CN111025351B - Real-time estimation method for time zero difference of carrier rocket navigation calculation and external measurement system - Google Patents

Real-time estimation method for time zero difference of carrier rocket navigation calculation and external measurement system Download PDF

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CN111025351B
CN111025351B CN201911235242.8A CN201911235242A CN111025351B CN 111025351 B CN111025351 B CN 111025351B CN 201911235242 A CN201911235242 A CN 201911235242A CN 111025351 B CN111025351 B CN 111025351B
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陈德明
张华�
马丽
王婷婷
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UNIT 63620 OF PLA
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Abstract

The invention belongs to the field of space launching and the field of space measurement and control, and discloses a real-time estimation method for time zero difference of a carrier rocket navigation calculation and external measurement system. The method comprises the steps of converting a telemetering ballistic sequence of a takeoff section of a carrier rocket into a ballistic sequence of a launching coordinate system, and calculating the ballistic sequence of the carrier rocket in the measuring coordinate system; calculating a slope distance change rate sequence of the speed measuring main station and distance and change rate sequences of other secondary stations by utilizing a ballistic sequence of the carrier rocket in a measuring coordinate system; then constructing a remote and external zero difference estimation model, and estimating remote and external zero differences; and finally calibrating the zero difference between the remote measurement and the external measurement. The method utilizes the characteristics that the high-precision speed measuring radar in the space launching field has high radial speed measuring precision and the remote measuring trajectory precision of the takeoff section of the carrier rocket is also high to construct a remote and external measurement zero point difference estimation model, eliminates the time zero point difference between the remote measuring ballistic data and the external measurement data in real time, and solves the technical problem which is not solved at home and abroad in the past.

Description

Real-time estimation method for time zero difference of carrier rocket navigation calculation and external measurement system
Technical Field
The invention belongs to the field of space launching and the field of space measurement and control, and relates to a real-time estimation method for time zero difference of a carrier rocket navigation calculation and external measurement system.
Background
In the current space launching task of China, the existing fusion mechanism of the measured data of the external measurement and navigation satellites is simple, the fusion degree is not high, and related research results for carrying out deep fusion processing on the telemetering ballistic data and other measured data in real time do not exist at present. With the trend of high-density normalized development of space launching becoming more and more obvious, fusion processing is carried out on a large amount of external measurement, remote measurement and navigation measurement data in the space launching process to obtain a high-quality real-time processing result, the method has important practical significance on command decision and analysis and evaluation in the space launching process, and the real-time deep fusion processing of space launching external measurement, remote measurement ballistic data and navigation satellite measurement data becomes necessary requirements.
In order to deeply fuse the space launching measurement data in real time, the time zero reference of the external measurement data and the remote measurement data must be unified firstly. The time corresponding to the zero point of the trajectory (i.e., the telemetry trajectory) solved by the launch vehicle navigation computer is inconsistent with the time corresponding to the zero point of the measurement data of the external equipment. The relative time is used for the remote measuring trajectory of the carrier rocket, the starting moment of navigation calculation is used as the time zero point of the remote measuring trajectory, the world time corresponding to the remote measuring trajectory is not recorded, and the remote measuring time zero point is generally generated by starting navigation calculation according to a takeoff trigger signal of the carrier rocket. And the time zero point of the external equipment is determined by the universal time corresponding to the takeoff triggering information of the carrier rocket. Although both time zeros are theoretically generated by the takeoff trigger of the launch vehicle, the transmission path, recording form and application mode of the trigger signal are different, so that the difference which cannot be ignored in practical application always exists. If the deep fusion of the external measurement data, the remote measurement data of the carrier rocket navigation calculation trajectory and the navigation satellite measurement data is to be realized, the high-precision estimation of the time zero difference of the carrier rocket navigation calculation time and the external measurement system time zero difference is required to be carried out in real time. This is a technical problem which has not been solved effectively at home and abroad so far.
Disclosure of Invention
The invention aims to provide a real-time estimation method for time zero difference of carrier rocket navigation calculation and external measurement system, which constructs remote and external measurement zero difference estimation models by utilizing the characteristics of high radial rate measurement precision of a high-precision speed measuring radar in an aerospace launching field and high telemetering ballistic precision of a carrier rocket launching section, estimates the time zero difference of the remote and external measurement zero difference by using a mode of jointly solving remote and external measurement data, and solves the problem of time alignment of the telemetering ballistic data and the external measurement data.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a real-time estimation method for time zero difference of carrier rocket navigation calculation and external measurement system comprises the following steps:
the method comprises the following steps: telemetering ballistic sequence of carrier rocket takeoff section
Figure BDA0002304710870000021
Ballistic sequence X converted to a firing coordinate systemi；
Step two: ballistic sequence X according to a launch vehicle in a launch coordinate systemiCalculating the ballistic trajectory sequence of the carrier rocket in the measurement coordinate system
Figure BDA0002304710870000022
Step three: ballistic sequence using a launch vehicle in a survey coordinate system
Figure BDA0002304710870000023
Calculating the slope distance change rate sequence of the speed measuring main station
Figure BDA0002304710870000024
And range and rate of change sequences of other secondary stations
Figure BDA0002304710870000025
Step four: estimating the zero point difference delta t between remote and external measuremento；
According to the measured data sequence of the high-precision speed measuring radar, selecting a speed measuring sequence corresponding to the telemetering ballistic time node
Figure BDA0002304710870000026
Preliminarily estimating the difference between the remote zero point and the external zero point delta t according to the formula (5)o：
Figure BDA0002304710870000031
In the formula (I), the compound is shown in the specification,
Figure RE-GDA0002396628350000032
j is the sequence number of the whole second time node when the high-precision speed measuring radar starts to measure the effective data, JmFor preliminary estimation of Δ toNumber of whole second time node corresponding to end time, JiThe number of the speed measuring radar secondary stations for obtaining the effective speed data on the time node with the sequence number i.
Step five: calibrating remote and external zero difference delta to。
Time zero point T of external dataoPlus Δ toAnd as a new telemetry time zero point, repeating the steps from the first step to the fifth step until the absolute value delta toAnd if the | is less than or equal to 0.1ms, ending.
Further, in the first step, the telemetering ballistic sequence of the carrier rocket
Figure BDA0002304710870000034
The remote-measuring missile path data within 30s after the carrier rocket takes off.
Further, in the first step,
ballistic sequence X of carrier rocket in launching coordinate systemiThe calculation formula is as follows:
Figure BDA0002304710870000033
in the formula, TFAFor the transformation matrix from the emission inertial coordinate system to the emission coordinate system, the specific calculation formula is as follows:
Figure BDA0002304710870000041
in the formula, ωeIs the earth rotation angular rate; t isiCalculating the cumulative integration time length of the trajectory for a navigation computer corresponding to the ith output node of the telemetering trajectory; a. thef、BfRespectively representing the launching azimuth angle and the geographic latitude of a launching point of the carrier rocket.
Furthermore, in the second step, the first step,
ballistic sequence X according to a launch vehicle in a launch coordinate systemiBallistic sequence of a launch vehicle in a measurement coordinate system
Figure BDA0002304710870000042
The calculation formula is as follows:
Figure BDA0002304710870000043
in the formula, TmFFor the transformation matrix from the emission coordinate system to the measurement coordinate system, the specific calculation formula is:
Figure BDA0002304710870000051
in the formula, Af、Bf、LfRespectively representing the launching azimuth angle, the geographic latitude and the geographic longitude of a launching point of the carrier rocket,
Figure BDA0002304710870000054
respectively representing the geographical latitude and the geographical longitude of the high-precision speed measuring radar;
Figure BDA0002304710870000052
represents the geocentric vector of the launch point of the carrier rocket on the measurement coordinate system,
Figure BDA0002304710870000055
the geocentric latitude of the high-precision speed measuring radar is shown,
Figure BDA0002304710870000056
representing the difference between the geographical latitude and the geocentric latitude of the high-precision speed-measuring radar, RbAnd e respectively represent the minor semi-axis length and eccentricity of the earth standard ellipsoid model,
Figure BDA0002304710870000057
the earth elevation of the high-precision speed measuring radar is represented;
Figure BDA0002304710870000053
representing the earth-centered vector, phi, of the launch point of the launch vehicle in a launch coordinate systemf＝tan-1[(1-e2)tanBf]Denotes the geocentric latitude, μ, of the emission pointf＝Bf-φfRepresenting the difference between the geographical latitude and the geocentric latitude of the launch point, HfRepresenting the geodetic elevation of the emission point.
Further, in the third step, the slope distance change rate sequence of the speed measuring main station is calculated according to the formula (3)
Figure BDA0002304710870000063
And range and rate of change sequences of other secondary stations
Figure BDA0002304710870000064
Figure BDA0002304710870000061
In the formula (I), the compound is shown in the specification,
Figure BDA0002304710870000062
the invention has the advantages that:
the method utilizes the characteristics that the radial velocity measurement precision of the high-precision speed measuring radar of the space launching field and the telemetering ballistic precision of the takeoff section of the carrier rocket are high to construct a telemetering and external measuring zero difference estimation model, eliminates the time zero difference between telemetering measuring ballistic data and external measuring data in real time, solves the technical problem which is not solved at home and abroad in the past, and provides a consistent time reference for the real-time deep fusion of the telemetering measuring data and the external measuring data. The method is simple and reliable, has better real-time performance and high precision, and the real-time estimation error is not more than 1 millisecond under the conditions of the existing external single-station arrangement and measurement precision.
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FIG. 1 is a flow chart of a method for real-time estimation of time zero difference between carrier rocket navigation computation and an external system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
And the navigation computer of the carrier rocket obtains the trajectory parameters of the launching inertial coordinate system by processing the output pulse number of the high-precision accelerometer, the output pulse number of the high-precision gyroscope and the high-precision earth gravity model, and the trajectory parameters of the launching inertial coordinate system are sent out by the rocket remote measuring system. The telemetering data received on the ground comprises the missile data of the transmitting inertial coordinate system, and the data is decoded and restored by the ground telemetering data processing system to obtain the telemetering missile data.
Note tiAnd the measurement time corresponding to the ith equal-interval measurement node is shown. Considering that the accuracy of the telemetering ballistic trajectory at the takeoff section of the carrier rocket is very high, the telemetering ballistic trajectory sequence within 30s after the takeoff of the carrier rocket is recorded as
Figure BDA0002304710870000072
The measured data sequence of the transmitting field high-precision speed measuring radar is recorded as
Figure BDA0002304710870000073
K ≠ 0 denotes as a primary station, and K ≠ 0 denotes as a secondary station; if the speed measuring radar system is provided with a plurality of main stations, the measurement data obtained by each main station and the corresponding auxiliary station can be regarded as high-precision measurement data obtained by one set of independent speed measuring radar system.
With reference to an external time zero, i.e. with the absolute time of takeoff T recorded by the transmission field measurement systemoFor measuring the zero point reference of data, recording the absolute time corresponding to the initial time of the carrier rocket navigation calculation as
Figure BDA0002304710870000074
The zero point difference between the remote and external measurement time is
Figure BDA0002304710870000075
Referring to fig. 1, the zero point difference Δ t between the remote and external measurement timesoThe real-time estimation can be carried out according to the following steps:
the method comprises the following steps: telemetering ballistic sequence of carrier rocket takeoff section
Figure BDA0002304710870000076
Ballistic sequence X converted to a firing coordinate systemi；
Telemetering ballistic sequence in launching inertial coordinate system by carrier rocket
Figure BDA0002304710870000077
Calculating a ballistic sequence X of the carrier rocket in a launching coordinate system according to the formula (1)i：
Figure BDA0002304710870000071
In the formula, TFAFor the transformation matrix from the emission inertial coordinate system to the emission coordinate system, the specific calculation formula is as follows:
Figure RE-GDA0002396628350000081
in the formula, ωeIs the earth rotation angular rate; t isiCalculating the cumulative integration time length of the trajectory for a navigation computer corresponding to the ith output node of the telemetering trajectory; a. thef、BfRespectively representing the launching azimuth angle and the geographic latitude of a launching point of the carrier rocket.
Step two: ballistic sequence X according to a launch vehicle in a launch coordinate systemiCalculating the ballistic trajectory sequence of the carrier rocket in the measurement coordinate system
Figure RE-GDA0002396628350000082
Ballistic sequence X according to a launch vehicle in a launch coordinate systemiBallistic sequence of a launch vehicle in a measurement coordinate system
Figure RE-GDA0002396628350000083
The calculation formula is as follows:
Figure RE-GDA0002396628350000084
in the formula, TmFFor the transformation matrix from the emission coordinate system to the measurement coordinate system, the specific calculation formula is:
Figure RE-RE-GDA0002396628350000091
in the formula, Af、Bf、LfRespectively representing the launching azimuth angle, the geographic latitude and the geographic longitude of a launching point of the carrier rocket,
Figure RE-RE-GDA0002396628350000092
respectively representing the geographical latitude and the geographical longitude of the high-precision speed measuring radar;
Figure RE-RE-GDA0002396628350000093
represents the geocentric vector of the launch point of the carrier rocket on the measurement coordinate system,
Figure RE-RE-GDA0002396628350000094
the geocentric latitude of the high-precision speed measuring radar is shown,
Figure RE-RE-GDA0002396628350000095
representing the difference between the geographical latitude and the geocentric latitude of the high-precision speed-measuring radar, RbAnd e respectively represent the minor semi-axis length and eccentricity of the earth standard ellipsoid model,
Figure RE-RE-GDA0002396628350000096
the earth elevation of the high-precision speed measuring radar is represented;
Figure RE-GDA0002396628350000097
representing the earth-centered vector, phi, of the launch point of the launch vehicle in a launch coordinate systemf＝tan-1[(1-e2)tan Bf]Denotes the geocentric latitude, μ, of the emission pointf＝Bf-φfRepresenting the difference between the geographical latitude and the geocentric latitude of the launch point, HfRepresenting the geodetic elevation of the emission point.
Step three: using a carrier rocket inMeasuring ballistic sequences of a coordinate system
Figure RE-GDA0002396628350000101
Calculating the slope distance change rate sequence of the speed measuring main station
Figure RE-GDA0002396628350000102
And range and rate of change sequences of other secondary stations
Figure RE-GDA0002396628350000103
Calculating the slope distance change rate sequence of the speed measuring main station according to the formula (3)
Figure RE-GDA0002396628350000104
And range and rate of change sequences of other secondary stations
Figure RE-GDA0002396628350000105
Figure RE-GDA0002396628350000106
In the formula (I), the compound is shown in the specification,
Figure RE-GDA0002396628350000107
step four: estimating the zero point difference delta t between remote and external measuremento；
According to the measured data sequence of the high-precision speed measuring radar, selecting a speed measuring sequence corresponding to the telemetering ballistic time node
Figure RE-GDA0002396628350000108
Preliminarily estimating the difference between the remote zero point and the external zero point delta t according to the formula (5)o：
Figure RE-GDA0002396628350000109
In the formula
Figure RE-GDA00023966283500001010
J is the sequence number of the whole second time node when the high-precision speed measuring radar starts to measure the effective data, JmFor preliminary estimation of Δ toNumber of whole second time node corresponding to end time, JiThe number of the speed measuring radar secondary stations for obtaining the effective speed data on the time node with the sequence number i.
Step five: calibrating remote and external zero difference delta to。
Time zero point T of external dataoPlus Δ toAnd as a new telemetry time zero point, repeating the steps from the first step to the fifth step until the absolute value delta toAnd if the | is less than or equal to 0.1ms, ending.
The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention is defined by the claims.

Claims (5)

1. A real-time estimation method for time zero difference of carrier rocket navigation calculation and external measurement system is characterized by comprising the following steps:
the method comprises the following steps: telemetering ballistic sequence of carrier rocket takeoff section
Figure FDA0003278823620000011
Ballistic sequence X converted to a firing coordinate systemi；
Step two: ballistic sequence X according to a launch vehicle in a launch coordinate systemiCalculating the ballistic trajectory sequence of the carrier rocket in the measurement coordinate system
Figure FDA0003278823620000012
Step three: ballistic sequence using a launch vehicle in a survey coordinate system
Figure FDA0003278823620000013
Calculating the slope distance change rate sequence of the speed measuring main station
Figure FDA0003278823620000014
And range and rate of change sequences of other secondary stations
Figure FDA0003278823620000015
Step four: estimating the zero point difference delta t between remote and external measuremento；
According to the measured data sequence of the high-precision speed measuring radar, selecting a speed measuring sequence corresponding to the telemetering ballistic time node
Figure FDA0003278823620000016
Preliminarily estimating the difference between the remote zero point and the external zero point delta t according to the formula (5)o：
Figure FDA0003278823620000017
In the formula (I), the compound is shown in the specification,
Figure FDA0003278823620000018
j is the sequence number of the whole second time node when the high-precision speed measuring radar starts to measure the effective data, JmFor preliminary estimation of Δ toNumber of whole second time node corresponding to end time, JiThe number of the speed measuring radar secondary stations which obtain effective speed data on the time node with the sequence number i;
step five: calibrating remote and external zero difference delta to；
Time zero point T of external dataoPlus Δ toAnd as a new telemetry time zero point, repeating the steps from the first step to the fifth step until the absolute value delta toAnd if the | is less than or equal to 0.1ms, ending.
2. The method for real-time estimation of time zero difference between computation and external measurement system of carrier rocket navigation according to claim 1, wherein said step oneTelemetry ballistic sequence for medium and medium launch vehicles
Figure FDA0003278823620000021
The remote-measuring missile path data within 30s after the carrier rocket takes off.
3. The method for real-time estimation of time zero difference between computation and external measurement system of carrier rocket navigation according to claim 2, wherein in the first step,
ballistic sequence X of carrier rocket in launching coordinate systemiThe calculation formula is as follows:
Figure FDA0003278823620000022
in the formula, TFAFor a transformation matrix from a transmitting inertial coordinate system to a transmitting coordinate system, the specific expression is as follows:
Figure FDA0003278823620000023
in the formula, ωeIs the earth rotation angular rate; t isiCalculating the cumulative integration time length of the trajectory for a navigation computer corresponding to the ith output node of the telemetering trajectory; a. thef、BfRespectively representing the launching azimuth angle and the geographic latitude of a launching point of the carrier rocket.
4. The method for real-time estimation of time zero difference between computation and external measurement system of carrier rocket navigation according to claim 3, wherein in the second step,
ballistic sequence X according to a launch vehicle in a launch coordinate systemiBallistic sequence of a launch vehicle in a measurement coordinate system
Figure FDA0003278823620000031
The calculation formula is as follows:
Figure FDA0003278823620000032
in the formula, TmFFor the transformation matrix from the emission coordinate system to the measurement coordinate system, the calculation formula is as follows:
Figure FDA0003278823620000033
in the formula, Af、Bf、LfRespectively representing the launching azimuth angle, the geographic latitude and the geographic longitude of a launching point of the carrier rocket,
Figure FDA0003278823620000034
respectively representing the geographical latitude and the geographical longitude of the high-precision speed measuring radar;
Figure FDA0003278823620000035
represents the geocentric vector of the launch point of the carrier rocket on the measurement coordinate system,
Figure FDA0003278823620000036
the geocentric latitude of the high-precision speed measuring radar is shown,
Figure FDA0003278823620000037
representing the difference between the geographical latitude and the geocentric latitude of the high-precision speed-measuring radar, RbAnd e respectively represent the minor semi-axis length and eccentricity of the earth standard ellipsoid model,
Figure FDA0003278823620000041
the earth elevation of the high-precision speed measuring radar is represented;
Figure FDA0003278823620000042
representing the ground of the launch point of the launch vehicle on a launch coordinate systemCenter vector of phif＝tan-1[(1-e2)tanBf]Denotes the geocentric latitude, μ, of the emission pointf＝Bf-φfRepresenting the difference between the geographical latitude and the geocentric latitude of the launch point, HfRepresenting the geodetic elevation of the emission point.
5. The method for real-time estimation of time zero difference of carrier rocket navigation computation and external measurement system as claimed in claim 4, wherein in said third step, the slope distance change rate sequence of the velocity measurement master station is calculated according to equation (3)
Figure FDA0003278823620000043
And range and rate of change sequences of other secondary stations
Figure FDA0003278823620000044
Figure FDA0003278823620000045
In the formula (I), the compound is shown in the specification,
Figure FDA0003278823620000046
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