阅读说明：本技术 火箭地面瞄准方法、系统、计算机设备和存储介质 (Rocket ground aiming method, system, computer equipment and storage medium ) 是由 杨民 舒畅 马超 于 2021-09-02 设计创作，主要内容包括：本发明提供一种火箭地面瞄准方法、系统、计算机设备和存储介质,所述方法包括：根据火箭箭体在第一起竖角和第二起竖角的RTK定位数据,得到箭体方位角；获取火箭箭体在第一起竖角时的第一惯组滚转角和在第二起竖角时的第二惯组滚转角；根据所述箭体方位角、所述第一惯组滚转角和所述第二惯组滚转角,得到箭体射向角；本发明将基于RTK定位技术的瞄准过程和火箭箭体起竖过程进行结合,实现火箭箭体射向角的快速瞄准,解决传统地面瞄准过程繁琐、瞄准时间长等问题。(The invention provides a rocket ground aiming method, a rocket ground aiming system, a computer device and a storage medium, wherein the method comprises the following steps: obtaining an azimuth angle of the rocket body according to RTK positioning data of the rocket body at the first starting vertical angle and the second starting vertical angle; acquiring a first inertial set rolling angle of the rocket body at a first starting vertical angle and a second inertial set rolling angle of the rocket body at a second starting vertical angle; obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertial group rolling angle and the second inertial group rolling angle; the invention combines the aiming process based on the RTK positioning technology with the rocket body erecting process, realizes the rapid aiming of the shooting angle of the rocket body, and solves the problems of complicated ground aiming process, long aiming time and the like.)

1. A rocket ground aiming method, the method comprising:

obtaining an azimuth angle of the rocket body according to RTK positioning data of the rocket body at the first starting vertical angle and the second starting vertical angle;

acquiring a first inertial set rolling angle of the rocket body at a first starting vertical angle and a second inertial set rolling angle of the rocket body at a second starting vertical angle;

and obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertial set rolling angle and the second inertial set rolling angle.

2. A rocket ground aiming method as recited in claim 1, wherein obtaining the rocket body azimuth from RTK positioning data of the rocket at the first and second starting vertical angles comprises:

when the rocket is erected to a first erecting angle, acquiring first RTK positioning data of the GNSS receiver at a first target position;

when the rocket is erected to a second erecting angle, acquiring second RTK positioning data of the GNSS receiver at a second target position;

acquiring a first initial coordinate and a second initial coordinate of the first target position and the second target position respectively in an geocentric coordinate system according to the first RTK positioning data and the second RTK positioning data;

acquiring a first target coordinate and a second target coordinate matched with the first initial coordinate and the second output coordinate according to a first posture conversion matrix;

and obtaining the azimuth angle of the rocket body according to the first target coordinate and the second target coordinate.

3. A rocket ground aiming method as recited in claim 2, wherein the formula for obtaining first and second target coordinates matching said first and second initial coordinates based on an attitude transformation matrix comprises:

wherein, B_a、B_bIs the latitude, L, in the first and second initial coordinates_a、L_bAs longitudes in the first and second initial coordinates, H_a、H_bAs elevation in first and second initial coordinates, R_x、R_y、R_zRepresenting the attitude transformation matrices rotated about the x, y, z axes, respectively.

4. A rocket ground aiming method as recited in claim 3, wherein obtaining a first inertial group roll angle of the rocket body at a first attack angle comprises:

when the rocket body is erected to a first erecting angle, acquiring the motion angular velocity of the rocket body at the current moment;

obtaining a rotation angle increment of the rocket body coordinate system relative to the geographical coordinate system according to the rocket body motion angular speed;

updating the attitude quaternion according to the rotation angle increment to obtain a target attitude quaternion;

and obtaining the roll angle of the first inertial measurement unit according to the target attitude quaternion.

5. A rocket ground aiming method as recited in claim 4, wherein the step of obtaining angular velocity of rocket body motion at the current moment when the rocket body is erected to the first erecting angle comprises:

when the rocket body is erected to a first erecting angle, acquiring the measured angular speed of the rocket body at the current moment;

obtaining the earth rotation angular velocity in the launching coordinate system according to the earth rotation angular velocity and the second attitude transformation matrix in the rocket coordinate system;

and obtaining the arrow body motion angular velocity according to the earth rotation angular velocity under the launching coordinate system and the measured angular velocity of the arrow body.

6. A rocket ground aiming method as recited in claim 4, wherein updating the attitude quaternion according to said rotation angle increment to obtain a target attitude quaternion comprises:

carrying out error compensation on the rotation angle increment to obtain a compensation factor;

updating the attitude quaternion according to the rotation angle increment and the compensation factor to obtain a target attitude quaternion;

and obtaining the roll angle of the first inertial measurement unit according to the target attitude quaternion.

7. A rocket ground aiming method as recited in claim 6, wherein said angular increment of rotation is error compensated to obtain a compensation factor having the computational expression:

where ac and as are compensation factors, and Δ θ is a rotation angle increment.

8. A rocket ground aiming system, the system comprising:

the GNSS positioning device is used for acquiring RTK positioning data of the rocket body at a first starting vertical angle and a second starting vertical angle and is also used for acquiring an azimuth angle of the rocket body according to the RTK positioning data;

the rocket strapdown inertial measurement unit is used for acquiring a first inertial measurement unit roll angle of a rocket body at a first vertical angle and a second inertial measurement unit roll angle at a second vertical angle;

and the aiming upper computer is used for obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertia set rolling angle and the second inertia set rolling angle.

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented by the processor when executing the computer program.

10. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of directional aiming, in particular to a rocket ground aiming method, a rocket ground aiming system, computer equipment and a storage medium.

Background

The ground aiming of the rocket is to adjust the azimuth sensitive axis of the inertial device in the guidance system to be vertical to the direction before the rocket is launched, or obtain the deviation angle between the azimuth sensitive axis of the inertial device and the direction through accurate measurement, thereby ensuring the initial azimuth precision of the rocket and meeting the requirement of the azimuth orbit-entering precision of the carrier rocket system. Therefore, the ground aiming technology has a crucial effect on rocket launching, the ground aiming precision and efficiency directly influence the rocket launching and orbit-entering precision and speed, the existing rocket generally adopts an optical aiming or self-aligning mode, the aligning process is complicated, the operation is complex, and the response speed of rocket launching is severely restricted.

Disclosure of Invention

Aiming at the defects in the prior art, the rocket ground aiming method, the rocket ground aiming system, the computer equipment and the storage medium solve the problems of complexity and long aiming time of the traditional ground aiming process, and realize the rapid aiming of the shooting angle of the rocket body by combining the aiming process based on the RTK positioning technology and the rocket body erecting process.

In a first aspect, the present invention provides a rocket ground aiming method, the method comprising: obtaining an azimuth angle of the rocket body according to RTK positioning data of the rocket body at the first starting vertical angle and the second starting vertical angle; acquiring a first inertial set rolling angle of the rocket body at a first starting vertical angle and a second inertial set rolling angle of the rocket body at a second starting vertical angle; and obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertial set rolling angle and the second inertial set rolling angle.

Optionally, obtaining an rocket body azimuth from RTK positioning data of the rocket at the first and second launch angles, including: when the rocket is erected to a first erecting angle, acquiring first RTK positioning data of the GNSS receiver at a first target position; when the rocket is erected to a second erecting angle, acquiring second RTK positioning data of the GNSS receiver at a second target position; acquiring a first initial coordinate and a second initial coordinate of the first target position and the second target position respectively in an geocentric coordinate system according to the first RTK positioning data and the second RTK positioning data; acquiring a first target coordinate and a second target coordinate matched with the first initial coordinate and the second output coordinate according to a first posture conversion matrix; and obtaining the azimuth angle of the rocket body according to the first target coordinate and the second target coordinate.

Optionally, obtaining a calculation formula of the first target coordinate and the second target coordinate matched with the first initial coordinate and the second initial coordinate according to the posture conversion matrix includes:

wherein, B_a、B_bIs the latitude, L, in the first and second initial coordinates_a、L_bAs longitudes in the first and second initial coordinates, H_a、H_bAs elevation in first and second initial coordinates, R_x、R_y、R_zRespectively representing rotations about x, y, z axesAnd (5) converting the rotating attitude into a matrix.

Optionally, acquiring a first inertial group roll angle of the rocket body at the first vertical starting angle comprises: when the rocket body is erected to a first erecting angle, acquiring the motion angular velocity of the rocket body at the current moment; obtaining a rotation angle increment of the rocket body coordinate system relative to the geographical coordinate system according to the rocket body motion angular speed; updating the attitude quaternion according to the rotation angle increment to obtain a target attitude quaternion; and obtaining the roll angle of the first inertial measurement unit according to the target attitude quaternion.

Optionally, when the rocket body is erected to the first erecting angle, obtaining the angular velocity of the rocket body motion at the current moment, including: when the rocket body is erected to a first erecting angle, acquiring the measured angular speed of the rocket body at the current moment; obtaining the earth rotation angular velocity in the launching coordinate system according to the earth rotation angular velocity and the second attitude transformation matrix in the rocket coordinate system; and obtaining the arrow body motion angular velocity according to the earth rotation angular velocity under the launching coordinate system and the measured angular velocity of the arrow body.

Optionally, updating the attitude quaternion according to the rotation angle increment to obtain a target attitude quaternion, including: carrying out error compensation on the rotation angle increment to obtain a compensation factor; updating the attitude quaternion according to the rotation angle increment and the compensation factor to obtain a target attitude quaternion; and obtaining the roll angle of the first inertial measurement unit according to the target attitude quaternion.

Optionally, the rotation angle increment is error-compensated, and a calculation expression of a compensation factor is obtained as follows:

where ac and as are compensation factors, and Δ θ is a rotation angle increment.

In a second aspect, the present invention provides a rocket ground aiming system, the system comprising: the GNSS positioning device is used for acquiring RTK positioning data of the rocket body at a first starting vertical angle and a second starting vertical angle and is also used for acquiring an azimuth angle of the rocket body according to the RTK positioning data; the rocket strapdown inertial measurement unit is used for acquiring a first inertial measurement unit roll angle of a rocket body at a first vertical angle and a second inertial measurement unit roll angle at a second vertical angle; and the aiming upper computer is used for obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertia set rolling angle and the second inertia set rolling angle.

In a third aspect, the present invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: obtaining an azimuth angle of the rocket body according to RTK positioning data of the rocket body at the first starting vertical angle and the second starting vertical angle; acquiring a first inertial set rolling angle of the rocket body at a first starting vertical angle and a second inertial set rolling angle of the rocket body at a second starting vertical angle; and obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertial set rolling angle and the second inertial set rolling angle.

In a fourth aspect, the present invention provides a readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of: obtaining an azimuth angle of the rocket body according to RTK positioning data of the rocket body at the first starting vertical angle and the second starting vertical angle; acquiring a first inertial set rolling angle of the rocket body at a first starting vertical angle and a second inertial set rolling angle of the rocket body at a second starting vertical angle; and obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertial set rolling angle and the second inertial set rolling angle.

Compared with the prior art, the invention has the beneficial effects that:

the rocket body azimuth angle calculating method comprises the steps of obtaining RTK positioning data of a rocket body in the erecting process through an RTK positioning technology, and calculating the rocket body azimuth angle according to the RTK positioning data; solving a first inertial group rolling angle and a second inertial group rolling angle of the rocket body in the erecting process according to the inertial group attitude, and finally calculating an rocket body firing angle according to the rocket body azimuth angle, the first inertial group rolling angle and the second inertial group rolling angle, so as to realize ground aiming of the rocket; the invention combines the aiming process based on the RTK positioning technology with the rocket body erecting process, realizes the rapid aiming of the shooting angle of the rocket body, and solves the problems of complicated ground aiming process, long aiming time and the like.

Drawings

Fig. 1 is a schematic flow chart of a rocket ground aiming method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating a detailed flow chart of step S101 in FIG. 1;

FIG. 3 is a schematic view of an arrow body at a first vertical launch angle according to an embodiment of the present invention;

FIG. 4 is a schematic view of an arrow body at a second initial vertical angle in accordance with an embodiment of the present invention;

FIG. 5 is a schematic view of the detailed process of step S102 in FIG. 1;

FIG. 6 is a schematic diagram of a transmitting coordinate system according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an arrow coordinate system according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a transformation relationship between a launch coordinate system and an arrow coordinate system according to an embodiment of the present invention;

FIG. 9 is a top plan view of a ground-targeting feature provided by an embodiment of the present invention;

fig. 10 is a schematic flow chart of another rocket ground aiming method according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic flow chart of a rocket ground aiming method according to an embodiment of the present invention; as shown in fig. 1, the rocket ground aiming method specifically includes the following steps:

and S101, obtaining an arrow body azimuth angle according to RTK positioning data of the rocket body at the first vertical angle and the second vertical angle.

In this embodiment, as shown in fig. 2, step S102 specifically includes the following steps:

step S201, when the rocket is erected to a first erecting angle, first RTK positioning data of the GNSS receiver at a first target position are obtained, and when the rocket is erected to a second erecting angle, second RTK positioning data of the GNSS receiver at a second target position are obtained;

step S202, acquiring a first initial coordinate and a second initial coordinate of the first target position and the second target position respectively in an geocentric coordinate system according to the first RTK positioning data and the second RTK positioning data;

step S203, acquiring a first target coordinate and a second target coordinate matched with the first initial coordinate and the second output coordinate according to a first posture conversion matrix;

and step S204, obtaining the azimuth angle of the arrow body according to the first target coordinate and the second target coordinate.

In this embodiment, obtaining a calculation formula of a first target coordinate and a second target coordinate matched with the first initial coordinate and the second initial coordinate according to the posture conversion matrix includes:

wherein, B_a、B_bIs the latitude, L, in the first and second initial coordinates_a、L_bAs longitudes in the first and second initial coordinates, H_a、H_bAs elevation in first and second initial coordinates, R_x、R_y、R_zRepresenting the attitude transformation matrices rotated about the x, y, z axes, respectively.

It should be noted that, when the rocket is launched in this embodiment, the rocket body is located in the launching box of the launching vehicle, the launching vehicle is fixed on the launching position, the RTK base station or the radio station is arranged in the range of 150m of the launching vehicle, and the GNSS receiver is arranged on the rocket body, so that the RTK differential signal sent by the RTK base station is received by the GNSS receiver, and two accurate positioning of the rocket body to erect a small angle and to erect to the vertical position is realized, and the two accurate positioning includes: first positioning: standing the arrow body until the included angle between the arrow body and the horizontal plane is a first vertical angle and stably keeping for 1 minute, collecting one-minute position information, and taking the average value of the data after abnormal elimination; and (3) second positioning: and acquiring data for 1 minute after the arrow body is completely erected, namely a second erecting angle, and taking the average value after the data are abnormally removed. In the present embodiment, since the orientation is performed by acquiring the precise position twice, the posture cannot be adjusted in real time after the aiming, and therefore, if the vehicle has a change of orientation after the aiming is completed, the aiming needs to be performed again. This embodiment requires that there is not vibration and rocking in the data acquisition in-process launch vehicle.

As shown in fig. 3 and 4, the position of the GNSS receiver before the rocket is erected is set as point a, the position of the GNSS receiver after the rocket is erected is set as point b, the GNSS receiver receives the station RTK differential signal in real time, and the GNSS data refresh frequency is 10 hz; sampling a point a for 1min before the rocket is erected, performing data exception rejection and mean processing on first RTK positioning data of the point a, sampling a point b for 1min after the rocket is erected, and performing data exception rejection and mean processing on second RTK positioning data of the point b, wherein the RTK positioning data comprise latitude, longitude and elevation.

In the above formula, B_aiMeasure latitude, L for point a i_aiMeasure longitude, H, for point i_aiMeasuring the elevation for the ith time at the point a; the GNSS survey position data belongs to coordinates obtained in a WGS-84 geocentric coordinate system and needs to be converted into a NUE coordinate system of a local geographic coordinate system, and the first target coordinate of a point a is assumed to be (x)_a,y_a,z_a) Then, the conversion relationship between the first initial coordinate and the first target coordinate is:

wherein R is_x、R_y、R_zRepresenting the attitude transformation matrix rotated about the x, y, z axes, B, L being the longitude and latitude of point a, respectively.

In the above formula, B_biMeasure latitude, L for point i_biMeasure longitude, H, for point i_biFor the ith measurement of the elevation of the point b, assuming that the second target coordinate of the point b under the NUE coordinate system is (x)_b,y_b,z_b) And if so, the conversion relation between the second initial coordinate and the second target coordinate is as follows:

then, according to the first target coordinate and the second target coordinate, a calculation expression of the azimuth angle of the rocket body is obtained as follows:

step S102, a first inertial group rolling angle of the rocket body at the first starting vertical angle and a second inertial group rolling angle of the rocket body at the second starting vertical angle are obtained.

In this embodiment, as shown in fig. 5, the step of obtaining the first inertial group roll angle of the rocket body at the first starting vertical angle specifically includes the following steps:

step S301, when the rocket body is erected to a first erecting angle, acquiring the motion angular velocity of the rocket body at the current moment;

step S302, obtaining a rotation angle increment of the rocket body coordinate system relative to the geographical coordinate system according to the rocket body motion angular speed;

step S303, updating the attitude quaternion according to the rotation angle increment to obtain a target attitude quaternion;

step S304, obtaining the roll angle of the first inertial measurement unit according to the target attitude quaternion.

In this embodiment, updating the attitude quaternion according to the rotation angle increment to obtain a target attitude quaternion includes: carrying out error compensation on the rotation angle increment to obtain a compensation factor; updating the attitude quaternion according to the rotation angle increment and the compensation factor to obtain a target attitude quaternion; and obtaining the roll angle according to the target attitude quaternion.

It should be noted that, in the arrow body erecting process, the launching vehicle is not horizontal, the arrow body structure is deformed, the inertial group is installed with deviation, and the posture of the arrow body before and after the arrow body is erected changes. The rocket inertial measurement unit calculates the posture of the rocket inertial measurement unit (an inertial measurement unit carrier system is relative to a geographic coordinate system) in real time through a strapdown inertial navigation algorithm, and as the rocket body only changes in the pitch direction, the precision of the pitch angle and the roll angle of the rocket body is high and the azimuth angle is not available when the rocket body is erected and passes through the vehicle.

In this embodiment, as shown in fig. 6, the origin O of coordinates in the emission coordinate system is located at the emission point, the x-axis points to the emission aiming direction in the horizontal plane of the emission point, and the included angle between the x-axis and the north direction N is the direction angle a₀The y axis is vertical to the emission point and points upwards horizontally, and the z axis and the xOy plane form a right-hand coordinate system; as shown in FIG. 7, the origin of coordinates O of the arrow coordinate system₁Located in the centre of mass, x, of the rocket₁The axis is the symmetry axis of the rocket body shell and points to the head part of the rocket, y₁The axis being in the main plane of symmetry of the rocket, which coincides with the plane of the launch coordinate system at the moment of launch, y₁Axis perpendicular to x₁Axis, z₁The axis is perpendicular to the main symmetry plane to form a right-hand coordinate system, and the emission moment is regarded as O₁Coinciding with O.

The rocket body attitude calculation steps in the embodiment are as follows:

(1) calculating the rotation angular rate of the earth and the angular velocity omega of the rocket body in the rocket body coordinate system_iebIs the rotational angular velocity of the earth under an arrow coordinate system,the attitude transformation matrix from the emission coordinate system to the rocket coordinate system is shown in figure 8, the transformation relation between the emission coordinate system and the rocket coordinate system is O-xyz, and O-x is the emission coordinate system₁y₁z₁As an arrow coordinate system, omega_iegFor the self-rotation angular velocity, omega, of the earth under the launch coordinate system_ibbThe angular velocity is measured for the arrow body,in order to remove the angular velocity of the rocket motion of the earth rotation angular velocity, psi is the yaw angle of the rocket coordinate system,a pitch angle of an arrow coordinate system and a roll angle of the arrow coordinate system are set as gamma; then the conversion relation between the earth rotation angle and the earth rotation angular velocity in the launching coordinate system in the rocket coordinate system is as follows:

wherein the content of the first and second substances,a second attitude transformation matrix.

Then, according to the spin angular velocity of the earth under the launching coordinate system and the measured angular velocity of the arrow body, a calculation formula for obtaining the arrow body motion angular velocity is as follows:

(2) calculating the rotation angle increment of the rocket body coordinate system relative to the geographic coordinate system, wherein h is the IMU resolving period,is an angular increment vector.

Δθ²＝Δθ_x*Δθ_x+Δθ_y*Δθ_y+Δθ_z*Δθ_z

(3) And performing error compensation on the equivalent rotation vector, wherein a calculation formula for calculating a compensation factor is as follows:

(4) updating the attitude quaternion according to the rotation angle increment and the compensation factor:

wherein the content of the first and second substances,is the attitude quaternion at the last moment,and the target attitude quaternion is the target attitude quaternion of the rocket body when the rocket body is erected to the first erecting angle moment.

(5) Updating the attitude angle according to the target attitude quaternion;

wherein γ in the attitude angle_NewIs the first inertial set roll angle.

Based on the same principles and steps, the method according to the above embodiment may obtain a second inertial set roll angle.

And S103, obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertial set rolling angle and the second inertial set rolling angle.

In the present embodiment, if the launch vehicle is in the horizontal position, and there is no structural deformation after the arrow body is erected, etc., theoretically, the arrow body rolling angle variation Δ γ is 0 after the arrow body is erected, but there are a series of errors such as the launch vehicle is not horizontal, the arrow body structural deformation, the inertial group mounting deviation, etc., and there is a certain deviation angle Δ γ before and after the arrow body is erected.

Assuming that the roll angle of the first inertial unit before the arrow body is erected is gamma₀The rolling angle of the second inertial unit is gamma after the arrow body is erected₁The variation of the rolling angle of the arrow body before and after erecting is delta gamma₀-γ₁As shown in fig. 9, the arrow firing angle (attitude angle of the emission coordinate system relative to the geographic coordinate system) is:

A₀＝ψ_GNSS+Δγ

wherein psi_GNSSIs the arrow body azimuth.

Compared with the prior art, the invention has the beneficial effects that:

the rocket body azimuth angle calculating method comprises the steps of obtaining RTK positioning data of a rocket body in the erecting process through an RTK positioning technology, and calculating the rocket body azimuth angle according to the RTK positioning data; solving a first inertial group rolling angle and a second inertial group rolling angle of the rocket body in the erecting process according to the inertial group attitude, and finally calculating an rocket body firing angle according to the rocket body azimuth angle, the first inertial group rolling angle and the second inertial group rolling angle, so as to realize ground aiming of the rocket; the invention combines the aiming process based on the RTK positioning technology with the rocket body erecting process, realizes the rapid aiming of the shooting angle of the rocket body, and solves the problems of complicated ground aiming process, long aiming time and the like.

In another embodiment of the present invention, there is provided a rocket ground aiming system, the system comprising: the GNSS positioning device is used for acquiring RTK positioning data of the rocket body at a first starting vertical angle and a second starting vertical angle and is also used for acquiring an azimuth angle of the rocket body according to the RTK positioning data; the rocket strapdown inertial measurement unit is used for acquiring a first inertial measurement unit roll angle of a rocket body at a first vertical angle and a second inertial measurement unit roll angle at a second vertical angle; and the aiming upper computer is used for obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertia set rolling angle and the second inertia set rolling angle.

It should be noted that the system is divided into three components: GNSS positioner, arrow strapdown inertial unit, aim host computer. The GNSS positioning device comprises an on-arrow GNSS receiver and an RTK base station, and realizes high-precision positioning of the arrow; the on-arrow strapdown inertial unit system comprises an on-arrow optical fiber inertial unit, and the inertial unit and an inertial unit used for on-arrow combined navigation are in the same set; the aiming upper computer and the ground measuring and sending control are integrally designed, so that the intermediate data and the aiming result in the aiming process can be monitored in real time, and the aiming result can be uploaded by one key.

The system can be organically combined with the actual measuring, launching and controlling process, after the rocket reaches a launching position, the rocket can finish the aiming of the rocket body shooting angle in the process of erecting from the launching box, and the ground aiming time is greatly shortened. The ground measurement and launch control is used for carrying out work such as launching of aiming instructions, data interpretation, result uploading and the like, and as shown in the attached figure 10, the ground aiming work flow is as follows:

(1) the launching vehicle is fixed in a launching position, the rocket is located in the launching box, an RTK base station and a radio station are arranged in the range of 150m of the launching vehicle (aiming is completed without removing base station equipment), normal sending of differential signals is guaranteed, and the time is about 2 min;

(2) supplying power to the inertial measurement unit on the arrow, and starting strapdown inertial navigation resolving;

(3) system self-checking: after connection with upper computer software is established, a self-checking instruction is sent, and a self-checking result is returned after self-checking is completed, so that the time is consumed for about 30 s;

(4) data acquisition for a points, as shown in fig. 3: when the arrow body is erected to form an included angle theta > of 5 degrees on the horizontal plane, sending an A point data acquisition instruction, and uploading a positioning result to an upper computer, wherein the time is about 1 min;

(5) b-point data acquisition, as shown in fig. 4: erecting the arrow body to be in a vertical state, sending a data acquisition instruction of the B point, and uploading a positioning result to an upper computer, wherein the time is about 1.5min (the erecting process is 30s, and the static data is acquired for 1 min);

(6) aiming and resolving: after data acquisition is finished, an aiming resolving instruction is sent, the upper computer fuses a GNSS resolving angle and an on-arrow inertial set resolving angle, the actual azimuth angle of the arrow body is calculated and transmitted to the arrow, and the time is about 30s for aiming; the total time of the aiming process is about 5.5min, including the equipment preparation and result uploading time.

In the embodiment, the ground aiming process of the launching vehicle is realized through an RTK high-precision positioning technology, the aiming result is uploaded through a ground measuring, launching and controlling key, the visualization of the aiming process is realized, the aiming process is combined with the rocket body erection, the azimuth fast aiming of the rocket body is realized, and the problems of complexity, long aiming time and the like in the traditional ground aiming process are solved; the system can realize aiming at the shooting angle through the equipment on the arrow, realizes the multiplexing of the aiming equipment and the equipment on the arrow, and solves the problems of high equipment cost, complicated equipment withdrawal and the like in the traditional ground aiming process; the system carries out integrated design such as aiming instruction issuing, data judgment, aiming result uploading and the like through ground measurement and issuing control, realizes visualization of the aiming process through a three-dimensional digital model of the launching vehicle, and solves the problem of low intelligent degree of the traditional ground aiming process.

In another embodiment of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: obtaining an azimuth angle of the rocket body according to RTK positioning data of the rocket body at the first starting vertical angle and the second starting vertical angle; acquiring a first inertial set rolling angle of the rocket body at a first starting vertical angle and a second inertial set rolling angle of the rocket body at a second starting vertical angle; and obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertial set rolling angle and the second inertial set rolling angle.

In a further embodiment of the invention, a readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, realizes the following steps: obtaining an azimuth angle of the rocket body according to RTK positioning data of the rocket body at the first starting vertical angle and the second starting vertical angle; acquiring a first inertial set rolling angle of the rocket body at a first starting vertical angle and a second inertial set rolling angle of the rocket body at a second starting vertical angle; and obtaining an arrow body shooting angle according to the arrow body azimuth angle, the first inertial set rolling angle and the second inertial set rolling angle.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.