A method and system for calculating gun locating data based on elevation geographic data

Abstract

This invention relates to a method and system for artillery locating calculation based on elevation geographic data, specifically in the field of ballistic extrapolation technology for artillery locating and fire-correcting radar. The invention parses and stores elevation geographic data from geographic information files; utilizes radar measurement data of the ballistic target, and performs smoothing processing of the ballistic target based on a ballistic target motion model and a UKF filtering algorithm; extrapolates the ballistic trajectory based on the smoothing result and the ballistic target motion model to obtain estimated artillery locating coordinates; uses a distance-weighted average method to obtain the average altitude at the estimated artillery locating coordinates from the elevation geographic data based on the estimated artillery locating coordinates; and determines whether to further extrapolate the artillery locating altitude based on the difference between the average altitude and the artillery locating altitude, using the result of the final extrapolation as the estimated artillery locating coordinates. Compared to traditional fitting methods, this invention offers better estimation accuracy and has more practical significance for improving the accuracy of artillery locating calculation for artillery locating and fire-correcting radar.

Description

Technical Field

[0001] This invention relates to the field of ballistic extrapolation technology for artillery locating and firing correction radar, specifically to a method and system for artillery locating calculation based on elevation geographic data. Background Technology

[0002] Artillery continues to play a crucial role in current applications, especially in localized environments or small-scale operations. Therefore, the ability to quickly detect enemy projectiles and accurately locate their firing positions in complex environments is a critical aspect of countering artillery, and this is one of the key technologies of artillery locating and firing correction radar.

[0003] Based on the principles of ballistic motion, if the equation of motion of a projectile target can be accurately obtained, its motion state and related parameters can be obtained by solving differential equations based on radar measurement data. However, this requires a large amount of prior data, which is impractical. Current methods fall into three categories: First, least-squares fitting is used to perform polynomial fitting on the ballistic curve, estimating the curve parameters to obtain the launch point coordinates of the projectile. Second, Kalman filtering algorithms based on the ballistic target motion model are used to identify and estimate the target's motion state and parameters using radar measurement data, and then the gun position is estimated based on the ballistic target model. Third, gun position estimation methods based on machine learning algorithms are used, which statistically train the established ballistic model using prior sample data, and then estimate the target launch point based on the training results. Of these three types of algorithms, the first type is computationally simple, but it is easily affected by outliers when the amount of data is small, resulting in a large deviation between the obtained results and the actual situation. The second type of algorithm has better real-time performance and estimation accuracy, and is not easily affected by outlier data. It is increasingly used in engineering. This invention will also use the more accurate UKF filtering algorithm to estimate the gun position. The third type of algorithm is difficult to apply to practical applications because it is difficult to obtain a large number of accurate training samples.

[0004] In practical applications, due to the uncertainty of the terrain where artillery is used, it is impossible to obtain the altitude of the projectile firing position in advance. Especially in border conflicts, the altitude of the firing position may fluctuate even more, and different firing position altitudes have a greater impact on the trajectory extrapolation results.

[0005] Currently, there are many reports in the literature on methods for estimating gun positions based on projectile measurement data. For example, (1) Publication number CN105589068B, title: Ballistic extrapolation method based on three-step numerical integration, using the already formed ballistic trajectory; (2), Yan Jun, Liu Qitao, Research on high-precision ballistic extrapolation technology of gun position detection radar, Journal of Artillery Launch and Control, 2022, 43(3); (3), Wang Gan, Xiong Feng, Ou Nengjie, et al. Ballistic extrapolation algorithm based on reverse extended Kalman filter, Electro-optics and Control, 2020, 27(12). (4), Yuan Guiqi, Application of geographic information system in gun position detection radar [M], Nanjing University of Science and Technology, 2013. Reference (1) uses the three-step numerical integration method to extrapolate the starting point of the projectile; however, this method requires ballistic correction to form a flight trajectory in order to obtain good accuracy, and in practice it may be difficult to obtain sufficient measurement data. Reference (2) models the ballistic target and compares and analyzes different extrapolation algorithms such as least squares and Kalman filtering. Reference (3) proposes a ballistic extrapolation algorithm based on inverse extended Kalman filtering to address the problem of gun position estimation error caused by far-point extrapolation in existing ballistic extrapolation algorithms for gun position reconnaissance radar. However, neither the algorithms in Reference (2) nor (3) support the use of Doppler radial velocity information. Reference (4) studies the application integration and display of geographic information systems with gun position reconnaissance radar, but does not combine elevation information with gun position estimation algorithms.

[0006] In the current literature, no research has been found on the estimation of gun positions using elevation geographic information and the UKF filtering algorithm in the problem of gun position estimation for artillery locating radar. Summary of the Invention

[0007] The technical problem to be solved by this invention is:

[0008] To avoid the shortcomings of existing technologies, this invention provides a method and system for calculating gun positions based on elevation geographic data. By utilizing elevation geographic data, it solves the technical problem that existing methods, which do not consider the altitude of the gun position, have a significant impact on the accuracy estimation error of the gun position in practical applications.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0010] A method for calculating gun locating points based on elevation geographic data, characterized by comprising:

[0011] Parse geographic information files and store elevation geographic data, including longitude, latitude, and altitude.

[0012] The radar measurement data of the ballistic target is analyzed and acquired, and the smoothing process of the ballistic target is completed based on the ballistic target motion model and UKF filtering algorithm.

[0013] Based on the smoothed results and the ballistic target motion model, ballistic extrapolation is performed to obtain the estimated gun position coordinates. Based on the estimated gun position coordinates, the average altitude at the estimated gun position coordinates is obtained from the elevation geographic data using the distance-weighted average method. Based on the difference between the average altitude and the gun position height, it is determined whether to further extrapolate the gun position height, and the result of the last extrapolation is used as the estimated gun position coordinates.

[0014] A further technical solution of the present invention: the step of parsing geographic information files and storing elevation geographic data includes:

[0015] In geographic information files, the "longitude-latitude" plane is divided into a grid and stored according to a matrix structure, with each grid vertex corresponding to a different altitude.

[0016] A further technical solution of the present invention: the radar measurement data includes range, azimuth, and elevation, or range, azimuth, elevation, and Doppler radial velocity.

[0017] A further technical solution of the present invention: the method of obtaining the average altitude at the estimated gun position coordinates from elevation geographic data using a distance-weighted average method based on the gun position height includes:

[0018] The latitude, longitude, and altitude are used to obtain the estimated gun position coordinates. express;

[0019] The average elevation at the gun emplacement coordinates was estimated using the distance-weighted average method based on elevation geographic data. The calculation formula is: Where (h1, h2, h3, h4) are The heights of the four vertices of the grid, (d1, d2, d3, d4), are: The distance to the four vertices.

[0020] A further technical solution of the present invention: the step of determining whether to further extrapolate the gun position height based on the difference between the average altitude and the gun position height includes:

[0021] When the difference between the average altitude and the gun position height is greater than the threshold, the average altitude is used as the gun position height for the next extrapolation, and the trajectory extrapolation is recalculated until the difference between the average altitude and the gun position height is less than the threshold, at which point the iteration terminates.

[0022] A further technical solution of the present invention includes an elevation data parsing and storage module, a measurement data parsing and filtering module, and an iterative solution module;

[0023] The elevation data parsing and storage module is used to parse geographic information files and store elevation geographic data, including longitude, latitude, and altitude.

[0024] The measurement data parsing and filtering module is used to parse and acquire radar measurement data of ballistic targets, and to complete the smoothing of ballistic targets based on the ballistic target motion model and UKF filtering algorithm.

[0025] The iterative solution module performs ballistic extrapolation based on the smoothed results and the ballistic target motion model to obtain the estimated gun position coordinates; based on the estimated gun position coordinates, it uses the distance-weighted average method from the elevation geographic data to obtain the average altitude at the estimated gun position coordinates; based on the difference between the average altitude and the gun position altitude, it determines whether to further extrapolate the gun position altitude, and uses the result of the last extrapolation as the estimated gun position coordinates.

[0026] A further technical solution of the present invention: the step of determining whether to further extrapolate the gun position height based on the difference between the average altitude and the gun position height includes:

[0027] When the difference between the average altitude and the gun position height is greater than the threshold, the average altitude is used as the gun position height for the next extrapolation, and the trajectory extrapolation is recalculated until the difference between the average altitude and the gun position height is less than the threshold, at which point the iteration terminates.

[0028] A computer system is characterized by comprising: one or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method described above.

[0029] A computer-readable storage medium is characterized by storing computer-executable instructions, which, when executed, are used to implement the above-described method.

[0030] A computer program product is characterized by including computer-executable instructions, which, when executed, are used to implement the above-described method.

[0031] The beneficial effects of this invention are as follows:

[0032] This invention provides a method and system for artillery locating based on elevation geographic data. The method involves parsing and storing elevation geographic data from geographic information files; parsing and acquiring radar measurement data of the ballistic target; smoothing the ballistic target based on a ballistic target motion model and a UKF filtering algorithm; performing ballistic extrapolation based on the smoothed result and the ballistic target motion model to obtain estimated artillery locating coordinates; obtaining the average altitude at the estimated artillery locating coordinates from the elevation geographic data using a distance-weighted average method; when the difference between the estimated altitude and the average altitude exceeds a threshold, using the average altitude as the artillery locating altitude for the next extrapolation, and recalculating the ballistic extrapolation until the difference is less than the threshold, at which point the iteration terminates, and the result of the last extrapolation is used as the estimated artillery locating coordinates. Compared with existing technologies, this method has the following advantages:

[0033] 1. This invention calculates gun positions based on a ballistic target motion model and the UKF filtering algorithm, and can utilize more measurement data such as range, azimuth, elevation, and Doppler radial velocity, resulting in better estimation accuracy compared to traditional fitting methods.

[0034] 2. This invention also utilizes elevation geographic data to assist in ballistic extrapolation, which is especially suitable for real environments with large altitude fluctuations, and has more practical significance for improving the accuracy of artillery position calculation for artillery position detection radar. Attached Figure Description

[0035] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0036] Figure 1 This is a block diagram of a gun locating method based on elevation geographic data according to an embodiment of the present invention;

[0037] Figure 2 This is a block diagram of a gun locating system based on elevation geographic data, according to an embodiment of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0040] This invention proposes a gun locating method based on elevation geographic data. This method calculates gun locating based on a ballistic target motion model and the UKF filtering algorithm. It can utilize more measurement data such as range, azimuth, elevation, and Doppler radial velocity, and has better estimation accuracy than traditional fitting methods. At the same time, it uses elevation geographic data to assist in ballistic extrapolation, which has better adaptability in real environments with large altitude fluctuations. This has more practical significance for improving the gun locating accuracy of artillery locating radar.

[0041] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0042] This invention provides a method for calculating gun locating points based on elevation geographic data, comprising:

[0043] S1. Parse geographic information files and store elevation geographic data, including longitude, latitude, and altitude.

[0044] S2. Analyze and acquire radar measurement data of ballistic targets, and complete the smoothing process of ballistic targets based on ballistic target motion model and UKF filtering algorithm;

[0045] S3. Based on the smoothed results and the ballistic target motion model, perform ballistic extrapolation to obtain the estimated gun position coordinates (where the height is used as...). (Indicated), the average elevation of the estimated gun emplacement coordinates is obtained from the elevation geographic data using the "distance-weighted average method" (using...). (indicates); when and When the difference is greater than the threshold, The gun position height will be used as the basis for the next extrapolation, and the trajectory extrapolation will be recalculated until... and If the difference is less than the threshold, the iteration terminates, and the result of the last extrapolation is used as the estimated gun position coordinates.

[0046] The following is a detailed explanation of each step:

[0047] In step S1, the geographic information file is parsed and the elevation geographic data is stored. The stored data includes longitude, latitude, and altitude. The specific implementation process is as follows:

[0048] In geographic information files, the longitude-latitude plane is divided into a grid and stored according to a matrix structure, with each grid vertex corresponding to a different elevation. The stored elevation geographic data is denoted as H. ij The subscript i represents the longitude index, the subscript j represents the latitude index, and the height corresponding to each vertex is denoted as h. ij .

[0049] In step S2, radar measurement data of the ballistic target is parsed and acquired. Based on the ballistic target motion model and the UKF filtering algorithm, smoothing of the ballistic target is performed. The specific implementation process is as follows:

[0050] In this embodiment of the invention, the ballistic target motion model adopts the projectile center of mass motion equations established under non-standard ballistic conditions and non-standard meteorological conditions in "Theory and Application of Ballistic Solution, edited by Zhao Xinsheng and Shu Jingrong, 2006".

[0051] The measurement data includes distance, azimuth, pitch, and Doppler radial velocity, with a data rate of 2Hz and a duration of 15 seconds. The measurement noise levels are 50 meters, 0.1 degrees, 0.1 degrees, and 10 m / s, respectively. The measurement model with Doppler radial velocity is as follows:

[0052]

[0053] Where state X k It is 7-dimensional, including position (x) k ,y k ,z k ),speed and ballistic coefficient C b .

[0054] By applying UKF filtering to the measurement data in "time reverse order," the state estimate at the first point can be obtained. In the UKF filter, the process noise is: Q = diag([1e1,1e1,1e1,1e-2,1e-2,1e-2,0]), and the initial value of the ballistic coefficient is 0.6.

[0055] In step S3, ballistic extrapolation is performed based on the smoothing results and the ballistic target motion model to obtain the estimated gun position coordinates (where the height is represented by the coordinates of the gun position). (Indicated), the average elevation of the estimated gun emplacement coordinates is obtained from the elevation geographic data using the "distance-weighted average method" (using...). (indicates); when and When the difference is greater than the threshold, The gun position height will be used as the basis for the next extrapolation, and the trajectory extrapolation will be recalculated until... and If the difference is less than the threshold, the iteration terminates, and the result of the last extrapolation is used as the estimated gun position coordinates. The specific implementation process is as follows:

[0056] (1) Estimate the state based on the first point The ballistic target motion model was extrapolated using the fourth-order Runge-Kutta method, with an extrapolation step size of 0.1 s and a termination height h. stop (Initial extrapolation is set to 0), extrapolation occurs when the height is less than h. stop At this point, the extrapolation is terminated, and the estimated latitude, longitude, and altitude of the artillery position are obtained.

[0057] (2) From elevation geographic data H ij Search in The grid in which it is located, with its four vertices denoted as H1, H2, H3, and H4, then... The corresponding average height is: Where (h1, h2, h3, h4) are the heights of the four vertices H1, H2, H3, H4, and (d1, d2, d3, d4) are... The distance to the four vertices.

[0058] (3) Repeat steps (1) and (2) above, when and When the difference is less than 100 meters, the iteration is terminated, and the result of the last extrapolation is used as the estimated gun position coordinates.

[0059] Simulation analysis shows that the simulation conditions are: the radar station is 20km away from the artillery firing point, the elevation angle of the detection head point is 5 degrees, the artillery position estimation error is 25.467 meters, and the estimation accuracy is about 1.25‰.

[0060] This invention also provides a gun position calculation system based on elevation geographic data, which includes: an elevation data parsing and storage module, a measurement data parsing and filtering module, and an iterative calculation module;

[0061] The elevation data parsing and storage module is used to parse geographic information files and store elevation geographic data, including longitude, latitude, and altitude.

[0062] The measurement data parsing and filtering module is used to parse and acquire radar measurement data of ballistic targets, and to complete the smoothing of ballistic targets based on the ballistic target motion model and UKF filtering algorithm.

[0063] The iterative solution module performs ballistic extrapolation based on the smoothed results and the ballistic target motion model to obtain the estimated gun position coordinates (where height is represented by...). (Indicated), the average elevation of the estimated gun emplacement coordinates is obtained from the elevation geographic data using the "distance-weighted average method" (using...). (indicates); when and When the difference is greater than the threshold, The gun position height will be used as the basis for the next extrapolation, and the trajectory extrapolation will be recalculated until... and If the difference is less than the threshold, the iteration terminates, and the result of the last extrapolation is used as the estimated gun position coordinates.

[0064] It is understood that the artillery position calculation system based on elevation geographic data provided in this embodiment of the invention corresponds to the artillery position calculation method based on elevation geographic data described above. The explanation, examples, and beneficial effects of the relevant content can be referred to the corresponding content in the artillery position calculation method based on elevation geographic data, and will not be repeated here.

[0065] This invention calculates gun locating based on a ballistic target motion model and the UKF filtering algorithm. It can utilize more measurement data such as range, azimuth, elevation, and Doppler radial velocity, resulting in better estimation accuracy compared to traditional fitting methods. Furthermore, it uses elevation geographic data to assist in ballistic extrapolation, making it particularly suitable for real-world environments with significant altitude variations. This invention has a more practical significance for improving the accuracy of gun locating radar.

[0066] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. A method for calculating gun locating points based on elevation geographic data, characterized in that, include: Parse geographic information files and store elevation geographic data, including longitude, latitude, and altitude. The radar measurement data of the ballistic target is analyzed and acquired, and the smoothing process of the ballistic target is completed based on the ballistic target motion model and UKF filtering algorithm. Based on the smoothing results and the ballistic target motion model, ballistic extrapolation is performed to obtain the estimated gun position coordinates; based on the estimated gun position coordinates, the average altitude at the estimated gun position coordinates is obtained from the elevation geographic data using the distance-weighted average method. The difference between the average altitude and the gun position altitude determines whether to further extrapolate the gun position altitude, and the result of the last extrapolation is used as the estimated gun position coordinates.

2. The method for calculating gun locating points based on elevation geographic data according to claim 1, characterized in that, The process of parsing geographic information files and storing elevation geographic data includes: In geographic information files, the "longitude-latitude" plane is divided into a grid and stored according to a matrix structure, with each grid vertex corresponding to a different altitude.

3. The method for calculating gun locating points based on elevation geographic data according to claim 1, characterized in that, The radar measurement data includes range, azimuth, and elevation, or range, azimuth, elevation, and Doppler radial velocity.

4. The method for calculating gun locating points based on elevation geographic data according to claim 2, characterized in that, Based on the estimated gun emplacement coordinates, the average elevation at the estimated gun emplacement coordinates is obtained from the elevation geographic data using a distance-weighted average method, including: The latitude, longitude, and altitude are used to obtain the estimated gun position coordinates. express; The average elevation at the gun emplacement coordinates was estimated using the distance-weighted average method based on elevation geographic data. The calculation formula is: ,in for The heights of the four vertices of the grid in which it is located. for The distance to the four vertices.

5. The method for calculating gun locating points based on elevation geographic data according to claim 1, characterized in that, The determination of whether to further extrapolate the gun position height based on the difference between the average altitude and the gun position height includes: When the difference between the average altitude and the gun position height is greater than the threshold, the average altitude is used as the gun position height for the next extrapolation, and the trajectory extrapolation is recalculated until the difference between the average altitude and the gun position height is less than the threshold, at which point the iteration terminates.

6. A system for implementing the artillery position calculation method based on elevation geographic data as described in claim 1, characterized in that, It includes an elevation data parsing and storage module, a measurement data parsing and filtering module, and an iterative solution module; The elevation data parsing and storage module is used to parse geographic information files and store elevation geographic data, including longitude, latitude, and altitude. The measurement data parsing and filtering module is used to parse and acquire radar measurement data of ballistic targets, and to complete the smoothing of ballistic targets based on the ballistic target motion model and UKF filtering algorithm. The iterative solution module performs ballistic extrapolation based on the smoothed results and the ballistic target motion model to obtain the estimated gun position coordinates; based on the estimated gun position coordinates, the average altitude at the estimated gun position coordinates is obtained from the elevation geographic data using the distance-weighted average method. The difference between the average altitude and the gun position altitude determines whether to further extrapolate the gun position altitude, and the result of the last extrapolation is used as the estimated gun position coordinates.

7. The system according to claim 6, characterized in that, The determination of whether to further extrapolate the gun position height based on the difference between the average altitude and the gun position height includes: When the difference between the average altitude and the gun position height is greater than the threshold, the average altitude is used as the gun position height for the next extrapolation, and the trajectory extrapolation is recalculated until the difference between the average altitude and the gun position height is less than the threshold, at which point the iteration terminates.

8. A computer system, characterized in that... include: One or more processors, a computer-readable storage medium for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the method of any one of claims 1-5.

9. A computer-readable storage medium, characterized in that... The device stores computer-executable instructions, which, when executed, are used to implement the method described in any one of claims 1-5.

10. A computer program product, characterized in that... It includes computer-executable instructions, which, when executed, are used to implement the method of any one of claims 1-5.

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