CN112013716A - Method for capturing fast moving target by television seeker simulation system - Google Patents

Method for capturing fast moving target by television seeker simulation system Download PDF

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CN112013716A
CN112013716A CN202010770705.7A CN202010770705A CN112013716A CN 112013716 A CN112013716 A CN 112013716A CN 202010770705 A CN202010770705 A CN 202010770705A CN 112013716 A CN112013716 A CN 112013716A
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coordinate system
target
platform
body axis
shaft
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朱战飞
李文生
杨晓杰
杨树涛
朱常吉
许博浩
鲁伟强
薛彬山
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Pla 63896
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H13/00—Means of attack or defence not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization

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Abstract

A method for capturing a fast moving target by a television seeker simulation system comprises the steps of carrying out real-time positioning and attitude measurement on a secondary platform, combining target position data provided by external guidance, carrying out analytic calculation on related data by using an industrial personal computer, giving pitching and azimuth pointing angles of a seeker, driving a servo turntable to rotate to enable the target to be in a field range, further improving the efficiency of searching, identifying and capturing the target by equipment, and meeting the requirements of tests and training tasks.

Description

Method for capturing fast moving target by television seeker simulation system
The technical field is as follows:
the invention relates to a method for capturing a fast moving target by a television seeker simulation system, which is mainly applied to the test and training of various passive and active interference devices of a television guided weapon.
Background art:
the television seeker simulation system is mainly applied to the test and training of various passive and active interference devices of television guided weapons. In practical use, the equipment is found to be easy to capture when searching for a ground static target or a low-speed moving target, but is difficult to accurately identify and capture an aerial target, particularly a target moving quickly.
The invention content is as follows:
in order to overcome the defects, the invention provides a method for capturing a fast moving target by a television seeker simulation system.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for capturing a fast moving target by a television seeker simulation system comprises the following steps:
1) external boot data
Acquiring target data through an external guiding device, and transmitting the target data to an industrial personal computer or transmitting the target data and the position of the external guiding device to the industrial personal computer;
2) ex-boot data pre-processing
The method comprises the steps that external guide data are preprocessed by using a Kalman filtering theory, so that after a television seeker simulation system receives target data, jumping and messy code data can be judged and removed, the current position of the target can be predicted by combining data transmission delay, and meanwhile when the data volume is less than 10Hz, interpolation or smoothing can be carried out on the target data, so that the accuracy and the continuity of guide information are guaranteed, and accurate position information of the target is finally obtained;
3) coordinate system conversion
Constructing a WGS84 coordinate system, and converting the spatial rectangular coordinates of the target in the WGS84 coordinate system according to the position information of the target in the step 2);
constructing a coordinate system of 'north heaven and east', and converting the coordinates of the target in the coordinate system of the platform 'north heaven and east' according to the spatial rectangular coordinates of the target in the WGS84 coordinate system and the position data of the secondary platform;
establishing a platform body axis coordinate system, and converting the coordinates of the target in the platform body axis coordinate system according to the coordinates of the target in a platform north heaven-east coordinate system and the attitude data of the secondary platform; constructing a guide head body axis coordinate system, and converting the coordinates of the target in the guide head body axis coordinate system according to the coordinates of the target in the platform body axis coordinate system and the distance between the guide head rotation center and the secondary platform;
4) calculating a pitch angle and an azimuth angle of the seeker relative to the target;
5) obtaining pitching and azimuth pointing angles of the seeker through small-range correction of a pitching angle and an azimuth angle, and driving the servo turntable to rotate to a corresponding angle;
6) if the target is located in the field of view of the television camera, the external guidance is finished, otherwise, the external guidance is continuously implemented.
The outer guiding device in the step 1) is a radar, the position of the outer guiding device comprises the longitude, the latitude and the height of radar deployment, and target data are the slope distance, the azimuth and the elevation data of a target.
The external guiding device in the step 1) is a GPS or a Beidou, and the target data is the longitude, the latitude and the height of a target.
The WGS84 coordinate system is defined as follows: WGS84 coordinate system oexeyezeOrigin oeIs the earth's centroid; oexeThe axis points from the geocentric to the intersection point of the zero meridian plane of BIH1984.0 and the equator of BIH1984.0 protocol; oezeThe axis points from the geocentric to the direction of the protocol earth pole defined by BIH 1984.0; oeyeShaft and oexeShaft oezeThe axes are vertical to form a right-hand coordinate system;
the platform "north heaven east" coordinate system is defined as follows: platform north-Tiandong coordinate system otxtytztOrigin otIs a fixed connection central point of the secondary platform and the servo turntable; otxtThe shaft is positioned in the horizontal plane and points to the positive north direction; otytThe shaft points to the sky along the direction of the earth vertical line; otztShaft and otxtShaft otytThe axes are vertical to form a right-hand coordinate system pointing to the east direction;
the platform body axis coordinate system is defined as follows: platform body axis coordinate system otxbybzbOrigin otIs a fixed connection central point of the secondary platform and the servo turntable; otxbThe shaft is positioned on the plane of the platform and points to the right front of the platform; otybThe axis is vertical to the plane of the platform and is positive vertically upwards; otzbShaft and otxbShaft otybThe axes are vertical to form a right-hand coordinate system;
the guide head body axis coordinate system is defined as follows: a guidance head body axis coordinate system oxyz, wherein an origin o is an intersection point of a guidance head direction rotating shaft and a pitching rotating shaft; the ox shaft is perpendicular to the plane where the azimuth rotating shaft and the pitching rotating shaft are located under the condition of 0-degree azimuth angle and 0-degree pitch angle, and points to the front of the seeker to be positive; the oy axis is the axis of the azimuth rotating shaft of the seeker, and the upward pointing direction is positive; the oz axis is perpendicular to the ox axis and the oy axis to form a right-hand coordinate system.
The spatial rectangular coordinate of the target in the WGS84 coordinate system in the step 3) is converted into a platform 'north heaven' coordinate system by the following method:
let the geodetic coordinate of a point in WGS84 be (L)p,Bp,hp)，LpIs longitude, BpIs latitude, hpThe distance from the normal to the ellipsoid (ellipsoid elevation, abbreviated as geodetic height) of the object is then the corresponding spatial rectangular coordinate (x) of the point in the coordinate systemep,yep,zep) Comprises the following steps:
Figure BDA0002618685110000041
in the formula:
Figure BDA0002618685110000042
wherein: long half axis a is 6378137m, first eccentricity squared e2＝0.00669437999013；
Next, the WGS84 coordinate system o is realized by three rotations of the coordinate systemexeyezeCoordinate system o of north heaven to platformtxtytztIn which o istThe geodetic coordinate in the WGS84 coordinate system is (L)ep,Bep,hep) The corresponding spatial rectangular coordinate is (x)ep,yep,zep)。
(ii) a coordinate system oexeyezeAround oezeThe counterclockwise rotation angle of the shaft is (90-L)ep) Obtaining a coordinate system oex1y1ze：
Figure BDA0002618685110000043
② coordinate system oex1y1zeAround oex1Counterclockwise rotation angle of shaft BepObtaining a coordinate system oex1y2z1：
Figure BDA0002618685110000044
Coordinate system oex1y2z1Around oey2The shaft rotates anticlockwise by-90 degrees to obtain a coordinate system oex2y2z2：
Figure BDA0002618685110000051
Therefore, WGS84 coordinate system oexeyezeCoordinate system o of north heaven to platformtxtytztThe transformation matrix of (a) is:
Figure BDA0002618685110000052
thus, assume target point M is in WGS84 coordinate system oexeyezeHas a geodetic coordinate of (L)eM,BeM,heM) The spatial rectangular coordinate (x) of the M point can be calculated by the formula (1)eM,yeM,zeM) Then it is in platform "North Tiandong" coordinate system otxtytztCoordinate value of (x)tM,ytM,ztM) Comprises the following steps:
Figure BDA0002618685110000053
in the step 3), the coordinates of the target in the platform north heaven and east coordinate system are converted into the platform body axis coordinate system by the following method:
platform north-Tiandong coordinate system otxtytztConvert to platform body axis coordinate system otxbybzbRequiring 3 angles, i.e. pitch angle theta, yaw angle of the secondary platform
Figure BDA0002618685110000057
A roll angle γ;
(ii) a coordinate system otxtytztAround otxtThe axis rotates anticlockwise gamma to obtain a coordinate system otxty1z1：
Figure BDA0002618685110000054
② coordinate system otxty1z1Around oty1Rotate counterclockwise
Figure BDA0002618685110000055
Obtain a coordinate system otx1y1z2：
Figure BDA0002618685110000056
Coordinate system otx1y1z2Around otz2Rotating theta anticlockwise to obtain platform body axis coordinate system otx2y2z2：
Figure BDA0002618685110000061
So platform 'North Tiandong' coordinate system otxtytztTo platform body axis coordinate system otxbybzbThe transformation matrix of (a) is:
Figure BDA0002618685110000062
thus, the target point M is in the platform body axis coordinate system otxbybzbCoordinate value of (x)bM,ybM,zbM) Comprises the following steps:
Figure BDA0002618685110000063
the coordinates of the target in the platform body axis coordinate system in the step 3) are converted into a guide head body axis coordinate system by the following method:
suppose | ootI | ═ Δ y (fixed value, measurable), then target point M sits on seeker body axisCoordinate value (x) of coordinate system oxyzM,yM,zM) Comprises the following steps:
Figure BDA0002618685110000064
the method for calculating the pitch angle and the azimuth angle of the seeker relative to the target in the step 4) comprises the following steps:
the spatial position relationship shows that:
Figure BDA0002618685110000065
thus, the number of the first and second electrodes,
Figure BDA0002618685110000071
due to the adoption of the technical scheme, the invention has the following advantages:
according to the method for capturing the fast moving target by the television seeker simulation system, the secondary platform is positioned and attitude measured in real time, target position data provided by external guidance is combined, the industrial personal computer is used for analyzing and calculating related data, pitching and azimuth pointing angles of the seeker are given, the servo turntable is driven to rotate, the target is in a field range, the efficiency of searching, recognizing and capturing the target by equipment is further improved, and the requirements of tests and training tasks are met.
Description of the drawings:
FIG. 1 is a block diagram of the overall architecture of the present invention;
FIG. 2 is a flow chart of the present invention;
FIG. 3 is the WGS84 coordinate system oexeyezeCoordinate system o of platformtxtytztA relationship diagram;
FIG. 4 is a platform "North Tiandong" coordinate system otxtytztCoordinate system o with platform body axistxbybzbA relationship diagram;
FIG. 5 is a table body axis coordinate system otxbybzbA schematic diagram of relationship with the guide head body axis coordinate system oxyz;
FIG. 6 is a schematic view of the TV seeker in pitch angle α and azimuth angle β;
the specific implementation mode is as follows:
the present invention will be explained in more detail by the following examples, which are intended to disclose all changes and modifications within the scope of the present invention, and the present invention is not limited to the following examples;
the method for capturing the fast moving target by the television seeker analog system with reference to the attached drawing comprises the following steps:
1) external boot data
Acquiring target data through an external guiding device, and transmitting the target data to an industrial personal computer or transmitting the target data and the position of the external guiding device to the industrial personal computer;
there are two ways to implement the outer boot data:
firstly, external guiding data is realized through radar, and the target position measured by the radar is only relative to the position of the radar and is not based on a WGS84 coordinate system, so that the longitude, the latitude and the height of the deployment position of the radar need to be determined, and the longitude, the latitude and the height of the target in the WGS84 coordinate system are indirectly obtained;
secondly, the external guiding data is realized through GPS or Beidou, and the mode is that the longitude, latitude and altitude information of a target point is directly given by taking a WGS84 coordinate system as a reference.
2) Ex-boot data pre-processing
The method comprises the steps that external guide data are preprocessed by using a Kalman filtering theory, so that after a television seeker simulation system receives target data, jumping and messy code data can be judged and removed, the current position of the target can be predicted by combining data transmission delay, and meanwhile when the data volume is less than 10Hz, interpolation or smoothing can be carried out on the target data, so that the accuracy and the continuity of guide information are guaranteed, and accurate position information of the target is finally obtained;
3) coordinate system conversion
Constructing a WGS84 coordinate system, and converting the spatial rectangular coordinates of the target in the WGS84 coordinate system according to the position information of the target in the step 2);
the WGS84 coordinate system is defined as follows: WGS84 coordinate system oexeyezeOrigin oeIs the earth's centroid; oexeThe axis points from the geocentric to the intersection point of the zero meridian plane of BIH1984.0 and the equator of BIH1984.0 protocol; oezeThe axis points from the geocentric to the direction of the protocol earth pole defined by BIH 1984.0; oeyeShaft and oexeShaft oezeThe axes are perpendicular, forming a right-hand coordinate system.
Constructing a coordinate system of 'north heaven and east', and converting the coordinates of the target in the coordinate system of the platform 'north heaven and east' according to the spatial rectangular coordinates of the target in the WGS84 coordinate system and the position data of the secondary platform;
the platform "north heaven east" coordinate system is defined as follows: platform north-Tiandong coordinate system otxtytztOrigin otIs a fixed connection central point of the secondary platform and the servo turntable; otxtThe shaft is positioned in the horizontal plane and points to the positive north direction; otytThe shaft points to the sky along the direction of the earth vertical line; otztShaft and otxtShaft otytThe axes are vertical to form a right-hand coordinate system pointing to the east direction;
let the geodetic coordinate of a point in WGS84 be (L)p,Bp,hp)，LpIs longitude, BpIs latitude, hpThe distance from the normal line of the object to the ellipsoid, the height of the ellipsoid, abbreviated as geodetic height, is the corresponding spatial rectangular coordinate (x) of the point in the coordinate systemep,yep,zep) Comprises the following steps:
Figure BDA0002618685110000091
in the formula:
Figure BDA0002618685110000092
wherein: long half axis a is 6378137m, first eccentricity squared e2＝0.00669437999013；
Next, the WGS84 coordinate system o is realized by three rotations of the coordinate systemexeyezeCoordinate system o of north heaven to platformtxtytztAs shown in FIG. 3, wherein otThe geodetic coordinate in the WGS84 coordinate system is (L)ep,Bep,hep) The corresponding spatial rectangular coordinate is (x)ep,yep,zep)。
(ii) a coordinate system oexeyezeAround oezeThe counterclockwise rotation angle of the shaft is (90-L)ep) Obtaining a coordinate system oex1y1ze：
Figure BDA0002618685110000101
② coordinate system oex1y1zeAround oex1Counterclockwise rotation angle of shaft BepObtaining a coordinate system oex1y2z1：
Figure BDA0002618685110000102
Coordinate system oex1y2z1Around oey2The shaft rotates anticlockwise by-90 degrees to obtain a coordinate system oex2y2z2：
Figure BDA0002618685110000103
Therefore, WGS84 coordinate system oexeyezeCoordinate system o of north heaven to platformtxtytztThe transformation matrix of (a) is:
Figure BDA0002618685110000104
thus, assume target point M is in WGS84 coordinate system oexeyezeHas a geodetic coordinate of (L)eM,BeM,heM) The spatial rectangular coordinate (x) of the M point can be calculated by the formula (1)eM,yeM,zeM) Then it is in platform "North Tiandong" coordinate system otxtytztCoordinate value of (x)tM,ytM,ztM) Comprises the following steps:
Figure BDA0002618685110000111
establishing a platform body axis coordinate system, and converting the coordinates of the target in the platform body axis coordinate system according to the coordinates of the target in a platform north heaven-east coordinate system and the attitude data of the secondary platform; the attitude data comprises pitch angle, yaw angle and roll angle data of a plane of the secondary platform;
the platform body axis coordinate system is defined as follows: platform body axis coordinate system otxbybzbOrigin otIs a fixed connection central point of the secondary platform and the servo turntable; otxbThe shaft is positioned on the plane of the platform and points to the right front of the platform; otybThe axis is vertical to the plane of the platform and is positive vertically upwards; otzbShaft and otxbShaft otybThe axes are vertical to form a right-hand coordinate system;
platform north-Tiandong coordinate system otxtytztConversion to platform body axis coordinatesIs o oftxbybzbRequiring 3 angles, i.e. pitch angle theta, yaw angle of the secondary platform
Figure BDA0002618685110000112
A roll angle γ;
as shown in fig. 4, wherein: the pitch angle theta is a platform body axis coordinate system otxbAxis and platform north heaven and east coordinate system xtotztAngle of face, and otxbAxis in xtotztTheta is positive when the surface is above the surface, and theta is negative when the surface is above the surface; yaw angle
Figure BDA0002618685110000113
As a platform body axis coordinate system otxbCoordinate system x with axis on platformtotztProjection of a surface andtxtangle of axis, and otxtWhen the shaft rotates counterclockwise to the projection
Figure BDA0002618685110000114
Is positive and vice versa
Figure BDA0002618685110000115
Is negative; coordinate system o with roll angle gamma as platform body axistybShaft and throughtxbAngle of axis to vertical plane, along otxbObservation in the forward direction, otybThe axis is positive on the left side of the vertical plane, whereas gamma is negative.
The coordinate transformation is achieved by three rotations as follows:
(ii) a coordinate system otxtytztAround otxtThe axis rotates anticlockwise gamma to obtain a coordinate system otxty1z1：
Figure BDA0002618685110000116
② coordinate system otxty1z1Around oty1Rotate counterclockwise
Figure BDA0002618685110000117
Obtain a coordinate system otx1y1z2：
Figure BDA0002618685110000121
Coordinate system otx1y1z2Around otz2Rotating theta anticlockwise to obtain platform body axis coordinate system otx2y2z2：
Figure BDA0002618685110000122
So platform 'North Tiandong' coordinate system otxtytztTo platform body axis coordinate system otxbybzbThe transformation matrix of (a) is:
Figure BDA0002618685110000123
thus, the target point M is in the platform body axis coordinate system otxbybzbCoordinate value of (x)bM,ybM,zbM) Comprises the following steps:
Figure BDA0002618685110000124
constructing a guide head body axis coordinate system, and converting the coordinates of the target in the guide head body axis coordinate system according to the coordinates of the target in the platform body axis coordinate system and the distance between the guide head rotation center and the secondary platform;
the guide head body axis coordinate system is defined as follows: a guidance head body axis coordinate system oxyz, wherein an origin o is an intersection point of a guidance head direction rotating shaft and a pitching rotating shaft; the ox shaft is perpendicular to the plane where the azimuth rotating shaft and the pitching rotating shaft are located under the condition of 0-degree azimuth angle and 0-degree pitch angle, and points to the front of the seeker to be positive; the oy axis is the axis of the azimuth rotating shaft of the seeker, and the upward pointing direction is positive; the oz axis is perpendicular to the ox axis and the oy axis to form a right-hand coordinate system.
Because the ox axis is parallel to the o axis after the seeker is installed, debugged and fixedtxbAxis and the straight line of oy axis passes through point otAnd is perpendicular to the plane of the secondary turntable, so that the axis coordinate system o of the platform bodytxbybzbOnly the translation | oo upwards is needed for converting to the guide head body axis coordinate system oxyztI can be implemented and the relationship between the two is shown in fig. 5.
Suppose | ootIf Δ y is a fixed value, and is measured, the coordinate value (x) of the target point M in the guide head body axis coordinate system oxyz is obtainedM,yM,zM) Comprises the following steps:
Figure BDA0002618685110000131
4) calculating a pitch angle and an azimuth angle of the seeker relative to the target;
the spatial position relationship shows that:
Figure BDA0002618685110000132
thus, the number of the first and second electrodes,
Figure BDA0002618685110000133
as shown in fig. 6, wherein: α is the angle between oM and xoz, and M is positive (y) when located above xozM> 0), otherwise negative; beta is the included angle between the projection of oM on the xoz plane and the ox axis, and the angle is positive when the ox axis rotates clockwise to the projection (z)M> 0) or vice versa negative.
In the above formula
Figure BDA0002618685110000134
The purpose is to distinguish the sign of the azimuth.
5) Obtaining pitching and azimuth pointing angles of the seeker through small-range correction of a pitching angle and an azimuth angle, and driving the servo turntable to rotate to a corresponding angle;
6) if the target is located in the field of view of the television camera, the external guidance is finished, otherwise, the external guidance is continuously implemented.
As shown in figure 1, the system attached to the invention is that an external guide data module and a station information monitoring device where a secondary platform is located are added in an original television guide head system, the position information of a target is transmitted to an industrial personal computer through the external guide data module, the industrial personal computer is combined with the station information transmitted by the station information monitoring device to convert, and finally, the pitch angle alpha and the azimuth angle beta of the television guide head are obtained, and a servo turntable is driven to rotate so that the target is positioned in a field range and displayed on a display control platform.
The display control platform adopts a pop-up window type structure, can be closed when not in use, and can meet the requirements of manual and automatic input of external guide data, starting and stopping of external guide, alarm prompt when the pointing angle exceeds the range, display, storage, transmission and the like of related data.
The display control platform interface is slightly different according to different modes of external guide data selection.
(1) Radar data external guide interface design
In the mode, the software interface can display the fixed connection central point o of the secondary platform and the servo turntable in real timetGeodetic coordinates (L) in WGS84 coordinate systemep,Bep,hep) And attitude information of the secondary platform
Figure BDA0002618685110000141
Has radar position information (L)eL,BeL,heL) And target point M position information (D, alpha)ThunderH) entering window, and inputting correction values of pitching and azimuth into the window; can output the target point M in the WGSGeodetic coordinates (L) in the 84 coordinate systemeM,BeM,heM) And the elevation angle alpha and the azimuth angle beta of the television seeker are obtained through external guidance.
(2) GPS/Beidou data external guide interface design
In the mode, the software interface can display the fixed connection central point o of the secondary platform and the servo turntable in real timetGeodetic coordinates (L) in WGS84 coordinate systemep,Bep,hep) And attitude information of the secondary platform
Figure BDA0002618685110000151
Has a geodetic coordinate (L) of the target point M in a WGS84 coordinate systemeL,BeL,heL) The input window of the pitch and azimuth correction quantity input window; the elevation angle alpha and the azimuth angle beta of the television seeker obtained by external guidance can be output.
The station information monitoring device should be theoretically installed at the fixed connection center of the secondary platform and the servo turntable, and the coordinate origin of the positioning and attitude measuring equipment and the fixed connection center point otCoincidence, coordinate axes and otxbybzbThe directions of the coordinate axes are consistent. In practice, however, due to the limited installation space of the secondary platform, the positioning and attitude-measuring equipment is fixed at the edge of the secondary platform through the installation flange or the adapter piece and the coordinate axis are kepttxbybzbThe directions of the coordinate axes are consistent to ensure the point otThe position data of the two-stage platform is within the positioning error of the equipment, and the pitch angle theta and the yaw angle of the two-stage platform are accurately acquired simultaneously
Figure BDA0002618685110000152
Roll angle γ information.
The station information monitoring device is used for determining a fixed connection central point o of the secondary platform and the servo turntabletGeodetic coordinates (L) in WGS84 coordinate systemep,Bep,hep) And attitude information of the secondary platform
Figure BDA0002618685110000153
And the time service is carried out on the industrial personal computer, and the inertial navigation combination equipment and the external antenna mainly comprise the inertial navigation combination equipment.
The invention adopts INS (GPS-assisted Inertial Navigation System) produced by inertia Labs and HX-GS188A small external antenna. Wherein: the Inertial Labs INS adopts an advanced GNSS receiver, a barometer, a full-working-temperature-calibrated three-axis high-precision fluxgate magnetometer, a tactical accelerometer, a magnetometer and a gyroscope, and can provide accurate measurement of position, speed, course, pitch and roll angles for any carrier equipment provided with the Inertial Labs INS.
The HX-GS188A small external antenna unit has high gain and wide beam of the direction diagram, can ensure the receiving effect of low elevation angle signals, can normally receive stars in some occasions with serious shielding, is provided with an anti-multipath choke plate, can effectively reduce the influence of multipath on the measurement precision,
the details of the above are not described in detail since they are prior art.

Claims (8)

1. A method for capturing a fast moving target by a television seeker simulation system is characterized by comprising the following steps:
the method comprises the following steps:
1) external boot data
Acquiring target data through an external guiding device, and transmitting the target data to an industrial personal computer or transmitting the target data and the position of the external guiding device to the industrial personal computer;
2) ex-boot data pre-processing
The method comprises the steps that external guide data are preprocessed by using a Kalman filtering theory, so that after a television seeker simulation system receives target data, jumping and messy code data can be judged and removed, the current position of the target can be predicted by combining data transmission delay, and meanwhile when the data volume is less than 10Hz, interpolation or smoothing can be carried out on the target data, so that the accuracy and the continuity of guide information are guaranteed, and accurate position information of the target is finally obtained;
3) coordinate system conversion
Constructing a WGS84 coordinate system, and converting the spatial rectangular coordinates of the target in the WGS84 coordinate system according to the position information of the target in the step 2);
constructing a coordinate system of 'north heaven and east', and converting the coordinates of the target in the coordinate system of the platform 'north heaven and east' according to the spatial rectangular coordinates of the target in the WGS84 coordinate system and the position data of the secondary platform;
establishing a platform body axis coordinate system, and converting the coordinates of the target in the platform body axis coordinate system according to the coordinates of the target in a platform north heaven-east coordinate system and the attitude data of the secondary platform;
constructing a guide head body axis coordinate system, and converting the coordinates of the target in the guide head body axis coordinate system according to the coordinates of the target in the platform body axis coordinate system and the distance between the guide head rotation center and the secondary platform;
4) calculating a pitch angle and an azimuth angle of the seeker relative to the target;
5) obtaining pitching and azimuth pointing angles of the seeker through small-range correction of a pitching angle and an azimuth angle, and driving the servo turntable to rotate to a corresponding angle;
6) if the target is located in the field of view of the television camera, the external guidance is finished, otherwise, the external guidance is continuously implemented.
2. The method of claim 1, wherein the method comprises: the outer guiding device in the step 1) is a radar, the position of the outer guiding device comprises the longitude, the latitude and the height of radar deployment, and target data are the slope distance, the azimuth and the elevation data of a target.
3. The method of claim 1, wherein the method comprises: the external guiding device in the step 1) is a GPS or a Beidou, and the target data is the slope distance, azimuth and elevation data of the target.
4. The method of claim 1, wherein the TV seeker simulation system captures fast moving objects: the WGS84 coordinate system is defined as follows: WGS84 coordinate system oexeyezeOrigin oeIs the earth's centroid; oexeThe axis points from the geocentric to the intersection point of the zero meridian plane of BIH1984.0 and the equator of BIH1984.0 protocol; oezeThe axis points from the geocentric to the direction of the protocol earth pole defined by BIH 1984.0; oeyeShaft and oexeShaft oezeThe axes are vertical to form a right-hand coordinate system;
the platform "north heaven east" coordinate system is defined as follows: platform north-Tiandong coordinate system otxtytztOrigin otIs a fixed connection central point of the secondary platform and the servo turntable; otxtThe shaft is positioned in the horizontal plane and points to the positive north direction; otytThe shaft points to the sky along the direction of the earth vertical line; otztShaft and otxtShaft otytThe axes are vertical to form a right-hand coordinate system pointing to the east direction;
the platform body axis coordinate system is defined as follows: platform body axis coordinate system otxbybzbOrigin otIs a fixed connection central point of the secondary platform and the servo turntable; otxbThe shaft is positioned on the plane of the platform and points to the right front of the platform; otybThe axis is vertical to the plane of the platform and is positive vertically upwards; otzbShaft and otxbShaft otybThe axes are vertical to form a right-hand coordinate system;
the guide head body axis coordinate system is defined as follows: a guidance head body axis coordinate system oxyz, wherein an origin o is an intersection point of a guidance head direction rotating shaft and a pitching rotating shaft; the ox shaft is perpendicular to the plane where the azimuth rotating shaft and the pitching rotating shaft are located under the condition of 0-degree azimuth angle and 0-degree pitch angle, and points to the front of the seeker to be positive; the oy axis is the axis of the azimuth rotating shaft of the seeker, and the upward pointing direction is positive; the oz axis is perpendicular to the ox axis and the oy axis to form a right-hand coordinate system.
5. The method of claim 1, wherein the method comprises: the spatial rectangular coordinate of the target in the WGS84 coordinate system in the step 3) is converted into a platform 'north heaven' coordinate system by the following method:
let the geodetic coordinate of a point in WGS84 be (L)p,Bp,hp)，LpIs longitude, BpIs latitude, hpThe distance from the object to the ellipsoid along the normal is the corresponding spatial rectangular coordinate (x) of the point in the coordinate systemep,yep,zep) Comprises the following steps:
Figure FDA0002618685100000031
in the formula:
Figure FDA0002618685100000032
wherein: long half axis a is 6378137m, first eccentricity squared e2＝0.00669437999013；
Next, the WGS84 coordinate system o is realized by three rotations of the coordinate systemexeyezeCoordinate system o of north heaven to platformtxtytztIn which o istThe geodetic coordinate in the WGS84 coordinate system is (L)ep,Bep,hep) The corresponding spatial rectangular coordinate is (x)ep,yep,zep)。
(ii) a coordinate system oexeyezeAround oezeThe counterclockwise rotation angle of the shaft is (90-L)ep) Obtaining a coordinate system oex1y1ze：
Figure FDA0002618685100000041
② coordinate system oex1y1zeAround oex1Counterclockwise rotation angle of shaft BepObtaining a coordinate system oex1y2z1：
Figure FDA0002618685100000042
Coordinate system oex1y2z1Around oey2The shaft rotates anticlockwise by-90 degrees to obtain a coordinate system oex2y2z2：
Figure FDA0002618685100000043
Therefore, WGS84 coordinate system oexeyezeCoordinate system o of north heaven to platformtxtytztThe transformation matrix of (a) is:
Figure FDA0002618685100000044
thus, assume target point M is in WGS84 coordinate system oexeyezeHas a geodetic coordinate of (L)eM,BeM,heM) The spatial rectangular coordinate (x) of the M point can be calculated by the formula (1)eM,yeM,zeM) Then it is in platform "North Tiandong" coordinate system otxtytztCoordinate value of (x)tM,ytM,ztM) Comprises the following steps:
Figure FDA0002618685100000045
6. the method of claim 1, wherein the method comprises: in the step 3), the coordinates of the target in the platform north heaven and east coordinate system are converted into the platform body axis coordinate system by the following method:
platform north-Tiandong coordinate system otxtytztConvert to platform body axis coordinate system otxbybzbRequiring 3 angles, i.e. pitch angle theta, yaw angle of the secondary platform
Figure FDA0002618685100000051
A roll angle γ;
the coordinate transformation is achieved by three rotations as follows:
(ii) a coordinate system otxtytztAround otxtThe axis rotates anticlockwise gamma to obtain a coordinate system otxty1z1：
Figure FDA0002618685100000052
② coordinate system otxty1z1Around oty1Rotate counterclockwise
Figure FDA0002618685100000053
Obtain a coordinate system otx1y1z2：
Figure FDA0002618685100000054
Coordinate system otx1y1z2Around otz2Rotating theta anticlockwise to obtain platform body axis coordinate system otx2y2z2：
Figure FDA0002618685100000055
So platform 'North Tiandong' coordinate system otxtytztTo platform body axis coordinate system otxbybzbThe transformation matrix of (a) is:
Figure FDA0002618685100000056
thus, the target point M is in the platform body axis coordinate system otxbybzbCoordinate value of (x)bM,ybM,zbM) Comprises the following steps:
Figure FDA0002618685100000057
7. the method of claim 1, wherein the method comprises: and 3) converting the coordinates of the target in the platform body axis coordinate system into a guide head body axis coordinate system by the following method:
suppose | ootIf Δ y is a fixed value, and is measured, the coordinate value (x) of the target point M in the guide head body axis coordinate system oxyz is obtainedM,yM,zM) Comprises the following steps:
Figure FDA0002618685100000061
8. the method of claim 1, wherein the method comprises: the method for calculating the pitch angle and the azimuth angle of the seeker relative to the target in the step 4) comprises the following steps:
the spatial position relationship shows that:
Figure FDA0002618685100000062
thus, the number of the first and second electrodes,
Figure FDA0002618685100000063
CN202010770705.7A 2020-08-05 2020-08-05 Method for capturing fast moving target by television seeker simulation system Pending CN112013716A (en)

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