Method for arranging tracking parts of external measurement equipment in ballistic test without rolling control

Abstract

The embodiment of the invention provides an external measurement equipment tracking part layout method for a non-rolling control trajectory test. The method comprises the following steps: establishing a rocket body coordinate system for an aircraft to be subjected to the non-rolling control trajectory test; selecting two primarily selected tracking parts on the outer surface of the aircraft, and determining position parameters of the two primarily selected tracking parts in a rocket body coordinate system; and selecting a corresponding mode to optimize the position of the primarily selected tracking part according to an error data optimization target of the non-rolling control trajectory test, and determining the layout positions of the tracking parts of the two external measurement devices according to an optimization result. According to the technical scheme, when the arrangement angle and position of the tracking part meet the set requirements, the upper bound of the error of the corresponding measurement element correction can be minimum, and the correction precision is highest, so that the influence on the measurement element correction caused by the spinning of the projectile body is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of ballistic testing, and in particular to a method for arranging tracking positions of external measuring equipment for a non-rolling controlled ballistic test. Background Art

[0002] Ballistic missiles without roll control (including missiles and test target aircraft) usually achieve guidance tasks through pitch and yaw control. The roll loop is only stabilized but not controlled. This control method is also called dual-channel control. Compared with missiles with roll control that spin at a stable angular velocity, missiles without roll control spin at an uncertain angular velocity along the longitudinal axis of their missile body during flight. This can avoid the system complexity caused by the installation of a roll control device and greatly increase the payload of the aircraft. The relevant technology has been applied in new long-range strike weapons.

[0003] Due to the free-rolling design of the missile body during flight, the tracking part of the external measuring equipment (in the range test, the external measuring equipment refers to radar, optical measuring equipment, etc., which is used to receive the signal of the tracking part in the test and realize target tracking and positioning) on ​​the missile body will also roll, which makes it more challenging to correct the inconsistent tracking part of the external measuring equipment. Therefore, it is of great significance to optimize the layout of the tracking part on the missile body to reduce the influence of the inconsistent tracking part on the error of the measurement correction amount, improve the tracking accuracy of the external measuring equipment, and obtain higher-precision ballistic data.

[0004] In the prior art, there have been many studies on the correction of inconsistent tracking parts of external measurement equipment in ballistic tests. For example, the attitude parameters of the strapdown inertial navigation system are used to correct the tracking part of the target to be measured, or the angle correction method and system correction method are designed according to the instantaneous navigation angle of the target to be measured and the angular relationship of each correction part; or the tracking part correction amount is calculated through the rough trajectory parameters and telemetry attitude data of the target to be measured.

[0005] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art:

[0006] The above methods can achieve high correction accuracy under certain conditions, but they are all for tracking part correction of the target to be measured under rolling control, which belongs to "static" tracking part correction. For ballistics without rolling control, the spin motion of the projectile itself will cause the Magnus effect and the gyro effect, and only the rolling loop is stabilized, resulting in an inconstant rolling angular rate, which requires "dynamic" tracking part correction. Generally, multiple tracking parts need to be arranged to more accurately reflect the motion trajectory of the projectile. Therefore, compared with ballistics with rolling control, in the range test of ballistics without rolling control, it is necessary to consider not only the tracking part inconsistency error, but also the optimization of the layout position of the tracking part of the external measuring equipment on the projectile, so as to reduce the influence of the dynamic spin of the projectile on the error of the measurement correction amount, and improve the "dynamic" tracking part inconsistency correction accuracy. Therefore, how to optimize the layout position of the external measuring equipment in the ballistic test without rolling control to improve the test accuracy is a problem that needs to be solved. Summary of the invention

[0007] The embodiment of the present invention provides a method for arranging tracking positions of external measurement equipment in a non-rolling controlled trajectory test, thereby reducing the influence of the dynamic spin of the projectile on the error of the measurement element correction amount.

[0008] To achieve the above-mentioned purpose, an embodiment of the present invention provides a method for arranging tracking parts of external measurement equipment in a no-roll control ballistic test, comprising: establishing a rocket body coordinate system for an aircraft to be subjected to a no-roll control ballistic test; selecting two preliminary tracking parts on the outer surface of the aircraft, and determining position parameters of the two preliminary tracking parts in the rocket body coordinate system; if the error data optimization target of the no-roll control ballistic test is a ranging correction amount, then optimizing the positions of the two preliminary tracking parts by improving the accuracy of the ranging correction amount, and determining the arrangement positions of the two external measurement equipment tracking parts according to the optimization results; if the error data optimization target of the no-roll control ballistic test is a speed correction amount, then optimizing the positions of the two preliminary tracking parts by improving the accuracy of the speed correction amount, and determining the arrangement positions of the two external measurement equipment tracking parts according to the optimization results.

[0009] The above technical solution has the following beneficial effects:

[0010] The technical solution of the present application provides a method for arranging tracking parts of external measurement equipment in a non-rolling controlled ballistic test, so that when the angle and position of the tracking parts meet the set requirements, the upper limit of the error of the corresponding measurement correction amount can be minimized and the correction accuracy can be maximized, thereby reducing the influence of the projectile spin on the measurement correction amount by arranging the tracking parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 It is a flow chart of a method for arranging tracking positions of external measuring equipment in a non-rolling controlled trajectory test of the present invention;

[0013] Figure 2 is a schematic diagram of the arrow body coordinate system in the present invention;

[0014] Figure 3 is a schematic diagram of the emission coordinate system in the present invention;

[0015] Figure 4 It is a schematic diagram of the position of the primary tracking part in the arrow body coordinate system in the present invention;

[0016] Figure 5 It is a schematic diagram of the direction vectors of two primary tracking parts and the direction vector of the center of the inertial navigation platform in the present invention;

[0017] Figure 6 is a schematic diagram showing the angular velocity of a non-rolling controlled trajectory changing with time in a specific embodiment of the present invention;

[0018] Figure 7 It is a schematic diagram showing the variation of the rotation angle of the projectile body with time when the trajectory is controlled without rolling control in a specific embodiment of the present invention;

[0019] Figure 8 It is a schematic diagram showing the variation of the correction value of the range-finding element A1 of the tracking part measured in a specific embodiment of the present invention over time;

[0020] Fig. 9 It is a schematic diagram showing the variation of the correction amount of the velocity measuring element of the tracking part A1 measured in a specific embodiment of the present invention over time;

[0021] Fig.10 It is a schematic diagram showing the variation of the correction value of the range-finding element A2 of the tracking part measured in a specific embodiment of the present invention over time;

[0022] Fig.11 It is a schematic diagram showing the variation of the correction amount of the velocity measuring element of the tracking part A2 measured in a specific embodiment of the present invention over time;

[0023] Fig.12 It is a schematic diagram of the variation of the error of the ranging element correction amount measured over time in a specific embodiment of the present invention;

[0024] Fig.13It is a schematic diagram of the variation of the error of the correction amount of the velocity measuring element measured in a specific embodiment of the present invention over time;

[0025] Fig.14 A schematic diagram of the variation of the error of the ranging element correction amount over time after the layout position of the external measurement equipment tracking part is determined in a specific embodiment of the present invention;

[0026] Fig.15 A schematic diagram showing the variation of the error of the correction amount of the speed measuring element with time after the position of the tracking part of the external measuring device is determined in a specific embodiment of the present invention;

[0027] Fig.16 It is a scatter diagram of the error of the ranging element correction amount at different layout angles of the tracking part of the external measurement equipment in the specific embodiment of the present invention;

[0028] Fig.17 It is a scatter diagram of the error of the correction amount of the speed measuring element at different layout angles of the tracking part of the external measuring equipment in the specific embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] To solve the aforementioned problems, this application, under the background of a non-rolling controlled trajectory test project, takes the ranging and velocity measurement trajectory tracking data obtained under a multi-beam radar measurement system as an example, and proposes a tracking part layout optimization scheme to improve the accuracy of inconsistency correction of trajectory tracking parts.

[0031] like Figure 1 As shown, an embodiment of the present invention provides a method for arranging tracking positions of external measurement equipment for a non-rolling controlled trajectory test, comprising:

[0032] S101, establishing a body coordinate system for the aircraft to be subjected to a no-roll control trajectory test;

[0033] S102, selecting two preliminary tracking locations on the outer surface of the aircraft, and determining position parameters of the two preliminary tracking locations in the rocket body coordinate system;

[0034] S103, if the error data optimization target of the non-rolling controlled trajectory test is the ranging correction amount, the positions of the two preliminarily selected tracking parts are optimized by improving the accuracy of the ranging correction amount, and the layout positions of the two external measurement equipment tracking parts are determined according to the optimization results;

[0035] S104. If the error data optimization target of the non-rolling controlled trajectory test is the velocity correction value, the positions of the two preliminary tracking parts are optimized by improving the accuracy of the velocity correction value, and the layout positions of the two external measurement equipment tracking parts are determined according to the optimization results.

[0036] Furthermore, the arrow body coordinate system is specifically:

[0037] The origin O of the rocket body coordinate system is the inertial navigation center of the aircraft, OX is the symmetry axis of the aircraft and points to the top of the aircraft, OY is located in the main symmetry plane of the aircraft and is perpendicular to OX, and OZ is perpendicular to OX and OY;

[0038] The two preliminary tracking positions are A1 and A2;

[0039] The position parameters of the primary tracking position in the arrow body coordinate system include:

[0040] The distance between A1 and the origin O along the OX direction is L1, the distance between A2 and the origin O along the OX direction is L2, the distance between A1 and OX is r1, and the distance between A2 and OX is r2.

[0041] The angle between A1 and the XOY plane is α, and the angle between A2 and the XOY plane is β.

[0042] Furthermore, the step S103 specifically includes:

[0043] The positions of the two primary tracking locations are optimized using the following constraints:

[0044] α-β=±π;

[0045] The values ​​of L1, L2, r1, and r2 are minimized, and the values ​​of L1, L2, r1, and r2 can ensure that the external measurement equipment arranged at A1 and A2 are respectively located outside the signal interference range of another external measurement equipment;

[0046] A1 and A2 in the optimization results are used as the layout positions of the tracking parts of the external test equipment.

[0047] Furthermore, the step S104 specifically includes:

[0048] The positions of the two primary tracking locations are optimized using the following constraints:

[0049]

[0050] L1=L2;

[0051] r1=r2;

[0052] The values ​​of L1, L2, r1, and r2 are minimized, and the values ​​of L1, L2, r1, and r2 can ensure that the tracking parts of the external measurement equipment arranged at A1 and A2 are respectively located outside the signal interference range of the tracking parts of another external measurement equipment;

[0053] A1 and A2 in the optimization results are used as the layout positions of the tracking parts of the external test equipment.

[0054] The method of the present invention is described below with a specific embodiment:

[0055] 1. Tracking part correction method

[0056] The inconsistency of trajectory tracking parts is to uniformly correct the tracking parts of various external measurement equipment (or tracking points of external measurement equipment) to the same position under the same coordinate system, so as to eliminate the system error caused by the inconsistency of the tracking parts of the external measurement equipment. The correction method adopted by the present invention is to derive the rough trajectory parameters using telemetry data such as satellite navigation in the measurement coordinate system, and then calculate the correction amount of the distance measuring element and the speed measuring element of the tracking part of the external measurement equipment relative to the center of the inertial navigation platform, and finally compensate the measured value to realize the correction of the inconsistency of the tracking part of the external measurement equipment. First, the definition of each coordinate system in the correction of the tracking part of the ballistic external measurement equipment is explained, and then the tracking part correction methods based on the distance measuring element (which can be simply referred to as distance measurement) and the speed measuring element (which can be simply referred to as speed measurement) in the multi-beam radar measurement system are respectively given.

[0057] 1.1 Coordinate system definition

[0058] (1) Rocket body coordinate system

[0059] The origin of the coordinate system O is the center of the aircraft inertial navigation platform, OX is the symmetry axis of the aircraft shell and points to the top of the aircraft, the OY axis is in the main symmetry plane of the aircraft, and this plane coincides with the XOY plane of the launch coordinate system at the moment of launch, the Y axis is perpendicular to the X axis, and the Z axis is perpendicular to the main symmetry plane. Looking along the launch direction, the Z axis points to the right, and the coordinate system is a right-handed system, such as Figure 2 shown.

[0060] (2) Emission coordinate system

[0061] The origin of the coordinate system O1 is connected to the launch point O, the O1X1 axis points to the launch aiming direction in the horizontal plane of the launch point, the O1Y1 axis is perpendicular to the horizontal plane of the launch point and points upward, the O1Z1 axis is perpendicular to X1O1Y1 and forms a right-handed coordinate system with O1X1 and O1Y1, such as Figure 3 shown.

[0062] (3) Measurement coordinate system

[0063] The measurement coordinate system is also called the station center coordinate system, which is a coordinate system with the center of the measuring device as the coordinate origin. It is mainly divided into two types: one is the vertical measurement coordinate system Oq -X q Y q Z q , origin O p Usually the rotation center of the receiving antenna of the radio measurement equipment, y q Axis and O p The plumb lines of the points coincide and point outward from the Earth, x q Axis in O p The point is in the horizontal plane, pointing to the true north of the earth, and the three axes form a right-hand system; the other is the normal measurement coordinate system O n -X n Y n Z n , origin O n is the rotation center of the receiving antenna of the measuring device, y n Axis and O n The normal of the earth's ellipsoidal surface of the point coincides and points outside the ellipsoid. n In O n It is in the tangent plane of the Earth's ellipsoid, pointing to the true North Pole of the Earth's ellipsoid, and the three axes form a right-handed system.

[0064] 1.2. Tracking position correction method based on ranging elements

[0065] Since the missile without roll control only stabilizes the roll loop but does not control it, the angular velocity of the missile body's spin is not constant, so multiple tracking parts of external measurement equipment are required for measurement and positioning. In the missile body coordinate system, considering the ballistic tracking effect and the actual working conditions of the missile, it is assumed that two external measurement equipment tracking parts A1 and A2 are installed on the missile body, where A1 and A2 are r1 and r2 away from the x-axis of the rocket body coordinate system, L1 and L2 away from the inertial navigation center O, and the angles with the y-axis of the rocket body coordinate system are α and β respectively. If the missile body does not spin, the static tracking parts A1 and A2 are located in the rocket body coordinate system as follows: Figure 4 shown.

[0066] When the projectile performs non-rolling control motion, the dynamic tracking parts A1 and A2 can be expressed as formula (1) in the rocket body coordinate system, where the instantaneous angular velocity of the projectile spinning around the x-axis of the rocket body coordinate system is assumed to be ω0.

[0067] A1=(L1,r1cos(α+∫ω0dt),r1sin(α+∫ω0dt)) T

[0068] A2=(L2,r2cos(β+∫ω0dt),r2sin(β+∫ω0dt)) T (1)

[0069] In the launch coordinate system, let the center coordinates of the missile inertial navigation platform be X0 = (x0, y0, z0)T , then using the Euler angle and direction cosine matrix, the positions of the tracking parts A1 and A2 in the emission coordinate system can be derived:

[0070]

[0071] in

[0072]

[0073] In the station coordinate system, using the transformation matrix G between the station coordinate system and the launch coordinate system, let is the position of the inertial navigation center in the measuring station coordinate system, then the positions of the external measuring equipment tracking parts A1 and A2 can be expressed as:

[0074]

[0075] in

[0076]

[0077] Inertial navigation center position The distance information can be expressed as:

[0078]

[0079] The location of the external measurement equipment tracking parts A1 and A2 is The distance information can be expressed as:

[0080]

[0081]

[0082] The correction value of the ranging and tracking part can be derived as follows:

[0083]

[0084] 1.3. Tracking position correction method of external measuring equipment based on speed measurement and measurement element

[0085] In the measuring station coordinate system, by differentiating both sides of equations (4) and (5) with respect to time, we can obtain the velocities of the tracking parts A1 and A2 of the external measuring equipment:

[0086]

[0087] in

[0088]

[0089] a1=(L1,r1cos(α+∫ω0dt),r1sin(α+∫ω0dt)) T

[0090] a2=(L2,r2cos(β+∫ω0dt),r2sin(β+∫ω0dt)) T

[0091] b1=(0,-r1ω0sin(α+∫ω0dt),r1ω0cos(α+∫ω0dt)) T

[0092] b2=(0,-r2ω0sin(β+∫ω0dt),r2ω0cos(β+∫ω0dt)) T (15)

[0093]

[0094] Then, the approximate position of the center of the inertial navigation platform in the station coordinate system and approximate speed Then the radial velocity of the center of the inertial navigation platform relative to the measuring station can be calculated:

[0095]

[0096] Similarly, the approximate positions of tracking parts A1 and A2 in the measuring station coordinate system are and approximate speed The radial velocity of the center of the inertial navigation platform relative to the measuring station can be calculated:

[0097]

[0098] Then the tracking position correction of radial velocity is expressed as:

[0099]

[0100] in

[0101]

[0102] 2. Optimization of the layout of the tracking parts of the external test equipment

[0103] According to equations (10) and (19), compared with the correction method for inconsistent tracking parts of ballistics with rolling control, the correction amount of the tracking part of the ballistics without rolling control is a nonlinear function of the angular velocity of the projectile's spin, and the external measurement equipment cannot accurately measure the angular velocity of the projectile's spin and roll. This requires the design of a reasonable tracking part layout position to reduce the influence of the projectile's spin on the correction amount. The following analyzes the ranging and velocity correction amounts respectively, and gives the optimal layout plan of the tracking part.

[0104] 2.1. Tracking location layout optimization scheme based on ranging measurement

[0105] First, we analyze the ranging correction. For the formula, we can use the error propagation principle to deduce:

[0106]

[0107] According to formula (21), the position of the tracking part of the external measurement equipment can be optimized to minimize the upper limit of the correction error, so as to achieve the purpose of reducing the influence of the projectile spin on the correction. Then the objective function is formula (22)

[0108] sup{|dΔR1|+|dΔR2|} (22)

[0109] Substitute formula (22) into specific parameters for analysis:

[0110]

[0111] In the above formula

[0112]

[0113] is the variable that determines the location of the tracking part of the external measurement equipment. In the measuring station coordinate system, the geometric meaning of formula (24) is that the direction vectors e1 and e2 of the tracking parts A1 and A2 of the external measurement equipment are respectively subtracted from the direction vector e0 of the center of the inertial navigation platform O and then added together, as follows: Figure 5 shown.

[0114] from Figure 5 It can be seen that formula (24) can be converted into e1′+e2′+e1″+e2″, where e1′, e2′, e1″, e2″ are the projections of formula (24) in the radial direction of the projectile and in the direction perpendicular to the radial direction. Therefore, when the layout angle of the external measurement equipment tracking part satisfies α-β=±π, the layout positions of the two external measurement equipment tracking parts on the projectile can minimize the upper bound of the ranging correction error and maximize the correction accuracy. That is, the influence of the projectile spin on the ranging correction can be reduced by optimizing the layout of the external measurement equipment tracking part positions, thereby improving the ranging correction accuracy.

[0115] Layout location plan 1: The layout angle of the external measurement equipment tracking position satisfies α-β=±π. According to equations (6) and (10), the layout distances L1, L2, r1, and r2 should be as small as possible. At this time, the upper limit of the ranging correction error will be relatively small, and the ranging correction accuracy will be relatively the highest.

[0116] 2.2. Optimization of the layout of external measurement equipment tracking locations based on speed measurement and measurement elements

[0117] By analyzing the speed measurement correction, we can deduce the following equation (20) using the error propagation principle:

[0118]

[0119] According to formula (25), the purpose of reducing the influence of the projectile spin on the correction amount can be achieved by optimizing the layout of the external measurement equipment tracking position to minimize the upper limit of the correction amount error. Then the objective function is formula (26)

[0120]

[0121] By analyzing the above formula using the triangular inequality, we can deduce:

[0122]

[0123] In the above formula It includes two factors: the location of the external measurement equipment tracking part and the angular rate of the projectile's spin. If this influencing factor is minimized, the influence of the projectile's spin angular rate on the accuracy of the correction can be reduced by optimizing the location of the external measurement equipment tracking part, thereby improving the correction accuracy. The physical meaning is to minimize the sum of the speeds of the tracking parts of each external measuring device in the measuring station coordinate system by optimizing the layout of the tracking parts, and further change the objective function to:

[0124]

[0125] According to formula (12), substituting specific parameters into formula (28) can be transformed into:

[0126]

[0127] It can be seen from formula (29) that the first and third terms in the formula can reduce the influence of the angular velocity ω0 of the projectile's spin on the correction accuracy by reducing L and r of the layout position of the external measurement equipment tracking part. The second term can reduce the influence of the angular velocity ω0 of the projectile's spin on the correction accuracy by optimizing the layout angle of the external measurement equipment tracking part. Then let the second term in the above formula be U. Using the properties of trigonometric functions, U can be simplified as:

[0128]

[0129] The θ in the above formula is defined as

[0130] Layout location scheme 2: From equations (29) and (30), we can see that when When When L1=L2, r1=r2, and r and L are as small as possible, the upper limit of the speed measurement correction error is relatively small, and the accuracy of the speed measurement correction is relatively the highest.

[0131] In summary, optimizing the layout of the tracking parts of the external measurement equipment can effectively reduce the impact of the motion of the non-rolling control projectile on the measurement correction. When the tracking part layout scheme is α-β=±π, and L and r are as small as possible, the upper limit of the ranging correction error can be reduced and the ranging correction accuracy can be improved; when the tracking part layout scheme is (or ), L1=L2, r1=r2, and L and r are as small as possible, which can reduce the upper limit of the error of the speed correction and improve the accuracy of the speed correction. In actual engineering, according to the accuracy requirements of different measuring elements for the purpose of the test, the corresponding external measuring equipment tracking position layout scheme can be selected to improve the accuracy of the corresponding measuring element correction.

[0132] 3. Experimental simulation analysis

[0133] The numerical integration method is used to simulate the missile motion trajectory equation. The instantaneous angular velocity of the missile body spinning around the x-axis of the rocket body coordinate system is set to ω0, which is a random number [-60 (°) / s, 60 (°) / s]. The missile is simulated to perform non-rolling control motion. The angular velocity and rotation angle of the missile body spin roll change with time as shown in the following table: Figure 6 and Figure 7 shown. Figure 6 The horizontal axis represents time in (s), and the vertical axis represents the angular velocity of the projectile's spin in (° / s); Figure 7 The unit of the horizontal axis is (s), and the vertical axis represents the angle of the projectile's spin, and the unit is (°).

[0134] In order to verify the influence of the tracking position of the external measurement equipment on the accuracy of the correction, the tracking position of the external measurement equipment is randomly selected in the rocket body coordinate system as A1 = [L1, r1, α] = [3.50, 3.00, 100.00°], A2 = [L2, r2, β] = [4.00, 2.50, 260]. According to the actual project, random errors [-200m, 200m] and [-10m / s, 10m / s] are added to the inertial navigation center position and velocity information to simulate the actual position and velocity information. The measured correction changes with time as shown in the following figure. Figure 8 , Fig. 9 , Fig.10 , Fig.11 shown. Figure 8 The horizontal axis represents time in (s), and the vertical axis represents the correction of the ranging element of the tracking part A1 in (m); Fig. 9 The horizontal axis represents time in (s), and the vertical axis represents the correction value of the velocity element of the tracking part A1 in (m / s); Fig.10 The horizontal axis represents time in (s), and the vertical axis represents the correction of the ranging element of the tracking part A2 in (m); Fig.11The horizontal axis represents time in (s), and the vertical axis represents the correction of the velocity element of the tracking position A2 in (m / s). The maximum distance correction can reach 4.7m, and the maximum velocity correction can reach -14.3m / s. It can be seen that the tracking position inconsistency error of the external measurement data is large. In order to meet the accuracy index requirements of the external measurement system, the tracking position inconsistency error must be corrected.

[0135] Using the same method, according to equations (10) and (19), the error results of the correction values ​​of the distance measuring element and the speed measuring element are calculated as follows: Fig.12 , Fig.13 shown. Fig.12 The unit of the horizontal axis is (s), and the unit of the vertical axis is (m). Fig.13 The unit of the horizontal axis is (s), and the unit of the vertical axis is (m / s). Comparing the above figures, it can be seen from the comparison results that in the non-rolling controlled trajectory, the maximum absolute value of the ranging correction error is 0.000295m, and the maximum absolute value of the speed correction error is 0.00175m / s. According to the above-mentioned external measurement equipment tracking position layout schemes one and two, the original layout scheme is changed to A1=[3.50,2.50,90.00°], A2=[3.50,2.50,270.00°], so that it satisfies the α-β=±π tracking position layout angle relationship in layout scheme one, so as to verify the correctness of layout position scheme one; the original layout scheme is changed to A1=[3.50,2.50,135.00°], A2=[3.50,2.50,225.00°], so that it satisfies (or ), L1 = L2, r1 = r2, to verify the correctness of the second layout plan. The absolute value of the error of the distance and speed correction amount of the external measurement equipment tracking position A1, A2 is as follows Fig.14 , Fig.15 As shown, Fig.14 The unit of the horizontal axis is (s), and the unit of the vertical axis is (m). Fig.15 The unit of the horizontal axis is (s), and the unit of the vertical axis is (m / s). Fig.14 , Fig.15 It can be seen that the maximum absolute value of the ranging correction error is 0.000252m, which is 14.5% less than the error of the original scheme; the maximum absolute value of the radial velocity correction error is 0.00136m / s, which is 22.3% less than the error of the original scheme. From the results, the optimized external measurement equipment tracking location layout scheme can effectively reduce the measurement correction error and improve the measurement correction accuracy.

[0136] The method of traversing to find the optimal solution is adopted to compare the layout schemes of different external measurement equipment tracking parts to further verify the correctness and optimality of the conclusion. The layout distance of the tracking parts is controlled to remain unchanged, that is, L and r remain unchanged, and the layout angles α and β are adjusted. The simulation results Fig.16 , Fig.17 shown. Fig.16 , Fig.17 The middle horizontal coordinate is the angle difference between the tracking positions A1 and A2 of the external measurement equipment, and the unit is (°). Fig.16 The vertical coordinate is the maximum value of the ranging element, the unit is (m), Fig.17 The vertical coordinate is the maximum value of the speed measurement error, and the unit is (m / s). When the layout angle satisfies α-β=±π, the distance measurement correction error is the smallest and the correction accuracy is the highest, which is consistent with the theoretical analysis conclusion of the layout position scheme 1; when the layout angle satisfies (or ), the speed measurement correction error is the smallest and the correction accuracy is the highest, which is consistent with the theoretical analysis conclusion of the second layout scheme.

[0137] Keeping the relationship between the optimal layout angles unchanged, changing the layout distance of the external measurement equipment tracking part, that is, adjusting the size of L and r, the relationship between the distance measurement element correction error and the layout distance is shown in Table 1 below.

[0138]

[0139] Table 1 Relationship between ranging correction error and deployment distance

[0140] It can be seen from the layout position plan 1 that the layout distance should satisfy L and r as small as possible. At this time, the upper limit of the distance correction error is the smallest and the correction accuracy is the highest. It can be seen from the layout position plan 2 that the layout distance should satisfy L1=L2, r1=r2, and L and r are as small as possible. The upper limit of the speed correction error is the smallest and the accuracy is the highest. The data in Table 1 verify the theoretical analysis results.

[0141] In summary, the tracking angle should satisfy α-β=±π in the layout selection, and L and r should be as small as possible, which will reduce the upper limit of the error of the ranging element correction and improve the ranging correction accuracy. (or ), L1=L2, r1=r2, and L and r are as small as possible, which will reduce the upper limit of the speed correction error and improve the accuracy of the speed correction. In actual engineering tests, due to the influence of external factors such as the mutual influence of the received signals of the tracking part of the external measurement equipment, the layout plan should give priority to satisfying the layout angle relationship in Plans 1 and 2, and then consider the layout distance factor.

[0142] The disclosed embodiments are described above to enable any person skilled in the art to implement or use the present invention. Various modifications of these embodiments are obvious to those skilled in the art, and the general principles defined in this application may also be applied to other embodiments without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments given in this application, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0143] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is 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 in the scope of protection of the present invention.

Claims

1. A method for arranging tracking positions of external measuring equipment for a non-rolling controlled trajectory test, characterized in that: include: Establishing a body coordinate system for the vehicle to be tested for no-roll control trajectory; Selecting two preliminary tracking locations on the outer surface of the aircraft, and determining the positions of the two preliminary tracking locations in the rocket body coordinate system; If the error data optimization target of the non-rolling controlled trajectory test is the ranging correction amount, the positions of the two preliminarily selected tracking parts are optimized by improving the accuracy of the ranging correction amount, and the layout positions of the two external measurement equipment tracking parts are determined according to the optimization results; If the error data optimization target of the non-rolling controlled trajectory test is the velocity correction value, the positions of the two preliminary tracking parts are optimized by improving the accuracy of the velocity correction value, and the layout positions of the two external measurement equipment tracking parts are determined based on the optimization results.

2. The method for arranging the tracking positions of the external measuring equipment for the non-rolling controlled trajectory test according to claim 1, characterized in that: The arrow body coordinate system is specifically: The origin O of the rocket body coordinate system is the inertial navigation center of the aircraft, OX is the symmetry axis of the aircraft and points to the top of the aircraft, OY is located in the main symmetry plane of the aircraft and is perpendicular to OX, and OZ is perpendicular to OX and OY; The two preliminary tracking positions are A1 and A2; The position parameters of the primary tracking position in the arrow body coordinate system include: The distance between A1 and the origin O along the OX direction is L1, and the distance between A2 and the origin O along the OX direction is L2. The distance between A1 and OX is r1, and the distance between A2 and OX is r2. The angle between A1 and the XOY plane is α, and the angle between A2 and the XOY plane is β.

3. The method for arranging the tracking positions of the external measuring equipment for the non-rolling controlled trajectory test according to claim 2, characterized in that: The method of optimizing the positions of the two preliminarily selected tracking parts by improving the accuracy of the ranging correction amount, and determining the layout positions of the two external measurement equipment tracking parts according to the optimization results, specifically includes: The positions of the two primary tracking locations are optimized using the following constraints: α-β＝±π； The values ​​of L1, L2, r1, and r2 are minimized, and the values ​​of L1, L2, r1, and r2 can ensure that the external measurement equipment tracking parts arranged at A1 and A2 are respectively located outside the signal interference range of another external measurement equipment tracking part; A1 and A2 in the optimization results are used as the layout positions of the tracking parts of the external test equipment.

4. The method for arranging the tracking positions of the external measuring equipment for the non-rolling controlled trajectory test according to claim 2, characterized in that: The method of optimizing the positions of the two preliminary tracking parts by improving the accuracy of the speed measurement correction amount, and determining the layout positions of the two external measurement equipment tracking parts according to the optimization results, specifically includes: The positions of the two primary tracking locations are optimized using the following constraints: L1=L2; r1＝r2； The values ​​of L1, L2, r1, and r2 are minimized, and the values ​​of L1, L2, r1, and r2 can ensure that the external measurement equipment tracking parts arranged at A1 and A2 are respectively located outside the signal interference range of another external measurement equipment tracking part; A1 and A2 in the optimization results are used as the layout positions of the tracking parts of the external test equipment.

Images