Beidou positioning and trajectory back transmission technology of a rocket system for artificial rain enhancement

Abstract

This invention discloses a BeiDou positioning and trajectory feedback technology for a rocket system used for artificial rain enhancement, belonging to the field of weather modification technology. The technical solution includes: an onboard terminal receiving BeiDou satellite signals, using precise single-point positioning real-time dynamic positioning technology to calculate high-precision positioning data, and suppressing signal interference through an anti-interference algorithm to transmit trajectory information back to a ground station; the ground station integrating real-time upper-air multi-dimensional meteorological data, inputting a pre-trained deep learning trajectory prediction and control model, and outputting predicted trajectory and correction control commands; the commands are sent to the onboard terminal via an uplink communication link, driving the actuators to adjust the rocket's flight attitude and trajectory. This invention improves positioning anti-interference capability and accuracy, achieves dynamic trajectory prediction and closed-loop control, ensures precise catalyst dissemination, and enhances the scientific rigor and precision of artificial rain enhancement operations.

Description

Technical Field

[0001] This invention relates to the field of weather modification technology, specifically to a BeiDou positioning and trajectory transmission technology for a rocket system for artificial rain enhancement. Background Technology

[0002] Artificial weather modification is an important means of responding to meteorological disasters such as droughts and hailstorms. Among these, rocket-based rain enhancement and hail suppression technology is widely used due to its wide operational range and significant effects. However, rockets are affected by factors such as high-altitude wind fields during flight, and their actual trajectories often deviate from the theoretical trajectories, affecting the precise dissemination of catalysts. To achieve scientific operations and accurate assessments, the need for real-time tracking and precise control of rocket trajectories is becoming increasingly urgent.

[0003] Currently, existing technical solutions mostly focus on ballistic tracking and data transmission. For example, the invention patent CN110006296A discloses a "tracking and monitoring system for artificial rainmaking and hail suppression rocket seeding operations and a ballistic correction system." This system uses an onboard satellite positioning module and a data transmission module to achieve ballistic transmission and display. Although it can provide trajectory information, its positioning accuracy is easily affected by interference and it lacks real-time closed-loop control capabilities. Another utility model patent CN204228003U introduces an "artificial rainmaking and hail suppression rocket positioning system," which uses a GPS module and GSM communication to transmit position information. However, this system is at risk of losing positioning lock under the interference of the plasma sheath generated by the rocket's high-speed flight, and it does not involve using environmental data for dynamic ballistic prediction and real-time control. Existing technologies generally suffer from insufficient anti-interference capabilities, limited positioning accuracy, and the inability to achieve intelligent ballistic closed-loop control based on real-time data.

[0004] Therefore, the urgent problem to be solved in this field is: how to overcome signal loss and strong interference during the high-speed flight of a rocket, and effectively integrate real-time positioning data and multi-dimensional meteorological information to achieve dynamic prediction and closed-loop control of the trajectory, thereby ensuring that the catalyst is accurately seeded at the optimal spatial location. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a BeiDou positioning and trajectory feedback technology for a rocket system for artificial rain enhancement. This technology can improve the stability and accuracy of positioning in complex environments and introduce an intelligent decision-making mechanism to achieve adaptive optimization and precise control of the trajectory, thereby significantly improving the scientific nature and effectiveness of artificial rain enhancement operations.

[0006] To solve the above-mentioned technical problems, this invention provides the following technical solution: a BeiDou positioning and trajectory backhaul technology for a rocket system for artificial rain enhancement, comprising the following steps: The missile-borne terminal receives signals from the BeiDou satellite navigation system, uses precise single-point positioning and real-time dynamic positioning technology to calculate the rocket's real-time high-precision positioning data, and employs multi-band signal reception and anti-interference algorithms to suppress the interference of the plasma sheath generated during rocket flight on signal transmission. The missile-borne terminal transmits the trajectory information containing the real-time high-precision positioning data back to the ground station system via the BeiDou short message communication link or the ground wireless communication link. The ground station system receives and processes the trajectory information, and simultaneously integrates real-time upper-air multi-dimensional meteorological data, which is then input into a pre-trained deep learning ballistic prediction and control model. The deep learning ballistic prediction and control model runs and outputs the rocket's predicted trajectory and trajectory correction control commands. The ground station system sends the ballistic correction control command to the missile-borne terminal via the uplink communication link; The onboard terminal receives and parses the ballistic correction control command, drives its actuators to adjust the rocket's flight attitude and trajectory, and achieves closed-loop control.

[0007] Furthermore, the step of the missile-borne terminal receiving signals from the BeiDou satellite navigation system and using precise single-point positioning real-time dynamic positioning technology to calculate the rocket's real-time high-precision positioning data specifically includes: The missile-borne Beidou receiver receives satellite signals at frequencies B1I, B3I, B2a and B2b broadcast by the Beidou-3 system, and prioritizes receiving and analyzing the PPP-B2b precise point positioning enhancement signal broadcast by geostationary orbit satellites to obtain precise ephemeris and satellite clock error correction data. A precise single-point positioning observation equation based on unequal ambiguity is constructed, and the observation equation is expressed as: ; in, For receiver With satellite Pseudorange observations of the non-ionospheric combination between them, These are the corresponding ionospherically neutral combined carrier phase observations. The geometric distance between the satellite and the receiver. At the speed of light, For receiver clock bias, For satellite clock bias, For tropospheric delay, For ionospheric delay without ionosphere, For wavelengths without ionosphere, For ionosphere-free combined ambiguity, and These are the noise values ​​for pseudorange and phase observations, respectively. Using the precise ephemeris and clock error correction data provided by the PPP-B2b signal to correct the errors in the observation equation The parameters are constrained, and a Kalman filter is used for epoch-by-epoch iterative calculation to estimate the receiver position, clock error, tropospheric delay, and ambiguity parameters in real time, and finally output a three-dimensional positioning result with centimeter-level accuracy.

[0008] Furthermore, the step of employing a multi-band signal reception and anti-interference algorithm to suppress interference from the plasma sheath generated during rocket flight on signal transmission specifically includes: The missile-borne Beidou receiver has a built-in multi-band adaptive tuning antenna to monitor the signal carrier-to-noise ratio and phase jitter of each receiving frequency band in real time. When the receiver detects that the signal quality of a certain frequency band is lower than a preset threshold, it automatically switches to the backup frequency band with the best signal quality. Meanwhile, in baseband signal processing, an interference suppression algorithm based on blind source separation is used to process the received signal sequence. Process it; The algorithm processes the signal sequence Considered as a source signal and interference signals introduced by the plasma sheath Linearly mixed, i.e. ,in and It is a mixed matrix; The separation matrix is ​​estimated using the independent component analysis algorithm. This makes the output Each component is statistically independent, thus separating a pure navigation signal source. Effectively suppresses the interference signal To mitigate the impact and ensure the continuity of signal locking.

[0009] Furthermore, the step of the missile-borne terminal transmitting trajectory information containing the real-time high-precision positioning data back to the ground station system specifically includes: The microprocessor in the missile-borne terminal packages and compresses the real-time high-precision positioning data to form a data frame that conforms to the BeiDou short message communication protocol or the terrestrial wireless communication protocol. The data frame includes at least a frame header, rocket identifier, timestamp, longitude coordinates, latitude coordinates, elevation coordinates, velocity information, and frame check sequence; When transmitting back via the BeiDou short message communication link, the data frame is split into multiple sub-data packets that meet the short message length limit, and a sequence number is added. These sub-data packets are then sent sequentially by the missile-borne BeiDou RDSS communication unit. The RDSS receiving unit of the ground station system receives the sub-data packets and reassembles them according to the sequence number to restore the complete trajectory information data frame.

[0010] Furthermore, the steps of integrating real-time upper-air multi-dimensional meteorological data into the ground station system specifically include: The ground station system receives external meteorological data in real time from radiosonde stations, wind profiler radars, and numerical weather prediction products via data interfaces; The external meteorological data shall include at least horizontal wind fields at different altitudes. Components, horizontal wind field Quantity, temperature and humidity values; The external meteorological data is interpolated to construct a three-dimensional gridded meteorological data space with longitude, latitude, and altitude as its dimensions. Each grid point in the three-dimensional gridded meteorological data space It stores data on wind speed, wind direction, temperature, and humidity at the corresponding location; The rocket's real-time position coordinates are mapped onto the three-dimensional gridded meteorological data space, and the precise meteorological environment parameters of its location and surrounding area are extracted as one of the input vectors of the deep learning trajectory prediction and control model.

[0011] Furthermore, the construction, training, and operation steps of the deep learning ballistic prediction and control model specifically include: The model adopts an architecture that combines a spatiotemporal graph convolutional network with an attention mechanism; the spatiotemporal graph convolutional network is used to capture the spatiotemporal correlation between the rocket trajectory and the three-dimensional wind field, and the attention mechanism is used to dynamically calculate and focus on the meteorological features that have the greatest impact on the current trajectory prediction. The model's input includes rocket history and real-time state sequences. and the three-dimensional gridded meteorological data space The rocket's historical and real-time status sequence Includes position, velocity, and attitude angles; The model extracts spatiotemporal features through a spatiotemporal graph convolutional layer and uses the meteorological feature vector as the value matrix in the attention mechanism. The calculation formula for the attention mechanism is as follows: ; in, The query matrix is ​​generated from the rocket's current state vector through a linear transformation. The key matrix is ​​generated from meteorological feature vectors through a linear transformation. The value matrix is ​​generated by linear transformation of the meteorological feature vectors. This is the scaling factor; The attention weight matrix The model reveals the correlation strength between rocket status and meteorological conditions in various regions, and adjusts the value matrix accordingly. Perform weighted fusion; Finally, the model outputs the predicted trajectory of the rocket over a future period through a fully connected layer. and control command vectors used for correction The control command vector includes the desired attitude adjustment angle or control surface deflection angle.

[0012] Furthermore, the step of the ground station system sending the ballistic correction control command to the missile-borne terminal specifically includes: The command encoding module in the ground station system encodes the control command vector. The encoding and encryption processes are performed to generate a binary instruction stream; The instruction encoding module adds an instruction header, instruction checksum and instruction tail to the binary instruction stream and encapsulates it into an uplink control instruction frame. The uplink communication transmitter of the ground station sends the uplink control command frame to the missile-borne terminal through the BeiDou RDSS link or a dedicated terrestrial wireless link; The communication receiving module of the missile-borne terminal receives and verifies the uplink control command frame. After confirming that it is correct, it sends the parsed control command to the missile-borne intelligent processor.

[0013] Furthermore, the step of the onboard terminal driving its actuators to adjust the rocket's flight attitude and trajectory specifically includes: The onboard intelligent processor receives the parsed control commands, which are the desired attitude angles or control surface deflection angles. The onboard intelligent processor compares the desired attitude angle or control surface deflection angle with the current attitude angle measured in real time by the inertial measurement unit, and calculates the control error. A proportional-integral-derivative controller is used to calculate the control error and generate a drive signal; The drive signal is output to the actuator, which is a pneumatic control surface driven by a micro servo motor. The micro servo motor drives the pneumatic control surface to deflect at a corresponding angle according to the amplitude and polarity of the drive signal, thereby generating aerodynamic torque that changes the rocket's flight attitude and thus achieving precise closed-loop control of the rocket's trajectory.

[0014] Compared with existing technologies, the BeiDou positioning and trajectory backhaul technology of this artificial rainmaking rocket system has the following advantages: I. This invention receives signals from the BeiDou Navigation Satellite System via an onboard terminal, employs precise single-point positioning real-time dynamic positioning technology to calculate the rocket's real-time high-precision positioning data, and combines multi-band signal reception with an anti-interference algorithm based on blind source separation to suppress interference from the plasma sheath during rocket flight. After receiving trajectory information, the ground station system integrates real-time high-altitude multi-dimensional meteorological data, inputs a pre-trained deep learning trajectory prediction and control model, outputs predicted trajectory and correction control commands, and sends them to the onboard terminal via an uplink communication link to drive the actuators to adjust the rocket's trajectory. This significantly improves the rocket's anti-interference capability and accuracy, enabling real-time dynamic prediction and closed-loop control of the trajectory, thereby ensuring the precise implementation of artificial rain enhancement operations.

[0015] Second, this invention packages and compresses real-time high-precision positioning data through the onboard terminal to form data frames conforming to the communication protocol. The data is then transmitted back via a BeiDou short message communication link or a ground wireless communication link. The ground station system reconstructs the complete trajectory information based on the sub-data packet sequence number. Simultaneously, a three-dimensional gridded meteorological data space with latitude, longitude, and altitude as dimensions is constructed to accurately extract meteorological parameters around the rocket. Furthermore, a proportional-integral-derivative controller generates drive signals to control the actuator's actions, which improves the reliability and integrity of trajectory information transmission, enhances the supporting role of meteorological data in ballistic prediction, and improves the stability of actuator adjustments, thereby further improving the scientific nature and efficiency of artificial rain enhancement operations.

[0016] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0018] Figure 1 This is a schematic diagram of the workflow of the present invention; Figure 2 This is a schematic diagram of the system architecture and data flow of the present invention. Detailed Implementation

[0019] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below. Example

[0020] like Figure 2 As shown, this embodiment aims to specifically realize the BeiDou high-precision positioning, real-time trajectory transmission, and ballistic closed-loop control functions of the artificial rain enhancement rocket system. By elaborating on the complete implementation process of onboard terminal signal processing, ground station data fusion, deep learning model application, and actuator response, this embodiment verifies the positioning stability, anti-interference capability, and ballistic control accuracy of the technical solution of this invention in complex flight environments. It solves the problems of positioning being susceptible to interference, insufficient accuracy, and lack of real-time closed-loop control in the prior art, providing a feasible technical solution for the precise implementation of artificial rain enhancement operations.

[0021] Onboard terminal for BeiDou signal reception and real-time high-precision positioning: In this embodiment, the missile-borne terminal is equipped with a dedicated missile-borne BeiDou receiver, which has the capability of multi-band signal reception and precise point positioning calculation. Before rocket launch, the missile-borne BeiDou receiver is initialized and calibrated to ensure it is in normal working condition. After rocket launch, the missile-borne BeiDou receiver receives satellite signals at frequencies B1I, B3I, B2a, and B2b broadcast by the BeiDou-3 system in real time, and prioritizes receiving and parsing the PPP-B2b precise point positioning enhancement signal broadcast by geostationary orbit satellites to obtain precise ephemeris and satellite clock error correction data, providing basic data support for high-precision positioning calculation.

[0022] To achieve centimeter-level accuracy in positioning, a precise single-point positioning observation equation needs to be constructed and iteratively solved. The precise single-point positioning observation equation based on unequal ambiguity is constructed as follows: ; in, The pseudorange observations between receiver r and satellite s are ionospherically free combinations. These are the corresponding ionospherically neutral combined carrier phase observations. Let be the geometric distance between the satellite and the receiver, and c be the speed of light. For receiver clock bias, For satellite clock bias, Let be the geometric distance between the satellite and the receiver, and c be the speed of light. For receiver clock bias, For satellite clock bias, For tropospheric delay, For ionospheric delay without ionosphere, For wavelengths without ionosphere, For ionosphere-free combined ambiguity, and These are the noise values ​​for pseudorange and phase observations, respectively. Using precise ephemeris and clock error correction data provided by the PPP-B2b signal to analyze the observation equations The parameters are constrained, and a Kalman filter is used for epoch-by-epoch iterative calculation to estimate the receiver position, clock error, tropospheric delay, and ambiguity parameters in real time. Finally, the real-time three-dimensional positioning data of the rocket is output, with a positioning accuracy of centimeter level, which meets the requirements of precise tracking of the trajectory of artificial rainmaking rockets.

[0023] Multi-band signal reception and anti-interference processing: During high-speed rocket flight, plasma sheaths are generated, which can easily interfere with BeiDou signal transmission and affect positioning stability. This embodiment suppresses this interference by combining multi-band signal reception and anti-interference algorithms, as detailed below: The missile-borne BeiDou receiver has a built-in multi-band adaptive tuning antenna, which can monitor the signal carrier-to-noise ratio and phase jitter of each receiving frequency band (B1I, B3I, B2a, B2b) in real time. When the signal quality of a certain frequency band is detected to be lower than a preset threshold, the receiver triggers an automatic switching mechanism to quickly switch to the backup frequency band with the best signal quality, ensuring the continuity of signal reception.

[0024] Simultaneously, in the baseband signal processing stage, an interference suppression algorithm based on blind source separation is used to process the received signal sequence. (Signal sequence) Considered as a source signal and interference signals introduced by the plasma sheath Linearly mixed, i.e. Where A and B are mixture matrices; The separation matrix W is estimated using the independent component analysis algorithm, so that the output... Each component is statistically independent, thus separating a pure navigation signal source. This allows for the separation of the pure navigation signal source from the mixed signal. Effectively suppresses plasma sheath interference signals This will further ensure the stability of BeiDou signal locking.

[0025] Track information is transmitted back to the ground station system: The microprocessor in the missile-borne terminal processes the real-time high-precision positioning data obtained in the above steps. First, the positioning data is packaged and compressed to form a data frame that conforms to the communication protocol. This data frame includes a frame header, rocket identifier, timestamp, longitude coordinates, latitude coordinates, elevation coordinates, velocity information, and a frame check sequence to ensure the integrity and identifiability of the data.

[0026] In this embodiment, the BeiDou short message communication link is selected for trajectory information transmission based on the rocket's flight altitude and the communication environment of the operational area. Since BeiDou short messages have length limitations, the onboard terminal splits the aforementioned data frame into multiple sub-data packets that meet the length requirements, adds a sequence number to each sub-data packet, and sends them sequentially by the onboard BeiDou RDSS communication unit according to the sequence number order.

[0027] The ground station system is equipped with a Beidou RDSS receiving unit, which receives sub-data packets sent by the missile terminal in real time. After receiving the data packets, the unit reassembles them according to the sequence number of the sub-data packets to restore the complete trajectory information data frame. The data frame is then verified. After the verification is successful, the positioning data and trajectory information are extracted to provide data support for subsequent ballistic prediction and control.

[0028] The ground station system integrates real-time upper-air multi-dimensional meteorological data: The ground station system receives external meteorological data in real time through a standard data interface. The external meteorological data comes from radiosonde stations, wind profiler radars, and numerical weather prediction products, and includes key meteorological parameters such as the U component of the horizontal wind field, the V component of the horizontal wind field, temperature values, and humidity values ​​at different altitudes.

[0029] The received external meteorological data is interpolated to eliminate the unevenness of the data spatial distribution. Subsequently, a three-dimensional gridded meteorological data space is constructed with longitude, latitude, and altitude as dimensions. Each grid point in the three-dimensional gridded meteorological data space It stores wind speed, wind direction, temperature and humidity data for the corresponding locations, forming a refined meteorological environment data model covering the rocket operation area.

[0030] The rocket's real-time position coordinates (extracted from trajectory information) are mapped to a three-dimensional gridded meteorological data space. In this study, precise meteorological and environmental parameters of the rocket's current location and surrounding area are extracted using a spatial matching algorithm. These parameters are then used as one of the input vectors for a deep learning trajectory prediction and control model, providing environmental data support for the model to accurately predict the trajectory.

[0031] Deep learning ballistic prediction and control model operation: In this embodiment, the deep learning ballistic prediction and control model adopts an architecture that combines a spatiotemporal graph convolutional network with an attention mechanism. The model has been trained in the early stage, and the training data includes rocket flight data, meteorological data and ballistic control data under different weather conditions, ensuring that the model has good generalization ability and prediction accuracy.

[0032] The model's input consists of two parts: first, the rocket's history and real-time state sequence. The sequence includes the rocket's historical position, real-time position, velocity, and attitude angle data; the second is the precise meteorological environment parameters extracted in the above steps (derived from the three-dimensional gridded meteorological data space).

[0033] During model execution, the model first extracts features from the rocket state sequence and meteorological data using a spatiotemporal graph convolutional layer to capture the spatiotemporal correlation between the rocket trajectory and the three-dimensional wind field. Then, an attention mechanism is introduced to dynamically focus on the meteorological features that have the greatest impact on the current trajectory prediction. The model extracts spatiotemporal features through the spatiotemporal graph convolutional layer and uses the meteorological feature vector as the value matrix in the attention mechanism. The formula for calculating the attention mechanism is: ; in, The query matrix is ​​generated from the rocket's current state vector through a linear transformation. The key matrix is ​​generated from meteorological feature vectors through a linear transformation. The value matrix is ​​generated from meteorological feature vectors through a linear transformation. This is the scaling factor; Attention weight matrix The model reveals the correlation strength between rocket status and meteorological conditions in various regions, and adjusts the value matrix accordingly. Perform weighted fusion; Finally, the model outputs the predicted trajectory of the rocket over a future period through a fully connected layer. and control command vectors used for correction The control command vector includes the desired attitude adjustment angle or control surface deflection angle.

[0034] The ground station system sends ballistic correction control commands: The ground station system receives the ballistic correction control command vector output by the deep learning model. Then, the instruction encoding module encodes and encrypts the control instruction vector. The encoding uses a special encoding rule to ensure the security and accuracy of instruction transmission, while the encryption process prevents the instruction from being tampered with or intercepted during transmission, generating a binary instruction stream.

[0035] The instruction encoding module adds an instruction header, instruction checksum, and instruction tail to the binary instruction stream, encapsulating it into a standard uplink control instruction frame. The instruction header identifies the instruction type, the instruction checksum is used by the onboard terminal to verify instruction integrity, and the instruction tail indicates the end of the instruction.

[0036] The ground station is equipped with an uplink communication transmitter, which sends uplink control command frames to the missile-borne terminal via the BeiDou RDSS link. The communication receiving module of the missile-borne terminal receives the uplink control command frames in real time. After receiving the frames, it first verifies them, including the command length and checksum. Once the command is confirmed to be correct, it parses the frame, extracts the ballistic correction control command, and sends the command to the missile-borne intelligent processor.

[0037] The onboard terminal actuator adjusts the rocket's trajectory: The onboard intelligent processor receives the parsed trajectory correction control commands (the commands specify the rocket's desired attitude angle or control surface deflection angle) and simultaneously acquires the rocket's real-time attitude angle data through the inertial measurement unit. The onboard intelligent processor compares the desired attitude angle (or control surface deflection angle) with the real-time attitude angle and calculates the control error between the two.

[0038] A proportional-integral-derivative (PID) controller is used to calculate the control error. Based on the proportional, integral, and derivative terms of the error, corresponding drive signals are generated. The parameters of the drive signals are matched with the magnitude of the control error to ensure the smoothness and accuracy of the control.

[0039] The generated drive signal is output to the rocket's actuator, which in this embodiment is an aerodynamic control surface driven by a micro servo motor. After receiving the drive signal, the micro servo motor drives the aerodynamic control surface to deflect by a corresponding angle according to the amplitude and polarity of the drive signal. After deflection, the aerodynamic control surface interacts with the airflow, generating an aerodynamic torque that changes the rocket's flight attitude, thereby adjusting the rocket's flight attitude and trajectory, and realizing closed-loop control of the rocket's trajectory.

[0040] In summary, this embodiment, through the specific implementation of the above steps, fully realizes the BeiDou high-precision positioning, real-time trajectory transmission, and closed-loop trajectory control functions of the artificial rain enhancement rocket system. Specifically, multi-band reception and blind source separation algorithms effectively suppress plasma sheath interference, ensuring signal stability; precise single-point positioning technology achieves centimeter-level positioning accuracy; the fusion of real-time meteorological data and deep learning models improves the accuracy of trajectory prediction; and the closed-loop control mechanism ensures that the rocket trajectory can be adjusted in a timely manner based on prediction results, significantly improving the precise dispersal effect of catalysts in artificial rain enhancement operations. This embodiment verifies the feasibility and effectiveness of the technical solution of this invention, overcomes the shortcomings of existing technologies, and provides reliable technical support for the scientific and precise implementation of artificial rain enhancement operations.

[0041] Example 2 like Figure 1 As shown in Example 1, this example details the specific steps of a rocket system for artificial rainmaking using BeiDou positioning and trajectory transmission technology during operation. The specific steps are as follows: 1. System initialization and rocket launch: Before rocket launch, the onboard terminal performs self-checks and initialization to confirm that the BeiDou receiver, communication module, inertial measurement unit, and actuators are in normal working order. The ground station system is then activated, completing self-checks of the communication link and preparing for meteorological data reception.

[0042] 2. BeiDou signal reception and high-precision positioning: After launch, the onboard BeiDou receiver receives multi-frequency signals from the BeiDou-3 system in real time, prioritizing the analysis of the PPP-B2b enhanced signal to obtain precise ephemeris and clock error data. Through precise point positioning algorithms and Kalman filtering epoch-by-epoch calculations, it outputs the rocket's real-time position, velocity, and attitude data with centimeter-level accuracy.

[0043] 3. Anti-interference processing and signal enhancement: The onboard receiver monitors the signal quality of each frequency band in real time. If signal attenuation or interference is detected, it automatically switches to the optimal frequency band. A blind source separation algorithm is used in baseband processing to suppress interference caused by the plasma sheath, ensuring the continuity and stability of the navigation signal.

[0044] 4. Packaging and transmission of trajectory information: The onboard microprocessor packages and compresses the positioning data into data frames that conform to the communication protocol, and transmits them back via BeiDou short message service or ground wireless link. The data frames contain information such as timestamp, location, and velocity. If short message service is used, the data is sent in packets, which are then reassembled and verified by the ground station.

[0045] 5. Ground station data reception and meteorological data fusion: After receiving the trajectory data, the ground station simultaneously accesses meteorological data from radiosonde stations, wind profiler radars, and other sources to construct a three-dimensional gridded meteorological field. It then maps the rocket's real-time position onto the meteorological space and extracts environmental parameters such as wind, temperature, and humidity from the surrounding area.

[0046] 6. Deep learning-based ballistic prediction and control command generation: The rocket's state sequence and meteorological data are input into a pre-trained spatiotemporal graph convolutional-attention mechanism model, which outputs predicted trajectory and correction control commands for a future period, including the desired attitude angle or control surface deflection angle.

[0047] 7. Control command encoding and uplink transmission: The ground station encodes, encrypts, and encapsulates the control commands to form uplink command frames, which are then transmitted to the rocket via BeiDou RDSS or a ground wireless link.

[0048] 8. Command Receiving and Execution Mechanism Response: The onboard terminal receives and verifies the commands, then parses them and sends them to the intelligent processor. The processor compares the commands with the real-time attitude, generates drive signals through a PID controller, and controls the servo motors to drive the aerodynamic control surfaces to deflect, thereby adjusting the rocket's flight attitude and trajectory.

[0049] 9. Closed-loop control and continuous adjustment: Throughout the process, positioning, transmission, prediction, and control command generation and execution form a closed-loop system, enabling continuous monitoring and dynamic adjustment of the rocket trajectory to ensure that the catalyst is accurately seeded at the predetermined location.

[0050] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A Beidou positioning and trajectory back transmission technology for a rocket system of artificial rainmaking, characterized in that, Includes the following steps: The missile-borne terminal receives signals from the BeiDou satellite navigation system, uses precise single-point positioning and real-time dynamic positioning technology to calculate the rocket's real-time high-precision positioning data, and employs multi-band signal reception and anti-interference algorithms to suppress the interference of the plasma sheath generated during rocket flight on signal transmission. The missile-borne terminal will transmit the trajectory information containing the real-time high-precision positioning data back to the ground station system via the BeiDou short message communication link or the ground wireless communication link. The ground station system receives and processes the trajectory information, and simultaneously integrates real-time upper-air multi-dimensional meteorological data, which is then input into a pre-trained deep learning ballistic prediction and control model. The deep learning ballistic prediction and control model runs and outputs the rocket's predicted trajectory and trajectory correction control commands. The ground station system sends the ballistic correction control command to the missile-borne terminal via the uplink communication link; The onboard terminal receives and parses the ballistic correction control command, drives its actuators to adjust the rocket's flight attitude and trajectory.

2. The Beidou positioning and trajectory back transmission technology of a rocket system for artificial precipitation according to claim 1, characterized in that, The steps of receiving signals from the BeiDou satellite navigation system and using precise single-point positioning real-time dynamic positioning technology to calculate the rocket's real-time high-precision positioning data specifically include: The missile-borne Beidou receiver receives satellite signals at frequencies B1I, B3I, B2a and B2b broadcast by the Beidou-3 system, and prioritizes receiving and analyzing the PPP-B2b precise point positioning enhancement signal broadcast by geostationary orbit satellites to obtain precise ephemeris and satellite clock error correction data. A precise single-point positioning observation equation based on unequal ambiguity is constructed, and the observation equation is expressed as: ； in, For receiver With satellite The pseudorange observations of the non-ionospheric combination between them, These are the corresponding ionospherically neutral combined carrier phase observations. The geometric distance between the satellite and the receiver. At the speed of light, For receiver clock bias, For satellite clock bias, For tropospheric delay, For ionospheric delay without ionosphere, For wavelengths without ionosphere, For ionosphere-free combined ambiguity, and These are the noise values ​​for pseudorange and phase observations, respectively. Using the precise ephemeris and clock error correction data provided by the PPP-B2b signal to correct the errors in the observation equation The parameters are constrained, and a Kalman filter is used for epoch-by-epoch iterative calculation to estimate the receiver position, clock error, tropospheric delay, and ambiguity parameters in real time.

3. The Beidou positioning and trajectory back transmission technology of a rocket system for artificial precipitation according to claim 1, characterized in that, The step of using a multi-band signal reception and anti-interference algorithm to suppress interference from the plasma sheath generated during rocket flight to signal transmission specifically includes: The missile-borne Beidou receiver has a built-in multi-band adaptive tuning antenna to monitor the signal carrier-to-noise ratio and phase jitter of each receiving frequency band in real time. When the receiver detects that the signal quality of a certain frequency band is lower than a preset threshold, it automatically switches to the backup frequency band with the best signal quality. Meanwhile, in the signal baseband processing, the received signal sequence is processed by using an interference suppression algorithm based on blind source separation ; The algorithm processes the signal sequence Considered as a source signal and interference signals introduced by the plasma sheath Linearly mixed, i.e. ,in and It is a mixed matrix; The separation matrix is ​​estimated using the independent component analysis algorithm. This makes the output Each component is statistically independent, thus separating a pure navigation signal source. .

4. The Beidou positioning and trajectory back transmission technology of a rocket system for artificial precipitation according to claim 1, characterized in that, The step of the missile-borne terminal transmitting trajectory information containing the real-time high-precision positioning data back to the ground station system specifically includes: The microprocessor in the missile-borne terminal packages and compresses the real-time high-precision positioning data to form a data frame that conforms to the BeiDou short message communication protocol or the terrestrial wireless communication protocol. The data frame includes at least a frame header, rocket identifier, timestamp, longitude coordinates, latitude coordinates, elevation coordinates, velocity information, and frame check sequence; When transmitting back via the BeiDou short message communication link, the data frame is split into multiple sub-data packets that meet the short message length limit, and a sequence number is added. These sub-data packets are then sent sequentially by the missile-borne BeiDou RDSS communication unit. The RDSS receiving unit of the ground station system receives the sub-data packets and reassembles them according to the sequence number to restore the complete trajectory information data frame.

5. The Beidou positioning and trajectory back transmission technology of a rocket system for artificial precipitation according to claim 1, characterized in that, The steps for the ground station system to integrate real-time upper-air multidimensional meteorological data specifically include: The ground station system receives external meteorological data in real time from radiosonde stations, wind profiler radars, and numerical weather prediction products via data interfaces; The external meteorological data comprises at least a horizontal wind field at different altitudes components, horizontal wind field components, temperature values and humidity values The external meteorological data is interpolated to construct a three-dimensional gridded meteorological data space with longitude, latitude, and altitude as its dimensions. Each grid point in the three-dimensional gridded meteorological data space It stores data on wind speed, wind direction, temperature, and humidity at the corresponding location; The rocket's real-time position coordinates are mapped onto the three-dimensional gridded meteorological data space, and the precise meteorological environment parameters of its location and surrounding area are extracted as one of the input vectors of the deep learning trajectory prediction and control model.

6. The BeiDou positioning and trajectory feedback technology for an artificial rainmaking rocket system according to claim 1, characterized in that, The steps for constructing, training, and running the deep learning ballistic prediction and control model specifically include: The model adopts an architecture that combines a spatiotemporal graph convolutional network with an attention mechanism; the spatiotemporal graph convolutional network is used to capture the spatiotemporal correlation between the rocket trajectory and the three-dimensional wind field, and the attention mechanism is used to dynamically calculate and focus on the meteorological features that have the greatest impact on the current trajectory prediction. The model's input includes rocket history and real-time state sequences. and the three-dimensional gridded meteorological data space The rocket's historical and real-time status sequence Includes position, velocity, and attitude angle; The model extracts spatiotemporal features through a spatiotemporal graph convolutional layer and uses the meteorological feature vector as the value matrix in the attention mechanism. The calculation formula for the attention mechanism is as follows: ； in, The query matrix is ​​generated by a linear transformation of the rocket's current state vector; K is the key matrix, generated by a linear transformation of the meteorological feature vector; and V is the value matrix, generated by a linear transformation of the meteorological feature vector. This is the scaling factor; The attention weight matrix The correlation strength between rocket status and meteorological conditions in various regions was revealed, and the model was used to perform weighted fusion of the value matrix V based on this. Finally, the model outputs the predicted trajectory of the rocket over a future period through a fully connected layer. and control command vectors used for correction The control command vector includes the desired attitude adjustment angle or control surface deflection angle.

7. The BeiDou positioning and trajectory feedback technology for an artificial rainmaking rocket system according to claim 6, characterized in that, The step of the ground station system sending the ballistic correction control command to the missile-borne terminal specifically includes: The command encoding module in the ground station system encodes the control command vector. The encoding and encryption processes are performed to generate a binary instruction stream; The instruction encoding module adds an instruction header, instruction checksum and instruction tail to the binary instruction stream and encapsulates it into an uplink control instruction frame. The uplink communication transmitter of the ground station sends the uplink control command frame to the missile-borne terminal through the BeiDou RDSS link or a dedicated terrestrial wireless link; The communication receiving module of the missile-borne terminal receives and verifies the uplink control command frame. After confirming that it is correct, it sends the parsed control command to the missile-borne intelligent processor.

8. The BeiDou positioning and trajectory feedback technology for an artificial rainmaking rocket system according to claim 1, characterized in that, The steps of the missile-borne terminal driving its actuators to adjust the rocket's flight attitude and trajectory specifically include: The onboard intelligent processor receives the parsed control commands, which are the desired attitude angles or control surface deflection angles. The onboard intelligent processor compares the desired attitude angle or control surface deflection angle with the current attitude angle measured in real time by the inertial measurement unit, and calculates the control error. A proportional-integral-derivative controller is used to calculate the control error and generate a drive signal; The drive signal is output to the actuator, which is a pneumatic control surface driven by a micro servo motor. The micro servo motor drives the pneumatic control surface to deflect at a corresponding angle according to the amplitude and polarity of the drive signal, thereby generating an aerodynamic torque that changes the rocket's flight attitude.

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