Method and device for simulating false track deception of ballistic target

Abstract

The invention discloses a simulated ballistic target track cheating method and device, and the method comprises the steps: determining a ballistic target track motion equation according to the information of a radar and a simulated ballistic target, and generating a false track; sampling the false flight path to obtain three-dimensional coordinates of a group of sampling points, planning a flight path of the unmanned aerial vehicle after equal-ratio scaling, and calculating time delays and time points of the unmanned aerial vehicle in signal delay forwarding at each flight path point; and performing flight path correction in the flight process of the unmanned aerial vehicle, so that the unmanned aerial vehicle forwards a signal after delaying a corresponding duration within a preset range of a next flight path point. According to the invention, a false flight path with height change can be simulated, the flight path of the unmanned aerial vehicle can be corrected in real time, and the method is more practical.

Description

Technical Field

[0001] The invention belongs to the technical field of track deception and ballistic missile launch, and in particular relates to a method and device for simulating a false track deception of a ballistic target. Background Art

[0002] Track deception jamming is a jamming method that can comprehensively utilize distance, speed and angle jamming technologies. It intercepts enemy radar signals, delays modulation and forwards them to generate false tracks, thereby occupying enemy radar resources, disrupting tracking and guidance, making it impossible to identify the real target, and providing cover for one's own aircraft.

[0003] At present, track deception is mainly achieved by flying a preset track with a jammer equipped on a drone. The jammer delays the forwarding of intercepted radar signals to achieve trajectory mapping. The effect of track deception under this method is greatly affected by the flight effect of the drone, such as the deviation of the route, the change of speed, and the jitter of the drone itself during flight. These factors may not produce the expected jamming effect. Summary of the invention

[0004] Technical purpose: In response to the above technical problems, the present invention proposes a method and device for simulating a false track of a ballistic target, which can simulate a false track with high changes and can correct the flight trajectory of the UAV in real time, which is more practical.

[0005] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution:

[0006] A method for simulating ballistic target track deception, comprising the steps of:

[0007] (1) According to the longitude and latitude information of the radar, as well as the flight speed of the simulated ballistic target, the longitude and latitude of the starting and ending points, and the altitude of the highest point and the starting and ending points, the motion equation of the ballistic target trajectory is determined to generate a false track;

[0008] (2) Sampling the false track to obtain the three-dimensional coordinates of a set of sampling points, scaling them proportionally, and using them as the three-dimensional coordinates of multiple track points, and planning the flight trajectory of the UAV based on the track points;

[0009] (3) Calculate the delay required for the drone to delay forwarding the signal at each track point based on the sampling points and three-dimensional coordinates of the false track, and calculate the time point for delaying the forwarding signal at each track point based on the preset speed of the drone;

[0010] (4) The UAV flies according to the planned flight trajectory and makes track corrections during the flight. The UAV forwards the signal after a delay of a corresponding time according to the delay of the corresponding track point within the preset range of the next track point.

[0011] Preferably, the step (1) specifically comprises the steps of:

[0012] (1.1) Obtain relevant information about radar and drones, including:

[0013] Radar longitude jd, radar latitude wd;

[0014] The simulated ballistic target's starting longitude jd1, starting latitude wd1, end longitude jd2, end latitude wd2, horizontal flight speed v, missile's highest point hmax, and missile's starting and ending point heights ha;

[0015] (1.2) According to the information obtained in step (1.1), the distance d1, azimuth phi1, horizontal flight distance d2 and total flight time tsum of the starting point of the simulated ballistic target relative to the radar are calculated to determine the trajectory motion equation of the ballistic target, which is expressed as:

[0016] x=v / 1e3*t*cos(phi2)+d1*cos(phi1)

[0017] y=v / 1e3*t*sin(phi2)+d1*sin(phi1)

[0018] z=a(v / 1e3*tb) 2 +hmax

[0019] Where b = 0.5d2, 0≤t≤tsum.

[0020] Preferably, in the step (1.2), the distance d1 is expressed as:

[0021]

[0022] The azimuth angle phi1 is expressed as:

[0023]

[0024] The flight horizontal distance d2 is expressed as:

[0025]

[0026] The flight direction phi2 is expressed as:

[0027]

[0028] The total flight time tsum is expressed as:

[0029]

[0030] Where R is the radius of the earth,

[0031] Preferably, in step (3), the time delay dt required for delayed forwarding of each track point UAV is calculated according to the following formula:

[0032]

[0033] c represents the speed of light, x(i), y(i), z(i) represent the three-dimensional coordinates of the i-th sampling point of the false track, x_uav(i), y_uav(i), z_uav(i) represent the three-dimensional coordinates of the scaled track point of the i-th sampling point.

[0034] Preferably, the step (4) specifically comprises:

[0035] (4.1) Check whether the distance from the current position of the drone to the next track point is within d*0.2 at the time of planning. If so, the current position is regarded as the corrected track point and the process goes to step (4.3); if not, the process goes to step (4.2);

[0036] (4.2) Determine whether the current position of the drone has passed the next track point. If so, the current position is regarded as the corrected track point and the process goes to step (4.3); if not, the drone continues to fly to the next track point and returns to step (4.1);

[0037] (4.3) The drone performs delayed forwarding at the corrected track point;

[0038] The distance d from the current position of the drone to the next track point is expressed as

[0039]

[0040] Among them, data_Long represents the longitude received by the drone from GPS, data_Lait represents the latitude received by the drone from GPS, data1(K+1) represents the longitude of the next track point, data2(K+1) represents the latitude of the next track point, and k represents the cosine value of the angle between the line from the current track point to the next track point and the horizontal plane.

[0041] A device for simulating ballistic target track deception, comprising:

[0042] The deception track determination module is used to determine the trajectory motion equation of the ballistic target and generate a false track based on the longitude and latitude information of the radar, as well as the flight speed of the simulated ballistic target, the longitude and latitude of the starting and ending points, and the altitude of the highest point and the starting and ending points;

[0043] The UAV flight trajectory determination module is used to sample the false trajectory to obtain the three-dimensional coordinates of a set of sampling points, and after proportional scaling, use them as the three-dimensional coordinates of multiple track points, and plan the flight trajectory of the UAV based on the track points;

[0044] The delay calculation module is used to calculate the delay required for the drone to delay forwarding signals at each track point according to the sampling points of the false track and the three-dimensional coordinates of the track points, and calculate the time point of the delayed forwarding signal at each track point according to the preset speed of the drone;

[0045] The drone correction module is used for the drone to fly according to the planned flight trajectory and perform track correction during the flight, so that the drone can forward the signal after a delay of a corresponding time according to the delay of the corresponding track point within the preset range of the next track point.

[0046] Beneficial effects: Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0047] The present invention can simulate a false track with a high degree of change, and considering the undesirable conditions during the flight of the UAV, the present invention corrects the trajectory of the UAV flight, thereby improving the effect of track deception. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A flow chart of the method for simulating ballistic target track deception proposed by the present invention;

[0049] Figure 2 Schematic diagram of the current and next track points of the drone trajectory;

[0050] Figure 3 Schematic diagram of the drone not flying to the predetermined point at the specified time during flight;

[0051] Figure 4 A revised flowchart for drone flights;

[0052] Figure 5 Schematic diagram of the theoretical track, corrected track and uncorrected track of the UAV. DETAILED DESCRIPTION

[0053] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0054] The object of the present invention is to provide a method for simulating ballistic target track deception, comprising the following steps:

[0055] 1. Preset the trajectory of the deceptive track

[0056] Trajectory input parameters:

[0057] Radar longitude jd, radar latitude wd, starting point longitude jd1 of simulated ballistic target, starting point latitude wd1, end point longitude jd2, end point latitude wd2, horizontal flight speed v, highest point of missile movement hmax, and missile starting and ending point heights ha.

[0058] The distance of the starting point of the simulated target relative to the radar is expressed as:

[0059]

[0060] In the formula, R=6371km represents the radius of the earth.

[0061] The azimuth of the starting point relative to the radar is expressed as:

[0062]

[0063] In the formula, 10 -7 Avoid zero denominator.

[0064] The horizontal flight distance is expressed as:

[0065]

[0066] The flight direction is expressed as:

[0067] phi2 = arctan2(X,Y)

[0068]

[0069] X,Y simulated plane track, that is, the projection of the three-dimensional track.

[0070] The total flight time of the simulated ballistic target is expressed as:

[0071]

[0072] The ballistic target trajectory motion equation is expressed as:

[0073] x=v / 1e3*t*cos(phi2)+d1*cos(phi1)

[0074] y=v / 1e3*t*sin(phi2)+d1*sin(phi1)

[0075] z=a(v / 1e3*tb) 2 +hmax

[0076] Where b = 0.5d2, 0≤t≤tsum.

[0077] The present invention generates a preset deceptive track according to the ballistic target trajectory equation, and plans the delay value of receiving and forwarding radar signals during the flight of the UAV according to the deceptive track, so as to produce a trajectory deceptive effect on the radar. The ballistic target trajectory is sampled at equal intervals to generate a deceptive track, and then the sampled deceptive track is proportionally reduced. The height of the UAV flight starting point parameter can be set, and then the ratio of the height of the simulated trajectory flight starting point is the reduction value.

[0078] 2. Sample the false tracks and plan a set of three-dimensional coordinates x(i), y(i), z(i) of the false tracks and the three-dimensional coordinates x_uav(i), y_uav(i), z_uav(i) of the UAV flight trajectory. The trajectory of the UAV is obtained by scaling the false track in equal proportions. The delay required for the delayed forwarding of each track point UAV is expressed as

[0079]

[0080] In the formula, c represents the speed of light.

[0081] According to the preset speed of the drone, the time point when each track point sends a delayed signal can be calculated.

[0082] 3. Track correction: The drone flies according to the planned track, theoretically passing through each track point and forwarding signals at the track point. During the flight, the speed may change due to external factors or its own reasons and it may not be able to reach the predetermined position. 1 After the time, the predetermined position cannot be reached. At this time, the flight time of the drone needs to be corrected by matching the actual position to the predetermined position.

[0083] like Figures 1 to 4 As shown, when the drone reaches the first latitude and longitude point (the preset first point trace and the GPS information received by the drone itself are less than v ′ *0.1, UAV flight speed v ′ There is a 10% fluctuation, in which the drone receives a GPS every 0.1 seconds), and calculates the distance from the current position to the next track point based on the received GPS information. At this time, if the distance in front of or behind the next track point is within d*0.2 (d is the distance between the two track points before and after the current drone), the current position is the preset track point; if the current position has passed the next track point, the current position is used as the preset track point. If not, the drone continues to fly to the next track point, and the above method is used to continue to determine whether correction is needed.

[0084] The distance from the drone to the next preset point is expressed as

[0085]

[0086] In the formula, data_Long represents the longitude received from GPS, data_Lait represents the latitude received from GPS, data1(K+1) represents the longitude of the next track point, data2(K+1) represents the latitude of the next track point, dc1 represents the distance corresponding to the next longitude of the current latitude, and dc2 represents the distance corresponding to the next latitude of the current longitude. k represents the cosine value of the angle between the line from the current track point to the next track point and the horizontal plane.

[0087] 4. Send signal: When the drone reaches the preset track point, it will forward the signal with a delay corresponding to the duration.

[0088] like Figure 5 As shown, the uncorrected trajectory of the UAV without using the method of the present invention and the theoretical trajectory accumulate errors as the flight time increases, deviating from the theoretical trajectory. The corrected trajectory obtained by using the method of the present invention can significantly reduce the degree of deviation from the theoretical trajectory.

[0089] The method of the present invention can be used to correct the flight trajectory of the UAV regardless of simulating a plane track or a space track. In addition, for regular space curves, the present invention can achieve false track interference.

[0090] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. A method for simulating ballistic target track deception, characterized in that: Includes steps: (1) According to the longitude and latitude information of the radar, as well as the flight speed of the simulated ballistic target, the longitude and latitude of the starting and ending points, and the altitude of the highest point and the starting and ending points, the motion equation of the ballistic target trajectory is determined to generate a false track; (2) Sampling the false track to obtain the three-dimensional coordinates of a set of sampling points, scaling them proportionally, and using them as the three-dimensional coordinates of multiple track points, and planning the flight trajectory of the UAV based on the track points; (3) Calculate the delay required for the drone to delay forwarding the signal at each track point based on the sampling points and three-dimensional coordinates of the false track, and calculate the time point for delaying the forwarding signal at each track point based on the preset speed of the drone; (4) The UAV flies according to the planned flight trajectory and makes track corrections during the flight. The UAV forwards the signal after a delay of a corresponding time according to the delay of the corresponding track point within the preset range of the next track point.

2. A method for simulating ballistic target track deception according to claim 1, characterized in that: The step (1) specifically comprises the steps of: (1.1) Obtain relevant information about radar and drones, including: Radar longitude jd, radar latitude wd; The simulated ballistic target's starting point longitude jd1, starting point latitude wd1, end point longitude jd2, end point latitude wd2, horizontal flight speed v, missile's highest point hmax, and missile's starting and ending point heights ha; (1.2) According to the information obtained in step (1.1), the distance d1, azimuth phi1, horizontal flight distance d2 and total flight time tsum of the starting point of the simulated ballistic target relative to the radar are calculated to determine the trajectory motion equation of the ballistic target, which is expressed as: x=v / 1e3*t*cos(phi2)+d1*cos(phi1) y=v / 1e3*t*sin(phi2)+d1*sin(phi1) z=a(v / 1e3*tb) 2 +hmax Where b = 0.5d2, 0≤t≤tsum.

3. A method for simulating ballistic target track deception according to claim 2, characterized in that: In the step (1.2), the distance d1 is expressed as: The azimuth angle phi1 is expressed as: The flight horizontal distance d2 is expressed as: The flight direction phi2 is expressed as: The total flight time tsum is expressed as: Where R is the radius of the earth, 4. A method for simulating ballistic target track deception according to claim 1, characterized in that: In step (3), the time delay dt required for delayed forwarding of each track point UAV is calculated according to the following formula: c represents the speed of light, x(i), y(i), z(i) represent the three-dimensional coordinates of the i-th sampling point of the false track, x_uav(i), y_uav(i), z_uav(i) represent the three-dimensional coordinates of the scaled track point of the i-th sampling point.

5. A method for simulating ballistic target track deception according to claim 1, characterized in that: The step (4) specifically comprises: (4.1) Check whether the distance from the current position of the drone to the next track point is within d*0.2 at the time of planning. If so, the current position is regarded as the corrected track point and the process goes to step (4.3); if not, the process goes to step (4.2); (4.2) Determine whether the current position of the drone has passed the next track point. If so, the current position is regarded as the corrected track point and the process goes to step (4.3); if not, the drone continues to fly to the next track point and returns to step (4.1); (4.3) The drone performs delayed forwarding at the corrected track point; The distance d from the current position of the drone to the next track point is expressed as Among them, data_Long represents the longitude received by the drone from GPS, data_Lait represents the latitude received by the drone from GPS, data1(K+1) represents the longitude of the next track point, data2(K+1) represents the latitude of the next track point, and k represents the cosine value of the angle between the line from the current track point to the next track point and the horizontal plane.

6. A device for simulating ballistic target track deception, characterized in that: include: The deception track determination module is used to determine the trajectory motion equation of the ballistic target and generate a false track based on the longitude and latitude information of the radar, as well as the flight speed of the simulated ballistic target, the longitude and latitude of the starting and ending points, and the altitude of the highest point and the starting and ending points; The UAV flight trajectory determination module is used to sample the false trajectory to obtain the three-dimensional coordinates of a set of sampling points, and after proportional scaling, use them as the three-dimensional coordinates of multiple track points, and plan the flight trajectory of the UAV based on the track points; The delay calculation module is used to calculate the delay required for the drone to delay forwarding the signal at each track point according to the sampling points of the false track and the three-dimensional coordinates of the track points, and calculate the time point of the delayed forwarding signal at each track point according to the preset speed of the drone; The drone correction module is used for the drone to fly according to the planned flight trajectory and perform track correction during the flight, so that the drone can forward the signal after a delay of a corresponding time according to the delay of the corresponding track point within the preset range of the next track point.

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