A method, system and terminal for calculating operating parameters of a shadow rocket

Abstract

The present invention relates to a method, system, and terminal for measuring operating parameters of a shadow rocket, and belongs to the technical field of shadow rocket operations. The method comprises the following steps: identifying and collecting the radial velocity, cloud position, cloud height, and wind speed of a target cloud layer; calculating the average radial velocity of the target cloud layer based on the radial velocity; determining the initial launch azimuth of the shadow rocket based on the average radial velocity and a reference direction; calculating the angle between the cloud movement velocity vector and the reference direction based on changes in the cloud position; calculating the wind field correction angle between the resultant velocity vector of the wind field and the cloud movement and the reference direction based on the wind speed; constructing a dynamic state equation for the launch azimuth of the shadow rocket based on the initial launch azimuth, the angle between the cloud movement velocity vector and the reference direction, the wind field correction angle, and the cloud height; and solving the equation based on the fourth-order Runge-Kutta method to obtain the final launch azimuth. The present invention has the beneficial effect of improving the accuracy and effectiveness of rain enhancement and hail prevention operations.

Description

Technical Field

[0001] The present invention relates to the technical field of human shadow rocket operations, and in particular to a method, system and terminal for calculating human shadow rocket operation parameters. Background Art

[0002] During shadow rocket operations such as hail suppression and rain enhancement, multiple steps are involved, including effective identification of target clouds, determination of operational parameters, and control of shadow rocket launches. Accurately acquiring the physical properties of the target cloud and calculating rocket launch parameters accordingly is key to improving operational effectiveness.

[0003] In related technologies, these links still require manual intervention. For example, operators rely mainly on experience to judge the direction and location of operations within a certain operating range. The manual intervention method makes it difficult to ensure the accuracy of operations and cannot achieve the expected rain-making and hail-prevention effects. Summary of the Invention

[0004] In order to improve the operation accuracy and enhance the effect of rain enhancement and hail prevention, the present invention provides a method, system and terminal for calculating the operation parameters of a shadow rocket.

[0005] In a first aspect, the present invention provides a method for calculating operating parameters of a shadow rocket, which adopts the following technical solutions:

[0006] A method for calculating operating parameters of a shadow rocket, comprising:

[0007] Identifying a target cloud layer and collecting radial velocity, cloud position, cloud height, and wind speed of the target cloud layer;

[0008] calculating an average radial velocity of the target cloud layer according to the radial velocity;

[0009] determining an initial launch azimuth angle of the shadow rocket according to the average radial velocity and a set reference direction;

[0010] Calculating the angle between the cloud body moving velocity vector and the reference direction according to the change in the cloud body position;

[0011] Calculating the angle between the resultant velocity vector of the wind field and the cloud movement and the reference direction based on the wind speed to obtain a wind field correction angle;

[0012] Constructing a dynamic state equation of the shadow rocket launch azimuth based on the initial launch azimuth, the angle between the cloud body moving velocity vector and the reference direction, the wind field correction angle, and the cloud body height;

[0013] The dynamic state equation is solved based on the fourth-order Runge-Kutta method to obtain the final launch azimuth angle of the shadow rocket.

[0014] By employing this technical solution, after identifying the target cloud, the average radial velocity is calculated based on the collected radial velocities of the target cloud, thereby determining the initial launch azimuth. This provides a preliminary scientific basis for the launch direction and more accurately points to the target cloud than traditional empirical estimates. The angle between the cloud velocity vector and the reference direction, as well as the wind field correction angle, is then calculated, and a dynamic state equation is constructed, comprehensively accounting for the impact of factors such as cloud movement and wind speed on the rocket launch. Finally, the dynamic state equation is solved using the fourth-order Runge-Kutta method to obtain the final launch azimuth. This allows the launch azimuth to be dynamically adjusted based on actual conditions, improving the accuracy of the launch azimuth. This precise launch azimuth ensures that the shadow rocket accurately enters the target cloud, enabling more effective catalyst deployment and enhancing operational precision, thereby improving the effectiveness of rain enhancement and hail suppression operations. This prevents the rocket from straying from the target cloud due to inaccurate launch azimuth, reducing ineffective operations and saving manpower, material, and financial resources.

[0015] Optionally, the steps after obtaining the final launch azimuth of the shadow rocket include:

[0016] Get the first height change of the shadow rocket in the linear motion stage;

[0017] Get the second height change of the shadow rocket during its parabolic motion phase;

[0018] The launch pitch angle is obtained according to the total height change, where the total height change=the first height change+the second height change.

[0019] By employing this technical solution, a more detailed simulation of the rocket's flight process can be achieved by separately obtaining the first altitude change during the silhouette rocket's linear motion phase and the second altitude change during its parabolic motion phase. The physical properties of each motion phase differ, and the influencing factors and motion patterns differ significantly between the linear and parabolic phases. Obtaining altitude changes separately allows for a more accurate understanding of the rocket's altitude changes throughout its flight. In actual flight, a rocket's flight trajectory does not follow a single pattern. This segmented approach of obtaining altitude changes better reflects the rocket's actual flight state. The launch pitch angle is calculated based on the total altitude change (first altitude change + second altitude change). This comprehensively considers the rocket's altitude changes throughout its flight, making the launch pitch angle calculation more accurate and reducing operational risks.

[0020] Optionally, the steps after obtaining the launch pitch angle include:

[0021] Obtaining the total cloud volume of the target cloud layer;

[0022] Calculating the horizontal projection area of ​​the cloud body according to the total volume of the cloud body;

[0023] Obtaining the vertical cumulative liquid water content of the target cloud layer;

[0024] Calculating the total mass of liquid water according to the vertical cumulative liquid water content and the horizontal projection area of ​​the cloud body;

[0025] Calculating the catalyst requirement based on the total mass of the liquid water;

[0026] The total amount of rockets used is obtained based on the catalyst requirement and the catalyst content of a single rocket.

[0027] By employing the above technical solution, the total cloud volume reflects the size of the cloud in three-dimensional space, while the horizontally projected area of ​​the cloud reflects its horizontal coverage. By obtaining the total volume of the target cloud and calculating its horizontally projected area, a comprehensive understanding of the cloud's size and distribution can be obtained. Vertical cumulative liquid water content is an important indicator for measuring the rain enhancement potential of clouds and is directly related to the feasibility and effectiveness of rain enhancement operations. Obtaining the vertical cumulative liquid water content of the target cloud accurately assesses the liquid water content in the cloud. Calculating the catalyst requirement based on the total mass of liquid water allows for a reasonable determination of the required amount of catalyst based on the actual liquid water content in the cloud. Different amounts of liquid water require different amounts of catalyst to promote water vapor condensation and precipitation formation. Scientifically calculating the catalyst requirement can avoid overuse or underuse of catalyst, improving operational efficiency and effectiveness. In rain enhancement and hail suppression operations, the use of rockets and catalysts requires a certain amount of resources. Accurately calculating the catalyst requirement and total rocket usage can optimize resource allocation. Reasonable resource allocation can reduce operational costs and improve resource utilization efficiency.

[0028] Optionally, the steps after obtaining the total ammunition usage further include:

[0029] Obtaining the flight speed of the rocket, the one-way distance from the target cloud layer to the radar, and the flight time for the rocket to reach the target cloud layer;

[0030] calculating a preliminary launch interval based on the average radial velocity, the one-way distance, and the flight speed;

[0031] Obtain the change in radar echo intensity;

[0032] A final transmission time interval is calculated according to the preliminary transmission time interval, the flight time and the echo intensity variation.

[0033] By employing this technical solution, the rocket's flight speed, one-way distance to the target cloud, and flight time to the target cloud are acquired, providing a comprehensive and accurate understanding of the entire flight process from launch to arrival at the target cloud. Calculating the initial launch interval based on the average radial velocity, one-way distance, and flight speed fully accounts for the cloud's motion and the rocket's flight characteristics, optimizing the launch time and preventing overly concentrated or dispersed rocket entry into the target cloud. This improves the uniformity of the catalyst's distribution within the cloud, thereby more effectively promoting water vapor condensation and precipitation formation within the cloud. The change in echo intensity reflects the dynamic changes in factors such as water vapor content, droplet size, and distribution within the cloud, which directly impact the effectiveness of rain enhancement and hail suppression operations. Monitoring the change in echo intensity provides timely insight into cloud development trends, providing an important basis for adjusting launch intervals. The final launch interval is calculated based on the initial launch interval, flight time, and echo intensity change. This fully accounts for the dynamic changes in the cloud layer and the flight conditions of the rocket, allowing the launch time to be more adapted to the real-time state of the cloud layer, further improving the accuracy and effectiveness of the operation. This allows the launch interval to be flexibly adjusted according to the specific conditions and real-time changes of different cloud layers, making the operation more in line with actual needs and increasing the success rate of rain enhancement and hail prevention. A reasonable launch interval can avoid unnecessary rocket launches and reduce resource waste. While ensuring operational effectiveness, scientifically calculating and adjusting the launch interval can minimize operational costs and improve resource utilization efficiency while meeting the needs of cloud catalysis.

[0034] Optionally, the calculation method further includes:

[0035] Obtaining a moving time of the target cloud layer to the operation area according to the average radial velocity and the one-way distance;

[0036] Determining whether the change in the echo intensity of the target cloud layer reaches a set change threshold;

[0037] If yes, obtaining the duration of the change in the echo intensity reaching the change threshold;

[0038] The launch time of the shadow rocket is calculated according to the movement duration and the change duration.

[0039] By adopting the above technical solution and accurately calculating the movement duration, it is possible to clearly know when the clouds will reach an area suitable for operations, making rocket launches more targeted, avoiding blind launches, and improving the accuracy of operations. When the change in echo intensity reaches a set threshold, it means that the clouds may be in a specific state suitable for operations. Therefore, combining the movement duration and the change duration to calculate the launch time can match the rocket launch with the optimal operating state of the clouds, improving the accuracy of operations and allowing the launch time to be dynamically adjusted according to the actual movement and development of the clouds, so as to launch the shadow rocket at the optimal time, allowing the catalyst to play its maximum role in the clouds and enhance the effect of rain enhancement or hail prevention.

[0040] Optionally, the step of identifying the target cloud layer includes:

[0041] Obtain the cloud echo intensity and the dynamic change of echo top height received by the radar;

[0042] Determine whether the echo intensity is not less than an intensity threshold, and whether the change amount shows an upward trend within a set time period, and the change amount is not less than a change threshold;

[0043] If so, the cloud layer is determined to be the target cloud layer and an early warning is triggered.

[0044] By adopting the above technical solution, clouds are only identified as target clouds when they simultaneously meet two set conditions, triggering an early warning and conducting shadow rocket operations. Accurately identifying target clouds can make rain enhancement and hail prevention operations more targeted. Performing operations at critical stages of cloud development can better leverage shadow rocket operations. By promptly identifying target clouds and conducting operations at the appropriate time, it is possible to more effectively promote condensation and precipitation formation in the clouds, or inhibit the growth and development of hail, thereby achieving better rain enhancement or hail prevention results and improving the overall effectiveness of the operation.

[0045] Optionally, the step of calculating the average radial velocity of the target cloud layer according to the radial velocity includes:

[0046] dividing the target cloud layer into a plurality of regions;

[0047] Obtain the average value of radial velocity of all measurement points in each region;

[0048] According to the cloud cover in each area, each area is given a corresponding regional weight;

[0049] The average radial velocity of the target cloud layer is calculated according to the regional weight and the corresponding average value.

[0050] By adopting the above technical solution, the target cloud layer is divided into multiple regions, which enables a more detailed analysis of the cloud layer and more accurately captures the velocity characteristics of each region, laying the foundation for the subsequent accurate calculation of the average radial velocity. The average value of multiple measurement points can more accurately reflect the true movement speed of the cloud layer in the region, improving the reliability of the velocity data. By assigning different weights to different regions, the importance of each region in calculating the average radial velocity can be more reasonably reflected, making the calculation results more in line with the actual situation. The average radial velocity of the target cloud layer is calculated based on the regional weights and the corresponding average values, fully considering the velocity characteristics and importance of different regions of the cloud layer, avoiding the unreasonable results that may be caused by simple averaging, and making the calculated average radial velocity more accurately reflect the motion state of the entire target cloud layer.

[0051] In a second aspect, the present invention provides a system for measuring and calculating operating parameters of a shadow rocket, which adopts the following technical solutions:

[0052] A system for measuring and calculating operating parameters of a shadow rocket, comprising:

[0053] Millimeter-wave radar detection unit, used to collect cloud radial velocity, cloud position, cloud height and wind speed;

[0054] The operation parameter calculation unit is used to identify the target cloud layer based on the characteristics of the radar echo, and use the dynamic calculation model of the operation parameters to evaluate the requirements of the human shadow operation and generate the optimal operation parameters;

[0055] A rocket launch control unit, configured to control the launch of the rocket according to the optimal operating parameters calculated by the operating parameter calculation unit;

[0056] The human shadow platform is remotely connected to the operation parameter calculation unit and is used to receive and verify the data uploaded by the operation parameter calculation unit.

[0057] In a third aspect, the present invention provides a terminal, which adopts the following technical solution:

[0058] A terminal, comprising:

[0059] A memory storing a calculation program for operating parameters of a manned rocket;

[0060] The processor is used to execute the program stored in the memory to implement the steps of the above-mentioned method for measuring the operating parameters of the human shadow rocket.

[0061] In summary, the present invention has at least the following beneficial effects:

[0062] After identifying the target cloud, the average radial velocity is calculated based on the collected radial velocities of the target cloud, which is then used to determine the initial launch azimuth. This provides a preliminary scientific basis for the launch direction and more accurately points to the target cloud than traditional empirical estimates. The system then calculates the angle between the cloud velocity vector and the reference direction, as well as the wind field correction angle, and constructs a dynamic state equation, comprehensively accounting for the impact of factors such as cloud movement and wind speed on the rocket launch. Finally, the dynamic state equation is solved using the fourth-order Runge-Kutta method to obtain the final launch azimuth. This allows the launch azimuth to be dynamically adjusted based on actual conditions, improving the accuracy of the launch azimuth. A precise launch azimuth ensures that the shadow rocket accurately enters the target cloud, enabling more effective catalyst deployment and enhancing operational precision, thereby improving the effectiveness of rain enhancement and hail suppression operations. This avoids the rocket's deviation from the target cloud due to inaccurate launch azimuth, reducing ineffective operations and saving manpower, material, and financial resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 is a first flow chart of an embodiment of the method of the present invention;

[0064] Figure 2 is a second flow chart of an embodiment of the method of the present invention;

[0065] Figure 3 is a third flow chart of an embodiment of the method of the present invention;

[0066] Figure 4 It is a schematic diagram of the rocket's flight trajectory;

[0067] Figure 5 is a fourth flow chart of an embodiment of the method of the present invention;

[0068] Figure 6 is a fifth flow chart of an embodiment of the method of the present invention;

[0069] Figure 7 is a sixth flow chart of an embodiment of the method of the present invention;

[0070] Figure 8 It is a structural block diagram of an embodiment of the system of the present invention. DETAILED DESCRIPTION

[0071] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be combined with the appended drawings of the embodiments of the present invention. Figure 1 -Attached Figure 8The technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0072] The first embodiment of the present invention discloses a method for calculating the operating parameters of a shadow rocket. Figure 1 As an implementation of the calculation method, the calculation method may include S110-S170:

[0073] S110, identifying the target cloud layer and collecting the radial velocity, cloud position, cloud height and wind speed of the target cloud layer;

[0074] S120, calculating the average radial velocity of the target cloud layer based on the radial velocity;

[0075] S130, determining an initial launch azimuth angle of the shadow rocket according to the average radial velocity and the set reference direction;

[0076] S140, calculating the angle between the cloud body moving velocity vector and the reference direction based on the change in the cloud body position;

[0077] S150, calculating the angle between the resultant velocity vector of the wind field and the cloud movement and the reference direction based on the wind speed to obtain a wind field correction angle;

[0078] S160, constructs the dynamic state equation of the shadow rocket launch azimuth based on the initial launch azimuth, the angle between the cloud body moving velocity vector and the reference direction, the wind field correction angle and the cloud body height;

[0079] S170, based on the fourth-order Runge-Kutta method, the dynamic state equation is solved to obtain the final launch azimuth angle of the shadow rocket.

[0080] Specifically, the steps for identifying the target cloud layer are as follows:

[0081] Obtain the echo intensity and dynamic change of the echo top height of the cloud layer received by the radar; and determine whether the echo intensity is not less than the intensity threshold, and whether the change shows an upward trend within the set time period, and the change is not less than the change threshold; if all are met, the cloud layer is determined to be the target cloud layer and an early warning is triggered.

[0082] For example, 1) the intensity threshold range of the echo intensity is 35dBZ-40dBZ. When the echo intensity is greater than or equal to the intensity threshold range, it indicates that the particle concentration and size in the cloud layer are large, and it may be in the stage of severe convection development (such as thunderstorm clouds or hail clouds).

[0083] 2) Set the duration to 5 minutes and the change threshold range to 1km-2km. When the change amount shows an upward trend and is greater than or equal to the change threshold range within 5 minutes, it indicates that the cloud body is developing vertically very quickly and may be jumping from a thunderstorm cloud to a hail cloud (the updraft in the cloud is sharply strengthened and hail embryos are forming rapidly).

[0084] Therefore, only when both conditions 1) and 2) are met, the cloud layer is confirmed as a target cloud layer and an early warning is triggered before the shadow rocket operation can be carried out. If only one condition is met, no early warning is triggered and radar monitoring continues.

[0085] Reference Figure 2 , based on the radial velocity, the steps of calculating the average radial velocity of the target cloud layer include S210-S240:

[0086] S210, dividing the target cloud layer into multiple regions;

[0087] S220, obtaining the average radial velocity of all measurement points in each area;

[0088] S230, assigning a corresponding regional weight to each region according to the cloud cover of each region;

[0089] S240 , calculating the average radial velocity of the target cloud layer according to the regional weight and the corresponding average value.

[0090] Specifically, radial velocity reflects the direction and speed of water vapor movement within a cloud. By analyzing radial velocity data from multiple angles, the primary direction of cloud movement can be determined, thereby determining the initial azimuth angle for the rocket launch. Using millimeter-wave radar to scan clouds, the Doppler effect can be used to determine radial velocity at different locations within the cloud (i.e., the target cloud layer). When the radar's transmitted signal encounters a moving cloud target, the received echo signal experiences a frequency shift, known as the Doppler shift. This Doppler shift is proportional to the cloud's radial velocity.

[0091] The formula is ,in, is the radial velocity, is the Doppler shift, The wavelength of the radar signal.

[0092] Since millimeter-wave radar measures multiple locations on a cloud to obtain a series of radial velocity values, in order to determine the overall movement direction of the cloud, it is necessary to calculate the average radial velocity of the cloud.

[0093] The cloud body can be divided into multiple regions, the radial velocity in each region is averaged, and then the weights of the radial velocities of different regions are comprehensively considered (for example, the weights are determined according to factors such as the amount of regional cloud cover), to obtain a velocity vector that reflects the overall radial motion of the cloud body. Let the average radial velocity of the i-th region be (the average value of the radial velocity of all measurement points in the region), with a weight of (Reflects the relative importance of the region in the overall cloud body, that is, its contribution to the overall cloud body, such as cloud amount, area, etc.) When calculating the average radial velocity of the target cloud layer as a whole, the average radial velocity of each region is taken as Multiply by its weight , then sum the results of all regions and divide by the total weight; the formula is: the average radial velocity of the target cloud layer .

[0094] If there are multiple radial velocity measurements in an area (such as radial velocities at multiple detection points), it is necessary to first average all radial velocities in the area to obtain , and then combine it with the weight Combined, if there are k radial velocities in the i-th region, then .

[0095] After obtaining the average radial velocity of the target cloud layer, the azimuth of the rocket launch is preliminarily determined based on the geometric relationship. If the average radial velocity points to the east, the preliminary rocket launch azimuth can be set to 90°. If the angle between the average radial velocity and the set reference direction (such as the north direction) is , then the initial launch azimuth of the rocket is .

[0096] If the cloud's movement direction is inconsistent with the average radial velocity, this may indicate tangential velocity or airflow disturbances within the cloud. In this case, the velocity sign should be determined based on the cloud's overall movement direction (moving away from / approaching the radar). The transmit azimuth should then be adjusted based on the average radial velocity.

[0097] If the cloud is moving away from the radar (positive velocity), but the radial velocity direction points to the left, the cloud movement direction (away from the radar) is still the main focus. The initial transmission azimuth angle is "+", but the actual transmission direction needs to be deviated to the left to match the average radial velocity direction.

[0098] If the cloud body moves toward the radar (negative speed), but the average radial velocity direction points to the right, the cloud body movement direction (towards the radar) is still the main focus. The initial transmission azimuth angle takes a "-" sign, but the actual transmission direction needs to be deviated to the right to match the average radial velocity direction.

[0099] Continuously monitor the position changes of clouds. By scanning the cloud positions at different times, we can obtain the cloud position change data over time. Inner position Move to position , then the moving velocity vector of the cloud is ,in , Then, the angle between the cloud body's moving velocity vector and the north direction is calculated based on the trigonometric function relationship. , this angle can be used as a reference for correcting the initial azimuth. The trigonometric function relationship is .

[0100] Considering the impact of environmental wind field on cloud movement and rocket flight, weather radar can be used to monitor wind speed changes. If the wind speed is , the angle between the wind direction and the north direction is (Clockwise is positive), then the components of the wind field in the east-west and north-south directions are: East-west wind speed component , north-south wind speed component The wind speed component and the cloud body moving speed component are combined to obtain a new resultant speed vector. Let the original cloud body moving speed vector be , then the components of the resultant velocity vector become , recalculate the angle between the resultant velocity vector and the north direction (wind field correction angle) .

[0101] Considering the effect of cloud height on the azimuth of rocket launch, as altitude increases, atmospheric pressure and density decrease, the range and flight trajectory of the rocket will change. Based on the law of atmospheric refraction and relevant experimental data, an empirical model or theoretical model for altitude and azimuth correction is established. The empirical model can be: , where h is the cloud height, is a coefficient determined based on experimental data.

[0102] Taking all the above factors into consideration, the dynamic state equation of the rocket launch azimuth is established. Assume that the state vector is ,in is the initial launch azimuth of the rocket launch, is the angle between the cloud body's moving velocity vector and the north direction, is the wind field correction angle caused by the wind field, h is the cloud height, and the state equation can be expressed as , where F is a function of the state vector X and the input vector U (including radar detection data, wind field data, etc.). For example: .

[0103] During an actual rocket launch, new radar data (including radial velocity, cloud position, altitude, etc.) and wind field data are continuously acquired. The state vector X is updated in real time. This new data is substituted into the rocket launch azimuth state equation and solved using the fourth-order Runge-Kutta method. The azimuth state equation is then solved to determine the azimuth trend over a period of time.

[0104] The steps for solving the dynamic state equation based on the fourth-order Runge-Kutta method are as follows:

[0105] 1. Determine the equation of state and related parameters:

[0106] The state vector is , let the state equation be .

[0107] 2. Initialization parameters:

[0108] Determine the initial state vector based on the initial radar detection data and wind field data, such as the initial launch azimuth , the angle between the initial cloud body moving velocity vector and the north direction , the correction angle of the initial wind field and initial cloud height .

[0109] Choose an appropriate time step The appropriate time step determines the accuracy and computational complexity of the solution. A smaller time step can improve the accuracy but increase the number of calculations.

[0110] In actual shadow rocket operations, radar scan cycles, rocket preparation times, and operational response times are typically measured in minutes, and a 1-minute step size aligns with the actual operational rhythm. Furthermore, a 1-minute step size captures key dynamics (such as cloud dissipation and sudden wind direction changes) without wasting computational resources due to excessive subdivision.

[0111] For each time step n, k1, k2, k3, and k4 are calculated according to the formula of the fourth-order Runge-Kutta method.

[0112] According to the current state vector and time The calculated function value reflects the rate of change of the state vector under the current state.

[0113] , first update the state vector according to k1, then calculate the new function value to get k2.

[0114] , Similarly, update the state vector according to k2 and calculate the function value to obtain k3.

[0115] , and finally update the state vector according to k3 and calculate the function value to obtain k4.

[0116] Then according to , calculate the state vector at the next moment .

[0117] Repeat the above iterative process, continuously obtain new radar detection data and wind field data, update the parameters in function F, and continuously calculate the state vector at the next moment. In this way, the azimuth angle in the future can be obtained. and other state variables 's changing trend.

[0118] Here is an example:

[0119] For example, the input vector: , w is the corrected angular rate due to wind speed (degrees / minute), is the cloud height descent rate (km / min).

[0120] Initial state vector: , initial launch azimuth 90°, cloud moving northeast, no wind, cloud height 5 km. Input parameters: w = 0.5° / minute, time step: Minutes, total prediction time: T=5 minutes.

[0121] Calculate k1:

[0122] ;

[0123] Calculate k2:

[0124] Intermediate state: , substitute into the state equation:

[0125] ;

[0126] Similarly, calculate k3 and k4, and then update the state vector.

[0127]

[0128] but Repeat the above steps and calculate t = 1 minute - 2 minutes, t = 2 minutes - 3 minutes, etc., and obtain the following Table 1. Table 1 is a schematic diagram of the change of the state vector over time; the unit of h in Table 1 refers to the unit km.

[0129] Table 1

[0130]

[0131] By solving the equation of state, the final launch azimuth angle of the rocket launch is determined. This azimuth angle is then compared with the safe range of launch angles for the operation site (rocket launch area) to ensure that the rocket launch angle is within the safe range. In any case, if the azimuth angle exceeds the range, the launch must be aborted and the system must be checked to maximize the success rate and effectiveness of the shadow rocket operation while ensuring safety.

[0132] Reference Figure 3 , the steps after obtaining the final launch azimuth of the shadow rocket include S310-S330:

[0133] S310, obtaining a first height change of the shadow rocket during the linear motion phase;

[0134] S320, obtaining a second height change of the shadow rocket during the parabolic motion phase;

[0135] S330: Obtain a launch pitch angle according to the total height change, where the total height change = the first height change + the second height change.

[0136] Specifically, millimeter-wave radar can be used to obtain parameters such as the target cloud's height, thickness, and range. The target cloud's height is crucial for calculating elevation angles, and the rocket's range and altitude need to be designed based on the target cloud's height to ensure the catalyst can effectively diffuse within the cloud.

[0137] Radar detects targets by emitting electromagnetic waves and receiving reflected echoes. When these waves encounter target clouds (such as water droplets or ice crystals in clouds), they scatter, with some of the energy returning to the radar receiver as an echo signal. The radar system measures parameters such as the echo signal's intensity, delay (round-trip time), and angle of arrival. Calculating the target cloud's altitude primarily relies on the echo's delay and angle of arrival.

[0138] Radar calculates the distance to a target cloud by measuring the round-trip time (i.e., delay) of an echo. If the speed of electromagnetic waves emitted by the radar is c, then the one-way distance d from the target cloud to the radar can be calculated using the following formula:

[0139] , where t is the round trip time of the echo. Radar can also measure the angle of arrival of the echo signal , where the angle is the angle between the radar antenna and the target object. By combining the distance d and the angle of arrival , use trigonometric function relationship to calculate the height h of the target object.

[0140] The target cloud layer height calculation also needs to take into account the radius of the Earth, R (the average radius is about 6371 kilometers). Since the influence of the Earth's curvature on the height calculation cannot be ignored, the following formula can be used to calculate the target cloud layer height h:

[0141] .

[0142] Rocket flight trajectory analysis is based on the rocket ballistic model, which is determined according to the rocket's flight principle and actual test data. It is the basis for calculating the rocket's flight trajectory. The rocket ballistic model is divided into a linear motion stage and a parabolic motion stage.

[0143] Reference Figure 4 , with the launch pad at the shadow operation site as the origin o, a rectangular coordinate system is established. In the rectangular coordinate system, the x-axis represents the horizontal displacement of the rocket after launch, and the y-axis represents the height change of the rocket after launch. is the launch pitch angle of the rocket, S1 is the trajectory of the rocket's linear motion, and S2 is the trajectory of the rocket's parabolic motion. Point A is the turning point between the rocket's linear and parabolic motions (where the rocket loses power), and Point B is the highest point of the rocket's trajectory (referenced for the target cloud layer height).

[0144] After the rocket is ignited, the engine begins to operate, generating powerful thrust. Because this thrust is far greater than the sum of gravity and air resistance, the rocket rapidly accelerates upward, flying in the direction of launch. Therefore, the rocket's motion during this phase can be roughly considered uniformly accelerated linear motion. Based on Newton's second law and the principles of kinematics, the change in the rocket's altitude during this phase, y1 or h1, can be calculated as:

[0145] ,in, is the initial velocity of the rocket when it leaves the launcher (unit: m / s), (acceleration is related to air resistance), It is the time it takes for the rocket to move in a straight line.

[0146] When the rocket loses power, its thrust begins to gradually decrease. At the same time, due to the influence of gravity, the rocket's flight direction gradually bends downward, forming a nearly parabolic trajectory. During this process, the rocket's speed continues to increase until it reaches its maximum value. Based on the characteristics of parabolic motion, the change in the rocket's altitude at this stage is y2, or h2:

[0147] ,in, is the speed of the rocket when it loses power (unit: m / s), (acceleration due to gravity), It is the time it takes for the rocket to make a parabolic motion.

[0148] Add the height changes of the linear motion stage and the parabolic motion stage to get the total height change of the rocket from launch to approaching the target cloud layer ,but .

[0149] By comparing the calculated pitch angle with the launch angle in the ballistic parameter table, it is possible to verify whether the rocket's trajectory, launched at that launch angle, meets the requirements for accurate arrival at the target cloud layer. If the trajectory deviates, the target cloud layer altitude detected by radar can be combined to dynamically update the rocket's flight trajectory. Rocket parameters (such as catalyst seeding start time and duration) can also be corrected to ensure that the rocket follows the pre-designed trajectory after launch, accurately reaching the target cloud layer and effectively seeding the catalyst. The ballistic parameter table provides reference data for the rocket's trajectory characteristics after launch, including range, altitude, propellant parameters, etc. This table is typically provided by the rocket manufacturer.

[0150] The calculated pitch angle is then compared with the safe range of pitch angles at the operation site to determine whether the launch angle is within the safe range. If the launch angle exceeds the safe range, the launch elevation parameters are adjusted within the safe range to be as close as possible to the ideal elevation angle corresponding to the target cloud layer to ensure the safety and effectiveness of the operation. If safety requirements are still not met after adjustment (e.g., the cloud position conflicts with the safe range), the shadow rocket launch operation is terminated and the operation is allowed to wait for the operation window to monitor the movement of the target cloud layer and restart the operation after it enters the safe range.

[0151] Check again to see if the rocket's range, altitude, catalyst spread, and other parameters meet operational requirements, and whether the launch angle allows the rocket to accurately reach the core of the target cloud. If all conditions are met, the final launch elevation angle can be determined.

[0152] If the launch angle is insufficient to ensure the rocket reaches the core of the target cloud layer, the launch angle can be optimized and the operational strategy adjusted. Optimizing the launch angle involves recalculating the elevation angle based on the cloud layer position and revising the trajectory model. If the target cloud layer is too high, the elevation angle can be increased; if the horizontal distance is insufficient, the elevation angle can be lowered to extend the range. Adjusting the operational strategy involves adopting a staged approach, prioritizing low-level clouds in the stratified cloud system, indirectly affecting higher-level clouds. Wait until the clouds reach a more accessible altitude before resuming operations. If conditions permit, move the launch point to shorten the horizontal distance to the cloud layer.

[0153] Reference Figure 5 The steps after obtaining the launch pitch angle include S510-S560:

[0154] S510, obtaining the total volume of the target cloud layer;

[0155] S520, calculating the horizontal projection area of ​​the cloud body based on the total volume of the cloud body;

[0156] S530, obtaining the vertical cumulative liquid water content of the target cloud layer;

[0157] S540, calculate the total mass of liquid water based on the vertical cumulative liquid water content and the horizontal projected area of ​​the cloud body;

[0158] S550, calculating the catalyst requirement based on the total mass of liquid water;

[0159] S560, obtain the total amount of ammunition used based on the catalyst demand and the catalyst content of a single rocket.

[0160] Specifically, assuming that the cloud body is a regular geometric body (such as a cylinder or a cube), the radar echo volume can be directly used to approximate the total volume of the cloud body.

[0161] For the volume calculation of irregular geometric cloud bodies, it is necessary to combine segmentation measurement, integral measurement and other methods.

[0162] 1) Segmentation method: The irregular geometric body is divided into multiple regular geometric bodies (such as cylinders, cubes, cones, etc.), and the volumes of each are calculated and then summed. The steps are as follows: Based on the radar echo data, the cloud body is divided into several regular slices along the vertical or horizontal direction (such as horizontal layers or vertical columns). For each slice, it is approximated as a cylinder, cube or other regular geometric body. The corresponding volume formula is used to calculate it. The volumes of all slices are superimposed to obtain the total volume of the cloud body.

[0163] 2) Integration method: Cut the target cloud into infinitely thin slices along a certain direction (such as the vertical direction) and solve the total volume by integration. The steps are as follows: According to the radar echo data, obtain the cross-sectional area of ​​the cloud at different heights z . Perform the vertical integration of the cross-sectional area: , dz represents the width between the interval [z1, z2].

[0164] If the data is discretized, numerical integration (such as the trapezoidal method) can be used for approximate calculation. If the cross-sectional area of ​​each layer height is Ai, the total volume is: The integration method is more suitable for clouds with complex and continuously changing shapes (such as cumulonimbus clouds), and radar data provides vertical resolution.

[0165] First, calculate the horizontal projection area of ​​the cloud according to the formula ,Right now , where the average cloud height is an estimate, obtained from radar sounding data or other means; is the total volume of the cloud. Then use the formula for the total mass of liquid water: The total mass of liquid water is calculated. VIL refers to the vertical cumulative liquid water content, which represents the total content of liquid water in the cloud body per unit area. The higher the vertical cumulative liquid water content value, the greater the water content in the cloud body and the stronger the precipitation potential. It is one of the important reference indicators for selecting operating cloud bodies.

[0166] The amount of catalyst required to achieve weather modification operations is determined based on the total mass of liquid water in the target cloud and the catalytic efficiency. The calculation formula is:

[0167] Catalyst demand , where k is the mass ratio of catalyst to liquid water (for silver iodide, the typical ratio is ); It is the catalytic efficiency, usually ranging from 0.1 to 0.3, and is affected by factors such as cloud temperature and supercooled water content.

[0168] It is the specification parameter of the catalyst content of a certain type of single rocket, for example, a certain type of human shadow rocket contains 10g of AgI per rocket.

[0169] By formula The total ammunition consumption is calculated, and safety redundancy needs to be considered. This is because in actual operations, in order to ensure the effectiveness of the operation, the number of rockets needs to be appropriately increased, and the final total ammunition consumption Finally, round up the calculated result to get the total number of rockets that need to be prepared.

[0170] Reference Figure 6 After obtaining the total ammunition usage, the steps further include S610-S640:

[0171] S610, obtaining the flight speed of the rocket, the one-way distance from the target cloud layer to the radar, and the flight time for the rocket to reach the target cloud layer;

[0172] S620, calculate the preliminary launch interval based on the average radial velocity, one-way distance and flight speed;

[0173] S630, obtaining a change in radar echo intensity;

[0174] S640: Calculate the final transmission time interval based on the preliminary transmission interval, the flight time, and the echo intensity change.

[0175] Specifically, the initial launch interval , is the flight speed of the rocket, is the average radial velocity of the target cloud layer, and d is the one-way distance from the target cloud layer to the radar.

[0176] Changes in echo intensity reflect changes in the cloud's internal structure and water content, which in turn affect operational effectiveness. When echo intensity fluctuates significantly, more frequent rocket launches may be necessary to accommodate cloud changes, meaning shorter launch intervals. Conversely, if echo intensity remains relatively stable, the launch interval can be appropriately extended.

[0177] Different types of rockets have different flight speeds and altitudes, and the time required to reach the target cloud is also different. It is necessary to ensure that the position and state of the target cloud do not change significantly before the rocket reaches the target cloud. Suppose the rocket flight time is , then the emission interval time Should meet Taking all the above factors into consideration, the launch interval time The calculation formula can be expressed as , and is the correction coefficient determined based on experience and actual conditions. It is a quantitative indicator of echo intensity change.

[0178] Reference Figure 7 , the calculation method also includes S710-S740:

[0179] S710, obtaining the moving time of the target cloud layer to the operation area based on the average radial velocity and the one-way distance;

[0180] S720, determining whether the change in the echo intensity of the target cloud layer reaches a set change threshold;

[0181] S730, if yes, obtain the duration of the echo intensity change reaching the change threshold;

[0182] S740, calculate the launch time of the shadow rocket based on the movement duration and the change duration.

[0183] Specifically, the time it takes for the target cloud to move to the operation area (rocket launch area) In addition, since the structure and intensity of the cloud body will change over time, the change in echo intensity can reflect the development and evolution of the cloud body. When the echo intensity change increases to a certain extent, for example, reaching the set change threshold, it indicates that the cloud body is in a rapid development stage, and this may be a good time to carry out operations. Let the change time from the current moment to the echo intensity change reaching the change threshold be , then the launch time of the shadow rocket is .

[0184] Based on the above method embodiments, the second embodiment of the present application discloses a system for calculating the operating parameters of a shadow rocket. The system for calculating the operating parameters of a shadow rocket in the embodiment of the present application can implement any of the above methods for calculating the operating parameters of a shadow rocket, and the specific working process of each module in the system for calculating the operating parameters of a shadow rocket can refer to the corresponding process in the above method embodiments.

[0185] Reference Figure 8 For ease of understanding, an example is given below: A system for measuring and calculating operating parameters of a shadow rocket includes:

[0186] Millimeter-wave radar detection unit, used to collect cloud radial velocity, cloud position, cloud height and wind speed;

[0187] The operation parameter calculation unit is used to identify the target cloud layer based on the characteristics of the radar echo, and use the dynamic calculation model of the operation parameters to evaluate the requirements of the human shadow operation and generate the optimal operation parameters;

[0188] A rocket launch control unit is used to control the launch of the rocket according to the optimal operating parameters calculated by the operating parameter calculation unit;

[0189] The human shadow platform is remotely connected to the operation parameter calculation unit and is used to receive and verify the data uploaded by the operation parameter calculation unit.

[0190] The third embodiment of the present application provides a terminal. As an implementation of the terminal, the terminal may include: a memory and a processor; wherein,

[0191] The memory is used for storing a calculation program for the operating parameters of the shadow rocket;

[0192] The processor is used to execute the program stored in the memory to implement the steps of the above-mentioned method for measuring the operating parameters of the human shadow rocket.

[0193] The memory may be communicatively connected to the processor via a communication bus, and the communication bus may be an address bus, a data bus, a control bus, or the like.

[0194] In addition, the memory may include a random access memory (RAM) and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0195] The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0196] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Unless otherwise stated, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise stated, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A method for calculating operating parameters of a shadow rocket, characterized in that: include: Identifying a target cloud layer and collecting radial velocity, cloud position, cloud height, and wind speed of the target cloud layer; calculating an average radial velocity of the target cloud layer according to the radial velocity; determining an initial launch azimuth angle of the shadow rocket according to the average radial velocity and a set reference direction; Calculating the angle between the cloud body moving velocity vector and the reference direction according to the change in the cloud body position; Calculating the angle between the resultant velocity vector of the wind field and the cloud movement and the reference direction based on the wind speed to obtain a wind field correction angle; Constructing a dynamic state equation of the shadow rocket launch azimuth based on the initial launch azimuth, the angle between the cloud body moving velocity vector and the reference direction, the wind field correction angle, and the cloud body height; The dynamic state equation is solved based on the fourth-order Runge-Kutta method to obtain the final launch azimuth angle of the shadow rocket; The steps after obtaining the final launch azimuth of the shadow rocket include: Get the first height change of the shadow rocket in the linear motion stage; Get the second height change of the shadow rocket during its parabolic motion phase; Obtaining a launch pitch angle according to a total height change, wherein the total height change = the first height change + the second height change; The steps after obtaining the launch pitch angle include: Obtaining the total cloud volume of the target cloud layer; Calculating the horizontal projection area of ​​the cloud body according to the total volume of the cloud body; Obtaining the vertical cumulative liquid water content of the target cloud layer; Calculating the total mass of liquid water according to the vertical cumulative liquid water content and the horizontal projection area of ​​the cloud body; Calculating the catalyst requirement based on the total mass of the liquid water; The total amount of rockets used is obtained based on the catalyst requirement and the catalyst content of a single rocket.

2. The method for calculating the operating parameters of a shadow rocket according to claim 1, characterized in that: The steps after obtaining the total ammunition consumption also include: Obtaining the flight speed of the rocket, the one-way distance from the target cloud layer to the radar, and the flight time for the rocket to reach the target cloud layer; calculating a preliminary launch interval based on the average radial velocity, the one-way distance, and the flight speed; Obtain the change in radar echo intensity; A final transmission time interval is calculated according to the preliminary transmission time interval, the flight time and the echo intensity variation.

3. The method for calculating the operating parameters of a shadow rocket according to claim 2, characterized in that: The calculation method further includes: Obtaining a moving time of the target cloud layer to the operation area according to the average radial velocity and the one-way distance; Determining whether the change in the echo intensity of the target cloud layer reaches a set change threshold; If yes, obtaining the duration of the change in the echo intensity reaching the change threshold; The launch time of the shadow rocket is calculated according to the movement duration and the change duration.

4. The method for calculating the operating parameters of a shadow rocket according to claim 1, characterized in that: The step of identifying the target cloud layer comprises: Obtain the cloud echo intensity and the dynamic change of echo top height received by the radar; Determine whether the echo intensity is not less than an intensity threshold, and whether the change amount shows an upward trend within a set time period, and the change amount is not less than a change threshold; If so, the cloud layer is determined to be the target cloud layer and an early warning is triggered.

5. The method for calculating the operating parameters of a shadow rocket according to claim 1, characterized in that: The step of calculating the average radial velocity of the target cloud layer according to the radial velocity comprises: dividing the target cloud layer into a plurality of regions; Obtain the average value of radial velocity of all measurement points in each region; According to the cloud cover in each area, each area is given a corresponding regional weight; The average radial velocity of the target cloud layer is calculated according to the regional weight and the corresponding average value.

6. A system for calculating operating parameters of a shadow rocket, characterized in that: The method for calculating the operating parameters of the shadow rocket according to any one of claims 1 to 5 comprises: Millimeter-wave radar detection unit, used to collect cloud radial velocity, cloud position, cloud height and wind speed; The operation parameter calculation unit is used to identify the target cloud layer based on the characteristics of the radar echo, and use the dynamic calculation model of the operation parameters to evaluate the requirements of the human shadow operation and generate the optimal operation parameters; A rocket launch control unit, configured to control the launch of the rocket according to the optimal operating parameters calculated by the operating parameter calculation unit; The human shadow platform is remotely connected to the operation parameter calculation unit and is used to receive and verify the data uploaded by the operation parameter calculation unit.

7. A terminal, characterized in that: include: A memory storing a calculation program for operating parameters of a manned rocket; A processor is used to execute the program stored on the memory to implement the steps of the method for measuring the operating parameters of the shadow rocket as described in any one of claims 1-5.

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