阅读说明：本技术 一种水下航行器高速弹道测试方法 (High-speed trajectory testing method for underwater vehicle ) 是由 夏中亚 王志刚 杨振宇 黄楠 王理 于 2020-12-29 设计创作，主要内容包括：本发明公开了一种水下航行器高速弹道测试方法,采用水声定位装置结合高速弹道内测装置的测量方式,实现对大地坐标系下的水下航行器高速弹道运动参数进行测量；该测试方法利用水声定位装置对水下航行器高速弹道的初始点经纬度坐标进行测量,利用高速弹道内测装置对高速弹道运动参数进行测量,并采集弹道控制系统的各类状态控制信号；试验后通过数据回收处理软件将水下航行器初始经纬度坐标位置和弹道运动参数信息融合处理,可得到大地坐标系下水下航行器高速弹道运动参数,结合记录的弹道控制系统的各类状态控制信号,可计算出大地坐标系下的弹道控制偏差,提高了水下航行器的高速弹道测量精度及可信度。(The invention discloses a high-speed trajectory testing method of an underwater vehicle, which adopts a measuring mode of combining an underwater sound positioning device with a high-speed trajectory internal measuring device to realize the measurement of high-speed trajectory motion parameters of the underwater vehicle under a geodetic coordinate system; the testing method comprises the steps that an underwater acoustic positioning device is used for measuring longitude and latitude coordinates of an initial point of a high-speed trajectory of an underwater vehicle, a high-speed trajectory internal measurement device is used for measuring motion parameters of the high-speed trajectory, and various state control signals of a trajectory control system are collected; after the test, the initial longitude and latitude coordinate position of the underwater vehicle and the ballistic motion parameter information are fused and processed through data recovery processing software, the high-speed ballistic motion parameters of the underwater vehicle under the earth coordinate system can be obtained, the ballistic control deviation under the earth coordinate system can be calculated by combining various recorded state control signals of the ballistic control system, and the high-speed ballistic measurement precision and the reliability of the underwater vehicle are improved.)

1. A high-speed ballistic testing method for an underwater vehicle is characterized by comprising the following steps:

step 1, after the underwater vehicle is deployed, positioning the underwater vehicle, and calculating an initial longitude and latitude coordinate position P1;

step 2, after the underwater vehicle receives the alignment instruction, starting to perform initial alignment on the target, waiting for starting a test instruction after the alignment is completed, and simultaneously starting to record the state of an ignition control port line of the ballistic control system;

step 3, starting ballistic trajectory test after receiving a test starting instruction, and stopping test after the test set time t is up;

step 4, after the underwater vehicle goes out of water, fishing and recovering the test data;

step 5, calculating a coordinate position P2 of the target under a geodetic coordinate system according to the initial coordinate position P1 of the underwater vehicle and the relative position information of the target;

step 6, determining the detonation time t1 in the recorded firing control port line state data of the ballistic control system;

step 7, resolving to obtain high-speed trajectory track, attitude and longitude and latitude coordinate information of the underwater vehicle under the geodetic coordinate system, and obtaining a coordinate position P3 of the underwater vehicle at the detonation moment t 1;

and 8, calculating the difference value between the coordinate position P2 of the target and the coordinate position P3 of the underwater vehicle at the detonation moment t1 to obtain the ballistic control error of the high-speed trajectory in the geodetic coordinate system.

2. The method for high-speed ballistic testing of an underwater vehicle of claim 1 wherein ballistic testing is performed using an inline ballistic testing device installed in the underwater vehicle.

3. The method for high-speed ballistic testing of underwater vehicles according to claim 2, characterized in that, prior to ballistic testing, the ballistic control system and the ballistic inline device are calibrated for errors, eliminating installation errors between them.

4. The method for high-speed ballistic testing of an underwater vehicle of claim 3 wherein the intraballistic device comprises an underwater acoustic locating device that locates the underwater vehicle.

5. The method for high-speed ballistic testing of underwater vehicles of claim 4, wherein the underwater acoustic locating device comprises a transducer array, an underwater acoustic beacon; and positioning the underwater vehicle is completed through underwater acoustic communication between the underwater acoustic beacon and the transducer array, and the longitude and latitude coordinate values and the depth of the underwater vehicle are calculated.

6. The method for high-speed ballistic testing of underwater vehicles of claim 3, wherein the ballistic inline device comprises a strapdown inertial measurement unit that initially aligns the target.

7. The method for testing the high-speed trajectory of the underwater vehicle as claimed in claim 6, wherein the data of the strapdown inertial measurement unit is used to obtain the high-speed trajectory, attitude, latitude and longitude coordinate information of the underwater vehicle in the geodetic coordinate system.

Technical Field

The invention belongs to the technical field of underwater trajectory testing, and particularly relates to a high-speed trajectory testing method for an underwater vehicle.

Background

With the higher and higher requirements of the existing underwater weapon on the precise target hitting aspect, the higher requirements are provided for the attack speed and the control precision of the attack trajectory. Accordingly, the accuracy of the underwater high-speed trajectory measurement by the trajectory testing system is particularly important. The motion attitude and the change rule of the underwater high-speed navigation body are important indexes for measuring the hydrodynamic force characteristic and the ballistic characteristic of the underwater high-speed navigation body. The method has the advantages that the high-speed motion track and the attitude information of the underwater vehicle are accurately measured, the method has important significance for the scheme design of a control system and the ballistic characteristic research, and the test verification and assessment effects are directly influenced.

The main problems of the existing underwater ballistic testing technology are as follows: the relative projectile coordinate system is adopted for calculating the trajectory track and attitude information, and the requirements of trajectory test and data calculation of the whole system geodetic coordinate system cannot be met; the precision and sampling frequency of the adopted strapdown inertial measurement unit can not meet the requirement of the high-speed trajectory measurement precision of the underwater vehicle.

Disclosure of Invention

In view of this, the present invention provides a method for testing a high-speed trajectory of an underwater vehicle, which can improve the measurement accuracy and reliability of the high-speed trajectory of the underwater vehicle.

A high-speed ballistic testing method for an underwater vehicle comprises the following steps:

step 1, after the underwater vehicle is deployed, positioning the underwater vehicle, and calculating an initial longitude and latitude coordinate position P1;

step 2, after the underwater vehicle receives the alignment instruction, starting to perform initial alignment on the target, waiting for starting a test instruction after the alignment is completed, and simultaneously starting to record the state of an ignition control port line of the ballistic control system;

step 3, starting ballistic trajectory test after receiving a test starting instruction, and stopping test after the test set time t is up;

step 4, after the underwater vehicle goes out of water, fishing and recovering the test data;

step 5, calculating a coordinate position P2 of the target under a geodetic coordinate system according to the initial coordinate position P1 of the underwater vehicle and the relative position information of the target;

step 6, determining the detonation time t1 in the recorded firing control port line state data of the ballistic control system;

step 7, resolving to obtain high-speed trajectory track, attitude and longitude and latitude coordinate information of the underwater vehicle under the geodetic coordinate system, and obtaining a coordinate position P3 of the underwater vehicle at the detonation moment t 1;

and 8, calculating the difference value between the coordinate position P2 of the target and the coordinate position P3 of the underwater vehicle at the detonation moment t1 to obtain the ballistic control error of the high-speed trajectory in the geodetic coordinate system.

Preferably, the ballistic test is performed using an inline ballistic device installed in an underwater vehicle.

Preferably, before the ballistic test, the error calibration is carried out on the ballistic control system and the ballistic internal test device, so that the installation error between the ballistic control system and the ballistic internal test device is eliminated.

Preferably, the ballistic surveying device comprises an underwater acoustic locating device, which locates the underwater vehicle.

Preferably, the underwater sound positioning device comprises a transducer array and an underwater sound beacon; and positioning the underwater vehicle is completed through underwater acoustic communication between the underwater acoustic beacon and the transducer array, and the longitude and latitude coordinate values and the depth of the underwater vehicle are calculated.

Preferably, the intraballistic measuring device includes a strapdown inertial measuring device that initially aligns the target.

Preferably, the data of the strapdown inertial measurement unit is utilized to obtain the high-speed trajectory track, the attitude and the latitude and longitude coordinate information of the underwater vehicle in the geodetic coordinate system.

The invention has the following beneficial effects:

the invention discloses a high-speed trajectory testing method of an underwater vehicle, which adopts a measuring mode of combining an underwater sound positioning device with a high-speed trajectory internal measuring device to realize the measurement of high-speed trajectory motion parameters of the underwater vehicle under a geodetic coordinate system; the testing method comprises the steps that an underwater acoustic positioning device is used for measuring longitude and latitude coordinates of an initial point of a high-speed trajectory of an underwater vehicle, a high-speed trajectory internal measurement device (comprising a high-precision strapdown inertial measurement device) is used for measuring motion parameters of the high-speed trajectory, and various state control signals of a trajectory control system are collected; after the test, the initial longitude and latitude coordinate position of the underwater vehicle and the ballistic motion parameter information are fused and processed through data recovery processing software, so that high-speed ballistic motion parameters of the underwater vehicle in the geodetic coordinate system, such as ballistic trajectories, attitude of the vehicle, motion speed, acceleration, depth, longitude and latitude, can be obtained, and ballistic control deviation in the geodetic coordinate system can be calculated by combining various recorded state control signals of a ballistic control system; high-speed trajectory parameter information and trajectory control deviation under geodetic coordinates can be obtained through fusion and calculation, and high-speed trajectory measurement accuracy and reliability of the underwater vehicle are improved.

Drawings

FIG. 1 is a block diagram of the high speed ballistic testing system of an underwater vehicle of the present invention;

FIG. 2 is a flow chart of the underwater high-speed ballistic testing method of the present invention.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

The high-speed trajectory measurement system adopts a measurement mode of combining an underwater sound positioning device with a trajectory internal measurement device to measure motion parameters under a high-speed trajectory geodetic coordinate system, namely, the underwater sound positioning device is used for measuring longitude and latitude coordinates of an initial point of a high-speed trajectory, the trajectory internal measurement device (including a high-precision strapdown inertial measurement device) is used for measuring motion parameters of the high-speed trajectory, state control signals of a trajectory control system are collected and recorded, and navigation trajectory, attitude information and trajectory control deviation under the geodetic coordinate system are obtained by fusing position information of initial coordinates of an underwater vehicle and information of trajectory motion parameters during test data processing. The schematic block diagram is shown in the attached figure 1.

The key characteristic of the invention is the underwater high-speed trajectory test method, which comprises the following basic implementation processes: before testing, error calibration is carried out on the ballistic control system and the high-speed ballistic internal testing device, and installation errors between the ballistic control system and the high-speed ballistic internal testing device are eliminated; when the test is started, measuring the longitude and latitude coordinates of the initial point of the high-speed trajectory by adopting an underwater acoustic positioning device; after the test is started, a high-speed trajectory internal measurement device (comprising a high-precision strapdown inertial measurement device) carries out high-speed acquisition and recording on underwater high-speed trajectory motion parameters; after the test is finished, data recovery and processing software is adopted to perform fusion processing on the initial coordinate position information and the trajectory motion parameter information to obtain navigation trajectory and attitude information under a geodetic coordinate system, such as trajectory, attitude, motion speed, acceleration, depth, trajectory control deviation and the like.

1. The high-speed ballistic test system of the underwater vehicle is shown in figure 1. The underwater acoustic positioning device mainly comprises a transducer array, an underwater acoustic beacon and a deck unit, wherein the underwater acoustic beacon is arranged on an underwater vehicle platform, the positioning of a mine is completed through underwater acoustic communication between the underwater acoustic beacon and the transducer array, and the longitude and latitude coordinate values and the depth of the mine are calculated; the trajectory inner measurement device is arranged in an underwater vehicle, comprises an acquisition control circuit, a strapdown inertial measurement unit, a battery module, a depth sensor, a cable and a shell, and has the functions of measuring the high-speed trajectory motion trajectory, attitude parameters and ignition control port line state data of the underwater vehicle; and the data recovery processing software performs fusion calculation on the test data to obtain the high-speed trajectory parameter information and trajectory control deviation of the underwater vehicle under the geodetic coordinates.

2. Calibrating installation errors: in order to ensure the precision of the ballistic test, the standards (reference coordinate systems) of the ballistic internal test device and the ballistic control system for generating various parameters are consistent, and the deviation between the standards directly causes the generation of test errors if not compensated. Therefore, the installation error calibration is carried out between the two, the deviation is compensated, and the higher-precision attitude and track information is obtained.

3. As shown in fig. 2, the experimental procedure is as follows:

a) after deployment is finished, positioning the underwater vehicle through the underwater sound positioning device, and calculating the initial longitude and latitude coordinate position;

b) after the delay time is up, the high-speed trajectory internal measurement device is powered on, after the alignment instruction is received, the strapdown inertial measurement device starts initial alignment, waits for a test starting instruction after the alignment is finished, and simultaneously starts to record the state of an ignition control port line of a trajectory control system;

c) after receiving a test starting instruction, starting a ballistic test by the high-speed ballistic internal test device, and stopping the test after the test time t is up;

d) and after the underwater vehicle goes out of water, fishing and recovering the test data.

4. And (3) data processing:

a) calculating a coordinate position P2 (longitude and latitude) of the target under a geodetic coordinate system according to the initial coordinate position P1 (longitude and latitude) of the underwater vehicle and the relative position information (east position and north position) of the target;

b) determining the detonation time t1 in the recorded firing control port line state data of the ballistic control system;

c) resolving data of the strapdown inertial measurement unit to obtain high-speed trajectory track, attitude and longitude and latitude coordinate information of the underwater vehicle under the geodetic coordinate system, and obtaining a coordinate position P3 (longitude and latitude) of the underwater vehicle at the detonation moment t 1;

d) and calculating the difference value between the coordinate position P2 of the target and the coordinate position P3 of the underwater vehicle at the detonation moment t1, and obtaining the ballistic control error of the high-speed ballistic under the geodetic coordinate system.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.