Method, device and equipment for seeker to measure target position and storage medium

Abstract

The invention provides a method, a device and equipment for measuring a target position by a seeker, and a storage medium. The method comprises the following steps: acquiring flight information of an aircraft, a seeker frame angle and a target misalignment angle; and calculating target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle, and guiding the aircraft to collide with the collision target according to the target coordinates. According to the method and the device, the real-time target coordinate of the collision target can be directly calculated by utilizing the seeker frame angle and the target misalignment angle of the seeker of the aircraft and combining the flight information of the aircraft, and the aircraft can be guided to accurately collide with the collision target based on the calculated target coordinate.

Description

Technical Field

[0001] The present disclosure relates to the technical field of seeker manufacturing, and in particular to a method, device, equipment and storage medium for measuring a target position with a seeker. Background Art

[0002] At present, the traditional image seeker on the aircraft calculates the line-of-sight angular velocity generated during the target tracking process by collecting two-dimensional image information. After calculating the line-of-sight angular velocity, it is output to the guidance computer as a guidance instruction, and the proportional guidance law is used to achieve the guidance of the aircraft ammunition. In this guidance method, the line-of-sight angular velocity only reflects the instantaneous relative angular motion between the target and the aircraft, and cannot provide the specific position and movement trend of the target. Due to the lack of the ability to predict the dynamic behavior of the target, the guidance system forces the aircraft to rely on local feedback information for high-frequency, high-overload passive correction. This "hysteresis control" causes a significant increase in the initial stage of the aircraft's ballistic curvature, which in turn causes a surge in air resistance and kinetic energy loss, and the loss of kinetic energy further leads to the loss of available overload of the aircraft. Therefore, how to measure the target position through the seeker on the aircraft and guide the aircraft to collide with the collision target based on the calculated target position has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0003] In view of this, the present disclosure proposes a method, device, equipment and storage medium for measuring target position by a seeker, which can enable the seeker on the aircraft to have the ability to calculate target coordinates in real time, and can guide the aircraft to accurately collide with the collision target based on the calculated target coordinates.

[0004] According to a first aspect of the present disclosure, a method for measuring a target position by a seeker is provided, comprising: Obtain the flight information of the aircraft as well as the seeker frame angle and target misalignment angle; Calculating target coordinates of a collision target based on the flight information, the seeker frame angle, and the target misalignment angle; The aircraft is guided to collide with the collision target according to the target coordinates.

[0005] In a possible implementation, the flight information includes: at least one of the coordinates of the center of mass and the attitude angle of the aircraft.

[0006] In a possible implementation, when calculating the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle, the method includes: Get the target normalized vector under the stereoscopic system; Calculate the expression of the target normalized vector in the geodetic coordinate system based on the attitude angle, the seeker frame angle and the target misalignment angle in the flight information; The target coordinates of the collision target in the geodetic coordinate system are calculated based on the expression of the target normalized vector in the geodetic coordinate system and the centroid coordinates in the flight information.

[0007] In a possible implementation, when calculating the expression of the target normalized vector in the geodetic coordinate system based on the attitude angle, the seeker frame angle and the target misalignment angle in the flight information, the method includes: Based on the target misalignment angle, calculating the expression of the target normalized vector in the seeker frame coordinate system; Calculating the expression of the target normalized vector in the aircraft coordinate system based on the seeker frame angle and the expression of the target normalized vector in the seeker frame coordinate system; Based on the attitude angle and the expression of the target normalized vector in the aircraft coordinate system, the expression of the target normalized vector in the earth coordinate system is calculated.

[0008] In a possible implementation, based on the expression of the target normalized vector in the geodetic coordinate system and the center of mass coordinates in the flight information, the target coordinates of the collision target in the geodetic coordinate system are calculated based on a pre-constructed target coordinate calculation formula.

[0009] According to a second aspect of the present disclosure, there is provided a device for a seeker to measure a target position, comprising: A data acquisition module is used to obtain the flight information of the aircraft as well as the seeker frame angle and target misalignment angle; A target coordinate calculation module, used to calculate the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle; A collision guidance module is used to guide the aircraft to collide with the collision target according to the target coordinates.

[0010] In a possible implementation, the flight information includes: at least one of the coordinates of the center of mass and the attitude angle of the aircraft.

[0011] In a possible implementation, the target coordinate calculation module, when calculating the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle, is specifically used to: Get the target normalized vector under the stereoscopic system; Calculate the expression of the target normalized vector in the geodetic coordinate system based on the attitude angle, the seeker frame angle and the target misalignment angle in the flight information; The target coordinates of the collision target in the geodetic coordinate system are calculated based on the expression of the target normalized vector in the geodetic coordinate system and the centroid coordinates in the flight information.

[0012] According to a third aspect of the present disclosure, a device for measuring a target position with a seeker is provided, comprising: a processor; and a memory for storing processor executable instructions; wherein the processor is configured to execute the method described in the first aspect of the present disclosure.

[0013] According to a fourth aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the method described in the first aspect of the present disclosure.

[0014] The present disclosure provides a method, device, equipment and storage medium for measuring the target position of a seeker, the method comprising: obtaining flight information of an aircraft and a seeker frame angle and a target misalignment angle; calculating the target coordinates of a collision target based on the flight information, the seeker frame angle and the target misalignment angle; and guiding the aircraft to collide with the collision target according to the target coordinates. In the present disclosure, the seeker frame angle and the target misalignment angle of the aircraft seeker can be used in combination with the flight information of the aircraft to directly calculate the real-time target coordinates of the collision target, and the aircraft can be guided to accurately collide with the collision target based on the calculated target coordinates.

[0015] Furthermore, in the present disclosure, after calculating the real-time target coordinates of the collision target, the target position prediction within a certain period of time can be obtained through interpolation calculation, and the target position prediction is applied to the extended proportional guidance law to realize the guidance of the aircraft ammunition. The extended proportional guidance law adds a lead correction term on the basis of the proportional guidance law. Through the lead correction term, the flight direction adjustment of the aircraft can be made more forward-looking, thereby reducing the ballistic curvature and drag loss, so that the trajectory straightening and kinetic energy optimization can be achieved during guidance.

[0016] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0018] Figure 1 A flow chart showing a method for a seeker to measure a target position according to an embodiment of the present disclosure is shown; Figure 2A schematic diagram showing the relative relationship between the seeker frame coordinate system and the aircraft coordinate system according to an embodiment of the present disclosure; Figure 3 A schematic diagram showing the relative relationship between an aircraft coordinate system and a geodetic translation coordinate system according to an embodiment of the present disclosure; Figure 4 An example flow chart of a method for a seeker to measure a target position according to an embodiment of the present disclosure is shown; Figure 5 A schematic block diagram of a device for measuring a target position by a seeker according to an embodiment of the present disclosure is shown; Figure 6 A schematic block diagram of a device for measuring a target position by a seeker according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0019] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0020] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0021] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0022] <Method Example> Figure 1 A flow chart of a method for measuring a target position by a seeker according to an embodiment of the present disclosure is shown. Figure 1 As shown, the method includes steps S1100-S1300.

[0023] S1100, obtaining flight information of the aircraft as well as a seeker frame angle and a target misalignment angle.

[0024] It should be noted here that the aircraft is provided with a seeker, through which the seeker frame angle and the target misalignment angle can be collected in real time. At the same time, the seeker is also provided with a communication interface with the navigation device, through which the seeker can also simultaneously obtain the flight information of the aircraft collected in real time by the navigation device. In this way, when measuring the target position, the seeker can obtain the flight information of the aircraft, the seeker frame angle and the target misalignment angle in real time. Among them, the flight information of the aircraft may include: at least one of the center of mass coordinates and attitude angle of the aircraft.

[0025] like Figure 2 As shown, the seeker frame angle of the aircraft ( ) is the seeker frame coordinate system o- Relative to the aircraft coordinate system o- The target offset angle calculated by the seeker ( , ) is the angle between the tracking axis and the optical axis of the seeker during image tracking. It can be obtained by real-time conversion based on the pixel value from the tracking point to the center of the field of view. is the target pitch misalignment angle, is the target yaw misalignment angle. Figure 3 As shown, the attitude angle in the aircraft flight information ( ) is the aircraft coordinate system o- Translation coordinate system relative to the earth o- The center of mass coordinates in the aircraft flight information are the coordinates of the center of mass of the aircraft during the flight.

[0026] It should be noted here that the seeker frame coordinate system o- The origin o is taken at the rotation center of the seeker frame. o The axis coincides with the centerline of the pitch frame in the front-to-back direction and is positive in the forward direction. o The axis coincides with the yaw axis and is positive upwards. o The axis coincides with the pitch axis, and the positive direction is determined according to the right-hand coordinate system. is the pitch frame angle, with upward being positive, is the yaw frame angle, which is positive when rotating to the left. and the yaw frame angle Together they form the seeker frame angle ( ).

[0027] Aircraft coordinate system o- The origin o is taken at the center of mass of the aircraft. o The axis is on the longitudinal axis of the aircraft, with forward being positive. o The axis is in the longitudinal symmetry plane of the aircraft and is o The axis is vertical, with upward being positive. o Axis and o The planes are vertical and oriented according to a right-hand coordinate system.

[0028] Geodetic translation coordinate system o- The origin o is taken at the center of mass of the aircraft, and its o The axis is parallel to the AX axis of the geodetic coordinate system, o The axis is parallel to the AY axis of the geodetic coordinate system, o The axis is parallel to the AZ axis of the geodetic coordinate system.

[0029] Definition of geodetic coordinate system: It is fixed to the surface of the earth, with its origin "A" as the launch point, A X The axis is consistent with the launch direction of the aircraft, and the positive direction is the launch direction; AY The axis is perpendicular to the ground, with upward being positive; AY Axis and AXY The plane is vertical and its positive direction is determined by the right-hand coordinate system.

[0030] S1200, based on the flight information of the aircraft, the seeker frame angle and the target misalignment angle, the target coordinates of the collision target are calculated. The specific calculation steps can be as follows: First, obtain the target normalized vector in the stereoscopic system. Specifically, the stereoscopic system o- The origin o is taken at the center of mass of the aircraft, and the seeker frame coordinate system is rotated in sequence around o Axis rotation , around o Axis rotation Get. In the stereoscopic system, the vector (1,0,0) is used as the target normalized vector. The target normalized vector is used to represent the target on the x-axis of the stereoscopic system.

[0031] Second, based on the attitude angle, seeker frame angle and target misalignment angle in the flight information, calculate the target normalized vector expression in the geodetic coordinate system. Figure 4 The calculation steps are described below. The specific calculation steps can be as follows: First, based on the target misalignment angle, the expression of the target standardized vector in the seeker frame coordinate system is calculated. Specifically, the first transformation matrix between the stereoscopic system and the seeker frame coordinate system is determined based on the target misalignment angle. Then, based on the first transformation matrix, the expression of the target standardized vector in the seeker frame coordinate system is calculated. Among them, the expression of the target standardized vector in the seeker frame coordinate system is as follows: (1) In the formula, is the expression of the target normalized vector in the seeker frame coordinate system, (1,0,0) is the target normalized vector, and the first transformation matrix is ​​as follows: in,( , ) is the target misalignment angle.

[0032] Next, based on the seeker frame angle and the target normalized vector in the seeker frame coordinate system, the target normalized vector in the aircraft coordinate system is calculated. Specifically, first based on the seeker frame angle ( ) determine the second transformation matrix between the seeker frame coordinate system and the aircraft coordinate system, and then calculate the expression of the target standardized vector in the aircraft coordinate system based on the second transformation matrix and the expression of the target standardized vector in the seeker frame coordinate system. The expression of the target standardized vector in the aircraft coordinate system is as follows: (2) In the formula, ( ) is the expression of the target standardized vector in the aircraft coordinate system, and the second transformation matrix is ​​as follows: in,( ) is the seeker frame angle.

[0033] Finally, based on the expression of the attitude angle and the target standardized vector in the aircraft coordinate system, the expression of the target standardized vector in the earth coordinate system is calculated. Specifically, the third transformation matrix between the aircraft coordinate system and the earth translation coordinate system is first determined based on the attitude angle of the aircraft, and then based on the third transformation matrix and the expression of the target standardized vector in the aircraft coordinate system, the expression of the target standardized vector in the earth translation coordinate system is calculated. Among them, the expression of the target standardized vector in the earth translation coordinate system is as follows: (3) In the formula, The third transformation matrix is ​​the expression of the target standardized vector in the geodetic translation coordinate system as follows: in,( ) is the vehicle attitude angle.

[0034] Next, using the translation relationship between the geodetic translation coordinate system and the geodetic coordinate system, the expression of the target standardized vector in the geodetic translation coordinate system is converted to the expression of the target standardized vector in the geodetic coordinate system. The expression of the target standardized vector in the geodetic coordinate system is as follows: (4) In the formula, is the coordinate of the center of mass of the aircraft, ( The target normalized vector is expressed in the geodetic coordinate system.

[0035] Third, based on the expression of the target standardized vector in the geodetic coordinate system and the center of mass coordinates in the flight information, the target coordinates of the collision target in the geodetic coordinate system are calculated.

[0036] In a possible implementation, based on the expression of the target standardized vector in the geodetic coordinate system and the centroid coordinates in the flight information, the target coordinates of the collision target in the geodetic coordinate system are calculated based on a pre-constructed target coordinate calculation formula, wherein, in the present disclosure, it is assumed that the targets are on the same ground or water surface, that is, the y-axis coordinate of the collision target in the geodetic coordinate system is 0, and according to the linear equation of the centroid coordinates on the line of sight axis in the geodetic coordinate system and the target coordinate component, the target coordinate calculation formula of the collision target in the geodetic coordinate system can be obtained as follows: (5) Where (x, y, z) is the target coordinates in the geodetic coordinate system.

[0037] S1300, guiding the aircraft to collide with the collision target according to the target coordinates of the collision target. Specifically, after calculating the real-time target coordinates of the collision target, the target position prediction within a certain period of time can be obtained by interpolation calculation, and then the aircraft is guided to collide with the collision target based on the target position prediction within a period of time.

[0038] In the guidance method disclosed in the present invention, the target position prediction is applied to the extended proportional guidance law to realize the guidance of the aircraft ammunition. Since the extended proportional guidance law adds a pre-correction term on the basis of the proportional guidance law, the pre-correction term can make the flight direction adjustment of the aircraft more forward-looking, thereby reducing the ballistic curvature and drag loss, and finally realizing the straightening of the ballistic trajectory and the optimization of kinetic energy.

[0039] The present disclosure provides a method for measuring the position of a target with a seeker, including: obtaining flight information of an aircraft, a seeker frame angle, and a target misalignment angle; and calculating the target coordinates of a collision target based on the flight information, the seeker frame angle, and the target misalignment angle. The aircraft is guided to collide with the collision target according to the target coordinates. In the present disclosure, the seeker frame angle and the target misalignment angle of the aircraft seeker can be used in combination with the flight information of the aircraft to directly calculate the real-time target coordinates of the collision target, and the aircraft can be guided to accurately collide with the collision target based on the calculated target coordinates.

[0040] In the present disclosure, after calculating the real-time target coordinates of the collision target, the target position prediction within a certain period of time can be obtained through interpolation calculation, and the target position prediction is applied to the extended proportional guidance law to realize the guidance of the aircraft ammunition. The extended proportional guidance law adds a pre-correction term on the basis of the proportional guidance law. Through the pre-correction term, the flight direction adjustment of the aircraft can be made more forward-looking, thereby reducing the ballistic curvature and drag loss, so that the trajectory straightening and kinetic energy optimization can be achieved during guidance.

[0041] <Device Example> Figure 5 FIG. 1 is a schematic block diagram of a device for measuring a target position by a seeker according to an embodiment of the present disclosure. Figure 5 As shown, the device 100 includes: The data acquisition module 110 is used to acquire the flight information of the aircraft and the seeker frame angle and target misalignment angle; A target coordinate calculation module 120, for calculating the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle; The collision guidance module 130 is used to guide the aircraft to collide with the collision target according to the target coordinates.

[0042] In a possible implementation manner, the flight information includes: at least one of the coordinates of the center of mass and the attitude angle of the aircraft.

[0043] In a possible implementation, the target coordinate calculation module, when calculating the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle, is specifically used to: Get the target normalized vector under the stereoscopic system; Based on the attitude angle, seeker frame angle and target misalignment angle in the flight information, calculate the expression of the target standardized vector in the geodetic coordinate system; The target coordinates of the collision target in the geodetic coordinate system are calculated based on the expression of the target normalized vector in the geodetic coordinate system and the center of mass coordinates in the flight information.

[0044] <Equipment Embodiment> Figure 6 FIG. 1 is a schematic block diagram of a device for measuring a target position by a seeker according to an embodiment of the present disclosure. Figure 6 As shown, the device 200 for measuring the target position of the seeker includes: a processor 210 and a memory 220 for storing executable instructions of the processor 210. The processor 210 is configured to implement any of the above-mentioned methods for measuring the target position of the seeker when executing the executable instructions.

[0045] Here, it should be noted that the number of processors 210 can be one or more. At the same time, in the device 200 for measuring the target position of the seeker in the embodiment of the present disclosure, an input device 230 and an output device 240 may also be included. Among them, the processor 210, the memory 220, the input device 230 and the output device 240 may be connected through a bus or in other ways, which are not specifically limited here.

[0046] The memory 220 is a computer-readable storage medium that can be used to store software programs, computer executable programs, and various modules, such as the program or module corresponding to the target position measurement method of the embodiment of the present disclosure. The processor 210 executes various functional applications and data processing of the device 200 for measuring the target position of the seeker by running the software program or module stored in the memory 220.

[0047] The input device 230 may be used to receive input numbers or signals. The signals may be key signals related to user settings and function control of the device / terminal / server. The output device 240 may include display devices such as display screens.

[0048] <Storage Medium Embodiment> According to a fourth aspect of the present disclosure, a non-volatile computer-readable storage medium is also provided, on which computer program instructions are stored. When the computer program instructions are executed by the processor 210, any of the above-mentioned methods for measuring a target position by a seeker is implemented.

[0049] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for measuring a target position by a seeker, characterized in that: include: Obtain the flight information of the aircraft as well as the seeker frame angle and target misalignment angle; Calculating target coordinates of a collision target based on the flight information, the seeker frame angle, and the target misalignment angle; The aircraft is guided to collide with the collision target according to the target coordinates.

2. The method according to claim 1, characterized in that The flight information includes: at least one of the center of mass coordinates and attitude angle of the aircraft.

3. The method according to claim 2, characterized in that When calculating the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle, the method includes: Get the target normalized vector in the stereoscopic system; Calculate the expression of the target normalized vector in the geodetic coordinate system based on the attitude angle, the seeker frame angle and the target misalignment angle in the flight information; The target coordinates of the collision target in the geodetic coordinate system are calculated based on the expression of the target normalized vector in the geodetic coordinate system and the centroid coordinates in the flight information.

4. The method according to claim 3, characterized in that When calculating the expression of the target normalized vector in the geodetic coordinate system based on the attitude angle, the seeker frame angle and the target misalignment angle in the flight information, it includes: Based on the target misalignment angle, calculating the expression of the target normalized vector in the seeker frame coordinate system; Calculating the expression of the target normalized vector in the aircraft coordinate system based on the seeker frame angle and the expression of the target normalized vector in the seeker frame coordinate system; Based on the attitude angle and the expression of the target normalized vector in the aircraft coordinate system, the expression of the target normalized vector in the earth coordinate system is calculated.

5. The method according to claim 3, characterized in that: Based on the expression of the target normalized vector in the geodetic coordinate system and the centroid coordinates in the flight information, when calculating the target coordinates of the collision target in the geodetic coordinate system, it is implemented based on a pre-constructed target coordinate calculation formula.

6. A device for measuring target position by a seeker, characterized in that: include: A data acquisition module is used to obtain the flight information of the aircraft as well as the seeker frame angle and target misalignment angle; A target coordinate calculation module, used to calculate the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle; A collision guidance module is used to guide the aircraft to collide with the collision target according to the target coordinates.

7. The device according to claim 6, characterized in that The flight information includes: at least one of the center of mass coordinates and attitude angle of the aircraft.

8. The device according to claim 7, characterized in that The target coordinate calculation module, when calculating the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle, is specifically used to: Get the target normalized vector under the stereoscopic system; Calculate the expression of the target normalized vector in the geodetic coordinate system based on the attitude angle, the seeker frame angle and the target misalignment angle in the flight information; The target coordinates of the collision target in the geodetic coordinate system are calculated based on the expression of the target normalized vector in the geodetic coordinate system and the centroid coordinates in the flight information.

9. A device for measuring the target position by a seeker, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the method described in any one of claims 1 to 5 when executing the executable instructions.

10. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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