CN112711816A - Flight projectile trajectory correction method based on meteorological grid - Google Patents

Flight projectile trajectory correction method based on meteorological grid Download PDF

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CN112711816A
CN112711816A CN202110323032.5A CN202110323032A CN112711816A CN 112711816 A CN112711816 A CN 112711816A CN 202110323032 A CN202110323032 A CN 202110323032A CN 112711816 A CN112711816 A CN 112711816A
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秦华旺
戴跃伟
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Nanjing University of Information Science and Technology
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Abstract

The invention discloses a flight projectile trajectory correction method based on meteorological grids, which comprises the following steps: (1) roughly estimating a flight trajectory envelope line based on the environment information and the trajectory model, and constructing a meteorological grid available for the trajectory model; (2) performing rasterization processing on meteorological parameters on the ballistic model to form a ballistic calculation model coupled with a meteorological grid; (3) carrying out scale transformation on the meteorological grid according to the step length of the ballistic integral, further subdividing the meteorological grid, and forming a new computing node on the ballistic; (4) carrying out data fusion on the meteorological parameters of each meteorological grid and the meteorological parameters of the adjacent meteorological grids, and establishing a meteorological parameter grid function in an analytic form by adopting an interpolation mode; (5) and performing trajectory integration by using the meteorological parameter grid function to obtain a trajectory correction result compensated by the meteorological grid. The invention provides a method for correcting a trajectory of a flying projectile by establishing a meteorological parameter grid function based on environmental information.

Description

Flight projectile trajectory correction method based on meteorological grid
Technical Field
The invention relates to a flight projectile trajectory correction method, in particular to a flight projectile trajectory correction method based on meteorological grids.
Background
The motion rules of various types of bullets and arrows flying in the atmosphere are influenced by the atmospheric state, and the meteorological conditions mainly influence the flying characteristics of the bullets and arrows through aerodynamic force. Changes in air temperature, air pressure and longitudinal wind mainly affect the stroke of the rocket, while transverse wind causes lateral deviation. If the meteorological condition data is inaccurate, the trajectory correction is also inaccurate, and the due performance index requirements of the system cannot be met.
The accuracy of trajectory correction can be realized by utilizing the accurate guidance of the projectile from the civil application, so that the work such as artificial rainfall can be more efficiently carried out. In the prior art, meteorological parameters for trajectory correction have the problems of low precision, small range and slow data refreshing, so that the trajectory correction precision of flying bullets and arrows is seriously influenced.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a flight projectile trajectory correction method based on a meteorological grid, which is large in parameter selection range and capable of increasing data refresh rate.
The technical scheme is as follows: the method for correcting the trajectory of the flying projectile and the rocket improves the meteorological correction precision of the trajectory based on the fine rasterization meteorological parameters, and comprises the following steps:
(1) estimating a flight trajectory envelope line based on the environment information and the trajectory model, and constructing a meteorological grid of the trajectory model;
(2) performing rasterization processing on meteorological parameters on the ballistic model to form a ballistic calculation model coupled with a meteorological grid;
(3) combining a meteorological grid of a ballistic model with a ballistic model of a coupled meteorological grid, performing scale transformation and internal processing on the meteorological grid, and then performing ballistic integration to obtain a ballistic calculation result compensated by the meteorological grid;
(4) carrying out data fusion on the meteorological parameters of each meteorological grid and the meteorological parameters of adjacent meteorological grids, and establishing a meteorological parameter grid function in an analytic form;
(5) and (4) performing ballistic integration by using the meteorological parameter grid function obtained in the step (4) to obtain a ballistic correction result compensated by the meteorological grid.
Further, the meteorological grids of the ballistic model are constructed by estimating a flight ballistic envelope line based on the target position, the shooting angle, the shooting direction, the flight mode, the terrain and the landform information and in combination with the ballistic model, the environmental model is uniformly divided by the grids, and the rocket can freely move in each grid.
Further, the rasterization processing of the meteorological parameters in the step (2) is to perform rasterization function fitting on the meteorological parameters related to the ballistic model, wherein the meteorological parameters include crosswind, longitudinal wind, density, temperature, humidity and air pressure, and the rasterization function is a function taking time and ballistic spatial position as independent variables; and establishing a preliminary ballistic computation model of the coupled meteorological grid through regression analysis of meteorological elements of all meteorological elements.
Further, the meteorological grid scale transformation in the step (3) is to perform scale transformation on the meteorological grid according to the step length of the ballistic integral, further subdivide the meteorological grid, and form a new computing node on the ballistic; determining integral step length of the rigid body trajectory model according to the motion law of the projectile in the rigid body trajectory model
Figure 921078DEST_PATH_IMAGE001
And period of fast circular motion
Figure 900535DEST_PATH_IMAGE002
The following relationship exists between:
Figure 804906DEST_PATH_IMAGE003
wherein,Nthe discrete points needed for describing a circle process are represented and preset;w 1the frequency of the fast circular motion; v represents fast circular velocity;
by passingNThe magnitude of the value adjusts the integration step.
Further, in the step (4), after the calculation nodes in the meteorological grid are generated according to the step (3), the meteorological parameters of the meteorological grid and the meteorological parameters of the adjacent meteorological grid are subjected to data fusion, and a grid function in an analytic form is established by adopting an interpolation mode to determine the relationship between each point in the meteorological grid and various meteorological elements.
Further, in the step (5), according to the movement rule of the shot, the fast circular movement frequencyw 1With slow circular motion frequencyw 2Expression scoreRespectively, the following steps:
Figure 327679DEST_PATH_IMAGE004
wherein,
Figure 266685DEST_PATH_IMAGE005
the rotation speed of the projectile is set as the rotation speed of the projectile,
Figure 213781DEST_PATH_IMAGE006
the angle of the rudder is the angle of the declination,
Figure 605448DEST_PATH_IMAGE007
is a stable factor of the gyroscope,
Figure 931912DEST_PATH_IMAGE008
is the included angle between the rocket and the y axis,
Figure 725424DEST_PATH_IMAGE009
the acceleration of the rapid circular motion of the rocket is obtained,
Figure 781105DEST_PATH_IMAGE010
in order to be a damping coefficient of the damping,
Figure 660068DEST_PATH_IMAGE011
the number of points scattered for a round process.
Compared with the prior art, the invention has the following remarkable effects: 1. the method comprises the steps of constructing a meteorological grid available for a ballistic model based on environmental information, forming a ballistic calculation model coupled with the meteorological grid, establishing a meteorological parameter grid function in an analytic form, and performing ballistic integration based on the meteorological parameter grid function to obtain a more accurate ballistic meteorological correction result; 2. by using accurate meteorological data provided by a meteorological grid, a flight projectile trajectory correction method based on the meteorological grid is provided.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of a single ballistic meteorological grid of the present invention;
FIG. 3 is a schematic diagram of the scaling and internal processing of the weather grid of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
The detailed steps are as follows:
step 1, firstly, roughly estimating a flight trajectory envelope curve based on target position, flight mode, terrain and landform information and combining a trajectory model, and obtaining a weather grid available for the trajectory model by matching with a weather numerical prediction result. The grid modeling is to decompose the trajectory space of ballistic flight into a series of grid (grid) units with the same size, wherein each grid is a pixel which is the basic unit of a rasterized environment model, the environment model is uniformly divided by using the grids, and the bullets and arrows can move freely in each grid. Each grid represents the presence of the grid by the value 0 or 1. The value of the completely feasible grid is 0, and the value of the completely infeasible grid is 1. Because the rocket flight path is affected by the target position, the self position, the flight mode, the terrain, the landform information and the change of various high meteorological environments. The pixel value of the grid changes, which indicates that the environment model changes.
And 2, under a meteorological grid system, firstly, rasterizing meteorological parameters of the existing ballistic model to form a ballistic calculation model coupled with a meteorological grid.
The meteorological parameter rasterization processing mainly comprises the meteorological parameter-crosswind related to a general ballistic model
Figure 524644DEST_PATH_IMAGE012
Longitudinal wind
Figure 110346DEST_PATH_IMAGE013
Density, density
Figure 664824DEST_PATH_IMAGE014
Temperature of
Figure 31083DEST_PATH_IMAGE015
Humidity and humidity
Figure 430840DEST_PATH_IMAGE016
Air pressure
Figure 213594DEST_PATH_IMAGE017
And performing a gridding function fitting (i.e. different from the current meteorological parameter which is only an analytic function of the height y, such as some standard meteorological conditions, or a meteorological numerical table taking the height y as an independent variable, such as meteorological parameters measured by single-point sounding weather), a gridding function fitting
Figure 673394DEST_PATH_IMAGE018
Is the time t and trajectory spatial position
Figure 526949DEST_PATH_IMAGE019
As a function of the argument, i.e.:
Figure 730397DEST_PATH_IMAGE020
(1)
about transverse wind
Figure 355938DEST_PATH_IMAGE012
Longitudinal wind
Figure 189902DEST_PATH_IMAGE021
Density, density
Figure 265174DEST_PATH_IMAGE014
Temperature of
Figure 272314DEST_PATH_IMAGE015
Humidity and humidity
Figure 687114DEST_PATH_IMAGE016
Air pressure
Figure 757226DEST_PATH_IMAGE017
The meteorological parameters in the ballistic model respectively adopt corresponding grid functions fitted in a formula (1)
Figure 257478DEST_PATH_IMAGE018
(i=1,2,3,4,5, 6).
The ballistic calculation model of the coupled meteorological grid is realized by establishing meteorological data of multiple points in a unit grid, similar to crosswind
Figure 802728DEST_PATH_IMAGE012
Longitudinal wind
Figure 399932DEST_PATH_IMAGE013
Density, density
Figure 575698DEST_PATH_IMAGE014
Temperature of
Figure 628492DEST_PATH_IMAGE015
Humidity and humidity
Figure 915117DEST_PATH_IMAGE016
Air pressure
Figure 101248DEST_PATH_IMAGE017
The meteorological elements are in different positions
Figure 510233DEST_PATH_IMAGE019
And establishing a preliminary ballistic computation model of the coupled meteorological grid by regression analysis of meteorological elements of the meteorological elements at different times.
And 3, combining the ballistic meteorological grid with the ballistic model coupled with the meteorological grid, performing scale transformation and internal processing on the meteorological grid, and then performing ballistic integration to obtain a ballistic calculation result compensated by the meteorological grid. A general flow chart is shown in fig. 1.
The scale transformation and the internal processing of the meteorological grid are key links, the meteorological grid still has larger scale compared with the integral step length of trajectory calculation, and in order to improve the calculation precision, the scale transformation of the meteorological grid is required and the refined data processing of the interior of the grid is required. Taking a certain meteorological grid on the trajectory as an example, as shown in fig. 2, the meteorological grid is a cubic grid ABCD-EFGH.
For the single meteorological grid of fig. 2, it is assumed that a point on plane ABCD is the starting point of a certain segment of trajectory and a point on plane EFGH is the corresponding end point of trajectory. In order to improve the accuracy of ballistic integration in the meteorological grid, the meteorological grid is subjected to scale transformation according to the step length of the ballistic integration in the meteorological grid shown in fig. 2, the meteorological grid is further subdivided, and new computing nodes are formed on the ballistic.
The method has the advantages that the calculation effect of the rigid body trajectory model directly plays a role in describing the motion rule of the projectile, the angular motion of the projectile is generally divided into fast circular motion and slow circular motion, the process of the fast circular motion is essential, and the basic principle of describing trajectory integration step length and node selection is that the integration step length used at each time point can accurately describe the fast circular motion process at the time, so that an accurate rigid body trajectory model, namely a 6D model for short, needs to be selected
Figure 985076DEST_PATH_IMAGE022
And period of fast circular motion
Figure 128920DEST_PATH_IMAGE023
Have the following relationship
Figure 435136DEST_PATH_IMAGE024
（2）
In the formula (2), the first and second groups,Nthe discrete points needed for describing a circle process are represented and preset;w 1the frequency of the fast circular motion; v represents fast circular velocity.
Period of fast circular motion
Figure 749443DEST_PATH_IMAGE023
Is continuously increased on the whole trajectory (generally between 0.04 and 0.08 s), so the integration step of the 6D model
Figure 773900DEST_PATH_IMAGE025
Will also increase, obviously, if takenNAnd if the integral step length of the 6D model is about 0.001-0.002 s in case of 40. According to the prior value of the rigid body ballistic model, about 40 calculation nodes are generally selected to be moderate.
As shown in fig. 3, the number of computing nodes is not suitable for being too large, otherwise the efficiency of ballistic computation is easily reduced.
Step 4, after the calculation nodes in the meteorological grid are generated, data fusion is carried out on the meteorological parameters of the meteorological grid and the meteorological parameters of the adjacent meteorological grid (through which the trajectory starting point and the trajectory end point pass), and the grid function in an analytic form is established by adopting an interpolation mode
Figure 467574DEST_PATH_IMAGE026
(i =1,2,3,4,5,6), these grid functions
Figure 893876DEST_PATH_IMAGE026
All are based on meteorological data of multiple points in unit grid, like crosswind
Figure 316767DEST_PATH_IMAGE027
Longitudinal wind
Figure 828520DEST_PATH_IMAGE028
Density, density
Figure 325885DEST_PATH_IMAGE029
Temperature of
Figure 278797DEST_PATH_IMAGE030
Humidity and humidity
Figure 200486DEST_PATH_IMAGE031
Air pressure
Figure 933955DEST_PATH_IMAGE032
Etc. in different positions
Figure 232081DEST_PATH_IMAGE033
And timetThe functional relationship of (a) is:
Figure 370326DEST_PATH_IMAGE034
（3）
and establishing the relationship between each point in the meteorological grid and each meteorological element, thereby quickly estimating each meteorological parameter on the calculation node.
And 5, performing ballistic integral of ballistics by using the meteorological parameter grid function obtained in the step 4, and directly acting on the 6D model by using a rigid body ballistic integral model (namely the 6D model) to obtain a projectile motion rule. In angular projectile motion, fast circular motion frequencyw 1With slow circular motion frequencyw 2The expressions are respectively:
Figure 400599DEST_PATH_IMAGE035
（4）
Figure 621365DEST_PATH_IMAGE036
（5）
in the formulas (4) and (5),
Figure 457603DEST_PATH_IMAGE037
the rotation speed of the projectile is set as the rotation speed of the projectile,
Figure 385107DEST_PATH_IMAGE038
the angle of the rudder is the angle of the declination,
Figure 663247DEST_PATH_IMAGE039
is a stable factor of the gyroscope,
Figure 371309DEST_PATH_IMAGE040
is the included angle between the rocket and the y axis,
Figure 745658DEST_PATH_IMAGE041
the acceleration of the rapid circular motion of the rocket is obtained,
Figure 855566DEST_PATH_IMAGE042
in order to be a damping coefficient of the damping,
Figure 292888DEST_PATH_IMAGE043
the number of points scattered for a round process.
In the rigid body rocket model, the selection of the integral step length is based on describing the circular motion process, namely, the integral step length is selected byNThe magnitude of the value of (c) to adjust the integration step. Theoretically, the smaller the integration step size, the more reliable the calculation results of the ballistic model, but the longer the calculation time. But withNThe circle is not sufficiently described (corresponding to a reduction in the amplitude of the angle of attack), while, because of the initial perturbation,Nshould be at least not less than 20.
As shown in table 1 for the impact of the conventional ballistic integration step H on the ballistic results,
Figure 488246DEST_PATH_IMAGE044
(starting declination) =
Figure 603969DEST_PATH_IMAGE045
Figure 568383DEST_PATH_IMAGE046
(range) =20896.19 m.
As shown in table 2 for the effect of the 6D model ballistic integration step H on the ballistic results,
Figure 111360DEST_PATH_IMAGE044
(starting declination) =
Figure 531365DEST_PATH_IMAGE045
Figure 513096DEST_PATH_IMAGE046
(range) =20701.78 m.
The variation of the integration step length of the 6D model is slightly smaller than that of the general model, the integration step length of the general model is selected to be about 3.0s, for the 6D model, the integration step length is generally not more than 2.0s, and generally when the range accuracy is high, the integration step length is required to be as small as possibleAnd (3) a plurality of. Therefore, the 6D model is adopted to carry out trajectory integration, and a correction result compensated by the meteorological grid can be obtained. Wherein
Figure 269699DEST_PATH_IMAGE047
In order to integrate the step sizes,
Figure 45894DEST_PATH_IMAGE048
error is calculated for the range:
table 1 impact of conventional ballistic integration step size on ballistic results
Figure 218774DEST_PATH_IMAGE049
TABLE 26D Effect of model ballistic integration step size on ballistic results
Figure 676300DEST_PATH_IMAGE050
In summary, the trajectory correction method based on the meteorological grid of the invention combines the trajectory models of the ballistic meteorological grid and the coupling meteorological grid by establishing the relation function of the elements of the multipoint meteorological elements, the spatial position in the grid and the time, and constructs the gridding function, thereby facilitating the correction of the trajectory of the missile and the rocket more finely.

Claims (6)

1. A flight projectile trajectory correction method based on meteorological grids is characterized in that the meteorological correction precision of a trajectory is improved based on fine rasterized meteorological parameters, and the method comprises the following steps:
(1) estimating a flight trajectory envelope line based on the environment information and the trajectory model, and constructing a meteorological grid of the trajectory model;
(2) performing rasterization processing on meteorological parameters on the ballistic model to form a ballistic calculation model coupled with a meteorological grid;
(3) combining a meteorological grid of a ballistic model with a ballistic model of a coupled meteorological grid, performing scale transformation and internal processing on the meteorological grid, and then performing ballistic integration to obtain a ballistic calculation result compensated by the meteorological grid;
(4) carrying out data fusion on the meteorological parameters of each meteorological grid and the meteorological parameters of adjacent meteorological grids, and establishing a meteorological parameter grid function in an analytic form;
(5) and (4) performing ballistic integration by using the meteorological parameter grid function obtained in the step (4) to obtain a ballistic correction result compensated by the meteorological grid.
2. The method for correcting the trajectory of a flying projectile based on meteorological grids as claimed in claim 1, wherein the meteorological grids are constructed in step (1), the meteorological grids of a ballistic model are constructed by estimating the flight trajectory envelope based on target position, shooting angle, shooting direction, flight mode, terrain and landform information and combined with the ballistic model, the environmental model is uniformly divided by the grids, and the projectile can freely move in each grid.
3. The weather-grid-based flying projectile and rocket trajectory correction method according to claim 1, wherein the rasterization processing of the weather parameters in the step (2) is to perform rasterization function fitting on the weather parameters related to the trajectory model, wherein the weather parameters include crosswind, longitudinal wind, density, temperature, humidity and air pressure, and the rasterization function is a function with time and ballistic spatial position as independent variables; and establishing a preliminary ballistic computation model of the coupled meteorological grid through regression analysis of meteorological elements of all meteorological elements.
4. The method for correcting the trajectory of a missile and arrow based on a meteorological grid as claimed in claim 1, wherein the meteorological grid scaling in the step (3) is to scale the meteorological grid according to the step length of the trajectory integral, further subdivide the meteorological grid, and form a new computing node on the trajectory; determining integral step length of the rigid body trajectory model according to the motion law of the projectile in the rigid body trajectory model
Figure 294399DEST_PATH_IMAGE001
And period of fast circular motion
Figure 86906DEST_PATH_IMAGE002
The following relationship exists between:
Figure 928960DEST_PATH_IMAGE003
wherein,Nthe discrete points needed for describing a circle process are represented and preset;
Figure 202465DEST_PATH_IMAGE004
the frequency of the fast circular motion; v represents fast circular velocity;
by passingNThe magnitude of the value adjusts the integration step.
5. The method for correcting the trajectory of a flying projectile and arrow based on a meteorological grid as claimed in claim 1, wherein in the step (4), after the calculation nodes in the meteorological grid are generated according to the step (3), the meteorological parameters of the meteorological grid and the meteorological parameters of the adjacent meteorological grid are subjected to data fusion, and a grid function in an analytic form is established by adopting an interpolation mode, so that the relationship between each point in the meteorological grid and various meteorological elements is determined.
6. The weather-grid-based flying projectile trajectory modification method as claimed in claim 1, wherein in the step (5), the fast circular motion frequency is determined according to the motion law of the projectilew 1With slow circular motion frequencyw 2The expressions are respectively:
Figure 892204DEST_PATH_IMAGE005
wherein,
Figure 527716DEST_PATH_IMAGE006
for turning of pelletsAt the speed of the operation of the device,
Figure 670115DEST_PATH_IMAGE007
the angle of the rudder is the angle of the declination,
Figure 741452DEST_PATH_IMAGE008
is a stable factor of the gyroscope,
Figure 472647DEST_PATH_IMAGE009
is the included angle between the rocket and the y axis,
Figure 341377DEST_PATH_IMAGE010
the acceleration of the rapid circular motion of the rocket is obtained,
Figure 908756DEST_PATH_IMAGE011
in order to be a damping coefficient of the damping,
Figure 521134DEST_PATH_IMAGE012
the number of points scattered for a round process.
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