Three-point forecasting rapid generation method for tracking active section trajectory of rocket by ground observation station

Abstract

The invention relates to the technical field of rocket measurement and control, in particular to a three-point forecast rapid generation method for tracking a rocket active section trajectory by a ground observation station, which comprises the following steps of: constructing a high-precision data basis: acquiring theoretical trajectory data of a launching coordinate system at a discrete time point, relative time, the position and speed of the launching system, and earth parameters of a launching point; the method comprises the following steps of: establishing a high-precision coordinate conversion framework, including launching time, geodesic longitude, geodesic latitude, geodesic height, launching angle and observation station geodesic parameters, including geodesic longitude, geodesic latitude and geodesic height, and has the beneficial effects that during use, a specific sliding window and high-order Lagrange interpolation are used for guaranteeing the ballistic data precision, and tracking broken links are avoided; automatic coordinate conversion is achieved by means of a standardized ellipsoid model, and efficiency improvement and error reduction are achieved; the calculation result is multiplexed when the emission time is shifted, so that the pre-calculation time is shortened; parameter adjustment is supported to adapt to multiple scenes, and stable and efficient data support is provided for rocket active section tracking.

Description

Technical Field

[0001] This invention relates to the field of rocket telemetry and control technology, specifically to a method for rapidly generating three-point predictions of a rocket's active phase trajectory from a ground-based tracking station. Background Technology

[0002] In the tracking and control process of a launch vehicle mission, ground stations need to calculate and pre-load three-point prediction data (slant range R, azimuth A, and elevation E) of the rocket's flight trajectory to guide radar antennas, optical tracking equipment, and other devices to accurately capture the rocket's position. However, existing technologies have the following problems: discrete theoretical trajectory data leads to broken tracking data links; launch time offsets require repeated calculations throughout the entire process; coordinate transformation is complex and error-prone; and large-scale pre-calculation is inefficient, making it difficult to meet the launch mission's requirements for data accuracy and timeliness. Therefore, it is necessary to propose a rapid generation method for three-point prediction data of the rocket's active phase trajectory from ground stations. Summary of the Invention

[0003] To address the problems in existing technologies, this invention provides a rapid method for generating three-point predictions of a rocket's active phase trajectory from ground-based tracking stations.

[0004] The technical solution adopted by this invention to solve its technical problem is: a rapid generation method for three-point prediction of rocket's active phase trajectory by ground-based tracking stations, comprising the following steps:

[0005] A. Establishing a high-precision data foundation: Obtaining theoretical ballistic data in the launch coordinate system at discrete time points: relative time Launch system location , , and speed , , And the geodetic parameters of the launch site: launch time Longitude Earth's latitude Earth's height , direction angle , and the geodetic parameters of the station: geodetic longitude Earth's latitude Earth's height Establish a high-precision coordinate transformation framework;

[0006] B. Perform key calculation steps:

[0007] 1. High-precision ballistic interpolation: Employing a 7-point sliding window 6th-order Lagrange interpolation method, the discrete ballistic data is interpolated to the target's integer second time. The position interpolation formula is The velocity interpolation formula is in the form of: Ensure that the interpolation error is ≤0.5%;

[0008] 2. Automated coordinate transformation: based on the WGS84 ellipsoid model ( =6378137m, =0.00669437999013), the formula for the ECEF coordinates of the launch point is: , , The launching system is rotated via a matrix. Obtain Earth-Solid System Parameters After conversion, the ECEF coordinates of the launch point are superimposed to obtain the rocket's ECEF coordinates. Then, the relative displacements of ECEF are converted into ENU system components using a transformation matrix. Single-point conversion time ≤10ms;

[0009] 3. Generation of three-point reporting data for the station system: Under the ENU system, the slope distance formula Azimuth formula Pitch angle formula Data is filtered based on pitch angle ≥ 3° to generate a three-point report file;

[0010] C. Generate an absolute time three-point report file: (Please click...) Convert to absolute time and generate corresponding three-point report data;

[0011] D. Launch window adaptation calculation: Setting Scope, by Update absolute time, reuse core calculation results to generate three-point report files in batches, 600 files take ≤1 minute.

[0012] Specifically, the seven discrete time points in step B-1 satisfy the following conditions: This ensures effective coverage of the target at all times.

[0013] Specifically, in step B-2, the transformation from the launch system to the transition coordinate system is achieved through a rotation matrix. The ECEF to ENU system conversion is achieved by constructing a conversion matrix based on the geodetic coordinates of the station.

[0014] Specifically, in step B-3, the azimuth angle range is 0°-360°, and the pitch angle screening threshold can be adjusted according to the equipment performance.

[0015] Specifically, in step D, when generating files in batches, only the absolute time is updated, and the interpolation and coordinate transformation results are reused to improve computational efficiency.

[0016] The beneficial effects of this invention are as follows: The rapid generation method for three-point prediction of rocket active phase trajectory tracking by ground stations described in this invention employs a specific sliding window and a high-order Lagrange interpolation algorithm to process discrete trajectory data, avoiding tracking chain breaks caused by the discreteness of theoretical data, ensuring the accuracy of position and velocity data, and laying a reliable foundation for equipment guidance; it achieves automated coordinate transformation based on a standardized ellipsoidal model, eliminating manual intervention, simplifying complex transformation processes while reducing operational errors, significantly improving transformation efficiency, and meeting real-time calculation requirements; for launch time offsets, it reuses core calculation results to update only the time reference, eliminating the need for repeated full-process calculations, significantly shortening the time consumed by large-scale pre-calculation within the launch window, and efficiently completing batch data preparation; it supports flexible parameter adjustment, can be adapted to different station equipment and scenarios, has strong versatility, and provides stable and efficient data support for accurate tracking of the rocket active phase. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 A flowchart of the rapid generation method for three-point prediction of rocket active phase trajectory provided by the present invention from ground stations;

[0019] Figure 2 A schematic diagram of the launch system and ground-based system for the rapid generation method of three-point prediction of rocket active phase trajectory provided by the present invention;

[0020] Figure 3 A schematic diagram of the station coordinate system and the Earth-fixed system for the rapid generation method of three-point prediction of rocket active phase trajectory provided by the present invention;

[0021] Figure 4 This is a geometrical diagram of the three-point prediction data for the rapid generation method of three-point prediction of rocket active phase trajectory provided by the ground station for tracking the trajectory of a rocket in the present invention. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0023] like Figures 1-4 As shown, the present invention provides the following technical solution:

[0024] A rapid method for generating three-point predictions of a rocket's active phase trajectory from ground-based tracking stations includes the following steps:

[0025] A. Establishing a high-precision data foundation: Obtaining theoretical ballistic data in the launch coordinate system at discrete time points: relative time Launch system location , , and speed , , And the geodetic parameters of the launch site: launch time Longitude Earth's latitude Earth's height , direction angle , and the geodetic parameters of the station: geodetic longitude Earth's latitude Earth's height Establish a high-precision coordinate transformation framework;

[0026] B. Perform key calculation steps:

[0027] 1. High-precision ballistic interpolation: Employing a 7-point sliding window 6th-order Lagrange interpolation method, the discrete ballistic data is interpolated to the target's integer second time. The position interpolation formula is The velocity interpolation formula is in the form of: Ensure that the interpolation error is ≤0.5%;

[0028] 2. Automated coordinate transformation: based on the WGS84 ellipsoid model ( =6378137m, =0.00669437999013), the formula for the ECEF coordinates of the launch point is: , , The launching system is rotated via a matrix. Obtain Earth-Solid System Parameters After conversion, the ECEF coordinates of the launch point are superimposed to obtain the rocket's ECEF coordinates. Then, the relative displacements of ECEF are converted into ENU system components using a transformation matrix. Single-point conversion time ≤10ms;

[0029] 3. Generation of three-point reporting data for the station system: Under the ENU system, the slope distance formula Azimuth formula Pitch angle formula Data is filtered based on pitch angle ≥ 3° to generate a three-point report file;

[0030] C. Generate an absolute time three-point report file: (Please click...) Convert to absolute time and generate corresponding three-point report data;

[0031] D. Launch window adaptation calculation: Setting Scope, by Update absolute time, reuse core calculation results to generate three-point report files in batches, 600 files take ≤1 minute.

[0032] Among them, the 7 discrete time points in step B-1 satisfy This ensures effective coverage of the target at all times.

[0033] In step B-2, the transformation from the launch system to the transition coordinate system is achieved through a rotation matrix. The ECEF to ENU system conversion is achieved by constructing a conversion matrix based on the geodetic coordinates of the station.

[0034] In step B-3, the azimuth angle ranges from 0° to 360°, and the pitch angle screening threshold can be adjusted according to the equipment performance.

[0035] In step D, when generating files in batches, only the absolute time is updated, and the interpolation and coordinate transformation results are reused to improve computational efficiency.

[0036] Specific implementation steps:

[0037] The first step is to input the theoretical ballistic data of the launch coordinate system at discrete time points, the geodetic parameters of the launch point, and the geodetic parameters of the station:

[0038] Theoretical ballistic data table for launch coordinate system:

[0039]

[0040] Geodetic parameters of the launch site:

[0041] Including launch time : 2023-10-27T08:00:00;

[0042] Earth Longitude 103.123°E;

[0043] Earth Latitude 40.987°N;

[0044] Earth height 500.0m;

[0045] Angle of fire 190.0°;

[0046] Geodetic parameters of the station:

[0047] Including geodetic longitude 100.234°E;

[0048] Earth Latitude 26.765°N;

[0049] Earth height 3000.0m;

[0050] The second step, after the data input is complete, is to first calculate the high-precision ballistic interpolation:

[0051] Target time in whole seconds Taking 10s as an example, perform a 7-point sliding window 6th-order Lagrange interpolation:

[0052] 1) Screening 7 discrete time points in the vicinity =0.0s、 =1.2s、 =3.5s =15.0s =60.0s =120.0s (Note: Due to the uneven spacing of the original data points, the nearest neighbor points need to be dynamically supplemented to 7 in the actual calculation).

[0053] 2) Position interpolation calculation (based on...) (Taking components as an example): According to the formula Substituting the data, we can calculate... (10s) = 0.28m;

[0054] 3) Velocity interpolation calculation (using (Taking components as an example): According to the formula Calculated (10s) = 0.32m / s;

[0055] 4) Accuracy verification: Compared with the actual values ​​output by high-precision ballistic simulation software, the position interpolation error is 0.32% and the velocity interpolation error is 0.28%, both meeting the accuracy requirement of ≤0.5%;

[0056] Step 3: Calculation of ECEF coordinates of the launch point:

[0057] Based on the WGS84 ellipsoid model ( =6378137m, =0.00669437999013), according to the formula:

[0058]

[0059]

[0060] in , , ;

[0061] ECEF coordinate calculation of the station:

[0062] Using the same formula as the launch point, substituting the station parameters, we get:

[0063] in , , ;

[0064] Rotation from launch frame to transition coordinate system:

[0065] When =10, the coordinates of the launching system are ( =0.28m, =120.5m, =0.32m), through rotation matrix The coordinates obtained from the transformation to the transition coordinate system are: =0.25m, =120.4m, =0.32m;

[0066] Transition from transition coordinate system to ECEF system:

[0067] The rocket's ECEF coordinates are obtained by superimposing the launch point ECEF coordinates:

[0068] , , ;

[0069] ECEF relative displacement to ENU system conversion:

[0070] Calculate relative displacement , , The transformation matrix constructed using the station coordinates is calculated as follows: , , ;

[0071] Efficiency verification: Single-point coordinate transformation takes 8.7ms, which meets the requirement of ≤10ms;

[0072] Step 4: Generation of three-point reporting data from the monitoring station system:

[0073] 1) Slope distance calculation: According to the formula have to Azimuth formula, elevation formula

[0074] 2) Azimuth calculation: According to the formula Calculated (Located within the range of 0–360°)

[0075] 3) Pitch angle calculation: According to the formula Calculated ;

[0076] 4) Data Filtering: Since 78.2° ≥ 3°, this data point is valid and is written to the three-point report file in the format "10.0,1645820.5,112.5,78.2".

[0077] Step 5: Generate an absolute time three-point report file:

[0078] According to the formula ,Will Convert to absolute time: =2023-10-27T08:00:10, generates the corresponding three-point report data: "2023-10-27T08:00:10,1645820.5,112.5,78.2".

[0079] Step 6: Launch window adaptation calculation:

[0080] Set offset range: 601 values ​​are taken at whole-second intervals;

[0081] Batch generate files: for each According to the formula Update absolute time, reuse the time from step four. , , Data. For example. At +10 seconds, the absolute time is updated to "2023-10-27T08:00:20".

[0082] Efficiency verification: The total time to generate 601 files in batches was 58 seconds, which meets the requirement of ≤1 minute.

[0083] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rapid generation method for three-point prediction of a rocket's active phase trajectory from a ground-based tracking station, characterized in that... Includes the following steps: A. Establishing a high-precision data foundation: Obtaining theoretical ballistic data in the launch coordinate system at discrete time points: relative time Launch system location , , and speed , , And the geodetic parameters of the launch site: launch time Longitude Earth's latitude Earth's height , direction angle , and the geodetic parameters of the station: geodetic longitude Earth's latitude Earth's height Establish a high-precision coordinate transformation framework; B. Perform key calculation steps:

1. High-precision ballistic interpolation: Employing a 7-point sliding window 6th-order Lagrange interpolation method, the discrete ballistic data is interpolated to the target's integer second time. The position interpolation formula is The velocity interpolation formula is in the form of: Ensure that the interpolation error is ≤0.5%; 2. Automated coordinate transformation: based on the WGS84 ellipsoid model ( =6378137m, =0.00669437999013), the formula for the ECEF coordinates of the launch point is: , , ; Launch system via rotation matrix Obtain Earth-Solid System Parameters After conversion, the ECEF coordinates of the launch point are superimposed to obtain the rocket's ECEF coordinates. Then, the relative displacements of ECEF are converted into ENU system components using a transformation matrix. Single-point conversion time ≤10ms; 3. Generation of three-point reporting data for the station system: Under the ENU system, the slope distance formula Azimuth formula Pitch angle formula Data is filtered based on pitch angle ≥ 3° to generate a three-point report file; C. Generate an absolute time three-point report file: (Please click...) Convert to absolute time and generate corresponding three-point report data; D. Launch window adaptation calculation: Setting Scope, by Update absolute time, reuse core calculation results to generate three-point report files in batches, 600 files take ≤1 minute.

2. The rapid generation method for three-point prediction of rocket's active phase trajectory from ground-based tracking stations according to claim 1, characterized in that: The 7 discrete time points in step B-1 satisfy This ensures effective coverage of the target at all times.

3. The rapid generation method for three-point prediction of rocket's active phase trajectory from ground-based tracking stations according to claim 1, characterized in that: In step B-2, the transformation from the launch system to the transition coordinate system is achieved through a rotation matrix. The ECEF to ENU system conversion is achieved by constructing a conversion matrix based on the geodetic coordinates of the station.

4. The rapid generation method for three-point prediction of rocket's active phase trajectory from ground-based tracking stations according to claim 1, characterized in that: In step B-3, the azimuth angle range is 0°-360°, and the pitch angle screening threshold can be adjusted according to the equipment performance.

5. The rapid generation method for three-point prediction of rocket's active phase trajectory from ground-based tracking stations according to claim 1, characterized in that: In step D, when generating files in batches, only the absolute time is updated, and the interpolation and coordinate transformation results are reused to improve computational efficiency.

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