CN109508032A - Guided flight vehicle system and method for guidance with auxiliary unmanned plane - Google Patents
Guided flight vehicle system and method for guidance with auxiliary unmanned plane Download PDFInfo
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- CN109508032A CN109508032A CN201811516916.7A CN201811516916A CN109508032A CN 109508032 A CN109508032 A CN 109508032A CN 201811516916 A CN201811516916 A CN 201811516916A CN 109508032 A CN109508032 A CN 109508032A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention discloses a kind of guided flight vehicle systems and method of guidance with auxiliary unmanned plane, the system includes the aircraft to fly towards target direction and the unmanned plane in certain area around target, by the unmanned plane for obtaining target position information in real time, and after finding aircraft, target position information and Aircraft position information are transmitted to aircraft in real time；Aircraft is stated to be guidanceed command according to target position information and Aircraft position information generation, its own target is controlled, even if target, in movement, aircraft can also obtain newest target position information in real time, and when necessary, unmanned plane can also provide new target for aircraft.
Description
Technical field
The present invention relates to the guidance control systems of guided flight vehicle, and in particular to a kind of guidance with auxiliary unmanned plane is winged
Row device system and method for guidance.
Background technique
Guided flight vehicle it is many kinds of, function is had nothing in common with each other, wherein needs to add in more mature guided flight vehicle
Target seeker, such as laser seeker provide accurate target position by artificial laser irradiation target in terminal guidance section for aircraft,
To be guided, but such aircraft own cost is higher, and needs to be irradiated by people in the position by close-target and swash
Light, risk are higher；
If removing the target seeker in guided flight vehicle, the cost of aircraft, such flight can be greatly lowered
Device, which typically only passes through satellite-signal, to be guided, but its own is difficult to obtain accurate target position, and the position of target
Setting is also likely to be variation, so guidance precision need to be improved, in addition, in fact, being likely to be satellite letter around target
Number blind zone can not know the position of its own by satellite-signal after aircraft enters the blind zone, more without
Method carries out Guidance and control.
The present inventor furthers investigate existing guided flight vehicle system and method for guidance due to the above reasons, with
A kind of new guided flight vehicle system and method for guidance for being able to solve the above problem is designed in expectation.
Summary of the invention
In order to overcome the above problem, present inventor has performed sharp studies, design a kind of system with auxiliary unmanned plane
Aerocraft system is led, which includes nobody towards the aircraft of target direction flight and in certain area around target
Machine is transmitted to aircraft in real time by the unmanned plane for obtaining target position information in real time, and after finding aircraft
Target position information and Aircraft position information；It states aircraft and guidance is generated according to target position information and Aircraft position information
Instruction, controls its own target, even if target, in movement, aircraft can also obtain newest target position letter in real time
Breath, and when necessary, unmanned plane can also provide new target for aircraft, thereby completing the present invention.
In particular it is object of the present invention to provide a kind of guided flight vehicle system with auxiliary unmanned plane, this is
System include towards target direction fly aircraft 1 and the unmanned plane 2 in certain area around target,
The unmanned plane 2 obtains target position information for real-time, and after finding aircraft 1, in real time to aircraft
Transmit target position information and Aircraft position information；
The aircraft 1 can receive the information that unmanned plane 2 passes out,
The aircraft 1, which can generate, guidances command, and controls its own target.
Wherein, the unmanned plane is located at except the satellite-signal blind zone of target proximity,
Satellite signal receiving apparatus 21, camera 22, laser range finder 23 and airborne appearance are provided on the unmanned plane
State measurement module 24；
The location information of unmanned plane itself is known by the satellite signal receiving apparatus 21,
Target is captured and tracked by the camera 22,
The distance between target and unmanned plane are known in real time by the laser range finder 23,
Know target relative to the direction where unmanned plane in real time by the airborne attitude measurement module 24；
To know the location information of target in real time.
Wherein, radar module 25 is additionally provided on the unmanned plane,
Aircraft 1 is found by the radar module 25, and calculates Aircraft position information.
Wherein, data radio station 26 is provided on the unmanned plane,
Target position information and Aircraft position information are transmitted to aircraft 1 by the data radio station 26.
Wherein, it is provided with satellite signal reception module 11 on the aircraft 1, is used to know in real time aircraft 1
Location information,
It is filled with target position information in the aircraft 1,
It is additionally provided with Guidance and control module 12 on the aircraft 1,
The Guidance and control module 12 is used to be guidanceed command according to target position information and Aircraft position information generation, controls
Make its own target.
Wherein, it is provided with data radio station information receiving module 13 on the aircraft 1,
The target position information that is passed out by the 13 real-time reception unmanned plane 2 of data radio station information receiving module and fly
Row device location information.
Wherein, it is additionally provided in the aircraft 1 and loses star judgment module 14,
Judge whether to lose star by the star judgment module 14 of losing,
When not losing star, the Aircraft position information that satellite signal reception module 11 obtains is passed into Guidance and control module
12 guidance command to generate；
When losing star, by data radio station information receiving module 13 it is received to Aircraft position information pass to guidance control
Molding block 12 is guidanceed command to generate.
Wherein, after the data radio station information receiving module 13 receives target position information, pass through the mesh received
Cursor position information replaces target position information filling in the aircraft 1, and use is so that Guidance and control module 12 generates system
Lead instruction.
Wherein, the camera 22 is also used to continue to capture and track target after the aircraft lands, by judging target
Injure situation, choose whether for other aircraft replace target position information.
The present invention also provides a kind of method of guidance of guided flight vehicle, this method is by guided flight as described above
What device system was realized.
Beneficial effect possessed by the present invention includes:
(1) without volume in the guided flight vehicle system midcourse guidance aircraft with auxiliary unmanned plane provided according to the present invention
The first-class expensive device of outer las er-guidance, the lower production costs of the guided flight vehicle；
(2) although the guided flight vehicle system midcourse guidance aircraft with auxiliary unmanned plane provided according to the present invention utilizes
The satellite-signal of advantage of lower cost is guided, but have around target satellite-signal shield or interference in the case where according to
It can so hit target；
(3) in the guided flight vehicle system for having auxiliary unmanned plane and method of guidance provided according to the present invention, even if mesh
Mark is moveable or initial fill is to carry-on target position inaccuracy, can be hit target；
(4) in the guided flight vehicle system for having auxiliary unmanned plane and method of guidance provided according to the present invention, pass through nothing
Man-machine capture and target is tracked, situation adjustment can be injured to the control strategy of other aircraft, if target according to target
It injures situation and reaches desired value, can control other aircraft and hit other targets, if target Damage situation is not up to desired value,
It can control other aircraft and hit the target again.
Detailed description of the invention
The guided flight vehicle system with auxiliary unmanned plane that Fig. 1 shows a kind of preferred embodiment according to the present invention is whole
Architecture logic figure；
Fig. 2 shows mesh in a kind of guided flight vehicle system with auxiliary unmanned plane of preferred embodiment according to the present invention
Relative angle schematic diagram between punctuate and unmanned plane；
Fig. 3, which is shown in the guided flight vehicle system with auxiliary unmanned plane of a kind of preferred embodiment according to the present invention, to fly
Relative angle schematic diagram between row device and unmanned plane.
Drawing reference numeral explanation:
1- aircraft
11- satellite signal reception module
12- Guidance and control module
13- data radio station information receiving module
14- loses star judgment module
2- unmanned plane
21- satellite signal receiving apparatus
22- camera
23- laser range finder
The airborne attitude measurement module of 24-
25- radar module
26- data radio station
Specific embodiment
Below by drawings and examples, the present invention is described in more detail.Illustrated by these, the features of the present invention
It will be become more apparent from advantage clear.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.Although each of embodiment is shown in the attached drawings
In terms of kind, but unless otherwise indicated, it is not necessary to attached drawing drawn to scale.
A kind of guided flight vehicle system with auxiliary unmanned plane provided according to the present invention, which includes towards target
The aircraft 1 and the unmanned plane 2 in certain area around target of direction flight,
The unmanned plane 2 obtains target position information for real-time, and after finding aircraft 1, in real time to aircraft
Transmit target position information and Aircraft position information；
The aircraft 1 can receive the information that unmanned plane 2 passes out,
The aircraft 1, which can generate, guidances command, and controls its own target.
In one preferred embodiment, the unmanned plane is located at except the satellite-signal blind zone of target proximity, i.e.,
Unmanned plane position can receive satellite-signal, so as to know the location information of unmanned plane itself,
Satellite signal receiving apparatus 21, camera 22, laser range finder 23 and airborne appearance are provided on the unmanned plane
State measurement module 24；
The location information of unmanned plane itself is known by the satellite signal receiving apparatus 21,
Target is captured and tracked by the camera 22,
The distance between target and unmanned plane are known in real time by the laser range finder 23,
Know target relative to the orientation angle where unmanned plane in real time by the airborne attitude measurement module 24；
To know the location information of target in real time.
Preferably, the real-time computing technique of target position can there are many, can choose calculating side as known in the art
Method is calculated, and is not specially limited in the application to this,
As embodiment, following methods can be selected to know the location information of target:
As shown in Figure 2, using unmanned plane position as the origin of inertial coodinate system in the figure, point T expression is detected
Target position, the distance between target point and unmanned plane R can be obtained by laser range finder 23, and dotted line is target point in figure
Line is in X between unmanned plane point1-Y1The projection of plane, angle δ and α can be obtained by airborne attitude measurement module 24
, so as to know coordinate (X of the target under inertial systemT,YT,ZT) it is (Rsin α * sin δ, Rsin α * cos δ, Rcos α).
Satellite signal receiving apparatus 21 described herein includes that GPS receiver, Beidou receiver and GLONASS are received
One of machine is a variety of, and GPS receiver receives GPS satellite signal, and Beidou receiver receives Big Dipper satellite signal, GLONASS
Receiver receives GLONASS satellite signal, can select to install according to the actual situation；
Camera 22 described herein is existing airborne camera in this field, can complete target acquistion task
, this is not specially limited in the application；
Laser range finder 23 described herein is existing laser range finder in this field, can complete distance measurement
Task is not specially limited this in the application；
Airborne attitude measurement module 24 described herein is existing attitude measurement module in this field, can be measured
Target is not specially limited this in the application relative to the orientation angle where unmanned plane；
In one preferred embodiment, radar module 25 is additionally provided on the unmanned plane,
Aircraft 1 is found by the radar module 25, and calculates Aircraft position information.The radar module 25 is used for
One section of airspace range between target position and vehicle launch point is detected, is less than setting value, flying speed when detecting volume
More than 150 metre per second (m/s)s, and heading be towards the direction of target position flying object when, that is, assert that the flying object is
The aircraft, and the location information of the aircraft is calculated in real time；
As shown in Figure 3, pass through defending on unmanned plane using unmanned plane position as the origin of inertial coodinate system in the figure
Star signal receiving device 21 knows the location information of unmanned plane itself, by radar module 25 read out unmanned plane and aircraft it
Between distance r, azimuth q and aircraft speed vm；So as to calculate Aircraft position information by radar module 25.
Radar module described herein can select existing airborne radar in the application, being capable of explorer vehicle hair
One section of airspace between exit point and target point, can such as detect the range of 10~20km diameter, to this in the application
It is not specially limited.
In one preferred embodiment, it is provided with data radio station 26 on the unmanned plane, is conducted electricity by the number
Platform 26 transmits target position information and Aircraft position information to aircraft 1.
For the data radio station 26 with data radio station information receiving module corresponding on aircraft to cooperation, having can be each other
The special frequency channel of identification, transmission range can select existing data radio station, Neng Goushi in this field within 20km
Existing above-mentioned function, the application are not specially limited this.
In one preferred embodiment, it is provided with satellite signal reception module 11 on the aircraft 1, be used for
The location information of aircraft 1 is known in real time,
It is filled with target position information in the aircraft 1,
It is additionally provided with Guidance and control module 12 on the aircraft 1,
The Guidance and control module 12 is used to be guidanceed command according to target position information and Aircraft position information generation, controls
Make its own target.
After aircraft starts to control, required overload is generated according to target position information and Aircraft position information, further according to winged
The roll angle for the aircraft that sensing element on row device obtains generates rudder and instructs partially, so that controlling steering engine plays steersman's work, so that flying
Row device target；Wherein, satellite signal reception module 11 and the satellite signal receiving apparatus 21 being arranged in unmanned plane are in function
It is almost the same on energy, it is all for receiving satellite-signal, requiring in performance for the satellite signal reception module 11 is higher, needs
Receiving area's science and engineering that satellite-signal is carried out in the case where higher rotation speed is made, and existing satellite letter in this field can be selected
Number receiving device.
Guidance and control module 12 of the present invention is carry-on core calculations chip, can be selected in the prior art
Existing computing chip is not specially limited this in the application.
In one preferred embodiment, it is provided with data radio station information receiving module 13 on the aircraft 1,
The target position information that is passed out by the 13 real-time reception unmanned plane 2 of data radio station information receiving module and fly
Row device location information.
In one preferred embodiment, it is additionally provided in the aircraft 1 and loses star judgment module 14,
Judge whether to lose star by the star judgment module 14 of losing,
When not losing star, the Aircraft position information that satellite signal reception module 11 obtains is passed into Guidance and control module
12 guidance command to generate；
When losing star, by data radio station information receiving module 13 it is received to Aircraft position information pass to guidance control
Molding block 12 is guidanceed command to generate.
The star judgment module 14 of losing receives satellite-signal, when the star number of the satellite-signal received is lower than setting value
When, it is believed that in losing starlike state；Heretofore described setting value can be set according to actual condition, can be 4-5, excellent in the present invention
Selection of land is set as 4；
Preferably, the star judgment module 14 of losing can be individual computing chip, be also possible to be integrated into Guidance and control
A submodule in module 12, can be configured according to specific needs, be not specially limited in the application to this；
In one preferred embodiment, target position information is received in the data radio station information receiving module 13
Afterwards, target position information filling in the aircraft 1 is replaced by the target position information received, use is so that guidance
The generation of control module 12 is guidanceed command.I.e. after unmanned plane captures aircraft, the target position information of aircraft is exactly real
Shi Gengxin's, it can ensure to hit target in the case where target is mobile, additionally it is possible to when correcting initial it is filling on board the aircraft
Target position information deviation, when multiple aircraft successively towards when target direction flight, can also adjust in time it is subsequent fly
Row device changes other targets, so that the utilization efficiency of aircraft maximizes.
In one preferred embodiment, the camera 22 is also used to continue to capture after the aircraft lands and track
Target injures situation by judge target, chooses whether to replace target position information for other aircraft.
Wherein, it is optionally provided on the unmanned plane and injures evaluation module and the signal being connected with earth station transmission mould
Block is analysed whether also by the way that the picture print real-time delivery of target is injured evaluation module to earth station or real-time delivery
Other aircraft are needed further to attack the target, if also needing to attack the target, the unmanned plane is subsequent to give other flights
The target position information that device is sent is still the location information of the target, if no longer needing to attack the target, the unmanned plane
The subsequent target position information sent to other aircraft is the location information of other targets.
The judgement of the target Damage situation can choose existing method in this field there are many mode and principle
Judged with principle, it, can be by obtaining between target point and the true landing point of aircraft as most preferred embodiment
Distance injure the judgement of situation, when the distance value is less than setting value, it is believed that target is injured, can attack next mesh
Mark, when the distance value is greater than the set value, it is believed that fail to hit target, need to continue to attack the target, the setting value depends on
It is determined in the effective bursting radius and targeted species of aircraft, needs to be arranged as the case may be.
The present invention also provides a kind of method of guidance of guided flight vehicle, this method is by guided flight as described above
What device system was realized, specifically, this method comprises the following steps:
Step 1, before vehicle launch, filling targeted graphical and coordinate information in unmanned plane, and control unmanned plane and fly
To target；Preferably, real-time monitoring satellite-signal during unmanned plane target, when unmanned plane loses satellite-signal
When, unmanned plane backtracking is immediately controlled, it is ensured that unmanned plane, which is located at, to be received in the airspace of satellite-signal；
Step 2, when unmanned plane is within the scope of 8~15km of approaching target position, capture target is found by camera, and lead to
It crosses radar module and finds capture aircraft；
Step 3, it sets out after predetermined time or unmanned plane obtain target position information in unmanned plane, aircraft is from launch point
It takes off, target direction；
Step 4, unmanned plane passes through satellite signal receiving apparatus 21, laser range finder 23 after camera 22 captures target
Know the location information of target in real time with airborne attitude measurement module 24；
Step 5, unmanned plane knows Aircraft position information by radar module after radar module finds aircraft,
And target position information and Aircraft position information are transmitted to aircraft 1 in real time by data radio station 26；
Step 6, aircraft passes through target position information in real time and Aircraft position information generation is guidanceed command, and controls it certainly
Body target；
Step 7, after the aircraft lands, the unmanned plane continues to obtain the shape photo of target by camera, in conjunction with
At the aircraft lands moment, aircraft position and target position, comprehensive analysis target injure situation；When target
When injuring situation and meeting desired value, the location information of other targets near the unmanned plane selection passes to subsequent other and flies
Row device, when target is when injuring situation and being undesirably worth, the unmanned plane continues to select the location information of the target to pass to
Other subsequent aircraft.
Experimental example:
Have well to verify the guided flight vehicle system provided by the present application with auxiliary unmanned plane and method of guidance
Guidance precision, can around target satellite-signal shielding and target move in the case where hit target, pass through emulation experiment
Mode the feasibility of the system is verified；
Vehicle launch point distance objective point 50km is set, satellite-signal cannot be received within the scope of 5km around target point,
Unmanned plane hovers at distance objective point 7km in the direction close to launch point, and target is advanced with 10 meters of speed per second, nobody
Machine captures the location information of target in real time, starts to control in aircraft distance objective 30km, in distance objective 15km by nobody
Machine captures, and then receives target position information and Aircraft position information that unmanned plane transmitting comes, hereafter real-time update target
Location information, and still through the location information of carry-on satellite signal reception module acquisition aircraft, work as aircraft
Enter around target within the scope of 5km, after satellite-signal cannot being received again, according to unmanned plane transmitting come position of aircraft
Information is guided, and is finally hit target, and the circular proable error of the aircraft is 30 meters or so, reduce the movement speed of target after
Continuous emulation experiment, resulting circular proable error can be further increased to 10 meters or so.
It can illustrate the guided flight vehicle system and system provided by the invention with auxiliary unmanned plane by the emulation experiment
Guiding method can around target satellite-signal shielding and target move in the case where hit target.
Combining preferred embodiment above, the present invention is described, but these embodiments are only exemplary
, only play the role of illustrative.On this basis, a variety of replacements and improvement can be carried out to the present invention, these each fall within this
In the protection scope of invention.
Claims (10)
1. a kind of guided flight vehicle system with auxiliary unmanned plane, which is characterized in that the system includes flying towards target direction
Capable aircraft (1) and the unmanned plane (2) in certain area around target,
The unmanned plane (2) is finding after aircraft (1) for obtaining target position information in real time, in real time to aircraft
(1) target position information and Aircraft position information are transmitted；
The aircraft (1) can receive the information that unmanned plane (2) passes out,
The aircraft (1), which can generate, to be guidanceed command, its own target is controlled.
2. guided flight vehicle system according to claim 1, which is characterized in that
The unmanned plane (2) is located at except the satellite-signal blind zone of target proximity,
Satellite signal receiving apparatus (21), camera (22), laser range finder (23) and machine are provided on the unmanned plane (2)
It carries attitude measurement module (24)；
The location information of unmanned plane (2) itself is known by the satellite signal receiving apparatus (21),
Target is captured and tracked by the camera (22),
The distance between target and unmanned plane (2) are known in real time by the laser range finder (23),
Know target relative to the direction where unmanned plane (2) in real time by the airborne attitude measurement module (24)；
To know the location information of target in real time.
3. guided flight vehicle system according to claim 1, which is characterized in that
Radar module (25) are additionally provided on the unmanned plane (2),
Aircraft (1) is found by the radar module (25), and calculates aircraft (1) location information.
4. guided flight vehicle system according to claim 1, which is characterized in that
Data radio station (26) are provided on the unmanned plane (2),
Target position information and Aircraft position information are transmitted to aircraft (1) by the data radio station (26).
5. guided flight vehicle system according to claim 1, which is characterized in that
It is provided with satellite signal reception module (11) on the aircraft (1), is used to know in real time the position of aircraft (1)
Information,
It is filled with target position information in the aircraft (1),
Guidance and control module (12) are additionally provided on the aircraft (1),
The Guidance and control module (12) is used to be guidanceed command according to target position information and Aircraft position information generation, controls
Its own target.
6. guided flight vehicle system according to claim 1, which is characterized in that
Data radio station information receiving module (13) are provided on the aircraft (1),
The target position information that is passed out by data radio station information receiving module (13) the real-time reception unmanned plane (2) and fly
Row device location information.
7. guided flight vehicle system according to claim 5, which is characterized in that
It is additionally provided in the aircraft (1) and loses star judgment module (14),
Judge whether to lose star by the star judgment module (14) of losing,
When not losing star, the Aircraft position information that satellite signal reception module (11) obtain is passed into Guidance and control module
(12) it is guidanceed command to generate；
When losing star, by data radio station information receiving module (13) it is received to Aircraft position information pass to Guidance and control
Module (12) is guidanceed command to generate.
8. guided flight vehicle system according to claim 5, which is characterized in that
After the data radio station information receiving module (13) receives target position information, believed by the target position received
Breath replaces target position information filling in the aircraft (1), and use is so that Guidance and control module (12) generation guidance refers to
It enables.
9. guided flight vehicle system according to claim 2, which is characterized in that
The camera (22) is also used to continue to capture and track target after the aircraft lands, injures feelings by judge target
Condition chooses whether to replace target position information for other aircraft.
10. a kind of method of guidance of guided flight vehicle, which is characterized in that
This method is being realized by the guided flight vehicle system as described in claim 1~9.
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| CN111781955A (en) * | 2020-06-15 | 2020-10-16 | 北京理工大学 | Aircraft laser guidance control system and method provided with piloting helicopter |
| CN112066978A (en) * | 2020-09-17 | 2020-12-11 | 西安思丹德信息技术有限公司 | Ground target active positioning method and device suitable for airborne equipment |
| CN112204489A (en) * | 2019-11-05 | 2021-01-08 | 深圳市大疆创新科技有限公司 | Movable platform hovering method, movable platform and computer readable storage medium |
| CN112445230A (en) * | 2019-08-27 | 2021-03-05 | 北京理工大学 | High-dynamic aircraft multi-mode guidance system and guidance method under large-span complex environment |
| CN113671981A (en) * | 2020-05-14 | 2021-11-19 | 北京理工大学 | Remote laser guidance aircraft control system and control method thereof |
| CN113867376A (en) * | 2021-09-26 | 2021-12-31 | 北京临近空间飞行器系统工程研究所 | Launching control method for aircraft built-in load |
| WO2022022023A1 (en) * | 2020-07-28 | 2022-02-03 | 北京理工大学 | Method for controlling networking of laser terminal guidance aircrafts |
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