Target motion tracking simulation method and system in aircraft hardware-in-the-loop simulation

Abstract

The present invention provides a target motion tracking simulation system and method in semi-physical simulation of an aircraft, comprising: a three-axis turntable 1, a target array system 2, a signal generating system 3, a computer control system 4, and a data acquisition system 5; the three-axis turntable 1 is located at the center of the array sphere and is mainly used to simulate the posture of a projectile; the target array system 2 is used to simulate the target motion trajectory and emit a target radio frequency signal; the signal generating system 3 is used to provide a target radio frequency signal source for the target array system 2; the computer control system 4 is used to simulate the motion process of the aircraft and the target; and the data acquisition system 5 is used to monitor the status of the aircraft and the target in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft semi-physical simulation, and specifically, to a target motion tracking simulation method and system in aircraft semi-physical simulation, and more specifically, to a control method and system for avoiding singular points in aircraft semi-physical simulation. The method avoids singular points in the Euler angles of the turntable attitude during the aircraft semi-physical simulation by adjusting the position of the antenna array and the attitude control of the turntable while ensuring that the relative line of sight between the aircraft, missile and target remains unchanged. Background Art

[0002] Currently, guidance and control hardware-in-the-loop simulation systems primarily consist of a flight simulation turntable, a target simulation system, a simulation computer and control system, load simulation, simulation software, and specialized supporting equipment. The flight simulation turntable, serving as the vehicle's attitude simulation platform, receives and tracks the vehicle's real-time position, velocity, and other command signals sent by the simulation computer to simulate the vehicle's attitude motion. Together with the target simulation system, it implements motion tracking simulation. Currently, most laboratories utilize horizontal turntables. These turntables utilize a three-axis system: the inner frame represents the roll axis, the middle frame represents the yaw axis, and the outer frame represents the pitch axis. The Euler angle rotation sequence is "pitch-yaw-roll," which is inconsistent with the "yaw-pitch-roll" rotation sequence for the missile in the geographic frame. To simulate target motion tracking, traditional methods often use a "vertical-to-horizontal" method to obtain control variables for the horizontal turntable to simulate the missile's attitude. These variables are then combined with the array adjustment variables to simulate the missile's attitude in the line of sight frame. This method is suitable for most flight situations, but a singular point appears at a yaw angle of 90°, which cannot meet the requirements of semi-physical simulation in the full airspace background.

[0003] To address this problem, a turntable and array control method for semi-physical simulation of aircraft is proposed. This technology mainly adjusts the turntable and array control variables while ensuring that the relative relationship between the aircraft and the target remains unchanged, avoids the singularity of the turntable Euler angle control, and solves the problem of simulation line of sight angle error caused by singularity in the attitude algorithm of the original method, thereby improving the realism and application scope of semi-physical simulation of aircraft.

[0004] Patent document CN104536291A (application number: 201410683489.7) discloses a method for simulating the influence of elastic vibration on the seeker measurement signal based on a radio frequency system, which belongs to the technical field of semi-physical simulation of aircraft. The method of the present invention establishes a spatial geometric position relationship model between the aircraft and the target, and determines the elevation angle and azimuth angle of the line of sight under the influence of elastic vibration based on the motion information of the target and the aircraft calculated by the simulation computer, as well as the elastic vibration information of the aircraft seeker, determines the triplet position of the simulated target on the antenna array of the radio frequency system, and determines the signal that each group of antennas in the triplet needs to radiate. The triplet position information and the signals radiated by each group of antennas are input into the radio frequency simulation system, so that the corresponding antenna radiates the corresponding signal, thereby simulating the target position information under the influence of elastic vibration. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a target motion tracking simulation system and method in aircraft semi-physical simulation.

[0006] According to the present invention, a target motion tracking simulation system in aircraft hardware-in-the-loop simulation comprises a three-axis turntable 1, a target array system 2, a signal generating system 3, a computer control system 4, and a data acquisition system 5;

[0007] The three-axis turntable 1 is located at the center of the array sphere and is mainly used to simulate the posture of the projectile;

[0008] The target array system 2 is used to simulate the target motion trajectory and emit the target radio frequency signal;

[0009] The signal generating system 3 is used to provide a target radio frequency signal source for the target array system 2;

[0010] The computer control system 4 is used to simulate the motion process of the aircraft and the target;

[0011] The data acquisition system 5 is used to monitor the status of the aircraft and the target in real time.

[0012] According to a method for simulating target motion tracking in aircraft hardware-in-the-loop simulation provided by the present invention, the following steps are performed using the above-mentioned target motion tracking simulation system in aircraft hardware-in-the-loop simulation:

[0013] Step S1: The computer control system 4 acts on the target array system 2 and the signal generating system 3 to control the signal radiation characteristics and motion characteristics of the target array system 2 in real time, and calculates the real-time position, velocity and relative motion relationship in real time;

[0014] Step S2: transmitting corresponding posture control instructions to the three-axis turntable 1 to control the posture of the three-axis turntable 1;

[0015] Step S3: Performing evasive control on the aircraft's semi-physical simulated singular point to achieve the coordination between the three-axis turntable and the array target to complete the relative motion simulation process;

[0016] Step S4: Real-time monitoring and recording of the aircraft status is performed through the data acquisition system 5 .

[0017] Preferably, step S3 adopts: a turntable control method for adjusting the array target position in advance so that the array target path of the horizontal turntable in the laboratory environment is equal to the target path of the aircraft in the actual situation, and avoiding control of the calculation singularity point caused by the vertical turntable turning the horizontal turntable and then controlling it in the traditional method of semi-physical simulation of the aircraft, so as to realize the coordination of the three-axis turntable and the array target to complete the relative motion simulation process.

[0018] Preferably, the method includes: Step S3 adopting:

[0019] Step S3.1: Determine the Euler angle control limit value of the three-axis turntable and the antenna array field of view limit value;

[0020] Step S3.2: Calculate the Euler angles of the turntable and the control value of the antenna array angle position without initial adjustment during the entire process of the aircraft hardware-in-the-loop simulation;

[0021] Step S3.3: Adjust the initial position of the target within the array, obtain the array adjustment amount of elevation angle and azimuth angle, and ensure that the posture amplitude of the three-axis turntable 1 does not exceed the limit of the three-axis turntable 1 and the target position does not exceed the array range during the entire real-time calculation process;

[0022] Step S3.4: Substitute the initial adjustment values ​​of the three-axis turntable and array, the elevation angle and azimuth angle, into the attitude conversion matrix to calculate the adjusted control values ​​of the three-axis turntable and array.

[0023] Preferably, the step S3.4 includes:

[0024] Step S3.4.1: Adjust the initial position of the target within the array so that the target position does not exceed the array range, and obtain the array adjustment amount of elevation angle and azimuth angle;

[0025] Step S3.4.2: Convert the obtained array adjustment amount elevation angle and azimuth angle into the three-axis turntable attitude control amount related to the array adjustment amount.

[0026] Preferably, the step S3.4.2 adopts:

[0027] Step S3.4.2.1: The attitude transformation matrix from the geographic coordinate system to the array line of sight coordinate system is:

[0028]

[0029] Among them, ε0 represents the elevation angle of the array adjustment; β0 represents the azimuth angle of the array adjustment;

[0030] Step S3.4.2.2: The attitude transformation matrix from the carrier coordinate system to the array line of sight coordinate system is:

[0031]

[0032] in, Represents the attitude transformation matrix from the carrier coordinate system to the geographic coordinate system;

[0033]

[0034] in, represents the actual pitch angle of the object; γ represents the actual roll angle of the object; Ψ represents the actual yaw angle of the object.

[0035] Step S3.4.2.3: The transformation matrix of the three-axis turntable relative to the array target is The turntable mainly simulates the attitude transformation of the aircraft relative to the target from the carrier coordinate system to the line of sight coordinate system.

[0036] Among them, the three-axis turntable relative to the array target matrix Set as

[0037]

[0038] use The attitude control quantity of the three-axis turntable related to the array adjustment quantity is:

[0039]

[0040] Among them, θ represents the actual pitch angle of the object, represents the actual yaw angle of the object, γ represents the actual roll angle of the object; β0 represents the azimuth angle of the array adjustment, ε0 represents the height angle of the array adjustment; φ * is the yaw amount of the control turntable, θ * is the pitch of the control turntable, γ * is the console roll amount.

[0041] According to the present invention, a target motion tracking simulation system in aircraft hardware-in-the-loop simulation includes:

[0042] Module M1: The computer control system 4 acts on the target array system 2 and the signal generating system 3 to control the signal radiation characteristics and motion characteristics of the target array system 2 in real time, and calculate the real-time position, velocity and relative motion relationship in real time;

[0043] Module M2: transmits corresponding posture control instructions to the three-axis turntable 1 to control the posture of the three-axis turntable 1;

[0044] Module M3: Performs avoidance control on the semi-physical singular point of the aircraft, and realizes the coordination between the three-axis turntable and the array target to complete the relative motion simulation process;

[0045] Module M4: Real-time monitoring and recording of aircraft status through data acquisition system 5.

[0046] Preferably, the module M3 includes:

[0047] Module M3.1: Determine the Euler angle control limit value of the three-axis turntable and the antenna array field of view limit value;

[0048] Module M3.2: Calculate the Euler angles of the turntable and the angular position control of the antenna array during the entire hardware-in-the-loop simulation of the aircraft without initial adjustments;

[0049] Module M3.3: Adjust the initial position of the target within the array, obtain the array adjustment amount of elevation angle and azimuth angle, and ensure that the posture amplitude of the three-axis turntable 1 does not exceed the limit of the three-axis turntable 1 and the target position does not exceed the array range during the entire real-time calculation process;

[0050] Module M3.4: Substitute the initial adjustment values ​​of the three-axis turntable and array, the elevation angle and azimuth angle, into the attitude transformation matrix to calculate the adjusted control values ​​of the three-axis turntable and array.

[0051] Preferably, the module M3.4 includes:

[0052] Module M3.4.1: Adjust the initial position of the target within the array so that the target position does not exceed the array range, and obtain the array adjustment amount of elevation angle and azimuth angle;

[0053] Module M3.4.2: Convert the obtained array adjustment elevation and azimuth angles into the three-axis turntable attitude control quantities related to the array adjustment.

[0054] Preferably, the module M3.4.2 adopts:

[0055] Module M3.4.2.1: The attitude transformation matrix from the geographic coordinate system to the array line of sight coordinate system is:

[0056]

[0057] Among them, ε0 represents the elevation angle of the array adjustment; β0 represents the azimuth angle of the array adjustment;

[0058] Module M3.4.2.2: The attitude transformation matrix from the carrier coordinate system to the array line of sight coordinate system is:

[0059]

[0060] in, Represents the attitude transformation matrix from the carrier coordinate system to the geographic coordinate system;

[0061]

[0062] in, represents the actual pitch angle of the object; γ represents the actual roll angle of the object; Ψ represents the actual yaw angle of the object.

[0063] Module M3.4.2.3: The transformation matrix of the three-axis turntable relative to the array target is The turntable mainly simulates the attitude transformation of the aircraft relative to the target from the carrier coordinate system to the line of sight coordinate system.

[0064] Among them, the three-axis turntable relative to the array target matrix Set as

[0065]

[0066] use The attitude control quantity of the three-axis turntable related to the array adjustment quantity is:

[0067]

[0068] Among them, θ represents the actual pitch angle of the object, represents the actual yaw angle of the object, γ represents the actual roll angle of the object; β0 represents the azimuth angle of the array adjustment, ε0 represents the height angle of the array adjustment; φ * is the yaw amount of the control turntable, θ * is the pitch of the control turntable, γ * is the console roll amount.

[0069] Compared with the existing technology, the present invention has the following beneficial effects: it effectively avoids the singular points that may appear during the attitude transformation process when the horizontal turntable participates in the simulation, so that the guided semi-physical simulation meets the requirements of building a full airspace simulation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0071] Figure 1 It is a schematic diagram of the horizontal three-axis turntable structure;

[0072] Figure 2 This is a schematic diagram of the principles and components of the aircraft hardware-in-the-loop simulation described in the present invention;

[0073] Figure 3 This is the principle diagram of the relative motion tracking simulation method;

[0074] Figure 4 This is a flow chart of the turntable control method for relative motion tracking simulation of aircraft semi-physical simulation described in the present invention. DETAILED DESCRIPTION

[0075] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0076] The present invention provides a control method for avoiding singular points in semi-physical simulation of aircraft. The method is mainly applied to semi-physical simulation of aircraft. A horizontal turntable is used to control the attitude of the aircraft and an antenna array is used to control the position of a radio frequency target. The relative motion relationship between the aircraft and the target is simulated. By adjusting the initial line-of-sight angle position of the antenna array in elevation and azimuth and the initial Euler angle attitude control of the turntable, the attitude amplitude during the simulation does not exceed the turntable limit and the target position does not exceed the array range, while ensuring that the relative line-of-sight relationship between the missile and the target in the semi-physical simulation of the aircraft remains unchanged. This achieves the avoidance of the Euler angle singular points of the turntable attitude during the semi-physical simulation of the aircraft.

[0077] Example 1

[0078] The present invention provides a target motion tracking simulation system in aircraft semi-physical simulation, the specific implementation method will be combined with Figure 1 、 Figure 2 and Figure 3 For detailed description. Figure 2In the illustrated guidance hardware-in-the-loop simulation system, an aircraft device 6 serves as the simulation object. The simulation equipment consists of a three-axis turntable (horizontal) 1, a target array system 2, a signal generation system 3, a computer control system 4, and a data acquisition system 5. The three-axis turntable 1 is primarily used to simulate the missile's attitude and is located at the center of the array sphere. The target array system 2 simulates the target's motion trajectory and emits the target's radio frequency signal. The signal generation system 3 provides a signal source for the target array system. The computer control system 4 solves the model and simulates the motion of the aircraft and target. The data acquisition system 5 monitors the status of the aircraft and target in real time. The target motion tracking simulation process of the aircraft in the hardware-in-the-loop simulation primarily involves the computer control system 4 acting on the target array system 2 and the signal generation system 3 to control the target system's signal radiation and motion characteristics in real time, and to calculate the real-time position, velocity, and relative motion relationship in real time to transmit corresponding attitude control commands to the three-axis flight turntable 3 to control the flight turntable's attitude. The data acquisition system 5 also monitors and records the missile's status in real time.

[0079] The turntable control method for the aircraft semi-physical simulation relative motion tracking simulation is mainly completed in the computer control system 4. Figure 3 The flowchart of the turntable control method for the relative motion tracking simulation of the semi-physical simulation of the aircraft is shown. The specific steps of simulating the motion tracking process by avoiding attitude singularities are as follows: ① Adjust the initial position of the target in the array so that the target position does not exceed the array range, and obtain the array adjustment amount of the elevation angle ε0 and the azimuth angle β0; ② The initial position adjustment amount of the array target is used as the initial line of sight angle, and the attitude transformation matrix from the geographic coordinate system to the array line of sight system is

[0080]

[0081] Posture transformation matrix from carrier coordinate system to sight coordinate system in Represents the attitude transformation matrix from the carrier coordinate system to the geographic coordinate system,

[0082]

[0083] ③The rotation order of the horizontal turntable is as follows Figure 1 , the transformation matrix of the turntable relative to the array target is like Figure 3 Schematic diagram of the relative motion tracking method. The turntable mainly simulates the attitude transformation of the aircraft relative to the target from the carrier coordinate system to the line of sight coordinate system, that is, The horizontal turntable is relative to the array target matrix Can be set to

[0084]

[0085] use The horizontal turntable attitude control quantity related to the array adjustment quantity can be obtained as follows:

[0086]

[0087] in, is the actual yaw angle of the object in the geographic system, is the actual pitch angle of the object, γ is the actual roll angle of the object, is the yaw amount of the control turntable, θ * is the pitch of the control turntable, γ * In order to control the roll of the console, the actual attitude updated at each beat in the semi-physical simulation is used to participate in the calculation to obtain the turntable control value. This method can meet the semi-physical simulation requirements of tracking targets in all directions and realize full airspace simulation.

[0088] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0089] Those skilled in the art will appreciate that, in addition to implementing the system, device, and various modules provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like by logically programming the method steps. Therefore, the system, device, and various modules provided by the present invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; the modules for implementing various functions can also be considered both software programs for implementing the method and structures within the hardware component.

[0090] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A method for simulating target motion tracking in aircraft hardware-in-the-loop simulation, characterized in that: The following steps are performed using the target motion tracking simulation system in the aircraft hardware-in-the-loop simulation: The target motion tracking simulation system in the aircraft hardware-in-the-loop simulation includes: Three-axis turntable (1), target array system (2), signal generation system (3), computer control system (4) and data acquisition system (5); The three-axis turntable (1) is located at the center of the array sphere and is mainly used to simulate the posture of the projectile; The target array system (2) is used to simulate the target motion trajectory and emit the target radio frequency signal; The signal generating system (3) is used to provide a target radio frequency signal source for the target array system (2); The computer control system (4) is used to simulate the motion process of the aircraft and the target; The data acquisition system (5) is used to monitor the status of the aircraft and the target in real time; Step S1: The computer control system (4) acts on the target array system (2) and the signal generating system (3), controls the signal radiation characteristics and motion characteristics of the target array system (2) in real time, and calculates the real-time position, velocity and relative motion relationship in real time; Step S2: transmitting corresponding posture control instructions to the three-axis turntable (1) to control the posture of the three-axis turntable (1); Step S3: Performing evasive control on the aircraft's semi-physical simulated singular point to achieve the coordination between the three-axis turntable and the array target to complete the relative motion simulation process; Step S4: Real-time monitoring and recording of aircraft status through the data acquisition system (5); The step S3 adopts: Step S3.1: Determine the Euler angle control limit value of the three-axis turntable and the antenna array field of view limit value; Step S3.2: Calculate the Euler angles of the turntable and the control value of the antenna array angle position without initial adjustment during the entire process of the aircraft hardware-in-the-loop simulation; Step S3.3: Adjust the initial position of the target within the array, obtain the array adjustment amount of the elevation angle and azimuth angle, and ensure that the posture amplitude of the three-axis turntable (1) does not exceed the limit of the three-axis turntable (1) and the target position does not exceed the array range during the entire real-time calculation process; Step S3.4: Substitute the initial adjustment values ​​of the three-axis turntable and array, the elevation angle and azimuth angle, into the attitude conversion matrix to calculate the adjusted control values ​​of the three-axis turntable and array.

2. The method for simulating target motion tracking in aircraft hardware-in-the-loop simulation according to claim 1, wherein: The step S3 adopts: the turntable control method of adjusting the array target position in advance so that the array target path of the horizontal turntable in the laboratory environment is equal to the target path of the aircraft in the actual situation, and avoiding the calculation singularity point caused by the vertical turntable turning the horizontal turntable and then controlling it to achieve the relative motion simulation process of the three-axis turntable and the array target in coordination.

3. The method for simulating target motion tracking in aircraft hardware-in-the-loop simulation according to claim 1, wherein: The step S3.4 adopts: Step S3.4.1: The attitude transformation matrix from the geographic coordinate system to the array line of sight coordinate system is: Among them, ε0 represents the elevation angle of the array adjustment; β0 represents the azimuth angle of the array adjustment; Step S3.4.2: The attitude transformation matrix from the carrier coordinate system to the array line of sight coordinate system is: in, Represents the attitude transformation matrix from the carrier coordinate system to the geographic coordinate system; Among them, θ represents the actual pitch angle of the physical object; γ represents the actual roll angle of the physical object; and Ψ represents the actual yaw angle of the physical object. Step S3.4.3: The transformation matrix of the three-axis turntable relative to the array target is The turntable mainly simulates the attitude transformation of the aircraft relative to the target from the carrier coordinate system to the line of sight coordinate system. Among them, the three-axis turntable is relative to the array target matrix Set as use The attitude control quantity of the three-axis turntable related to the array adjustment quantity is: Among them, θ represents the actual pitch angle of the object, represents the actual yaw angle of the object, γ represents the actual roll angle of the object; β0 represents the azimuth angle of the array adjustment, ε0 represents the height angle of the array adjustment; φ * is the yaw amount of the control turntable, θ * is the pitch of the control turntable, γ * is the console roll amount.

4. A target motion tracking simulation system in aircraft hardware-in-the-loop simulation, characterized in that: include: Module M1: The computer control system (4) acts on the target array system (2) and the signal generation system (3), controls the signal radiation characteristics and motion characteristics of the target array system (2) in real time, and calculates the real-time position, velocity and relative motion relationship in real time; Module M2: transmits corresponding posture control instructions to the three-axis turntable (1) to control the posture of the three-axis turntable (1); Module M3: Performs avoidance control on the semi-physical singular point of the aircraft, and realizes the coordination between the three-axis turntable and the array target to complete the relative motion simulation process; Module M4: Real-time monitoring and recording of aircraft status through the data acquisition system (5); The module M3 adopts: Module M3.1: Determine the Euler angle control limit value of the three-axis turntable and the antenna array field of view limit value; Module M3.2: Calculate the Euler angles of the turntable and the angular position control of the antenna array during the entire hardware-in-the-loop simulation of the aircraft without initial adjustments; Module M3.3: Adjust the initial position of the target in the array, obtain the array adjustment amount of the elevation angle and azimuth angle, and ensure that the posture amplitude of the three-axis turntable (1) does not exceed the limit of the three-axis turntable (1) and the target position does not exceed the array range during the entire real-time calculation process; Module M3.4: Substitute the initial adjustment values ​​of the three-axis turntable and array, the elevation angle and azimuth angle, into the attitude transformation matrix to calculate the adjusted control values ​​of the three-axis turntable and array.

5. The target motion tracking simulation system in aircraft hardware-in-the-loop simulation according to claim 4, characterized in that: The module M3.4 adopts: Module M3.4.1: The attitude transformation matrix from the geographic coordinate system to the array line of sight coordinate system is: Among them, ε0 represents the elevation angle of the array adjustment; β0 represents the azimuth angle of the array adjustment; Module M3.4.2: The attitude transformation matrix from the carrier coordinate system to the array line of sight coordinate system is: in, Represents the attitude transformation matrix from the carrier coordinate system to the geographic coordinate system; Among them, θ represents the actual pitch angle of the physical object; γ represents the actual roll angle of the physical object; and Ψ represents the actual yaw angle of the physical object. Module M3.4.3: The transformation matrix of the three-axis turntable relative to the array target is The turntable mainly simulates the attitude transformation of the aircraft relative to the target from the carrier coordinate system to the line of sight coordinate system. in, The three-axis turntable is relative to the array target matrix Set as use The attitude control quantity of the three-axis turntable related to the array adjustment quantity is: Among them, θ represents the actual pitch angle of the object, represents the actual yaw angle of the object, γ represents the actual roll angle of the object; β0 represents the azimuth angle of the array adjustment, ε0 represents the height angle of the array adjustment; φ * is the yaw amount of the control turntable, θ * is the pitch of the control turntable, γ * is the console roll amount.

Images