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CN114186193A - Microwave equipment efficiency analysis method and device - Google Patents

Microwave equipment efficiency analysis method and device Download PDF

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CN114186193A
CN114186193A CN202111251686.8A CN202111251686A CN114186193A CN 114186193 A CN114186193 A CN 114186193A CN 202111251686 A CN202111251686 A CN 202111251686A CN 114186193 A CN114186193 A CN 114186193A
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microwave
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turntable
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CN114186193B (en
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王彦书
王胜锋
段岩
袁志毅
李晶晶
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Hebei Hanguang Heavy Industry Ltd
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Abstract

The invention provides a microwave equipment efficiency analysis method and a device, wherein the method comprises the steps of pre-estimating the precision of a photoelectric tracker, a master console and a microwave turntable of the microwave equipment; based on the estimated precision data, carrying out data sampling and baseline conversion on the target route; carrying out smooth filtering processing on the acquired navigation data; calculating shooting data by combining the baseline data of the microwave turntable and the photoelectric tracker; receiving the firing data by the microwave turntable, responding to the received firing data, and performing microwave radiation on the target; judging whether the microwave hits the target; and counting microwave emission data and hit target data of the microwave equipment aiming at the targets within the distance range of 100,300 meters based on the estimated precision data of the microwave equipment. The method of the invention evaluates the efficiency of the microwave equipment and analyzes the tracking precision of the component equipment of the microwave equipment.

Description

Microwave equipment efficiency analysis method and device
Technical Field
The invention relates to the field of microwave equipment, in particular to a microwave equipment efficiency analysis method and device.
Background
With increasingly complex international ocean patterns, the chances of collisions between ships are increasing. The ship should also possess sufficient force to subdue other vessels during operation. Therefore, the construction of the ship microwave equipment aims at the current situation of marine strength, and equipment has the characteristics of accurate detection and automation degree.
The microwave equipment consists of a photoelectric tracker, a master control console and microwave equipment (including a rotary table). By matching mature and advanced detection devices and microwave equipment, the automatic microwave equipment integrating detection, command and striking is formed, and the offshore capacity of the transport ship can be effectively improved.
Disclosure of Invention
In order to solve the technical problems, the invention provides a microwave equipment performance analysis method and a microwave equipment performance analysis device, and the method and the device are used for solving the technical problem that the microwave equipment system precision and performance analysis in the prior art are inaccurate.
According to a first aspect of the present invention, there is provided a microwave device performance analysis method, the method comprising the steps of:
step S101: pre-estimating the precision of a photoelectric tracker, a master console and a microwave turntable of the microwave equipment;
step S102: determining a target route, and performing data sampling and baseline conversion on the target route based on the estimated precision data; the method comprises the steps that a main control console collects navigation data of a ship-based navigation system, and the collected navigation data are subjected to smooth filtering processing; the master control station carries out time compensation and extrapolation on the data after the smoothing filtering treatment, and shooting data are resolved by combining the base line data of the microwave rotary table and the photoelectric tracker; receiving the firing data by the microwave turntable, responding to the received firing data, and performing microwave radiation on the target;
step S103: judging whether the microwave hits the target; and on the basis of the precision data estimated by the microwave equipment, counting microwave emission data and hit target data of the microwave equipment aiming at the targets within the distance range of [100,300] meters, and further completing the calculation of the hit probability of the microwave equipment and the precision of the microwave equipment.
According to a second aspect of the present invention, there is provided a microwave device performance analysis apparatus, the apparatus comprising:
a prediction module: the precision of a photoelectric tracker, a master console and a microwave turntable of the microwave equipment is pre-estimated;
the conversion and calculation module: the method comprises the steps of configuring to determine a target route, and carrying out data sampling and baseline conversion on the target route based on estimated precision data; the method comprises the steps that a main control console collects navigation data of a ship-based navigation system, and the collected navigation data are subjected to smooth filtering processing; the master control station carries out time compensation and extrapolation on the data after the smoothing filtering treatment, and shooting data are resolved by combining the base line data of the microwave rotary table and the photoelectric tracker; receiving the firing data by the microwave turntable, responding to the received firing data, and performing microwave radiation on the target;
a statistic module: configured to determine whether the microwave hits the target; and on the basis of the precision data estimated by the microwave equipment, counting microwave emission data and hit target data of the microwave equipment aiming at the targets within the distance range of [100,300] meters, and further completing the calculation of the hit probability of the microwave equipment and the precision of the microwave equipment.
According to a third aspect of the present invention, there is provided a microwave device performance analysis system comprising:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the instructions are stored in the memory, and loaded by the processor and executed by the microwave device performance analysis method.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having a plurality of instructions stored therein; the instructions are used for loading and executing the microwave equipment performance analysis method by the processor.
According to the scheme of the invention, the efficiency of the microwave equipment is evaluated, and the tracking precision of the component equipment of the microwave equipment is also analyzed.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic flow chart of a microwave apparatus performance analysis method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of hit criteria for a microwave device in accordance with one embodiment of the present invention;
fig. 3 is a block diagram of a microwave device performance analyzer according to an embodiment of the present invention.
Detailed Description
First, a microwave device performance analysis method according to an embodiment of the present invention is described with reference to fig. 1, where the method includes the following steps:
step S101: pre-estimating the precision of a photoelectric tracker, a master console and a microwave turntable of the microwave equipment;
step S102: determining a target route, and performing data sampling and baseline conversion on the target route based on the estimated precision data; the method comprises the steps that a main control console collects navigation data of a ship-based navigation system, and the collected navigation data are subjected to smooth filtering processing; the master control station carries out time compensation and extrapolation on the data after the smoothing filtering treatment, and shooting data are resolved by combining the base line data of the microwave rotary table and the photoelectric tracker; receiving the firing data by the microwave turntable, responding to the received firing data, and performing microwave radiation on the target;
step S103: judging whether the microwave hits the target; and on the basis of the precision data estimated by the microwave equipment, counting microwave emission data and hit target data of the microwave equipment aiming at the targets within the distance range of [100,300] meters, and further completing the calculation of the hit probability of the microwave equipment and the precision of the microwave equipment.
The step S101: and estimating the precision of the photoelectric tracker, the master control console and the microwave turntable of the microwave equipment, wherein:
and respectively estimating the precision of the photoelectric tracker, the master control console and the microwave rotary table according to the existing precision of microwave equipment composition equipment. The equipment precision estimation is the basis of the microwave equipment performance analysis.
In this embodiment, the accuracy of three photoelectric trackers, three master control consoles, and three microwave turntables is estimated. For the first group of microwave equipment, the distance precision of a photoelectric tracker is estimated to be 2m, the azimuth precision is estimated to be 0.2mrad, and the pitching precision is estimated to be 0.2 mrad; the azimuth precision of the master console is estimated to be 0.2mrad, and the pitching precision is estimated to be 0.2 mrad; the azimuth precision of the microwave turntable is estimated to be 0.2mrad, and the pitching precision is estimated to be 0.2 mrad. For the second group of microwave equipment, the distance precision of a photoelectric tracker is estimated to be 3m, the azimuth precision is estimated to be 0.3mrad, and the pitching precision is estimated to be 0.2 mrad; the azimuth precision of the master console is estimated to be 0.5mrad, and the pitching precision is estimated to be 0.5 mrad; the azimuth precision of the microwave turntable is estimated to be 0.3mrad, and the pitching precision is estimated to be 0.3 mrad. For the third group of microwave equipment, the distance precision of a photoelectric tracker is estimated to be 5m, the azimuth precision is estimated to be 0.5mrad, and the pitching precision is estimated to be 0.5 mrad; the azimuth precision of the master console is estimated to be 1.0mrad, and the pitching precision is estimated to be 1.0 mrad; the azimuth precision of the microwave turntable is estimated to be 0.5mrad, and the pitching precision is estimated to be 0.5 mrad. The estimated accuracy is shown in tables 1-3.
TABLE 1 precision prediction table of photoelectric tracker
Figure BDA0003318244800000041
Table 2 precision pre-estimating table of master control station
Figure BDA0003318244800000042
TABLE 3 precision pre-estimating table for microwave turntable
Figure BDA0003318244800000043
Figure BDA0003318244800000051
Step S102: determining a target route, and performing data sampling and baseline conversion on the target route based on the estimated precision data; the method comprises the steps that a main control console collects navigation data of a ship-based navigation system, and the collected navigation data are subjected to smooth filtering processing; the master control station carries out time compensation and extrapolation on the data after the smoothing filtering treatment, and shooting data are resolved by combining the base line data of the microwave rotary table and the photoelectric tracker; receiving, by the microwave turret, the shot data and, in response to the received shot data, performing microwave radiation on the target, wherein:
in this embodiment, the shooting data is resolved by the console for controlling the pointing direction of the microwave turntable. The target is usually a frequency-using device such as a small unmanned aerial vehicle, a maritime guard, a GPS and the like. The performance analysis is the performance analysis of the microwave equipment and is the core of the performance analysis of the microwave equipment.
The determining the target route comprises:
determining three target routes according to the tasks of the microwave equipment, wherein,
the first air route is as follows:
Figure BDA0003318244800000052
x0＝1000.0
y0＝0.0
i＝0,1,2,……4000
vm＝20m/s
km＝270°
vw＝0kn
kw＝90°
Δt＝0.02s
wherein x isiIs the position of the target at the ith time on the x-axis, x0Is the original position of the target in the x-axis, vmTo be the target speed, kmIs the target heading, kwThe heading of the ship, Vw, i, delta t, y, the speed of the ship, the time point of calculating the route, delta t, and the calculation periodiIs the position of the target at the ith time on the y-axis, y0Is the starting position of the target on the y-axis, hiThe position of the target at the ith time on the h-axis.
The second air route is as follows:
Figure BDA0003318244800000061
x0＝1000.0
y0＝87.0
i＝0,1,2,……4000
vm＝20m/s
km＝270°
vw＝5kn
kw＝90°
Δt＝0.02s
wherein x isiIs the position of the target at the ith time on the x-axis, x0Is the original position of the target in the x-axis, vmTo be the target speed, kmIs the target heading, kwThe course of the ship, Vw, i, the time point of calculating the route, and delta t, the calculation period，yiIs the position of the target at the ith time on the y-axis, y0Is the starting position of the target on the y-axis, hiIs the position of the target at the ith time on the h-axis.
The third way is:
Figure BDA0003318244800000062
x0＝1000.0
y0＝112.0
i＝0,1,2,……4000
vm＝20m/s
km＝270°
vw＝10kn
kw＝90°
Δt＝0.02s
wherein x isiIs the position of the target at the ith time on the x-axis, x0Is the original position of the target in the x-axis, vmTo be the target speed, kmIs the target heading, kwThe heading of the ship, Vw, i, delta t, y, the speed of the ship, the time point of calculating the route, delta t, and the calculation periodiIs the position of the target at the ith time on the y-axis, y0Is the starting position of the target on the y-axis, hiThe position of the target at the ith time on the h-axis.
The data sampling simulation and baseline conversion of the target airway include:
the baseline data from the photoelectric tracker to the microwave turntable is as follows:
Figure BDA0003318244800000071
wherein x iscp_bwIs the position component, y, of the photoelectric tracker relative to the microwave turntable on the x axis of the unstable naval vessel coordinate systemcp_bwIs the position component h of the photoelectric tracker relative to the microwave turntable on the y axis of the unstable naval vessel coordinate systemcp_bwThe position of the photoelectric tracker on the h axis relative to the unstable naval vessel coordinate system of the microwave turntable is dividedAmount of the compound (A).
Converting the baseline data under the unstable rectangular coordinate system into the stable rectangular coordinate system, wherein the formula is as follows:
Figure BDA0003318244800000072
wherein, thetabFor the roll angle, psi, of the vessel0Is the ship pitch angle, xcpIs the position component, y, of the photoelectric tracker relative to the microwave turntable on the x axis of the stable naval vessel coordinate systemcpIs the position component h of the photoelectric tracker relative to the microwave turntable on the y axis of the stable naval vessel coordinate systemcpThe position component of the photoelectric tracker relative to the microwave turntable on the h axis of the stable naval vessel coordinate system is shown.
And converting the base line data under the stable rectangular coordinate system into a geodetic coordinate system by combining the movement situation of the vessel.
Figure BDA0003318244800000073
Wherein A iscpxFor the position component of the photoelectric tracker relative to the microwave turntable on the x-axis of the geodetic coordinate system, AcpyFor the position component of the photoelectric tracker in the earth y-axis with respect to the microwave turntable, AcphIs the position component, k, of the photoelectric tracker relative to the microwave turntable on the h axis of the geodetic coordinate systemwThe course of the ship is shown.
The position of the target relative to the photoelectric tracker in the geodetic coordinate system is as follows:
Figure BDA0003318244800000081
and (3) converting to a stable polar coordinate system of the naval vessel:
Figure BDA0003318244800000082
the angle quantity can be used as sampling data of the photoelectric tracker after being subjected to swing transformation and observation noise.
The photoelectric tracker is fixed on the ship and has no stable platform, so the sampling data of the simulated photoelectric tracker needs to convert the angle quantity under the stable polar coordinate system of the ship to the unstable polar coordinate system of the ship:
Figure BDA0003318244800000083
Figure BDA0003318244800000084
wherein, thetabIs the ship roll angle, psi0Is the ship pitch angle.
Based on the estimated data of the photoelectric tracker, the estimated data can be used as sampling data of the photoelectric tracker after observation noise is added.
Figure BDA0003318244800000085
Wherein, deltaDDistance accuracy of the photoelectric tracker, deltaqwFor the azimuthal accuracy of the photoelectric tracker,. epsilongdFor the accuracy of the pitch angle of the photoelectric tracker, N0, 1]Is a normally distributed random number.
The general control station carries out smooth filtering on the sampling data of the photoelectric tracker, carries out time compensation and extrapolation on the data after smooth filtering processing, and solves theoretical shooting data (azimuth angle r) by combining with baseline databiHigh and low angles phibi) After noise corresponding to the estimated accuracy of the master console is added, the noise can be used as firing data (r) of the master consolebizs、φbizs) The output value of (1).
γbizs＝γbi+δγb×N[0,1]÷1000
φbizs＝φbi+δφb×N[0,1]÷1000
Wherein r isbizsIs a master controlAzimuth angle of data of table shooting phibizsShooting the high and low angles of the data elements for the master console; deltaγbTo the azimuthal accuracy of the total console, δφbThe pitch angle precision of the master control console is obtained.
The microwave rotary table receives the firing data elements of the master control station, responds to the received firing data elements of the master control station and performs microwave radiation on a target, wherein:
receiving the calculated shooting data elements, and adding noise corresponding to the estimated data of the microwave turntable on the shooting data elements to obtain a frame position value of the microwave turntable;
γbif＝γbizs+δγf×N[0,1]÷1000
φbif＝φbizs+δφf×N[0,1]÷1000
wherein, γbifIs the azimuth angle phi of the microwave turntable framebifThe height angle of the microwave turntable frame position; deltarfFor the azimuth accuracy of the microwave turntable, deltaφfThe pitch angle precision of the microwave turntable is obtained.
Converting the rack position value of the microwave rotary table into a lower rack position value of a stable coordinate system according to the ship swaying attitude:
Figure BDA0003318244800000091
Figure BDA0003318244800000092
the lower frame position value of the stable coordinate system of the microwave turntable plus the ship course is the lower azimuth angle of the microwave turntable in the geodetic coordinate system, and the frame position value of the microwave turntable in the geodetic coordinate system is as follows:
γi microwave rotary table＝γfi+kw
φi microwave rotary table＝φfi
The step S103: judging whether the microwave hits the target; on the basis of the precision data estimated by microwave equipment, aiming at a target in a distance range of [100,300] meters, counting microwave emission data and hit target data of the microwave equipment, and further completing the calculation of hit probability and precision of the microwave equipment, wherein:
the judgment condition of whether the microwave hits the target is as follows:
obtaining a target azimuth angle BiTarget pitch angle epsiloniAnd the azimuth angle gamma of the turntablei microwave rotary tableAngle of pitch phi of rotary tablei microwave rotary tableIf the following formula is satisfied:
Figure BDA0003318244800000101
Figure BDA0003318244800000102
Figure BDA0003318244800000103
i.e. to determine the hit.
The microwave turntable and the microwave striking module of the microwave equipment belong to a coaxial common-frame structure, so that the baseline problem of the microwave turntable and the microwave striking module is not considered, and only whether a target falls into a microwave beam or not is analyzed. A diagram of hit criteria is shown in fig. 2.
The determined system accuracy and hit rate are the efficiency of the microwave equipment. Further, according to the obtained performance of the microwave device, the method can be applied to system index confirmation, that is, according to the task index of the microwave device, the system index is confirmed. The method can also be applied to equipment precision index distribution, and equipment precision meeting task indexes is extracted from precision analysis results, precision indexes are provided for the equipment, and the next development work is carried out.
An embodiment of the present invention further provides a microwave device performance analysis apparatus, as shown in fig. 3, the apparatus includes:
a prediction module: the precision of a photoelectric tracker, a master console and a microwave turntable of the microwave equipment is pre-estimated;
the conversion and calculation module: the method comprises the steps of configuring to determine a target route, and carrying out data sampling and baseline conversion on the target route based on estimated precision data; the method comprises the steps that a main control console collects navigation data of a ship-based navigation system, and the collected navigation data are subjected to smooth filtering processing; the master control station carries out time compensation and extrapolation on the data after the smoothing filtering treatment, and shooting data are resolved by combining the base line data of the microwave rotary table and the photoelectric tracker; receiving the firing data by the microwave turntable, responding to the received firing data, and performing microwave radiation on the target;
a statistic module: configured to determine whether the microwave hits the target; and on the basis of the precision data estimated by the microwave equipment, counting microwave emission data and hit target data of the microwave equipment aiming at the targets within the distance range of [100,300] meters, and further completing the calculation of the hit probability of the microwave equipment and the precision of the microwave equipment.
The embodiment of the invention further provides a microwave equipment efficiency analysis system, which comprises:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the instructions are stored in the memory, and loaded by the processor and executed by the microwave device performance analysis method.
The embodiment of the invention further provides a computer-readable storage medium, and a storage medium microwave equipment effectiveness analysis method.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a physical machine Server, or a network cloud Server, etc., and needs to install a Windows or Windows Server operating system) to perform some steps of the method according to various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are still within the scope of the technical solution of the present invention.

Claims (8)

1.一种微波设备效能分析方法，其特征在于，所述方法包括以下步骤：1. a microwave equipment efficacy analysis method, is characterized in that, described method comprises the following steps: 步骤S101：对所述微波设备的光电跟踪仪、总控台、以及微波转台的精度进行预估；Step S101: Estimate the precision of the photoelectric tracker, the master console, and the microwave turntable of the microwave equipment; 步骤S102：确定目标航路，基于预估的精度数据，对所述目标航路进行数据采样及基线转换；由总控台采集舰载导航系统的导航数据，并对采集的所述导航数据进行平滑滤波处理；由总控台对平滑滤波处理后的数据进行时间补偿及外推，结合微波转台与光电跟踪仪的基线数据解算射击诸元；由所述微波转台接收所述射击诸元，并对接收到的射击诸元进行响应，对所述目标进行微波辐射；Step S102: Determine the target route, perform data sampling and baseline conversion on the target route based on the estimated accuracy data; collect the navigation data of the shipborne navigation system by the master console, and perform smooth filtering on the collected navigation data processing; the master console performs time compensation and extrapolation on the data after smooth filtering, and combines the baseline data of the microwave turntable and the photoelectric tracker to calculate the shooting elements; the microwave turntable receives the shooting elements, and analyzes the shooting elements. In response to the received shot elements, microwave radiation is applied to the target; 步骤S103：判断微波是否命中目标；基于微波设备设备预估的精度数据，针对[100,300]米距离范围内的目标，对所述微波设备的微波发射数据和命中目标数据进行统计，进而完成的命中概率以及所述微波设备精度的计算。Step S103: judging whether the microwave hits the target; based on the precision data estimated by the microwave equipment, for the target within the range of [100,300] meters, the microwave emission data and the hit target data of the microwave equipment are counted, and then the hit is completed. Probability and calculation of the accuracy of the microwave device. 2.如权利要求1所述的微波设备效能分析方法，其特征在于，所述步骤S102：所述对所述目标航路进行数据采样模拟及基线转换，包括：2. The microwave equipment performance analysis method according to claim 1, wherein the step S102: performing data sampling simulation and baseline conversion on the target route, comprising: 光电跟踪仪到微波转台的基线数据为：The baseline data from the photoelectric tracker to the microwave turntable are:
Figure FDA0003318244790000011
Figure FDA0003318244790000011
 其中，xcp_bw为光电跟踪仪相对于微波转台在不稳定舰艇坐标系x轴上的位置分量，ycp_bw为光电跟踪仪相对于微波转台在不稳定舰艇坐标系y轴上的位置分量，hcp_bw为光电跟踪仪相对于微波转台不稳定舰艇坐标系在h轴上的位置分量；Among them, x cp_bw is the position component of the photoelectric tracker relative to the microwave turntable on the x-axis of the unstable ship coordinate system, y cp_bw is the position component of the photoelectric tracker relative to the microwave turntable on the y-axis of the unstable ship coordinate system, h cp_bw is the position component of the photoelectric tracker relative to the unstable ship coordinate system of the microwave turntable on the h-axis; 将不稳定直角坐标系下的基线数据转换到稳定直角坐标系，公式如下：Convert the baseline data in the unstable Cartesian coordinate system to the stable Cartesian coordinate system, the formula is as follows:
Figure FDA0003318244790000021
Figure FDA0003318244790000021
 其中，θb为舰艇横摇角，ψ0为舰艇纵摇角，xcp为光电跟踪仪相对于微波转台在稳定舰艇坐标系x轴上的位置分量，ycp为光电跟踪仪相对于微波转台在稳定舰艇坐标系y轴上的位置分量，hcp为光电跟踪仪相对于微波转台在稳定舰艇坐标系h轴上的位置分量；Among them, θ b is the roll angle of the ship, ψ 0 is the pitch angle of the ship, x cp is the position component of the photoelectric tracker relative to the microwave turntable on the x-axis of the stable ship coordinate system, y cp is the photoelectric tracker relative to the microwave turntable The position component on the y-axis of the stable ship coordinate system, h cp is the position component of the photoelectric tracker relative to the microwave turntable on the h-axis of the stable ship coordinate system; 结合我舰运动态势，将稳定直角坐标系下的基线数据转换到大地坐标系：Combined with the motion situation of our ship, convert the baseline data in the stable rectangular coordinate system to the geodetic coordinate system:
Figure FDA0003318244790000022
Figure FDA0003318244790000022
 其中，Acpx为光电跟踪仪相对于微波转台在大地坐标系x轴上的位置分量，Acpy为光电跟踪仪相对于微波转台在大地y轴上的位置分量，Acph为光电跟踪仪相对于微波转台在大地坐标系h轴上的位置分量，kw为我舰航向；Among them, A cpx is the position component of the photoelectric tracker relative to the microwave turntable on the x-axis of the geodetic coordinate system, A cpy is the position component of the photoelectric tracker relative to the microwave turntable on the geodetic y-axis, and A cph is the photoelectric tracker relative to the microwave turntable. The position component of the microwave turntable on the h-axis of the geodetic coordinate system, kw is the course of our ship; 目标相对于光电跟踪仪的大地坐标系下的位置如下：The position of the target relative to the geodetic coordinate system of the photoelectric tracker is as follows:
Figure FDA0003318244790000023
Figure FDA0003318244790000023
 转换到舰艇稳定极坐标系下：Convert to the ship's stable polar coordinate system:
Figure FDA0003318244790000024
Figure FDA0003318244790000024
 角度量经过摇摆变换，加入观测噪声后即作为光电跟踪仪的采样数据；The angle quantity is transformed by the swing, and after adding the observation noise, it is used as the sampling data of the photoelectric tracker; 光电跟踪仪是固定在船上的，没有稳定平台，故模拟光电跟踪仪采样数据还需要将舰艇稳定极坐标系下的角度量转换到舰艇不稳定极坐标系下：The photoelectric tracker is fixed on the ship and has no stable platform. Therefore, to simulate the sampling data of the photoelectric tracker, it is necessary to convert the angle in the stable polar coordinate system of the ship to the unstable polar coordinate system of the ship:
Figure FDA0003318244790000031
Figure FDA0003318244790000031
Figure FDA0003318244790000032
Figure FDA0003318244790000032
 其中，θb是舰艇横摇角，ψ0为舰艇纵摇角；Among them, θ b is the roll angle of the ship, and ψ 0 is the pitch angle of the ship; 基于所述光电跟踪仪的预估数据，在预估数据中加入观测噪声后即作为光电跟踪仪的采样数据；Based on the estimated data of the photoelectric tracker, adding observation noise to the estimated data is used as the sampling data of the photoelectric tracker;
Figure FDA0003318244790000033
Figure FDA0003318244790000033
 其中，δD为光电跟踪仪的距离精度，δqw为光电跟踪仪的方位角精度，εgd为光电跟踪仪的俯仰角精度，N[0,1]是正态分布随机数。Among them, δ D is the distance accuracy of the photoelectric tracker, δ qw is the azimuth angle accuracy of the photoelectric tracker, ε gd is the pitch angle accuracy of the photoelectric tracker, and N[0,1] is a normally distributed random number. 3.如权利要求2所述的微波设备效能分析方法，其特征在于，所述步骤S102：由总控台采集舰载导航系统的导航数据，并对采集的所述导航数据进行平滑滤波处理，包括：3. The method for analyzing the effectiveness of microwave equipment according to claim 2, wherein in the step S102, the navigation data of the shipborne navigation system is collected by the master console, and the collected navigation data is subjected to smooth filtering processing, include: 由总控台对光电跟踪仪的采样数据进行平滑滤波，对平滑滤波处理后的数据进行时间补偿及外推，结合基线数据解算理论射击诸元(rbi,φbi)，加入总控台的预估精度对应的噪声后即作为总控台射击诸元(rbizs、φbizs)的输出值；其中，rbi为方位角，φbi为高低角；The master console performs smooth filtering on the sampled data of the photoelectric tracker, performs time compensation and extrapolation on the data processed by the smooth filtering, and calculates the theoretical shooting elements (r bi , φ bi ) in combination with the baseline data, and adds them to the master console The noise corresponding to the prediction accuracy of , is used as the output value of the main console shooting elements (r bizs , φ bizs ); among them, r bi is the azimuth angle, and φ bi is the high and low angle; γbizs＝γbi+δγb×N[0,1]÷1000γ bizs = γ bi +δ γb ×N[0,1]÷1000 φbizs＝φbi+δφb×N[0,1]÷1000φ bizs = φ bi +δ φb ×N[0,1]÷1000 其中，rbizs为总控台射击诸元的方位角，φbizs为总控台射击诸元的高低角；δγb为总控台的方位角精度，δφb为总控台的俯仰角精度。Among them, r bizs is the azimuth angle of the main console shooting various elements, φ bizs is the high and low angle of the main console shooting various elements; δ γb is the azimuth angle precision of the main console, and δ φb is the pitch angle accuracy of the main console. 4.如权利要求3所述的微波设备效能分析方法，其特征在于，所述步骤S102：由总控台对平滑滤波处理后的数据进行时间补偿及外推，结合微波转台与光电跟踪仪的基线数据解算射击诸元；由所述微波转台接收所述射击诸元，并对接收到的射击诸元进行响应，对所述目标进行微波辐射，包括：4. The method for analyzing the effectiveness of microwave equipment as claimed in claim 3, wherein the step S102: performing time compensation and extrapolation on the data processed by the smoothing filter by the master console, combining the microwave turntable and the photoelectric tracker. Baseline data to solve the shooting elements; the microwave turntable receives the shooting elements, responds to the received shooting elements, and radiates microwaves to the target, including: 所述由所述微波转台接收所述总控台射击诸元，并对接收到的总控台射击诸元进行响应，对目标进行微波辐射，其中：The said microwave turntable receives the main console shooting elements, and responds to the received main console shooting elements, and radiates microwaves to the target, wherein: 接收解算的所述的射击诸元，并在所述射击诸元上增加所述微波转台的预估数据对应的噪声，得到所述微波转台的架位值；Receive the calculated shooting elements, and add noise corresponding to the estimated data of the microwave turntable on the shooting elements to obtain the rack position value of the microwave turntable; γbif＝γbizs+δγf×N[0,1]÷1000γ bif = γ bizs + δ γf ×N[0,1]÷1000 φbif＝φbizs+δφf×N[0,1]÷1000φ bif = φ bizs + δ φf ×N[0,1]÷1000 其中，γbif为微波转台架位的方位角，φbif为微波转台架位的高低角；δrf为微波转台的方位角精度，δφf为微波转台的俯仰角精度。Among them, γ bif is the azimuth angle of the microwave turntable stand, φ bif is the high and low angle of the microwave turntable stand; δ rf is the azimuth angle accuracy of the microwave turntable, and δ φf is the pitch angle accuracy of the microwave turntable. 根据已舰摇摆姿态将微波转台的架位值转换成稳定坐标系下架位值：Convert the rack position value of the microwave turntable to the rack position value under the stable coordinate system according to the ship's swing attitude:
Figure FDA0003318244790000041
Figure FDA0003318244790000041
Figure FDA0003318244790000042
Figure FDA0003318244790000042
 微波转台的稳定坐标系下架位值加己舰航向即为微波转台大地坐标系下方位角，微波转台大地坐标系下的架位值如下：The lower azimuth value of the microwave turntable's stable coordinate system plus the course of the own ship is the lower azimuth angle of the microwave turntable's geodetic coordinate system. The installation position value of the microwave turntable's geodetic coordinate system is as follows: γi微波转台＝γfi+kw γ i microwave turntable = γ fi +k w φi微波转台＝φfi φ i microwave turntable = φ fi 5.如权利要求4所述的微波设备效能分析方法，其特征在于，所述步骤S103，微波是否命中目标的判断条件为：5. The method for analyzing the effectiveness of microwave equipment as claimed in claim 4, wherein in the step S103, the judgment condition for whether the microwave hits the target is: 获取目标方位角Bi、目标俯仰角εi和转台方位角γi微波转台、转台俯仰角φi微波转台，若满足下式：Obtain the target azimuth B i , target pitch angle ε i and turntable azimuth γ i microwave turntable , turntable pitch angle φ i microwave turntable , if the following formula is satisfied:
Figure FDA0003318244790000043
Figure FDA0003318244790000043
Figure FDA0003318244790000051
Figure FDA0003318244790000051
Figure FDA0003318244790000052
Figure FDA0003318244790000052
 即确定命中目标。That is, determine the hit target. 6.一种微波设备效能分析装置，其特征在于，所述装置包括：6. A microwave equipment efficacy analysis device, characterized in that the device comprises: 预估模块：配置为对所述微波设备的光电跟踪仪、总控台、以及微波转台的精度进行预估；Estimation module: configured to estimate the accuracy of the photoelectric tracker, the master console, and the microwave turntable of the microwave equipment; 转换及计算模块：配置为确定目标航路，基于预估的精度数据，对所述目标航路进行数据采样及基线转换；由总控台采集舰载导航系统的导航数据，并对采集的所述导航数据进行平滑滤波处理；由总控台对平滑滤波处理后的数据进行时间补偿及外推，结合微波转台与光电跟踪仪的基线数据解算射击诸元；由所述微波转台接收所述射击诸元，并对接收到的射击诸元进行响应，对所述目标进行微波辐射；Conversion and calculation module: configured to determine the target route, and based on the estimated accuracy data, perform data sampling and baseline conversion on the target route; The data is smoothed and filtered; the master console performs time compensation and extrapolation on the smoothed and filtered data, and combines the baseline data of the microwave turntable and the photoelectric tracker to calculate the shooting elements; the microwave turntable receives the shooting elements. element, and in response to the received shot elements, microwave radiation to the target; 统计模块：配置为判断微波是否命中目标；基于微波设备设备预估的精度数据，针对[100,300]米距离范围内的目标，对所述微波设备的微波发射数据和命中目标数据进行统计，进而完成命中概率以及所述微波设备精度的计算。Statistics module: configured to determine whether the microwave hits the target; based on the estimated accuracy data of the microwave equipment, for the target within the range of [100,300] meters, the microwave emission data and the hit target data of the microwave equipment are counted, and then complete Calculation of hit probability and accuracy of the microwave device. 7.一种微波设备效能分析系统，其特征在于，包括：7. a microwave equipment efficacy analysis system, is characterized in that, comprises: 处理器，用于执行多条指令；a processor for executing multiple instructions; 存储器，用于存储多条指令；memory for storing multiple instructions; 其中，所述多条指令，用于由所述存储器存储，并由所述处理器加载并执行如权利要求1-5中任一项所述的微波设备效能分析方法。Wherein, the plurality of instructions are used to be stored by the memory, and loaded by the processor to execute the microwave equipment performance analysis method according to any one of claims 1-5. 8.一种计算机可读存储介质，所述存储介质中存储有多条指令；所述多条指令，用于由处理器加载并执行如权利要求1-5中任一项所述的微波设备效能分析方法。8. A computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for loading and executing the microwave device according to any one of claims 1-5 by a processor Efficacy analysis methods.
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