阅读说明：本技术 一种避免弹道冲突的发射时间自动规划方法 (Launching time automatic planning method for avoiding trajectory conflict ) 是由 蒋超 童辰 金明 王江伟 孙裔申 李长军 袁乐平 蒋俊铭 于 2021-07-28 设计创作，主要内容包括：本发明公开了一种避免弹道冲突的发射时间自动规划方法,本发明以弹道冲突检测算法为指导,首先依据发射点和落点,形成相对时间内的弹道数据,同时,将相对时间数据切片放到统一时基下形成绝对时间的标准化弹道数据。对绝对时间切片进行弹道冲突检测,按照阈值选取冲突弹道,并依据弹道时基移动后的计算结果,引导冲突弹道在发射时间上远离,避免弹道发生冲突,最终实现发射时间的自动规划。(The invention discloses an automatic planning method for launching time for avoiding ballistic collision, which takes a ballistic collision detection algorithm as guidance, firstly forms ballistic data in relative time according to a launching point and a landing point, and simultaneously, slices relative time data are put under a unified time base to form standard ballistic data of absolute time. And carrying out ballistic collision detection on the absolute time slice, selecting a collision ballistic trajectory according to a threshold value, guiding the collision ballistic trajectory to be far away from the launching time according to a calculation result after the ballistic trajectory time base moves, avoiding ballistic collision, and finally realizing automatic planning of the launching time.)

1. A method for automatically planning a launch time to avoid ballistic collisions, comprising the steps of:

step 1, generating the ballistic data of relative time;

step 2, generating the ballistic data of absolute time;

step 3, ballistic collision detection is carried out;

and 4, automatically planning the transmitting time.

2. The method of claim 1, wherein step 1 comprises:

step 1-1, acquiring a launching point position and a drop point position; the location comprises a geodetic longitude, latitude, and altitude;

step 1-2, calculating a trajectory through a parabola to generate trajectory data of relative time, and assuming that a vector formed by longitude and latitude of a launching point is X_sHeight of emission point of Y_sHorizontal velocity is vector V_xThe casting angle is theta and the vertical speed is V_yThen, there are:

V_y＝|V_x|tanθ

wherein, | V_xI represents the horizontal velocity; assuming that g is the local gravitational acceleration, and timing is started from the launching, the vector L consisting of the longitude and latitude of the time t and the height H are:

L＝X_s+X

H＝Y_s+Y

X＝V_xt

3. the method according to claim 2, wherein in step 1-2, the ballistic generated relative time ballistic data is calculated as time intervals by parabolaThe time is calculated from zero.

4. The method of claim 3, wherein step 2 comprises:

step 2-1, slicing the ballistic data of the relative time of each ballistic trajectory;

and 2-2, putting all slice data into a unified time base to form standard ballistic data of absolute time.

5. The method of claim 4, wherein the slicing in step 2-1 is performed at time intervalsAnd sampling data of each trajectory to acquire slice data.

6. The method of claim 5, wherein step 2-2 comprises: and adding the time of the slicing data to the relative emission time to obtain absolute time, and forming the standardized ballistic data.

7. The method according to claim 6, characterized in that in step 3, ballistic collision detection is performed on absolute time slices, and it is calculated whether the distance between the individual projectile positions at the same absolute time is less than a threshold Th, and if so, ballistic collision occurs.

8. The method of claim 7, wherein step 4 comprises:

step 4-1, if collision occurs to the trajectory, modifying the relative launching time, and increasing or decreasing the relative launching time of the collision trajectory;

and 4-2, repeating the step 2 and the step 3 again to calculate a ballistic collision result until all the ballistic collisions do not occur, and finally realizing the automatic planning of the launching time.

9. The method of claim 8, wherein the time interval in absolute time slices is increased or decreased relative to the transmission time in step 4-1

Technical Field

The invention belongs to the field of battle planning, and particularly relates to an automatic launching time planning method for avoiding ballistic collision.

Background

In the missile battle, multiple times of strikes are often needed, and safety problems caused by ballistic collision can be caused under the influence of inherent performance parameters of formation and weapon systems. The ballistic collision control scheme is researched, so that the weapons are not interfered with each other, the maximum damage efficiency is exerted, and the method has very important significance in battle.

The existing ballistic collision detection algorithm generally establishes a space weapon ballistic trajectory and a distribution model thereof, so as to obtain ballistic collision criteria and give collision warning. However, during the flying process of the missile, the missile is inevitably influenced by random disturbance factors and initial conditions, so that the actual trajectory deviates from the ideal trajectory to generate deviation. Factors causing random disturbances include initial disturbances when the missile leaves the launching device, engine thrust eccentricity, asymmetry in missile mass distribution and missile aerodynamic profile, wind, process variations, stagnation heat flow, dynamic pressure, overload, and the like. The generation of feasible trajectory needs to overcome the interleaving difficulties of high dynamic, strong coupling, multiple constraints and the like, so that the detection of trajectory collision needs a large amount of calculation and is inefficient.

To improve the computational efficiency and to get an executable fire scenario quickly, staggering the trajectories in the time domain by changing the firing time is the simplest and most efficient way according to the okam razor principle.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the defects of the prior art, the invention provides the automatic launching time planning method for avoiding ballistic collision, which is guided by a ballistic collision detection algorithm to realize the automatic launching time planning, provides a method based on the conversion between relative time and absolute time, and detects the ballistic collision based on the method to guide the ballistic collision to avoid the collision.

In order to solve the technical problem, the invention discloses an automatic planning method for launching time for avoiding ballistic collision, which comprises the following steps:

step 1, generating the ballistic data of relative time;

step 2, generating the ballistic data of absolute time;

and 3, carrying out ballistic collision detection.

And 4, automatically planning the transmitting time.

In one implementation, step 1 comprises:

step 1-1, acquiring a launching point position and a drop point position; the location comprises a geodetic longitude, latitude, and altitude;

step 1-2, calculating a trajectory through a parabola to generate trajectory data of relative time, and assuming that a vector formed by longitude and latitude of a launching point is X_sHeight of emission point of Y_sHorizontal velocity is vector V_xThe casting angle is theta and the vertical speed is V_yThen, there are:

V_y＝|V_x|tanθ

wherein, | V_xI represents the horizontal velocity; assuming that g is the local gravitational acceleration, and timing is started from the launching, the vector L consisting of the longitude and latitude of the time t and the height H are:

L＝X_s+X

H＝Y_s+Y

X＝V_xt

in one implementation, in step 1-2, the relative time ballistic data for ballistic generation is computed by a parabola as a fixed time intervalThe time is calculated from zero.

In one implementation, step 2 includes:

step 2-1, slicing the ballistic data of the relative time of each ballistic trajectory;

step 2-2, all slice data are put into a unified time base to form standard ballistic data of absolute time;

in one implementation, in step 2-1, the slices are at the same time intervalCarrying out data sampling on each trajectory to obtain slice data;

in one implementation, step 2-2 includes adding the time of the sliced data to the relative launch time to obtain the absolute time, so as to form the standardized ballistic data, where all the ballistic data are on the same absolute time line, and performing collision detection analysis.

In one implementation, step 3 includes: and (3) ballistic collision detection is carried out on the absolute time slice, whether the distance D between the positions of the bullets at the same absolute time is smaller than a threshold Th is calculated according to the set threshold Th, and if so, ballistic collision occurs.

In one implementation, step 4 includes:

step 4-1, if collision occurs to the trajectory, modifying the relative launching time, and increasing or decreasing the relative launching time of the collision trajectory;

step 4-2, repeating step 2 and step 3 again to calculate ballistic collision results until all the ballistic collisions do not occur, and finally realizing automatic planning of the launching time;

in one implementation, in step 4-1, the relative transmit time is increased or decreased by the time interval of the absolute time slice

Has the advantages that:

the invention discloses an automatic launching time planning method for avoiding ballistic collision, which aims at solving the technical problems that the existing ballistic collision detection algorithm has high calculation difficulty of an original weapon ballistic and a distribution model thereof, low calculation efficiency caused by a large amount of calculation and excessive consideration factors. The technology takes the ballistic collision detection algorithm in the step 3 as guidance, designs a method for realizing automatic planning of the launching time, and can efficiently obtain an available fire power scheme.

According to the method, ballistic collision detection algorithm is used as guidance, firstly, ballistic data in relative time is formed according to a launching point and a drop point, and meanwhile, relative time data slices are put under a unified time base to form standard ballistic data in absolute time. And carrying out ballistic collision detection on the absolute time slice, selecting a collision ballistic trajectory according to a threshold value, guiding the collision ballistic trajectory to be far away from the launching time according to a calculation result after the ballistic trajectory time base moves, avoiding ballistic collision, and finally realizing automatic planning of the launching time. The invention effectively solves the problem that ballistic collision calculation is too complex. The method has the advantages of low calculation overhead time and low cost, and has important prospects in the field of weapon command control.

Drawings

The foregoing and other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.

Fig. 1 is a schematic diagram of an automatic transmit time planning algorithm.

Fig. 2 is a composition diagram of the ballistic data versus time.

Fig. 3 is a composition diagram of absolute time ballistic data.

Figure 4 is a ballistic collision detection workflow.

Detailed Description

The invention is further explained below with reference to the drawings and the embodiments.

Aiming at the technical problem of low ballistic collision detection efficiency, the invention provides an automatic launching time planning method for avoiding ballistic collision, which can realize automatic planning of launching time and avoid ballistic collision.A ballistic data of relative time is generated firstly, the ballistic data of relative time is converted into ballistic data of absolute time, and a collision ballistic is selected according to a threshold; then ballistic collision detection is carried out on the absolute time ballistic data slice; finally, according to the calculation result after the time base of the trajectory moves, the collision trajectory is guided to be far away from the launching time, the trajectory is prevented from colliding, and the automatic planning of the launching time is realized; the invention defines the defects of the ballistic model, proposes to plan by moving relative to the launching time and realizes the automatic planning function of the launching time.

Relative time ballistic data generation

Firstly, acquiring a transmitting point position and a drop point position, wherein the positions comprise geodetic longitude, latitude and altitude; ballistic trajectory calculation is carried out through a parabola to obtain relative time ballistic trajectory data, and the vector formed by longitude and latitude of a launching point is assumed to be X_sHeight of emission point of Y_sHorizontal velocity is vector V_xThe casting angle is theta and the vertical speed is V_yThen, there are:

V_y＝|V_x|tanθ

wherein, | V_xI represents the horizontal velocity; assuming that g is the local gravitational acceleration, and timing is started from the launching, the vector L consisting of the longitude and latitude of the time t and the height H are:

L＝X_s+X

H＝Y_s+Y

X＝V_xt

the relative time ballistic data is a time intervalThe time is calculated from zero. The obtained relative time ballistic data comprises three parts of longitude, latitude, altitude, relative launching time and time stamp as shown in figure 2, wherein the time stamp is that each ballistic trajectory is separated from 0 by the same time intervalThe relative time of day of the vehicle, wherein, the value is taken to be 10ms,the value is 10 s.

Absolute time ballistic data generation

The absolute time track data is composed of two parts of longitude, latitude, altitude and absolute time stamp as shown in fig. 3,

and adding the relative emission time to the time stamp of the relative time ballistic data under a uniform time base to obtain an absolute time stamp.

(III) ballistic collision detection

Ballistic collision detection workflow as shown in fig. 4, all the ballistic trajectories are first calculated, finding the maximum value T of the absolute time. For example, the flight time of a trajectory is 5 minutes, the relative firing time is 30 seconds, the maximum absolute time of the trajectory is 5 minutes and 30 seconds, the absolute time slice from 30 seconds to 5 minutes and 30 seconds is data, and the rest of the absolute time data is null. The flight time of the other trajectory is 3 minutes, the relative firing time is 0 second, the maximum absolute time of the trajectory is 3 minutes, the absolute time slice from 0 second to 3 minutes is data, and the rest of the absolute time data is null. When T is 5 minutes and 30 seconds, it can be analyzed that there is a possibility of crossing in the trajectory from 30 seconds to 3 minutes, and trajectory collision detection needs to be performed on the trajectory data slice in the period of time. Slicing is carried out at fixed time intervals from 30 seconds to 3 minutes, if slicing is carried out according to 1 second, namely 150 pieces of absolute time slice data are obtained, the distance D of the space position among the data of the absolute time slices with the data is calculated at each moment, if the distance D of the space position at one moment is smaller than a threshold Th, trajectory collision is indicated, the missile has collision danger, recalculation is needed, and if the distances D of the space positions at all the moments are larger than or equal to the threshold Th, trajectory collision is not indicated. The threshold Th is selected according to the characteristics and parameters of the missile, and is a fixed value for the same type of missile. Assuming that the missile flight speed is V, is the minimum time interval.

(IV) automatic planning of emission time

If the distance D of the spatial location at a time instant is less than the threshold Th, the relative firing time of the collision trajectory is changed so that all absolute time slice data is shifted in time base so that the trajectory does not intersect or only crosses a small fraction of the time domain. Ballistic collision detection is resumed on the latest absolute time slice data until there is no collision. And recording the relative launching time of each trajectory at the moment, so that the automatically planned launching time can be obtained.

Examples

An automatic launching time planning method for avoiding ballistic collision includes, as shown in fig. 1, relative time ballistic data generation, absolute time ballistic data generation, ballistic collision detection and automatic launching time planning. The specific implementation comprises the following steps:

(1) the composition of the relative time ballistic data is shown in fig. 2. Firstly, acquiring longitude and latitude heights of a starting point and a falling point; and obtaining relative time ballistic data through parabolic calculation.

(2) The composition of the absolute time ballistic data is shown in fig. 3. And adding the relative emission time to the time stamp of the relative time ballistic data under a uniform time base to obtain an absolute time stamp.

(3) The operation of the ballistic collision detection module is shown in figure 4. Firstly, calculating all trajectories and finding out the maximum value T of absolute time; then, slicing is carried out according to a fixed time interval to obtain absolute time slicing data; and then, carrying out ballistic collision detection on the ballistic data slices, calculating the space distance between the bullets, and finally calculating the collision ballistic.

(4) The operation of the automatic transmit time planning is shown in fig. 1.

In the calculation time, the invention only needs to calculate the data of the cross part, and can well reduce the calculation data amount. The method not only well realizes the automatic planning function of the launching time, but also greatly reduces the calculation and time cost of ballistic collision detection.

Document [1] (zhang xiao, wang rui yoga. naval fleet air defense fire shooting conflict problem research [ J ]. information command and control, 2008,30(2):51-54.) discloses a model for the distribution of projectile trajectories based on time step. The method described in document [1] is complicated in calculation process, and when calculating a ballistic collision, the entire ballistic trajectory needs to be detected, and although this method uses a fire collision determination method based on ballistic prediction, this approach leads to a high system use cost. The comparison between the calculation time overhead and the accuracy of the methods provided in document [1] and the present invention is shown in the following table.

TABLE 1

The present invention provides a method for automatically planning a launch time to avoid ballistic collisions, and a method and a way for implementing the method are numerous, and the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.