CN104296598A - Method for stably tracking irradiation target by means of airborne anti-smoke photoelectric sight-stabilizing system of unmanned aerial vehicle - Google Patents
Method for stably tracking irradiation target by means of airborne anti-smoke photoelectric sight-stabilizing system of unmanned aerial vehicle Download PDFInfo
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- CN104296598A CN104296598A CN201310315184.6A CN201310315184A CN104296598A CN 104296598 A CN104296598 A CN 104296598A CN 201310315184 A CN201310315184 A CN 201310315184A CN 104296598 A CN104296598 A CN 104296598A
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Abstract
The invention provides a method for stably tracking an irradiation target by means of an airborne anti-smoke photoelectric sight-stabilizing system of an unmanned aerial vehicle. By means of the method, defects of a background technique that the background technique is mainly based on anti-interference capacity of a tracking algorithm and budging compensation of target-missing quantity, target attach reliability is poor and the failure probability of arms is high are overcome. The method is characterized in that after the target is found, a laser distance measurement function is started; the geographical position information of the target tracked by the sight-stabilizing system is calculated and sent to the photoelectric sight-stabilizing system; after being transmitted, the geographical position information of the target of the photoelectric sight-stabilizing system drives a servo mechanism to adjust the azimuth angle and the pitch angle of the photoelectric sight-stabilizing system in real time, and the tracked target is stably and constantly irradiated until the whole attack process is finished. The method has the advantages that the view field of the photoelectric sight-stabilizing system is shielded by wake flames and smokes, an optical axis of the photoelectric sight-stabilizing system always points to an attacked target, attack reliability is effectively improved, the failure rate of arms is reduced, airborne equipment is not increased, and the method is simple and easy to carry out and is used for controlling the unmanned aerial vehicle to attack a fixed target on the ground.
Description
Technical field
The present invention relates to the B64C in International Classification of Patents, namely control method, the particularly a kind of UAV system stab ilized electro-optical sight system anti-smog tenacious tracking irradiation order calibration method that unmanned plane is attacked fixed ground target.
Background technology
In prior art, the accurate tracking of stab ilized electro-optical sight system to fixed ground target is the important step realizing unmanned plane precision strike, in attack process, only make the sight line of stab ilized electro-optical sight system (optical axis) targeted center all the time, just can guarantee that realization is stablized target, laser irradiation constantly, guide laser guided weapon to attack.The wake flame that laser-guided bomb produces after launching, smog or the smog interference of being discharged by attacker then can cause blocks stab ilized electro-optical sight system visual field, there is instantaneous to block or fuzzy in image, have a strong impact on the automatic tracking accuracy of stab ilized electro-optical sight system, directly threaten the attack precision to target and effect.At present, the method improving the automatic tracking accuracy of stab ilized electro-optical sight system mainly compensates based on the antijamming capability of track algorithm and the budget law of miss distance, but produces little effect in actual applications, and namely poor to the reliability of target attack, weapon failure probability is higher.
Summary of the invention
In order to solve the weak point in above-mentioned background technology, the object of this invention is to provide the anti-smog tenacious tracking of a kind of UAV system stab ilized electro-optical sight system and irradiate order calibration method, technical solution of the present invention is: after unmanned plane enters mission area or the theater of war, use Large visual angle completes the search to target, it is characterized in that:
A), after finding target, it locks in small field of view by ground controller, tracking target; And the laser ranging function starting stab ilized electro-optical sight system is found range to target;
What the Mission Management Computer real-time reception stab ilized electro-optical sight system b) on unmanned plane sent surely takes aim at azimuth, surely takes aim at the angle of pitch, laser ranging value and unmanned plane position and attitude information, and calculates the geographical location information surely taking aim at system institute tracking target accordingly; The geographical location information of the target resolved is sent to stab ilized electro-optical sight system by Mission Management Computer;
C) after MISSILE LAUNCHING, the target geographic position information that stab ilized electro-optical sight system resolves according to mission computer before and real-time unmanned plane position and attitude information, calculate the sensing of optical axis, and drive servo control mechanism to adjust azimuth and the angle of pitch of stab ilized electro-optical sight system in real time, optical axis is made to point to the center of tracked target all the time, stable prolonged exposure is carried out to tracking target, until complete whole attack process.
D) as implemented to attack to new target, above-mentioned steps is repeated.
The present invention compares background technology advantageously: the wake flame produced in the laser guided weapon T-time, smog block stab ilized electro-optical sight system visual field, stab ilized electro-optical sight system optical axis can point to all the time by the center of target of attack, sustainedly and stably target followed the tracks of, irradiate, the reliability of effective raising target attack, reduce weapon failure probability, and do not need to increase extra airborne equipment, simple, easy.
Accompanying drawing explanation
This accompanying drawing is block diagram of the present invention, is the flow process before arm discharge in frame line I wherein; It is the flow process after arm discharge in frame line II; 1 enters mission area or combat zone for unmanned plane; 2 search for target for unmanned plane under stab ilized electro-optical sight system large viewing field condition; 3 follow the tracks of target under stab ilized electro-optical sight system small field of view condition for unmanned plane; 4 find range to target for starting stab ilized electro-optical sight system laser ranging function; 5 is Mission Management Computer resolves tracked target geographical position coordinates according to laser ranging information, the azimuth surely taken aim at and angle of pitch information and unmanned plane position/attitude information; 6 is the self information (azimuth surely taken aim at and the angle of pitch) of stab ilized electro-optical sight system; 7 is the position/attitude information of unmanned plane; 8 point to for stab ilized electro-optical sight system primary control program resolves optical axis; 9 is stab ilized electro-optical sight system servo control mechanism driving camera lens sensing tracked target; 10 is the real-time azimuth of stab ilized electro-optical sight system and angle of pitch information; 11 for surely to take aim at system laser distance measurement value information; 12 and 14 is position and the attitude information of unmanned plane; 13 is warp, the latitude information of tracked target; 15 azimuth of resolving for stab ilized electro-optical sight system primary control program and angle of pitch information.
Detailed description of the invention
After unmanned plane enters mission area or the theater of war, use Large visual angle completes the search to target, it is characterized in that:
E), after finding target, it locks in small field of view by ground controller, tracking target; And the laser ranging function starting stab ilized electro-optical sight system is found range to target;
What the Mission Management Computer real-time reception stab ilized electro-optical sight system f) on unmanned plane sent surely takes aim at azimuth, surely takes aim at the angle of pitch, laser ranging value and unmanned plane position and attitude information, and calculates the geographical location information surely taking aim at system institute tracking target accordingly; The geographical location information of the target resolved is sent to stab ilized electro-optical sight system by Mission Management Computer;
G) after MISSILE LAUNCHING, the target geographic position information that stab ilized electro-optical sight system resolves according to mission computer before and real-time unmanned plane position and attitude information, calculate the sensing of optical axis, and drive servo control mechanism to adjust azimuth and the angle of pitch of stab ilized electro-optical sight system in real time, optical axis is made to point to the center of tracked target all the time, stable prolonged exposure is carried out to tracking target, until complete whole attack process.
As implemented to attack to new target, repeat above-mentioned steps.
Before arm discharge, stab ilized electro-optical sight system can complete search on a surface target, tracking, and finds range to target, completes Geographic mapping to target by Mission Management Computer according to relevant information; After arm discharge, the target geographic position information that stab ilized electro-optical sight system resolves according to Mission Management Computer before and current unmanned plane position/attitude information, in real time adjustment optical axis stable tracing launch before the ground target of locking, prolonged exposure, completes precise guidance.
The present invention carries out attack for control unmanned plane to fixed ground target.
Claims (2)
1. the anti-smog tenacious tracking of UAV system stab ilized electro-optical sight system irradiates an order calibration method, and after unmanned plane enters mission area or the theater of war, use Large visual angle completes the search to target, it is characterized in that:
A), after finding target, it locks in small field of view by ground controller, tracking target; And the laser ranging function starting stab ilized electro-optical sight system is found range to target;
What the Mission Management Computer real-time reception stab ilized electro-optical sight system b) on unmanned plane sent surely takes aim at azimuth, surely takes aim at the angle of pitch, laser ranging value and unmanned plane position and attitude information, and calculates the geographical location information surely taking aim at system institute tracking target accordingly; The geographical location information of the target resolved is sent to stab ilized electro-optical sight system by Mission Management Computer;
C) after MISSILE LAUNCHING, the target geographic position information that stab ilized electro-optical sight system resolves according to mission computer before and real-time unmanned plane position and attitude information, calculate the sensing of optical axis, and drive servo control mechanism to adjust azimuth and the angle of pitch of stab ilized electro-optical sight system in real time, optical axis is made to point to the center of tracked target all the time, stable prolonged exposure is carried out to tracking target, until complete whole attack process.
2. irradiate order calibration method according to the anti-smog tenacious tracking of the UAV system stab ilized electro-optical sight system described in claim 1, it is characterized in that: as implemented to attack to new target, repeat above-mentioned steps.
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| CN201310315184.6A CN104296598A (en) | 2013-07-18 | 2013-07-18 | Method for stably tracking irradiation target by means of airborne anti-smoke photoelectric sight-stabilizing system of unmanned aerial vehicle |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249762A (en) * | 2016-08-30 | 2016-12-21 | 凯迈（洛阳）测控有限公司 | A kind of steady method for control of locking of airborne photoelectric reconnaissance equipment |
| CN107121017A (en) * | 2017-05-04 | 2017-09-01 | 成都安的光电科技有限公司 | A kind of unmanned plane snipes system |
| RU2635299C1 (en) * | 2016-05-19 | 2017-11-09 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Guided weapon control method |
| CN108645769A (en) * | 2018-06-05 | 2018-10-12 | 广州市荣盛环保科技有限公司 | A kind of environmental air quality monitoring method based on unmanned plane |
| CN108955722A (en) * | 2018-05-22 | 2018-12-07 | 北京和协导航科技有限公司 | Unmanned plane target position indicator system and indicating means |
| CN109945868A (en) * | 2019-03-07 | 2019-06-28 | 西安爱生技术集团公司 | A kind of unmanned plane target irradiation course line automatic planning |
| CN112116632A (en) * | 2020-09-21 | 2020-12-22 | 中国科学院长春光学精密机械与物理研究所 | Method, device and medium for tracking target along with target tail smoke |
| RU202176U1 (en) * | 2020-08-05 | 2021-02-05 | Владимир Юрьевич Лупанчук | STABILIZED OPTICAL-ELECTRONIC SYSTEM OF UNMANNED AIRCRAFT OF MULTIROTOR TYPE |
| CN114199076A (en) * | 2021-12-30 | 2022-03-18 | 西安深瞳智控技术有限公司 | Unmanned aerial vehicle photoelectric sight stabilizing system based on target detection and tracking |
| CN114280978A (en) * | 2021-11-29 | 2022-04-05 | 中国航空工业集团公司洛阳电光设备研究所 | Tracking decoupling control method for photoelectric pod |
| RU2790053C1 (en) * | 2022-04-11 | 2023-02-14 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Method for guiding self-guided ammunition under laser influence |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2635299C1 (en) * | 2016-05-19 | 2017-11-09 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Guided weapon control method |
| CN106249762A (en) * | 2016-08-30 | 2016-12-21 | 凯迈（洛阳）测控有限公司 | A kind of steady method for control of locking of airborne photoelectric reconnaissance equipment |
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| CN108645769A (en) * | 2018-06-05 | 2018-10-12 | 广州市荣盛环保科技有限公司 | A kind of environmental air quality monitoring method based on unmanned plane |
| CN108645769B (en) * | 2018-06-05 | 2020-05-05 | 广州市荣盛环保科技有限公司 | Environment air quality monitoring method based on unmanned aerial vehicle |
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| CN109945868B (en) * | 2019-03-07 | 2022-09-02 | 西安爱生技术集团公司 | Automatic planning method for target irradiation route of unmanned aerial vehicle |
| RU202176U1 (en) * | 2020-08-05 | 2021-02-05 | Владимир Юрьевич Лупанчук | STABILIZED OPTICAL-ELECTRONIC SYSTEM OF UNMANNED AIRCRAFT OF MULTIROTOR TYPE |
| CN112116632A (en) * | 2020-09-21 | 2020-12-22 | 中国科学院长春光学精密机械与物理研究所 | Method, device and medium for tracking target along with target tail smoke |
| CN112116632B (en) * | 2020-09-21 | 2023-12-05 | 中国科学院长春光学精密机械与物理研究所 | Method, device and medium for tracking target along tail smoke of target |
| CN114280978A (en) * | 2021-11-29 | 2022-04-05 | 中国航空工业集团公司洛阳电光设备研究所 | Tracking decoupling control method for photoelectric pod |
| CN114280978B (en) * | 2021-11-29 | 2024-03-15 | 中国航空工业集团公司洛阳电光设备研究所 | Tracking decoupling control method for photoelectric pod |
| CN114199076A (en) * | 2021-12-30 | 2022-03-18 | 西安深瞳智控技术有限公司 | Unmanned aerial vehicle photoelectric sight stabilizing system based on target detection and tracking |
| RU2790053C1 (en) * | 2022-04-11 | 2023-02-14 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Method for guiding self-guided ammunition under laser influence |
| RU2816482C1 (en) * | 2023-07-21 | 2024-03-29 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Method of homing element guidance in conditions of laser action |
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