CN113569430B - Method for identifying reentry flight turning direction under external measurement-only observation - Google Patents
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Abstract
The invention discloses a method for identifying a reentry flight turning direction under external measurement and observation only, which comprises the following steps of: step 1, only using external observation data to carry out non-dynamic modeling, and calculating the speed vector of each point through filtering trajectory; step 2, calculating the increment of the current point speed vector; step 3, calculating a projection value of the current point speed vector increment in the normal direction of the track surface at the upper point according to the step 2; step 4, judging the turning direction of the single point according to the projection value; and 5, carrying out sliding window statistics on the turning directions calculated by the multiple points to obtain the turning directions judged by statistics. The method solves the problems of low accuracy and high misjudgment rate in the prior art for identifying the turning direction.
Description
Technical Field
The invention belongs to the technical field of aerospace navigation, and particularly relates to a method for identifying a reentry flight turning direction under external measurement and observation only.
Background
In the lift-type reentry and return of the spacecraft to the earth, in order to land at a specific position or area, the turning direction needs to be continuously adjusted during reentry and flight, so that the spacecraft flies towards a target point or a target area according to a preset guidance control method.
Due to the influence of the black obstacle, telemetry downloading interruption phenomenon can sometimes occur in the reentry flight process of the spacecraft, and effective gesture and pneumatic parameter information cannot be obtained from telemetry data at the moment, so that the turning direction cannot be identified. In this case, the observed data from the ground external measurement device becomes another dependable data for estimating the flight state of the spacecraft in the black obstacle or in the unstable attitude process. In addition, the observation of some non-cooperative reentrant targets is also mostly dependent on external measurement data such as radar. However, due to lack of spacecraft attitude information, identification of the turning direction in the reentry flight process of the spacecraft under pure external measurement observation can only start from the observation quantity such as ranging, azimuth angle, elevation angle, ranging change rate and the like in the external measurement data, which brings certain difficulty to the identification of the turning direction, and causes the problems of low accuracy of the identification of the turning direction and high probability of misjudgment.
Disclosure of Invention
The invention aims to provide a method for identifying a reentry flight turning direction under external measurement and observation only, which solves the problems of low accuracy and high misjudgment rate in the prior art for identifying the turning direction.
The technical scheme adopted by the invention is that the method for identifying the reentry flight turning direction under the external measurement and observation only comprises the following steps:
step 1, carrying out non-dynamic modeling by using only external observation data, and calculating a speed vector of each point state vector through a filtering trajectory;
the step 1 is as follows:
step 1.1, adopting a current statistical model and a UKF filtering frame to carry out non-dynamic modeling of a reentry process;
step 1.2, calculating the state vector of each point by using the UKF filtering frame and the current statistical model;
Step 2, calculating the increment of the current point speed vector;
step 3, calculating a projection value of the current point speed vector increment in the normal direction of the track surface at the upper point according to the step 2;
step 4, judging the turning direction of the single point according to the projection value;
and 5, carrying out sliding window statistics on the turning directions calculated by the multiple points to obtain the turning directions judged by statistics.
The present invention is also characterized in that,
step 1.1, let UKF filtered system state vector under J2000.0 coordinate system be:
wherein in each scalar value, x represents the position x coordinate component,Representing the velocity x-coordinate component,/->Representing the x-coordinate component of the acceleration, y representing the y-coordinate component of the position,/->Representing the velocity y-coordinate component,/>Representing the y-coordinate component of the acceleration and z representing the z-coordinate component of the position +.>Representing the velocity z-coordinate component,/->Representing an acceleration z-coordinate component;
is provided withReciprocal of acceleration time constant in current statistical model, +.>Is->Time to->Time increment of time,/->Is the average value of acceleration, and takes the value of +.>The method comprises the steps of carrying out a first treatment on the surface of the The state extrapolation model under the current statistical model is:
wherein,,is the mean value is zero, the variance is +.>Discretized process noise of +.>For acceleration variance +.>For the maneuver input matrix>Is a state transition matrix; since the three coordinate directions of x, y and z are orthogonal to each other, there are、/>;
Wherein, the state noise covariance matrix is:
calculating the ith data according to the current three-coordinate directions of x, y and z of the statistical model、/>、/>。
Step 1.2 in order to better adapt to different types of external measurement observation quantity such as ranging, angle measurement, speed measurement and the like, an observation model calculated by filtering is directly built under the ground level system of a measuring station, and a position vector is used for measuring the distance between the two measuring stationsSpeed vector->The method for calculating the observed quantity of the station horizon comprises the following steps:
step 1.2.1, the time is set、/>Conversion to ground fixation position->Speed->Converting the formula into,/>,/>,/>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>For the time matrix>For nutation matrix>Is the earth rotation matrix>Is polar motion matrix>A derivative matrix that is an earth rotation matrix;
step 1.2.2, transferring the position and the speed of the ground fixed system to the northeast-north day coordinate system of the measuring station, and calculating a conversion matrix from the ground coordinate of the measuring station to the northeast-north day coordinate system of the measuring stationPosition vector of station under ground fixation system +.>The position and the speed vector of the spacecraft under the northeast and north coordinate system of the measuring station are as follows: />,/>The method comprises the steps of carrying out a first treatment on the surface of the Is provided with->The three-direction component in the northeast coordinate system is +.>、/>、/>,/>Is +.>、/>、/>Calculating 4 observables of external measurement data and measuring distanceThe method comprises the steps of carrying out a first treatment on the surface of the Azimuth angle->The method comprises the steps of carrying out a first treatment on the surface of the Elevation angle->The method comprises the steps of carrying out a first treatment on the surface of the Speed measurement->The method comprises the steps of carrying out a first treatment on the surface of the Obtaining a measurement equation of UKF;
step 1.2.3 filtering the state vector at a certain timeObtaining the spacecraft position vector of +.>The velocity vector is +.>。
Step 2, setting a certain moment obtained by UKF filtering calculation in step 1 asState vector of time->The position and velocity vectors at this time are +.>、/>Is provided withOne time->The position and speed of the position are +.>、/>The unit vector of the normal direction of the track surface at the last moment is
The speed difference between the current moment and the last moment is the speed increment:
step 3, according to the speed increment obtained in step 2, namely, the components of the speed difference in the normal direction of the track surface at the last moment are as follows:
step 4 giving a defined value,/>And if the turning direction is 0, defining a turning direction discrimination function as follows:
obtaining a turning direction judgment value at the current moment according to the turning direction judgment function, whenWhen the value is 1, the left turn is represented, and the view is toward the flying speed directionPerforming inspection; when the value is-1, the right turn is indicated; when the value is 0, the curve is not turned or the value is too small to be judged.
Step 5, specifically, counting the turning directions judged by single points of m continuous points by adopting a time sequence sliding method, and setting the total reserved point at a certain moment as,/>If the left turn value is the majority, the current left turn can be judged; if the right turn value is the majority, judging that the current moment is right turn; otherwise, the switching direction at the current time cannot be judged.
In step 5, m is a predetermined value greater than 3, i.e., the turning direction value calculated for m points、/>……/>、/>Counting m points, and counting when the number of the values representing left turn is greater than or equal to a given number n, < >>Time indicates left turn; when the number of values representing right turn is greater than or equal to a given number n +.>Right turn is indicated; otherwise, the current point judges the turning direction and does not output the judging result.
The method has the beneficial effects that the method is suitable for calculating the flight state in the lift type reentry and return flight process of the spacecraft, and the turning direction is identified in real time by the non-dynamic modeling filtering and sliding window statistical algorithm under the condition that only the external measurement observation data is used in the lift type reentry and return earth process of the spacecraft, so that the turning direction identification problem in the lift type reentry and flight process of the spacecraft without telemetry data downloading is solved; meanwhile, as the non-dynamic modeling filtering algorithm and the sliding window multipoint statistical algorithm are adopted, the accuracy of identifying the turning direction is improved, and the probability of misjudgment is reduced.
Drawings
FIG. 1 is a flow chart of a method for identifying reentry flight turning direction under external measurement only observation according to the present invention.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
According to the method for identifying the reentry flight turning direction under the external observation only, the flow chart is shown in figure 1, the speed data of the flight trajectory is fitted by using the external observation data only, then the projection of the increment of each point speed in the normal direction of the track surface of the last point is calculated, the single-point turning estimation is calculated by the projection, and then the judgment of the current turning direction is given by counting sliding windows of a multi-point turning estimation sequence.
The specific implementation process comprises the following steps:
step 1, carrying out non-dynamic modeling by using only external observation data, and calculating a speed vector of each point state vector through a filtering trajectory;
step 1.1, let UKF filtered system state vector under J2000.0 coordinate system be:
wherein in each scalar value, x represents the position x coordinate component,Representing the velocity x-coordinate component,/->Representing an acceleration x coordinate component, a y representing a position y coordinate component,/>Representing the velocity y-coordinate component,/>Representing the y-coordinate component of the acceleration and z representing the z-coordinate component of the position +.>Representing the velocity z-coordinate component,/->Representing an acceleration z-coordinate component;
is provided withReciprocal of acceleration time constant in current statistical model, +.>Is->Time to->Time increment of time,/->Is the average value of acceleration, and takes the value of +.>The method comprises the steps of carrying out a first treatment on the surface of the The state extrapolation model under the current statistical model is:
wherein,,is the mean value is zero, the variance is +.>Is a discrete of (a)Process noise of the chemistry->For acceleration variance +.>For the maneuver input matrix>Is a state transition matrix; since the three coordinate directions of x, y and z are orthogonal to each other, there are、/>;
Wherein, the state noise covariance matrix is:
calculating the ith data according to the current three-coordinate directions of x, y and z of the statistical model、/>、/>;
Step 1.2, calculating the state vector of each point by using the UKF filtering frame and the current statistical model;
In order to better adapt to different types of external measurement and observation quantity such as ranging, angle measurement, speed measurement and the like, an observation model calculated by filtering is directly built under the ground level system of a measuring station and is formed by a position vectorSpeed vector->The method for calculating the observed quantity of the station horizon comprises the following steps:
step 1.2.1, the time is set、/>Conversion to ground fixation position->Speed->Converting the formula into,/>,/>,/>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>For the time matrix>For nutation matrix>Is the earth rotation matrix>Is polar motion matrix>A derivative matrix that is an earth rotation matrix;
step 1.2.2, the earth is retainedThe speed is transferred to the northeast-north day coordinate system of the measuring station, and the conversion matrix from the earth coordinate of the measuring station to the northeast-north day coordinate system of the measuring station is calculatedPosition vector of station under ground fixation system +.>The position and the speed vector of the spacecraft under the northeast and north coordinate system of the measuring station are as follows: />,/>The method comprises the steps of carrying out a first treatment on the surface of the Is provided with->The components in the directions of x, y and z are +.>、/>、/>,/>Is +.>、/>、/>Calculating 4 observables of external measurement data, and measuring distance +.>The method comprises the steps of carrying out a first treatment on the surface of the Azimuth angle->The method comprises the steps of carrying out a first treatment on the surface of the Elevation angle->The method comprises the steps of carrying out a first treatment on the surface of the Speed measurement->The method comprises the steps of carrying out a first treatment on the surface of the Obtaining a measurement equation of UKF;
step 1.2.3 filtering the state quantity at a certain momentThe spacecraft position at this time is obtained as +.>Speed is +.>。
Step 2, calculating the increment of the current point speed vector;
according to a certain moment obtained by UKF filtering calculation in the step 1, the method is set asState vector of time->The position and velocity vectors at this time are +.>、/>Let the last moment->The position and speed of the position are +.>、/>The unit vector of the normal direction of the track surface at the last moment is
The speed difference between the current moment and the last moment is the speed increment:
step 3, calculating a projection value of the current point speed vector increment in the normal direction of the track surface at the upper point according to the step 2; the velocity increment obtained according to the step 2, namely, the component of the velocity difference in the normal direction of the track surface at the last moment is as follows:
step 4, judging the turning direction of the single point according to the projection value:
given a defined value,/>And if the turning direction is 0, defining a turning direction discrimination function as follows:
obtaining a turning direction judgment value at the current moment according to the turning direction judgment function, whenWhen the value is 1, the left turn is indicated, and the observation is carried out towards the flying speed direction; when the value is-1, the right turn is indicated; when the value is 0, the curve is not turned or the value is too small to be judged;
and 5, carrying out sliding window statistics on the turning directions calculated by the multiple points to obtain the turning directions judged by statistics.
Step 5 adopts time sequenceSliding method, counting turning directions judged by single points of m continuous points, and setting total reserved points at a certain moment as,/>If the left turn value is the majority, the current left turn can be judged; if the right turn value is the majority, judging that the current moment is right turn; otherwise, the switching direction at the current time cannot be judged.
m is a value greater than 3, i.e. the turning direction value calculated for m points、/>……/>、(m points in total) and when the number of values representing left turn is greater than or equal to a given number n (/ -)>) Time indicates left turn; when the number of values representing right turn is greater than or equal to a given number n (/ -)>) Right turn is indicated; otherwise, the current point judges the turning direction and does not output the judging result. The turning direction is judged by utilizing a multi-point statistics dominant method, so that the possibility of misjudgment possibly caused by single-point judgment is reduced, and the reentry flight process turning direction identification method only using external observation data is realized.
In this embodiment, let m take 10 and n take 7, which means that 7 out of 10 determinations have consistent results. Counting the number of single-point judgment results representing left turn among the 10 points, and setting the number asThe number of single-point judgment results of right turn is represented; set to->When (when)At least 7 points out of the 10 points represent left turn, and the current turning direction can be given as left turn; if->At least 7 out of 10 points are indicated to indicate a right turn, the current turning direction may be given as a right turn. If the left turn and the right turn are not judged, the turning direction cannot be judged currently.
Aiming at the problem of identifying turning directions without telemetry information in the reentry and return process of a spacecraft under the condition of only external measurement, the invention adopts non-dynamic modeling and UKF filtering algorithm to realize a real-time flight speed estimation method suitable for pure external measurement and observation, then calculates the normal direction component of the track surface of each point relative to the last point to estimate the turning direction of single point judgment at each time point, and further gives out the final current turning direction judgment result by using a method for carrying out sliding window statistics on the single point turning judgment results at a plurality of time points, thereby forming the reentry flight process turning direction judgment method without knowing actual flight guidance model and attitude data and only using external measurement and observation quantity.
Claims (8)
1. The method for identifying the reentry flight turning direction under the external measurement observation only is characterized in that the specific implementation process comprises the following steps:
step 1, carrying out non-dynamic modeling by using only external observation data, and calculating a speed vector of each point state vector through a filtering trajectory;
the step 1 is as follows:
step 1.1, adopting a current statistical model and a UKF filtering frame to carry out non-dynamic modeling of a reentry process;
step 1.2, calculating the state vector of each point by using the UKF filtering frame and the current statistical model;
Step 2, calculating the increment of the current point speed vector;
step 3, calculating a projection value of the current point speed vector increment in the normal direction of the track surface at the upper point according to the step 2;
step 4, judging the turning direction of the single point according to the projection value;
and 5, carrying out sliding window statistics on the turning directions calculated by the multiple points to obtain the turning directions judged by statistics.
2. The method for identifying the reentry direction of the turning in the outward measurement only observation according to claim 1, wherein the step 1.1 is to set the system state vector of the UKF filter in the J2000.0 coordinate system as:
wherein in each scalar value, x represents the position x coordinate component,Representing the velocity x-coordinate component,/->Representing the x-coordinate component of the acceleration, y representing the y-coordinate component of the position,/->Representing the velocity y-coordinate component,/>Representing the y-coordinate component of the acceleration and z representing the z-coordinate component of the position +.>Representing the velocity z-coordinate component,/->Representing an acceleration z-coordinate component;
is provided withReciprocal of acceleration time constant in current statistical model, +.>Is->Time to->Time increment of time,/->Is the average value of acceleration, and takes the value of +.>The method comprises the steps of carrying out a first treatment on the surface of the The state extrapolation model under the current statistical model is:
wherein,,is the mean value is zero, the variance is +.>Discretized process noise of +.>For acceleration variance +.>For the maneuver input matrix>Is a state transition matrix; since the three coordinate directions of x, y and z are orthogonal to each other, there are、/>;
Wherein, the state noise covariance matrix is:
3. The method for identifying the reentry direction of the turning in the future under the observation of only external measurement as set forth in claim 2, wherein in the step 1.2, in order to better adapt to the different types of external measurement such as ranging, angle measurement, speed measurement, etc., the observation model calculated by filtering is directly built under the ground system of the measuring station, and the method is characterized by comprising the following steps ofSpeed vector->The method for calculating the observed quantity of the station horizon comprises the following steps:
step 1.2.1, the time is set、/>Conversion to ground fixation position->Speed->Conversion formula is +.>,,/>,/>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>For the time matrix>For nutation matrix>Is the earth rotation matrix>Is polar motion matrix>A derivative matrix that is an earth rotation matrix;
step 1.2.2, turning the ground-fixed system position speed toUnder the northeast coordinate system of the measuring station, the conversion matrix from the earth coordinate of the measuring station to the northeast coordinate system of the measuring station is calculatedPosition vector of station under ground fixation system +.>The position and the speed vector of the spacecraft under the northeast and north coordinate system of the measuring station are as follows: />,/>The method comprises the steps of carrying out a first treatment on the surface of the Is provided with->The three-direction component in the northeast coordinate system is +.>、/>、/>,/>Is +.>、/>、/>Calculating 4 observables of external measurement data and measuring distanceThe method comprises the steps of carrying out a first treatment on the surface of the Azimuth angle->The method comprises the steps of carrying out a first treatment on the surface of the Elevation angle->The method comprises the steps of carrying out a first treatment on the surface of the Speed measurement->The method comprises the steps of carrying out a first treatment on the surface of the Obtaining a measurement equation of UKF;
4. The method for identifying a reentry direction of a turning in a vehicle under external observation only as set forth in claim 3, wherein said step 2 is set toState vector of time->The position and velocity vectors at this time are +.>、/>Let the last moment->The position and speed of the position are +.>、/>The unit vector of the normal direction of the track surface at the last moment is
The speed difference between the current moment and the last moment is the speed increment:
5. the method for identifying a reentry direction of a turning flight under external observation only according to claim 4, wherein the step 3 is characterized in that the velocity increment obtained in the step 2, that is, the component of the velocity difference in the normal direction of the track surface at the last moment is:
6. the method for identifying a reentry direction of a turn under external observation only as set forth in claim 5, wherein said step 4 gives a defined value,/>And if the turning direction is 0, defining a turning direction discrimination function as follows:
obtaining a turning direction judgment value at the current moment according to the turning direction judgment function, whenWhen the value is 1, the left turn is indicated, and the observation is carried out towards the flying speed direction; when the value is-1, the right turn is indicated; when the value is 0, the curve is not turned or the value is too small to be judged.
7. The method for identifying a reentry flight turning direction under external measurement-only observation according to claim 1, wherein said step 5 specifically adopts a method of sliding in time sequence, counts turning directions determined by single points of m consecutive points, and sets a total reserved point at a certain time as,/>If the left turn value is the majority, the current left turn can be judged; if the right turn value is the majority, judging that the current moment is right turn; otherwise, the switching direction at the current time cannot be judged.
8. The method for identifying a reentry direction of a flight turning under external observation only as set forth in claim 7, wherein m in said step 5 is a predetermined value greater than 3, i.e., a turning direction value calculated for m points、/>……/>、Counting m points, and counting when the number of the values representing left turn is greater than or equal to a given number n, < >>Time indicates left turn; when the number of values representing right turn is greater than or equal to a given number n +.>Right turn is indicated; otherwise, the current point judges the turning direction and does not output the judging result. />
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