CN110779512A - Flight test route planning method for measuring and controlling equipment precision identification - Google Patents
Flight test route planning method for measuring and controlling equipment precision identification Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a flight test route planning method for measuring and controlling equipment precision identification, which comprises the following specific steps: 1) determining check equipment and equipment coordinates, wherein one route can check one or two pieces of equipment at the same time; 2) determining the projection distance of a target navigation agility point; 3) determining the flight altitude range of the test flight section of the aircraft according to the shortest acting distance of the equipment and the precision-guaranteed tracking pitch angle limit; 4) determining the longitude value and latitude value span corresponding to the unit earth surface length according to the local latitude; 5) and determining the route direction and calculating the coordinates of a waypoint by combining external conditions such as terrain, weather, low elevation angle, target RCS change, sun irradiation included angle and the like to complete the flight route planning. The invention is closely combined with longitude and latitude coordinates in a real map to set a flight route, thereby effectively improving the testing efficiency and precision of the outfield testing equipment.
Description
Technical Field
The invention belongs to the technical field of aerospace measurement and control, and particularly relates to an aircraft measurement and control system.
Background
The aircraft measurement and control system is an important subsystem of a target range flight test, is a huge and complex system, mainly comprises optical measurement, external measurement, remote measurement and remote control equipment and matched software and hardware equipment, is responsible for completing capture, identification, positioning and monitoring of an aerial flight target, and simultaneously completing important tasks of measurement and acquisition of test data such as target flight test trajectory, scene, remote measurement parameters, target characteristics, damage effect and the like, and provides data information for test identification, task command, task evaluation and the like. The measurement capability and the measurement precision of various measurement and control devices, which are the most important components for target range measurement and control, directly determine the tracking quality of a target, and influence the success or failure of the whole test. In the equipment construction stage, the measurement accuracy of the equipment can be tested during factory test, and after the equipment is transported to an external field, in order to test the maintenance condition of the measurement and control state of the equipment, the measurement and control equipment can be subjected to an external field accuracy identification test, so that the measurement capability and the measurement accuracy of the equipment can be tested under the limited external field condition.
At present, in the field of flight route planning in a limited area, the research on route optimization design is more, and results for reference are more abundant, but in the field of aircraft coordinate positioning, a simple XY two-dimensional coordinate system is usually established only by taking a certain point as an origin, so that the obtained aircraft flight route inevitably has a larger difference from the actual situation, the accuracy identification effect error of measurement and control equipment planned according to the route is larger, and the identification result is unsatisfactory, so that the effective implementation of a test task is influenced.
In summary, there is a need for an effective outfield measurement and control equipment precision identification flight test route planning method, which provides an effective support for the shooting range flight test.
Disclosure of Invention
The invention aims to solve the technical problem that the identification precision of the outfield measurement and control equipment is influenced by deviation of a flight path from the actual condition caused by inaccurate positioning of an aircraft coordinate in the precision identification process of the outfield measurement and control equipment.
The following technical solutions are proposed to solve the above technical problems.
A method for planning an accuracy appraisal route of outfield measurement and control equipment comprises the following steps:
step 1, determining examination equipment and equipment coordinates
furthermore, the projection distance of the flight agility point of the aircraft can be determined according to the azimuth angle speed limit value of the measurement and control equipment and the flight speed of the aircraft in the test flight section;
the limit value of the azimuth speed of the equipment is a known quantity, the flight speed of the aircraft in the test flight segment is a fixed value, and the limit value of the azimuth speed of the measurement and control equipment is set to be omega
maxThe unit: o/s; the flight speed of the aircraft in the test flight segment is v, unit: m/s; the projection distance of the aircraft flight point is D
0The unit: m; then
When the aircraft reaches the position of the navigation position, the azimuth angle speed relative to the measurement and control equipment is the maximum.
Step 3, determining the flight altitude range of the aircraft test flight segment;
further, the aircraft test leg altitude range may be determined as follows:
s1, solving the shortest acting distance of the measurement and control equipment;
the shortest acting distance of the measurement and control equipment is
Unit: m; where τ is the pulse width in units: s; c is the speed of light, unit: m/s;
setting the field of view of the photometric device to be δ × δ, unit: (iv) DEG; the scene area which can be contained by the lens of the optical measurement equipment is arranged at the shortest action distance d of the measurement and control equipment
Assuming that the cross section image of the aircraft is square, the distance d between the aircraft and the measurement and control equipment
taWhen the sectional area of the aircraft is full of the whole view field, the sectional area of the aircraft is as follows:
unit: m is
2；
When the distance between the aircraft and the measurement and control equipment is d, the ratio of the sectional area of the aircraft to the area of the field of view is as follows:
generally, the ratio is a fixed value, and when the space between the optical measurement equipment and the aircraft is set, the space is required to be more than or equal to d;
further, ratio is usually taken as a guideline value of 0.5, and the shortest distance between the target and the photometric device is limited to:
s2, calculating the height range of the test flight segment of the aircraft
Determining the minimum flight height of the aircraft test flight segment according to the shortest acting distance of the measurement and control equipment by using the projection distance of the known flight agility point
Step 4, determining longitude and latitude spans corresponding to unit earth surface length according to the local latitude of the test
The earth is assumed to be a regular sphere, the point O is the geocentric, and the geocentric distance is R
o(ii) a The four points a/b/c/d represent 4 position points on the earth surface and are respectively positioned at the intersection points of the two warps and the two wefts; b is
0Represents the latitude of a and b; | aO
1I and | bO
1Respectively perpendicular to the earth axis | NO |, and | aO
1|＝|bO
1|＝R
1(ii) a Set the latitude span as
A longitudinal span of
Unit: (iv) DEG; then
The latitude span D corresponding to the unit earth surface length L
pmbAnd a longitudinal span D
pmlIs composed of
Unit: (iv) DEG;
and 5, determining the direction of the flight path by combining the external conditions of the specific test, and calculating the coordinates of the flight point.
Further, the external conditions are test local terrain, weather, low elevation angle, aircraft RCS variation, sun exposure angle, and the like.
The effective benefits of the invention are as follows:
1. in the field of aircraft coordinate positioning, in the prior art, a simple XY two-dimensional coordinate system is usually established only by taking a certain point as an origin, and is not closely combined with longitude and latitude coordinates in a real map, so that the obtained aircraft flight path has a larger difference with the actual situation.
2. Aiming at the practical problem of carrying out precision identification on the measurement and control equipment under the limited condition of a target range, the method realizes the identification of the dynamic measurement precision and the angle tracking performance of the measurement and control equipment by tracking and measuring the target flying along an accurate route on the basis of the tracking capability of various measurement and control equipment such as external measurement, remote measurement, optical measurement and the like.
3. The method covers the assessment and the precision identification of the indexes of one or two (more) measurement and control equipment in one flight frame, has wide coverage range, gives the specific implementation process of route planning under the conditions of single-point constraint and two-point constraint in detail, effectively solves the problem of non-ideal precision identification of outfield measurement and control equipment, and provides powerful support for the smooth development of a shooting range flight test.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a proportional relationship of the sectional area, distance and lens volume of the aircraft of the present invention;
FIG. 3 is a schematic representation of the range of flying heights of the aircraft of the present invention;
FIG. 4 is a schematic diagram of the longitude and latitude span corresponding to the unit surface length of the present invention;
FIG. 5 is a schematic diagram of a single point constraint route design of the present invention;
FIG. 6 is a schematic diagram of a two-point constrained route design of the present invention;
FIG. 7 is a schematic diagram of simulation results of a single point constrained route of the present invention;
FIG. 8 is a schematic diagram of a two-point constrained route simulation result of the present invention;
Detailed Description
The invention is explained in detail below with reference to the figures and the specific examples. In order to evaluate the limit performance of tracking angular velocity, particularly azimuth velocity, the design of the flight path requires that the design of a navigation position does not exceed the working range of the elevation angle with guaranteed precision, the azimuth velocity just reaches the limit value of the design index of the equipment to be examined, and the navigation position is generally selected in the middle of the examined flight path. Generally, in order to improve the accuracy and stability of comparison of standard data, a data collection section route is designed in a straight line mode, the target aircraft enters a cruising flight state, and the flight speed is basically a fixed value. Due to the limitation of external conditions such as terrain, sun irradiation, buildings and the like, certain limitation is also put on the direction of the air route. When the indexes of two (more) devices need to be examined in one flight frame, the airway design needs to simultaneously meet the respective azimuth angle limit tracking conditions at the navigation positions of the two devices.
A method for planning an accuracy appraisal route of outfield measurement and control equipment comprises the following steps:
step 1, determining examination equipment and equipment coordinates
The assessment equipment comprises external equipment, remote measuring equipment and optical measuring equipment, and is determined to be specifically for assessing the equipment, wherein the coordinates are accurate geodetic coordinates;
furthermore, the projection distance of the flight agility point of the aircraft can be determined according to the azimuth angle speed limit value of the measurement and control equipment and the flight speed of the aircraft in the test flight section;
the limit value of the azimuth speed of the equipment is a known quantity, the flight speed of the aircraft in the test flight segment is a fixed value, and the limit value of the azimuth speed of the measurement and control equipment is set to be omega
maxThe unit: o/s; the flight speed of the aircraft in the test flight segment is v, unit: m/s; the projection distance of the aircraft flight point is D
0The unit: m; then
When the aircraft reaches the position of the navigation position, the azimuth angle speed relative to the measurement and control equipment is the maximum.
Step 3, determining the flight altitude range of the aircraft test flight segment;
the flight height range of the target pilot segment is determined mainly by two factors: limiting the acting distance of the equipment and ensuring the precision pitch angle tracking range of the equipment.
The aircraft test leg altitude range may be determined as follows:
s1, solving the shortest acting distance of the measurement and control equipment;
for radar equipment, each waveform has a blind area distance; for the photoelectric theodolite, because the field of view is small, if the target is very close to the equipment, the proportion of the target image in the whole image of the lens is too large, which is not beneficial to the photoelectric theodolite to lock and fix the tracking point, and therefore, certain requirements are also put forward on the closest distance between the target and the equipment; the telemetry device does not have the distance limitation problem.
The shortest acting distance of the measurement and control equipment is
Unit: m; where τ is the pulse width in units: s; c is the speed of light, unit: m/s;
setting the field of view of the photometric device to be δ × δ, unit: (iv) DEG; the scene area which can be contained by the lens of the optical measurement equipment is arranged at the shortest action distance d of the measurement and control equipment
Assuming that the cross section image of the aircraft is square, the distance d between the aircraft and the measurement and control equipment
taWhen the sectional area of the aircraft is full of the whole view field, the sectional area of the aircraft is as follows:
unit: m is
2；
When the distance between the aircraft and the measurement and control equipment is d, the ratio of the sectional area of the aircraft to the area of the field of view is as follows:
generally, the ratio is a fixed value, and when the space between the optical measurement equipment and the aircraft is set, the space is required to be more than or equal to d;
typically, ratio is usually taken as a guideline value of 0.5, and the shortest distance between the target and the photometric device is limited to:
for the telemetering equipment, the distance between the equipment and the target navigation shortcut point is not obviously limited, so the navigation shortcut point is set most flexibly.
S2, calculating the height range of the test flight segment of the aircraft
Determining the minimum flight height of the aircraft test flight segment according to the shortest acting distance of the measurement and control equipment by using the projection distance of the known flight agility point
wherein E is
maxFor the maximum value of the precision-maintaining pitch angle of the equipment, the unit is as follows: degree.
Step 4, determining longitude and latitude spans corresponding to unit earth surface length according to the local latitude of the test
Because the endurance time of the aircraft is limited, the test area is generally limited, the bending influence of the ground surface can be ignored, the meridian lines are approximately considered to be parallel, the ground surface is a plane, the ground surface of the test area is set to be a plane rectangular coordinate system extending the meridian lines, and the calculation between the longitude and latitude span and the distance span is simplified.
Defining the longitude value and latitude value span corresponding to the unit earth surface length as D
pml、D
pmbThe principle is shown in fig. 4, and the derivation flow is as follows: the earth is assumed to be a regular sphere, the point O is the geocentric, and the geocentric distance is R
o(ii) a The four points a/b/c/d represent 4 position points on the earth surface and are respectively positioned at the intersection points of the two warps and the two wefts; b is
0Represents the latitude of a and b; | aO
1I and | bO
1Respectively perpendicular to the earth axis | NO |, and | aO
1|＝|bO
1|＝R
1(ii) a Set the latitude span as
A longitudinal span of
Unit: (iv) DEG; then
The latitude span D corresponding to the unit earth surface length L
pmbAnd a longitudinal span D
pmlIs composed of
Unit: (iv) DEG;
the comprehensive consideration of the longitude and the latitude span in the coordinate positioning process of the aircraft is the idea content of the core of the invention. In the field of aircraft coordinate positioning in the prior art, a simple XY two-dimensional coordinate system is usually established only by taking a certain point as an origin, and is not closely combined with longitude and latitude coordinates in a real map, so that the obtained aircraft flight line has a larger difference from the actual situation. The invention fully considers the point, combines the local latitude of the test, calculates the longitude and latitude span, greatly reduces the difference between the test result and the actual condition of the aircraft, and improves the test efficiency and precision.
And 5, determining the direction of the flight line by combining the external conditions of the specific test, and calculating the coordinates of the flight point.
The external conditions include local terrain, weather, low elevation angle, RCS change of aircraft, sun irradiation angle, etc
In summary, the invention determines the relative distance between the aircraft route and the equipment by steps 2 and 3, and determines the absolute coordinates of the aircraft route by steps 4 and 5. Finally, the test accuracy obtained according to the invention is improved to a greater extent, and two specific embodiments are specifically shown in the invention below.
Example 1
The method and the implementation steps are described in detail below in connection with a certain accuracy-determining protocol. The relevant information of time, equipment, aircrafts and the like in the embodiment is assumed parameters and is not relevant to reality.
The test time is 2019, 4 months and 3 days, 3 devices participate in the examination, and the test device comprises 2 external devices and 1 optical device, wherein the serial numbers are P in sequence
1、P
2、P
3The actual corresponding numbering sequence of each device is determined according to the device coordinates. The aircraft keeps constant-speed straight-line flight, the flight speed is 70m/s, and the side area of the aircraft facing the photometric device is about 4m on the check section course
2. All the equipment is in the clockwise direction of the check route.
The basic parameters of the equipment are as follows:
1. the azimuth angle precision-keeping tracking range of the external equipment is 0 degree/s-10 degrees/s; keeping the tracking limit value of the precision pitch angle at 80 degrees; the blind zone distance is 500 m.
2. The two external devices have the same tracking parameters.
3. The precision-maintaining tracking range of the azimuth angle of the optical measurement equipment is 0 degree/s-15 degrees/s; keeping the tracking limit value of the precision pitch angle at 80 degrees; the field of view of the device is 0.3 degrees by 0.3 degrees; the ratio of the target area to the field area is less than or equal to 0.5.
Single point constraint scheme implementation process
External equipment P with one part located in external field
1Performing a precision identification test, and formulating the following implementation method according to task requirementsA scheme:
1. determining the coordinates of an assessment device
P
1Device coordinates (117.4954 °, 30.7291 °, 867 m).
2. Determining target waypoint distance
According to the equipment P
1Azimuthal velocity limit value ω
maxThe flight point of the target relative to the equipment can be obtained at 10 DEG/s
Horizontal projection distance
3. Determining the distance of the flight-agile point according to the limitation of the shortest acting distance of the equipment, further determining the lowest flight height of the assessment flight segment, and determining the highest height according to the working range of the precision-maintaining elevation angle
Device P
1The blind zone distance of (2) is 500m, so d
1＝500m。
Minimum flying height:
the highest flying height: h is
max＝D
0gtan(E
max)＝401gtan(80°)＝2274m。
Therefore, the flight height h of the target in the assessment flight segment is 2274 m.
4. Determining the longitude and latitude span corresponding to the earth surface distance of the local unit
From the coordinate transformation tool, R can be obtained
o＝6373455m。
Unit earth surface distance L corresponds to longitude and latitude span:
5. determining check waypoint coordinates
(1) Determination of geodetic azimuth and length of target route
Setting and checking the azimuth of the course on the earth
The length of the check air line is 16km, and the air traffic speed point is in the middle of the check air line.
(2) Determining the azimuth angle and the direction angle of the vertical line of the check route
Course line direction angle
Direction angle of vertical line of air route
(3) Determining a navigation-agile point coordinate P
c(L
c,B
c)
(4) Determining the coordinates P of the starting point and the ending point of the check route
B(L
B,B
B) And P
F(L
F,B
F)
Fig. 7 shows the simulation result of this embodiment. The single point represents the position of the check equipment, the scattered points represent target track points and are connected into a flight path, one point on the flight path represents the position of a flight position, and the flight time of the check flight is about 3 minutes and 54 seconds.
Examples 2,
Now, a precision identification test is carried out on one external device and one optical device which are positioned in an external field, and according to task requirements, the following implementation scheme is made:
1. determining the coordinates of an assessment device
P
2Device coordinates (117.4927 °, 30.7262 °, 867m), P
3Device coordinates (117.4939 °, 30.7292 °, 867 m). P
2Is an external device, P
3Is a photometric device.
2. Determining target agility point projection distance of examination equipment
According to the equipment P
2Azimuthal velocity limit value ω
maxThe horizontal projection distance of the target relative to the navigation position of the equipment can be obtained as 10 degrees/s
According to the equipment P
3Azimuthal velocity limit value ω
maxThe horizontal projection distance of the target relative to the navigation position of the equipment can be obtained as 15 degrees/s
3. Determining the distance of the flight-agile point according to the limitation of the shortest acting distance of the equipment, further determining the lowest flight height of the assessment flight segment, and determining the highest height according to the working range of the precision-maintaining elevation angle
Device P
2The dead zone distance of (2) is 500m, so the distance d of the navigation convenience point
2＝500m。
Due to P
3The method is a photometric device, so the proportion of a target image in the whole field of view needs to be considered, and the shortest limit distance between a target and the device is obtained as follows:
therefore equipment P
2And P
3The required target flight height ranges are:
therefore equipment P
2The allowable range of target flying height is 299m,2274m]Device P
3The allowable range of target flight height is [715m,1514m ]]And taking the upper limit of the intersection of the two intervals, wherein the flying height h of the target in the assessment flight segment is 1514 m.
4. Determining longitude and latitude span and equipment distance corresponding to local unit earth surface distance
According to a coordinate transformation tool, with P
2Based on the equipment, R can be obtained
o＝6373454m。
Unit earth surface distance L corresponds to longitude and latitude span:
device P
2And device P
3The distance D:
5. determining check route coordinates
(1) Determining an assessment flight path before the target assessment flight path length target reaches a first airport terminal, and setting the assessment flight path length to be 8 km; and setting the length of the check flight path to be 8km after the target passes through the check flight path after the second flight speed point.
(2) Determining the azimuth angle and the direction angle of the vertical line of the check route
Check the direction angle of air route
The calculation formula is as follows:
direction angle of vertical line of air route
(3) Determining a navigation-agile point coordinate P
2(L
c2,B
c2) And P
3(L
c3,B
c3)
Due to the fact that
(4) Determining the coordinates P of the starting point and the ending point of the check route
B(L
B,B
B) And P
F(L
F,B
F)
5. Determining target airspeed
Target flight velocity
In fig. 8, two points P2 and P3 represent positions of the assessment device, scattered points represent target track points and are connected to form a flight route, one point on the flight route represents a position of a flight position, and the flight time of the assessment flight segment is about 3 minutes and 10 seconds.
The above are given as two examples of the implementation of the idea of the present invention, and other experimental activities based on the idea of the present invention are also within the scope of the present invention.
Claims (5)
1. A method for planning an accuracy appraisal route of outfield measurement and control equipment is characterized by comprising the following steps:
step 1, determining examination equipment and equipment coordinates
Step 2, determining the projection distance of the aircraft flight agility point;
step 3, determining the flight altitude range of the aircraft test flight segment;
step 4, determining longitude and latitude spans corresponding to unit earth surface length according to the local latitude of the test
The earth is assumed to be a regular sphere, the point O is the geocentric, and the geocentric distance is R
o(ii) a The four points a/b/c/d represent 4 position points on the earth surface and are respectively positioned at the intersection points of the two warps and the two wefts; b is
0Represents the latitude of a and b; | aO
1I and | bO
1Respectively perpendicular to the earth axis | NO |, and | aO
1|＝|bO
1|＝R
1(ii) a Set the latitude span as
A longitudinal span of
Unit: (iv) DEG; then
The latitude span D corresponding to the unit earth surface length L
pmbAnd a longitudinal span D
pmlIs composed of
Unit: (iv) DEG;
and 5, determining the direction of the flight path by combining the external conditions of the specific test, and calculating the coordinates of the flight point.
2. The method for planning the accuracy appraisal route of the outfield measurement and control equipment according to claim 1, wherein the projection distance of the aircraft flight position in the step S2 is determined according to the azimuth speed limit value of the measurement and control equipment and the flight speed of the aircraft in the test flight section;
the limit value of the azimuth speed of the equipment is a known quantity, the flight speed of the aircraft in the test flight segment is a fixed value, and the limit value of the azimuth speed of the measurement and control equipment is set to be omega
maxThe unit: o/s; the flight speed of the aircraft in the test flight segment is v, unit: m/s; the projection distance of the aircraft flight point is D
0The unit: m; then
When the aircraft reaches the position of the navigation position, the azimuth angle speed relative to the measurement and control equipment is the maximum.
3. The method for planning the accuracy appraisal route of the outfield measurement and control equipment according to claim 1, wherein the height range of the test flight segment of the aircraft in the step 3 can be determined as follows:
s1, solving the shortest acting distance of the measurement and control equipment;
the shortest operating distance of the external equipment is
Unit: m; where τ is the pulse width in units: s; c is the speed of light, unit: m/s;
setting the field of view of the photometric device to be δ × δ, unit: (iv) DEG; the scene area which can be contained by the lens of the optical measurement equipment is arranged at the shortest action distance d of the measurement and control equipment
Assuming that the cross section image of the aircraft is square, the distance d between the aircraft and the measurement and control equipment
taWhen the sectional area of the aircraft is full of the whole view field, the sectional area of the aircraft is as follows:
unit: m is
2；
When the distance between the aircraft and the measurement and control equipment is d, the ratio of the sectional area of the aircraft to the area of the field of view is as follows:
the ratio is usually a fixed value, and when the space between the optical measurement equipment and the aircraft is set, the space is required to be more than or equal to d;
s2, calculating the height range of the test flight segment of the aircraft
Determining the minimum flight height of the aircraft test flight segment according to the shortest acting distance of the measurement and control equipment by using the projection distance of the known flight agility point
Determining the highest flight altitude of the aircraft test flight segment according to the accuracy-maintaining elevation limit value
h
max＝D
0gtan(E
max) Unit: m; (9)
wherein E is
maxFor equipment precision-keeping tracking pitch angle maximum value, unit: degree.
4. The method for planning the accuracy appraisal route of the outfield measurement and control equipment according to claim 3, wherein in step S1 of step 3, the ratio is usually the guideline value of 0.5, and the shortest distance between the target and the photometric equipment is limited to:
5. the method for planning the accuracy appraisal route of the outfield measurement and control equipment according to any one of claims 1 to 3, wherein the external conditions in the step 5 are test local terrain, weather, low elevation angle, RCS change of an aircraft, sun irradiation included angle and the like.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111562596A (en) * | 2020-06-15 | 2020-08-21 | 中国人民解放军63660部队 | Long-baseline high-precision external field positioning and orienting method |
| CN112116798A (en) * | 2020-09-15 | 2020-12-22 | 中国人民解放军63660部队 | Two-target measurement and control cross multiplexing method under parallel tasks |
| CN113589055A (en) * | 2021-09-08 | 2021-11-02 | 中国人民解放军63660部队 | Automatic index testing method for full-space phase control array measurement and control system based on unmanned aerial vehicle platform |
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| CN113589055A (en) * | 2021-09-08 | 2021-11-02 | 中国人民解放军63660部队 | Automatic index testing method for full-space phase control array measurement and control system based on unmanned aerial vehicle platform |
| CN113589055B (en) * | 2021-09-08 | 2024-05-10 | 中国人民解放军63660部队 | Automatic index testing method for full airspace phased array measurement and control system based on unmanned aerial vehicle platform |
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