Low-cost injection type seeker semi-physical simulation test method

Abstract

The invention discloses a low-cost injection type seeker semi-physical simulation test method which is suitable for semi-physical simulation of all weapon systems adopting image guidance. According to the method, a simulation mode of a traditional image guided weapon system based on a five-axis turntable is abandoned, three inner axes of the five-axis turntable are used for simulating guide machine motion, two outer axes of the five-axis turntable are used for simulating target motion, and a ground image is directly injected into a seeker image information processing card. The defects that a traditional weapon system simulation method is not comprehensive in tracking algorithm assessment, and the motion angle of a rotary table is limited are overcome. According to the method, the actual working process of a seeker tracking algorithm and an image seeker can be comprehensively assessed, the whole simulation process does not depend on a high-performance five-axis turntable and an image simulator, the purpose of assessing the working performance of the seeker in a low-cost and multi-dimensional mode is achieved, and the simulation system and method are simple in design, effective, practical and suitable for popularization and application. Good popularization and application space is realized.

Description

Technical Field

[0001] The invention belongs to the field of guidance technology, and in particular relates to a low-cost semi-physical simulation test method for an injection-type seeker. Background Art

[0002] A certain system uses image guidance. In actual use, the image seeker detects and tracks the target, while simultaneously outputting a line-of-sight angular velocity signal. The inertial navigation unit measures the current position, velocity, acceleration, attitude angle, attitude angular velocity, and other navigation information of the guided aircraft in real time. The controller integrates the outputs of the image seeker and the inertial navigation unit, runs the control model to generate control instructions, and the servo generates control instructions based on these instructions, controlling the flight until the aircraft hits the target. For weapon systems using image guidance, the traditional simulation method is to mount the image seeker on the inner three axes of a five-axis turntable, with a second-axis stage carrying an image simulator for the image seeker's entrance pupil. This approach fails to meet the requirements for collaborative simulation of multiple guided aircraft. Multiple image seekers cannot be mounted on a three-axis turntable during collaborative simulation. Therefore, the existing traditional seeker simulation method based on a five-axis turntable cannot address the requirements for multi-aircraft collaborative simulation. Summary of the Invention

[0003] In order to overcome the shortcomings of the existing technology, the present invention provides a low-cost injection-type seeker semi-physical simulation test method, which is applicable to all weapon systems that use image guidance to carry out semi-physical simulation. This method abandons the traditional image-guided weapon system simulation method based on a five-axis turntable, which uses the inner three axes of the five-axis turntable to simulate the movement of the seeker and the outer two axes to simulate the movement of the target. Instead, it uses a simulation method that directly injects ground images into the seeker image information processing card, thereby improving the defects of the traditional weapon system simulation method, such as incomplete tracking algorithm assessment and limited turntable movement angle. The present invention can comprehensively assess the seeker tracking algorithm and the actual working process of the image seeker. The entire simulation process does not rely on a high-performance five-axis turntable and an image simulator, achieving the purpose of low-cost, multi-dimensional assessment of the seeker's working performance. The simulation system and method are simple, effective, and practical in design, and have great room for promotion and application.

[0004] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0005] Step 1: Install the image seeker and inertial navigation unit of system 1 on the inner three axes of the five-axis turntable, and the image target simulator on the outer two axes of the five-axis turntable. Place the image seeker of system 2 on the table. The inner three axes of the five-axis turntable are used to simulate changes in the aircraft's posture, and the outer two axes are used to simulate changes in the aircraft's line of sight angle.

[0006] Step 2: Connect each test component and simulation equipment;

[0007] Step 3: Adjust the five-axis turntable to the launch position and wait for the firing signal;

[0008] Step 4: During simulation, the attitude, velocity, position information and target information of system 1# are obtained by model solution. The image seeker of system 1# receives the image scene simulated by the image simulator. The image seeker of system 2# receives the real-time vision software, which generates the image detected by the image seeker in real time in the relative inertial coordinate system based on the attitude, position, target information and frame angle information of the aircraft body. The image seeker of system 2# searches and tracks based on the injected image, and outputs the line of sight angular velocity and frame angle information. The controller completes the guidance control instructions and generates the control mechanism deflection based on the output information of the image seeker and the simulated inertial measurement device. The simulator collects the feedback of the control mechanism to form a simulation closed loop.

[0009] Preferably, the line-of-sight angular velocity output by the image seeker is the line-of-sight angular velocity in the inertial space to which the gyroscope is sensitive: That is, it is obtained by synthesizing the angular velocity of the servo platform frame and the angular velocity of the body.

[0010] Preferably, during the semi-physical simulation test, the simulation process of each node of the entire simulation system is generally controlled by the master control system, the real-time solution simulation computer receives the test object data collected by the data acquisition unit, performs real-time solution of the aircraft six-degree-of-freedom model and the target model, and transmits the solved attitude data to the line of sight angular velocity compensation module, which combines the frame angular velocity information to form the line of sight angular velocity information; the control instruction data and output data of the main simulation unit, the line of sight angular velocity compensation module, and the infrared scene real-time simulation unit environmental equipment are distributed in real time through the serial bus or the reflective memory network.

[0011] Preferably, the image seeker is placed on the desktop, and the signal adapter module of the injection-type infrared target simulator is also placed on the desktop; the main simulation unit receiving controller forms flight control instructions based on the line of sight angular velocity information and the inertial navigation information generated by the inertial navigation simulator, and solves the body posture motion data. The data is sent to the line of sight angular velocity compensation module for line of sight angular velocity compensation in combination with the image seeker frame angle data; combined with the aircraft acceleration information, it is sent to the inertial navigation to generate new inertial navigation information; at the same time, the target relative position and attitude data are sent to the high-performance graphics workstation in the injection-type infrared target simulator as the data source for real-time generation of infrared scenes; the data is transmitted and stored through the reflective memory network.

[0012] Preferably, the injection-type infrared target simulator receives the image seeker frame angle signal and relative position and posture data transmitted by the test product - signal collector, generates the corresponding target, background, and interference required scenes in real time, and converts them into image data to be injected into the image seeker; the image is sent and injected into the board card and transmitted to the signal conversion module through optical fiber. The signal conversion module converts the signal into a CML signal and directly injects it into the signal processor of the image seeker to realize signal injection simulation.

[0013] A computer program enables a computer to execute the above-mentioned seeker hardware-in-the-loop simulation test method.

[0014] An electronic device comprises: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the above-mentioned seeker semi-physical simulation test method.

[0015] A computer-readable storage medium stores a computer program, which implements the above-mentioned seeker hardware-in-the-loop simulation test method when executed by a processor.

[0016] A chip includes: a processor for calling and running a computer program from a memory, so that a device equipped with the chip executes the above-mentioned seeker semi-physical simulation test method.

[0017] A computer program product includes a computer storage medium storing a computer program, wherein the computer program includes instructions executable by at least one processor, and when the instructions are executed by the at least one processor, the above-mentioned seeker semi-physical simulation test method is implemented.

[0018] The beneficial effects of the present invention are as follows:

[0019] The method of the present invention uses an image injection card to directly inject images generated by scene simulation software into the image seeker to simulate the scene captured by the image seeker's field of view during a real-world simulation. This improves the shortcomings of traditional seeker simulation methods, such as the inability to assess multi-machine coordinated combat and the large time delay of complex simulation systems. Simulation using this method can effectively solve problems such as multi-machine collaborative semi-physical simulation and image injection seeker control and tracking algorithm verification without relying on large-scale equipment such as image simulators and turntables. The simulation system and method are simple, effective, and practical in design, and have great potential for widespread application.

[0020] The method of the present invention has achieved good application results in a semi-physical simulation test of a dual-machine coordinated attack of a certain type of system. In summary, it can be seen that the present invention has many advantages and has broad military application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a principle block diagram of the method of the present invention.

[0022] Figure 2 This is a flowchart of the semi-physical simulation process of the injection seeker.

[0023] Figure 3 It is the working principle and system connection diagram of the semi-physical simulation system of the embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described below with reference to the accompanying drawings and examples.

[0025] The technical problem to be solved by the present invention is to provide an image injection simulation method that takes into account multi-machine collaboration, so as to solve the problem that in the traditional seeker simulation method, the seeker image can only come from an image simulator based on a two-axis turntable. The seeker image has a single source and cannot be used to evaluate the seeker working performance verification in the multi-machine collaboration mode.

[0026] This method is based on a desktop injection simulation method for line-of-sight angle compensation, in which the image seeker and control device are fixed on the desktop, and the body attitude, velocity, position and other information are obtained by model calculation. Since the line-of-sight angular velocity output by the image seeker is the line-of-sight angular velocity in the inertial space sensitive to the gyroscope: That is, it is obtained by synthesizing the angular velocity of the servo platform frame and the angular velocity of the body. In the desktop test, the gyroscope is only sensitive to the frame angular velocity. Therefore, model synthesis is required before it can be passed to the flight control computer to complete the generation of guidance control instructions and form a closed-loop simulation.

[0027] During the simulation process, the master control system provides overall control over the simulation process at each node of the entire simulation system. The real-time simulation computer receives data from the test object collected by the data acquisition unit, performs real-time calculations on the aircraft's six-degree-of-freedom model and the target model, and transmits the calculated attitude data to the line-of-sight angular velocity compensation module, which combines this information with the frame angular velocity to generate line-of-sight angular velocity information. Control command data and output data from environmental equipment, including the main simulation unit, line-of-sight angular velocity compensation module, and infrared scene real-time simulation unit, are distributed in real time via a serial bus or reflective memory network.

[0028] The image seeker and control unit are mounted on the desktop, along with the signal adapter module for the injection-type infrared target simulator. The main simulation unit's receiver controller generates flight control commands based on line-of-sight angular velocity information and the inertial navigation information generated by the inertial navigation simulator. It also calculates the aircraft's attitude and motion data. This data is fed to the line-of-sight angular velocity compensation module, which combines it with the image seeker's frame angle data for line-of-sight angular velocity compensation. Combined with the aircraft's acceleration information, it is then fed to the inertial navigation system to generate new inertial navigation information. Simultaneously, the target's relative position and attitude data are sent to the high-performance graphics workstation within the injection-type infrared target simulator, serving as the data source for real-time infrared scene generation. This data is transmitted and stored via a reflective memory network.

[0029] The injection-type infrared target simulator receives the image seeker frame angle signal and relative position and posture data transmitted by the test product - the signal collector, generates the required scenes such as the corresponding target, background, interference, etc. in real time, and converts them into image data to be injected into the image seeker; the image is sent and injected into the board card and transmitted to the signal conversion module through optical fiber. The module converts the signal into a CML signal and directly injects it into the signal processor of the image seeker to realize signal injection simulation.

[0030] Unlike traditional methods, this method directly converts the signal into a CML signal through the image board and injects it into the image seeker signal processor to achieve signal injection simulation. Another inventive point in this method is to use the image seeker to provide a synchronization signal for the scene simulation system. The synchronization signal reflects the integration time of the image seeker detector and serves as a synchronization instruction for the injection and transmission of each frame of image signal. The image seeker and control device transmit the seeker frame angle signal, seeker data, inertial navigation instructions and control instructions to the test product - the signal collector, and transmit them to the real-time simulation solution unit through reflective memory. This method avoids the need to build a large simulation system with multiple turntables and multiple simulators for multi-machine collaborative simulation, meets the multi-machine collaborative semi-physical simulation verification in a low-cost form, and solves the shortcomings of large system delay and low semi-physical simulation accuracy in multi-system multi-node simulation.

[0031] Example:

[0032] In a certain type of system semi-physical simulation test, the simulation equipment used includes an image target simulator, a five-axis turntable, a simulation computer, a simulation information interface, a data recording device, a real-time network system, etc. The specific implementation steps of the test are as follows:

[0033] (1) Install the image seeker and inertial navigation unit of system 1 on the inner three axes of the five-axis turntable, install the image target simulator on the outer two axes of the five-axis turntable, and place the image seeker of system 2 on the table. The inner three axes of the five-axis turntable are used to simulate the changes in the body's posture, and the outer two axes are used to simulate the changes in the aircraft's line of sight angle.

[0034] (2) According to Figure 3 Connect each test component and simulation equipment according to the connection relationship;

[0035] (3) At this point, the simulation system has been built, and the turntable is adjusted to the launch position, waiting for the firing signal;

[0036] (4) During simulation, the attitude, velocity, position and other information of system 1 and target information are obtained by model solution. The image seeker of system 1 receives the image scene simulated by the image simulator; the image seeker of system 2 receives the real-time vision software to generate the image detected by the image seeker in real time in the relative inertial coordinate system according to the attitude, position, target information and frame angle information of the aircraft body. The image seeker of system 2 searches and tracks according to the injected image, and outputs the line of sight angular velocity and frame angle information. The controller completes the guidance control instruction and generates the control mechanism deflection according to the output information of the image seeker and the output information of the simulated inertial measurement device. The simulator collects the feedback of the control mechanism to form a simulation closed loop.

Claims

1. A low-cost injection seeker semi-physical simulation test method, characterized in that: The steps include: Step 1: Install the image seeker and inertial navigation unit of system 1 on the inner three axes of the five-axis turntable, and the image target simulator on the outer two axes of the five-axis turntable. Place the image seeker of system 2 on the table. The inner three axes of the five-axis turntable are used to simulate changes in the aircraft's posture, and the outer two axes are used to simulate changes in the aircraft's line of sight angle. Step 2: Connect each test component and simulation equipment; Step 3: Adjust the five-axis turntable to the launch position and wait for the firing signal; Step 4: During simulation, the attitude, velocity, position information and target information of system 1# are obtained by model solution. The image seeker of system 1# receives the image scene simulated by the image simulator. The image seeker of system 2# receives the real-time vision software, which generates the image detected by the image seeker in real time in the relative inertial coordinate system based on the attitude, position, target information and frame angle information of the aircraft body. The image seeker of system 2# searches and tracks based on the injected image, and outputs the line of sight angular velocity and frame angle information. The controller completes the guidance control instructions and generates the control mechanism deflection based on the output information of the image seeker and the simulated inertial measurement device. The simulator collects the feedback of the control mechanism to form a simulation closed loop.

2. A low-cost injection seeker hardware-in-the-loop simulation test method according to claim 1, characterized in that: The line-of-sight angular velocity output by the image seeker is the line-of-sight angular velocity in the inertial space to which the gyroscope is sensitive: That is, it is obtained by synthesizing the angular velocity of the servo platform frame and the angular velocity of the body.

3. A low-cost injection seeker hardware-in-the-loop simulation test method according to claim 2, characterized in that: During the semi-physical simulation test, the master control system is used to control the simulation process of each node of the entire simulation system. The real-time solution simulation computer receives the test object data collected by the data acquisition unit, performs real-time solution of the aircraft six-degree-of-freedom model and the target model, and transmits the solved attitude data to the line-of-sight angular velocity compensation module. The module combines the frame angular velocity information to form the line-of-sight angular velocity information; the control instruction data and output data of the main simulation unit, the line-of-sight angular velocity compensation module, and the infrared scene real-time simulation unit environmental equipment are distributed in real time via a serial bus or a reflective memory network.

4. A low-cost injection seeker hardware-in-the-loop simulation test method according to claim 3, characterized in that: The image seeker is placed on the desktop, and the signal adapter module of the injection-type infrared target simulator is also placed on the desktop; the main simulation unit receiving controller forms flight control instructions based on the line of sight angular velocity information and the inertial navigation information generated by the inertial navigation simulator, and calculates the body posture motion data. The data is sent to the line of sight angular velocity compensation module for line of sight angular velocity compensation combined with the image seeker frame angle data; combined with the aircraft acceleration information, it is sent to the inertial navigation to generate new inertial navigation information; at the same time, the target relative position and attitude data are sent to the high-performance graphics workstation in the injection-type infrared target simulator as the data source for real-time generation of infrared scenes; the data is transmitted and stored through a reflective memory network.

5. A low-cost injection seeker hardware-in-the-loop simulation test method according to claim 4, characterized in that: The injection-type infrared target simulator receives the image seeker frame angle signal and relative position and posture data transmitted by the test product - the signal collector, generates the corresponding target, background, and interference required scenes in real time, and converts them into image data to be injected into the image seeker; the image is sent and injected to the board card and transmitted to the signal conversion module via optical fiber. The signal conversion module converts the signal into a CML signal and directly injects it into the signal processor of the image seeker to realize signal injection simulation.

6. A computer program, characterized in that The computer program enables a computer to execute the method according to any one of claims 1 to 5.

7. An electronic device, characterized in that: include: processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

9. A chip, characterized in that: include: A processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the method according to any one of claims 1 to 5.

10. A computer program product, characterized in that The computer program product comprises a computer storage medium storing a computer program, wherein the computer program comprises instructions executable by at least one processor, and when the instructions are executed by the at least one processor, the method according to any one of claims 1 to 5 is implemented.

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