Visual trajectory tracking system and method for rain enhancement and hail suppression rocket projectile

Abstract

The invention discloses a visual trajectory tracking system and method for a rain enhancement and hail suppression rocket projectile. The system comprises a trajectory tracking system, a data server and a GPS module carried by the rain enhancement and hail suppression rocket projectile. The GPS module transmits flight path data of the rain enhancement and hail suppression rocket projectile to the data server in real time; the trajectory tracking system calls the data in the database server in real time, retrieves and counts the data, and displays the flight state and the real-time trajectory curve of the rocket projectile on a system interface in a visual form by using the retrieved data; according to the invention, based on a mode of combining a theoretical model and actual data, the problem that no signal data cannot be transmitted back in time is solved, and an experiment verifies that a curve combined by actual theoretical data is matched with a curve of complete real-time data; a catalyst sowing path, a rocket projectile flight path and a rocket projectile wreckage drop point can be accurately positioned.

Description

Technical Field

[0001] The invention belongs to the field of artificial weather influencing, rain-enhancing and hail-preventing rocket trajectory tracking, and in particular relates to a system and method for visualizing the trajectory tracking of a rain-enhancing and hail-preventing rocket. Background Art

[0002] In recent years, artificial weather modification mainly uses aircraft, anti-aircraft guns, rockets and other vehicles to send catalysts such as AgI and dry ice into the clouds, and uses favorable terrain such as mountains to lift moist airflow and spread them at appropriate locations to achieve the purposes of artificial rain (snow), artificial hail prevention, artificial haze elimination, artificial rain reduction, artificial frost prevention, etc. Compared with other operating tools, rockets have the characteristics of concentrated spreading and high ice nucleus concentration in transporting catalysts, which can control the scope of the target area. They are very suitable for aircraft entering convective clouds for artificial rain and hail prevention operations, so they are rapidly promoted and applied nationwide. At present, most hail-prevention rockets can only provide flight data under ideal conditions, and the actual flight trajectory of the rocket cannot be measured. Therefore, after the rocket is launched, the trajectory will deviate due to the influence of wind speed. When operating under adverse conditions such as rain and strong winds, the actual operating position will deviate. Moreover, after reaching the apex of the launch, the rain-enhancing and hail-prevention rocket uses a parachute to bring the rocket debris to the ground. Due to the influence of wind speed, the actual landing position of the rocket will also be biased, which makes it inconvenient to locate the landing point of the rocket and collect the rocket debris, which brings great safety risks to artificial rain-enhancing and hail-prevention operations. Therefore, more accurate prediction and exploration of rocket flight trajectory data has very important research value and significance. Summary of the invention

[0003] In view of this, the present invention provides a visualized trajectory tracking system and method for rain-making and hail-prevention rockets, which can accurately locate the catalyst spreading path, the rocket flight trajectory and the landing point of the rocket debris.

[0004] The technical solution for implementing the present invention is as follows:

[0005] A visualization trajectory tracking system for a rain-enhancing and hail-preventing rocket, comprising a trajectory tracking system, a data server and a GPS module carried by the rain-enhancing and hail-preventing rocket;

[0006] The GPS module transmits the flight trajectory data of the rain-increasing and hail-preventing rocket to the data server in real time;

[0007] The trajectory tracking system retrieves data from the database server in real time, searches and counts the data, and uses the retrieved data to display the flight status and real-time trajectory curve of the rocket in a visual form on the system interface.

[0008] Furthermore, the trajectory tracking system is a web software system that can realize the functions of visualizing the rocket's flight trajectory on the map, charting the flight status, and standardizing data downloading; the GPS module collects data and uploads it to the data server through the 4G network. The data server is the information recorder of the flight data of the rocket operation process. All operational flight data collected by the GPS module will be uploaded to the data server; the trajectory tracking system connects to the data server to receive data, retrieve and count the data; and calls the retrieved data to display the rocket's flight status and real-time trajectory curve in a visual form on the system interface.

[0009] A method for visualizing the trajectory of a rain-enhancing and hail-preventing rocket comprises the following steps:

[0010] Step 1, log in to the trajectory tracking system; the trajectory tracking system is based on the WebGIS platform and introduces the Tiandi map image through the Cesium framework. Cesium is a cross-platform JavaScript library that uses the WGS84 coordinate system to display the flight trajectory information of GPS rockets.

[0011] Step 2, the launcher launches the rain-increasing and hail-preventing rocket with the GPS module;

[0012] Step 3, the GPS module records the trajectory data of the rocket in real time throughout the whole process;

[0013] Step 4: The GPS module uploads the collected trajectory data to the data server via the 4G network within the base station signal range;

[0014] Step 5: For the data collected by the GPS module outside the base station signal range, the delay-tolerant network DTN technology will be used to store the data in segments in the rocket intermediate node, and will be transmitted back to the data server after there is a signal within the altitude range;

[0015] Step 6: In view of the actual environmental factors, when the rocket rises to a certain height, the GPS module will have no signal. Based on the collected data, some theoretical rocket trajectory data is generated to complete the trajectory. After the real-time data is transmitted back, the trajectory is compared to optimize the theoretical model.

[0016] Step 7: The flight trajectory of the rocket is displayed on the trajectory tracking system, and the user determines the landing point of the rocket based on the flight trajectory of the rocket displayed on the trajectory tracking system.

[0017] Furthermore, the rain-making and hail-prevention rocket consists of six parts: a safe landing system, a spreading system, an engine, a locator, a small storage device and a tail wing; the locator is equipped with a GPS module, which will transmit the data collected within the signal range back to the data server through the 4G network, and all data can be called up at any time; the data collected outside the signal range will be temporarily stored in a small storage device.

[0018] Furthermore, the specific process of step 4 is:

[0019] (1) Before launching the rocket, turn on the GPS module switch, connect the GPS tracker to the network, and perform handshake with the tracking and positioning system;

[0020] (2) The GPS tracker sends a track message to the tracking and positioning system to notify the rocket to go online, and the tracking and positioning system will then display the current location of the rocket in the system;

[0021] (3) After the rocket is launched, the GPS tracker on the rocket will collect and store the current rocket's GPS latitude and longitude, time, current atmospheric pressure, temperature, and altitude information in real time. The rocket GPS tracker will continue to report heartbeats during the rocket launch process;

[0022] (4) When the rocket reaches a certain altitude and leaves the base station signal range, the GPS tracker will stop reporting heartbeats and temporarily store the data in a small memory. When the rocket lands at a certain altitude, that is, when there is a base station signal, the GPS tracker will re-upload data.

[0023] (5) The GPS tracker on the rocket connects to the network and starts transmitting heartbeats, and the rocket's flight trajectory information is uploaded to the data server; when the GPS tracker stops sending heartbeats, the collected information is transmitted to the data server through the communication module in chronological order;

[0024] (6) The trajectory tracking system will call the rocket trajectory data in the database in real time and generate a trajectory line graph.

[0025] Furthermore, the theoretical rocket trajectory calculation principle is as follows: simplify the rocket flight process into particle motion, analyze the force on the flying rocket, establish a three-degree-of-freedom dynamic model differential equation group, add air resistance and wind resistance to the Runge-Kutta algorithm to obtain a calculation model, and thus calculate the rocket flight trajectory during the period when there is no signal. The engine measured rocket thrust data is used, and the aerodynamic force is calculated using a CFD calculator. Since the rocket will be deflected by the wind, the data of the high-altitude wind field obtained by sounding and the data obtained by wind field simulation are added. The wind deflection angle is obtained through the wind deflection positive calculation model, and the angle is corrected during launch. The rocket theoretical data trajectory graph is obtained. This section of the trajectory is combined with the real data when there is a signal to form a semi-realistic trajectory graph.

[0026] Beneficial effects:

[0027] 1. A visualized trajectory tracking system and method for rain-making and hail-prevention rockets of the present invention uploads flight data of GPS rockets to a data server. The visualized trajectory tracking system for rockets retrieves data from the data server in real time, visualizes the flight trajectory of the rockets in two or three dimensions, and charts the status of the rockets.

[0028] 2. The present invention can record the rocket's scattering path, debris landing point and other information in real time. The user operation is intuitive and convenient. It also adopts a method of combining theoretical models with actual data to solve the problem of drawing missing data when there is no signal.

[0029] 3. The present invention makes up for the problem that there is no signal data and cannot be transmitted back in time, and verifies through experiments that the curve combining actual theoretical data is consistent with the curve of completely real-time data.

[0030] 4. The system of the present invention runs stably, and the real-time performance of rocket launch is high, which greatly improves the efficiency of human shadow operation, meets the current market demand, has strong product competitiveness, and lays a technical foundation for the informatization, intelligence and scientificization of human shadow business. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a structural diagram of the visualized trajectory tracking system for the rain-enhancing and hail-preventing rocket of the present invention.

[0032] Figure 2 It is a rain-making and hail-prevention rocket carrying a GPS module.

[0033] Figure 3 Rocket launch process.

[0034] Figure 4 This is a comparison chart of the rocket's experimental trajectory and theoretical trajectory. DETAILED DESCRIPTION

[0035] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0036] The present invention provides a visualized trajectory tracking system for a rain-enhancing and hail-preventing rocket, comprising a trajectory tracking system, a data server, and a GPS module carried by the rain-enhancing and hail-preventing rocket;

[0037] The GPS module transmits the flight trajectory data of the rain-increasing and hail-prevention rockets to the data server in real time;

[0038] The trajectory tracking system retrieves data from the database server in real time, searches and counts the data, and uses the retrieved data to display the flight status and real-time trajectory curve of the rocket in a visual form on the system interface.

[0039] A method for visualizing trajectory tracking of a rain-enhancing and hail-preventing rocket, the specific implementation steps are as follows:

[0040] Step 1, the trajectory tracking system is a web software system that can realize the two-dimensional and three-dimensional visualization of the rocket flight trajectory on the map, the charting of the flight status, the standardization of data download, etc. The system involves GIS map services, geographic positioning technology, QR code scanning and recognition technology, etc., and realizes the data interaction between the mobile terminal and the server through the Restful interface specification constraints and principles.

[0041] The visual trajectory tracking system can be divided into: presentation layer, business logic processing layer, and data storage layer. Its overall structure is as follows Figure 1 As shown in the figure, all external access is filtered through unified system authorization and system security access control. Data collected by GPS rain-enhancing and hail-prevention rockets are uploaded to the Zhongtian IoT cloud platform through the 4G network. The Zhongtian IoT cloud platform is the information recorder of the flight data of the rocket operation process. All operational flight data collected by GPS rockets will be uploaded to the Zhongtian IoT cloud platform. The visual trajectory tracking system connects to the database server to receive data and perform data retrieval and statistical services. The retrieved data is called to display the flight status of the rocket and the real-time trajectory curve in a visual form on the system interface.

[0042] The trajectory tracking system uses global images and Chinese annotations from Tiantu. It can realize the arbitrary switching of two-dimensional and three-dimensional maps, and can perform functions such as zooming in, zooming out, positioning, and ranging. The trajectory tracking system supports GIS map source switching (topographic map, satellite map, traffic map, bottomless map), and can mark important information points, etc. The flight position of the rocket can be displayed in real time, and the working status of the rocket can be refreshed in real time. By entering the rocket number, the flight data of the corresponding rocket can be queried on the map, and then the flight trajectory data of the rocket can be analyzed and drawn on the map. The flight trajectory of the rocket will be displayed in GIS in a visual form. Each rocket has its own ID. The GPS rocket tracking display system displays the flight trajectory, altitude trajectory and flight status information of the rocket on the map by entering the rocket's unique coding ID, including temperature, air pressure, battery power, humidity, geographic location, etc. The trajectory tracking system supports GIS superimposed echart charts, superimposing the rocket's speed curve, altitude curve, and pressure altitude curve on the map. While viewing the flight trajectory, you can view the speed curve, altitude curve, etc. The trajectory tracking system supports the standardized function of flight data download. The rocket's historical flight data can be downloaded to the system for review and analysis.

[0043] Step 2: The rain-increasing and hail-prevention rocket with GPS module is as follows: Figure 2 As shown, it is modified and developed on the basis of the existing rain-making and hail-prevention rockets. It is mainly composed of six parts: a safe landing system, a spreading system, an engine, a locator, a small storage device and a tail wing.

[0044] The locator is responsible for collecting and transmitting the rocket's flight trajectory and take-off and landing point location information. The locator is equipped with a GPS module, which transmits the data collected within the signal range back to the data server through the 4G network. All data can be called at any time. The small memory is mainly used to temporarily store some data when there is no signal, and then retransmit the data when it is within the signal range.

[0045] The whole rocket launch process is as follows Figure 3 As shown, specifically:

[0046] (1) Adjust the launcher angle and load the rocket, turn on the rocket locator, upload the launch point information after the GPS module locates, and prepare for launch.

[0047] (2) The spreading system starts working 5 seconds after the rocket is ignited and launches, continuously spreading the catalyst along the flight trajectory.

[0048] (3) After the catalyst is spread, the safe landing system works, and the parachute opens, landing the rocket debris safely on the ground.

[0049] (4) During the entire operation process, the positioning module locates and records the flight trajectory and machine characteristic information of the rocket. After the rocket lands, the positioning module uploads the data to the server through the 4G network.

[0050] (5) Operation commanders can view and obtain relevant information about the rocket flight through a laptop terminal or mobile phone in the system APP, thereby changing the operation angle and improving operation efficiency.

[0051] Step 3: The GPS module records the trajectory information of the rocket in real time throughout the entire process and collects the trajectory data of the rocket.

[0052] Step 4: The GPS positioning module uploads the collected trajectory data to the Zhongtian cloud server through the 4G network within the base station signal range.

[0053] The data transmission process is as follows:

[0054] (1) Before launching the rocket, turn on the switch, connect the GPS tracker to the network, and shake hands with the tracking and positioning system.

[0055] (2) The GPS tracker sends a track message to the tracking and positioning system to notify the rocket to go online, and the tracking and positioning system will then display the current location of the rocket in the system.

[0056] (3) After the rocket is launched, the onboard GPS tracker will collect and store the current rocket's GPS latitude and longitude, time, current atmospheric pressure, temperature, and altitude information in real time. The rocket GPS tracker will continue to report its heartbeat during the rocket launch process.

[0057] (4) When the rocket reaches a certain altitude and leaves the base station signal range, the GPS tracker will stop reporting heartbeats. When the rocket descends to a certain altitude, that is, when there is a base station signal, the GPS tracker will upload data again.

[0058] (5) The rocket GPS tracker connects to the network and starts transmitting heartbeats. The rocket's flight trajectory information will be uploaded to the Zhongtian Cloud Server. When the GPS tracker stops sending heartbeats, the collected information will be transmitted to the Zhongtian Cloud Server through the communication module in chronological order.

[0059] (6) The trajectory tracking system will call the rocket trajectory data in the database in real time and generate a trajectory line graph.

[0060] Step 5: For data that is not within the base station signal range, the Delay-Tolerant Network (DTN) technology will be used. Delay-Tolerant Network (DTN) is a technology used to transmit data in an unreliable or intermittent connection environment. After the GPS module collects the data, it is stored in the intermediate node, that is, the memory inside the rocket. When there is a signal within the altitude range, it is gradually transmitted to the Zhongtian Cloud Server.

[0061] Step 6: In view of the actual environmental factors, when the rocket rises to a certain height, the GPS will have no signal, so some actual data cannot be transmitted back to the database in real time. To solve this problem, the theoretical correction model is used for simulation. Some theoretical simulation data will be generated to complete the trajectory. After the real-time data is transmitted back, the trajectory is compared and the discrepancy is optimized.

[0062] The calculation principle of theoretical rocket trajectory is as follows: simplify the rocket flight process into particle motion, analyze the force on the flying rocket, and establish a three-degree-of-freedom dynamic model differential equation group. The three-degree-of-freedom considers the rocket as a particle and considers its motion in three-dimensional space. When the rocket is launched, the friction resistance of the launcher is not considered. In the flight process, it is only affected by: aerodynamic force, gravity (G), and engine thrust (P). The actual rocket thrust data of the engine is used, and the aerodynamic force is calculated using a CFD calculator. The aerodynamic force only considers aerodynamic resistance (F_AIR) (the direction is opposite to the relative air velocity); the direction of gravity is vertically downward, and the gravity acceleration is considered to be a constant and does not change with the flight altitude; the engine thrust is consistent with the tangent direction of the trajectory (that is, the direction of the ground velocity) during the working time, and the ground coordinate system is shown in formulas (1), (2), (3), and (4):

[0063]

[0064]

[0065]

[0066]

[0067] Due to the actual situation of rocket flight, the relative air belt under the action of the wind field changes the direction and size of the resistance, which in turn causes the dispersion of the ballistic landing point. The wind speed vector is W; V is the rocket ground speed vector; the rocket relative air speed Vr = VW, and the component expression in the ground coordinate system is:

[0068]

[0069] Based on the air speed, the air resistance (F_AIR) can be calculated as follows:

[0070]

[0071] in ρ is the air density and is related to the altitude; Cd (Ma) is the drag coefficient and is a function of the Mach number; Ma = vr / cs, cs is the local speed of sound;

[0072] The equation of motion of the center of mass of the rocket after it leaves the rack can be written as follows when projected onto the rectangular coordinates of the ground:

[0073]

[0074]

[0075] The initial condition is: t = t 离架 When x =v 0 cosθ 0 , v y =v 0 sinθ 0 , v z =0m / s,x=y=z=0m; where θ 0 is the launcher inclination angle; the launcher inclination angle should be calculated according to the wind deviation angle θ 0 , and then correct the angle of the launcher.

[0076] After the calculation is completed, the calculation result will be calculated according to the angle a N Convert to north celestial east coordinates to complete the calculation.

[0077] For the movement of the rocket in the launcher, the friction between the launcher and the projectile, and the vibration of the launcher itself are not considered. Since the projectile is constrained by the launcher, the motion equation along the launcher direction can be described as follows:

[0078]

[0079] where s d is the distance the projectile moves on the launcher, w θ0 The wind speed is projected on the launcher axis.

[0080]

[0081] Air resistance and windage group force are added to the Runge-Kutta algorithm, and the differential equations are solved by the fourth-order Runge-Kutta algorithm to obtain the theoretical trajectory of the rocket. This trajectory is combined with the real data when there is a signal to form a semi-realistic trajectory diagram. After the rocket is successfully launched, all delayed data are transmitted back to the data server, and the trajectory system will obtain an actual rocket flight trajectory diagram, which is compared with the theoretical diagram, such as Figure 4It is found that after adding air resistance and windage resistance, the theoretical trajectory diagram and the actual trajectory diagram are basically the same.

[0082] Step 7: The flight trajectory of the rocket will be displayed on the trajectory tracking system. The user can determine the final landing point based on the flight trajectory of the rocket displayed by the trajectory system to achieve precise operation and accurately locate the landing point of the rocket debris.

[0083] In order to analyze the comparison between the theoretical model of the present invention and the actual data, a rocket flight trajectory line graph will appear on the trajectory tracking system by conducting a firing experiment and collecting statistical data. Figure 4 As shown in the figure, black represents the actual data of the rocket, and blue represents the image of the combination of the actual data of the rocket and the theoretical data. It can be seen from the figure that the two images are roughly consistent. Therefore, when the data can be transmitted back in real time, a real-time trajectory map will be obtained. When there is no signal, the trajectory map is obtained by combining the theoretical model with the actual data, which helps users to easily judge the flight trajectory and landing point of the rocket when using it.

[0084] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A visual trajectory tracking system for rain enhancement and hail prevention rockets, characterized in that: It includes a trajectory tracking system, a data server and a GPS module carried by the rain-enhancing and hail-prevention rockets; The GPS module transmits the flight trajectory data of the rain-increasing and hail-preventing rocket to the data server in real time; The trajectory tracking system retrieves data from the database server in real time, searches and counts the data, and uses the retrieved data to display the flight status and real-time trajectory curve of the rocket in a visual form on the system interface.

2. The rain-enhancing and hail-preventing rocket visual trajectory tracking system according to claim 1, characterized in that: The trajectory tracking system is a web software system that can visualize the rocket's flight trajectory on a map, chart the flight status, and standardize data downloads; the GPS module collects data and uploads it to the data server through the 4G network. The data server is the information recorder for the flight data of the rocket's operation process. All operational flight data collected by the GPS module will be uploaded to the data server; the trajectory tracking system connects to the data server to receive data, retrieve and count the data; and calls the retrieved data to display the rocket's flight status and real-time trajectory curve in a visual form on the system interface.

3. A trajectory tracking method applied to any system described in any one of rights 1-2, characterized in that: The following steps are involved: Step 1, log in to the trajectory tracking system; Step 2, the launcher launches the rain-increasing and hail-preventing rocket with the GPS module; Step 3, the GPS module records the trajectory data of the rocket in real time throughout the whole process; Step 4: The GPS module uploads the collected trajectory data to the data server via the 4G network within the base station signal range; Step 5: For the data collected by the GPS module outside the base station signal range, the delay-tolerant network DTN technology will be used to store the data in segments in the rocket intermediate node, and will be transmitted back to the data server after there is a signal within the altitude range; Step 6: In view of the actual environmental factors, when the rocket rises to a certain height, the GPS module will have no signal. Based on the collected data, some theoretical rocket trajectory data is generated to complete the trajectory. After the real-time data is transmitted back, the trajectory is compared to optimize the theoretical model. Step 7: The flight trajectory of the rocket is displayed on the trajectory tracking system, and the user determines the landing point of the rocket based on the flight trajectory of the rocket displayed on the trajectory tracking system.

4. The trajectory tracking method according to claim 3, characterized in that: The rain-making and hail-prevention rocket consists of six parts: a safe landing system, a spreading system, an engine, a locator, a small storage device and a tail wing; the locator is equipped with a GPS module, which will transmit the data collected within the signal range back to the data server through the 4G network, and all data can be called up at any time; the data collected outside the signal range will be temporarily stored in a small storage device.

5. The trajectory tracking method according to claim 4, characterized in that: The specific process of step 4 is: (1) Before launching the rocket, turn on the GPS module switch, connect the GPS tracker to the network, and perform handshake with the tracking and positioning system; (2) The GPS tracker sends a track message to the tracking and positioning system to notify the rocket to go online, and the tracking and positioning system will then display the current location of the rocket in the system; (3) After the rocket is launched, the GPS tracker on the rocket will collect and store the current rocket's GPS latitude and longitude, time, current atmospheric pressure, temperature, and altitude information in real time. The rocket GPS tracker will continue to report heartbeats during the rocket launch process; (4) When the rocket reaches a certain altitude and leaves the base station signal range, the GPS tracker will stop reporting heartbeats and temporarily store the data in a small memory. When the rocket lands at a certain altitude, that is, when there is a base station signal, the GPS tracker will re-upload data. (5) The GPS tracker on the rocket connects to the network and starts transmitting heartbeats, and the rocket's flight trajectory information is uploaded to the data server; when the GPS tracker stops sending heartbeats, the collected information is transmitted to the data server through the communication module in chronological order; (6) The trajectory tracking system will call the rocket trajectory data in the database in real time and generate a trajectory line graph.

6. The trajectory tracking method according to claim 3, characterized in that: The calculation principle of theoretical rocket trajectory is as follows: simplify the rocket flight process into particle motion, establish a three-degree-of-freedom dynamic model differential equation group through force analysis of the flying rocket, add air resistance and wind resistance to the Runge-Kutta algorithm to obtain a calculation model, and thus calculate the rocket flight trajectory during the period when there is no signal; the engine measured rocket thrust data is used, and the aerodynamic force is calculated using a CFD calculator; since the rocket will be deflected by the influence of wind, the high-altitude wind field data obtained by sounding and the data obtained by wind field simulation are added; the wind deviation angle is obtained through the wind deviation positive calculation model, and the angle is corrected during launch to obtain the rocket theoretical data trajectory graph; this section of the trajectory is combined with the real data when there is a signal to form a semi-realistic trajectory graph.

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