Radar-based semi-physical simulation method and related device

Abstract

The embodiment of the invention provides a radar-based semi-physical simulation method and a related device, and relates to the technical field of simulation. The method comprises the steps that according to first flight information and environment information of an aircraft at the current moment, first environment force is obtained through calculation, the aircraft comprises a measured radar, the first flight information comprises the position of the first aircraft, and the first environment force comprises at least one of atmospheric resistance and wind speed influence and gravity; the positions with different heights correspond to different environment parameters, and the environment parameters are determined based on the environment information; obtaining target flight information at the next moment according to the first flight information and the first environmental force; simulation parameters of a target simulator are adjusted according to the target flight information, the flight state of the aircraft is controlled, and the target simulator is used for simulating a detection object of the detected radar. In this way, the actual situation can be simulated more truly, so that more accurate simulation analysis can be carried out.

Description

Technical Field

[0001] The present application relates to the field of simulation technology, and in particular to a radar-based semi-physical simulation method and related devices. Background Art

[0002] At present, the semi-physical simulation of airborne radar systems plays a vital role in the development and testing of products. Traditional semi-physical simulation systems usually perform simulations under predetermined parameters and assumptions. During the simulation process, the speed of the radar is set only according to the change of gravity, that is, the radar environment is assumed to be unchanged. However, in actual usage scenarios, the parameters of the radar environment and the target change in real time. Therefore, it is necessary to be able to modify the corresponding environmental parameters and target parameters in real time during the simulation process in order to simulate the actual situation more realistically and conduct more accurate simulation analysis. Summary of the invention

[0003] The embodiment of the present application provides a radar-based semi-physical simulation method and related devices, which can obtain environmental forces corresponding to real-time environmental parameters during the simulation process, and then obtain flight information at the next moment based on the environmental forces, and control the target simulator and the aircraft based on the flight information at the next moment, thereby simulating the actual situation more realistically and performing more accurate simulation analysis.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a radar-based semi-physical simulation method, which is applied to a computing device in a semi-physical simulation system, and the method includes:

[0006] The first environmental force is calculated according to the first flight information and environmental information of the aircraft at the current moment, wherein the aircraft includes the radar to be measured, the first flight information includes the position of the first aircraft, the first environmental force includes at least one of atmospheric resistance and wind speed influence and gravity, different environmental parameters correspond to different positions at different heights, and the environmental parameters are determined based on the environmental information;

[0007] Obtaining target flight information at a next moment according to the first flight information and the first environmental force;

[0008] The simulation parameters of the target simulator are adjusted according to the target flight information, and the flight state of the aircraft is controlled, wherein the target simulator is used to simulate the detection object of the radar under test.

[0009] In a second aspect, an embodiment of the present application provides a radar-based semi-physical simulation device, which is applied to a computing device in a semi-physical simulation system, and the device includes:

[0010] A first calculation module is configured to calculate a first environmental force according to first flight information and environmental information of the aircraft at a current moment, wherein the aircraft includes a radar to be measured, the first flight information includes a position of the first aircraft, the first environmental force includes at least one of atmospheric drag and wind speed influence and gravity, different environmental parameters correspond to different positions at different heights, and the environmental parameters are determined based on the environmental information;

[0011] A second calculation module, used for obtaining target flight information at a next moment according to the first flight information and the first environmental force;

[0012] A control module is used to adjust simulation parameters of a target simulator according to the target flight information and to control the flight state of the aircraft, wherein the target simulator is used to simulate the detection object of the radar under test.

[0013] In a third aspect, an embodiment of the present application provides a computing device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the radar-based semi-physical simulation method described in the aforementioned embodiment.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the radar-based semi-physical simulation method as described in the aforementioned embodiment is implemented.

[0015] The radar-based semi-physical simulation method and related device provided in the embodiment of the present application calculate the first environmental force according to the first flight information and environmental information of the current position of the aircraft, and then obtain the target flight information of the next moment based on the first environmental force for the first flight information, and finally adjust the simulation parameters of the target simulator according to the target flight information, and control the flight state of the aircraft. Among them, the aircraft includes the radar under test, the first flight information includes the first aircraft position, the first environmental force includes at least one of atmospheric resistance and wind speed influence and gravity, different height positions correspond to different environmental parameters, and the environmental parameters are determined based on the environmental information, and the target simulator is used to simulate the detection object of the radar under test. In this way, the environmental force corresponding to the real-time environmental parameter can be obtained during the simulation process, and then the flight information of the next moment can be obtained based on the environmental force, and the target simulator and the aircraft can be controlled based on the flight information of the next moment, so as to simulate the actual situation more realistically, so as to carry out more accurate simulation analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A block diagram of a semi-physical simulation system provided in an embodiment of the present application;

[0018] Figure 2 A block diagram of a computing device provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of a flow chart of a radar-based semi-physical simulation method provided in an embodiment of the present application;

[0020] Figure 4 for Figure 3 A schematic flow chart of the sub-steps included in step S110;

[0021] Figure 5 for Figure 4 A schematic flow chart of the sub-steps included in sub-step S112;

[0022] Figure 6 for Figure 3 A schematic flow chart of the sub-steps included in step S120;

[0023] Figure 7 A block diagram of a radar-based semi-physical simulation device provided in an embodiment of the present application.

[0024] Icons: 100 - computing device; 110 - memory; 120 - processor; 130 - communication unit; 200 - radar-based semi-physical simulation device; 210 - first computing module; 220 - second computing module; 230 - control module. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0027] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0028] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0029] Please refer to Figure 1 , Figure 1 A block diagram of a semi-physical simulation system provided in an embodiment of the present application. In this embodiment, the semi-physical simulation system includes a computing device, an aircraft (i.e. Figure 1 The aircraft under test includes a radar under test, and the target simulator is used to simulate the detection object of the radar under test. The computing device is used to calculate the environmental force, and calculate the target flight information of the aircraft at the next moment based on the environmental force, so as to control the flight state of the aircraft and the simulation parameters of the target simulator. Among them, in the process of calculating the environmental force, the environmental parameters corresponding to the position used when calculating the environmental force are determined based on the environmental information, and the environmental parameters corresponding to positions with different heights are different. The above-mentioned semi-physical simulation system can read the corresponding environmental parameters according to the current geographical location of the aircraft during the simulation process to reflect the changes and uncertainties in the actual situation, and then perform corresponding control.

[0030] In this way, during the simulation process, the corresponding environmental parameters can be modified in real time to obtain the environmental forces corresponding to the real-time environmental parameters, and then the flight state and target parameters can be controlled to more realistically simulate the actual situation in order to conduct more accurate simulation analysis.

[0031] Optionally, in this embodiment, the semi-physical simulation system may include the following key components: a semi-simulation host computer, a microwave darkroom, and a real-time calculation system, wherein the real-time calculation system may be located in the computing device.

[0032] The semi-simulation host computer can provide a user-friendly interface, allowing users to input and modify target parameters in real time, and can also input and modify aircraft parameters, such as wind speed (including wind speed and wind direction), target dynamic characteristics, aircraft starting conditions, other environmental conditions, etc. Among them, the target parameters are used to indicate the simulation parameters of the target simulator, and the target dynamic characteristics may include: the speed and acceleration of the target simulator. The aircraft starting conditions may include: the initial launch speed and launch angle, and the starting point position may be defaulted to zero. Environmental conditions may include: wind speed at sea level, air density at sea level, etc.

[0033] The object to be tested (i.e., the aircraft including the radar to be tested) and the test tools are placed in a microwave darkroom. The microwave darkroom may include: a three-axis turntable, a target multi-axis scanning frame, at least one target simulator, etc. The aircraft includes the radar to be tested and a flight controller. The three-axis turntable may be a high-precision programmable three-axis turntable for assuming an aircraft. The target multi-axis scanning frame may be a high-precision programmable scanning frame for setting up multiple target simulators, which can simulate the angular motion trajectory of the aircraft. The target simulator is used to generate target information of the object to be tested, wherein the simulated parts include target RCS (Radar Cross Section), simulated distance, simulated speed, and target fluctuation characteristics. The above are basic target parameters, and some personalized parameters can also be simulated, such as the number of targets (i.e., the number of detection objects of the radar to be tested), the number of target scattering points and the frequency, etc.

[0034] The real-time calculation system may include an environment model and a simulation engine. A virtual space with a preset resolution is generated according to a preset three-dimensional space indicated by preset environmental parameters. It is understandable that the resolution of the virtual space can be set according to actual needs. For example, the resolution can be set to 50m. In this way, a preset three-dimensional space model can be obtained, and the three-dimensional space model is obtained by dividing the preset three-dimensional space into three-dimensional grids according to the preset grid size.

[0035] The simulation engine will read the current environmental model parameters (i.e. the environmental parameters of the current desired position) in real time, and can be combined with other input parameters to obtain the trajectory offset of the aircraft.

[0036] The real-time calculation system may also include a real-time data processing module, which is used to calculate the required flight information according to the calculated trajectory offset, so as to control the aircraft and the target simulator accordingly based on the flight information.

[0037] Optionally, the semi-physical simulation system may further include a data buffer box and an industrial computer. The specific locations of the data buffer box and the industrial computer may be determined in combination with actual needs. As a possible implementation, the data buffer box and the industrial computer may be arranged in a microwave darkroom.

[0038] When the real-time calculation system completes the data simulation, the flight information obtained will be transmitted to the data buffer box, which is responsible for temporarily storing the data (i.e., flight information) and sending the data to the industrial computer in real time. After receiving the flight information sent by the data buffer box, the industrial computer will calculate the received flight information into the control information of each component, and then perform comprehensive control, that is, control the three-axis turntable, the target multi-axis scanning frame, and the target simulator.

[0039] Optionally, in this embodiment, the semi-physical simulation system may further include a result analysis and visualization module, which may be used to analyze and display data during the simulation process and the final simulation results.

[0040] Please refer to Figure 2 , Figure 2 The block diagram of the computing device 100 provided in the embodiment of the present application. The computing device 100 may include a memory 110, a processor 120 and a communication unit 130. The memory 110, the processor 120 and the communication unit 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses or signal lines.

[0041] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0042] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores a radar-based semi-physical simulation device 200, and the radar-based semi-physical simulation device 200 includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the radar-based semi-physical simulation device 200 in the embodiment of the present application, that is, realizing the radar-based semi-physical simulation method in the embodiment of the present application.

[0043] The communication unit 130 is used to establish a communication connection between the computing device 100 and other communication terminals through a network, and to send and receive data through the network.

[0044] It should be understood that Figure 2 The structure shown is only a schematic diagram of the structure of the computing device 100. The computing device 100 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations shown. Figure 2 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0045] Please refer to Figure 3 , Figure 3 The schematic diagram of the process flow of the radar-based semi-physical simulation method provided in the embodiment of the present application. The method can be applied to a computing device in a semi-physical simulation system. The specific process of the method is described in detail below. In this embodiment, the method may include steps S110 to S130.

[0046] Step S110, calculating a first environmental force according to the first flight information and environmental information of the aircraft at the current moment.

[0047] In this embodiment, the aircraft includes a radar to be measured. The first flight information includes a first aircraft position, which is the current position of the aircraft. According to the first flight position and environmental information, corresponding environmental parameters can be obtained, and then the first environmental force corresponding to the environmental parameter can be calculated. The first environmental force includes at least one of atmospheric resistance and wind speed influence and gravity. The environmental parameters corresponding to positions at different heights are different. The environmental parameters are determined based on the environmental information. For example, the air density and wind speed corresponding to positions at different heights are different. It can be seen that in this embodiment, the environmental parameters will change in real time, which is consistent with the actual situation.

[0048] Step S120: obtaining target flight information at the next moment according to the first flight information and the first environmental force.

[0049] Step S130, adjusting simulation parameters of the target simulator according to the target flight information, and controlling the flight state of the aircraft.

[0050] After obtaining the first environmental force, the target flight information at the next moment is determined according to the first environmental force and the first flight information. Correspondingly, the target flight information at the next moment includes the position of the aircraft at the next moment. Afterwards, the simulation parameters of the target simulator are adjusted according to the target flight information, for example, the number of target scattering points of the target simulator is adjusted accordingly; and the flight information corresponding to the flight state of the aircraft at the next moment is controlled to be the target flight information. Among them, the target simulator is used to simulate the detection object of the radar under test. The target flight information may include speed and position, the position of the aircraft at the next moment is the position in the target flight information at the next moment, and the speed of the aircraft at the next moment is the speed in the target flight information at the next moment.

[0051] In this way, during the simulation process, the environmental forces corresponding to the real-time environmental parameters are obtained, and then the flight information of the next moment is obtained based on the environmental forces, and the target simulator and the aircraft are controlled based on the flight information of the next moment, so as to simulate the actual situation more realistically and conduct more accurate simulation analysis.

[0052] Since the aircraft is in continuous motion, in order to improve the accuracy of the environmental forces obtained, Figure 4 The first environmental force is obtained in the manner shown. Figure 4 , Figure 4 for Figure 3 Schematic diagram of the flow of sub-steps included in step S110. In this embodiment, step S110 may include sub-steps S111 to S112.

[0053] Sub-step S111, obtaining second flight information of the next moment predicted based on the first flight information while ignoring environmental forces.

[0054] In this embodiment, the first flight information of the aircraft at the current time t includes the first speed V at the time t. t The position of the first aircraft at time t can be calculated by ignoring the environmental force and moving at a first speed V tThe uniform speed flight is performed by calculating a displacement based on the time interval Δt between the current time t and the next time t+1, and then determining the second aircraft position included in the second flight information based on the displacement and the first aircraft position at time t. The second flight information may also include a second speed, and the second speed in the second flight information is equal to the first speed at time t.

[0055] Sub-step S112, calculating the first environmental force corresponding to the second flight information according to the second flight information and the environmental information.

[0056] When the second flight information is obtained, the first environmental force corresponding to the second aircraft position in the second flight information is determined in combination with the environmental information, that is, the first environmental force is the environmental force corresponding to the flight position indicated by the second flight information. The second flight information may be obtained by the computing device or predicted by the aircraft.

[0057] For a position, the specific calculation method of calculating the environmental force at the position can be determined in combination with actual needs. In this embodiment, the second flight information includes the second aircraft position and the second speed. The environmental force is related to the wind speed and position. Optionally, as a possible implementation method, the second aircraft position and the second speed in the second flight information can be directly substituted into the environmental force calculation formula to calculate the first environmental force.

[0058] As another possible implementation, Figure 5 The first environmental force is obtained in the manner shown. Figure 5 , Figure 5 for Figure 4 A schematic flow chart of sub-steps included in sub-step S112. In this embodiment, sub-step S112 may include sub-steps S1121 to S1125.

[0059] Sub-step S1121, determining whether the second aircraft position and the aircraft position used for calculating environmental forces at the last moment are in the same grid of the preset three-dimensional space model.

[0060] Sub-step S1122, determining whether the second speed is within the same speed range as the speed of the aircraft used in calculating the environmental force at the last moment.

[0061] In this embodiment, the environmental information may include an input spatial coordinate range, which is used to indicate a preset three-dimensional space, and the spatial coordinate range may be: x1-x2, y1-y2, z1-z2. The preset three-dimensional space may be divided into three-dimensional grids according to a preset grid size in advance to obtain a three-dimensional space model. The coordinates of each three-dimensional grid in the three-dimensional space model may be saved to facilitate subsequent determination of which grid a position is in.

[0062] When calculating the first environmental force, it is determined whether the second aircraft position and the aircraft position used in the environmental force calculation at the last moment are in the same grid of the three-dimensional space model. If so, it means that the positions of the two environmental force calculations are close and the environmental parameters related to the positions are the same.

[0063] A plurality of speed ranges are also stored in advance. It is also determined whether the second speed is within a speed range with the speed of the aircraft used in the environmental force calculation at the last moment. If so, it means that the speeds during the two environmental force calculations are close.

[0064] If it is determined that the aircraft positions are in the same grid and the speeds are within the same speed range, sub-step S1123 is executed.

[0065] Sub-step S1123, using the first force corresponding to the position and speed of the aircraft obtained when calculating the environmental force at the previous moment as the first force corresponding to the second flight information.

[0066] In this embodiment, when the second aircraft position is in the same grid as the aircraft position used in the environmental force calculation at the last moment, and the second speed is in the same speed range as the speed of the aircraft used in the environmental force calculation at the last moment, the atmospheric drag and / or wind speed influence obtained in the environmental force calculation at the last moment can be directly used as the first force corresponding to the second flight information of the aircraft position. That is, the first force obtained in the environmental force calculation at the last moment is used as the first force in the current environmental force calculation. In this way, certain computing resources can be saved.

[0067] If it is determined that the aircraft position is not in the same grid or the speed is not in the same speed range, sub-step S1124 is executed.

[0068] Sub-step S1124, calculating the first force corresponding to the second flight information according to the height corresponding to the grid where the second aircraft position is located and the speed corresponding to the speed range where the second speed is located.

[0069] In this embodiment, if the second aircraft position is not in the same grid as the aircraft position used in the environmental force calculation at the last moment, or if the second speed is not in the same speed range as the speed of the aircraft used in the environmental force calculation at the last moment, then the height corresponding to the grid where the second aircraft position is located is determined, and the speed corresponding to the speed range where the second speed is located is determined, and then the first force corresponding to the second flight information is calculated. The height corresponding to a grid may be the center height of the grid, and the speed corresponding to a speed range may be the median of the speed range.

[0070] Optionally, the atmospheric resistance can be calculated by a first preset formula. The first preset formula is:

[0071]

[0072] Among them, F drag represents atmospheric resistance; A represents the cross-sectional area of ​​the aircraft; ρ0 represents the air density at sea level, which is approximately 1.225 kg / m 3 ; L represents the temperature gradient, which is approximately 0.0065 (K / m); Z represents the altitude of the aircraft; g represents the gravity constant, which is 9.8; M represents the molar mass of air, which is approximately 0.02897 (kg / mol); R represents the universal gas constant, which is approximately 8.314 (J / mol·K); V represents the aircraft speed; kB represents the Boltzmann constant, which is approximately 1.38064852×10e-23 joules per Kelvin·mole (J / (K·mol)); D represents the characteristic dimension of the aircraft, such as wingspan or body length; k represents the aircraft product factor.

[0073] Optionally, the wind speed influence is calculated by a second preset formula. The second preset formula is: wind =m(v wind -V), Among them, F wind represents the influence of wind speed, m represents the mass of the aircraft, and v wind represents wind speed, v0 represents wind speed at sea level; represents the rate of change of wind speed with height, which is a constant; (v wind -V) represents the difference between wind speed and aircraft speed.

[0074] The environmental information may be determined by environmental variables, may be input in advance, and may include: aircraft cross-sectional area A, aircraft characteristic dimension D, aircraft product factor k, wind speed v0 at sea level, and aircraft mass m. When calculating the force based on the environmental information, the calculation is performed in combination with the position and speed of the aircraft.

[0075] Sub-step S1125, calculating the first environmental force according to the first force and gravity.

[0076] Optionally, as a possible implementation method, the environmental force includes not only at least one of gravity, wind speed influence and atmospheric resistance, but also a second force as other additional forces. Other additional forces may include forces input by the user, or forces calculated in combination with other methods. Optionally, the second force may include additional forces corresponding to the aircraft attitude. The second force can be calculated based on the second speed, the attitude angle corresponding to the second speed and the second aircraft position, and then the first environmental force corresponding to the second flight information is obtained based on the currently obtained first force, the second force and gravity. Among them, the attitude angle can be obtained based on the direction of the speed analysis.

[0077] The additional force corresponding to the aircraft attitude can be calculated by the following formula: F other =F pitch +F yam +F roll , Among them, F other represents other additional forces, θ represents the pitch angle, represents the yaw angle, and ψ represents the roll angle.

[0078] Optionally, the environmental force includes wind speed influence and atmospheric resistance. In this case, the environmental force calculation formula is: F env =F gravity +F drag +F wind +F other .

[0079] When the first environmental force corresponding to the second flight information is obtained, Figure 6 Obtain target flight information in the manner shown. Figure 6 , Figure 6 for Figure 3 Schematic diagram of the flow of sub-steps included in step S120. In this embodiment, step S120 may include sub-steps S121 to S122.

[0080] Sub-step S121, calculating a position offset corresponding to the second flight information according to the first environmental force.

[0081] Sub-step S122, correcting the second flight information according to the position offset to obtain target flight information.

[0082] In this embodiment, the speed of the drone at the next moment can be calculated according to the second speed in the second flight information and the first environmental force, and then the target flight information can be calculated. The target flight information may include position and speed.

[0083] The following is an example of how to obtain the target flight information based on the first environmental force and the second flight information.

[0084] The displacement vector r is a three-dimensional vector, expressed as r = (x, y, z); the velocity vector v is a three-dimensional vector, expressed as v = (v x ,v y ,v z ); the force vector F is also a three-dimensional vector, expressed as F = (F x ,F y ,F z ). The time step is Δt.

[0085] Taking the velocity vector and displacement vector as their components, we can get the following equations, corresponding to the X, Y, and Z axes respectively:

[0086]

[0087] Among them, v x,new 、v y,new 、v z,new is the velocity component in the target flight information, v x,old 、v y,old 、v z,old is the component of the second speed in the second flight information, F x 、F y 、F z is the component of the first environmental force, x new ,y new 、z new is the component of the aircraft position in the target flight information, x old ,y old 、z old is the component of the aircraft position in the second flight information.

[0088] The following is an example of how to obtain the target flight information at the next moment.

[0089] At time t1, the aircraft returns the predicted position and speed at time t1+1 to the computing device, which is the same as the speed at time t1; the computing device calculates the environmental force based on the position and speed predicted by the aircraft at time t1+1, and then calculates the offset based on the environmental force, and modifies the position and speed predicted by the aircraft at time t1+1 based on the offset, thereby obtaining the target flight information at time t1+1.

[0090] Assume that the environmental force calculated based on the position and speed of the aircraft at time t1+1 predicted is the first environmental force, and the environmental force (i.e., above) calculated based on the position and speed of the aircraft at time t1 predicted is the second environmental force. In the process of calculating the first environmental force, if the position at time t1+1 predicted at time t1 and the position at time t1 predicted at time t1-1 are in the same three-dimensional grid, and the speed at time t1+1 predicted at time t1 and the speed at time t1 predicted at time t1-1 are in the same speed range, then the wind speed influence and atmospheric resistance in the second environmental force can be used as the wind speed influence and atmospheric resistance in the environmental force calculated this time.

[0091] In this embodiment, the semi-physical simulation system also includes a data buffer box and an industrial computer that are communicatively connected to the computing device. After obtaining the target flight information at the next moment, the data including the target flight information at the next moment can be sent to the data buffer box. The industrial computer accesses the data in the data buffer box in real time, and resolves the acquired data into control instructions, and sends the instructions to the target simulator, the target multi-axis scanning frame, the three-dimensional turntable, and the aircraft, so as to control the target RCS, simulation distance, simulation speed, target undulation characteristic parameters, etc. of the target simulator, and control the target multi-axis scanning frame to move the spatial position, and control the three-dimensional turntable installed with the aircraft. Among them, the three-dimensional state is used to simulate the attitude change of the aircraft during flight, and the above control of the three-dimensional turntable controls the state attitude change. The attitude angle can be determined according to the speed in the target flight information, and then the three-dimensional turntable can be controlled according to the determined attitude angle; the simulation parameters of the target simulator can be controlled according to the speed in the target flight information.

[0092] Repeat the above process until the simulation test is completed.

[0093] Optionally, the computing device can send flight information of multiple moments after the current moment to the data buffer box, so that the industrial computer can control the simulation parameters of the target simulator and the flight attitude of the aircraft according to the flight information in the data buffer box. The flight information of multiple moments includes the target flight information of the next moment, and the flight information of multiple moments, except the target flight information of the next moment, is used by the industrial computer when no new flight information of multiple moments is received. In this way, it is avoided that the computing device fails to calculate the target flight information of the next moment, which causes problems in the simulation.

[0094] For example, if the current time is t1, the computing device can send the flight information corresponding to the time t1+1, t1+2, and t1+3 to the data buffer box. In this way, if the computing device fails to calculate the target flight information of t1+2 due to various reasons at time t1+1, the industrial computer can control according to the flight information corresponding to the time t1+2 previously received in the data buffer box.

[0095] Among them, the method for obtaining other flight information in the flight information at the multiple moments except the target flight information at the next moment can be the same as the method for obtaining the target flight information at the next moment, which will not be repeated here.

[0096] In this embodiment, the corresponding data can be displayed and analyzed in real time during the simulation process, and the final result can be displayed. For example, during the simulation process, the current aircraft attitude, aircraft pointing angle (aircraft normal pointing), aircraft speed, misalignment angle (the angle between the current aircraft pointing angle and the detected target angle) can be output according to a fixed period; the detected target echo, target number, target distance, target speed, etc. can be displayed in real time. The final result can include the offset between the flight end point and the target.

[0097] Optionally, the input flight information can also be received, and the environmental force corresponding to the input flight information can be calculated and displayed based on the environmental information and the input flight information. In this way, when a problem occurs in the simulation, the environmental force of the current flight can be queried, so as to more conveniently check or locate whether there is a problem with the current module. Among them, when calculating the environmental force based on the input flight information, the flight information can be used as the second flight information mentioned above, and then the environmental force is calculated through sub-step S112.

[0098] Optionally, during the simulation process, the user may modify the environmental information according to actual needs, and then calculate the environmental force based on the modified environmental information.

[0099] In order to execute the corresponding steps in the above embodiments and various possible methods, a radar-based semi-physical simulation device 200 is provided below. Optionally, the radar-based semi-physical simulation device 200 can adopt the above Figure 2 The device structure of the computing device 100 shown in FIG. Figure 7 , Figure 7A block diagram of a radar-based semi-physical simulation device 200 provided in an embodiment of the present application. It should be noted that the basic principle and technical effects of the radar-based semi-physical simulation device 200 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. In this embodiment, the radar-based semi-physical simulation device 200 may include: a first calculation module 210, a second calculation module 220 and a control module 230.

[0100] The first calculation module 210 is used to calculate the first environmental force according to the first flight information and environmental information of the aircraft at the current moment. The aircraft includes a radar to be measured, the first flight information includes the position of the first aircraft, the first environmental force includes at least one of atmospheric resistance and wind speed influence and gravity, different environmental parameters correspond to different positions at different heights, and the environmental parameters are determined based on the environmental information.

[0101] The second calculation module 220 is used to obtain target flight information at a next moment according to the first flight information and the first environmental force.

[0102] The control module 230 is used to adjust the simulation parameters of the target simulator according to the target flight information and control the flight state of the aircraft. The target simulator is used to simulate the detection object of the radar under test.

[0103] Optionally, the above modules can be stored in the form of software or firmware. Figure 2 The memory 110 shown in FIG. 110 may be fixed in the operating system (OS) of the computing device 100 and may be Figure 2 Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 110.

[0104] The embodiment of the present application also provides a readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the radar-based semi-physical simulation method is implemented.

[0105] In summary, the embodiment of the present application provides a radar-based semi-physical simulation method and related devices, which calculates the first environmental force according to the first flight information and environmental information of the current position of the aircraft, and then obtains the target flight information of the next moment based on the first environmental force on the first flight information, and finally adjusts the simulation parameters of the target simulator according to the target flight information, and controls the flight state of the aircraft. Among them, the aircraft includes a radar under test, the first flight information includes the first aircraft position, the first environmental force includes at least one of atmospheric resistance and wind speed influence and gravity, different height positions correspond to different environmental parameters, and the environmental parameters are determined based on the environmental information, and the target simulator is used to simulate the detection object of the radar under test. In this way, the environmental force corresponding to the real-time environmental parameter can be obtained during the simulation process, and then the flight information of the next moment can be obtained based on the environmental force, and the target simulator and the aircraft can be controlled based on the flight information of the next moment, so as to simulate the actual situation more realistically, so as to perform more accurate simulation analysis.

[0106] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0107] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0108] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0109] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A radar-based semi-physical simulation method, characterized in that: A computing device used in a semi-physical simulation system, the method comprising: The first environmental force is calculated according to the first flight information and environmental information of the aircraft at the current moment, wherein the aircraft includes the radar to be measured, the first flight information includes the position of the first aircraft, the first environmental force includes at least one of atmospheric resistance and wind speed influence and gravity, different environmental parameters correspond to different positions at different heights, and the environmental parameters are determined based on the environmental information; Obtaining target flight information at a next moment according to the first flight information and the first environmental force; The simulation parameters of the target simulator are adjusted according to the target flight information, and the flight state of the aircraft is controlled, wherein the target simulator is used to simulate the detection object of the radar under test.

2. The method according to claim 1, characterized in that The obtaining of the first environmental force according to the first flight information and environmental information of the aircraft at the current moment includes: Obtaining second flight information at a next moment predicted based on the first flight information while ignoring environmental forces, wherein the second flight information includes a second aircraft position; Calculate a first environmental force corresponding to the second flight information according to the second flight information and the environmental information; The calculating, according to the first flight information and the first environmental force, target flight information at a next moment includes: Calculate a position offset corresponding to the second flight information according to the first environmental force; The second flight information is corrected according to the position offset to obtain target flight information.

3. The method according to claim 2, characterized in that The second flight information is predicted by the aircraft; and / or the second flight information includes a second speed, and the first environmental force corresponding to the second flight information is calculated according to the second flight information and the environmental information, including: Determining whether the second aircraft position and the aircraft position used in the environmental force calculation at the last moment are in the same grid of a preset three-dimensional space model, wherein the three-dimensional space model is obtained by dividing the preset three-dimensional space into three-dimensional grids according to a preset grid size; Determining whether the second speed is within the same speed range as the speed of the aircraft used in calculating the environmental force at the last moment, wherein the computing device stores a plurality of speed ranges; If it is determined that the position of the aircraft is in the same grid and the speed is in the same speed range, the first force corresponding to the position and speed of the aircraft obtained when calculating the environmental force at the last moment is used as the first force corresponding to the second flight information, wherein the first force includes at least one of atmospheric drag and wind speed influence; The first environmental force is calculated according to the first force and gravity.

4. The method according to claim 3, characterized in that The first environmental force also includes a second force as another additional force, the second force includes an additional force corresponding to the aircraft attitude, and the first environmental force is calculated based on the first force and gravity, including: Calculating the second force according to the second speed, the attitude angle corresponding to the second speed, and the second aircraft position; The first environmental force is calculated according to the first force, the second force and gravity.

5. The method according to claim 3, characterized in that: The calculating the first environmental force according to the second flight information and the environmental information further includes: If it is determined that the positions of the aircraft are not in the same grid or the speeds are not in the same speed range, the first force corresponding to the second flight information is calculated according to the height corresponding to the grid where the second aircraft position is located and the speed corresponding to the speed range where the second speed is located, wherein the atmospheric drag is calculated by a first preset formula, and the wind speed influence is calculated by a second preset formula, and the first preset formula is: Among them, F drag represents atmospheric drag, A represents the cross-sectional area of ​​the aircraft, ρ0 represents the air density at sea level, L represents the temperature lapse rate, Z represents the aircraft altitude, g represents the gravity constant, M represents the molar mass of air, R represents the universal gas constant, V represents the aircraft speed, kB represents the Boltzmann constant, D represents the characteristic dimension of the aircraft, and k represents the aircraft product factor; The second preset formula is: wind =m(v wind -V), Among them, F wind represents the influence of wind speed, m represents the mass of the aircraft, and v wind represents wind speed, v0 represents wind speed at sea level, Indicates the rate of change of wind speed with height.

6. The method according to any one of claims 1 to 5, characterized in that: The semi-physical simulation system also includes a data buffer box and an industrial computer that are communicatively connected to the computing device. The simulation parameters of the target simulator are adjusted according to the target flight information, and the flight state of the aircraft is controlled, including: The flight information of multiple moments after the current moment is sent to the data buffer box, so that the industrial computer controls the simulation parameters of the target simulator and the flight attitude of the aircraft according to the flight information in the data buffer box, wherein the flight information of the multiple moments includes the target flight information of the next moment, and the flight information of the multiple moments except the target flight information of the next moment is used by the industrial computer when no new flight information of multiple moments is received.

7. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: The input flight information is received, and according to the environmental information and the input flight information, the environmental force corresponding to the input flight information is calculated and displayed.

8. A radar-based semi-physical simulation device, characterized in that: A computing device used in a semi-physical simulation system, the device comprising: A first calculation module is configured to calculate a first environmental force according to first flight information and environmental information of the aircraft at a current moment, wherein the aircraft includes a radar to be measured, the first flight information includes a position of the first aircraft, the first environmental force includes at least one of atmospheric drag and wind speed influence and gravity, different environmental parameters correspond to different positions at different heights, and the environmental parameters are determined based on the environmental information; A second calculation module, used for obtaining target flight information at a next moment according to the first flight information and the first environmental force; A control module is used to adjust simulation parameters of a target simulator according to the target flight information and to control the flight state of the aircraft, wherein the target simulator is used to simulate the detection object of the radar under test.

9. A computing device, characterized in that The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the radar-based semi-physical simulation method according to any one of claims 1 to 7.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the radar-based semi-physical simulation method according to any one of claims 1 to 7 is implemented.

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