CN111008446B - Speed optimization system based on grid ship position layout calculation - Google Patents
Speed optimization system based on grid ship position layout calculation Download PDFInfo
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Abstract
The invention belongs to the technical field of measurement ship position layout calculation in the technical field of aerospace measurement and control, and particularly relates to a speed optimization system based on grid ship position layout calculation. The working process of the optimization system comprises the following steps: calculating ship distribution areas of the ballistic offshore measurement and control arc section from head to tail to the lower sea surface, respectively taking intersections, and roughly dividing grids; carrying out mesh subdivision on the coarse mesh meeting the conditions according to the precision requirement to obtain a fine mesh; recording fine grids meeting the constraint for N consecutive days to obtain fine grid points; calculating a circumscribed convex polygon formed by the deployment region according to the fine grid points meeting the requirements; the area in the polygon is an area where the measuring vessel needs to measure and control multiple lanes for N consecutive days. The system reduces the calculated amount to a great extent and improves the calculation efficiency on the premise of ensuring the comprehensiveness and accuracy of the ship position deployment calculation.
Description
Technical Field
The invention belongs to the technical field of distribution calculation of ship positions of measuring ships in the technical field of aerospace measurement and control, and particularly relates to a speed optimization system based on grid ship position distribution calculation.
Background
The spacecraft has a plurality of key measurement and control arc sections from launching to entering the mission orbit, wherein the key measurement and control arc sections such as the orbit entering section, the near-location orbital transfer sections and the like only can provide measurement and control support for the offshore measuring vessel. The traditional survey vessel position arrangement is mostly manually calculated and drawn by survey crew, and the method has the advantages of large workload, strong experience and difficulty in adapting to the requirements of large-scale and high-frequency offshore survey tasks. The existing ship position layout calculation method based on the fine grid solves the problem of measuring the ship position layout area through manual calculation by using a computer. However, the calculation magnitude of the complete cycle traversal based on the fine grid grows exponentially with the increase of the number of the measuring ships and the increase of the number of the task days, and the calculation efficiency is low. In order to meet the requirement of a space measurement and control task and improve the ship position layout calculation efficiency, an implementation method based on fine grid ship position layout calculation is improved, the calculation amount is reduced, and the calculation speed is improved.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: in the arrangement calculation of the ship positions of the measuring ships based on the fine grids, the problems of large calculation amount and long calculation time are solved along with the increase of the number of the measuring ships and the increase of the number of task days.
(II) technical scheme
In order to solve the technical problem, the invention provides a speed optimization system based on grid ship position layout calculation, which comprises: the system comprises a grid rough division module, a first operation module, a grid subdivision module, a second operation module, a fine grid point acquisition module and a measurement and control required area acquisition module;
the grid rough-dividing module is used for calculating ship distribution areas of a plurality of ballistic offshore measurement and control arc sections from head to tail to the lower sea surface in one day, respectively taking intersections, and roughly dividing the intersections of the ship distribution areas into grids;
the first operation module is used for circularly traversing the visibility of each coarse grid in the calculation area to the measurement and control arc section and the link communication condition, and recording the coarse grids meeting the requirements;
the grid subdivision module is used for carrying out grid subdivision on the coarse grid meeting the conditions according to the precision requirement to obtain a fine grid;
the second operation module is used for circularly traversing and calculating the visibility of each fine grid to the measurement and control arc section and the link communication condition in the coarse grid meeting the conditions, and recording the fine grids meeting the requirements;
repeating the work of the grid subdivision module and the second operation module until the grid precision of the fine grid meets the task requirement, and stopping calculation;
the fine grid point acquisition module is used for recording fine grids meeting the constraint for N continuous days to obtain fine grid points;
the measurement and control requirement region acquisition module is used for calculating a circumscribed convex polygon formed by the deployment region according to the fine grid points meeting the requirements; the area in the polygon is an area where the measuring vessel needs to measure and control multiple lanes for N consecutive days.
In the working process of the grid rough division module, a plurality of sea surface ship distribution areas corresponding to the starting points of a plurality of ballistic maritime flight sections in the first day are calculated, and the intersection of the areas is taken as an area A; and simultaneously calculating a plurality of sea surface ship distribution areas corresponding to the terminal points of the plurality of ballistic maritime flight sections on the first day, and taking the intersection of the areas as an area B.
In the working process of the grid rough separation module, two situations are provided: in the first situation, if the area A and the area B have an intersection area C, the measurement and control requirements of the first day can be met by arranging one measuring ship in the area C; in the second case, if the area a and the area B do not intersect, it indicates that the task needs two or more measurement ships to measure and control.
Under the first condition in the working process of the grid rough division module, the area C can be divided into warps and wefts according to the calculation precision requirement only by one measuring ship due to the fact that the area is small, a plurality of fine grids are directly formed, visibility of each fine grid in the area C to the measurement and control arc section and the link communication condition are calculated according to the circular traversal of the first operation module, and the fine grids capable of meeting the full arc section visibility and the link communication are recorded.
Under the second condition in the working process of the grid rough separation module, carrying out preliminary warp and weft grid rough separation on the area A and the area B, and circularly traversing and calculating the survey ship S in the area A according to the first operation module A For visibility and link communication condition of corresponding measurement and control arc sections, simultaneously calculating a measurement ship S in the area B B The visibility and the link communication condition of the corresponding measurement and control arc section; finding a grid M in an area A that can satisfy full coverage for rocket trajectory measurement and control 1 A i And a grid M in region B 1 B j Forming coarse mesh pairs M 1 A i And M 1 B j 。
Wherein, in the working process of the grid subdivision module and the second operation module, all the found coarse grid pairs M 1 A i And M 1 B j Carrying out grid subdivision, and circularly traversing and calculating the measuring ship S in each subdivided grid A Visibility and link communication conditions to the corresponding measurement and control arc segments, and a survey vessel S B And recording the visibility and the link communication condition of the corresponding measurement and control arc segment in the coarse grid pair of the area A and the area B, wherein the fine grid pair can meet the visibility of the full arc segment and the link communication.
In the working process of the repeated grid subdivision module and the second operation module, the fine grid pairs are further divided until the grid precision meets the task requirement and simultaneously meets the visibility of corresponding measurement and control arc sections and the full coverage of link communication, the calculation is stopped, and all the found fine grid pairs M are recorded 1 SA i And M 1 SB j 。
In the working process of the fine grid point acquisition module, according to the working processes of the grid rough division module, the first operation module, the grid subdivision module and the second operation module, calculating the measurement and control coverage performance of the launching trajectory on the second day, the third day and the Nth day respectively; recording day two, day three, \8230, day N fine-grid pair M satisfying visibility and link communication constraints 2 SA i And M 2 SB j ，M 3 SA i And M 3 SB j …，M N SA i And M N SB j 。
In the working process of the fine grid point acquisition module, according to the distance D of the measurement ship moving every day as the radius, a certain fine grid M in the ship distribution area on the first day is used 1 SA i Making a circle for the circle center, wherein the intersection of the area covered by the circle and the ship distribution area on the second day is the layout-available area of the measurement ship on the second day corresponding to a certain grid, traversing all grids in the ship distribution area on the first day, obtaining the ship distribution area on the second day corresponding to each fine grid in the ship distribution area on the first day of the measurement ship, and obtaining the fine grid points of the measurement ship distribution corresponding to the second day;
and calculating the fine grid points of the measuring ship on the third day, \8230;, and the N day.
In the working process of the measurement and control requirement region acquisition module, calculating an external convex polygon formed in a ship position layout region of a measurement ship according to the following rule for the fine grid points recorded by the fine grid point acquisition module;
enveloping the areas constructed by all discrete points to form a final ship position layout area; defining a longitude axis of a coordinate system as an X axis and a latitude axis as a Y axis;
the calculation process is as follows:
1) For the fine grid points which are recorded by the fine grid point acquisition module and are in the discrete state respectively, finding one point in the discrete points, and recording the minimum point of the x coordinate as A under the condition of ensuring the maximum y coordinate 1 Point;
2) With A 1 Point is the origin, X-axis positive ray A 1 x scanning clockwise, finding the scanned point with the smallest rotation angle, and recording as B 1 Point;
3) With point B1 as the origin, A 1 B 1 Direction ray A 1 B 1 Scanning clockwise, finding the scanned point with the minimum rotation angle, and recording as C 1 Point;
4) With C 1 Point is the origin, B 1 C 1 Directional ray B 1 C 1 Scanning clockwise, finding the scanned point with the minimum rotation angle, and recording as D 1 Point;
and so on until finding the starting point A 1 (ii) a Thereby forming a starting point A 1 Point, the most important point is A 1 The points are circumscribed by a convex polygon.
(III) advantageous effects
Compared with the prior art, the invention adopts a grid-based ship position layout calculation optimization scheme, greatly reduces the calculation amount and improves the calculation efficiency on the premise of ensuring the comprehensiveness and the accuracy of ship position layout calculation.
Drawings
Fig. 1 is a schematic diagram of coverage area subdivision optimization.
FIG. 2 is a schematic diagram of a convex polygon calculation method.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the above technical problem, the present invention provides a speed optimization system based on grid berth layout calculation, wherein the optimization system comprises: the system comprises a grid rough division module, a first operation module, a grid subdivision module, a second operation module, a fine grid point acquisition module and a measurement and control required area acquisition module;
the grid rough-dividing module is used for calculating ship distribution areas of a plurality of ballistic offshore measurement and control arc sections from head to tail to the lower sea surface in one day, respectively taking intersections, and roughly dividing the intersections of the ship distribution areas into grids;
the first operation module is used for circularly traversing the visibility of each coarse grid in the calculation area to the measurement and control arc section and the link communication condition, and recording the coarse grids meeting the requirements;
the grid subdivision module is used for carrying out grid subdivision on the coarse grid meeting the conditions according to the precision requirement to obtain a fine grid;
the second operation module is used for circularly traversing and calculating the visibility of each fine grid to the measurement and control arc section and the link communication condition in the coarse grid meeting the conditions, and recording the fine grids meeting the requirements;
repeating the work of the grid subdivision module and the second operation module until the grid precision of the fine grid meets the task requirement, and stopping calculation;
the fine grid point acquisition module is used for recording the fine grids meeting the constraint for N consecutive days to obtain fine grid points;
the measurement and control requirement region acquisition module is used for calculating a circumscribed convex polygon formed by the deployment region according to the fine grid points meeting the requirement; the area in the polygon is an area where the measuring vessel needs to measure and control multiple lanes for N consecutive days.
In the working process of the grid rough separation module, a plurality of sea surface ship distribution areas corresponding to the starting points of the plurality of ballistic maritime flight segments on the first day are calculated, and the intersection of the areas is taken as an area A; and simultaneously calculating a plurality of sea surface ship distribution areas corresponding to the terminal points of the plurality of ballistic maritime flight sections on the first day, and taking the intersection of the areas as an area B.
In the working process of the grid rough division module, two conditions exist: in the first situation, if the area A and the area B have an intersection area C, the measurement and control requirements of the first day can be met by arranging one measuring ship in the area C; in the second case, if the area a and the area B do not intersect, it indicates that the task needs two or more measurement ships to measure and control.
Under the first condition in the working process of the grid rough division module, the area C can be divided into warps and wefts according to the calculation precision requirement only by one measuring ship due to the fact that the area is small, a plurality of fine grids are directly formed, visibility of each fine grid in the area C to the measurement and control arc section and the link communication condition are calculated according to the circular traversal of the first operation module, and the fine grids capable of meeting the full arc section visibility and the link communication are recorded.
Under the second condition in the working process of the grid rough separation module, carrying out preliminary warp and weft grid rough separation on the area A and the area B, and circularly traversing and calculating the survey ship S in the area A according to the first operation module A Visibility and chaining of corresponding measurement and control arc segmentsRoad communication situation, and simultaneously calculating the measuring ship S in the area B B The visibility and the link communication condition of the corresponding measurement and control arc section; finding a grid M in an area A that can satisfy full coverage for rocket trajectory measurement and control 1 A i And a grid M in the region B 1 B j Forming coarse mesh pairs M 1 A i And M 1 B j 。
Wherein, in the working process of the grid subdivision module and the second operation module, all the found coarse grid pairs M 1 A i And M 1 B j Carrying out grid subdivision, and circularly traversing and calculating the measuring ship S in each subdivided grid A Visibility and link communication conditions to the corresponding measurement and control arc segments, and a survey vessel S B And recording the visibility of the corresponding measurement and control arc section and the link communication condition in the coarse grid pair of the area A and the area B, wherein the fine grid pair can meet the visibility of the full arc section and the link communication.
In the working process of the repeated grid subdivision module and the second operation module, the fine grid pairs are further divided until the grid precision meets the task requirement and simultaneously meets the visibility of corresponding measurement and control arc sections and the full coverage of link communication, the calculation is stopped, and all the found fine grid pairs M are recorded 1 SA i And M 1 SB j 。
In the working process of the fine grid point acquisition module, according to the working processes of the grid rough division module, the first operation module, the grid subdivision module and the second operation module, 8230for the next day, the third day and the Nth emission trajectory are calculated respectively; recording day two, day three, \8230, day N fine-grid pair M satisfying visibility and link communication constraints 2 SA i And M 2 SB j ，M 3 SA i And M 3 SB j …，M N SA i And M N SB j 。
In the working process of the fine grid point acquisition module, according to the distance D of the measurement ship moving every day as the radius, a certain fine grid M in the ship distribution area of the first day is used 1 SA i Make a circle as the center of the circle, theThe intersection of the area covered by the circle and the ship distribution area on the second day is the layout-available area of the measuring ship corresponding to a certain grid on the second day, all grids in the ship distribution area on the first day are calculated in a traversing manner, the ship distribution area on the second day corresponding to each fine grid in the ship distribution area on the first day of the measuring ship can be obtained, and the ship distribution fine grid points of the measuring ship corresponding to the second day are obtained;
and calculating the fine grid points of the measuring ship on the third day, \8230;, and the N day.
In the working process of the measurement and control required area acquisition module, calculating an external convex polygon formed in a ship position layout area of the measurement ship for the fine grid points recorded by the fine grid point acquisition module according to the following rule;
enveloping the areas constructed by all discrete points to form a final ship position layout area; defining a longitude axis of a coordinate system as an X axis and a latitude axis as a Y axis;
the calculation process is as follows:
1) For the fine grid points in the discrete state recorded by the fine grid point acquisition module, finding one point in the discrete points, and recording the minimum point of the x coordinate as A under the condition of ensuring the maximum y coordinate 1 Point;
2) With A 1 Point is the origin, X-axis positive ray A 1 x scanning clockwise, finding the scanned point with the smallest rotation angle, and recording as B 1 Point;
3) With point B1 as the origin, A 1 B 1 Directional ray A 1 B 1 Scanning clockwise, finding the scanned point with the minimum rotation angle, and recording as C 1 Point;
4) With C 1 Point is the origin, B 1 C 1 Directional ray B 1 C 1 Scanning clockwise, finding the scanned point with the minimum rotation angle, and recording as D 1 Point;
and so on until finding the starting point A 1 (ii) a Thereby forming a starting point A 1 Point, the most important point is A 1 The points are circumscribed by a convex polygon.
In addition, the invention also provides a speed optimization method based on grid ship position layout calculation, and the optimization method can solve the problems of repeated calculation and large calculation amount in the ship position based on grid calculation and effectively improve the calculation efficiency;
the optimization method comprises the following steps:
step 1: calculating ship distribution areas of a plurality of ballistic offshore measurement and control arc sections from head to tail to the lower sea surface in one day, respectively taking intersections, and roughly dividing the intersections of the ship distribution areas into grids;
step 2: circularly traversing the visibility of each coarse grid in the calculation area to the measurement and control arc section and the link communication condition, and recording the coarse grids meeting the requirements;
and step 3: carrying out mesh subdivision on the coarse mesh meeting the conditions according to the precision requirement to obtain a fine mesh;
and 4, step 4: in the coarse grids meeting the conditions, circularly traversing and calculating the visibility of each fine grid to the measurement and control arc section and the link communication condition, and recording the fine grids meeting the requirements;
and 5: repeating the step 3 and the step 4 until the grid precision of the fine grid meets the task requirement, and stopping computing;
step 6: recording fine grids meeting the constraint for N consecutive days, obtaining fine grid points, and removing ship position points which do not meet the requirement;
and 7: calculating a circumscribed convex polygon formed by the deployment region according to the fine grid points meeting the requirements;
the area in the polygon is an area where the measuring ship continuously performs measurement and control requirements on multiple lanes for N days.
In the step 1, a plurality of sea surface ship distribution areas corresponding to the starting points of the plurality of ballistic offshore flight sections on the first day are calculated, and the intersection of the areas is taken as an area A; and simultaneously calculating a plurality of sea surface ship distribution areas corresponding to the terminal points of the plurality of ballistic maritime flight sections on the first day, and taking the intersection of the areas as an area B.
In step 1, there are two situations: in the first situation, if the area A and the area B have an intersection area C, the measurement and control requirements of the first day can be met by arranging one measuring ship in the area C; in the second case, if the area a and the area B do not intersect, it indicates that the task needs two or more measurement ships to perform measurement and control.
In the first case of step 1, the area C can be divided into warp and weft according to the calculation accuracy requirement because the area is small and only one measuring vessel is needed, so as to directly form a plurality of fine grids, and the fine grids capable of meeting the visibility of the full arc section and the link communication are recorded according to the visibility of each fine grid in the step 2 to the measurement and control arc section and the link communication condition.
In the second case of the step 1, the area A and the area B are subjected to preliminary rough division of warp and weft grids, and the survey ship S in the area A is calculated according to the loop traversal of the step 2 A The visibility and the link communication condition of the corresponding measurement and control arc sections are calculated, and a measurement ship S in the area B is calculated simultaneously B The visibility and the link communication condition of the corresponding measurement and control arc section; finding a grid M in an area A that can satisfy full coverage for rocket trajectory measurement and control 1 A i And a grid M in region B 1 B j Forming coarse mesh pairs M 1 A i And M 1 B j 。
Wherein, in the step 3 and the step 4, all the coarse grid pairs M to be found 1 A i And M 1 B j Carrying out grid subdivision, and circularly traversing and calculating the measuring ship S in each subdivided grid A Visibility and link communication conditions to the corresponding measurement and control arc segments, and a survey vessel S B And recording the visibility and the link communication condition of the corresponding measurement and control arc segment in the coarse grid pair of the area A and the area B, wherein the fine grid pair can meet the visibility of the full arc segment and the link communication.
In the step 5, the fine grid pairs are further divided, the steps 3 and 4 are repeated until the grid precision meets the task requirement and simultaneously meets the visibility of corresponding measurement and control arc sections and the full coverage of link communication, the calculation is stopped, and all the found fine grid pairs M are recorded 1 SA i And M 1 SB j 。
Wherein, in the step 6, the method for the second day and the third day is respectively calculated according to the methods from the step 1 to the step 5, the method for the second day and the third day is 8230The measurement and control coverage performance of the N-day launching trajectory; recording day two, day three, \8230, day N fine-grid pair M satisfying visibility and link communication constraints 2 SA i And M 2 SB j ，M 3 SA i And M 3 SB j …，M N SA i And M N SB j 。
In step 6, a certain fine grid M in the first-day ship distribution area is used as a radius according to the distance D of the measurement ship moving every day 1 SA i Making a circle for the circle center, wherein the intersection of the area covered by the circle and the ship distribution area on the second day is the layout-available area of the measurement ship on the second day corresponding to a certain grid, traversing all grids in the ship distribution area on the first day, obtaining the ship distribution area on the second day corresponding to each fine grid in the ship distribution area on the first day of the measurement ship, and obtaining the fine grid points of the measurement ship distribution corresponding to the second day;
and calculating the fine grid points of the measuring ship on the third day, \8230;, and the N day.
In the step 7, for the fine grid points recorded in the step 6, calculating an external convex polygon formed in the ship position layout area of the measurement ship according to the following rule;
enveloping the areas constructed by all the discrete points to form a final ship position layout area; defining a longitude axis of a coordinate system as an X axis and a latitude axis as a Y axis;
the calculation process is as follows:
1) For the fine grid points recorded in the step 6 and in the discrete state, finding one point in the discrete points, and recording the minimum point of the x coordinate as A under the condition that the y coordinate is maximum 1 Point;
2) With A 1 Point is the origin, X-axis positive ray A 1 x scanning clockwise, finding the scanned point with the minimum rotation angle, and marking as B 1 Point;
3) With point B1 as the origin, A 1 B 1 Directional ray A 1 B 1 Scanning clockwise, finding the point scanned when the rotation angle is minimum, and recording as C 1 Point;
4) With C 1 Point is the origin, B 1 C 1 Directional ray B 1 C 1 Scanning clockwise, finding the scanned point with the minimum rotation angle, and recording as D 1 Point;
and so on until finding the starting point A 1 (ii) a Thereby forming a starting point A 1 Point, the most important point is A 1 The points are circumscribed with convex polygons.
Example 1
The specific implementation of the invention is explained by taking the example that the carrier rocket is launched to the front and back of the separation of the satellite and the rocket, and the marine flight section of the carrier rocket needs more than 1 measuring ship to complete the continuous tracking measurement and control of a plurality of launching trajectories in a certain interval for a plurality of days, and combining the attached drawings. The method comprises the following specific steps:
step one, calculating a plurality of sea surface ship distribution areas corresponding to starting points of a plurality of ballistic maritime flight sections on the first day, and taking the intersection of the areas as an area A; and simultaneously calculating a plurality of sea surface ship distribution areas corresponding to the end points of the plurality of ballistic maritime flight sections on the first day, and taking the intersection of the areas as an area B.
There are two cases at this time: in the first situation, if the area A and the area B have an intersection area C, the measurement and control requirements of the first day can be met by arranging one measuring ship in the area C; in the second case, if the area a and the area B do not intersect, it indicates that the task needs two or more measurement ships to measure and control.
And step two, under the first condition, because the area is smaller and only one measuring ship is needed, dividing the area C into warps and wefts according to the calculation precision requirement to form a plurality of fine grids, circularly traversing and calculating the visibility of each grid in the area C to the key arc section and the link communication condition, and recording the grids capable of meeting the full arc section visibility and the link communication.
Step three, under the second condition, roughly dividing the area A and the area B into a primary warp grid and a primary weft grid, and circularly traversing and calculating the measuring ship S in the area A A For visibility and link communication condition of corresponding measurement and control trajectory, simultaneously calculating measurement ship S in region B B And correspondingly measuring and controlling the visibility of the trajectory and the link communication condition. Finding out the full coverage of rocket trajectory measurement and controlGrid M in area A of the lid 1 A i And a grid M in the region B 1 B j Forming coarse mesh pairs M 1 A i And M 1 B j ；
The grid rough division method takes a sea surface ship distribution circular area corresponding to the starting point of the sea flight segment as an example:
and calculating the diameter D of the circular area, wherein the value of D is between 1000 km and 3000 km after a plurality of task analyses. In order to ensure the calculation efficiency of the first rough division, the calculation test is carried out for a plurality of times, and when D belongs to (1000, 2000) kilometers, the step length D of the rough division grid is 100 kilometers; when D belongs to (2000, 3000) kilometers, the rough grid step length D is 200 kilometers;
step four, all the coarse grid pairs M found in the step three are used 1 A i And M 1 B j Carrying out grid subdivision, and circularly traversing and calculating the measuring ship S in each subdivided grid A Visibility and link communication conditions of the corresponding measurement and control trajectory, and a measurement vessel S B And recording the visibility of the corresponding measurement and control trajectory and the link communication condition in the coarse grid pair of the area A and the area B, wherein the fine grid pair can meet the full arc visibility and the link communication.
The mesh subdivision method is as follows.
As shown in fig. 1. A. B is the starting point and the end point of the marine flight segment, a circle C and a circle D are respectively the marine coverage areas of the starting point and the end point, the angle alpha is the maximum elevation angle value of the antenna, the height of the start point sub-satellite point is h, and the point O is the middle point of the connecting line of the centers of the circle C and the circle D. For the rocket launching offshore measurement and control task, relevant constraints are the number (N) of measuring ships, the distance (h) of points under the satellite, the range of the elevation angle of an antenna, the length of a task arc section and the like. According to the relevant constraint conditions, the following are obtained:
the subdivision grid step length d' is:
d'＝d·Δ
step five, the fine grids are further divided, and the step four and the step five are repeated until the gridsThe precision meets the task requirement, and simultaneously meets the requirements of stopping calculation when corresponding measurement and control trajectory visibility and link communication full coverage are met, and records all found fine grid pairs M 1 SA i And M 1 SB j 。
And step six, calculating the measurement and control coverage performance of the launching trajectory on the second day, the third day and the Nth day according to the methods of the step one to the step five. Recording day two, day three, \8230, day N fine-grid pair M satisfying visibility and link communication constraints 2 SA i And M 2 SB j ，M 3 SA i And M 3 SB j …，M N SA i And M N SB j ；
Step seven, taking a certain grid M in the first ship distribution area as a radius according to the distance D of the measurement ship moving every day 1 SA i And traversing all grids in the first day ship distribution area to obtain a second day ship distribution area corresponding to each grid in the first day ship distribution area of the measuring ship.
And step eight, calculating the measuring ship distribution fine grid points on the third day, \8230andthe corresponding measuring ship distribution fine grid points on the Nth day according to the method in the step seven.
And step nine, calculating the circumscribed convex polygon formed by the ship position layout area of the measuring ship according to the following rules for the points recorded in the step eight.
And enveloping the areas constructed by all the discrete points to form a final berth layout area. The calculation method is shown in fig. 2, in which the X axis is the longitude axis and the Y axis is the latitude axis.
The calculation process is as follows:
1) Finding out the minimum point of the x coordinate in the discrete points and recording the minimum point as a point A under the condition of ensuring the maximum y coordinate;
2) Taking the point A as an origin, scanning the X-axis positive ray Ax clockwise, finding a scanned point with the minimum rotation angle, and marking as a point B;
3) Taking the point B as an original point, scanning clockwise by rays AB in the AB direction, finding a scanned point when the rotation angle is minimum, and recording the point as a point C;
4) Taking the point C as an original point, scanning the ray BC in the BC direction clockwise, finding a point scanned when the rotation angle is minimum, and marking as a point D;
and so on until a starting point a is found.
Step ten, if the grid pair M is not found in the step five until the grid precision meets the task requirement 1 A i And M 1 B j It means that at least three measuring vessels are needed to perform measurement and control tasks. At the moment, the intersection D of the head-tail middle points of the ballistic offshore flight measurement and control sections in the measurement and control area on the sea surface is taken as the deployable area of the third measuring ship. Dividing the areas A, B and D into coarse grids and fine grids according to the method of the fourth step to the tenth step, and simultaneously calculating a survey ship S A Surveying vessel S B And a survey vessel S D The visibility of the corresponding measurement and control trajectory and the link communication condition. And recording grid pairs which can fully cover the rocket trajectory for N consecutive days, and finding a proper ship position deployment area according to the daily moving distance constraint of the measuring ship.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (4)
1. A grid berth layout calculation-based speed optimization system, the optimization system comprising: the system comprises a grid rough division module, a first operation module, a grid subdivision module, a second operation module, a fine grid point acquisition module and a measurement and control required area acquisition module;
the grid rough-dividing module is used for calculating ship distribution areas of a plurality of ballistic offshore measurement and control arc sections from head to tail to the lower sea surface in one day, respectively taking intersections, and roughly dividing the intersections of the ship distribution areas into grids;
the first operation module is used for circularly traversing the visibility of each coarse division grid in the calculation area to the measurement and control arc section and the link communication condition, and recording the coarse grids meeting the requirements;
the grid subdivision module is used for carrying out grid subdivision on the coarse grid meeting the conditions according to the precision requirement to obtain a fine grid;
the second operation module is used for circularly traversing and calculating the visibility of each fine grid to the measurement and control arc section and the link communication condition in the coarse grid meeting the conditions, and recording the fine grids meeting the requirements;
repeating the work of the grid subdivision module and the second operation module until the grid precision of the fine grid meets the task requirement, and stopping calculation;
the fine grid point acquisition module is used for recording the fine grids meeting the constraint for N consecutive days to obtain fine grid points;
the measurement and control requirement region acquisition module is used for calculating a circumscribed convex polygon formed by the deployment region according to the fine grid points meeting the requirements; the area in the polygon is an area where the measuring ship continuously performs measurement and control requirements on the multi-missile channel for N days;
in the working process of the grid rough division module, calculating a plurality of sea surface ship distribution areas corresponding to the starting points of the first plurality of ballistic offshore flight sections, and taking the intersection of the areas as an area A; simultaneously calculating a plurality of sea surface ship distribution areas corresponding to the end points of the plurality of ballistic maritime flight sections on the first day, and taking the intersection of the areas as an area B;
in the working process of the grid rough division module, two conditions exist: in the first situation, if the area A and the area B have an intersection area C, the measurement and control requirements of the first day can be met by arranging one measuring ship in the area C; in the second case, if the area a and the area B do not intersect, it indicates that the task needs two or more measurement ships to perform measurement and control;
under the first condition in the working process of the grid rough division module, the area C can be divided into warps and wefts according to the calculation precision requirement due to the fact that the area is small and only one measuring ship is needed, a plurality of fine grids are directly formed, visibility of each fine grid in the area C to the measurement and control arc section and the link communication condition are calculated according to the circular traversal of the first operation module, and the fine grids capable of meeting the full arc section visibility and the link communication are recorded;
under the second condition in the working process of the grid rough-dividing module, carrying out preliminary warp and weft grid rough-dividing on the area A and the area B, and circularly traversing and calculating the measuring ship S in the area A according to the first operation module A For visibility and link communication condition of corresponding measurement and control arc sections, simultaneously calculating a measurement ship S in the area B B The visibility and the link communication condition of the corresponding measurement and control arc section; finding out the grid M in the area A which can satisfy the measurement and control of the rocket trajectory 1 A i And a grid M in the region B 1 B j Forming coarse mesh pairs M 1 A i And M 1 B j ；
In the working process of the grid subdivision module and the second operation module, all the found coarse grid pairs M 1 A i And M 1 B j Carrying out grid subdivision, and circularly traversing and calculating the measuring ship S in each subdivided grid A Visibility and link communication conditions to the corresponding measurement and control arc segments, and a survey vessel S B Recording the visibility of the corresponding measurement and control arc section and the link communication condition in the coarse grid pair of the area A and the area B, and recording the fine grid pair which can meet the visibility of the full arc section and the link communication;
in the working process of the repeated grid subdivision module and the second operation module, the fine grid pairs are further divided until the grid precision meets the task requirement, and the calculation is stopped when the visibility of the corresponding measurement and control arc section and the full coverage of link communication are met, and all the found fine grid pairs M are recorded 1 SA i And M 1 SB j 。
2. The speed optimization system based on grid berth layout calculation of claim 1, wherein in the working process of the fine grid point acquisition module, according to the working processes of the grid rough division module, the first operation module, the grid subdivision module and the second operation module, the measurement and control coverage performance of the launching trajectory on the second day, the third day and the Nth day is calculated respectively; recording day two, day three, \8230, day N fine-grid pair M satisfying visibility and link communication constraints 2 SA i And M 2 SB j ，M 3 SA i And M 3 SB j …，M N SA i And M N SB j 。
3. The system as claimed in claim 1, wherein the fine grid point obtaining module is operable to obtain a certain fine grid M in the first-day ship distribution area based on a radius of a distance D that the measuring ship moves every day 1 SA i Making a circle for the circle center, wherein the intersection of the area covered by the circle and the ship distribution area on the second day is the layout-available area of the measurement ship on the second day corresponding to a certain grid, traversing all grids in the ship distribution area on the first day, obtaining the ship distribution area on the second day corresponding to each fine grid in the ship distribution area on the first day of the measurement ship, and obtaining the fine grid points of the measurement ship distribution corresponding to the second day;
and calculating the fine grid points of the measuring ship on the third day, \8230;, and the N day.
4. The grid berth layout calculation-based speed optimization system according to claim 3, wherein in the working process of the measurement and control required region acquisition module, for the fine grid points recorded by the fine grid point acquisition module, a circumscribed convex polygon formed in the measurement berth layout region is calculated according to the following rule;
enveloping the areas constructed by all discrete points to form a final ship position layout area; defining a longitude axis of a coordinate system as an X axis and a latitude axis as a Y axis;
the calculation process is as follows:
1) For the fine grid points which are recorded by the fine grid point acquisition module and are in the discrete state respectively, finding one point in the discrete points, and recording the minimum point of the x coordinate as A under the condition of ensuring the maximum y coordinate 1 Point;
2) With A 1 Point is the origin, X-axis positive ray A 1 x scanning clockwise, finding the scanned point with the smallest rotation angle, and recording as B 1 Point;
3) With point B1 as the origin, A 1 B 1 Direction ray A 1 B 1 Scanning clockwise, finding the point scanned when the rotation angle is minimum, and recording as C 1 Point;
4) With C 1 Point is the origin, B 1 C 1 Directional ray B 1 C 1 Scanning clockwise, finding the scanned point with the minimum rotation angle, and recording as D 1 Point;
and so on until finding the starting point A 1 (ii) a Thereby forming a starting point A 1 Point, the most important point is A 1 The points are circumscribed with convex polygons.
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