CN112987049A - Rocket fairing debris positioning and tracking system - Google Patents
Rocket fairing debris positioning and tracking system Download PDFInfo
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- CN112987049A CN112987049A CN202110183855.2A CN202110183855A CN112987049A CN 112987049 A CN112987049 A CN 112987049A CN 202110183855 A CN202110183855 A CN 202110183855A CN 112987049 A CN112987049 A CN 112987049A
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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a rocket fairing debris positioning and tracking system, which solves the problem of recovery of rocket fairing debris. The invention is realized by the following technical scheme: each maneuvering type ground radar station measures own position information through a Beidou/GNSS common view receiver, realizes time synchronization between stations and receives a ranging signal sent by a signal transmitting device, calculates the received ranging signal, and obtains the distance between rocket fairing debris and a ground station; each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the debris of the fairing to a ground radar main station through a short wave radio station, and the main station calculates the position coordinate of a signal transmitting device according to the position of each station and the measured pseudo-range, sends the position coordinate to an unmanned aerial vehicle to calculate the azimuth and the pitch angle of a detector to the debris of the rocket fairing, and transmits the azimuth and the pitch angle to a holder; and the unmanned aerial vehicle intervenes in the falling tail section of the debris of the fairing to lock and track the target, and transmits the image data back to the ground radar master station to determine the final falling point of the debris of the fairing.
Description
Technical Field
The invention relates to the field of aerospace, in particular to a positioning and tracking system suitable for rocket fairing debris.
Background
The rocket fairing is made of a material with high strength, light weight, high temperature resistance and strong radio wave permeability, is positioned at the top of the carrier rocket, and protects the effective load while keeping the aerodynamic shape of the rocket. Before the rocket is lifted, the fairing protects the spacecraft on the ground, and the requirements of the spacecraft on temperature, humidity and cleanliness are ensured. The fairing is a honeycomb type half-cover structure, the weight of the half cover is about 1 ton, the total weight is about 2 tons, and after the rocket is launched and lifted off for a period of time, the rocket is separated in a first stage and a second stage. The rocket then flies through stratosphere and intermediate layers, approaching the edges of the atmosphere. When the rocket is lifted off and passes through the atmosphere, the fairing is divided into two pieces which fall downwards and float to the ground at the speed of 100 meters per second. The fairing protects the spacecraft from aerodynamic and aerodynamic heat damage. After the rocket is launched and lifted off, the top fairing of the spacecraft is protected, can be thrown away after passing through the atmosphere, can fly freely in a rarefied atmosphere environment, interferes with the core-level aircraft to generate unsteady flow, and aerodynamic interference changes violently along with time. In the climbing section, under the comprehensive action of the initial angular velocity and aerodynamic force, the overturning angular velocity of the climbing section is rapidly increased, the flying state of the head before impact is a static and unstable state, and the posture is rapidly diverged. The speed of the fairing at the moment of separation is less than the first cosmic speed, so that the separated body cannot enter the earth orbit and enters the atmosphere again, the falling body can be torn to be separated under the action of large overload caused by airflow shearing or flight speed sudden change, and the broken body of the booster can be separated into a plurality of fragments under the action of strong and complex aerodynamic force/heat. In returning to the ground in a tailrace forward manner, there are financial evacuation and safety issues.
The monitoring work of the debris falling area is a very complicated system engineering, the falling process time of the debris is very short (about 5 min), all monitoring links are closely related, and the change in a monitoring frame can bring great influence on tasks. At present, the fairing generally adopts an uncontrolled reentry return mode, and the falling point is greatly scattered due to the influence of various random interferences. When the landing zone is located on land, the large landing zone range brings about evacuation and safety problems of people and property.
With the increasing launching missions of carrier rockets in China, the safety of a fairing landing area becomes a key factor influencing model flight schemes and carrying capacity. Therefore, it is necessary to solve the problem of return control of the cowling and to improve the safety of the cowling landing zone. How to control the return of the fairing is in a test stage at present, so that the acquisition of the falling parameters of the fairing after being thrown in a real flight test is very important.
At present, no related technology implementation method exists in China for positioning and tracking rocket fairing debris. In the literature, it is similar to locating and searching for a cartridge-loaded black box. The method described in the literature is based on self positioning by a GPS or Beidou navigation positioning system, or the position of the Beidou navigation positioning system is reported through Beidou short messages or GPRS or Iridium communication, and the ground searching system carries out range locking according to the reported positioning information for searching. The above methods have significant drawbacks, firstly, poor real-time. No matter whether the specific position is known in real time through the Beidou short message or the Iridium system or the GPRS, the ground searching system cannot know the specific position in real time. And by adopting Beidou short message service or iridium communication, a satellite channel can be rented, and the satellite channel can be applied in advance when in use, so that the autonomous controllability is poor. Secondly, as the falling posture of the debris of the fairing is unknown, even if a plurality of antennas are arranged, the communication with a satellite at a longer distance cannot be ensured, and if a GPRS communication mode is adopted, the GPRS coverage capability of a plurality of remote areas is limited due to the construction of a base station. The method is poor in reliability. If a satellite-based positioning mode is adopted, after the positioning device arranged on the fairing resolves the position information of the positioning device, the positioning device needs to transmit the short Beidou messages or other modes to a ground support system, and the transmission is difficult to achieve continuity. If the satellite positioning is used, considering that the distance between the satellite and the fairing is far, the layout of the receiving antenna and the transmitting antenna is in which form, whether the gain meets the link requirement or not and the attitude uncertainty of the fairing when falling all bring great difficulty to the design. The problem of uncertainty of ionospheric delay and tropospheric delay caused by reduced correlation due to too long distance between base stations is solved, and moreover, the Beidou short message service transmitter is large in power consumption, and reports once every tens of seconds in general in order to balance power consumption of a battery and short message service, which is also a big reason for poor real-time performance of the method. If the fairing falls into a mountain area, once the falling end section is blocked by a mountain or a forest, communication is interrupted, and searching needs to be carried out according to the position information of the last reported service, so that the final positioning precision is poor, the searching range is undoubtedly expanded, and the searching difficulty is improved.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a rocket fairing debris positioning and tracking system which is long in action distance, high in precision, good in real-time performance and strong in reliability, so that workers can quickly find out the fairing debris according to accurate positioning and tracking and obtain and record a device for flight parameters of the fairing at the first time, and the problem of recycling the rocket fairing debris is solved.
The above object of the present invention can be achieved by a rocket fairing debris localization and tracking system comprising: at least 4 motor-driven ground radar stations of ground deployment, wherein 1 ground radar main website, 3 at least secondary stations, the unmanned aerial vehicle who communicates with motor-driven ground radar station install the range finding signal transmitting device in the rocket radome fairing, its characterized in that: the unmanned aerial vehicle obtains self position information through a GNSS receiver of the unmanned aerial vehicle, each mobile ground radar station measures the self position information through a Beidou/GNSS common-view receiver, realizes time synchronization between stations and receives a ranging signal sent by a signal transmitting device, calculates the received ranging signal, and obtains the distance between the rocket fairing debris and the ground station; each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the fairing debris to a ground radar main station through a short wave radio station, the main station adopts a positioning algorithm to solve, the position coordinate of a signal transmitting device is solved according to the position of each station and the measured pseudo-range, and the position coordinate information is sent to the unmanned aerial vehicle; the unmanned aerial vehicle calculates the received position information of the rocket fairing debris and the position of the unmanned aerial vehicle, calculates the azimuth angle and the pitch angle from the detector to the rocket fairing debris, and transmits the azimuth angle and the pitch angle to the holder for angle control, so that the detector can track the rocket fairing debris in real time; and the unmanned aerial vehicle intervenes in the falling tail section of the debris of the fairing to lock and track the target, and transmits the image data back to the ground radar master station in real time, and the master station resolves based on image information target identification and a terrain matching algorithm to determine the final falling point of the debris of the fairing.
The method has the following beneficial effects:
1. the positioning precision is high. The invention sends out a ranging signal in the falling process of the debris of the fairing through a signal transmitting device arranged in the fairing, and a plurality of mobile ground radar stations receive and track the ranging signal to carry out combined ranging and positioning. And a final falling point of the debris of the fairing can be accurately locked through a tracking locking technology based on an unmanned aerial vehicle platform and a target recognition and terrain matching algorithm at the falling tail section of the debris of the fairing. The system does not depend on satellite communication, can accurately obtain the position of the fairing in the whole falling process in real time, greatly improves the positioning precision and reliability, simplifies the subsequent search work of the fairing remains, and improves the search efficiency.
2. The real-time performance is good. The radio ranging method adopts a continuous wave system to measure the pseudo range, the measured pseudo range can be quickly transmitted to the master station through the short-wave radio station, and the master station can immediately calculate the position information of the fairing. Each mobile ground station is time synchronized by satellite common view. The navigation satellite common-view method is utilized to establish common-view data communication and the 10ns common-view comparison precision generated by the weighted cross-difference algorithm of the fitting values of the common-view navigation satellite, so that the uncertain problems of ionospheric delay and tropospheric delay caused by weakening of correlation due to overlong inter-station baseline distance are effectively weakened, and the influence caused by the problems of ionospheric delay, tropospheric delay, satellite ephemeris error, satellite clock error, relativity theory correspondence and the like related to satellite navigation can be avoided. And by adopting a satellite-based positioning mode, the positioning device arranged on the fairing needs to forward the self-position information to a ground support system through a Beidou short message or other modes after the self-position information is resolved, and the forwarding is difficult to achieve continuity, so the real-time performance is far inferior to that of the method disclosed by the invention.
3. The reliability is high. According to the method, each secondary station is adopted to report the position information of the secondary station and the measured pseudo-range information of the secondary station and the debris of the fairing to a ground radar main station through a short wave radio station, the main station is used for resolving through a positioning algorithm, the position coordinate of a signal transmitting device is resolved according to the position of each station and the measured pseudo-range, and the position coordinate information is sent to an unmanned aerial vehicle; firstly, the measurement of the mobile ground radar station on the pseudorange of the fairing is usually within the range of hundreds of kilometers at most, so that the lowest requirement of the ground radar station on the sensitivity of a received signal can be met only by arranging two omnidirectional antennas at 180 degrees with each other regardless of the attitude in the falling process of the fairing. Compared with various methods for positioning by using a satellite, the method adopts the layout form of the receiving antenna and the transmitting antenna, the attitude uncertainty when the fairing falls down is lower in reliability than the method provided by the invention.
4. The subsequent searching efficiency is greatly improved. In the invention, at the tail section of falling of the debris of the fairing, when the mobile ground radar cannot track the debris of the fairing for distance measurement due to the limitation of the pitch angle, the unmanned aerial vehicle is adopted, the unmanned aerial vehicle calculates the received position information of the debris of the rocket fairing and the position information of the unmanned aerial vehicle, calculates the azimuth angle and the pitch angle from the detector of the unmanned aerial vehicle to the debris of the rocket fairing, and transmits the azimuth angle and the pitch angle to the holder for angle control, so that the detector can track the debris of the rocket fairing in real time, can continuously lock the debris of the fairing and track the debris of the fairing to fall into a forecast falling area, can accurately find the search range to a point, or the debris of the fairing falls into a jungle, and the search range can also be controlled within 10 meters. Therefore, ground searching personnel can quickly find the debris of the fairing through positioning, the pertinence of searching work is enhanced, and the searching efficiency is greatly improved. The distance between the actual drop point and the forecast drop point is less than 2 km.
5. The action distance is long. The invention adopts at least 4 maneuvering ground radar stations deployed on the ground, wherein 1 ground radar main station, at least 3 secondary stations, an unmanned aerial vehicle for communicating with the maneuvering ground radar stations, and a ranging signal transmitting device arranged in a rocket fairing can accurately position and track a target within 500 kilometers.
6. The application is wide. With the increasing frequency of space launching service and reentry return task, due to the working characteristics of the carrier rocket or the returnable spacecraft, accurate, timely and rapid positioning and tracking search needs to be carried out on a carrier rocket booster, a primary/secondary rocket shell, a returnable satellite, a scientific test load, a manned spacecraft and the like. These needs can all be met by the process of the present invention. The main purpose is as follows: the method has the advantages of guaranteeing the life safety of astronauts, quickly recovering scientific test loads and task loads, recycling key high-value components, preventing technical parameter leakage and treating collateral damage in the first time.
Drawings
FIG. 1 is a schematic diagram of the rocket fairing debris positioning and tracking system components and application scenario of the present invention;
FIG. 2 is a schematic diagram of the signal transmitting apparatus of the present invention;
FIG. 3 is a schematic diagram of the motorized ground radar station of FIG. 1;
FIG. 4 is a schematic diagram of a ranging signal processing apparatus according to the present invention;
fig. 5 is a schematic view of the unmanned aerial vehicle load composition of the present invention.
Detailed Description
See fig. 1. In a preferred embodiment described below, a rocket fairing debris localization tracking system comprises: at least 4 motorized ground radar stations of ground deployment, wherein 1 ground radar main website, 3 at least secondary stations, the unmanned aerial vehicle who communicates with motorized ground radar station, the range finding signal transmitting device of installing in the rocket radome fairing to constitute by the rocket radome fairing debris location, the tracking system of three major systems of signal transmitting device, motorized ground radar station and unmanned aerial vehicle of installing in the radome fairing. In the rocket fairing debris positioning and tracking process, an unmanned aerial vehicle obtains self position information through a GNSS receiver of the unmanned aerial vehicle, each mobile ground radar station measures the self position information through a Beidou/GNSS common view receiver, the inter-station time synchronization is realized, a ranging signal sent by a signal transmitting device is received, the received ranging signal is calculated, and the distance between the rocket fairing debris and the ground station is obtained; each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the fairing debris to a ground radar main station through a short wave radio station, the main station adopts a positioning algorithm to solve, the position coordinate of a signal transmitting device is solved according to the position of each station and the measured pseudo-range, and the position coordinate information is sent to the unmanned aerial vehicle; the unmanned aerial vehicle calculates the received position information of the rocket fairing debris and the position information of the unmanned aerial vehicle, calculates the azimuth angle and the pitch angle from the detector to the rocket fairing debris, and transmits the azimuth angle and the pitch angle to the holder for angle control, so that the detector can track the rocket fairing debris in real time; and the unmanned aerial vehicle intervenes in the falling tail section of the debris of the fairing to lock and track the target, and transmits the image data back to the ground radar master station in real time, and the master station resolves based on image information target identification and a terrain matching algorithm to determine the final falling point of the debris of the fairing. And searching the rocket fairing remains by the ground searching squad according to the position of the drop point and with the assistance of image information.
The function and specific design implementation of each component are described in detail below.
The principle of debris localization is similar to the reverse GPS principle. The mobile ground radar station receives the signal of the distance measuring signal emitter, and based on the clock difference Delta t between the distance measuring signal emitter and the ground station, the position coordinate of the fairing remains and the position coordinate of 1-n for each ground stationi，yi，ziThe measured pseudo-range is
And each ground station transmits the measured pseudo range of the same sampling point to the master station, and the master station calculates the coordinates of the signal launching device (rocket fairing remains) according to the pseudo ranges measured by the four stations.
According to
The equation has four unknowns (x, y, z, Δ t), so the position coordinates of rocket fairing debris can be obtained only by measuring data of four ground stations.
At the end of the falling of the fairing, the mobile ground station can not track the signal sent by the fairing signal generating device due to the limitation of the radar elevation. At the moment, the unmanned aerial vehicle intervenes to lock and track the target of the tail section of the rocket fairing debris falling, and transmits the image data back to the main station of the mobile ground radar station, and the main station resolves the image information based on target identification and terrain matching positioning algorithm, resolves the falling point position of the rocket fairing debris, and provides great convenience for subsequent searching.
Object recognition refers to the process by which a particular object (or type of object) is distinguished from other objects (or other types of objects). For the recognition of such moving objects as rocket fairing debris, an interframe difference method, a background difference method, an optical flow method, and the like can be adopted.
Mountains, plains, forests, rivers, gulf stream, buildings and the like on the earth surface constitute characteristic properties of the earth surface, and the information generally does not change along with the change of time and climate and is difficult to disguise and conceal. The terrain data (mainly terrain position and altitude data) is made into a digital map by methods such as geodetic surveying, aerial photography, satellite photography and the like, and is stored in a computer of the aircraft. The digital map divides the actual topographic map into several small blocks called network partitions. The grid is divided into grids at equal intervals according to the longitude and latitude directions, the grid is smaller, the precision is higher, the data volume is larger, and the requirement on a computer is higher. However, the grid cannot be divided too large, and at least the features or natural undulations of the ground surface, such as roads, rivers, houses, etc., can be distinguished. The grid position contains two coordinates of x and y, the numbers in the grid represent the average of the ground height in the grid, so that a grid represents the three-dimensional coordinates of x, y and z, and the numbers and the corresponding x and y coordinates of each number are stored in the computer. The topographic profile for topographic matching is composed of a set of data extracted from such a digital map. Carrying out a terrain matching positioning algorithm process: rocket fairing debris goes from a moving object to rest as it falls to the ground. And at the static moment, matching the corresponding terrain position of the rocket fairing debris in the image with a digital map stored in a computer, and extracting corresponding grid parameters to obtain the three-dimensional coordinates of the rocket fairing debris. The terrain data of the terrain position and height data obtained by geodetic surveying, aerial photography and satellite photography are made into a digital map, the actual terrain map is divided into a plurality of small blocks according to the digital map and is subjected to network division, the blocks are divided into grids with x and y coordinates at equal intervals according to the longitude and latitude directions, the positions of the grids comprise the x and y coordinates, the numbers in the grids represent the average value of the ground height in the grids, a network representing the x, y and z three-dimensional coordinates is formed, and the digital map formed by the various numbers and the x and y coordinates corresponding to each number is stored in a computer of the aircraft. And then extracting a group of data from the digital map for terrain matching to form a terrain profile for terrain matching, matching the rocket fairing debris falling to the ground stationary moment at a terrain position corresponding to the image with the digital map stored in the computer by utilizing a terrain matching positioning algorithm, and extracting corresponding grid parameters to obtain three-dimensional coordinates of the rocket fairing debris.
See fig. 2. The function of the signal transmitting device is to generate and transmit a ranging signal. The signal transmitting apparatus includes: the beacon machine with power supply includes two 180 deg emitting antennas connected via high frequency cable, and two omnidirectional antennas to send out distance measuring signal. Considering the influence of the change of the posture rolling, rotation and the like of the rocket fairing debris in the falling process, the transmitting antenna of the beacon machine selects an omnidirectional antenna, and considering the problem of antenna installation, two antennas are installed in the direction of central axis symmetry of the rocket fairing. If the polarization modes of the two antennas are the same, a deeper zero point appears in an antenna synthetic directional diagram in an axial direction, so that two antennas with different polarization modes are considered, if the two antennas are respectively in left-hand circular polarization and right-hand circular polarization, two receiving antennas of each corresponding motorized ground radar station are needed: left-hand circular polarized and right-hand circular polarized antennas.
The beacon machine is composed of a baseband circuit and an up-conversion channel circuit on a hardware architecture, and a continuous wave spread spectrum modulation signal is mainly generated by a Field Programmable Gate Array (FPGA); the up-conversion channel consists of a local oscillator, a frequency converter, an amplifier, a filter and a power divider.
The power supply part comprises a lithium battery and a power switch, the beacon machine is powered by the battery, and the beacon machine starts to work after the battery is started and output. Considering that if the battery is started before the rocket is launched, the time for subsequent normal operation is inevitably reduced. Therefore, a power switch of the equipment is placed on the battery, and the battery adopts a self-starting mode. The present embodiment adopts the design of the acceleration switch. The problem of starting up the beacon machine after the rocket is launched can be well solved.
The signal transmitting device operates as follows. When the rocket is launched, a beacon power switch senses the acceleration of the rocket body, a lithium battery switch is turned on, the beacon starts to work, the beacon transmits signals through software radio, a continuous wave spread spectrum modulation signal generated based on a Field Programmable Gate Array (FPGA) can be up-converted by a frequency converter, and a transmitting antenna selects the continuous wave system to transmit signals to a ground station. In the aspect of beacon machine signal system selection, considering that rocket fairing remains are in a rotating or rolling state in a descending process and signals are quite unstable, a continuous wave system is selected for transmitting signals, and a high-sensitivity tracking technology is adopted to guarantee effective signal receiving and measuring time of a mobile ground station.
Usually, the location of the rocket fairing and the rocket separation point is known in advance, and the mobile ground station can be arranged according to the position of the separation point estimated in advance and estimated by using the maximum distance of 500 kilometers. The receiver receiving sensitivity of the ground station is-160 dBW, so that it is suitable to select the transmitting frequency of the L or S frequency band.
The rocket has the advantages that the rocket has great acceleration during takeoff after being launched, the process is different from a transportation state, the acceleration is converted into pressure through the pressure sensor, the switch is pushed to be opened, no external force is needed, the locked opening state is guaranteed through circuit design after the switch is opened, the requirement on the installation position is not high, manual intervention is not needed, and the rocket is suitable for environments on the rocket. In order to prevent contact oscillation in the power-on process, the power supply opening state can be locked by adding a self-locking circuit on the switch, and the reliability of the acceleration induction switch is improved.
See fig. 3. The mobile ground radar station comprises: the short wave radio station transmits short wave signals through the short wave antenna, the distance parameters measured by the distance signal processing device are reported to a master station of the mobile ground radar station in a unified way, the master station reports the distance parameters to the master station of the mobile ground radar station according to the position of each mobile ground radar station and the distance from the fairing to each ground station, and calculating real-time coordinate information of the unmanned aerial vehicle, and sending the coordinate information to the unmanned aerial vehicle.
See fig. 4. The ranging signal processing apparatus includes: a base band signal processing module connected with a power supply conversion module, a down-conversion module, a base band signal processing module and an up-conversion module connected between a phased array antenna and a transmitting antenna, wherein the power supply conversion module converts the voltage provided by a generator into a reference working voltage required by each module of a ranging signal processing device, the phased array antenna receives ranging signals sent by the transmitting device arranged in a rocket radome debris, the ranging signals are converted into intermediate frequency signals through the down-conversion module and then converted into digital signals by an A/D converter of the base band signal processing module, a series of software radio algorithms are synchronized, de-spread and demodulated to realize the resolving of pseudo ranges, if the base station is a secondary station, pseudo range information and self position information are sent to a short wave radio station and then sent to a master station, and if the base station is the master station, each secondary station performs the combined resolving through each pseudo range information transmitted by the short wave radio station and the position information of each ground station, and calculating the position information of the rocket fairing debris, coding the position information, modulating the position information into an intermediate frequency signal, performing D/A conversion, performing up-conversion on the position information into an S-band signal by an up-conversion module, and sending the S-band signal to the unmanned aerial vehicle by a passive transmitting antenna so as to position and search the falling tail section of the rocket fairing debris.
Because each mobile ground radar station amplitude station needs to transmit measurement data to the master station for position calculation, a communication link is needed between the stations. The short-wave communication of the short-wave radio station realizes radio signal transmission by using sky waves and ground waves, and realizes multi-station communication by adopting a frequency division multiple access mode. Compared with satellite communication, the short wave communication does not need to apply resources and pay fees when in use, and the communication speed can meet the requirement, so the invention adopts the short wave communication to carry out data transmission among mobile stations.
The working principle of the motorized ground station is as follows:
the Beidou/GNSS common-view receiver receives navigation satellite signals and completes inter-station time synchronization through the cooperation of a short-wave radio station; simultaneously, the coordinate position measurement of the station is completed; the mobile ground radar station searches beacon machine signals by adopting a wide beam, switches to a high-gain narrow beam after searching the signals, receives the signals, and measures the pseudo range of the station and a signal generating device arranged on a fairing; the auxiliary station of the mobile ground radar station sends self position information and the measured pseudo range to the main station through the short wave radio station, and the main station resolves to obtain the position of the signal generating device after receiving the position information and the pseudo range of the three stations, namely the position information of the rocket fairing debris, and simultaneously sends the position information to the unmanned aerial vehicle through the directional antenna so as to position and track the debris at the tail section of the falling.
The unmanned aerial vehicle tracking and searching system has the functions of carrying out position measurement and tracking on the rocket fairing debris at the tail falling stage and returning a real-time image of the whole process.
See fig. 5. The unmanned aerial vehicle comprises a GNSS receiver connected with a signal processing terminal machine, a holder with a photoelectric pod and a visible light/infrared detector, the GNSS receiver, the signal processing terminal machine and a receiving and transmitting antenna. The unmanned aerial vehicle can carry on visible light or infrared detector according to task load execution time (daytime or night), and visible light detector can select the number of pixels 1920 × 1080, 30 times optical zoom, and infrared detector optional resolution ratio: 640 x 512, 45mm and other relevant parameters. The configuration parameters of the detectors can ensure that the tasks are smoothly executed.
The unmanned aerial vehicle receives and executes a pitch angle instruction and an azimuth angle instruction sent by a signal processing terminal machine through a holder, the rocket fairing debris falling down is aligned in real time through a visible light/infrared detector, a GNSS receiver sends received navigation position information of the unmanned aerial vehicle to the signal processing terminal machine, the signal processing terminal machine calculates the azimuth angle and the pitch angle sent by the holder in real time according to the rocket fairing position information sent by a maneuvering ground station and the position information of the signal processing terminal machine, the real-time image information is sent to a main station through the visible light/infrared detector, the main station can perform motion target-based identification and tracking according to the real-time image information, locks the fairing debris, performs terrain matching positioning calculation according to a pre-stored electronic map, and determines the final falling position of the fairing debris.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A rocket fairing debris localization tracking system, comprising: at least 4 motor-driven ground radar stations of ground deployment, wherein 1 ground radar main website, 3 at least secondary stations, the unmanned aerial vehicle who communicates with motor-driven ground radar station install the range finding signal transmitting device in the rocket radome fairing, its characterized in that: the unmanned aerial vehicle obtains self position information through a GNSS receiver of the unmanned aerial vehicle, each mobile ground radar station measures the self position information through a Beidou/GNSS common-view receiver, realizes time synchronization between stations and receives a ranging signal sent by a signal transmitting device, calculates the received ranging signal, and obtains the distance between the rocket fairing debris and the ground station; each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the fairing debris to a ground radar main station through a short wave radio station, the main station adopts a positioning algorithm to solve, the position coordinate of a signal transmitting device is solved according to the position of each station and the measured pseudo-range, and the position coordinate information is sent to the unmanned aerial vehicle; the unmanned aerial vehicle calculates the received position information of the rocket fairing debris and the position information of the unmanned aerial vehicle, calculates the azimuth angle and the pitch angle from the detector to the rocket fairing debris, and transmits the azimuth angle and the pitch angle to the holder for angle control, so that the detector can track the rocket fairing debris in real time; and the unmanned aerial vehicle intervenes in the falling tail section of the debris of the fairing to lock and track the target, and transmits the image data back to the ground radar master station in real time, and the master station resolves based on image information target identification and a terrain matching algorithm to determine the final falling point of the debris of the fairing.
2. A rocket fairing debris position tracking system as recited in claim 1, wherein: the mobile ground radar station receives the signal of the distance measuring signal emitter, and based on the clock difference Delta t between the distance measuring signal emitter and the ground station, the position coordinate of the fairing remains and the position coordinate of 1-n for each ground stationi，yi，ziMeasured pseudoranges rhoi，
Multiplying the calculated receiving time T by the light speed C to obtain pseudo ranges of the mobile ground stations and the remains of the fairing;
according to
The equation has four unknowns (x, y, z, delta t), and the position coordinates of the rocket fairing debris are obtained by using the measurement data of the four ground stations.
3. A rocket fairing debris position tracking system as recited in claim 1, wherein: and the fairing is at the descending tail section, the unmanned aerial vehicle intervenes to lock and track the target of the tail section of the fairing debris falling, and the image data is transmitted back to the main station of the maneuvering ground radar station, and the main station resolves the image information based on target identification and terrain matching positioning algorithm to resolve the falling point position of the rocket fairing debris.
4. A rocket fairing debris position tracking system as recited in claim 1, wherein: the method comprises the steps of making topographic data of topographic position and height data obtained by geodetic surveying, aerial photography and satellite photography into a digital map, dividing an actual topographic map into a plurality of small blocks according to the digital map, dividing the map into grids at equal intervals according to longitude and latitude directions, dividing the grids into grids at equal intervals according to longitude and latitude directions, wherein the grid positions comprise two coordinates of x and y, the number in each grid represents the average value of the ground height in the grid, forming a network representing three-dimensional coordinates of x, y and z, and storing the digital map formed by various numbers and the x and y coordinates corresponding to each number in a computer of an aircraft.
5. A rocket fairing debris position tracking system as recited in claim 1, wherein: extracting a group of data from the digital map for terrain matching to form a terrain profile for terrain matching, matching the rocket fairing debris falling to the ground stationary moment at a terrain position corresponding to the image with the digital map stored in the computer by utilizing a terrain matching positioning algorithm, and extracting corresponding grid parameters to obtain three-dimensional coordinates of the rocket fairing debris.
6. A rocket fairing debris position tracking system as recited in claim 1, wherein: the signal transmitting apparatus includes: the beacon machine with power, two pairs of 180-degree beacon machine omnidirectional transmitting antennas that link to each other through the high-frequency cable, the beacon machine omnidirectional transmitting antenna adopts two antennas with different polarization modes to send out the ranging signal externally, if two antennas are respectively left-handed circular polarization and right-handed circular polarization antennas, then every corresponding mobile ground radar station receiving antenna needs two: left-hand circular polarized and right-hand circular polarized antennas.
7. A rocket fairing debris position tracking system as recited in claim 1, wherein: when the rocket is launched, a beacon power switch senses the acceleration of the rocket body, a lithium battery switch is started, the beacon starts to work, the beacon transmits signals through software radio, a continuous wave spread spectrum modulation signal is generated based on a Field Programmable Gate Array (FPGA), and after the continuous wave spread spectrum modulation signal is up-converted by a frequency converter, a transmitting antenna selects a continuous wave system to transmit signals to a ground station.
8. A rocket fairing debris position tracking system as recited in claim 1, wherein: the mobile ground radar station comprises: the short wave radio station transmits short wave signals through the short wave antenna, the distance parameters measured by the distance signal processing device are reported to a master station of the mobile ground radar station in a unified way, the master station reports the distance parameters to the master station of the mobile ground radar station according to the position of each mobile ground radar station and the distance from the fairing to each ground station, and calculating real-time coordinate information of the unmanned aerial vehicle, and sending the coordinate information to the unmanned aerial vehicle.
9. A rocket fairing debris position tracking system as recited in claim 1, wherein: the ranging signal processing apparatus includes: a base band signal processing module connected with a power supply conversion module, a down-conversion module, a base band signal processing module and an up-conversion module connected between a phased-array antenna and a transmitting antenna, wherein the power supply conversion module converts the voltage provided by a generator into a reference working voltage required by each module of a ranging signal processing device, the phased-array antenna receives ranging signals sent by the transmitting device arranged in a rocket radome debris, the ranging signals are converted into intermediate-frequency signals through the down-conversion module, the intermediate-frequency signals are converted into digital signals through an A/D converter of the base band signal processing module, a series of software radio algorithms are synchronized, de-spread and demodulated to realize the resolving of pseudo ranges, if the base station is a secondary station, pseudo range information and self position information of the base station are sent to a short-wave radio station and then sent to a master station, and if the base station is the master station, each secondary station performs the combined resolving through each pseudo range information transmitted by the short, and calculating the position information of the rocket fairing debris, coding the position information, modulating the position information into an intermediate frequency signal, performing D/A conversion, performing up-conversion on the position information into an S-band signal by an up-conversion module, and sending the S-band signal to the unmanned aerial vehicle by a passive transmitting antenna so as to position and search the falling tail section of the rocket fairing debris.
10. A rocket fairing debris position tracking system as recited in claim 1, wherein: the unmanned aerial vehicle receives and executes a pitch angle instruction and an azimuth angle instruction sent by a signal processing terminal machine through a holder, the rocket fairing debris falling down is aligned in real time through a visible light/infrared detector, a GNSS receiver sends received navigation position information of the unmanned aerial vehicle to the signal processing terminal machine, the signal processing terminal machine calculates the azimuth angle and the pitch angle sent by the holder in real time according to the rocket fairing position information sent by a maneuvering ground station and the position information of the signal processing terminal machine, the visible light/infrared detector sends real-time image information to a main station, the main station carries out identification and tracking based on a moving target according to the real-time image information, locks the fairing debris, carries out terrain matching positioning calculation according to a pre-stored electronic map, and determines the final falling position of the fairing debris.
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