CN116106840B - Unmanned carrier-based aircraft radar measurement error determination method, device, equipment and medium - Google Patents

Abstract

The invention discloses a method, a device, equipment and a medium for determining radar measurement errors of an unmanned carrier-based aircraft, wherein the method comprises the steps of obtaining flight data, environment data and radar measurement data in the landing process of the unmanned carrier-based aircraft in a marine environment; calculating the wind speed and the wind speed variation of the ship wake on each component according to the flight data and the environment data; according to the wind speed and the wind speed variation, coupling wind speed data of the ship wake flow on each component; according to the wind speed data, calculating influence data of ship wake flow on the pose of the unmanned carrier-based aircraft; calculating radar measurement errors of the unmanned carrier-based aircraft according to the influence data and the radar measurement data; the invention can solve the technical problem of low navigation and positioning accuracy when unmanned carrier-borne aircraft automatically landing in a complex marine environment.

Description

Unmanned carrier aircraft radar measurement error determination method, device, equipment and medium

Technical Field

The present invention relates to a method, device, equipment and medium for determining radar measurement errors of an unmanned carrier-based aircraft, and belongs to the technical field of carrier-based aircraft.

Background Art

In recent years, airborne radar target tracking and pose estimation have become research hotspots in the field of radar signal processing. Complex interference backgrounds such as the ocean atmosphere and ship wake bring difficulties and challenges to the effective measurement of airborne radar. Airborne radar is generally installed on the nose or fuselage. It detects the target by emitting radio waves to obtain information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, and altitude, thereby obtaining the accurate position of the target. During the landing process of UAV in a complex marine environment under the influence of ship wake, the measurement accuracy of the radar plays a vital role in whether the carrier-based aircraft can land safely. Therefore, studying the impact of ship wake on the measurement accuracy of UAVs is an important basic guarantee for improving the accuracy of radar measurements.

Summary of the invention

The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a method, device, equipment and medium for determining the radar measurement error of an unmanned carrier-based aircraft, which can accurately calculate the radar measurement error of the unmanned carrier-based aircraft under the influence of the ship's wake, thereby improving the accuracy of radar measurement.

To achieve the above object, the present invention is implemented by adopting the following technical solutions:

In a first aspect, the present invention provides a method for determining radar measurement errors of an unmanned carrier-based aircraft, comprising:

Acquire flight data, environmental data and radar measurement data during the landing process of unmanned carrier-based aircraft in the marine environment;

Calculate the wind speed and wind speed variation of each component of the ship wake based on flight data and environmental data;

According to the wind speed and wind speed variation, the wind speed data of each component of the ship wake are coupled;

Calculate the impact of the wake on the unmanned carrier-based aircraft based on the wind speed data;

Calculate the radar measurement error of the unmanned carrier-based aircraft based on the impact data and the radar measurement data;

The components include atmospheric turbulence components, random components, periodic components and steady-state components.

Optionally, the flight data includes: the initial speed of the unmanned carrier-based aircraft , unmanned carrier-based aircraft at all times The speed change , Slip Angle , unmanned carrier-based aircraft at all times Pitch angle , heading angle , Roll Angle ;

The environmental data include: atmospheric turbulence scales in horizontal, lateral and vertical directions and atmospheric turbulence intensity , deck wind speed , ship speed , ship pitch amplitude , ship pitch frequency ;

The radar measurement data includes: the unmanned carrier-based aircraft at time The measured values of radar distance, elevation angle and azimuth angle , unmanned carrier-based aircraft at all times The measured value of the radar position coordinates .

Optionally, the wind speed on the atmospheric turbulence component is:

;

In the formula, For the moment The horizontal wind speed on the atmospheric turbulence component, For the moment The wind speed in the lateral direction on the atmospheric turbulence component, For the moment The vertical wind speed on the atmospheric turbulence component, To preset the demarcation point, For the moment Gaussian white noise, is a preset constant;

The wind speed on the steady-state component is:

;

;

In the formula, Separately for the moment The wind speed in the horizontal, vertical and lateral directions on the steady-state component; For the moment The horizontal distance of the unmanned carrier-based aircraft from the ship's pitch center, , is the total landing time;

The wind speed on the periodic component is:

;

;

In the formula, Separately for the moment The wind speed in the horizontal, vertical and lateral directions on the periodic components of is a random phase, For instantaneous moment;

The wind speed on the random component is:

;

In the formula, are the wind speeds in the horizontal, lateral and vertical directions on the random component respectively; for and The root mean square of for The time constant range is , is Gaussian white noise, and s is the complex frequency.

Optionally, the wind speed variation on the atmospheric turbulence component is:

;

In the formula, Separately for the moment The wind speed changes in the horizontal, lateral and vertical directions of the atmospheric turbulence components; The expressions of atmospheric turbulent wind speed variation in horizontal, lateral and vertical directions are respectively , are the expressions of the atmospheric turbulent wind speed variation in the horizontal, lateral and vertical directions, respectively. ;in:

;

In the formula, is the sampling period, is Gaussian white noise;

The wind change on the steady-state component is:

;

;

;

In the formula, Separately for the moment The wind speed changes in the horizontal, lateral and vertical directions on the steady-state components;

The wind speed variation on the periodic component is:

;

;

In the formula, Separately for the moment The wind speed changes in the horizontal, lateral and vertical directions on the periodic components between for The horizontal component of

The wind speed variation on the random component is:

;

;

In the formula, Separately for the moment The change in wind speed in the horizontal, lateral and vertical directions on the random components between them.

Optionally, coupling the wind speed data of the ship wake on each component according to the wind speed and the wind speed variation includes:

;

In the formula, Separately for the moment No. Wind speed data in the horizontal, lateral and vertical directions on each component; When , it is the atmospheric turbulence component; When , it is the steady-state component; When , it is the periodic component; , is the random component.

Optionally, the influencing data of the unmanned carrier-based aircraft posture is:

;

In the formula, are the displacement changes of the unmanned carrier-based aircraft in the z-axis direction, y-axis direction and x-axis direction, respectively. is the transfer matrix from the attached coordinate system to the inertial coordinate system, For the moment The velocity components of the unmanned carrier-based aircraft in the y-axis and x-axis directions of the inertial coordinate system, For the moment Changes in the pitch, heading and roll angles of the unmanned carrier-based aircraft.

Optionally, the radar measurement error of the unmanned carrier-based aircraft is:

;

;

;

In the formula, For the moment Radar distance measurement error of unmanned carrier-based aircraft, is the actual value of the measured target position coordinate; Any angle through which the radar azimuth axis and elevation axis rotate; is the distance from the center of the unmanned carrier-based aircraft to the radar antenna, is the distance from the center of the unmanned carrier-based aircraft to the measured target; For the moment The radar azimuth measurement error of the unmanned carrier-based aircraft, For the moment Radar elevation angle measurement error of unmanned carrier-based aircraft.

In a second aspect, the present invention provides a device for determining radar measurement errors of an unmanned carrier-based aircraft, the device comprising:

A data acquisition module is used to acquire flight data, environmental data and radar measurement data during the landing process of the unmanned carrier-based aircraft in the marine environment;

A wind speed calculation module, used to calculate the wind speed and wind speed variation of the wake of the ship on each component according to the flight data and the environmental data; the components include the atmospheric turbulence component, the random component, the periodic component and the steady-state component;

A wind speed determination module is used to couple the wind speed data of the ship wake on each component according to the wind speed and the wind speed variation;

The impact calculation module is used to calculate the impact data of the ship wake on the position and posture of the unmanned carrier-based aircraft based on the wind speed data;

The error calculation module is used to calculate the radar measurement error of the unmanned carrier-based aircraft based on the impact data and the radar measurement data.

In a third aspect, the present invention provides an electronic device, including a processor and a storage medium;

The storage medium is used to store instructions;

The processor is used to operate according to the instructions to execute the steps according to the above method.

In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

Compared with the prior art, the present invention has the following beneficial effects:

The present invention provides a method, device, equipment and medium for determining the measurement error of an unmanned carrier-based aircraft radar, which can take into account the influence of the ship wake on the measurement benchmark of the airborne radar of the unmanned carrier-based aircraft, and solve the technical problem of low navigation and positioning accuracy when an unmanned carrier-based aircraft (UCA) automatically lands in a complex marine environment.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a method for determining radar measurement errors of an unmanned carrier-based aircraft provided in Embodiment 1 of the present invention.

DETAILED DESCRIPTION

The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

Embodiment 1

As shown in FIG1 , the present invention provides a method for determining radar measurement errors of an unmanned carrier-based aircraft, comprising the following steps:

1. Obtain flight data, environmental data and radar measurement data during the landing process of unmanned carrier-based aircraft in the marine environment;

In this embodiment:

Flight data includes: initial speed of the unmanned carrier-based aircraft , unmanned carrier-based aircraft at all times The speed change , Slip Angle , unmanned carrier-based aircraft at all times Pitch angle , heading angle , Roll Angle ;

Environmental data include: atmospheric turbulence scale in horizontal, lateral and vertical directions and atmospheric turbulence intensity , deck wind speed , ship speed , ship pitch amplitude , ship pitch frequency ;

Radar measurement data include: unmanned carrier-based aircraft at time The measured values of radar distance, elevation angle and azimuth angle , unmanned carrier-based aircraft at all times The measured value of the radar position coordinates .

The wind speed and wind speed variation of the wake of the ship in each component are calculated based on the flight data and environmental data; the components include atmospheric turbulence component, random component, periodic component and steady-state component.

2.1. The wind speed on the atmospheric turbulence component is:

;

In the formula, For the moment The horizontal wind speed on the atmospheric turbulence component, For the moment The wind speed in the lateral direction on the atmospheric turbulence component, For the moment The vertical wind speed on the atmospheric turbulence component, To preset the demarcation point, For the moment Gaussian white noise, is a preset constant.

2.2. The wind speed change on the atmospheric turbulence component is:

;

In the formula, Separately for the moment The wind speed changes in the horizontal, lateral and vertical directions of the atmospheric turbulence components; are the expressions of the atmospheric turbulent wind speed variation in the horizontal, lateral and vertical directions, respectively. , are the expressions of the atmospheric turbulent wind speed variation in the horizontal, lateral and vertical directions, respectively. ;in:

;

In the formula, is the sampling period, is Gaussian white noise.

2.3. The wind speed on the steady-state component is:

;

;

In the formula, Separately for the moment The wind speed in the horizontal, vertical and lateral directions on the steady-state component; For the moment The horizontal distance of the unmanned carrier-based aircraft from the ship's pitch center, , is the total landing time.

2.4. The wind change on the steady-state component is:

;

;

;

In the formula, Separately for the moment The change in wind speed in the horizontal, lateral and vertical directions on the steady-state component.

2.5. The wind speed on the periodic component is:

;

;

In the formula, Separately for the moment The wind speed in the horizontal, vertical and lateral directions on the periodic components of is a random phase, For instant moment.

2.6. The wind speed variation on the periodic component is:

;

;

In the formula, Separately for the moment The wind speed changes in the horizontal, lateral and vertical directions on the periodic components between for The horizontal component of .

2.7. The wind speed on the random component is:

;

In the formula, are the wind speeds in the horizontal, lateral and vertical directions on the random component respectively; for and The root mean square of for The time constant range is , is Gaussian white noise, and s is the complex frequency.

2.8. The wind speed variation on the random component is:

;

;

In the formula, Separately for the moment The change in wind speed in the horizontal, lateral and vertical directions on the random components between them.

3. Coupling the wind speed data of the wake of the ship on each component according to the wind speed and wind speed variation; including:

;

In the formula, Separately for the moment No. Wind speed data in the horizontal, lateral and vertical directions on each component; When , it is the atmospheric turbulence component; When , it is the steady-state component; When , it is the periodic component; , is the random component.

4. Calculate the impact of the wake on the unmanned carrier-based aircraft based on the wind speed data;

;

In the formula, are the displacement changes of the unmanned carrier-based aircraft in the z-axis direction, y-axis direction and x-axis direction, respectively. is the transfer matrix from the attached coordinate system to the inertial coordinate system, For the moment The velocity components of the unmanned carrier-based aircraft in the y-axis and x-axis directions of the inertial coordinate system, For the moment Changes in the pitch, heading and roll angles of the unmanned carrier-based aircraft.

5. Calculate the radar measurement error of the unmanned carrier-based aircraft based on the impact data and radar measurement data;

The radar measurement error of the unmanned carrier-based aircraft is:

;

;

;

In the formula, For the moment Radar distance measurement error of unmanned carrier-based aircraft, is the actual value of the measured target position coordinate; Any angle through which the radar azimuth axis and elevation axis rotate; is the distance from the center of the unmanned carrier-based aircraft to the radar antenna, is the distance from the center of the unmanned carrier-based aircraft to the measured target; For the moment The radar azimuth measurement error of the unmanned carrier-based aircraft, For the moment Radar elevation angle measurement error of unmanned carrier-based aircraft.

Embodiment 2

An embodiment of the present invention provides a device for determining radar measurement errors of an unmanned carrier-based aircraft, the device comprising:

A data acquisition module is used to acquire flight data, environmental data and radar measurement data during the landing process of the unmanned carrier-based aircraft in the marine environment;

The wind speed calculation module is used to calculate the wind speed and wind speed change of the ship wake on each component according to the flight data and environmental data; the components include atmospheric turbulence component, random component, periodic component and steady-state component;

A wind speed determination module is used to couple the wind speed data of the ship wake on each component according to the wind speed and the wind speed variation;

The impact calculation module is used to calculate the impact data of the ship wake on the position and posture of the unmanned carrier-based aircraft based on the wind speed data;

The error calculation module is used to calculate the radar measurement error of the unmanned carrier-based aircraft based on the impact data and the radar measurement data.

Embodiment 3

Based on the first embodiment, the present invention provides an electronic device, including a processor and a storage medium;

The storage medium is used to store instructions;

The processor is used to operate according to the instructions to execute the steps according to the above method.

Embodiment 4

Based on the first embodiment, the embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented.

Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The present application is described with reference to the flowcharts and/or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and/or box in the flowchart and/or block diagram, as well as the combination of the processes and/or boxes in the flowchart and/or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one process or multiple processes in the flowchart and/or one box or multiple boxes in the block diagram.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims (6)

1. A method for determining radar measurement error of an unmanned carrier-based aircraft, characterized by comprising: Acquire flight data, environmental data and radar measurement data during the landing process of the unmanned carrier-based aircraft in the marine environment; the flight data includes: the initial speed of the unmanned carrier-based aircraft , unmanned carrier-based aircraft at all times The speed change , Slip Angle , unmanned carrier-based aircraft at all times Pitch angle , heading angle , Roll Angle ; The environmental data include: horizontal, lateral and vertical atmospheric turbulence scales and atmospheric turbulence intensity , deck wind speed , ship speed , ship pitch amplitude , ship pitch frequency The radar measurement data includes: the unmanned carrier-based aircraft at time The measured values of radar distance, elevation angle and azimuth angle , unmanned carrier-based aircraft at all times The measured value of the radar position coordinates ; Calculating the wind speed and wind speed variation of the wake of the ship on each component according to the flight data and the environmental data; the components include atmospheric turbulence component, random component, periodic component and steady-state component; The wind speed on the atmospheric turbulence component is: ; In the formula, For the moment The horizontal wind speed on the atmospheric turbulence component, For the moment The wind speed in the lateral direction on the atmospheric turbulence component, For the moment The vertical wind speed on the atmospheric turbulence component, To preset the demarcation point, For the moment Gaussian white noise, is a preset constant; The wind speed on the steady-state component is: ; ; In the formula, Separately for the moment The wind speed in the horizontal, vertical and lateral directions on the steady-state component; For the moment The horizontal distance of the unmanned carrier-based aircraft from the ship's pitch center, , is the total landing time; The wind speed on the periodic component is: ; ; In the formula, Separately for the moment The wind speed in the horizontal, vertical and lateral directions on the periodic components of is a random phase, For instantaneous moment; The wind speed on the random component is: ; In the formula, are the wind speeds in the horizontal, lateral and vertical directions on the random component respectively; for and The root mean square of for The time constant range is , is Gaussian white noise, s is the complex frequency; The wind speed variation on the atmospheric turbulence component is: ; In the formula, Separately for the moment The wind speed changes in the horizontal, lateral and vertical directions of the atmospheric turbulence components; are the expressions of the atmospheric turbulent wind speed variation in the horizontal, lateral and vertical directions, respectively. , are the expressions of the atmospheric turbulent wind speed variation in the horizontal, lateral and vertical directions, respectively. ;in: ; In the formula, is the sampling period, is Gaussian white noise; The wind change on the steady-state component is: ; ; ; In the formula, Separately for the moment The wind speed changes in the horizontal, lateral and vertical directions on the steady-state components; The wind speed variation on the periodic component is: ; ; In the formula, Separately for the moment The wind speed changes in the horizontal, lateral and vertical directions on the periodic components between for The horizontal component of The wind speed variation on the random component is: ; ; In the formula, Separately for the moment The wind speed variation in the horizontal, lateral and vertical directions on the random components between them; Coupling the wind speed data of the wake of the ship on each component according to the wind speed and the wind speed variation; the coupling of the wind speed data of the wake of the ship on each component according to the wind speed and the wind speed variation includes: ; In the formula, Separately for the moment No. Wind speed data in the horizontal, lateral and vertical directions on each component; When , it is the atmospheric turbulence component; When , it is the steady-state component; When , it is the periodic component; When , it is the random component; Calculate the impact of the wake on the unmanned carrier-based aircraft based on the wind speed data; The radar measurement error of the unmanned carrier-based aircraft is calculated based on the impact data and the radar measurement data. 2. The method for determining the radar measurement error of an unmanned carrier-based aircraft according to claim 1, wherein the influencing data of the unmanned carrier-based aircraft posture is: ; In the formula, are the displacement changes of the unmanned carrier-based aircraft in the z-axis direction, y-axis direction and x-axis direction, respectively. is the transfer matrix from the attached coordinate system to the inertial coordinate system, For the moment The velocity components of the unmanned carrier-based aircraft in the y-axis and x-axis directions of the inertial coordinate system, For the moment Changes in the pitch, heading and roll angles of the unmanned carrier-based aircraft. 3. The method for determining the radar measurement error of an unmanned carrier-based aircraft according to claim 2, wherein the radar measurement error of the unmanned carrier-based aircraft is: ; ; ; In the formula, For the moment Radar distance measurement error of unmanned carrier-based aircraft, is the actual value of the measured target position coordinate; Any angle through which the radar azimuth axis and elevation axis rotate; is the distance from the center of the unmanned carrier-based aircraft to the radar antenna, is the distance from the center of the unmanned carrier-based aircraft to the measured target; For the moment The radar azimuth measurement error of the unmanned carrier-based aircraft, For the moment Radar elevation angle measurement error of unmanned carrier-based aircraft. 4. A device for determining radar measurement error of an unmanned carrier-based aircraft, characterized in that the device is adapted to the method for determining radar measurement error of an unmanned carrier-based aircraft according to any one of claims 1 to 3, and the device comprises: A data acquisition module is used to acquire flight data, environmental data and radar measurement data during the landing process of the unmanned carrier-based aircraft in the marine environment; A wind speed calculation module, used to calculate the wind speed and wind speed variation of the wake of the ship on each component according to the flight data and the environmental data; the components include the atmospheric turbulence component, the random component, the periodic component and the steady-state component; A wind speed determination module is used to couple the wind speed data of the ship wake on each component according to the wind speed and the wind speed variation; The impact calculation module is used to calculate the impact data of the ship wake on the position and posture of the unmanned carrier-based aircraft based on the wind speed data; The error calculation module is used to calculate the radar measurement error of the unmanned carrier-based aircraft based on the impact data and the radar measurement data. 5. An electronic device, comprising a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1-3. 6. A computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.