A method for setting up tracking parts of external measuring equipment in a roll-free ballistic test

Abstract

This invention provides a method for setting up tracking points of external measuring equipment in a roll-free ballistic test, comprising: establishing a rocket body coordinate system for the aircraft to be tested; selecting two initial tracking points on the outer surface of the aircraft and determining the position parameters of the two initial tracking points in the rocket body coordinate system; optimizing the positions of the initial tracking points according to the error data optimization target of the roll-free ballistic test, and determining the layout positions of the two external measuring equipment tracking points based on the optimization results. This technical solution enables the corresponding measurement element correction error to be minimized and the correction accuracy to be maximized when the angle and position of the tracking points meet the set requirements, thereby reducing the influence of the projectile spin on the measurement element correction.

Description

Technical Field

[0001] This invention relates to the field of ballistic testing technology, and specifically to a method for arranging the tracking parts of external measuring equipment in ballistic tests without roll control. Background Technology

[0002] Roll-less ballistic missiles (including missiles and test target drones) typically achieve guidance through pitch and yaw control, stabilizing the roll loop but not controlling it; this control method is also known as a dual-channel control method. Compared to roll-controlled missiles that spin at a stable angular velocity, roll-less missiles undergo variable-velocity spin motion along their longitudinal axis during flight. This avoids the system complexity introduced by adding roll control devices, significantly increasing the payload of the aircraft. This technology has already been applied in new long-range strike weapons.

[0003] Because of the free-rolling missile body design without roll control during flight, the tracking parts of the external measurement equipment (in range testing, this refers to radar, optical measurement equipment, etc., used to receive signals from the tracking points and achieve target tracking and positioning) on ​​the missile body also roll. This makes correcting inconsistencies in the tracking parts of the external measurement equipment more challenging. Therefore, optimizing the placement of the tracking parts on the missile body to reduce the impact of inconsistencies on the measurement element correction error, improving the tracking accuracy of the external measurement equipment, and obtaining higher-precision ballistic data is of great significance.

[0004] In the existing technology, there has been a lot of research on the correction of inconsistencies in the tracking parts of external measuring equipment in ballistic tests. For example, the attitude parameters of the strapdown inertial navigation system are used to correct the tracking parts of the target under test, or angle correction methods and system correction methods are designed based on the instantaneous flight angle of the target under test and the angular relationship of each correction part; or the correction amount of the tracking part is calculated through the coarse trajectory parameters of the target under test and telemetry attitude data.

[0005] In the process of realizing this invention, the inventors discovered at least the following problems in the prior art:

[0006] The methods mentioned above can achieve high correction accuracy under certain conditions, but they all target the tracking parts of the target under roll control, which is a form of "static" tracking part correction. For ballistic trajectories without roll control, the projectile's own spin motion causes Magnus and gyroscopic effects, and stabilizing only the roll loop results in an inconsistent roll angular rate, requiring "dynamic" tracking part correction. Generally, multiple tracking parts are needed to accurately reflect the projectile's trajectory. Therefore, compared to ballistic trajectories with roll control, range tests of ballistic trajectories without roll control not only need to consider tracking part inconsistency errors but also the optimization of the placement of tracking parts on the projectile's external measuring equipment. This reduces the impact of the projectile's dynamic spin on the measurement element correction error and improves the accuracy of "dynamic" tracking part inconsistency correction. Therefore, optimizing the placement of external measuring equipment in ballistic trajectories without roll control to improve test accuracy is a problem that needs to be solved. Summary of the Invention

[0007] This invention provides a method for arranging the tracking parts of external measuring equipment in a ballistic test without rolling control, thereby reducing the impact of the projectile's dynamic spin on the error of the measuring element correction.

[0008] To achieve the above objectives, embodiments of the present invention provide a method for setting up tracking points of external measuring equipment in a roll-free ballistic test, comprising: establishing a rocket body coordinate system for the aircraft to be tested for a roll-free ballistic test; selecting two initial tracking points on the outer surface of the aircraft and determining the position parameters of the two initial tracking points in the rocket body coordinate system; if the error data optimization target of the roll-free ballistic test is the ranging correction amount, then optimizing the positions of the two initial tracking points by improving the accuracy of the ranging correction amount, and determining the layout positions of the two external measuring equipment tracking points based on the optimization results; if the error data optimization target of the roll-free ballistic test is the velocity correction amount, then optimizing the positions of the two initial tracking points by improving the accuracy of the velocity correction amount, and determining the layout positions of the two external measuring equipment tracking points based on the optimization results.

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

[0010] The technical solution of this application provides a method for setting up the tracking part of the external measuring equipment in a ballistic test without rolling control. When the angle and position of the tracking part meet the set requirements, the upper limit of the corresponding measurement element correction error can be minimized and the correction accuracy can be maximized. This reduces the influence of the projectile spin on the measurement element correction by setting up the tracking part. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of a method for arranging the tracking parts of an external measuring device in a non-rolling control ballistic test according to the present invention;

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

[0014] Figure 3 This is a schematic diagram of the launch coordinate system in this invention;

[0015] Figure 4 This is a schematic diagram showing the position of the initially selected tracking part in the rocket body coordinate system in this invention;

[0016] Figure 5 This is a schematic diagram showing the direction vectors of the two initially selected tracking locations in this invention and their respective direction vectors relative to the center of the inertial navigation platform;

[0017] Figure 6 This is a schematic diagram of the angular velocity of a ballistic trajectory without roll control as a function of time in a specific embodiment of the present invention;

[0018] Figure 7 This is a schematic diagram illustrating the change of the projectile rotation angle over time in a specific embodiment of the present invention, where the trajectory is controlled without rolling control.

[0019] Figure 8 This is a schematic diagram showing the change of the distance measurement element correction of the tracking part A1 over time in a specific embodiment of the present invention;

[0020] Figure 9 This is a schematic diagram showing the change of the correction amount of the tracking part A1 velocity element measured over time in a specific embodiment of the present invention;

[0021] Figure 10 This is a schematic diagram showing the change of the distance measurement element correction value of the tracking part A2 over time in a specific embodiment of the present invention;

[0022] Figure 11 This is a schematic diagram showing the change of the correction amount of the tracking part A2 velocity element measured over time in a specific embodiment of the present invention;

[0023] Figure 12 This is a schematic diagram illustrating the change of the distance measuring element correction error over time in a specific embodiment of the present invention;

[0024] Figure 13This is a schematic diagram illustrating the change of the speed measuring element correction error over time in a specific embodiment of the present invention;

[0025] Figure 14 This is a schematic diagram illustrating the change of the distance measurement element correction error over time after determining the deployment position of the external measuring device tracking part in a specific embodiment of the present invention;

[0026] Figure 15 This is a schematic diagram illustrating the change of the speed measurement element correction error over time after the position of the tracking part of the external measuring device is determined in a specific embodiment of the present invention.

[0027] Figure 16 This is a scatter plot of the distance measurement element correction error of the tracking part of the external measuring device under different deployment angles in a specific embodiment of the present invention;

[0028] Figure 17 This is a scatter plot of the error of the velocity element correction at different deployment angles of the tracking part of the external measuring device in a specific embodiment of the present invention. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] To address the aforementioned issues, this application proposes an optimized scheme for the placement of tracking components, taking the ranging and velocity tracking data obtained under a multi-beam radar measurement system as an example, within the context of a ballistic test project without rolling control, in order to improve the accuracy of inconsistency correction of ballistic tracking components.

[0031] like Figure 1 As shown, this embodiment of the invention provides a method for arranging the tracking parts of an external measuring device in a roll-free ballistic test, including:

[0032] S101. Establish the rocket body coordinate system for the aircraft to be tested for non-roll control ballistics;

[0033] S102. Select two initial tracking points on the outer surface of the aircraft and determine the position parameters of the two initial tracking points in the rocket body coordinate system.

[0034] S103. If the error data optimization target of the non-roll control ballistic test is the ranging correction amount, then the position of the two initially selected tracking points is optimized by improving the accuracy of the ranging correction amount, and the layout position of the two external measuring device tracking points is determined according to the optimization results.

[0035] S104. If the error data optimization target of the non-rolling control ballistic test is the velocity correction amount, then the positions of the two initially selected tracking points are optimized by improving the accuracy of the velocity correction amount, and the layout positions of the two external measuring equipment tracking points are determined according to the optimization results.

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

[0037] The origin O of the rocket body coordinate system is the inertial navigation center of the aircraft, OX is the axis of symmetry 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 initially selected tracking locations are A1 and A2;

[0039] The position parameters of the initially selected tracking location in the rocket body coordinate system include:

[0040] The distance from point A1 to the origin O along the OX direction is L1, the distance from point A2 to the origin O along the OX direction is L2, the distance from A1 to OX is r1, and the distance from A2 to 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, step S103 specifically includes:

[0043] The positions of the two initially selected 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 measuring devices placed at A1 and A2 are respectively outside the signal interference range of the other external measuring device;

[0046] A1 and A2 from the optimization results are used as the locations for the tracking parts of the external measurement equipment.

[0047] Furthermore, step S104 specifically includes:

[0048] The positions of the two initially selected 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 measuring devices deployed at A1 and A2 are respectively outside the signal interference range of the tracking parts of the other external measuring device.

[0053] A1 and A2 from the optimization results are used as the locations for the tracking parts of the external measurement equipment.

[0054] The method of the present invention will be described below with reference to a specific embodiment:

[0055] 1. Tracking Part Correction Method

[0056] Inconsistent ballistic tracking positions are addressed by uniformly correcting the tracking positions (or tracking points) of various external measuring devices to the same location within the same coordinate system, thereby eliminating systematic errors caused by inconsistencies. This invention employs a correction method that, within the measurement coordinate system, derives coarse trajectory parameters using telemetry data such as satellite navigation, then calculates the correction amounts for the range and velocity elements relative to the center of the inertial navigation platform for the tracking positions of the external measuring devices. Finally, compensation is applied to the measured values ​​to correct the inconsistencies in the tracking positions of the external measuring devices. First, the definitions of each coordinate system in the ballistic external measuring device tracking position correction are explained. Then, the tracking position correction methods based on the range element (or simply range) and velocity element (or simply velocity) in a multi-beam radar measurement system are presented.

[0057] 1.1 Definition of Coordinate System

[0058] (1) Arrow coordinate system

[0059] The origin O of the coordinate system is the center of the inertial navigation platform of the aircraft. OX is the axis of symmetry of the aircraft's outer shell, pointing towards the top of the aircraft. The OY axis lies within the principal plane of symmetry of the aircraft, and this plane coincides with the XOY plane of the launch coordinate system at the instant of launch. The Y-axis is perpendicular to the X-axis, and the Z-axis is perpendicular to the principal plane of symmetry. Viewed along the launch direction, the Z-axis points to the right. The coordinate system is a right-handed system. Figure 2 As shown.

[0060] (2) Launch coordinate system

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

[0062] (3) Measurement coordinate system

[0063] A surveying coordinate system, also known as a station-centered coordinate system, is a coordinate system with the center of the surveying equipment as its origin. There are two main types: one is the perpendicular surveying coordinate system.q -X q Y q Z q , origin O p Typically the rotation center of the receiving antenna of radio measuring equipment, y q Shaft and O p The plumb lines at the points coincide and point outwards from the Earth, x q The axis passes through O p Within the horizontal plane of a point, pointing due north to the Earth, the three axes form a right-handed coordinate system; another is the normal measurement coordinate system O. n -X n Y n Z n , origin O n y is the center of rotation of the receiving antenna of the measuring equipment. n Shaft and O n The normals to the Earth's ellipsoid at point x coincide and point outward from the ellipsoid. n In O n Within the tangent plane of the Earth's ellipsoid, pointing towards the true north pole of the Earth's ellipsoid, the three axes form a right-handed system.

[0064] 1.2 Tracking Part Correction Method Based on Ranging Element

[0065] Because the non-roll control missile only stabilizes the roll loop without controlling it, the angular velocity of the missile's spin is not constant. Therefore, multiple external measuring devices are needed for tracking and positioning. Considering the ballistic tracking effect and the actual onboard conditions in the missile body coordinate system, assuming two external measuring device tracking points A1 and A2 are installed on the missile body, with distances r1 and r2 from the x-axis of the missile body coordinate system, distances L1 and L2 from the inertial navigation center O, and angles α and β with the y-axis of the missile body coordinate system, respectively, then, under the condition that the missile body does not spin, the static positions of the tracking points A1 and A2 in the missile body coordinate system are as follows: Figure 4 As shown.

[0066] When the projectile is in motion without rolling control, the dynamic tracking parts A1 and A2 can be expressed as Equation (1) in the arrow body coordinate system, where the instantaneous angular velocity of the projectile spinning around the x-axis of the arrow body coordinate system is 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 Euler angles and the direction cosine matrix, the positions of the tracking parts A1 and A2 in the launch 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... Let A1 and A2 be the positions of the inertial navigation center in the station coordinate system. Then, the positions of the tracking parts A1 and A2 of the external measuring equipment can be represented as follows:

[0074]

[0075] in

[0076]

[0077] Inertial navigation center position Distance information can be represented as:

[0078]

[0079] The tracking positions A1 and A2 of the external measuring equipment are: Distance information can be represented as:

[0080]

[0081]

[0082] The correction amount for the ranging and tracking part can then be derived as follows:

[0083]

[0084] 1.3 Correction method for tracking parts of external measuring equipment based on velocity measuring elements

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

[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, based on the approximate location of the inertial navigation platform center in the station coordinate system... and approximate speed The radial velocity of the inertial navigation platform center relative to the station can then be calculated:

[0095]

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

[0097]

[0098] Therefore, the correction amount for the radial velocity tracking part is expressed as:

[0099]

[0100] in

[0101]

[0102] 2. Optimization of the layout of tracking components for external measuring equipment

[0103] As can be seen from equations (10) and (19), compared to the method for correcting inconsistencies in the tracking part of a ballistic trajectory with roll control, the correction amount for the tracking part of a ballistic trajectory without roll control is a nonlinear function of the projectile's spin angular rate. Furthermore, the external measuring equipment cannot accurately measure the angular rate of the projectile's spin roll. This necessitates designing a reasonable layout for the tracking part to reduce the influence of the projectile's spin on the correction amount. The following analysis examines the range and velocity measurement corrections and provides the optimal layout scheme for the tracking part.

[0104] 2.1 Optimization Scheme for Tracking Part Layout Based on Ranging Element

[0105] First, let's analyze the ranging correction. Using the error propagation principle, we can derive the following from the equation:

[0106]

[0107] According to equation (21), the upper bound of the correction error can be minimized by optimizing the position of the tracking part of the external measuring equipment, thereby reducing the influence of the projectile spin on the correction. The objective function is then given by equation (22).

[0108] sup{|dΔR1|+|dΔR2|} (22)

[0109] Substituting equation (22) into specific parameters for analysis:

[0110]

[0111] In the above formula

[0112]

[0113] These are the variables that determine the placement of the tracking parts of the external measuring equipment. In the station coordinate system, the geometric meaning of equation (24) is that the direction vectors e1 and e2 of the tracking parts A1 and A2 of the external measuring equipment are subtracted from the direction vector e0 of the center O of the inertial navigation platform, and then added together, as shown below. Figure 5 As shown.

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

[0115] Layout scheme 1: The layout angle of the tracking part of the external measuring equipment 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 distance measurement correction error will be relatively small, and the distance measurement correction accuracy will be relatively the highest.

[0116] 2.2 Optimization Scheme for the Layout of Tracking Parts of External Measurement Equipment Based on Velocity Measurement Elements

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

[0118]

[0119] According to equation (25), the upper bound of the correction error can be minimized by optimizing the location of the tracking part of the external measuring equipment, thereby reducing the influence of the projectile spin on the correction. The objective function is then given by equation (26).

[0120]

[0121] By analyzing the above equation using the triangle inequality, we can derive:

[0122]

[0123] In the above formula The factors influencing the accuracy of the correction include the placement of the tracking components of the external measuring equipment and the projectile's spin angular rate. Minimizing these two factors allows for optimizing the placement of the tracking components to reduce the impact of the projectile's spin angular rate on the accuracy of the correction, thereby improving the overall accuracy. The physical meaning is to minimize the sum of velocities of each external measuring device's tracking point in the station coordinate system by optimizing the layout of tracking points. The objective function is further modified to:

[0124]

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

[0126]

[0127] From equation (29), it can be seen that the first and third terms can reduce the influence of the projectile's spin angular rate ω0 on the correction accuracy by decreasing the L and r of the tracking position of the external measuring equipment. The second term can reduce the influence of the projectile's spin angular rate ω0 on the correction accuracy by optimizing the angle of the tracking position of the external measuring equipment. Let the second term in the above equation be U. Using the properties of trigonometric functions, U can be simplified to:

[0128]

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

[0130] Layout scheme two: As can be seen from equations (29) and (30), when At that time, that is When L1 = L2 and r1 = r2, and r and L are as small as possible, the upper bound of the speed measurement correction error is relatively small, and the speed measurement correction accuracy is relatively the highest.

[0131] In summary, optimizing the placement of the tracking components on the external measuring equipment can effectively reduce the impact of the motion of the projectile without rolling control on the measurement element correction. When the tracking component placement scheme is α-β=±π, and L and r are as small as possible, the upper bound of the ranging correction error can be reduced, and the ranging correction accuracy can be improved; when the tracking component placement scheme is... (or When L1 = L2 and r1 = r2, and L and r are as small as possible, the upper limit of the speed measurement correction error can be reduced, and the accuracy of the speed measurement correction can be improved. In practical engineering, the appropriate external measuring equipment tracking position layout scheme can be selected according to the accuracy requirements of different measuring elements for the test purpose, thereby improving the accuracy of the corresponding measuring element correction.

[0132] 3. Experimental Simulation Analysis

[0133] The missile's trajectory equations are simulated using numerical integration. The instantaneous angular velocity of the missile's spin around the x-axis of the missile's coordinate system is set to ω0, which is a random number [-60° / s, 60° / s]. The missile is simulated to undergo roll-free motion. The angular velocity and rotation angle of the missile's spin roll over time are shown below. Figure 6 and Figure 7 As shown. Figure 6 The horizontal axis represents time, in seconds (s), and the vertical axis represents the angular velocity of the projectile's spin, in degrees (° / s). Figure 7 The horizontal axis is in units of (s), and the vertical axis represents the angle of the projectile's spin, in units of (°).

[0134] To verify the impact of the external measuring device's tracking position on the accuracy of the correction, the tracking positions of the external measuring device were randomly selected in the rocket body coordinate system as A1=[L1,r1,α]=[3.50,3.00,100.00°] and A2=[L2,r2,β]=[4.00,2.50,260]. Based on engineering practice, random errors [-200m,200m] and [-10m / s,10m / s] were added to the inertial navigation center position and velocity information to simulate actual position and velocity information. The measured correction changes over time as follows: Figure 8 , Figure 9 , Figure 10 , Figure 11 As shown. Figure 8 The horizontal axis represents time in seconds (s), and the vertical axis represents the distance correction of the tracking part A1 in meters (m). Figure 9 The horizontal axis represents time, in seconds (s), and the vertical axis represents the correction value of the velocity element at tracking point A1, in meters (m / s). Figure 10 The horizontal axis represents time in seconds (s), and the vertical axis represents the distance correction of the tracking part A2 in meters (m). Figure 11The horizontal axis represents time in seconds (s), and the vertical axis represents the correction amount of the velocity element at tracking point A2 in meters per second (m / s). The maximum distance correction amount can reach 4.7 m, and the maximum velocity correction amount can reach -14.3 m / s. It can be seen that the tracking point inconsistency error of the external measurement data is relatively large. In order to meet the accuracy requirements of the external measurement system, the inconsistency error of the tracking point must be corrected.

[0135] Using the same method, according to equations (10) and (19), the error results of the correction amount for the ranging element and the velocity element are calculated as follows: Figure 12 , Figure 13 As shown. Figure 12 The unit for the horizontal axis is (s), and the unit for the vertical axis is (m). Figure 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 that in the non-roll control trajectory, the maximum absolute value of the distance correction error is 0.000295m, and the maximum absolute value of the velocity correction error is 0.00175m / s. Based on the above two layout schemes for the tracking parts of the external measuring equipment, the original layout scheme is changed to A1 = [3.50, 2.50, 90.00°] and A2 = [3.50, 2.50, 270.00°] to satisfy the α-β = ±π tracking part layout angle relationship in layout scheme one, thereby verifying the correctness of layout scheme one; the original layout scheme is changed to A1 = [3.50, 2.50, 135.00°] and A2 = [3.50, 2.50, 225.00°] to satisfy (or The tracking component layout scheme with L1=L2 and r1=r2 is used to verify the correctness of layout scheme two. The absolute values ​​of the distance and speed measurement correction errors of the external measuring equipment tracking components A1 and A2 are as follows: Figure 14 , Figure 15 As shown, Figure 14 The unit for the horizontal axis is (s), and the unit for the vertical axis is (m). Figure 15 The horizontal axis is in units of seconds (s), and the vertical axis is in units of meters per second (m / s). Figure 14 , Figure 15 As can be seen, the maximum absolute value of the distance correction error is 0.000252m, which is 14.5% less than the original scheme; the maximum absolute value of the radial velocity correction error is 0.00136m / s, which is 22.3% less than the original scheme. The results show that the optimized layout of the tracking parts of the external measuring equipment can effectively reduce the measurement element correction error and improve the measurement element correction accuracy.

[0136] A method of traversing through different external measuring devices to find the optimal solution was used to compare the layout schemes of tracking parts, further verifying the correctness and optimality of the conclusions. The tracking distances (L and r) were kept constant, while the layout angles α and β were adjusted. Simulation results... Figure 16 , Figure 17 As shown. Figure 16 , Figure 17 The horizontal axis represents the angular difference between the tracking points A1 and A2 of the external measuring equipment, expressed in degrees (°). Figure 16 The vertical axis represents the maximum value of the distance measurement element, in meters (m). Figure 17 The vertical axis represents the maximum value of the velocity element error, in units of (m / s). When the deployment angle satisfies α-β=±π, the distance measurement correction error is minimized and the correction accuracy is highest, consistent with the theoretical analysis conclusion of deployment location scheme one; when the deployment angle satisfies (or When the speed measurement correction error is minimized and the correction accuracy is maximized, it is consistent with the theoretical analysis conclusion of deployment location scheme two.

[0137] Keeping the relationship between the optimal deployment angles unchanged, the deployment distance of the tracking part of the external measuring device is changed, that is, the values ​​of L and r are adjusted, and the relationship between the distance measurement element correction error and the deployment distance is shown in Table 1 below.

[0138]

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

[0140] As shown in deployment location scheme one, the deployment distance should satisfy L and r as small as possible. At this time, the upper limit of the distance measurement correction error is the smallest and the correction accuracy is the highest. As shown in deployment location scheme two, the deployment distance should satisfy L1 = L2 and r1 = r2. When L and r are as small as possible, the upper limit of the speed measurement correction error is the smallest and the accuracy is the highest. The data in Table 1 verify the theoretical analysis results.

[0141] In summary, when selecting a deployment scheme, the angle of the tracking point should satisfy α-β=±π, and L and r should be as small as possible to reduce the upper bound of the ranging element correction error and improve the ranging correction accuracy. The deployment angle of the tracking point using external measuring equipment should be... (or When L1 = L2 and r1 = r2, and L and r are as small as possible, the upper limit of the speed measurement correction error will be reduced, and the accuracy of the speed measurement correction will be improved. In actual engineering tests, due to the influence of external factors such as the mutual influence of signals received by the tracking parts of the external measuring equipment, the layout scheme should first satisfy the layout angle relationship in Schemes 1 and 2, and then consider the layout distance factor.

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

[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 the tracking parts of an external measuring device in a ballistic test without roll control, characterized in that, include: Establish the rocket body coordinate system for the aircraft to be tested for no-roll control ballistics; Two initial tracking points are selected on the outer surface of the aircraft, and the positions of the two initial tracking points in the rocket body coordinate system are determined. If the error data optimization target of the non-roll control ballistic test is the ranging correction amount, then the position of the two initially selected tracking points is optimized by improving the accuracy of the ranging correction amount, and the layout position of the two external measuring device tracking points is determined according to the optimization results. If the error data optimization target of the non-roll control ballistic test is the velocity correction amount, then the position of the two initially selected tracking points is optimized by improving the accuracy of the velocity correction amount, and the layout position of the two external measuring device tracking points is determined according to the optimization results. Specifically, the arrow body coordinate system is as follows: The origin O of the rocket body coordinate system is the inertial navigation center of the aircraft, OX is the axis of symmetry 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 initially selected tracking locations are A1 and A2; The position parameters of the initially selected tracking location in the rocket body coordinate system include: The distance from point A1 to the origin O along the OX direction is L1, and the distance from point A2 to the origin O along the OX direction is L2. The distance from A1 to OX is r1, and the distance from A2 to OX is r2. The angle between A1 and the XOY plane is α, and the angle between A2 and the XOY plane is β; The optimization of the positions of the two initially selected tracking points by improving the accuracy of the ranging correction, and the determination of the layout positions of the two external measuring device tracking points based on the optimization results, specifically includes: The positions of the two initially selected 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 tracking parts of the external measuring equipment deployed at A1 and A2 are respectively outside the signal interference range of the tracking part of the other external measuring equipment. A1 and A2 in the optimization results are used as the layout positions of the tracking parts of the external measuring equipment; The optimization of the positions of the two initially selected tracking points by improving the accuracy of the speed measurement correction, and the determination of the layout positions of the two external measuring device tracking points based on the optimization results, specifically includes: The positions of the two initially selected 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 tracking parts of the external measuring equipment deployed at A1 and A2 are respectively outside the signal interference range of the tracking part of the other external measuring equipment. A1 and A2 from the optimization results are used as the locations for the tracking parts of the external measurement equipment.

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