CN111008446B - Speed optimization system based on grid ship position layout calculation - Google Patents

Abstract

The invention belongs to the technical field of measurement ship position layout calculation in the technical field of aerospace measurement and control, and particularly relates to a speed optimization system based on grid ship position layout calculation. The working process of the optimization system comprises the following steps: calculating ship distribution areas of the ballistic offshore measurement and control arc section from head to tail to the lower sea surface, respectively taking intersections, and roughly dividing grids; carrying out mesh subdivision on the coarse mesh meeting the conditions according to the precision requirement to obtain a fine mesh; recording fine grids meeting the constraint for N consecutive days to obtain fine grid points; calculating a circumscribed convex polygon formed by the deployment region according to the fine grid points meeting the requirements; the area in the polygon is an area where the measuring vessel needs to measure and control multiple lanes for N consecutive days. The system reduces the calculated amount to a great extent and improves the calculation efficiency on the premise of ensuring the comprehensiveness and accuracy of the ship position deployment calculation.

Description

Speed optimization system based on grid ship position layout calculation

technical field

The invention belongs to the technical field of survey ship position layout and calculation in the technical field of aerospace measurement and control, and in particular relates to a speed optimization system based on grid ship position layout calculation.

Background technique

From the launch of the spacecraft to the mission orbit, there are many key measurement and control arcs. Among them, the key measurement and control arcs such as the entry into orbit and several perigee orbit changes can only be provided by offshore survey ships. The position layout of traditional survey ships is mostly calculated manually by surveyors and draws the working curves of survey ships. This method requires a lot of work and experience, and it is difficult to adapt to large-scale and high-frequency offshore survey tasks. At present, a calculation method of ship position layout based on fine grid uses computer to solve the problem of traditional manual calculation and measurement of ship position layout area. However, the calculation level of the full cycle traversal based on the fine grid increases exponentially with the increase of the number of survey ships and the increase of the number of mission days, and the calculation efficiency is low. In order to meet the needs of aerospace measurement and control tasks and improve the calculation efficiency of ship position layout, it is necessary to improve the implementation method of ship position layout calculation based on fine grid, reduce the calculation amount and increase the calculation speed.

Contents of the invention

(1) Technical problems to be solved

The technical problem to be solved by the present invention is: in the fine grid-based survey ship position layout calculation, with the increase in the number of survey ships and the increase in the number of mission days, the calculation amount is large and the calculation takes a long time.

(2) Technical solution

In order to solve the above technical problems, the present invention provides a speed optimization system based on grid ship position layout calculation, said optimization system includes: grid rough division module, first calculation module, grid subdivision module, second calculation module, Fine grid point acquisition module, measurement and control required area acquisition module;

Wherein, the grid coarse division module is used to calculate the ship deployment area of the first and last downward sea surface of multiple ballistic maritime measurement and control arcs within one day, respectively take the intersection, and perform grid rough division on the intersection of the ship deployment area;

The first operation module is used to loop through the visibility and link communication conditions of each coarse grid in the calculation area for the measurement and control arc, and record the coarse grid that meets the requirements;

The grid subdivision module is used to subdivide the coarse grid satisfying the conditions according to the precision requirement to obtain the fine grid;

The second operation module is used to loop through and calculate the visibility and link communication conditions of each fine grid to the measurement and control arc in the coarse grid that meets the conditions, and record the fine grid that meets the requirements;

Repeat the work of the grid subdivision module and the second operation module until the grid precision of the fine grid meets the task requirements and stop the calculation;

The fine grid point acquisition module is used to record the fine grid that satisfies the constraint for N consecutive days to obtain the fine grid point;

The measurement and control requirement area acquisition module is used to calculate the circumscribed convex polygon formed by the deployment area according to the fine grid points that meet the requirements; then the area inside the polygon is the area where a measurement ship performs measurement and control requirements for multiple ballistic trajectories for N consecutive days.

Wherein, during the working process of the grid coarse division module, calculate the multiple sea surface ship distribution areas corresponding to the starting point of the first day's multiple ballistic sea flight segments, and take the intersection of the areas as area A; simultaneously calculate the first day's multiple Area B is the intersection of multiple sea surface deployment areas corresponding to the end point of the ballistic sea flight segment.

Among them, in the working process of the coarse grid division module, there are two cases: in the first case, if there is an intersection area C between area A and area B, then a survey ship can be deployed in area C to meet the requirements of the first day. In the second case, if there is no intersection between area A and area B, it means that the task requires two or more survey ships for measurement and control.

Wherein, in the first case in the working process of the coarse mesh division module, because the area is small and only one survey ship is needed, the area C can be divided into longitude and latitude according to the calculation accuracy requirements, directly forming multiple Fine grid, and according to the first operation module looping through the visibility and link communication of each fine grid in the calculation area C, record the fine grid that can satisfy the visibility and link communication of the entire arc .

Wherein, in the second case in the working process of the coarse grid division module, the area A and the area B are subjected to preliminary longitude and latitude grid division, and the measurement ship in the calculation area A is cycled through according to the first calculation module. The visibility and link communication situation of S _A to the corresponding measurement and control arc section, and the visibility and link communication situation of the measurement and control arc section corresponding to the measurement ship S _B in area B; find the area that can meet the full coverage of rocket trajectory measurement and control Mesh M ₁ A _i in A and mesh M ₁ B _j in region B, form a coarse mesh pair M ₁ A _i and M ₁ B _j .

Wherein, during the working process of the grid subdivision module and the second operation module, all the coarse grid pairs M ₁ A _i and M ₁ B _j found are subdivided into grids, and each subdivision network is calculated by cyclic traversal. In the grid, the visibility and link communication conditions of the measurement ship S _A to the corresponding measurement and control arc, and the visibility and link communication conditions of the measurement and control arc corresponding to the measurement ship S _B are recorded in the coarse grids of area A and area B Align fine grid pairs that can meet full arc visibility and link communication.

Among them, in the process of repeating the work of the grid subdivision module and the second operation module, the fine grid pairs are further divided until the grid accuracy meets the task requirements, and at the same time, the visibility and link communication of the corresponding measurement and control arcs are satisfied. Stop the calculation when it is fully covered, and record all found fine grid pairs M ₁ SA _i and M ₁ SB _j .

Wherein, in the working process of the fine grid point acquisition module, according to the working process of the grid rough division module, the first operation module, the grid subdivision module, and the second operation module, respectively calculate the second day, the third Day..., the TT&C coverage performance of the launch trajectory on the Nth day; record the fine grid pairs M ₂ SA _i and M ₂ SB _j that satisfy the visibility and link communication constraints on the second day, the third day..., the Nth day, M ₃ SA _i and M ₃ SB _j ..., M _N SA _i and M _N SB _j .

Wherein, during the working process of the fine grid point acquisition module, according to the distance D that the measuring ship moves every day as the radius, a circle is made with a certain fine grid M ₁ SA _i in the ship deployment area on the first day as the center of the circle, the The intersection of the area covered by the circle and the ship deployment area on the second day is the area where the survey ship can be laid out corresponding to a certain grid on the second day. For all the grid traversal calculations in the ship deployment area on the first day, the survey ship can be obtained Each fine grid in the ship layout area on the first day corresponds to the ship layout area on the second day, and the fine grid points corresponding to the survey ship layout on the second day are obtained;

Then calculate the fine grid points of the survey ship and ship corresponding to the third day, ..., and the Nth day according to the above method.

Wherein, during the working process of the measurement and control required area acquisition module, for the fine grid points recorded by the fine grid point acquisition module, the circumscribed convex polygon formed by the survey ship position layout area is calculated according to the following rules;

Envelop the area constructed by all discrete points to form the final ship position layout area; define the longitude axis of the coordinate system as the X axis, and the latitude axis as the Y axis;

The calculation process is as follows:

1) For the fine grid points that are respectively in discrete states recorded by the fine grid point acquisition module, in the discrete points, find a point to ensure that the y coordinate is the largest, and the x coordinate minimum point is recorded as A ₁ point;

2) With point A ₁ as the origin, X-axis scans clockwise along the positive ray A ₁ x, find the point scanned when the rotation angle is the smallest, and record it as point B ₁ ;

3) Take point B1 as the origin, scan the ray A ₁ B ₁ clockwise in the direction of A ₁ B ₁ , and find the point scanned when the rotation angle is the smallest, which is recorded as point C ₁ ;

4) Take point C ₁ as the origin, scan the ray B ₁ C ₁ in the direction of B ₁ C ₁ clockwise, and find the point scanned when the rotation angle is the smallest, which is recorded as point D ₁ ;

By analogy, until the starting point A ₁ is found; thus, a circumscribed convex polygon whose starting point is A ₁ and the most important point is also A ₁ is formed.

(3) Beneficial effects

Compared with the prior art, the present invention adopts a grid-based ship position layout calculation optimization scheme, which greatly reduces the calculation amount and improves the calculation efficiency under the premise of ensuring the comprehensiveness and accuracy of the ship position deployment calculation.

Description of drawings

Figure 1 is a schematic diagram of coverage area subdivision optimization.

Fig. 2 is a schematic diagram of a convex polygon calculation method.

Detailed ways

In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

In order to solve the above technical problems, the present invention provides a speed optimization system based on grid ship position layout calculation, said optimization system includes: grid rough division module, first calculation module, grid subdivision module, second calculation module, Fine grid point acquisition module, measurement and control required area acquisition module;

Wherein, the grid coarse division module is used to calculate the ship deployment area of the first and last downward sea surface of multiple ballistic maritime measurement and control arcs within one day, respectively take the intersection, and perform grid rough division on the intersection of the ship deployment area;

The first operation module is used to loop through the visibility and link communication conditions of each coarse grid in the calculation area for the measurement and control arc, and record the coarse grid that meets the requirements;

The grid subdivision module is used to subdivide the coarse grid satisfying the conditions according to the precision requirement to obtain the fine grid;

The second operation module is used to loop through and calculate the visibility and link communication conditions of each fine grid to the measurement and control arc in the coarse grid that meets the conditions, and record the fine grid that meets the requirements;

Repeat the work of the grid subdivision module and the second operation module until the grid precision of the fine grid meets the task requirements and stop the calculation;

The fine grid point acquisition module is used to record the fine grid that satisfies the constraint for N consecutive days to obtain the fine grid point;

The measurement and control requirement area acquisition module is used to calculate the circumscribed convex polygon formed by the deployment area according to the fine grid points that meet the requirements; then the area inside the polygon is the area where a measurement ship performs measurement and control requirements for multiple ballistic trajectories for N consecutive days.

Wherein, during the working process of the grid coarse division module, calculate the multiple sea surface ship distribution areas corresponding to the starting point of the first day's multiple ballistic sea flight segments, and take the intersection of the areas as area A; simultaneously calculate the first day's multiple Area B is the intersection of multiple sea surface deployment areas corresponding to the end point of the ballistic sea flight segment.

Among them, in the working process of the coarse grid division module, there are two cases: in the first case, if there is an intersection area C between area A and area B, then a survey ship can be deployed in area C to meet the requirements of the first day. In the second case, if there is no intersection between area A and area B, it means that the task requires two or more survey ships for measurement and control.

Wherein, in the first case in the working process of the coarse mesh division module, because the area is small and only one survey ship is needed, the area C can be divided into longitude and latitude according to the calculation accuracy requirements, directly forming multiple Fine grid, and according to the first operation module looping through the visibility and link communication of each fine grid in the calculation area C, record the fine grid that can satisfy the visibility and link communication of the entire arc .

Wherein, in the second case in the working process of the coarse grid division module, the area A and the area B are subjected to preliminary longitude and latitude grid division, and the measurement ship in the calculation area A is cycled through according to the first calculation module. The visibility and link communication situation of S _A to the corresponding measurement and control arc section, and the visibility and link communication situation of the measurement and control arc section corresponding to the measurement ship S _B in area B; find the area that can meet the full coverage of rocket trajectory measurement and control Mesh M ₁ A _i in A and mesh M ₁ B _j in region B, form a coarse mesh pair M ₁ A _i and M ₁ B _j .

Wherein, during the working process of the grid subdivision module and the second operation module, all the coarse grid pairs M ₁ A _i and M ₁ B _j found are subdivided into grids, and each subdivision network is calculated by cyclic traversal. In the grid, the visibility and link communication conditions of the measurement ship S _A to the corresponding measurement and control arc, and the visibility and link communication conditions of the measurement and control arc corresponding to the measurement ship S _B are recorded in the coarse grids of area A and area B Align fine grid pairs that can meet full arc visibility and link communication.

Among them, in the process of repeating the work of the grid subdivision module and the second operation module, the fine grid pairs are further divided until the grid accuracy meets the task requirements, and at the same time, the visibility and link communication of the corresponding measurement and control arcs are satisfied. Stop the calculation when it is fully covered, and record all found fine grid pairs M ₁ SA _i and M ₁ SB _j .

Wherein, in the working process of the fine grid point acquisition module, according to the working process of the grid rough division module, the first operation module, the grid subdivision module, and the second operation module, respectively calculate the second day, the third Day..., the TT&C coverage performance of the launch trajectory on the Nth day; record the fine mesh pairs M ₂ SA _i and M ₂ SB _j that meet the visibility and link communication constraints on the second day, the third day..., the Nth day, M ₃ SA _i and M ₃ SB _j ..., M _N SA _i and M _N SB _j .

Wherein, during the working process of the fine grid point acquisition module, according to the distance D that the measuring ship moves every day as the radius, a circle is made with a certain fine grid M ₁ SA _i in the ship deployment area on the first day as the center of the circle, the The intersection of the area covered by the circle and the ship deployment area on the second day is the area where the survey ship can be laid out corresponding to a certain grid on the second day. For all the grid traversal calculations in the ship deployment area on the first day, the survey ship can be obtained Each fine grid in the ship layout area on the first day corresponds to the ship layout area on the second day, and the fine grid points corresponding to the survey ship layout on the second day are obtained;

Then calculate the fine grid points of the survey ship and ship corresponding to the third day, ..., and the Nth day according to the above method.

Wherein, during the working process of the measurement and control required area acquisition module, for the fine grid points recorded by the fine grid point acquisition module, the circumscribed convex polygon formed by the survey ship position layout area is calculated according to the following rules;

Envelop the area constructed by all discrete points to form the final ship position layout area; define the longitude axis of the coordinate system as the X axis, and the latitude axis as the Y axis;

The calculation process is as follows:

1) For the fine grid points that are respectively in discrete states recorded by the fine grid point acquisition module, in the discrete points, find a point to ensure that the y coordinate is the largest, and the x coordinate minimum point is recorded as A ₁ point;

2) With point A ₁ as the origin, X-axis scans clockwise along the positive ray A ₁ x, find the point scanned when the rotation angle is the smallest, and record it as point B ₁ ;

3) Take point B1 as the origin, scan the ray A ₁ B ₁ clockwise in the direction of A ₁ B ₁ , and find the point scanned when the rotation angle is the smallest, which is recorded as point C ₁ ;

4) Take point C ₁ as the origin, scan the ray B ₁ C ₁ in the direction of B ₁ C ₁ clockwise, and find the point scanned when the rotation angle is the smallest, which is recorded as point D ₁ ;

By analogy, until the starting point A ₁ is found; thus, a circumscribed convex polygon whose starting point is A ₁ and the most important point is also A ₁ is formed.

In addition, the present invention also provides a speed optimization method based on grid ship position layout calculation, the optimization method can solve the problems of repeated calculation and large amount of calculation in grid-based calculation of ship position, and effectively improve calculation efficiency;

The optimization method includes:

Step 1: Calculate the ship deployment area of multiple ballistic maritime measurement and control arcs in one day, and take the intersection respectively, and roughly divide the intersection of the ship deployment area into a grid;

Step 2: Loop through the visibility and link communication status of each coarse grid in the calculation area for the measurement and control arc, and record the coarse grids that meet the requirements;

Step 3: Subdivide the coarse grid that meets the conditions according to the accuracy requirements to obtain a fine grid;

Step 4: In the coarse grid that meets the conditions, loop through and calculate the visibility and link communication of each fine grid to the measurement and control arc, and record the fine grid that meets the requirements;

Step 5: Repeat step 3 and step 4 until the grid accuracy of the fine grid meets the task requirements and stop the calculation;

Step 6: Record the fine grid that meets the constraints for N consecutive days, obtain the fine grid points, and eliminate the ship's position points that do not meet the requirements;

Step 7: Calculate the circumscribed convex polygon formed by the deployment area according to the fine grid points that meet the requirements;

Then the area inside the polygon is the area where a survey ship needs to measure and control multiple trajectories for N consecutive days.

Wherein, in the step 1, calculate a plurality of sea surface ship deployment areas corresponding to the starting point of multiple ballistic sea flight segments on the first day, take the intersection of the areas as area A; simultaneously calculate the end points of multiple ballistic sea flight segments on the first day For the corresponding multiple ship deployment areas on the sea, the intersection of the areas is taken as area B.

Wherein, in the step 1, there are two cases: the first case, if there is an intersection area C between area A and area B, then deploying a survey ship in area C can meet the measurement and control requirements on the first day; In this case, if there is no intersection between area A and area B, it means that the task requires two or more survey ships for measurement and control.

Wherein, in the first case of step 1, because the area is small and only one survey ship is needed, the area C can be divided into longitude and latitude according to the calculation accuracy requirements, directly forming multiple fine grids, and according to the step 2 Cycle through and calculate the visibility and link communication of each fine grid in area C to the measurement and control arc, and record the fine grid that can satisfy the visibility and link communication of the entire arc.

Wherein, in the second case of step 1, area A and area B are roughly divided into longitude and latitude grids, and the visibility of the survey ship S _A in area A to the corresponding measurement and control arc is calculated according to step 2. At the same time, calculate the visibility and link communication conditions of the measurement and control arc corresponding to the measurement ship S _B in area B; find the grid M ₁ A _i in area A that can meet the full coverage of rocket trajectory measurement and control and the mesh M ₁ B _j in region B, forming a coarse mesh pair M ₁ A _i and M ₁ B _j .

Wherein, in the step 3 and step 4, all the coarse grid pairs M ₁ A _i and M ₁ B _j found are subdivided into grids, and the corresponding pairs of the surveying ship S _A in each subdivided grid are calculated by cyclic traversal. The visibility and link communication of the TT&C arc, as well as the visibility and link communication of the TT&C arc corresponding to the survey ship S _B , are recorded in the coarse grid pair of area A and area B to meet the requirement that the entire arc can be seen Fine mesh pairs for sex and link communication.

Wherein, in the step 5, the fine grid pairs are further divided, and the steps 3 and 4 are repeated until the grid accuracy meets the task requirements, and at the same time, the visibility of the corresponding measurement and control arc segment and the full coverage of the link communication are satisfied. Calculate and record all found fine grid pairs M ₁ SA _i and M ₁ SB _j .

Wherein, in the step 6, according to the method of steps 1 to 5, respectively calculate the measurement and control coverage performance of the launch trajectory on the second day, the third day..., and the Nth day; record the second day, the third day..., the Nth day N-day fine grid pairs M ₂ SA _i and M ₂ SB _j , M ₃ SA _i and M ₃ SB _j ... , M _N SA _i and M _N SB _j satisfying visibility and link communication constraints.

Wherein, in the step 6, according to the distance D that the measuring ship moves every day as the radius, a circle is made with a certain fine grid M ₁ SA _i in the ship deployment area on the first day as the center of the circle, and the area covered by the circle is the same as that of the second The intersection of the two-day ship deployment area is the layout area corresponding to a certain grid of the survey ship on the second day. For all the grid traversal calculations in the first day ship deployment area, the survey ship in the first day ship deployment area can be obtained Each fine grid corresponds to the next day's ship deployment area, and the corresponding survey ship's fine grid points are obtained on the second day;

Then calculate the fine grid points of the survey ship and ship corresponding to the third day, ..., and the Nth day according to the above method.

Wherein, in the step 7, for the fine grid points recorded in the step 6, the circumscribed convex polygon formed by the surveying ship's position layout area is calculated according to the following rules;

Envelop the area constructed by all discrete points to form the final ship position layout area; define the longitude axis of the coordinate system as the X axis, and the latitude axis as the Y axis;

The calculation process is as follows:

1) For the fine grid points that are respectively in discrete states recorded in the step 6, in the discrete points, find a point to ensure that the y coordinate is the largest, and the x coordinate minimum point is denoted as A ₁ point;

2) With point A ₁ as the origin, X-axis scans clockwise along the positive ray A ₁ x, find the point scanned when the rotation angle is the smallest, and record it as point B ₁ ;

3) Take point B1 as the origin, scan the ray A ₁ B ₁ clockwise in the direction of A ₁ B ₁ , and find the point scanned when the rotation angle is the smallest, which is recorded as point C ₁ ;

4) Take point C ₁ as the origin, scan the ray B ₁ C ₁ in the direction of B ₁ C ₁ clockwise, and find the point scanned when the rotation angle is the smallest, which is recorded as point D ₁ ;

By analogy, until the starting point A ₁ is found; thus, a circumscribed convex polygon whose starting point is A ₁ and the most important point is also A ₁ is formed.

Example 1

Taking the launch of the carrier rocket before and after the separation of the satellite and the rocket, more than one survey ship is required to complete the continuous tracking, measurement and control of multiple launch trajectories within a certain interval for multiple days and multiple launch trajectories in the sea flight section of the carrier rocket. The specific implementation of the present invention will be described in conjunction with the accompanying drawings . Specific steps are as follows:

Step 1. Calculate the multiple sea surface ship deployment areas corresponding to the starting points of the multiple ballistic sea flight segments on the first day, and take the intersection of the areas as area A; at the same time calculate the multiple sea surface corresponding to the end points of the multiple ballistic sea flight segments on the first day For the ship deployment area, take the intersection of the areas as area B.

There are two situations at this time: in the first case, if there is an intersection area C between area A and area B, then deploying a survey ship in area C can meet the measurement and control requirements on the first day; in the second case, if area A If there is no intersection with area B, it means that the task requires two or more survey ships for measurement and control.

Step 2. In the first case, because the area is small and only one survey ship is needed, the area C can be divided into longitude and latitude according to the calculation accuracy requirements to form multiple fine grids, and loop through each of the calculation area C The visibility and link communication of the grid to the key arc, and the grid that can meet the visibility and link communication of the entire arc are recorded.

Step 3. In the second case, carry out rough division of latitude and longitude grids in area A and area B, loop through and calculate the visibility and link communication of the measurement ship S _A in area A to the corresponding measurement and control trajectory, and calculate at the same time Visibility and link communication of the TT&C trajectory corresponding to the survey ship S _B in area B. Find the grid M ₁ A i in area A _and the grid M ₁ B _j in area B that can meet the full coverage of rocket trajectory measurement and control, and form a coarse grid pair M ₁ A _i and M ₁ B _j ;

The rough grid division method is as follows, taking the circular area of the sea surface corresponding to the starting point of the sea flight segment as an example:

Calculate the diameter D of the circular area. After multiple mission analysis, the value of D is between 1000 kilometers and 3000 kilometers. In order to ensure the calculation efficiency of the first rough division, after several calculation experiments, it is found that when D∈(1000,2000) km, the rough division grid step size d is 100 km; when D∈(2000,3000) km When , the coarse grid step size d is 200 km;

Step 4. Subdivide all the coarse grids found in step 3 to M ₁ A _i and M ₁ B _j , and loop through to calculate the visibility of the measurement ship S _A to the corresponding measurement and control trajectory in each subdivision grid and link communication, as well as the visibility and link communication of the TT&C trajectory corresponding to the survey ship S _B , recorded in the coarse grid pair of area A and area B, which can meet the requirements of full arc visibility and link communication. grid pair.

The grid subdivision method is as follows.

As shown in Figure 1. A and B are the starting point and ending point of the sea flight segment, circle C and circle D are the sea coverage area of the starting point and ending point respectively, ∠α is the maximum elevation angle value of the antenna, the starting point sub-satellite point height is h, point O is circle C and circle D The midpoint of the line connecting the centers of the circles. For the rocket launch maritime measurement and control mission, the relevant constraints include the number of survey ships (N), the distance to the sub-satellite point (h), the range of the antenna elevation angle, and the length of the mission arc. According to the relevant constraints:

The subdivision grid step size d' is:

d'=d·Δ

Step 5, further divide the fine grid, repeat steps 4 and 5, until the grid accuracy meets the task requirements, and at the same time meet the full coverage of the corresponding measurement and control trajectory visibility and link communication, stop calculation, and record all found fine grids. Mesh pairs M ₁ SA _i and M ₁ SB _j .

Step 6. According to the methods in steps 1 to 5, respectively calculate the measurement and control coverage performance of the launch trajectory on the second day, the third day..., and the Nth day. Record the fine grid pairs M ₂ SA _i and M ₂ SB _j , M ₃ SA i and M ₃ SB _j ..., M _N that satisfy the visibility and link communication constraints on the second day _, the third day..., the N day SA _i and M _N SB _j ;

Step 7. According to the distance D that the measuring ship moves every day as the radius, make a circle with a certain grid M ₁ SA _i in the ship deployment area on the first day as the center of the circle. The area covered by the circle is the same as the ship deployment area on the second day The intersection of the survey ship is the layout area corresponding to a certain grid of the survey ship on the second day, and the traversal calculation of all the grids in the ship deployment area on the first day can be obtained. The next day the boat area.

Step 8. According to the method of step 7, calculate the fine grid points of the survey ship and ship corresponding to the third day, ..., the Nth day.

Step 9. For the points recorded in step 8, calculate the circumscribed convex polygon formed by the location layout area of the survey ship according to the following rules.

Envelope the area constructed by all discrete points to form the final ship position layout area. The calculation method is shown in Figure 2, where the X-axis in the figure is the longitude axis and the Y-axis is the latitude axis.

The calculation process is as follows:

1) Among the discrete points, when the y coordinate is guaranteed to be the largest, the point with the smallest x coordinate is recorded as point A;

2) With the point A as the origin, the X-axis scans the forward ray Ax clockwise, and finds the point scanned when the rotation angle is the smallest, which is recorded as point B;

3) Take point B as the origin, scan the ray AB clockwise in the direction of AB, find the point scanned when the rotation angle is the smallest, and record it as point C;

4) Take point C as the origin, scan the ray BC clockwise in the BC direction, and find the point scanned when the rotation angle is the smallest, which is recorded as point D;

And so on until the starting point A is found.

Step 10. If the grid pair M ₁ A _i and M ₁ B _j is not found until the grid accuracy meets the task requirements in step 5, it means that at least three survey ships are needed to carry out the measurement and control task. At this time, take the intersection D of the measurement and control area where the middle point of the head and tail of each ballistic sea flight measurement and control section is on the sea surface as the deployable area of the third measurement ship. Divide areas A, B, and D into grids from coarse to fine according to the method of step 4 to step 10, and simultaneously calculate the visibility of the measurement and control ballistics corresponding to the survey ship S _A , survey ship S _B and survey ship S _D and link communications. Record the grid pairs that can fully cover the rocket trajectory for N consecutive days, and find a suitable ship deployment area according to the daily moving distance constraints of the measuring ship.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.

Claims (4)

1. A speed optimization system based on grid ship position layout calculation, it is characterized in that, described optimization system comprises: grid coarse division module, the first operation module, grid subdivision module, the second operation module, fine grid Point acquisition module, measurement and control required area acquisition module; Wherein, the grid coarse division module is used to calculate the ship deployment area of the first and last downward sea surface of multiple ballistic maritime measurement and control arcs within one day, respectively take the intersection, and perform grid rough division on the intersection of the ship deployment area; The first operation module is used to loop through the visibility and link communication conditions of each coarse grid in the calculation area for the measurement and control arc, and record the coarse grid that meets the requirements; The grid subdivision module is used to subdivide the coarse grid satisfying the conditions according to the precision requirement to obtain the fine grid; The second operation module is used to loop through and calculate the visibility and link communication conditions of each fine grid to the measurement and control arc in the coarse grid that meets the conditions, and record the fine grid that meets the requirements; Repeat the work of the grid subdivision module and the second operation module until the grid precision of the fine grid meets the task requirements and stop the calculation; The fine grid point acquisition module is used to record the fine grid that satisfies the constraint for N consecutive days to obtain the fine grid point; The measurement and control requirement area acquisition module is used to calculate the circumscribed convex polygon formed by the deployment area according to the fine grid points that meet the requirements; then the area within the polygon is an area where a measurement ship performs measurement and control requirements for multiple ballistic trajectories for N consecutive days; In the working process of the grid coarse division module, calculate the multiple sea surface ship distribution areas corresponding to the starting point of the first day's multiple ballistic sea flight segments, and take the intersection of the areas as area A; simultaneously calculate the first day multiple ballistic sea flight sections The intersection of multiple sea surface ship deployment areas corresponding to the end of the flight segment is taken as area B; In the working process of the coarse grid division module, there are two cases: the first case, if there is an intersection area C between area A and area B, then a survey ship can be deployed in area C to meet the measurement and control on the first day requirements; in the second case, if there is no intersection between area A and area B, it means that the task requires two or more surveying ships for measurement and control; In the first case in the working process of the coarse mesh division module, because the area is small and only one survey ship is needed, the area C can be divided into longitude and latitude according to the calculation accuracy requirements, and multiple fine meshes can be directly formed grid, and according to the first operation module looping through each fine grid in the calculation area C, the visibility and link communication of the measurement and control arc section are recorded, and the fine grid that can meet the visibility and link communication of the entire arc section is recorded; In the second case in the working process of the coarse grid division module, the area A and area B are subjected to preliminary longitude and latitude grid division, and the survey ship S _A in the calculation area A is traversed according to the first operation module For the visibility and link communication of the corresponding measurement and control arc, calculate the visibility and link communication of the measurement and control arc corresponding to the measurement ship S _B in area B; find the area A that can meet the full coverage of rocket trajectory measurement and control The grid M ₁ A _{i of} and the grid M ₁ B _j in area B form a coarse grid pair M ₁ A _i and M ₁ B _j ; During the working process of the grid subdivision module and the second operation module, all the coarse grids found will be subdivided into M ₁ A _i and M ₁ B _j , and the cycle traversal calculation in each subdivision grid The visibility and link communication conditions of the corresponding TT&C arc from the survey ship S _A , and the visibility and link communication of the TT&C arc corresponding to the survey ship S _B , are recorded in the coarse grid pairs of area A and area B A fine grid pair that can meet the full arc visibility and link communication; In the process of repeating the work of the grid subdivision module and the second operation module, the fine grid pairs are further divided until the grid accuracy meets the task requirements, and at the same time meets the full coverage of the corresponding measurement and control arc segment visibility and link communication Stop calculation when , and record all found fine grid pairs M ₁ SA _i and M ₁ SB _j . 2. the speed optimization system based on grid ship position layout calculation as claimed in claim 1, it is characterized in that, in the working process of described fine grid point acquisition module, according to grid coarse division module, first computing module, network The working process of the grid subdivision module and the second calculation module calculates the measurement and control coverage performance of the launch trajectory on the second day, the third day... and the Nth day respectively; records the satisfaction of the second day, the third day... and the Nth day Fine mesh pairs of visibility and link communication constraints M ₂ SA _i and M ₂ SB _j , M ₃ SA _i and M ₃ SB _j ..., M _N SA _i and M _N SB _j . 3. the speed optimization system based on grid ship position layout calculation as claimed in claim 1, is characterized in that, in the working process of described fine grid point acquisition module, according to the distance D that surveying ship moves every day is radius, with the first A certain fine grid M ₁ SA _i in the ship deployment area on one day is the center of the circle, and the intersection of the area covered by the circle and the ship deployment area on the second day is the corresponding grid of the survey ship on the second day. The layout area can be calculated by traversing all the grids in the ship layout area on the first day, and the ship layout area corresponding to each fine grid in the ship layout area of the survey ship on the first day can be obtained, and the corresponding measurement on the second day can be obtained Fine grid points for boat cloth; Then calculate the fine grid points of the survey ship and ship corresponding to the third day, ..., and the Nth day according to the above method. 4. the speed optimization system based on grid ship position layout calculation as claimed in claim 3, is characterized in that, in the working process of described measurement and control requirement area acquisition module, for the fine grid point that fine grid point acquisition module records , according to the following rules to calculate the circumscribed convex polygon formed by the location layout area of the survey ship; Envelop the area constructed by all discrete points to form the final ship position layout area; define the longitude axis of the coordinate system as the X axis, and the latitude axis as the Y axis; The calculation process is as follows: 1) For the fine grid points that are respectively in discrete states recorded by the fine grid point acquisition module, in the discrete points, find a point to ensure that the y coordinate is the largest, and the x coordinate minimum point is recorded as A ₁ point; 2) With point A ₁ as the origin, X-axis scans clockwise along the positive ray A ₁ x, find the point scanned when the rotation angle is the smallest, and record it as point B ₁ ; 3) Take point B1 as the origin, scan the ray A ₁ B ₁ clockwise in the direction of A ₁ B ₁ , and find the point scanned when the rotation angle is the smallest, which is recorded as point C ₁ ; 4) Take point C ₁ as the origin, scan the ray B ₁ C ₁ in the direction of B ₁ C ₁ clockwise, and find the point scanned when the rotation angle is the smallest, which is recorded as point D ₁ ; By analogy, until the starting point A ₁ is found; thus, a circumscribed convex polygon whose starting point is A ₁ and the most important point is also A ₁ is formed.

Images