CN112987049B - Rocket radome remains positioning and tracking system - Google Patents
Rocket radome remains positioning and tracking system Download PDFInfo
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- CN112987049B CN112987049B CN202110183855.2A CN202110183855A CN112987049B CN 112987049 B CN112987049 B CN 112987049B CN 202110183855 A CN202110183855 A CN 202110183855A CN 112987049 B CN112987049 B CN 112987049B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
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Abstract
The invention discloses a rocket fairing debris positioning and tracking system, which solves the problem of rocket fairing debris recovery. The invention is realized by the following technical scheme: each mobile ground radar station measures own position information through a Beidou/GNSS common-view receiver, realizes inter-station time synchronization and receives a ranging signal externally sent by a signal transmitting device, calculates the received ranging signal, and obtains the distance between rocket fairing debris and the ground station; each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the radome remains to a ground radar main station through a short-wave radio station, and the main station calculates the position coordinates of a signal transmitting device according to the positions of the secondary stations and the measured pseudo-range, and sends the position coordinates to an unmanned aerial vehicle to calculate the azimuth and pitch angle of the rocket radome remains detected by a detector, and the azimuth and pitch angle are transmitted to a holder; the unmanned aerial vehicle intervenes in the end section that the radome remains dropped and carries out target locking and tracking, and the image data is transmitted back to the ground radar main station to determine the final dropping point of the radome remains.
Description
Technical Field
The invention relates to the field of aerospace, in particular to a positioning and tracking system suitable for rocket radome debris.
Background
The rocket fairing is made of high-strength, light-weight and high-temperature-resistant materials with strong radio wave permeability, is positioned at the top of the carrier rocket, and protects the effective load while maintaining the aerodynamic shape of the rocket. Before the rocket is lifted, the fairing protects the spacecraft on the ground, and the requirements of the spacecraft on temperature, humidity and cleanliness are guaranteed. The fairing is a honeycomb half-cover structure, the half-cover weighs about 1 ton, the total weight is about 2 tons, and after the launching is lifted for a period of time, the rocket is separated by a second stage. Subsequently, the rocket flies through the stratosphere and the intermediate layer, approaching the atmosphere boundary. When the rocket is lifted up and passes through the atmosphere, the fairing is divided into two pieces to fall downwards, and the rocket falls on the ground at the speed of 100 meters per second. The fairing may protect the spacecraft from aerodynamic forces and aerodynamic heat so as to be damaged. After the rocket is launched and lifted, the top fairing of the protection spacecraft can be thrown off after passing through the atmosphere, and can fly freely in a thin atmospheric environment, and the rocket is interfered with the core-level aircraft to generate unsteady flow, so that the pneumatic interference is severe along with the time change. In the climbing section, under the combined action of initial angular velocity and aerodynamic force, the turnover angular velocity is rapidly increased, the flying state before the head rushes is in a static unstable state, and the posture is rapidly diverged. Since the speed of the fairing at the moment of separation is less than the first cosmic speed, the separator cannot enter the earth orbit, and the separator can reenter the atmosphere, and large overload caused by airflow shearing or flight speed rapid change can tear the meteoroid body to separate the meteoroid body, so that the device has strong and complex aerodynamic force/thermal action, and the device can lead to the separation of the remains of the booster into a plurality of fragments. In returning to the ground in a tail-flung-ahead manner, there are evacuation and safety issues of the property.
The monitoring work of the debris falling area is a very complex system engineering, the falling process time of the debris is very short (about 5 min), all monitoring links are closely related, and the changes in the monitoring frame can bring great influence to tasks. At present, a reentry and return mode without control is generally adopted for the fairing, and due to the influence of various random interferences, the falling point walk is larger. When the landing zone is located on land, the larger landing zone range brings about evacuation and safety problems of personnel and property.
With the increasing of launch tasks of carrier rockets in China, the safety of the fairing landing area has become a key factor affecting model flight schemes and carrying capacity. Therefore, there is a need to solve the problem of controlling the return of the cowling, and improve the safety of the cowling landing area. How to carry out the return control of the fairing is still in the test stage at present, so that the acquisition of the falling parameters of the fairing after the throwing of the fairing in a real flight test is very important.
At present, no related technology implementation method exists in China for positioning and tracking rocket radome remains. In the literature, the positioning and searching of the missile-borne black box are similar. The method described in the literature is not limited to carrying out self-positioning based on a GPS or a Beidou navigation positioning system, or reporting the position of the GPS or the Beidou navigation positioning system through a Beidou short message or GPRS or iridium communication, and then carrying out range locking and searching by a ground searching system according to the reported positioning information. The method has obvious defects, and firstly, the real-time performance is poor. Whether through Beidou short messages, iridium satellite systems or GPRS, the ground searching system cannot know the specific position in real time. And the Beidou short message service or iridium communication is adopted, so that satellite channels are rented, and the satellite channels are applied in advance when the satellite channels are used, and the autonomous controllability is poor. Secondly, because the falling posture of the radome remains is unknown, even if a plurality of antennas are arranged, the radome cannot ensure that the radome can communicate with satellites with far distances, and if a GPRS communication mode is adopted, the construction of a base station is limited, and the GPRS coverage capacity of a plurality of remote areas is limited. The method is less reliable. If the satellite positioning mode is adopted, after the positioning device installed on the fairing solves the self position information, the positioning device needs to be forwarded to a ground support system through Beidou short messages or other modes, and the forwarding is difficult to achieve continuity. If the satellite positioning is wanted, considering that the distance between the satellite and the fairing is far, the layout of the receiving antenna and the transmitting antenna takes the form that whether the gain meets the link requirement or not and the attitude uncertainty when the fairing falls down bring great difficulty to the design. The problem of uncertainty of ionosphere delay and troposphere delay caused by the weakening of correlation due to overlong base line distance between stations is solved, and the problem of large power consumption of a Beidou short message service transmitter is solved, so that the power consumption of a battery and short message service are balanced, and the method is generally reported every dozens of seconds, which is also a great cause of poor instantaneity. If the fairing landing area is in a mountain area, once the falling end section is blocked by a mountain or a forest, the communication is interrupted, and the searching is required to be performed according to the position information of the last reported service, so that the final positioning accuracy is poor, the searching range is definitely enlarged, and the searching difficulty is improved.
Disclosure of Invention
The invention aims at solving the problems of the prior art, and provides a positioning and tracking system for rocket fairing debris, which has the advantages of long acting distance, high precision, good real-time performance and strong reliability, so that a worker can quickly find out the fairing debris according to accurate positioning and tracking, acquire a device for recording the flight parameters of the fairing at the first time, and solve the problem of recycling the rocket fairing debris.
The above object of the present invention is achieved by a rocket fairing debris positioning and tracking system comprising: at least 4 mobile ground radar stations deployed on the ground, wherein 1 ground radar master station, at least 3 secondary stations, an unmanned aerial vehicle in communication with the mobile ground radar stations, ranging signal transmitting means installed in the rocket fairing, characterized in that: the unmanned aerial vehicle obtains the position information of the unmanned aerial vehicle through a GNSS receiver, each mobile ground radar station measures the position information of the unmanned aerial vehicle through a Beidou/GNSS common-view receiver, the time synchronization between stations is realized, the ranging signals sent by a signal transmitting device are received, the received ranging signals are calculated, and the distance between rocket fairing remains and the ground station is obtained; each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the radome debris to a ground radar main station through a short-wave radio station, the main station adopts a positioning algorithm to calculate, and according to the position of each station and the measured pseudo-range, the position coordinate of a signal transmitting device is calculated and sent to an unmanned plane; the unmanned aerial vehicle calculates the received position information of the rocket fairing debris and the position of the rocket fairing debris, calculates the azimuth angle and the pitch angle of the detector to the rocket fairing debris, and transmits the azimuth angle and the pitch angle to the cradle head for angle control, so that the detector can track the rocket fairing debris in real time; the unmanned aerial vehicle intervenes at the end section of the falling of the remains of the radome to carry out target locking and tracking, image data are transmitted back to the ground radar main station in real time, and the main station determines the final falling point of the remains of the radome based on image information target identification and terrain matching algorithm calculation.
The method has the following beneficial effects:
1. and the positioning precision is high. According to the invention, a signal transmitting device arranged in the fairing transmits a ranging signal in the falling process of the fairing debris, and a plurality of maneuvering ground radar stations receive and track the ranging signal to perform combined ranging positioning. In the falling end section of the remains of the radome, the final falling point of the remains of the radome can be accurately locked through a tracking locking technology based on an unmanned plane platform and a target identification and terrain matching algorithm. The system does not depend on satellite communication, can accurately obtain the position of the fairing in the whole falling process in real time, greatly improves the positioning precision and reliability, simplifies the searching work of the subsequent fairing remains and improves the searching efficiency.
2. The real-time performance is good. The radio range measuring method adopts a continuous wave system to carry out pseudo range measurement, the measured pseudo range can be quickly transmitted to the main station through the short wave radio station, and the main station can immediately calculate the position information of the fairing. Each mobile ground station uses satellite co-vision for time synchronization. The common view data communication and the 10ns common view comparison precision generated by the weighted mutual difference algorithm of the fitting value of the common view navigation satellite are established by utilizing the navigation satellite common view method, so that the problems of uncertain ionosphere delay and troposphere delay caused by overlong base line distance between stations and reduced correlation are effectively weakened, and the influence caused by the problems of ionosphere, troposphere delay, satellite ephemeris error, satellite clock error, relativity and the like related to satellite navigation can be avoided. The positioning device installed on the fairing is required to be forwarded to the ground support system through Beidou short messages or other modes after the position information of the positioning device is solved by adopting a mode based on satellite positioning, and the forwarding is difficult to achieve continuity, so that the real-time performance is far inferior to that of the method related to the invention.
3. The reliability is high. Each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the radome remains to a ground radar main station through a short-wave radio station, the main station adopts a positioning algorithm to calculate, and the position coordinate of a signal transmitting device is calculated according to the position of each station and the measured pseudo-range and is transmitted to an unmanned plane; firstly, the measurement of the pseudo range of the mobile ground radar station to the fairing is usually within a range of hundreds of kilometers at most, so that the minimum requirement of the ground radar station on the sensitivity of the received signal can be met by only arranging two omnidirectional antennas at 180 degrees in spite of the gesture in the falling process of the fairing. Compared with various designs of satellite positioning, the reliability of the attitude uncertainty of the fairing in falling is inferior to that of the method of the invention by adopting the layout form of the receiving antenna and the transmitting antenna.
4. The subsequent searching efficiency is greatly improved. According to the invention, when the mobile ground radar cannot track the radome remains for distance measurement due to the pitch angle limitation at the falling end of the radome remains, the unmanned aerial vehicle is adopted at the moment, the unmanned aerial vehicle calculates the received position information of the radome remains and the position information of the radome remains, the azimuth angle and the pitch angle of the unmanned aerial vehicle detector to the radome remains are calculated, and the azimuth angle and the pitch angle are transmitted to the tripod head for angle control, so that the detector can track the radome remains in real time, the locking of the radome remains can be continuously kept, the radome remains can be tracked and fall into a prediction falling area, the searching range can be accurately up to the point, or the radome remains fall into a jungle, and the searching range can be controlled within 10 meters. Therefore, ground searching personnel can quickly find the remains of the fairing through positioning, the pertinence of searching work is enhanced, and the searching efficiency is greatly improved. The distance between the actual drop point and the forecast drop point is less than 2km.
5. The acting distance is long. The invention adopts at least 4 maneuvering ground radar stations deployed on the ground, wherein 1 ground radar master station, at least 3 auxiliary stations and unmanned aerial vehicle which communicates with maneuvering ground radar stations, and a ranging signal transmitting device arranged in a rocket fairing can accurately position and track targets within 500 km.
6. The application is wide. With the increasing frequency of space launching service and reentry and return tasks, due to the working characteristics of a carrier rocket or a return spacecraft, accurate, timely and rapid positioning, tracking and searching of a carrier rocket booster, a primary/secondary rocket shell, a return satellite, a scientific test load, a manned spacecraft and the like are required. These needs are all met by the method of the present invention. The main purpose is that: the life safety of astronauts is guaranteed, scientific test loads, task loads and key high-value components are quickly recovered for recycling, technical parameter leakage is prevented, and incidental damage is disposed of at the first time.
Drawings
FIG. 1 is a schematic diagram of a rocket radome debris positioning and tracking system composition and application scenario of the present invention;
FIG. 2 is a schematic diagram of the signal transmitting device of the present invention;
FIG. 3 is a schematic diagram of the motorized ground radar station of FIG. 1;
FIG. 4 is a schematic diagram showing the components of a ranging signal processing apparatus according to the present invention;
fig. 5 is a schematic view of the unmanned aerial vehicle load composition of the present invention.
Detailed Description
See fig. 1. In a preferred embodiment described below, a rocket fairing debris positioning and tracking system includes: the ground deployment system comprises at least 4 maneuvering ground radar stations deployed on the ground, 1 ground radar main station, at least 3 auxiliary stations, an unmanned aerial vehicle communicating with the maneuvering ground radar stations, and a ranging signal transmitting device arranged in a rocket fairing, so that a rocket fairing debris positioning and tracking system consisting of the signal transmitting device arranged in the fairing, the maneuvering ground radar stations and the unmanned aerial vehicle is formed. In the process of positioning and tracking rocket radome debris, an unmanned aerial vehicle obtains own position information through a GNSS receiver of the unmanned aerial vehicle, each mobile ground radar station measures own position information through a Beidou/GNSS common view receiver, the time synchronization between stations is realized, the ranging signals sent by a signal transmitting device are received, the received ranging signals are calculated, and the distance between the rocket radome debris and a ground station is obtained; each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the radome debris to a ground radar main station through a short-wave radio station, the main station adopts a positioning algorithm to calculate, calculates the position coordinates of a signal transmitting device according to the positions of the secondary stations and the measured pseudo-range, and sends the position coordinate information to an unmanned plane; the unmanned aerial vehicle calculates the received position information of the rocket fairing debris and the position information of the unmanned aerial vehicle, calculates the azimuth angle and the pitch angle of the detector to the rocket fairing debris, and transmits the azimuth angle and the pitch angle to the cradle head for angle control, so that the detector can track the rocket fairing debris in real time; the unmanned aerial vehicle intervenes at the end section of the falling of the remains of the radome to carry out target locking and tracking, image data are transmitted back to the ground radar main station in real time, and the main station determines the final falling point of the remains of the radome based on image information target identification and terrain matching algorithm calculation. The ground searching small team searches rocket fairing debris according to the drop point position and assisted by image information.
The function and specific design implementation of each component is described in detail below.
The debris positioning principle is similar to the inverted GPS principle. The mobile ground radar station receives the signal of the ranging signal transmitting device, and based on the clock difference delta t between the ranging signal transmitting device and the ground station, the position coordinates (x, y, z) of the radome remains and the position coordinates x of each ground station i=1 to n i ，y i ，z i The measured pseudo-range is
And multiplying the calculated receiving time T by the light speed C to obtain pseudo-ranges of the mobile ground stations and the dome debris.
Each ground station transmits the measured pseudo-range of the same sampling point to the main station, and the main station calculates coordinates of a signal transmitting device (rocket radome debris) according to the pseudo-ranges measured by the four stations.
According toThere are four unknowns (x, y, z, Δt) in the equation, so only four ground station measurements are needed to obtain the position coordinates of the rocket radome debris.
At the end of the descent, the mobile ground station has not been able to track the signal emitted by the fairing signal generator due to radar elevation limitation. At the moment, the unmanned aerial vehicle intervenes, targets are locked and tracked at the tail section of the falling of the debris of the rectification cover, image data are transmitted back to the main station of the motorized ground radar station, the main station solves the image information based on target identification and a terrain matching positioning algorithm, and the position of the falling point of the debris of the rectification cover of the rocket is solved, so that great convenience is provided for subsequent searching.
The destination identifier refers to a process in which a particular object (or one type of object) is distinguished from other objects (or other types of objects). For the identification of moving targets such as rocket radome remains, an inter-frame difference method, a background difference method, an optical flow method and the like can be adopted.
The mountains, plains, forests, rivers, gulf streams, buildings and the like on the surface of the earth form the characteristic properties of the earth surface, and the information is generally not changed with the change of time and climate and is difficult to disguise and conceal. The topographic data (mainly, topographic position and altitude data) is made into a digitized map by means of geodetic, aerial photography, satellite photography, etc., which is stored in the computer of the aircraft. Digital maps divide the actual topography into small squares, called network divisions. The grid is divided into equally-spaced grids in the longitude and latitude direction, the smaller the grid is, the higher the accuracy is, and the larger the data volume is, the higher the requirement on a computer is. But the grids cannot be divided too much, at least the ground features or natural relief of the ground surface, such as roads, brooks, houses, etc. can be distinguished. The grid position comprises two coordinates of x and y, the number in the grid represents the average value of the ground height in the grid, so that one grid represents three-dimensional coordinates of x, y and z, and various numbers and x and y coordinates corresponding to each number are stored in the computer. The topographic profile for topographic matching is composed of a set of data extracted from such a digital map. Performing a terrain matching positioning algorithm process: when the rocket fairing debris falls to the ground, it becomes stationary from the moving object. And when the rocket fairing remains are stationary, matching the corresponding topographic positions of the rocket fairing remains in the images with the digital map stored in the computer, and extracting the corresponding grid parameters to obtain the three-dimensional coordinates of the rocket fairing remains. The method comprises the steps of preparing a digital map from the topographic data of topographic position and altitude data obtained by geodetic, aerial photography and satellite photography, dividing the actual topographic map into a plurality of small squares according to the digital map, dividing the small squares into grids with equal intervals comprising x and y coordinates according to the longitude and latitude directions, wherein the positions of the grids comprise the x and y coordinates, the numbers in the grids represent the average value of the ground height in the grid, forming a network representing three-dimensional coordinates of x, y and z, and storing the digital map formed by various numbers and x and y coordinates corresponding to each number in a computer of an aircraft. And then extracting a group of data from the digital map to perform terrain matching to form a terrain profile for the terrain matching, matching the position of rocket fairing debris at the image corresponding to the terrain of rocket fairing debris falling to the ground static moment with the digital map stored in the computer by utilizing a terrain matching positioning algorithm, extracting corresponding grid parameters, and obtaining the three-dimensional coordinates of the rocket fairing debris.
See fig. 2. The function of the signal transmitting means is to generate and transmit a ranging signal. The signal transmitting apparatus includes: the beacon machine with power supply is characterized in that two 180-degree transmitting antennas are connected through a high-frequency cable, and the two omni-directional antennas send out ranging signals. The transmitting antenna of the beacon machine selects an omni-directional antenna in consideration of the influence of the change of the attitude rolling, rotation and the like of the rocket fairing debris in the falling process, and two antennas are installed in the central axis symmetry direction of the rocket fairing in consideration of the antenna installation problem. If the polarization modes of the two antennas are the same, a deeper null point occurs in the antenna synthesis pattern in an axial direction, so that it is considered to use two antennas with different polarization modes, such as left-hand circular polarization and right-hand circular polarization, respectively, and two corresponding receiving antennas of each mobile ground radar station are required: a left-hand circularly polarized and right-hand circularly polarized antenna.
The beacon machine is composed of a baseband circuit and an up-conversion channel circuit on a hardware architecture, and a continuous wave spread spectrum modulation signal is mainly generated by a Field Programmable Gate Array (FPGA); the up-conversion channel consists of local oscillator, frequency converter, amplifier, filter and power divider.
The power supply part comprises a lithium battery and a power switch, the beacon machine is powered by the battery, and the beacon machine starts to work after the battery is started and output. Considering that if the battery is started before the rocket is launched, the subsequent normal working time is reduced. Therefore, a power switch of the device is placed on a battery, and the battery adopts a self-starting mode. The present embodiment adopts the design of the acceleration switch. The starting-up problem of the beacon machine after rocket launching can be well solved.
The signal transmitting device works as follows. When the rocket is launched, the power supply switch of the beacon senses the acceleration of the rocket body, the lithium battery switch is started, the beacon starts to work, the beacon realizes the signal emission through the software radio, the continuous wave spread spectrum modulation signal can be generated based on the FPGA, and after the continuous wave spread spectrum modulation signal is up-converted through the frequency converter, the transmitting antenna selects the continuous wave system to emit the signal to the ground station. In the beacon signal system selection, the fact that rocket fairing remains in a rotating or rolling state in the descending process is considered, and the signals are quite unstable is considered, so that a continuous wave system is selected for transmitting signals, and the high-sensitivity tracking technology is adopted to ensure effective signal receiving and measuring time of a mobile ground station.
In general, the positions of the rocket fairing and the rocket separation point are known in advance, the mobile ground station can be laid out according to the pre-estimated separation point positions, and the distance between the rocket fairing and the rocket separation point is estimated by 500 km at the most. The receiver of a typical ground station has a receiver sensitivity of-160 dBW, so it can be seen that it is appropriate to select the transmission frequency of the L or S band.
The rocket has great acceleration during take-off after launching, the process is different from a transportation state, the acceleration is converted into pressure through the pressure sensor, the push switch is started, no external force is needed, the locked starting state is ensured through circuit design after the start, the requirement on the installation position is not high, manual intervention is not needed, and the rocket is suitable for the rocket-mounted environment. In order to prevent contact oscillation in the power-on process, a self-locking circuit is added on the switch to lock the power-on state, so that the reliability of the acceleration sensing switch is improved.
See fig. 3. A motorized ground radar station comprising: the Beidou/GNSS co-vision receiver is connected with the short-wave radio station and the antenna, the Beidou/GNSS co-vision receiver is connected with the distance measurement signal processing device of the generator and the phased array antenna, the Beidou/GNSS co-vision receiver is matched with the short-wave radio station and the short-wave antenna thereof through the self-positioning function, the time synchronization and self-positioning of all the mobile ground stations are realized by using a co-vision method, the navigation satellite establishes co-vision data communication and a weighted mutual difference algorithm for fitting values of the co-vision navigation satellite by using the co-vision method, the long distance of base lines between stations is weakened, the short-wave radio station is cooperated with the tracking of all the mobile ground radar stations to receive the distance measurement signals transmitted by the signal transmitting device on the fairing, the short-wave radio station transmits the short-wave signals through the short-wave antenna, the distance measurement signal processing device uniformly reports the distance parameters to the mobile ground radar station master station, and the master station calculates real-time coordinate information of the distance measurement signals according to the positions of all the mobile ground radar stations and the distances from the fairing to all the ground stations, and meanwhile, and the coordinate information is transmitted to the unmanned aerial vehicle.
See fig. 4. The ranging signal processing device includes: the system comprises a power supply conversion module, a baseband signal processing module, a down-conversion module, a baseband signal processing module and an up-conversion module, wherein the baseband signal processing module is connected between the phased array antenna and a transmitting antenna, the power supply conversion module converts the voltage provided by a generator into reference working voltage required by each module of a ranging signal processing device, the phased array antenna receives ranging signals sent by the transmitting device built in the rocket fairing debris, the ranging signals are subjected to down-conversion by the down-conversion module to be converted into intermediate frequency signals, the intermediate frequency signals are converted into digital signals by an A/D converter of the baseband signal processing module, and the digital signals are subjected to synchronization, despreading and demodulation by a series of software radio algorithms to realize the calculation of pseudo-ranges, if the pseudo-range signals are secondary stations, the pseudo-range information and the position information of the secondary stations are sent to a short-wave radio station, and then the pseudo-wave radio station is sent to a master station, if the secondary stations are the primary station performs joint calculation on the pseudo-range information transmitted by the short-wave radio station and the position information of each ground station, the position information of each secondary station calculates the rocket fairing debris, and the position information of the rocket fairing debris is subjected to encoding and modulation to intermediate frequency signal and D/A conversion, the up-conversion module is converted into S-band signals, and the passive antenna is sent to the secondary antenna to the unmanned aerial vehicle so as to conveniently search the rocket to fall down the position of the fairing debris.
Since each mobile ground radar station has to transmit measurement data to the master station for position resolution, a communication link is required between the stations. The short wave communication of the short wave radio station realizes radio signal propagation by utilizing the sky wave and the ground wave, and realizes multi-station communication by adopting a frequency division multiple access mode. Compared with satellite communication, the short-wave communication does not need to apply resources and pay fees when in use, and the communication rate can meet the requirements, so the invention adopts the short-wave communication to carry out data transmission among mobile stations.
The working principle of the motorized ground station is as follows:
the Beidou/GNSS common view receiver receives navigation satellite signals and completes inter-station time synchronization through the cooperation of short-wave radio stations; simultaneously completing the coordinate position measurement of the station; the mobile ground radar station searches the beacon signal by adopting a wide beam, switches to a high-gain narrow beam after searching the signal, receives the signal, and measures the pseudo range of the mobile ground radar station and a signal generating device arranged on the fairing; the mobile ground radar station secondary station transmits the position information and the measured pseudo range to the main station through the short wave radio station, and the main station obtains the position of the signal generating device, namely the position information of rocket fairing debris through calculation after receiving the position information and the pseudo range of the three stations, and simultaneously transmits the position information and the pseudo range to the unmanned aerial vehicle through the directional antenna so as to position and track the debris at the falling end section.
The unmanned aerial vehicle tracking and searching system has the functions of measuring and tracking the position of the rocket fairing debris at the falling end of the rocket fairing debris and returning the real-time image of the whole process.
See fig. 5. The unmanned aerial vehicle comprises a GNSS receiver connected with the signal processing terminal, a cradle head with an optoelectronic pod and a visible light/infrared detector, and the GNSS receiver, the signal processing terminal and a receiving and transmitting antenna. According to task load execution time (day or night), the unmanned aerial vehicle can be provided with visible light or an infrared detector, the number of pixels of the visible light detector can be selected to be 1920 multiplied by 1080, the optical zoom is 30 times, and the resolution of the infrared detector can be selected: 640×512, 45mm, etc. The configuration parameters of the detector can ensure that the task is smoothly executed.
The unmanned aerial vehicle receives and executes pitch angle and azimuth angle instructions sent by the signal processing terminal through the cradle head, the rocket radome remains in the falling process are aligned in real time through the visible light/infrared detector, the GNSS receiver sends received navigation position information of the unmanned aerial vehicle to the signal processing terminal, the signal processing terminal calculates the azimuth angle and the pitch angle sent by the cradle head in real time according to the rocket radome position information sent by the maneuvering ground station and the position information of the unmanned aerial vehicle, the real-time image information is sent to the main station through the visible light/infrared detector, the main station can identify and track based on moving targets according to the real-time image information, the radome remains are locked, and then terrain matching positioning calculation is carried out according to an electronic map stored in advance, so that the final falling position of the radome remains is determined.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A rocket radome debris positioning and tracking system, comprising: at least 4 mobile ground radar stations deployed on the ground, wherein 1 ground radar master station, at least 3 secondary stations, an unmanned aerial vehicle in communication with the mobile ground radar stations, ranging signal transmitting means installed in the rocket fairing, characterized in that: the unmanned aerial vehicle obtains the position information of the unmanned aerial vehicle through a GNSS receiver, each mobile ground radar station measures the position information of the unmanned aerial vehicle through a Beidou/GNSS common-view receiver, the time synchronization between stations is realized, the ranging signals sent by a signal transmitting device are received, the received ranging signals are calculated, and the distance between rocket fairing remains and the ground station is obtained; each secondary station reports the position information of the secondary station and the measured pseudo-range information of the secondary station and the radome debris to a ground radar main station through a short-wave radio station, the main station adopts a positioning algorithm to calculate, and according to the position of each station and the measured pseudo-range, the position coordinate of a signal transmitting device is calculated and sent to an unmanned plane; the unmanned aerial vehicle calculates the received position information of the rocket fairing debris and the position information of the unmanned aerial vehicle, calculates the azimuth angle and the pitch angle of the detector to the rocket fairing debris, and transmits the azimuth angle and the pitch angle to the cradle head for angle control, so that the detector can track the rocket fairing debris in real time; the unmanned aerial vehicle intervenes at the end section of the falling of the remains of the radome to carry out target locking and tracking, image data are transmitted back to the ground radar main station in real time, and the main station determines the final falling point of the remains of the radome based on image information target identification and terrain matching algorithm calculation.
2. The rocket radome debris positioning and tracking system of claim 1, wherein: the mobile ground radar station receives the signal of the ranging signal transmitting device, and based on the clock difference delta t between the ranging signal transmitting device and the ground station, the position coordinates (x, y, z) of the radome remains and the position coordinates x of each ground station i=1 to n i ，y i ，z i Measured pseudo range ρ i ，Multiplying the calculated receiving time T by the light speed C to obtain pseudo-ranges of each mobile ground station and the radome remains;
according toFour unknowns (x, y, z, Δt) are present in the equation, and the position coordinates of rocket radome debris are obtained using the measurement data of the four ground stations.
3. The rocket radome debris positioning and tracking system of claim 1, wherein: the fairing is in the end section of falling, unmanned aerial vehicle intervenes, carries out target locking and tracking on the end section that the fairing remains to drop to return image data to the motor-driven ground radar station main website, the main website carries out the resolving to image information based on target identification and topography matching positioning algorithm, and the falling point position of rocket fairing remains is resolved.
4. The rocket radome debris positioning and tracking system of claim 1, wherein: the method comprises the steps of manufacturing a digital map from the topographic data of topographic position and altitude data obtained through geodetic measurement, aerial photography and satellite photography, dividing the actual topographic map into a plurality of small squares according to the digital map, dividing the small squares into grids with equal intervals comprising x and y coordinates according to the longitude and latitude directions, wherein the positions of the grids comprise the x and y coordinates, the numbers in the grids represent the average value of the ground height in the grids, forming a network representing three-dimensional coordinates of x, y and z, and storing the digital map formed by various numbers and x and y coordinates corresponding to each number in a computer of the aircraft.
5. The rocket radome debris positioning and tracking system of claim 1, wherein: and extracting a group of data from the digital map to perform terrain matching to form a terrain profile for the terrain matching, matching the position of rocket fairing debris at the moment that the rocket fairing debris falls to the ground and is at rest with the digital map stored in the computer by utilizing a terrain matching positioning algorithm, extracting corresponding grid parameters, and obtaining the three-dimensional coordinates of the rocket fairing debris.
6. The rocket radome debris positioning and tracking system of claim 1, wherein: the signal transmitting apparatus includes: the beacon machine with power supply, two pairs of 180-degree beacon machine omnidirectional transmitting antennas connected through high-frequency cables, the beacon machine omnidirectional transmitting antennas adopt two antennas with different polarization modes to send ranging signals outwards, and if the two antennas are respectively left-hand circular polarization and right-hand circular polarization antennas, two corresponding receiving antennas of each mobile ground radar station are needed: a left-hand circularly polarized and right-hand circularly polarized antenna.
7. The rocket radome debris positioning and tracking system of claim 1, wherein: when the rocket is launched, the power supply switch of the beacon senses the acceleration of the rocket body, the lithium battery switch is started, the beacon starts to work, the beacon transmits signals through software radio, continuous wave spread spectrum modulation signals are generated based on the FPGA, and after up-conversion of the frequency converter, the transmitting antenna selects a continuous wave system to transmit signals to the ground station.
8. The rocket radome debris positioning and tracking system of claim 1, wherein: a motorized ground radar station comprising: the Beidou/GNSS co-vision receiver is connected with the short-wave radio station and the antenna, the Beidou/GNSS co-vision receiver is connected with the distance measurement signal processing device of the generator and the phased array antenna, the Beidou/GNSS co-vision receiver is matched with the short-wave radio station and the short-wave antenna thereof through the self-positioning function, the time synchronization and self-positioning of all the mobile ground stations are realized by using a co-vision method, the navigation satellite establishes co-vision data communication and a weighted mutual difference algorithm for fitting values of the co-vision navigation satellite by using the co-vision method, the long distance of base lines between stations is weakened, the short-wave radio station is cooperated with the tracking of all the mobile ground radar stations to receive the distance measurement signals transmitted by the signal transmitting device on the fairing, the short-wave radio station transmits the short-wave signals through the short-wave antenna, the distance measurement signal processing device uniformly reports the distance parameters to the mobile ground radar station master station, and the master station calculates real-time coordinate information of the distance measurement signals according to the positions of all the mobile ground radar stations and the distances from the fairing to all the ground stations, and meanwhile, and the coordinate information is transmitted to the unmanned aerial vehicle.
9. The rocket radome debris positioning and tracking system of claim 1, wherein: the ranging signal processing device includes: the system comprises a power supply conversion module, a baseband signal processing module, a down-conversion module, a baseband signal processing module and an up-conversion module, wherein the baseband signal processing module is connected between a phased array antenna and a transmitting antenna, the power supply conversion module converts voltage provided by a generator into reference working voltage required by each module of a ranging signal processing device, the phased array antenna receives ranging signals sent by the transmitting device built in the rocket fairing debris, the ranging signals are subjected to down-conversion by the down-conversion module to be converted into intermediate frequency signals, the intermediate frequency signals are converted into digital signals by an A/D converter of the baseband signal processing module, and the digital signals are subjected to synchronization, despreading and demodulation by a series of software radio algorithms to realize the calculation of pseudo-ranges, if the pseudo-range signals are secondary stations, the pseudo-range information and the position information of the secondary stations are sent to a short-wave radio station, and then the secondary stations are sent to a master station, if the secondary stations are the primary stations perform joint calculation through all pseudo-range information transmitted by the short-wave radio station and position information of all ground stations, the position information of rocket fairing debris is calculated, the position information of the rocket fairing debris is subjected to coding and modulation to intermediate frequency signal conversion by D/A, the up-conversion module is converted into S-band signals, and the passive antenna is sent to the unmanned aerial vehicle so as to conveniently search the rocket to fall down the position of the fairing debris.
10. The rocket radome debris positioning and tracking system of claim 1, wherein: the unmanned aerial vehicle receives and executes pitch angle and azimuth angle instructions sent by the signal processing terminal through the cradle head, the rocket radome remains in the falling state are aligned in real time through the visible light/infrared detector, the GNSS receiver sends received navigation position information of the unmanned aerial vehicle to the signal processing terminal, the signal processing terminal calculates the azimuth angle and the pitch angle sent by the cradle head in real time according to the rocket radome position information sent by the maneuvering ground station and the position information of the unmanned aerial vehicle, the real-time image information is sent to the main station through the visible light/infrared detector, the main station performs recognition and tracking based on moving targets according to the real-time image information, locks the radome remains, performs terrain matching positioning calculation according to an electronic map stored in advance, and determines the final falling position of the radome remains.
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| CN114095070B (en) * | 2021-10-29 | 2023-12-29 | 中国电子科技集团公司第五十四研究所 | Arrow body information feedback device based on Beidou satellite navigation |
| CN114397913B (en) * | 2021-12-15 | 2023-12-12 | 中国人民解放军军事科学院国防科技创新研究院 | Rocket debris searching and positioning system and method |
| CN115361041B (en) * | 2022-10-21 | 2023-01-20 | 北京航空航天大学 | anti-Doppler-effect information transmission method suitable for extremely high-speed aircraft |
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