A high-spin flying body flight parameter multi-field synchronous measurement and fusion method and system

Abstract

The application discloses a high-rotation flying body flight parameter multi-field synchronous measurement and fusion method and system, the method utilizes a meteorological balloon to detect atmospheric parameters such as air pressure, temperature, humidity and wind direction and wind speed under current atmospheric conditions, arranges an unmanned aerial vehicle array networking as a relay node of a communication link, forms a data transmission link of a measuring device and a ground computing center, and performs positioning and monitoring on a flying body landing point. Under a unified space-time reference, target field distributed measurement and in-situ measurement data are subjected to "real-time + after-the-fact" information fusion, and the estimation precision of the whole trajectory flight parameters of the high-rotation flying body is improved. The method overcomes the limitations of conventional target field testing devices and testing means, and has the advantages of high time resolution, high spatial resolution, high signal signal-to-noise ratio, high information availability and high system integration.

Description

Technical Field

[0001] This invention belongs to the field of flight parameter measurement technology for high-speed spiraling aircraft, specifically relating to a method and system for multi-field synchronous measurement and fusion of flight parameters of high-speed spiraling aircraft. Background Technology

[0002] Precise measurement of ballistic parameters, perception of motion status, and understanding of motion processes are prerequisites for the independent innovation, research and development, and combat-ready evaluation of high-speed, high-spinning aircraft. For achieving precision fire strikes, the accurate acquisition and processing of the full ballistic flight parameters of high-spinning aircraft are crucial. However, the testing equipment and methods at conventional test ranges often fail to meet the accuracy requirements for measuring the flight parameters of high-spinning aircraft, thus hindering effective forward design, testing, and combat-ready evaluation of high-speed, high-spinning aircraft, and presenting certain limitations.

[0003] In the high-dynamic and high-overload environment of high-spinning flight vehicles, how to deploy distributed measurement equipment at the test range and accurately measure and effectively fuse distributed measurement data and in-situ measurement data under a unified spatiotemporal reference to achieve integrated sensing, storage, and calculation of all ballistic flight parameters is an urgent problem to be solved.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a method and system for multi-field synchronous measurement and fusion of flight parameters of high-spinning aircraft, so as to realize multi-source accurate sensing and fusion of flight parameters of high-spinning aircraft throughout the entire ballistic trajectory, with the advantages of high temporal resolution, high spatial resolution, high signal-to-noise ratio, high information availability, and high system integration.

[0006] A multi-field synchronous measurement and fusion system for flight parameters of a high-spiral flying body is characterized by including a weather balloon, a velocity radar array, an optoelectronic theodolite array, a ballistic tracking radar, a high-speed camera and a UAV array distributed in a target range, two sets of in-situ measurement devices mounted on the forebody and aftbody of the high-spiral flying body, and a computing center installed on a ground workstation.

[0007] The weather balloon is used to measure air pressure, temperature, humidity, wind direction, and wind speed.

[0008] The velocity-measuring radar array consists of multiple velocity-measuring radars, used to determine the tangential initial velocity and position of the aircraft exiting the gun muzzle.

[0009] The photoelectric theodolite array consists of multiple photoelectric theodolites, used to obtain the flight trajectory and flight attitude of aerial objects;

[0010] The ballistic tracking radar utilizes the Doppler effect to continuously measure the position and velocity of a high-speed flying object, thereby enabling the measurement and tracking of its external trajectory.

[0011] The high-speed camera is used to measure the geometric dimensions, shape, and attitude of the flying object, and to track the movement of the flying object by capturing its motion video.

[0012] The UAV array consists of multiple UAVs equipped with camera and communication equipment, which serve as relay nodes for the communication link. It can communicate with two sets of in-situ measurement devices throughout the entire process, forming a data transmission link between the in-situ measurement devices and the distributed measurement equipment at the ground range, and can locate and monitor the landing point of the flying object.

[0013] The in-situ measurement device includes a miniature inertial navigation device, a three-axis geomagnetic sensor, and a GNSS signal receiver. It is used to obtain in-situ measurement data such as the position, velocity, and attitude of two strongly correlated high-rotation flying bodies in the navigation coordinate system. Information fusion can reduce errors in the measurement process and correct errors in the in-situ measurement device.

[0014] The computing center receives in-situ measurement data and distributed measurement data from different times and in a spatiotemporally discrete manner from the target range, and fuses them under the same spatiotemporal reference.

[0015] Preferably, the distributed deployment equipment at the test range and the in-situ measurement device achieve unified spatiotemporal reference through UAV array networking communication, and transmit data with the computing center.

[0016] A method for simultaneous multi-field measurement and fusion of flight parameters of a high-speed rotating aircraft includes the following steps:

[0017] Step 1: Release a weather balloon to detect atmospheric parameters.

[0018] Before the experiment, a weather balloon carrying a radiosonde was released to transmit atmospheric parameters such as air pressure, temperature, humidity, wind direction, and wind speed under the current atmospheric conditions back to the computing center.

[0019] Step 2: Deploy the UAV array network and establish data transmission links:

[0020] The UAV array network is deployed as a relay node on the communication link to receive measurement data from two sets of in-situ measurement devices and various distributed measurement devices in the target range. This forms a data transmission link between the in-situ measurement devices, the distributed measurement devices in the ground target range, and the ground computing center, and enables the positioning and monitoring of the landing point of the aircraft.

[0021] Step 3: Establish a real-time fusion processing scheme for measurement data:

[0022] Establishing a real-time data fusion processing scheme includes tracking system initial value acquisition, input data accuracy estimation, and fusion scheme accuracy evaluation.

[0023] The initial tangential velocity and position of the aircraft exiting the gun muzzle are obtained by a velocity-measuring radar array, and the motion attitude of the aircraft exiting the gun muzzle is obtained by a high-speed camera, providing high-precision initial values ​​for the filter; the measurement data from various devices and equipment at the current moment are time-aligned by a UAV array network, and the filter is initialized; the filter time is updated according to the ballistic motion model and real-time filtering algorithm to obtain the ballistic state prediction value.

[0024] If available measurement data exists, the filter is updated according to the measurement equations of multiple devices, and the filtered prediction value is used as the estimate value to output the fused flight parameters at the current moment, and then proceeds to calculate the next moment; otherwise, if the number of consecutive prediction values ​​of the filter is within the set threshold, the ballistic state prediction value is used as the estimate value as the fused flight parameters at the current moment to output, and then proceeds to calculate the next moment; when the number of consecutive prediction points reaches the set threshold, the prediction of flight parameters is interrupted, and the system switches to the corrected theoretical flight parameters or other contingency plans.

[0025] Step 4: Deploy distributed measurement equipment at the test range and perform real-time fusion processing on the measurement data.

[0026] Based on the determined real-time measurement data fusion processing scheme, a live-fire test was conducted at the test range. The in-situ measurement data received by the UAV communication relay node and the distributed measurement data of the test range were transmitted back to the computing center of the ground workstation. The real-time information fusion under the unified spatiotemporal reference of multiple devices was carried out through a real-time filtering scheme to monitor the data quality and the tracking status of the flight object in real time.

[0027] Step 5: Detect the impact position and attitude of the projectile in the terminal phase of its trajectory and recover it.

[0028] Near the target point in the terminal phase of the ballistic trajectory, a high-speed camera is used to measure the impact position and attitude of the flying object, and the data is transmitted back to the computing center of the ground workstation via the UAV communication link. At the same time, an array of UAVs is used to locate and monitor the landing point of the flying object, providing guidance for the recovery of the flying object after it hits the target.

[0029] Step 6: After the experiment, perform post-experiment fusion processing on the measurement data:

[0030] After the combat-ready test, the in-situ measurement data and the distributed measurement data obtained from the test were fused and processed to transform the fused measurement data into parameter fusion estimates. High-precision estimates were given for the full ballistic flight parameters of the aircraft and the systematic errors of the measurement device, and the measurement device was calibrated by feedback.

[0031] Preferably, in step 3, the multiple speed measuring radars forming the speed measuring radar array can achieve device time synchronization and mutual calibration through UAV array network communication.

[0032] Preferably, in step 4, the multiple photoelectric theodolites forming the photoelectric theodolite array achieve time synchronization and relay measurement between the devices through UAV array network communication, and at the same time achieve mutual calibration.

[0033] The present invention has the following beneficial effects:

[0034] This invention discloses a method and system for multi-field synchronous measurement and fusion of flight parameters of a high-speed spiraling aircraft. The system includes distributed range measurement equipment such as weather balloons, velocity radar arrays, photoelectric theodolite arrays, ballistic tracking radars, high-speed cameras, and UAV arrays, along with two sets of in-situ measurement devices mounted on the fore and aft bodies of the high-speed spiraling aircraft, and a computing center installed on a ground workstation. The method utilizes weather balloons to detect atmospheric parameters such as air pressure, temperature, humidity, wind direction, and wind speed under current atmospheric conditions. A network of UAV arrays is deployed as relay nodes for the communication link, forming a data transmission link between the measurement devices and the ground computing center, and locating and monitoring the landing point of the aircraft. By fusing distributed range measurement and in-situ measurement data under a unified spatiotemporal reference, the accuracy of estimating the full ballistic flight parameters of the high-speed spiraling aircraft is improved. This method overcomes the limitations of conventional range testing equipment and methods, offering advantages such as high temporal and spatial resolution, high signal-to-noise ratio, high information availability, and high system integration. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of a multi-field synchronous measurement and fusion system for flight parameters of a high-speed spinning aircraft according to the first embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of a speed measuring radar array according to the first embodiment of the present invention;

[0037] Figure 3 This is a flowchart of a method for multi-field synchronous measurement and fusion of flight parameters of a high-speed spinning aircraft according to a second embodiment of the present invention;

[0038] Figure 4 This is a flowchart of a real-time measurement data fusion processing scheme according to a second embodiment of the present invention. Detailed Implementation

[0039] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] Example 1

[0041] According to embodiments of the present invention, a multi-field synchronous measurement and fusion system for flight parameters of high-speed rotating aircraft is provided, such as... Figure 1 As shown, the system includes: distributed range measurement equipment such as a weather balloon 1, a velocity-measuring radar array 2, an electro-optical theodolite array 3, a ballistic tracking radar 4, a high-speed camera 5, and a UAV array 6; in-situ measurement devices 7 such as a miniature inertial navigation system, a geomagnetic sensor, and a GNSS signal receiver; and a computing center 8 installed on a ground workstation. The weather balloon 1, velocity-measuring radar array 2, electro-optical theodolite array 3, ballistic tracking radar 4, high-speed camera 5, and UAV array 6 are distributed within the range. The in-situ measurement devices 7 are mounted on the fore and aft bodies of the high-speed rotating aircraft, respectively. The computing center 8 is installed on the ground workstation. These devices and equipment achieve a unified spatiotemporal reference through a network of UAV arrays and communicate with the computing center.

[0042] Weather balloon 1 can carry instruments as it ascends and transmit current atmospheric parameters, including air pressure, temperature, humidity, wind direction, and wind speed. It is usually released before the start of an experiment. To obtain information on wind direction and speed, the balloon can typically be tracked using radar or located using a navigation system.

[0043] Speed ​​radar array 2 consists of multiple speed radars, positioned next to the artillery, such as... Figure 2 As shown. With appropriate station placement methods, the radial velocity of a flight object directly measured by the speed-measuring radar can be converted into its tangential velocity. When distance data from multiple radars is available, the spatial position of the flight object can be determined. By taking measures in radar station deployment, only two radars are needed to measure one of the three axes of the coordinate system. Simultaneously, the speed-measuring radar arrays can be mutually calibrated, further improving data accuracy.

[0044] The electro-optical theodolite array 3 consists of multiple electro-optical theodolites. These theodolites accurately obtain the flight trajectory and attitude of an aircraft through optical photography, visible / infrared television tracking measurement, and laser or radar ranging, and are typically positioned in the middle section of the trajectory. Due to the limited field of view and effective range of electro-optical theodolites, multiple devices sometimes need to form an array for relay measurement in certain large-scale measurement tasks. The electro-optical theodolite arrays can also calibrate each other, improving data accuracy.

[0045] The ballistic tracking radar 4 is positioned behind the artillery firing point. Utilizing the Doppler effect, it continuously measures the position and velocity of high-speed flying objects to achieve high-resolution measurement and tracking of their external trajectories. It is an indispensable component of the range measurement system.

[0046] The high-speed camera 5 is mainly deployed in the initial and terminal phases of the ballistic trajectory. It has a faster sampling frequency and a higher computing speed, so it can not only complete the measurement of ordinary geometric dimensions, shape and attitude, but also capture the motion video of the flying object. By using digital image processing technology to analyze and process the video images, it can achieve rapid tracking of the motion of the flying object. Therefore, it can accurately measure and calculate the target position and attitude of the flying object in the terminal phase of the ballistic trajectory.

[0047] The UAV array 6 consists of multiple UAVs equipped with camera and communication equipment, which are deployed at high altitudes on both sides of the trajectory. It can provide relay nodes for the communication link, communicate with two sets of in-situ measurement devices throughout the entire process, form a data transmission link between the in-situ measurement devices and the distributed measurement equipment at the ground range, and locate and monitor the landing point of the flight object.

[0048] The in-situ measurement device 7 is mounted on the front and rear of the high-speed rotating aircraft, respectively. It includes a micro inertial navigation device resistant to high overload, a three-axis geomagnetic sensor and a GNSS signal receiver. It can obtain in-situ measurement data such as position, velocity and attitude of the high-speed rotating aircraft in two strongly correlated sets of navigation coordinates. Through real-time information fusion, the error in the measurement process can be reduced and the error correction of the in-situ measurement device can be performed.

[0049] The computing center 8 is a data processing center mounted on the ground workstation. It receives in-situ measurement and range-distributed measurement data sent by the above-mentioned devices and equipment at different times and in a spatiotemporally discrete manner through the UAV communication relay node. It performs "real-time + post-event" data fusion processing to improve the measurement accuracy of flight parameters and to provide feedback calibration for the above-mentioned devices and equipment.

[0050] Example 2

[0051] According to an embodiment of the present invention, a method for multi-field synchronous measurement and fusion of flight parameters of a high-speed rotating aircraft is also provided, the overall flowchart of which is shown below. Figure 3 As shown, the process includes: releasing weather balloons to detect atmospheric parameters S301; deploying a UAV array network to establish a data transmission link S302; establishing a real-time measurement data fusion processing scheme S303; deploying distributed measurement equipment at the test range to perform real-time fusion processing of the measurement data S304; detecting the target impact position and attitude of the ballistic terminal phase of the flight object and recovering it S305; and performing post-test fusion processing of the measurement data after the test S306.

[0052] Step 1: Release a weather balloon to detect atmospheric parameters S301.

[0053] Before the test, a weather balloon carrying a radiosonde is released to transmit atmospheric parameters such as air pressure, temperature, humidity, wind direction and speed under the current atmospheric conditions back to the computing center, thus providing meteorological data for the actual combat test.

[0054] Step 2: Deploy the UAV array network and establish the data transmission link S302.

[0055] The UAV array network is deployed as a relay node on the communication link to receive measurement data from two sets of in-situ measurement devices and various distributed measurement devices in the test range. This forms a data transmission link between the in-situ measurement devices, the distributed measurement devices in the ground test range, and the ground computing center, and enables the location and monitoring of the landing point of the aircraft.

[0056] Step 3: Establish a real-time fusion processing scheme for measurement data, S303.

[0057] The establishment of a real-time data fusion processing scheme includes initial value acquisition for the tracking system, input data accuracy estimation, and fusion scheme accuracy evaluation. The tangential initial velocity and position of the aircraft's exit nozzle are acquired through a velocity-measuring radar array, and the motion attitude of the aircraft's exit nozzle is acquired through a high-speed camera, providing high-precision initial values ​​for the filter. The specific process of the real-time measurement data fusion processing scheme is as follows: Figure 4 As shown, the UAV array network aligns the measurement data from various devices and equipment at the current moment and performs individual measurement data selection. During the initialization period, the filter is initialized. Based on the ballistic motion model and real-time filtering algorithm, the filter is updated in time to obtain the ballistic state prediction value. If there is available marked measurement data, the filter measurement is updated according to the measurement equations of multiple devices, and the filtered prediction value is used as the estimate value to output the fused flight parameters at the current moment, and then proceeds to calculate the next moment. Otherwise, if the number of consecutive prediction points of the filter is within a set threshold, the ballistic state prediction value is used as the estimate value as the fused flight parameters at the current moment, and then proceeds to calculate the next moment. When the number of consecutive prediction points reaches the set threshold, the prediction of flight parameters is interrupted. At this time, it can switch to the corrected theoretical flight parameters or other emergency solutions.

[0058] Step 4: Deploy distributed measurement equipment at the test range and perform real-time fusion processing on the measurement data (S304).

[0059] Based on the determined real-time measurement data fusion processing scheme, realistic testing can be conducted at the test range. In-situ measurement data received by the UAV communication relay node and distributed measurement data from the test range are transmitted back to the computing center of the ground workstation. A real-time filtering scheme is used to perform real-time information fusion under a unified spatiotemporal reference from multiple devices, improving the accuracy of real-time data processing and enabling real-time monitoring of data quality and flight tracking status. In-situ measurement data includes data collected by miniature inertial navigation devices located at the front and rear of the flight body, data collected by a three-axis geomagnetic sensor, and data collected by a GNSS signal receiver. Distributed measurement data from the test range includes data collected by a velocity radar array, a ballistic tracking radar, an electro-optical theodolite array, and a high-speed camera.

[0060] Step 5: Detect the target impact position and attitude of the projectile in the terminal phase of its trajectory, and recover S305.

[0061] Near the target point in the terminal phase of the trajectory, high-speed cameras are used to accurately measure the impact position and attitude of the flying object, and transmit the data back to the computing center of the ground workstation via the UAV communication link. The UAV array can also locate and monitor the landing point of the flying object, providing guidance for the recovery of the flying object after it hits the target.

[0062] Step 6: After the experiment, perform post-test data fusion processing (S306).

[0063] After the combat-ready test, the in-situ measurement data and the distributed measurement data obtained from the test were fused and processed to transform the fused measurement data into parameter fusion estimates. High-precision estimates were given for the full ballistic flight parameters of the aircraft and the systematic errors of the measurement device, and the measurement device was calibrated by feedback.

[0064] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A system for simultaneous multi-field measurement and fusion of flight parameters of a high-speed rotating aircraft, characterized in that, This includes weather balloons, speed radar arrays, electro-optical theodolite arrays, ballistic tracking radars, high-speed cameras, and UAV arrays distributed across the range; two sets of in-situ measurement devices mounted on the fore and aft bodies of the high-spiral flight vehicle; and a computing center installed on a ground workstation. The weather balloon is used to measure air pressure, temperature, humidity, wind direction, and wind speed. The velocity-measuring radar array consists of multiple velocity-measuring radars, used to determine the tangential initial velocity and position of the aircraft exiting the gun muzzle. The photoelectric theodolite array consists of multiple photoelectric theodolites, used to obtain the flight trajectory and flight attitude of aerial objects; The ballistic tracking radar utilizes the Doppler effect to continuously measure the position and velocity of a high-speed flying object, thereby enabling the measurement and tracking of its external trajectory. The high-speed camera is used to measure the geometric dimensions, shape, and attitude of the flying object, and to track the movement of the flying object by capturing its motion video. The UAV array consists of multiple UAVs equipped with camera and communication equipment, which serve as relay nodes for the communication link. It can communicate with two sets of in-situ measurement devices throughout the entire process, forming a data transmission link between the in-situ measurement devices and the distributed measurement equipment at the ground range, and can locate and monitor the landing point of the flying object. The in-situ measurement device includes a miniature inertial navigation device, a three-axis geomagnetic sensor, and a GNSS signal receiver. It is used to obtain in-situ measurement data of the position, velocity, and attitude of two strongly correlated high-rotation flying bodies in the navigation coordinate system. The error in the measurement process is reduced by information fusion, and the error correction of the in-situ measurement device is performed. The computing center receives in-situ measurement data and distributed measurement data from different times and in a spatiotemporally discrete manner from the target range, and fuses them under the same spatiotemporal reference.

2. The system for multi-field synchronous measurement and fusion of flight parameters of a high-speed rotating aircraft as described in claim 1, characterized in that, The distributed deployment equipment at the test range and the in-situ measurement devices achieve unified spatiotemporal reference through UAV array networking communication, and transmit data with the computing center.

3. A method for multi-field synchronous measurement and fusion of flight parameters of a high-speed rotating aircraft, characterized in that, Includes the following steps: Step 1: Release a weather balloon to detect atmospheric parameters; Before the experiment, a weather balloon carrying a radiosonde was released to transmit atmospheric parameters such as air pressure, temperature, humidity, wind direction, and wind speed under the current atmospheric conditions back to the computing center. Step 2: Deploy the UAV array network and establish data transmission links: The UAV array network is deployed as a relay node on the communication link to receive measurement data from two sets of in-situ measurement devices and various distributed measurement devices in the target range. This forms a data transmission link between the in-situ measurement devices, the distributed measurement devices in the ground target range, and the ground computing center, and enables the positioning and monitoring of the landing point of the aircraft. Step 3: Establish a real-time fusion processing scheme for measurement data: Establishing a real-time data fusion processing scheme includes tracking system initial value acquisition, input data accuracy estimation, and fusion scheme accuracy evaluation. The initial tangential velocity and position of the aircraft exiting the gun muzzle are obtained by a velocity-measuring radar array, and the motion attitude of the aircraft exiting the gun muzzle is obtained by a high-speed camera, providing high-precision initial values ​​for the filter; the measurement data from various devices and equipment at the current moment are time-aligned by a UAV array network, and the filter is initialized; the filter time is updated according to the ballistic motion model and real-time filtering algorithm to obtain the ballistic state prediction value. If available measurement data exists, the filter is updated based on the measurement equations of multiple devices, and the filtered prediction value is used as the estimate value to output the fused flight parameters at the current moment, then proceeds to calculate the next moment; otherwise, if the number of consecutive prediction values ​​of the filter is within a set threshold, the ballistic state prediction value is used as the estimate value as the fused flight parameters at the current moment, and proceeds to calculate the next moment; when the number of consecutive prediction points reaches the set threshold, the prediction of flight parameters is interrupted, and the system switches to the corrected theoretical flight parameters or other contingency plans. Step 4: Deploy distributed measurement equipment at the test range and perform real-time fusion processing on the measurement data. Based on the determined real-time measurement data fusion processing scheme, a live-fire test was conducted at the test range. The in-situ measurement data received by the UAV communication relay node and the distributed measurement data of the test range were transmitted back to the computing center of the ground workstation. The real-time information fusion under the unified spatiotemporal reference of multiple devices was carried out through a real-time filtering scheme to monitor the data quality and the tracking status of the flight object in real time. Step 5: Detect the impact position and attitude of the projectile in the terminal phase of its trajectory and recover it. Near the target point in the terminal phase of the ballistic trajectory, a high-speed camera is used to measure the impact position and attitude of the flying object, and the data is transmitted back to the computing center of the ground workstation via the UAV communication link. At the same time, an array of UAVs is used to locate and monitor the landing point of the flying object, providing guidance for the recovery of the flying object after it hits the target. Step 6: After the experiment, perform post-experiment fusion processing on the measurement data: After the combat-ready test, the in-situ measurement data and the distributed measurement data obtained from the test were fused and processed to transform the fused measurement data into parameter fusion estimates. High-precision estimates were given for the full ballistic flight parameters of the aircraft and the systematic errors of the measurement device, and the measurement device was calibrated by feedback.

4. The method for multi-field synchronous measurement and fusion of flight parameters of a high-speed rotating aircraft according to claim 3, characterized in that, In step 3, the multiple speed measuring radars that make up the speed measuring radar array can achieve time synchronization and mutual calibration through UAV array network communication.

5. The method for multi-field synchronous measurement and fusion of flight parameters of a high-speed rotating aircraft according to claim 3, characterized in that, In step 4, multiple photoelectric theodolites forming the photoelectric theodolite array achieve time synchronization and relay measurement between the devices through UAV array network communication, and at the same time achieve mutual calibration.

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