Universal fire control system precision evaluation method

Abstract

The invention relates to a universal fire control system precision evaluation method, and belongs to the technical field of fire control. The method comprises the steps of setting parameters of target truth value data; reading target true value data; converting the target truth value data to a radar rotation center; setting parameters of radar measurement data; reading radar measurement data from the radar record file; performing target true value data interpolation processing; calculating a system error and a random error of the track according to the interpolated target truth value data and radar measurement data; obtaining metadata from the radar record file; reading a corresponding firing table file; based on the target truth value data and the firing table file, fire control parameters which are the same as those when the equipment works are set, and truth values of firing data are calculated; and calculating system errors and random errors of the fire control data. According to the method, the difference of recorded data of various types of equipment is fully considered, and various requirements of system debugging can be met.

Description

Technical Field

[0001] The invention belongs to the technical field of fire control, and in particular relates to a universal fire control system accuracy evaluation method. Background Art

[0002] During the debugging and testing phase of the radar system and fire control system, in order to test the accuracy of the measurement equipment such as search radar, tracking radar, optoelectronic tracking and the performance of fire control solutions, it is necessary to evaluate the accuracy of the measurement equipment to verify whether the performance meets the index requirements. Since the true value data provided and the data formats recorded by various types of equipment are different, and during system debugging, in order to locate the root cause of the problem, it is necessary to conduct comparative analysis from the data source. For this reason, each project team needs to compile special data analysis software suitable for this project, which cannot be applied to other projects.

[0003] Based on the above situation, the present invention proposes a universal fire control system accuracy evaluation method, which integrates the track accuracy and fire control solution accuracy evaluation. Among them, the search radar, tracking radar, and optoelectronic tracking accuracy can all be attributed to the track accuracy. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The technical problem to be solved by the present invention is how to provide a universal fire control system accuracy assessment method to solve the problem of accuracy assessment during debugging and testing of radar systems and fire control systems.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the present invention proposes a universal fire control system accuracy evaluation method, which includes the following steps:

[0008] Step S101, parameter setting of target true value data;

[0009] Step S102, target true value data reading: read each line of data from the target true value data file, and extract the time information, longitude J, latitude J, and time information of each line according to the parameters set in step S101. and elevation H;

[0010] Step S103, converting the target true value data to the radar rotation center;

[0011] Step S104, parameter setting of radar measurement data;

[0012] Step S105, reading radar measurement data from the radar record file;

[0013] Step S106, target true value data interpolation processing;

[0014] Step S107, calculating the systematic error and random error of the track according to the interpolated target true value data and the radar measurement data;

[0015] Step S108, obtaining metadata from the radar record file;

[0016] Step S109, read the corresponding shooting table file;

[0017] Step S110, based on the target true value data and the firing table file, setting the same fire control parameters as when the equipment is working, and calculating the true values ​​of the firing parameters;

[0018] Step S111, calculate the systematic errors and random errors of the fire control parameters.

[0019] (III) Beneficial effects

[0020] The present invention proposes a universal fire control system accuracy evaluation method. The present invention proposes a universal fire control system accuracy evaluation method. The present invention is suitable for evaluating the accuracy of search radar, tracking radar, optoelectronic tracking, fire control solution, etc. The present invention fully considers the differences in the data recorded by various types of equipment, can adapt to data files of different formats through configuration files, and provides a variety of optional correction items to meet various needs of system debugging. It can be used for data analysis during fire control system debugging, inspection and identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flow chart of the track accuracy evaluation of the present invention;

[0022] Figure 2 This is a flow chart of fire control accuracy evaluation of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0024] The present invention proposes a universal fire control system accuracy evaluation method. The present invention is applicable to the evaluation of the accuracy of search radar, tracking radar, optoelectronic tracking, fire control solution, etc. The present invention fully considers the differences in the data recorded by various types of equipment, can adapt to data files of different formats through configuration files, and provides a variety of optional correction items to meet various needs such as system debugging and calibration. It can be used for data analysis during the debugging, inspection and identification of fire control systems.

[0025] Based on the above analysis, the present invention proposes a universal fire control system accuracy evaluation method. The present invention consists of two modules: track accuracy evaluation and fire control solution accuracy evaluation. The target true value data file and radar record data file are read, and the radar data is compared with the target true value data by setting various parameters, and the systematic error and random error are statistically calculated, and the error curve can be intuitively displayed in a graphical manner.

[0026] The present invention implements the steps as follows:

[0027] Step S101, parameter setting of target true value data;

[0028] Step S102, target true value data reading;

[0029] Step S103, converting the target true value data to the radar rotation center;

[0030] Step S104, parameter setting of radar measurement data;

[0031] Step S105, reading radar measurement data from the radar record file;

[0032] Step S106, target true value data interpolation processing;

[0033] Step S107, calculating the systematic error and random error of the track according to the interpolated target true value data and the radar measurement data;

[0034] Step S108, obtaining metadata from the radar record file;

[0035] Step S109, read the corresponding shooting table file;

[0036] Step S110, based on the target true value data and the firing table file, setting the same fire control parameters as when the equipment is working, and calculating the true values ​​of the firing parameters;

[0037] Step S111, calculate the systematic errors and random errors of the fire control parameters.

[0038] Embodiment 1:

[0039] Reference Figure 1 , is a flow chart of track accuracy evaluation of the present invention, comprising the following steps:

[0040] Step S101: Parameter setting of target true value data

[0041] The target truth data file is provided by the test base, the flight party or obtained after PPK differential processing. The basic data content of the target truth data file includes: time (hour, minute, second, millisecond), longitude, latitude and altitude. The target here is the target aircraft. Since the formats of the target truth data files are not exactly the same, in order to improve the versatility, the following parameters can be set:

[0042] (1) The time separator is the separator between time, minutes, seconds, and milliseconds. Common separators are colon, comma, and semicolon. Other separators can be selected or entered manually.

[0043] (2) The columns for time, latitude, longitude, and altitude;

[0044] (3) Coordinate offset correction: You can enter the offset between the GPS antenna installation position on the carrier and the radar measurement position, with cm as the quantitative unit. You can choose whether to make the correction.

[0045] Step S102: Read target true value data

[0046] Read each row of data from the target true value data file, and extract the time information, longitude J, latitude J, and time information of each row according to the parameters set in step S101. and elevation H; the extracted time information is first converted into milliseconds.

[0047] Step S103: Convert target true value data to radar rotation center

[0048] S31, the target true value data Convert from geocentric rectangular coordinate system to geocentric geodetic coordinate system

[0049]

[0050] Where N is the radius of curvature of the ellipsoid, and

[0051]

[0052] a is the major radius of the earth, a=6378137m; e is the first eccentricity of the ellipsoid, e 2 =0.00669437999013.

[0053] S32. Target true value data is converted from the geocentric coordinate system to the radar geodetic rectangular coordinate system

[0054] The coordinates of the radar location are According to formula (1), the coordinates of the radar in the geocentric coordinate system are calculated as P0(x0, y0, z0).

[0055] Calculate the target true value data in the radar geodetic rectangular coordinate system.E (x E ,y E ,z E ):

[0056]

[0057] S33, transform the target true value data from the radar earth rectangular coordinate system to the radar earth coordinate system T (R E ,α E ,β E )

[0058]

[0059] R E is the distance in the radar's large earth coordinate system;

[0060] α E is the azimuth of the radar in the large earth coordinate system;

[0061] β E is the elevation angle of the radar in the large earth coordinate system.

[0062] S34, determine whether to perform coordinate offset correction, if yes, then the distance R of the true value data is E The correction is made by the difference between the installation position of the GPS antenna on the carrier and the geometric center of the carrier.

[0063] Step S104: Parameter setting of radar measurement data

[0064] S41. Set the time separator, which is the separator between time, minute, second and millisecond. Common separators are colon, comma, semicolon and space. Other separators can be selected or entered manually.

[0065] S42, setting the columns of time, distance, azimuth, and elevation;

[0066] S43. Set the unit of angle (azimuth, elevation), which can be mil (6000 system), mil (6400 system), degree, or milliradian.

[0067] S44, set the time correction value, the unit of which is ms. It is used to correct the error caused by the timing of the radar system;

[0068] S45. Set the azimuth correction value, the unit of which is mrad. It is used to correct the angle between the radar vehicle zero position and true north, and can also be used to correct the radar orientation error.

[0069] Step S105: Read radar measurement data from radar record file

[0070] S51, reading each line of data from the radar record file, and extracting the time information, distance, azimuth, and pitch angle of each line according to the parameters set in S104;

[0071] S52, converting the angle unit into milliradian uniformly according to the set angle unit;

[0072] S53, according to the set time correction amount, convert the extracted time information into milliseconds, and add the time correction amount;

[0073] S54. According to the set azimuth correction amount, add the azimuth correction amount to the extracted azimuth angle.

[0074] Step S106: Target true value data interpolation processing

[0075] The time scale of the target true value data is different from the time when the fire control system records the data. When evaluating the accuracy, it is necessary to convert to the same time and then compare. The target true value data is interpolated and fitted to the time when the data is recorded. Since the data rate of the target true value data is relatively high, generally above 20Hz, three-point linear interpolation is used.

[0076] (1) When calculating the track accuracy, interpolate the target true value data to the time of the track recording data;

[0077] (2) When calculating the fire control solution accuracy, the target true value data is interpolated to 1 ms interval.

[0078] Step S107: Calculate the systematic error and random error of the track based on the interpolated target true value data and radar measurement data

[0079] S71, when the target true value data has been converted to the radar measurement data, the distance difference, azimuth difference and elevation difference of the target true value data and the measurement data at each moment are calculated, and then the systematic error and random error are calculated;

[0080] System error calculation:

[0081]

[0082] ΔX i ——The first difference between the i-th measured data and the target true value data;

[0083] N——Number of measurement data;

[0084] Random error calculation:

[0085]

[0086] S72, can set the distance segment for evaluation

[0087] Set the starting distance and ending distance, and only the data within this distance range will be counted during accuracy calculation;

[0088] S73: Whether to allow automatic elimination of abnormal data

[0089] When automatic removal of abnormal data is allowed, data greater than 3 times the mean value is removed, and the number of all points and the number of removed points are counted. After removing the abnormal data, the accuracy is recalculated.

[0090] Reference Figure 2 , is a fire control solution accuracy flow chart of the present invention, comprising the following steps:

[0091] When the target true value data can be obtained, the true value data refers to steps S101-S103; when the target true value data cannot be obtained, the tracking data of the tracking radar is used as the true value of the target track.

[0092] Step S108, obtaining metadata from the radar record file;

[0093] Step S109: Read the corresponding shooting table file

[0094] When evaluating the accuracy of fire control solution, the same firing table as the fire control system is selected to solve the firing parameters through the firing table. The firing tables of different types of ammunition and different types of guns are different, and the firing tables of the same type of gun and ammunition at different altitudes are also different. Therefore, the type of ammunition, type of gun, and altitude are used as input parameters, and the corresponding firing table file is read according to these parameters.

[0095] Step S110: Based on the target true value data and the firing table file, set the same fire control parameters as when the equipment is working, and calculate the true values ​​of the firing parameters.

[0096] (1) Calculate the theoretical values ​​of firing parameters using target true value data, set initial velocity and set meteorological conditions; meteorological conditions include wind speed, wind direction, air pressure, temperature and relative humidity.

[0097] (2) For the target true value data at each moment (which has been converted to the radar large earth coordinate system), solve the firing parameters (search for the azimuth parameters, elevation parameters and missile flight time in the firing table file based on the target true value data). Assume t n At this moment, the target true value data is The shooting parameters are calculated, including: the flying time Ft, the azimuth parameters FAz, and the elevation parameters FEl. The values ​​of these parameters are (t n -Ft) shooting true value data of all elements at the moment;

[0098] Step S111: Calculate the systematic error and random error of the shooting parameters

[0099] The true value data of the shooting parameters are interpolated to the moment of the data recorded by the fire control, and the errors of Ft, FAz, and FEl at each moment are calculated. The true value data of the shooting parameters are compared with the data in the radar record file to perform error statistics.

[0100] The present invention proposes a universal fire control system accuracy evaluation method. The present invention is applicable to the evaluation of the accuracy of search radar, tracking radar, optoelectronic tracking, fire control solution, etc. The present invention fully considers the differences in the data recorded by various types of equipment, can adapt to data files of different formats through configuration files, and provides a variety of optional correction items to meet various requirements of system debugging. It can be used for data analysis during the debugging, inspection and identification of fire control systems.

[0101] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A general fire control system accuracy evaluation method, characterized in that: The method comprises the following steps: Step S101, parameter setting of target true value data; Step S102, target true value data reading: read each line of data from the target true value data file, and extract the time information, longitude J, latitude J, and time information of each line according to the parameters set in step S101. and elevation H; Step S103, converting the target true value data to the radar rotation center; Step S104, parameter setting of radar measurement data; Step S105, reading radar measurement data from the radar record file; Step S106, target true value data interpolation processing; Step S107, calculating the systematic error and random error of the track according to the interpolated target true value data and the radar measurement data; Step S108, obtaining metadata from the radar record file; Step S109, read the corresponding shooting table file; Step S110, based on the target true value data and the firing table file, setting the same fire control parameters as when the equipment is working, and calculating the true values ​​of the firing parameters; Step S111, calculate the systematic errors and random errors of the fire control parameters.

2. The universal fire control system accuracy evaluation method according to claim 1, characterized in that: The S101 includes: the target true value data file is provided by the test base, the flight party or obtained after PPK differential processing, and the basic data content of the target true value data file includes: time, longitude, latitude and elevation; the parameter setting includes: the time separator, the column where the time, latitude, longitude, elevation is located, and the coordinate offset correction amount.

3. The universal fire control system accuracy evaluation method as claimed in claim 2, characterized in that: The S103 includes: S31, the target true value data Convert from geocentric rectangular coordinate system to geocentric geodetic coordinate system Where N is the radius of curvature of the ellipsoid, and a is the major radius of the earth, a=6378137m; e is the first eccentricity of the ellipsoid, e 2 =0.00669437999013; S32. Target true value data is converted from the geocentric coordinate system to the radar geodetic rectangular coordinate system The coordinates of the radar location are According to formula (1), the coordinates of the radar in the geocentric coordinate system are calculated as P0 (x0, y0, z0); Calculate the target true value data in the radar geodetic rectangular coordinate system. E (x E ,y E ,z E ): S33, transform the target true value data from the radar earth rectangular coordinate system to the radar earth coordinate system T (R E ,α E ,β E ) R E is the distance in the radar large earth coordinate system; α E is the azimuth of the radar in the large earth coordinate system; β E is the elevation angle of the radar in the large earth coordinate system; S34, determine whether to perform coordinate offset correction, if yes, then the distance R of the true value data is E The correction is made by the difference between the installation position of the GPS antenna on the carrier and the geometric center of the carrier.

4. The universal fire control system accuracy assessment method as claimed in claim 3, characterized in that: The S104 includes: S41, set the time separator; S42, setting the columns of time, distance, azimuth, and elevation; S43, setting the unit of angle; S44, set the time correction value, the unit of which is ms, to correct the error caused by the timing of the radar system; S45. Set the azimuth correction value, the unit of which is mrad, to correct the angle between the radar vehicle zero position and true north and the radar orientation error.

5. The universal fire control system accuracy evaluation method as claimed in claim 4, characterized in that: The S105 includes: S51, reading each line of data from the radar record file, and extracting the time information, distance, azimuth, and pitch angle of each line according to the parameters set in S104; S52, converting the angle unit into milliradian uniformly according to the set angle unit; S53, according to the set time correction amount, convert the extracted time information into milliseconds, and add the time correction amount; S54. According to the set azimuth correction amount, add the azimuth correction amount to the extracted azimuth angle.

6. The universal fire control system accuracy assessment method as claimed in claim 5, characterized in that: The step S106 includes: interpolating the target true value data to fit it to the time when the recorded data is located, using three-point linear interpolation, wherein: When calculating the track accuracy, the target true value data is interpolated to the moment of the track recording data; When calculating the fire control solution accuracy, the target true value data is interpolated to 1ms interval.

7. The universal fire control system accuracy assessment method according to claim 6, characterized in that: The S107 includes: S71, when the target true value data has been converted to the radar measurement data, the distance difference, azimuth difference and elevation difference of the target true value data and the measurement data at each moment are calculated, and then the systematic error and random error are calculated; System error calculation: ΔX i ——The first difference between the i-th measured data and the target true value data; N——Number of measurement data; Random error calculation: S72. Set the distance segment for evaluation Set the starting distance and ending distance, and only the data within this distance range will be counted during accuracy calculation; S73: Whether to allow automatic elimination of abnormal data When automatic removal of abnormal data is allowed, data greater than 3 times the mean is removed, and the number of all points and the number of removed points are counted; after removing the abnormal data, the accuracy is recalculated.

8. The universal fire control system accuracy assessment method as claimed in claim 3, characterized in that: The S109 includes: when evaluating the accuracy of fire control solution, selecting the same firing table as the fire control system, and solving the shooting parameters through the firing table; taking the type of ammunition, the type of gun, and the altitude as input parameters, and reading the corresponding firing table file according to these parameters.

9. The universal fire control system accuracy assessment method according to claim 8, characterized in that: The S110 includes: (1) Calculate the theoretical values ​​of firing parameters using target true value data, set initial velocity and set meteorological conditions; meteorological conditions include wind speed, wind direction, air pressure, temperature and relative humidity; (2) For the target true value data at each moment that has been converted to the radar large earth coordinate system, the firing parameters are solved; among them, the azimuth parameters, elevation parameters and missile flight time are searched in the firing table file according to the target true value data. Assume that t n At this moment, the target true value data is Calculate the shooting parameters, including: bullet flight time Ft, azimuth parameters FAz, elevation parameters FEl, the values ​​of these parameters are (t n -Ft) is the true value data of all shooting elements at the moment.

10. The universal fire control system accuracy evaluation method according to claim 9, characterized in that: The S111 includes: interpolating the true value data of the shooting parameters to the moment of the data recorded by the fire control, calculating the errors of Ft, FAz, and FEl at each moment, comparing the true value data of the shooting parameters with the data in the radar record file, and performing error statistics.

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