CN107561930A - Guidance control method is tested in a kind of outer trajectory networking - Google Patents
Guidance control method is tested in a kind of outer trajectory networking Download PDFInfo
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Abstract
Guidance control method is tested in a kind of outer trajectory networking, it is preferred including trajectory will be carried out after the target data Coordinate Conversion measured by radar, optoelectronic device and remote-measuring equipment, and by preferred ballistic data to all test equipment real-time broadcasts, when test equipment BREAK TRACK, it is used to guide this equipment fast Acquisition target after the broadcast data received is made into appropriate trajectory extrapolation, trajectory optimization algorithm uses least square+Lay spy's criterion.The present invention can complement one another on the trajectory phase that guiding and measurement data are covered, test parameter is backuped each other and referred to, the speciality of each measuring system is rationally utilized, each measuring system is completed test assignment in the trajectory phase that can most play a role, significantly improves the data collection rate of single complete equipment.Compared with traditional test, it is significantly improved using the guiding control system networking test equipment tracking rate of the present invention.
Description
Technical field
The invention belongs to trajectory test technical field, and in particular to guidance control method is tested in a kind of outer trajectory networking.
Background technology
Survey is usually tracked using optoelectronic device, radar equipment and remote-measuring equipment simultaneously to same trajectory in outer trajectory test
Examination, these equipment have target traceability in itself, as long as airbound target can automatically track target completion bullet into its visual field
Road is tested.But due to the influence of survey station laying, topography and geomorphology etc., for the rapid flight target such as guided missile, often occur a certain
Platform or multiple devices capture fall short, although or capture, cause due to be blocked or disturbing lose target
Situation, cause critical data to lose, cause test crash.Networking test, which can greatly improve, is successfully tested probability.Networking is surveyed
Examination is the ethernet technology based on ICP/IP protocol, and the test systems such as photoelectricity test equipment, radar system and telemetry system is real
Now interconnect, test information fusion and real-time mutual designation are realized under the United Dispatching of guiding control centre.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of outer trajectory networking test guidance control method, by thunder
Reach, to carry out trajectory after the target data Coordinate Conversion measured by optoelectronic device and remote-measuring equipment preferred, and by preferred ballistic data
To all test equipment real-time broadcasts, when test equipment BREAK TRACK, the broadcast data received is made into appropriate trajectory
Outer to postpone for guiding this equipment fast Acquisition target, trajectory optimization algorithm uses least square+Lay spy's criterion.
To achieve these goals, the technical solution adopted by the present invention is：A kind of outer trajectory networking test guiding controlling party
Method, its step are as follows：
Step 1：Guiding control system collects the data from each survey station；
Step 2：Data are carried out with a series processings such as the processing that crosses, coordinate transform, extraction clock.
Step 3：Trajectory predictive algorithm.
Step 4：According to the preferred guiding source of guiding rule set in advance.
Step 5：Validity check simultaneously guides miscellaneous equipment.
Described step one includes：
Control centre is guided to receive the trajectory measurement number transmitted by three kind equipments such as optoelectronic device, radar equipment and remote measurement
According to, and it is unified to carry out dimension to data.
The step 2 includes：
Origin of coordinates O is selected in advance by test requirements document, and X-axis is coordinate north, and Y-axis is elevation, and Z axis forms right with X-axis, Y-axis
Hand system.(x1,y1,z1,)：O1Stand coordinate of the theodolite in measuring coordinate system O-XYZ.(x2,y2,z2,)：O2Theodolite of standing is measuring
Coordinate system O-XYZ coordinate.(x,y,z,)：Coordinates of the target M in measuring coordinate system O-XYZ.α1, λ1：O1Theodolite of standing measures mesh
Mark M azimuth, the angle of site.α2, λ2：O2Theodolite of standing measures target M azimuth, the angle of site.
It is shown using non-uniplanar intersection algorithm, calculation formula such as formula (1).
Wherein ρ is weight coefficient, ρ ∈ [0,1], is suitably chosen according to each transit survey precision, when two theodolites are surveyed
0.5 is taken when angular accuracy is identical.m1、m2、K、l1、l2For intermediate variable.
Described step three includes：
Make the current trajectory value of least-squares prediction using the data of preceding 5 points.On the other hand, using Lay spy criterion from each survey
The maximum measurement trajectory of residual error is selected in current trajectory numerical value measured by examination equipment.By predicted value with being selected using Lay spy's criterion
The maximum measurement trajectory of residual error be compared, if preferably trajectory has prominent closest to the trajectory of residual error maximum as trajectory
Become, using the preferred trajectory of Lay spy's criterion, be otherwise used as preferred trajectory by the use of least-squares prediction value.
Described step four includes：
Predictive algorithm is using Sliding window least square method is based on, by the ballistic data preferably gone out according to FIFO (first in first out)
Rule progressively slides deposit array A [n-i], i=1,2 ... 5, and currency A [n] is estimated using A [n-i].
It is shown using second order polynomial fit, expression formula such as formula (2).
Ui=b0+b1(ih)+b2(ih)2 (2)
Wherein b0、b1、b2For multinomial coefficient, Recursive Solution step：
b0=N-1∑ui (3)
Wherein, uiThe ballistic data received using h as interval is represented, to predict currency, N=5.
Described step five includes：
Validity check is carried out to preferred trajectory using Lay spy criterion, it is assumed that drawn with group optoelectronic device intersection intersection more
Bar trajectory is x (i), i=1,2 ..., K, and the average that counts is：
Then original trajectory residual absolute value is
It can consider that preferred trajectory is effective when being not maximum residul difference by the preferred trajectory of sliding window least squares estimation method, will
It is preferred that trajectory, which reports, draws control center；If the preferred trajectory of sliding window least squares estimation method and the maximum letter of the residual error that Lay spy criterion calculates
During trace overlap, it is believed that trajectory is undergone mutation, according to the preferably current trajectory of following criterion：
Standard deviation is calculated first
By residual absolute value xδ(i) one by one compared with 3 times of standard deviation with rejecting abnormalities value, if residual error xδ(i)≥
3 σ, then by this abnormality value removing.Because exceptional value can have an impact to data standard deviation in itself, therefore Lay spy's criterion needs to circulate
Carry out, i.e., on the basis of after once rejecting, recalculate average and standard deviation, carry out abnormality value removing again, repeat to reject
After twice, average is taken to report guiding control centre as preferred trajectory.
Beneficial effects of the present invention：
1) it is excellent will to carry out trajectory by the present invention after the target data Coordinate Conversion measured by radar, optoelectronic device and remote-measuring equipment
Choosing, and by preferred ballistic data to all test equipment real-time broadcasts, when test equipment BREAK TRACK, by what is received
Broadcast data is used to guide this equipment fast Acquisition target after making appropriate trajectory extrapolation
2) can be complemented one another on the trajectory phase that guiding and measurement data are covered, test parameter backups each other and joined
Examine, rationally using the speciality of each measuring system, each measuring system is completed test assignment in the trajectory phase that can most play a role, show
Write the data collection rate for improving single complete equipment.
3) compared with traditional test, significantly carried using the guiding control system networking test equipment tracking rate of the present invention
Rise.
Brief description of the drawings
Fig. 1 is guiding control system composition of the present invention and guiding relation figure；
Fig. 2 is guiding control centre software module composition of the present invention；
Fig. 3 is weber Transmission System of Radar Data method schematic diagram of the present invention；
Fig. 4 is trajectory preferred flow charts of the present invention；
Fig. 5 is master control interface figure of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described, but the present invention is not limited to following examples.
Shown in reference picture 1, guidance control method is tested in a kind of outer trajectory networking, during guiding control system is controlled by guiding
The heart, test equipment and basic network are formed.
Basic network is using the wide area network of the ethernet technology of ICP/IP protocol, the bone optical fiber network being made up of 4 sets of SDH
Formed with 3 Wireless Mesh communication trucks.4 sets of transmission equipments of bone optical fiber net respectively positioned at charge center, relaying test point 1,
Relay test point 2 and test point of settling in an area；3 sets of Wireless Mesh communication trucks are deployed in relaying test point 1, relaying test point 2 respectively
And test point of settling in an area, realize the access functions of the business such as data, the video of the maneuver point position of each periphery 15km scopes.Guiding control
Center receives electro-optic theodolite, radar and telemetry, and real-time resolving coordinates of targets, is handled by data fusion etc., preferably
Outer trajectory data, and broadcasted to all test equipments.Test equipment receives preferred ballistic data, if this equipment be in normally with
Track dbjective state, then preferred ballistic data is disregarded, if having lost target, utilize what is received from guiding control centre
It is preferred that ballistic data quickly guides this equipment to track target, so as to complete the mutual designation of test equipment.
Accompanying drawing 2 show guiding control centre software module composition figure.
User management module is responsible for user profile, and differentiated control is carried out to different user.Task scheduling modules according to
Guiding control process flow is scheduled processing to receiving and sending thread, and transmission uses multicast mode, receives using one-to-one
Communication mode.IP multicasts are unrooted multicast, and each member for adding multicast is leaf node, its status all same, both can be with
Stay of two nights recipient can also be used as information source broadcast transmission person.Packet guiding require unidirectional multicast, that is, guide control centre to
Each test equipment multicast, between test equipment can not transceiving data each other, otherwise can bring interference.To solve the problem, use
Receive and dispatch separated time journey to realize, that is, guide control software to be responsible for reception data specially using unicast thread, multicast thread be responsible for specially to
This group of multicast address sends data.Each test equipment unicast sends data to guiding control centre, does not send number to multicast address
According to a receiving multicast data.Task scheduling modules start corresponding ballistic solution module, and follow-up place according to data type is received
Reason module is handled.Device management module is responsible for the registration, renewal and device packets management of test equipment.Data communication mould
Block realizes bottom communication using Windows Sockets mode, to ensure the real-time of guiding control, using UDP communication modes, and will
The initial work of communication interface is placed in the initialization function InitInstanc () of application program and completed, and ensures to transport in program
Draw during row and keep half correlation behavior between control software and equipment.Memory management module is responsible for the storage to test data, with
Standby off line data analysis.Real-time display module is responsible for the real-time display of trajectory.
Accompanying drawing 3 is that weber radar needs to carry out protocol conversion schematic diagram using proxy.Proxy realizes communication protocols
View conversion, that is, receive i.e. hair and do not make other processing, reduce time delay to greatest extent.
Origin of coordinates O is selected in advance by test requirements document, and X-axis is coordinate north, and Y-axis is elevation, and Z axis forms right with X-axis, Y-axis
Hand system.(x1,y1,z1,)：O1Stand coordinate of the theodolite in measuring coordinate system O-XYZ.(x2,y2,z2,)：O2Theodolite of standing is measuring
Coordinate system O-XYZ coordinate.(x,y,z,)：Coordinates of the target M in measuring coordinate system O-XYZ.α1, λ1：O1Theodolite of standing measures mesh
Mark M azimuth, the angle of site.α2, λ2：O2Theodolite of standing measures target M azimuth, the angle of site.
It is shown using non-uniplanar intersection algorithm, calculation formula such as formula (1).
Wherein ρ is weight coefficient, ρ ∈ [0,1], is suitably chosen according to each transit survey precision, when two theodolites are surveyed
0.5 is taken when angular accuracy is identical.m1、m2、K、l1、l2For intermediate variable.
Accompanying drawing 4 is trajectory optimization algorithm process chart.
Make the current trajectory value of least-squares prediction using the data of preceding 5 points.On the other hand, using Lay spy criterion from each survey
The maximum measurement trajectory of residual error is selected in current trajectory numerical value measured by examination equipment.By predicted value with being selected using Lay spy's criterion
The maximum measurement trajectory of residual error be compared, if preferably trajectory has prominent closest to the trajectory of residual error maximum as trajectory
Become, using the preferred trajectory of Lay spy's criterion, be otherwise used as preferred trajectory by the use of least-squares prediction value.
Predictive algorithm is using Sliding window least square method is based on, by the ballistic data preferably gone out according to FIFO (first in first out)
Rule progressively slides deposit array A [n-i], i=1,2 ... 5, and currency A [n] is estimated using A [n-i].
It is shown using second order polynomial fit, expression formula such as formula (2).
Ui=b0+b1(ih)+b2(ih)2 (2)
Wherein b0、b1、b2For multinomial coefficient, Recursive Solution step：
b0=N-1∑ui (3)
Wherein, uiThe ballistic data received using h as interval is represented, to predict currency, N=5.
Described step five includes：
Validity check is carried out to preferred trajectory using Lay spy criterion, it is assumed that drawn with group optoelectronic device intersection intersection more
Bar trajectory is x (i), i=1,2 ..., K, and the average that counts is：
Then original trajectory residual absolute value is
It can consider that preferred trajectory is effective when being not maximum residul difference by the preferred trajectory of sliding window least squares estimation method, will
It is preferred that trajectory, which reports, draws control center；If the preferred trajectory of sliding window least squares estimation method and the maximum letter of the residual error that Lay spy criterion calculates
During trace overlap, it is believed that trajectory is undergone mutation, according to the preferably current trajectory of following criterion：
Standard deviation is calculated first
By residual absolute value xδ(i) one by one compared with 3 times of standard deviation with rejecting abnormalities value, if residual error xδ(i)≥
3 σ, then by this abnormality value removing.Because exceptional value can have an impact to data standard deviation in itself, therefore Lay spy's criterion needs to circulate
Carry out, i.e., on the basis of after once rejecting, recalculate average and standard deviation, carry out abnormality value removing again, repeat to reject
After twice, average is taken to report guiding control centre as preferred trajectory.
Claims (8)
1. guidance control method is tested in a kind of outer trajectory networking, it is characterised in that specific steps include：
Step 1：Guiding control system collects the data from each survey station；
Step 2：One series processing is carried out to data；
Step 3：Current trajectory is estimated using trajectory predictive algorithm；
Step 4：According to the preferred guiding source of guiding rule set in advance；
Step 5：Validity check, tested according to validity check rule, ballistic data is reported after rejecting abnormalities value and drawn
Control system is led, guides miscellaneous equipment.
A kind of 2. outer trajectory networking test guidance control method according to claim 1, it is characterised in that the step 1
Including：Control centre is guided to receive the trajectory measurement data transmitted by three kind equipments such as optoelectronic device, radar equipment and remote measurement, and
It is unified that dimension is carried out to data.
A kind of 3. outer trajectory networking test guidance control method according to claim 1, it is characterised in that the step 2
Including：
Origin of coordinates O is selected in advance by test requirements document, X-axis is coordinate north, and Y-axis is elevation, and Z axis forms right-handed system with X-axis, Y-axis,
It is shown using non-uniplanar intersection algorithm, calculation formula such as formula (1).
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Wherein, (x1,y1,z1) it is O1Stand coordinate of the theodolite in measuring coordinate system O-XYZ；(x2,y2,z2) it is O2Stand theodolite
In measuring coordinate system O-XYZ coordinate；(x, y, z) is coordinates of the target M in measuring coordinate system O-XYZ；α1For O1Stand theodolite
Measure target M azimuth, λ1For O1Theodolite of standing measures the target M angle of site；α2For O2Theodolite of standing measures target M side
Parallactic angle, λ2For O2Theodolite of standing measures the target M angle of site；ρ is weight coefficient, ρ ∈ [0,1], according to each transit survey precision
It is appropriate to choose, take 0.5 when two theodolite angle measurement accuracys are identical；m1、m2、K、l1、l2For intermediate variable.
A kind of 4. outer trajectory networking test guidance control method according to claim 1, it is characterised in that the step 3
Including：
Make the current trajectory value of least-squares prediction using the data of preceding 5 points；
The measurement trajectory maximum using residual error is selected in the current trajectory numerical value measured by Lay spy criterion from each test equipment；
The predicted value of the current trajectory value measurement trajectory maximum with the residual error selected using Lay spy's criterion is compared；It is if excellent
Trajectory is selected closest to the maximum trajectory of residual error, then current trajectory has mutation, utilizes the preferred trajectory of Lay spy's criterion；Otherwise, using most
A young waiter in a wineshop or an inn multiplies predicted value as preferred trajectory.
A kind of 5. outer trajectory networking test guidance control method according to claim 1, it is characterised in that the step 4
Including：Predictive algorithm is advised using Sliding window least square method is based on, by the ballistic data preferably gone out according to FIFO (first in first out)
Then progressively slide deposit array A [n-i], i=1,2 ... 5；Utilize A [n-i] estimation currency A [n].
6. a kind of outer trajectory networking test guidance control method according to claim 5, it is characterised in that the estimation is worked as
The algorithm of preceding value A [n] includes：
It is shown using second order polynomial fit, expression formula such as formula (2)：
Ui=b0+b1(ih)+b2(ih)2 (2)
Wherein, b0、b1、b2It is shown using Recursive Solution, step such as formula (3)~(5) for multinomial coefficient：
b0=N-1∑ui (3)
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>b</mi>
<mn>0</mn>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
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<mi>b</mi>
<mn>1</mn>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>N</mi>
</mtd>
<mtd>
<mrow>
<mi>h</mi>
<mo>&Sigma;</mo>
<mi>i</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>&Sigma;</mo>
<mi>i</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>h</mi>
<mo>&Sigma;</mo>
<mi>i</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mo>&Sigma;</mo>
<msub>
<mi>u</mi>
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</msub>
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<mo>&Sigma;</mo>
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<mi>iu</mi>
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</msub>
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</mtr>
</mtable>
</mfenced>
<mo>-</mo>
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</mrow>
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<mo>=</mo>
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<mtable>
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</mfenced>
<mrow>
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</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, uiThe ballistic data received using h as interval is represented, to predict currency；Take N=5.
A kind of 7. outer trajectory networking test guidance control method according to claim 1, it is characterised in that the step 5
Including：
Validity check is carried out to preferred trajectory using Lay spy criterion, if intersecting a plurality of trajectory for intersecting and drawing with group optoelectronic device
For x (i), i=1,2 ..., K, K are positive integer；Then shown in the average such as formula (6) that counts of a plurality of trajectory：
<mrow>
<mover>
<mi>x</mi>
<mo>&OverBar;</mo>
</mover>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>K</mi>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
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<mn>1</mn>
</mrow>
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</munderover>
<mi>x</mi>
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<mi>i</mi>
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</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
Original trajectory residual absolute value xδ(i) as shown in formula (7)：
<mrow>
<msub>
<mi>x</mi>
<mi>&delta;</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>)</mo>
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<mo>=</mo>
<mo>|</mo>
<mi>x</mi>
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<mi>i</mi>
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</mrow>
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<mover>
<mi>x</mi>
<mo>&OverBar;</mo>
</mover>
<mo>|</mo>
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<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
It can consider that preferred trajectory is effective when being not maximum residul difference by the preferred trajectory of sliding window least squares estimation method, will be preferred
Trajectory, which reports, draws control center；If the residual error maximum channel weight that the preferred trajectory of sliding window least squares estimation method calculates with Lay spy criterion
When folded, it is believed that trajectory is undergone mutation, again preferred current trajectory.
8. a kind of outer trajectory networking test guidance control method according to claim 7, it is characterised in that meet trajectory and dash forward
Change condition, again during preferred current trajectory, according to the preferably current trajectory of following criterion：
Standard deviation is calculated first, shown in calculation formula such as formula (8)：
<mrow>
<mi>&sigma;</mi>
<mo>=</mo>
<msqrt>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>K</mi>
</munderover>
<mfrac>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>(</mo>
<mi>i</mi>
<mo>)</mo>
<mo>-</mo>
<mover>
<mi>x</mi>
<mo>&OverBar;</mo>
</mover>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mrow>
<mi>K</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</mfrac>
</mrow>
</msqrt>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
Then, by residual absolute value xδ(i) one by one compared with 3 times of standard deviation with rejecting abnormalities value, if residual error xδ(i)
>=3 σ, then by this abnormality value removing；On the basis of after once rejecting, average and standard deviation are recalculated, is carried out again abnormal
Value is rejected, and is repeated after rejecting twice, takes average to report guiding control centre as presently preferred trajectory.
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