CN114239305B - Battlefield situation scene simulation excitation system - Google Patents
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Abstract
The invention discloses a battlefield situation scene simulation excitation system, which comprises a system management and display module, a battlefield situation simulation module, a model modeling and basic action library modeling module, a first action library simulation module and a second action library simulation module, wherein the first action library simulation module is used for simulating a battlefield situation scene; the system management and display module realizes system management, record playback, simulation display and drive management through XML configuration files and interface input; the battle situation simulation module is used for designing and simulating a required battle scene, and meanwhile, planning and deducing tasks of the battle scene and the tasks; the model modeling module is used for carrying out the operation on the airplane characteristics, the radar model and the airplane flying mode; and the basic action library modeling module is used for modeling the flight action and the waypoint of the airplane.
Description
Technical Field
The invention belongs to the technical field of microwave radars, and particularly relates to a battlefield situation scene simulation excitation system.
Background
The existing battlefield situation scene simulation excitation can only load an airplane model and carry out simple simulation, has small application prospect, cannot carry out data interaction with radar target excitation equipment, a radar and a radar comprehensive display and control system and form a system data closed loop, and the simulation of the system data closed loop does not have real referential property.
Disclosure of Invention
The invention aims to: the invention aims to solve the defects in the prior art and provides a battlefield situation scene simulation excitation system.
The technical scheme is as follows: the invention discloses a battlefield situation scene simulation excitation system, which comprises a system management and display module, a battlefield situation simulation module, a simulation configuration module, a model modeling module and a basic action library modeling module;
the system management and display module comprises a system management submodule, a recording playback module, a driving management module and a simulation display module, and system management, recording playback, simulation display and driving management are sequentially realized through an XML configuration file and interface input;
the battle situation simulation module comprises platform simulation, situation simulation, task planning, task deduction and array surface control sub-modules, the design and simulation of the required battle scene are realized through the 5 modules, and the task planning deduction is carried out on the battle scene and the task;
the simulation configuration module comprises a test case configuration submodule, a system parameter configuration submodule and a model parameter configuration submodule, so as to configure system parameters, airplane model parameters, test cases and communication interfaces;
the model modeling module comprises an airplane characteristic sub-module, a radar modeling sub-module and a flight mode sub-module, and further carries out modeling simulation on the airplane characteristic, the radar model and the airplane flight mode of the airplane;
the basic action library modeling module comprises a direct flight submodule, a turning submodule, a climbing and diving submodule and an waypoint maneuvering submodule, and simulation of various flight modes is realized;
the system management and display module runs the battle scene situation data in real time, the simulation configuration module configures various parameters, and the battle situation simulation module deduces and generates situation target information, carrier information and array surface control signals according to the scene and transmits the situation target information, the carrier information and the array surface control signals to the radar target excitation equipment, the radar comprehensive display and control equipment and the array surface control equipment respectively; the array surface control equipment receives and analyzes the data, and controls an external array surface system through an array surface control signal and the array surface control equipment; the combat scene situation data comprises airborne platform data, target data and physical environment data.
Furthermore, a system management submodule of the system management and display module performs identity authentication, authority management, running state management and real-time processing;
the authority of the system user is distinguished, distributed and verified through identity authentication, and corresponding authorization is carried out on different users through authority management;
the operation state management comprises a real-time mode and a non-real-time mode, the non-real-time mode comprises four states of system pre-configuration, initialization, configuration and closing, and the real-time mode comprises six states of starting, keeping, running, resetting, playback and fault tolerance;
the real-time processing comprises a human-computer interaction module, a real-time scheduling module, a clock synchronization management module and a data communication and public data area management module; the system comprises a man-machine interaction module, a real-time scheduling module and a display module, wherein the man-machine interaction module realizes interaction and display centers of information between a user and the system and inside the system, and the real-time scheduling module realizes periodic task scheduling, accidental task scheduling and background task scheduling; the clock synchronization management module realizes timing and timing for the simulation task, and the data communication and public data area management module provides communication and public data area management for the simulation task.
Further, the specific process of the identity authentication is as follows:
a user inputs a user name and a password firstly, provides a plurality of groups of user names and passwords and has different battlefield situation scene simulation incentive software use permissions respectively;
if the input is empty, the input is required to be continued; if not, comparing the password with the user name and the password, and if the password is input incorrectly, prompting the input incorrectly and clearing the input box; if the user name is matched with any one of the three groups of user names and passwords, entering a battlefield situation scene simulation excitation software main interface; if the observer account is used and the data monitoring interface is entered, the Enabled attribute of all the options of the menu bar is set to 'False', at the moment, each functional module cannot be operated, and only simple data monitoring can be carried out; if the 'operator account number' is used, only the relevant module of the autonomous flight simulation can be operated and the function of the module can be realized after the main interface is accessed; if the engineer account is used, the 'Enabled' attribute of all options of the menu bar is set to 'True' by using all functions of the system; all users who can enter the main interface display the current operators in the system status bar as follows in the using process: * The star represents the user name input by the login interface;
in the identity authentication process, different user identities have different authority management.
Further, the human-computer interaction module comprises:
the simulation configuration and setting module realizes the distribution of simulation tasks on simulation computing nodes and completes the initialization parameter setting of the tasks;
the operation control service module provides corresponding commands for controlling the operation of simulation excitation software of the battlefield situation scene for a user, wherein the commands comprise simulation task registration and initialization, simulation starting, playback and ending;
the system running state display module monitors the running state of the battlefield situation scene simulation excitation software in real time, displays performance data, system information, node states, fault conditions and the like generated in the simulation task execution process for a user, and establishes a running log; the data acquisition, analysis and storage module acquires data in real time, analyzes the data and processes and stores analysis results.
Further, the real-time scheduling module includes:
the periodic task scheduler module organizes the calculation of the aerial carrier, the target aircraft and the radar simulation model into periodic processing tasks according to the running state of the battlefield situation scene simulation excitation software, determines the priority and the execution sequence of various periodic processing tasks and ensures that the tasks are executed before the deadline;
the sporadic task scheduling module buffers and preprocesses various control instructions sent by the human-computer interaction module and corresponding event information triggered in the simulation execution process, and immediately schedules processing tasks of the events after the execution of the periodic tasks is finished;
after the scheduling of the periodic tasks and the accidental tasks is finished, the background task scheduling module schedules the residual CPU time to a simulation data storage and curve drawing task;
the event information refers to event information such as airplane flying, encountering, radar scanning and capturing of airplanes of both sides, missile launching, airplane curve flying and missile avoidance and the like in the situation simulation process.
Furthermore, the war situation simulation module builds a war situation simulation environment based on HLA and MSDL, including platform simulation, situation simulation, mission planning and mission deduction and front control;
the platform simulation describes the inherent attributes and functions of a target platform and the fighting behaviors;
the situation simulation is based on three-dimensional solid models and geographic environments of the entity participating in the battle simulation through OSG simulation, then the solid models are zoomed by proper times according to simulation data stream contents and then displayed in a scene, and the position and the posture of the model are re-rendered according to different position and posture information in each frame of network data packet;
the task planning and task deduction means that the flight track of the task is planned according to the preset target of the task, and the planned waypoints and routes are stored in a database;
the array surface control means that the communication with the array surface system and the control of the antenna array surface are realized through a switch matrix in the array system.
Further, the specific contents of the aircraft simulation model implemented in the model modeling module are as follows:
step 2, the airplane makes relevant maneuvering decisions including avoidance and attack by combining the current situation and an airplane action library;
step 3, then, according to the decision information, coordinate conversion of relevant data is carried out, and time propulsion of attitude, position and the like is carried out by combining an aircraft three-degree-of-freedom motion equation;
step 4, simultaneously outputting related control information according to the configuration conditions of the current airplane weapons, radars and the like, wherein the radar is subjected to an attack mode by a search mode, and weapons are subjected to attack and the like;
step 5, after the execution of the appeal time is advanced, if the simulation is not finished, the steps 2 and 3 are circulated, otherwise, the simulation is stopped;
the three-degree-of-freedom centroid kinetic equation is as follows:
the flight state quantity is
Wherein
In order to be the speed of the aircraft,
in order to be the pitch angle,
in order to determine the yaw angle,X、Y、Zthree-axis coordinates of the airplane under the space absolute coordinates; the control quantity is
In which
In order to overload the aircraft in the longitudinal direction,
in order to overload the aircraft in the normal direction,
is the aircraft roll angle; and, and
as track velocity vector in
The component (c);
、
、
is angular velocity
In that
The component (a) in (b),
is a transformation matrix from the ground axis to the body system.
Furthermore, the model modeling module comprises a scene management module, a rendezvous calculation simulation module, a working mode simulation module, a beam scheduling simulation module, a target detection simulation module and a flight path processing simulation module; the scene management module imports external situation data, combines radar detection information and working parameters of a user, and the intersection calculation simulation module, the working mode simulation module, the beam scheduling simulation module, the target detection simulation module and the track processing simulation module sequentially perform intersection calculation, working mode simulation, beam scheduling simulation, target detection simulation and track processing simulation and finally output working state information and radar detection information;
the intersection calculation simulation module converts the position of a target into polar coordinate representation under an antenna system and converts the target speed into radial speed; the method comprises the following specific steps: the method comprises the steps of converting geodetic coordinates of a carrier and a target into geocentric coordinates, converting the geocentric coordinates of the target into northeast coordinates with the position of the carrier as an origin, and converting the northeast coordinates into polar coordinates to obtain the azimuth, the elevation and the distance of the target relative to a radar; a relative velocity solution algorithm in the intersection calculation simulation module converts the geographic system velocity into the geocentric system velocity and the radial velocity in sequence to finally obtain the radial velocity of the target;
the beam scheduling simulation module judges whether the target meets the radar visibility condition or not through the radar visibility range and the radar detection angle range;
the working mode simulation module is used for managing the working mode of the airborne fire control radar and switching the working mode;
the beam scheduling simulation module simulates the working state of a radar according to the position of a carrier and the working mode parameters of the radar to realize target searching and tracking beam scheduling management, and specifically sequentially comprises a searching and scanning pattern, a fixed point tracking model and TAS beam scheduling;
the target detection simulation module calculates the relative position information of the target according to the position information of the radar and the target, and then superposes the relative position information and the direction-finding error to obtain the angle, speed and distance information of the target position;
and the track processing simulation module carries out filtering simulation on the basis of the target track data to obtain track starting data, track maintaining data and track ending data of the target.
Further, the specific process of the target mobility capability simulation in the basic action library modeling module is as follows:
firstly, configuring maneuvering capacity to be realized based on a maneuvering algorithm library, and setting corresponding parameters;
selecting a relevant maneuvering algorithm according to the selected maneuvering model and the relevant parameters and combining external control information to realize maneuvering position calculation;
and combining the external control information, if a stop command is not received, continuing the circulation, otherwise, stopping the simulation.
Further, the flight mode simulation in the basic action library modeling module comprises a plane flight, a snake-shaped maneuver, a dive, a climb, a hover, a turn, a plane flight, a snake-shaped maneuver, a target position calculation and a maneuver combination strategy,
the control method for the maneuvering action of the airplane comprises the following steps:
selecting open-loop or closed-loop control according to the characteristics of the pilot for controlling the airplane maneuver, the control targets in different stages and the difference between the current state and the required state of the airplane;
when the required motion parameter is greatly different from the current motion parameter, the open-loop control greatly changes the value of the control quantity according to the actual operation experience of the pilot so as to rapidly change the motion parameter:
the open loop control algorithm is as follows:
in the formula (I), the compound is shown in the specification,
is a control quantity;
is the rate of change of the control quantity;
a certain desired value of the control quantity;
when the required motion parameters are close to the current parameters and the motion parameters need to be accurately controlled, closed-loop control is selected: proportional-derivative-integral control by deviation:
in the formula (I), the compound is shown in the specification,
a Laplace transform which is a transfer function;
has the beneficial effects that: compared with the prior art, the invention has the following advantages:
(1) The invention can perform data interaction with a real radar, a radar target excitation device and a radar comprehensive display control excitation device to form a system closed loop, and construct a more real system cooperative combat scene and environment.
(2) The invention comprehensively utilizes digital simulation and physical simulation means to construct a complex electromagnetic environment close to actual combat and a novel combat object simulation environment, forms multi-hand combined test verification capability and test and training integrated capability in the product development process, realizes equipment combat technical performance test and training oriented to combat application, provides support for iterative optimization of radar performance, and realizes early performance verification for military actual combat application. (3) The flight data of the invention is derived from real flight data, and multiple deduction simulation is carried out, so that the simulation result is closer to the real flight result.
(4) The method can perform data interaction with a real radar, a radar target excitation device and a radar comprehensive display control excitation device, and form a data chain closed loop, and the simulation result is real and reliable.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of identity authentication in the present invention;
FIG. 3 is a flow chart of the operation state management of the present invention;
FIG. 4 is a diagram of flight simulation real-time processing in accordance with the present invention;
FIG. 5 is a diagram illustrating exemplary platform attributes;
FIG. 6 is a diagram of a situation simulation in an embodiment;
FIG. 7 is a flow chart of situation simulation implementation in the embodiment;
FIG. 8 is a block diagram of a mission planning platform in an embodiment;
FIG. 9 is a schematic diagram of task deduction in the embodiment;
FIG. 10 is a schematic view of an embodiment wavefront;
FIG. 11 is a diagram of an exemplary detection simulation model;
FIG. 12 is a logic flow diagram of a probing simulation model in an embodiment;
FIG. 13 is a flowchart of a solution of the relative position of the target in the embodiment;
FIG. 14 is a flowchart of a target relative velocity solution in the embodiment;
FIG. 15 is a diagram showing a transition of an operation mode in the embodiment;
FIG. 16 is a schematic diagram of a scanning beam arrangement of a two-dimensional phased array radar in an embodiment;
FIG. 17 is a schematic diagram of beam scanning of a two-dimensional phased array radar in an example;
FIG. 18 is a search scan pattern in an embodiment;
FIG. 19 is a flowchart of an embodiment target measurement algorithm;
FIG. 20 is an embodiment target tracking state transition diagram;
FIG. 21 is a schematic diagram of an embodiment target maneuver simulation implementation.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1, the battlefield situation scene simulation excitation system of the invention comprises a system management and display module, a battle situation simulation module, a simulation configuration module, a model modeling and basic action library modeling module; the system management and display module comprises a system management submodule, a record playback module, a drive management module and a simulation display module, and the system management, the record playback, the simulation display and the drive management are sequentially realized through an XML configuration file and interface input; the battle situation simulation module comprises platform simulation, situation simulation, task planning, task deduction and array surface control sub-modules, the design and simulation of the required battle scene are realized through the 5 modules, and the task planning deduction is carried out on the battle scene and the task; the simulation configuration module comprises a test case configuration submodule, a system parameter configuration submodule and a model parameter configuration submodule, so as to configure system parameters, airplane model parameters, test cases and communication interfaces; the model modeling module comprises an airplane characteristic sub-module, a radar modeling sub-module and a flight mode sub-module, and further carries out modeling simulation on the airplane characteristic, the radar model and the airplane flight mode of the airplane; the basic action library modeling module comprises a direct flight submodule, a turning submodule, a climbing and diving submodule and an waypoint maneuvering submodule, and simulation of various flight modes is realized; the system management and display module runs the battle scene situation data in real time, the simulation configuration module configures various parameters, and the battle situation simulation module deduces and generates situation target information, carrier information and array surface control signals according to the scene and transmits the situation target information, the carrier information and the array surface control signals to the radar target excitation equipment, the radar comprehensive display and control equipment and the array surface control equipment respectively; the array surface control equipment receives and analyzes the data, and controls an external array surface system through an array surface control signal and the array surface control equipment; the combat scene situation data comprises airborne platform data, target data and physical environment data.
The system management submodule of the system management and display module of the embodiment of the present invention performs identity authentication, authority management, running state management and real-time processing;
the authority of the system user is distinguished, distributed and verified through identity authentication, and corresponding authorization is carried out on different users through authority management;
as shown in fig. 3, the operation status management includes a real-time mode and a non-real-time mode, the non-real-time mode includes four states of system pre-configuration, initialization, configuration and shutdown, and the real-time mode includes six states of start, hold, operation, reset, playback and fault tolerance;
as shown in fig. 4, the real-time processing includes a human-computer interaction module, a real-time scheduling module, a clock synchronization management module, and a data communication and public data area management module; the system comprises a man-machine interaction module, a real-time scheduling module and a display module, wherein the man-machine interaction module realizes interaction and display centers of information between a user and the system and inside the system, and the real-time scheduling module realizes periodic task scheduling, accidental task scheduling and background task scheduling; the clock synchronization management module realizes timing and timing for the simulation task, and the data communication and public data area management module provides communication and public data area management for the simulation task.
As shown in fig. 2, the specific process of the identity authentication in this embodiment is as follows:
a user inputs a user name and a password firstly, provides a plurality of groups of user names and passwords and has different battlefield situation scene simulation incentive software use permissions respectively;
if the input is empty, the input is required to be continued; if not, comparing the password with the user name and the password, and if the password is input incorrectly, prompting the input incorrectly and clearing the input box; if the user name is matched with any one of the three groups of user names and passwords, entering a battlefield situation scene simulation excitation software main interface; if the observer account is used and the data monitoring interface is accessed, the Enabled attribute of all the options of the menu bar is set to be False, and at the moment, each functional module cannot be operated, and only simple data monitoring can be carried out; if the 'operator account number' is used, only the relevant module of the autonomous flight simulation can be operated and the function of the module can be realized after the main interface is accessed; if the engineer account is used, the 'Enabled' attribute of all options of the menu bar is set to 'True' by using all functions of the system; all users who can enter the main interface display the current operators in the system status bar as follows in the using process: * The star indicates a user name input by the login interface;
in the identity authentication process, different user identities have different authority management.
The man-machine interaction module of the embodiment comprises:
the simulation configuration and setting module realizes the distribution of simulation tasks on simulation computing nodes and completes the initialization parameter setting of the tasks;
the operation control service module provides corresponding commands for controlling the operation of simulation excitation software of the battlefield situation scene for a user, wherein the commands comprise simulation task registration and initialization, simulation starting, playback and ending;
the system running state display module monitors the running state of the battlefield situation scene simulation excitation software in real time, displays performance data, system information, node states, fault conditions and the like generated in the simulation task execution process for a user, and establishes a running log; the data acquisition, analysis and storage module acquires data in real time, analyzes the data, and processes and stores analysis results.
The real-time scheduling module of the embodiment comprises:
the periodic task scheduler module organizes the calculation of the aerial carrier, the target aircraft and the radar simulation model into periodic processing tasks according to the running state of the battlefield situation scene simulation excitation software, determines the priority and the execution sequence of various periodic processing tasks and ensures that the tasks are executed before the deadline;
the accidental task scheduling module buffers and preprocesses various control instructions sent by the man-machine interaction module and corresponding event information triggered in the simulation execution process, and immediately schedules processing tasks of the events after the execution of the periodic tasks is finished;
after the scheduling of the periodic tasks and the accidental tasks is finished, the background task scheduling module schedules the residual CPU time to a simulation data storage and curve drawing task;
the event information refers to event information such as airplane flying, encountering, radar scanning and capturing of airplanes of both sides, missile launching, airplane curve flying and missile avoidance and the like in the situation simulation process.
The battle situation simulation module of the embodiment builds a battle situation simulation environment based on HLA and MSDL, and comprises platform simulation, situation simulation, mission planning, mission deduction and front control; the platform simulation describes the inherent attributes and functions and the fighting behaviors of the target platform; the situation simulation simulates a three-dimensional entity model and a geographical environment of a participating entity based on OSG, then displays the entity model in a scene after zooming the entity model by proper times according to the contents of simulation data streams, and re-renders the position and the posture of the model according to the difference of position and posture information in each frame of network data packet; the task planning and task deduction means that the flight track of the task is planned according to the preset target of the task, and the planned waypoints and routes are stored in a database; the array surface control means that the communication with the array surface system and the control of the antenna array surface are realized through a switch matrix in the array system.
As shown in fig. 5, the platform entity in the platform simulation of the present embodiment includes various ground, aerial and marine targets, etc., and the simulation of the platform entity is the main content of the battlefield situation simulation, and includes various characteristic attributes and sub-modules.
As shown in fig. 6 and 7, the creation of the situation simulation in this embodiment is based on the OSG and the osgaerth, and mainly includes 4 modules, which are a geographic environment module, a situation management module, a weather module, and an interface module; the interface control module realizes the unified control of the effect module, the geographic environment module and the debugging management module; the geographic environment module realizes management of image data, elevation data and vector data, provides a sky environment and an ocean environment, is a basic module for situation display, and mainly aims at constructing a virtual earth; the situation management module comprises the functions of displaying, expressing, storing and controlling the situation, and the part can be divided into four sub-modules which are respectively: the device comprises a situation editing module, a situation storage and service module, a situation playing module and a situation analyzing module. The present module and the geographic environment module will be described in detail later; the effect module makes interface effects on the whole geographic environment and situation, and meanwhile, the effect module comprises some self-defined special effects.
As shown in fig. 8, the mission planning platform of the present embodiment is composed of an environment configuration module and a system setting module, and the environment configuration module includes a session service, a map service, a data service, and the like. The conversation service manages an environment configuration module and a general setting module of a mission planning platform, provides an interoperation and mutual identification mechanism for supporting an environment and the general module, the map service can support synchronous roaming and map scaling of a two-dimensional/three-dimensional map, can support access, management and display of geographic information data, provides services such as unified two-dimensional/three-dimensional battlefield situation plotting, layer control and display control, provides a service interface for standard data access, storage, updating and other related operations, shields complex communication implementation details and provides a simple communication interface. The system setting module can realize the work flow of task planning, including command analysis, route planning, route inspection and the like. The method comprises the steps of receiving a command, analyzing a situation instruction, generating a battlefield situation for task planning, realizing the situation generating and editing function according to the planning task and depending on a map service, and providing a general route management function, a complete basic route definition and a data structure and supporting the display and editing of a route object under various views such as a graph, a table, a dialog box and the like.
As shown in fig. 9, the task deduction of this embodiment dynamically demonstrates various planning data of task planning, so as to ensure that the conditions for task execution are met and the effect required by the task is achieved. The task deduction mainly comprises 7 modules: the system comprises a database, an interface module, a configuration management module, a parameter setting module, a task deduction module, a data processing module, a deduction control module and a comprehensive display module.
As shown in fig. 10, the wavefront control of the present embodiment communicates with the client's existing wavefront control system by means of network data interaction, and sends control commands to indirectly control the wavefront system
As shown in fig. 21, the specific contents of implementing the aircraft simulation model in the model modeling module of this embodiment are as follows:
step 2, the airplane combines the current situation and the airplane action library to make relevant maneuvering decisions including avoidance and attack;
step 3, then, according to the decision information, coordinate conversion of relevant data is carried out, and time propulsion of attitude, position and the like is carried out by combining an aircraft three-degree-of-freedom motion equation;
step 4, simultaneously outputting related control information according to the configuration conditions of the current airplane weapons, radars and the like, wherein the radar is subjected to an attack mode by a search mode, and weapons are subjected to attack and the like;
step 5, after the promotion of the complaint time is finished, if the simulation is not finished, the step 2 and the step 3 are circulated, otherwise, the simulation is stopped;
the three-degree-of-freedom centroid kinetic equation is as follows:
the flight state quantity is
Wherein
In order to be the speed of the aircraft,
in order to be the pitch angle,
in order to be the angle of yaw,X、Y、Zthree-axis coordinates of the airplane under the space absolute coordinates; the control quantity is
Wherein
In order to overload the aircraft in the longitudinal direction,
in order to overload the aircraft in the normal direction,
is the aircraft roll angle; and, and
as track velocity vector in
The component (b);
、
、
is angular velocity
In that
The component (a) in (b),
is a transformation matrix from the earth axis to the body system.
The above process also needs to be applied to an airplane mass center motion equation, a designated motion equation in an airplane body shafting and an airplane three-degree-of-freedom motion equation.
As shown in fig. 11 and 12, the radar simulation model module in the model modeling module of this embodiment includes a scene management module, a rendezvous calculation simulation module, a working mode simulation module, a beam scheduling simulation module, a target detection simulation module, and a track processing simulation module; the scene management module imports external situation data, combines radar detection information and working parameters of a user, and the intersection calculation simulation module, the working mode simulation module, the beam scheduling simulation module, the target detection simulation module and the track processing simulation module sequentially perform intersection calculation, working mode simulation, beam scheduling simulation, target detection simulation and track processing simulation, and finally output working state information and radar detection information.
In this embodiment, the input information of the rendezvous calculation simulation module is the carrier information, the target position and the target speed, and the output information is the polar coordinate position of the target in the geographic system and the relative speed of the target. The intersection calculation simulation module converts the position of a target into polar coordinate representation under an antenna system and converts the target speed into radial speed; the method comprises the following specific steps: the relative position calculation method in the intersection calculation simulation module firstly converts the geodetic coordinates of the carrier and the target into geocentric coordinates, then converts the geocentric coordinates of the target into northeast coordinates taking the position of the carrier as an origin, and finally converts the northeast coordinates into polar coordinates to obtain the azimuth, the elevation and the distance of the target relative to the radar; and a relative velocity solution algorithm in the intersection calculation simulation module converts the geographic system velocity into the geocentric system velocity and the radial velocity in sequence to finally obtain the radial velocity of the target.
As shown in fig. 13, the specific flow of the relative position calculation is as follows:
the conversion from the geodetic coordinate system (L, A, H) to the geocentric coordinate system (X, Y, Z) is:
wherein:
n-curvature radius of the unitary mortise ring;
e-the first eccentricity of the earth's ellipsoid.
The formula for converting the geocentric coordinate system to the northeast coordinate system (geographical coordinate system) is as follows:
translation along the Zg axis-conversion matrix for nesil:
rotate the transformation matrix of A around the translated Zg axis:
rotation of the transformation matrix of L around the rotated Yg axis:
translation of the transformation matrix of H around the rotated Xg axis:
the conversion formula from the northeast coordinate system to the polar coordinate system is as follows:
as shown in fig. 14, the target relative velocity solution flow is:
three-directional speed of northeast geographic system
The conversion formula to geocentric system is:
by means of the said formula, the speed of target in the geocentric system can be obtained
。
In the relative position calculating process, the target geocentric coordinates can be obtained
Therefore, the target radial velocity can be calculated as:
wherein, the first and the second end of the pipe are connected with each other,
and is a unit direction vector between the target and the radar and points to the radar.
The working mode simulation module can respond to the bus control command to switch between the modes or update the working mode when the radar is in a normal working state, so as to distinguish which mode the radar is working in. The functions to be completed by each mode are mainly as follows: mode initialization, which mainly occurs when one mode is switched to another mode, and some parameters need to be initialized again; updating the mode, wherein the radar working mode is unchanged, and only the radar working parameters are changed, such as frequency point setting, scanning center change, distance measuring range and the like; the ability to organize control task requests; the switching relationship between the operation modes is shown in fig. 15.
The primary working modes can be switched with each other, and when an interception command or rejection/loss occurs, the primary working modes are switched with the secondary working modes. The ACM is a short combat approach, and includes SLEW (deflectable), BS (line of sight), HA (best scan), VERT (vertical scan), HUD (head up mode), NARROW (search mode) several sub-approaches. Targets found in a combat manner can automatically intercept incoming STTs. The RWS is a search mode of operation and detects the distance and speed of the target at the same time. Under the two working modes, only the point track detection of the target is carried out, and no track processing is carried out. An operator can track a target found under the RWS through an 'acquisition' operation, after the acquisition is successful, the working mode is automatically switched to STT, and the target on the acquisition is tracked. Under the working modes of TAS and TWS, the radar tracks the target while searching the target. Both of these modes can be transferred to STT mode by manual interception and will automatically be transferred back to TAS or TWS if the target is lost and discarded. The opposite working mode mainly comprises a ground moving target display (GMTI) mode which is used for observing and tracking a ground moving target.
In the embodiment, the beam scheduling simulation module simulates the radar working state according to the position of the aircraft and the radar working mode parameters to realize target searching and tracking beam scheduling management, and specifically sequentially comprises a searching and scanning pattern, a fixed point tracking model and TAS beam scheduling;
the airborne fire-control radar is of a two-dimensional phased array system, and the schematic diagram of the antenna beam arrangement is shown in fig. 16. The scanning mode can be single-beam sequential scanning, random scanning or fixed airspace irradiation, and can also form simultaneous multi-beam. One of the single-beam sequential scanning modes is shown in fig. 17, and the scanning mode is sequential scanning from top to bottom and from left to right.
In the tracking mode, fixed-point irradiation needs to be performed on a current tracking target, and the position of the current tracking target determines the direction of a radar tracking beam. In order to realize fixed-point irradiation, beam scheduling simulation firstly determines a flight path required to be tracked by a current simulation beat according to the requirement of radar flight path processing, and determines the position of a target corresponding to the flight path at the current simulation moment; the azimuth and elevation angles of the position relative to the radar are then calculated as the pointing angle of the radar spot beam illumination. Under spot illumination, the beam scanning range is equal to the beam width.
As shown in fig. 18, the scout scan pattern generates various scan patterns according to the requirements of the system control. The azimuth scanning range is maximum +/-60 degrees, and the pitching scanning can be divided into 1 line, 2 lines and 4 lines.
Assuming a scanning speed of
Width in scanning direction of
The number of scanning lines is
Then the scanning period is
Wherein the content of the first and second substances,
the number of control beams required in a scanning period. At present
Scanning the location of a fixed point at a time
And pitch
Can be represented by the following formula:
wherein the content of the first and second substances,
is the scan line interval. In the simulation mode of operation, the antenna scanning patterns of RWS, VS, TWS, TAS (scan search state), ACM, GMTI, SEA1 and SEA2 are based on the scan pattern.
In the fixed-point tracking model (STT operation mode), it is necessary to irradiate a certain specific position and acquire or confirm target measurement information. During fixed-point scanning, the beam only performs point scanning in space, the position of a fixed point is the angular position of a target track or the calibrated angular position to be measured, and the scanning range is the azimuth-pitch beam width.
When confirming and tracking an HPT tracking target intercepted under the TAS, using a fixed point tracking model; in the intermittence of tracking the HPT target, a scout scan pattern is used.
The embodiment further includes signal-to-noise ratio calculation simulation, that is: the radar echo signal-to-noise ratio calculation formula is as follows:
wherein the content of the first and second substances,
in order to target the signal-to-noise ratio,
in order to be the peak transmit power,
to send outThe gain of the antenna is increased by the gain of the antenna,
in order to receive the gain of the antenna,
for the wavelength of the radar, is,
is the target reflection cross-sectional area (RCS),
in order to benefit from the signal processing,
is the radial distance of the target from the radar,
boltzmann constant;
is the system noise temperature;
is the receiver bandwidth;
to add losses.
As shown in fig. 19, the target detection simulation module of this embodiment calculates the relative position information of the target according to the position information of the radar and the target, and then superimposes the relative position information on the direction-finding error to obtain the angle, speed, and distance information of the target position.
(A) Distance measurement
The distance measurement output result calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
in order to be a measure of the distance,
in order to be the true value of the target distance,
in order to be able to measure the error in the radar range,
is a gaussian random number.
(B) Angle measurement
The angle measurement output result calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
the angle is measured for the target and,
the true value of the target angle is shown,
in order to measure the angle error of the radar,
is a gaussian random number.
(C) Speed measurement
The speed measurement output result calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
in order to be a measure of the target speed,
in order to be the true value of the target speed,
in order to measure the speed error of the radar,
is a gaussian random number.
In this embodiment, the track processing simulation module performs filtering simulation based on the target track data to obtain track start data, track maintenance data, and track end data of the target.
The track association means that when the radar has established tracks of a plurality of targets, at the moment, a new target detection information exists, before entering a data association algorithm, whether the radar is strong interference from a side lobe is judged through side lobe hiding, if not, the radar is associated with the established target track characteristics, because for each established target track, filtering or detection information on the target track is retained for several times, one is target information which can prevent the target from losing and has small search at the moment, and the other important reason is simply associated with a newly detected result, whether the target is a sample point of the track can be determined through simple calculation of data rate and predicted target speed and a target maneuvering range acted by the radar, and whether the target is a former old target or a newly detected target can be judged through matching all tracks. The target tracking state transitions are shown in fig. 20.
The starting point of the flight path is a matched label for each different target, the targets are sequenced, and the running tracks of the different targets can be clearly judged by distinguishing the flight path numbers. The starting of the track occurs after the target is accurately detected, when the system obtains a detection result once, the target is not considered as a measurement result of the target, but the target needs to be confirmed again, namely the target is pointed to the direction of the detected target again for confirming, if the target really exists, a mark representing the track number is allocated to the target, and the track maintaining state is entered.
The track maintenance means that the target is continuously detected and tracked according to a certain data rate in the process of tracking and maintaining the track of the target after the radar system successfully captures and confirms the target, the next tracking position is predicted in the track maintaining and tracking process, and the antenna is pointed to the predicted position of the target in the next tracking process.
Track ending refers to the fact that for a radar system of a given model and corresponding performance, two situations exist in track ending, and one situation is that when a target flies out of the maximum detection range of the radar, the target is processed by the echo which represents that the radar has no capability of comparing with the target with the larger distance. That is, even if the radar receiving signal contains the echo signal of the target, the target information cannot be obtained from the echo, at this time, the measuring part in the radar system does not know that the target has flown away from the sight of the radar, but only the target cannot be detected, and no corresponding trace exists, so that the target is considered to be lost at the last moment in radar data processing, at this time, the radar can intelligently and quickly return to the position where the target is considered to be lost at the last moment, and then the continuous wave position searching is carried out again, the process is called a small searching process of the target, in the small searching process, the system does not consider that the target is lost, and the track cannot be terminated, and the radar system cannot consider that the target is lost until the small searching result does not reach the target, so that the target information cannot be released from the resource occupied by the target.
The specific process of the target mobility capability simulation in the basic action library modeling module of the embodiment is as follows:
firstly, configuring the maneuvering capacity to be realized based on a maneuvering algorithm library, and setting corresponding parameters;
selecting a relevant maneuvering algorithm according to the selected maneuvering model and the relevant parameters and combining external control information to realize maneuvering position calculation;
and combining with external control information, if a stop command is not received, continuing the circulation, otherwise, stopping the simulation.
The flight mode simulation in the basic action library modeling module of the embodiment comprises a plane flight, a snake-shaped maneuver, a dive, a climb, a hover, a turn, a plane flight, a snake-shaped maneuver, a target position calculation and a maneuver combination strategy,
the control method for the maneuvering action of the airplane comprises the following steps:
selecting open-loop or closed-loop control according to the characteristics of the pilot for controlling the airplane maneuver, the control targets in different stages and the difference between the current state and the required state of the airplane;
when the required motion parameter is greatly different from the current motion parameter, the open-loop control means that the value of the control quantity is greatly changed according to the actual operation experience of the pilot so as to rapidly change the motion parameter:
the open loop control algorithm is as follows:
；
in the formula (I), the compound is shown in the specification,
is a control quantity;
is the rate of change of the control quantity;
a certain desired value of the control quantity;
when the required motion parameters are close to the current parameters and the motion parameters need to be accurately controlled, closed-loop control is selected: proportional-derivative-integral control by deviation:
in the formula (I), the compound is shown in the specification,
a Laplace transform which is a transfer function;
Claims (6)
1. a battlefield situation scene simulation excitation system is characterized in that: the system comprises a system management and display module, a battle situation simulation module, a simulation configuration module, a model modeling module and a basic action library modeling module;
the system management and display module comprises a system management submodule, a recording playback module, a driving management module and a simulation display module, and the system management, the recording playback, the simulation display and the driving management are sequentially realized through an XML configuration file and interface input;
the battle situation simulation module comprises platform simulation, situation simulation, task planning, task deduction and array surface control submodules, the 5 submodules are used for designing and simulating a required battle scene, and meanwhile, the task planning deduction is carried out on the battle scene and the tasks;
the simulation configuration module comprises a test case configuration submodule, a system parameter configuration submodule and a model parameter configuration submodule, so as to configure system parameters, airplane model parameters, test cases and communication interfaces;
the system management and display module runs the battle scene situation data in real time, the simulation configuration module configures various parameters, and the battle situation simulation module deduces and generates situation target information, carrier information and array surface control signals according to the scene and transmits the situation target information, the carrier information and the array surface control signals to the radar target excitation equipment, the radar comprehensive display and control equipment and the array surface control equipment respectively; the array surface control equipment receives and analyzes the data, and controls an external array surface system through an array surface control signal and the array surface control equipment; the combat scene situation data comprises airborne platform data, target data and physical environment data;
the model modeling module comprises an airplane characteristic sub-module, a radar modeling sub-module and a flight mode sub-module, and further carries out modeling simulation on the airplane characteristic, the radar model and the airplane flight mode of the airplane; the specific contents of the airplane simulation model are as follows:
step 1, setting and initializing aircraft parameters, including RCS data, maximum speed, maximum G value, initial attitude, initial position and combat mission information;
step 2, the airplane makes relevant maneuvering decisions including avoidance and attack by combining the current situation and an airplane action library;
step 3, then, according to the decision information, coordinate conversion of relevant data is carried out, and the time propulsion of the attitude and the position is carried out by combining the three-degree-of-freedom motion equation of the airplane;
step 4, outputting related control information according to the current configuration conditions of the airplane weapons and the radars, and carrying out attack mode and weapon attack by the radars in a search mode;
step 5, after the time advance is executed, if the simulation is not finished, the step 2 and the step 3 are circulated, otherwise, the simulation is stopped;
the three-degree-of-freedom centroid kinetic equation is as follows:
the flight state quantity is
V is the speed of the airplane, theta is the pitch angle, psi is the yaw angle, and X, Y and Z are the three-axis coordinates of the airplane under the space absolute coordinates; controllingAn amount of [ n ] x ，n z ，φ]Wherein n is x For longitudinal overload of the aircraft, n z The normal overload of the airplane is adopted, and phi is the rolling angle of the airplane;
the model modeling module comprises a scene management module, an intersection calculation simulation module, a working mode simulation module, a beam scheduling simulation module, a target detection simulation module and a track processing simulation module; the scene management module imports external situation data, combines radar detection information and working parameters of a user, and the rendezvous calculation simulation module, the working mode simulation module, the beam scheduling simulation module, the target detection simulation module and the track processing simulation module sequentially perform rendezvous calculation, working mode simulation, beam scheduling simulation, target detection simulation and track processing simulation and finally output working state information and radar detection information;
the intersection calculation simulation module converts the position of a target into polar coordinate representation under an antenna system and converts the target speed into radial speed; the method comprises the following specific steps: the relative position calculation method in the intersection calculation simulation module firstly converts the geodetic coordinates of the carrier and the target into geocentric coordinates, then converts the geocentric coordinates of the target into northeast coordinates taking the position of the carrier as an origin, and finally converts the northeast coordinates into polar coordinates to obtain the azimuth, the elevation and the distance of the target relative to the radar; a relative velocity solution algorithm in the intersection calculation simulation module converts the geographic system velocity into the geocentric system velocity and the radial velocity in sequence to finally obtain the target radial velocity;
the beam scheduling simulation module judges whether the target meets the radar visibility condition or not through the radar visibility range and the radar detection angle range;
the working mode simulation module is used for managing the working modes of the airborne fire control radar and switching the working modes;
the beam scheduling simulation module simulates the working state of a radar according to the position of a carrier and the working mode parameters of the radar to realize target searching and tracking beam scheduling management, and specifically sequentially comprises a searching and scanning pattern, a fixed point tracking model and TAS beam scheduling;
the target detection simulation module calculates the relative position information of the target according to the position information of the radar and the target, and then superposes the relative position information and the direction-finding error to obtain the angle, speed and distance information of the target position;
the track processing simulation module carries out filtering simulation based on the target track data to obtain track starting data, track maintaining data and track ending data of a target;
the basic action library modeling module comprises a direct flight submodule, a turning submodule, a climbing and diving submodule and an waypoint maneuvering submodule, and the specific process of target maneuvering capacity simulation is as follows:
firstly, configuring the maneuvering capacity to be realized based on a maneuvering algorithm library, and setting corresponding parameters;
selecting a relevant maneuvering algorithm according to the selected maneuvering model and the relevant parameters and combining external control information to realize maneuvering position calculation;
combining with external control information, if a stop command is not received, continuing the circulation, otherwise, stopping simulation;
the flight mode simulation in the basic action library modeling module comprises a plane flight, a snake-shaped maneuver, a dive, a climb, a hover, a turn, a target position calculation and a maneuver combination strategy,
the control method of the flight mode comprises the following steps:
selecting open-loop or closed-loop control according to the characteristics of the pilot for controlling the airplane maneuver, the control targets in different stages and the difference between the current state and the required state of the airplane;
when the required motion parameter is greatly different from the current motion parameter, the open-loop control greatly changes the value of the control quantity according to the actual operation experience of the pilot so as to rapidly change the motion parameter:
the open-loop control algorithm is as follows:
wherein C is a controlled amount;
is the rate of change of the control quantity; k is a certain required value of the control quantity;
when the required motion parameters are close to the current parameters and the motion parameters need to be accurately controlled, closed-loop control is selected: proportional-derivative-integral control by deviation:
wherein C (S) is the Laplace transform of the transfer function;
X * (S) Laplace transformation of motion parameter errors;
X * (S)＝X require that (S)-X Practice of (S)。
2. The battlefield situation scene simulation incentive system of claim 1, wherein: the system management submodule of the system management and display module carries out identity authentication, authority management, running state management and real-time processing;
the authority of the system user is distinguished, distributed and verified through identity authentication, and corresponding authorization is carried out on different users through authority management;
the running state management comprises a real-time mode and a non-real-time mode, the non-real-time mode comprises four states of system pre-configuration, initialization, configuration and closing, and the real-time mode comprises six states of starting, keeping, running, resetting, replaying and fault tolerance;
the real-time processing comprises a human-computer interaction module, a real-time scheduling module, a clock synchronization management module and a data communication and public data area management module; the system comprises a man-machine interaction module, a real-time scheduling module and a display module, wherein the man-machine interaction module realizes interaction and display centers of information between a user and the system and inside the system, and the real-time scheduling module realizes periodic task scheduling, accidental task scheduling and background task scheduling; the clock synchronization management module realizes timing and timing for the simulation task, and the data communication and public data area management module provides communication and public data area management for the simulation task.
3. The battlefield situation scene simulation incentive system of claim 2, wherein: the specific process of the identity authentication is as follows:
a user inputs a user name and a password firstly, provides a plurality of groups of user names and passwords and has different battlefield situation scene simulation incentive software use permissions respectively;
if the input is empty, the input is required to be continued; if not, comparing with the user name and the password, and if the input is wrong, prompting the input to be wrong and clearing the input box; if the user name is matched with any one of the three groups of user names and passwords, entering a battlefield situation scene simulation excitation software main interface; if the observer account is used and the data monitoring interface is entered, the Enabled attribute of all the options of the menu bar is set to 'False', at the moment, each functional module cannot be operated, and only simple data monitoring can be carried out; if the 'operator account number' is used, only the relevant module of the autonomous flight simulation can be operated and the function of the module can be realized after the main interface is accessed; if the engineer account is used, the 'Enabled' attribute of all options of the menu bar is set to 'True' by using all functions of the system; all users who can enter the main interface display the following current operators in the system status bar during the use process: * The star indicates a user name input by the login interface;
in the identity authentication process, different user identities have different authority management.
4. The battlefield situation scene simulation incentive system of claim 2, wherein: the human-computer interaction module comprises:
the simulation configuration and setting module realizes the distribution of simulation tasks on simulation computing nodes and completes the initialization parameter setting of the tasks;
the operation control service module provides corresponding commands for controlling the operation of simulation excitation software of the battlefield situation scene for a user, wherein the commands comprise simulation task registration and initialization, simulation starting, playback and ending;
the system running state display module monitors the running state of battlefield situation scene simulation excitation software in real time, displays performance data, system messages, node states and fault conditions generated in the simulation task execution process for a user, and establishes a running log; the data acquisition, analysis and storage module acquires data in real time, analyzes the data, and processes and stores analysis results.
5. The battlefield situation scene simulation incentive system of claim 2, wherein: the real-time scheduling module comprises:
the periodic task scheduler module organizes the calculation of the aerial carrier, the target aircraft and the radar simulation model into periodic processing tasks according to the running state of the battlefield situation scene simulation excitation software, determines the priority and the execution sequence of various periodic processing tasks and ensures that the tasks are executed before the deadline;
the accidental task scheduling module buffers and preprocesses various control instructions sent by the man-machine interaction module and corresponding event information triggered in the simulation execution process, and immediately schedules processing tasks of the events after the execution of the periodic tasks is finished;
after the scheduling of the periodic tasks and the accidental tasks is finished, the background task scheduling module schedules the residual CPU time to a simulation data storage and curve drawing task;
the event information refers to event information of flight, encounter, radar scanning and interception of airplanes of two parties, missile launching, and missile avoidance by airplane curve flight in the situation simulation process.
6. The battlefield situation scene simulation incentive system of claim 1, wherein: the battle situation simulation module builds a battle situation simulation environment based on HLA and MSDL, and comprises platform simulation, situation simulation, task planning, task deduction and array surface control;
the platform simulation describes the inherent attributes and functions of a target platform and the fighting behaviors;
the situation simulation simulates a three-dimensional entity model and a geographic environment of a participating entity based on OSG, then displays the entity model in a scene after zooming the entity model by proper times according to the contents of simulation data streams, and re-renders the position posture of the model according to the difference of position posture information in each frame of network data packet;
the task planning and task deduction refers to planning the flight trajectory of the task according to a preset target of the task, and storing planned waypoints and routes in a database;
the array surface control means that the communication with the array surface system and the control of the antenna array surface are realized through a switch matrix in the array system.
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