CN112182857B - Rocket-level debris falling point prediction method, rocket-level debris falling point prediction equipment and storage medium - Google Patents
Rocket-level debris falling point prediction method, rocket-level debris falling point prediction equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides a rocket-level debris falling point prediction method, rocket-level debris falling point prediction equipment and a storage medium, wherein the rocket-level debris falling point prediction method comprises the following steps: acquiring separation parameters of rocket-level remains during separation and environment deviation parameters affecting the motion trail of the rocket-level remains; and determining the landing point range of the sub-level debris according to the separation parameter, the environment deviation parameter and the preset sub-level debris rigid motion model. According to the rocket-level-debris landing-point predicting method, the rocket-level-debris landing-point predicting device and the storage medium, landing positions of rocket-level-debris can be predicted more accurately, and the landing range is reduced.
Description
Technical Field
The present application relates to rocket post-launch debris retrieval technology, and in particular, to a rocket-level debris drop point prediction method, apparatus, and storage medium.
Background
In order to improve carrying capacity, after each stage of engine works, the multi-stage solid carrier rocket throws away useless structures such as engine shells and the like, thereby forming sub-stage debris of the rocket. In the flying process of the rocket, the falling area selection of the sub-level remains cannot be a person-mouth dense-class area, and meanwhile, the falling area needs to be safely controlled, so that the falling point of the sub-level remains of the rocket needs to be predicted, the possible falling point area of the sub-level remains is predicted in advance, and the safety control is carried out.
The rocket is controllable in the flying process, and can carry out track adjustment and tracking. The rocket level remains are separated and then fly uncontrollably, the flight track of the rocket level remains can be predicted only by means of mathematical simulation, the falling point range is defined, and the rocket level remains are ensured to fall in the range so as to be safely controlled. The traditional prediction methods are various, but the prediction accuracy is not accurate enough.
Disclosure of Invention
In order to solve one of the technical defects, embodiments of the present application provide a rocket-level debris drop point predicting method, apparatus and storage medium.
An embodiment of a first aspect of the present application provides a rocket-level debris drop point predicting method, including:
acquiring separation parameters of rocket-level remains during separation and environment deviation parameters affecting the motion trail of the rocket-level remains;
and determining the landing point range of the sub-level debris according to the separation parameter, the environment deviation parameter and the preset sub-level debris rigid motion model.
Embodiments of the second aspect of the present application provide a rocket-level debris drop point prediction apparatus, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method as described above.
Embodiments of a third aspect of the present application provide a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the method as described above.
According to the technical scheme adopted by the embodiment of the application, the separation parameters of rocket level debris during separation and the environment deviation parameters influencing the movement track of the level debris are obtained, then the falling point range of the level debris is determined according to the separation parameters, the environment deviation parameters and the preset level debris rigid body movement model, the separated level debris is regarded as a rigid body, the falling point range of the level debris is calculated by using the level debris rigid body movement model and combining the environment deviation parameters, so that the calculation accuracy is higher, the falling point range of the level debris can be more accurately determined, the recovery rate of the level debris is improved without searching through manpower and material resources after the level debris falls on the ground, the safety control of the falling point range is facilitated in time, and the property loss is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a flow chart of a rocket-level debris drop point prediction method according to an embodiment of the present application;
fig. 2 is a flowchart of a rocket-level debris drop point prediction method according to a second embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of rocket-level debris drop point predicting apparatus according to a third embodiment of the present disclosure.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is given with reference to the accompanying drawings, and it is apparent that the described embodiments are only some of the embodiments of the present application and not exhaustive of all the embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
Example 1
The embodiment provides a rocket level debris falling point prediction method, which can accurately predict the falling point of the rocket level debris after separation so as to recover the level debris and safely control the area nearby the falling point
In practical application, the rocket-level debris drop point prediction method can be realized through a computer program, such as application software and the like; alternatively, the method may be implemented as a medium storing a related computer program, for example, a usb disk, a cloud disk, or the like; still alternatively, the method may be implemented by a physical device, e.g., a chip, a mobile smart device, etc., integrated with or having an associated computer program installed thereon.
Fig. 1 is a flowchart of a rocket-level debris drop point prediction method according to an embodiment of the present application. As shown in fig. 1, the rocket-level debris drop point predicting method provided in this embodiment includes:
step 101, acquiring separation parameters of rocket-level debris during separation and environment deviation parameters affecting the movement track of the rocket-level debris.
The separation parameters of rocket-grade debris at the time of separation may be: speed, direction, etc. Because the sub-level remains are the same as the running direction and speed of the rocket body at the moment of separation, the separation parameters can be detected by the detection equipment arranged in the rocket body and transmitted back to the ground equipment in a communication mode with the ground equipment.
After the sub-level remains are separated, the motion trail of the sub-level remains is influenced by the direction and the speed of the separating moment and the environment. The environmental bias parameters affecting the trajectory of the sub-level debris movement may be: wind force, atmospheric density, atmospheric temperature, etc., which affect the speed and direction of movement of the sub-level debris. The parameters can be obtained by processing and calculating according to the current meteorological data of rocket launching, and can also be obtained by combining a calculation mode of probability distribution.
Step 102, determining a landing range of the sub-level debris according to the separation parameter, the environment deviation parameter and the preset sub-level debris rigid motion model.
When the sub-level remains are separated, the sub-level remains are regarded as rigid bodies to calculate the falling points, and compared with the traditional method adopting the limiting resistance, the method can simulate the movement of the sub-level remains in the air more truly, is beneficial to the real simulation of the flight process of the sub-level remains, and can obtain more accurate results.
A rigid motion model of the sub-level debris is pre-established according to the shape, quality and other characteristics of the sub-level debris, and the motion model can be established by considering the motion condition of the sub-level debris in six directions of space.
Substituting the separation parameters and the environment deviation parameters of the sub-level debris into the rigid motion model of the sub-level debris, and calculating to obtain the landing point range of the sub-level debris.
According to the technical scheme adopted by the embodiment, the separation parameters of rocket level remains during separation and the environment deviation parameters influencing the movement track of the level remains are obtained, then the falling point range of the level remains is determined according to the separation parameters, the environment deviation parameters and the preset level remains rigid body movement model, the separated level remains are regarded as rigid bodies, the falling point range of the level remains is calculated by using the level remains rigid body movement model and combining the environment deviation parameters, so that the calculation accuracy is higher, the falling point range of the level remains can be more accurately determined, the recovery rate of the level remains is improved through manpower and material resource searching after the level remains fall on the ground, the safety control of the falling point range is facilitated in time, and the property loss is avoided.
Example two
The embodiment provides a specific implementation mode of a rocket level debris falling point prediction method based on the embodiment.
Fig. 2 is a flowchart of a rocket-level debris drop point prediction method according to a second embodiment of the present disclosure. As shown in fig. 2, the rocket-level debris drop point predicting method provided in this embodiment includes:
step 201, establishing a sub-level debris rigid motion model.
The force applied to rocket-level debris in the flying process comprises aerodynamic force, earth attraction and additional force, and the moment comprises aerodynamic moment and additional moment. The sub-level debris rigid motion model provided by the embodiment is a six-degree-of-freedom rigid model based on quaternion, and is used for simulating the actual flight process of the sub-level debris so as to enable the calculated landing point coordinates to be more accurate.
The embodiment provides a self-debris rigid motion model as follows:
where m is the mass of the sub-level debris, (v) x ,v y ,v z ) The current motion speed of the sub-level debris is three components of the transmitting system, G B The matrix is the coordinate transformation matrix from the arrow system to the emission system, X is the axial force, Y is the normal force, Z is the lateral force,(g x ,g y ,g z ) Is the gravitational acceleration in the three components of the transmitting system, (a) ex ,a ey ,a ez ) Three components of centrifugal acceleration in the transmitting system, (a) kx ,a ky ,a kz ) The acceleration is three components of the Ge-type acceleration in the transmitting system;
wherein (I) x1 ,I y1 ,I z1 ) For moment of inertia along the three axes of the arrow body coordinate system, (ω) Tx1 ,ω Ty1 ,ω Tz1 ) The rotational angular velocity of the arrow relative to the inertial space is three components of the arrow system, (0, M) y1st ,M z1st ) Is the three components of aerodynamic moment in the arrow system;
wherein (x, y, z) is the three-directional current position under the sub-level debris emission system, (v) x ,v y ,v z ) The current motion velocity for the sub-level debris is three components of the transmit system, (ω x ,ω y ,ω z ) The relative rotational angular velocity of the arrow is three components of the arrow system, (omega) Tx1 ,ω Ty1 ,ω Tz1 ) The rotational angular velocity of the arrow relative to the inertia space is three components of the arrow system, B G For the coordinate transformation matrix of the launching system to the arrow system, (omega) ex ,ω ey ,ω ez ) Three components are the rotation of the earth in the transmitting system.
In order to avoid singular, a quaternion method is adopted for carrying out gesture calculation, and an equation in a quaternion form is as follows:
wherein q 0 Is the real part of the quaternion, q 1 、q 2 、q 3 Is the imaginary part of the quaternion,for the quaternion real part rate of change, +.>Is the quaternion imaginary part change rate, (omega) x ,ω y ,ω z ) The relative rotational angular velocity of the arrow is in three components of the arrow system.
The initial value of the attitude angle represented by the quaternion is:
wherein q 0 (0) For the real part initial value of the quaternion, q 1 (0)、q 2 (0) Is, q 3 (0) For the initial value of the imaginary part of the quaternion,initial pitch angle, ψ, for sub-level debris separation relative to the transmitter system 0 Initial yaw angle, gamma, for sub-level debris separation relative to the emission system 0 Initial roll angle relative to the emission system for sub-level debris separation.
In the calculation, considering that the integral error can destroy the orthogonality of the quaternion transformation, the norm of the quaternion needs to be corrected each time the differential equation is solved, namely:
wherein q 0 Is the real part of the quaternion, q 1 、q 2 、q 3 Is a quaternion imaginary part, q 0 * For the real part of the integral quaternion, q 1 * 、q 2 * 、q 3 * Is the imaginary part of the quaternion after integration.
And then according to the quaternion, calculating to obtain an attitude angle:
ψ＝arcsin(-a(1,3))
wherein, psi is the current pitch angle of the sub-level remains relative to the transmitting system,for the current pitch angle of the sub-level debris relative to the transmitting system, gamma is the current pitch angle of the sub-level debris relative to the transmitting system, a is the matrix with the relation of quaternion, a (1, 1) represents the first row data of the first column of the matrix, a (1, 2) represents the second row data of the first column of the matrix, a (1, 3) represents the third row data of the first column of the matrix, a (2, 3) represents the third row data of the second column of the matrix, and a (3, 3) represents the third row data of the third column of the matrix.
Solving the attitude angle of the relative emission inertial system.
Wherein, psi is T For a relative firing inertial frame pitch angle,for relative launch inertial yaw angle, gamma T Roll angle of relative emission inertial system, t is time of flight, (ω) ex ,ω ey ,ω ez ) For earth rotation and forward transmissionThe radiation is three components.
Where θ is the velocity tilt angle and σ is the velocity offset angle. v is the flying speed and can be calculated by the following formula
The calculation results are:
wherein phi is longitude, alpha is attack angle, beta is sideslip angle, v is roll angle, R 0x 、R 0y 、R 0z The distance between rocket level debris and the earth center at the current moment is r which is three components of the earth center distance vector of the transmitting point in the transmitting system.
Wherein a is e Is the long half shaft of the earth, b e And R is the distance between the rocket level and the earth center of the ground projection point at the current moment.
h＝r-R，
Wherein h is the flying height.
Step 202, obtaining separation parameters of rocket-grade remains during separation.
The separation parameters of rocket-grade remains during separation can be calculated according to the particle trajectory model. The particle trajectory model may be a model commonly used in the art.
The separation parameters may include: three directional velocity of sub-level debris under the emissive system (V x0 ,V y0 ,V zo ) Three-way position (X) 0 ,Y 0 ,Z o ) And pitch, yaw and roll angles relative to the firing lineThe separation parameters may also include pitch, yaw and roll angle rates of the sub-level debris at separation>
Step 203, acquiring environmental deviation parameters affecting rocket-level debris movement tracks.
The environmental bias parameters include: separation point parameter bias, sub-level debris mass characteristic bias, sub-level debris aerodynamic coefficient bias, atmospheric density bias, atmospheric pressure bias, atmospheric temperature bias, and wind direction bias.
The distribution rule of each environmental deviation parameter depends on the statistical data. Wherein the parameter deviation of the separation point, the quality characteristic deviation of the sub-level remains, the aerodynamic coefficient deviation of the sub-level remains, the atmospheric density deviation, the atmospheric pressure deviation and the atmospheric temperature deviation all obey normal distribution.
The probability density function of the normal distribution is:
wherein μ is the mean and σ is the standard deviation.
The wind direction deviation includes: no wind deviation, downwind deviation and upwind deviation.
Setting up the n-th environmental deviation parameter subject to normal distribution, and marking as:
taking the deviation into consideration, determining the landing point of the sub-level debris by adopting a Monte Carlo targeting mode. The parameters adopted in the targeting process are as follows:
for the case where the environmental deviation parameter is an absolute quantity, such as a mass deviation, etc.:
for the environment deviation parameter as relative quantity, such as atmospheric density deviation, pneumatic deviation and the like:
step 204, determining the number of times of shooting the sub-level debris by landing shooting calculation according to a preset probability model.
In this embodiment, the probability model may be a bernoulli probability model, and the number of target hits is obtained according to the following formula:
wherein N is the number of times of targeting, phi is p 0 Is the following. Gamma is the confidence level, typically 0.8-0.98. Zeta is the relative precision and is generally 0.001-0.005.
Step 205, determining landing coordinates of the sub-level debris according to the separation parameter, the environment deviation parameter and the preset sub-level debris rigid motion model.
The number of landing coordinates is equal to the number of shots N.
The method specifically comprises the following steps: substituting the separation parameter and the environment deviation parameter into a sub-level debris rigid motion model with six degrees of freedom to obtain a landing point coordinate, wherein an abscissa and an ordinate in the landing point coordinate respectively represent precision and latitude. And carrying out simulation for N times through the model to obtain N landing point coordinates.
Step 206, determining the landing point range of the sub-level debris according to the landing point coordinates.
And enveloping the coordinates of each landing place by adopting a minimum envelope line, wherein the range covered by the envelope line is the landing place range.
One implementation: and determining a minimum rectangle capable of enveloping all the landing point coordinates according to each landing point coordinate, wherein the size of the minimum rectangle is the landing point range of the sub-level remains.
In the scheme, the probability of occurrence of each deviation parameter is considered by adopting the Monte Carlo simulation targeting method, the scope of the falling point of the remains under different working conditions is predicted, the real situation is more met, the obtained scope of the falling point is more accurate, and the scope of predicting the falling point of the remains in the sub-level is effectively reduced.
In addition to the implementation manner provided in the present embodiment, the types of the environmental bias parameters are not limited to the above-mentioned types, and other random distribution manners may be adopted for the acquisition manner. The rigid body motion model of the sub-level remains is not limited to the above mode, and can be set according to the specific structure and shape of the sub-level remains, the preset flying speed rule of the rocket, and the like.
Example III
Fig. 3 is a schematic structural diagram of rocket-level debris drop point predicting apparatus according to a third embodiment of the present disclosure. As shown in fig. 3, the present embodiment provides a rocket-level debris drop point predicting apparatus, including: memory 31, processor 32, and computer program. Wherein the computer program is stored in the memory 31 and configured to be executed by the processor 32 to implement the method as provided in any of the above.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program for execution by a processor to implement a method as provided in any of the above.
The apparatus and the storage medium provided in this embodiment have the same technical effects as the above-described method.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (5)
1. A rocket-level debris drop point prediction method, comprising:
acquiring separation parameters of rocket-level remains during separation and environment deviation parameters affecting the motion trail of the rocket-level remains; the separation parameters include: three-directional speed, three-directional position, pitch angle, yaw angle and roll angle of the sub-level debris under the launching system; the environmental deviation parameters include: separating point parameter deviation, sub-level debris quality characteristic deviation, sub-level debris aerodynamic coefficient deviation, atmospheric density deviation, atmospheric pressure deviation, atmospheric temperature deviation and wind direction deviation;
determining a landing point range of the sub-level debris according to the separation parameter, the environment deviation parameter and the preset sub-level debris rigid motion model, wherein the method specifically comprises the following steps of:
determining the number of times of shooting the landing point of the secondary debris according to a preset probability model, wherein the number of times is determined by the following formula:
wherein N is the number of times of targeting, phi is the inverse function of the standard normal distribution, gamma is the confidence level, ζ is the relative accuracy, p 0 Is a probability level;
determining landing point coordinates of the sub-level debris according to the separation parameter, the environment deviation parameter and a preset sub-level debris rigid motion model, wherein the number of the landing point coordinates is equal to the number of target shooting times;
determining a landing point range of the sub-level debris according to each landing point coordinate;
the sub-level debris rigid body motion model is:
where m is the mass of the sub-level debris, (v) x ,v y ,v z ) The current motion speed of the sub-level debris is three components of the transmitting system, G B The matrix is the coordinate transformation from an arrow system to a transmitting system, X is axial force, Y is normal force, Z is lateral force, (g) x ,g y ,g z ) Is the gravitational acceleration in the three components of the transmitting system, (a) ex ,a ey ,a ez ) Three components of centrifugal acceleration in the transmitting system, (a) kx ,a ky ,a kz ) The acceleration is three components of the Ge-type acceleration in the transmitting system;
wherein (I) x1 ,I y1 ,I z1 ) For moment of inertia along the three axes of the arrow body coordinate system, (ω) Tx1 ,ω Ty1 ,ω Tz1 ) The rotational angular velocity of the arrow relative to the inertial space is three components of the arrow system, (0, M) y1st ,M z1st ) Is the three components of aerodynamic moment in the arrow system;
wherein (x, y, z) is the three-directional current position under the sub-level debris emission system, (v) x ,v y ,v z ) The current motion velocity for the sub-level debris is three components of the transmit system, (ω x ,ω y ,ω z ) The relative rotational angular velocity of the arrow is three components of the arrow system, (omega) Tx1 ,ω Ty1 ,ω Tz1 ) For rotation of the arrow relative to the space of inertiaAngular velocity in three components of arrow system, B G For the coordinate transformation matrix of the launching system to the arrow system, (omega) ex ,ω ey ,ω ez ) Three components are the rotation of the earth in the transmitting system.
2. The method of claim 1, wherein the separation point parameter bias, sub-level debris mass characteristic bias, sub-level debris aerodynamic coefficient bias, atmospheric density bias, atmospheric pressure bias, atmospheric temperature bias all follow a normal distribution;
the wind direction deviation includes: no wind deviation, downwind deviation and upwind deviation.
3. The method according to claim 1, wherein the landing place range of the sub-level debris is determined according to each landing place coordinate, in particular:
and determining a minimum rectangle capable of enveloping all the landing point coordinates according to each landing point coordinate, wherein the size of the minimum rectangle is the landing point range of the sub-level remains.
4. A rocket-level debris drop point prediction apparatus, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any of claims 1-3.
5. A computer-readable storage medium, characterized in that a computer program is stored thereon; the computer program being executed by a processor to implement the method of any of claims 1-3.
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