CN107878739B - An unmanned helicopter control system and its control method - Google Patents
An unmanned helicopter control system and its control method Download PDFInfo
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- B64C—AEROPLANES; HELICOPTERS
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- B64C27/04—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
本发明公开了一种无人直升机控制系统及其控制方法,其中,所述系统包括机载子系统(1)和地面子系统(2),所述机载子系统(1)包括机载数据链终端(11)、稳瞄装置(12)、飞控模块(13)、武器模块(14)和机载任务管理器(15),所述地面子系统(2)包括地面数据链终端(21)、稳瞄操控席位(22)、飞控操控席位(23)、武器操控席位(24)和地面任务管理器(25)。所述方法包括以下步骤:步骤1、利用稳瞄装置和稳瞄操控席位对目标进行搜索、探测、识别、锁定、跟踪和定位,步骤2、调整飞行区域使目标在导引头的探测范围之内,步骤3、利用武器模块和武器操控席位进行目标搜索及目标锁定,步骤4、进行目标打击,步骤5、进行战后评估。
The invention discloses an unmanned helicopter control system and a control method thereof, wherein the system includes an airborne subsystem (1) and a ground subsystem (2), and the airborne subsystem (1) includes airborne data A link terminal (11), a sight stabilization device (12), a flight control module (13), a weapon module (14) and an airborne task manager (15), the ground subsystem (2) includes a ground data link terminal (21) ), Aiming Control Seat (22), Flight Control Seat (23), Weapon Control Seat (24) and Ground Mission Manager (25). The method includes the following steps: Step 1, use the aiming stabilization device and the aiming stabilization control seat to search, detect, identify, lock, track and locate the target, and step 2, adjust the flight area so that the target is within the detection range of the seeker. Inside, step 3, use weapon modules and weapon control seats to conduct target search and target locking, step 4, carry out target strike, and step 5, carry out post-war assessment.
Description
技术领域technical field
本发明涉及无人直升机,尤其涉及一种无人直升机控制系统及其控制方法。The invention relates to an unmanned helicopter, in particular to an unmanned helicopter control system and a control method thereof.
背景技术Background technique
在现代战争中,打击一些稍纵即逝的机动目标和时敏目标是作战的关键。在现有技术中,可以携带武器且进行打击的较多为固定翼飞机,但是固定翼飞机不能悬停照射、不能悬停攻击、挂重低等缺点。In modern warfare, hitting some fleeting maneuvering targets and time-sensitive targets is the key to combat. In the prior art, fixed-wing aircrafts that can carry weapons and attack are mostly fixed-wing aircraft, but fixed-wing aircraft cannot hover for irradiation, cannot hover to attack, and have low hanging weight.
而针对于上述缺陷,采用无人直升机均能得到有效解决,因为无人直升机可以实现悬停照射和悬停攻击,并且,相对于有人直升机,无人直升机无人驾驶、人身安全性高,体积较小、不易被侦测,构造简单、性价比高。In view of the above shortcomings, the use of unmanned helicopters can be effectively solved, because unmanned helicopters can achieve hovering irradiation and hovering attacks, and, compared with manned helicopters, unmanned helicopters are unmanned, have high personal safety, and are large in size. Small, not easy to be detected, simple structure, cost-effective.
但是,现有技术并没有公开可以挂载武器且察打一体的无人直升机。However, the existing technology does not disclose an unmanned helicopter that can mount weapons and integrate inspection and attack.
发明内容SUMMARY OF THE INVENTION
为了克服上述问题,本发明人进行了锐意研究,设计出一种无人直升机控制系统及其控制方法,从而完成本发明。In order to overcome the above-mentioned problems, the inventors of the present invention have carried out keen research and designed an unmanned helicopter control system and a control method thereof, thereby completing the present invention.
本发明一方面提供了一种无人直升机控制系统,具体体现在以下方面:One aspect of the present invention provides an unmanned helicopter control system, which is embodied in the following aspects:
(1)一种无人直升机控制系统,其中,所述系统包括机载子系统1和地面子系统2,其中,所述机载子系统1和地面子系统2分别包括机载数据链终端11和地面数据链终端21,所述机载数据链终端11和地面数据链终端21用于机载子系统1与地面子系统2之间的信息传输,其中,所述信息包括数据信息、图像信息和指令信息。(1) An unmanned helicopter control system, wherein the system includes an
(2)根据上述(1)所述的系统,其中,所述机载子系统1还包括稳瞄装置12、飞控模块13、武器模块14和机载任务管理器15。(2) The system according to (1) above, wherein the
(3)根据上述(1)或(2)所述的系统,其中,所述稳瞄装置12包括图像记录仪121、可见光电视122、视频跟踪器123、红外热像仪124、激光测照器125、伺服控制器126和光电管理计算机127。(3) The system according to (1) or (2) above, wherein the sight stabilization device 12 includes an
(4)根据上述(1)至(3)之一所述的系统,其中,(4) The system according to any one of (1) to (3) above, wherein,
所述飞控模块13包括传感器子模块131、飞控计算机132和执行机构133;和/或The flight control module 13 includes a
所述武器模块14包括机载挂架141、武器发射筒142和武器143,其中,在武器143上设置有导引头1431和弹载计算机1432。The weapon module 14 includes an airborne pylon 141 , a weapon launch tube 142 and a weapon 143 , wherein the weapon 143 is provided with a seeker 1431 and an onboard computer 1432 .
(5)根据上述(1)至(4)之一所述的系统,其中,所述机载任务管理器15包括母板151、机载综合控制板152和武器发控板153;(5) The system according to any one of (1) to (4) above, wherein the
优选地,在所述机载综合控制板152上设置有信息转发模块1521、数据提取与打包模块1522和指令分发模块1523;Preferably, an information forwarding module 1521, a data extraction and packaging module 1522 and an instruction distribution module 1523 are provided on the onboard integrated control board 152;
更优选地,在所述武器发控板153上设置有上电控制模块1531和点火控制模块1532。More preferably, a power-on control module 1531 and an ignition control module 1532 are provided on the weapon firing control board 153 .
(6)根据上述(1)至(5)之一所述的系统,其中,所述地面子系统2还包括稳瞄操控席位22、飞控操控席位23、武器操控席位24和地面任务管理器25。(6) The system according to any one of the above (1) to (5), wherein the ground subsystem 2 further includes a sight stabilization control seat 22 , a flight
(7)根据上述(1)至(6)之一所述的系统,其中,所述地面任务管理器25包括地面综合控制板251,在地面综合控制板251上设置有数据分发模块2511和指令重组模块2512。(7) The system according to one of (1) to (6) above, wherein the
本发明另一方面提供一种无人直升机控制方法,具体体现在以下几个方面:Another aspect of the present invention provides an unmanned helicopter control method, which is embodied in the following aspects:
(8)一种无人直升机控制方法,其中,所述方法包括以下步骤:(8) An unmanned helicopter control method, wherein the method comprises the following steps:
步骤1、利用稳瞄装置12和稳瞄操控席位24对目标进行搜索、探测、识别、锁定、跟踪和定位;
步骤2、调整飞行区域,使目标在导引头的探测范围之内;Step 2. Adjust the flight area so that the target is within the detection range of the seeker;
步骤3、利用武器模块14和武器操控席位24进行目标搜索及目标锁定;Step 3. Use the weapon module 14 and the weapon control seat 24 to perform target search and target locking;
步骤4、进行目标打击。Step 4. Target strike.
附图说明Description of drawings
图1示出本发明所述无人直升机控制系统的结构示意图;Fig. 1 shows the structural schematic diagram of the unmanned helicopter control system of the present invention;
图2示出本发明所述机载子系统的结构示意图;Fig. 2 shows the structural schematic diagram of the airborne subsystem of the present invention;
图3示出本发明所述地面子系统的结构示意图;FIG. 3 shows a schematic structural diagram of the ground subsystem according to the present invention;
图4示出本发明所述无人直升机控制方法。FIG. 4 shows the control method of the unmanned helicopter according to the present invention.
附图标号说明:Description of reference numbers:
1-机载子系统;11-机载数据链终端;12-稳瞄装置;121-图像记录仪;122-可见光电视;123-视频跟踪器;124-红外热像仪;125-激光测照器;126-伺服控制器;127-光电管理计算机;13-飞控模块;131-传感器子模块;132-飞控计算机;133-执行机构;14-武器模块;141-机载挂架;142-武器发射筒;1421-机载武器;1431-导引头;1432-弹载计算机;15-机载任务管理器;151-母板;152-机载综合控制板;1521-信息转发模块;1522-数据提取与打包模块;1523-指令分发模块;153-武器发控板;1531-上电控制模块;1532-点火控制模块;2-地面子系统;21-地面数据链终端;22-稳瞄操控席位;23-飞控操控席位;24-武器操控席位;25-地面任务管理器;251-地面综合控制板;2511-数据分发模块;2512-指令重组模块。1-airborne subsystem; 11-airborne data link terminal; 12-sight stabilization device; 121-image recorder; 122-visible light TV; 123-video tracker; 124-infrared thermal imager; 125-laser measurement 126-servo controller; 127-photoelectric management computer; 13-flight control module; 131-sensor sub-module; 132-flight control computer; 133-actuator; 14-weapon module; 141-airborne pylon; 142 -Weapon launcher; 1421-airborne weapon; 1431-seeker; 1432-munition-borne computer; 15-airborne task manager; 151-motherboard; 152-airborne integrated control board; 1521-information forwarding module; 1522-Data extraction and packaging module; 1523-Instruction distribution module; 153-Weapon control board; 1531-Power-on control module; 1532-Ignition control module; 2-Ground subsystem; 21-Ground data link terminal; 22-Stable Aiming control seat; 23-flight control control seat; 24-weapon control seat; 25-ground task manager; 251-ground integrated control panel; 2511-data distribution module; 2512-command reorganization module.
具体实施方式Detailed ways
下面通过附图对本发明进一步详细说明。通过这些说明,本发明的特点和优点将变得更为清楚明确。The present invention will be further described in detail below with reference to the accompanying drawings. The features and advantages of the present invention will become more apparent from these descriptions.
本发明一方面提供了一种无人直升机控制系统,如图1所示,所述系统包括机载子系统1和地面子系统2,所述机载子系统1和地面子系统2分别包括机载数据链终端11和地面数据链终端21,其中,所述机载数据链终端11和地面数据链终端21用于机载子系统1与地面子系统2之间的信息传输。One aspect of the present invention provides an unmanned helicopter control system. As shown in FIG. 1 , the system includes an
其中,所述机载子系统1设置于无人直升机上,所述地面子系统2设置于地面上,其实际是机载子系统1的地面观察与控制站。在本发明中,采用机载数据链终端11和地面数据链终端21进行机载子系统1与地面子系统2之间的信息传输,所述机载数据链终端11和地面数据链终端21能够实现远距离传输,具体地,可实现100km以上的远距离信息传输,并且,传输过程稳定,保证了信息传输的及时性,并且其安全性好,其中,所述信息包括数据信息、指令信息和图像信息。Wherein, the
根据本发明一种优选的实施方式,如图1所述,所述机载子系统1还包括稳瞄装置12、飞控模块13、武器模块14和机载任务管理器15。According to a preferred embodiment of the present invention, as shown in FIG. 1 , the
其中,所述稳瞄装置12用于在地面子系统2的控制下对目标进行搜索、探测、识别、锁定、跟踪以及定位;所述飞控模块13用于控制无人直升机的飞行;所述武器模块14用于承载武器,并在接收地面子系统2发送的“点火”指令后进行武器的发射;所述机载任务管理器15用于接收稳瞄装置12、飞控模块13和武器模块14传输的数据信息以及武器模块14传输的图像信息,并进行信息处理,然后通过机载数据链终端11将处理后的信息发送到地面子系统2,同时,还用于接收地面子系统2发送的指令信息,并进行指令信息的分发,实现对稳瞄装置12、飞控模块13和武器模块14的控制。Wherein, the sight stabilization device 12 is used to search, detect, identify, lock, track and locate the target under the control of the ground subsystem 2; the flight control module 13 is used to control the flight of the unmanned helicopter; the The weapon module 14 is used to carry the weapon and launch the weapon after receiving the "ignition" command sent by the ground subsystem 2; the
在进一步优选的实施方式中,如图1所示,稳瞄装置12将检测到的数据信息通过机载任务管理器15传输给机载数据链终端11,将检测到的图形信息直接传输给机载数据链终端11;飞控模块13将检测到的数据信息通过机载任务管理器15传输给机载数据链终端11;武器模块14将检测到的数据信息和图像信息均通过机载任务管理器15传输给机载数据链终端11。In a further preferred embodiment, as shown in FIG. 1 , the sight stabilization device 12 transmits the detected data information to the airborne
其中,稳瞄装置12传输的数据信息包括目标距离、方位角、高低角、图像记录仪状态(工作状态、传输状态、上电启动状态、等待确认状态、接口速率)、无人直升机姿态角(俯仰角、偏航角和滚转角)和无人直升机位置(经度、纬度和高度);所述飞控模块13传输的数据信息包括时间信息、无人直升机的姿态角(俯仰角、偏航角和滚转角)、无人直升机的位置(经度、纬度和高度)、无人直升机的地速和无人直升机的速度方向;所述武器模块传输的数据信息为导弹的状态参数信息,具体是指是否在上电模式或点火模式。所述速度方向是指无人直升机的速度所在的方向,因为速度是矢量。Among them, the data information transmitted by the sight stabilization device 12 includes target distance, azimuth angle, high and low angle, image recorder status (working status, transmission status, power-on status, waiting for confirmation status, interface rate), unmanned helicopter attitude angle ( pitch angle, yaw angle and roll angle) and the position of the unmanned helicopter (longitude, latitude and altitude); the data information transmitted by the flight control module 13 includes time information, the attitude angle of the unmanned helicopter (pitch angle, yaw angle and roll angle), the position of the unmanned helicopter (longitude, latitude and altitude), the ground speed of the unmanned helicopter and the speed and direction of the unmanned helicopter; the data information transmitted by the weapon module is the state parameter information of the missile, which specifically refers to Whether it is in power-up mode or ignition mode. The speed direction refers to the direction in which the speed of the unmanned helicopter is located, because the speed is a vector.
在本发明中,无人直升机起飞后,稳瞄装置12即刻进入工作状态,对目标进行搜索,并实时地将检测到的图像信息传输给地面子系统2,在地面子系统2的控制下对目标进行识别和锁定,锁定目标后,稳瞄装置12对目标进行跟踪,同时激光测距得到数据信息,并将所检测到的数据信息传输给地面子系统2,地面子系统2根据稳瞄装置12发送的信息给飞控模块13发送指令,控制无人直升机的飞行,直至目标位于武器模块14的检测范围之内,此时,地面子系统2发出“上电”指令给机载任务管理器15,机载任务管理器15接收该指令控制武器模块14进行上电,并将武器模块14的“上电”状态传输给地面子系统2,地面子系统2收到机载任务管理器15输出的“上电”信号后发出“点火”指令给机载任务管理器15,机载任务管理器15接收该指令并控制武器模块14点火发射。In the present invention, after the unmanned helicopter takes off, the sight stabilization device 12 immediately enters the working state, searches for the target, and transmits the detected image information to the ground subsystem 2 in real time. The target is identified and locked. After locking the target, the sight stabilization device 12 tracks the target, and at the same time, the laser ranging obtains data information, and transmits the detected data information to the ground subsystem 2. The ground subsystem 2 according to the sight stabilization device The information sent by 12 sends instructions to the flight control module 13 to control the flight of the unmanned helicopter until the target is within the detection range of the weapon module 14. At this time, the ground subsystem 2 sends a "power on" command to the airborne mission manager. 15. The
在本发明中,所述无人直升机可以挂重100公斤左右,其中,所述武器模块可达40公斤左右,所述稳瞄装置可达30公斤左右。In the present invention, the unmanned helicopter can carry a weight of about 100 kilograms, wherein the weapon module can reach about 40 kilograms, and the sight stabilization device can reach about 30 kilograms.
根据本发明一种优选的实施方式,如图2所示,所述稳瞄装置12包括图像记录仪121、可见光电视122、视频跟踪器123、红外热像仪124、激光测照器125、伺服控制器126和光电管理计算机127。According to a preferred embodiment of the present invention, as shown in FIG. 2 , the sight stabilization device 12 includes an
其中:in:
所述图像记录仪121用于存储可见光电视122和红外热像仪124检测到的图像信息;The
所述可见光电视122用于进行图像捕捉,为稳瞄装置12提供昼间可见光图像(图像信息),其中,其在收到变焦或调焦指令时,视场做相应的连续变化,并输出当前的焦距值;并且,当外界光变化时,曝光时间可连续增稠,保证实时输出图像信息,然后图像信息经光电管理计算机压缩后记录下来,同时,通过机载数据链终端11输出给地面子系统2;The
所述视频跟踪器123用于进行目标跟踪,并向光电管理计算机中实时输出跟踪状态参数以及目标相对于瞄准中心的方位角偏差量和俯仰角偏差量,以实现目标的准确跟踪;The video tracker 123 is used to track the target, and output the tracking state parameters and the azimuth angle deviation and the pitch angle deviation of the target relative to the aiming center in real time to the photoelectric management computer, so as to realize the accurate tracking of the target;
所述红外热像仪124用于在昼夜条件下对目标进行搜索、探测和识别,其具有亮度调节、对比度调节、极性转换、自动对焦、非均匀校正、电子变倍和图像增强等功能;The infrared thermal imager 124 is used to search, detect and identify targets under day and night conditions, and has functions such as brightness adjustment, contrast adjustment, polarity conversion, auto focus, non-uniformity correction, electronic zoom, and image enhancement;
所述激光测照器125能够发射从无人直升机到目标的激光线,并通过激光线测量目标距离、方位角和高低角等;The laser light illuminator 125 can emit a laser line from the unmanned helicopter to the target, and measure the distance, azimuth and elevation angle of the target through the laser line;
所述伺服控制器126用于控制稳瞄装置12的运动,即控制其旋转,进行360°的目标搜索,直至搜索到目标,所述伺服控制器126采用DSP处理器;The
所述光电管理计算机127用于处理稳瞄装置12检测到的信息,所述信息包括数据信息和图像信息,并接收地面子系统发送的指令信息,根据所述指令信息对稳瞄装置的各部件进行调节或控制,所述光电管理计算机采用powerpc处理器。The
在本发明中,所述目标距离是指无人直升机与目标之间的直线距离;所述方位角是指由上方俯视,飞机航向为0位,顺时针为正;所述高低角是方位角为0°时,以水平向前为0位,抬头为正,低头为负。In the present invention, the target distance refers to the straight-line distance between the unmanned helicopter and the target; the azimuth angle refers to looking down from above, the aircraft heading is 0, and clockwise is positive; the high-low angle is the azimuth angle When it is 0°, the horizontal forward is 0, the head up is positive, and the head down is negative.
在进一步优选的实施方式中,所述稳瞄装置12还包括二次电源板和连接支架,其中,所述二次电源板用于实现电源转换,所述连接支架用于将稳瞄装置与无人直升机进行连接。In a further preferred embodiment, the sight stabilization device 12 further includes a secondary power supply board and a connection bracket, wherein the secondary power supply board is used to realize power conversion, and the connection bracket is used to connect the sight stabilization device with the wireless people helicopter to connect.
其中,在无人直升机启动时,发电机会暂时掉电,因此设置二次电源板对稳瞄装置进行重启,其中,二次电源板只用于无人直升机启动的瞬间。Among them, when the unmanned helicopter starts, the generator will be temporarily powered off, so a secondary power board is set to restart the sight stabilization device. The secondary power board is only used for the moment when the unmanned helicopter starts.
在更进一步优选的实施方式中,所述稳瞄装置12将检测到的数据信息直接传输给机载任务管理器15,由机载任务管理器传送给机载数据链终端11;同时,所述稳瞄装置12将检测到的图像信息直接传输给机载数据链终端11。In a further preferred embodiment, the sight stabilization device 12 directly transmits the detected data information to the
其中,由于图像信息的格式较大,若通过任务管理器15进行转发则会使处理过程变慢,因此,只有数据信息经任务管理器15转发至机载数据链终端11,而图像信息则是直接传输给机载数据链终端11,其中,所述数据信息包括目标距离、方位角、高低角、图像记录仪状态、无人直升机姿态角(俯仰角、偏航角和滚转角)和无人直升机位置(经度、纬度和高度)。Among them, due to the large format of the image information, if it is forwarded through the
根据本发明一种优选的实施方式,在无人直升机起飞时刻起,稳瞄装置12即处于工作状态,并进行目标搜索,并将搜索过程中检测到的图像信息传输给地面子系统。According to a preferred embodiment of the present invention, when the unmanned helicopter takes off, the sight stabilization device 12 is in a working state, performs target search, and transmits image information detected during the search process to the ground subsystem.
在进一步优选的实施方式中,地面子系统2根据稳瞄装置12传输的图像信息控制稳瞄装置12进行目标识别并锁定目标。In a further preferred embodiment, the ground subsystem 2 controls the aiming stabilization device 12 to identify and lock the target according to the image information transmitted by the aiming stabilization device 12 .
在更进一步优选的实施方式中,稳瞄装置12对目标进行锁定后,视频跟踪器123对目标进行跟踪,直至在地面子系统2的控制下稳瞄装置12对目标实现定位。In a further preferred embodiment, after the aiming stabilization device 12 locks the target, the video tracker 123 tracks the target until the aiming stabilization device 12 locates the target under the control of the ground subsystem 2 .
其中,当稳瞄装置12对目标进行锁定后,稳瞄装置12进行激光测距,得到数据信息,并将其通过机载任务管理器15和机载数据链终端11输出给地面子系统2。Wherein, after the sight stabilization device 12 locks the target, the sight stabilization device 12 performs laser ranging to obtain data information, which is output to the ground subsystem 2 through the
根据本发明一种优选的实施方式,如图2所示,所述飞控模块13包括传感器子模块131、飞控计算机132和执行机构133。According to a preferred embodiment of the present invention, as shown in FIG. 2 , the flight control module 13 includes a
其中,所述传感器子模块131用于对无人直升机的飞行状态进行测量,得到飞行参数,所述飞行参数包括时间信息、无人直升机的姿态角、无人直升机的位置、无人直升机的地速和无人直升机在东、北、天的分速度;所述飞控计算机132用于接收地面子系统2发送的指令信息,并接收传感器子模块131测得的飞行参数,然后:其一,将所述飞行参数输出给机载任务管理器15,其二,根据飞行参数和指令信息进行处理,得到执行控制指令,并将所述执行控制指令输出给执行机构133;所述执行机构133用于接收飞控计算机输出的执行控制指令,控制无人直升机的飞行。在本发明中,飞控计算机采用ARM处理器。The
其中,飞控计算机进行如下处理:将目前飞行参数与指令信息进行融合,得到执行控制指令,其中,进行融合是因为在无人直升机前行过程中,飞行参数不断在更新,因此,需要结合目前的飞行参数跟指令信息得到执行控制指令。Among them, the flight control computer performs the following processing: the current flight parameters and the command information are fused to obtain the execution control command. The fusion is performed because the flight parameters are constantly being updated during the forward process of the unmanned helicopter. Therefore, it is necessary to combine the current flight parameters. The flight parameters and command information are obtained to execute the control command.
根据本发明一种优选的实施方式,如图2所示,所述武器模块14包括机载挂架141、武器发射筒142和武器143。According to a preferred embodiment of the present invention, as shown in FIG. 2 , the weapon module 14 includes an airborne pylon 141 , a weapon launch tube 142 and a weapon 143 .
其中,所述机载挂架141用于连接无人直升机与武器发射筒142,所述武器发射筒142用于放置武器143。Wherein, the airborne pylon 141 is used to connect the unmanned helicopter and the weapon launcher 142 , and the weapon launcher 142 is used to place the weapon 143 .
在进一步优选的实施方式中,在武器143上设置有导引头1431和弹载计算机1432,其中,所述导引头1431用于搜索并锁定目标,以进行打击;所述弹载计算机1432用于将武器143的状态参数传输给机载任务管理器15;其中,所述状态参数包括非工作状态参数、“上电”状态参数与“点火”状态参数。In a further preferred embodiment, a seeker 1431 and an on-board computer 1432 are provided on the weapon 143, wherein the seeker 1431 is used for searching and locking the target for strike; the on-board computer 1432 uses It is used to transmit the state parameters of the weapon 143 to the
在本发明中,将目标区域的高分辨图像储存在弹载计算机1432上,弹载计算机1432将导引头1431探测到的目标图像与储存在弹载计算机上的目标区域的高分辨图像自动进行对比,用以确认导引头是否锁定目标。所述弹载计算机采用DSP处理器。In the present invention, the high-resolution image of the target area is stored on the onboard computer 1432, and the on-board computer 1432 automatically compares the target image detected by the seeker 1431 with the high-resolution image of the target area stored on the onboard computer. Contrast to confirm whether the seeker is locked on the target. The missile-borne computer adopts a DSP processor.
其中,通过飞控模块13的控制,使目标在武器模块14的攻击范围内,具体地,地面子系统2根据稳瞄装置12传输的图像信息进行解算诸元,得到解算信息,并将解算信息传输给飞控模块13,控制无人直升机飞行至导引头可对目标进行捕获的区域。然后,地面子系统2发出“上电”指令,机载任务管理器15接收“上电”指令,并控制导引头上电,导引头开机,进行目标搜索。调整导引头的光轴与稳瞄装置的光轴重合,地面子系统2根据导引头传输的图像信息进行目标锁定,导引头锁定目标后,地面子系统2发出“点火”指令至机载任务管理器15,武器模块14接收到机载任务管理器15转发的“点火”指令并控制武器进行点火发射,武器出武器发射筒,武器的舵面展开、舵机工作,不断接近目标直至击中目标。Among them, through the control of the flight control module 13, the target is within the attack range of the weapon module 14. Specifically, the ground subsystem 2 calculates the elements according to the image information transmitted by the sight stabilization device 12, obtains the calculation information, and uses The solution information is transmitted to the flight control module 13 to control the unmanned helicopter to fly to an area where the seeker can capture the target. Then, the ground subsystem 2 issues a "power-on" command, and the
根据本发明一种优选的实施方式,如图2所示,所述机载任务管理器15包括母板151、机载综合控制板152和武器发控板153。According to a preferred embodiment of the present invention, as shown in FIG. 2 , the
其中,所述母板151用于连接机载综合控制板152和武器发控板153,为其提供电源、数据信息和电平控制信号;所述机载综合控制板152用于信息的处理,具体地,将稳瞄装置12、飞控模块13和武器模块14传输的数据信息以及武器模块14传输的图像信息转发给地面子系统2,并对稳瞄装置12和飞控模块13传输的数据信息进行提取并打包,然后发送给武器模块14,同时,用于接收地面子系统2输出的指令信息,并将指令信息分别分发给稳瞄装置12、飞控模块13和武器模块14;所述武器发控板153用于控制导引头的上电和武器的点火发射。Wherein, the motherboard 151 is used to connect the airborne integrated control board 152 and the weapon launch control board 153 to provide them with power, data information and level control signals; the airborne integrated control board 152 is used for information processing, Specifically, the data information transmitted by the sight stabilization device 12 , the flight control module 13 and the weapon module 14 and the image information transmitted by the weapon module 14 are forwarded to the ground subsystem 2 , and the data transmitted by the sight stabilization device 12 and the flight control module 13 are transmitted The information is extracted and packaged, and then sent to the weapon module 14. At the same time, it is used to receive the instruction information output by the ground subsystem 2, and distribute the instruction information to the sight stabilization device 12, the flight control module 13 and the weapon module 14 respectively; The weapon launch control board 153 is used to control the power-on of the seeker and the ignition and launch of the weapon.
在进一步优选的实施方式中,所述机载综合控制板152和武器发控板153设置与母板151上,且为垂直设置。In a further preferred embodiment, the airborne integrated control board 152 and the weapon launch control board 153 are arranged on the motherboard 151 and are arranged vertically.
在更进一步优选的实施方式中,所述任务管理器15还包括变压器、ATR机箱、航插组件和减震器。In a further preferred embodiment, the
其中,所述变压器通过机载电源供电,转变电压电平,用于供电;所述ATR机箱采用航空ATR标准制作;所述航插组件为包括电源输入航插和信号交互航插,其中,所述电源输入航插为航空专用插头,用于给予内部电路部件电力供应,所述信号交互航插与稳瞄装置12、飞控模块13、武器模块14和机载数据链终端11进行信号交互;所述减震器用于适应无人直升机的振动环境,减小由于振动对ATR机箱内部构件结构和电磁环境的影响。Wherein, the transformer is powered by the on-board power supply, and the voltage level is changed for power supply; the ATR case is made with aviation ATR standard; The power input aerial plug is a special aviation plug, which is used to supply power to the internal circuit components, and the signal interaction aerial plug performs signal interaction with the sight stabilization device 12, the flight control module 13, the weapon module 14 and the airborne
根据本发明一种优选的实施方式,如图2所示,在所述机载综合控制板152上设置有信息转发模块1521、数据提取与打包模块1522和指令分发模块1523。According to a preferred embodiment of the present invention, as shown in FIG. 2 , an information forwarding module 1521 , a data extraction and packaging module 1522 and an instruction distribution module 1523 are provided on the onboard integrated control board 152 .
其中,所述信息转发模块1521用于将稳瞄装置12、飞控模块13和武器模块14传输的数据信息以及武器模块14传输的图像信息转发给机载数据链终端11,然后传输给地面子系统2;所述数据提取与打包模块152用于将稳瞄装置12和飞控模块13传输给机载任务管理器15的数据信息进行部分提取并打包,然后发送给武器模块14,其中,提取飞控模块检测的无人直升机的姿态角和位置以及稳瞄装置检测的高低角、方位角和目标距离等数据信息;所述指令分发模块1523用于将地面子系统2发送的反馈指令进行分发,分别分发给稳瞄装置12和飞控模块13。The information forwarding module 1521 is used to forward the data information transmitted by the sight stabilization device 12, the flight control module 13 and the weapon module 14 and the image information transmitted by the weapon module 14 to the airborne
在进一步优选的实施方式中,机载任务管理器15中的信息转发模块1521将稳瞄装置12、飞控模块13和武器模块14传送的数据信息以及武器模块14传送的图像信息全部转发给机载数据链终端11,然后传输给地面子系统2。In a further preferred embodiment, the information forwarding module 1521 in the
在更进一步优选的实施方式中,机载任务管理器15中的数据提取与打包模块1522将稳瞄装置12和飞控模块13传送给机载任务管理器15的数据信息进行部分提取并打包,然后输出给武器模块14。In a further preferred embodiment, the data extraction and packaging module 1522 in the
其中,数据提取与打包模块1522进行提取并打包的数据包括稳瞄装置12输出的高低角、方位角和目标距离等数据信息以及飞控模块13输出的无人直升机的姿态角和位置等数据信息。Among them, the data extracted and packaged by the data extraction and packaging module 1522 includes the data information such as the high and low angle, azimuth angle and target distance output by the steady sight device 12, and the data information such as the attitude angle and position of the unmanned helicopter output by the flight control module 13. .
根据本发明一种优选的实施方式,如图2所示,在所述武器发控板153上设置有上电控制模块1531和点火控制模块1532。According to a preferred embodiment of the present invention, as shown in FIG. 2 , a power-on control module 1531 and an ignition control module 1532 are provided on the weapon firing control board 153 .
其中,所述上电控制模块1531用于接收地面子系统2发出的“上电”指令,并控制武器模块14中的导引头1431进行上电;所述点火控制模块1532用于接收地面子系统2发出的“点火”指令,并控制武器模块14中的武器143进行点火发射。The power-on control module 1531 is used to receive the "power-on" command issued by the ground subsystem 2, and control the seeker 1431 in the weapon module 14 to power on; the ignition control module 1532 is used to receive the ground The "fire" command issued by the system 2 controls the weapon 143 in the weapon module 14 to fire and fire.
根据本发明一种优选的实施方式,机载子系统1还包括机载电源,其中,机载电源提供22~33V电压(28V),通过航插组件引入,为机载任务管理器15中的母板151、机载综合控制板152和武器发控板153提供电压。According to a preferred embodiment of the present invention, the on-
根据本发明一种优选的实施方式,所述地面子系统2还包括稳瞄操控席位22、飞控操控席位23、武器操控席位24和地面任务管理器25。According to a preferred embodiment of the present invention, the ground subsystem 2 further includes a sight stabilization control seat 22 , a flight
其中,所述稳瞄操控席位22用于控制稳瞄装置12,以实现对目标的搜索、探测、识别、锁定、跟踪和定位,同时用于进行战后评估;所述飞控操控席位23用于控制飞控模块13,进而控制无人直升机的飞行;所述武器操控席位24用于控制武器模块14,主要控制武器的上电和点火发射;所述地面任务管理器25用于对机载子系统1传输的信息进行处理,再分别输出给稳瞄操控席位22、飞控操控席位23和武器操控席位24,同时,接收稳瞄操控席位22、飞控操控席位23和武器操控席位24的指令信息,并将指令信息通过地面数据链终端21传输给机载子系统1。Among them, the stable aiming control seat 22 is used to control the aiming stabilization device 12 to realize the search, detection, identification, locking, tracking and positioning of the target, and at the same time, it is used for post-war evaluation; the flight
根据本发明一种优选的实施方式,如图1所示:稳瞄装置12将检测到的数据信息通过机载任务管理器15和机载数据链终端11传输给地面数据链终端21,同时将检测到的图像信息直接通过机载数据链终端11传输给地面数据链终端21;飞控模块13将检测到的数据信息通过机载任务管理器15和机载数据链终端11传输给地面数据链终端21;武器模块14将检测到的数据信息和图像信息均通过机载任务管理器15和机载数据链终端11传输给地面数据链终端21。According to a preferred embodiment of the present invention, as shown in FIG. 1 , the sight stabilization device 12 transmits the detected data information to the ground
在进一步优选的实施方式中:如图1所示,地面数据链终端21将稳瞄装置12检测到的图像信息以及武器模块14检测到的图像信息直接分别传输给稳瞄操控席位22和武器操控席位24;地面数据链终端21将稳瞄装置12、飞控模块13和武器模块14检测到数据信息通过地面任务管理器25分别分发至稳瞄操控席位22、飞控操控席位23和武器操控席位24。In a further preferred embodiment: as shown in FIG. 1 , the ground
根据本发明一种优选的实施方式,无人直升机起飞后,稳瞄装置12即刻进入工作状态,对目标进行搜索,并将搜索到的图像信息传输给地面子系统2的稳瞄操控席位22,稳瞄操控席位根据稳瞄装置12传送的图像信息控制稳瞄装置12进行目标的识别和锁定,锁定目标后,稳瞄装置12对目标进行跟踪、激光测距,得到数据信息,并及时将所检测到的数据信息传输给地面子系统2的稳瞄操控席位22。According to a preferred embodiment of the present invention, after the unmanned helicopter takes off, the sight stabilization device 12 immediately enters the working state, searches for the target, and transmits the searched image information to the sight stabilization control seat 22 of the ground subsystem 2, The aiming stabilization control seat controls the aiming stabilization device 12 to identify and lock the target according to the image information transmitted by the aiming stabilization device 12. After locking the target, the aiming stabilization device 12 tracks the target and performs laser ranging to obtain data information, and timely The detected data information is transmitted to the stable aiming control seat 22 of the ground subsystem 2 .
在进一步优选的实施方式中,稳瞄操控席位22接收到稳瞄装置12检测的图像信息后,将所述图像信息直接转发至武器操控席位22,用于在稳瞄操控席位22对目标进行定位后,武器操控席位22根据稳瞄装置12传输的图像信息进行解算诸元,并将解算信息传输给飞控模块13,控制无人直升机飞行至导引头可对目标进行捕获的区域。In a further preferred embodiment, after receiving the image information detected by the aiming stabilization device 12 , the sight stabilization control seat 22 directly forwards the image information to the weapon control seat 22 for locating the target at the sight stabilization control seat 22 Then, the weapon control seat 22 calculates the elements according to the image information transmitted by the sight stabilization device 12, and transmits the calculated information to the flight control module 13 to control the unmanned helicopter to fly to the area where the seeker can capture the target.
在更进一步优选的实施方式中,无人直升机飞行至导引头可对目标进行捕获的区域后,武器操控席位24发出“上电”指令,并通过地面任务管理器25传输给机载任务管理器15,机载任务管理器15接收到“上电”指令后控制武器模块14的导引头上电,导引头进行目标搜索,并将搜索到的图像信息通过机载任务管理器15传输给地面数据链终端21,地面数据链终端21将该图像信息直接传输给武器操控席位24,进行目标锁定。In a further preferred embodiment, after the unmanned helicopter flies to the area where the seeker can capture the target, the weapon control seat 24 issues a "power on" command, which is transmitted to the airborne mission management through the
在更进一步优选的实施方式中,武器操控席位24对目标进行锁定后,发出“点火”指令,通过地面任务管理器25将该指令传输给机载任务管理器15,机载任务管理器15接收到该指令后控制武器进行点火发射,实行打击。In a further preferred embodiment, after the weapon control seat 24 locks the target, it issues a "fire" command, and the
其中,在导引头上电之前,武器模块14不发送任何图像信息,对导引头进行上电后,导引头进行目标搜索,并将所搜索到的周边环境的图像信息进行传送。Wherein, before the seeker is powered on, the weapon module 14 does not send any image information. After the seeker is powered on, the seeker searches for the target and transmits the image information of the searched surrounding environment.
根据本发明一种优选的实施方式,如图3所示,所述地面任务管理器25包括地面综合控制板251,在地面综合控制板251上设置有数据分发模块2511和指令重组模块2512。According to a preferred embodiment of the present invention, as shown in FIG. 3 , the
其中,所述数据分发模块2511用于将机载子系统1通过地面数据链终端21传输给地面任务管理器25的数据信息进行分发,分别分发给稳瞄操控席位22、飞控操控席位23和武器操控席位24;所述指令重组模块2512用于将稳瞄操控席位22、飞控操控席位23和武器操控席位24反馈给地面任务管理器25的指令信息进行重组,发送给机载数据链终端11。The
在进一步优选的实施方式中,所述地面任务管理器25还包括ATR机箱、变压器和航插组件,其中,所述航插组件包括电源输入航插和信号交互航插。In a further preferred embodiment, the
其中,所述ATR机箱为航空标准军用机箱、严格按照国军标准制作,满足国军环境适应性要求,为箱体内部组件提供结构支撑;所述变压器用于调节外部接入电压,适配箱体内硬件电路电源需求特性;所述航插组件为包括电源输入航插和信号交互航插,其中,所述电源输入航插为航空专用插头,用于给予内部电路部件电力供应,所述信号交互航插与稳瞄操控席位22、飞控操控席位23、武器操控席位24和地面数据链终端21进行信号交互。Among them, the ATR chassis is an aviation standard military chassis, which is manufactured in strict accordance with the national military standard, meets the environmental adaptability requirements of the national military, and provides structural support for the internal components of the box; the transformer is used to adjust the external access voltage and adapt to the box. The power demand characteristics of the hardware circuit in the body; the air plug component includes a power input air plug and a signal interaction air plug, wherein the power input air plug is a special aviation plug, which is used to supply power to the internal circuit components, and the signal interaction air plug The aerial plug interacts with the stable aiming control seat 22 , the flight
根据本发明一种优选的实施方式,由地面任务管理器25分发给稳瞄操控席位22的数据信息包括稳瞄装置12检测到的目标距离、方位角、高低角、图像记录仪状态、无人直升机姿态角和无人直升机位置;由地面任务管理器25分发给飞控操控席位22的数据信息包括飞控模块13检测到的时间信息、无人直升机的姿态角、无人直升机的位置、无人直升机的总速度和无人直升机在东、北、天方向的分速度;由地面任务管理器25分发给武器操控席位22的数据信息为武器模块14检测到的导弹的状态参数信息,具体是指是否在上电模式或点火模式。According to a preferred embodiment of the present invention, the data information distributed by the
在进一步优选的实施方式中,稳瞄操控席位22、飞控操控席位23和武器操控席位24接收到地面任务管理器25分发的数据信息后分别输出指令信息,所述指令信息分别对稳瞄装置12、飞控模块13和武器模块14进行控制。In a further preferred embodiment, the aiming stabilization control seat 22, the flight
本发明另一方面提供了一种无人直升机的控制方法,其中,如图4所示,所述方法包括以下步骤:Another aspect of the present invention provides a control method for an unmanned helicopter, wherein, as shown in FIG. 4 , the method includes the following steps:
步骤1、利用稳瞄装置12和稳瞄操控席位22对目标进行搜索、探测、识别、锁定、跟踪和定位。
其中,无人直升机起飞后,稳瞄装置12即进入工作状态,稳瞄操控席位22实时地对稳瞄装置12进行控制,使稳瞄装置12对目标进行搜索并定位。Wherein, after the unmanned helicopter takes off, the aiming stabilization device 12 enters the working state, and the aiming stabilization control seat 22 controls the aiming stabilization device 12 in real time, so that the aiming stabilization device 12 searches and locates the target.
根据本发明一种优选的实施方式,所述步骤1包括以下子步骤:According to a preferred embodiment of the present invention, the
步骤1-1、利用稳瞄装置12对目标进行搜索,并将搜索过程中检测到的图像信息直接通过机载数据链终端11和地面数据链终端21传输给稳瞄操控席位22;Step 1-1. Use the aiming stabilization device 12 to search for the target, and directly transmit the image information detected during the search to the aiming stabilization control seat 22 through the airborne
其中,稳瞄装置12检测到的数据信息通过机载任务管理器15输出给机载数据链终端11,稳瞄装置12检测到的图像信息直接传输给机载数据链终端11;The data information detected by the sight stabilization device 12 is output to the airborne
步骤1-2、稳瞄操控席位22根据稳瞄装置12传输的图像信息控制稳瞄操装置12进行目标探测、识别和锁定;Step 1-2, the aiming stabilization control seat 22 controls the aiming stabilization manipulation device 12 to perform target detection, identification and locking according to the image information transmitted by the aiming stabilization device 12;
步骤1-3、稳瞄操控席位22对目标锁定后,稳瞄装置12对目标进行跟踪;Steps 1-3, after the aiming stabilization control seat 22 locks the target, the aiming stabilization device 12 tracks the target;
步骤1-4、稳瞄操控席位22对目标进行定位。Steps 1-4, locate the target at the steady aiming control seat 22 .
其中,稳瞄操控席位22锁定目标后,稳瞄装置12对目标进行跟踪、激光测距,得到数据信息,并及时将所检测到的数据信息传输给地面子系统2的稳瞄操控席位22,稳瞄操控席位22对目标进行定位。Among them, after the stable aiming control seat 22 locks the target, the aiming stabilization device 12 performs tracking and laser ranging on the target, obtains data information, and transmits the detected data information to the stable aiming control seat 22 of the ground subsystem 2 in time, Steady aiming at the control seat 22 to locate the target.
在本发明中,稳瞄装置12实时地将检测到图像信息通过机载数据链终端11和地面数据链终端21传输给稳瞄操控席位22后,稳瞄操控席位22将接收到的图像信息传输给武器操控席位24。In the present invention, after the sight stabilization device 12 transmits the detected image information in real time to the sight stabilization control seat 22 through the airborne
步骤2、调整飞行区域,使目标在导引头的探测范围之内。Step 2. Adjust the flight area so that the target is within the detection range of the seeker.
根据本发明一种优选的实施方式,所述步骤2包括以下子步骤:According to a preferred embodiment of the present invention, the step 2 includes the following sub-steps:
步骤2-1、武器操控席位24对接收到的稳瞄装置12检测到的图像信息进行解算诸元,得到解算信息;Step 2-1, the weapon control seat 24 solves the elements of the received image information detected by the sight stabilization device 12 to obtain the solution information;
步骤2-2、将解算信息依次传输给地面任务管理器25和地面数据链终端,继而传输给机载任务管理器15;Step 2-2, transmitting the solution information to the
步骤2-3、机载任务管理器15将解算信息输出给飞控模块13,控制无人直升机飞行至导引头可对目标进行捕获的区域。In step 2-3, the
步骤3、利用武器模块14和武器操控席位24进行目标搜索及目标锁定。Step 3. Use the weapon module 14 and the weapon control seat 24 to perform target search and target locking.
根据本发明一种优选的实施方式,步骤3包括以下子步骤:According to a preferred embodiment of the present invention, step 3 includes the following sub-steps:
步骤3-1、无人直升机飞行至导引头可对目标进行捕获的区域后,武器操控席位24发出“上电”指令;Step 3-1. After the unmanned helicopter flies to the area where the seeker can capture the target, the weapon control seat 24 issues a "power on" command;
步骤3-2、地面任务管理器25接收“上电”指令,并传输给机载任务管理器15;Step 3-2, the
步骤3-3、机载任务管理器15接收到“上电”指令后控制武器模块14的导引头上电,导引头进行目标搜索;Step 3-3, after receiving the "power on" command, the
步骤3-4、武器模块14将搜索到的图像信息通过机载任务管理器15传输给地面数据链终端21,地面数据链终端21将该图像信息直接传输给武器操控席位24,进行目标锁定。Step 3-4, the weapon module 14 transmits the searched image information to the ground
步骤4、进行目标打击。Step 4. Target strike.
其中,在导引头锁定目标后,武器操控席位24发出“点火”指令,控制武器模块14中的武器进行点火发射,对目标进行打击。Among them, after the seeker locks the target, the weapon control seat 24 issues an "ignition" command to control the weapon in the weapon module 14 to ignite and launch, and strike the target.
根据本发明一种优选的实施方式,在步骤4之后进行步骤5:步骤5、进行战后评估。According to a preferred embodiment of the present invention, step 5 is performed after step 4: step 5, post-war assessment is performed.
其中,在目标打击后,利用稳瞄操控席位22进行战后评估。Among them, after the target is struck, the post-battle evaluation is carried out by using the stable aiming control seat 22.
在进一步优选的实施方式,所述步骤5包括以下子步骤:In a further preferred embodiment, the step 5 includes the following sub-steps:
步骤5-1、稳瞄装置12对战后环境进行拍摄,经拍摄的图像信息传输给稳瞄操控席位22。Step 5-1, the aiming stabilization device 12 shoots the post-war environment, and the captured image information is transmitted to the aiming stabilization control seat 22 .
步骤5-2、稳瞄操控席位22根据几何评估和模拟评估结合进行战后评估。Step 5-2, the aiming stabilization control seat 22 conducts a post-battle evaluation based on a combination of geometric evaluation and simulation evaluation.
其中,所述几何评估是指目标的外形形变量,所述模拟评估是指目标的内部纹路形变量。Wherein, the geometrical evaluation refers to the shape deformation of the target, and the simulation evaluation refers to the internal texture deformation of the target.
步骤5-3、经稳瞄操控席位22分析,若打击合格,则打击结束,若打击不合格,则对目标进行第二次打击。Step 5-3. After the analysis of the stable aiming control seat 22, if the strike is qualified, the strike is over; if the strike is unqualified, the target will be struck a second time.
其中,所述打击不合适是指目标的外部和内部纹路的形变较小,即打击时没有正中目标可能发生了偏移,因此,需要进行第二次打击。若打击合格,则打击结束,无需第二次打击。Wherein, the unsuitable strike means that the deformation of the outer and inner lines of the target is small, that is, the target may be displaced without hitting the center, so a second strike is required. If the blow is qualified, the blow is over, and there is no need for a second blow.
本发明所具有的有益效果包括:The beneficial effects of the present invention include:
(1)本发明所提供的系统集机载子系统和地面子系统于一体,且结构简单,性价比高;(1) The system provided by the present invention integrates the airborne subsystem and the ground subsystem, and has a simple structure and high cost performance;
(2)本发明所提供的系统是基于无人直升机,其具有无人驾驶、人身安全性能高、体积小、不易被侦测、可悬停照射、可悬停攻击、挂重高等优点;(2) The system provided by the present invention is based on an unmanned helicopter, which has the advantages of unmanned driving, high personal safety performance, small size, not easy to be detected, hovering irradiation, hovering attack, hanging heavy and other advantages;
(3)本发明所提供的系统可以进行战场侦察,对目标精确定向定位,定点照射,并能实现对目标的精确打击;(3) The system provided by the present invention can carry out battlefield reconnaissance, precisely orient and locate the target, irradiate the target at a fixed point, and can achieve precise strike on the target;
(4)本发明所述系统具有航程远、滞空时间长、可控性高、可实时攻击、可重复使用等特点;(4) The system of the present invention has the characteristics of long voyage, long airborne time, high controllability, real-time attack, and reusability;
(5)本发明所述方法作战灵活、高效,可对机动目标实时精确攻击。(5) The method of the present invention is flexible and efficient in combat, and can precisely attack the maneuvering target in real time.
在本发明的描述中,需要说明的是,术语“上”、“下”、“内”和“外”等指示的方位或位置关系为基于本发明工作状态下的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner" and "outer" is based on the orientation or positional relationship under the working state of the present invention, only In order to facilitate the description of the present invention and simplify the description, it is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
以上结合了优选的实施方式对本发明进行了说明,不过这些实施方式仅是范例性的,仅起到说明性的作用。在此基础上,可以对本发明进行多种替换和改进,这些均落入本发明的保护范围内。The present invention has been described above with reference to the preferred embodiments, but these embodiments are only exemplary and serve only for illustrative purposes. On this basis, various substitutions and improvements can be made to the present invention, which all fall within the protection scope of the present invention.
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