CN115061510A - Antenna digital guiding method based on rocket trajectory extrapolation - Google Patents
Antenna digital guiding method based on rocket trajectory extrapolation Download PDFInfo
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- CN115061510A CN115061510A CN202210880966.3A CN202210880966A CN115061510A CN 115061510 A CN115061510 A CN 115061510A CN 202210880966 A CN202210880966 A CN 202210880966A CN 115061510 A CN115061510 A CN 115061510A
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- remote data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
Abstract
The invention belongs to the technical field of antenna guidance, and particularly relates to an antenna digital guidance method based on rocket ballistic extrapolation, which is used for guiding each ground station to correct the direction of an antenna; the method comprises the following steps: step 1) each ground station forwards the received rocket and remote data to a data processing center; step 2) the data processing center analyzes and caches the received arrow remote data; step 3) when the cached arrow remote data reach a preset number, starting a fitting extrapolation program, carrying out extrapolation fitting according to the analyzed arrow remote data with the latest set time length at regular time to obtain antenna guide information of each ground station at the next prediction moment, and sending the antenna guide information to the corresponding ground station meeting the observation requirement; step 4), each ground station adjusts the direction of the antenna according to the received antenna guide information; and when the rocket launching task is not finished, turning to the step 1). The invention can aim at most of antennas without self-tracking function, does not need to be additionally provided with hardware equipment, and can realize antenna self-tracking and ground station relay tracking with low cost.
Description
Technical Field
The invention belongs to the technical field of antenna guidance, and particularly relates to an antenna digital guidance method based on rocket trajectory extrapolation.
Background
In the process of the rocket flying in the active section, the tracking and measuring tasks of the target are generally completed by the relay of measuring equipment of a plurality of ground stations. Before the rocket is launched, theoretical ballistic data of the rocket is provided by the rocket according to the simulation data, and an antenna guide program (namely an antenna azimuth angle and elevation angle movement program) is constructed in advance by the ground station according to the theoretical ballistic data of the rocket, so that the antenna can always point to the theoretical rocket position, and rocket telemetering data (hereinafter referred to as rocket telemetering data) is received.
In an actual situation, a certain deviation exists between an actual trajectory and a theoretical trajectory of the rocket, when the deviation is small, the beam angle range of the antenna is not exceeded, the antenna can normally receive rocket remote data, but when the deviation is large, the beam angle range of the antenna is exceeded, the antenna is unlocked, the rocket remote data cannot be normally received, a target is lost, and difficulty is caused to subsequent tasks.
In order to solve the problem, a self-tracking antenna can be adopted to lock a rocket target, but the self-tracking antenna needs to be capable of locking under the condition that rocket remote data can be received, if a rocket enters a station (a rocket enters a measurement and control range of a ground station), the trajectory has large deviation, the antenna cannot be locked, self-tracking cannot be realized, meanwhile, the cost of self-tracking equipment is high, and if the ground station adopts the self-tracking equipment, the cost is high.
The technical scheme in the prior art is as follows: before rocket launching, the ground station constructs an antenna guide program in advance according to theoretical ballistic data of the rocket, and when rocket remote data cannot be normally interfaced with an antenna due to large rocket ballistic launch deviation, the theoretical guide data is corrected by adopting a method of manually adjusting the antenna deviation, or a self-tracking antenna is adopted to lock a rocket target and adjust the antenna pointing direction in real time.
The method for manually adjusting the antenna deviation has no data support, and whether the deviation is proper or not cannot be ensured in the adjustment process, so that the rocket position cannot be effectively positioned. The antenna supporting self-tracking can automatically adjust the direction of the antenna, so that the target is not lost, but the deviation information cannot be fed back to the next station, which may cause the next station to be incapable of normal relay tracking.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an antenna digital guiding method based on rocket trajectory extrapolation. And (4) extrapolating a trajectory by using the position and speed information of the rocket remote data, predicting the position of the rocket, and guiding the antenna to point.
In order to achieve the purpose, the invention provides an antenna digital guiding method based on rocket trajectory extrapolation, which is used for guiding each ground station to correct the direction of an antenna; the method comprises the following steps:
step 1) each ground station forwards the received rocket and remote data to a data processing center;
step 2) the data processing center analyzes and caches the received arrow remote data;
step 3) when the cached arrow remote data reach a preset number, starting a fitting extrapolation program, carrying out extrapolation fitting according to the analyzed arrow remote data with the latest set time length at regular time to obtain antenna guide information of each ground station at the next prediction moment, and sending the antenna guide information to the corresponding ground station meeting the observation requirement;
step 4), each ground station adjusts the direction of the antenna according to the received antenna guide information; and when the rocket launching task is not finished, turning to the step 1).
As a modification of the above method, the step 2) includes:
and the data processing center analyzes the received rocket remote data to obtain the time, position and speed information of the rocket and caches the information.
As a modification of the above method, the step 3) includes:
step 3-1) when the cached and analyzed rocket data reach a preset number of N frames, extracting the latest M frame data to fit,
the input amount of the fitting isiData time of frame
And a firstiLocation of frame in WGS-84 coordinate System
，
；
Step 3-2) constructing a fitting polynomial of 2 or 3 orders by taking the data time as an independent variable and the position as a dependent variable, and obtaining a fitting polynomial coefficient by adopting a least square parameter regression method;
step 3-3) utilizing the polynomial coefficient obtained by fitting to substitute for the extrapolation timetTo obtaintTime-of-day predicted rocket position
In combination with the firstjCoordinate position of ground station
And latitude and longitude
To solve the firstjAzimuth angle of antenna pointing direction of ground station
And elevation angle
；
Step 3-4) analysis of elevation angle
If, if
Of 1 atjThe ground station keeps the current state if
Transmitting antenna guide information to the firstjA ground station, the antenna guide information including extrapolated time of daytAzimuth angle
And elevation angle
。
As a modification of the above method, said step 3-3) the second stepjAzimuth angle of antenna pointing direction of ground station
And elevation angle
Satisfies the following formula:
wherein the content of the first and second substances,
are respectively astTime of flight rocket relative to the firstjThe position of the horizontal coordinate system of each ground station satisfies the following formula:
compared with the prior art, the invention has the advantages that:
1. the method provided by the invention can realize similar self-tracking function for most antennas without self-tracking function without additionally arranging hardware equipment;
2. the method of the invention can realize antenna self-tracking and ground station relay tracking with low cost, and has good popularization value.
Drawings
FIG. 1 is a schematic diagram of rocket launching survey station guidance and relay between front and rear stations;
FIG. 2 is a flow chart of the rocket trajectory extrapolation-based antenna digital guiding method of the invention.
Detailed Description
According to the problems, the invention provides an antenna guiding and relaying method for solving the rocket trajectory deviation condition at low cost. The rocket telemetry data comprises time, position and speed information, so that the rocket trajectory can be extrapolated by means of the position and speed information of the rocket, the predicted position information is fed back to the antenna, the antenna adjusts the direction of the antenna in real time according to the predicted position information so as to achieve the tracking purpose, and the extrapolated trajectory can also be used in the relay of the measuring station.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and examples.
Examples
The embodiment of the invention provides an antenna digital guiding method based on rocket ballistic extrapolation.
Fig. 1 is a schematic diagram of rocket tracking and relay between front and rear stations, where the rocket track is a thick line in the diagram, the direction is from northeast to southwest, the ground stations are represented by pentagons, there are 3 ground stations, the visible range of the ground stations is represented by an ellipse (the visible range can change with the rocket height, the maximum height of a common low-orbit rocket is about 500 to 600km, it is also noted that the visible range does not indicate that all targets in the visible range are visible, and it is also necessary for the ground station antenna to point to the target position to realize tracking), it is seen that a single ground station cannot track the whole rocket due to the limitation of the visible range, and therefore, multiple ground stations are required to be continuously arranged at the rocket track position to cover the whole track of the rocket launching task. The visible range of the multiple ground stations needs to ensure a certain overlap, and this range may be referred to as a relay zone of the front and rear ground stations (oblique line zone in fig. 1), which is a zone where the rocket is about to leave the visible range of the front ground station and enter the visible range of the rear ground station, and is also a zone where two ground stations can track simultaneously.
After the rocket is launched, each ground station starts an antenna guide program formulated according to theoretical ballistic data, the actual ballistic trajectory and the theoretical ballistic trajectory generally do not have obvious deviation in the initial stage of the active section, and at the moment, the antenna close to the launching area can normally receive rocket remote data shortly after the rocket is launched, or the ground or portable antenna is arranged at the launching position of the rocket, so that the normal receiving of the rocket remote data can be guaranteed in the ready launching stage of the rocket. The antenna bootstrap program based on rocket trajectory extrapolation, upon receiving the rocket launching signal, can start the program, as shown in fig. 2:
(1) any ground station receives the arrow remote data and forwards the arrow remote data to a data processing center;
(2) after receiving the rocket remote data, the data processing center acquires the time, position and speed information of the rocket according to a rocket remote data analysis protocol and stores the information into a cache and a database;
(3) when a certain amount of rocket data is received in data processing, the length of the rocket data can be generally set to be 5s or 10s, a fitting extrapolation program can be started, the extrapolation program is calculated once in about 1s, a fitting polynomial is constructed according to the position information data of the latest rocket data of 5s or 10s in the calculation, the order is selected to be 2 or 3, the polynomial coefficient is solved by using a least square method, the data of 1 to 5s in the future are extrapolated, the azimuth angle and the elevation angle of the antenna at the corresponding moment of each ground antenna are predicted, each ground station can be tracked to the rocket is analyzed, and when a certain ground station can track the rocket, the calculated antenna guide information is sent to the ground station. The specific calculation method is as follows:
setting currently received N frames of arrow remote data, extracting the latest M frames of data to fit, wherein the input quantity of the fitting is time
And position
(WGS-84 coordinate system),
a fitting polynomial is constructed, and a 2-order or 3-order polynomial can be selected to meet the requirement, wherein the independent variable is time, and the dependent variable is a coordinate value, namely
are small, and to achieve the above goal, the sum of the squares of the above deviations can be minimized, i.e.
This method is called the least squares principle and this determination is used to fit a polynomial
Namely least squares polynomial fitting. The least squares method is to find the coefficients of the optimal function as the sum of the squares of the deviations, i.e. the partial derivative of the deviation to the fitting coefficient is 0:
conversion to matrix form:
and solving the equation to obtain a fitting coefficient.
Substituting the polynomial coefficient obtained by fitting into the extrapolation timet(considering data transmission delay and time required by antenna adjustment, the extrapolation time can be set as the latest time of the current rocket telemetry data and can be extrapolated for 1 to 2 s), and the predicted rocket position can be obtained
In combination with the coordinate position of a ground station
And latitude and longitude
To calculate the azimuth angle of the antenna direction
And elevation angle
。
After the calculation is finished, the elevation angle is analyzed
：
If it is
The explanation shows that the rocket is positioned below the horizon of the ground station, and the ground station cannot track the rocket, so the ground stationjThe antenna is not needed to be adjusted temporarily, the current state is kept,
if it is
If the rocket is located above the ground station horizon, theoretically, the antenna can be tracked under the condition that the ground station antenna is not shielded (the minimum elevation angle is obtained by analyzing and calculating the terrain where the ground station is located, generally, 3 degrees or 5 degrees is selected, and the method is expressed by 0 degree), so that the time can be shortenedtAzimuth angle
And elevation angle
Is sent to the measuring stationj(when elevation angle of the station changes from negative to positive, it is called inbound, and from positive to negative, it is called outbound). When the elevation angle of a certain ground station meets the observation requirement, the guiding information of the antenna can be sent to the ground station.
(4) And (3) after the ground station receives the antenna guide information, adjusting the direction of the antenna according to the time and the direction information of the guide information to ensure that the antenna can always point to the rocket direction, and returning to the step (1) after receiving the telemetering data until the rocket launching task is finished.
The scheme is suitable for rocket launching tasks, an antenna self-tracking implementation scheme can realize an extrapolated trajectory and guide the antenna direction of each ground station only by ensuring that an antenna of a certain ground station normally receives arrow remote data for several seconds at the rocket launching initial stage (the theoretical trajectory and the actual trajectory do not have obvious deviation at the launching initial stage), particularly in relay areas of front and rear stations, a rocket is about to leave a measurement and control area of a front station and enters a measurement and control area of a rear station, in the area, if the actual trajectory and the theoretical trajectory of the rocket have obvious deviation, the rear station possibly cannot normally capture a target, seriously, the arrow remote data at the subsequent stage of the rocket cannot be received, the failure of the rocket measurement and control task is caused, and an antenna data guide technology based on rocket trajectory extrapolation continuously analyzes the arrow remote data and predicts the position information of the rocket while receiving the arrow remote data, the actual station entering and exiting time of the rocket can be calculated in a prepared manner, the antenna can be guided to point to the position of the rocket in advance, and the relay tracking task of the front station and the rear station can be realized more reliably.
The innovation points of the invention are as follows:
the antenna self-tracking realization method is suitable for rocket launching tasks, does not need additional hardware, and can realize relay tasks of front and rear stations in rocket tracking.
The method is verified in a commercial rocket telemetry task of a certain type, can acquire actual rocket azimuth elevation angle deviation information in time, and is favorable for ensuring the successful execution of the rocket telemetry task.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. An antenna digital guiding method based on rocket ballistic extrapolation is used for guiding each ground station to correct the antenna direction; the method comprises the following steps:
step 1) each ground station forwards the received rocket and remote data to a data processing center;
step 2) the data processing center analyzes and caches the received arrow remote data;
step 3) when the cached arrow remote data reach the preset number, starting a fitting extrapolation program, carrying out extrapolation fitting according to the analyzed arrow remote data with the latest set time length at regular time to obtain antenna guide information of each ground station at the next prediction moment, and sending the antenna guide information to the corresponding ground station meeting the observation requirement;
step 4), each ground station adjusts the direction of the antenna according to the received antenna guide information; and when the rocket launching task is not finished, turning to the step 1).
2. The rocket ballistic extrapolation based antenna digital guiding method according to claim 1, wherein the step 2) comprises:
and the data processing center analyzes the received rocket remote data to obtain the time, position and speed information of the rocket and caches the information.
3. The rocket ballistic extrapolation based antenna digital guiding method according to claim 1, wherein the step 3) comprises:
step 3-1) when the cached and analyzed arrow remote data reaches a preset number of N frames, extracting the latest M frames of data to fit,
the input amount of the fitting isiData time of frame
And a firstiPosition of frame in WGS-84 coordinate system
，
；
Step 3-2) constructing a fitting polynomial of 2 order or 3 order by taking data time as an independent variable and position as a dependent variable, and obtaining a fitting polynomial coefficient by adopting a least square parameter regression method;
step 3-3) utilizing the polynomial coefficient obtained by fitting to substitute for the extrapolation timetTo obtaintTime-of-day predicted rocket position
In combination with the firstjCoordinate position of ground station
And latitude and longitude
To solve the firstjAzimuth angle of antenna pointing direction of ground station
And elevation angle
；
Step 3-4) analysis of elevation angle
If, if
Of 1 atjThe ground station keeps the current state if
Sending antenna guide information to the firstjA ground station, the antenna guide information including extrapolated time of daytAzimuth angle
And elevation angle
。
4. A rocket ballistic extrapolation based antenna digital guiding method according to claim 3, wherein the steps 3-3) the first stepjAzimuth angle of antenna pointing direction of ground station
And elevation angle
Satisfies the following formula:
wherein the content of the first and second substances,
are respectively astTime of day rocket relative to firstjThe position of the horizontal coordinate system of each ground station satisfies the following formula:
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Application publication date: 20220916 |