Method, device and equipment for calculating frame angle of missile-target connecting line geographical system of seeker

Abstract

The invention discloses a seeker missile-target connection line geographical system frame angle calculation method, device and equipment, and the method comprises the steps: obtaining a direction cosine matrix from a geographical coordinate system to a missile coordinate system according to an attitude angle provided by a navigation system; obtaining a direction cosine matrix from the projectile body coordinate system to the sight line coordinate system according to a frame angle, measured by the seeker, of the sight line coordinate system relative to the projectile body coordinate system; obtaining a direction cosine matrix from the geographic coordinate system to the sight line coordinate system according to the direction cosine matrix from the geographic coordinate system to the projectile body coordinate system and the direction cosine matrix from the projectile body coordinate system to the sight line coordinate system; and according to the direction cosine matrix from the geographic coordinate system to the line-of-sight coordinate system, calculating to obtain a frame angle of the projection of the missile-target connecting line in the geographic coordinate system. According to the method, platform attitude compensation is performed on the frame angle of the projectile-target connecting line projected in the sight line coordinate system obtained through measurement of the seeker, the frame angle of the projectile-target connecting line projected in the geographic coordinate system is obtained, and more accurate and reliable angle parameter input is provided for a fire control system.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device and equipment for calculating the geographical frame angle of a seeker-target line. Background Art

[0002] Integrated reconnaissance and strike UAV systems require a homogeneous seeker to measure the spatial geometric relationship parameters of the missile-target line between the platform and the target in the local geographic coordinate system. This serves as the basis for fire control information for reconnaissance or strike missions. After acquiring and tracking a target, the seeker continuously outputs the projection angle parameters of the line of sight coordinate system relative to the missile body coordinate system (i.e., the projection of the missile-target line onto the missile body coordinate system). However, these angle parameters are affected by the platform's attitude (roll, pitch, yaw, etc.). Therefore, directly inputting the projection angle parameters measured by the seeker into the fire control system would affect the accuracy and reliability of fire control. Summary of the Invention

[0003] In order to obtain accurate and reliable fire control information basis, this application proposes a method, device and equipment for calculating the geographical frame angle of the seeker-target line. This application obtains the projection angle parameters of the projectile-target line in the local geographical coordinate system by compensating for the projection angle affected by attitude disturbance, providing more accurate and reliable input information parameters for fire control.

[0004] This application is implemented through the following technical solutions: A method for calculating the geographical frame angle of a seeker-target line includes: According to the attitude angle provided by the navigation system, the direction cosine matrix from the geographic coordinate system to the missile body coordinate system is obtained; According to the frame angle of the sight coordinate system relative to the missile body coordinate system measured by the seeker, the direction cosine matrix from the missile body coordinate system to the sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the missile body coordinate system and the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system, the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the sight coordinate system, the frame angle of the projectile-target line in the geographic coordinate system is calculated.

[0005] In some embodiments, the process of obtaining the direction cosine matrix from the geographic coordinate system to the projectile coordinate system includes: According to the yaw angle, pitch angle and roll angle provided by the navigation system, the direction cosine matrix of the geographic coordinate system is obtained.

[0006] In some embodiments, the process of obtaining the direction cosine matrix from the projectile coordinate system to the line of sight coordinate system includes: According to the frame elevation angle and frame azimuth of the sight coordinate system relative to the missile body coordinate system measured by the seeker, the direction cosine matrix from the missile body coordinate system to the sight coordinate system is obtained.

[0007] In some embodiments, the process of obtaining the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system includes: Multiply the direction cosine matrix from the geographic coordinate system to the missile body coordinate system by the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system to obtain the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system.

[0008] In some embodiments, the frame angle of the projection of the missile-target line in the geographic coordinate system is calculated as follows:

[0009]

[0010] in, 、 They are the frame height angle and frame azimuth of the projection of the missile-target line in the geographic coordinate system, 、 、 They are respectively the value of the first row and third column, the value of the second row and first column, and the value of the second row and second column in the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system.

[0011] In some embodiments, the calculation method further comprises: The frame angle of the projectile-target line obtained by calculation in the geographic coordinate system is output to the fire control system.

[0012] In a second aspect, the present application proposes a device for calculating a seeker-target line geographic frame angle, comprising: The first coordinate conversion unit is used to obtain the direction cosine matrix from the geographic coordinate system to the missile body coordinate system according to the attitude angle provided by the navigation system; The second coordinate conversion unit is used to obtain a direction cosine matrix from the missile body coordinate system to the sight line coordinate system based on the frame angle of the sight line coordinate system relative to the missile body coordinate system measured by the seeker; The third coordinate conversion unit is used to obtain the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system according to the direction cosine matrix from the geographic coordinate system to the projectile coordinate system and the direction cosine matrix from the projectile coordinate system to the line of sight coordinate system; And, a solving unit is used to solve the frame angle of the projection of the missile-target line in the geographic coordinate system according to the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system.

[0013] In some embodiments, the computing device further comprises: The output unit is used to output the frame angle of the projectile-target line obtained by calculation in the geographic coordinate system to the fire control system.

[0014] In a third aspect, the present application proposes an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements any one of the above-mentioned methods for calculating the geographic frame angle of the seeker-target line.

[0015] In a fourth aspect, the present application proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned methods for calculating the geographic frame angle of the seeker-target line.

[0016] This application proposes a method for calculating the geographic frame angle of the missile-target line measured by the seeker. By performing platform attitude compensation on the frame angle of the missile-target line projected in the missile body coordinate system, the frame angle of the missile-target line projected in the geographic coordinate system is obtained, providing a more accurate and reliable angle parameter input for the fire control system. Correspondingly, the seeker-target line geographic system frame angle calculation device and equipment proposed in this application also have the same technical effects as mentioned above. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the embodiments of the present application, constitute a part of the present application, and do not constitute a limitation of the embodiments of the present application. In the drawings: Figure 1 This is a flow chart of the method for calculating the geographical frame angle of the seeker-target line proposed in an embodiment of the present application; Figure 2 This is a principle block diagram of the seeker-target connection geographical system frame angle calculation device proposed in an embodiment of the present application; Figure 3 This is a schematic diagram of the architecture of the seeker-target connection geographical system frame angle calculation system proposed in an embodiment of the present application; Figure 4 A schematic diagram of an electronic device proposed in an embodiment of the present application; Figure 5 A schematic diagram of a computer-readable storage medium proposed in an embodiment of the present application; Figure 6 Definition of the seeker frame elevation angle and frame azimuth angle in the missile body coordinate system; Figure 7 Definition of the seeker frame elevation angle and frame azimuth angle in the geographic coordinate system; Figure 8 Flight trajectory for the test process; Figure 9 is the platform attitude angle during the flight; Figure 10 A comparison chart of the frame height angles of the line of sight coordinate system and the frame height angles of the attitude-compensated geographic coordinate system; Figure 11 A comparison chart of the frame azimuth of the line-of-sight coordinate system and the frame azimuth of the attitude-compensated geographic coordinate system; Figure 12 It is the spatial orientation geometric relationship of the missile-target line relative to the geographic north direction; Reference numerals and corresponding component names: 200-computing device, 201-first coordinate conversion unit, 202-second coordinate conversion unit, 203-third coordinate conversion unit, 204-solving unit, 205-output unit, 300-computing system, 301-input device, 302-output device, 303-processor A, 304-memory A, 400-electronic device, 410-memory B, 420-processor B, 411-computer program A, 500-computer-readable storage medium, 511-computer program B. DETAILED DESCRIPTION

[0018] Hereinafter, the terms "include" or "may include" as used in various embodiments of the present application indicate the presence of an invented function, operation, or element, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present application, the terms "include," "have," and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0019] In various embodiments of the present application, the expression "or" or "at least one of A or / and B" includes any or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0020] The expressions (such as "first", "second", etc.) used in the various embodiments of the present application may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used to distinguish one element from other elements. For example, a first user device and a second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present application, a first element may be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0021] It should be noted that when a component is described as being “connected” to another component, the first component may be directly connected to the second component, and a third component may be “connected” between the first and second components. Conversely, when a component is described as being “directly connected” to another component, it can be understood that there is no third component between the first and second components.

[0022] The terms used in the various embodiments of the application are only used to describe the purpose of specific embodiments and are not intended to limit the various embodiments of the application. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the art of the application. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having idealized meaning or too formal meaning, unless clearly defined in the various embodiments of the application.

[0023] In order to make the objectives, technical solutions and advantages of this application more clear, the present application is further described in detail below in conjunction with examples and drawings. The schematic implementation methods of this application and their descriptions are only used to explain this application and are not intended to limit this application.

[0024] In order to obtain more accurate and reliable fire control input information parameters, an embodiment of the present application proposes a method for calculating the geographical frame angle of the seeker-target line. By performing attitude compensation on the projection angle parameters in the projectile coordinate system, the projection angle parameters of the projectile-target line in the local geographical coordinate system are obtained, providing more accurate and reliable input information parameters for fire control.

[0025] like Figure 1 As shown, the method proposed in the embodiment of the present application includes the following steps: Step 110, obtaining a direction cosine matrix from the geographic coordinate system to the missile body coordinate system according to the attitude angle provided by the navigation system; Step 120, obtaining a direction cosine matrix from the missile body coordinate system to the sight line coordinate system based on the frame angle of the sight line coordinate system relative to the missile body coordinate system measured by the seeker; Step 130, obtaining a direction cosine matrix from the geographic coordinate system to the missile body coordinate system and a direction cosine matrix from the missile body coordinate system to the sight line coordinate system; Step 140 , based on the direction cosine matrix from the geographic coordinate system to the sight line coordinate system, the frame angle of the projection of the missile-target line in the geographic coordinate system is calculated.

[0026] It should be noted that the geographic coordinate system is the local north-east coordinate system (i.e., the X_n-Y_n-Z_n coordinate system); the projectile coordinate system is the forward-upward-right coordinate system of the projectile (i.e., the X_b-Y_b-Z_b coordinate system); and the line-of-sight coordinate system is the coordinate system pointed by the seeker to the target, with the x-axis pointing to the target, the y-axis facing the sky, and the z-axis determining its direction according to the right-hand rule.

[0027] Furthermore, the method proposed in the embodiment of the present application further includes the following steps: The frame angle of the projectile-target line obtained by calculation in the geographic coordinate system is output to the fire control system.

[0028] Furthermore, in step 110 of the embodiment of the present application, according to the yaw angle provided by the navigation system , pitch angle , roll angle , get the direction cosine matrix from the geographic coordinate system to the projectile coordinate system Specific expression is:

[0029] Furthermore, in step 120 of the embodiment of the present application, the direction cosine matrix from the missile body coordinate system to the sight line coordinate system is obtained according to the frame angle of the sight line coordinate system relative to the missile body coordinate system measured by the seeker. , and are the frame elevation angle and frame azimuth angle of the projection of the missile-target line measured by the seeker in the missile body coordinate system (i.e., the real line of sight coordinate system relative to the missile body coordinate system), as shown in Figure 6 As shown. Among them, the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system Specifically, it can be expressed as:

[0030] Furthermore, in step 130 of the embodiment of the present application, the direction cosine matrix from the geographic coordinate system to the missile body coordinate system is multiplied by the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system to obtain the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system. , specifically expressed as:

[0031] in, and They are the frame height angle and frame azimuth of the projection of the missile-target line in the geographic coordinate system, such as Figure 7 shown.

[0032] Furthermore, in step 140 of the embodiment of the present application, the frame angle of the projection of the missile-to-target line in the geographic coordinate system is calculated based on the direction cosine matrix from the geographic coordinate system to the sight coordinate system. , specifically as follows, the principle of solving the seeker's geographic coordinate frame angle is:

[0033] The solution is:

[0034]

[0035] in, 、 、 They are the direction cosine matrices from the geographic coordinate system to the sight coordinate system The value of the first row and third column, the value of the second row and first column, and the value of the second row and second column.

[0036] From the above formula we can see that The range of the value is ±90°, The value range is ±180°.

[0037] The embodiment of the present application also proposes a seeker-target connection line geographical system frame angle calculation device, such as Figure 2 As shown, the computing device 200 includes: The first coordinate conversion unit 201 is used to obtain the direction cosine matrix from the geographic coordinate system to the missile body coordinate system according to the attitude angle provided by the navigation system. The specific process of obtaining the direction cosine matrix from the geographic coordinate system to the missile body coordinate system is as described in step 110 above and will not be repeated here.

[0038] The second coordinate conversion unit 202 is configured to obtain a direction cosine matrix from the projectile body coordinate system to the line of sight coordinate system based on the frame angle of the line of sight coordinate system relative to the projectile body coordinate system measured by the seeker. The specific process for obtaining the direction cosine matrix from the projectile body coordinate system to the view coordinate system is as described in step 120 above and will not be repeated here.

[0039] The third coordinate conversion unit 203 is configured to obtain a direction cosine matrix from the geographic coordinate system to the line of sight coordinate system based on the direction cosine matrix from the geographic coordinate system to the projectile body coordinate system and the direction cosine matrix from the projectile body coordinate system to the line of sight coordinate system. The specific process for obtaining the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system is as described in step 130 above and will not be repeated here.

[0040] Furthermore, the calculation unit 204 is used to calculate the frame angle of the projection of the missile-target line in the geographic coordinate system based on the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system. The specific calculation process is as described in step 140 above and will not be repeated here.

[0041] Furthermore, the computing device 200 proposed in this embodiment of the application further includes: The output unit 205 is used to output the calculated frame angle of the projectile-target line projected in the geographic coordinate system to the fire control system.

[0042] The embodiment of the present application also proposes a seeker-target connection line geographical frame angle calculation system, such as Figure 3 As shown, the computing system 300 proposed in this embodiment of the application includes: Input device 301, output device 302, processor A303 and memory A304; wherein the number of processor A303 and memory A304 can be one or more, Figure 3 The input device 301, the output device 302, the processor A303 and the memory A304 can be connected by a bus or other means. Figure 3 The bus connection is taken as an example.

[0043] By calling the operation instructions stored in the memory A304, the processor A303 is configured to perform the following steps: According to the attitude angle provided by the navigation system, the direction cosine matrix from the geographic coordinate system to the missile body coordinate system is obtained; According to the frame angle of the sight coordinate system relative to the missile body coordinate system measured by the seeker, the direction cosine matrix from the missile body coordinate system to the sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the missile body coordinate system and the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system, the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the sight coordinate system, the frame angle of the projectile-target line in the geographic coordinate system is calculated.

[0044] Optionally, by calling the operation instructions stored in the memory A304, the processor A303 is also used to execute any implementation method in the corresponding embodiments of the above-mentioned calculation method.

[0045] The present application also provides an electronic device, such as Figure 4 As shown, the electronic device 400 includes: a memory B410, a processor B420, and a computer program A411 stored in the memory B410 and executable on the processor B420. When the processor B420 executes the computer program A411, the following steps are implemented: According to the attitude angle provided by the navigation system, the direction cosine matrix from the geographic coordinate system to the missile body coordinate system is obtained; According to the frame angle of the sight coordinate system relative to the missile body coordinate system measured by the seeker, the direction cosine matrix from the missile body coordinate system to the sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the missile body coordinate system and the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system, the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the sight coordinate system, the frame angle of the projectile-target line in the geographic coordinate system is calculated.

[0046] Optionally, when the processor B420 executes the computer program A411, it can implement any implementation method corresponding to the embodiments of the above-mentioned calculation method.

[0047] It should be noted that the electronic device proposed in the embodiment of the present application is a device used to implement the above-mentioned calculation method. Therefore, based on the above-mentioned calculation method proposed in the embodiment of the present application, technical personnel in this field can understand the specific implementation methods of the electronic device in the embodiment of the present application and its various variations. Therefore, how the electronic device specifically implements the above-mentioned calculation method will not be introduced in detail here. As long as the electronic device used by technical personnel in this field to implement the above-mentioned calculation method falls within the scope of protection to be protected by this application.

[0048] The present application also provides a computer-readable storage medium. Figure 5 As shown, the computer readable storage medium 500 stores a computer program B511. When the computer program B511 is executed by the processor, the following steps are implemented: According to the attitude angle provided by the navigation system, the direction cosine matrix from the geographic coordinate system to the missile body coordinate system is obtained; According to the frame angle of the sight coordinate system relative to the missile body coordinate system measured by the seeker, the direction cosine matrix from the missile body coordinate system to the sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the missile body coordinate system and the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system, the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the sight coordinate system, the frame angle of the projectile-target line in the geographic coordinate system is calculated.

[0049] Optionally, when the computer program B511 is executed by a processor, it can implement any implementation method in the embodiments corresponding to the above-mentioned calculation method.

[0050] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0051] The method for calculating the geographic frame angle of the seeker-target line proposed in the embodiment of the present application is applied to a certain aircraft flight control software. In actual use, the frame angles of the line of sight coordinate system and the geographic coordinate system are compared and analyzed. The specific process is as follows: Figure 8 The flight trajectory during the test is shown.

[0052] During the flight test, the frame angle of the line of sight system (i.e. line of sight coordinate system) relative to the missile system (i.e. missile body coordinate system) and the frame angle of the geographic system (i.e. geographic coordinate system) were tested. During the test, the platform attitude angle was Figure 9 shown.

[0053] The sight angles of the missile system and the seeker frame of the geographic system are as follows: Figure 10 As shown. Figure 10 It can be seen that the frame height angles of the geographic system after attitude compensation are smoother than the frame height angles of the line of sight system projected on the missile system (i.e., the stereoscopic line of sight system, which means the line of sight system projected on the missile system, or the line of sight system relative to the missile system). After attitude compensation, its change trend fully reflects the change trend of the missile-target line in the geographic coordinate system.

[0054] The azimuth of the seeker frame relative to the geographic coordinate system is as follows: Figure 11 As shown, Figure 12 The Q_beta_n shown (i.e. ), which reflects the angle between the missile-target line and geographic north. As can be seen from the figure, compared to the frame azimuth of the projection from the line of sight to the missile system (i.e., the stereoscopic line of sight), the attitude-compensated geographic frame azimuth mainly reflects the spatial orientation geometry of the missile-target line relative to geographic north.

[0055] 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 take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0056] 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 block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0057] 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 work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0058] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0059] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of this application. It should be understood that the above description is only the specific implementation methods of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A method for calculating the frame angle of the seeker-target line geographical system, characterized in that: include: According to the attitude angle provided by the navigation system, the direction cosine matrix from the geographic coordinate system to the missile body coordinate system is obtained; According to the frame angle of the sight coordinate system relative to the missile body coordinate system measured by the seeker, the direction cosine matrix from the missile body coordinate system to the sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the missile body coordinate system and the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system, the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system is obtained; According to the direction cosine matrix from the geographic coordinate system to the sight coordinate system, the frame angle of the projectile-target line in the geographic coordinate system is calculated.

2. A method for calculating the frame angle of the seeker-target line according to claim 1, characterized in that: The process of obtaining the direction cosine matrix from the geographic coordinate system to the projectile coordinate system includes: According to the yaw angle, pitch angle and roll angle provided by the navigation system, the direction cosine matrix of the geographic coordinate system is obtained.

3. The method for calculating the frame angle of the seeker-target line according to claim 1, characterized in that: The process of obtaining the direction cosine matrix from the projectile coordinate system to the line of sight coordinate system includes: According to the frame elevation angle and frame azimuth of the sight coordinate system relative to the missile body coordinate system measured by the seeker, the direction cosine matrix from the missile body coordinate system to the sight coordinate system is obtained.

4. The method for calculating the frame angle of the seeker-target line according to claim 1, characterized in that: The process of obtaining the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system includes: Multiply the direction cosine matrix from the geographic coordinate system to the missile body coordinate system by the direction cosine matrix from the missile body coordinate system to the line of sight coordinate system to obtain the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system.

5. The method for calculating the frame angle of the seeker-target line according to claim 1, characterized in that: The calculation method of the frame angle of the projectile-target line projected in the geographic coordinate system is: in, 、 They are the frame height angle and frame azimuth of the projection of the missile-target line in the geographic coordinate system, 、 、 They are respectively the value of the first row and third column, the value of the second row and first column, and the value of the second row and second column in the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system.

6. A method for calculating the frame angle of the seeker-target line according to any one of claims 1 to 5, characterized in that: Also includes: The frame angle of the projectile-target line obtained by calculation in the geographic coordinate system is output to the fire control system.

7. A device for calculating the frame angle of the seeker-target line geographical system, characterized in that: include: The first coordinate conversion unit is used to obtain the direction cosine matrix from the geographic coordinate system to the missile body coordinate system according to the attitude angle provided by the navigation system; The second coordinate conversion unit is used to obtain a direction cosine matrix from the missile body coordinate system to the sight line coordinate system based on the frame angle of the sight line coordinate system relative to the missile body coordinate system measured by the seeker; The third coordinate conversion unit is used to obtain the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system according to the direction cosine matrix from the geographic coordinate system to the projectile coordinate system and the direction cosine matrix from the projectile coordinate system to the line of sight coordinate system; And, a solving unit is used to solve the frame angle of the projection of the missile-target line in the geographic coordinate system according to the direction cosine matrix from the geographic coordinate system to the line of sight coordinate system.

8. The device for calculating the frame angle of the seeker-target line according to claim 7, characterized in that: Also includes: The output unit is used to output the frame angle of the projectile-target line obtained by calculation in the geographic coordinate system to the fire control system.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method for calculating the geographical frame angle of the seeker-target line according to any one of claims 1 to 6 is implemented.

10. 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 for calculating the geographical frame angle of the seeker-target line according to any one of claims 1 to 6 is implemented.

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