CN103770947A - Investigation irradiation system and method for unmanned helicopter - Google Patents
Investigation irradiation system and method for unmanned helicopter Download PDFInfo
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- CN103770947A CN103770947A CN201410032574.7A CN201410032574A CN103770947A CN 103770947 A CN103770947 A CN 103770947A CN 201410032574 A CN201410032574 A CN 201410032574A CN 103770947 A CN103770947 A CN 103770947A
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Abstract
The invention discloses an investigation irradiation system for an unmanned helicopter, which comprises an unmanned helicopter platform, a photoelectric pod and a ground measurement and control station, wherein the photoelectric pod is arranged above the unmanned helicopter platform and comprises a control electronic box, a photoelectric rotating tower and a laser electronic box; the control electronic box is respectively and bidirectionally communicated with the photoelectric rotating tower and the laser electronic box; the ground measurement and control station comprises measurement and control link equipment, interface equipment and control equipment; the control equipment is used for generating a rotating command and start and stop commands; the interface equipment is used for packaging the commands; and the measurement and control link equipment is used for transmitting the packaged commands to the control electronic box. The invention also discloses an investigation irradiation method for the unmanned helicopter. According to the invention, operational missions of investigation, target positioning, firepower spotting and the like can be independently carried out and end guidance is carried out on a laser end guided weapon.
Description
Technical field
The present invention relates to a kind of investigation irradiation system and method, be specifically related to a kind of investigation irradiation system and method for depopulated helicopter.
Background technology
Since 21 century, become the development tendency of future war as the unmanned plane of " point's the wing ", utilize unmanned plane to carry out target positioning, battlefield damage assessment, firepower school and penetrate, particularly utilize unmanned plane to replace to have people's vehicle to go deep into battlefield front end and guide and become a kind of main flow for laser guided weapon irradiates.In recent years, 155 armament systems have been obtained the good market response at international arms trade market, but simultaneously foreign side has also proposed to provide for 155 Laser End Guidance armament systems the requirement of aerial irradiation.At present the flying speed of fixed-wing unmanned plane is very fast, and because the irradiation distance of photoelectric nacelle is limited, from finding, lock onto target is shorter to the time of irradiating, and the operating personal of photoelectric nacelle is had relatively high expectations, positioning difficulty is large, location inaccuracy.
Summary of the invention
Goal of the invention: the object of the invention is to for the deficiencies in the prior art, provide a kind of low to operating personal requirement, positioning difficulty is little and the investigation irradiation system of accurate depopulated helicopter.
Meanwhile, the present invention also provides a kind of investigation illuminating method of the depopulated helicopter addressing the above problem.
Technical scheme: the investigation irradiation system of a kind of depopulated helicopter of the present invention, comprise unmanned helicopter platform, also comprise photoelectric nacelle and ground control station, described photoelectric nacelle is arranged at described unmanned helicopter platform top, comprise and control electronic box, Electric-Optic Turret and electronic laser case, described control electronic box, for receiving the control signal of described ground control station and described control signal being forwarded to described Electric-Optic Turret and described electronic laser case, receives the data of described electronic laser case transmission simultaneously and data is sent to described ground control station; Described Electric-Optic Turret and the communication connection of described control electronic box, the control signal that receives described control electronic box carries out the adjusting of angle; The control signal that described electronic laser case receives described control electronic box starts or stops laser ranging;
Described ground control station comprises observing and controlling chain pipeline equipment, interface device and control convenience, and described control convenience is for generation of rotate instruction and startup, halt instruction and above-mentioned instruction is sent to described interface device; Described interface device is for packing instruction and sending to described observing and controlling chain pipeline equipment; Described observing and controlling chain pipeline equipment, for transmitting the extremely described control electronic box of instruction of packing, receives the data that described control electronic box transmits simultaneously.
Being further defined to of technical solution of the present invention, described unmanned helicopter platform is Z-5 type unmanned helicopter platform.
Further, described Electric-Optic Turret is EOT16_MS type Electric-Optic Turret.
Further, described observing and controlling chain pipeline equipment comprises primary link equipment, secondary chain pipeline equipment, ground high gain antenna and antenna servo tracking equipment, described primary link equipment is connected with described ground high gain antenna and antenna servo tracking equipment, be used for settling accounts antenna locating data, and antenna servo tracking equipment is controlled and detected; Described secondary chain pipeline equipment is for subsequent use for primary link equipment, realizes identical function with primary link equipment.
Further, described interface device comprises serial interface equipment, network interface interface device and/or light interface device.
Further, described control convenience comprises interior effector, outer effector and task effector, and described interior effector and task effector are matrix keyboard, and described outer effector is the rocking bar effector with Multiplexer Channel.
Another technical scheme provided by the invention is: a kind of investigation illuminating method of depopulated helicopter, comprise angular adjustment step and target positioning step, and described angular adjustment step is specially:
(1) mission mode is adjusted into angular adjustment task by the task effector of control convenience, starts outer effector;
(2) outer effector is adjusted angle, sends angular adjustment instruction to interface device;
(3) interface device is packed angular adjustment instruction and is sent to observing and controlling chain pipeline equipment;
(4) the angular adjustment instruction of packing is sent to control electronic box by observing and controlling chain pipeline equipment;
(5) control electronic box angular adjustment instruction is sent to Electric-Optic Turret;
(6) Electric-Optic Turret carries out angular adjustment according to the angular adjustment instruction receiving;
Described target positioning step is specially:
1. mission mode is adjusted into target positioning task by the task effector of control convenience, effector in starting;
2. interior effector produces positioning distance measuring instruction as required, and positioning distance measuring instruction is sent to interface device;
3. interface device is packed positioning distance measuring instruction and is sent to observing and controlling chain pipeline equipment;
4. the positioning distance measuring instruction of packing is sent to control electronic box by observing and controlling chain pipeline equipment;
5. control electronic box positioning distance measuring instruction is sent to electronic laser case;
6. electronic laser case carries out laser ranging according to the positioning distance measuring instruction receiving, and the target range data after laser ranging are sent to control electronic box;
7. control electronic box target range data are sent to observing and controlling chain pipeline equipment;
8. observing and controlling chain pipeline equipment is sent to ground control station by target range data and carries out storage and the demonstration of data.
Beneficial effect: investigation irradiation system and the method for a kind of depopulated helicopter provided by the invention, can independently carry out scouting, target positioning, firepower school such as penetrates at the combat duty, also can be equipped with ground force, for its Laser End Guidance weapon carries out end guiding, meet client and propose to provide the requirement of aerial irradiation for 155 Laser End Guidance armament systems.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of unmanned helicopter system;
Fig. 2 is a kind of workflow diagram of investigation illuminating method of unmanned helicopter system;
Fig. 3 is the control electronic box electrical panel schematic diagram of the present embodiment;
Fig. 4 is the unmanned helicopter platform of the present embodiment and controls the electric crosslinked figure of electronic box;
Fig. 5 is the rocking bar effector of the present embodiment and the electric crosslinked figure of ground control station.
The specific embodiment
Below technical solution of the present invention is elaborated, but protection scope of the present invention is not limited to described embodiment.
embodiment:the present embodiment provides a kind of investigation irradiation system of depopulated helicopter, and its structural representation as shown in Figure 1, comprises unmanned helicopter platform, photoelectric nacelle and ground control station.
Described unmanned helicopter platform is Z-5 type unmanned helicopter platform, and Main Function is carried out specific task for photoelectric nacelle provides a kind of failure-free aerial platform and carries photoelectric nacelle to overhead, target area.Unmanned helicopter platform comprises basic platform system, flight control system, TT&C system.Wherein plateform system comprises housing construction and rotor system, power system and airborne electric power system, organism frame provides the basis of installation for other parts of helicopter, lifting airscrew system is installed on fuselage ring top, is that the main lift of helicopter is originated and moves component is provided for the front, rear, left and right of helicopter; Power system is arranged in fuselage ring, comprises cooling system, fuel oil system, lubricating system, electric system and turbo-charging and control system, mainly provides power to helicopter; Airborne electric power system comprises alternating current generator, AC-DC, 24V battery pack etc., power supply is provided mainly to helicopter task device and airborne equipment; Flight control system comprises airborne sensor, flight control computer and rudder loop and actuator, mainly calculates to realize various flight functions and the performance of helicopter by sensor management, call management, flight management and control; TT&C system comprises active and standby two cover chain-circuit systems, realizes the communication between depopulated helicopter and ground control station, for target being carried out to the real-time Transmission of remote control, remote measurement, track and localization and information.
Described photoelectric nacelle is arranged at described unmanned helicopter platform top, and main enforcement is scouted, located and for artillery system provides Ear Mucosa Treated by He Ne Laser Irradiation, realizes the precision strike of artillery system, comprises and controls electronic box, Electric-Optic Turret and electronic laser case.Described control electronic box, for receiving the control signal of described ground control station and described control signal being forwarded to described Electric-Optic Turret and described electronic laser case, receives the data of described electronic laser case transmission simultaneously and data is sent to described ground control station.Control electronic box electrical panel schematic diagram as shown in Figure 3, control the A socket of electronic box, plug is J599/26WC35SN, 22 cores, rear attachment J1784A-13W; T2: go aircraft number to pass box.Surely take aim at the C socket of electronic box: the accurate CCIR vision signal of output one road sign, plug is TNC plug.Unmanned plane and the electric crosslinked graph of a relation of control electronic box are as shown in Figure 4.
Described Electric-Optic Turret is EOT16_MS type Electric-Optic Turret, and with described control electronic box communication connection, the control signal that receives described control electronic box carries out the adjusting of angle; The control signal that described electronic laser case receives described control electronic box starts or stops laser ranging.The radical function of photoelectric nacelle is as follows: (1) steady aim line; (2) target is searched for, surveys, identified; (3) target is manually followed the tracks of and from motion tracking; (4) target is carried out to laser ranging; (5) report boresight with respect to arbor angle and target range data; (6) be laser semiactive guidance guided missile indicating target; (7) output is monitored the television video frequency signal in region.
Described mechanical interface refers to the photoelectric nacelle, control electronic box, the electronic laser case that have mechanical interface to be connected with helicopter, is connected with helicopter connecting tooling by screw.
Described ground control station is mainly used in the mission planning of depopulated helicopter, the work such as remote measurement, remote control, and carry ground control's control convenience of photoelectric nacelle, comprise that observing and controlling chain pipeline equipment, interface device, control convenience, data and graphicinformation monitor display equipment and ground control's control convenience.Described control convenience is for generation of rotate instruction and startup, halt instruction and above-mentioned instruction is sent to described interface device.Described control convenience comprises interior effector, outer effector and task effector, and described interior effector and task effector are matrix keyboard, and described outer effector is the rocking bar effector with Multiplexer Channel.Interior effector uses matrix keyboard, and command capacity is greater than 50, and can programme.Task effector also uses matrix keyboard, and is furnished with bar handle, uses in order to the first-class task device manipulation of camera ball.Outer effector is for the handheld device of handling hand manual control depopulated helicopter, adopts rocking bar maneuverability pattern, and is furnished with Multiplexer Channel.The manipulation of EOS-280 type airborne photoelectric gondola, by the command transfer of Data-Link, has sent instructions manipulation tasks by rocking bar bar handle, and the ground of rocking bar bar handle connects as shown in Figure 5.
Described interface device comprises serial interface equipment, network interface interface device and/or light interface device, for instruction being packed and sending to described observing and controlling chain pipeline equipment.Interface device is responsible for giving observing and controlling chain pipeline equipment by packings such as the instruction of ground control equipment, flight course planning instruction, mission planning instructions and is uploaded, the distribution of being simultaneously responsible for ground telemetering down-transmitting data shows, and provide multiple interfaces as serial ports, network interface or optical fiber etc., can be used for transmission, charge system interaction interface and the spare interface of time service data.Also be responsible for the management of the many aerial systems of switching and ground of major-minor link.
Described observing and controlling chain pipeline equipment, for transmitting the extremely described control electronic box of instruction of packing, receives the data that described control electronic box transmits simultaneously.Described observing and controlling chain pipeline equipment comprises primary link equipment, secondary chain pipeline equipment, ground high gain antenna and antenna servo tracking equipment, described primary link equipment is connected with described ground high gain antenna and antenna servo tracking equipment, be used for settling accounts antenna locating data, and antenna servo tracking equipment is controlled and detected; Described secondary chain pipeline equipment is for subsequent use for primary link equipment, realizes identical function with primary link equipment.Observing and controlling chain pipeline equipment not only provides up-downgoing data and descending image, is also responsible for resolving radiolocation data, and antenna servo follower is controlled and monitored.
Data and image information display, storage and playback apparatus, data demonstration, storage and playback adopt industrial computer to add telltale mode, and industrial computer is selected the military Designing of Reinforced Computer can double screen showing, and telltale is also selected reinforced.
Ground control's control convenience has the function such as processes and displays record and distribution of depopulated helicopter being scouted to the monitoring of control and management, link of mission planning, flight control and management, the mission payload of irradiation system and management accounts, reconnaissance.
Also comprise comprehensive coverage equipment, be mainly used in depopulated helicopter and scout the maintenance of irradiation system, transition transportation, pre-flight preparation etc., comprise carrier vehicle, surface power supply equipment, fuel filling equipment and check implement.
The principle of work of the investigation irradiation system of above-mentioned depopulated helicopter for controlling helicopter flight attitude on ground control station, handle optoelectronic device and target searched for, survey, identified, manually follow the tracks of and from motion tracking, laser ranging; Report boresight is with respect to arbor angle and target range; The television video frequency signal that simultaneously provides laser to guide and monitor target area for Laser End Guidance guided missile, comprises angular adjustment step and target positioning step, and described angular adjustment step is specially:
(1) mission mode is adjusted into angular adjustment task by the task effector of control convenience, starts outer effector;
(2) outer effector is adjusted angle, sends angular adjustment instruction to interface device;
(3) interface device is packed angular adjustment instruction and is sent to observing and controlling chain pipeline equipment;
(4) the angular adjustment instruction of packing is sent to control electronic box by observing and controlling chain pipeline equipment;
(5) control electronic box angular adjustment instruction is sent to Electric-Optic Turret;
(6) Electric-Optic Turret carries out angular adjustment according to the angular adjustment instruction receiving;
Described target positioning step is specially:
1. mission mode is adjusted into target positioning task by the task effector of control convenience, effector in starting;
2. interior effector produces positioning distance measuring instruction as required, and positioning distance measuring instruction is sent to interface device;
3. interface device is packed positioning distance measuring instruction and is sent to observing and controlling chain pipeline equipment;
4. the positioning distance measuring instruction of packing is sent to control electronic box by observing and controlling chain pipeline equipment;
5. control electronic box positioning distance measuring instruction is sent to electronic laser case;
6. electronic laser case carries out laser ranging according to the positioning distance measuring instruction receiving, and the target range data after laser ranging are sent to control electronic box;
7. control electronic box target range data are sent to observing and controlling chain pipeline equipment;
8. observing and controlling chain pipeline equipment is sent to ground control station by target range data and carries out storage and the demonstration of data.
Depopulated helicopter is scouted irradiation system workflow as shown in Figure 2:
(1) depopulated helicopter lift-launch photoelectric nacelle takes off from base, rises to suitable relative height and cruises;
(2) unmanned helicopter flight, behind overhead, target area, is handled photoelectric nacelle target area is searched for, scouted;
(3) find after target, notify 155 artillery systems to prepare, the simultaneously depopulated helicopter scouting of spiraling, after artillery system is ready, depopulated helicopter is prepared hovering or low speed forward flight according to getting back to proper irradiation point shown in Fig. 2, and lock onto target, ground artillery system sends after launch intruction simultaneously, after the suitable time of reading the clock (determining depending on being bound to object point distance), send irradiation instruction, helicopter guarantees that lock onto target, until terminal guidance bullet hits the mark, carries out zoom operation and observes damage effect gondola always;
(4) after finishing the work, helicopter makes a return voyage immediately.
As mentioned above, although represented and explained the present invention with reference to specific preferred embodiment, it shall not be construed as the restriction to the present invention self.Not departing under the spirit and scope of the present invention prerequisite of claims definition, can make in the form and details various variations to it.
Claims (7)
1. the investigation irradiation system of a depopulated helicopter, comprise unmanned helicopter platform, it is characterized in that, also comprise photoelectric nacelle and ground control station, described photoelectric nacelle is arranged at described unmanned helicopter platform top, comprise and control electronic box, Electric-Optic Turret and electronic laser case, described control electronic box, for receiving the control signal of described ground control station and described control signal being forwarded to described Electric-Optic Turret and described electronic laser case, receives the data of described electronic laser case transmission simultaneously and data is sent to described ground control station; Described Electric-Optic Turret and the communication connection of described control electronic box, the control signal that receives described control electronic box carries out the adjusting of angle; The control signal that described electronic laser case receives described control electronic box starts or stops laser ranging;
Described ground control station comprises observing and controlling chain pipeline equipment, interface device and control convenience, and described control convenience is for generation of rotate instruction and startup, halt instruction and above-mentioned instruction is sent to described interface device; Described interface device is for packing instruction and sending to described observing and controlling chain pipeline equipment; Described observing and controlling chain pipeline equipment, for transmitting the extremely described control electronic box of instruction of packing, receives the data that described control electronic box transmits simultaneously.
2. the investigation irradiation system of a kind of depopulated helicopter according to claim 1, is characterized in that, described unmanned helicopter platform is Z-5 type unmanned helicopter platform.
3. the investigation irradiation system of a kind of depopulated helicopter according to claim 1, is characterized in that, described Electric-Optic Turret is EOT16_MS type Electric-Optic Turret.
4. the investigation irradiation system of a kind of depopulated helicopter according to claim 1, it is characterized in that, described observing and controlling chain pipeline equipment comprises primary link equipment, secondary chain pipeline equipment, ground high gain antenna and antenna servo tracking equipment, described primary link equipment is connected with described ground high gain antenna and antenna servo tracking equipment, be used for settling accounts antenna locating data, and antenna servo tracking equipment is controlled and detected; Described secondary chain pipeline equipment is for subsequent use for primary link equipment, realizes identical function with primary link equipment.
5. the investigation irradiation system of a kind of depopulated helicopter according to claim 1, is characterized in that, described interface device comprises serial interface equipment, network interface interface device and/or light interface device.
6. the investigation irradiation system of a kind of depopulated helicopter according to claim 1, it is characterized in that, described control convenience comprises interior effector, outer effector and task effector, described interior effector and task effector are matrix keyboard, and described outer effector is the rocking bar effector with Multiplexer Channel.
7. an investigation illuminating method for depopulated helicopter, is characterized in that, comprises angular adjustment step and target positioning step, and described angular adjustment step is specially:
(1) mission mode is adjusted into angular adjustment task by the task effector of control convenience, starts outer effector;
(2) outer effector is adjusted angle, sends angular adjustment instruction to interface device;
(3) interface device is packed angular adjustment instruction and is sent to observing and controlling chain pipeline equipment;
(4) the angular adjustment instruction of packing is sent to control electronic box by observing and controlling chain pipeline equipment;
(5) control electronic box angular adjustment instruction is sent to Electric-Optic Turret;
(6) Electric-Optic Turret carries out angular adjustment according to the angular adjustment instruction receiving;
Described target positioning step is specially:
1. mission mode is adjusted into target positioning task by the task effector of control convenience, effector in starting;
2. interior effector produces positioning distance measuring instruction as required, and positioning distance measuring instruction is sent to interface device;
3. interface device is packed positioning distance measuring instruction and is sent to observing and controlling chain pipeline equipment;
4. the positioning distance measuring instruction of packing is sent to control electronic box by observing and controlling chain pipeline equipment;
5. control electronic box positioning distance measuring instruction is sent to electronic laser case;
6. electronic laser case carries out laser ranging according to the positioning distance measuring instruction receiving, and the target range data after laser ranging are sent to control electronic box;
7. control electronic box target range data are sent to observing and controlling chain pipeline equipment;
8. observing and controlling chain pipeline equipment is sent to ground control station by target range data and carries out storage and the demonstration of data.
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| CN104460474A (en) * | 2014-10-26 | 2015-03-25 | 吉林医药学院 | Universal ground monitoring system for unmanned aerial vehicle |
| CN106276662A (en) * | 2015-06-24 | 2017-01-04 | 古德里奇照明系统有限责任公司 | Gyroplane winch illuminator and the method for operation gyroplane winch illuminator |
| CN107370935A (en) * | 2016-05-11 | 2017-11-21 | 深圳航天旭飞科技有限公司 | Panorama shooting device |
| CN107870631A (en) * | 2016-09-27 | 2018-04-03 | 北京理工大学 | A kind of unmanned helicopter-mounted system and its control method |
| CN107870626A (en) * | 2016-09-26 | 2018-04-03 | 北京理工大学 | A kind of depopulated helicopter ground-based mission manager |
| CN107870628A (en) * | 2016-09-27 | 2018-04-03 | 北京理工大学 | A kind of depopulated helicopter ground control system and its control method |
| CN107870625A (en) * | 2016-09-26 | 2018-04-03 | 北京理工大学 | A kind of unmanned helicopter-mounted task manager |
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| CN109597427A (en) * | 2018-11-28 | 2019-04-09 | 彩虹无人机科技有限公司 | It is a kind of that method and system for planning is attacked with chance based on the bomb of unmanned plane |
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| CN111272015A (en) * | 2020-03-23 | 2020-06-12 | 西安深瞳智控技术有限公司 | System and method for evaluating dynamic tracking performance of laser seeker |
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| CN106276662B (en) * | 2015-06-24 | 2019-07-30 | 古德里奇照明系统有限责任公司 | The method of gyroplane winch lighting device and operation gyroplane winch lighting device |
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| CN107870625B (en) * | 2016-09-26 | 2020-12-22 | 北京理工大学 | Unmanned helicopter airborne task manager |
| CN107870626A (en) * | 2016-09-26 | 2018-04-03 | 北京理工大学 | A kind of depopulated helicopter ground-based mission manager |
| CN107870625A (en) * | 2016-09-26 | 2018-04-03 | 北京理工大学 | A kind of unmanned helicopter-mounted task manager |
| CN107870628A (en) * | 2016-09-27 | 2018-04-03 | 北京理工大学 | A kind of depopulated helicopter ground control system and its control method |
| CN107870631A (en) * | 2016-09-27 | 2018-04-03 | 北京理工大学 | A kind of unmanned helicopter-mounted system and its control method |
| CN107870628B (en) * | 2016-09-27 | 2021-03-19 | 北京理工大学 | Ground control system of unmanned helicopter and control method thereof |
| CN107878739A (en) * | 2016-09-29 | 2018-04-06 | 北京理工大学 | A kind of depopulated helicopter control system and its control method |
| CN107885230A (en) * | 2016-09-29 | 2018-04-06 | 北京理工大学 | Depopulated helicopter control system and its control method with laser guided weapon |
| CN107878739B (en) * | 2016-09-29 | 2020-12-22 | 北京理工大学 | Unmanned helicopter control system and control method thereof |
| CN107885230B (en) * | 2016-09-29 | 2021-01-05 | 北京理工大学 | Unmanned helicopter control system with laser guided weapon and control method thereof |
| CN110365396A (en) * | 2018-04-10 | 2019-10-22 | 海鹰航空通用装备有限责任公司 | A kind of tracking telemetry and command station and communication means |
| CN110365396B (en) * | 2018-04-10 | 2021-12-10 | 海鹰航空通用装备有限责任公司 | Measurement and control station and communication method |
| CN109597427A (en) * | 2018-11-28 | 2019-04-09 | 彩虹无人机科技有限公司 | It is a kind of that method and system for planning is attacked with chance based on the bomb of unmanned plane |
| CN111272015A (en) * | 2020-03-23 | 2020-06-12 | 西安深瞳智控技术有限公司 | System and method for evaluating dynamic tracking performance of laser seeker |
| CN114485268A (en) * | 2021-12-31 | 2022-05-13 | 北京航天嘉诚精密科技发展有限公司 | Fire control system of investigation and attack integrated unmanned helicopter |
| CN114485268B (en) * | 2021-12-31 | 2024-05-03 | 北京航天嘉诚精密科技发展有限公司 | Fire control system of unmanned helicopter integrating observation and striking |
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