CN111143969B - Method and device for positioning bullets in bullet group of parent-child bullet guide - Google Patents
Method and device for positioning bullets in bullet group of parent-child bullet guide Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for positioning bullets in a bullet group of a bullet group, wherein the method comprises the following steps: the parent bomb constructs an inter-bomb information chain between the parent bomb and the bullet and between the parent bomb and the parent bomb; broadcasting the system time and navigation parameters of the reference mother bullet to other mother bullets through an inter-bullet information chain between the mother bullets so as to enable the other mother bullets and the reference mother bullet to perform clock fine synchronization; the parent bullet receives information radiated by the target bullet through the inter-bullet information link between the parent bullet and the bullet and records the arrival time of the information based on the result of clock fine synchronization; and the reference bullet constructs a positioning equation of the target bullet according to the arrival time of the information so as to determine the position of the target bullet. According to the embodiment of the invention, the inter-missile information chain is adopted for inter-missile information transmission, so that the interference of severe natural environments such as wind, rain and the like can be effectively resisted, and the survival capability of a battlefield is improved; the positioned high-precision bullet position information provides a powerful guarantee for the performance of a control system and a guidance system of the primary and secondary bullet guide groups.
Description
Technical Field
The invention relates to the field of missile group cooperative attack modeling, in particular to a method and a device for positioning bullets in a bullet group of a son mother.
Background
With the rapid development of the reverse guidance system, the penetration attack capability of the missile gets more and more attention. Higher requirements are put forward on the penetration and attack prevention capability of the missile.
At present, the method of missile group cooperative attack can effectively improve the attack prevention capability and realize saturation attack. One key issue with a projectile group synergy attack is how to locate individuals within the projectile group. Because the navigation system is expensive, if the navigation system is installed on each missile, the cost is high.
Therefore, how to position the individual in the group of projectiles at low cost and with interference resistance is an urgent problem to be solved.
Disclosure of Invention
The embodiment of the invention provides a method and a device for positioning bullets in a bullet group of a son-mother bullet guide group, which are used for solving the problem of how to position individuals in the bullet group under the conditions of low cost and interference resistance.
In a first aspect, an embodiment of the present invention provides a method for positioning a bullet in a bullet group of bullet guides, including:
the method comprises the following steps that (1) a parent bullet in a parent-child projectile group constructs an inter-bullet information chain between the parent bullet and a bullet and between the parent bullet and the parent bullet;
broadcasting the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs in the primary-secondary projectile group except the reference parent bomb through a constructed inter-bomb information chain between the primary bomb and the parent bomb so as to enable the other parent bombs in the primary-secondary projectile group except the reference parent bomb to perform clock fine synchronization with the reference parent bomb in the primary-secondary projectile group to obtain a clock fine synchronization result;
the parent bomb in the parent-child projectile group receives information radiated to space by a target bullet through the constructed inter-bomb information link between the parent bomb and the bullet, and records the arrival time of the information based on the result of clock fine synchronization;
constructing a positioning equation of the target bullet by a reference parent bullet in the parent-child projectile group according to the arrival time of the information;
and determining the position of the target bullet by the reference parent bullet in the parent projectile group according to the positioning equation.
Optionally, broadcasting the system time and the navigation parameter of the primary standard bomb in the primary-secondary projectile group to other primary bombs in the primary-secondary projectile group except the primary standard bomb through an inter-bomb information chain between the primary bomb and the secondary bomb, so that the other primary bombs in the primary-secondary projectile group except the primary standard bomb and the primary standard bomb in the primary-secondary projectile group perform clock fine synchronization to obtain a clock fine synchronization result, including:
broadcasting the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs except the reference parent bomb in the primary-secondary projectile group through an inter-bomb information chain, so that the other parent bombs except the reference parent bomb in the primary-secondary projectile group perform clock coarse synchronization according to the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group, and a clock coarse synchronization result is obtained;
and based on the clock coarse synchronization result, performing clock fine synchronization on other parent bombs except the reference parent bomb in the parent-child missile group and the reference parent bomb in the parent-child missile group through a pseudo code modulation signal transmission method to obtain a clock fine synchronization result.
Optionally, the reference bullet in the bullet train constructs a positioning equation of the target bullet according to the arrival time of the information, including:
transmitting the arrival time of the recorded information to the reference parent projectile in the primary and secondary projectile groups through an inter-projectile information chain by other parent projectiles except the reference parent projectile in the primary and secondary projectile groups;
the reference parent bomb in the primary and secondary missile groups determines the arrival time difference of the other parent bombs except the reference parent bomb in the primary and secondary missile groups and the reference parent bomb in the primary and secondary missile groups receiving the same frame of information;
and constructing a positioning equation of the target bullet by the reference parent bullet in the parent-child projectile group according to the arrival time difference.
Optionally, the determining, by a reference bullet in the group of child-mother projectiles, a position of the target bullet according to the positioning equation includes:
and solving the positioning equation by using a Taylor series expansion method for a reference parent bullet in the parent projectile group to determine the position of the target bullet.
In a second aspect, an embodiment of the present invention provides an apparatus for positioning a bullet in a bullet group of bullet guides, including: the system comprises an inter-missile information chain building module, a time fine synchronization module, a receiving and recording module, a positioning equation building module and a position determining module;
the inter-bullet information chain building module is used for building inter-bullet information chains between the parent bullet and the bullet and between the parent bullet and the parent bullet in the parent-child projectile group;
the clock fine synchronization is used for broadcasting the system time and the navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs except the reference parent bomb in the primary-secondary projectile group through a constructed inter-bomb information chain between the parent bomb and the parent bomb in the primary-secondary projectile group so as to enable the other parent bombs except the reference parent bomb in the primary-secondary projectile group to perform clock fine synchronization with the reference parent bomb in the primary-secondary projectile group to obtain a clock fine synchronization result;
the receiving and recording module is used for receiving the information radiated by the target bullet to the space by the mother bullet in the mother-son guided bullet group through the constructed inter-bullet information link between the mother bullet and the bullet, and recording the arrival time of the information based on the result of the clock fine synchronization;
the positioning equation building module is used for building a positioning equation of the target bullet by the reference parent bullet in the parent-child projectile group according to the arrival time of the information;
and the position determining module is used for determining the position of the target bullet by the reference bullet in the primary and secondary guided missile groups according to the positioning equation.
Optionally, the time fine synchronization module is specifically configured to:
broadcasting the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs except the reference parent bomb in the primary-secondary projectile group through an inter-bomb information chain, so that the other parent bombs except the reference parent bomb in the primary-secondary projectile group perform clock coarse synchronization according to the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group, and a clock coarse synchronization result is obtained;
and based on the clock coarse synchronization result, performing clock fine synchronization on other parent bombs except the reference parent bomb in the parent-child missile group and the reference parent bomb in the parent-child missile group through a pseudo code modulation signal transmission method to obtain a clock fine synchronization result.
Optionally, the localization equation constructing module is specifically configured to:
transmitting the arrival time of the recorded information to the reference parent projectile in the primary and secondary projectile groups through an inter-projectile information chain by other parent projectiles except the reference parent projectile in the primary and secondary projectile groups;
the reference parent bomb in the primary and secondary missile groups determines the arrival time difference of the other parent bombs except the reference parent bomb in the primary and secondary missile groups and the reference parent bomb in the primary and secondary missile groups receiving the same frame of information;
and constructing a positioning equation of the target bullet by the reference parent bullet in the parent-child projectile group according to the arrival time difference.
Optionally, the position determining module is specifically configured to:
and solving the positioning equation by using a Taylor series expansion method for a reference parent bullet in the parent projectile group to determine the position of the target bullet.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, which when called by the processor are capable of performing the above-described methods.
In a fourth aspect, the embodiments of the present invention also provide a non-transitory computer-readable storage medium, which stores a computer program, and the computer program causes the computer to execute the above method.
The embodiment of the invention adopts a positioning method of arrival time difference, and the bullet only needs to be provided with an information launching device and does not need a complex clock system and an inertial navigation device, thereby reducing the cost of the bullet; the inter-missile information chain is adopted for inter-missile information transmission, so that the interference of severe natural environments such as wind, rain and the like can be effectively resisted, and the survival capability of a battlefield is improved; the positioning equation is solved by adopting a first-order Taylor series expansion method, so that the operation speed is high and the precision is high; the positioned high-precision bullet position information provides a powerful guarantee for the performance of a control system and a guidance system of the primary and secondary bullet guide groups.
Drawings
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 description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for positioning a bullet in a bullet train of bullet guides according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an apparatus for positioning a bullet in a bullet group of a parent projectile according to an embodiment of the present invention;
fig. 3 is a logic block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart illustrating a method for positioning a bullet in a bullet group of parent projectiles according to an embodiment of the present invention, including:
and S11, constructing an inter-bullet information chain between the parent bullet and the bullet and between the parent bullet and the parent bullet by the parent bullet in the parent-child projectile group.
In the embodiment of the invention, the inter-missile information chain refers to a wireless network with time division multiple access existing between the primary and secondary missile groups, and each individual occupies a certain time slot in turn according to network regulations to broadcast information such as navigation parameters and the like; if not, the information of other individuals is received according to the network regulation.
Specifically, the primary and secondary missile groups are formed into a formation to fly in a space in a preset configuration according to task requirements. The primary and secondary missile groups realize information exchange between missiles through communication equipment arranged on the missiles, and an information chain between the missiles is constructed. Specifically, the parent bullets in the parent-child projectile group construct inter-bullet information chains between the parent bullets and between the parent bullets through an ad hoc networking technology.
And S12, broadcasting the system time and navigation parameters of the reference mother bullet in the primary-secondary projectile group to other mother bullets except the reference mother bullet in the primary-secondary projectile group through the constructed inter-bullet information chain between the mother bullets and the mother bullets in the primary-secondary projectile group, so that the other mother bullets except the reference mother bullet in the primary-secondary projectile group and the reference mother bullets in the primary-secondary projectile group are subjected to clock fine synchronization to obtain a clock fine synchronization result.
In the embodiment of the invention, one parent bullet in the primary and secondary guided projectile group is selected as a reference, and the parent bullet is taken as a reference parent bullet.
And the mother bullets in the primary and secondary guided missile groups transmit information through the constructed inter-bullet information chain between the mother bullets and the mother bullets. Specifically, the reference parent bomb in the parent-parent projectile group broadcasts the system time and navigation parameters of the reference parent bomb in the parent-parent projectile group to other parent bombs in the parent-parent projectile group except the reference parent bomb through the constructed inter-bomb information chain between the parent bomb and the parent bomb, so that the other parent bombs in the parent-parent projectile group except the reference parent bomb and the reference parent bomb in the parent-parent projectile group are subjected to clock fine synchronization, and a clock fine synchronization result is obtained.
And S13, receiving the information radiated to the space by the target bullet by the parent bullet in the parent bullet group through the constructed inter-bullet information link between the parent bullets and the bullets, and recording the arrival time of the information based on the result of clock fine synchronization.
In the embodiment of the invention, the bullets in the son-mother missile group are provided with information launching equipment. The target bullet radiates information to the space through the information emitting device. And the parent bomb in the child-mother projectile group receives the information radiated to the space by the target bullet through the constructed inter-bomb information link between the parent bomb and the bullets, and the arrival time of each frame of information of the target bullet reaching the parent bomb in the child-mother projectile group is recorded through the clock of the parent bomb in the child-mother projectile group based on the result of the fine synchronization of the clock. Wherein, the target bullet is a bullet to be positioned. The parent bomb in the parent-child missile group is provided with the navigation equipment, and the position information of the current parent bomb can be obtained in real time according to the position information of the initial point of launching. The arrival time of each frame of information is Ti，
Wherein, ttransFor information transmission time, niFor parent projectile i to measure the error of information arrival time, Pi＝(xi,yi,zi) I position of the bullet, P ═ x, y, z is the estimated position of the target bullet, | | | P-PiAnd | | represents the distance from the target bullet to the parent bullet i, and c is a constant light speed.
And S14, constructing a positioning equation of the target bullet by the reference parent bullet in the child-mother projectile group according to the arrival time of the information.
In the embodiment of the invention, the reference parent bomb in the son-mother missile group constructs the positioning equation of the target bullet according to the arrival time of the recorded information radiated by the target bullet to the reference parent bomb in the son-mother missile group and the arrival time of the same frame of information radiated by the target bullet recorded by other parent bombs except the reference parent bomb in the son-mother missile group to other parent bombs except the reference parent bomb.
And S15, determining the position of the target bullet by the reference bullet in the primary and secondary projectile group according to the positioning equation.
In the embodiment of the invention, the reference bullet in the primary and secondary missile groups linearizes the nonlinear positioning equation through a Taylor series expansion method, iteratively solves the positioning equation, and obtains the solution as the position of the target bullet.
The high-precision bullet position information positioned by the embodiment of the invention provides a powerful guarantee for the performance of a control system and a guidance system of the primary and secondary bullet groups.
Further, on the basis of the above method embodiment, broadcasting the system time and navigation parameters of the reference parent bomb in the parent-parent projectile group to other parent bombs in the parent-parent projectile group except for the reference parent bomb through the constructed inter-bomb information chain between the parent bomb and the parent bomb in the parent-parent projectile group, so that the other parent bombs in the parent-parent projectile group except for the reference parent bomb and the reference parent bomb in the parent-parent projectile group perform clock fine synchronization to obtain a clock fine synchronization result, including:
broadcasting the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs except the reference parent bomb in the primary-secondary projectile group through an inter-bomb information chain, so that the other parent bombs except the reference parent bomb in the primary-secondary projectile group perform clock coarse synchronization according to the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group, and a clock coarse synchronization result is obtained;
and based on the clock coarse synchronization result, performing clock fine synchronization on other parent bombs except the reference parent bomb in the parent-child missile group and the reference parent bomb in the parent-child missile group through a pseudo code modulation signal transmission method to obtain a clock fine synchronization result.
In the embodiment of the invention, the clock coarse synchronization is to calculate the signal transmission time according to the positions and the speeds of the mother bomb to be synchronized and the reference mother bomb; and then summing the signal transmission time and the received system time of the reference mother bomb to obtain the system time of the mother bomb to be synchronized.
The accurate clock synchronization is that pseudo code modulation signals are mutually sent between a reference mother bomb and a mother bomb to be synchronized, the mother bomb to be synchronized can obtain pseudo range and pseudo range change rate information through comparison of the modulation signals, and then time deviation between the pseudo range and the reference mother bomb is calculated, so that time correction is carried out.
It should be noted that the reference parent bomb in the parent-parent projectile group broadcasts the system time and navigation parameters such as position, velocity, etc. of the reference parent bomb in the parent-parent projectile group to other parent bombs in the parent-parent projectile group except the reference parent bomb via the inter-bomb information link. And performing clock coarse synchronization on other primary bullets except the reference primary bullet in the primary and secondary projectile group according to the system time and the navigation parameters of the reference primary bullet in the primary and secondary projectile group to obtain a time coarse synchronization result. And based on the clock coarse synchronization result, performing clock fine synchronization on other parent bombs except the reference parent bomb in the parent-child missile group and the reference parent bomb in the parent-child missile group through a pseudo code modulation signal transmission method to obtain a clock fine synchronization result.
According to the embodiment of the invention, clock coarse synchronization is firstly carried out according to the system time and the navigation parameters of the reference parent projectile in the parent projectile group, and then clock fine synchronization is carried out based on the clock coarse synchronization result.
Further, on the basis of the above method embodiment, the constructing a positioning equation of the target bullet by the reference parent bullet in the parent projectile group according to the arrival time of the information includes:
transmitting the arrival time of the recorded information to the reference parent projectile in the primary and secondary projectile groups through an inter-projectile information chain by other parent projectiles except the reference parent projectile in the primary and secondary projectile groups;
the reference parent bomb in the primary and secondary missile groups determines the arrival time difference of the other parent bombs except the reference parent bomb in the primary and secondary missile groups and the reference parent bomb in the primary and secondary missile groups receiving the same frame of information;
and constructing a positioning equation of the target bullet by the reference parent bullet in the parent-child projectile group according to the arrival time difference.
In the embodiment of the invention, other parent bombs except the reference parent bomb in the primary and secondary projectile group transmit the arrival time of each frame of information recorded by the other parent bombs to the reference parent bomb in the primary and secondary projectile group through the inter-bomb information chain. The reference parent bullet in the primary-secondary missile group determines the arrival time difference delta T of the other parent bullets except the reference parent bullet in the primary-secondary missile group and the reference parent bullet in the primary-secondary missile group receiving the same frame of informationi1，
ΔTi1＝Ti-T1,i＝2,3,…N (2b)
Reference parent bullet in parent-child missile group according to arrival time difference delta Ti1And constructing a positioning equation of the target bullet. Specifically, it is obtained from formulae (2a) and (2 b):
wherein n isi1＝ni-n1Is the time difference measurement error. The positioning equation (2c) is converted into a form suitable for solution,
Δri＝ri-r1，i＝2，3，…N (2e)
substituting equations (2d) and (2e) into equation (2c), and multiplying the equation by the speed of light c on both sides, respectively, yields:
wherein:i＝cni1for measurement error, i is 1,2, … N, and equation (2f) is the positioning equation.
The embodiment of the invention adopts a positioning method of the arrival time difference, and the bullet only needs to be provided with the information launching device and does not need a complex clock system and an inertial navigation device, thereby reducing the cost of the bullet.
Further, on the basis of the above method embodiment, determining the position of the target bullet by a reference bullet in the shrapnel group according to the positioning equation includes:
and solving the positioning equation by using a Taylor series expansion method for a reference parent bullet in the parent projectile group to determine the position of the target bullet.
In the embodiment of the invention, the initial position of the target bullet is selected as
For Δ r in formula (2f)iAt the point of
The Taylor series expansion is carried out to obtain:
wherein:
E(P2) Is a high-order error term;
the formula (3a) is brought into the formula (2f), high-order errors are omitted, and the high-order errors are written into a compact matrix form, so that the high-order errors can be obtained
z≈G+e (3b)
Wherein:
evaluating a covariance matrix Q of the arrival time of the measurement information of the parent bomb; the current position deviation can be calculated using a least squares method, resulting in a least squares solution of equation (3 b):
will position
The updating is as follows:
and the following steps are performed:
for Δ r in formula (2f)iAt the point of
Performing Taylor series expansion, and repeating (3a) - (3c) until given precision is satisfied
||||＜
If the iteration does not converge, reselecting the initial position of the target bullet
For Δ r in formula (2f)iAt the initial position of the reselected target bullet
And performing Taylor series expansion, and repeating the resolving process until the given precision is met. The target bullet estimated position is:
the embodiment of the invention adopts a first-order Taylor series expansion method to solve the positioning equation, and has high operation speed and high precision.
Fig. 2 is a schematic structural diagram of a device for positioning a bullet in a bullet group of a parent bullet, provided by an embodiment of the present invention, and the device includes: the system comprises an inter-missile information chain building module 21, a clock fine synchronization module 22, a receiving and recording module 23, a positioning equation building module 24 and a position determining module 25;
the inter-bullet information chain building module 21 is used for building inter-bullet information chains between the parent bullets and the bullet and between the parent bullets and the parent bullets in the parent-child guided missile group;
the clock fine synchronization module 22 is configured to broadcast the system time and the navigation parameters of the reference parent projectile in the parent projectile group to other parent projectiles except the reference parent projectile in the parent projectile group through an inter-projectile information chain between the parent projectile and the parent projectile, so that the other parent projectiles except the reference parent projectile in the parent projectile group perform clock fine synchronization with the reference parent projectile in the parent projectile group, and a clock fine synchronization result is obtained;
the receiving and recording module 23 is configured to receive information radiated by a target bullet to a space by a parent bullet in the parent-parent projectile group through the constructed inter-bullet information link between the parent bullet and the bullet, and record arrival time of the information based on a result of clock fine synchronization;
the positioning equation building module 24 is configured to build a positioning equation of the target bullet for the reference parent bullet in the parent-parent projectile group according to the arrival time of the information;
and the position determining module 25 is configured to determine the position of the target bullet according to the positioning equation by using a reference bullet in the bullet train.
Further, on the basis of the above device embodiment, the time fine synchronization module 22 is specifically configured to:
broadcasting the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs except the reference parent bomb in the primary-secondary projectile group through an inter-bomb information chain, so that the other parent bombs except the reference parent bomb in the primary-secondary projectile group perform clock coarse synchronization according to the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group, and a clock coarse synchronization result is obtained;
and based on the clock coarse synchronization result, performing clock fine synchronization on other parent bombs except the reference parent bomb in the parent-child missile group and the reference parent bomb in the parent-child missile group through a pseudo code modulation signal transmission method to obtain a clock fine synchronization result.
Further, on the basis of the above device embodiment, the localization equation constructing module 24 is specifically configured to:
transmitting the arrival time of the recorded information to the reference parent projectile in the primary and secondary projectile groups through an inter-projectile information chain by other parent projectiles except the reference parent projectile in the primary and secondary projectile groups;
the reference parent bomb in the primary and secondary missile groups determines the arrival time difference of the other parent bombs except the reference parent bomb in the primary and secondary missile groups and the reference parent bomb in the primary and secondary missile groups receiving the same frame of information;
and constructing a positioning equation of the target bullet by the reference parent bullet in the parent-child projectile group according to the arrival time difference.
Further, on the basis of the above device embodiment, the position determining module 25 is specifically configured to:
and solving the positioning equation by using a Taylor series expansion method for a reference parent bullet in the parent projectile group to determine the position of the target bullet.
FIG. 3 is a logic block diagram of an electronic device according to an embodiment of the invention; the electronic device includes: a processor (processor)31, a memory (memory)32, and a bus 33;
wherein, the processor 31 and the memory 32 complete the communication with each other through the bus 33; the processor 31 is configured to call program instructions in the memory 32 to execute the method for locating a bullet in a bullet group of a parent bullet provided in the above method embodiments, for example, the method includes: the method comprises the following steps that (1) a parent bullet in a parent-child projectile group constructs an inter-bullet information chain between the parent bullet and a bullet and between the parent bullet and the parent bullet; the parent bullets in the parent-child projectile group receive information radiated to the space by the target bullet through the inter-bullet information link and record the arrival time of the information; constructing a positioning equation of the target bullet by a reference parent bullet in the parent-child projectile group according to the arrival time of the information; and determining the position of the target bullet by the reference parent bullet in the parent projectile group according to the positioning equation.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium storing a computer program, which when executed by a processor, implements the method for locating bullets in a group of bullet-mother-guided projectiles provided in the above embodiments, for example, including: the method comprises the following steps that (1) a parent bullet in a parent-child projectile group constructs an inter-bullet information chain between the parent bullet and a bullet and between the parent bullet and the parent bullet; the parent bullets in the parent-child projectile group receive information radiated to the space by the target bullet through the inter-bullet information link and record the arrival time of the information; constructing a positioning equation of the target bullet by a reference parent bullet in the parent-child projectile group according to the arrival time of the information; and determining the position of the target bullet by the reference parent bullet in the parent projectile group according to the positioning equation.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of positioning a bullet in a bullet train of parent projectiles, comprising:
the method comprises the following steps that (1) a parent bullet in a parent-child projectile group constructs an inter-bullet information chain between the parent bullet and a bullet and between the parent bullet and the parent bullet;
broadcasting the system time and navigation parameters of the primary standard bomb in the primary-secondary projectile group to other primary bombs in the primary-secondary projectile group except the primary standard bomb through an inter-bomb information chain between the primary bomb and the secondary bomb, so that the other primary bombs in the primary-secondary projectile group except the primary standard bomb and the primary standard bomb in the primary-secondary projectile group are subjected to clock fine synchronization to obtain a clock fine synchronization result, wherein the clock fine synchronization result comprises the following steps:
broadcasting the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs except the reference parent bomb in the primary-secondary projectile group through an inter-bomb information chain, so that the other parent bombs except the reference parent bomb in the primary-secondary projectile group perform clock coarse synchronization according to the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group, and a clock coarse synchronization result is obtained; based on the clock coarse synchronization result, performing clock fine synchronization on other parent bombs in the parent-parent guided missile group except the reference parent bomb through a pseudo code modulation signal transmission method and the reference parent bomb in the parent-parent guided missile group to obtain a clock fine synchronization result;
the parent bomb in the parent-child projectile group receives information radiated to space by a target bullet through the constructed inter-bomb information link between the parent bomb and the bullet, and records the arrival time of the information based on the result of clock fine synchronization;
constructing a positioning equation of the target bullet by a reference parent bullet in the parent-child projectile group according to the arrival time of the information;
determining the position of the target bullet by a reference parent bullet in the parent projectile group according to the positioning equation;
the parent bullets in the parent-child bullet guide group are provided with navigation equipment; and information launching equipment is arranged on the bullets in the primary and secondary projectile groups.
2. The method of locating a bullet in a group of bullet mother projectiles of claim 1 wherein a reference parent bullet in said group of bullet mother projectiles builds a location equation for said target bullet based on the time of arrival of said information, comprising:
transmitting the arrival time of the recorded information to the reference parent projectile in the primary and secondary projectile groups through an inter-projectile information chain by other parent projectiles except the reference parent projectile in the primary and secondary projectile groups;
the reference parent bomb in the primary and secondary missile groups determines the arrival time difference of the other parent bombs except the reference parent bomb in the primary and secondary missile groups and the reference parent bomb in the primary and secondary missile groups receiving the same frame of information;
and constructing a positioning equation of the target bullet by the reference parent bullet in the parent-child projectile group according to the arrival time difference.
3. The method of locating a bullet in a group of bullet mother projectiles of claim 1 wherein the determining the location of the target bullet from a reference parent bullet in the group of bullet mother projectiles according to the location equation comprises:
and solving the positioning equation by using a Taylor series expansion method for a reference parent bullet in the parent projectile group to determine the position of the target bullet.
4. A device for positioning a bullet in a bullet train of female projectiles, comprising: the system comprises an inter-missile information chain building module, a clock fine synchronization module, a receiving and recording module, a positioning equation building module and a position determining module;
the inter-bullet information chain building module is used for building inter-bullet information chains between the parent bullet and the bullet and between the parent bullet and the parent bullet in the parent-child projectile group;
the clock fine synchronization module is used for broadcasting the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs except the reference parent bomb in the primary-secondary projectile group through a constructed inter-bomb information chain between the parent bomb and the parent bomb in the primary-secondary projectile group so as to enable the other parent bombs except the reference parent bomb in the primary-secondary projectile group to perform clock fine synchronization with the reference parent bomb in the primary-secondary projectile group to obtain a clock fine synchronization result;
the receiving and recording module is used for receiving the information radiated by the target bullet to the space by the mother bullet in the mother-son guided bullet group through the constructed inter-bullet information link between the mother bullet and the bullet, and recording the arrival time of the information based on the result of the clock fine synchronization;
the positioning equation building module is used for building a positioning equation of the target bullet by the reference parent bullet in the parent-child projectile group according to the arrival time of the information;
the position determining module is used for determining the position of the target bullet by the reference bullet in the primary and secondary guided missile groups according to the positioning equation;
the parent bullets in the parent-child bullet guide group are provided with navigation equipment; information launching equipment is arranged on bullets in the primary and secondary projectile groups;
the time fine synchronization module is specifically configured to:
broadcasting the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group to other parent bombs except the reference parent bomb in the primary-secondary projectile group through an inter-bomb information chain, so that the other parent bombs except the reference parent bomb in the primary-secondary projectile group perform clock coarse synchronization according to the system time and navigation parameters of the reference parent bomb in the primary-secondary projectile group, and a clock coarse synchronization result is obtained; and based on the clock coarse synchronization result, performing clock fine synchronization on other parent bombs except the reference parent bomb in the parent-child missile group and the reference parent bomb in the parent-child missile group through a pseudo code modulation signal transmission method to obtain a clock fine synchronization result.
5. The apparatus for locating a bullet in a group of bullet mother projectiles of claim 4 wherein said location equation building block is specifically configured to:
transmitting the arrival time of the recorded information to the reference parent projectile in the primary and secondary projectile groups through an inter-projectile information chain by other parent projectiles except the reference parent projectile in the primary and secondary projectile groups;
the reference parent bomb in the primary and secondary missile groups determines the arrival time difference of the other parent bombs except the reference parent bomb in the primary and secondary missile groups and the reference parent bomb in the primary and secondary missile groups receiving the same frame of information;
and constructing a positioning equation of the target bullet by the reference parent bullet in the parent-child projectile group according to the arrival time difference.
6. The apparatus for locating a bullet in a group of bullet mother guides as in claim 4, wherein said position determining module is specifically configured to:
and solving the positioning equation by using a Taylor series expansion method for a reference parent bullet in the parent projectile group to determine the position of the target bullet.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program carries out the steps of the method of locating bullets in a group of bullet-mother guides of any of claims 1 to 3.
8. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, performs the steps of the method of locating a bullet in a group of bullet parent projectiles of any one of claims 1 to 3.
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