Dual-frequency dual-high measurement and control tracking system and method based on trajectory prediction and constellation mapping

Abstract

The invention relates to the field of wireless communication, in particular to aerospace vehicle wireless communication, and discloses a dual-frequency dual-high measurement and control tracking system and method based on trajectory prediction and constellation mapping. The system comprises an L omnidirectional antenna, a C directional antenna, a dual-frequency information extraction and fitting module, a track constellation mapping and module, an antenna parameter dynamic adjustment module and an antenna tracking performance monitoring module. The dual-frequency information extraction and fitting module receives data of the two antennas, extracts flight information of a fitted aircraft and outputs coordinate conversion parameters; the trajectory constellation mapping and module predicts a short-term flight trajectory of the aircraft according to the coordinate conversion parameters and outputs flight trajectory constellation coordinate range information; the antenna parameter dynamic adjustment module sets a tracking interval according to flight path constellation coordinate range information, and outputs high-precision antenna pointing information to control a C directional antenna in combination with directional antenna parameters; the antenna tracking performance monitoring module is used for evaluating the directional performance of the C directional antenna.

Description

Technical Field

[0001] The present invention relates to the field of wireless communications, and in particular to wireless communications for aerospace vehicles, and is a dual-frequency dual-height measurement, control and tracking system and method based on trajectory prediction and constellation mapping. Background Art

[0002] The orbital phases of aerospace vehicles are divided into boost, cruise and descent phases. In particular, during the boost phase, acceleration can be completed in a short time, and during the cruise phase, it can reach several Machs, with typical high speed and high maneuverability, which makes tracking very difficult. Measurement and control communication is an important remote control and telemetry means for aerospace vehicles, and its directional antenna tracking is one of the key technologies of measurement and control communication. Traditional measurement and control communication mainly adopts different tracking modes such as single pulse, pulse power amplitude, and GPS-assisted, which are suitable for aircraft below Mach 2; but for aircraft above Mach 4, the tracking effect of a single antenna is not good, and it often lags and loses the target. The flight speed and acceleration of aerospace vehicles are large, and the orbital maneuverability is high. When using directional antenna tracking, it is necessary to continuously and accurately correct the antenna pointing to realize the real-time alignment of the main beam of the ground directional antenna with the aerospace vehicle. The comprehensive use of multiple means and the correction of antenna tracking in combination with the vehicle trajectory prediction model are the key problems that need to be solved in the measurement and control directional tracking of aerospace vehicles. Summary of the invention

[0003] The purpose of the present invention is to propose a dual-frequency, dual-high measurement, control and tracking system and method based on trajectory prediction and constellation mapping, focusing on solving the problem of measurement, control and communication directional tracking of aerospace vehicles under high-speed and high-maneuverability conditions, realizing high-precision directional antenna tracking of aerospace vehicles in different flight phases of boost, cruise and descent, and improving the real-time and reliability of the measurement, control and communication system for tracking high-speed and high-maneuverability aircraft.

[0004] The technical solution of the present invention:

[0005] A dual-frequency dual-height measurement, control and tracking system based on trajectory prediction and constellation mapping, the system includes: L omnidirectional antenna, C directional antenna, dual-frequency information extraction and fitting module, trajectory constellation mapping and module, antenna parameter dynamic adjustment module and antenna tracking performance monitoring module;

[0006] The dual-frequency information extraction and fitting module receives data from two antennas, extracts and fits the flight information of the aircraft, and outputs coordinate conversion parameters;

[0007] The trajectory constellation mapping module predicts the short-term flight trajectory of the aircraft based on the coordinate conversion parameters and outputs the flight trajectory constellation coordinate range information;

[0008] The antenna parameter dynamic adjustment module sets the tracking interval according to the flight trajectory constellation coordinate range information, combines the directional antenna parameters, and outputs high-precision antenna pointing information to control the C directional antenna;

[0009] The antenna tracking performance monitoring module is used to evaluate the pointing performance of C-directional antenna.

[0010] Furthermore, the dual-frequency information extraction and fitting module includes an aircraft posture parameter analysis component, a chain-controlled vehicle posture parameter analysis component, and a coordinate conversion component;

[0011] The aircraft attitude parameter analysis component is used to perform dual-frequency waveform demodulation and dual-frequency data fitting on the received L omnidirectional antenna and C directional antenna, and output the aircraft position, speed, attitude and distance parameters transmitted by the L and C links;

[0012] The chain-controlled vehicle position and attitude parameter analysis component is used for environmental parameter extraction and environmental parameter fitting; it outputs the chain-controlled vehicle position F0, velocity V0, attitude Z0 and C-band directional antenna pointing information consistent with the aircraft time reference;

[0013] The coordinate transformation component is used to generate the coordinate transformation parameters of the aircraft with the chain-controlled vehicle as the reference, including: relative distance, relative position, relative delay and relative speed.

[0014] Further, the trajectory constellation mapping and module includes: a flight trajectory constellation mapping component, a flight trajectory prediction processing component, and a flight trajectory constellation component;

[0015] The flight trajectory constellation mapping component performs constellation mapping on the flight trajectory of the aircraft based on the coordinate conversion parameters; the constellation mapping information includes: the horizontal and vertical angles of the aircraft and the update step;

[0016] The flight trajectory prediction processing component generates the vertical and horizontal angle information of the directional antenna pointing at the next moment according to the horizontal and vertical angles of the aircraft;

[0017] The flight trajectory constellation component updates the constellation diagram according to the horizontal and vertical angles of the aircraft and the update step, and passes the updated constellation diagram data to the antenna parameter dynamic adjustment module.

[0018] Furthermore, the antenna parameter dynamic adjustment module includes: a tracking interval origin setting component, a directional antenna pointing calculation component and a high-precision antenna tracking component;

[0019] The tracking interval origin setting component is used to set the tracking interval range of the directional antenna;

[0020] The directional antenna pointing calculation component calculates the rotation rate and transmission delay of the C directional antenna according to the performance parameters of the chain-controlled vehicle;

[0021] The high-precision antenna tracking component calculates the directional information of the C directional antenna based on the updated constellation data and the rotation rate and transmission delay of the C directional antenna within the tracking interval.

[0022] Furthermore, the antenna tracking performance monitoring module monitors the power of the C directional antenna receiving channel and evaluates the tracking performance according to the power.

[0023] A dual-frequency dual-high measurement and control tracking method based on trajectory prediction and constellation mapping, the steps are as follows:

[0024] Step 1: Extract the aircraft position F1 received by the L omnidirectional antenna and C directional antenna L / F1 C , rate V1 L / V1 C 、Posture Z1 L / Z1 C and distance reference D1 L / D1 C parameter;

[0025] Step 2: Fit the aircraft position, velocity, attitude and distance parameters transmitted by the L and C links at different flight phases;

[0026] Step 3: Extract the environmental parameters of the chain-controlled vehicle and fit them to be consistent with the aircraft time reference;

[0027] Step 4: Generate coordinate transformation parameters according to the aircraft position, speed, attitude and distance parameters and the chain-controlled vehicle environment parameters;

[0028] Step 5: Constellation mapping is performed on the flight trajectory of the aircraft according to the coordinate conversion parameters; the constellation mapping information includes: the horizontal and vertical angles of the aircraft and the update step;

[0029] Step 6: Calculate the vertical and horizontal angle information of the C directional antenna pointing at the next moment according to the horizontal and vertical angles of the aircraft;

[0030] Step 7: Update the aircraft trajectory constellation map according to the constellation mapping information;

[0031] Step 8: Set the tracking range;

[0032] Step 9: Calculate the rotation rate and transmission delay of the C directional antenna according to the performance parameters of the chain-controlled vehicle;

[0033] Step 10: According to the updated constellation data, within the tracking interval, based on the rotation rate and transmission delay of the C directional antenna, calculate the directional information of the C directional antenna; according to the directional information of the C directional antenna, control the C directional antenna to adjust its direction.

[0034] Furthermore, in step 2, the fitting process of different flight stages is as follows:

[0035] Boosting stage: L-link flight parameter interpolation smoothing is mainly adopted, and C-link flight parameter trend parameter fitting correction is adopted to fit the smooth flight parameters within the update interval of L-link and C-link;

[0036] Cruise phase: Directional C-link flight parameters are mainly used, and L-link parameters are fitted according to relative rate filtering. L-link parameters correct C-link filtering loop parameters.

[0037] Descending stage: The L / C dual-frequency fitting method is adopted, which first integrates, interpolates and smoothes, and then filters and deduces.

[0038] Furthermore, the environmental parameters of the chain-controlled vehicle include: the position F0, speed V0, attitude Z0 and C-band directional antenna pointing information of the chain-controlled vehicle, and the position F1 and attitude Z1 of the aircraft target.

[0039] Coordinate transformation parameters include: relative distance, relative position, relative delay and relative speed. F0 Chain-controlled car earth coordinate longitude information, X F1 Target earth coordinate longitude information, Y F0 Earth coordinate dimension information of the chain-controlled vehicle, Y F1 Target earth coordinate latitude information, Z F0 Earth coordinate altitude information of the chain-controlled vehicle, Z F1 Target earth coordinate altitude information, X and Y are earth coordinate vector information.

[0040] The coordinate transformation parameters include: relative distance, relative position, relative delay and relative speed. The calculation process is as follows:

[0041] The calculation formula of relative distance D is:

[0042]

[0043] The relative position calculation formula is:

[0044] Relative position angle:

[0045] Direction angle information: θ=φ+(Z0-Z1), the direction angle is the absolute angle towards the north;

[0046] The relative delay T calculation formula is:

[0047] T0 is the transmission delay of the link device, D is the relative distance, and C is the speed of light;

[0048] The relative velocity V is calculated as:

[0049] V = |V0-V1|, V1 is the fitted rate, and V0 is the chain-controlled vehicle rate.

[0050] Furthermore, in step 5, the constellation mapping rules are as follows:

[0051] The origin of the two-dimensional constellation diagram is centered on the ground chain-controlled vehicle coordinate antenna pointing to 0 degrees horizontally and 0 degrees vertically;

[0052] According to the relative coordinates and distance in the coordinate system, the angle between the coordinate system vector and the horizontal and vertical directions is calculated, and the antenna pointing is mapped into a two-dimensional constellation diagram of vertical angles and horizontal angles;

[0053] The flight trajectory coordinate information is mapped into a two-dimensional constellation diagram of antenna pointing;

[0054] Calculate the current horizontal angle based on the horizontal component of the current relative position. The mapping interval is 0 to 360°. If it exceeds 360°, the angle is modulo 360.

[0055] The current vertical component angle is calculated according to the earth coordinates. The mapping range is -45° to 90°. If it is lower than -45°, the value is -45°; if it is greater than 90°, the vertical component value is 90°, and the current horizontal angle is flipped 180°.

[0056] Further, in step 6, the vertical and horizontal angle information of the C directional antenna pointing at the next moment is calculated as follows:

[0057] According to the current horizontal and vertical angles of the aircraft and the update step, the horizontal and vertical angle intervals and transmission delay intervals of the aircraft trajectory at the next moment are generated;

[0058] Generate the horizontal and vertical angle intervals of the directional antenna pointing at the next moment according to the horizontal and vertical angle intervals;

[0059] According to the horizontal and vertical angle intervals of the directional antenna pointing at the next moment, the horizontal and vertical control information of the directional antenna is converted, and the acceleration information A0 and A1 of the chain-controlled car and the aircraft are recorded;

[0060] The predicted position information of the aircraft at the next moment satisfies the following formula:

[0061] Aircraft predicted position: F0′=ΔT*∫A0, ΔT is the transmission change delay update frequency time;

[0062] The predicted horizontal and vertical angles of the directional antenna pointing at the next moment satisfy the following formula:

[0063] Predicted vertical angle:

[0064] Predicted horizontal angle:

[0065] Beneficial effects of the present invention:

[0066] (1) Compared with the traditional single-frequency information extraction method, the L / C dual-frequency information extraction and fitting technology fully utilizes the channel characteristics of the dual-frequency transmission link, and adopts the dynamic interpolation fitting method of dual-frequency data in different stages such as boost, cruise and descent to converge the range of parameter information such as position, attitude, speed and distance of high-speed aircraft in different flight stages, eliminate the abnormal points of parameter information introduced by wireless transmission, and improve the reliability, continuity and near real-time performance of parameter information of aircraft during high-speed and high-maneuverability movement;

[0067] (2) Compared with the traditional method of directly pointing the antenna based on the coordinate information of the aircraft, the flight trajectory prediction and constellation mapping technology is used to establish a two-dimensional flight trajectory prediction mapping relationship based on the horizontal and vertical angles of the antenna. The relative position, relative delay, relative speed and other parameters of the aircraft and the chain-controlled vehicle are introduced to converge the flight trajectory prediction interval range of the high-speed aircraft in the constellation diagram at different flight stages, reduce the error range between the predicted interval and the actual trajectory of the high-speed aircraft, and improve the trajectory prediction accuracy of the aircraft under high-speed and high-maneuverability conditions;

[0068] (3) Adopting dynamic high-precision antenna pointing technology based on trajectory assistance, compared with traditional directional antenna tracking methods such as single pulse, pulse power amplitude, and GPS assistance, the antenna tracking sliding window design is adopted. The actual pointing of the directional antenna at the current moment is used as the center point of the sliding window, and the size of the antenna tracking sliding window is dynamically adjusted according to the relative rate, transmission delay range, etc. The sliding window interval range of the directional antenna tracking of high-speed aircraft in different flight stages is converged, the angle error of the directional antenna main lobe pointing to the aircraft is reduced, and the accuracy and real-time performance of the directional antenna tracking the vertical and horizontal angles of high-speed and highly maneuverable aircraft are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 Schematic diagram of dual-frequency dual-high tracking and control directional tracking algorithm based on trajectory prediction and constellation mapping;

[0070] Figure 2 It is a schematic diagram of the information logic relationship of the dual-frequency information extraction and fitting module;

[0071] Figure 3 Mapping constellations vertically and horizontally in two dimensions for flight trajectories;

[0072] Figure 4 is a schematic diagram of the directional antenna sliding window. Figure 3 A partial enlargement of the sliding window. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] A dual-frequency dual-high tracking and control directional tracking method based on trajectory prediction and constellation mapping.

[0075] S0: The dual-frequency assisted measurement and control directional tracking method for high dynamic trajectory prediction and mapping includes a dual-frequency information extraction and fitting module, a trajectory constellation mapping and updating module, an antenna parameter dynamic adjustment module and an antenna tracking performance monitoring module. Figure 1 shown.

[0076] S1: Dual-frequency information extraction and fitting module

[0077] The dual-frequency information extraction and fitting module described in S1.1 includes an aircraft posture parameter analysis component, a chain-controlled vehicle posture parameter analysis component, and coordinate conversion. The specific process is as follows: Figure 2 shown.

[0078] The aircraft attitude parameter analysis component described in S1.2 mainly includes dual-frequency waveform demodulation and dual-frequency data fitting; the dual-frequency measurement and control communication is mainly realized through the L omnidirectional link and the C directional link.

[0079] S1.2.1 Dual-frequency waveform demodulation mainly analyzes the data streams received in the L and C bands, and extracts the aircraft positions transmitted in the L and C bands respectively (F1 L / F1 C ), rate (V1 L / V1 C ), attitude (Z1 L / Z1 C ) and distance reference (D1 L / D1 C ) and other parameters;

[0080] The L-band link is omnidirectional communication, and the parameter update period is 100ms;

[0081] The C-band link is directional communication, and the parameter update period is 20ms;

[0082] S1.2.2 Dual-frequency data fitting mainly fits the position, speed, attitude and distance of L and C link transmission according to different flight stages. The specific stages are as follows:

[0083] S1.2.2.1 Boosting phase: The aircraft has large acceleration, the attitude antenna shielding influence changes greatly, and the distance is relatively short. The L-link flight parameter interpolation smoothing is mainly adopted, and the C-link flight parameter trend parameter fitting correction is used to fit the smooth flight parameters in the middle;

[0084] S1.2.2.2 Cruise phase: The relative velocity of the aircraft changes little, the antenna shielding has little impact, and the distance is far. Directional C-link flight parameters are mainly used. The L-link parameters are fitted based on the relative velocity filtering deduction. The L-link parameters correct the C-link deduction filter loop parameters.

[0085] S1.2.2.3 Descent phase: The aircraft is far away, the relative speed changes little, the attitude changes greatly, and the antenna shielding is seriously affected. The L / C dual-frequency is integrated, interpolated and smoothed first, and then filtered and deduced. Increase the processing delay and improve the input reliability of flight parameters.

[0086] S1.2.2.4 The fitting strategies in each stage are automatically switched, and the fitted aircraft parameters, aircraft position, speed, attitude, distance and other information are output.

[0087] S1.3 The chain-controlled vehicle information parameter parsing component mainly includes environmental parameter extraction and environmental parameter fitting;

[0088] S1.3.1 Environmental parameter extraction: Receive the chain-controlled vehicle bus data, and identify the chain-controlled vehicle environmental parameters according to the identification bytes, including the chain-controlled vehicle's position (F0), speed (V0), attitude (Z0) and C-band directional antenna pointing information;

[0089] S1.3.2 Environmental parameter fitting Perform multiple interpolation and smooth fitting of the chain-controlled vehicle environmental parameters into a chain-controlled vehicle environmental parameter stream, and achieve consistency with the aircraft time reference through time calibration;

[0090] The coordinate transformation described in S1.4 mainly converts the parameters generated by the aircraft posture parameter analysis component and the chain-controlled vehicle posture parameter analysis component into a unified coordinate system based on a time reference. The time reference is the aircraft time information, and the unified earth coordinate system is WGS84. The coordinate transformation generates relative information of aircraft parameters with the chain-controlled vehicle as a reference, namely: relative distance, relative position, relative delay and relative speed, etc.

[0091] The relative distance calculation formula described in S1.4.1 is:

[0092]

[0093] The relative position calculation formula described in S1.4.2 is:

[0094] Relative position angle:

[0095] Direction angle information: θ = φ + (Z0-Z1) absolute angle towards the north

[0096] The relative delay calculation formula described in S1.4.3 is:

[0097] (T0 is the transmission delay of the link device, D is the relative distance, and C is the speed of light;

[0098] The relative rate calculation formula described in S1.4.4 is:

[0099] V = |V0-V1| (V1 is the fitted rate, V0 is the chain-controlled vehicle rate).

[0100] S2: Trajectory constellation mapping and updating module

[0101] The trajectory constellation mapping and updating module described in S2.1 includes modules such as flight trajectory constellation mapping, flight trajectory prediction processing and flight trajectory constellation updating.

[0102] The flight trajectory constellation mapping module described in S2.2 performs constellation mapping on the flight trajectory of the aircraft based on the coordinate conversion parameters output by the dual-frequency information extraction and fitting module and information such as relative delay and relative speed information, such as Figure 3 The mapping rules are as follows:

[0103] S2.2.1 The origin of the two-dimensional constellation diagram is centered on the ground-based chain-controlled vehicle coordinate antenna pointing to 0 degrees horizontally and 0 degrees vertically;

[0104] S2.2.2 Calculate the angle between the coordinate system vector and the horizontal and vertical directions based on the relative coordinates and distance in the coordinate system, and map the antenna pointing direction into a two-dimensional constellation diagram of vertical angle and horizontal angle.

[0105] S2.2.3 The flight trajectory coordinate information is mapped into a two-dimensional constellation diagram of the antenna pointing.

[0106] S2.2.3.1 Calculate the current horizontal angle based on the horizontal component of the current relative position, with the mapping interval being 0 to 360°, and taking the value modulo 360 if it exceeds 360°;

[0107] S2.2.3.2 Calculate the current vertical component angle based on the earth coordinates. The mapping interval is -45° to 90°. If it is lower than -45°, take the value -45°. If it is greater than 90°, take the value 90°. At the same time, the current horizontal angle is flipped 180°.

[0108] The flight trajectory prediction processing described in S2.3 generates the vertical and horizontal angle information of the directional antenna pointing at the next moment based on the horizontal and vertical angles, transmission delay and relative speed parameters of the current aircraft.

[0109] S2.3.1 Generate the horizontal and vertical angles and transmission delay interval of the aircraft trajectory at the next moment based on the current horizontal and vertical angles, transmission delay and relative velocity vector of the aircraft;

[0110] S2.3.2 Generate the horizontal and vertical angle intervals for the directional antenna to point to at the next moment based on the horizontal and vertical angle intervals generated by the aircraft trajectory prediction.

[0111] S2.3.3 Convert the horizontal and vertical angle intervals of the directional antenna pointing at the next moment into the horizontal and vertical control information of the directional antenna, and record the acceleration information A0 and A1 of the chain-controlled vehicle and the aircraft.

[0112] S2.3.4 The predicted position information of the aircraft at the next moment satisfies the following formula:

[0113] Aircraft predicted position: F0′=ΔT*∫A0(ΔT) is the transmission change delay update frequency time;

[0114] S2.3.5 The predicted horizontal and vertical angles of the directional antenna pointing at the next moment satisfy the following formula:

[0115] Predicted vertical angle:

[0116] Predicted horizontal angle:

[0117] S2.4 The flight trajectory constellation is updated, and the flight trajectory information is updated according to the parameters generated by the flight trajectory prediction process and the predicted aircraft position information is passed to the antenna parameter dynamic adjustment module.

[0118] S2.4.1 Based on the predicted horizontal and vertical angles of the aircraft and the transmission delay and other parameters at the next moment, the trajectory prediction center is calculated with the current transmission delay, and the trajectory prediction interval is calculated with the transmission delay variation range. The angle delay information of the prediction interval at the previous moment in the constellation diagram and the actual trajectory information at the current moment are updated, such as Figure 3 shown.

[0119] S2.4.2 Calculate the predicted trajectory range of the two-dimensional constellation diagram at the next moment based on the predicted position information;

[0120] S2.4.3 Based on the flight speed and transmission delay of the aircraft and the speed of the linked controlled vehicle, predict the flight trajectory interval of the aircraft in the directional antenna pointing to the two-dimensional constellation diagram at the next moment;

[0121] S2.4.4 passes the predicted delay, predicted rate and predicted constellation to the antenna parameter dynamic adjustment module.

[0122] S3: Antenna parameter dynamic adjustment module

[0123] The antenna parameter dynamic adjustment module described in S3.1 includes the tracking interval origin setting, directional antenna pointing calculation and high-precision antenna tracking. Based on the two-dimensional constellation diagram of the predicted trajectory, the antenna tracking window further establishes the tracking window constraint to accurately predict the antenna pointing at the next time according to parameters such as the current antenna rotation rate, such as Figure 4 shown.

[0124] S3.2 The tracking interval setting rule is to use the actual direction of the current directional antenna as the center of the interval, that is, the center point of the sliding window, and the transmission delay and rate range as the interval size, that is, to determine the range of the sliding window. Setting principle: horizontally, the horizontal angle of the current direction of the directional antenna is the horizontal 0 point, the vertical angle of the current direction of the directional antenna is the vertical 0 point, and the maximum value of the horizontal and vertical angle adjustment interval of the directional antenna at the next moment is the maximum horizontal and vertical range of the sliding window.

[0125] The directional antenna pointing calculation described in S3.3 dynamically adjusts the distance range between the predicted interval and the actual pointing origin according to the calculated aircraft distance information. The faster the speed and the farther the distance, the larger the predicted trajectory range, and the farther the predicted adjusted directional antenna pointing tracking interval is from the current origin. The specific calculation is as follows:

[0126] Directional antenna predicts and adjusts beam angle:

[0127]

[0128] S3.4 High-precision antenna tracking

[0129] The dynamic adjustment module can roughly estimate the tracking interval range based on the predicted parameters, estimate the directional antenna position information based on the directional antenna pointing information of the dual-frequency information and the servo rotation rate, and further accurately calculate the directional antenna control information based on the directional antenna pointing information, servo rotation rate, command delay, etc., and calculate and set the directional antenna horizontal angle, vertical angle and servo rate.

[0130] The S4 antenna tracking performance monitoring module monitors the received power of the C-link directional antenna, which reflects the performance of the antenna pointing and flight trajectory prediction algorithm under certain conditions of distance and attitude: if the trajectory prediction is accurate, the main lobe of the C-link directional antenna points to the aircraft, and the received power of the C-link directional antenna is large; if the trajectory prediction is inaccurate, the main lobe of the C-link directional antenna points away from the aircraft, and the received power of the C-link directional antenna is small. Therefore, under the condition of accurate flight trajectory prediction, the received power of the C-link directional antenna tends to change smoothly, and the power variance is small.

[0131] The above is only a specific embodiment of the present invention, and the present invention is described in detail. The unexplained part is a conventional technology. However, the protection scope of the present invention is not limited to this. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A dual-frequency dual-high measurement, control and tracking system based on trajectory prediction and constellation mapping, characterized by: The system includes: L omnidirectional antenna, C directional antenna, dual-frequency information extraction and fitting module, trajectory constellation mapping and module, antenna parameter dynamic adjustment module and antenna tracking performance monitoring module; The dual-frequency information extraction and fitting module receives data from two antennas, extracts and fits the flight information of the aircraft, and outputs coordinate conversion parameters; The trajectory constellation mapping module predicts the short-term flight trajectory of the aircraft based on the coordinate conversion parameters and outputs the flight trajectory constellation coordinate range information; The antenna parameter dynamic adjustment module sets the tracking interval according to the flight trajectory constellation coordinate range information, combines the directional antenna parameters, and outputs high-precision antenna pointing information to control the C directional antenna; The antenna tracking performance monitoring module is used to evaluate the pointing performance of C-directional antenna.

2. The system according to claim 1, characterized in that: The dual-frequency information extraction and fitting module includes an aircraft posture parameter analysis component, a chain-controlled vehicle posture parameter analysis component, and a coordinate conversion component; The aircraft attitude parameter analysis component is used to perform dual-frequency waveform demodulation and dual-frequency data fitting on the received L omnidirectional antenna and C directional antenna, and output the aircraft position, speed, attitude and distance parameters transmitted by the L and C links; The chain-controlled vehicle posture parameter analysis component is used for environmental parameter extraction and environmental parameter fitting; it outputs the chain-controlled vehicle position F0, velocity V0, attitude Z0 and C-band directional antenna pointing information consistent with the aircraft time reference; The coordinate transformation component is used to generate the coordinate transformation parameters of the aircraft with the chain-controlled vehicle as the reference, including: relative distance, relative position, relative delay and relative speed.

3. The system according to claim 1, characterized in that: The trajectory constellation mapping and module include: a flight trajectory constellation mapping component, a flight trajectory prediction processing component and a flight trajectory constellation component; The flight trajectory constellation mapping component performs constellation mapping on the flight trajectory of the aircraft based on the coordinate conversion parameters; the constellation mapping information includes: the horizontal and vertical angles of the aircraft and the update step; The flight trajectory prediction processing component generates the vertical and horizontal angle information of the directional antenna pointing at the next moment according to the horizontal and vertical angles of the aircraft; The flight trajectory constellation component updates the constellation diagram according to the horizontal and vertical angles of the aircraft and the update step, and passes the updated constellation diagram data to the antenna parameter dynamic adjustment module.

4. The system according to claim 3, characterized in that: The antenna parameter dynamic adjustment module includes: a tracking interval origin setting component, a directional antenna pointing calculation component and a high-precision antenna tracking component; The tracking interval origin setting component is used to set the tracking interval range of the directional antenna; The directional antenna pointing calculation component calculates the rotation rate and transmission delay of the C directional antenna according to the performance parameters of the chain-controlled vehicle; The high-precision antenna tracking component calculates the directional information of the C directional antenna based on the updated constellation data and the rotation rate and transmission delay of the C directional antenna within the tracking interval.

5. The system according to claim 4, characterized in that: The antenna tracking performance monitoring module monitors the power of the C directional antenna receiving channel and evaluates the tracking performance based on the power.

6. A dual-frequency dual-high measurement and control tracking method based on trajectory prediction and constellation mapping, implemented based on the system of any of the preceding claims, characterized in that: Here are the steps: Step 1: Extract the aircraft position F1 received by the L omnidirectional antenna and C directional antenna L / F1 C , rate V1 L / V1 C 、Posture Z1 L / Z1 C and distance reference D1 L / D1 C parameter; Step 2: Fit the aircraft position, velocity, attitude and distance parameters transmitted by the L and C links at different flight phases; Step 3: Extract the environmental parameters of the chain-controlled vehicle and fit them to be consistent with the aircraft time reference; Step 4: Generate coordinate transformation parameters according to the aircraft position, speed, attitude and distance parameters and the chain-controlled vehicle environment parameters; Step 5: Constellation mapping is performed on the flight trajectory of the aircraft according to the coordinate conversion parameters; the constellation mapping information includes: the horizontal and vertical angles of the aircraft and the update step; Step 6: Calculate the vertical and horizontal angle information of the C directional antenna pointing at the next moment according to the horizontal and vertical angles of the aircraft; Step 7: Update the aircraft trajectory constellation map according to the constellation mapping information; Step 8: Set the tracking range; Step 9: Calculate the rotation rate and transmission delay of the C directional antenna according to the performance parameters of the chain-controlled vehicle; Step 10: According to the updated constellation data, within the tracking interval, based on the rotation rate and transmission delay of the C directional antenna, calculate the directional information of the C directional antenna; according to the directional information of the C directional antenna, control the C directional antenna to adjust its direction.

7. The method according to claim 6, characterized in that: In step 2, the fitting process of different flight stages is as follows: Boosting stage: L-link flight parameter interpolation smoothing is mainly adopted, and C-link flight parameter trend parameter fitting correction is adopted to fit the smooth flight parameters within the update interval of L-link and C-link; Cruise phase: Directional C-link flight parameters are mainly used, and L-link parameters are fitted according to relative rate filtering. L-link parameters correct C-link filtering loop parameters. Descending stage: The L / C dual-frequency fitting method is adopted, which first integrates, interpolates and smoothes, and then filters and deduces.

8. The method according to claim 7, characterized in that: The environmental parameters of the chain-controlled vehicle include: the position F0, speed V0, attitude Z0 and C-band directional antenna pointing information of the chain-controlled vehicle; the position F1 and attitude Z1 of the aircraft target, Coordinate transformation parameters include: relative distance, relative position, relative delay and relative speed. F0 Chain-controlled car earth coordinate longitude information, X F1 Target earth coordinate longitude information, Y F0 Earth coordinate dimension information of the chain-controlled vehicle, Y F1 Target earth coordinate latitude information, Z F0 Earth coordinate altitude information of the chain-controlled vehicle, Z F1 The target earth coordinate altitude information, X and Y are earth coordinate vector information, the calculation process is as follows: The calculation formula of relative distance D is: The relative position calculation formula is: Relative position angle: Direction angle information: θ=φ+(Z0-Z1), the direction angle is the absolute angle towards the north; The calculation formula of relative delay T is: T0 is the transmission delay of the link device, D is the relative distance, and C is the speed of light; The relative velocity V is calculated as: V = |V0-V1|, V1 is the fitted rate, and V0 is the chain-controlled vehicle rate.

9. The method according to claim 8, characterized in that: In step 5, the constellation mapping rules are as follows: The origin of the two-dimensional constellation diagram is centered on the ground chain-controlled vehicle coordinate antenna pointing to 0 degrees horizontally and 0 degrees vertically; According to the relative coordinates and distance in the coordinate system, the angle between the coordinate system vector and the horizontal and vertical directions is calculated, and the antenna pointing is mapped into a two-dimensional constellation diagram of vertical angles and horizontal angles; The flight trajectory coordinate information is mapped into a two-dimensional constellation diagram of antenna pointing; Calculate the current horizontal angle based on the horizontal component of the current relative position. The mapping interval is 0 to 360°. If it exceeds 360°, the angle is modulo 360. The current vertical component angle is calculated according to the earth coordinates. The mapping range is -45° to 90°. If it is lower than -45°, the value is -45°; if it is greater than 90°, the vertical component value is 90°, and the current horizontal angle is flipped 180°.

10. The method according to claim 9, characterized in that: In step 6, the vertical and horizontal angle information of the C directional antenna pointing at the next moment is calculated as follows: According to the current horizontal and vertical angles of the aircraft and the update step, the horizontal and vertical angle intervals and transmission delay intervals of the aircraft trajectory at the next moment are generated; Generate the horizontal and vertical angle intervals of the directional antenna pointing at the next moment according to the horizontal and vertical angle intervals; According to the horizontal and vertical angle intervals of the directional antenna pointing at the next moment, the horizontal and vertical control information of the directional antenna is converted, and the acceleration information A0 and A1 of the chain-controlled car and the aircraft are recorded; The predicted position information of the aircraft at the next moment satisfies the following formula: Aircraft predicted position: F0′=ΔT*∫A0, ΔT is the transmission change delay update frequency time; The predicted horizontal and vertical angles of the directional antenna pointing at the next moment satisfy the following formula: Predicted vertical angle: Predicted horizontal angle:

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