CN110988789B - Space survey ship position layout method based on grids - Google Patents
Space survey ship position layout method based on grids Download PDFInfo
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- CN110988789B CN110988789B CN201911289465.2A CN201911289465A CN110988789B CN 110988789 B CN110988789 B CN 110988789B CN 201911289465 A CN201911289465 A CN 201911289465A CN 110988789 B CN110988789 B CN 110988789B
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- 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
Abstract
The invention relates to a method for arranging positions of space survey vessels based on grids, which comprises the following steps: s1, acquiring minimum elevation angle constraint and maximum elevation angle constraint of an aerospace survey ship according to an elevation angle constraint range of a tracking elevation angle of the aerospace survey ship, and acquiring a trajectory starting point and a trajectory terminal point which are required to provide measurement and control coverage for each launching trajectory marine flight segment in a time period in a launching process of a carrier rocket; s2, determining a starting point ship distribution area and an end point ship distribution area of each launching trajectory of the spacecraft measurement ship in a time period according to the minimum elevation angle constraint, the maximum elevation angle constraint, the trajectory starting point and the trajectory end point, and acquiring the intersection of the starting point areas of all the starting point ship distribution areas and the intersection of the end point areas of all the end point ship distribution areas; s3, judging whether the intersection of the starting point region and the end point region has an overlapping region or not and determining the number of the space measuring ships, if so, dividing the overlapping region into a plurality of grids, and selecting any grid of the overlapping region to arrange one space measuring ship. The scheme is simple in calculation and high in efficiency.
Description
Technical Field
The invention relates to the field of spaceflight, in particular to a method for laying positions of spaceflight measurement ships based on grids.
Background
In lunar and deep space exploration tasks, a launch vehicle is generally provided with a launching window with multiple trajectories and continuous multiple days, and meanwhile, a plurality of (generally not more than 3) measuring ships need to be arranged at sea to realize measurement and control of multiple launching trajectory key arcs. For the arrangement of the ship position of the measuring ship, the requirements of measurement and control coverage of multiple trajectories in multiple days, the dynamic range of the measuring ship, ship position backup and the like are considered at the same time. In the past, when the positions of the measuring ships are arranged, the fixed positions of each measuring ship are usually used for multiple times, the measurement and control coverage performance of each trajectory and the requirements of an arrow-loaded antenna directional diagram are calculated, after the positions of the measuring ships on the first day are determined, the positions of the measuring ships on the second day are calculated through trial calculation according to the maneuvering range of the measuring ships, and the like. The calculation process is complex, the ship position layout range of all the measuring ships meeting the task requirements cannot be obtained by manually adjusting the ship position, and the calculation of a plurality of measuring ships, a plurality of days and a plurality of launching trajectories is difficult to complete. Therefore, a simpler calculation method is needed for designing and analyzing the offshore ship distribution scheme of the space measurement and control survey ship.
Disclosure of Invention
The invention aims to provide a grid-based space survey ship position layout method, which simplifies the computational complexity.
In order to achieve the above object, the present invention provides a method for laying positions of a space survey vessel based on a grid, comprising:
s1, acquiring minimum elevation angle constraint and maximum elevation angle constraint of an aerospace survey ship according to an elevation angle constraint range of a tracking elevation angle of the aerospace survey ship, and acquiring a trajectory starting point and a trajectory terminal point which are required to provide measurement and control coverage for each launching trajectory offshore flight segment in a time period in a launching process of a carrier rocket;
s2, determining a starting point ship distribution area and an end point ship distribution area of each launching trajectory of the spacecraft measurement ship in the time period according to the minimum elevation angle constraint, the maximum elevation angle constraint, the trajectory starting point and the trajectory end point, and acquiring a starting point area intersection of all the starting point ship distribution areas and an end point area intersection of all the end point ship distribution areas;
s3, judging whether an overlapping area exists between the intersection of the starting area and the intersection of the end area and determining the number of the space measuring ships, if so, dividing the overlapping area into a plurality of grids, selecting any grid of the overlapping area to arrange one space measuring ship, and if not, executing the step S4;
s4, dividing the intersection of the starting point region and the intersection of the destination region into a plurality of grids, calculating the measurement and control coverage range of one space ship for each launching trajectory in any grid of the intersection of the starting point region, and calculating the measurement and control coverage range of one space ship for each launching trajectory in any grid of the intersection of the destination region, if the measurement and control coverage ranges of two space ships for each launching trajectory are overlapped, acquiring corresponding grid pairs, respectively arranging the two space ships in the regions corresponding to the grids according to the grid pairs, and if the grid pairs do not exist, executing a step S5;
s5, acquiring a middle position between a trajectory starting point and a trajectory terminal point which are required to provide measurement and control coverage for each launching trajectory marine flight segment in the time period as a third characteristic point, acquiring a sea surface visible area intersection corresponding to each trajectory by using the third characteristic point, and dividing the sea surface visible area intersection into a plurality of grids;
s6, calculating the measurement and control coverage range of each ballistic trajectory in any grid intersected with the starting point region of one aerospace measuring ship, calculating the measurement and control coverage range of each ballistic trajectory in any grid intersected with the terminal point region of one aerospace measuring ship, calculating the measurement and control coverage range of each ballistic trajectory in any grid intersected with the sea visible region of one aerospace measuring ship, if three measurement and control coverage ranges of each ballistic trajectory of three aerospace measuring ships are overlapped, acquiring corresponding grid pairs, and respectively arranging the three aerospace measuring ships in the regions corresponding to the grids according to the grid pairs;
s7, repeating the steps S1-S6, and acquiring the arrangement number and the arrangement area of the space measuring ships in each time period in the whole launching process of the carrier rocket.
According to an aspect of the present invention, if the number of the space ship arrangements in each of the time periods during the entire launch process of the launch vehicle is one, acquiring the arrangement region of the space ship in the next time period based on the overlapping region in step S3 includes:
s31, taking any grid in the overlapping area where the aerospace measuring ship is arranged in a previous time period as a circle center, and taking the maneuvering distance of the aerospace measuring ship in the time period as a radius to obtain the maneuvering range of the aerospace measuring ship in the time period;
s32, acquiring an area intersection between the maneuvering range and the overlapping area where the space measuring ship is arranged in the next time period, wherein the area intersection is an arrangement area where the space measuring ship corresponds to the previous grid in the next time period;
s33, repeating the steps S31-S32, traversing all grids in the overlapping area where the space surveying vessel is arranged in the previous time period, and obtaining all arrangement areas of the space surveying vessel in the next time period.
According to an aspect of the present invention, if the number of the placement areas of the space ship in each of the time periods during the entire launch of the launch vehicle is two, the method obtains the placement area of the space ship in the next time period based on the placement area corresponding to the mesh pair in step S4, and includes:
s41, taking any grid of an area arranged in the previous time period of the first space measurement ship as a circle center, and taking the maneuvering distance of the space measurement ship in the time period as a radius to obtain the maneuvering range of the space measurement ship in the time period;
s42, acquiring an area intersection between the maneuvering range and an arrangement area where a first space measurement ship is arranged in the next time period, wherein the area intersection is an arrangement area where the space measurement ship corresponds to the previous grid in the next time period;
s43, taking any grid of an area arranged in the previous time period of the second aerospace measuring ship as a center of a circle, and taking the maneuvering distance of the aerospace measuring ship in the time period as a radius to obtain the maneuvering range of the aerospace measuring ship in the time period;
s44, obtaining an area intersection between the maneuvering range and an arrangement area where a second space measurement ship is arranged in the next time period, wherein the area intersection is the arrangement area where the space measurement ship corresponds to the previous grid in the next time period.
According to an aspect of the present invention, if the number of the placement areas of the space ship in each of the time periods during the entire launch process of the launch vehicle is three, the method obtains the placement area of the space ship in the next time period based on the placement area corresponding to the mesh pair in step S6, and includes:
s61, acquiring arrangement areas of the first and second space measuring ships in the next time period in the same steps from the step S41 to the step S44;
s62, taking any grid of an area arranged in the previous time period of a third space measurement ship as a center of a circle, and taking the maneuvering distance of the space measurement ship in the time period as a radius to obtain the maneuvering range of the space measurement ship in the time period;
s63, acquiring an area intersection between the maneuvering range and an arrangement area where a third aerospace measuring ship is arranged in the next time period, wherein the area intersection is the arrangement area where the aerospace measuring ship corresponds to the previous grid in the next time period.
According to an aspect of the present invention, if the tracking coverage area of the space survey vessel allows blank arcs, in steps S4 and S6, a maximum allowed blank arc area may be set between the measurement and control coverage areas of two adjacent survey vessels.
According to an aspect of the present invention, the step of determining the starting point distribution area and the ending point distribution area in step S2 includes:
s21, constructing a positioning triangle of the carrier rocket by using a measuring ship, the carrier rocket and the geocenter;
s22, acquiring the start position sub-satellite point latitude and longitude and the end position sub-satellite point latitude of the measurement and control working arc section of the carrier rocket based on the positioning triangle;
and S24, acquiring a downward coverage range of the starting point according to the latitude and longitude of the subsatellite point of the starting position, and acquiring a downward coverage range of the terminal point according to the latitude and longitude of the subsatellite point of the terminal point position.
According to an aspect of the invention, further comprising:
s8, performing visibility calculation on the carrier rocket by using the space measuring ship;
and S9, calculating the convex polygon envelope curve of the deployment position of the aerospace measuring ship by taking the grids in the arrangement area as base points.
According to an aspect of the invention, step S8 includes:
s81, taking a body coordinate system of the aerospace measuring ship as a reference coordinate system;
s82, calculating a pitch angle and an azimuth angle of the shipborne antenna in the motion process of the carrier rocket by taking the position of the shipborne antenna on the space survey ship as an origin, wherein the pitch angle and the azimuth angle are visible when the two angles are within a constraint range.
According to an aspect of the invention, in step S9, enveloping the areas corresponding to all the discrete base points to form a final berth layout area; it includes:
s91, acquiring the base point which is positioned at the outermost periphery in the base point distribution area;
and S92, starting from the outermost base point in the step S91, sequentially connecting the outermost base points in the base point distribution area in a clockwise or anticlockwise direction to form the berth layout area.
According to the scheme of the invention, the measurement and control range of the carrier rocket in the whole launching process is calculated more simply and conveniently in a grid mode, the calculated amount is small, the arrangement of space measurement penetration is more accurate, and the method is more favorable for adapting to the automatic calculation of the future moon and deep space exploration measuring ship on several days and dozens of launching trajectory ship positions. Meanwhile, according to the scheme, the arrangement area of the measuring ships meeting the task requirements can be effectively obtained, the number of the required measuring ships, the measurement and control performance, the rocket-borne antenna directional diagram, the arrangement area of the ships and the like can be determined, the calculation result is accurate, and the calculation efficiency is high.
Drawings
FIG. 1 is a block diagram schematically illustrating the steps of a method for laying grid-based space survey vessel positions according to an embodiment of the present invention;
FIG. 2 schematically represents a chart of a calculation of a sea surface distribution area for ballistic keypoint survey coverage, according to an embodiment of the invention;
FIG. 3 is a schematic representation of a computed visibility of a space survey vessel of a launch vehicle according to one embodiment of the invention;
FIG. 4 schematically represents a convex polygon calculation diagram for a berthing deployment region according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship that is based on the orientation or positional relationship shown in the associated drawings, which is for convenience and simplicity of description only, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above-described terms should not be construed as limiting the present invention.
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
In the scheme, the implementation process of the invention is illustrated by taking the example that one or more space measuring vessels are needed to complete continuous tracking measurement and control of multiple launching trajectories in a certain interval in the marine flight section of the carrier rocket after the carrier rocket is launched to separate the satellite from the rocket.
According to an embodiment of the invention, the method for laying the positions of the spaceflight measurement ships based on the grids comprises the following steps:
s1, acquiring minimum elevation angle constraint and maximum elevation angle constraint of the space survey ship according to an elevation angle constraint range of a tracking elevation angle of the space survey ship, and acquiring a trajectory starting point and a trajectory terminal point which are required to provide measurement and control coverage for each launching trajectory offshore flight segment in a time period (such as one day) in the launching process of a carrier rocket. In the embodiment, the elevation angle constraint range of the tracking elevation angle of the aerospace measurement ship can be determined by the performance of the equipment such as the measurement antenna of the aerospace measurement ship.
S2, determining a starting ship distribution area and an ending ship distribution area of each launching trajectory of the spacecraft measurement ship in a time period according to the minimum elevation angle constraint, the maximum elevation angle constraint, the trajectory starting point and the trajectory ending point obtained in the previous steps, and obtaining a starting point area intersection A1 of all the starting point ship distribution areas and an ending point area intersection C1 of all the ending ship distribution areas.
S3, judging whether an intersection A1 of the starting area and an intersection C1 of the ending area have overlapping areas P1 and determining the number of the space survey ships, wherein if the overlapping areas P1 exist, the result shows that continuous measurement and control coverage in each launching trajectory requirement interval in the time period can be met by using one space survey ship. At this time, the overlapping area is divided into a plurality of grids according to the longitude and latitude of a certain step according to the calculation precision requirement. After the overlapping area is divided, any grid in the overlapping area is selected to arrange a spacecraft measurement ship, and then measurement and control coverage of the carrier rocket on the first day is achieved. If there is no overlapping area, it indicates that the number of the space measuring vessels is more than one, and then step S4 is executed;
s4, dividing the intersection A1 of the starting point region and the intersection C1 of the destination region into a plurality of grids according to the longitude and the latitude of certain stepping respectively according to the calculation precision requirement, calculating the measurement and control coverage range of each launching trajectory in any grid i1 of the intersection A1 of one space measurement ship (namely a first space measurement ship), and calculating the measurement and control coverage range of each launching trajectory of one space ship (namely, the second space ship) in any grid k1 of the terminal area intersection C1, if the measurement and control coverage ranges of each launching trajectory of the two space ships are overlapped, acquiring a corresponding grid pair (namely, expressed as i1k1), the grid pair is a pair of regions which satisfy the measurement and control coverage of the launch vehicle in the time period, and two space measurement ships are respectively arranged in the regions corresponding to the grids according to the grid pair (i1k 1). In this embodiment, all grids of the starting region intersection a1 and the ending region intersection C1 are traversed according to the method in this step, i1k2, i1k3, i.e.,.. 9.,. i2k1, i2k2, i.e.,.. 9.,. imk1, imk2, i.e.,.. 9.., imkn, and then all region pairs satisfying the measurement and control coverage of the launch vehicle in this time period can be obtained. If the grid pair does not exist, it can be known that the area pair satisfying the measurement and control coverage of the launch vehicle in the time period cannot be obtained in the step, which indicates that the number of the space survey vessels is more than two, and then step S6 is performed.
S5, acquiring a middle position (half of the sum of longitude and latitude of each trajectory starting point and terminal point) between a trajectory starting point and a trajectory terminal point which are required to provide measurement and control coverage for each launching trajectory marine flight segment in the time period as a third characteristic point, acquiring a sea surface visible area intersection B1 corresponding to each trajectory by using the third characteristic point, and dividing the sea surface visible area intersection B1 into a plurality of grids according to certain stepped longitude and latitude.
S6, calculating the measurement and control coverage range of each ballistic trajectory in any grid i1 of a starting point region intersection A1 of one space survey ship (namely a first space survey ship), calculating the measurement and control coverage range of each ballistic trajectory in any grid k1 of a finishing point region intersection C1 of one space survey ship (namely a second space survey ship), and calculating the measurement and control coverage range of each ballistic trajectory in any grid j1 of a sea surface visible region intersection B1 of one space survey ship (namely a third space survey ship), if the measurement and control coverage ranges of each ballistic trajectory of the three space survey ships are overlapped, acquiring a corresponding grid pair (namely i1j1k1), wherein the corresponding area pair of the grid pair is the area which meets the measurement and control coverage of the three space survey ships for carrying in the time period. Three space survey vessels are correspondingly arranged in corresponding areas according to the obtained grid pair, so that the measurement and control coverage of the carrier rocket in a time period can be realized. In this embodiment, all the grids of the starting region intersection a1, the sea visible region intersection B1, and the ending region intersection C1 are traversed according to the method in this step, for example: i1j1k1, i1j1k2, i1j2k1, i1j2k2, i1j2k1, i2j1k2, i.e. the. Here, it should be noted that, when any of the three aerospace measurement vessels does not meet the requirements, more feature points determined by the method for equally dividing between the starting point and the ending point of the trajectory may be calculated, and the calculation step is the same as step S7, and will not be described again here.
S7, repeating the steps S1-S6, and acquiring the arrangement number and the arrangement area of the space measuring ships in each time period (namely, … … on the first day, the second day and the third day) in the whole launching process of the carrier rocket.
According to an embodiment of the present invention, if the number of the placement of the space ship in each time period (i.e. the first day, the second day, and the third day … …) during the entire launch process of the launch vehicle is one, the method obtains the placement area of the space ship in the next time period based on the overlapping area in step S3, which includes:
s31, any grid in an overlapping area where the aerospace measuring ship is arranged in a previous time period (such as the first day) is used as a circle center, and a maneuvering range of the aerospace measuring ship in the time period is obtained by taking the maneuvering distance of the aerospace measuring ship in the time period as a radius;
s32. obtain the area intersection between the maneuvering range and the overlapping area where the space ship is arranged in the next time period (e.g. the second day) (in the case where only one space ship has been obtained during the repeated execution of steps S1-S3 as in the aforementioned step S8, the launch vehicle launches the overlapping area in all time periods (i.e. the first day, the second day, the third day … …)). Therefore, the intersection of the areas is the arrangement area of the space measuring ship corresponding to the previous grid in the next time period (such as the next day);
s33, repeating the steps S31-S32, traversing all grids in the overlapped area of the space ship arranged in the previous time period (such as the first day), and acquiring all arrangement areas of the space ship arranged in the next time period (such as the second day).
According to an embodiment of the present invention, if the number of the placement areas of the space ship in each time period (i.e. the first day, the second day, and the third day … …) during the entire launch process of the launch vehicle is two, the method obtains the placement area of the space ship in the next time period (e.g. the second day) based on the placement area corresponding to the grid pair in step S4, and includes:
s41, taking any grid of an area arranged in a previous time period (such as a first day) of the first space measurement ship as a center of a circle, and taking the maneuvering distance of the space measurement ship in the time period as a radius to obtain the maneuvering range of the space measurement ship in the time period;
s42, obtaining an area intersection between the maneuvering range and an arrangement area where the first space measuring ship is arranged in the next time period (e.g. the next day) (as the foregoing step S8, in the case that two space measuring ships are obtained in the process of repeatedly performing steps S1-S4, the launch vehicle launches the arrangement area of the first space measuring ship in all time periods), where the area intersection is an arrangement area where the space measuring ship in the next time period corresponds to the previous grid;
s43, taking any grid of an area where the second aerospace measurement ship is arranged in the previous time period (such as the first day) as a center of a circle, and taking the maneuvering distance of the aerospace measurement ship in the time period as a radius to obtain the maneuvering range of the aerospace measurement ship in the time period;
s44, obtaining an area intersection between the maneuvering range and an arrangement area where a second space measuring ship is arranged in a next time period (e.g. the next day) (as the aforementioned step S8, in the case that two space measuring ships are obtained in the process of repeatedly executing steps S1-S4, the launch vehicle launches the arrangement area of the second space measuring ship in all time periods), where the area intersection is an arrangement area where the space measuring ship corresponds to the previous grid in the next time period.
As shown in fig. 1, according to an embodiment of the present invention, if the number of the placement areas of the space measuring ship in each time period (i.e. the first day, the second day, and the third day … …) of the launch vehicle during the whole launch process is three, the method for acquiring the placement area of the space measuring ship in the next time period based on the placement areas corresponding to the grid pairs in step S6 includes:
s61, obtaining the arrangement areas of the first and second space measuring vessels in the next time period (for example, the second day) in the same steps as the steps S41 to S44;
s62, taking any grid of an area arranged by a third aerospace measurement ship in a previous time period (such as a first day) as a center of a circle, and taking the maneuvering distance of the aerospace measurement ship in the time period as a radius to obtain the maneuvering range of the aerospace measurement ship in the time period;
s63, obtaining an area intersection between the maneuvering range and an arrangement area where the third aerospace measuring vessels are arranged in the next time period (for example, the next day) (as the foregoing step S8, in the case that three aerospace measuring vessels are obtained in the process of repeatedly performing steps S1-S7, the launch vehicle launches the arrangement areas of the third aerospace measuring vessels in all time periods), where the area intersection is an arrangement area where the aerospace measuring vessels in the next time period correspond to the previous grid.
According to one embodiment of the invention, the steps S31-S33, S41-S44 and S61-S63 are repeated for different numbers of space measuring ships, so that the corresponding arrangement areas of the space measuring ships corresponding to the launching trajectories of the carrier rockets in more time periods (such as the third day, the fourth day, … … and the nth day) can be obtained.
According to an embodiment of the invention, when the software is used to automatically complete the above calculation process, the ship distribution area of the first aerospace measurement ship is obtained by calculation, after the position of the aerospace measurement ship is fixed, the arrangeable range of the second aerospace measurement ship is obtained by automatic calculation, and after the position of the second aerospace measurement ship is fixed, the arrangeable range of the third aerospace measurement ship is obtained by automatic calculation.
According to an embodiment of the present invention, if the tracking coverage area of the aerospace survey vessel allows blank arcs, in steps S4 and S6, a maximum allowed blank arc area may be set between the measurement and control coverage areas of two adjacent survey vessels.
As shown in fig. 2, in step S2, the step of determining the starting point distribution area and the ending point distribution area includes:
s21, constructing a positioning triangle of the carrier rocket by using the measuring ship, the carrier rocket and the geocenter;
s22, acquiring the start position sub-satellite point latitude and longitude of the measurement and control working arc section of the carrier rocket and the sub-satellite point latitude of the end position based on the positioning triangle;
s23, acquiring a downward coverage range of the starting point according to the latitude and longitude of the subsatellite point of the starting position, and acquiring a downward coverage range of the terminal point according to the latitude and longitude of the subsatellite point of the terminal point.
Referring to fig. 2, in a positioning triangle formed by a survey vessel, a launch vehicle and a geocenter, according to the sine theorem:
solving beta; further, θ is obtained from the sum of the triangle inner angles of 180 ° and θ + E + β +90 ° of 180 °; further, calculating the longitude and latitude S (Lon) of the start position of the rocket measurement and control working arc section under the satellites，Lats) Latitude of Susina at the end point (Lon)e，Late) (ii) a And finally, acquiring a downward coverage range (Lon) of the initial point according to theta and the latitude and longitude of the subsatellite points±θ，Latsθ); end-point downward coverage is (Lon)e±θ，Late±θ)。
According to the invention, the area which can carry out measurement and control coverage on the starting point, the terminal point or the middle characteristic point of the launch trajectory of the carrier rocket when the lowest tracking elevation angle of the measuring ship is given can be calculated through the steps, then grids are divided in the area, and the coverage condition of the trajectory between the trajectory starting point and the trajectory terminal point which are required to provide measurement and control coverage when the measuring ship is positioned in each grid is calculated.
According to an embodiment of the present invention, further comprising:
s8, carrying out visibility calculation on the carrier rocket by using a space survey ship;
and S9, calculating the convex polygon envelope curve of the deployment position of the aerospace measuring ship by using the arrangement region.
As shown in fig. 3, according to an embodiment of the present invention, step S8 includes:
s81, taking a body coordinate system of the aerospace measuring ship as a reference coordinate system;
s82, calculating a pitch angle and an azimuth angle of the shipborne antenna in the motion process of the carrier rocket by taking the position of the shipborne antenna on the space survey ship as an origin, wherein the pitch angle and the azimuth angle are visible when the two angles are within a constraint range. In this embodiment, referring to fig. 3, if the position of the shipborne antenna at point 0 and point a is the position of the object to be measured, then ≈ AOA 'is the antenna pitch angle (E1) and ≈ BOA' is the antenna azimuth angle (Az). And in the movement process of the measured and controlled object, calculating and measuring the pitch angle and the azimuth angle of the ship-borne antenna, wherein the pitch angle and the azimuth angle are visible when the two angles are within the constraint range, and the pitch angle and the azimuth angle are invisible when the two angles are not within the constraint range.
As shown in fig. 4, in step S9, the areas corresponding to all the discrete base points are enveloped to form the final berth layout area; it includes:
s91, acquiring the base point which is positioned at the outermost periphery in the base point distribution area;
and S92, starting from the outermost base point in the step S91, sequentially connecting the outermost base points in the base point distribution area in a clockwise or anticlockwise direction to form a berth layout area.
Specifically, referring to fig. 4, the grid corresponding to each layout area is used as a base point, so that the base points corresponding to all areas capable of distributing ships are discretely distributed in a larger area, a rectangular coordinate system is constructed in the base point distribution area, and the coordinate corresponding to each base point is a position, so that a minimum point of an x coordinate is marked as a point a in the discrete points under the condition that the y coordinate is maximum. Further, the X-axis forward ray scans clockwise with point a as the origin, and the point scanned when the rotation angle is the smallest is found and is denoted as point B, and it is found that both points a and B are located at the outermost sides of the distribution region, and are connected to point AB. Further, taking the point B as an origin, scanning clockwise by rays in the direction AB, finding a scanned point with the minimum rotation angle, recording the scanned point as a point C, and connecting the point BC; further, taking the point C as an origin, scanning rays in the direction of BC clockwise, finding a scanned point with the minimum rotation angle, marking as a point D, and connecting CD; by analogy, the obtained points are all the points on the outermost side, and the area in the envelope line obtained by connecting the points is the whole ship berth layout area. According to the invention, adjacent shippable areas can be formed into one large area so as to obtain all the shippable areas.
According to the invention, the measurement and control range of the carrier rocket in the whole launching process is calculated more simply and conveniently by adopting a grid mode, the calculated amount is small, the arrangement of the space survey ship is more accurate, and the method is more beneficial to the automatic calculation of the positions of a plurality of days and dozens of launching trajectory ships for adapting to future moon and deep space exploration survey ships. Meanwhile, according to the scheme, the arrangement area of the measuring ships meeting the task requirements can be effectively obtained, the number of the required measuring ships, the measurement and control performance, the arrangement area and the like can be determined, the calculation result is accurate, and the calculation efficiency is high.
The foregoing is merely exemplary of particular aspects of the present invention and devices and structures not specifically described herein are understood to be those of ordinary skill in the art and are intended to be implemented in such conventional ways.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method for laying ship positions of a space survey ship based on grids comprises the following steps:
s1, acquiring minimum elevation angle constraint and maximum elevation angle constraint of an aerospace survey ship according to an elevation angle constraint range of a tracking elevation angle of the aerospace survey ship, and acquiring a trajectory starting point and a trajectory terminal point which are required to provide measurement and control coverage for each launching trajectory offshore flight segment in a time period in a launching process of a carrier rocket;
s2, determining a starting point ship distribution area and an end point ship distribution area of each launching trajectory of the spacecraft measurement ship in the time period according to the minimum elevation angle constraint, the maximum elevation angle constraint, the trajectory starting point and the trajectory end point, and acquiring a starting point area intersection of all the starting point ship distribution areas and an end point area intersection of all the end point ship distribution areas;
wherein the step of determining the starting point ship distribution area and the ending point ship distribution area comprises the following steps:
s21, constructing a positioning triangle of the carrier rocket by using a measuring ship, the carrier rocket and the geocenter;
s22, acquiring the start position sub-satellite point latitude and longitude and the end position sub-satellite point latitude of the measurement and control working arc section of the carrier rocket based on the positioning triangle;
s23, acquiring a downward coverage range of the starting point according to the latitude and longitude of the subsatellite point of the starting position, and acquiring a downward coverage range of the terminal point according to the latitude and longitude of the subsatellite point of the terminal point position;
s3, judging whether an overlapping area exists between the intersection of the starting area and the intersection of the end area and determining the number of the space measuring ships, if so, dividing the overlapping area into a plurality of grids, selecting any grid of the overlapping area to arrange one space measuring ship, and if not, executing the step S4;
s4, dividing the intersection of the starting point region and the intersection of the destination region into a plurality of grids, calculating the measurement and control coverage range of one space ship for each launching trajectory in any grid of the intersection of the starting point region, and calculating the measurement and control coverage range of one space ship for each launching trajectory in any grid of the intersection of the destination region, if the measurement and control coverage ranges of two space ships for each launching trajectory are overlapped, acquiring corresponding grid pairs, respectively arranging the two space ships in the regions corresponding to the grids according to the grid pairs, and if the grid pairs do not exist, executing a step S5;
s5, acquiring a middle position between a trajectory starting point and a trajectory terminal point which are required to provide measurement and control coverage for each launching trajectory marine flight segment in the time period as a third characteristic point, acquiring a sea surface visible area intersection corresponding to each trajectory by using the third characteristic point, and dividing the sea surface visible area intersection into a plurality of grids;
s6, calculating the measurement and control coverage range of each ballistic trajectory in any grid intersected with the starting point region of one aerospace measuring ship, calculating the measurement and control coverage range of each ballistic trajectory in any grid intersected with the terminal point region of one aerospace measuring ship, calculating the measurement and control coverage range of each ballistic trajectory in any grid intersected with the sea visible region of one aerospace measuring ship, if three measurement and control coverage ranges of each ballistic trajectory of three aerospace measuring ships are overlapped, acquiring corresponding grid pairs, and respectively arranging the three aerospace measuring ships in the regions corresponding to the grids according to the grid pairs;
s7, repeating the steps S1-S6, and acquiring the arrangement number and the arrangement area of the space measuring ships in each time period in the whole launching process of the carrier rocket.
2. The method for laying the space survey ship berth based on the grid as claimed in claim 1, wherein if the number of the space survey ships arranged in each of the time slots is one during the entire launch of the launch vehicle, acquiring the arrangement region of the space survey ships in the next time slot based on the overlapping region in step S3, comprises:
s31, taking any grid in the overlapping area where the aerospace measuring ship is arranged in a previous time period as a circle center, and taking the maneuvering distance of the aerospace measuring ship in the time period as a radius to obtain the maneuvering range of the aerospace measuring ship in the time period;
s32, acquiring an area intersection between the maneuvering range and the overlapping area where the space measuring ship is arranged in the next time period, wherein the area intersection is an arrangement area where the space measuring ship corresponds to the previous grid in the next time period;
s33, repeating the steps S31-S32, traversing all grids in the overlapping area where the space surveying vessel is arranged in the previous time period, and obtaining all arrangement areas of the space surveying vessel in the next time period.
3. The method for laying the space survey ship berth based on the grid according to claim 1, wherein if the number of the space survey ships arranged in each of the time slots during the entire launch of the launch vehicle is two, acquiring the arrangement region of the space survey ship in the next time slot based on the arrangement region corresponding to the grid pair in step S4, the method comprises:
s41, taking any grid of an area arranged in the previous time period of the first space measurement ship as a circle center, and taking the maneuvering distance of the space measurement ship in the time period as a radius to obtain the maneuvering range of the space measurement ship in the time period;
s42, acquiring an area intersection between the maneuvering range and an arrangement area where a first space measurement ship is arranged in the next time period, wherein the area intersection is an arrangement area where the space measurement ship corresponds to the previous grid in the next time period;
s43, taking any grid of an area arranged in the previous time period of the second aerospace measuring ship as a center of a circle, and taking the maneuvering distance of the aerospace measuring ship in the time period as a radius to obtain the maneuvering range of the aerospace measuring ship in the time period;
s44, obtaining an area intersection between the maneuvering range and an arrangement area where a second space measurement ship is arranged in the next time period, wherein the area intersection is the arrangement area where the space measurement ship corresponds to the previous grid in the next time period.
4. The method for laying the space survey ship seats on the basis of the grids according to claim 1, wherein if the number of the space survey ships arranged in each of the time slots during the entire launch of the launch vehicle is three, the method for obtaining the arrangement area of the space survey ship in the next time slot based on the arrangement area corresponding to the grid pair in step S6 comprises:
s61, acquiring arrangement areas of the first and second space measuring ships in the next time period in the same steps from the step S41 to the step S44;
s62, taking any grid of an area arranged in the previous time period of a third space measurement ship as a center of a circle, and taking the maneuvering distance of the space measurement ship in the time period as a radius to obtain the maneuvering range of the space measurement ship in the time period;
s63, acquiring an area intersection between the maneuvering range and an arrangement area where a third aerospace measuring ship is arranged in the next time period, wherein the area intersection is the arrangement area where the aerospace measuring ship corresponds to the previous grid in the next time period.
5. The method for laying the ship positions of the grid-based aerospace measurement ship according to any one of claims 1 to 4, wherein if the tracking coverage area of the aerospace measurement ship allows blank arcs, the maximum allowed blank arc interval is set between the measurement and control coverage areas of two adjacent measurement ships in steps S4 and S6.
6. The method of laying grid-based space survey vessel positions according to any one of claims 1 to 4, further comprising:
s8, performing visibility calculation on the carrier rocket by using the space measuring ship;
and S9, calculating the convex polygon envelope curve of the deployment position of the aerospace measuring ship by taking the grids in the arrangement area as base points.
7. The method for laying the ship positions of the grid-based spacemeasurement ship as claimed in claim 6, wherein the step S8 comprises:
s81, taking a body coordinate system of the aerospace measuring ship as a reference coordinate system;
s82, calculating a pitch angle and an azimuth angle of the shipborne antenna in the motion process of the carrier rocket by taking the position of the shipborne antenna on the space survey ship as an origin, wherein the pitch angle and the azimuth angle are visible when the two angles are within a constraint range.
8. The method for laying the ship positions of the grid-based space measurement ship according to claim 7, wherein in step S9, the areas corresponding to all the discrete base points are enveloped to form a final ship position laying area; it includes:
s91, acquiring the base point which is positioned at the outermost periphery in the base point distribution area;
and S92, starting from the outermost base point in the step S91, sequentially connecting the outermost base points in the base point distribution area in a clockwise or anticlockwise direction to form the berth layout area.
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