CN106643291A - Long distance and high precision bombing style rescue equipment delivery method - Google Patents
Long distance and high precision bombing style rescue equipment delivery method Download PDFInfo
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- CN106643291A CN106643291A CN201611217981.0A CN201611217981A CN106643291A CN 106643291 A CN106643291 A CN 106643291A CN 201611217981 A CN201611217981 A CN 201611217981A CN 106643291 A CN106643291 A CN 106643291A
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- vehicle
- mesh
- target
- equipment
- trajectory
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/06—Elevating or traversing control systems for guns using electric means for remote control
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a long distance and high precision bombing style rescue equipment delivery method. According to the method, probing equipment (4) is used for measuring the target location information precisely, at the same time, through the rigid body trajectory, deceleration parachute trajectory, the flying route of the carrier (1) is planned with high precision to achieve the precise delivery. The use of the bombing style carrier (1) can enormously enhance the delivery distance.
Description
Technical field
The present invention relates to a kind of Rescue Kits delivering method, particularly a kind of distant-range high-precision drops a bomb the throwing of formula Rescue Kits
Delivery method.
Background technology
Rescue Kits reach rescue site to detecting field condition, delivering Rescue Kits, assist indicator of trapped personnel to flee from as early as possible
Stranded scene is significant.At this stage, Rescue Kits delivering method step is：Using the aiming mode of range estimation, adjustment is thrown
Send the initial angle of device；Using compressed gas as launch power, the Rescue Kits such as rope or life vest are cast；Rescue Kits
Landing, delivery task is completed.Above-mentioned job step subject matter is that range estimation pointing accuracy is relatively low, lacks the accurate of projectile trajectory
Planning, cast be short of power cause to deliver it is closer to the distance etc..Have no chance in isolated for the indicator of trapped personnel of the appearance such as natural calamity
Hazardous environment situation, lack the Rescue Kits delivering method of efficiently and accurately.
The content of the invention
The formula Rescue Kits delivering method it is an object of the invention to provide a kind of distant-range high-precision drops a bomb, solve deliver away from
Close to, the problem of delivery low precision.
A kind of distant-range high-precision drops a bomb the concretely comprising the following steps of formula Rescue Kits delivering method：
The first step is built distant-range high-precision and is dropped a bomb formula Rescue Kits delivery system
Distant-range high-precision drops a bomb formula Rescue Kits delivery system, including：Detecting devices, launching rotary tower, launching control equipment, refer to
Control equipment, power supplying and distributing equipment and vehicle.
Rescue Kits are placed in vehicle.The power supply output end of power supplying and distributing equipment respectively with launching rotary tower, launching control equipment,
The energization input connection of detecting devices and charge equipment, the power supply output end of launching control equipment connects with the energization input of vehicle
Connect.Launching control equipment is bi-directionally connected respectively with launching rotary tower, charge equipment, detecting devices and vehicle by communication bus, is accused
Equipment is bi-directionally connected with detecting devices by communication bus.
3rd pacing amount target location
Power supplying and distributing equipment is powered to the distant-range high-precision formula Rescue Kits delivery system that drops a bomb, and distant-range high-precision drops a bomb formula
After the power-up of Rescue Kits delivery system, self-inspection is carried out, possess Rescue Kits after the completion of self-inspection and deliver condition.
Charge equipment control detecting devices is scanned for target delivery service area, after finding target, accuses equipment locking mesh
The distance of target, angular position information are sent in real time launching control equipment by mark, detecting devices.
Launching control equipment completes target location resolving according to the measurement data of target：
XMesh=SMesh×cosαMesh×cosβMesh (1)
YMesh=SMesh×sinαMesh (2)
ZMesh=SMesh×cosαMesh×sinβMesh (3)
Wherein, XMeshFor target before launching rotary tower center to distance；YMeshFor the difference in height at target range launching rotary tower center；
ZMeshIt is target along launching rotary tower center lateral distance；SMeshFor target oblique distance；αMeshFor target pitch angle.βMeshFor azimuth of target.
4th step plans vehicle flight path
To apart from X before launching control equipment foundation targetMesh, object height YMeshWith lateral distance ZMeshAs vehicle trajectory end
Point, plans vehicle trajectory.Vehicle trajectory is made up of rigid body trajectory and drag parachute trajectory two parts.
Rigid body trajectory is as follows：
Wherein, t represents the flight time, and m is vehicle quality, and V is speed of the vehicle barycenter relative to ground, FX、FY、
FZRepresent aerodynamic force that vehicle produces along vehicle X, Y, Z-direction component, g is acceleration of gravity, θ, ψvTrajectory is represented respectively
Inclination angle, trajectory deflection angle, Jy、JzRepresent vehicle around itself y-axis, the rotary inertia of z-axis, ω respectivelyy、ωzYaw angle is represented respectively
Speed, rate of pitch, My、MzYawing, pitching moment that body is produced are represented respectively, and x, y, z represents vehicle barycenter position
Put coordinate,ψ, γ represent respectively the angle of pitch, yaw angle, roll angle, and p represents atmospheric pressure, RdFor dry air gas constant, τ
For virtual temperature.
When determining any flight moment t by formula (4), the locus of vehicle.To drogue parachute deploy(ment) moment tUmbrella, really
Determine the position X of vehicle X, Y, Z-directionUmbrella、YUmbrella、ZUmbrella, and will now each state parameter of vehicle as drag parachute trajectory initial value.
It is as follows that vehicle opens trajectory after drag parachute：
Wherein, FExT、FEyT、FEzTIt is aerodynamic force vehicle X, Y, the component of Z-direction that drag parachute is produced to body, MEy、
MEzYawing, pitching moment that drag parachute is produced to body are represented respectively.
When determining any flight moment t by formula (5), the locus of vehicle.When vehicle location XFortune=XMeshWhen,
Carry out following judgement：
Wherein ε is predetermined outer trajectory iteration error.XFortuneFor the forward direction distance of vehicle.
When formula (6) are met, vehicle ballistic solution is completed, and obtains θFortune、ψV is transportedAs launching rotary tower transmitting the angle of pitch and
Azimuth firing angle.
Launching control equipment will launch pitching angle thetaFortune, azimuth firing angle ψV is transportedIt is sent to launching rotary tower.Launching rotary tower is turned in place.
5th step launch vehicle
Charge equipment assigns firing order, launching control equipment output ignition signal, vehicle igniting transmitting.
6th step vehicle is automatically releasable Rescue Kits
Vehicle according to predetermined ballistic flight, landing of flying to target location, and automatic by time delay mechanism of opening the cabin
Open, discharge the Rescue Kits of inside, complete accurately to deliver task.
So far, complete distant-range high-precision drop a bomb formula Rescue Kits delivery.
The present invention adopts detecting devices accurate measurement target position information；Meanwhile, it is high by rigid body trajectory, drag parachute trajectory
Precision plans vehicle flight path, realizes accurate delivery；Using formula vehicle mode of dropping a bomb, delivery distance is significantly improved.
Description of the drawings
The distant-range high-precision that a kind of distant-range high-precisions of Fig. 1 drop a bomb described in formula Rescue Kits delivering method drop a bomb formula rescue
Equipment delivery system schematic diagram.
1. 2. launching rotary tower of vehicle, 3. launching control equipment, 4. detecting devices, 5. power supplying and distributing equipment 6. accuses equipment
Specific embodiment
A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method, and it is concretely comprised the following steps：
The first step is built distant-range high-precision and is dropped a bomb formula Rescue Kits delivery system
Distant-range high-precision drops a bomb formula Rescue Kits delivery system, including：Detecting devices 4, launching rotary tower 2, launching control equipment
3rd, equipment 6, power supplying and distributing equipment 5 and vehicle 1 are accused.
Rescue Kits are placed in vehicle 1.The power supply output end of power supplying and distributing equipment 5 sets respectively with launching rotary tower 2, a control
Standby 3, the energization input connection of detecting devices 4 and charge equipment 6, the power supply output end of launching control equipment 3 and the power supply of vehicle 1
Input connects.Launching control equipment 3 passes through communication bus with launching rotary tower 2, charge equipment 6, detecting devices 4 and vehicle 1 respectively
It is bi-directionally connected, charge equipment 6 is bi-directionally connected with detecting devices 4 by communication bus.
3rd pacing amount target location
Power supplying and distributing equipment 5 is powered to the distant-range high-precision formula Rescue Kits delivery system that drops a bomb, and distant-range high-precision drops a bomb
After the power-up of formula Rescue Kits delivery system, self-inspection is carried out, possess Rescue Kits after the completion of self-inspection and deliver condition.
The control detecting devices 4 of charge equipment 6 is scanned for target delivery service area, and after finding target, charge equipment 6 is locked
The distance of target, angular position information are sent in real time launching control equipment 3 by target, detecting devices 4.
Launching control equipment 3 completes target location resolving according to the measurement data of target：
XMesh=SMesh×cosαMesh×cosβMesh (1)
YMesh=SMesh×sinαMesh (2)
ZMesh=SMesh×cosαMesh×sinβMesh (3)
Wherein, XMeshFor target before the center of launching rotary tower 2 to distance；YMeshFor the height at the center of target range launching rotary tower 2
Difference；ZMeshIt is target along the center lateral distance of launching rotary tower 2；SMeshFor target oblique distance；αMeshFor target pitch angle.βMeshFor target bearing
Angle.
4th step plans the flight path of vehicle 1
Launching control equipment 3 according to before target to apart from XMesh, object height YMeshWith lateral distance ZMeshAs the trajectory of vehicle 1
Terminal, plans the trajectory of vehicle 1.The trajectory of vehicle 1 is made up of rigid body trajectory and drag parachute trajectory two parts.
Rigid body trajectory is as follows：
Wherein, t represents the flight time, and m is the mass of vehicle 1, and V is speed of the barycenter of vehicle 1 relative to ground, FX、
FY、FZRepresent aerodynamic force that vehicle 1 produces along vehicle 1X, Y, Z-direction component, g is acceleration of gravity, θ, ψvDifference table
Show trajectory tilt angle, trajectory deflection angle, Jy、JzRepresent vehicle 1 around itself y-axis, the rotary inertia of z-axis, ω respectivelyy、ωzDifference table
Show yaw rate, rate of pitch, My、MzYawing, pitching moment that body is produced are represented respectively, and x, y, z represents delivery
The centroid position coordinate of device 1,ψ, γ represent respectively the angle of pitch, yaw angle, roll angle, and p represents atmospheric pressure, RdFor dry air gas
Body constant, τ is virtual temperature.
When determining any flight moment t by formula (4), the locus of vehicle 1.To drogue parachute deploy(ment) moment tUmbrella,
Determine the position X of vehicle 1X, Y, Z-directionUmbrella、YUmbrella、ZUmbrella, and will now each state parameter of vehicle 1 as at the beginning of drag parachute trajectory
Initial value.
It is as follows that vehicle 1 opens trajectory after drag parachute：
Wherein, FExT、FEyT、FEzTIt is aerodynamic force vehicle 1X, Y, the component of Z-direction that drag parachute is produced to body, MEy、
MEzYawing, pitching moment that drag parachute is produced to body are represented respectively.
When determining any flight moment t by formula (5), the locus of vehicle 1.As the position X of vehicle 1Fortune=XMesh
When, carry out following judgement：
Wherein ε is predetermined outer trajectory iteration error.XFortuneFor the forward direction distance of vehicle 1.
When formula (6) are met, the ballistic solution of vehicle 1 is completed, and obtains θFortune、ψV is transportedLaunch the angle of pitch as launching rotary tower 2
And azimuth firing angle.
Launching control equipment 3 will launch pitching angle thetaFortune, azimuth firing angle ψV is transportedIt is sent to launching rotary tower 2.Launching rotary tower 2 is turned
Position.
5th step launch vehicle 1
Charge equipment 6 assigns firing order, the output ignition signal of launching control equipment 3, the igniting transmitting of vehicle 1.
6th step vehicle 1 is automatically releasable Rescue Kits
Vehicle 1 according to predetermined ballistic flight, landing of flying to target location, and automatic by time delay mechanism of opening the cabin
Open, discharge the Rescue Kits of inside, complete accurately to deliver task.
So far, complete distant-range high-precision drop a bomb formula Rescue Kits delivery.
Claims (1)
1. a kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method, it is characterised in that the method is concretely comprised the following steps：
The first step is built distant-range high-precision and is dropped a bomb formula Rescue Kits delivery system
Distant-range high-precision drops a bomb formula Rescue Kits delivery system, including：Detecting devices (4), launching rotary tower (2), launching control equipment
(3), equipment (6), power supplying and distributing equipment (5) and vehicle (1) are accused；
Rescue Kits are placed in vehicle (1)；The power supply output end of power supplying and distributing equipment (5) respectively with launching rotary tower (2), send out control
The energization input connection of equipment (3), detecting devices (4) and charge equipment (6), power supply output end and the fortune of launching control equipment (3)
Carry the energization input connection of device (1)；Launching control equipment (3) respectively with launching rotary tower (2), accuse equipment (6), detecting devices (4)
It is bi-directionally connected by communication bus with vehicle (1), accuses that equipment (6) is bi-directionally connected with detecting devices (4) by communication bus；
3rd pacing amount target location
Power supplying and distributing equipment (5) is powered to the distant-range high-precision formula Rescue Kits delivery system that drops a bomb, and distant-range high-precision drops a bomb formula
After the power-up of Rescue Kits delivery system, self-inspection is carried out, possess Rescue Kits after the completion of self-inspection and deliver condition；
Charge equipment (6) control detecting devices (4) is scanned for target delivery service area, after finding target, accuses equipment (6) lock
Set the goal, the distance of target, angular position information are sent in real time launching control equipment (3) by detecting devices (4)；
Launching control equipment (3) completes target location resolving according to the measurement data of target：
XMesh=SMesh×cosαMesh×cosβMesh (1)
YMesh=SMesh×sinαMesh (2)
ZMesh=SMesh×cosαMesh×sinβMesh (3)
Wherein, XMeshFor target before launching rotary tower (2) center to distance；YMeshFor the height at target range launching rotary tower (2) center
Difference；ZMeshIt is target along launching rotary tower (2) center lateral distance；SMeshFor target oblique distance；αMeshFor target pitch angle；βMeshFor target bearing
Angle；
4th step plans vehicle (1) flight path
To apart from X before launching control equipment (3) foundation targetMesh, object height YMeshWith lateral distance ZMeshAs vehicle (1) trajectory
Terminal, plans vehicle (1) trajectory；Vehicle (1) trajectory is by rigid body trajectory and drag parachute trajectory two parts structure
Into；
Rigid body trajectory is as follows：
Wherein, t represents the flight time, and m is vehicle (1) quality, and V is speed of vehicle (1) barycenter relative to ground, FX、
FY、FZRepresent aerodynamic force that vehicle (1) produces along vehicle (1) X, Y, Z-direction component, g is acceleration of gravity, θ, ψvPoint
Not Biao Shi trajectory tilt angle, trajectory deflection angle, Jy、JzRepresent vehicle (1) around itself y-axis, the rotary inertia of z-axis, ω respectivelyy、ωz
Yaw rate, rate of pitch, M are represented respectivelyy、MzYawing, pitching moment that body is produced, x, y, z table are represented respectively
Show vehicle (1) centroid position coordinate,ψ, γ represent respectively the angle of pitch, yaw angle, roll angle, and p represents atmospheric pressure, RdFor
Dry air gas constant, τ is virtual temperature；
When determining any flight moment t by formula (4), the locus of vehicle (1)；To drogue parachute deploy(ment) moment tUmbrella, really
Determine the position X of vehicle (1) X, Y, Z-directionUmbrella、YUmbrella、ZUmbrella, and will now each state parameter of vehicle (1) as drag parachute trajectory
Initial value；
It is as follows that vehicle (1) opens trajectory after drag parachute：
Wherein, FExT、FEyT、FEzTIt is aerodynamic force vehicle (1) X, Y, the component of Z-direction that drag parachute is produced to body, MEy、MEz
Yawing, pitching moment that drag parachute is produced to body are represented respectively；
When determining any flight moment t by formula (5), the locus of vehicle (1)；As vehicle (1) position XFortune=XMesh
When, carry out following judgement：
Wherein ε is predetermined outer trajectory iteration error；XFortuneFor the forward direction distance of vehicle (1)；
When formula (6) are met, vehicle (1) ballistic solution is completed, and obtains θFortune、ψV is transportedLaunch the angle of pitch as launching rotary tower (2)
And azimuth firing angle；
Launching control equipment (3) will launch pitching angle thetaFortune, azimuth firing angle ψV is transportedIt is sent to launching rotary tower (2)；Launching rotary tower (2) is turned
Position；
5th step launch vehicle (1)
Charge equipment (6) assigns firing order, launching control equipment (3) output ignition signal, vehicle (1) igniting transmitting；
6th step vehicle (1) is automatically releasable Rescue Kits
Vehicle (1) according to predetermined ballistic flight, landing of flying to target location, and being beaten automatically by time delay mechanism of opening the cabin
Open, discharge the Rescue Kits of inside, complete accurately to deliver task；
So far, complete distant-range high-precision drop a bomb formula Rescue Kits delivery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217981.0A CN106643291B (en) | 2016-12-26 | 2016-12-26 | A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217981.0A CN106643291B (en) | 2016-12-26 | 2016-12-26 | A kind of distant-range high-precision drops a bomb formula Rescue Kits delivering method |
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| CN106643291A true CN106643291A (en) | 2017-05-10 |
| CN106643291B CN106643291B (en) | 2018-04-13 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101982720A (en) * | 2010-09-29 | 2011-03-02 | 北京机械设备研究所 | Interception method of low-altitude low-velocity small targets |
| CN102087082A (en) * | 2010-11-22 | 2011-06-08 | 北京机械设备研究所 | Firing table fitting-based low-altitude low-speed small object intercepting method |
| CN102914217A (en) * | 2012-10-17 | 2013-02-06 | 北京机械设备研究所 | Method for shooting fire-extinguishing bullet for high-rise building fire-extinguishing system |
| KR20140091843A (en) * | 2013-01-14 | 2014-07-23 | 류지윤 | Objective point calculation using position data received from GPS contained in a military artillery projectile |
| CN104154818A (en) * | 2014-07-25 | 2014-11-19 | 北京机械设备研究所 | Non-control bullet firing angle determining method |
| CN105867426A (en) * | 2016-04-11 | 2016-08-17 | 西北工业大学 | Airplane automatic airdropped material guiding method for aiming at movable object |
-
2016
- 2016-12-26 CN CN201611217981.0A patent/CN106643291B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101982720A (en) * | 2010-09-29 | 2011-03-02 | 北京机械设备研究所 | Interception method of low-altitude low-velocity small targets |
| CN102087082A (en) * | 2010-11-22 | 2011-06-08 | 北京机械设备研究所 | Firing table fitting-based low-altitude low-speed small object intercepting method |
| CN102914217A (en) * | 2012-10-17 | 2013-02-06 | 北京机械设备研究所 | Method for shooting fire-extinguishing bullet for high-rise building fire-extinguishing system |
| KR20140091843A (en) * | 2013-01-14 | 2014-07-23 | 류지윤 | Objective point calculation using position data received from GPS contained in a military artillery projectile |
| CN104154818A (en) * | 2014-07-25 | 2014-11-19 | 北京机械设备研究所 | Non-control bullet firing angle determining method |
| CN105867426A (en) * | 2016-04-11 | 2016-08-17 | 西北工业大学 | Airplane automatic airdropped material guiding method for aiming at movable object |
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| CN106643291B (en) | 2018-04-13 |
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