynamic target.
2. a kind of airborne answering machine according to claim 1 is to the analogy method of high dynamic target property, which is characterized in that
In the simulation process of step 1:
Unmanned plane is set to be in the high dynamic target flight rail being modeled at each moment by the control to unmanned plane during flying parameter
Mark is on the straight line that the position at the moment is connected with ground observing and controlling station antenna；
Unmanned plane carries out flight path within the scope of its level speed, acceleration, lifting speed, the performance indicator of turning radius
Simulation；
When the flight path parameter of needs exceed unmanned plane performance range when, can by way of splicing after dividual simulation shape
At complete flight dynamic analog curve, evades the motion state mutation in unmanned plane during flying track and exceed the flight parameter limit
The case where.
3. a kind of airborne answering machine according to claim 1 is to the analogy method of high dynamic target property, which is characterized in that
In step 2, according to high dynamic target and unmanned plane simulated flight track, by the receipts for adjusting airborne answering machine on unmanned plane in real time
It sends out frequency and forwards ratio, the unmanned aerial vehicle onboard answering machine downlink signal that receives ground control station and receive in working normally
In high dynamic target answering machine downstream signal frequencies it is equal and with ground control station transmitting uplink signal coherent, in unmanned plane machine
Carry the element simulation of testing the speed that ground control station is completed in answering machine to high dynamic target；
At each moment, unmanned aerial vehicle onboard transponder relay frequency ratio meets following relationship:
ρ=ρ0·[(1-vrl/c)/(1-vpl/c)]2
Wherein, ρ is unmanned plane transponder relay frequency ratio, ρ0For the fixed forwarding ratio of high dynamic target response machine, vr1For high dynamic mesh
Mark the radial velocity of opposite ground control station antenna, vplRadial velocity for unmanned plane with respect to ground control station antenna, c is light
Speed.
4. a kind of airborne answering machine according to claim 1 is to the analogy method of high dynamic target property, which is characterized in that
In step 2, according to high dynamic target and unmanned plane simulated flight track, by the receipts for adjusting airborne answering machine on unmanned plane in real time
It signals delay time, the propagation corresponding with respect to the round trip range difference of ground control station antenna of high dynamic target and unmanned plane is prolonged
When compensation in answering machine constant time lag, make ground control station receive time of unmanned aerial vehicle onboard answering machine downlink signal with just
The time that answering machine downlink signal in high dynamic target is often received in work is equal, completes ground in unmanned aerial vehicle onboard answering machine
Face tracking telemetry and command station simulates the ranging element of high dynamic target；
At each moment, unmanned aerial vehicle onboard answering machine delay time meets following relationship:
td=td0+2(lr-lp)/c
Wherein, tdDelay after compensating propagation delay for answering machine airborne on unmanned plane, td0For the transmitting-receiving of high dynamic target response machine
Signal constant time lag, lrIt is high dynamic target at a distance from ground observing and controlling station antenna, lpFor unmanned plane and ground observing and controlling station antenna
Distance, c are the light velocity.
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