CN107870631A - A kind of unmanned helicopter-mounted system and its control method - Google Patents
A kind of unmanned helicopter-mounted system and its control method Download PDFInfo
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- CN107870631A CN107870631A CN201610855877.8A CN201610855877A CN107870631A CN 107870631 A CN107870631 A CN 107870631A CN 201610855877 A CN201610855877 A CN 201610855877A CN 107870631 A CN107870631 A CN 107870631A
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- target
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- weapon
- control station
- collimation device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention discloses a kind of unmanned helicopter-mounted system and its control method, wherein, the system includes type onboard data link terminal, steady collimation device, flies control module, weapon module and airborne task manager；The airborne task manager includes motherboard, airborne integrated control panel and weapon hair control plate, information forwarding module, data extraction and packetization module and instruction distribution module are provided with the airborne integrated control panel, is sent out in the weapon and is provided with electric control module and ignition control module on control plate；It the described method comprises the following steps：Step 1, using steady collimation device and ground control station target is scanned for, identify, lock, track and positioned, step 2, adjustment flight range make target within the investigative range of target seeker, step 3, utilize weapon module and ground control station progress target search and target lock-on, step 4, target strike is carried out, step 5, carry out postwar assessment.
Description
Technical field
The present invention relates to depopulated helicopter, more particularly to a kind of unmanned helicopter-mounted system and its control method.
Background technology
In modern war, it is the key fought to hit some transient maneuvering targets and time critical target.Existing
, can be with carrying arms and the more mostly fixed wing aircraft hit in the mobile system of technology, but fixed wing aircraft can not
The shortcomings of hovering irradiation, the attack that can not hover, extension weigh the.
And drawbacks described above is directed to, can effectively be solved using depopulated helicopter, because depopulated helicopter can be real
Now hovering irradiation and hovering attack, also, relative to manned helicopter, depopulated helicopter is unmanned, Personal Safety is high, body
Product is smaller, is not easy to be detected, simple structure, cost-effective.
But prior art openly with carry weapon and can not examine dozen unmanned helicopter-mounted system of one.
The content of the invention
In order to overcome above mentioned problem, present inventor has performed studying with keen determination, a kind of unmanned helicopter-mounted system is designed
And its control method, so as to complete the present invention.
One aspect of the present invention provides a kind of depopulated helicopter control system, embodies in the following areas：
(1) a kind of unmanned helicopter-mounted system, wherein, the system includes
Type onboard data link terminal 11, for carrying out information transfer with ground control station, wherein, described information includes airborne sky
Middle system is sent to the data message of ground control station and image information and ground control station are sent to aircraft mounted control system
Command information；
Steady collimation device 12, for scanning for, detecting, identifying, locking, tracking to target under the control of ground control station
And positioning；
Fly control module 13, for controlling the flight of depopulated helicopter；
Weapon module 14, for carrying weapon, and weapon is carried out after " igniting " instruction of ground control station transmission is received
Transmitting；With
Airborne task manager 15, for receiving steady collimation device 12, flying the data that control module 13 and weapon module 14 are transmitted
The image information that information and weapon module 14 are transmitted, row information of going forward side by side processing, then it will be located by type onboard data link terminal 11
Information after reason is sent to ground control station, meanwhile, it is additionally operable to receive the feedback command that ground control station is sent.
(2) system according to above-mentioned (1), wherein, the steady collimation device 12 includes image recorder 121, visible ray
TV 122, video tracker 123, thermal infrared imager 124, Laser Measuring calculate according to device 125, servo controller 126 and photoelectricity management
Machine 127, wherein,
The visual TV 122 is used to carry out target search under visible light, that is, carries out picture catching, be steady collimation device
12 provide the image information between daytime；
The video tracker 123 is used to carry out target following；
The thermal infrared imager 124 is used under under the conditions of round the clock scan for target, detect and identify；
Described image recorder 121 is used to store the image letter that visual TV 122 and thermal infrared imager 124 detect
Breath；
The Laser Measuring can launch the laser rays from depopulated helicopter to target according to device 125, and be measured by laser rays
Target range, azimuth and the angle of site；
The servo controller 126 is used for the motion for controlling steady collimation device 12, that is, controls its rotation, carry out 360 ° of target
Search, until searching target；
The photoelectricity management computer 127 is used to handle the information that steady collimation device 12 detects, described information includes data
Information and image information, and the command information of ground control station transmission is received, steady collimation device 12 is entered according to the command information
Row regulation or control.
(3) system according to above-mentioned (1) or (2), wherein, it is described it is winged control module 13 include sense signals module 131,
Flight control computer 132 and executing agency 133, wherein,
The sense signals module 131 is used to measure the state of flight of depopulated helicopter, obtains flight parameter；
The flight control computer 132, which is used to receiving ground control station, is sent to command information, and and receives sensor submodule
The flight parameter that block 131 measures, then：First, the flight parameter is exported to airborne task manager 15, second, according to
Flight parameter and command information are handled, and obtain performing control instruction, and the execution control instruction is exported and gives execution machine
Structure 133；
The executing agency 133 is used for the execution control instruction for receiving the output of flight control computer 132, controls depopulated helicopter
Flight.
(4) system according to one of above-mentioned (1) to (3), wherein, the weapon module 14 include airborne hanger 141,
Arm discharge cylinder 142, weapon 143, wherein,
The airborne hanger 141 is used to connect depopulated helicopter and arm discharge cylinder 142；
The arm discharge cylinder 142 is used to carry weapon 143；
Preferably, target seeker 1431 and missile-borne computer 1432 are provided with weapon 143, wherein, the target seeker
1431 are used to search for simultaneously lock onto target, to be hit；The missile-borne computer 1432 is used to pass the state parameter of weapon 143
It is defeated by airborne task manager 15.
(5) system according to one of above-mentioned (1) to (4), wherein, the airborne task manager 15 includes motherboard
151st, airborne integrated control panel 152 and weapon hair control plate 153, wherein,
The motherboard 151 is used to connect airborne integrated control panel 152 and weapon hair control plate 153, and power supply, data are provided for it
Information and level controling signal；
The airborne integrated control panel 152 is used for the number for transmitting steady collimation device 12, winged control module 13 and weapon module 14
It is believed that the image information that breath and weapon module 14 are transmitted is transmitted to ground control station, and to steady collimation device 12 and fly control module 13
The data message of transmission is extracted and packed, and is then sent to weapon module 14, meanwhile, for receiving ground control station output
Command information, and command information is distributed to steady collimation device 12 respectively, flies control module 13 and weapon module 14；
The igniting that the weapon generates upper electricity and weapon that control plate 153 is used to control target seeker is launched.
(6) system according to one of above-mentioned (1) to (5), wherein,
It is provided with the airborne integrated control panel 152
Information forwarding module 1521, the data for steady collimation device 12, winged control module 13 and weapon module 14 to be transmitted are believed
Breath is transmitted to ground control station；
Data are extracted to be carried out with packetization module 1522, the data message for being exported to steady collimation device 12 and winged control module 13
Extract and pack, and the information after packing is exported to weapon module 14；
Distribution module 1523 is instructed, for receiving the feedback command of ground control station transmission, and feedback command is divided respectively
Issue steady collimation device 12, fly control module 13 and weapon module 14.
(7) system according to one of above-mentioned (1) to (6), wherein,
Sent out in the weapon and be provided with electric control module 1531 and ignition control module 1532 on control plate 153, used respectively
Launch in the igniting of the upper electricity and weapon of control target seeker.
(8) a kind of control method of unmanned helicopter-mounted system, it is preferably by described in one of above-mentioned (1) to (7)
System, wherein, it the described method comprises the following steps：
Step 1, using steady collimation device 12 and ground control station target is scanned for, detect, identify, locking, tracking and
Positioning；
Step 2, adjustment flight range, make target within the investigative range of target seeker；
Step 3, utilize weapon module 14 and ground control station progress target search and target lock-on；
Step 4, carry out target strike.
(9) system according to above-mentioned (8), wherein,
The step 1 includes following sub-step:
Step 1-1, target is scanned for using steady collimation device 12, and the image information detected in search procedure is led to
Cross type onboard data link terminal 11 and be transferred to ground control station；
Step 1-2, the image information that ground control station transmits according to steady collimation device 12 controls steady collimation device 12 to carry out target
Detection, identification and locking；
Step 1-3, after ground control station is to target lock-on, steady collimation device 12 is tracked to target, until ground controls
Stand and target is positioned；
And/or
The step 2 includes following sub-step：
Step 2-1, the image information that ground control station detects to steady collimation device 12 carries out the resolving set of data, obtains resolving letter
Breath；
Step 2-2, information will be resolved and airborne task manager 15 is transferred to by type onboard data link terminal；
Step 2-3, airborne task manager 15 will resolve information and export to winged control module 13, control unmanned helicopter flight
The region that target can be captured to target seeker；
And/or
The step 3 includes following sub-step：
Step 3-1, behind the region that unmanned helicopter flight can be captured to target seeker to target, ground control station is sent
" upper electricity " instruction；
Step 3-2, type onboard data link terminal 11 receives " upper electricity " instruction, and is transferred to airborne task manager 15；
Step 3-3, airborne task manager 15 receives electricity on the target seeker that weapon module 14 is controlled after " upper electricity " instructs,
Target seeker carries out target search；
Step 3-4, the image information searched is transferred to ground by airborne task manager 15 and controlled by weapon module 14
System station, ground control station carry out target lock-on according to described image information.
(10) method according to above-mentioned (8) or (9), wherein, step 5 is carried out after step 4：
Step 5, carry out postwar assessment；
Preferably, the step 5 includes following sub-step：
Step 5-1, steady collimation device 12 is shot to postwar environment, and the image information through shooting is transferred to ground control
Stand；
Step 5-2, ground control station, which is assessed and simulated according to geometry to assess to combine, carries out postwar assessment；
Step 5-3, analyzed through ground control station, if strike is qualified, strike terminates, if strike is unqualified, to target
Carry out second strike.
Brief description of the drawings
Fig. 1 shows the structural representation one of unmanned helicopter-mounted system of the present invention；
Fig. 2 shows the structural representation two of unmanned helicopter-mounted system of the present invention；
Fig. 3 shows the control method of unmanned helicopter-mounted system of the present invention.
Drawing reference numeral explanation：
11- type onboard data link terminals；
The steady collimation devices of 12-；
121- image recorders；
122- visual TVs；
123- video trackers；
124- thermal infrared imagers；
125- Laser Measurings shine device；
126- servo controllers；
127- photoelectricity manages computer；
13- flies control module；
131- sense signals modules；
132- flight control computers；
133- executing agencies；
14- weapon modules；
The airborne hangers of 141-；
142- arm discharge cylinders；
143- weapons；
1431- target seekers；
1432- missile-borne computers；
The airborne task managers of 15-；
151- motherboards；
The airborne integrated control panels of 152-；
1521- information forwarding modules；
1522- data are extracted and packetization module；
1523- instructs distribution module；
153- weapons hair control plate；
The upper electric control modules of 1531-；
1532- ignition control module.
Embodiment
Below by accompanying drawing, the present invention is described in more detail.By these explanations, the features and advantages of the invention will
Become more apparent from clearly.
One aspect of the present invention provides a kind of unmanned helicopter-mounted system, as shown in figure 1, the system includes airborne number
According to chain terminal 11, steady collimation device 12, fly control module 13, weapon module 14 and airborne task manager 15.
Wherein, the type onboard data link terminal 11 is used to carry out information transfer with ground control station, and described information includes machine
Borne control system is sent to the data message of ground control station and image information and ground control station are sent to airborne control system
The command information of system；The steady collimation device 12 is used to scanning for target under the control of ground control station, detect, identify,
Locking, tracking and positioning；The winged control module 13 is used for the flight for controlling depopulated helicopter；The weapon module 14 is used to hold
Weapon is carried, and the transmitting of weapon is carried out after " igniting " instruction of ground control station transmission is received；The airborne task manager
15 are used to receive what steady collimation device 12, the data message that winged control module 13 and weapon module 14 are transmitted and weapon module 14 were transmitted
Image information, row information of going forward side by side processing, then the information after processing is sent to ground by type onboard data link terminal 11 and controlled
Stand, meanwhile, it is additionally operable to receive the feedback command that ground control station is sent, and the distribution of feedback command is carried out, realize to surely taking aim at dress
Put 12, fly to control the control of module 13 and weapon module 14.
In the present invention, information transfer, the on-board data are carried out using type onboard data link terminal 11 and ground control station
Chain terminal 11 can realize long-distance transmissions with ground control station, and specifically, the remote information that more than 100km can be achieved passes
It is defeated, also, transmitting procedure is stable, ensure that the promptness of information transfer, and its security is good, wherein, described information includes
Data message, image information and command information.
In further preferred embodiment, as shown in figure 1, the data message detected is passed through machine by steady collimation device 12
Carry task manager 15 and be transferred to type onboard data link terminal 11, the graphical information detected is transferred directly to airborne data link end
End 11；Fly control module 13 and the data message detected is transferred to type onboard data link terminal 11 by airborne task manager 15；
The data message detected and image information are transferred to airborne data link by weapon module 14 by airborne task manager 15
Terminal 11.
Wherein, the data message that steady collimation device 12 transmits includes target range, azimuth, the angle of site, image recorder shape
State working condition, transmission state, electrifying startup state, wait acknowledgement state, interface rate, depopulated helicopter attitude angle pitching
Angle, yaw angle and roll angle and depopulated helicopter position longitude, latitude and height；The data message that the winged control module 13 is transmitted
Including temporal information, the attitude angle angle of pitch, yaw angle and the roll angle of depopulated helicopter, depopulated helicopter position longitude, latitude
The velocity attitude of degree and height, the ground velocity of depopulated helicopter and depopulated helicopter；The data message of the weapon module transfer is
The state parameter information of guided missile, in particular to whether in power up mode or ignition mode.The velocity attitude refers to that nobody goes straight up to
Direction where the speed of machine, because speed is vector.
In the present invention, after depopulated helicopter takes off, steady collimation device 12 enters working condition at once, and target is searched
Rope, and the data message detected and image information are transferred to ground control station, ground control station passes according to steady collimation device 12
Defeated image information controls steady collimation device 12 to be detected, identified and locked to target, and after lock onto target, steady collimation device 12 is to mesh
Mark is tracked, laser ranging, obtains data message, and in time by detected data information transfer to ground control station,
Ground control station sends command information according to the information that steady collimation device 12 is sent to winged control module 13, controls flying for depopulated helicopter
OK, until target is located within the detection range of weapon module 14, now, ground control station sends " upper electricity " and instructed to airborne
It to be engaged in manager 15, airborne task manager 15 receives instruction control weapon module 14 and carries out electricity, and by weapon module 14
" upper electricity " state transfer to ground control station, after receiving " upper electricity " signal that airborne task manager 15 exports send out by ground control station
Go out " igniting " to instruct to airborne task manager 15, airborne task manager 15 receives the instruction and controls weapon module 14 to light a fire
Transmitting.
In the present invention, the mobile system can hang 100 kilograms or so of weight, wherein, the weapon module is public up to 40
Jin or so, the steady collimation device is up to 30 kilograms or so.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 the steady collimation device 12 includes image recorder
121st, visual TV 122, video tracker 123, thermal infrared imager 124, Laser Measuring shine device 125, servo controller 126 and light
Fulgurite manages computer 127.
Wherein：
Described image recorder 121 is used to store the image letter that visual TV 122 and thermal infrared imager 124 detect
Breath；
The visual TV 122 is used to carry out picture catching, the visible images (image between steady collimation device 12 offer daytime
Information), wherein, when receiving zoom or focusing instruction, visual field does corresponding consecutive variations, and exports current focal length value for it；
Also, when ambient light changes, the time for exposure can continuously thickening, ensure real-time output image information, then image information is through light
Recorded after fulgurite reason computer compression, meanwhile, exported by type onboard data link terminal 11 to ground control station；
The video tracker 123 is used to carry out target following, and manages real-time output tracking shape in computer to photoelectricity
State parameter and target relative to the center of aiming azimuth angle deviation amount and pitch angle deviation amount, with realize target it is accurate with
Track；
For the thermal infrared imager 124 for scanning for, detecting and identifying to target under the conditions of round the clock, it has brightness
The functions such as regulation, contrast adjustment, dipole inversion, auto-focusing, nonuniformity correction, Electronic magnification and image enhaucament；
The Laser Measuring can launch the laser rays from depopulated helicopter to target according to device 125, and be measured by laser rays
Target range, azimuth and angle of site etc.；
The servo controller 126 is used for the motion for controlling steady collimation device 12, that is, controls its rotation, carry out 360 ° of target
Search, until searching target, the servo controller 126 uses DSP Processor；
The photoelectricity management computer 127 is used to handle the information that steady collimation device 12 detects, described information includes data
Information and image information, and the command information of ground control station transmission is received, according to the command information to each of steady collimation device
Part is adjusted or controlled, and the photoelectricity management computer uses powerpc processors.
In the present invention, the target range refers to the air line distance between depopulated helicopter and target；The azimuth
Refer to be overlooked by top, vector is 0, clockwise for just；The angle of site be azimuth be 0 ° when, be with horizontal forward
0, it is negative to come back just, to bow.
In further preferred embodiment, the steady collimation device 12 also includes Universal Power and connecting bracket, its
In, the Universal Power is used to realize Power convert, and the connecting bracket is used to carry out steady collimation device and depopulated helicopter
Connection.
Wherein, when depopulated helicopter starts, generator can temporary transient power down, therefore set Universal Power to steady collimation device
Restarted, wherein, Universal Power is served only for the moment of depopulated helicopter startup.
In embodiment still more preferably, the data message detected is transferred directly to by the steady collimation device 12
Airborne task manager 15, type onboard data link terminal 11 is sent to by airborne task manager；Meanwhile the steady collimation device 12 will
The image information detected is transferred directly to type onboard data link terminal 11.
According to a kind of preferred embodiment of the present invention, from depopulated helicopter departure time, steady collimation device 12 is in
Working condition, and target search is carried out, and the image information detected in search procedure is transferred to ground control station.
In further preferred embodiment, the image information that ground control station transmits according to steady collimation device 12 controls surely
Collimation device 12 carries out target acquisition, identification and lock onto target.
In embodiment still more preferably, after ground control station locks to target, in steady collimation device 12
Video tracker 123 is tracked to target, until ground control station positions to target.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 the winged control module 13 includes sense signals module
131st, flight control computer 132 and executing agency 133.
Wherein, the sense signals module 131 is used to measure the state of flight of depopulated helicopter, obtains flight ginseng
Number, the flight parameter include temporal information, the attitude angle of depopulated helicopter, the position of depopulated helicopter, depopulated helicopter
General speed and depopulated helicopter east, north, day component velocity；The flight control computer 132 is sent for receiving ground subsystem 2
To command information, and receive the flight parameter that sense signals module 131 measures, then, first, by the flight parameter export to
Airborne task manager 15, second, handled according to flight parameter and command information, obtain performing control instruction, and by institute
Execution control instruction is stated to export to executing agency 133；The executing agency 133 is used for the execution control for receiving flight control computer output
System instruction, controls the flight of depopulated helicopter.In the present invention, the flight control computer uses arm processor.
Wherein, flight control computer is handled as follows：Current flight parameter is merged with command information, performed
Control instruction, wherein, it is that flight parameter is constantly updating because during depopulated helicopter moves ahead to carry out fusion, therefore, is needed
Current flight parameter is combined to obtain performing control instruction with command information.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 the weapon module 14 include airborne hanger 141,
Arm discharge cylinder 142 and weapon 143.
Wherein, the airborne hanger 141 is used to connect depopulated helicopter and arm discharge cylinder 142, the arm discharge cylinder
142 are used to place weapon 143.
In further preferred embodiment, target seeker 1431 and missile-borne computer 1432 are provided with weapon 143.
Wherein, the target seeker 1431 is used to search for simultaneously lock onto target, to carry out target strike；The missile-borne computer
1432 are used to give the state transfer of weapon 143 to airborne task manager 15.Wherein, the state include off working state, on
Electricity condition and fired state.
In the present invention, the full resolution pricture of target area is stored on missile-borne computer 1432, missile-borne computer
1432 target images for detecting target seeker 1431 and the full resolution pricture for the target area being stored on missile-borne computer are certainly
It is dynamic to be contrasted, to confirm target seeker whether lock onto target.The missile-borne computer uses DSP Processor.
In further preferred embodiment, target seeker 1431 is provided with weapon 143, for detecting and locking mesh
Mark, to be hit.The target image and be stored on missile-borne computer that missile-borne computer 1432 detects target seeker 1431
The full resolution pricture of target area contrasted automatically, to confirm target seeker whether lock onto target.
Wherein, by the control of winged control module 13, target is made in the firing area of weapon module 14, specifically, ground
The image information that control station transmits according to steady collimation device 12 carries out the resolving set of data, obtains resolving information, and will resolve information transfer
To winged control module 13, the region that control unmanned helicopter flight can be captured to target seeker to target.Then, ground control station
" upper electric " instruction is sent, airborne task manager 15 receives " upper electricity " instruction, and controls electricity on target seeker, target seeker start, enters
Row target search.Adjust the optical axis of target seeker and the optical axis coincidence of steady collimation device, the figure that ground control station transmits according to target seeker
As information carries out target lock-on, after target seeker lock onto target, ground control station sends " igniting " and instructed to airborne task manager
15, weapon module 14 receives " igniting " that airborne task manager 15 forwards and instructs and control weapon to carry out igniting transmitting, military
Device goes out arm discharge cylinder, rudder face expansion, the steering wheel work of weapon, constantly close to target until hitting the mark.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 the airborne task manager 15 includes motherboard
151st, airborne integrated control panel 152 and weapon hair control plate 153.
Wherein, the motherboard 151 is used to connect airborne integrated control panel 152 and weapon hair control plate 153, and electricity is provided for it
Source, data message and level controling signal；The airborne integrated control panel 152 is used for the processing of information, specifically, surely will take aim at dress
Put the data message of 12, winged control module 13 and the transmission of weapon module 14 and the image information of the transmission of weapon module 14 is transmitted to ground
Face control station, and the data message transmitted to steady collimation device 12 and winged control module 13 is extracted and packed, and is then sent to force
Device module 14, meanwhile, for receiving the command information of ground control station output, and command information is distributed to steady collimation device respectively
12nd, control module 13 and weapon module 14 are flown；The igniting that the weapon generates upper electricity and weapon that control plate 153 is used to control target seeker is sent out
Penetrate.
In further preferred embodiment, airborne integrated control panel 152 and weapon hair the control plate 153 is set and mother
On plate 151, and to be vertically arranged.
In embodiment still more preferably, the task manager 15 also includes transformer, ATR cabinets, air plug
Component and damper.
Wherein, the transformer is powered by airborne power supply, shift voltage level, for powering；The ATR cabinets use
Aviation ATR standards make；The air plug component is to include power input air plug and signal interaction air plug, wherein, the power supply is defeated
It is aviation plug special to enter air plug, for giving internal circuit components supply of electric power, the signal interaction air plug and steady collimation device
12nd, fly control module 13, weapon module 14 and type onboard data link terminal 11 and carry out signal interaction；The damper is used to adapt to nobody
The vibration environment of helicopter, reduce due to vibrating the influence to ATR cabinet insides element structure and electromagnetic environment.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 being set on the airborne integrated control panel 152
There are information forwarding module 1521, data extraction and packetization module 1522 and instruction distribution module 1523.
Wherein, described information forwarding module 1521 is used to transmit steady collimation device 12, winged control module 13 and weapon module 14
Data message and weapon module 14 transmit image information be transmitted to type onboard data link terminal 11, be then transferred to ground
Control station；The data extraction is used to steady collimation device 12 and winged control module 13 being transferred to airborne task pipe with packetization module 1522
The data message of reason device 15 carries out extracting section and packed, and is then sent to weapon module 14, wherein, extract and fly control module detection
Depopulated helicopter attitude angle and the data such as the angle of site, the azimuth and target range letter of position and the detection of steady collimation device
Breath；The instruction distribution module 1523 is used to the feedback command that ground control station is sent being distributed, and is distributed to surely takes aim at respectively
Device 12 and winged control module 13.
In further preferred embodiment, the information forwarding module 1521 in airborne task manager 15 surely will take aim at dress
Put the data message of 12, winged control module 13 and the transmission of weapon module 14 and image information all forwardings of the transmission of weapon module 14
To type onboard data link terminal 11, ground control station is then transferred to.
In embodiment still more preferably, data extraction and packetization module 1522 in airborne task manager 15
The data message that steady collimation device 12 and winged control module 13 send airborne task manager 15 to is subjected to extracting section and packed, so
After export to weapon module 14.
Wherein, data extraction includes the height of steady collimation device 12 output with the data that packetization module 1522 is extracted and packed
The attitude angle for the depopulated helicopter that the data messages such as low angle, azimuth and target range and winged control module 13 export and position etc.
Data message.
According to a kind of preferred embodiment of the present invention, it is provided with as shown in Fig. 2 being sent out in the weapon on control plate 153
Electric control module 1531 and ignition control module 1532.
Wherein, the upper electric control module 1531 is used to receive " upper electricity " instruction that ground control station is sent, and controls force
Target seeker 1431 in device module 14 carries out electricity；The ignition control module 1532 is used to receive what ground control station was sent
" igniting " instructs, and controls the weapon 143 in weapon module 14 to carry out igniting transmitting.
According to a kind of preferred embodiment of the present invention, mobile system also includes airborne power supply, wherein, airborne power supply provides
22~33V voltage 28V, are introduced by air plug component, are motherboard 151, airborne integrated control panel in airborne task manager 15
152 and weapon hair control plate 153 provide voltage.
According to a kind of preferred embodiment of the present invention, the ground control station is used to be controlled mobile system, has
Body：(1) it is used for search, detection, identification, locking, tracking and the positioning for controlling steady collimation device 12 to carry out target, and for carrying out
Assess after the war；(2) it is used to control and flies control module 13, and then controls the flight of depopulated helicopter；(3) it is used to control weapon module
14, the upper electricity of major control weapon and igniting are launched；(4) it is used to handle the information of mobile system transmission, and to airborne
System sends feedback command, controls the operation of mobile system.
According to a kind of preferred embodiment of the present invention, as shown in Figure 1：Steady collimation device 12 leads to the data message detected
Cross airborne task manager 15 and type onboard data link terminal 11 is transferred to ground control station, at the same the image information detected is straight
Connect type onboard data link terminal 11 and be transferred to ground control station；Fly control module 13 and the data message detected is passed through airborne
Business manager 15 and type onboard data link terminal 11 are transferred to ground control station；Weapon module 14 is by the data message detected and figure
As information is transferred to ground control station by airborne task manager 15 and type onboard data link terminal 11.
According to a kind of preferred embodiment of the present invention, after depopulated helicopter takes off, steady collimation device 12 enters work at once
State, target is scanned for, and the image information detected in search procedure is transferred to ground control station, ground control station
The image information transmitted according to steady collimation device 12 carries out detection, identification and the locking of target, and after lock onto target, steady collimation device 12 is right
Target is tracked, laser ranging, obtains data message, and in time control detected data information transfer to ground
Stand.
In further preferred embodiment, after steady collimation device 12 positions to target, ground control station control
The region that unmanned helicopter flight can be captured to target seeker to target.
In embodiment still more preferably, area that unmanned helicopter flight to target seeker can be captured to target
Behind domain, ground control station sends " upper electricity " instruction, and is transferred to airborne task manager 15, machine by type onboard data link terminal 11
Carry task manager 15 and receive electricity on the target seeker that weapon module 14 is controlled after " upper electricity " instructs, target seeker carries out target and searched
Rope, and the image information searched is transferred to ground control station by airborne task manager 15, ground control station is according to this
Image information carries out target lock-on.
In embodiment still more preferably, " igniting " instruction after ground control station locks to target, is sent,
The instruction is transferred to by airborne task manager 15 by type onboard data link terminal, airborne task manager 15 receives the instruction
Control weapon carries out igniting transmitting afterwards, carries out strike.
Wherein, on target seeker before electricity, weapon module 14 does not send any image information, and upper electricity is carried out to target seeker
Afterwards, target seeker carries out target search, and the image information searched is transmitted.
Another aspect of the present invention provides a kind of control method of unmanned helicopter-mounted system, wherein, as shown in figure 3,
It the described method comprises the following steps：
Step 1, using steady collimation device 12 and ground control station target is scanned for, detect, identify, locking, tracking and
Positioning.
Wherein, after depopulated helicopter takes off, steady collimation device 12 enters working condition, and ground control station is in real time to surely taking aim at
Device 12 is controlled, and steady collimation device 12 is scanned for and position target.
According to a kind of preferred embodiment of the present invention, the step 1 includes following sub-step：
Step 1-1, target is scanned for using steady collimation device 12, and the image information detected in search procedure is led to
Cross type onboard data link terminal 11 and be transferred to ground control station；
Step 1-2, the image information that ground control station transmits according to steady collimation device 12 controls steady collimation device 12 to carry out target
Detection, identification and locking；
Step 1-3, after ground control station is to target lock-on, steady collimation device 12 is tracked to target, until control station pair
Realization of goal positions.
Wherein, after ground control station lock onto target, steady collimation device 12 is tracked to target, laser ranging, obtains data
Information, and in time by detected data information transfer to ground control station.
Step 2, adjustment flight range, make target within the investigative range of target seeker.
According to a kind of preferred embodiment of the present invention, the step 2 includes following sub-step：
Step 2-1, the image information that ground control station exports to steady collimation device 12 carries out the resolving set of data, obtains resolving letter
Breath；
Step 2-2, information transfer will be resolved to type onboard data link terminal 11, be then transferred to airborne task manager 15；
Step 2-3, airborne task manager 15 will resolve information and export to winged control module 13, control unmanned helicopter flight
The region that target can be captured to target seeker.
Step 3, utilize weapon module 14 and ground control station progress target search and target lock-on.
According to a kind of preferred embodiment of the present invention, step 3 includes following sub-step：
Step 3-1, behind the region that unmanned helicopter flight can be captured to target seeker to target, ground control station is sent
" upper electricity " instruction；
Step 3-2, type onboard data link terminal 11 receives " upper electricity " instruction, and is transferred to airborne task manager 15；
Step 3-3, airborne task manager 15 receives electricity on the target seeker that weapon module 14 is controlled after " upper electricity " instructs,
Target seeker carries out target search；
Step 3-4, the image information searched is transferred to ground by airborne task manager 15 and controlled by weapon module 14
System station, ground control station carry out target lock-on according to described image information.
Step 4, carry out target strike.
Wherein, after target seeker lock onto target, ground control station sends " igniting " instruction, controls the force in weapon module 14
Device carries out igniting transmitting, and target is hit.
According to a kind of preferred embodiment of the present invention, step 5 is carried out after step 4：Step 5, carry out postwar assessment.
Wherein, after target strike, postwar assessment is carried out using ground control station.
In further preferred embodiment, the step 5 includes following sub-step：
Step 5-1, steady collimation device 12 is shot to postwar environment, and the image information through shooting is transferred to ground control
Stand.
Step 5-2, ground control station, which is assessed and simulated according to geometry to assess to combine, carries out postwar assessment.
Wherein, the geometry assesses the shape-change amount for referring to target, and the inside lines for referring to target is assessed in the simulation
Deformation quantity.
Step 5-3, analyzed through ground control station, if strike is qualified, strike terminates, if strike is unqualified, to target
Carry out second strike.
Wherein, the deformation of the improper outwardly and inwardly lines for referring to target of strike is smaller, that is, without just when hitting
Middle target may have occurred skew, therefore, it is necessary to carry out second strike.If strike is qualified, strike terminates, without second
Strike.
Beneficial effect includes possessed by the present invention：
(1) system provided by the present invention integrates investigation and hit with weapon, and realization, which is examined, beats one；
(2) system provided by the present invention is to be based on depopulated helicopter, it has, and unmanned, personal safety performance is high,
Small volume, be not easy to be detected, the irradiation that can hover, the attack that can hover, to hang weight high, simple in construction, it is cost-effective the advantages that；
(3) system provided by the present invention can carry out battle reconnaissance, and target accurate pointing is positioned, fixed point irradiation, and
The precision strike to target can be realized；
(4) system of the present invention has that voyage is remote, the hang time is long, controllability is high, can in real time attack, be reusable
The features such as；
(5) the method for the invention is fought flexibly, efficiently, can be to the real-time Precise strike of maneuvering target.
In the description of the invention, it is necessary to the orientation of instruction such as explanation, term " on ", " under ", " interior " and " outer " or
Position relationship is based on the orientation or position relationship under working condition of the present invention, is for only for ease of the description present invention and simplification is retouched
State, rather than instruction or imply signified device or element there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
Above in association with preferred embodiment, the present invention is described, but these embodiments are only exemplary
, only play illustrative effect.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 domain of invention.
Claims (10)
1. a kind of unmanned helicopter-mounted system, it is characterised in that the system includes
Type onboard data link terminal (11), for carrying out information transfer with ground control station, wherein, described information is believed including data
Breath, image information and command information；
Steady collimation device (12), for target is scanned under the control of ground control station, detect, identify, lock, track with
And positioning；
Fly control module (13), for controlling the flight of depopulated helicopter；
Weapon module (14), for carrying weapon, and weapon is carried out after " igniting " instruction of ground control station transmission is received
Transmitting；With
Airborne task manager (15), for receiving steady collimation device (12), winged control module (13) and weapon module (14) transmission
Data message and the image information of weapon module (14) transmission, row information of going forward side by side processing, then pass through type onboard data link terminal
(11) information after processing is sent to ground control station, meanwhile, it is additionally operable to receive the feedback command that ground control station is sent.
2. system according to claim 1, it is characterised in that the steady collimation device (12) include image recorder (121),
Visual TV (122), video tracker (123), thermal infrared imager (124), Laser Measuring are according to device (125), servo controller
(126) and photoelectricity manages computer (127), wherein,
The visual TV (122) is used to carry out target search under visible light, that is, carries out picture catching, be steady collimation device
(12) image information between daytime is provided；
The video tracker (123) is used to carry out target following；
The thermal infrared imager (124) is used under under the conditions of round the clock scan for target, detect and identify；
Described image recorder (121) is used to store the image letter that visual TV (122) and thermal infrared imager (124) detect
Breath；
The Laser Measuring can launch the laser rays from depopulated helicopter to target according to device (125), and measure mesh by laser rays
Subject distance, azimuth and the angle of site；
The servo controller (126) is used for the motion for controlling steady collimation device (12), that is, controls its rotation, carry out 360 ° of target
Search, until searching target；
The photoelectricity management computer (127) is used to handle the information that steady collimation device (12) detects, described information includes data
Information and image information, and the command information of ground control station transmission is received, according to the command information to steady collimation device (12)
It is adjusted or controls.
3. system according to claim 1 or 2, it is characterised in that the winged control module (13) includes sense signals module
(131), flight control computer (132) and executing agency (133), wherein,
The sense signals module (131) is used to measure the state of flight of depopulated helicopter, obtains flight parameter；
The flight control computer (132) is sent to command information for receiving ground control station, and receives sense signals module
(131) flight parameter measured, then：Airborne task manager (15) is given first, the flight parameter is exported, second, root
Handled according to flight parameter and command information, obtain performing control instruction, and the execution control instruction is exported to execution
Mechanism (133)；
The executing agency (133) is used for the execution control instruction for receiving flight control computer (132) output, controls depopulated helicopter
Flight.
4. the system according to one of claims 1 to 3, it is characterised in that the weapon module (14) includes airborne hanger
(141), arm discharge cylinder (142) and weapon (143), wherein,
The airborne hanger (141) is used to connect depopulated helicopter and arm discharge cylinder (142)；
The arm discharge cylinder (142) is used to carry weapon (143)；
Preferably, target seeker (1431) and missile-borne computer (1432) are provided with weapon (143), wherein, the target seeker
(1431) it is used to search for simultaneously lock onto target, to be hit；The missile-borne computer (1432) is used for the state of weapon (143)
Parameter is transferred to airborne task manager (15).
5. the system according to one of Claims 1-4, it is characterised in that the airborne task manager (15) includes mother
Plate (151), airborne integrated control panel (152) and weapon hair control plate (153), wherein,
The motherboard (151) is used to connect airborne integrated control panel (152) and weapon hair control plate (153), and power supply, number are provided for it
It is believed that breath and level controling signal；
The airborne integrated control panel (152) is used for steady collimation device (12), flies control module (13) and weapon module (14) transmission
Data message and the image information of weapon module (14) transmission be transmitted to ground control station, and to steady collimation device (12) and winged
The data message of control module (13) transmission is extracted and packed, and is then sent to weapon module (14), meanwhile, for receiving ground
The command information of face control station output, and command information is distributed to steady collimation device (12), winged control module (13) and weapon respectively
Module (14)；
The igniting that the weapon generates upper electricity and weapon that control plate (153) is used to control target seeker is launched.
6. the system according to one of claim 1 to 5, it is characterised in that set on the airborne integrated control panel (152)
It is equipped with：
Information forwarding module (1521), for the number for transmitting steady collimation device (12), winged control module (13) and weapon module (14)
It is believed that breath is transmitted to ground control station；
Data are extracted to be entered with packetization module (1522), the data message for being exported to steady collimation device (12) and winged control module (13)
Row is extracted and packed, and the information after packing is exported and gives weapon module (14)；
Distribution module (1523) is instructed, for receiving the feedback command of ground control station transmission, and feedback command is distributed respectively
To steady collimation device (12), fly control module (13) and weapon module (14).
7. the system according to one of claim 1 to 6, it is characterised in that
Sent out in the weapon and be provided with upper electric control module (1531) and ignition control module (1532) on control plate (153), respectively
The igniting of upper electricity and weapon for controlling target seeker is launched.
8. a kind of control method of unmanned helicopter-mounted system, preferably by the system described in one of claim 1 to 7, its
In, it the described method comprises the following steps：
Step 1, using steady collimation device (12) and ground control station target is scanned for, detect, identify, lock, track and determined
Position；
Step 2, adjustment flight range, make target within the investigative range of target seeker；
Step 3, utilize weapon module (14) and ground control station progress target search and target lock-on；
Step 4, carry out target strike.
9. system according to claim 8, wherein,
The step 1 includes following sub-step:
Step 1-1, target is scanned for using steady collimation device (12), and the image information detected in search procedure is passed through
Type onboard data link terminal (11) is transferred to ground control station；
Step 1-2, the image information that ground control station transmits according to steady collimation device (12) controls steady collimation device (12) to carry out target
Detection, identification and locking；
Step 1-3, after ground control station is to target lock-on, steady collimation device (12) is tracked to target, until ground control station
Realization of goal is positioned；
And/or
The step 2 includes following sub-step：
Step 2-1, the image information that ground control station exports to steady collimation device (12) carries out the resolving set of data, obtains resolving information；
Step 2-2, information will be resolved and airborne task manager (15) is transferred to by type onboard data link terminal；
Step 2-3, airborne task manager (15) will resolve information and export to winged control module (13), control unmanned helicopter flight
The region that target can be captured to target seeker；
And/or
The step 3 includes following sub-step：
Step 3-1, behind the region that unmanned helicopter flight can be captured to target seeker to target, ground control station send " on
Electricity " instruction；
Step 3-2, type onboard data link terminal (11) receives " upper electricity " instruction, and is transferred to airborne task manager (15)；
Step 3-3, airborne task manager (15) receives electricity on the target seeker that weapon module (14) is controlled after " upper electricity " instructs,
Target seeker carries out target search；
Step 3-4, the image information searched is transferred to ground by airborne task manager (15) and controlled by weapon module (14)
System station, ground control station carry out target lock-on according to described image information.
10. method according to claim 8 or claim 9, wherein, step 5 is carried out after step 4：
Step 5, carry out postwar assessment；
Preferably, the step 5 includes following sub-step：
Step 5-1, steady collimation device (12) shoots to postwar environment, and the image information through shooting is transferred to ground control station；
Step 5-2, ground control station, which is assessed and simulated according to geometry to assess to combine, carries out postwar assessment；
Step 5-3, analyzed through ground control station, if strike is qualified, strike terminates, if strike is unqualified, target is carried out
Second strike.
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