Radar airborne hang-off test method based on aerial carrier end navigation equipment and upper computer

Abstract

The invention discloses a radar airborne hang-off test method based on aerial carrier end navigation equipment and an upper computer. According to the method, the real aircraft platform navigation equipment is simulated through the aerial carrier end navigation equipment to guide the radar, the test system is simplified, and the method has the characteristic of high universality and is suitable for engineering application.

Description

Technical Field

[0001] This application relates to the field of aerospace technology, and particularly to a radar airborne flight test method, system, device, host computer, and computer-readable storage medium based on a carrier aircraft terminal navigation device. Background Art

[0002] Since the verification resources of real aircraft are precious, in order to fully verify the performance indicators of the radar carried by it, the test verification work is usually carried out in an equivalent manner of airborne flight. In the radar airborne flight test, it is necessary to control and guide the radar according to the test requirements.

[0003] The traditional guidance method is to bring the aircraft platform navigation system onto the aircraft and use its navigation output to control and guide the radar to work. This method has high authenticity, but it increases the complexity of the test system, and at the same time has higher requirements for the aircraft load and power supply. Summary of the Invention

[0004] To solve the above technical problems, this application provides a radar airborne flight test method, system, device, host computer, and computer-readable storage medium based on a carrier aircraft terminal navigation device.

[0005] In a first aspect, an embodiment of this application provides a radar airborne flight test method based on a carrier aircraft terminal navigation device. The radar airborne flight test method based on a carrier aircraft terminal navigation device is applied to a host computer, and the radar airborne flight test method based on a carrier aircraft terminal navigation device includes:

[0006] Receiving navigation information output by the carrier aircraft terminal navigation device, where each frame of navigation information includes UTC time, the position of the carrier aircraft, the speed of the carrier aircraft, the acceleration of the carrier aircraft, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft;

[0007] Obtaining initialization navigation information from two consecutive frames of navigation information at the moment T when the initialization instruction is received;

[0008] Establishing a target coordinate system based on the initialization navigation information and the target preset point;

[0009] Converting each frame of navigation information received after the initialization is completed into the target coordinate system to obtain new navigation information;

[0010] Adding random noise to each frame of new navigation information to obtain each frame of simulated navigation information;

[0011] For the simulated navigation information and the navigation information corresponding to the same UTC time, by combining the transformation matrix between the aircraft body coordinate system and the radar coordinate system, the position of the observation point, the position of the aircraft in the simulated navigation information, the attitude angle of the aircraft, and the attitude angle rate of the aircraft in the navigation information, the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to this UTC time are obtained;

[0012] The simulated navigation information corresponding to the same UTC time and the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system are combined to form a navigation output sequence, and the UTC time in the navigation output sequence is converted into the system time;

[0013] According to the guidance moment, a target navigation output sequence is selected, a guidance result is generated based on the target navigation output sequence, and the guidance result is sent to the radar.

[0014] Combined with the first aspect, in an implementation manner, the obtaining of the initialization navigation information from the navigation information of two consecutive frames at the moment T when the initialization instruction is received includes:

[0015] Linear interpolation is performed on the navigation information of two consecutive frames at the moment T when the initialization instruction is received to obtain the initialization navigation information.

[0016] Combined with the first aspect, in an implementation manner, the origin of the target coordinate system is the target preset point, the positive direction of the X-axis of the target coordinate system is the ground projection direction of the aircraft speed at the instruction moment, the positive direction of the Y-axis of the target coordinate system points to the sky, and the Z-axis of the target coordinate system satisfies the right-hand constraint.

[0017] Combined with the first aspect, in an implementation manner, the transformation matrix C between the aircraft body coordinate system and the radar coordinate system ins2seeker Based on the angular rotation relationship between the aircraft body coordinate system and the radar coordinate system Determined, Where θ is the elevation angle, ψ is the azimuth angle, and γ is the roll angle, and among them:

[0018]

[0019] Combined with the first aspect, in an implementation manner, for the simulated navigation information and the navigation information corresponding to the same UTC time, by combining the transformation matrix between the aircraft body coordinate system and the radar coordinate system, the position of the observation point, the position of the aircraft in the simulated navigation information, the attitude angle of the aircraft, and the attitude angle rate of the aircraft in the navigation information, the obtaining of the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to this UTC time includes:

[0020] According to the position of the observation point and the position and attitude angle of the aircraft in the simulated navigation information for UTC time T UTC_i To determine the line-of-sight vector in the aircraft body coordinate system;

[0021] Combine the line-of-sight vector in the carrier aircraft body coordinate system and C ins2seeker to obtain the line-of-sight vector in the radar coordinate system;

[0022] Obtain T based on the line-of-sight vector in the radar coordinate system UTC_i corresponding line-of-sight angle in the radar coordinate system;

[0023] According to C ins2seeker , the line-of-sight angle in the radar coordinate system, and the attitude angle rate of the carrier aircraft in the navigation information for UTC time T UTC_i to obtain the line-of-sight angle rate vector in the radar coordinate system;

[0024] Determine T according to the line-of-sight angle rate vector in the radar coordinate system UTC_i corresponding line-of-sight angle rate in the radar coordinate system.

[0025] Combined with the first aspect, in one implementation, the selecting a target navigation output sequence according to the guiding moment and generating a guiding result based on the target navigation output sequence includes:

[0026] If there is a navigation output sequence whose included system time is consistent with the guiding moment, use the navigation output sequence whose included system time is consistent with the guiding moment as the target navigation output sequence, and use the target navigation output sequence as the guiding result;

[0027] If there is no navigation output sequence whose included system time is consistent with the guiding moment, use the two navigation output sequences whose included system times are closest to the guiding moment as the target navigation output sequences, and perform linear interpolation on the parameters of the two target navigation output sequences to obtain the guiding result.

[0028] In a second aspect, an embodiment of the present application provides a host computer, and the host computer includes:

[0029] a receiving module, configured to receive navigation information output by a navigation device at the carrier aircraft end, where each frame of navigation information includes UTC time, the position of the carrier aircraft, the speed of the carrier aircraft, the acceleration of the carrier aircraft, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft;

[0030] an initialization module, configured to obtain initialization navigation information according to two consecutive frames of navigation information at the moment T when the initialization instruction is received;

[0031] a building module, configured to build a target coordinate system based on the initialization navigation information and a target preset point;

[0032] a conversion module, configured to convert each frame of navigation information received after the initialization is completed into the target coordinate system to obtain new navigation information;

[0033] A simulation module, which is used to add random noise to each new frame of navigation information to obtain each frame of simulated navigation information;

[0034] A calculation module, which is used to combine the simulated navigation information and the navigation information corresponding to the same UTC time, the conversion matrix between the carrier aircraft body coordinate system and the radar coordinate system, the position of the observation point, the position of the carrier aircraft in the simulated navigation information, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft in the navigation information to obtain the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to this UTC time;

[0035] A combination module, which is used to form a navigation output sequence from the simulated navigation information and the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to the same UTC time, and convert the UTC time in the navigation output sequence into the system time;

[0036] A sending module, which is used to select a target navigation output sequence according to the guiding moment, generate a guiding result based on the target navigation output sequence, and send the guiding result to the radar.

[0037] In a third aspect, an embodiment of the present application provides a radar airborne suspension flight test system based on a carrier aircraft terminal navigation device. The radar airborne suspension flight test system based on the carrier aircraft terminal navigation device includes a carrier aircraft terminal navigation device, a radar, and a host computer as described in the second aspect.

[0038] In a fourth aspect, an embodiment of the present application provides a radar airborne suspension flight test device based on a carrier aircraft terminal navigation device, characterized in that the radar airborne suspension flight test device based on the carrier aircraft terminal navigation device includes a processor, a memory, and a radar airborne suspension flight test program stored on the memory and executable by the processor. When the radar airborne suspension flight test program based on the carrier aircraft terminal navigation device is executed by the processor, the steps of the radar airborne suspension flight test method as described in the first aspect are implemented.

[0039] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a radar airborne suspension flight test program based on a carrier aircraft terminal navigation device is stored. When the radar airborne suspension flight test program based on the carrier aircraft terminal navigation device is executed by a processor, the steps of the radar airborne suspension flight test method as described in the first aspect are implemented.

[0040] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:

[0041] In the embodiments of the present application, by using the carrier aircraft terminal navigation device to simulate the navigation device of the real aircraft platform to complete the guidance of the radar, the test system is simplified, and it has the characteristics of strong versatility and is suitable for engineering applications. Brief Description of the Drawings

[0042] Figure 1 This is a schematic flowchart of an embodiment of a radar airborne flight test method based on the navigation equipment of the carrier aircraft for this application;

[0043] Figure 2 This is a schematic diagram of the functional modules of an embodiment of the host computer for this application;

[0044] Figure 3 This is a schematic diagram of the hardware structure of a radar airborne flight test device based on the navigation equipment of the carrier aircraft involved in the embodiment solution of this application. Detailed Embodiment

[0045] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0046] To make the purpose, technical solution and advantages of this application clearer, the embodiments of this application will be further described in detail below in conjunction with the drawings.

[0047] In a first aspect, an embodiment of this application provides a radar airborne flight test method based on the navigation equipment of the carrier aircraft, and this method is applied to a host computer.

[0048] In one embodiment, referring to Figure 1 , Figure 1 This is a schematic flowchart of an embodiment of a radar airborne flight test method based on the navigation equipment of the carrier aircraft for this application. As Figure 1 shown, the radar airborne flight test method based on the navigation equipment of the carrier aircraft includes:

[0049] Step S10: Receive the navigation information output by the navigation equipment of the carrier aircraft. Each frame of navigation information includes UTC time, the position of the carrier aircraft, the speed of the carrier aircraft, the acceleration of the carrier aircraft, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft;

[0050] In this embodiment, the navigation equipment of the carrier aircraft outputs the navigation information of the carrier aircraft in the body coordinate system of the carrier aircraft to the host computer, and each frame of navigation information is denoted as:

[0051] Frame i =[T UTC_i B i L i H i V North_i VSky_i V East_i A Bx_i A By_i A Bz_i φ i θ i ψ i ω Bx_i ω By_i ω Bz_i

[0052] Among them, the UTC time T UTC_i , position (latitude B i , longitude L i , altitude H i ), speed (northward speed V North_i , skyward speed V Sky_i , eastward speed V East_i ), acceleration (carrier X-axis acceleration A Bx_i , carrier Y-axis acceleration A By_i , carrier Z-axis acceleration A Bz_i ), attitude angle (roll angle φ i , yaw angle θ i , pitch angle ψ i ), attitude angle rate (carrier X-axis angular rate ω Bx_i , carrier Y-axis angular rate ω By_i , carrier Z-axis angular rate ω Bz_i ).

[0053] Step S20, obtain the initial navigation information according to the navigation information of two frames before and after the moment T when the initialization instruction is received;

[0054] In this embodiment, each frame of navigation information is carried with the corresponding UTC time T UTC_i , when the host computer receives the initialization instruction, record the moment T when the initialization instruction is received. When there is no UTC time T UTC_i identical to T, then the initial navigation information can be obtained by linear interpolation according to the two frames of navigation information [Frame k ; Frame k+1 received before and after T. The formula is expressed as follows:

[0055]

[0056] Among them, Frame initial is the initial navigation information.

[0057] Step S30, establish a target coordinate system based on the initial navigation information and the target preset point;

[0058] In this embodiment, based on Frame initial ​Establish the target coordinate system Coord with the target preset point target , where the origin of the target coordinate system is the target preset point, the positive direction of the X-axis of the target coordinate system is the direction of the projection of the carrier aircraft speed on the ground at the instruction moment, the positive direction of the Y-axis of the target coordinate system points to the sky, and the Z-axis of the target coordinate system satisfies the right-hand constraint. Thus, the guidance initialization can be completed.

[0059] Step S40: Convert each frame of navigation information received after initialization to the target coordinate system to obtain new navigation information;

[0060] In this embodiment, each frame of navigation information received after initialization is converted to the target coordinate system Coord target to obtain new navigation information. Each frame of new navigation information includes the position of the carrier aircraft in Coord target ([X tar_i , Y tar_i , Z tar_i ), speed ([Vx tar__i , Vy tar__i , Vz tar__i ), acceleration ([Ax tar__i , Ay tar__i , Az tar__i ), attitude angles ([φ tar_i , θ tar_i , ψ tar_i ), and attitude angle rates It is denoted as:

[0061]

[0062] Step S50: For each frame of new navigation information, add random noise to it to obtain each frame of simulated navigation information;

[0063] In this embodiment, random noise err i of each parameter is generated according to the navigation error model of the aircraft platform navigation equipment.

[0064]

[0065] where the k-th term err i in err i is a random number that satisfies the following distribution:

[0066] err i (k) ~ N(μ k , σ k ), and μ k , σ k are determined by the performance of the aircraft platform navigation equipment.

[0067] Add noise to the navigation information in the target coordinate system to obtain the navigation output simulating the navigation equipment of the real aircraft platform, that is, the simulated navigation information Frame fix_i , denoted as:

[0068]

[0069] Step S60: For the simulated navigation information and the navigation information corresponding to the same UTC time, combine the conversion matrix between the aircraft body coordinate system and the radar coordinate system, the position of the observation point, the position of the aircraft in the simulated navigation information, the attitude angle of the aircraft, and the attitude angle rate of the aircraft in the navigation information to obtain the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to this UTC time;

[0070] Furthermore, in one embodiment, the conversion matrix C between the aircraft body coordinate system and the radar coordinate system ins2seeker is determined based on the angular rotation relationship between the aircraft body coordinate system and the radar coordinate system where: is the elevation angle, ψ is the azimuth angle, and γ is the roll angle, and:

[0071]

[0072] In this embodiment, the angular rotation relationship between the aircraft body coordinate system and the radar coordinate system can be obtained by measurement.

[0073] Furthermore, in one embodiment, step S60 includes:

[0074] Step S601: Determine the line-of-sight vector in the aircraft body coordinate system according to the position of the observation point and the position and attitude angle of the aircraft in the simulated navigation information for UTC time T UTC_i In this embodiment, for UTC time T

[0075] the line-of-sight vector UTC_i in the aircraft body coordinate system is calculated as follows:

[0076]

[0077] Step S602: Combine the line-of-sight vector in the aircraft body coordinate system and C ins2seeker to obtain the line-of-sight vector in the radar coordinate system;

[0078] In this embodiment, the line-of-sight vector in the radar coordinate system

[0079]

[0080] Step S603: Obtain T based on the line-of-sight vector in the radar coordinate system UTC_i The corresponding line-of-sight angle in the radar coordinate system;

[0081] In this embodiment, the line-of-sight angle includes the line-of-sight azimuth angle and the line-of-sight elevation angle. Calculate the line-of-sight distance Dis i 、the line-of-sight azimuth angle Azi i and the line-of-sight elevation angle Ele i as follows:

[0082]

[0083] It should be noted that X los_i 、Y los_i and Z los_i refer to the line-of-sight vector in the radar coordinate system

[0084] Step S604: Obtain the line-of-sight angle rate vector in the radar coordinate system based on C ins2seeker 、the line-of-sight angle in the radar coordinate system and the attitude angle rate of the carrier aircraft in the navigation information for UTC time T UTC_i ;

[0085] In this embodiment, calculate the line-of-sight angle rate vector [Xdr i Ydr i Zdr i T as follows:

[0086]

[0087] Step S605: Determine the line-of-sight angle rate in the radar coordinate system corresponding to T UTC_i ;

[0088] In this embodiment, solve the line-of-sight angle rate in the radar coordinate system as follows:

[0089]

[0090] Step S70: Combine the simulated navigation information corresponding to the same UTC time, and the line-of-sight angle and line-of-sight angle rate in the radar coordinate system to form a navigation output sequence, and convert the UTC time in the navigation output sequence to the system time;

[0091] In this embodiment, combine the results of Step S50 and Step S60 to form a navigation output sequence, and convert the UTC time in the navigation output sequence to the system time T sys_i ; One navigation output sequence is as follows:

[0092] ​

[0093] Step S80: Select a target navigation output sequence according to the guiding moment, generate a guiding result based on the target navigation output sequence, and send the guiding result to the radar.

[0094] In this embodiment, if there is a navigation output sequence whose included system time is consistent with the guiding moment, use the navigation output sequence whose included system time is consistent with the guiding moment as the target navigation output sequence, and use the target navigation output sequence as the guiding result.

[0095] If there is no navigation output sequence whose included system time is consistent with the guiding moment, use the two navigation output sequences whose included system times are closest to the guiding moment as the target navigation output sequences, and perform linear interpolation on the parameters of the two target navigation output sequences to obtain the guiding result.

[0096] If the navigation result moment to be output is T sys_m , then the output result Frame out is the linear interpolation of the two frames of navigation output sequences [Frame res_k ; Frame res_k+1 before and after this moment, that is:

[0097]

[0098] In the embodiment of the present application, the navigation device of the carrier aircraft terminal is used to simulate the navigation device of the real aircraft platform to complete the guidance of the radar, which simplifies the test system, has the characteristics of strong versatility, and is suitable for engineering applications.

[0099] In a second aspect, the embodiment of the present application further provides a radar airborne hanging flight test device based on the navigation device of the carrier aircraft terminal.

[0100] In an embodiment, referring to Figure 2 , Figure 2 is a schematic diagram of the function modules of an embodiment of the host computer of the present application. As Figure 2 shown, the host computer includes:

[0101] A receiving module 10, configured to receive navigation information output by the navigation device of the carrier aircraft terminal, where each frame of navigation information includes UTC time, the position of the carrier aircraft, the speed of the carrier aircraft, the acceleration of the carrier aircraft, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft.

[0102] An initialization module 20, configured to obtain initialization navigation information according to the navigation information of two frames before and after the moment T when the initialization instruction is received.

[0103] A building module 30, configured to establish a target coordinate system based on the initialization navigation information and the target preset point.

[0104] A conversion module 40, configured to convert each frame of navigation information received after initialization is completed into a target coordinate system to obtain new navigation information;

[0105] A simulation module 50, configured to add random noise to each frame of the new navigation information to obtain each frame of simulated navigation information;

[0106] A calculation module 60, configured to, for the simulated navigation information and the navigation information corresponding to the same UTC time, combine the conversion matrix between the aircraft body coordinate system and the radar coordinate system, the observation point position, the position of the aircraft in the simulated navigation information, the attitude angle of the aircraft, and the attitude angle rate of the aircraft in the navigation information to obtain the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to this UTC time;

[0107] A combination module 70, configured to form a navigation output sequence from the simulated navigation information corresponding to the same UTC time and the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system, and convert the UTC time in the navigation output sequence into system time;

[0108] A sending module 80, configured to select a target navigation output sequence according to the guidance moment, generate a guidance result based on the target navigation output sequence, and send the guidance result to the radar.

[0109] Further, in an embodiment, the initialization module 20 is configured to:

[0110] Perform linear interpolation on two consecutive frames of navigation information according to the moment T when the initialization instruction is received to obtain initialization navigation information.

[0111] Further, in an embodiment, the origin of the target coordinate system is the target preset point, the positive direction of the X axis of the target coordinate system is the ground projection direction of the aircraft speed at the instruction moment, the positive direction of the Y axis of the target coordinate system points to the sky, and the Z axis of the target coordinate system satisfies the right-hand constraint.

[0112] Further, in an embodiment, the conversion matrix C between the aircraft body coordinate system and the radar coordinate system ins2seeker is determined based on the angular rotation relationship between the aircraft body coordinate system and the radar coordinate system where θ is the elevation angle, ψ is the azimuth angle, and γ is the roll angle, and:

[0113]

[0114] Further, in an embodiment, the calculation module 60 is configured to:

[0115] According to the observation point position and for UTC time T UTC iThe position of the carrier aircraft and the attitude angle of the carrier aircraft in the simulated navigation information determine the line-of-sight vector in the carrier aircraft body coordinate system;

[0116] Combined with the line-of-sight vector in the carrier aircraft body coordinate system and C ins2seeker Obtain the line-of-sight vector in the radar coordinate system;

[0117] Obtain T according to the line-of-sight vector in the radar coordinate system UTC_i The corresponding line-of-sight angle in the radar coordinate system;

[0118] According to C ins2seeker 、The line-of-sight angle in the radar coordinate system and the attitude angle rate of the carrier aircraft in the navigation information for UTC time T UTC_i Obtain the line-of-sight angle rate vector in the radar coordinate system;

[0119] Determine T according to the line-of-sight angle rate vector in the radar coordinate system UTC_i The corresponding line-of-sight angle rate in the radar coordinate system.

[0120] Furthermore, in one embodiment, the sending module 80 is used for:

[0121] If there is a navigation output sequence whose included system time is consistent with the guiding moment, then use the navigation output sequence whose included system time is consistent with the guiding moment as the target navigation output sequence, and use the target navigation output sequence as the guiding result;

[0122] If there is no navigation output sequence whose included system time is consistent with the guiding moment, then use the two navigation output sequences whose included system times are closest to the guiding moment as the target navigation output sequences, and perform linear interpolation on the parameters of the two target navigation output sequences to obtain the guiding result.

[0123] Wherein, the function implementation of each module in the above radar airborne flight test device based on the carrier aircraft end navigation equipment corresponds to each step in the above method embodiment of the radar airborne flight test method based on the carrier aircraft end navigation equipment, and its function and implementation process will not be elaborated here one by one.

[0124] In a third aspect, an embodiment of the present application provides a radar airborne flight test device based on a carrier aircraft end navigation equipment. The radar airborne flight test device based on the carrier aircraft end navigation equipment can be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0125] Refer to Figure 3 , Figure 3This is a schematic diagram of the hardware structure of a radar airborne flight test device based on an aircraft-mounted navigation device in the solution of the embodiment of the present application. In the embodiment of the present application, the radar airborne flight test device based on the aircraft-mounted navigation device may include a processor, a memory, a communication interface, and a communication bus.

[0126] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0127] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, etc., which are used to implement the interconnection of components inside the radar airborne flight test device based on the aircraft-mounted navigation device, and interfaces for implementing the interconnection of the radar airborne flight test device based on the aircraft-mounted navigation device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display screen (Display), a keyboard (Keyboard), etc.

[0128] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0129] The processor can be a general-purpose processor, and the general-purpose processor can call the radar airborne flight test program stored in the memory and execute the radar airborne flight test method provided in the embodiment of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the radar airborne flight test program based on the aircraft-mounted navigation device is called can refer to each embodiment of the radar airborne flight test method based on the aircraft-mounted navigation device of the present application, which will not be elaborated here.

[0130] Those skilled in the art can understand that Figure 3 the hardware structure shown in

[0131] Fourthly, an embodiment of the present application further provides a computer-readable storage medium.

[0132] Stored on the computer-readable storage medium of the present application is a radar airborne flight test program based on the navigation equipment of the carrier aircraft. When the radar airborne flight test program based on the navigation equipment of the carrier aircraft is executed by a processor, the steps of the radar airborne flight test method based on the navigation equipment of the carrier aircraft as described above are implemented.

[0133] Among them, the method implemented when the radar airborne flight test program based on the navigation equipment of the carrier aircraft is executed can refer to the various embodiments of the radar airborne flight test method based on the navigation equipment of the carrier aircraft in the present application, which will not be elaborated here.

[0134] It should be noted that the serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0135] In the description of the embodiments of the present application, the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions with terms such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0136] In the description of the embodiments of the present application, terms such as "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of terms such as "exemplary", "for example" or "for instance" is intended to present related concepts in a specific manner.

[0137] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B can mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0138] In some processes described in the embodiments of the present application, multiple operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0139] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device to execute the methods described in the various embodiments of the present application.

[0140] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A radar airborne hanging flight test method based on the navigation equipment of the carrier aircraft, characterized in that The radar airborne flight test method based on the carrier aircraft's navigation equipment is applied to the host computer. The radar airborne flight test method based on the carrier aircraft's navigation equipment includes: Receiving navigation information output by the carrier aircraft's navigation equipment, where each frame of navigation information includes UTC time, the position of the carrier aircraft, the speed of the carrier aircraft, the acceleration of the carrier aircraft, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft; Obtaining initialization navigation information based on two consecutive frames of navigation information at the moment T when the initialization instruction is received; Establishing a target coordinate system based on the initialization navigation information and the target preset point; Converting each frame of navigation information received after initialization to the target coordinate system to obtain new navigation information; Adding random noise to each frame of new navigation information to obtain each frame of simulated navigation information; For the simulated navigation information and the navigation information corresponding to the same UTC time, combining the conversion matrix between the carrier aircraft body coordinate system and the radar coordinate system, the observation point position, the position of the carrier aircraft in the simulated navigation information, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft in the navigation information to obtain the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to this UTC time; Combining the simulated navigation information corresponding to the same UTC time with the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system to form a navigation output sequence, and converting the UTC time in the navigation output sequence to the system time; Selecting a target navigation output sequence according to the guidance moment, generating a guidance result based on the target navigation output sequence, and sending the guidance result to the radar.

2. The radar airborne suspension flight test method based on the navigation equipment on the carrier aircraft as described in claim 1, wherein, The obtaining initialization navigation information based on two consecutive frames of navigation information at the moment T when the initialization instruction is received includes: Performing linear interpolation on two consecutive frames of navigation information at the moment T when the initialization instruction is received to obtain initialization navigation information.

3. The radar airborne flight test method based on the navigation equipment of the carrier aircraft according to claim 1, characterized in that, The origin of the target coordinate system is the target preset point. The positive direction of the X-axis of the target coordinate system is the projection direction of the carrier aircraft speed on the ground at the instruction moment. The positive direction of the Y-axis of the target coordinate system points to the sky, and the Z-axis of the target coordinate system satisfies the right-hand constraint.

4. The radar airborne flight test method based on the navigation equipment of the carrier aircraft according to claim 1, wherein Conversion matrix C between the carrier aircraft body coordinate system and the radar coordinate system ins2seeker Based on the angular rotation relationship between the carrier aircraft body coordinate system and the radar coordinate system Determined where θ is the elevation angle, ψ is the azimuth angle, and γ is the roll angle, and:

5. The radar airborne hanging flight test method based on the navigation equipment on the carrier aircraft according to claim 4, characterized in that, For the simulated navigation information and the navigation information corresponding to the same UTC time, combining the conversion matrix between the carrier aircraft body coordinate system and the radar coordinate system, the observation point position, the position of the carrier aircraft in the simulated navigation information, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft in the navigation information to obtain the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to this UTC time includes: Determine the line-of-sight vector in the aircraft body coordinate system based on the position of the observation point and the position and attitude angle of the aircraft in the simulated navigation information for UTC time T UTC_i ; determine the line-of-sight vector in the aircraft body coordinate system according to the position of the aircraft and the attitude angle of the aircraft in the simulated navigation information for UTC time T Combined with the line-of-sight vector in the carrier aircraft body coordinate system and C ins2seeker Obtain the line-of-sight vector in the radar coordinate system; Obtain T based on the line-of-sight vector in the radar coordinate system UTC_i The corresponding line-of-sight angle in the radar coordinate system; According to C ins2seeker , the line-of-sight angle in the radar coordinate system and the attitude angle rate of the carrier aircraft in the navigation information for UTC time T UTC_i to obtain the line-of-sight angle rate vector in the radar coordinate system; Determine T based on the line-of-sight angular rate vector in the radar coordinate system UTC_i The corresponding line-of-sight angular rate in the radar coordinate system.

6. The radar airborne hanging flight test method based on the navigation equipment at the carrier aircraft end according to claim 1, wherein The selecting a target navigation output sequence according to the guidance moment and generating a guidance result based on the target navigation output sequence includes: If there is a navigation output sequence whose included system time is consistent with the guidance moment, then using the navigation output sequence whose included system time is consistent with the guidance moment as the target navigation output sequence and using the target navigation output sequence as the guidance result; If there is no navigation output sequence whose included system time is consistent with the guidance moment, then using the two navigation output sequences whose included system times are closest to the guidance moment as the target navigation output sequences, and performing linear interpolation on the parameters of the two target navigation output sequences to obtain the guidance result.

7. An upper computer, characterized in that, The host computer includes: A receiving module, configured to receive navigation information output by a navigation device on the carrier aircraft side, where each frame of navigation information includes UTC time, the position of the carrier aircraft, the speed of the carrier aircraft, the acceleration of the carrier aircraft, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft; An initialization module, configured to obtain initialization navigation information based on two consecutive frames of navigation information at the moment T when the initialization instruction is received; A building module, configured to build a target coordinate system based on the initialization navigation information and a target preset point; A conversion module, configured to convert each frame of navigation information received after initialization into the target coordinate system to obtain new navigation information; A simulation module, configured to add random noise to each frame of the new navigation information to obtain each frame of simulated navigation information; A calculation module, configured to, for the simulated navigation information and the navigation information corresponding to the same UTC time, combine the conversion matrix between the carrier aircraft body coordinate system and the radar coordinate system, the observation point position, the position of the carrier aircraft in the simulated navigation information, the attitude angle of the carrier aircraft, and the attitude angle rate of the carrier aircraft in the navigation information to obtain the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to this UTC time; A combination module, configured to form a navigation output sequence from the simulated navigation information and the line-of-sight angle and the line-of-sight angle rate in the radar coordinate system corresponding to the same UTC time, and convert the UTC time in the navigation output sequence into system time; A sending module, configured to select a target navigation output sequence according to the guiding moment, generate a guiding result based on the target navigation output sequence, and send the guiding result to the radar.

8. A radar airborne flight test system based on the navigation equipment of the carrier aircraft, characterized in that, The radar airborne flight test system based on the navigation device on the carrier aircraft side includes a navigation device on the carrier aircraft side, a radar, and a host computer as described in claim 7.

9. A radar airborne flight test equipment based on the navigation equipment of the carrier aircraft, characterized in that, The radar airborne flight test device based on the navigation device on the carrier aircraft side includes a processor, a memory, and a radar airborne flight test program based on the navigation device on the carrier aircraft side stored on the memory and executable by the processor. When the radar airborne flight test program based on the navigation device on the carrier aircraft side is executed by the processor, the steps of the radar airborne flight test method based on the navigation device on the carrier aircraft side as described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that, A computer-readable storage medium stores a radar airborne flight test program based on the navigation device on the carrier aircraft side. When the radar airborne flight test program based on the navigation device on the carrier aircraft side is executed by a processor, the steps of the radar airborne flight test method based on the navigation device on the carrier aircraft side as described in any one of claims 1 to 6 are implemented.

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