CN107878739B - Unmanned helicopter control system and control method thereof - Google Patents
Unmanned helicopter control system and control method thereof Download PDFInfo
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- CN107878739B CN107878739B CN201610866841.XA CN201610866841A CN107878739B CN 107878739 B CN107878739 B CN 107878739B CN 201610866841 A CN201610866841 A CN 201610866841A CN 107878739 B CN107878739 B CN 107878739B
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- 230000000087 stabilizing effect Effects 0.000 claims abstract description 59
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 238000010304 firing Methods 0.000 claims description 15
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- 238000012856 packing Methods 0.000 claims description 5
- 238000004806 packaging method and process Methods 0.000 claims description 4
- 238000013075 data extraction Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- 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
- B64D7/00—Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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Abstract
The invention discloses an unmanned helicopter control system and a control method thereof, wherein the system comprises an airborne subsystem (1) and a ground subsystem (2), the airborne subsystem (1) comprises an airborne data link terminal (11), a stabilized sighting device (12), a flight control module (13), a weapon module (14) and an airborne task manager (15), and the ground subsystem (2) comprises a ground data link terminal (21), a stabilized sighting control seat (22), a flight control seat (23), a weapon control seat (24) and a ground task manager (25). The method comprises the following steps: the method comprises the following steps of 1, searching, detecting, identifying, locking, tracking and positioning a target by using a sight stabilizing device and a sight stabilizing control seat, 2, adjusting a flight area to enable the target to be within a detection range of a seeker, 3, searching and locking the target by using a weapon module and a weapon control seat, 4, hitting the target, and 5, evaluating after the war.
Description
Technical Field
The invention relates to an unmanned helicopter, in particular to a control system and a control method of the unmanned helicopter.
Background
In modern war, striking a few fleeting maneuvering targets and time sensitive targets is critical to combat. In the prior art, a weapon can be carried and a fixed wing aircraft is used for striking, but the fixed wing aircraft has the defects of incapability of hovering irradiation, incapability of hovering attack, low hanging weight and the like.
Aiming at the defects, the unmanned helicopter can effectively solve the problems that hovering irradiation and hovering attack can be realized, and compared with the manned helicopter, the unmanned helicopter is unmanned, high in personal safety, small in size, not easy to detect, simple in structure and high in cost performance.
However, the prior art does not disclose an unmanned helicopter that can carry weapons and be used for scouting and striking.
Disclosure of Invention
In order to overcome the above problems, the present inventors have made intensive studies to design an unmanned helicopter control system and a control method thereof, and have completed the present invention.
The invention provides an unmanned helicopter control system on one hand, which is embodied in the following aspects:
(1) the unmanned helicopter control system comprises an airborne subsystem 1 and a ground subsystem 2, wherein the airborne subsystem 1 and the ground subsystem 2 respectively comprise an airborne data link terminal 11 and a ground data link terminal 21, and the airborne data link terminal 11 and the ground data link terminal 21 are used for information transmission between the airborne subsystem 1 and the ground subsystem 2, wherein the information comprises data information, image information and instruction information.
(2) The system according to (1) above, wherein the onboard subsystem 1 further includes a sight-stabilizing device 12, a flight control module 13, a weapon module 14, and an onboard task manager 15.
(3) The system according to the above (1) or (2), wherein the sighting device 12 comprises an image recorder 121, a visible light television 122, a video tracker 123, a thermal infrared imager 124, a laser detector 125, a servo controller 126 and an optoelectronic management computer 127.
(4) The system according to one of the above (1) to (3), wherein,
the flight control module 13 comprises a sensor submodule 131, a flight control computer 132 and an execution mechanism 133; and/or
The weapon module 14 comprises an on-board rack 141, a weapon barrel 142 and a weapon 143, wherein a guide 1431 and a firing computer 1432 are provided on the weapon 143.
(5) The system according to one of the above (1) to (4), wherein the on-board task manager 15 includes a motherboard 151, an on-board integrated control board 152, and a weapon release control board 153;
preferably, an information forwarding module 1521, a data extracting and packing module 1522 and an instruction distributing module 1523 are arranged on the onboard integrated control board 152;
more preferably, a power-on control module 1531 and an ignition control module 1532 are provided on the weapon firing control board 153.
(6) The system according to one of the above (1) to (5), wherein the ground subsystem 2 further includes a stabilized sighting control seat 22, a flight control seat 23, a weapon control seat 24, and a ground mission manager 25.
(7) The system according to one of the above (1) to (6), wherein the ground task manager 25 includes a ground integrated control board 251, and a data distribution module 2511 and an instruction reorganization module 2512 are disposed on the ground integrated control board 251.
The invention provides a control method of an unmanned helicopter, which is embodied in the following aspects:
(8) an unmanned helicopter control method, wherein said method comprises the steps of:
step 2, adjusting a flight area to enable a target to be within a detection range of the seeker;
step 3, carrying out target search and target locking by utilizing the weapon module 14 and the weapon control seat 24;
and 4, striking the target.
Drawings
Fig. 1 shows a schematic structural view of an unmanned helicopter control system according to the present invention;
FIG. 2 shows a schematic structural diagram of the onboard subsystem of the present invention;
FIG. 3 shows a schematic of the ground subsystem of the present invention;
fig. 4 shows the unmanned helicopter control method of the present invention.
The reference numbers illustrate:
1-an onboard subsystem; 11-airborne data link terminal; 12-a stabilized sighting device; 121-image recorder; 122-visible light television; 123-a video tracker; 124-infrared thermal imager; 125-laser illuminator; 126-a servo controller; 127-a photoelectric management computer; 13-a flight control module; 131-a sensor sub-module; 132-flight control computer; 133-an actuator; 14-a weapon module; 141-an airborne hanger; 142-a weapon barrel; 1421-airborne weapons; 1431-guide head; 1432-a launch computer; 15-onboard task manager; 151-mother board; 152-onboard integrated control panel; 1521-information forwarding module; 1522-data extraction and packing module; 1523-instruction dispatch module; 153-weapon firing control board; 1531-power-on control module; 1532 — an ignition control module; 2-a ground subsystem; 21-ground data link terminal; 22-stabilizing the aiming control seat; 23-flight control seats; 24-weapon control seats; 25-a ground task manager; 251-a ground comprehensive control panel; 2511-a data distribution module; 2512-instruction reorganization module.
Detailed Description
The invention is explained in further detail below with reference to the drawing. The features and advantages of the present invention will become more apparent from the description.
In one aspect, the present invention provides an unmanned helicopter control system, as shown in fig. 1, the system includes an airborne subsystem 1 and a ground subsystem 2, the airborne subsystem 1 and the ground subsystem 2 respectively include an airborne data link terminal 11 and a ground data link terminal 21, wherein the airborne data link terminal 11 and the ground data link terminal 21 are used for information transmission between the airborne subsystem 1 and the ground subsystem 2.
The airborne subsystem 1 is arranged on the unmanned helicopter, the ground subsystem 2 is arranged on the ground, and the ground subsystem is actually a ground observation and control station of the airborne subsystem 1. In the invention, the airborne data link terminal 11 and the ground data link terminal 21 are adopted to transmit information between the airborne subsystem 1 and the ground subsystem 2, the airborne data link terminal 11 and the ground data link terminal 21 can realize long-distance transmission, in particular, the long-distance information transmission of more than 100km can be realized, in addition, the transmission process is stable, the timeliness of the information transmission is ensured, and the safety is good, wherein the information comprises data information, instruction information and image information.
According to a preferred embodiment of the present invention, as shown in fig. 1, the onboard subsystem 1 further includes a sight-stabilizing device 12, a flight control module 13, a weapon module 14, and an onboard mission manager 15.
The sight-stabilizing device 12 is used for searching, detecting, identifying, locking, tracking and positioning a target under the control of the ground subsystem 2; the flight control module 13 is used for controlling the flight of the unmanned helicopter; the weapon module 14 is used for carrying a weapon and launching the weapon after receiving an ignition command sent by the ground subsystem 2; the airborne task manager 15 is configured to receive data information transmitted by the sight stabilizing device 12, the flight control module 13, and the weapon module 14 and image information transmitted by the weapon module 14, perform information processing, send the processed information to the ground subsystem 2 through the airborne data link terminal 11, and simultaneously receive instruction information sent by the ground subsystem 2 and distribute the instruction information, thereby controlling the sight stabilizing device 12, the flight control module 13, and the weapon module 14.
In a further preferred embodiment, as shown in fig. 1, the sighting device 12 transmits the detected data information to the onboard data link terminal 11 through the onboard task manager 15, and transmits the detected graphic information to the onboard data link terminal 11 directly; the flight control module 13 transmits the detected data information to the airborne data link terminal 11 through the airborne task manager 15; the weapon module 14 transmits both the detected data information and the image information to the on-board datalink terminal 11 through the on-board task manager 15.
The data information transmitted by the sight stabilizing device 12 includes a target distance, an azimuth angle, a high-low angle, an image recorder state (a working state, a transmission state, a power-on starting state, a waiting confirmation state, an interface rate), an unmanned helicopter attitude angle (a pitch angle, a yaw angle and a roll angle) and an unmanned helicopter position (a longitude, a latitude and an altitude); the data information transmitted by the flight control module 13 includes time information, attitude angles (pitch angle, yaw angle and roll angle) of the unmanned helicopter, the position (longitude, latitude and altitude) of the unmanned helicopter, the ground speed of the unmanned helicopter and the speed direction of the unmanned helicopter; the data information transmitted by the weapon module is the state parameter information of the missile, specifically, whether the missile is in a power-on mode or a firing mode. The speed direction refers to the direction in which the speed of the unmanned helicopter is, because speed is a vector.
In the invention, after the unmanned helicopter takes off, the stabilized sighting device 12 immediately enters a working state to search a target and transmit detected image information to the ground subsystem 2 in real time, the target is identified and locked under the control of the ground subsystem 2, after the target is locked, the stabilized sighting device 12 tracks the target, meanwhile, data information is obtained by laser ranging and transmitted to the ground subsystem 2, the ground subsystem 2 sends a command to the flight control module 13 according to the information sent by the stabilized sighting device 12 to control the flight of the unmanned helicopter until the target is positioned in the detection range of the weapon module 14, at the moment, the ground subsystem 2 sends a power-on command to the airborne task manager 15, the airborne task manager 15 receives the command to control the weapon module 14 to be powered on and transmits the power-on state of the weapon module 14 to the ground subsystem 2, the ground subsystem 2 receives the power-on signal output by the airborne task manager 15 and then sends an ignition command to the airborne task manager 15, and the airborne task manager 15 receives the ignition command and controls the weapon module 14 to ignite and launch.
In the invention, the unmanned helicopter can be hung by about 100 kilograms, wherein the weapon module can reach about 40 kilograms, and the sight stabilizing device can reach about 30 kilograms.
According to a preferred embodiment of the present invention, as shown in fig. 2, the sighting device 12 includes an image recorder 121, a visible light television 122, a video tracker 123, a thermal infrared imager 124, a laser detector 125, a servo controller 126 and an optical management computer 127.
Wherein:
the image recorder 121 is used for storing the image information detected by the visible light television 122 and the thermal infrared imager 124;
the visible light television 122 is used for capturing images and providing a daytime visible light image (image information) for the sighting device 12, wherein when the sighting device receives a zooming or focusing instruction, the visual field is correspondingly and continuously changed, and the current focal length value is output; moreover, when the external light changes, the exposure time can be thickened continuously, the real-time output of image information is ensured, then the image information is compressed by a photoelectric management computer and recorded, and meanwhile, the image information is output to the ground subsystem 2 through the airborne data link terminal 11;
the video tracker 123 is configured to track a target and output a tracking state parameter, an azimuth angle deviation amount and a pitch angle deviation amount of the target relative to the aiming center to the photoelectric management computer in real time, so as to achieve accurate tracking of the target;
the thermal infrared imager 124 is used for searching, detecting and identifying targets under day and night conditions, and has the functions of brightness adjustment, contrast adjustment, polarity conversion, automatic focusing, non-uniform correction, electronic zooming, image enhancement and the like;
the laser illuminator 125 can emit a laser line from the unmanned helicopter to the target, and measure a target distance, an azimuth angle, a high-low angle, and the like through the laser line;
the servo controller 126 is used for controlling the movement of the sight stabilizing device 12, namely controlling the sight stabilizing device to rotate, and searching for a target by 360 degrees until the target is searched, and the servo controller 126 adopts a DSP processor;
the photoelectric management computer 127 is configured to process information detected by the sight stabilizing device 12, where the information includes data information and image information, receive instruction information sent by the ground subsystem, and adjust or control each component of the sight stabilizing device according to the instruction information, and the photoelectric management computer uses a powerpc processor.
In the invention, the target distance refers to a straight line distance between the unmanned helicopter and the target; the azimuth angle is overlooked from the upper part, the aircraft course is 0, and the clockwise direction is positive; when the azimuth angle is 0 degree, the horizontal forward direction is 0 degree, the head-up direction is positive, and the head-down direction is negative.
In a further preferred embodiment, the sight-stabilizing device 12 further includes a secondary power board for implementing power conversion and a connecting bracket for connecting the sight-stabilizing device with the unmanned helicopter.
When the unmanned helicopter is started, the generator can be powered off temporarily, so that the secondary power supply board is arranged to restart the sight stabilizing device, wherein the secondary power supply board is only used at the moment when the unmanned helicopter is started.
In a further preferred embodiment, the sighting device 12 transmits the detected data information directly to the onboard task manager 15, and the onboard task manager transmits the detected data information to the onboard data link terminal 11; meanwhile, the stabilized sighting device 12 directly transmits the detected image information to the airborne data link terminal 11.
Because the format of the image information is large, if the image information is forwarded by the task manager 15, the processing process is slow, so that only the data information is forwarded to the airborne data link terminal 11 through the task manager 15, and the image information is directly transmitted to the airborne data link terminal 11, wherein the data information includes a target distance, an azimuth angle, a pitch angle, an altitude angle, an image recorder state, an unmanned helicopter attitude angle (a pitch angle, a yaw angle and a roll angle) and an unmanned helicopter position (a longitude, a latitude and an altitude).
According to a preferred embodiment of the invention, the sight-stabilizing device 12 is in an operating state from the takeoff moment of the unmanned helicopter, and performs target search, and transmits image information detected in the search process to the ground subsystem.
In a further preferred embodiment, the ground subsystem 2 controls the sighting device 12 to perform target recognition and lock the target according to the image information transmitted by the sighting device 12.
In a further preferred embodiment, after the target is locked by the sighting device 12, the target is tracked by the video tracker 123 until the sighting device 12 locates the target under the control of the ground subsystem 2.
After the target is locked by the sight stabilizing device 12, the sight stabilizing device 12 performs laser ranging to obtain data information, and the data information is output to the ground subsystem 2 through the airborne task manager 15 and the airborne data link terminal 11.
According to a preferred embodiment of the present invention, as shown in fig. 2, the flight control module 13 includes a sensor submodule 131, a flight control computer 132, and an actuator 133.
The sensor sub-module 131 is configured to measure a flight state of the unmanned helicopter to obtain flight parameters, where the flight parameters include time information, an attitude angle of the unmanned helicopter, a position of the unmanned helicopter, a ground speed of the unmanned helicopter, and component speeds of the unmanned helicopter in east, north, and sky; the flight control computer 132 is configured to receive instruction information sent by the ground subsystem 2, receive flight parameters measured by the sensor sub-module 131, and then: firstly, the flight parameters are output to the airborne task manager 15, secondly, the flight parameters and the instruction information are processed to obtain execution control instructions, and the execution control instructions are output to the execution mechanism 133; the executing mechanism 133 is configured to receive an execution control instruction output by the flight control computer, and control the flight of the unmanned helicopter. In the invention, the flight control computer adopts an ARM processor.
Wherein, the flight control computer carries out the following processing: the current flight parameters and the instruction information are fused to obtain the execution control instruction, wherein the fusion is performed because the flight parameters are continuously updated in the process of advancing the unmanned helicopter, so that the execution control instruction needs to be obtained by combining the current flight parameters with the instruction information.
According to a preferred embodiment of the invention, as shown in fig. 2, the weapon module 14 comprises an on-board pylon 141, a weapon launch canister 142 and a weapon 143.
The on-board hanger 141 is used for connecting the unmanned helicopter with a weapon launching barrel 142, and the weapon launching barrel 142 is used for placing a weapon 143.
In a further preferred embodiment, a guide head 1431 and a launch computer 1432 are provided on the weapon 143, wherein the guide head 1431 is used to search for and lock the target for striking; the onboard computer 1432 is used to transmit the status parameters of the weapon 143 to the onboard task manager 15; the state parameters comprise a non-working state parameter, a power-on state parameter and an ignition state parameter.
In the present invention, the high resolution image of the target area is stored on the onboard computer 1432, and the onboard 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 to determine if the seeker is targeting. The missile-borne computer adopts a DSP processor.
Wherein, 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 performs the solution according to the image information transmitted by the sight stabilizing device 12 to obtain the solution information, and transmits the solution information to the flight control module 13, and controls the unmanned helicopter to fly to the region where the seeker can capture the target. Then, the ground subsystem 2 sends a power-on command, the airborne task manager 15 receives the power-on command, controls the power-on of the seeker, and the seeker is started to search for a target. Adjusting the optical axis of the seeker to coincide with the optical axis of the sight stabilizing device, locking a target by the ground subsystem 2 according to image information transmitted by the seeker, after the seeker locks the target, sending an ignition command to the airborne task manager 15 by the ground subsystem 2, receiving the ignition command forwarded by the airborne task manager 15 by the weapon module 14, controlling a weapon to ignite and launch, discharging the weapon out of a weapon launching barrel, unfolding the control surface of the weapon, working by a steering engine, and continuously approaching the target until the target is hit.
According to a preferred embodiment of the present invention, as shown in fig. 2, the on-board task manager 15 includes a motherboard 151, an on-board integrated control board 152, and a weapons launch control board 153.
The motherboard 151 is used for connecting an onboard integrated control board 152 and a weapon firing control board 153 and providing power supply, data information and level control signals for the motherboard; the onboard integrated control board 152 is used for processing information, specifically, forwarding data information transmitted by the sight stabilizing device 12, the flight control module 13 and the weapon module 14 and image information transmitted by the weapon module 14 to the ground subsystem 2, extracting and packaging the data information transmitted by the sight stabilizing device 12 and the flight control module 13, and then sending the data information to the weapon module 14, and meanwhile, receiving instruction information output by the ground subsystem 2 and respectively distributing the instruction information to the sight stabilizing device 12, the flight control module 13 and the weapon module 14; the weapon firing control board 153 is used for controlling the power-on of the seeker and the firing of the weapon.
In a further preferred embodiment, the onboard integrated control board 152 and weapon firing control board 153 are mounted on the motherboard 151 and are vertically disposed.
In a further preferred embodiment, the task manager 15 further comprises a transformer, an ATR chassis, an aerial plug assembly and a shock absorber.
The transformer is powered by an onboard power supply, converts the voltage level and is used for supplying power; the ATR case is manufactured by adopting an aviation ATR standard; the aviation plug assembly comprises a power input aviation plug and a signal interaction aviation plug, wherein the power input aviation plug is an aviation special plug and is used for supplying power to internal circuit components, and the signal interaction aviation plug is in signal interaction with the stabilized sighting device 12, the flight control module 13, the weapon module 14 and the airborne data chain terminal 11; the shock absorber is used for adapting to the vibration environment of the unmanned helicopter and reducing the influence of vibration on the internal component structure and the electromagnetic environment of the ATR case.
According to a preferred embodiment of the present invention, as shown in fig. 2, an information forwarding module 1521, a data extracting and packing module 1522 and a command distributing module 1523 are disposed on the onboard integrated control board 152.
The information forwarding module 1521 is configured to forward the data information transmitted by the stabilized sighting device 12, the flight control module 13 and the weapon module 14 and the image information transmitted by the weapon module 14 to the onboard data link terminal 11, and then transmit the data information to the ground subsystem 2; the data extracting and packing module 152 is configured to partially extract and pack data information transmitted to the onboard task manager 15 by the sighting device 12 and the flight control module 13, and then send the data information to the weapon module 14, where data information such as an attitude angle and a position of the unmanned helicopter detected by the flight control module, and a high-low angle, an azimuth angle, a target distance and the like detected by the sighting device are extracted; the instruction distribution module 1523 is configured to distribute the feedback instruction sent by the ground subsystem 2, and respectively distribute the feedback instruction to the sight stabilizing device 12 and the flight control module 13.
In a further preferred embodiment, the message forwarding module 1521 in the on-board task manager 15 forwards all the data messages transmitted by the sighting device 12, the flight control module 13 and the weapon module 14, and the image messages transmitted by the weapon module 14 to the on-board data link terminal 11 and then to the ground subsystem 2.
In a further preferred embodiment, the data extraction and packaging module 1522 in the on-board mission manager 15 partially extracts and packages the data information transmitted by the stabilized sighting device 12 and the flight control module 13 to the on-board mission manager 15, and then outputs the data information to the weapon module 14.
The data extracted and packaged by the data extracting and packaging module 1522 includes data information such as altitude angle, azimuth angle, target distance and the like output by the stabilized sighting device 12 and data information such as attitude angle and position of the unmanned helicopter output by the flight control module 13.
In 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.
The power-on control module 1531 is configured to receive a power-on command from the ground subsystem 2, and control the conducting head 1431 in the weapon module 14 to power on; the ignition control module 1532 is configured to receive the "ignition" command from the ground subsystem 2 and control the weapon 143 in the weapon module 14 to fire and shoot.
According to a preferred embodiment of the present invention, the onboard subsystem 1 further comprises an onboard power supply, wherein the onboard power supply provides 22-33V (28V) voltage, which is introduced through the air plug assembly, and provides voltage for the motherboard 151, the onboard integrated control board 152 and the weapon emission control board 153 in the onboard task manager 15.
According to a preferred embodiment of the present invention, the ground subsystem 2 further comprises a stabilized sighting control seat 22, a flight control seat 23, a weapon control seat 24 and a ground mission manager 25.
The sight-stabilizing control seat 22 is used for controlling the sight-stabilizing device 12 to search, detect, identify, lock, track and position a target, and is also used for post-war evaluation; the flight control seat 23 is used for controlling the flight control module 13 so as to control the flight of the unmanned helicopter; the weapon control seats 24 are used for controlling the weapon module 14, mainly controlling the power-on and firing of the weapon; the ground task manager 25 is configured to process information transmitted by the airborne subsystem 1, and then output the information to the sight stabilizing control seat 22, the flight control seat 23, and the weapon control seat 24, and at the same time receive instruction information of the sight stabilizing control seat 22, the flight control seat 23, and the weapon control seat 24, and transmit the instruction information to the airborne subsystem 1 through the ground data link terminal 21.
According to a preferred embodiment of the invention, as shown in fig. 1: the stabilized sighting device 12 transmits the detected data information to the ground data chain terminal 21 through the airborne task manager 15 and the airborne data chain terminal 11, and simultaneously transmits the detected image information to the ground data chain terminal 21 directly through the airborne data chain terminal 11; the flight control module 13 transmits the detected data information to the ground data link terminal 21 through the airborne task manager 15 and the airborne data link terminal 11; the weapon module 14 transmits both the detected data information and the image information to the ground datalink terminal 21 through the on-board task manager 15 and the on-board datalink terminal 11.
In a further preferred embodiment: as shown in fig. 1, the ground data link terminal 21 directly transmits the image information detected by the sighting device 12 and the image information detected by the weapon module 14 to the sighting control seat 22 and the weapon control seat 24, respectively; the ground data link terminal 21 distributes the data information detected by the sight stabilizing device 12, the flight control module 13 and the weapon module 14 to the sight stabilizing control seat 22, the flight control seat 23 and the weapon control seat 24 respectively through the ground task manager 25.
According to a preferred embodiment of the present invention, after the unmanned helicopter takes off, the sight stabilizing device 12 immediately enters a working state to search for a target and transmit the searched image information to the sight stabilizing control seat 22 of the ground subsystem 2, the sight stabilizing control seat controls the sight stabilizing device 12 to identify and lock the target according to the image information transmitted by the sight stabilizing device 12, after the target is locked, the sight stabilizing device 12 tracks and laser-measures the target to obtain data information, and transmits the detected data information to the sight stabilizing control seat 22 of the ground subsystem 2 in time.
In a further preferred embodiment, after receiving the image information detected by the sighting device 12, the sighting control seat 22 directly forwards the image information to the weapon control seat 22, so that after the sighting control seat 22 locates the target, the weapon control seat 22 performs resolution according to the image information transmitted by the sighting device 12, transmits the resolution information to the flight control module 13, and controls the unmanned helicopter to fly to an area where the seeker can capture the target.
In a further preferred embodiment, after the unmanned helicopter flies to an area where the seeker can capture the target, the weapon control seat 24 sends a power-on command and transmits the power-on command to the airborne task manager 15 through the ground task manager 25, the airborne task manager 15 controls the seeker of the weapon module 14 to be powered on after receiving the power-on command, the seeker searches for the target and transmits the searched image information to the ground data link terminal 21 through the airborne task manager 15, and the ground data link terminal 21 directly transmits the image information to the weapon control seat 24 for target locking.
In a further preferred embodiment, the weapon control seat 24, after locking the target, issues an "ignition" command, which is transmitted to the on-board mission manager 15 via the ground mission manager 25, and the on-board mission manager 15, upon receiving the command, controls the weapon to fire and fire, and perform the blow.
Before the seeker is powered on, the weapon module 14 does not send any image information, and after the seeker is powered on, the seeker searches for a target and transmits the searched image information of the surrounding environment.
According to a preferred embodiment of the present invention, as shown in fig. 3, the ground task manager 25 includes a ground integrated control board 251, and a data distribution module 2511 and an instruction reconstruction module 2512 are disposed on the ground integrated control board 251.
The data distribution module 2511 is configured to distribute data information transmitted by the airborne subsystem 1 to the ground task manager 25 through the ground data link terminal 21, and respectively distribute the data information to the sight stabilizing control seat 22, the flight control seat 23, and the weapon control seat 24; the instruction reorganizing module 2512 is configured to reorganize instruction information fed back to the ground task manager 25 by the stabilized sighting control seat 22, the flight control seat 23, and the weapon control seat 24, and send the instruction information to the airborne data link terminal 11.
In a further preferred embodiment, the ground task manager 25 further comprises an ATR chassis, a transformer, and an avionics component, wherein the avionics component comprises a power input avionics and a signal interaction avionics.
The ATR case is an aviation standard military case, is manufactured strictly according to the national military standard, meets the environmental adaptability requirement of the national military, and provides structural support for the internal components of the case body; the transformer is used for adjusting external access voltage and adapting to the power supply requirement characteristic of a hardware circuit in the box body; the aviation plug assembly comprises a power input aviation plug and a signal interaction aviation plug, wherein the power input aviation plug is an aviation special plug and is used for supplying power to internal circuit components, and the signal interaction aviation plug is used for carrying out signal interaction with a stabilized aiming control seat 22, a flying control seat 23, a weapon control seat 24 and a ground data link terminal 21.
According to a preferred embodiment of the present invention, the data information distributed to the stabilized sighting control seat 22 by the ground task manager 25 includes the target distance, the azimuth angle, the altitude angle, the image recorder state, the unmanned helicopter attitude angle and the unmanned helicopter position detected by the stabilized sighting device 12; the data information distributed to the flight control seat 22 by the ground task manager 25 includes time information detected by the flight control module 13, an attitude angle of the unmanned helicopter, a position of the unmanned helicopter, a total speed of the unmanned helicopter, and component speeds of the unmanned helicopter in east, north and sky directions; the data information distributed to the weapon control seats 22 by the ground task manager 25 is the state parameter information of the missile detected by the weapon module 14, specifically, whether to be in the power-on mode or the ignition mode.
In a further preferred embodiment, the stabilized sighting control seat 22, the flight control seat 23, and the weapon control seat 24 respectively output instruction information for controlling the stabilized sighting device 12, the flight control module 13, and the weapon module 14, respectively, after receiving the data information distributed by the ground mission manager 25.
In another aspect, the present invention provides a control method of an unmanned helicopter, wherein, as shown in fig. 4, the method includes the following steps:
After the unmanned helicopter takes off, the sight stabilizing device 12 enters a working state, and the sight stabilizing control seat 22 controls the sight stabilizing device 12 in real time, so that the sight stabilizing device 12 searches and positions a target.
According to a preferred embodiment of the invention, said step 1 comprises the following sub-steps:
1-1, searching a target by using a sight-stabilizing device 12, and directly transmitting image information detected in the searching process to a sight-stabilizing control seat 22 through an airborne data link terminal 11 and a ground data link terminal 21;
the data information detected by the sight stabilizing device 12 is output to the airborne data link terminal 11 through the airborne task manager 15, and the image information detected by the sight stabilizing device 12 is directly transmitted to the airborne data link terminal 11;
step 1-2, the sight-stabilizing control seat 22 controls the sight-stabilizing control device 12 to detect, identify and lock the target according to the image information transmitted by the sight-stabilizing device 12;
step 1-3, after the target is locked by the sight stabilizing control seat 22, the sight stabilizing device 12 tracks the target;
and 1-4, positioning the target by the sight-stabilizing control seat 22.
After the stabilized sighting control seat 22 locks the target, the stabilized sighting device 12 tracks and measures the distance of the target by laser to obtain data information, and transmits the detected data information to the stabilized sighting control seat 22 of the ground subsystem 2 in time, and the stabilized sighting control seat 22 positions the target.
In the invention, after the sight-stabilizing device 12 transmits the detected image information to the sight-stabilizing control seat 22 through the airborne data link terminal 11 and the ground data link terminal 21 in real time, the sight-stabilizing control seat 22 transmits the received image information to the weapon control seat 24.
And 2, adjusting the flight area to enable the target to be in the detection range of the seeker.
According to a preferred embodiment of the invention, said step 2 comprises the following sub-steps:
step 2-1, the weapon control seat 24 calculates the received image information detected by the sight stabilizing device 12 to obtain calculated information;
step 2-2, sequentially transmitting the resolving information to the ground task manager 25 and the ground data link terminal, and then transmitting the resolving information to the airborne task manager 15;
and 2-3, outputting the resolving information to the flight control module 13 by the airborne task manager 15, and controlling the unmanned helicopter to fly to an area where the seeker can capture the target.
And 3, performing target search and target locking by using the weapon module 14 and the weapon control seat 24.
According to a preferred embodiment of the invention, step 3 comprises the following sub-steps:
step 3-1, after the unmanned helicopter flies to an area where a seeker can capture a target, a weapon control seat 24 sends a power-on command;
3-2, the ground task manager 25 receives the power-on command and transmits the power-on command to the airborne task manager 15;
3-3, after receiving the power-on command, the airborne task manager 15 controls the power-on of the seeker of the weapon module 14, and the seeker searches for a target;
and 3-4, the weapon module 14 transmits the searched image information to the ground data link terminal 21 through the airborne task manager 15, and the ground data link terminal 21 directly transmits the image information to the weapon control seat 24 for target locking.
And 4, striking the target.
After the seeker locks the target, the weapon control seat 24 sends an ignition command to control the weapon in the weapon module 14 to fire and shoot, and the target is hit.
According to a preferred embodiment of the invention, step 4 is followed by step 5: and 5, carrying out post-war evaluation.
Wherein after the target is hit, the stabilized aiming control seat 22 is utilized for post-war evaluation.
In a further preferred embodiment, said step 5 comprises the following sub-steps:
and 5-1, shooting the post-battle environment by the sight stabilizing device 12, and transmitting shot image information to the sight stabilizing control seat 22.
And 5-2, performing post-war evaluation on the stabilized sighting control seat 22 according to the combination of geometric evaluation and simulation evaluation.
The geometric evaluation refers to the external deformation of the target, and the simulation evaluation refers to the internal deformation of the target.
And 5-3, analyzing by the sight-stabilizing control seat 22, if the striking is qualified, finishing striking, and if the striking is unqualified, striking the target for the second time.
The improper striking means that the deformation of the outer and inner lines of the target is small, that is, the target may be shifted without a center target during striking, and therefore, a second striking is required. If the striking is qualified, the striking is finished without secondary striking.
The invention has the advantages that:
(1) the system provided by the invention integrates the airborne subsystem and the ground subsystem into a whole, and has simple structure and high cost performance;
(2) the system provided by the invention is based on the unmanned helicopter, and has the advantages of unmanned driving, high personal safety performance, small volume, difficulty in detection, capability of hovering irradiation, capability of hovering attack, high hanging weight and the like;
(3) the system provided by the invention can be used for battlefield reconnaissance, accurate directional positioning and fixed point irradiation of the target and accurate attack on the target;
(4) the system has the characteristics of long voyage, long dead time, high controllability, real-time attack, reusability and the like;
(5) the method of the invention has flexible and efficient operation and can accurately attack the maneuvering target in real time.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner" and "outer" indicate the orientation or positional relationship based on the operation state of the present invention, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus should not be construed as limiting the present invention.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (9)
1. An unmanned helicopter control system, characterized in that the system comprises an airborne subsystem (1) and a ground subsystem (2), wherein the airborne subsystem (1) and the ground subsystem (2) respectively comprise an airborne data link terminal (11) and a ground data link terminal (21), and the airborne data link terminal (11) and the ground data link terminal (21) are used for information transmission between the airborne subsystem (1) and the ground subsystem (2), wherein the information comprises data information, image information and instruction information;
the onboard subsystem (1) also comprises a stabilized sighting device (12), a flight control module (13), a weapon module (14) and an onboard task manager (15), wherein,
the sight stabilizing device (12) is used for searching, detecting, locking, tracking and positioning a target under the control of the ground subsystem (2);
the flight control module (13) is used for controlling the flight of the unmanned helicopter;
the weapon module (14) is used for carrying a weapon and launching the weapon after receiving an ignition command sent by the ground subsystem (2);
the airborne task manager (15) is used for receiving data information transmitted by the stabilized sighting device (12), the flight control module (13) and the weapon module (14) and image information transmitted by the weapon module (14), processing the information, sending the processed information to the ground subsystem (2) through the airborne data link terminal (11), receiving instruction information sent by the ground subsystem (2), distributing the instruction information, and controlling the stabilized sighting device (12), the flight control module (13) and the weapon module (14);
the sight stabilizing device (12) comprises an image recorder (121), a visible light television (122), a video tracker (123), a thermal infrared imager (124), a laser detector (125), a servo controller (126) and a photoelectric management computer (127), wherein,
the visible light television (122) is used for searching targets under visible light, namely performing image capture and providing daytime image information for the sighting device (12);
the video tracker (123) is used for tracking a target;
the thermal infrared imager (124) is used for searching, detecting and identifying a target under the condition of day and night;
the image recorder (121) is used for storing image information detected by the visible light television (122) and the thermal infrared imager (124);
the laser illuminator (125) can emit a laser line from the unmanned helicopter to the target and measure the target distance, azimuth angle and elevation angle through the laser line;
the servo controller (126) is used for controlling the motion of the sight-stabilizing device (12), namely controlling the sight-stabilizing device to rotate, and searching for a target in 360 degrees until the target is searched;
the photoelectric management computer (127) is used for processing information detected by the sight stabilizing device (12), wherein the information detected by the sight stabilizing device (12) comprises data information and image information, receiving instruction information sent by the ground subsystem (2), and adjusting or controlling the sight stabilizing device (12) according to the instruction information;
the flight control module (13) comprises a sensor sub-module (131), a flight control computer (132) and an actuating mechanism (133), wherein the sensor sub-module (131) is used for measuring the flight state of the unmanned helicopter to obtain flight parameters; the flight control computer (132) is used for receiving instruction information sent by the ground subsystem (2), receiving flight parameters measured by the sensor sub-module (131), and then: firstly, the flight parameters are output to an airborne task manager (15), secondly, the flight parameters and instruction information are processed to obtain execution control instructions, and the execution control instructions are output to an execution mechanism (133); the execution mechanism (133) is used for receiving an execution control instruction output by the flight control computer (132) and controlling the flight of the unmanned helicopter;
and/or
The weapon module (14) comprises an airborne hanging rack (141), a weapon launching barrel (142) and a weapon (143), wherein the airborne hanging rack (141) is used for connecting the unmanned helicopter and the weapon launching barrel (142); the weapon launching barrel (142) is used for carrying a weapon (143);
a guide head (1431) and a missile-borne computer (1432) are arranged on the weapon (143);
the on-board task manager (15) comprises a motherboard (151), an on-board integrated control board (152) and a weapon emission control board (153),
the motherboard (151) is used for connecting an onboard integrated control board (152) and a weapon firing control board (153) and providing power supply, data information and level control signals for the motherboard;
the airborne integrated control panel (152) is used for forwarding data information transmitted by the sight stabilizing device (12), the flight control module (13) and the weapon module (14) and image information transmitted by the weapon module (14) to the ground subsystem (2), extracting and packaging the data information transmitted by the sight stabilizing device (12) and the flight control module (13), sending the data information to the weapon module (14), receiving instruction information output by the ground subsystem (2) and respectively distributing the instruction information to the sight stabilizing device (12), the flight control module (13) and the weapon module (14);
the weapon firing control board (153) is used for controlling the power-on of the guide head (1431) and the firing of the weapon (143).
2. The system according to claim 1, characterized in that an information forwarding module (1521), a data extraction and packing module (1522) and an instruction distribution module (1523) are provided on said onboard integrated control board (152).
3. The system of claim 1, wherein a power-on control module (1531) and a firing control module (1532) are provided on the weapons launch control board (153).
4. The system of claim 1, wherein the ground subsystem (2) further comprises a stabilized flight control seat (22), a flight control seat (23), a weapon control seat (24), and a ground mission manager (25), wherein,
the stabilized sighting control seat (22) is used for controlling the stabilized sighting device (12) so as to search, detect, identify, lock, track and position a target and simultaneously used for post-war evaluation;
the flight control seat (23) is used for sending a control instruction to the flight control module (13) so as to control the flight of the unmanned helicopter;
the weapon control seat (24) is used for controlling the power-on of a guide head in the weapon module (14) and the firing emission of the weapon;
the ground task manager (25) is used for processing information transmitted by the airborne subsystem (1), distributing the information to the stabilized aiming control seat (22), the flight control seat (23) and the weapon control seat (24), receiving instruction information of the stabilized aiming control seat (22), the flight control seat (23) and the weapon control seat (24), and transmitting the instruction information to the airborne subsystem (1) through the ground data link terminal (21).
5. The system of claim 4, wherein the ground task manager (25) comprises a ground integrated control panel (251), on which (251) a data distribution module (2511) and an instruction recombination module (2512) are disposed, wherein,
the data distribution module (2511) is used for respectively distributing data information transmitted to the ground task manager (25) by the airborne subsystem (1) through the ground data link terminal (21) to the stabilized sighting control seat (22), the flight control seat (23) and the weapon control seat (24);
the instruction recombination module (2512) is used for recombining the instruction information fed back to the ground task manager (25) by the stabilized sighting control seat (22), the flight control seat (23) and the weapon control seat (24) and sending the recombined instruction information to the airborne data chain terminal (11).
6. An unmanned helicopter control method utilizing the system of claim 4 or 5, wherein said method comprises the steps of:
step 1, searching, detecting, identifying, locking, tracking and positioning a target by using a sight stabilizing device (12) and a sight stabilizing control seat (22);
step 2, adjusting a flight area to enable a target to be within a detection range of the seeker;
step 3, carrying out target search and target locking by utilizing a weapon module (14) and a weapon control seat (24);
and 4, striking the target.
7. The method of claim 6, wherein,
the step 1 comprises the following substeps:
1-1, searching a target by using a sight stabilizing device (12), and directly transmitting image information detected in the searching process to a sight stabilizing control seat (22) through an airborne data link terminal (11) and a ground data link terminal (21);
step 1-2, the sight-stabilizing control seat (22) controls the sight-stabilizing device (12) to identify and lock a target according to image information transmitted by the sight-stabilizing device (12);
step 1-3, after the target is locked by the sight-stabilizing control seat (22), the target is tracked by the sight-stabilizing device (12);
step 1-4, positioning a target by a sight-stabilizing control seat (22);
and/or
The step 2 comprises the following substeps:
step 2-1, the weapon control seat (24) carries out resolving on the received image information detected by the sight stabilizing device (12) to obtain resolving information;
step 2-2, sequentially transmitting the resolving information to a ground task manager (25) and a ground data chain terminal, and then transmitting the resolving information to an airborne task manager (15);
step 2-3, the airborne task manager (15) outputs the resolving information to the flight control module (13) to control the unmanned helicopter to fly to an area where a seeker can capture a target;
and/or
The step 3 comprises the following substeps:
step 3-1, after the unmanned helicopter flies to an area where a seeker can capture a target, a weapon control seat (24) sends a power-on command;
3-2, the ground task manager (25) receives the power-on command and transmits the power-on command to the airborne task manager (15);
3-3, after receiving the power-on command, the airborne task manager (15) controls a seeker of the weapon module (14) to be powered on, and the seeker searches for a target;
and 3-4, the weapon module (14) transmits the searched image information to a ground data link terminal (21) through the airborne task manager (15), and the ground data link terminal (21) directly transmits the image information to a weapon control seat (24) for target locking.
8. The method according to claim 6 or 7, wherein step 4 is followed by step 5:
and 5, carrying out post-war evaluation.
9. The method of claim 8,
the step 5 comprises the following substeps:
step 5-1, shooting an environment after battle by the sight-stabilizing device (12), and transmitting shot image information to a sight-stabilizing control seat (22);
step 5-2, the stabilized sighting control seat (22) performs post-war evaluation according to the combination of geometric evaluation and simulation evaluation;
and 5-3, analyzing by the sight-stabilizing control seat (22), if the striking is qualified, finishing striking, and if the striking is unqualified, striking the target for the second time.
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| CN109194382A (en) * | 2018-09-12 | 2019-01-11 | 北京航空航天大学东营研究院 | A kind of unmanned plane during flying verification data-link data fusion method and system |
| CN109470082B (en) * | 2018-12-03 | 2020-02-07 | 中国航空工业集团公司沈阳飞机设计研究所 | Terminal of external weapon fire control system and control method thereof |
| CN109398709B (en) * | 2018-12-03 | 2023-06-02 | 中航技进出口有限责任公司 | External airborne weapon fire control system and use method |
| CN110615104A (en) * | 2019-08-29 | 2019-12-27 | 北京理工大学 | Unmanned aerial vehicle weapon platform stable aiming control method |
| CN111385082B (en) * | 2020-03-23 | 2024-02-23 | 北京中科众为技术有限公司 | Missile-borne data link system and missile provided with same |
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