A Radar Simulation Design Method for Water Surface Platforms

Abstract

This application belongs to the field of radar simulation technology, and particularly relates to a radar simulation design method for water surface platforms. It includes: constructing a radar simulation model and initializing the model; periodically receiving simulation data through the radar simulation model; tracking targets through the radar simulation model; making detection judgments on targets through the radar simulation model; simulating target measurement errors through the radar simulation model; calculating landing deviations through the radar simulation model; and performing data processing periodically until a system end command is received to end the radar simulation. This application conducts radar simulation design through computer simulation means, realizes the simulation of radar functions and completes the calculation of landing guidance deviation amounts and angular deviations; can improve the aircraft's mission execution ability, shorten the research cycle of the full-automatic landing system, solve existing problems in advance before the system is applied, create conditions for the joint debugging and testing of the full-automatic landing system, effectively shorten the outfield experiment cycle, and improve resource utilization rate.

Description

Technical Field

[0001] This application belongs to the technical field of radar simulation, and particularly relates to a radar simulation design method for a water surface platform. Background Art

[0002] The radar fully automatic landing technology can achieve the safe landing of an aircraft without the operation of a pilot, overcome the influence of bad weather and complex sea conditions on landing, improve the landing success rate, and then improve the sortie ability of the aircraft, effectively enhancing the aircraft mission execution level.

[0003] The radar has a long action range and strong all-weather ability, and can provide high-precision range and yaw angle data. Currently, in-service aircraft mainly adopt a radar-based fully automatic landing system. Due to equipment resource constraints and field experiment limitations, it is impossible to meet the usage requirements of various related technologies for the system during the verification process. In order to shorten the research cycle of the fully automatic landing system, solve the existing problems by computer simulation means in advance before the system is applied, create conditions for the joint debugging and testing of the fully automatic landing system, effectively shorten the field experiment cycle, and improve resource utilization rate, it is necessary to conduct radar simulation design to realize the radar's real-time measurement of the relative position information such as the azimuth, elevation angle, and distance of the aircraft, and send the relative position information and the changes in the aircraft attitude and heave to the landing command facility and the aircraft.

[0004] Therefore, it is desirable to have a technical solution to overcome or at least mitigate at least one of the above-mentioned defects of the existing technology. Summary of the Invention

[0005] The purpose of this application is to provide a radar simulation design method for a water surface platform to solve at least one problem existing in the prior art.

[0006] The technical solution of this application is as follows:

[0007] A radar simulation design method for a water surface platform, comprising:

[0008] Step 1, construct a radar simulation model and initialize the radar simulation model;

[0009] Step 2, periodically receive simulation data through the radar simulation model;

[0010] Step 3, track the target through the radar simulation model;

[0011] Step 4, perform a detection judgment on the target through the radar simulation model;

[0012] Step 5, simulate the target measurement error through the radar simulation model;

[0013] Step 6, calculate the landing deviation through the radar simulation model

[0014] Step 7: Loop through Steps 2 to 6 to perform data processing periodically until a system end instruction is received, and then end the radar simulation.

[0015] In at least one embodiment of the present application, in Step 1, constructing the radar simulation model and initializing the radar simulation model includes:

[0016] Construct a radar simulation model, which includes a data transceiver module, a parameter loading module, a radar scanning simulation module, a target detection and extraction module, a target error simulation module, and a guidance deviation resolution module;

[0017] When the parameter loading module receives the initialization instruction, it reads the initialization parameters in the configuration file by calling the input interface function, and assigns the read initialization parameters to the internal variables of the model.

[0018] In at least one embodiment of the present application, in Step 2, the periodic reception of simulation data by the radar simulation model includes:

[0019] When the data transceiver module receives the operation instruction, it periodically receives simulation data and assigns the received simulation data to the internal variables of the model.

[0020] In at least one embodiment of the present application, in Step 3, the tracking of the target by the radar simulation model includes:

[0021] The radar scanning simulation module calculates the information of the aircraft at the next moment based on the information of the aircraft at the current moment, and uses it as the scanning direction of the tracking beam at the next moment to track the target.

[0022] In at least one embodiment of the present application, in Step 4, the detection and judgment of the target by the radar simulation model includes:

[0023] The target detection and extraction module calculates the maximum radar detection range based on the radar equation and determines whether the target is within the detectable range;

[0024] The maximum radar detection range R max is:

[0025]

[0026] where R max is the maximum radar measurement distance; P t is the radar transmit power; τ is the pulse width; G t is the radar antenna transmit gain, G r$G$ is the receiving gain of the radar antenna; $\sigma$ is the radar cross - section of the target; $\lambda$ is the carrier wavelength; $k$ is the Boltzmann constant; $T_0$ is the thermodynamic temperature at room temperature; $F$ n is the noise factor; $D_0$ is the detection factor; $C$ B is the bandwidth correction factor; $L$ is the loss factor.

[0027] In at least one embodiment of the present application, in step five, simulating the target measurement error through the radar simulation model includes:

[0028] The target error simulation module simulates the target measurement error according to the radar parameters, and the radar parameters include ranging accuracy, pitch measurement accuracy, azimuth measurement accuracy, velocity measurement accuracy, time delay.

[0029] In at least one embodiment of the present application, in step six, resolving the landing deviation through the radar simulation model includes:

[0030] The guidance deviation resolution module resolves the landing deviation and outputs the resolution result.

[0031] In at least one embodiment of the present application, the process of the guidance deviation resolution module resolving the landing deviation includes:

[0032] S61. Calculate the relative position vector between the radar and the ideal landing point in the northeast - sky coordinate system, including:

[0033] Obtain the position vector between the radar and the reference point of the water surface platform in the water surface platform coordinate system The position vector between the ideal landing point and the reference point of the water surface platform The attitude angles (roll ship , pitch ship , yaw ship ) of the water surface platform;

[0034] Then, in the water surface platform coordinate system, the relative position vector between the radar and the ideal landing point is:

[0035]

[0036] Calculate the rotation matrix from the water surface platform coordinate system to the northeast - sky coordinate system

[0037]

[0038] where,

[0039]

[0040]

[0041]

[0042]

[0043]

[0044]

[0045]

[0046]

[0047]

[0048] That is:

[0049]

[0050] where r is the roll angle of the water surface platform, p is the pitch angle of the water surface platform, and y is the heading angle of the water surface platform;

[0051] Calculate the relative position vector between the radar and the ideal landing point in the northeast - up coordinate system as:

[0052]

[0053] S62. Calculate the relative position vector between the aircraft and the radar in the northeast - up coordinate system, including:

[0054] Obtain the longitude, latitude and altitude P of the aircraft plane =(x plane y plane z plane ) T The longitude, latitude and altitude P of the reference point of the water surface platform ship =(x ship y ship z ship ) T Then the relative position vector between the aircraft and the reference point of the water surface platform is:

[0055] P=(x plane-ship y plane-ship z plane-ship ) T

[0056] Obtain the position vector between the radar and the reference point of the water surface platform in the water surface platform coordinate system Then the relative position vector between the aircraft and the radar is:

[0057]

[0058] According to the rotation matrix from the water surface platform coordinate system to the northeast - up coordinate system Calculate the relative position vector between the aircraft and the radar in the northeast-up coordinate system as follows:

[0059]

[0060] S63. Calculate the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system, including:

[0061] Obtain the relative position vector between the radar and the ideal landing point in the northeast-up coordinate system The relative position vector between the aircraft and the radar The attitude angles of the water surface platform (roll ship , pitch ship , yaw ship );

[0062] Calculate the relative position vector between the aircraft and the ideal landing point in the northeast-up coordinate system:

[0063] X n = S n + A n

[0064] Based on the attitude information of the water surface platform, calculate the rotation matrix from the northeast-up coordinate system to the water surface platform coordinate system

[0065]

[0066] Based on the rotation Euler angles between the ideal landing point coordinate system and the water surface platform coordinate system, calculate the rotation matrix from the water surface platform coordinate system to the ideal landing point coordinate system

[0067]

[0068] Wherein, is the angular difference in the course direction between the ideal landing point coordinate system and the water surface platform coordinate system;

[0069] Calculate the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system as follows:

[0070]

[0071] S64. Calculate the lateral deviation and the longitudinal deviation, including:

[0072] Obtain the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system The glide angle α;

[0073] Calculate the projection equation of the ideal glide path on the XTZ plane of the ideal landing point coordinate system:

[0074] z = x·tan(π - α)

[0075] Let t k At the ideal landing point coordinate system calculated at the moment, the relative position vector between the hook and the ideal landing point is Substitute into the projection equation to obtain the longitudinal coordinate corresponding to the ideal glide path:

[0076]

[0077] Then the longitudinal deviation amount is:

[0078]

[0079] Effective

[0080] Since the projection of the ideal glide path in the XTY plane coincides with the X-axis, the lateral deviation amount is:

[0081] Effective

[0082] S65. Calculate the longitudinal deviation angle and the lateral deviation angle, including:

[0083] t k At the moment, the glide angle is α, and the coordinates of the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system are:

[0084]

[0085] Then the angle β between the deviation glide path and the landing center line is:

[0086]

[0087] Then the longitudinal deviation angle is:

[0088]

[0089] t k At the moment, the coordinates of the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system are:

[0090]

[0091] Then the lateral deviation angle is:

[0092]

[0093] The invention has at least the following beneficial technical effects:

[0094] The radar simulation design method for a water surface platform of the present application conducts radar simulation design through computer simulation means, realizes the simulation of radar functions, and completes the calculation of landing guidance deviation and angle deviation; it can improve the aircraft's mission execution ability, shorten the research cycle of the full-automatic landing system, solve existing problems in advance before the system is applied, create conditions for the joint debugging and testing of the full-automatic landing system, effectively shorten the outdoor experiment cycle, and improve resource utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] Figure 1 is a schematic diagram of the radar simulation model architecture of an embodiment of the present application;

[0096] Figure 2 is a flowchart of the radar simulation design method for a water surface platform of an embodiment of the present application;

[0097] Figure 3 is a schematic diagram of the relative positions of each point during the calculation of the guidance deviation of an embodiment of the present application;

[0098] Figure 4 is a schematic diagram of the coordinate system rotation of an embodiment of the present application;

[0099] Figure 5 is a schematic diagram of the projection of the ideal glide path of an embodiment of the present application;

[0100] Figure 6 is a schematic diagram of the projection of the deviation glide path of an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0101] To make the purpose, technical solutions, and advantages of the implementation of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present application. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0102] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present application.

[0103] The following will further elaborate on the present application in conjunction with the attached Figures 1 to 6 drawings.

[0104] The present application provides a radar simulation design method for a water surface platform, including the following steps:

[0105] Step 1: Construct a radar simulation model and initialize the radar simulation model;

[0106] Step 2: Periodically receive simulation data through the radar simulation model;

[0107] Step 3: Track the target through the radar simulation model;

[0108] Step 4: Judge the detection of the target through the radar simulation model;

[0109] Step 5: Simulate the target measurement error through the radar simulation model;

[0110] Step 6: Calculate the landing deviation through the radar simulation model;

[0111] Step 7: Loop through Steps 2 to 6 to perform data processing periodically until a system end instruction is received, and then end the radar simulation.

[0112] In the radar simulation design method for a water surface platform of the present application, first, a radar simulation model is constructed. After initialization, target interception calculation and detection are performed based on the motion characteristic data of the water surface platform and the flight simulation data of the aircraft, and the radar measurement accuracy is simulated to calculate the landing guidance deviation of the aircraft. The radar simulation receives information such as the position, heading, attitude angle, direction speed, and motion state of the carrier-based aircraft at the ideal landing point, and calculates the relative position between the aircraft and the water surface platform and the motion information of the aircraft. Whether the aircraft meets the discovery condition is judged based on the calculated relative position and relative speed and other information. The information of the aircraft at the next moment is calculated based on the position, speed, acceleration, etc. of the aircraft at the current moment, and used as the scanning direction of the tracking beam at the next moment to track the aircraft, and the landing guidance deviation is calculated based on information such as the aircraft position.

[0113] In an embodiment of the present application, as Figure 1As shown in the figure, in step one, the constructed radar simulation model includes a data transceiver module, a parameter loading module, a radar scanning simulation module, a target detection and extraction module, a target error simulation module, and a guidance deviation calculation module.

[0114] In this embodiment, the process of using this radar simulation model for simulation is shown in Figure 2 , and the specific process is as follows. Initialize the radar simulation model, including: when the parameter loading module receives the initialization instruction, read the initialization parameters in the configuration file by calling the input interface function, and assign the read initialization parameters to the internal variables of the model. The initialization parameters are shown in Table 1.

[0115] Table 1

[0116]

[0117] In step two of this embodiment, the radar simulation model periodically receives simulation data, including:

[0118] When the data transceiver module receives the operation instruction, it periodically receives simulation data and assigns the received simulation data to the internal variables of the model. Among them, the periodically received simulation data includes the motion characteristic data of the surface platform and the flight simulation data of the aircraft, as shown in Table 2.

[0119] Table 2

[0120]

[0121]

[0122] The radar scanning simulation module performs scanning simulation within the specified azimuth and elevation ranges according to the loaded parameter configuration. In step three of this embodiment, the radar simulation model tracks the target, including:

[0123] The radar scanning simulation module calculates the information of the aircraft at the next moment based on the information of the aircraft at the current moment, and uses it as the scanning direction of the tracking beam at the next moment to track the target.

[0124] The radar scanning simulation module can calculate the information of the aircraft at the next moment based on the position, speed, acceleration, etc. of the aircraft at the current moment, and use it as the scanning direction of the tracking beam at the next moment to track the aircraft, so as to achieve stable detection of the target.

[0125] In step four of this embodiment, the radar simulation model judges the detection of the target, including:

[0126] The target detection and extraction module calculates the maximum detection distance of the radar based on the radar equation and judges whether the target is within the detectable range;

[0127] The target detection and detection module intercepts and judges the target according to the detection performance of the radar, calculates the maximum detection range of the radar based on the radar equation, and combines the azimuth and elevation ranges of the radar antenna to determine whether the target is within the detectable range. The radar uses the reflection phenomenon of the target to electromagnetic waves to detect the target and measure its position, angle, and speed. The detection performance of the radar is related to factors such as the shipborne guidance radar antenna, transmitter, receiver, signal processor, and environment, and can be calculated through the radar equation.

[0128] The radar equation is:

[0129]

[0130] Where, R max is the maximum measurement distance of the radar, in meters; P t is the radar transmit power, in watts; τ is the pulse width, in seconds; G t is the transmit gain of the radar antenna, G r is the receive gain of the radar antenna, in dB; σ is the radar cross section of the target, in square meters; λ is the carrier wavelength, in meters; k is the Boltzmann constant, approximately 1.38 * 10-23 J / K; T0 is the thermodynamic temperature at room temperature (17 °C), which is 290 K; F 2 ; λ is the carrier wavelength, in meters; k is the Boltzmann constant, approximately 1.38 * 10-23 J / K; T0 is the thermodynamic temperature at room temperature (17 °C), which is 290 K; F n is the noise factor; D0 is the detection factor, indicating the minimum output signal-to-noise ratio required to detect the target signal; C B is the bandwidth correction factor, indicating the signal-to-noise ratio loss caused by the receiver bandwidth mismatch; L is the loss coefficient introduced by the losses of each part of the radar.

[0131] In step five of this embodiment, the target measurement error is simulated through the radar simulation model, including:

[0132] The target error simulation module simulates the target measurement error according to the radar parameters, and the radar parameters include ranging accuracy, elevation measurement accuracy, azimuth measurement accuracy, speed measurement accuracy, and time delay.

[0133] The target error simulation module of the radar simulation model simulates the target measurement error according to the main parameters such as radar measurement accuracy and time delay. The radar measurement accuracy exists in the form of a normal distribution. Substitute the measurement accuracy into the normal distribution function to obtain the error at the current moment, and superimpose this error value on the real target data to output the detected target data with errors. The time delay of the radar is mainly determined by the working performance of the radar processor. After the radar obtains the electromagnetic wave of the target, it needs to perform data processing to convert the electromagnetic wave information into target data, and there is a difference between the output time and the time of receiving the electromagnetic wave. In the digital simulation process, the time delay is simulated by superimposing the time delay on the basis of calculating the time at the current target position. See Table 3 for the detected target data.

[0134] Table 3

[0135] Serial number Parameter Remarks 1 Target latitude Unit: ° 2 Target longitude Unit: ° 3 Target altitude Unit: m 4 Target speed Unit: m / s 5 Target azimuth Unit: deg 6 Target elevation angle Unit: deg 7 Target relative distance Unit: m

[0136] In a preferred embodiment of the present application, in step six, calculating the landing deviation through a radar simulation model includes:

[0137] The guidance deviation calculation module calculates the landing deviation and outputs the calculation result.

[0138] Specifically, the relative positions of each point are as Figure 3 shown, and the process of the guidance deviation calculation module calculating the landing deviation includes:

[0139] S61. Calculate the relative position vector between the radar and the ideal landing point in the northeast-up coordinate system, including:

[0140] Obtain the position vector between the radar and the reference point of the water surface platform in the water surface platform coordinate system The position vector between the ideal landing point and the reference point of the water surface platform The attitude angles (roll ship , pitch ship , yaw ship ) of the water surface platform;

[0141] Then, in the water surface platform coordinate system, the relative position vector between the radar and the ideal landing point is:

[0142]

[0143] Calculate the rotation matrix from the water surface platform coordinate system to the northeast-up coordinate system

[0144]

[0145] where,

[0146]

[0147]

[0148]

[0149]

[0150]

[0151]

[0152]

[0153]

[0154]

[0155] That is:

[0156]

[0157] where r is the roll angle of the water surface platform, p is the pitch angle of the water surface platform, and y is the heading angle of the water surface platform;

[0158] Calculate the relative position vector between the radar and the ideal landing point in the northeast - north - up coordinate system as:

[0159]

[0160] S62. Calculate the relative position vector between the aircraft and the radar in the northeast - north - up coordinate system, including:

[0161] Obtain the latitude - longitude - altitude P of the aircraft plane =(x plane y plane z plane ) T , and the latitude - longitude - altitude P of the reference point of the water surface platform ship =(x ship y ship z ship ) T Then the relative position vector between the aircraft and the reference point of the water surface platform is:

[0162] P=(x plane-ship y plane-ship z plane-ship ) T

[0163] Obtain the position vector between the radar and the reference point of the water surface platform in the water surface platform coordinate system Then the relative position vector between the aircraft and the radar is:

[0164]

[0165] According to the rotation matrix from the water surface platform coordinate system to the northeast - north - up coordinate system Calculate the relative position vector between the aircraft and the radar in the northeast - north - up coordinate system as:

[0166]

[0167] S63. Calculate the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system, including:

[0168] Obtain the relative position vector between the radar and the ideal landing point in the northeast - north - up coordinate system The relative position vector between the aircraft and the radar Attitude angles of the water surface platform (roll ship , pitch ship , yaw ship );

[0169] Calculate the relative position vector between the aircraft and the ideal landing point in the northeast - up coordinate system:

[0170] X n = S n + A n

[0171] Based on the attitude information of the water surface platform, calculate the rotation matrix from the northeast - up coordinate system to the water surface platform coordinate system

[0172]

[0173] Based on the rotation Euler angles between the ideal landing point coordinate system and the water surface platform coordinate system, calculate the rotation matrix from the water surface platform coordinate system to the ideal landing point coordinate system

[0174] Assume that there is only an angular difference in the heading direction (X - axis pointing) between the ideal landing point coordinate system and the water surface platform coordinate system That is, the water surface platform coordinate only needs to rotate around the Z - axis in the positive Z - direction by angle to obtain the ideal landing point coordinate system, and the coordinate system rotation method is as Figure 4 shown.

[0175] Therefore, there is:

[0176]

[0177] Among them, is the angular difference in the heading direction between the ideal landing point coordinate system and the water surface platform coordinate system;

[0178] In digital simulation, it can be considered that the attitude of the water surface platform coordinate system is the same as that of the ideal landing point coordinate system, that is The matrix is the identity matrix.

[0179] Therefore, calculate the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system as:

[0180]

[0181] S64. Calculate the lateral deviation and longitudinal deviation, including:

[0182] Obtain the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system Glide angle α;

[0183] AsFigures 5 - 6 As shown in the figure, project the ideal glide path onto the XTZ plane and the XTY plane of the ideal landing point coordinate system respectively. Then, in the XTZ plane, the ideal glide path is a straight line passing through the origin T, and in the XTY plane, the projection of the ideal glide path coincides with the X-axis.

[0184] Only consider the case where x < 0 and z ≥ 0 (other cases are invalid), at time t k Calculate the projection equation of the ideal glide path on the XTZ plane of the ideal landing point coordinate system at time t:

[0185] z = x·tan(π - α)

[0186] Let the relative position vector between the hook and the ideal landing point in the ideal landing point coordinate system calculated at time t be k Substitute it into the projection equation to obtain the longitudinal coordinate corresponding to the ideal glide path: Substitute into the projection equation to get the longitudinal coordinate corresponding to the ideal glide path:

[0187]

[0188] Then the longitudinal deviation is:

[0189]

[0190] Effective

[0191] Since the projection of the ideal glide path coincides with the X-axis in the XTY plane, the lateral deviation is:

[0192] Effective

[0193] S65. Calculate the longitudinal deviation angle and the lateral deviation angle, including:

[0194] The definitions of the longitudinal deviation angle and the lateral deviation angle are as follows:

[0195] Longitudinal deviation angle: The angle between the line connecting the ideal landing point and the aircraft and the ideal glide path. It is positive when the aircraft is above and negative when the aircraft is below.

[0196] Lateral deviation angle: The angle between the projection of the line connecting the ideal landing point and the aircraft on the landing runway and the center line of the landing runway. It is positive when the aircraft is on the left and negative when the aircraft is on the right.

[0197] Only consider the case where x < 0 and z ≥ 0 (other cases are invalid), at time t k The glide angle is α, and the coordinates of the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system are:

[0198]

[0199] Then the angle β between the deviation underscore and the landing center line is:

[0200]

[0201] Then the longitudinal deviation angle is:

[0202]

[0203] t k At this moment, the relative position vector of the aircraft and the ideal touchdown point has coordinates in the ideal touchdown point coordinate system as:

[0204]

[0205] Then the lateral deviation angle is:

[0206]

[0207] The radar simulation design method for a water surface platform of the present application, the radar simulation model receives real-time water surface platform motion characteristic data and aircraft flight simulation data, and performs data processing periodically according to steps two to six until a system end instruction is received, and then ends the radar simulation.

[0208] The radar simulation design method for a water surface platform of the present application conducts radar simulation design through computer simulation means, realizes the simulation of radar functions, and completes the calculation of landing guidance deviation amounts, which can improve the aircraft mission execution ability, shorten the research cycle of the full-automatic landing system, solve existing problems in advance before system application, create conditions for the joint debugging of the full-automatic landing system, effectively shorten the outfield experiment cycle, improve resource utilization rate, is applicable to engineering practice, and the method is effective and feasible.

[0209] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claimed rights.

Claims

1. A radar simulation design method for a water surface platform, characterized in that Including: Step 1: Construct a radar simulation model and initialize the radar simulation model; Step 2: Periodically receive simulation data through the radar simulation model; Step 3: Track the target through the radar simulation model; Step 4: Judge the detection of the target through the radar simulation model; Step 5: Simulate the target measurement error through the radar simulation model; Step 6: Calculate the landing deviation through the radar simulation model; Step 7: Loop Steps 2 to 6, perform data processing periodically until the system end instruction is received, and end the radar simulation; In Step 1, the construction of the radar simulation model and the initialization of the radar simulation model include: Construct a radar simulation model, which includes a data transceiver module, a parameter loading module, a radar scan simulation module, a target detection and detection module, a target error simulation module, and a guidance deviation calculation module; When the parameter loading module receives the initialization instruction, it reads the initialization parameters in the configuration file by calling the input interface function and assigns the read initialization parameters to the internal variables of the model; In Step 6, the calculation of the landing deviation through the radar simulation model includes: The guidance deviation calculation module calculates the landing deviation and outputs the calculation result; The process of the guidance deviation calculation module calculating the landing deviation includes: S61: Calculate the relative position vector between the radar and the ideal landing point in the northeast-up coordinate system, including: Obtain the position vectors of the radar and the reference point of the water surface platform in the coordinate system of the water surface platform The position vector of the ideal landing point and the reference point of the water surface platform The attitude angles of the water surface platform (roll ship , pitch ship , yaw ship ); In the coordinate system of the water surface platform, the relative position vector between the radar and the ideal landing point is as follows: Calculate the rotation matrix from the water surface platform coordinate system to the northeast-up coordinate system Where, That is: Where, r is the roll angle of the water surface platform, p is the pitch angle of the water surface platform, and y is the heading angle of the water surface platform; Calculate the relative position vector between the radar and the ideal landing point in the northeast-up coordinate system as: S62: Calculate the relative position vector between the aircraft and the radar in the northeast-up coordinate system, including: Obtain the longitude, latitude and altitude P of the aircraft plane =(x plane y plane z plane ) T , and the longitude, latitude and altitude P of the reference point of the water surface platform ship =(x ship y ship z ship ) T , then the relative position vector between the aircraft and the reference point of the water surface platform is: P = (x plane-ship y plane-ship z plane-ship ) T Obtain the position vector of the radar and the reference point of the water surface platform in the coordinate system of the water surface platform Then the relative position vector between the aircraft and the radar is as follows: According to the rotation matrix from the water surface platform coordinate system to the northeast-up coordinate system Calculate the relative position vector between the aircraft and the radar in the northeast-up coordinate system as follows: S63: Calculate the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system, including: Obtain the relative position vector between the radar and the ideal landing point in the Northeast Celestial Coordinate System The relative position vector between the aircraft and the radar The attitude angles of the surface platform (roll ship , pitch ship , yaw ship ); Calculate the relative position vector between the aircraft and the ideal landing point in the northeast-up coordinate system: X n = S n + A n Based on the attitude information of the water surface platform, calculate the rotation matrix from the northeast celestial coordinate system to the water surface platform coordinate system Calculate the rotation matrix from the water surface platform coordinate system to the ideal landing point coordinate system based on the rotation Euler angles between the ideal landing point coordinate system and the water surface platform coordinate system Among them, is the angular difference in the navigation direction between the ideal landing point coordinate system and the water surface platform coordinate system; Calculate the relative position vector between the aircraft and the ideal landing point in the ideal landing point coordinate system as: S64: Calculate the lateral deviation and the longitudinal deviation, including: Obtain the relative position vector between the aircraft and the ideal landing point in the coordinate system of the ideal landing point Glide angle α; Calculate the projection equation of the ideal glide path on the XTZ plane of the ideal landing point coordinate system: z = x·tan(π-α) Let t k In the coordinate system of the ideal landing point calculated at the moment, the relative position vector between the hook and the ideal landing point is Substitute into the projection equation to obtain the longitudinal coordinate corresponding to the ideal glide path: Then the longitudinal deviation is: Effective Since the projection of the ideal glide path on the XTY plane coincides with the X axis, the lateral deviation is: Effective S65: Calculate the longitudinal deviation angle and the lateral deviation angle, including: t k At this moment, the glide angle is α, and the relative position vector of the aircraft with respect to the ideal landing point has coordinates in the ideal landing point coordinate system as follows: Then the angle β between the deviation glide path and the landing center line is: Then the longitudinal deviation angle is: t k At this moment, the relative position vector of the aircraft with respect to the ideal touchdown point has coordinates in the ideal touchdown point coordinate system as follows: Then the lateral deviation angle is:

2. The radar simulation design method for a water surface platform according to claim 1, characterized in that In Step 2, the periodic reception of simulation data through the radar simulation model includes: When the data transceiver module receives the operation instruction, it periodically receives simulation data and assigns the received simulation data to the internal variables of the model.

3. The radar simulation design method for a water surface platform according to claim 2, wherein In Step 3, the tracking of the target through the radar simulation model includes: The radar scan simulation module calculates the information of the aircraft at the next moment based on the information of the aircraft at the current moment and uses it as the scanning direction of the tracking beam at the next moment to track the target.

4. The radar simulation design method for a water surface platform according to claim 3, characterized in that In step 4, the detection and judgment of the target by the radar simulation model includes: The target detection and detection module calculates the maximum detection range of the radar based on the radar equation and judges whether the target is within the detectable range; The maximum detection range R of the radar max is as follows: where R max is the maximum measurement distance of the radar; P t is the radar transmit power; τ is the pulse width; G t is the radar antenna transmit gain, G r is the radar antenna receive gain; σ is the radar cross section of the target; λ is the carrier wavelength; k is the Boltzmann constant; T0 is the thermodynamic temperature at room temperature; F n is the noise factor; D0 is the detection factor; C B is the bandwidth correction factor; L is the loss factor.

5. The radar simulation design method for a water surface platform according to claim 4, characterized in that In step 5, the simulation of the target measurement error by the radar simulation model includes: The target error simulation module simulates the target measurement error according to the radar parameters, and the radar parameters include ranging accuracy, pitch measurement accuracy, azimuth measurement accuracy, velocity measurement accuracy, and time delay.

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