A method and device for simulating false trajectory of ballistic targets

Abstract

The present invention discloses a method and device for spoofing a simulated ballistic target track. The method comprises the following steps: determining the ballistic target track motion equation based on radar and simulated ballistic target information to generate a false track; sampling the false track to obtain the three-dimensional coordinates of a set of sampling points, geometrically scaling the false track to plan the flight trajectory of an unmanned aerial vehicle (UAV); calculating the delay and time point for the UAV to relay signals at each track point; and performing track corrections during the flight of the UAV so that the UAV relays signals after a delay of a corresponding time within a preset range of the next track point. The present invention can simulate false tracks with varying altitudes and perform real-time corrections to the UAV's flight trajectory, thus increasing its practicality.

Description

Technical Field

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

[0002] Track deception jamming is a jamming method that can comprehensively utilize distance, speed and angle jamming technologies. It intercepts, delays, modulates and forwards enemy radar signals 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] Currently, track spoofing is primarily achieved by using drones equipped with jammers to fly a preset trajectory. The jammers then relay intercepted radar signals with a delayed delay to map the trajectory. The effectiveness of this method is significantly affected by the drone's flight performance, such as flight path deviations, speed fluctuations, and vibrations. These factors can prevent the desired 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 false trajectory deception of ballistic targets, which can simulate false trajectory with high changes and can correct the flight trajectory of 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, which are used to plan the flight trajectory of the UAV;

[0009] (3) Calculate the time 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 time delay of the corresponding track point within the preset range of the next track point.

[0011] Preferably, the step (1) specifically includes 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 heights ha;

[0015] (1.2) Based on the information obtained in step (1.1), calculate the distance d1, azimuth angle phi1, horizontal flight distance d2, and total flight time tsum of the starting point of the simulated ballistic target relative to the radar, and determine the motion equation of the ballistic target trajectory, 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 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 represents 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), and z(i) represent the three-dimensional coordinates of the i-th sampling point of the false track, and x_uav(i), y_uav(i), and z_uav(i) represent the three-dimensional coordinates of the track point after scaling the i-th sampling point.

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

[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 connecting the current track point to the next track point and the horizontal plane.

[0041] A device for simulating ballistic target trajectory 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 scaling, use them as the three-dimensional coordinates of multiple track points, which are used to plan the UAV's flight trajectory;

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

[0045] The drone correction module is used to make the drone 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 high altitude changes, and taking into account the undesirable conditions during the flight of the drone, the present invention corrects the trajectory of the drone flight, thereby improving the effect of track deception. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is 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 Revised flowchart for drone flights;

[0052] Figure 5 Schematic diagram of the UAV's theoretical track, corrected track, and uncorrected track. 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 a ballistic target track deception, comprising the following steps:

[0055] 1. Preset deceptive flight path

[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] Where R = 6371 km represents the radius of the earth.

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

[0062]

[0063] Where, 10 -7 Avoid zero denominators.

[0064] The horizontal distance of flight 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 pre-set spoofing track based on the ballistic target trajectory equation. This delay is used to plan the delay in receiving and forwarding radar signals during the drone's flight, thereby creating a trajectory deception effect on the radar. The ballistic target trajectory is sampled at equal intervals to generate the spoofing track. The sampled spoofing track is then proportionally reduced. The reduction value is determined by the ratio of the drone's flight starting point to the simulated trajectory's starting point altitude.

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

[0079]

[0080] Where c represents the speed of light.

[0081] According to the preset speed of the drone, the time point at which the delayed signal is sent at each track point can be calculated.

[0082] 3. Track Correction: The drone flies along the planned trajectory, theoretically passing through each track point and forwarding signals at each point. During flight, the drone may experience speed changes due to external factors or its own faults, preventing it from reaching the planned location. If the drone fails to reach the planned location after flying for time t1, the flight time correction is required. This is achieved by aligning the actual location with the planned location.

[0083] like Figures 1 to 4 As shown, when the drone reaches the first latitude and longitude point (the difference between the preset first point trace and the GPS information received by the drone itself is less than v ′ *0.1, drone flight speed v ′ There is a 10% fluctuation, where the drone receives a GPS signal every 0.1 seconds). The distance from the current position to the next track point is calculated based on the received GPS information. At this time, if the distance before or after 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 continues to determine whether correction is needed using the above method.

[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 from the current latitude to the next longitude, and dc2 represents the distance from the current longitude to the next latitude. k represents the cosine of the angle between the line connecting 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 delay and forward the signal for a corresponding period of time.

[0088] like Figure 5 As shown in the figure, 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, the present invention can achieve false track interference for regular space curves.

[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 solutions obtained by equivalent replacement or equivalent transformation fall within the scope of protection of the present invention.

Claims

1. A method for simulating ballistic target trajectory deception, characterized in that: Including 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, which are used to plan the flight trajectory of the UAV; (3) Calculate the time 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 length of time based on the time delay of the corresponding track point within the preset range of the next track point; The step (4) specifically includes: (4.1) Check whether the distance from the current position of the drone to the next track point at the time of planning is within d*0.2, where d is the distance between the two track points before and after the current drone; 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: 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 position to the next track point and the horizontal plane.

2. A method for simulating ballistic target trajectory deception according to claim 1, characterized in that: The step (1) specifically includes the following steps: (1.1) Obtain relevant information about radar and drones, including: Radar longitude jd, radar latitude wd; 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 height hmax, and missile's starting and ending point height ha; (1.2) Based on the information obtained in step (1.1), calculate the distance d1, azimuth phi1, horizontal flight distance d2, flight direction phi2, and total flight time tsum of the simulated ballistic target's starting point relative to the radar, and determine the ballistic target trajectory motion equation, 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 trajectory 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 represents the radius of the Earth.

4. A method for simulating ballistic target trajectory 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), and z(i) represent the three-dimensional coordinates of the i-th sampling point of the false track, and x_uav(i), y_uav(i), and z_uav(i) represent the three-dimensional coordinates of the track point after scaling the i-th sampling point.

5. A device for simulating ballistic target trajectory deception, executing the method of claim 1, 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 scaling, use them as the three-dimensional coordinates of multiple track points, which are used to plan the UAV's flight trajectory; The delay calculation module is used to calculate the delay required for the drone to delay forwarding the signal at each track point based on the sampling points and the three-dimensional coordinates of the track points of the false track, and calculate the time point for delaying the forwarding of the signal at each track point based on the preset speed of the drone; The drone correction module is used to make the drone 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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