CN113341385A - Markov chain error transfer model of airborne platform collaborative integrated sensor system - Google Patents
Markov chain error transfer model of airborne platform collaborative integrated sensor system Download PDFInfo
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Abstract
The invention provides a Markov chain error transfer model of an airborne platform cooperative integrated sensor system, and relates to the field of performance evaluation of airborne platform cooperative detection sensors. The invention is realized by the following technical scheme: the airborne integrated sensor detection nodes transmit detection information, and each node transmits target state information of a sampling moment to a node of the next activated cluster; giving an error model of a Markov chain by the comprehensive sensor detection system; according to the four types of errors of CF parameters, detection errors, navigation errors and alignment errors between a transmitter inertia coordinate system and an aircraft inertia coordinate system at the transmitting moment, which are input by a detection airborne platform, establishing a Markov error chain transfer model from a starting point of a radar spherical coordinate system of a target relative to the detection airborne platform to an end point of a sight line coordinate system of the target relative to the aircraft platform, and solving an error transfer model in a Markov chain error chain node; and calculating a data transmission path to obtain target indication errors caused by four types of error sources.
Description
Technical Field
The invention relates to the field of efficiency evaluation of aircraft detection sensors, in particular to an airborne platform collaborative comprehensive sensor system Markov chain error transfer model for evaluating indication errors by the detection capability of a collaborative comprehensive sensor system.
Background
With the rapid development of scientific technologies, particularly sensor networks and avionics systems, more and more sensors are incorporated into an airborne sensor network, how to allocate limited airborne sensor network resources to a plurality of different targets to complete cooperative tracking under the principle of using few active radars is the direction of development of detection sensors by utilizing a data fusion technology to realize comprehensive detection. A sensor is a measuring device that converts a measured quantity into some physical quantity that corresponds thereto with a certain degree of accuracy and is convenient for use. And (3) analyzing the influence of each parameter on the measurement result in the coordinate conversion of the target acquisition process of the detection sensor, and firstly knowing the error transfer relationship. The reason for influencing the output accuracy of the detecting sensor includes two factors, namely, an error caused by an error between a calculated coordinate system and an actual coordinate system due to a positioning and attitude measurement error of the navigation sensor, and an error caused by a measurement error of a measured parameter such as a position and a speed of a target, on the output result. Classification by nature of error systematic errors, which are known as systematic errors, measure the same physical quantity multiple times under the same measurement conditions, with the magnitude and sign of the error being constant or varying according to a certain rule. The systematic error characterizes the accuracy of the measurement. Due to time inconsistency and sensor system errors, the accuracy of target detection information is directly influenced. Random errors are measured for the same physical quantity for multiple times under the same measurement condition, the errors have no fixed size and sign and are irregular randomness, and the errors are called random errors. The magnitude of the random error is usually characterized by precision. The combination of accuracy and precision is called precision, precision for short. Static errors are classified as a function of time, and errors measured when they do not change with time are called static errors. Dynamic error the error measured over time is called dynamic error. Dynamic errors are caused by the detection system responding late to the input signal or by different attenuation and delay for different frequency components in the input signal. The dynamic error value is equal to the difference between the errors obtained from the dynamic measurement and the static measurement. A magnitude error is defined as the difference between a given value (e.g., measured value, experimental value) of the magnitude and its objective value. Random errors are subject to statistical rules. The most important statistical rule is the gaussian normal distribution. The random error following the normal distribution has a compensation property, that is, as the number of times n of measurement increases, the random error has an equal absolute value and an opposite sign, and the occurrence times of the random error tend to be equal, so that the sum of the measurement errors δ 1, δ 2. In the sensor detection, the actual movement of a target and the nonlinear non-gaussian and uncertain characteristics of the detection data of the sensor influence the detection precision of the sensor, wherein the factors mainly include the measurement error of the sensor, the positioning error of a detection airborne platform, the attitude error of the detection airborne platform, the time error and the like, and the errors can influence the target tracking independently or in a mutual coupling mode. How to combine and decompose the influence of these errors during modeling is the key to solve the problem of spatial registration of the moving platform sensor. There are many calculation methods for error propagation, such as a total difference method, an absolute value method, a mean square error method, and a monte carlo method. At present, detailed research is lacked for analyzing the influence of the detection capability of a comprehensive sensor system on the indication error of an aircraft in the cooperative process of a detection airborne platform, a Markov error transfer model is not established according to each link node through which a detection target passes, an error estimation formula is provided, or the error transfer model is not established completely, so that the indication error of the aircraft under the influence of the detection error of the comprehensive sensor cannot be accurately and quantitatively evaluated. In some practical application backgrounds, a target is equivalent to a mobile node, positioning and tracking loops and other loops are carried out on the target according to detection signals of a sensor, and uncertain factors exist in each loop in a tracking process. Generally speaking, the Markov process is continuous over time, when the process parameters take discrete time values, it is called a Markov sequence. Markov sequences are another important class of time sequences whose basic concept, basic definition, basic rules and basic methodology of research are completely different from those previously discussed. Its time-series nature is usually de-emphasized, but its so-called markov nature is of interest, so it is customary to no longer refer to it as a time-series but rather a markov series. The markov process is an important stochastic process that assumes that the system can be divided into several categories or states, with the study subject moving randomly between the different states. If the change of the study object is discrete with time, it is called Markov chain.
Disclosure of Invention
The invention aims to provide a method for establishing an accuracy expression of an indication error of a flying object by utilizing a Markov chain error transfer model of an airborne platform cooperative integrated sensor system, aiming at detecting the influence of the detection capability of the integrated sensor system on the indication error of an aircraft in the cooperative process of the airborne platform and the defects of the prior art.
The invention is realized by the following technical scheme that the Markov chain error transfer model of the airborne platform collaborative integrated sensor system comprises: the target is for surveying radar ball coordinate system node, CF radar rectangular coordinate system node, surveying airborne platform CF rectangular coordinate system node, CF geography rectangular coordinate system node, target are for earth's heart earth's fixed coordinate system node, AF guidance inertial coordinate system node, mP target rectangular coordinate system node and mP target sight line coordinate system node of airborne platform CF, its characterized in that: the airborne integrated sensor detection nodes transmit detection information and detect airborne platform parameter information through the transmitting platform nodes, each node transmits target state information of the last sampling moment to the node of the next activated cluster, and the nodes in the cooperative platform cluster are activated and informed to join in a tracking process; the comprehensive sensor detection system respectively considers the angle of a detection airborne platform, the angle of a launching platform and the angle of an aircraft platform and provides an error source factor of an aircraft target indication error and an error model of a Markov chain of the error source factor; the comprehensive sensor detection system establishes a Markov error chain transfer model from a target to a radar spherical coordinate system starting point of a detection airborne platform CF, a CF radar rectangular coordinate system node 1, a detection airborne platform CF rectangular coordinate system node 2, a CF geographic rectangular coordinate system node 3, a target to geocentric geostationary coordinate system node 4 to a target to aircraft platform mP sight line coordinate system end point according to four types of errors of a CF parameter, a CF detection error, a CF navigation error and an alignment error between a transmission airborne platform inertial coordinate system and an aircraft inertial coordinate system at the transmission moment, which are input by a detection airborne platform CF, and solves an error transfer model in the Markov chain error chain node; and the aircraft platform mP calculates a data transmission path formed by an AF guidance inertia coordinate system, an mP target rectangular coordinate system and an mP target sight coordinate system according to the input mP attitude parameters and the target earth-centered earth-fixed coordinate system, wherein the AF guidance inertia coordinate system, the mP target rectangular coordinate system and the mP target sight coordinate system are obtained by the target earth-centered earth-fixed coordinate system, the square and the heel errors are used as indexes for measuring the performance of a target tracking process, and target indication errors of target azimuth angle errors and pitch angle errors caused by four types of error sources are deduced.
Compared with the prior art, the invention has the following characteristics and beneficial effects:
aiming at the nonlinear non-Gaussian and uncertain characteristics of detection data of a comprehensive cooperative sensor, the invention combines detection errors of the comprehensive sensor, detection airborne platform navigation errors, emission platform navigation errors and alignment errors between an emission airborne machine inertial coordinate system and a guided missile inertial coordinate system at the emission moment, then establishes a Markov (Markov chain) error chain transfer model from the starting point of a radar spherical coordinate system of a target relative to the detection airborne platform (CF) to the end point of the target relative to an aircraft platform mP sight line coordinate system, and deduces the part of target indication errors caused by the error source of the comprehensive sensor in an error chain by solving the error transfer model in the error chain node. The method aims to provide decision basis for the development of the comprehensive sensor system. The method can flexibly adapt to a nonlinear dynamic model and a multi-modal observation model for tracking the target, and particularly shows good anti-noise capability when the noise changes greatly or is unpredictable.
The method is based on a Markov random field, detection information and parameter information of a detected airborne platform are transmitted by a detection node of an airborne comprehensive sensor through a node of a transmitting platform, and a detection system of the comprehensive sensor is considered from the angle of the detected airborne platform, the angle of the transmitting platform and the angle of an aircraft respectively to give an error source factor of an aircraft target indication error and consider a position coordinate error stream of the target on a cooperative platform family as an error model of a Markov process; a Markov error transfer model is established by analyzing the data flow of a detection target and the error source transfer in the multi-platform cooperative detection process. The accuracy of the overall prediction EKF of target tracking is obviously improved, and strong vitality is shown.
The method comprises the steps that a radar spherical coordinate system, a CF radar rectangular coordinate system, a CF rectangular coordinate system, a data transmission path, a selection and following error are used as indexes for measuring the performance of a target tracking process, a target azimuth angle error and a target indication error of a pitch angle error caused by four types of error sources are deduced, and an indication error sequence is analyzed, so that the precision error range of an aircraft system can be obtained. The method effectively solves the problems of measuring the accuracy of the multi-factor influence and the environment situation of the data chain message.
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The invention is further illustrated with reference to the following figures and examples.
Figure 1 is a node diagram of the markov chain error propagation model of the collaborative integrated sensor system of the present invention.
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present invention.
Detailed Description
See fig. 1. In a preferred embodiment described below, an airborne platform collaborative integrated sensor system markov chain error transfer model comprises: radar spherical coordinate system node, CF radar rectangular coordinate system node, detection airborne platform CF rectangular coordinate system node, CF geography rectangular coordinate system node and target phase of target relative to detection airborne platform CFFor the earth center earth fixed coordinate system node, the AF guidance inertia coordinate system node, the mP target rectangular coordinate system node and the mP target sight line coordinate system node. The detection nodes of the airborne integrated sensor system transmit detection information and detect airborne platform parameter information through the nodes of the aircraft launching platform, each node transmits target state information of the last sampling moment to the node of the next activated cluster, and the nodes in the cooperative platform cluster are activated and informed to join in a tracking process; the comprehensive detection sensor system respectively detects the angle of an airborne platform, the angle of an aircraft launching platform and the angle of a flying target, provides error source factors of target indication errors and takes a position coordinate error stream of the target on a cooperative platform family as an error model of a Markov process; the comprehensive sensor detection system establishes a Markov error chain transfer model from a target to a radar spherical coordinate system starting point of a detection airborne platform CF, a CF radar rectangular coordinate system node 1, a detection airborne platform CF rectangular coordinate system node 2, a CF geographic rectangular coordinate system node 3, a target to geocentric geostationary coordinate system node 4 to a target to an aircraft platform mP sight line coordinate system end point according to four types of errors of a CF parameter, a CF detection error, a CF navigation error and an alignment error between a transmission airborne platform inertial coordinate system and an aircraft inertial coordinate system at a transmission moment, which are input by a detection airborne platform CF, and solves an error transfer model in the Markov chain error chain node; ranging error delta for measuring precision in polar coordinate system of detection airborne platform CF platform airborne machineTRAnd measuring the azimuth error deltaTaError delta of pitch angle measurementTbTo describe; the detection of the CF attitude measurement error of the airborne platform is related to the measurement error of the attitude sensor, and the detection of the CF attitude angle error of the airborne platform can be adopted as the detection of the yaw angle error delta beta of the airborne platformcmAngle of pitch delta epsiloncmDetecting the roll angle error beta gamma of the airborne platformcm(ii) is described; the space error of the detection airborne platform CF carrier is generated by an airborne detection airborne platform CF navigation system, and the space positioning error of the detection airborne platform CF can adopt longitude error delta LcmError of dimension δ BcmHeight error δ HcmTo measure; m of aircraft platform mP press inputAnd the target azimuth angle error and the target indication error of the pitch angle error caused by four types of error sources are deduced by taking the square and the heel error as indexes for measuring the performance of the target tracking process, wherein the P attitude parameter and the data transmission path formed by the AF guidance inertia coordinate system, the mP target rectangular coordinate system and the mP target sight line coordinate system are obtained by calculating the target relative to the geocentric geostationary coordinate system. The onboard integrated sensor system is based on known m different quantities of sensor measurements x, y, …, mu and their corresponding standard deviations sigmax,σy,…,σμSolving non-linear functions in a series of coordinate transformation processes
Standard deviation of (2)
This is the error propagation problem and multivariate, linear and nonlinear error propagation models can be established.
The airborne comprehensive detection sensor system establishes a transfer model of an error chain with four types of errors according to a Markov chain model, the precision of each link is only influenced by the previous link, namely the precision of the data of the next node is only influenced by the previous link, the Markov chain model records that the precision of the previous node is P according to the precision of the data of the previous node and the influence of two variables of a time difference tau transferred from the previous node to the next nodeLast node，PCurrent node＝f(PLast nodeτ), f represents the transfer function from the last node to the current node.
The collaborative comprehensive detection sensor system carries out modeling and chain derivation through a precision function on each link on a chain, and finally the influence of all links on the whole data transmission path on the precision of a final data target relative to an aircraft sight coordinate system can be analyzed.
The chain derivation steps are as follows:
(a1) converting the spherical coordinate system of the CF radar carrier of the probe airborne platform into the rectangular coordinate system of the CF radar carrier of the probe airborne platformProjection (x) of point coordinates on rectangular coordinate system of detection airborne platform CFc2、yc2、zc2) Is composed of
And performing full differentiation on the formula to obtain a column vector [ delta x ] of a root mean square error of the target relative to the rectangular coordinate system of the probe airborne platform, which is equal to the root mean square error of the target relative to the rectangular coordinate system of the probe airborne platformc21 δyc21 δzc21]T＝[δxc2 δyc2δzc2]T、
Column vector [ delta x [ ]c21 δyc21 δzc21]TThe root mean square error of the target relative to the rectangular coordinate system of the probe airborne platform is obtained.
Column vector [ delta x ] of target relative to airborne rectangular coordinate system error of detecting airborne platformc2 δyc2 δzc2]T＝M[δTR δTb δTa]T
Matrix array
Then squaring each element in the matrix M to obtain a matrix (M) · 2, wherein R iscmThe distance of the CF target from the probe airborne platform; thetacmIs the azimuth angle of the CF airborne radar;
is the altitude of the CF airborne radar;
according to an error transfer theory, target position errors, distance errors, pitch angle errors and azimuth angle errors, variance obtained by calculation in a rectangular coordinate system of a CF radar of a detection airborne platform is as follows:
in the upper typeLeft column vector
The arithmetic square root of each element of (1) is obtained to obtain the root mean square error of [ delta x [)c2 δyc2 δzc2]T。
(a2) Error analysis for converting airborne radar rectangular coordinate system of detecting airborne platform into rectangular coordinate system of detecting airborne platform
The conversion matrix from the rectangular coordinate system of the airborne radar to the rectangular coordinate system of the detection airborne platform is only related to the normal direction of the antenna and the normal pitching direction of the antenna and is not related to the detection system of the comprehensive sensor, and if the installation error is ignored, the error of the airborne rectangular coordinate system of the target relative to the detection airborne platform is equal to the root mean square error column vector [ delta x ] of the rectangular coordinate system of the target relative to the detection airborne platformc21 δyc21 δzc21]T＝[δxc2 δyc2 δzc2]T
Column vector [ delta x [ ]c21 δyc21 δzc21]TThe root mean square error of the target relative to the rectangular coordinate system of the probe airborne platform is obtained.
[δxc21 δyc21 δzc21]TThe root mean square error of the target relative to the rectangular coordinate system of the probe airborne platform is obtained.
(a3) Error analysis for converting airborne rectangular coordinate system of probe airborne platform into geographic coordinate system of probe airborne platform
The conversion matrix of the target from the airborne rectangular coordinate system of the probe airborne platform CF to the geographic coordinate system of the probe airborne platform CF is
(βcm,εcm,γcm) Respectively representing the probe vehiclesPlatform yaw angle, pitch angle, and roll angle.
(a3-1) assuming that the attitude error of the detection airborne platform CF is not considered, the matrix is matched according to the error transfer theory
Matrix obtained by squaring each element in the matrix
The variance of the target in the airborne rectangular coordinate system error of the detection airborne platform CF transferred to the geographic coordinate system of the detection airborne platform CF is as follows:
(a3-2) only considering the navigation attitude error of the detection airborne platform CF, and finally superimposing the position error of the target relative to the geographic coordinate system of the detection airborne platform CF through converting the airborne rectangular coordinate system of the detection airborne platform CF to the geographic coordinate system of the detection airborne platform CF according to the error transfer theory.
Will be provided with
Making full differentiation to obtain delta xc32、δyc32、δzc32，
In the above equation, (Matrix). ^2 denotes squaring each element in the Matrix in parentheses, the same meaning as in the following description, and will not be explained.
Combining (a3-1) and (a3-2) to obtain
(a4) Error analysis for converting geographic coordinate system of probe airborne platform into geocentric coordinate system
According to longitude and latitude (L) of the detection airborne platformcm,Bcm) The conversion matrix from the geographic coordinate system of the probe airborne platform to the geocentric-terrestrial coordinate system is
(a4-1) assuming that the error of the position of the probe airborne platform is not considered, according to the error transfer theory, the variance of the error of the target in the geographic coordinate system of the probe airborne platform CF transferred to the geocentric coordinate system is as follows
(a4-2) only considering the navigation positioning error of the detection airborne platform CF, and finally superimposing the navigation positioning error on the position error of the target relative to the geographic coordinate system of the detection airborne platform CF through converting the geographic coordinate system of the detection airborne platform CF into the geocentric coordinate system.
Will be provided with
Making full differentiation to obtain delta xe2、δye2、δze2，
Combining (a4-1) and (a4-2) to obtain
(a5) Error analysis for converting geocentric coordinate system into guidance inertial coordinate system
According to the longitude and latitude (L) respectively representing the AF launching guidance platformA,BA) The transformation matrix is transformed from the geocentric geostationary coordinate system to the guidance inertial coordinate system
(a5-1) not considering the positioning error of the AF launching guidance platform, according to the error transfer theory, the variance of the error of the target in the geocentric earth fixed coordinate system transferred to the geographic coordinate system of the AF launching guidance platform is as follows:
(a5-2) only considering the navigation positioning error of the AF launching guidance platform, and finally superposing the navigation positioning error on the position error of the target relative to the geographic coordinate system of the AF launching guidance platform through the conversion from the geocentric geostationary coordinate system to the geographic coordinate system of the AF launching guidance platform.
Will be provided with
Making full differentiation to obtain delta xPA2、δyPA2、δzPA2，
Combining (a5-1) and (a5-2) to obtain
(a6) According to the error analysis of converting the AF launching guidance inertial coordinate system into the mP missile inertial coordinate system, converting the AF launching guidance inertial coordinate system into the missile inertial coordinate system
Position vector [ x ] of target in mP aircraft inertial coordinate systemmg ymg zmg]TAnd the position vector [ x ] of the target in the AF launching guidance inertial coordinate systemPA yPA zPA]TAdopting a conversion formula for converting a guidance inertial coordinate system into a projectile inertial coordinate system
And converting the guidance inertia coordinate system into a projectile inertia coordinate system. Conversion matrix from AF emission guidance inertial coordinate system to aircraft inertial coordinate system
wherein ,
and transmitting the misalignment angle of the alignment between the guidance inertial coordinate system and the missile inertial coordinate system for AF launching.
(a6-1) assuming that the misalignment angle error of the transfer alignment of the AF launch guidance inertial frame to the projectile inertial frame is 0, the variance of the target transfer of the AF launch guidance inertial frame error to the mP projectile inertial frame is:
(a6-2) the misalignment angle error of transfer alignment, which takes into account only the conversion of the AF launch guidance inertial frame to the projectile inertial frame, is finally superimposed on the position error of the target relative to the mP projectile inertial frame by converting from the AF launch guidance inertial frame to the projectile inertial frame.
To pair
Making full differentiation to obtain deltaxmg2、δymg2、δzmg2。
(a6-3) assuming that the variance of the positioning error of the mP elastomer inertial coordinate system is
Combining (a6-1), (a6-2) and (a6-3) to obtain the error variance of the target relative to the inertial coordinate system of the mP elastomer
Can obtain the product
(a7) according to the error analysis from the missile body inertia coordinate system to the missile body rectangular coordinate system, utilizing the missile platform yaw angle betabAngle of pitch epsilonbAnd roll angle γbConverting the inertia coordinate system of the projectile body into a rectangular coordinate system of the projectile body to obtain a conversion matrix of
(a7-1) assuming that the attitude angle error from the inertia coordinate system of the projectile to the rectangular coordinate system of the projectile is 0, the variance of the error of the target in the inertia coordinate system of the mP projectile transferred to the rectangular coordinate system of the mP projectile is 0
(a7-2) only considering the navigation attitude error of the mP projectile body rectangular coordinate system, and finally superposing the navigation attitude error on the position error of the target relative to the mP projectile body rectangular coordinate system through converting from the mP projectile body inertial coordinate system to the mP projectile body rectangular coordinate system.
To pair
Making full differentiation to obtain deltaxmb2、δymb2、δzmb2。
Combining (a7-1) and (a7-2) to obtain the error variance of the target relative to the rectangular coordinate system of the projectile body
For the above left column vector
The arithmetic square root of each element of (1) is calculated to obtain the root mean square error [ delta x ]mb δymb δzmb]T。
(a8) Error analysis from projectile rectangular coordinate system to sight line coordinate system
A transformation matrix for transforming the rectangular coordinate system of the projectile body into the line-of-sight coordinate system is
Position coordinate [ x ] of target in sight line coordinate systemv yv zv]T(ii) a The position coordinate of the target under the missile body coordinate system is [ x ]mb ymb zmb]T；
Partial differentiation is carried out on the aircraft directional pitch angle gamma 1 and the aircraft directional azimuth angle gamma 2 to obtain
Root mean square error [ delta r ] according to the target relative to the line of sight coordinate system1 δr2]TAircraft pointing azimuth error δ r2And an error delta r of a pointing pitch angle of the aircraft, wherein the variance of transmitting the error of the target in the projectile rectangular coordinate system to the sight line coordinate system is as follows:
for the above left column vector
The arithmetic square root of each element of (1) is calculated to obtain the root mean square error [ delta r ]1δr2]T。
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (11)
1. An airborne platform collaborative integrated sensor system Markov chain error transfer model, comprising: the target is for surveying radar ball coordinate system node, CF radar rectangular coordinate system node, surveying airborne platform CF rectangular coordinate system node, CF geography rectangular coordinate system node, target are for earth's heart earth's fixed coordinate system node, AF guidance inertial coordinate system node, mP target rectangular coordinate system node and mP target sight line coordinate system node of airborne platform CF, its characterized in that: the airborne integrated sensor detection nodes transmit detection information and detect airborne platform parameter information through the transmitting platform nodes, each node transmits target state information of the last sampling moment to the node of the next activated cluster, and the nodes in the cooperative platform cluster are activated and informed to join in a tracking process; the comprehensive sensor detection system respectively considers the angle of a detection airborne platform, the angle of a launching platform and the angle of an aircraft platform and provides an error source factor of an aircraft target indication error and an error model of a Markov chain of the error source factor; the comprehensive sensor detection system establishes a Markov error chain transfer model from a target to a radar spherical coordinate system starting point of a detection airborne platform CF, a CF radar rectangular coordinate system node 1, a detection airborne platform CF rectangular coordinate system node 2, a CF geographical rectangular coordinate system node 3, a target to geocentric geostationary coordinate system node 4 to a target to an aircraft platform mP sight line coordinate system end point according to four types of errors of a CF parameter, a CF detection error, a CF navigation error and an alignment error between a transmission airborne platform inertial coordinate system and an aircraft inertial coordinate system at a transmission moment, which are input by a detection airborne platform CF, and solves an error transfer model in the Markov chain error chain node; and the aircraft platform mP calculates a data transmission path formed by an AF guidance inertia coordinate system, an mP target rectangular coordinate system and an mP target sight line coordinate system according to the input mP attitude parameters and the target earth-centered earth-fixed coordinate system relative to the ground center, and deduces target indication errors of target azimuth angle errors and pitch angle errors caused by four types of error sources by taking the square and heel errors as indexes for measuring the performance of a target tracking process.
2. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 1, wherein: ranging error delta for measuring precision in polar coordinate system of carrier of CF platform of probe carrier-borne platformTRAnd measuring the azimuth error deltaTaError delta of pitch angle measurementTbTo describe; detecting the error of the CF attitude angle of the airborne platform into detecting the error delta beta of the yaw angle of the airborne platformcmAngle of pitch delta epsiloncmDetecting the roll angle error beta gamma of the airborne platformcm(ii) is described; the detection airborne platform CF airborne machine space error is generated by an airborne machine detection airborne platform CF navigation system, and the detection airborne platform CF space positioning error adopts longitude error delta LcmError of dimension δ BcmHeight error δ HcmTo measure.
3. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 1, wherein: and the aircraft platform mP calculates a data transmission path consisting of an AF guidance inertia coordinate system, an mP target rectangular coordinate system and an mP target sight line coordinate system according to the input mP attitude parameters and the target earth-centered earth-fixed coordinate system, wherein the AF guidance inertia coordinate system, the mP target rectangular coordinate system and the mP target sight line coordinate system are obtained, a square selection error and a heel error are used as indexes for measuring the performance of a target tracking process, and target indication errors of target azimuth angle errors and pitch angle errors caused by four types of error sources are deduced.
4. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 2, wherein: the onboard integrated sensor system is based on the known m different quantities of sensor measurements x, y, …, mu and their corresponding standard deviations sigmax,σy,…,σμSolving non-linear functions in a series of coordinate transformation processes
Standard deviation of (2)
Multivariate, linear and nonlinear error transfer models are established.
5. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 3, wherein: the airborne comprehensive detection sensor system establishes a transmission model of an error chain with four types of errors according to a Markov chain model, and the node precision of each link is only influenced by the previous link, namely the precision P of the data of the previous nodeLast nodeAnd the effect of two variables, P, of the time difference τ passing from the previous node to the nextCurrent node＝f(PLast nodeτ), f represents the transfer function from the last node to the current node.
6. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 4, wherein: in the process of converting a spherical coordinate system of a CF radar carrier of a detection airborne platform into a rectangular coordinate system of the CF radar carrier of the detection airborne platform, the coordinates (x) of a target nodec2、yc2、zc2) The projection on the rectangular coordinate system of the CF of the probe airborne platform is
And performing full differentiation on the formula to obtain the airborne rectangular coordinate system error of the target relative to the detecting airborne platform, wherein the rectangular coordinate system root-mean-square error column vector [ delta x ] of the target relative to the detecting airborne platform is equivalent to the rectangular coordinate system root-mean-square error column vector [ delta x ] of the target under the condition that the antenna installation error is ignoredc21 δyc21 δzc21]T＝[δxc2 δyc2 δzc2]T(ii) a Target is relative to airborne rectangular coordinate system root mean square error column vector [ delta x ] of detecting airborne platformc2 δyc2 δzc2]T＝M[δTR δTb δTa]T
Then squaring each element in the matrix M to obtain a matrix (M) · 2, wherein R iscmThe distance of the CF target from the probe airborne platform; thetacmIs the azimuth angle of the CF airborne radar;
is the altitude of the CF airborne radar;
[δTR δTb δTa]the method comprises the steps of representing a distance measurement error, an azimuth angle measurement error and a pitch angle measurement error for measuring accuracy in a CF platform carrier polar coordinate system; t denotes a matrix transposition.
7. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 5, wherein: the conversion matrix of the target from the airborne rectangular coordinate system of the probe airborne platform CF to the geographic coordinate system of the probe airborne platform CF is
According to the error transfer theory, for the matrix
Matrix obtained by squaring each element in the matrix
Error transfer from airborne rectangular coordinate system of target on detecting airborne platform CF to probeThe variance in the CF geographic coordinate system of the airborne platform is measured as follows:
finally, the position error of the target relative to the geographic coordinate system of the detection airborne platform CF is superposed through the conversion from the airborne rectangular coordinate system of the detection airborne platform CF to the geographic coordinate system of the detection airborne platform CF, and then the position error is superposed
Making full differentiation to obtain delta xc32、δyc32、δzc32，
To obtain
in the formula ,(βcm,εcm,γcm) Respectively representing the yaw angle, the pitch angle and the roll angle of the detection airborne platform, wherein (Matrix) ^2 represents the squaring of each element in the Matrix in the brackets.
8. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 6, wherein: according to longitude and latitude (L) of the detection airborne platformcm,Bcm) The conversion matrix from the geographic coordinate system of the detection airborne platform to the geocentric coordinate system is
According to the error transfer theory, the variance of the target in the transfer of the error of the geographic coordinate system of the detection airborne platform CF to the geocentric coordinate system is as follows:
finally, the position error of the target relative to the geographic coordinate system of the detection airborne platform CF is superposed through the conversion from the geographic coordinate system of the detection airborne platform CF to the geocentric coordinate system
Making full differentiation to obtain delta xe2、δye2、δze2，
Can obtain the product
9. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 7, wherein: converting matrix from AF emission guidance inertial coordinate system to missile inertial coordinate system
Position vector [ x ] of target in mP aircraft inertial coordinate systemmg ymg zmg]TAnd the position vector [ x ] of the target in the AF launching guidance inertial coordinate systemPA yPAzPA]TUsing guided inertial frame conversionConversion formula to projectile inertial coordinate system
And converting the guidance inertia coordinate system into a projectile inertia coordinate system.
10. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 8, wherein: conversion matrix from AF emission guidance inertial coordinate system to aircraft inertial coordinate system
wherein ,
if the error of the misalignment angle of the transfer alignment converted from the AF launching guidance inertial coordinate system to the missile inertial coordinate system is 0, the variance of the target transferred from the error of the AF launching guidance inertial coordinate system to the mP missile inertial coordinate system is as follows:
and finally, superimposing the position error of the target relative to the mP projectile body inertia coordinate system through converting from the AF launching guidance inertia coordinate system to the projectile body inertia coordinate system.
11. The airborne platform collaborative integrated sensor system markov chain error transfer model of claim 9, wherein:
a transformation matrix for transforming the rectangular coordinate system of the projectile body into the line-of-sight coordinate system is
Position coordinate [ x ] of target in sight line coordinate systemv yv zv]T(ii) a The position coordinate of the target under the missile body coordinate system is [ x ]mb ymbzmb]T；
Partial differentiation is carried out on gamma 1 and gamma 2 to obtain
The variance of the target in the rectangular coordinate system of the projectile body, which is transferred to the sight line coordinate system, is as follows:
for the above left column vector
The arithmetic square root of each element of (1) is calculated to obtain the root mean square error [ delta r ]1 δr2]T，
[δr1 δr2]TIs the root mean square error, δ r, of the target relative to the line of sight coordinate system2And also the error of the azimuth angle pointed by the seeker, and delta r is the error of the pitch angle pointed by the seeker.
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