Mathematical modeling method for guiding radar trajectory

Abstract

The invention specifically relates to a mathematical modeling method for a guided radar trajectory, and the method comprises the steps: carrying out the data fusion processing of an input real-time mass, a physical constant, a projectile body speed iteratively updated by a trajectory calculation module, a direct cosine matrix, and a projectile body acceleration iteratively updated by a guidance module in a control module, and obtaining a control force; inputting the input target measurement value, the proportional guidance coefficient, the direct cosine matrix iteratively updated by the trajectory resolving module and the inertial velocity into a guidance module for proportional guidance calculation to obtain the missile body acceleration and the guidance angle; and inputting the input real-time mass, the missile body speed initial value, the control force output by the control module and the guidance angle output by the guidance module into a trajectory resolving module, calculating to obtain the missile body speed, the missile body position, the missile body angle, the direct cosine matrix and the inertial speed, and completing mathematical modeling of the guidance radar trajectory. The mathematical modeling problem of guidance radar trajectory space and angle information generation in the radar digital modeling and simulation technology is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar digital modeling and simulation, and relates to a mathematical modeling method for the trajectory of a guiding radar, specifically a mathematical modeling method for calculating the position and angle parameters of a projectile body based on the control of an on-board guiding radar. Background Art

[0002] The continuous progress and integration of information technology have promoted the derivation and development of the digital economy in multiple industries. As one of the most prominent manifestations of the digital economy in the field of industrial manufacturing, digital twin constructs a digital mapping system of equipment systems through the integration of the virtual world and the real physical world, and has played an increasingly important role in industrial development. In the radar manufacturing industry, radar digital twin has emerged. It uses radar digital modeling and simulation technology to construct a data mapping of the physical entity and its usage scenario during use, simulates the interaction between the physical entity and the scenario model based on digital means, and monitors and simulates the performance of the radar system in real time, so as to optimize the reliability, availability, and overall effectiveness of the radar system, fully tap the potential of system functions and performance. Because of its characteristics such as real-time and reliable measurement, convenient innovation for verification, accurate and precise results, and digital description of experience, it has become one of the core competitive technologies in the current radar manufacturing industry.

[0003] Radar digital modeling and simulation is based on modeling and simulation technology. Through digital means, it digitally maps physical entities such as radars, radar platforms, targets, electronic jamming, etc. and their usage environments, constructs a simulation system with a radar digital model as the core, including digital models of radar platforms, targets, clutter, electronic jamming, usage environments, etc., simulates the radar physical entity and usage scenario, and then uses mathematical methods to simulate the interaction between the radar model and the radar platform, target, clutter, electronic jamming, and usage environment models under the set radar working process and usage environment, obtains the evaluation results of radar functions and performance, and feeds them back to the optimized design of the radar, providing innovative, flexible, and empirical digital technologies and platforms for radar design, functional applicability, and processing algorithms.

[0004] The projectile-mounted guidance radar provides target parameters for its own guidance and can also control the flight attitude to generate a flight trajectory based on the target indication information of the guidance radar. The essence of the digital simulation of the trajectory is to calculate the flight position and flight angle information of the projectile according to the target information. In the digital modeling and simulation of the radar, the digital model of the trajectory can not only simulate the missile flight trajectory, but also provide the position and angle information of the guidance radar loading platform for the simulation of the guidance radar detecting the target. The digital trajectory model is the basis and core of the digital modeling and simulation of the guidance radar. How to construct a digital model of the guidance radar that generates the position and angle information of the projectile according to the target indication information is the key concern in the guidance radar simulation. Therefore, studying the mathematical modeling method of the guidance radar trajectory and giving the calculation method of the position information and angle information of the guidance radar projectile provides a reference for the implementation and in-depth research of the mathematical model of the guidance radar.

[0005] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of the present invention, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] The present invention provides a mathematical modeling method for the guidance radar trajectory to solve the mathematical modeling problem of generating the space and angle information of the guidance radar trajectory in the radar digital modeling and simulation technology.

[0007] Other features and advantages of the present invention will become apparent from the following detailed description or be learned in part through the practice of the present invention.

[0008] According to a first aspect of the present invention, there is provided a mathematical modeling system for a guidance radar trajectory, comprising: a control module, a guidance module, and a trajectory solution module;

[0009] The control module is configured to calculate the control force;

[0010] The guidance module is configured to calculate the projectile acceleration and the guidance angle;

[0011] The trajectory solution module is configured to calculate the projectile velocity, the projectile position, the projectile angle, the direct cosine matrix, and the inertial velocity based on the control force output by the control module and the guidance angle output by the guidance module.

[0012] According to a second aspect of the present invention, there is provided a mathematical modeling method for a guidance radar trajectory, the method comprising:

[0013] Performing data fusion processing on the input real-time mass, physical constants, and the projectile velocity iteratively updated by the trajectory solution module, the direct cosine matrix, and the projectile acceleration iteratively updated by the guidance module in the control module to obtain the control force;

[0014] The input target measurement value, proportional guidance coefficient, and the direct cosine matrix and inertial velocity iteratively updated by the ballistic calculation module are input into the guidance module for proportional guidance calculation to obtain the missile body acceleration and guidance angle;

[0015] The input real-time mass, initial value of the missile body velocity, the control force output by the control module, and the guidance angle output by the guidance module are input into the ballistic calculation module to calculate the missile body velocity, missile body position, missile body angle, direct cosine matrix, and inertial velocity, completing the mathematical modeling of the guidance radar trajectory.

[0016] In some exemplary embodiments, the calculation process of the control force includes:

[0017] Calculate the gravity based on the real-time mass and physical constants;

[0018] Calculate the aerodynamic force based on the missile body velocity;

[0019] Calculate the guidance force of the missile body based on the missile body acceleration and real-time mass;

[0020] Calculate the control force based on the gravity, aerodynamic force, guidance force of the missile body, and direct cosine matrix, using the following formula:

[0021] F = F t ·[0 1 0] + F g ·[0 0 -1]·M D + F a + F c

[0022] where F t represents the thrust of the missile body, F g represents the gravity, F a represents the aerodynamic force, F c represents the guidance force of the missile body, M D represents the direct cosine matrix, and F represents the control force.

[0023] In some exemplary embodiments, the calculation process of the missile body acceleration includes:

[0024] Calculate the position T of the target measured by the missile body guidance radar in the inertial coordinate system based on the target measurement value p ;

[0025] Calculate the rotation angle W of the missile body based on T p ;

[0026] Calculate the missile body acceleration based on the rotation angle of the missile body, proportional guidance coefficient, and inertial velocity, using the following formula:

[0027] a b = W * V I * P * MD

[0028] Among them, P is the proportional guidance coefficient, and V I is the inertial velocity.

[0029] In some exemplary embodiments, the guidance angle includes a heading angle and a pitch angle, and is calculated using the following formula:

[0030]

[0031] Among them, B y and B p respectively represent the heading angle and the pitch angle of the projectile body, w y and w p respectively represent the heading angular velocity and the pitch angular velocity of the projectile body, T a and T e respectively represent the azimuth angle and the pitch angle of the target measured by the projectile body's guidance radar, and t represents the time length starting from the launch of the projectile body as the initial moment.

[0032] In some exemplary embodiments, the calculation method of the projectile body velocity V b is described as:

[0033]

[0034] Among them, V0 is the initial value of the projectile body velocity, expressed as {V x0 , V y0 , V z0}, V x0 , V y0 and V z0 represent the initial velocities of the projectile body in the X, Y, and Z directions in the inertial coordinate system; △F is the change in the control force caused by the change in the projectile body mass;

[0035] The calculation formula of the inertial velocity V I is as follows:

[0036]

[0037] The calculation formula of the projectile body position L i is as follows:

[0038]

[0039] Among them, L x0 , L y0 and L z0 respectively represent the initial values of the projectile body positions in the X, Y, and Z directions in the inertial coordinate system, represents the inertial velocity of the projectile body in the i direction in the inertial coordinate system;

[0040] The projectile body angle The calculation formula is as follows:

[0041]

[0042] The direct cosine matrix M D The calculation formula is as follows:

[0043]

[0044] According to the third aspect of the present invention, there is provided a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the mathematical modeling method of the guided radar trajectory described in the first aspect above is implemented.

[0045] According to the fourth aspect of the present invention, there is provided a computer program product, on which a computer program is stored, and when the computer program is executed by a processor, the mathematical modeling method of the guided radar trajectory described in the first aspect above is implemented.

[0046] According to the fifth aspect of the present invention, there is provided an electronic device, including:

[0047] A processor; and

[0048] A memory for storing executable instructions of the processor;

[0049] Wherein, the processor is configured to implement the mathematical modeling method of the guided radar trajectory described in the first aspect above when executing the executable instructions.

[0050] The mathematical modeling method of the guided radar trajectory provided by the embodiments of the present invention comprehensively considers control forces such as gravity, thrust, aerodynamic force, and guidance force acting on the projectile body and their dynamic changes, iteratively calculates the changes in the forces acting on the projectile body according to the control forces and their changes, so as to obtain the angular parameters of the position parameters of the projectile body, and complete the mathematical modeling of the guided radar trajectory.

[0051] Compared with the prior art, it has the following advantages:

[0052] 1) The digital modeling of the guided radar trajectory calculates the projectile trajectory based on the guided radar target measurement results and the control forces of all factors outside the projectile body. The method has high fidelity, is simple and practical, has a small amount of calculation, and is easy to be programmed and implemented and engineered;

[0053] 2) The digital model of the guided radar projectile body fully considers the processing methods of the projectile body thrust, gravity, air force, and target guidance force parameters, has comprehensive functions, and strong practicability and expandability.

[0054] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. Brief Description of the Drawings

[0055] The drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0056] Figure 1 It is a schematic diagram of a mathematical modeling system for a guiding radar trajectory according to an exemplary embodiment of the present invention;

[0057] Figure 2 It is a schematic diagram of a mathematical modeling method for a guiding radar trajectory according to an exemplary embodiment of the present invention.

[0058] Figure 3 It is a schematic diagram of the composition of an electronic device according to an exemplary embodiment of the present invention. Detailed Embodiments

[0059] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present invention will be more complete and comprehensive, and the concept of the example embodiments will be fully conveyed to those skilled in the art. The features, structures, or characteristics described can be combined in any suitable manner in one or more embodiments.

[0060] In addition, the drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated description will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0061] Aiming at the disadvantages and deficiencies of the existing technology, in this exemplary embodiment, a mathematical modeling method for the trajectory of a guidance radar is proposed for the construction of a digital model of the guidance radar missile body in digital modeling and simulation of the guidance radar. This method fully considers the changes in the missile body trajectory under the combined effects of gravity, thrust, aerodynamic force, guidance force, etc., and uses mathematical calculations to obtain the dynamic changes of the guidance radar trajectory parameters. According to the changed gravity after the missile body is weight-reduced, the thrust generated by fuel, the aerodynamic force during flight, and the proportional guidance force of the guidance radar target, parameters for controlling and guiding the position and attitude of the missile body are obtained, and based on this, the position and angle of the missile body are resolved. This method is applicable to the digital modeling of the guidance radar trajectory in digital modeling and simulation of the guidance radar.

[0062] The guidance radar trajectory obtains the control force and guidance angle of the missile body according to the real-time mass of the missile body, physical constants, target measurement values, proportional guidance coefficients, as well as the updated missile body speed, direct cosine matrix, inertial speed, and missile body acceleration, and resolves to obtain the missile body speed, missile body position, missile body angle, direct cosine matrix, and inertial speed. Among them, the missile body speed and missile body position are the solved guidance radar trajectory parameters, and the missile body speed, direct cosine matrix, and inertial speed are used to iteratively solve the trajectory parameters. The mathematical modeling method of the guidance radar trajectory of the present invention comprehensively considers the control forces such as gravity, thrust, aerodynamic force, and guidance force acting on the missile body and their dynamic changes, and iteratively resolves the changes in the forces acting on the missile body according to the control forces and their changes, so as to obtain the angle parameters of the position parameters of the missile body, and complete the mathematical modeling of the guidance radar trajectory. The mathematical model of the guidance radar trajectory first performs data fusion processing on the input real-time mass, physical constants, and the missile body speed, direct cosine matrix, and missile body acceleration iteratively updated by the trajectory resolution module in the control module to obtain the control force; secondly, inputs the target measurement values, proportional guidance coefficients, and the direct cosine matrix and inertial speed iteratively updated by the trajectory resolution module into the guidance module for proportional guidance calculation to obtain the missile body acceleration and guidance angle; finally, inputs the real-time mass, missile body initial value, the control force output by the control module, and the guidance angle output by the guidance module into the trajectory resolution module to calculate and obtain the missile body speed, missile body position, missile body angle, direct cosine matrix, and inertial speed, and complete the mathematical modeling of the guidance radar trajectory.

[0063] Reference Figure 1 As shown, an embodiment of the present invention provides a mathematical modeling system for a guidance radar trajectory, including: a control module, a guidance module, and a trajectory resolution module; the control module is used to calculate the control force; the guidance module is used to calculate the missile body acceleration and guidance angle; the trajectory resolution module is used to calculate the missile body speed, missile body position, missile body angle, direct cosine matrix, and inertial speed based on the control force output by the control module and the guidance angle output by the guidance module.

[0064] The system further includes that the ballistic calculation module inputs the projectile velocity obtained by iterative calculation to the control module; the ballistic calculation module outputs the direct cosine matrix obtained by iterative calculation to the control module and the guidance module; the ballistic calculation module outputs the inertial velocity obtained by iterative calculation to the guidance module.

[0065] The system further includes that the guidance module outputs the projectile acceleration obtained by iterative calculation to the control module.

[0066] Reference Figure 2 As shown, an embodiment of the present invention provides a mathematical modeling method for a guided radar trajectory, which may specifically include the following steps:

[0067] Step S1: Perform data fusion processing on the input real-time mass, physical constants, the projectile velocity iteratively updated by the ballistic calculation module, the direct cosine matrix, and the projectile acceleration iteratively updated by the guidance module in the control module to obtain the control force.

[0068] Step S2: Input the target measurement value, proportional guidance coefficient, the direct cosine matrix and inertial velocity iteratively updated by the ballistic calculation module into the guidance module for proportional guidance calculation to obtain the projectile acceleration and guidance angle;

[0069] Step S3: Input the input real-time mass, initial value of the projectile velocity, the control force output by the control module, and the guidance angle output by the guidance module into the ballistic calculation module to calculate the projectile velocity, projectile position, projectile angle, direct cosine matrix and inertial velocity, and complete the mathematical modeling of the guided radar trajectory.

[0070] Next, each step of the phased array radar design method in this exemplary embodiment will be described in more detail with reference to the accompanying drawings and embodiments.

[0071] In step S1,

[0072] The control module of the guided radar trajectory mathematical model receives the real-time mass △m, where △m is the difference between the projectile mass and the mass of the fuel consumed by the engine; physical constants {g, V s , d}, where g represents the acceleration due to gravity, V s represents the speed of sound, and d represents the air density; the projectile velocity V b , the direct cosine matrix parameter M D and the projectile acceleration a b , calculate the control force F, and send F to the ballistic calculation module;

[0073] The calculation of the control force F is specifically as follows:

[0074] The projectile control force F is the sum of the projectile thrust, projectile gravity, projectile aerodynamic force and projectile guidance force. Then, F can be expressed as:

[0075] F = F t ·

[010] + F g ·[00 - 1]·M D +F a +F c

[0076] Among them, F, F t , F g , F a and F c are all three - dimensional vectors in the body - fixed coordinate system, and the direction cosine matrix is M D Convert the acting force from the inertial coordinate system to the acting force in the body - fixed coordinate system, where F t represents the thrust of the projectile, provided by the projectile's engine, which is a constant and the direction is along the Y - direction of the projectile, F g represents the gravity, and the direction is vertically downward in the inertial coordinate system, F a represents the aerodynamic force, F c represents the guidance force of the projectile.

[0077] F g can be described as:

[0078] F g = Δm×g

[0079] Among them, g represents the acceleration due to gravity.

[0080] The aerodynamic force F a is calculated as:

[0081] F a = C a .*(S c ·

[111] ).*(f a ·[-11 - 1])

[0082] Among them, C a is the aerodynamic force constant, S c is the cross - sectional area of the projectile, f a is the acting force of the air on the projectile. Then C a can be expressed as [c x , c y , c z , and c x , c y and c z respectively represent the coefficients of C a in the X, Y, and Z directions in the body - fixed coordinate system. Then c i , i = x, y, z, can be described as:

[0083] c i = I i (|Vb | / V s , arctan(v z / v x )), i = x, y or z

[0084] Among them, V s represents the speed of sound, v x and v z are the components of the projectile velocity V b in the X and Z directions in the projectile coordinate system. I i (α) represents the interpolation coefficient of the input α in the i direction in the projectile coordinate system. This coefficient is related to the projectile and is a constant. f a can be described as

[0085]

[0086] Among them, d represents the air density, F c is calculated as follows:

[0087] F c = Δm × a b

[0088] In step S2,

[0089] The guidance module calculates the projectile acceleration a r , T a , T e}, the proportional guidance coefficient P{p x , p y , p z}, the direct cosine matrix M D and the inertial velocity V I , and calculates the projectile acceleration a b and the guidance angle E a , and sends a b to the control module and sends E a to the ballistic solution module;

[0090] Calculate the projectile acceleration a b and the guidance angle E a , and the specific method is as follows:

[0091] The projectile acceleration a b can be described as:

[0092] a b = W * V I * P * M D

[0093] Among them, W represents the angle of projectile rotation, then

[0094]

[0095] Among them, t represents the time length starting from the launch of the projectile as the initial moment, and T p represents the position of the target measured by the projectile guidance radar in the inertial coordinate system, and T p ={T x , T y , T z}. Then

[0096] T x = T r *sinT e *cosT a

[0097] T y = T r *sinT e *sinT A

[0098] T z = T r *cosT e

[0099] Among them, T r , T a and T e respectively represent the distance, azimuth angle, and elevation angle of the target measured by the projectile guidance radar.

[0100] The guidance angle is E a . In projectile guidance, generally only the course angle E y and the elevation angle E p are considered, that is, E a ={E y , E p}. At this time, E y and E p can be respectively described as:

[0101]

[0102] Among them, B y and B p respectively represent the course angle and elevation angle of the projectile, which can be obtained from the relevant equipment of the projectile platform. w y and w p respectively represent the course angular velocity and elevation angular velocity of the projectile, which are mechanical constants of the projectile.

[0103] In step S3,

[0104] The ballistic calculation module calculates according to the received real-time mass △m, the initial values of the projectile L0{L x0 , L y0 , L z0} and V0{Vx0 , V y0 , V z0}, control force F and guidance angle E a , the projectile velocity V is calculated b and inertial velocity V I , projectile position L, projectile angle B a and direct cosine matrix M D , and V b and M D are sent to the control module, and V I and M D are sent to the guidance module.

[0105] Calculate the projectile velocity V b and inertial velocity V I , projectile position L, projectile angle B a and direct cosine matrix M D , the specific method is as follows:

[0106] According to Newton's law, the calculation method of the projectile velocity V b is described as:

[0107]

[0108] where V0 is the initial value of the projectile velocity, expressed as {V x0 , V y0 , V z0}, V x0 , V y0 and V z0 represent the initial velocities of the projectile in the X, Y, and Z directions in the inertial coordinate system. △F is the change in the control force caused by the change in the projectile mass, and it can be calculated as:

[0109]

[0110] where V′ b is the value of V b at the previous moment.

[0111] The inertial velocity V I , representing the velocity of the projectile in the inertial coordinate system, can be calculated from V b and is described as:

[0112]

[0113] The projectile position L = {L x , L y , L z} and L i is the position of the projectile in the i direction in the inertial coordinate system, i = x, y, z. Then L iExpressed as:

[0114]

[0115] Wherein, L x0 , L y0 and L z0 respectively represent the initial position values of the projectile in the X, Y, and Z directions in the inertial coordinate system. represents the inertial velocity of the projectile in the i direction in the inertial coordinate system.

[0116] Projectile angle and respectively represent the heading angle, pitch angle, and roll angle of the projectile in the inertial coordinate system, and can be calculated from the guidance angle E a Then B a is expressed as:

[0117]

[0118] Wherein, is generally zero.

[0119] The direct cosine matrix M D is used for the conversion from the projectile inertial coordinate system to the projectile body coordinate system, and its calculation formula is:

[0120]

[0121] It should be noted that the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, rather than for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the time sequence of these processes. Additionally, it is also easy to understand that these processes can be executed synchronously or asynchronously, for example, in multiple modules.

[0122] It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present invention, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0123] Figure 3 Shows a schematic diagram of an electronic device suitable for implementing the embodiments of the present invention.

[0124] It should be noted that Figure 3 the electronic device 1000 shown is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present invention.

[0125] Such asFigure 3 As shown, the electronic device 1000 includes a Central Processing Unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the Read-Only Memory (ROM) 1002 or the program loaded from the storage section 1008 into the Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An Input / Output (I / O) interface 1005 is also connected to the bus 1004.

[0126] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including, for example, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read from it can be installed into the storage section 1008 as needed.

[0127] Specifically, according to an embodiment of the present invention, the process described below with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a storage medium, and the computer program contains program codes for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication section 1009, and / or installed from the removable medium 1011. When the computer program is executed by the Central Processing Unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0128] It should be noted that the storage medium shown in the embodiments of the present invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any storage medium other than a computer-readable storage medium, and this storage medium can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the storage medium can be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0129] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0130] The units involved in the embodiments of the present invention can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases.

[0131] It should be noted that, on the other hand, the present application also provides a storage medium, which can be included in an electronic device; or can exist alone without being assembled into the electronic device. The above storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device is caused to implement the methods described in the following embodiments. For example, the electronic device can implement the various steps of the method as Figure 2 shown.

[0132] In one embodiment, the present application provides a computer program product, including a computer program, which when executed by a processor implements the steps in the above method embodiments.

[0133] In addition, the above drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, rather than for limiting purposes. It is easy to understand that the processes shown in the above drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes can be executed synchronously or asynchronously in, for example, multiple modules.

[0134] Those skilled in the art will readily think of other embodiments of the present invention after considering the specification and practicing the invention herein. The present application is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include the common general knowledge or conventional technical means in the technical field not disclosed by the present invention. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present invention are pointed out by the claims.

[0135] It should be understood that the present invention is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only defined by the appended claims.

Claims

1. A mathematical modeling system for guiding radar trajectories, characterized in that, Including: A control module, a guidance module, and a trajectory calculation module; The control module is used to calculate the control force; The guidance module is used to calculate the missile body acceleration and the guidance angle; The trajectory calculation module is used to calculate the missile body velocity, the missile body position, the missile body angle, the direction cosine matrix, and the inertial velocity based on the control force output by the control module and the guidance angle output by the guidance module.

2. A mathematical modeling method for guiding radar trajectories, characterized in that, The method includes: Performing data fusion processing on the input real-time mass, physical constants, the missile body velocity iteratively updated by the trajectory calculation module, the direction cosine matrix, and the missile body acceleration iteratively updated by the guidance module in the control module to obtain the control force; Inputting the input target measurement value, the proportional guidance coefficient, the direction cosine matrix iteratively updated by the trajectory calculation module, and the inertial velocity into the guidance module to perform proportional guidance calculation to obtain the missile body acceleration and the guidance angle; Inputting the input real-time mass, the initial value of the missile body velocity, the control force output by the control module, and the guidance angle output by the guidance module into the trajectory calculation module to calculate and obtain the missile body velocity, the missile body position, the missile body angle, the direction cosine matrix, and the inertial velocity, and completing the mathematical modeling of the guidance radar trajectory.

3. The mathematical modeling method for guiding radar trajectories according to claim 2, characterized in that, The calculation process of the control force includes: Calculating the gravity based on the real-time mass and physical constants; Calculating the aerodynamic force based on the missile body velocity; Calculating the guidance force of the missile body based on the missile body acceleration and the real-time mass; Calculating the control force based on the gravity, the aerodynamic force, the guidance force of the missile body, and the direction cosine matrix, using the following formula: F = F t · [010] + F g · [00 - 1]· M D + F a + F c Among them, F t represents the thrust of the projectile, F g represents the gravity, F a represents the aerodynamic force, F c represents the guidance force of the projectile, M D represents the direct cosine matrix, and F represents the control force.

4. The mathematical modeling method for guiding radar trajectories according to claim 2, characterized in that The calculation process of the missile body acceleration includes: Calculate the position T of the target measured by the projectile guidance radar in the inertial coordinate system based on the target measurement value p ; Based on T p Calculate the angle W of the projectile rotation; Calculating the missile body acceleration based on the angle of missile body rotation, the proportional guidance coefficient, and the inertial velocity, using the following formula: a b = W * V I * P * M D where P is the proportional navigation coefficient and V I is the inertial velocity.

5. The mathematical modeling method for guiding radar trajectories according to claim 2, wherein The guidance angle includes the course angle and the pitch angle, and uses the following calculation formula: Among them, B y and B p respectively represent the heading angle and pitch angle of the projectile, w k and w p respectively represent the heading angular velocity and pitch angular velocity of the projectile, T a and T e respectively represent the azimuth angle and pitch angle of the target measured by the projectile's guiding radar, and t represents the time length starting from the projectile's launch as the initial moment.

6. The mathematical modeling method for guiding radar trajectories according to claim 2, characterized in that, The velocity V of the projectile b is calculated as follows: Among them, V0 is the initial value of the projectile velocity, expressed as {V x0 , V y0 , V z0}, V x0 , V y0 and V z0 represent the initial velocities of the projectile in the X, Y, and Z directions in the inertial coordinate system, and △F is the change in the control force caused by the change in the projectile mass; The inertial velocity V I has the following calculation formula: The position L of the projectile i The calculation formula is as follows: Among them, L x0 , L y0 and L z0 respectively represent the initial position values of the projectile in the X, Y, and Z directions in the inertial coordinate system, represents the inertial velocity of the projectile in the i direction in the inertial coordinate system; The angle of the projectile The calculation formula is as follows: The direct cosine matrix M D has the following calculation formula:

7. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the mathematical modeling method of the guidance radar trajectory according to any one of claims 2 to 6.

8. A computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the mathematical modeling method of the guidance radar trajectory according to any one of claims 2 to 6.

9. An electronic device, characterized in that, Including: A processor; And A memory for storing the executable instructions of the processor; Wherein, the processor is configured to execute the mathematical modeling method of the guidance radar trajectory according to any one of claims 1 to 7 by executing the executable instructions.

Images