CN111397561A - Method for calculating space coordinates of carrier rocket based on telemetering angle measurement data - Google Patents

Method for calculating space coordinates of carrier rocket based on telemetering angle measurement data Download PDF

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Publication number
CN111397561A
CN111397561A CN202010324083.5A CN202010324083A CN111397561A CN 111397561 A CN111397561 A CN 111397561A CN 202010324083 A CN202010324083 A CN 202010324083A CN 111397561 A CN111397561 A CN 111397561A
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measurement
equipment
angle
coordinates
data
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廖清森
周辉峰
姜忠武
夏明飞
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Unit 63816 Of Pla
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a method for calculating space coordinates of a carrier rocket based on telemetering angle measurement data. The method comprises the following steps: firstly, the stations of the telemetering equipment are arranged on two sides of a flight route of a carrier rocket, geodetic measurement of the position of the equipment is carried out, and the geographic position coordinates of the equipment are known; in the process of launching in the aerospace, each telemetering device tracks the carrier rocket, so that at least two telemetering devices in different places are in a self-tracking state at the same time, in the tracking process, each telemetering device continuously sends a measurement angle to the instruction control center server, and the frequency of real-time sending cannot be too low to ensure the data volume required by the operation of the subsequent steps; and the command control center server receives the measured angle, then calculates the data in real time by an intersection measuring method, and then calculates the space position coordinate of the rocket by combining a data optimization means. The invention provides a new external ballistic trajectory measurement data backup means for the aerospace measurement and control system, and further verifies the correctness of other external ballistic trajectory measurement data.

Description

Method for calculating space coordinates of carrier rocket based on telemetering angle measurement data
Technical Field
The invention relates to a method for calculating space coordinates of a carrier rocket, in particular to a method for calculating the space coordinates of the carrier rocket based on telemetering angle measurement data.
Background
In the process of launching in the aerospace, the space of a carrier rocket needs to be positioned, the flight track of the carrier rocket needs to be controlled, and at present, the space position of the rocket is obtained mainly by using optical measuring equipment and radio tracking measuring equipment to carry out external ballistic measurement.
The carrier rocket belongs to a huge system, the cost is high, the structure is complex, the carried load is designed and produced only after a large amount of time and cost are paid, therefore, the aerospace launching process must be ensured to be stable and reliable, and the risk is reduced to the minimum. In the process of space launching, a plurality of devices are required to participate in tracking measurement at the same time, so that the rocket can be ensured to be positioned in space uninterruptedly in the flying process.
Both optical measurement devices and radio tracking measurement devices have certain limitations. For example, optical measurement is restricted by meteorological conditions, and under the weather conditions with low visibility such as rainy days and snowy days, the measurement task is difficult to complete, and radio equipment can better complete tracking measurement by relying on cooperative equipment on a rocket. For the measurement equipment on the ground, due to the shielding of surrounding mountains and houses, the measurement equipment can only participate in tracking in a certain part of time period in the process of space launching, so that a plurality of pieces of equipment are required to be distributed around a flight route for relay measurement. However, when a new measuring device is added, equipment production, equipment site selection, plant area construction and daily maintenance and management are required, and a large amount of manpower, material resources and financial resources are required, so that the ground and space measurement and control devices are very limited. Meanwhile, the measuring equipment has a certain failure rate, and particularly, the equipment with a long service life cannot participate in tracking measurement due to the fact that the equipment fails or needs to be returned to a factory for transformation.
In the process of launching in the aerospace, a plurality of telemetering devices are required to participate in tracking and capturing telemetering signals on the rocket, at present, the telemetering devices are mainly used for mastering the internal state of the rocket in the flight process, demodulated telemetering data has a high utilization value, tracking angles are not fully utilized, and the space positioning of the rocket is very necessary if the telemetering and tracking angle data can be effectively utilized.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for calculating space coordinates of a carrier rocket based on telemetering angle measurement data, so as to solve the problem of data loss caused by abnormal individual equipment, guide other measurement and control equipment to find a target to realize capture and ensure that an aerospace measurement and control system has higher reliability.
In order to solve the technical problems, the technical scheme of the invention is as follows: a method of calculating space coordinates of a launch vehicle based on telemetered goniometric data, comprising the steps of: step 1) firstly, ensuring that stations of telemetering equipment are distributed on two sides of a flight path of a carrier rocket, and performing geodetic measurement of the position of the equipment to enable the geographic position coordinates of the equipment to be known;
step 2) in the process of launching in the aerospace, each telemetering device tracks the carrier rocket, so that at least two telemetering devices in different places are in a self-tracking state at the same time, each telemetering device continuously sends a measurement angle to the instruction center server in the tracking process, and the real-time sending frequency cannot be too low to ensure the data volume required by the operation of the subsequent step;
and 3) calculating the data in real time by an intersection measurement method after the command center server receives the measurement angle, and then solving the space position coordinate of the rocket by combining a data optimization means.
Preferably, the intersection measurement method is a shortest distance method.
Preferably, the shortest distance method is as follows: after two point coordinates with the shortest distance are calculated, a coordinate value weighting scheme is formulated according to angle data measured by equipment and by combining a least square method, and therefore errors caused by field value measurement are reduced.
Preferably, the step 3) further includes converting the intersection measurement result from the geocentric coordinate system to the measurement coordinate system of other outer ballistic measurement devices, and comparing the intersection measurement result with the measurement result of the other outer ballistic measurement devices to provide correctness verification.
Preferably, in the step 3), the data optimization means specifically includes: intersection measurement is carried out by two telemetered angle measurement data, and the known data are as follows: coordinates of the geodetic coordinate system of the first telemetric device
Figure DEST_PATH_IMAGE002
，
Figure DEST_PATH_IMAGE004
The latitude of the first equipment is the latitude of the first equipment,
Figure DEST_PATH_IMAGE006
is the longitude of the device one, and,
Figure DEST_PATH_IMAGE008
for the elevation of the first equipment, the angle measurement data value of the first telemetering equipment in a measurement coordinate system comprises an azimuth angle
Figure DEST_PATH_IMAGE010
Angle of pitch
Figure DEST_PATH_IMAGE012
Coordinates of the geodetic coordinate system of the telemetric device two
Figure DEST_PATH_IMAGE014
，
Figure DEST_PATH_IMAGE016
The latitude of the second device is the latitude of the second device,
Figure DEST_PATH_IMAGE018
is the longitude of the device two and is,
Figure DEST_PATH_IMAGE020
the elevation of the second equipment and the angle measurement data value of the second telemetering equipment in a measurement coordinate system comprise azimuth angles
Figure DEST_PATH_IMAGE022
Angle of pitch
Figure DEST_PATH_IMAGE024
Converting the geodetic coordinate system coordinates of the first equipment and the second equipment into a geocentric coordinate system to obtain the coordinates of the first equipment
Figure DEST_PATH_IMAGE026
And coordinates of device two
Figure DEST_PATH_IMAGE028
Coordinates of combined equipment I
Figure 448396DEST_PATH_IMAGE002
And measured value thereof
Figure 209679DEST_PATH_IMAGE010
、
Figure 988148DEST_PATH_IMAGE012
Calculating the direction vector of the target relative equipment-in the geocentric coordinate system
Figure DEST_PATH_IMAGE030
And then:
Figure DEST_PATH_IMAGE032
the same method is adopted to calculate the direction vector of the target relative equipment II under the geocentric coordinate system
Figure DEST_PATH_IMAGE034
，
Figure DEST_PATH_IMAGE036
And
Figure DEST_PATH_IMAGE038
form a space straight line
Figure DEST_PATH_IMAGE040
；
Figure DEST_PATH_IMAGE042
And
Figure DEST_PATH_IMAGE044
form another space straight line
Figure DEST_PATH_IMAGE046
：
Figure DEST_PATH_IMAGE048
Figure DEST_PATH_IMAGE050
By measuring the same object, straight line
Figure 856003DEST_PATH_IMAGE040
And a straight line
Figure 727138DEST_PATH_IMAGE046
Will intersect at a point which is the target position but which is caused to intersect due to the presence of errors in the measured angle
Figure 241296DEST_PATH_IMAGE040
Andare in a non-coplanar relationship and cannot be intersected, so that a straight line is calculated
Figure 575511DEST_PATH_IMAGE040
And a straight line
Figure 132395DEST_PATH_IMAGE046
Obtaining the coordinates of the nearest point to obtain the coordinates located on a straight line
Figure 133849DEST_PATH_IMAGE040
Point of
Figure DEST_PATH_IMAGE052
Straight line of
Figure 224427DEST_PATH_IMAGE046
Point of
Figure DEST_PATH_IMAGE054
，
Assume that the nearest point is
Figure DEST_PATH_IMAGE056
，
Figure DEST_PATH_IMAGE058
And is straight and straight
Figure 17939DEST_PATH_IMAGE040
And
Figure 745724DEST_PATH_IMAGE046
never parallel, then:
Figure DEST_PATH_IMAGE060
Figure DEST_PATH_IMAGE062
then:
Figure DEST_PATH_IMAGE064
to pair
Figure DEST_PATH_IMAGE066
、
Figure DEST_PATH_IMAGE068
Fusing the two points to obtain coordinate values under the target geocentric coordinate system
Figure DEST_PATH_IMAGE070
。
Preferably, the fusion mode is weighted fusion.
Preferably, the weighted fusionThe synthesis method comprises the following steps: if the azimuth angle and the pitch angle of the first equipment are not 60, weighting values
Figure DEST_PATH_IMAGE072
Taking 0.5; if the number is enough, performing 3-order least square fitting on the nearest 60 azimuth angles and pitch angles, and calculating the absolute error of the last measured data and the fitting value to obtain the azimuth error
Figure DEST_PATH_IMAGE074
Error in pitch
Figure DEST_PATH_IMAGE076
Simultaneously calculating the coordinates of the first equipment
Figure 458641DEST_PATH_IMAGE036
And
Figure 618489DEST_PATH_IMAGE066
is a distance of
Figure DEST_PATH_IMAGE078
(ii) a The same method is adopted to calculate the azimuth error of the last measuring point of the two devices
Figure DEST_PATH_IMAGE080
And pitch error
Figure DEST_PATH_IMAGE082
And an
Figure 532087DEST_PATH_IMAGE042
And
Figure 430773DEST_PATH_IMAGE068
is a distance of
Figure DEST_PATH_IMAGE084
Then weight value
Figure 298497DEST_PATH_IMAGE072
Comprises the following steps:
Figure DEST_PATH_IMAGE086
then:
Figure DEST_PATH_IMAGE088
。
preferably, the method further comprises the steps of respectively carrying out intersection measurement through the simulation angle value and the measured angle value, and comparing the results.
Preferably, the method for intersection measurement by the simulated angle value includes increasing the theoretical azimuth angle and the theoretical pitch angle of the two telemetering devices in the measurement coordinate system by an angle random value of 0.1 degree respectively, simulating an angle random error in the tracking process, calculating to obtain an intersection measurement result of each group of angle measurement data according to the geographic coordinates of the geodetic coordinate systems of the two telemetering devices, and comparing the intersection measurement result with the theoretical coordinate value in the geocentric coordinate system of the target position to obtain a spatial error of the simulated intersection measurement result.
Preferably, the method for intersection measurement through the actually measured angle value is to perform intersection measurement by using angle measurement data of two telemetering devices in certain aerospace emission, and compare an intersection measurement result with a Beidou positioning result on arrow to obtain a spatial error of an actually measured value intersection measurement result.
Compared with the prior art, the invention has the beneficial effects that:
the invention can calculate the space positioning coordinate of the carrier rocket by utilizing the angle data tracked and measured by two or more than two remote-control equipment and applying the shortest distance method in the intersection measuring method on the premise of not influencing the original measuring work and increasing a large amount of manpower, material resources and financial resources, thereby providing a new external ballistic trajectory measuring data backup means for the space measuring and controlling system, further verifying the correctness of other external ballistic trajectory measuring data, making up the data loss caused by the abnormity of individual equipment, guiding other measuring and controlling equipment to find a target to realize capture, and ensuring the space measuring and controlling system to have higher reliability.
Drawings
FIG. 1 is a graph showing the comparison of the synthetic error of the measurement results of the intersection of the simulation value and the actual value.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention discloses a method for calculating space coordinates of a carrier rocket based on telemetering angle measurement data, which comprises the following steps: step 1) firstly, ensuring that stations of telemetering equipment are distributed on two sides of a flight path of a carrier rocket, and performing geodetic measurement of the position of the equipment to enable the geographic position coordinates of the equipment to be known; step 2) in the process of launching in the aerospace, each telemetering device tracks the carrier rocket, so that at least two telemetering devices in different places are in a self-tracking state at the same time, each telemetering device continuously sends a measurement angle to the instruction center server in the tracking process, and the real-time sending frequency cannot be too low to ensure the data volume required by the operation of the subsequent step; and 3) calculating the data in real time by an intersection measurement method after the command center server receives the measurement angle, and then solving the space position coordinate of the rocket by combining a data optimization means.
The intersection measuring method is a shortest distance method, and the shortest distance method comprises the following steps: after two point coordinates with the shortest distance are calculated, a coordinate value weighting scheme is formulated according to angle data measured by equipment and by combining a least square method, and therefore errors caused by field value measurement are reduced.
In order to reduce the risk of sending errors to the command center server by the equipment, the rendezvous measurement result is converted into the measurement coordinate systems of other outer ballistic trajectory measurement equipment from the geocentric coordinate system and is compared with the measurement result of the equipment to provide correctness verification, so that the purpose of reducing the risk of sending errors to the command center server by the equipment is achieved.
The data optimization means specifically comprises the following steps: angle measurement by two telemeteringAccording to the example of making a rendezvous measurement, known data are: coordinates of the geodetic coordinate system of the first telemetric device
Figure 121091DEST_PATH_IMAGE002
，
Figure 233403DEST_PATH_IMAGE004
The latitude of the first equipment is the latitude of the first equipment,
Figure 302991DEST_PATH_IMAGE006
is the longitude of the device one, and,
Figure 500754DEST_PATH_IMAGE008
for the elevation of the first equipment, the angle measurement data value of the first telemetering equipment in a measurement coordinate system comprises an azimuth angle
Figure 297677DEST_PATH_IMAGE010
Angle of pitch
Figure 467759DEST_PATH_IMAGE012
Coordinates of the geodetic coordinate system of the telemetric device two
Figure 442668DEST_PATH_IMAGE014
，
Figure 144039DEST_PATH_IMAGE016
The latitude of the second device is the latitude of the second device,
Figure 495386DEST_PATH_IMAGE018
is the longitude of the device two and is,
Figure 316711DEST_PATH_IMAGE020
the elevation of the second equipment and the angle measurement data value of the second telemetering equipment in a measurement coordinate system comprise azimuth angles
Figure 180631DEST_PATH_IMAGE022
Angle of pitch
Figure 87407DEST_PATH_IMAGE024
Will be provided withConverting the coordinates of the geodetic coordinate system of the first equipment and the second equipment into a geocentric coordinate system to obtain the coordinates of the first equipment
Figure 976866DEST_PATH_IMAGE026
And coordinates of device two
Figure 183856DEST_PATH_IMAGE028
Coordinates of combined equipment I
Figure 251300DEST_PATH_IMAGE002
And measured value thereof
Figure 848635DEST_PATH_IMAGE010
、
Figure 807364DEST_PATH_IMAGE012
Calculating the direction vector of the target relative equipment-in the geocentric coordinate system
Figure 55811DEST_PATH_IMAGE030
And then:
Figure DEST_PATH_IMAGE032A
the same method is adopted to calculate the direction vector of the target relative equipment II under the geocentric coordinate system
Figure 231840DEST_PATH_IMAGE034
，
Figure 316470DEST_PATH_IMAGE036
And
Figure 796999DEST_PATH_IMAGE038
form a space straight line
Figure 713003DEST_PATH_IMAGE040
；
Figure 637096DEST_PATH_IMAGE042
And
Figure 705895DEST_PATH_IMAGE044
form another space straight line
Figure 662219DEST_PATH_IMAGE046
：
Figure DEST_PATH_IMAGE048A
Figure DEST_PATH_IMAGE050A
By measuring the same object, straight line
Figure 527669DEST_PATH_IMAGE040
And a straight line
Figure 75194DEST_PATH_IMAGE046
Will intersect at a point which is the target position but which is caused to intersect due to the presence of errors in the measured angle
Figure 931154DEST_PATH_IMAGE040
And
Figure 504218DEST_PATH_IMAGE046
are in a non-coplanar relationship and cannot be intersected, so that a straight line is calculated
Figure 394813DEST_PATH_IMAGE040
And a straight line
Figure 411442DEST_PATH_IMAGE046
Obtaining the coordinates of the nearest point to obtain the coordinates located on a straight line
Figure 489120DEST_PATH_IMAGE040
Point of
Figure 334716DEST_PATH_IMAGE052
Straight line of
Figure 63506DEST_PATH_IMAGE046
Point of
Figure 500304DEST_PATH_IMAGE054
，
Assume that the nearest point is
Figure 330857DEST_PATH_IMAGE056
，
Figure 245723DEST_PATH_IMAGE058
And is straight and straight
Figure 799326DEST_PATH_IMAGE040
And
Figure 407025DEST_PATH_IMAGE046
never parallel, then:
Figure DEST_PATH_IMAGE060A
Figure DEST_PATH_IMAGE062A
then:
Figure DEST_PATH_IMAGE064A
to pair
Figure 928136DEST_PATH_IMAGE066
、
Figure 115535DEST_PATH_IMAGE068
Fusing the two points to obtain coordinate values under the target geocentric coordinate system
Figure 789224DEST_PATH_IMAGE070
. The fusion mode is weighted fusion. The weighted fusion specifically comprises the following steps: if the azimuth angle and the pitch angle of the first equipment are not 60, weighting values
Figure 833404DEST_PATH_IMAGE072
Taking 0.5; if the number is enough, performing 3-order least square fitting on the nearest 60 azimuth angles and pitch angles, and calculating the absolute error of the last measured data and the fitting value to obtain the azimuth error
Figure 372969DEST_PATH_IMAGE074
Error in pitch
Figure 613327DEST_PATH_IMAGE076
Simultaneously calculating the coordinates of the first equipment
Figure 921948DEST_PATH_IMAGE036
And
Figure 74712DEST_PATH_IMAGE066
is a distance of
Figure 852306DEST_PATH_IMAGE078
(ii) a The same method is adopted to calculate the azimuth error of the last measuring point of the two devices
Figure 178246DEST_PATH_IMAGE080
And pitch error
Figure 341374DEST_PATH_IMAGE082
And an
Figure 914306DEST_PATH_IMAGE042
And
Figure 428464DEST_PATH_IMAGE068
is a distance of
Figure 558094DEST_PATH_IMAGE084
Then weight value
Figure 575729DEST_PATH_IMAGE072
Comprises the following steps:
Figure DEST_PATH_IMAGE086A
then:
Figure DEST_PATH_IMAGE088A
。
in order to verify the reliability of the invention, the method also comprises the steps of respectively carrying out intersection measurement through the simulation angle value and the measured angle value, and comparing the results. The proposal of carrying out intersection measurement through the simulation angle value is that the theoretical azimuth angle and the theoretical pitch angle of two telemetering devices under a measurement coordinate system are respectively added with angle random values of 0.1 degree, angle random errors in the tracking process are simulated, each group of intersection measurement results of angle measurement data are calculated according to the geographic coordinates of the geodetic coordinate systems of the two telemetering devices, and are compared with the theoretical coordinate values under the geocentric coordinate system of a target position, so as to obtain the spatial errors of the simulation intersection measurement results. The scheme of intersection measurement through the actually measured angle value is that intersection measurement is carried out by utilizing angle measurement data of two telemetering devices in certain aerospace emission, and an intersection measurement result is compared with a Beidou positioning result on a rocket, so that a spatial error of an actually measured value intersection measurement result is obtained.
The error pair of the two results is shown in fig. 1, the simulated value is similar to the measured value result, and the error pair is also verified in the applicable area, so that the reliability of the measurement result of the invention is verified.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.

Claims (10)

1. A method for calculating space coordinates of a launch vehicle based on telemetered goniometric data, characterized in that: the method comprises the following steps:
step 1) firstly, ensuring that stations of telemetering equipment are distributed on two sides of a flight path of a carrier rocket, and performing geodetic measurement of the position of the equipment to enable the geographic position coordinates of the equipment to be known;
step 2) in the process of launching in the aerospace, each telemetering device tracks the carrier rocket, so that at least two telemetering devices in different places are in a self-tracking state at the same time, each telemetering device continuously sends a measurement angle to the instruction center server in the tracking process, and the real-time sending frequency cannot be too low to ensure the data volume required by the operation of the subsequent step;
and 3) calculating the data in real time by an intersection measurement method after the command center server receives the measurement angle, and then solving the space position coordinate of the rocket by combining a data optimization means.
2. The method of calculating space coordinates of a launch vehicle based on telemetric goniometric data according to claim 1, wherein: the intersection measuring method is a shortest distance method.
3. The method of calculating space coordinates of a launch vehicle based on telemetric goniometric data according to claim 2, wherein: the shortest distance method is as follows: after two point coordinates with the shortest distance are calculated, a coordinate value weighting scheme is formulated according to angle data measured by equipment and by combining a least square method, and therefore errors caused by field value measurement are reduced.
4. The method of calculating space coordinates of a launch vehicle based on telemetric goniometric data according to claim 1, wherein: in the step 3), the rendezvous measurement result is converted into a measurement coordinate system of other outer ballistic measurement equipment from a geocentric coordinate system, and is compared with the measurement result of the equipment to provide correctness verification.
5. The method for calculating space coordinates of a launch vehicle based on telemetric goniometric data according to claim 1, wherein in step 3), the data optimization means are specifically: intersection measurement is carried out by two telemetered angle measurement data, and the known data are as follows: coordinates of the geodetic coordinate system of the first telemetric device
Figure DEST_PATH_IMAGE001
，
Figure 403902DEST_PATH_IMAGE002
The latitude of the first equipment is the latitude of the first equipment,
Figure DEST_PATH_IMAGE003
is the longitude of the device one, and,
Figure 951558DEST_PATH_IMAGE004
for the elevation of the first equipment, the angle measurement data value of the first telemetering equipment in a measurement coordinate system comprises an azimuth angle
Figure DEST_PATH_IMAGE005
Angle of pitch
Figure 43011DEST_PATH_IMAGE006
Coordinates of the geodetic coordinate system of the telemetric device two
Figure DEST_PATH_IMAGE007
，
Figure 237494DEST_PATH_IMAGE008
The latitude of the second device is the latitude of the second device,
Figure DEST_PATH_IMAGE009
is the longitude of the device two and is,
Figure 922554DEST_PATH_IMAGE010
the elevation of the second equipment and the angle measurement data value of the second telemetering equipment in a measurement coordinate system comprise azimuth angles
Figure DEST_PATH_IMAGE011
Angle of pitch
Figure 726430DEST_PATH_IMAGE012
Converting the geodetic coordinate system coordinates of the first equipment and the second equipment into a geocentric coordinate system to obtain the coordinates of the first equipment
Figure DEST_PATH_IMAGE013
And coordinates of device two
Figure 173855DEST_PATH_IMAGE014
Coordinates of combined equipment I
Figure 647561DEST_PATH_IMAGE001
And measured value thereof
Figure 288758DEST_PATH_IMAGE005
、
Figure 365167DEST_PATH_IMAGE006
Calculating the direction vector of the target relative equipment-in the geocentric coordinate system
Figure DEST_PATH_IMAGE015
And then:
Figure DEST_PATH_IMAGE017
the same method is adopted to calculate the direction vector of the target relative equipment II under the geocentric coordinate system
Figure 463836DEST_PATH_IMAGE018
，
Figure DEST_PATH_IMAGE019
And
Figure 514968DEST_PATH_IMAGE020
form a space straight line
Figure DEST_PATH_IMAGE021
；
Figure 361570DEST_PATH_IMAGE022
And
Figure DEST_PATH_IMAGE023
form another space straight line
Figure 320299DEST_PATH_IMAGE024
：
Figure 539053DEST_PATH_IMAGE026
Figure 88983DEST_PATH_IMAGE028
By measuring the same object, straight line
Figure 908035DEST_PATH_IMAGE021
And a straight line
Figure 467192DEST_PATH_IMAGE024
Will intersect at a point which is the target position but which is caused to intersect due to the presence of errors in the measured angle
Figure 304567DEST_PATH_IMAGE021
And
Figure 697502DEST_PATH_IMAGE024
are in a non-coplanar relationship and cannot be intersected, so that a straight line is calculated
Figure 128483DEST_PATH_IMAGE021
And a straight line
Figure 586272DEST_PATH_IMAGE024
Obtaining the coordinates of the nearest point to obtain the coordinates located on a straight line
Figure 419099DEST_PATH_IMAGE021
Point of
Figure DEST_PATH_IMAGE029
Straight line of
Figure 373148DEST_PATH_IMAGE024
Point of
Figure 291426DEST_PATH_IMAGE030
，
Assume that the nearest point is
Figure DEST_PATH_IMAGE031
，
Figure 598910DEST_PATH_IMAGE032
And is straight and straight
Figure 443500DEST_PATH_IMAGE021
And
Figure 647080DEST_PATH_IMAGE024
never parallel, then:
Figure 787074DEST_PATH_IMAGE034
Figure 350780DEST_PATH_IMAGE036
then:
Figure 892619DEST_PATH_IMAGE038
to pair
Figure DEST_PATH_IMAGE039
、
Figure 221095DEST_PATH_IMAGE040
Fusing the two points to obtain coordinate values under the target geocentric coordinate system
Figure DEST_PATH_IMAGE041
。
6. The method of calculating space coordinates of a launch vehicle based on telemetric goniometric data according to claim 5, wherein: the fusion mode is weighted fusion.
7. The method of claim 6, wherein the weighted fusion is specifically: if the azimuth angle and the pitch angle of the first equipment are not 60, weighting values
Figure 989331DEST_PATH_IMAGE042
Taking 0.5; if the number is enough, performing 3-order least square fitting on the nearest 60 azimuth angles and pitch angles, and calculating the absolute error of the last measured data and the fitting value to obtain the azimuth error
Figure DEST_PATH_IMAGE043
Error in pitch
Figure 887885DEST_PATH_IMAGE044
Simultaneously calculating the coordinates of the first equipment
Figure 956335DEST_PATH_IMAGE019
And
Figure 626351DEST_PATH_IMAGE039
is a distance of
Figure DEST_PATH_IMAGE045
(ii) a The same method is adopted to calculate the azimuth error of the last measuring point of the two devices
Figure 644334DEST_PATH_IMAGE046
And pitch error
Figure DEST_PATH_IMAGE047
And an
Figure 831733DEST_PATH_IMAGE022
And
Figure 269537DEST_PATH_IMAGE040
is a distance of
Figure 985820DEST_PATH_IMAGE048
Then weight value
Figure 587703DEST_PATH_IMAGE042
Comprises the following steps:
Figure 532787DEST_PATH_IMAGE050
then:
Figure 903726DEST_PATH_IMAGE052
。
8. the method of calculating space coordinates of a launch vehicle based on telemetric goniometric data according to claim 1, wherein: and respectively carrying out intersection measurement through the simulation angle value and the actual measurement angle value, and comparing results.
9. The method of calculating space coordinates of a launch vehicle based on telemetric goniometric data according to claim 8, wherein: the method for carrying out intersection measurement through the simulated angle value is characterized in that the theoretical azimuth angle and the theoretical pitch angle of two pieces of remote measuring equipment in a measurement coordinate system are respectively increased by an angle random value of 0.1 degree, an angle random error in the tracking process is simulated, each set of intersection measurement results of angle measurement data are calculated according to the geographic coordinates of the geodetic coordinate systems of the two pieces of remote measuring equipment, and the intersection measurement results are compared with the theoretical coordinate values in the geocentric coordinate system of the target position to obtain the spatial error of the simulated intersection measurement results.
10. The method of calculating space coordinates of a launch vehicle based on telemetric goniometric data according to claim 8, wherein: the method for carrying out intersection measurement through the actually measured angle value is to carry out intersection measurement by utilizing angle measurement data of two telemetering devices in certain aerospace emission, and compare an intersection measurement result with a Beidou positioning result on arrow to obtain a spatial error of an actually measured value intersection measurement result.
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Application publication date: 20200710