CN113884704B - High-precision alignment method for speed references of multi-source multi-class measurement data of carrier rocket - Google Patents
High-precision alignment method for speed references of multi-source multi-class measurement data of carrier rocket Download PDFInfo
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- CN113884704B CN113884704B CN202111125782.8A CN202111125782A CN113884704B CN 113884704 B CN113884704 B CN 113884704B CN 202111125782 A CN202111125782 A CN 202111125782A CN 113884704 B CN113884704 B CN 113884704B
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- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
Abstract
The invention belongs to the field of space launching and space measurement and control, and discloses a carrier rocket multi-source multi-type measurement data speed reference correction method. The method comprises the following steps: step one: a navigation system speed difference caused by the projectile system position difference; step two: the navigation system speed difference is converted into the geocentric system speed difference; step three: correcting the speed measurement data according to different measurement systems; for a satellite navigation measurement system, performing step four: correcting satellite navigation speed measurement data based on the geocentric speed difference; for a high-precision speed measuring radar system, executing the steps from five to seven: step five: converting the geocentric system speed difference into a measurement system speed difference; step six: converting the measurement system speed difference into a speed measurement element difference; step seven: and correcting the velocity measuring element of the high-precision velocity measuring radar system based on the velocity measuring element difference. The invention can effectively solve the problem of high-precision alignment of the multi-source multi-class speed measurement data of the carrier rocket.
Description
Technical Field
The invention belongs to the field of aerospace launching and aerospace measurement and control, and relates to a high-precision correction method for multi-source multi-type speed measurement data of a carrier rocket.
Background
Among the space launch measurements, there are three general categories of measurements related to velocity measurements: firstly, measuring data of a high-precision speed measuring radar system; the second is inertial navigation trajectory data calculated by a navigation computer downloaded by the carrier rocket through an on-rocket telemetry system; thirdly, satellite navigation measurement data downloaded by the carrier rocket through an on-rocket telemetry system.
The difference of the three types of carrier rocket speed measurement data is caused by the difference of measurement positions of the three types of measurement systems, wherein the measurement positions of the high-precision speed measurement radar system are the high-precision speed measurement radar transponder antenna positions installed on the carrier rocket; the measuring position of the inertial navigation measuring system is the measuring position of the inertial measuring device of the carrier rocket; the measurement position of the satellite navigation measurement system is the position of a satellite navigation information receiving antenna arranged on the carrier rocket.
The existence of the speed difference not only directly influences the high-precision fusion of three types of measurement data, but also inevitably influences the basic performance of the key process and the key action of the carrier rocket and the comprehensive performance of the flying process by utilizing inertial navigation trajectory data, external trajectory measurement data, satellite navigation measurement data and various types of telemetry data of various systems of the carrier rocket.
At present, in the space-time launching task, the difference of speed measurement data caused by inconsistent measurement positions is never corrected. Therefore, it is necessary to study an alignment method of carrier rocket speed measurement data, and correct the speed measurement metadata of the high-precision speed measuring radar and the speed measurement data of satellite navigation so as to keep the same speed reference with the inertial navigation trajectory data, thereby preventing uncontrollable fusion processing and unusable fusion processing results caused by the difference of the speed references.
Disclosure of Invention
The invention aims to provide a high-precision alignment method for multi-source multi-type speed measurement data of a carrier rocket, which is used for correcting speed measurement data of satellite navigation and speed measurement metadata of a high-precision speed measurement radar by utilizing a satellite navigation measurement system and a measurement position deviation vector of the high-precision speed measurement radar system and an inertial navigation measurement system in a projectile body coordinate system.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a carrier rocket multisource multisystem measurement data speed reference high-precision alignment method comprises the following steps:
step one: calculating a navigation system speed difference caused by the projectile system position difference;
step two: the navigation system speed difference is converted into the geocentric system speed difference;
step three: correcting the speed measurement data according to different measurement systems;
correcting the speed measurement data of the satellite navigation measurement system, and executing the fourth step:
correcting the speed measurement data of the high-precision speed measurement radar system, and executing the fifth to seventh steps:
step four: correcting satellite navigation speed measurement data based on the geocentric speed difference;
step five: converting the geocentric system speed difference into a measurement system speed difference;
step six: converting the measurement system speed difference into a speed measurement element difference;
step seven: and correcting the velocity measuring element of the high-precision velocity measuring radar system based on the velocity measuring element difference.
Further, the step one further includes:
step one: calculating a navigation system speed difference caused by the projectile system position difference;
calculating the position difference of the projectile system according to the relation of the relative movement and the formula (1)
The resulting speed difference of the navigation system>
Wherein T is G1 The method is a direction conversion matrix from a carrier rocket projectile body coordinate system to a navigation platform measurement coordinate system, and the specific calculation formula is as follows:
in the method, in the process of the invention,
measuring the attitude angle of the coordinate system for the projectile coordinate system relative to the navigation platform, < >>
Is the attitude angular velocity vector of the carrier rocket around the projectile body coordinate system,/->
And->
Can be obtained from telemetry parameters downloaded from the launch vehicle.
Further, the second step further includes:
the navigation system speed is differentiated according to (2)
Conversion to geocentric speed difference +.>
In the method, in the process of the invention,
is a position deviation vector in the geocentric coordinate system, < >>
Is the difference of the positions of the elastic bodies, T G1 Is a direction conversion matrix from a carrier rocket projectile body coordinate system to a navigation platform measurement coordinate system, T OG The method is a direction conversion matrix from a carrier rocket navigation measurement coordinate system to a geocentric coordinate system, and the specific calculation formula is as follows:
wherein t is the flight time of the carrier rocket relative to the navigation calculation starting time omega e For the rotation angular velocity of the earth, B 0 、L 0 、A 0 The launch point is the geographic latitude, the geographic longitude and the launch azimuth of the carrier rocket respectively.
Further, the fourth step further includes:
according to the geocentric system speed difference obtained in the second step
Calculating satellite navigation speed measurement data according to (3)
Correction value of>
Further, the fifth step further includes:
distinguishing a speed measuring main station from a speed measuring auxiliary station by using symbols i=0, 1, … and n, wherein i=0 represents the speed measuring main station, i=1, 2 and …, and n represents the ith speed measuring auxiliary station; the velocity difference of the geocentric system is determined according to (4)
Conversion into measuring system speed difference
In the method, in the process of the invention,
the method is a direction conversion matrix from a geocentric coordinate system to a measurement coordinate system of each measurement station of a high-precision speed measurement radar system, and the specific calculation formula is as follows:
in the formula (B) i L i ) (i=0, 1, …, n) is the geographical latitude and geographical longitude of each measuring station of the high-precision speed measuring radar system.
Further, the sixth step further includes:
the measurement inclined distance of the high-precision speed measuring radar system is recorded as R i (i=0, 1, …, n), the position coordinate vector of the carrier rocket in the high-precision measurement radar system is as follows
Wherein i=0 represents a speed measuring main station, i=1, 2, …, n represents an i-th speed measuring auxiliary station, and the speed difference of the measuring system is +.>
Rate element difference of conversion into high-precision speed measuring radar system>
In the method, in the process of the invention,
representing a velocity coordinate vector of the carrier rocket in the high-precision measurement radar system; />
The method is used for representing the measurement position deviation vector of the inertial navigation measurement system and the high-precision speed measuring radar system in a measurement coordinate system, and is called as measurement system position difference for short.
Further, the step seven further includes:
according to the velocity element difference of the high-precision velocity measurement radar system obtained in the step six
Calculating the velocity measuring element of the high-precision velocity measuring radar system according to the step (8)>
Correction value of>
The invention has the advantages that:
the invention corrects the related velocity measurement element according to the position vector difference between the measurement position of the inertial navigation measurement system and the corresponding measurement position of the satellite navigation measurement system and the high-precision speed measurement radar system. The speed difference between other measurement positions and the measurement positions corresponding to the inertial navigation trajectory is necessarily caused by the position vector difference, the speed difference is necessarily added into all data related to the speed in other measurement data, and the difference is corrected, so that all the measurement data related to the speed in other measurement data can be corrected to the positions corresponding to the inertial navigation trajectory, the speed reference of all the measurement data is unified, and technical guarantee is provided for high-precision fusion processing and fine application of multi-source multi-type measurement data.
Drawings
FIG. 1 is a schematic view of the difference in positions of the elastomeric system.
Fig. 2 is a schematic diagram of the main process of speed reference correction.
In fig. 2, the first oval frame mark mainly illustrates the speed difference of the measurement data in the measurement coordinate system of the navigation platform due to the difference between the measurement position and the inertial navigation measurement position, and focuses on the basic principle and the processing method for solving the speed difference from the measurement position difference to the speed difference; the 3 parts of the box mark mainly realize the conversion from the speed difference of the measurement coordinate system of the navigation platform to the speed measuring element difference of various measurement data, and mainly solve the principle and method problems of speed measuring element correction; the last two parts of the oval frame marks mainly realize the specific correction of the speed measuring element and the high-precision speed measuring radar speed measuring element of the satellite navigation measuring system, and mainly solve the specific method and process problems of the speed measuring element correction.
Detailed Description
As described above, the satellite navigation speed measurement data and the high-precision speed measurement radar speed measurement metadata are corrected by using the measured position deviation vectors of the satellite navigation measurement system, the high-precision speed measurement radar system and the inertial navigation measurement system in the missile body coordinate system.
The main signs used in the present invention are described as follows:
referring to fig. 2, the carrier rocket multisource multisystem measurement data speed reference high-precision alignment method comprises the following steps:
step one: calculating a navigation system speed difference caused by the projectile system position difference;
calculating the position difference of the projectile system according to the relation of the relative movement and the formula (1)
The resulting speed difference of the navigation system>
Wherein T is G1 The method is a direction conversion matrix from a carrier rocket projectile body coordinate system to a navigation platform measurement coordinate system, and the specific calculation formula is as follows:
in the method, in the process of the invention,
measuring the attitude angle of the coordinate system for the projectile coordinate system relative to the navigation platform, < >>
Is the attitude angular velocity vector of the carrier rocket around the projectile body coordinate system,/->
And->
Can be obtained from telemetry parameters downloaded from the launch vehicle.
Step two: the navigation system speed difference is converted into the geocentric system speed difference;
the navigation system speed is differentiated according to (2)
Conversion to geocentric speed difference +.>
In the method, in the process of the invention,
is a position deviation vector in the geocentric coordinate system, < >>
Is the difference of the positions of the elastic bodies, T G1 Is the direction conversion matrix from the carrier rocket projectile body coordinate system to the navigation platform measurement coordinate system, and is given in the step one, T OG Is a navigation measurement coordinate system of a carrier rocketThe direction conversion matrix to the geocentric coordinate system has the following specific calculation formula:
wherein t is the flight time of the carrier rocket relative to the navigation calculation starting time omega e For the rotation angular velocity of the earth, B 0 、L 0 、A 0 The launch point is the geographic latitude, the geographic longitude and the launch azimuth of the carrier rocket respectively.
The first step and the second step are both true for the measurement data of the satellite navigation measurement system and the high-precision speed measurement radar system. The correction of the speed measurement data is carried out in different measurement systems, starting from the following steps:
step three: correcting the speed measurement data according to different measurement systems;
correcting the speed measurement data of the satellite navigation measurement system, and executing the fourth step;
correcting the speed measurement data of the high-precision speed measurement radar system, and executing the fifth to seventh steps;
step four: correcting satellite navigation speed measurement data based on the geocentric speed difference;
according to the geocentric system speed difference obtained in the second step
Calculating satellite navigation speed measurement data according to (3)
Correction value of>
Step five: converting the geocentric system speed difference into a measurement system speed difference;
the primary and secondary speed measuring stations are distinguished by the symbols i=0, 1, …, n, wherein i=0 represents the primary speed measuring station, i=1, 2, …, n represents the ith secondary speed measuring station.
The velocity difference of the geocentric system is determined according to (4)
Conversion into measurement system speed difference->
In the method, in the process of the invention,
the method is a direction conversion matrix from a geocentric coordinate system to a measurement coordinate system of each measurement station of a high-precision speed measurement radar system, and the specific calculation formula is as follows:
in the formula (B) i L i ) (i=0, 1, …, n) is the geographical latitude and geographical longitude of each measuring station of the high-precision speed measuring radar system.
Step six: converting the measurement system speed difference into a speed measurement element difference;
the measurement inclined distance of the high-precision speed measuring radar system is recorded as R i (i=0, 1, …, n), the position coordinate vector of the carrier rocket in the high-precision measurement radar system is as follows
Where i=0 denotes the speed measurement master station, i=1, 2, …, n denotes the i-th speed measurement slave station. Measuring the system speed difference according to (5)>
Conversion toSpeed measuring element difference of high-precision speed measuring radar system>
In the method, in the process of the invention,
representing a velocity coordinate vector of the carrier rocket in the high-precision measurement radar system; />
The method is used for representing the measurement position deviation vector of the inertial navigation measurement system and the high-precision speed measuring radar system in a measurement coordinate system, and is called as measurement system position difference for short.
Specifically, the derivation process of the formula (5) is as follows:
because of the measurement slant distance R of the high-precision speed measuring radar system i Position coordinate vector of carrier rocket in high-precision measurement radar system
The following basic relations are provided:
deriving the above to obtain
And (5) performing full differential operation on the formula to obtain the formula.
In the formula (5), the carrier rocket is used for measuring the position coordinate vector in the radar system with high precision
The calculation according to formula (6) is as follows:
wherein T is OG The second step is carried out to obtain the product,
from step five, [ x ] G y G z G ] T The position data of the inertial navigation trajectory is obtained by downloading through an on-arrow telemetry system.
Measuring the position difference of the system
The calculation according to formula (7) is as follows:
wherein T is G1 From step one, T OG The second step is carried out to obtain the product,
is obtained in the fifth step.
Step seven: correcting the velocity measuring element of the high-precision velocity measuring radar system based on the velocity measuring element difference;
according to the velocity element difference of the high-precision velocity measurement radar system obtained in the step six
Calculating the velocity measuring element of the high-precision velocity measuring radar system according to the step (8)>
Correction value of>
In the process, step one mainly illustrates the speed difference of the measurement data in the measurement coordinate system of the navigation platform due to the difference between the measurement position and the inertial navigation measurement position, and mainly solves the basic principle and the processing method of the measurement position difference to the speed difference; the second step, the fifth step and the sixth step are mainly used for realizing the conversion from the speed difference of the measurement coordinate system of the navigation platform to the speed measuring element difference of various measurement data, and mainly solving the principle and method problems of speed measuring element correction; and step four, mainly realizing the specific correction of the speed measuring element of the satellite navigation measuring system, and step seven, mainly realizing the specific correction of the speed measuring element of the high-precision speed measuring radar, wherein the specific method and the process problem of the speed measuring element correction are mainly solved in the step 2.
According to the technical approach provided by the invention, the actual measurement precision of the measured position deviation of the satellite navigation measuring system, the high-precision speed measuring radar system and the inertial navigation measuring system in the missile body coordinate system and the actual measurement precision of the attitude angular velocity of the carrier rocket around the missile body coordinate system determine the correction precision of the speed measuring elements of the two measuring systems. Therefore, the invention can effectively solve the problem of high-precision alignment of the multi-source multi-type speed measurement data of the carrier rocket.
Claims (3)
1. A carrier rocket multisource multisystem measurement data speed reference high-precision alignment method is characterized by comprising the following steps:
step one: calculating a navigation system speed difference caused by the projectile system position difference;
step two: the navigation system speed difference is converted into the geocentric system speed difference;
the navigation system speed is differentiated according to (2)
Conversion to geocentric speed difference +.>
In the method, in the process of the invention,
is a position deviation vector in the geocentric coordinate system, < >>
Is the difference of the positions of the elastic bodies, T G1 Is a direction conversion matrix from a carrier rocket projectile body coordinate system to a navigation platform measurement coordinate system, T OG The method is a direction conversion matrix from a carrier rocket navigation measurement coordinate system to a geocentric coordinate system, and the specific calculation formula is as follows:
wherein t is the flight time of the carrier rocket relative to the navigation calculation starting time omega e For the rotation angular velocity of the earth, B 0 、L 0 、A 0 The launch point geographical latitude, the geographical longitude and the launch azimuth of the carrier rocket are respectively;
step three: correcting the speed measurement data according to different measurement systems;
correcting the speed measurement data of the satellite navigation measurement system, and executing the fourth step;
correcting the speed measurement data of the high-precision speed measurement radar system, and executing the fifth to seventh steps;
step four: correcting satellite navigation speed measurement data based on the geocentric speed difference;
according to the geocentric system speed difference obtained in the second step
Calculating satellite navigation speed measurement data according to (3)
Correction value of>
Step five: converting the geocentric system speed difference into a measurement system speed difference;
step six: converting the measurement system speed difference into a speed measurement element difference;
the measurement inclined distance of the high-precision speed measuring radar system is recorded as R i (i=0, 1, …, n), the position coordinate vector of the carrier rocket in the high-precision measurement radar system is as follows
Wherein i=0 represents a speed measuring main station, i=1, 2, …, n represents an i-th speed measuring auxiliary station, and the speed difference of the measuring system is +.>
Conversion into velocity element difference of high-precision velocity measuring radar system
In the method, in the process of the invention,
representing a velocity coordinate vector of the carrier rocket in the high-precision measurement radar system;
the method comprises the steps of representing a measurement position deviation vector of an inertial navigation measurement system and a high-precision speed measuring radar system in a measurement coordinate system, and simply called a measurement system position difference;
step seven: correcting the velocity measuring element of the high-precision velocity measuring radar system based on the velocity measuring element difference;
according to the velocity element difference of the high-precision velocity measurement radar system obtained in the step six
Calculating the velocity measuring element of the high-precision velocity measuring radar system according to the step (8)>
Correction value of>
2. A method of high accuracy alignment of a launch vehicle multisource multispeculiarity measurement data speed reference as recited in claim 1, wherein step one further comprises:
step one: calculating a navigation system speed difference caused by the projectile system position difference;
calculating the position difference of the projectile system according to the relation of the relative movement and the formula (1)
The resulting speed difference of the navigation system>
Wherein T is G1 The method is a direction conversion matrix from a carrier rocket projectile body coordinate system to a navigation platform measurement coordinate system, and the specific calculation formula is as follows:
in the method, in the process of the invention,
measuring the attitude angle of the coordinate system for the projectile coordinate system relative to the navigation platform, < >>
Is the attitude angular velocity vector of the carrier rocket around the projectile body coordinate system,/->
And->
Can be obtained from telemetry parameters downloaded from the launch vehicle.
3. A method for high accuracy alignment of a launch vehicle multisource multispeculiarity measurement data speed reference as claimed in claim 1 wherein step five further comprises:
distinguishing a speed measuring main station from a speed measuring auxiliary station by using symbols i=0, 1, … and n, wherein i=0 represents the speed measuring main station, i=1, 2 and …, and n represents the ith speed measuring auxiliary station; the velocity difference of the geocentric system is determined according to (4)
Conversion into measuring system speed difference
In the method, in the process of the invention,
the method is a direction conversion matrix from a geocentric coordinate system to a measurement coordinate system of each measurement station of a high-precision speed measurement radar system, and the specific calculation formula is as follows:
in the formula (B) i L i ) (i=0, 1, …, n) is the geographical latitude and geographical longitude of each measuring station of the high-precision speed measuring radar system.
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| FR2986072A1 (en) * | 2012-01-20 | 2013-07-26 | Junghans T2M Sas | ACCELERATION MEASUREMENT DEVICE COMPRISING CALIBRATION FUNCTION, AND ASSOCIATED Y ACCELERATION MEASUREMENT METHOD |
| CN111025351A (en) * | 2019-12-05 | 2020-04-17 | 中国人民解放军63620部队 | Real-time estimation method for time zero difference of carrier rocket navigation calculation and external measurement system |
| CN113050143A (en) * | 2021-06-02 | 2021-06-29 | 西北工业大学 | Tightly-coupled navigation method under emission inertial coordinate system |
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| CN109001786B (en) * | 2018-06-04 | 2020-06-16 | 北京未来导航科技有限公司 | Positioning method and system based on navigation satellite and low-orbit augmentation satellite |
| CN110487301B (en) * | 2019-09-18 | 2021-07-06 | 哈尔滨工程大学 | Initial alignment method of radar-assisted airborne strapdown inertial navigation system |
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| FR2986072A1 (en) * | 2012-01-20 | 2013-07-26 | Junghans T2M Sas | ACCELERATION MEASUREMENT DEVICE COMPRISING CALIBRATION FUNCTION, AND ASSOCIATED Y ACCELERATION MEASUREMENT METHOD |
| CN111025351A (en) * | 2019-12-05 | 2020-04-17 | 中国人民解放军63620部队 | Real-time estimation method for time zero difference of carrier rocket navigation calculation and external measurement system |
| CN113050143A (en) * | 2021-06-02 | 2021-06-29 | 西北工业大学 | Tightly-coupled navigation method under emission inertial coordinate system |
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