CN110687197B - Self-adaptive spacecraft fragment collision positioning method - Google Patents
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Abstract
The invention relates to a self-adaptive spacecraft fragment collision positioning method, which is characterized by comprising the following steps: the method comprises the following steps: 1, building a stiffened plate collision detection experiment system; 2) performing a collision positioning experiment; 3) performing collision positioning by adopting a self-adaptive energy compensation threshold filtering method; 4) the positioning algorithm is evaluated. The invention relates to a method for determining a threshold value of a collision point at different positions according to the energy characteristics of signals, thereby realizing self-adaptive positioning and avoiding positioning errors caused by too large or too small threshold value selection. The method can find and determine the collision position as early as possible, and avoid safety accidents caused by the fact that the collision is not found in time.
Description
Technical Field
The invention belongs to the technical field of aerospace, and relates to a self-adaptive spacecraft fragment collision positioning method.
Background
With the development of aerospace industry in various countries, the number of space debris is increasing day by day, and the safe operation of the in-orbit spacecraft is seriously threatened. Although the honeycomb plate is arranged on the outer surface of the manned spacecraft sealed cabin for protection, the high-speed space fragments can penetrate through the protective layer and impact the outer surface of the sealed cabin. In order to ensure the air pressure balance and the operation safety of the spacecraft, the sensing and positioning of the fragment collision at the first moment are particularly important.
The collision signal exists in the plate in the form of lamb waves, and the research on the propagation rule of lamb waves in the flat plate structure and the collision positioning technology is relatively mature at present. In order to ensure that a spacecraft, especially a large manned spacecraft, has sufficient mechanical strength without causing excessive mass, periodic reinforcing ribs are usually arranged on the outer surface of a spacecraft sealed cabin. The lamb waves can generate phenomena of attenuation, transmission, reflection, scattering, mode conversion and the like when passing through structures such as reinforcing ribs or defects and the like, the difficulty of positioning the collision source is increased, and the traditional method for positioning the collision source applied to a flat plate is difficult to directly apply to a stiffened plate.
For the positioning of collision sources in plate-shaped structures, the research based on methods such as a PVDF film method, a fiber grating method, an acoustic emission method and the like is relatively mature. However, the PVDF film and fiber grating based systems are generally complex, and when applied in the aerospace field, the system requires as few sensors as possible for accurate collision location, and at the same time, the system size, mass, cost, and energy consumption are reduced as much as possible, and unnecessary wiring is reduced.
The acoustic emission has the characteristics of real time, online performance, mature technology, low resource occupancy rate, relatively simple system, strong environmental adaptability and the like, and is a very effective collision sensing and positioning method. The positioning algorithm based on the threshold has the advantages of simple principle, easy realization, high positioning speed and the like, and meanwhile, the triangular method only needs a small amount of sensors, so that the resource occupation can be further reduced, but some problems also exist, for example: the signal arrival time difference and lamb wave velocity have great influence on the positioning result, and the traditional threshold method has large positioning error and instability. According to previous researches, lamb wave signals are very complex for high-reinforcing-rib stiffened plates, the difference between signals received by different sensors is very large, the positioning difficulty is further increased, and particularly the positioning of collision points near the vertexes of a triangle method is realized.
In order to solve the problems, the invention provides a self-adaptive energy compensation threshold filtering method which can realize accurate, quick and large-scale positioning of the impact source of the spacecraft high-reinforcement plate-shaped structure.
Through a search for a patent publication, no patent publication that is the same as the present patent application is found.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for filtering based on a self-adaptive energy compensation threshold, which determines the threshold for collision points at different positions according to the energy characteristics of signals, thereby realizing self-adaptive positioning and avoiding the generation of positioning errors caused by too large or too small threshold selection. The method can find and determine the collision position as early as possible, and avoid safety accidents caused by the fact that the collision is not found in time.
The technical problem to be solved by the invention is realized by the following technical scheme:
a self-adaptive spacecraft fragment collision positioning method is characterized by comprising the following steps: the method comprises the following steps:
1) building a ribbed plate collision detection experiment system: the system comprises a transmitter, a stiffened plate, a projectile, sensors, an amplifier, an acoustic emission instrument and a computer, wherein the stiffened plate is bonded with the sensors which are distributed in a triangular manner, the sensors are connected to the acoustic emission instrument through the amplifier, and the acoustic emission instrument is connected to the computer; the emitter emits a bullet, and the bullet impacts the stiffened plate to generate a collision signal;
2) selecting collision points at certain intervals in a triangular area formed by the sensors distributed in a triangular manner to perform a collision positioning experiment;
3) performing collision positioning by adopting a self-adaptive energy compensation threshold filtering method;
4) the positioning algorithm is evaluated.
And the stiffened plate in the step 1) is of a sealed bulkhead structure of the manned spacecraft, the plate thickness is 3mm, the width of the reinforcing rib is 4mm, the height of the reinforcing rib is 22mm, the stiffened plate is in an arc shape, and a polar coordinate system is adopted for coordinate recording.
And the coordinates of the sensors in the triangular distribution in the step 2) are respectively (450, 29), (100, 19) and (450, 9), 32 collision points D1-D32 are selected at equal intervals in a triangular area formed by the sensors in the triangular distribution, a collision experiment is sequentially carried out at the collision points, the sensors are used for receiving collision signals, the acoustic emission instrument is used for storing data, and the data are analyzed by a computer.
The adaptive energy compensation threshold filtering method in step 3) includes the following steps:
i) assuming that the number of sensors used in the experiment is n, the collision signal is S0Then, the expression of the signal s (i) received by the i-th sensor is:
S(i)＝Gr(i)Gs(i)S0
wherein:
Gr(i) a transfer function representing the effect of a propagation path on a signal in the process of a collision signal to the sensor No. i; gs(i) The transfer function of the signal action of the sensor No. i;
ii) selecting a suitable frequency band: the method comprises the following steps of performing band-pass filtering on signals received by a sensor by adopting an IIR digital filter, ensuring the signals to be lamb waves in the same frequency band and removing interference, wherein the expression of the filtered signals is as follows:
Sf(i)＝S(i)Gf
wherein: gfIs the transfer function of the filter;
iii) determining a threshold reference based on the noise: in the noise section of the filtered signal, taking the noise signal with the duration of 0.33ms every 1ms, and taking 10 sections in total; taking absolute values of envelope extreme points of each section of noise signal, then arranging in a descending order, removing part points of a sequence head, preventing sudden electromagnetic interference, taking an average value of amplitudes of 1/7-3/7 sections of points of the sequence as a threshold benchmark of the section of noise, and calculating an average value of 10 sections of threshold benchmarks as the threshold benchmark of the channel:
wherein:
Tp(j) is the threshold reference of the j section noise;
Njarranging absolute values of envelope extreme points of the j-th section of noise signals in a descending order;
m is NjThe number of points of the sequence;
k is the serial number of the point used for calculating the threshold reference;
iv) determining a threshold magnification: taking the average value of 11-20 points in the descending order of the absolute value of the signal amplitude as an energy reference, obtaining the proportional relation of the energy references of all channels, setting the threshold amplification factor of the channel with the minimum energy reference as 25, and calculating the threshold amplification factors of the other channels according to the proportional relation of the energy references:
wherein:
t (i) is the threshold of the ith channel;
k (i) is the threshold amplification of the ith channel;
e (i) is the energy reference of the ith channel;
Sf·isorting the absolute values of the signals filtered by the ith channel in a descending order;
and l is the serial number of the points used to calculate the energy reference.
v) determining the signal arrival time: taking the product of the threshold reference and the threshold amplification coefficient as a threshold, and considering that the time is the signal arrival time t (i) of the sensor I when the average value of the absolute values of the continuous 300-point voltages is greater than the threshold from a certain time;
after the signal arrival time is obtained, rapidly positioning by using a hyperbolic method in a polar coordinate system: the sensor coordinates are respectively (ρ)1,θ1)，(ρ2,θ2)，(ρ3,θ3)，liFor the ith sensor to the collision source (p)x,θx) The distance of (2) can be known according to the geometrical relationship:
the distance difference Deltal between the collision source and the first and second signal excitation sensors1,2Comprises the following steps:
Δl1,2＝l1-l2＝c·(t1-t2)
wherein:
t1、t2respectively acquiring the arrival time of the signals of the channels 1 and 2 by adopting an energy compensation threshold value method;
c is the modal lamb wave group velocity of S0;
the simultaneous equations can be known as:
the equation is for px，θxIs a hyperbolic implicit function equation in polar coordinates, from t1，t2The size of the three-point-to-three-point-intersection-type sensor can determine the branches of the hyperbolas, each two sensors can draw one hyperbola, the three hyperbolas intersect at three points due to the existence of errors, and the gravity center of a triangle formed by the three points is used as a collision positioning point.
And in the step 4), the impact experiment is performed in each impact point in sequence, the positioning is performed by an AECTF method, the coordinates of the impact point are recorded as actual coordinates, and the coordinates calculated by the adaptive energy compensation threshold filtering method are recorded as calculated coordinates. And taking the linear distance between the actual coordinate and the calculated coordinate as an absolute error, and taking the ratio of the absolute error to the maximum side length of the triangle formed by the sensor as a relative error.
The invention has the advantages and beneficial effects that:
1. the invention builds a spacecraft fragment collision simulation system, provides a self-adaptive energy compensation threshold filtering method to position a collision source, the amplification factor of each channel is not fixed, and the collision source is subjected to scaling compensation according to energy, so that the spacecraft fragment collision simulation system has strong self-adaptability.
2. The method can ensure that signals used for positioning of all channels are S0 modal lamb waves in the same frequency band.
3. The threshold reference calculated based on the multi-section noise has generality, can truly reflect the sensor response under the comprehensive action of various influence factors, is not easily influenced by the selection of the noise starting time, and has stability.
4. The invention identifies the condition of the threshold-passing signal, and can eliminate the influence of burst interference.
5. The invention relates to a method for determining a threshold value of a collision point at different positions according to the energy characteristics of signals, thereby realizing self-adaptive positioning and avoiding positioning errors caused by too large or too small threshold value selection. The method can find and determine the collision position as early as possible, and avoid safety accidents caused by the fact that the collision is not found in time.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic structural view of a crash detection experiment system for a stiffened plate according to the present invention;
FIG. 3 is a schematic view of the collision point distribution of the present invention;
fig. 4 is a polar positioning schematic of the present invention.
Detailed Description
The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.
A self-adaptive spacecraft fragment collision positioning method is innovative in that: the method comprises the following steps:
1) building a ribbed plate collision detection experiment system: the system comprises a transmitter, a stiffened plate, a projectile, sensors, an amplifier, an acoustic emission instrument and a computer, wherein the stiffened plate is bonded with the sensors which are distributed in a triangular manner, the sensors are connected to the acoustic emission instrument through the amplifier, and the acoustic emission instrument is connected to the computer; the emitter emits a bullet, and the bullet impacts the stiffened plate to generate a collision signal;
2) selecting collision points at certain intervals in a triangular area formed by the sensors distributed in a triangular manner to perform a collision positioning experiment;
3) performing collision positioning by adopting a self-adaptive energy compensation threshold filtering method;
4) the positioning algorithm is evaluated.
The stiffened plate in the step 1) is of a sealed bulkhead structure of the manned spacecraft, the plate thickness is 3mm, the rib width of the stiffened rib is 4mm, the height is 22mm, the stiffened plate is in an arc shape, and a polar coordinate system is adopted for coordinate recording.
Coordinates of the sensors in the triangular distribution in the step 2) are respectively (450, 29), (100, 19) and (450, 9), 32 collision points D1-D32 are selected at equal intervals in a triangular area formed by the sensors in the triangular distribution, a collision experiment is sequentially carried out at the collision points, the sensors are adopted to receive collision signals, the acoustic emission instrument is used for storing data, and the computer is used for analyzing the data.
The self-adaptive energy compensation threshold filtering method in the step 3) comprises the following steps:
i) assuming that the number of sensors used in the experiment is n, the collision signal is S0If so, the sensor No. i receives a signal S (i)
S(i)＝Gr(i)Gs(i)S0
The expression is as follows:
wherein:
Gr(i) a transfer function representing the effect of a propagation path on a signal in the process of a collision signal to the sensor No. i; gs(i) The transfer function of the signal action of the sensor No. i;
ii) selecting a suitable frequency band: the method comprises the following steps of performing band-pass filtering on signals received by a sensor by adopting an IIR digital filter, ensuring the signals to be lamb waves in the same frequency band and removing interference, wherein the expression of the filtered signals is as follows:
Sf(i)＝S(i)Gf
wherein: gfIs the transfer function of the filter;
iii) determining a threshold reference based on the noise: in the noise section of the filtered signal, taking the noise signal with the duration of 0.33ms every 1ms, and taking 10 sections in total; taking absolute values of envelope extreme points of each section of noise signal, then arranging in a descending order, removing part points of a sequence head, preventing sudden electromagnetic interference, taking an average value of amplitudes of 1/7-3/7 sections of points of the sequence as a threshold benchmark of the section of noise, and calculating an average value of 10 sections of threshold benchmarks as the threshold benchmark of the channel:
wherein:
Njarranging absolute values of envelope extreme points of the j-th section of noise signals in a descending order;
m is NjThe number of points of the sequence;
k is the serial number of the point used for calculating the threshold reference;
iv) determining a threshold magnification: taking the average value of 11-20 points in the descending order of the absolute value of the signal amplitude as an energy reference, obtaining the proportional relation of the energy references of all channels, setting the threshold amplification factor of the channel with the minimum energy reference as 25, and calculating the threshold amplification factors of the other channels according to the proportional relation of the energy references:
wherein:
t (i) is the threshold of the ith channel;
k (i) is the threshold amplification of the ith channel;
e (i) is the energy reference of the ith channel;
Sf·isorting the absolute values of the signals filtered by the ith channel in a descending order;
and l is the serial number of the points used to calculate the energy reference.
v) determining the signal arrival time: taking the product of the threshold reference and the threshold amplification coefficient as a threshold, and considering that the time is the signal arrival time t (i) of the sensor I when the average value of the absolute values of the continuous 300-point voltages is greater than the threshold from a certain time;
after the signal arrival time is obtained, rapidly positioning by using a hyperbolic method in a polar coordinate system: the sensor coordinates are respectively (ρ)1,θ1)，(ρ2,θ2)，(ρ3,θ3)，liFor the ith sensor to the collision source (p)x,θx) The distance of (2) can be known according to the geometrical relationship:
the distance difference Deltal between the collision source and the first and second signal excitation sensors1,2Comprises the following steps:
Δl1,2＝l1-l2＝c·(t1-t2)
wherein:
t1、t2respectively acquiring the arrival time of the signals of the channels 1 and 2 by adopting an energy compensation threshold value method;
c is the modal lamb wave group velocity of S0;
the simultaneous equations can be known as:
the equation is for px，θxIs a hyperbolic implicit function equation in polar coordinates, from t1，t2The size of the three-point-to-three-point-intersection-type sensor can determine the branches of the hyperbolas, each two sensors can draw one hyperbola, the three hyperbolas intersect at three points due to the existence of errors, and the gravity center of a triangle formed by the three points is used as a collision positioning point.
In the step 4), the impact experiment is sequentially carried out in each impact point, positioning is carried out by an AECTF method, the coordinate of the impact point is recorded as an actual coordinate, and the coordinate calculated by the adaptive energy compensation threshold filtering method is recorded as a calculation coordinate. And taking the linear distance between the actual coordinate and the calculated coordinate as an absolute error, and taking the ratio of the absolute error to the maximum side length of the triangle formed by the sensor as a relative error.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (4)
1. A self-adaptive spacecraft fragment collision positioning method is characterized by comprising the following steps: the method comprises the following steps:
1) building a ribbed plate collision detection experiment system: the system comprises a transmitter, a stiffened plate, a projectile, sensors, an amplifier, an acoustic emission instrument and a computer, wherein the stiffened plate is bonded with the sensors which are distributed in a triangular manner, the sensors are connected to the acoustic emission instrument through the amplifier, and the acoustic emission instrument is connected to the computer; the emitter emits a bullet, and the bullet impacts the stiffened plate to generate a collision signal;
2) selecting collision points at certain intervals in a triangular area formed by the sensors distributed in a triangular manner to perform a collision positioning experiment;
3) performing collision positioning by adopting a self-adaptive energy compensation threshold filtering method; the adaptive energy compensation threshold filtering method comprises the following steps:
i) assuming that the number of sensors used in the experiment is n, the collision signal is S0Then, the expression of the signal s (i) received by the i-th sensor is:
wherein: s (i) ═ Gr(i)Gs(i)S0
Gr(i) A transfer function representing the effect of a propagation path on a signal in the process of a collision signal to the sensor No. i; gs(i) The transfer function of the signal action of the sensor No. i;
ii) selecting a suitable frequency band: the method comprises the following steps of performing band-pass filtering on signals received by a sensor by adopting an IIR digital filter, ensuring the signals to be lamb waves in the same frequency band and removing interference, wherein the expression of the filtered signals is as follows:
Sf(i)＝S(i)Gf
wherein: gfIs the transfer function of the filter;
iii) determining a threshold reference based on the noise: in the noise section of the filtered signal, taking the noise signal with the duration of 0.33ms every 1ms, and taking 10 sections in total; taking absolute values of envelope extreme points of each section of noise signal, then arranging in a descending order, removing part points of a sequence head, preventing sudden electromagnetic interference, taking an average value of amplitudes of 1/7-3/7 sections of points of the sequence as a threshold benchmark of the section of noise, and calculating an average value of 10 sections of threshold benchmarks as the threshold benchmark of the sensor channel:
wherein:
Tp(j) is the threshold reference of the j section noise;
Njarranging absolute values of envelope extreme points of the j-th section of noise signals in a descending order;
m is NjThe number of points of the sequence;
k is the serial number of the point used for calculating the threshold reference;
iv) determining a threshold magnification: taking the average value of 11-20 points in the descending order of the absolute value of the signal amplitude as an energy reference, obtaining the proportional relation of the energy references of all channels, setting the threshold amplification factor of the channel with the minimum energy reference as 25, and calculating the threshold amplification factors of the other channels according to the proportional relation of the energy references:
wherein:
t (i) is the threshold of the ith channel;
k (i) is the threshold amplification of the ith channel;
e (i) is the energy reference of the ith channel;
Sf·isorting the absolute values of the signals filtered by the ith channel in a descending order;
l is the serial number of the point used for calculating the energy reference;
v) determining the signal arrival time: taking the product of the threshold reference and the threshold amplification coefficient as a threshold, and considering that the time is the signal arrival time t (i) of the sensor I when the average value of the absolute values of the continuous 300-point voltages is greater than the threshold from a certain time;
after the signal arrival time is obtained, rapidly positioning by using a hyperbolic method in a polar coordinate system: the sensor coordinates are respectively (ρ)1,θ1)，(ρ2,θ2)，(ρ3,θ3)，liFor the ith sensor to the collision source (p)x,θx) The distance of (2) can be known according to the geometrical relationship:
the distance difference Deltal between the collision source and the first and second signal excitation sensors1,2Comprises the following steps:
Δl1,2＝l1-l2＝c·(t1-t2)
wherein:
t1、t2respectively acquiring the arrival time of the signals of the channels 1 and 2 by adopting an energy compensation threshold value method;
c is the modal lamb wave group velocity of S0;
the simultaneous equations can be known as:
the equation is for px，θxIs a hyperbolic implicit function equation in polar coordinates, from t1，t2The size of the three-dimensional sensor can determine the branches of the hyperbolas, each two sensors can draw one hyperbola, the three hyperbolas intersect at three points due to the existence of errors, and the gravity center of a triangle formed by the three points is used as a collision positioning point;
4) the positioning algorithm is evaluated.
2. The adaptive spacecraft debris collision location method of claim 1, wherein: the stiffened plate in the step 1) is of a sealed bulkhead structure of the manned spacecraft, the plate thickness is 3mm, the rib width of the stiffened rib is 4mm, the height of the stiffened rib is 22mm, the stiffened plate is in an arc shape, and a polar coordinate system is adopted for coordinate recording.
3. The adaptive spacecraft debris collision location method of claim 1, wherein: coordinates of the sensors in the step 2) are respectively (450, 29), (100, 19) and (450, 9), 32 collision points D1-D32 are selected at equal intervals in a triangular area formed by the sensors in the triangular distribution, a collision experiment is sequentially carried out at the collision points, the sensors are adopted to receive collision signals, the acoustic emission instrument is used to store data, and the computer is used to carry out analysis.
4. The adaptive spacecraft debris collision location method of claim 1, wherein: in the step 4), the impact experiment is sequentially performed in each impact point, the positioning is performed by an AECTF method, the coordinates of the impact points are recorded as actual coordinates, the coordinates calculated by a self-adaptive energy compensation threshold filtering method are recorded as calculation coordinates, the linear distance between the actual coordinates and the calculation coordinates is used as an absolute error, and the ratio of the absolute error to the maximum side length of a triangle formed by the sensor is used as a relative error.
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