CN114047486B - Radar seeker hanging flight test installation error angle calibration method and storage medium - Google Patents

Radar seeker hanging flight test installation error angle calibration method and storage medium Download PDF

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CN114047486B
CN114047486B CN202111260310.3A CN202111260310A CN114047486B CN 114047486 B CN114047486 B CN 114047486B CN 202111260310 A CN202111260310 A CN 202111260310A CN 114047486 B CN114047486 B CN 114047486B
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seeker
target
angle
coordinate system
inertial
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CN114047486A (en
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朱全江
沈志博
王浩丞
肖开清
钟都都
敖鹏
刘云峰
唐勇
刘俊
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CETC 29 Research Institute
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Abstract

The invention relates to the technical field of accurate guidance, and discloses a radar seeker hanging flight test installation error angle calibration method and a storage medium. Firstly, measuring a GPS coordinate of a target, and then measuring a GPS coordinate, a yaw angle, a pitch angle and a roll angle output by an inertial measurement unit; calculating a target angle under a seeker coordinate system, namely an estimated angle of the target according to a GPS coordinate of the target, a GPS coordinate, a yaw angle, a pitch angle and a roll angle output by an inertial unit and an initially estimated installation error angle of the seeker relative to the inertial unit, then powering on the seeker, searching the target, adjusting the direction of an antenna array beam of the seeker to enable the target to be just pointed upwards by the antenna array of the seeker, and measuring the target angle as a measurement angle of the target; and replacing the target position, repeating the measuring steps for n times in total, and finding a group of installation error angles in the n times of results so that the estimated angle of the target is closest to the measured angle of the target. The method is simple to use, good in operability and high in use efficiency.

Description

Radar seeker hanging flight test installation error angle calibration method and storage medium
Technical Field
The invention relates to the technical field of accurate guidance, in particular to a radar seeker hanging flight test installation error angle calibration method and a storage medium.
Background
In a radar seeker (simply referred to as a seeker) hanging flight test, main equipment comprises an airplane, an inertial unit and a seeker. When the installation space on the airplane is large enough, the inertial set and the seeker can be coaxially installed (the inertial set and the seeker point in the same direction). However, when the installation space on the airplane is not large enough, the inertial unit and the seeker need to be installed separately. In the case of a separate installation, the inertial unit is generally installed in the cabin of the aircraft, and the seeker is mounted on the nose or belly of the aircraft. Because the inertial unit and the seeker are separately installed, the direction of the seeker is difficult to be consistent with the direction of the inertial unit. In addition, in some cases, in order to fully verify the direction-finding function of the seeker, the seeker is intentionally given a deflection angle by a deflection tool, so that the seeker points to the lower left or the lower right.
In order to provide predictive information (the approximate angular direction of the target) for the seeker direction finding and to give an accurate assessment of the seeker direction finding accuracy, the seeker installation error angle (yaw angle) relative to the inertial set needs to be calibrated.
The existing calibration method mainly comprises the following three steps:
the method comprises the following steps that firstly, an airplane frame is leveled, so that the rolling angle of an airplane is zero, the pitch angle of the airplane is zero, and the yaw angle is measured through an instrument or other reference information;
secondly, after the aircraft frame is horizontal, the inertial unit is electrified, and three attitude angles (a yaw angle, a pitch angle and a roll angle) of the inertial unit are obtained after the inertial unit is stabilized;
thirdly, electrifying the seeker, and measuring the direction of the seeker (relative to the cross section of the airplane, the mounting surface is the cross section of the airplane in general) by using a three-coordinate measuring instrument;
and fourthly, processing data, namely obtaining the pointing deviation (coordinate rotation relation) of the airplane and the inertial set through the first step and the second step, obtaining the pointing deviation (coordinate rotation relation) between the airplane and the seeker through the second step and the third step, and further obtaining the pointing deviation (coordinate rotation relation) of the seeker relative to the inertial set.
The error angle calibration method is commonly used in a hanging flight test, but is complex in use, the main difficulty is that in the first step and the third step, the horizontal plane of the aircraft frame needs to be carried out in a fixed place and is provided with special equipment, a large amount of manpower and material resources are consumed, a professional three-coordinate measuring instrument is needed for measuring the direction of the seeker, and the measurement process is complex.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, the method for calibrating the installation error angle of the radar seeker in the hanging and flying test and the storage medium are provided.
The technical scheme adopted by the invention is as follows:
on one hand, the invention provides a radar seeker hang-off test installation error angle calibration method, which comprises the following steps:
step 1: placing a target in front of a seeker, measuring the GPS coordinate of the target, wherein the distance between the target and the seeker is more than 300 m;
and 2, step: electrifying the inertial measurement unit to obtain a GPS coordinate, a yaw angle, a pitch angle and a roll angle output by the inertial measurement unit;
and step 3: assuming that a fixed installation error angle exists between the seeker and the inertial set, carrying out initial estimation on the installation error angle to obtain an installation error angle estimation value, calculating a target angle under a seeker coordinate system according to a GPS coordinate position output by the inertial set, a GPS coordinate position of a target, a yaw angle, a pitch angle and a roll angle output by the inertial set and the installation error angle estimation value, and recording the calculated target angle as an estimated target angle;
and 4, step 4: powering up the seeker, adjusting the antenna array beam direction of the seeker near the estimated angle, manually searching for a target until the seeker finds the target, then adjusting the angle until the target is positioned in the antenna array beam direction of the seeker, measuring the target angle at the moment, and recording the measured target angle as the target measurement angle;
and 5: replacing the target position, repeating the steps 1-4, and repeatedly measuring the target angle n times;
step 6: and in the n times of measurement results, calculating and finding out the best matched installation error angle so that the estimated angle of the target is closest to the measurement angle of the target.
The specific calculation process for calculating the target angle in the guidance head coordinate system in step 3 comprises the following steps:
step a1: calculating a conversion matrix from a north heaven and east coordinate system of the seeker to a coordinate system of the seeker, wherein the conversion matrix is specifically shown in formula (1):
Figure BDA0003325324770000031
in formula (1), G _ NUE represents the coordinate system of north heaven of the inertial group, G represents the coordinate system of the inertial group, and R R 、P R 、C R Respectively representing a roll angle, a pitch angle and a yaw angle output by the inertial measurement unit;
step a2: calculating a transformation matrix from the inertial measurement unit coordinate system to the seeker coordinate system, specifically as shown in formula (2):
Figure BDA0003325324770000032
in the formula (2), R represents a seeker coordinate system, AZ 1 Azimuth of installation error of seeker relative to inertial set, EL 1 For the mounting error of the seeker relative to the inertial unit, angle of pitch, HG 1 The installation error roll angle of the seeker relative to the inertial measurement unit is shown;
step a3: according to a conversion matrix from a north-heaven-east coordinate system of the seeker to a coordinate system of the seeker
Figure BDA0003325324770000041
And the transformation matrix from the inertial measurement unit coordinate system to the seeker coordinate system->
Figure BDA0003325324770000042
Calculating a transformation matrix from an inertial unit north heaven coordinate system to a seeker coordinate system, wherein the transformation matrix is specifically represented by formula (3):
Figure BDA0003325324770000043
step a4: because the seeker is close to the inertial set (generally less than 3 m) and the seeker is far from the target (generally more than 300 m), the position of the seeker and the position of the inertial set are considered to be coincident, namely, the north-heaven coordinate system of the seeker and the north-heaven coordinate system of the inertial set are coincident, and the transformation matrix from the north-heaven coordinate system of the inertial set to the coordinate system of the seeker is converted into the transformation matrix
Figure BDA0003325324770000044
Equivalently converting the transformation matrix into a transformation matrix from a north heaven and east coordinate system of the seeker to a coordinate system of the seeker, specifically as shown in formula (4): />
Figure BDA0003325324770000045
Step a5: when the position of the seeker and the position of the inertial set coincide with each other, the GPS coordinates of the seeker are expressed by the GPS coordinates output by the inertial set, and the coordinates (X) of the seeker in the WGS84 rectangular coordinate system R ，Y R ，Z R ) As shown in formula (5):
Figure BDA0003325324770000046
in the formula (5), L G ，B G ，H G GPS coordinates output for inertial set, wherein L G Longitude of the inertial set, B G Latitude of inertial set, H G Height of inerter, N G The curvature radius of the prime index coordinate point is the prime index coordinate point;
wherein，
Figure BDA0003325324770000047
Wherein e is 2 ＝(a 2 -b 2 )/a 2 And a, b and e are respectively a major semi-axis, a minor semi-axis and a first eccentricity of a corresponding reference ellipsoid under the geodetic coordinates, wherein the major semi-axis a =6378137m, the minor semi-axis b =6356752.3m, e 2 ＝0.00669437999013；
Step a6: the GPS coordinates of the target are substituted into the formula (5), and the coordinates (X) of the target in the WGS84 rectangular coordinate system are calculated T ，Y T ，Z T ) Specifically, as shown in formula (6):
X T ＝(N T +H T )cosB T cosL T
Y T ＝(N T +H T )cosB T sinL T
Z T ＝[N T (1-e 2 )+H T ]sinB T (6)；
in the formula (6), L T ，B T ，H T Is a target GPS coordinate, wherein L T Representing the longitude, B, of the object T Indicates the latitude of the target, H T Indicating the height of the target, N T The curvature radius of the prime zone is the coordinate point of the target;
wherein the content of the first and second substances,
Figure BDA0003325324770000051
wherein e is 2 ＝(a 2 -b 2 )/a 2 And a, b and e are respectively a major semi-axis, a minor semi-axis and a first eccentricity of a corresponding reference ellipsoid under the geodetic coordinates, wherein the major semi-axis a =6378137m, the minor semi-axis b =6356752.3m, e 2 ＝0.00669437999013；
Step a7: coordinates (X) of the seeker in the WGS84 rectangular coordinate system obtained in step a6 R ，Y R ，Z R ) And the coordinates (X) of the target in the WGS84 rectangular coordinate system obtained in step a7 T ，Y T ，Z T ) In WGS84 rectangular coordinate system, the target point relative to the guide head point is obtainedCoordinate (X) of TR ，Y TR ，Z TR ) Specifically, as shown in formula (7):
Figure BDA0003325324770000054
step a8: the coordinates (X) of the target point relative to the point of the seeker determined in step a7 TR ，Y TR ，Z TR ) Calculating the target coordinate (N) of the seeker north heaven coordinate system with the seeker as the origin TR ,U TR ,E TR ) Specifically, as shown in formula (8):
Figure BDA0003325324770000052
step a9: the transformation matrix from the north heaven and east coordinate system of the seeker to the coordinate system of the seeker obtained in the step a4
Figure BDA0003325324770000053
And the target coordinate (N) in the north-heaven coordinate system of the seeker with the seeker as the origin obtained in the step a8 TR ,U TR ,E TR ) Calculating the target coordinate (based on the guide head) in the guide head coordinate system>
Figure BDA0003325324770000061
Specifically, the formula (9) is as follows:
Figure BDA0003325324770000062
step a10: the target coordinates under the coordinate system of the seeker with the seeker as the origin obtained in the step 9
Figure BDA0003325324770000063
Calculating target angles AZ and EL under a seeker coordinate system, and taking the target angles AZ and EL as estimated angles of a target, wherein the target angles AZ and EL are specifically expressed by the following formula (10):
Figure BDA0003325324770000064
in the formula (10), AZ represents a theoretical azimuth angle of the target, and EL represents a theoretical pitch angle of the target.
In step 6, the process of calculating and finding the best-matching installation error angle so that the estimated angle of the target is closest to the measured angle of the target specifically includes:
in the n measurement processes, the estimated angle of the target is AZ i And EL i The measured angle of the target is az i And el i Where i denotes the measurement order, the estimated angle AZ of the target i 、EL i And the measured angle of the target is az i 、el i Substituting the following formula (11) for calculation, finding out the minimum value from the calculation result, and taking the estimated angle of the set of targets with the minimum value as the mounting error angle to be measured:
Figure BDA0003325324770000065
further, the target is an angular reflector or a radiation source.
Further, when the target is an angular reversal, the measured angle of the target is measured by the single-pulse direction-finding function of the active radar seeker, and when the target is a radiation source, the measured angle of the target is measured by the passive direction-finding function of the passive radar seeker.
Further, the inertial set comprises inertial navigation and a GPS antenna.
Further, in step 1, the GPS coordinates of the target are measured by using the portable GPS measurement device.
In another aspect, the present invention provides a storage medium having stored thereon computer instructions which, when run on a computer, cause the computer to perform the method of the first aspect described above.
Compared with the prior art, the beneficial effects of adopting the technical scheme are as follows: the invention innovatively provides a radar seeker hang-off test installation error angle calibration method, compared with the existing calibration method, the calibration method provided by the scheme is simple to use and good in operability.
Drawings
Fig. 1 is a schematic flow chart of a method for calibrating an installation error angle in a radar seeker airborne test according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the pitch EL and azimuth AZ definitions.
FIG. 3 is a schematic diagram of a relationship between a target angle value and a measured value calculated based on a calibration installation error angle of the method in a certain passive radar seeker hanging flight test.
Fig. 4 is a schematic diagram of a relationship between a target angle value and a measured value calculated based on a calibration installation error angle of the method in a certain active radar seeker hanging test.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
The embodiment provides a method for calibrating an installation error angle of a radar seeker in a hanging flight test, which specifically comprises the following steps of:
step 1: the target is placed in front of the seeker, the target is within the range of the direction-finding visual angle of the seeker, the target is more than 300m away from the seeker and larger than the measurement blind distance of the seeker, in order to reduce the influence of ground reflection, the target is more than 2m away from the ground, the height is as high as possible, and meanwhile, the portable GPS measuring instrument is used for measuring the GPS coordinate of the target.
Specifically, the radar seeker mentioned in this embodiment may be an active radar seeker, a passive radar seeker, or an active and passive radar composite seeker, and the seeker has a two-dimensional direction finding capability, and a direction finding output result is a target angle including an azimuth angle and a pitch angle in the seeker coordinate system.
Step 2: and powering up the inertial measurement unit to obtain the GPS coordinate, the yaw angle, the pitch angle and the roll angle output by the inertial measurement unit.
Specifically, in the present embodiment, the inertial set includes inertial navigation and an antenna.
And step 3: this initial error angle is initially estimated assuming a fixed mounting offset of the seeker relative to the inertial set. When the inertial set and the airplane are mounted close to the same axis, the seeker is also mounted close to the same axis relative to the airplane, and in this case, the estimated installation error angle of the seeker relative to the inertial set can be zero (the yaw, the pitch and the roll are all zero). If the inertial measurement unit and the airplane are installed approximately coaxially, but the seeker adopts a deflection tool, so that the direction of the antenna array of the seeker has a larger deflection relative to the direction of the airplane, and the deflection angle is used as an estimated installation error angle. And calculating target angles including azimuth angles and pitch angles under a seeker coordinate system according to the GPS coordinate position output by the inertial set, the GPS coordinate position of the target, the yaw angle, the pitch angle and the roll angle output by the inertial set and the estimated value of the installation angle of the seeker relative to the inertial set, wherein the set of angles is called as the estimated angle of the target.
Specifically, in this embodiment, the calculation process of the target angle in the guidance head coordinate system is as follows:
step a1: calculating a conversion matrix from a north heaven coordinate system of the seeker to a seeker coordinate system, wherein the conversion matrix is specifically represented by formula (1):
Figure BDA0003325324770000091
in the formula (1), G _ NUE represents an inertial group north-heaven coordinate system, G represents an inertial group coordinate system, and R R 、P R 、C R Respectively representing a roll angle, a pitch angle and a yaw angle output by the inertial measurement unit;
step a2: calculating a transformation matrix from the inertial measurement unit coordinate system to the seeker coordinate system, specifically as shown in formula (2):
Figure BDA0003325324770000092
in the formula (2), R represents a seeker coordinate system, AZ 1 Azimuth of installation error of seeker relative to inertial set, EL 1 Pitching the seeker relative to inertial set installation errorCorner, HG 1 The installation error roll angle of the seeker relative to the inertial measurement unit is shown;
step a3: according to a conversion matrix from a north-heaven-east coordinate system of the seeker to a coordinate system of the seeker
Figure BDA0003325324770000093
And the transformation matrix from the inertial measurement unit coordinate system to the seeker coordinate system->
Figure BDA0003325324770000094
Calculating a transformation matrix from an inertial unit north heaven coordinate system to a seeker coordinate system, wherein the transformation matrix is specifically represented by formula (3):
Figure BDA0003325324770000095
step a4: the position of the seeker is considered to be coincident with the position of the inertial unit because the seeker is closer to the target point and the seeker is farther from the target point, namely, the north-heaven coordinate system of the seeker is coincident with the north-heaven coordinate system of the inertial unit, and the transformation matrix from the north-heaven coordinate system of the inertial unit to the coordinate system of the seeker is converted into the transformation matrix
Figure BDA0003325324770000096
Equivalently converting the transformation matrix into a transformation matrix from a north heaven and east coordinate system of the seeker to a coordinate system of the seeker, specifically as shown in formula (4):
Figure BDA0003325324770000097
step a5: when the position of the seeker and the position of the inertial set coincide with each other, the GPS coordinates of the seeker are expressed by the GPS coordinates output by the inertial set, and the coordinates (X) of the seeker in the WGS84 rectangular coordinate system R ，Y R ，Z R ) As shown in formula (5):
Figure BDA0003325324770000103
in the formula (5), L G ，B G ，H G GPS coordinates output for inertial set, wherein L G Longitude of the inertial group, B G Latitude of inertial set, H G Height of inerter, N G The curvature radius of the prime index coordinate point is the prime index coordinate point;
wherein the content of the first and second substances,
Figure BDA0003325324770000101
wherein e is 2 ＝(a 2 -b 2 )/a 2 And a, b and e are respectively a major semi-axis, a minor semi-axis and a first eccentricity of a corresponding reference ellipsoid under the geodetic coordinates, wherein the major semi-axis a =6378137m, the minor semi-axis b =6356752.3m, e 2 ＝0.00669437999013；
Step a6: the GPS coordinates of the target are substituted into the formula (5), and the coordinates (X) of the target in the WGS84 rectangular coordinate system are calculated T ，Y T ，Z T ) Specifically, as shown in formula (6):
X T ＝(N T +H T )cosB T cosL T
Y T ＝(N T +H T )cosB T sinL T
Z T ＝[N T (1-e 2 )+H T ]sinB T (6)；
in the formula (6), L T ，B T ，H T Is a target GPS coordinate, wherein L T Representing the longitude, B, of the object T Indicates the latitude of the target, H T Indicating the height of the target, N T The curvature radius of the prime zone is the coordinate point of the target;
wherein the content of the first and second substances,
Figure BDA0003325324770000102
wherein e is 2 ＝(a 2 -b 2 )/a 2 And a, b and e are respectively a major semi-axis, a minor semi-axis and a first eccentricity of a corresponding reference ellipsoid under the geodetic coordinate, wherein the major semi-axis a =6378137m, the minor semi-axis b =6356752.3m, e 2 ＝0.00669437999013；
Step a7: according to the stepsa6 coordinates (X) of the seeker in WGS84 rectangular coordinate system R ，Y R ，Z R ) And the coordinates (X) of the target in the WGS84 rectangular coordinate system obtained in step a7 T ，Y T ，Z T ) The coordinates (X) of the target point relative to the point of the seeker are determined in WGS84 rectangular coordinates TR ，Y TR ，Z TR ) Specifically, as shown in formula (7):
Figure BDA0003325324770000117
step a8: the coordinates (X) of the target point relative to the point of the seeker determined in step a7 TR ，Y TR ，Z TR ) Calculating the target coordinate (N) of the seeker north heaven coordinate system with the seeker as the origin TR ,U TR ,E TR ) Specifically, as shown in formula (8):
Figure BDA0003325324770000111
step a9: the transformation matrix from the north heaven and east coordinate system of the seeker to the coordinate system of the seeker obtained in the step a4
Figure BDA0003325324770000112
And the target coordinate (N) in the north-heaven coordinate system of the seeker with the seeker as the origin obtained in the step a8 TR ,U TR ,E TR ) Calculating the target coordinate (based on the guide head) in the guide head coordinate system>
Figure BDA0003325324770000113
The concrete formula is shown as (9):
Figure BDA0003325324770000114
step a10: the target coordinates under the coordinate system of the seeker with the seeker as the origin obtained in the step 9
Figure BDA0003325324770000115
Calculating target angles AZ and EL under a seeker coordinate system, and taking the target angles AZ and EL as estimated angles of a target, wherein the target angles AZ and EL are specifically expressed by the following formula (10):
Figure BDA0003325324770000116
in the formula (10), AZ represents a theoretical azimuth angle of the target, EL represents a theoretical pitch angle of the target, the theoretical azimuth angle AZ and the theoretical pitch angle EL of the target are defined as shown in fig. 1, the pitch angle and the azimuth angle polarity meet the right-hand criterion, the counterclockwise rotation is positive, and the thumb pointing direction is the same as the forward direction of the rotation shaft.
And 4, step 4: and powering up the seeker, adjusting the direction of the antenna array beam of the seeker near the estimated angle, manually searching for a target until the seeker finds the target, then adjusting the angle until the target is positioned in the direction of the antenna array beam of the seeker, measuring the current target angle, including the azimuth angle and the pitch angle, and recording the measured target angle as the target measurement angle. Typically the measured angle of the target deviates from the estimated angle of the target.
And 5: replacing the target position, repeating the steps 1-4, and repeatedly measuring the target angle n times;
step 6: and in the n times of measurement results, calculating and finding out the best matched installation error angle so that the estimated angle of the target is closest to the measurement angle of the target.
Theoretically, there is one group (AZ) 1 ，EL 1 ，HG 1 ) The calculated target angles (AZ and EL) are matched with the target angle measured by the seeker, and the specific calculation process is as follows:
in the n times of measurement process, n target points are measured, each target point is at a different position, and the estimated angle of the target calculated through the process is AZ i And EL i The measured angle of the target is az i And el i Where i denotes the measurement order, the estimated angle AZ of the target i 、EL i And the order of eyesThe target measurement angle is az i 、el i Substituting the following formula (11) for calculation, finding out the minimum value from the calculation result, and taking the estimated angle of the set of targets with the minimum value as the mounting error angle to be measured:
Figure BDA0003325324770000121
the present embodiment also provides a storage medium, where the storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes the method for calibrating the installation error angle of the radar seeker in the hang-off test according to the present embodiment.
A specific implementation example is given below, and the specific process is as follows:
(1) The angle reflection is placed in front of the seeker, the angle reflection (target) is about 550m away from the seeker, the angle reflection is more than 3m away from the ground, and the GPS coordinate of the angle reflection is measured by using a portable GPS measuring instrument.
(2) And powering up the inertial measurement unit to obtain the GPS coordinates and three attitude angles (yaw angle, pitch angle and roll angle) output by the inertial measurement unit.
(3) In the known design, a deflection tool has a deflection angle with 30 degrees downward in pitch, 34 degrees rightward in azimuth and 0 in roll relative to the non-deflection condition, so that a seeker points to the lower right normally, and the deflection angle is used as an estimated installation error angle. And calculating target angles including azimuth angles and pitch angles in a seeker coordinate system according to a GPS coordinate position output by the inertial set, a GPS coordinate position of a target, an attitude angle output by the inertial set (the inertial set needs to be powered up) and an installation angle estimation value of the seeker relative to the inertial set, wherein the specific calculation method refers to formulas (1) - (10).
(4) And powering up the seeker, adjusting the target pointing direction of the seeker near the estimated angle, manually searching the target until the seeker finds the angle, finely adjusting the angle until the target is just pointed upwards in the antenna array beam of the seeker, and recording the measured target angle at the moment, wherein the measured target angle comprises an azimuth angle and a pitch angle.
(5) Target positions were changed and (1) to (4) were repeated, assuming that 3 measurements were made.
(6) The best matching installation error angle is estimated according to equation (11) so that the estimated angle of the target is closest to the measured angle of the target.
The final installation error angles estimated by the embodiment are respectively as follows: the azimuth installation error is-35.4 degrees, the pitching installation error is-30.5 degrees, and the roll installation error is 0 degree. This set of installation error angle errors is mainly caused by the following factors: the design deflection angle of the deflection tool, the installation error angle of the seeker relative to the deflection tool, the installation error angle of the deflection tool relative to the airplane, the installation error angle of the inertial measurement unit relative to the airplane and the like.
In order to evaluate the calibrated installation error angle, the measurement data of the active and passive radar composite seeker during the hanging flight test is compared with the theoretical data calculated based on the calibrated installation error angle, wherein the theoretical data comprises active monopulse measurement data and passive measurement data.
As shown in fig. 3, comparing the passively measured angle curve and the calculated angle curve, it can be seen that the calculated angle curve based on the calibration installation error angle substantially matches the measured angle curve, demonstrating the correctness of the error calibration method.
As shown in fig. 4, comparing the active single-pulse measured angle curve with the calculated angle curve, it can be seen that the calculated angle curve based on the calibration installation error angle is substantially identical to the measured angle curve, further illustrating the correctness of the error calibration method.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed. Those skilled in the art to which the invention pertains will appreciate that insubstantial changes or modifications can be made without departing from the spirit of the invention as defined by the appended claims.

Claims (10)

1. A radar seeker hanging flight test installation error angle calibration method is characterized by comprising the following steps:
step 1: placing a target in front of the seeker and measuring the GPS coordinates of the target;
step 2: electrifying the inertial set to obtain a GPS coordinate, a yaw angle, a pitch angle and a roll angle output by the inertial set;
and step 3: assuming that a fixed installation error angle exists between the seeker and the inertial set, carrying out initial estimation on the installation error angle to obtain an installation error angle estimation value, calculating a target angle under a seeker coordinate system according to a GPS coordinate position output by the inertial set, a GPS coordinate position of a target, a yaw angle, a pitch angle and a roll angle output by the inertial set and the installation error angle estimation value, and recording the calculated target angle as an estimated target angle;
and 4, step 4: powering up the seeker, adjusting the antenna array beam direction of the seeker near the estimated angle, manually searching for a target until the seeker finds the target, then adjusting the angle until the target is positioned in the antenna array beam direction of the seeker, measuring the target angle at the moment, and recording the measured target angle as the target measurement angle;
and 5: replacing the target position, repeating the steps 1-4, and repeatedly measuring the target angle n times;
step 6: and in the n times of measurement results, calculating and finding out the best matched installation error angle so that the estimated angle of the target is closest to the measurement angle of the target.
2. The radar seeker hang-off test installation error angle calibration method according to claim 1, wherein the target is an angle reflector or a radiation source.
3. The method for calibrating the installation error angle of the radar seeker hanging-off test as claimed in claim 2, wherein when the target is an angle reversal, the measured angle of the target is measured by a single-pulse direction-finding function of an active radar seeker, and when the target is a radiation source, the measured angle of the target is measured by a passive direction-finding function of a passive radar seeker.
4. The method for calibrating the installation error angle of the radar seeker in the hanging-off test according to the claim 1 or the claim 3, wherein the step of calculating the target angle in the seeker coordinate system according to the GPS coordinate position output by the inertial unit, the GPS coordinate position of the target, the yaw angle, the pitch angle and the roll angle output by the inertial unit and the installation error angle estimated value specifically comprises the steps of:
step a1: calculating a conversion matrix from a north heaven coordinate system of the seeker to a seeker coordinate system, wherein the conversion matrix is specifically represented by formula (1):
Figure QLYQS_1
in formula (1), G _ NUE represents the coordinate system of north heaven of the inertial group, G represents the coordinate system of the inertial group, and R R 、P R 、C R Respectively representing a roll angle, a pitch angle and a yaw angle output by the inertial measurement unit;
step a2: calculating a conversion matrix from an inertial measurement unit coordinate system to a seeker coordinate system, wherein the conversion matrix is specifically shown in formula (2):
Figure QLYQS_2
in the formula (2), R represents a seeker coordinate system, AZ 1 Azimuth of installation error of seeker relative to inertial set, EL 1 For the mounting error of the seeker relative to the inertial unit, angle of pitch, HG 1 The installation error roll angle of the seeker relative to the inertial measurement unit is shown;
step a3: according to a conversion matrix from a north-heaven-east coordinate system of the seeker to a coordinate system of the seeker
Figure QLYQS_3
And a conversion matrix from the inertial group coordinate system to the seeker coordinate system>
Figure QLYQS_4
Calculating a transformation matrix from an inertial unit north heaven coordinate system to a seeker coordinate system, wherein the transformation matrix is specifically represented by formula (3): />
Figure QLYQS_5
Step a4: the position of the seeker is considered to be coincident with the position of the inertial unit due to the fact that the seeker is close to the inertial unit and the seeker is far away from the target, namely the north heaven-east coordinate system of the seeker is coincident with the north heaven-east coordinate system of the inertial unit, and a conversion matrix from the north heaven-east coordinate system of the inertial unit to the coordinate system of the seeker is converted into a conversion matrix
Figure QLYQS_6
Equivalently converting the transformation matrix into a transformation matrix from a north heaven and east coordinate system of the seeker to a coordinate system of the seeker, specifically as shown in formula (4):
Figure QLYQS_7
step a5: when the position of the seeker and the position of the inertial set coincide with each other, the GPS coordinates of the seeker are expressed by the GPS coordinates output by the inertial set, and the coordinates (X) of the seeker in the WGS84 rectangular coordinate system R ，Y R ，Z R ) As shown in formula (5):
Figure QLYQS_8
in the formula (5), L G ，B G ，H G GPS coordinates output for inertial set, wherein L G Longitude of the inertial set, B G Latitude of inertial set, H G Height of inerter, N G The curvature radius of the prime index coordinate point is the prime index coordinate point;
Figure QLYQS_9
wherein e is 2 ＝(a 2 -b 2 )/a 2 A, b and e are respectively a major semi-axis, a minor semi-axis and a first eccentric center of the corresponding reference ellipsoid under the geodetic coordinateRatios where the long half axis a =6378137m, the short half axis b =6356752.3m, e 2 ＝0.00669437999013；
Step a6: the GPS coordinates of the target are substituted into the formula (5), and the coordinates (X) of the target in the WGS84 rectangular coordinate system are calculated T ，Y T ，Z T ) Specifically, as shown in formula (6):
X T ＝(N T +H T )cosB T cosL T
Y T ＝(N T +H T )cosB T sinL T
Z T ＝[N T (1-e 2 )+H T ]sinB T (6)；
in the formula (6), L T ，B T ，H T Is a target GPS coordinate, wherein L T Representing the longitude, B, of the object T Indicates the latitude, H, of the target T Indicating the height of the target, N T The curvature radius of the prime zone is the coordinate point of the target;
Figure QLYQS_10
wherein e is 2 ＝(a 2 -b 2 )/a 2 And a, b and e are respectively a major semi-axis, a minor semi-axis and a first eccentricity of a corresponding reference ellipsoid under geodetic coordinates, wherein the major semi-axis a =6378137m, the minor semi-axis b =6356752.3m, e 2 ＝0.00669437999013；
Step a7: the coordinates (X) of the seeker in the WGS84 rectangular coordinate system obtained in step a6 R ，Y R ，Z R ) And the coordinates (X) of the target in the WGS84 rectangular coordinate system obtained in step a7 T ，Y T ，Z T ) The coordinates (X) of the target point relative to the point of the seeker are determined in WGS84 rectangular coordinates TR ，Y TR ，Z TR ) Specifically, as shown in formula (7):
Figure QLYQS_11
/>
step a8: the coordinates (X) of the target point relative to the point of the seeker determined in step a7 TR ，Y TR ，Z TR ) Calculating the target coordinate (N) of the seeker north heaven coordinate system with the seeker as the origin TR ,U TR ,E TR ) Specifically, as shown in formula (8):
Figure QLYQS_12
step a9: the transformation matrix from the north heaven and east coordinate system of the seeker to the coordinate system of the seeker obtained in the step a4
Figure QLYQS_13
And the target coordinate (N) in the north-heaven coordinate system of the seeker with the seeker as the origin obtained in the step a8 TR ,U TR ,E TR ) Calculating the target coordinate (based on the guide head) in the guide head coordinate system>
Figure QLYQS_14
The concrete formula is shown as (9):
Figure QLYQS_15
step a10: the target coordinates under the coordinate system of the seeker with the seeker as the origin obtained in the step 9
Figure QLYQS_16
Calculating target angles AZ and EL under a seeker coordinate system, and taking the target angles AZ and EL as estimated angles of a target, wherein the target angles are specifically shown in formula (10):
Figure QLYQS_17
in the formula (10), AZ represents a theoretical azimuth angle of the target, and EL represents a theoretical pitch angle of the target.
5. The method for calibrating the installation error angle of the radar seeker hang-off test according to claim 4, wherein in the step 6, the step of calculating and finding the best matching installation error angle so that the estimated angle of the target is closest to the measured angle of the target specifically includes:
in the n measurement processes, the estimated angle of the target is AZ i And EL i The measured angle of the target is az i And el i Where i denotes the measurement order, the estimated angle AZ of the target i 、EL i And the measured angle of the target is az i 、el i Substituting the following formula (11) for calculation, finding out the minimum value from the calculation result, and taking the estimated angle of the set of targets with the minimum value as the mounting error angle to be measured:
Figure QLYQS_18
6. the radar seeker hang-off test installation error angle calibration method according to claim 4, wherein the distance between the seeker and the inertial set is less than 3m.
7. The radar seeker hang-off test installation error angle calibration method according to claim 4, wherein the distance between the seeker and the target is greater than 300m.
8. The radar seeker hang-off test installation error angle calibration method according to claim 1, wherein the inertial set comprises an inertial navigation antenna and a GPS antenna.
9. The method for calibrating the installation error angle in the radar seeker hang-off test according to claim 1, wherein in the step 1, a portable GPS measuring instrument is used for measuring the GPS coordinates of the target.
10. A storage medium having stored thereon computer instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-9.
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