Guidance rocket projectile target information updating method using data link communication

Abstract

The invention belongs to the technical field of weapons and ammunition, and particularly relates to a guided rocket projectile target information updating method using data link communication, target information acquired by a reconnaissance system is received through a ground end, and the ground end processes the target information and forms a group of specific target position updating results. The rocket projectile obtains target coordinates at the current moment through interpolation according to the received target position updating result, a guidance instruction is generated through calculation, and flight of the guidance section in the rocket projectile is controlled. The method can better adapt to target information updating in the environment of target reconnaissance delay, data link communication delay and short-time interruption, the scheme is easy to implement, the method is effective, the method can be popularized to other guidance type ammunition target information updating application using data link communication, and the method has a large application and popularization space.

Description

Technical Field

[0001] The invention belongs to the technical field of weapons and ammunition, and specifically relates to a method for updating target information of a guided rocket projectile using data link communication. The method can be generally used for target information updating applications such as missiles, guided artillery shells, guided missiles, etc. using data link communication. Background Art

[0002] With the rapid development of precision guidance technology and the increasing demand of armies of various countries for long-range precision strike firepower, the range of guided rockets is getting longer and longer. In addition, the deviation caused by target maneuvering, the terminal guidance scheme that only relies on the seeker detection area can no longer cover the dispersion caused by system deviation and target movement. In the guidance section of guided rockets, updating target information to ensure accurate execution of mid-terminal guidance handover has become a necessary means for striking long-range moving targets. The main steps of the traditional target information update method using data link communication are: after the ground end obtains target information through the reconnaissance system, the updated result of the current frame target information is transmitted to the missile through the data link. After receiving it, the onboard computer performs coordinate conversion and delay compensation, etc., and calculates the "current target position information" and uses it to generate guidance control instructions.

[0003] However, there are the following problems in actual applications: First, there is a certain delay in the target information reconnaissance results directly received by the ground end, and the time when the ground end receives information often lags behind the reconnaissance results by several seconds or even tens of seconds; second, the reconnaissance system can also update the target reconnaissance information in seconds; third, the data link communication between the ground end and the guided rocket may be interrupted for a short time in a long-distance and complex battlefield environment. During the interruption, the onboard computer cannot receive updated data, and linear extrapolation and other methods are often used to process target information. The above problems lead to large deviations in the update of target information of guided rockets using data link communication, which affects the handover probability of the guided rocket's mid-terminal guidance stage. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The technical problem to be solved by the present invention is: how to reduce the target information update deviation of a guided rocket using data link communication and improve the probability of mid-term and terminal guidance handover in the presence of target reconnaissance delay, data link communication delay and the influence of short-term interruption of data link communication.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the present invention provides a method for updating target information of a guided rocket using data link communication. The method periodically sends the target position update result generated by the ground end through data link communication to the rocket. The rocket obtains the target coordinate value at the current moment by linear interpolation according to the target position update result, calculates and generates guidance instructions, and controls the flight of the guidance section in the rocket.

[0008] The target position update result includes a time series covering the communication delay time and the short-term interruption reserved time, a corresponding target coordinate sequence, and a combination of information time stamp values.

[0009] The system composition for implementing the method includes:

[0010] Reconnaissance systems or other means of acquiring targets, hereinafter referred to as reconnaissance systems;

[0011] A ground control system using data link communication capability, hereinafter referred to as the ground terminal;

[0012] Guided rockets that use data link communication capabilities, hereinafter referred to as rockets.

[0013] The method is specifically as follows:

[0014] After the ground terminal establishes communication with the reconnaissance system, the reconnaissance system sends the target reconnaissance results and reconnaissance time scale values ​​to the ground terminal. The ground terminal calculates the reconnaissance delay time and performs data fitting on the acquired multi-frame data to obtain the law of target coordinate changes over time. At the same time, a set of time series with the current time of the ground terminal as the zero point, covering the communication delay time and the short-term interruption reserved time, and a set of corresponding target coordinate sequences are calculated and generated;

[0015] The ground terminal combines the time series, target coordinate series and ground terminal information time stamp value to form target position update information sent to the rocket, and sends it to the rocket periodically according to the communication protocol;

[0016] After the rocket receives the target position update information from the ground, it obtains the target position coordinates at the current moment through linear interpolation. The onboard computer uses the target coordinate values ​​at the current moment to calculate instructions and control the flight of the guidance section of the rocket.

[0017] Wherein, the method comprises:

[0018] Step 1: After the ground terminal establishes communication with the reconnaissance system, the reconnaissance system sends the target reconnaissance results P zc and the reconnaissance time value T zc Send to the ground terminal;

[0019] Step 2: The ground terminal calculates the reconnaissance delay time ts according to formula (1) 1;

[0020] ts 1 =T dm -T zc (1)

[0021] Among them, T dm It is the time-stamp value of the ground-side processing moment, which is collected and generated by the ground-side itself;

[0022] Step 3: The ground end performs data fitting based on the multi-frame target reconnaissance results and the reconnaissance time scale, and obtains the law of target coordinates changing over time, which can be expressed as:

[0023] P=f(t) (2)

[0024] Where, t is the system time, P is the target coordinate;

[0025] Step 4: The ground terminal calculates and generates a set of time series with the current time of the ground terminal as the zero point, covering the communication delay time and the short-term interruption reserved time. The time series is expressed as:

[0026] T M =[0,t f ,2·t f ,...n·t f ] (8)

[0027] Where n is the sequence length, which is determined according to the communication protocol format; t f is the time series resolution;

[0028] Time series T M The following conditions should be met:

[0029] T M (n) = n·t f ≥ts sjl +ts yl (9)

[0030] Among them, ts sjl is the data link communication delay time, t yl Time is reserved for short-term data link interruption, and the value is determined in advance based on system testing;

[0031] Step 5: The ground terminal calculates and generates a set of target coordinate sequences corresponding to the time series. The target coordinate sequence is expressed as:

[0032] P M =[P M (1),P M (2),...,P M (n)] (10)

[0033] Among them, PM (i) is the time series T M (i) The target coordinates at time T M (i) is converted into a time series value consistent with the reconnaissance time scale, and substituted into expression (3) to obtain:

[0034]

[0035] Step 6: The ground terminal converts the time series T M , target coordinate sequence P M And the ground terminal information time stamp value T dm Combining to form target position update information sent to the rocket, and periodically sending the target position update information to the rocket according to the communication protocol;

[0036] Step 7: After the rocket receives the target position update information from the ground end, it obtains the current target position coordinate P through linear interpolation. T , the calculation formula is as follows:

[0037] P T = linerInterp(T M ,P M ,T hd -T dm ) (12)

[0038] Among them, linerInterp() represents the linear interpolation function, T hd Calculate the current time value for the rocket, which is consistent with the time value T of the ground terminal information dm To unify the time scale;

[0039] Step 8: The onboard computer uses the current target position coordinates P T Perform command calculations and control the flight of the rocket's guidance section.

[0040] Among them, in the step three, in actual use, the most appropriate data fitting method can be selected according to the actual reconnaissance system deviation level, known target maneuverability, and known typical target motion laws.

[0041] Wherein, in said step 3, the derivation is performed by least squares polynomial fitting;

[0042] Assume that the law of target coordinates P changing with time t can be expressed by a polynomial:

[0043]

[0044] Among them, a 0 ,a 1 ,...a kis the fitted polynomial coefficient, obtained by calculation; k is the polynomial order, which is consistent with the number of frames of the target reconnaissance result substituted into the calculation;

[0045] The target reconnaissance results of the latest k frames obtained by the ground end are expressed as:

[0046] P zc (1),P zc (2),...P zc (k)∈P (4)

[0047] The latest k-frame reconnaissance time stamp obtained by the ground end is expressed as:

[0048] T zc (1),T zc (2),...T zc (k)∈t (5)

[0049] The deviation of the approximate curve obtained by least squares fitting at data point i is expressed as:

[0050]

[0051] The fitting curve is selected according to the principle of minimum sum of square deviations, and the expression is written as:

[0052]

[0053] Substituting expression (3) into expression (7), we can form k equations with coefficient a. 0 ,a 1 ,...a k Is the system of equations for the variables, and solves the polynomial coefficients to obtain the values ​​that satisfy the least squares result.

[0054] Wherein, in step three, k is selected as an integer between 2 and 10.

[0055] Among them, in the step 4, t f The value range is 0.01 to 1.

[0056] (III) Beneficial effects

[0057] Compared with the traditional implementation method, the present invention obtains the target reconnaissance delay time through the ground terminal and infers the target movement law, thereby reducing the additional target deviation caused by the reconnaissance delay. By forming a target position coordinate sequence within a certain time range, the additional target deviation caused by data link communication delay and short-term interruption is reduced. This method can better adapt to the target information update requirements under the conditions of target reconnaissance delay, data link communication delay and short-term interruption, and improve the probability of mid-terminal guidance handover. The scheme is simple to implement and the method is effective. It can be extended to other guided ammunition target information update applications using data link communication, and has a large space for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 A flow chart of a method for updating target information of a guided rocket using data link communication. DETAILED DESCRIPTION

[0059] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0060] In order to solve the problems of the prior art, the present invention provides a method for updating target information of a guided rocket using data link communication. The method periodically sends the target position update result generated by the ground end through data link communication to the rocket. The rocket obtains the target coordinate value at the current moment by linear interpolation according to the target position update result, calculates and generates guidance instructions, and controls the flight of the guidance section in the rocket.

[0061] The target position update result includes a time series covering the communication delay time and the short-term interruption reserved time, a corresponding target coordinate sequence, and a combination of information time stamp values.

[0062] The system composition for implementing the method includes:

[0063] Reconnaissance systems or other means of acquiring targets, hereinafter referred to as reconnaissance systems;

[0064] A ground control system using data link communication capability, hereinafter referred to as the ground terminal;

[0065] Guided rockets that use data link communication capabilities, hereinafter referred to as rockets.

[0066] The method is specifically as follows:

[0067] After the ground terminal establishes communication with the reconnaissance system, the reconnaissance system sends the target reconnaissance results and reconnaissance time scale values ​​to the ground terminal. The ground terminal calculates the reconnaissance delay time and performs data fitting on the acquired multi-frame data to obtain the law of target coordinate changes over time. At the same time, a set of time series with the current time of the ground terminal as the zero point, covering the communication delay time and the short-term interruption reserved time, and a set of corresponding target coordinate sequences are calculated and generated;

[0068] The ground terminal combines the time series, target coordinate series and ground terminal information time stamp value to form target position update information sent to the rocket, and sends it to the rocket periodically according to the communication protocol;

[0069] After the rocket receives the target position update information from the ground, it obtains the target position coordinates at the current moment through linear interpolation. The onboard computer uses the target coordinate values ​​at the current moment to calculate instructions and control the flight of the guidance section of the rocket.

[0070] Wherein, the method comprises:

[0071] Step 1: After the ground terminal establishes communication with the reconnaissance system, the reconnaissance system sends the target reconnaissance results P zc and the reconnaissance time value T zc Send to the ground terminal;

[0072] Step 2: The ground terminal calculates the reconnaissance delay time ts according to formula (1) 1 ;

[0073] ts 1 =T dm -T zc (1)

[0074] Among them, T dm It is the time-stamp value of the ground-side processing moment, which is collected and generated by the ground-side itself;

[0075] Step 3: The ground end performs data fitting based on the multi-frame target reconnaissance results and the reconnaissance time scale, and obtains the law of target coordinates changing over time, which can be expressed as:

[0076] P=f(t) (2)

[0077] Where, t is the system time, P is the target coordinate;

[0078] In actual use, the most appropriate data fitting method can be selected according to the actual deviation level of the reconnaissance system, the known target maneuverability, the known typical target motion law and other conditions. Here, the least squares polynomial fitting is used as an example for derivation.

[0079] Assume that the law of target coordinates P changing with time t can be expressed by a polynomial:

[0080]

[0081] Among them, a 0 ,a 1 ,...a k are the fitted polynomial coefficients, obtained by calculation; k is the polynomial order, which is consistent with the number of target reconnaissance result frames substituted into the calculation, and can generally be selected as an integer between 2 and 10.

[0082] The target reconnaissance results of the latest k frames obtained by the ground end can be expressed as:

[0083] P zc (1),Pzc (2),...P zc (k)∈P (4)

[0084] The latest k-frame reconnaissance time stamp obtained by the ground terminal can be expressed as:

[0085] T zc (1),T zc (2),...T zc (k)∈t (5)

[0086] The deviation of the approximate curve obtained by least squares fitting at data point i is expressed as:

[0087]

[0088] Select the fitting curve according to the principle of minimum sum of square deviations, and the expression can be written as:

[0089]

[0090] Substituting expression (3) into expression (7), we can form k equations with coefficient a. 0 ,a 1 ,...a k Is the system of equations for the variables, and solves the polynomial coefficients to obtain the values ​​that satisfy the least squares result.

[0091] Step 4: The ground terminal calculates and generates a set of time series with the current time of the ground terminal as the zero point, covering the communication delay time and the short-term interruption reserved time. The time series is expressed as:

[0092] T M =[0,t f ,2·t f ,...n·t f ] (8)

[0093] Where n is the sequence length, which is determined according to the communication protocol format; t f is the time series resolution, which generally ranges from 0.01 to 1;

[0094] Time series T M The following conditions should be met:

[0095] T M (n) = n·t f ≥ts sjl +ts yl (9)

[0096] Among them, ts sjl is the data link communication delay time, t yl Time is reserved for short-term data link interruption, and the value is determined in advance based on system testing;

[0097] Step 5: The ground terminal calculates and generates a set of target coordinate sequences corresponding to the time series. The target coordinate sequence is expressed as:

[0098] P M =[P M (1),P M (2),...,P M (n)] (10)

[0099] Among them, P M (i) is the time series T M (i) The target coordinates at time T. M (i) is converted into a time series value consistent with the reconnaissance time scale, and substituted into expression (3) to obtain:

[0100]

[0101] Step 6: The ground terminal converts the time series T M , target coordinate sequence P M And the ground terminal information time stamp value T dm Combining to form target position update information sent to the rocket, and periodically sending the target position update information to the rocket according to the communication protocol;

[0102] Step 7: After the rocket receives the "target position update information" from the ground end, it obtains the current target position coordinates P through linear interpolation. T , the calculation formula is as follows:

[0103] P T = linerInterp(T M ,P M ,T hd -T dm ) (12)

[0104] Among them, linerInterp() represents the linear interpolation function, T hd Calculate the current time value for the rocket, which is consistent with the time value T of the ground terminal information dm To unify the time scale;

[0105] Step 8: The onboard computer uses the current target position coordinates P T Perform command calculations and control the flight of the rocket's guidance section.

[0106] In summary, the present invention belongs to the technical field of weapons and ammunition, and specifically relates to a method for updating target information of a guided rocket using data link communication. In order to overcome the delay of target reconnaissance, the delay of data link communication, and the influence of short-term interruption of data link communication, reduce the deviation of target information update, and improve the probability of mid-terminal guidance handover, the present invention receives the target information obtained by the reconnaissance system through the ground end, and the ground end processes and forms a set of specific target position update results. The rocket interpolates the target coordinates at the current moment according to the received target position update results, calculates and generates guidance instructions, and controls the flight of the rocket's mid-terminal guidance section.

[0107] The advantage of the present invention is that, under the same target information delay and information update cycle conditions, the ground end is used to calculate and process the target motion information update and generate parameters. By processing and forming a set of specific target position update results by the ground end, the additional target deviation caused by data link communication delays and short interruptions is reduced. This method can better adapt to target information updates in environments with target reconnaissance delays, data link communication delays and short interruptions. The solution is simple to implement and the method is effective. It can be extended to other guided ammunition target information update applications that use data link communications, and has a large space for promotion and application.

[0108] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for updating target information of a guided rocket using data link communication, characterized in that: The method periodically sends the target position update result generated by the ground end solution to the rocket through data link communication. The rocket obtains the target coordinate value at the current moment by linear interpolation according to the target position update result, calculates and generates guidance instructions, and controls the flight of the guidance section in the rocket.

2. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 1, characterized in that: The target position update result includes a time series covering the communication delay time and the short-time interruption reserved time, a corresponding target coordinate sequence, and a combination of information time stamp values.

3. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 1, characterized in that: The system composition for implementing the method includes: Reconnaissance systems or other means of acquiring targets, hereinafter referred to as reconnaissance systems; A ground control system using data link communication capability, hereinafter referred to as the ground terminal; Guided rockets that use data link communication capabilities, hereinafter referred to as rockets.

4. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 3, characterized in that: The method is specifically as follows: After the ground terminal establishes communication with the reconnaissance system, the reconnaissance system sends the target reconnaissance results and reconnaissance time scale values ​​to the ground terminal. The ground terminal calculates the reconnaissance delay time and performs data fitting on the acquired multi-frame data to obtain the law of target coordinate changes over time. At the same time, a set of time series with the current time of the ground terminal as the zero point, covering the communication delay time and the short-term interruption reserved time, and a set of corresponding target coordinate sequences are calculated and generated; The ground terminal combines the time series, target coordinate series and ground terminal information time stamp value to form target position update information sent to the rocket, and sends it to the rocket periodically according to the communication protocol; After the rocket receives the target position update information from the ground, it obtains the target position coordinates at the current moment through linear interpolation. The onboard computer uses the target coordinate values ​​at the current moment to calculate instructions and control the flight of the guidance section of the rocket.

5. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 3, characterized in that: The method comprises: Step 1: After the ground terminal establishes communication with the reconnaissance system, the reconnaissance system sends the target reconnaissance results P zc and the reconnaissance time value T zc Send to the ground terminal; Step 2: The ground terminal calculates the reconnaissance delay time ts1 according to formula (1); ts1=T dm -T zc (1) Among them, T dm It is the time-stamp value for the ground-side processing time, which is collected and generated by the ground-side itself; Step 3: The ground end performs data fitting based on the multi-frame target reconnaissance results and the reconnaissance time scale, and obtains the law of target coordinates changing over time, which can be expressed as: P=f(t) (2) Where, t is the system time, P is the target coordinate; Step 4: The ground terminal calculates and generates a set of time series with the current time of the ground terminal as the zero point, covering the communication delay time and the short-term interruption reserved time. The time series is expressed as: T M =[0,t f ,2·t f ,...n·t f ] (8) Where n is the sequence length, which is determined according to the communication protocol format; t f is the time series resolution; Time series T M The following conditions should be met: T M (n)=n·t f ≥ts sjl +ts yl (9) Among them, ts sjl is the data link communication delay time, t yl Time is reserved for short-term data link interruption, and the value is determined in advance based on system testing; Step 5: The ground terminal calculates and generates a set of target coordinate sequences corresponding to the time series. The target coordinate sequence is expressed as: P M =[P M (1),P M (2),...,P M (n)] (10) Among them, P M (i) is the time series T M (i) The target coordinates at time T M (i) is converted into a time series value consistent with the reconnaissance time scale, and substituted into expression (3) to obtain: Step 6: The ground terminal converts the time series T M , target coordinate sequence P M And the ground terminal information time stamp value T dm Combining to form target position update information sent to the rocket, and periodically sending the target position update information to the rocket according to the communication protocol; Step 7: After the rocket receives the target position update information from the ground end, it obtains the current target position coordinate P through linear interpolation. T , the calculation formula is as follows: P T =linerInterp(T M ,P M ,T hd -T dm ) (12) Among them, linerInterp() represents the linear interpolation function, T hd Calculate the current time value for the rocket, which is consistent with the time value T of the ground information dm To unify the time scale; Step 8: The onboard computer uses the current target position coordinates P T Perform command calculations and control the flight of the rocket's guidance section.

6. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 5, characterized in that: In the step three, in actual use, the most appropriate data fitting method can be selected according to the actual reconnaissance system deviation level, known target maneuverability, and known typical target motion laws.

7. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 6, characterized in that: In the step 3, the least squares polynomial fitting is used for derivation; Assume that the law of target coordinates P changing with time t can be expressed by a polynomial: Among them, a0, a1, ... a k is the fitted polynomial coefficient, obtained by calculation; k is the polynomial order, which is consistent with the number of frames of the target reconnaissance result substituted into the calculation; The target reconnaissance results of the latest k frames obtained by the ground end are expressed as: P zc (1),P zc (2),...P zc (k)∈P(4) The latest k-frame reconnaissance time stamp obtained by the ground end is expressed as: T zc (1),T zc (2),...T zc (k)∈t(5) The deviation of the approximate curve obtained by least squares fitting at data point i is expressed as: The fitting curve is selected according to the principle of minimum sum of square deviations, and the expression is written as: Substituting expression (3) into expression (7), we can form k equations with coefficients a0, a1, ... a k Is the system of equations for the variables, and solves the polynomial coefficients to obtain the values ​​that satisfy the least squares result.

8. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 7, characterized in that: In the step three, k is selected as an integer between 2 and 10.

9. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 6, characterized in that: In the step 4, t f The value range is 0.01 to 1.

10. The method for updating target information of a guided rocket projectile using data link communication as claimed in claim 6, characterized in that: The method belongs to the technical field of weapons and ammunition.

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