A method, apparatus and equipment for processing liquid level data of a launch vehicle

Abstract

This invention provides a method, apparatus, and equipment for processing launch vehicle liquid level data, belonging to the field of rocket control technology. It solves the problems of filtering mixed noise and insufficient accuracy and stability in launch vehicle liquid level measurement. The method includes: acquiring raw telemetry data collected by a launch vehicle liquid level sensor; verifying and analyzing the raw telemetry data to obtain first liquid level height data; filtering the first liquid level height data using a series two-stage filter to obtain second liquid level height data; and determining the fuel volume data in the launch vehicle's propellant tank based on the second liquid level height data. This scheme achieves efficient filtering of mixed noise in launch vehicle liquid level measurement, improving the accuracy, stability, and reliability of liquid level analysis.

Description

Technical Field

[0001] This invention relates to the field of rocket control technology, and in particular to a method, apparatus and equipment for processing liquid level data of a launch vehicle. Background Technology

[0002] Liquid level measurement is a core aspect of propellant management in launch vehicles. The accuracy of the data directly impacts rocket flight attitude control and mission success. Real-time monitoring of remaining fuel and oxidizer levels in the propellant tanks is crucial for ensuring launch safety. Currently, various technical solutions have been developed in the field of launch vehicle liquid level analysis, such as propellant reserve estimation methods based on telemetry parameters. These solutions often employ single algorithms like voltage-altitude lookup tables or moving average filtering, achieving liquid level estimation through simple data conversion or basic noise suppression. However, existing technologies have significant limitations in practical applications. During launch vehicle flight, the liquid level in the propellant tanks can experience boiling and sloshing due to violent acceleration and vibration, generating instantaneous, large-amplitude pulse interference (outliers). These non-Gaussian signals can cause filter divergence and severe deviations in the estimated values, requiring a long convergence time and failing to meet high real-time requirements. Meanwhile, existing single filtering schemes are unable to meet the dual requirements of "anti-outlier values" and "smoothing Gaussian noise". They either fail to effectively eliminate pulse interference that causes data jumps, or they over-smooth and lose the true liquid level change characteristics. This results in insufficient accuracy and stability of liquid level analysis under complex working conditions, making it difficult to provide reliable data support for propellant management. This has become a key problem restricting the development of launch vehicle liquid level measurement technology. Summary of the Invention

[0003] This invention provides a method, apparatus, and equipment for processing liquid level data of launch vehicles, which solves the problems of filtering out mixed noise and insufficient accuracy and stability in the liquid level measurement of launch vehicles.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: This invention provides a method for processing liquid level data of a launch vehicle, including: Acquire raw telemetry data collected by the launch vehicle's liquid level sensor; The original telemetry data is verified and parsed to obtain the first liquid level height data; The first liquid level height data is filtered by a series of two-stage filters to obtain the second liquid level height data; Based on the second liquid level height data, the fuel volume data inside the launch vehicle's propellant tank is determined.

[0005] Optionally, acquiring the raw telemetry data collected by the launch vehicle's liquid level sensor includes: By listening to and receiving telemetry data packets sent by the liquid level sensor through a preset port, the raw telemetry data is obtained. The telemetry data packets contain triangular wave voltage signal data and linear wave voltage signal data.

[0006] Optionally, the raw telemetry data is verified and parsed to obtain the first liquid level height data, including: The raw telemetry data is sequentially subjected to frame header verification, data length verification, and cyclic redundancy check to obtain valid data packets; The valid data packets are parsed according to a preset data input protocol to extract triangular wave voltage values ​​and linear wave voltage values. The first liquid level height data is determined based on the triangular wave voltage value and the linear wave voltage value.

[0007] Optionally, the first liquid level height data is filtered using a cascaded two-stage filter to obtain the second liquid level height data, including: The first liquid level height data is processed by removing outliers through the first-level anti-pulse interference filter to obtain outlier-free liquid level height data. The outlier liquid level height data is smoothed by a second-stage optimal smoothing filter to obtain the second liquid level height data.

[0008] Optionally, the step of performing outlier removal processing on the first liquid level height data through a first-level anti-pulse interference filter to obtain outlier-free liquid level height data includes: Construct a sliding window of length N; The N consecutively collected first liquid level height data are stored in the sliding window to obtain the first data set; The first data set is sorted to obtain the second data set; The median of the second dataset is calculated to obtain the outlier liquid level height data.

[0009] Optionally, the outlier-removed liquid level height data is subjected to noise smoothing processing through a second-level optimal smoothing filter to obtain second liquid level height data, including: Obtain the preset parameters of the launch vehicle liquid level measurement system; Based on the preset parameters and the outlier liquid level height data, determine the liquid level height processing model; The outlier liquid level height data is input into the liquid level height processing model for processing to obtain the second liquid level height data.

[0010] Optionally, based on the second liquid level height data, the fuel volume data inside the launch vehicle propellant tank is determined, including: Acquire the switching signal data of the point-type liquid level sensor; The second liquid level height data is fused with the switch signal data to obtain fused liquid level height data; Obtain the preset tank height-volume mapping table; Based on the tank height-volume mapping table, determine the fuel volume data corresponding to the fusion liquid level height data.

[0011] This invention also provides a launch vehicle liquid level data processing device, comprising: The acquisition module is used to acquire the raw telemetry data collected by the launch vehicle's liquid level sensor; The processing module is used to verify and parse the original telemetry data to obtain the first liquid level height data; and to filter the first liquid level height data using a series two-stage filter to obtain the second liquid level height data. The determination module is used to determine the fuel volume data inside the launch vehicle's propellant tank based on the second liquid level height data.

[0012] This invention also provides a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when run by the processor, executes the above-described method.

[0013] This invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described method.

[0014] The technical solution of the present invention has at least the following effects: The above-mentioned solution of the present invention obtains the raw telemetry data collected by the launch vehicle liquid level sensor; verifies and analyzes the raw telemetry data to obtain the first liquid level height data; uses a series two-stage filter to filter the first liquid level height data to obtain the second liquid level height data; and determines the fuel volume data in the launch vehicle tank based on the second liquid level height data. This achieves efficient filtering of mixed noise in the launch vehicle liquid level measurement, and improves the accuracy, stability and reliability of liquid level analysis. Attached Figure Description

[0015] Figure 1 This is a flowchart of the rocket liquid level data processing method provided in the embodiments of the present invention; Figure 2 This is a structural diagram of the launch vehicle liquid level data processing device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the computing device provided in an embodiment of the present invention. Detailed Implementation

[0016] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0017] like Figure 1 As shown, an embodiment of the present invention proposes a method for processing launch vehicle liquid level data, including: Step 11: Obtain the raw telemetry data collected by the launch vehicle's liquid level sensor; Step 12: Verify and parse the original telemetry data to obtain the first liquid level height data; Step 13: The first liquid level height data is filtered using a series two-stage filter to obtain the second liquid level height data; Step 14: Determine the fuel volume data in the launch vehicle's propellant tank based on the second liquid level height data.

[0018] In step 11 of this embodiment, remote sensing raw data reflecting the liquid level height in the tank is collected in real time by a liquid level sensor mounted on the launch vehicle. This data is the initial signal obtained after the sensor directly measures the liquid level height. It exists in the form of electrical signals and contains information related to the liquid level height. However, it also has problems such as noise, interference, or non-standard data formats.

[0019] In step 12, the raw telemetry data undergoes verification and parsing. The verification process uses algorithms such as parity checking and cyclic redundancy check to check for errors during transmission, ensuring data integrity and accuracy. The parsing process interprets the raw data according to a pre-defined data format, converting electrical signals into numerical values ​​with practical physical meaning, thereby obtaining the first liquid level height data.

[0020] In step 13, a two-stage cascaded filter is used to filter the first liquid level height data. The first stage of filtering can be median filtering, which selects the median value of the data within a certain range to eliminate outliers such as pulse interference; the second stage of filtering further smooths Gaussian noise, ultimately obtaining more accurate and stable second liquid level height data.

[0021] In step 14, the fuel volume data inside the launch vehicle's propellant tank is determined based on the second liquid level height data and the geometric shape and size parameters of the launch vehicle's propellant tank.

[0022] This invention proposes the above-mentioned technical solution, which adopts a two-stage cascaded hybrid filtering architecture, combined with data reception verification, analysis calculation, multi-source sensor data fusion, volume conversion and other links. First, median filtering is used to remove pulse outliers, and then Gaussian noise is smoothed. At the same time, point-type liquid level sensor signal calibration is integrated, which breaks through the limitations of single filter, realizes the removal of pulse outliers, effectively smooths Gaussian noise, significantly reduces the variance of output data, greatly improves the liquid level analysis accuracy and stability, and the data curve is smooth without jumps, which can truly reflect the changes in the tank liquid level and meet the requirements of high real-time and high reliability liquid level measurement missions of launch vehicles.

[0023] In an optional embodiment of the present invention, step 11, acquiring the raw telemetry data collected by the launch vehicle liquid level sensor, may include: Step 111: Listen to and receive the telemetry data packet sent by the liquid level sensor through a preset port to obtain the original telemetry data. The telemetry data packet contains triangular wave voltage signal data and linear wave voltage signal data.

[0024] In step 111 of this embodiment, a preset port adapted for communication with the liquid level sensor is pre-configured. This preset port is a UDP port, and its communication parameters are pre-set based on the launch vehicle telemetry and control system protocol, including the communication baud rate, data frame format, and transmission timeout threshold. After starting the port listening process, the system continuously receives telemetry data packets collected and sent by the liquid level sensor in real time. These telemetry data packets are formed by the sensor detecting the liquid level status in the tank, converting physical quantities into electrical signals, and assembling them according to a preset protocol. The triangular wave voltage signal and linear wave voltage signal contained in the telemetry data packets are synchronously collected by the liquid level sensor through different detection links. The triangular wave voltage signal corresponds to the step response data when the liquid level crosses a sensor node, and the linear wave voltage signal corresponds to the linear response data when the liquid level changes continuously. Both types of signal data provide the basic data source for subsequent liquid level height calculation.

[0025] In an optional embodiment of the present invention, step 12, which involves verifying and parsing the original telemetry data to obtain the first liquid level height data, may include: Step 121: Perform frame header verification, data length verification, and cyclic redundancy check on the raw telemetry data in sequence to obtain valid data packets; Step 122: Parse the valid data packet according to the preset data input protocol and extract the triangular wave voltage value and the linear wave voltage value; Step 123: Determine the first liquid level height data based on the triangular wave voltage value and the linear wave voltage value.

[0026] In step 121 of this embodiment, frame header verification is achieved by comparing the start identifier of the telemetry raw data with a preset frame header format. The preset frame header format is a fixed byte sequence agreed upon by the launch vehicle telemetry and control system. If the identifiers do not match, the data is deemed invalid and discarded. Data length verification involves calculating the actual number of bytes in the telemetry raw data and comparing it with a preset data length threshold. Data packets exceeding the threshold are considered abnormal and discarded. Cyclic redundancy check uses a preset cyclic redundancy check algorithm. A check value is obtained by performing polynomial operations on the telemetry raw data. This check value is compared with the check field carried in the data packet. If they match, the data transmission is confirmed to be error-free, and finally, complete and valid data packets are obtained.

[0027] In step 122, the preset data input protocol clarifies the data field distribution rules of the telemetry data packet, including parameters such as field start position, field length, and data type. According to this protocol, the valid data packet is parsed field by field to locate the field regions corresponding to the triangular wave voltage signal and the linear wave voltage signal. Through signal amplitude conversion, the digitally encoded signals in the fields are converted into physical voltage values, and the triangular wave voltage value and the linear wave voltage value are extracted respectively.

[0028] In step 123, the characteristic parameters obtained beforehand based on the liquid level sensor calibration experiment are first acquired, including the triangular wave voltage conversion coefficient, the linear wave voltage conversion coefficient, and the sensor zero-point correction value. Combining the extracted triangular wave voltage value and the linear wave voltage value, the following steps are performed: H 1= k 1 U tri + k 2 U lin + c The first liquid level height data is obtained; among which, H 1 represents the first liquid level height data. k 1 represents the triangular wave voltage conversion coefficient. U tri This is the triangular wave voltage value. k 2 represents the linear wave voltage conversion coefficient. U lin For linear wave voltage values, c This is the zero-point calibration value for the sensor.

[0029] In an optional embodiment of the present invention, step 13, in which the first liquid level height data is filtered using a series two-stage filter to obtain the second liquid level height data, may include: Step 131: The first liquid level height data is processed by outlier removal through the first-level anti-pulse interference filter to obtain outlier-free liquid level height data; Step 132: The outlier liquid level height data is smoothed by a second-level optimal smoothing filter to obtain the second liquid level height data.

[0030] In step 131 of this embodiment, the first stage employs anti-pulse interference filtering to remove outliers from the first liquid level height data. During the acquisition of launch vehicle liquid level data, sudden factors such as sensor malfunctions and strong external electromagnetic interference may cause some abnormal data that deviates significantly from the normal range in the acquired first liquid level height data. These abnormal data are called outliers. Anti-pulse interference filtering determines whether data is an outlier by setting a reasonable threshold range. Specifically, a reasonable liquid level height fluctuation range is first determined based on historical normal data. When a data point in the first liquid level height data exceeds this fluctuation range, it is determined to be an outlier. For these outliers, methods such as median replacement or direct removal followed by filling with the average of adjacent normal data are used to obtain outlier-free liquid level height data. This step effectively removes pulse interference from the data and improves the reliability of the data.

[0031] In step 132, the second stage employs optimal smoothing filtering to smooth the outlier-removed liquid level height data. Although the first stage removes outliers, some high-frequency random noise may still exist in the data, affecting its accuracy and stability. Optimal smoothing filtering uses a smoothing filter function, such as a weighted moving average filter function, to process the outlier-removed liquid level height data. This function assigns different weights based on the distance between data points and the current point; closer points have higher weights, and farther points have lower weights. Then, a weighted average is calculated for the data points within a certain window to obtain the smoothed second liquid level height data, further improving the accuracy and quality of the data.

[0032] In an optional embodiment of the present invention, step 131, which involves performing outlier removal processing on the first liquid level height data through a first-level anti-pulse interference filter to obtain outlier-free liquid level height data, may include: Step 1311, construct a length of N Sliding window; Step 1312, continuously collected N The first liquid level height data is stored in the sliding window to obtain the first data set; Step 1313: Sort the first data set to obtain the second data set; Step 1314: Perform median calculation on the second dataset to obtain outlier liquid level height data.

[0033] In step 1311 of this embodiment, the length of the sliding window... NThe sampling frequency of the launch vehicle liquid level data, the typical duration of the pulse field value, and the real-time requirements of the system are comprehensively determined. N Choosing a reasonable positive integer is crucial. It's essential to ensure the window completely covers the duration of a single pulse outlier to prevent it from being missed during processing, while also controlling the window length to avoid increasing data processing latency and impacting real-time performance. N The value needs to be verified through multiple simulation tests to adapt to the complex working conditions during the flight of the launch vehicle.

[0034] In step 1312, the continuously acquired data are processed according to the chronological order of data collection. N Each initial liquid level height is sequentially stored in a constructed sliding window. The sliding window employs a first-in, first-out (FIFO) update mechanism. When new initial liquid level height data is generated, the window automatically removes the oldest historical data and simultaneously incorporates the new data, ensuring that the data within the window is always up-to-date. N A series of continuous sampled values ​​are used to form the first data set containing time-series characteristics, ensuring that subsequent processing can reflect the recent changes in liquid level data.

[0035] In step 1313, a numerical sorting algorithm is used to arrange all the data in the first data set in an ordered manner. The sorting direction can be ascending or descending. During the sorting process, the numerical relationship of the data is strictly maintained, and the physical meaning of the data itself is not changed. Through sorting, the pulse outliers caused by violent boiling and shaking of the liquid surface in the first data set will be placed at both ends of the data sequence, while the normal liquid level data will be concentrated in the middle of the sequence, forming an ordered second data set.

[0036] In step 1314, based on the length of the sliding window... N The median is calculated based on the parity of the x-axis. N When the median is odd, the median is the value located in the middle of the second dataset, calculated as follows:

[0037] When N is even, the median is the arithmetic mean of the two middle values ​​in the second dataset, calculated using the following formula:

[0038] in, To remove outlier liquid level height data, For the second data set, This is a floor function. By using the median calculation method, outlier values ​​at both ends of the data sequence can be discarded, while preserving the variation characteristics of normal liquid level data to the greatest extent, resulting in stable outlier-free liquid level height data.

[0039] In an optional embodiment of the present invention, step 132, which involves performing noise smoothing processing on the outlier-removed liquid level height data through a second-level optimal smoothing filter to obtain second liquid level height data, may include: Step 1321: Obtain the preset parameters of the launch vehicle liquid level measurement system; Step 1322: Determine the liquid level height processing model based on the preset parameters and the outlier liquid level height data; Step 1323: Input the outlier liquid level height data into the liquid level height processing model for processing to obtain the second liquid level height data.

[0040] In step 1321 of this embodiment, the preset parameters of the launch vehicle liquid level measurement system are obtained by pre-calibration based on the structural characteristics of the launch vehicle tank, the installation parameters of the liquid level sensor and the preset conditions of the flight conditions. Specifically, they include the state transition matrix A, the control input matrix B and the measurement matrix H. Get k Control input at any time U k , U k It originates from the real-time control commands issued by the launch vehicle flight control system. These control commands are used to characterize parameters related to rocket flight attitude adjustment and propulsion system operating status. In step 1322, based on the system model parameters and control inputs obtained above, a liquid level height processing model is established, wherein the system state equation is: ; The measurement equation is: ; in, The preset process noise, whose value is pre-set based on statistical analysis of historical flight data, is used to characterize the system model error; The preset measurement noise, whose value is pre-calibrated based on the performance parameters of the liquid level sensor, is used to characterize the measurement process error; for The optimal state estimate obtained after this step of optimal smoothing filtering at time 1; for Time measurement input; for k Predicted state value at any given time; In step 1323, the outlier liquid level height data is removed. As k -1 time measurement input Perform the Kalman filter prediction-update recursive operation to obtain... kThe optimal state estimate at time t is the second liquid level height data. The Kalman filtering prediction-update recursive operation is divided into a prediction phase and an update phase, which are sequentially connected to achieve accurate estimation of the liquid level state. The prediction phase uses... Based on the time-optimal state estimate, combined with the pre-constructed state transition matrix, control input matrix, and data from the flight control system... k The constant control input is obtained through state equations. k The predicted state value at each time step. Simultaneously, based on the state transition matrix, Calculate the time error covariance matrix and the preset process noise variance matrix. k The error covariance matrix is ​​used to predict the state and error at any given time, thus completing the initial prediction.

[0041] In the update phase, the Kalman gain is first calculated based on the prediction error covariance matrix, the measurement matrix, and the preset measurement noise variance matrix. This gain is used to dynamically balance the reliability weights of the predicted and measured values. Subsequently, outlier liquid level height data is used as the measurement input, combined with... k The measurement residuals of the predicted state values ​​at time points are calculated, and the predicted state values ​​are corrected using Kalman gain to obtain... k The optimal state estimate is obtained at each time step. Finally, the error covariance matrix is ​​updated using the Kalman gain, measurement matrix, and prediction error covariance matrix, providing a basis for recursive calculations at the next time step. Through the above iterative recursive processing, the final output is the second liquid level height data after smoothing and suppressing Gaussian noise.

[0042] In an optional embodiment of the present invention, step 14, determining the fuel volume data inside the launch vehicle's propellant tank based on the second liquid level height data, may include: Step 141: Obtain the switching signal data of the point-type liquid level sensor; Step 142: The second liquid level height data and the switch signal data are fused to obtain fused liquid level height data; Step 143: Obtain the preset tank height-volume mapping table; Step 144: Determine the fuel volume data corresponding to the fusion liquid level height data according to the tank height-volume mapping table.

[0043] In step 141 of this embodiment, a point-type liquid level sensor is pre-installed at a predetermined height on the inner wall of the launch vehicle's propellant tank to assist in verifying the accuracy of continuous liquid level data. Through a communication link established with the main liquid level measurement system, the switch signal data of the point-type liquid level sensor is acquired in real time. This signal data is a binary state value; when the fuel level reaches the sensor's installation position, a first state value is output; otherwise, a second state value is output. Signal transmission follows the unified telemetry and control communication protocol of the launch vehicle to ensure data real-time performance and reliability.

[0044] In step 142, the fusion processing is implemented based on a weighted fusion algorithm. First, the weighting coefficients, which have been pre-calibrated through simulation experiments, are obtained, including the weighting coefficients of the second liquid level height data. Weighting coefficients for switch signal data ,and The obtained second liquid level height data With switch signal data Substitute into the fusion formula: ,in, To fuse liquid level height data, a consistency check is performed during the fusion process. If the deviation between the two types of data exceeds a preset threshold, an anomaly handling mechanism is triggered to ensure the validity of the fusion result.

[0045] In step 143, the preset tank height-volume mapping table is pre-constructed based on the geometric parameters of the launch vehicle tank. By performing segmented geometric modeling of the tank, combined with fluid dynamics simulation and physical calibration tests, the actual fuel volume corresponding to different height levels is measured. An initial mapping table is formed by mapping the height values ​​to the volume values ​​one-to-one. After multiple error calibrations and optimizations, the final mapping table is determined. This table is stored in the system's local storage module and supports fast retrieval.

[0046] In step 144, a linear interpolation algorithm is used to determine the fuel volume data. First, the liquid level height data is located and integrated in the mapping table. Two adjacent height values ​​and their corresponding volume values ​​are denoted as , and , By using the interpolation formula: , Obtain the corresponding fuel volume data .like If the height exceeds the range of the mapping table, an extrapolation algorithm is used in conjunction with the structural features of the tank end to calculate the volume, and finally output accurate data on the fuel volume inside the launch vehicle tank.

[0047] A specific embodiment of the rocket liquid level data processing method provided in this invention is as follows: Step 1: System initialization.

[0048] After the data processing unit starts, it completes the basic parameter configuration, presets the UDP port parameters for communication with the continuous liquid level sensor, including baud rate of 9600bps, data frame format, and sets the median filter sliding window length. N =5 (determined based on the rocket's liquid level sampling frequency of 10Hz and pulse field duration of 0.3s), loading pre-calibrated launch vehicle liquid level measurement system model parameters, including the state transition matrix. Control input matrix Measurement matrix Preset process noise variance matrix Measurement noise variance matrix Simultaneously, the data cache, trend analyzer, and local storage module are initialized, and the preset tank height-volume mapping table is called and loaded into memory to complete the initialization preparation.

[0049] Step 2: Obtain the raw telemetry data.

[0050] The data processing unit starts a listening process through a preset UDP port to continuously receive telemetry data packets sent in real time by the continuous liquid level sensor. These data packets are generated by the sensor after detecting the fuel level in the tank and contain triangular wave voltage signal data and linear wave voltage signal data. The data transmission follows the unified protocol of the launch vehicle telemetry and control system to ensure the real-time performance and integrity of the data.

[0051] Step 3: Verification and parsing of raw telemetry data.

[0052] First, the received raw telemetry data undergoes frame header verification, comparing the 4-byte identifier at the beginning of the data with the preset frame header "0xAA55AA55". If they do not match, the data is deemed invalid and discarded. Next, data length verification is performed, calculating the total number of bytes in the current data packet and comparing it with a preset 64-byte length threshold. Data exceeding this threshold is considered abnormal and discarded. Finally, cyclic redundancy check (CRC) is executed, performing a polynomial operation on the main body of the data packet to obtain a checksum, which is then compared with the 2-byte checksum field at the end of the data packet. If they match, the data transmission is confirmed to be error-free, and a valid data packet is obtained. Based on the preset data input protocol, the valid data packet is parsed, locating the triangular wave voltage field (bytes 10-13) and the linear wave voltage field (bytes 14-17). The digitally encoded signals within these fields are converted into physical voltage values, and the triangular wave voltage values ​​are extracted. U tri =3.2V, linear wave voltage value U lin =2.5V. Combined with pre-calibrated sensor characteristic parameters (triangular wave voltage conversion coefficient) k 1 = 0.8m / V, linear wave voltage conversion factork 2 = 0.6 m / V, zero-point correction value c =0.1m), through the formula H 1= k 1 U tri + k 2 U lin + c The first liquid level height data was calculated. H 1 = 4.01m.

[0053] Step 4: Two-stage filtering.

[0054] First, the first-level anti-pulse interference filter is executed, and the five consecutively collected first liquid level height data (4.01m, 4.03m, 9.8m, 4.02m, and 4.00m in sequence) are stored in the sliding window to form the first data set; Sort the set in ascending order to obtain the second data set [4.00m, 4.01m, 4.02m, 4.03m, 9.8m]; Due to window length N =5 is an odd number, determined by the formula: The median, specifically the third sorted value of 4.02m, is used to calculate the outlier liquid level height data. The outlier value of 9.8m was successfully removed. Next, the second-stage optimal smoothing filter was performed, which... As k Time measurement input Z k =4.02m, obtain the data sent by the flight control system. k Control input volume at all times U k =0.5; Based on the model parameters loaded during initialization, through the state equations calculate k The predicted state value at time step, where Substituting the previous optimal state estimate of 4.00m into the equation, we get... Calculate the prediction error covariance matrix and Kalman gain, and combine them with the measurement equation to calculate the residuals, thus obtaining... k The optimal state estimate at any given time is 4.03m, which is the second liquid level height data.

[0055] Step 5: Data fusion and fuel volume determination.

[0056] The switch signal data of the point-type liquid level sensor is acquired through a communication link. The sensor is installed at a height of 4.0m. When the current liquid level reaches the installation position, a status value is output. S =1; A weighted fusion algorithm is adopted, and the pre-calibrated weight coefficients are substituted. , Through formula Calculated liquid level height data The consistency of the fused data and the switch signal was checked. The deviation of 0.303m was less than the preset threshold of 0.5m, confirming the validity of the fusion result. The tank height-volume mapping table in memory was then called to locate the... Two adjacent height values (corresponding volume) )and (corresponding volume) Using a linear interpolation algorithm, through the formula The fuel volume data was calculated. .

[0057] Step 6: Data output and storage.

[0058] The fuel volume data (1258.1 L) and the fused liquid level height data (3.727 m) are packaged according to a preset output protocol. The packet format includes a data type identifier, timestamp, and data body. This data is then sent to the rocket propellant management system and flight control system via UDP. Simultaneously, the raw telemetry data, the first liquid level height data, the outlier-removed liquid level height data, the second liquid level height data, the fused data, and the fuel volume data are stored locally in the local storage module, and the content displayed on the human-machine interface is updated in real time, completing a single liquid level data processing flow. Subsequently, as the sensors continue to collect data, steps 2 to 6 are repeated to achieve continuous real-time processing of the liquid level data.

[0059] The proposed method for processing launch vehicle liquid level data employs a two-stage cascaded filtering approach. First, median filtering removes outlier pulses caused by boiling and sloshing. Then, Kalman filtering smooths Gaussian noise. Simultaneously, it integrates point-type liquid level sensor switching signals to calibrate continuous liquid level data. Combined with a pre-defined tank height-volume mapping table and interpolation algorithms, it achieves precise conversion from liquid level to volume. This method efficiently filters out mixed noise, improves the anti-interference capability and accuracy of liquid level data, and effectively avoids the performance limitations of single filtering schemes. It enables real-time, stable, and accurate analysis of liquid level data under complex flight conditions of launch vehicles, providing reliable fuel volume data support for propellant management and ensuring the safe and successful completion of rocket flight attitude control and launch missions.

[0060] like Figure 2 As shown, this embodiment of the invention also provides a launch vehicle liquid level data processing device 20, comprising: The acquisition module 21 is used to acquire the raw telemetry data collected by the launch vehicle liquid level sensor; Processing module 22 is used to verify and parse the telemetry raw data to obtain first liquid level height data; and to filter the first liquid level height data using a series two-stage filter to obtain second liquid level height data. The determination module 23 is used to determine the fuel volume data in the launch vehicle tank based on the second liquid level height data.

[0061] Optionally, module 21 is specifically used for: By listening to and receiving telemetry data packets sent by the liquid level sensor through a preset port, the raw telemetry data is obtained. The telemetry data packets contain triangular wave voltage signal data and linear wave voltage signal data.

[0062] Optionally, processing module 22 is specifically used for: The raw telemetry data is sequentially subjected to frame header verification, data length verification, and cyclic redundancy check to obtain valid data packets; The valid data packets are parsed according to a preset data input protocol to extract triangular wave voltage values ​​and linear wave voltage values. The first liquid level height data is determined based on the triangular wave voltage value and the linear wave voltage value.

[0063] Optionally, the processing module 22 is also specifically used for: The first liquid level height data is processed by removing outliers through the first-level anti-pulse interference filter to obtain outlier-free liquid level height data. The outlier liquid level height data is smoothed by a second-stage optimal smoothing filter to obtain the second liquid level height data.

[0064] Optionally, the step of performing outlier removal processing on the first liquid level height data through a first-level anti-pulse interference filter to obtain outlier-free liquid level height data includes: Build length is N Sliding window; Continuously collected N The first liquid level height data is stored in the sliding window to obtain the first data set; The first data set is sorted to obtain the second data set; The median of the second dataset is calculated to obtain the outlier liquid level height data.

[0065] Optionally, the outlier-removed liquid level height data is subjected to noise smoothing processing through a second-level optimal smoothing filter to obtain second liquid level height data, including: Obtain the preset parameters of the launch vehicle liquid level measurement system; Based on the preset parameters and the outlier liquid level height data, determine the liquid level height processing model; The outlier liquid level height data is input into the liquid level height processing model for processing to obtain the second liquid level height data.

[0066] Optionally, module 23 is specifically used for: Acquire the switching signal data of the point-type liquid level sensor; The second liquid level height data is fused with the switch signal data to obtain fused liquid level height data; Obtain the preset tank height-volume mapping table; Based on the tank height-volume mapping table, determine the fuel volume data corresponding to the fusion liquid level height data.

[0067] It should be noted that this device is a device corresponding to the above method. All implementation methods in the above method embodiments are applicable to this embodiment and can achieve the same technical effect.

[0068] like Figure 3 As shown, this embodiment of the invention also provides a computing device 30, including a processor 31, a memory 32, and a program or instructions stored in the memory 32 and executable on the processor 31. When the program or instructions are executed by the processor 31, they implement the various processes of the above-described embodiment of the launch vehicle liquid level data processing method and achieve the same technical effects. To avoid repetition, they will not be described again here. It should be noted that the computing device in this embodiment of the invention includes the aforementioned mobile electronic devices and non-mobile electronic devices.

[0069] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0070] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0071] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0072] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0073] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0074] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0075] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.

[0076] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code for implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps for performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0077] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for processing liquid level data of a launch vehicle, characterized in that, include: Acquire raw telemetry data collected by the launch vehicle's liquid level sensor; The original telemetry data is verified and parsed to obtain the first liquid level height data; The first liquid level height data is filtered by a series of two-stage filters to obtain the second liquid level height data; Based on the second liquid level height data, the fuel volume data inside the launch vehicle's propellant tank is determined.

2. The method for processing launch vehicle liquid level data according to claim 1, characterized in that, The acquisition of raw telemetry data collected by the launch vehicle's liquid level sensor includes: By listening to and receiving telemetry data packets sent by the liquid level sensor through a preset port, the raw telemetry data is obtained. The telemetry data packets contain triangular wave voltage signal data and linear wave voltage signal data.

3. The method for processing launch vehicle liquid level data according to claim 1, characterized in that, The original telemetry data is verified and parsed to obtain the first liquid level height data, including: The raw telemetry data is sequentially subjected to frame header verification, data length verification, and cyclic redundancy check to obtain valid data packets; The valid data packets are parsed according to a preset data input protocol to extract triangular wave voltage values ​​and linear wave voltage values. The first liquid level height data is determined based on the triangular wave voltage value and the linear wave voltage value.

4. The method for processing launch vehicle liquid level data according to claim 1, characterized in that, The first liquid level height data is filtered using a cascaded two-stage filter to obtain the second liquid level height data, including: The first liquid level height data is processed by removing outliers through the first-level anti-pulse interference filter to obtain outlier-free liquid level height data. The outlier liquid level height data is smoothed by a second-stage optimal smoothing filter to obtain the second liquid level height data.

5. The method for processing launch vehicle liquid level data according to claim 4, characterized in that, The process of removing outliers from the first liquid level height data through a first-level anti-pulse interference filter to obtain outlier-free liquid level height data includes: Build length is N Sliding window; Continuously collected N The first liquid level height data is stored in the sliding window to obtain the first data set; The first data set is sorted to obtain the second data set; The median of the second dataset is calculated to obtain the outlier liquid level height data.

6. The method for processing launch vehicle liquid level data according to claim 4, characterized in that, The outlier liquid level height data is smoothed by a second-level optimal smoothing filter to obtain second liquid level height data, including: Obtain the preset parameters of the launch vehicle liquid level measurement system; Based on the preset parameters and the outlier liquid level height data, determine the liquid level height processing model; The outlier liquid level height data is input into the liquid level height processing model for processing to obtain the second liquid level height data.

7. The method for processing launch vehicle liquid level data according to claim 1, characterized in that, Based on the second liquid level height data, the fuel volume data inside the launch vehicle's propellant tank is determined, including: Acquire the switching signal data of the point-type liquid level sensor; The second liquid level height data is fused with the switch signal data to obtain fused liquid level height data; Obtain the preset tank height-volume mapping table; Based on the tank height-volume mapping table, determine the fuel volume data corresponding to the fusion liquid level height data.

8. A launch vehicle liquid level data processing device, characterized in that, include: The acquisition module is used to acquire the raw telemetry data collected by the launch vehicle's liquid level sensor; The processing module is used to verify and parse the original telemetry data to obtain the first liquid level height data; and to filter the first liquid level height data using a series two-stage filter to obtain the second liquid level height data. The determination module is used to determine the fuel volume data inside the launch vehicle's propellant tank based on the second liquid level height data.

9. A computing device, characterized in that, include: A processor, a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The system stores instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1 to 7.

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