CN107878739B - An unmanned helicopter control system and its control method - Google Patents

An unmanned helicopter control system and its control method Download PDF

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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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CN107878739A (en
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宋韬
朱永伟
林德福
王江
王伟
王辉
唐攀
余婉铭
林时尧
叶剑川
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Beijing Institute of Technology BIT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D7/00Arrangement of military equipment, e.g. armaments, armament accessories or military shielding, in aircraft; Adaptations of armament mountings for aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/10Rotorcrafts
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12Target-seeking control

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  • Aviation & Aerospace Engineering (AREA)
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  • Radar, Positioning & Navigation (AREA)
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  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

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。

Figure 201610866841

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.

Figure 201610866841

Description

一种无人直升机控制系统及其控制方法An unmanned helicopter control system and its control method

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 airborne subsystem 1 and a ground subsystem 2, wherein the airborne subsystem 1 and the ground subsystem 2 respectively include an airborne data link terminal 11 and the ground data link terminal 21, 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 includes data information, image information and instruction information.

(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 airborne subsystem 1 further includes a sight stabilization device 12 , a flight control module 13 , a weapon module 14 and an airborne task manager 15 .

(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 image recorder 121 , a visible light TV 122 , a video tracker 123 , an infrared thermal imager 124 , and a laser light meter 125 , servo controller 126 and photoelectric management computer 127 .

(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 sensor sub-module 131, a flight control computer 132 and an actuator 133; and/or

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 onboard task manager 15 includes a motherboard 151 , an onboard integrated control board 152 and a weapon launch control board 153 ;

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 control control seat 23 , a weapon control seat 24 and a ground task manager 25.

(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 ground task manager 25 includes a ground integrated control panel 251 on which a data distribution module 2511 and instructions are provided Reassembly module 2512.

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;Step 1. Use the aiming stabilization device 12 and the aiming stabilization control seat 24 to search, detect, identify, lock, track and locate the target;

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 airborne subsystem 1 and a ground subsystem 2, and the airborne subsystem 1 and the ground subsystem 2 respectively include an airborne subsystem 1 and a ground subsystem 2. The onboard data link terminal 11 and the ground data link terminal 21 , wherein the onboard data link terminal 11 and the ground data link terminal 21 are used for information transmission between the onboard subsystem 1 and the ground subsystem 2 .

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 airborne subsystem 1 is arranged on the unmanned helicopter, and the ground subsystem 2 is arranged on the ground, which is actually a ground observation and control station of the airborne subsystem 1 . In the present invention, 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, and the airborne data link terminal 11 and the ground data link terminal 21 can Realize long-distance transmission, specifically, can realize long-distance information transmission of more than 100km, and the transmission process is stable, ensuring the timeliness of information transmission, and its security is good, wherein, the information includes data information, instruction information and image information.

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 airborne subsystem 1 further includes a sight stabilization device 12 , a flight control module 13 , a weapon module 14 and an airborne task manager 15 .

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 airborne task manager 15 is used to receive the sight stabilization device 12, the flight control module 13 and the weapon module The data information transmitted by 14 and the image information transmitted by the weapon module 14 are processed, and then the processed information is sent to the ground subsystem 2 through the airborne data link terminal 11. At the same time, it is also used to receive the transmission from the ground subsystem 2. and distribute the instruction information to realize the control of the sight stabilization device 12 , the flight control module 13 and the weapon module 14 .

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 data link terminal 11 through the airborne task manager 15 , and directly transmits the detected graphic information to the airborne data link terminal 11 . The onboard data link terminal 11; the flight control module 13 transmits the detected data information to the onboard data link terminal 11 through the airborne task manager 15; the weapon module 14 passes the detected data information and image information through the airborne task management The controller 15 transmits to the onboard data link terminal 11 .

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 airborne task manager 15 receives the instruction to control the weapon module 14 to power on, and transmits the "power-on" state of the weapon module 14 to the ground subsystem 2, and the ground subsystem 2 receives the output of the airborne task manager 15. After the "power-on" signal is received, an "ignition" command is sent to the airborne task manager 15, and the airborne task manager 15 receives the command and controls the weapon module 14 to ignite and launch.

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 image recorder 121 , a visible light TV 122 , a video tracker 123 , an infrared thermal imager 124 , a laser camera 125 , a servo Controller 126 and photoelectric management computer 127.

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 image recorder 121 is used to store the image information detected by the visible light TV 122 and the infrared thermal imager 124;

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 visible light TV 122 is used for image capture, and provides a daytime visible light image (image information) for the sight stabilization device 12, wherein when it receives a zoom or focus command, the field of view changes continuously, and outputs the current image. Moreover, when the external light changes, the exposure time can be continuously thickened to ensure real-time output of image information, and then the image information is compressed and recorded by the photoelectric management computer, and at the same time, it is output to the ground plane through the airborne data link terminal 11. system 2;

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 servo controller 126 is used to control the motion of the sight stabilization device 12, that is, to control its rotation, and perform a 360° target search until the target is searched, and the servo controller 126 adopts a DSP processor;

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 photoelectric management computer 127 is used to process the information detected by the sight stabilization device 12, the information includes data information and image information, and receives the instruction information sent by the ground subsystem, and according to the instruction information, each component of the sight stabilization device is adjusted. For adjustment or control, the photoelectric management computer adopts a powerpc processor.

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 airborne task manager 15, and the airborne task manager transmits it to the airborne data link terminal 11; at the same time, the The sight stabilization device 12 directly transmits the detected image information to the airborne data link terminal 11 .

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 task manager 15, the processing process will be slowed down. Therefore, only the data information is forwarded to the airborne data link terminal 11 through the task manager 15, while the image information is It is directly transmitted to the airborne data link terminal 11, wherein the data information includes target distance, azimuth angle, elevation angle, image recorder status, unmanned helicopter attitude angle (pitch angle, yaw angle and roll angle) and unmanned helicopter. Helicopter location (longitude, latitude and altitude).

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 airborne task manager 15 and the airborne data link terminal 11 .

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 sensor sub-module 131 , a flight control computer 132 and an actuator 133 .

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 sensor sub-module 131 is used to measure the flight state of the unmanned helicopter to obtain flight parameters, and the flight parameters include time information, the attitude angle of the unmanned helicopter, the position of the unmanned helicopter, and the ground of the unmanned helicopter. speed and the speed of the unmanned helicopter in the east, north, and sky; the flight control computer 132 is used to receive the instruction information sent by the ground subsystem 2, and receive the flight parameters measured by the sensor sub-module 131, and then: first, The flight parameters are output to the airborne task manager 15, and secondly, processing is performed according to the flight parameters and the instruction information to obtain execution control instructions, and the execution control instructions are output to the execution mechanism 133; the execution mechanism 133 uses It is used to receive the execution control commands output by the flight control computer to control the flight of the unmanned helicopter. In the present invention, the flight control computer adopts an ARM processor.

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 airborne mission manager 15; wherein, the state parameters include non-working state parameters, "power-on" state parameters and "fire" state parameters.

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 airborne task manager 15 receives the "power-on" command, and controls the seeker to power-on, the seeker is turned on, and the target search is performed. Adjust the optical axis of the seeker to coincide with the optical axis of the aiming stabilization device. The ground subsystem 2 locks the target according to the image information transmitted by the seeker. After the seeker locks the target, the ground subsystem 2 sends an "ignition" command to the aircraft. The on-board task manager 15, the weapon module 14 receives the "ignition" command forwarded by the on-board task manager 15 and controls the weapon to ignite and launch the weapon, the weapon comes out of the weapon launch tube, the rudder surface of the weapon is unfolded, the steering gear works, and continues to approach the target until hit the target.

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 onboard task manager 15 includes a motherboard 151 , an onboard integrated control board 152 and a weapon launch control board 153 .

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 task manager 15 further includes a transformer, an ATR chassis, an aviation plug-in assembly and a shock absorber.

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 data link terminal 11; The shock absorber is used to adapt to the vibration environment of the unmanned helicopter, and reduce the impact of the vibration on the internal structure of the ATR chassis and the electromagnetic environment.

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 data link terminal 11, and then transmit it to the ground substation System 2; the data extraction and packaging module 152 is used to partially extract and package the data information transmitted by the sight stabilization device 12 and the flight control module 13 to the airborne task manager 15, and then send it to the weapon module 14, wherein the extraction The attitude angle and position of the unmanned helicopter detected by the flight control module, as well as the high and low angle, azimuth, and target distance detected by the stabilizing device; the instruction distribution module 1523 is used to distribute the feedback instructions sent by the ground subsystem 2. , distributed to the sight stabilization device 12 and the flight control module 13 respectively.

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 airborne task manager 15 forwards all 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 aircraft. The data link terminal 11 is then transmitted to the ground subsystem 2.

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 airborne task manager 15 partially extracts and packages the data information transmitted by the sight stabilization device 12 and the flight control module 13 to the airborne task manager 15, It is then output to the weapon module 14 .

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-board subsystem 1 further includes an on-board power supply, wherein the on-board power supply provides a voltage of 22-33V (28V), which is introduced through the aviation plug-in component and is used for the onboard task manager 15. The motherboard 151, the onboard integrated control board 152 and the weapon launch control board 153 provide voltage.

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 control control seat 23 , a weapon control seat 24 and a ground task manager 25 .

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 control control seat 23 is used for It is used to control the flight control module 13, and then control the flight of the unmanned helicopter; the weapon control seat 24 is used to control the weapon module 14, and mainly controls the power-on and ignition of the weapon; the ground task manager 25 is used to control the airborne The information transmitted by the subsystem 1 is processed, and then output to the stable aiming control seat 22, the flight control control seat 23 and the weapon control seat 24. At the same time, the command information, and transmit the command information to the airborne subsystem 1 through the ground data link terminal 21 .

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 data link terminal 21 through the airborne task manager 15 and the airborne data link terminal 11 , and simultaneously transmits the detected data information to the ground data link terminal 21 . The detected image information is directly transmitted to the ground data link terminal 21 through the airborne data link terminal 11; the flight control module 13 transmits the detected data information to the ground data link through the airborne task manager 15 and the airborne data link terminal 11 The terminal 21 ; the weapon module 14 transmits the detected data information and image information to the ground data link terminal 21 through the airborne task manager 15 and the airborne data link terminal 11 .

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 data link terminal 21 directly transmits the image information detected by the aiming stabilization device 12 and the image information detected by the weapon module 14 to the aiming stabilization control seat 22 and the weapon control seat, respectively. Seat 24; the ground data link terminal 21 distributes the data information detected by the aiming stabilization device 12, the flight control module 13 and the weapon module 14 to the aiming stabilization control seat 22, the flight control control seat 23 and the weapon control seat respectively through the ground task manager 25 twenty four.

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 ground mission manager 25 After receiving the "power on" command, the airborne task manager 15 controls the seeker of the weapon module 14 to power on, the seeker searches for the target, and transmits the searched image information through the airborne task manager 15 To the ground data link terminal 21, the ground data link terminal 21 directly transmits the image information to the weapon control seat 24 for target locking.

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 ground task manager 25 transmits the command to the airborne task manager 15, and the airborne task manager 15 receives the command. After the command is reached, the weapon is controlled to ignite and fire, and the strike is carried out.

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 ground task manager 25 includes a ground integrated control board 251 , and a data distribution module 2511 and an instruction recombination module 2512 are arranged on the ground integrated control board 251 .

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 data distribution module 2511 is used to distribute the data information transmitted by the airborne subsystem 1 to the ground task manager 25 through the ground data link terminal 21, and distribute them to the stable aiming control seats 22, flight control control seats 23 and 25 respectively. The weapon control seat 24; the instruction reorganization module 2512 is used to reorganize the command information fed back to the ground task manager 25 by the steady sight control seat 22, the flight control control seat 23 and the weapon control seat 24, and send it to the airborne data link terminal 11.

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 ground task manager 25 further includes an ATR chassis, a transformer and an air plug assembly, wherein the air plug assembly includes a power input air plug and a signal interaction air plug.

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 control control seat 23 , the weapon control seat 24 and the ground data link terminal 21 .

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 ground task manager 25 to the aiming stabilization control seat 22 includes the target distance, azimuth angle, elevation angle, image recorder status, unmanned aerial vehicle detected by the aiming stabilization device 12 The attitude angle of the helicopter and the position of the unmanned helicopter; the data information distributed by the ground task manager 25 to the flight control seat 22 includes the time information detected by the flight control module 13, the attitude angle of the unmanned helicopter, the position of the unmanned helicopter, The total speed of the human helicopter and the sub-speed of the unmanned helicopter in the east, north and sky directions; the data information distributed by the ground task manager 25 to the weapon control seat 22 is the state parameter information of the missile detected by the weapon module 14, specifically Indicates whether it is in power-on mode or ignition mode.

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 control control seat 23 and the weapon control seat 24 respectively output command information after receiving the data information distributed by the ground task manager 25, and the command information is respectively directed to the aiming stabilization device. 12. The flight control module 13 and the weapon module 14 are controlled.

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。Step 1. Use the aiming stabilization device 12 and the aiming stabilization control seat 22 to search, detect, identify, lock, track and locate the target.

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 step 1 includes the following sub-steps:

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 data link terminal 11 and the ground data link terminal 21;

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 data link terminal 11 through the airborne task manager 15, and the image information detected by the sight stabilization device 12 is directly transmitted to the airborne data link terminal 11;

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 data link terminal 11 and the ground data link terminal 21, the sight stabilization control seat 22 transmits the received image information. Give weapon control seat 24.

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 ground task manager 25 and the ground data link terminal in turn, and then to the airborne task manager 15;

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 airborne task manager 15 outputs the solution information to the flight control module 13, and controls the unmanned helicopter to fly to an area where the seeker can capture the target.

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 ground task manager 25 receives the "power on" command and transmits it to the airborne task manager 15;

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 airborne task manager 15 controls the seeker of the weapon module 14 to power up, and the seeker searches for the target;

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 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.

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.

Claims (9)

1.一种无人直升机控制系统,其特征在于,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, 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 include 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 the airborne subsystem (1) and the ground subsystem Information transmission between systems (2), wherein the information includes data information, image information and instruction information; 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),其中,The airborne subsystem (1) further comprises a sight stabilization device (12), a flight control module (13), a weapon module (14) and an airborne task manager (15), wherein, 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、锁定、跟踪以及定位;The aiming stabilization device (12) is used to search, detect, lock, track and locate the target under the control of the ground subsystem (2); 所述飞控模块(13)用于控制无人直升机的飞行;The flight control module (13) is used to control the flight of the unmanned helicopter; 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;The weapon module (14) is used to carry the weapon, and launches the weapon after receiving the "ignition" instruction sent by the ground subsystem (2); 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给地面子系统(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,用于对稳瞄装置(12)、飞控模块(13)和武器模块(14)进行控制;The airborne task manager (15) is configured to receive 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), and perform the information Then, the processed information is sent to the ground subsystem (2) through the airborne data link terminal (11), and at the same time, it is also used to receive the instruction information sent by the ground subsystem (2), and to distribute the instruction information, It is used to control the aiming stabilization device (12), the flight control module (13) and the weapon module (14); 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),其中,The sight stabilization device (12) comprises an image recorder (121), a visible light television (122), a video tracker (123), an infrared thermal imager (124), a laser light meter (125), and a servo controller (126) ) and a photoelectric management computer (127), wherein, 所述可见光电视(122)用于在可见光下进行目标搜索,即进行图像捕捉,为稳瞄装置(12)提供昼间的图像信息;The visible light television (122) is used to perform target search under visible light, that is, to perform image capture, and to provide daytime image information for the sight stabilization device (12); 所述视频跟踪器(123)用于进行目标跟踪;The video tracker (123) is used for target tracking; 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;The infrared thermal imager (124) is used for searching, detecting and identifying targets under day and night conditions; 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 image recorder (121) is used for storing image information detected by the visible light television (122) and the infrared thermal imager (124); 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;The laser sighting device (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;The servo controller (126) is used to control the movement of the sight stabilization device (12), that is, to control its rotation, to perform a 360° target search until the target is found; 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,所述稳瞄装置(12)检测到的信息包括数据信息和图像信息,并接收地面子系统(2)发送的指令信息,根据所述指令信息对稳瞄装置(12)进行调节或控制;The photoelectric management computer (127) is used for processing information detected by the sight stabilization device (12), where the information detected by the sight stabilization device (12) includes data information and image information, and is sent by the ground subsystem (2) according to the instruction information, adjust or control the sight stabilization device (12) according to the instruction information; 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),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(132)输出的执行控制指令,控制无人直升机的飞行;The flight control module (13) includes a sensor submodule (131), a flight control computer (132) and an actuator (133), wherein the sensor submodule (131) is used to measure the flight state of the unmanned helicopter , to obtain flight parameters; the flight control computer (132) is used to receive the instruction information sent by the ground subsystem (2), and receive the flight parameters measured by the sensor sub-module (131), and then: first, the flight control The parameters are output to the airborne task manager (15), and secondly, processing is performed according to the flight parameters and the instruction information to obtain execution control instructions, and the execution control instructions are output to the execution mechanism (133); the execution mechanism (133) ) is used to receive the execution control command output by the flight control computer (132) to control the flight of the unmanned helicopter; 和/或and / or 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,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)用于承载武器(143);The weapon module (14) includes an airborne pylon (141), a weapon launcher (142) and a weapon (143), wherein the airborne pylon (141) is used to connect the unmanned helicopter with the weapon launcher (141). 142); the weapon launcher (142) is used for carrying a weapon (143); 在武器(143)上设置有导引头(1431)和弹载计算机(1432);A seeker (1431) and a missile-borne computer (1432) are arranged on the weapon (143); 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),其中,The airborne task manager (15) includes a motherboard (151), an airborne integrated control board (152) and a weapon launch control board (153), wherein, 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;The motherboard (151) is used to connect the airborne integrated control board (152) and the weapon launch control board (153), and provide them with power, data information and level control signals; 所述机载综合控制板(152)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);The airborne integrated control board (152) is used for forwarding 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 ground substation. The system (2) extracts and packages the data information transmitted by the sight stabilization device (12) and the flight control module (13), and then sends it to the weapon module (14), and at the same time, is used to receive the output of 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; 所述武器发控板(153)用于控制导引头(1431)的上电和武器(143)的点火发射。The weapon launch control board (153) is used to control the power-on of the seeker (1431) and the ignition and launch of the weapon (143). 2.根据权利要求1所述的系统,其特征在于,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)。2. The system according to claim 1, characterized in that, 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) ). 3.根据权利要求1所述的系统,其特征在于,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)。3. The system according to claim 1, wherein a power-on control module (1531) and an ignition control module (1532) are provided on the weapon firing control board (153). 4.根据权利要求1所述的系统,其特征在于,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),其中,4. The system according to claim 1, characterized in that, the ground subsystem (2) further comprises a sight stabilization control seat (22), a flight control control seat (23), a weapon control seat (24) and a ground task manager (25), where, 所述稳瞄操控席位(22)用于控制稳瞄装置(12),以进行对目标的搜索、探测、识别、锁定、跟踪和定位,同时用于进行战后评估;The sight stabilization control seat (22) is used to control the sight stabilization device (12), so as to search, detect, identify, lock, track and locate the target, and at the same time, it is used for post-war evaluation; 所述飞控操控席位(23)用于向飞控模块(13)发送控制指令,进而控制无人直升机的飞行;The flight control control seat (23) is used for sending control commands to the flight control module (13), thereby controlling the flight of the unmanned helicopter; 所述武器操控席位(24)用于控制武器模块(14)中导引头的上电和武器的点火发射;The weapon control seat (24) is used to control the power-on of the seeker in the weapon module (14) and the ignition and launch of the weapon; 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,并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),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)。The ground task manager (25) is used to process the information transmitted by the airborne subsystem (1), and distribute it to the aiming stabilization control seat (22), the flight control control seat (23) and the weapon control seat (24) , and at the same time, receive the command information of the stable aiming control seat (22), the flight control control seat (23) and the weapon control seat (24), and transmit the command information to the airborne subsystem (1) through the ground data link terminal (21). ). 5.根据权利要求4所述的系统,其特征在于,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),其中,5. The system according to claim 4, wherein the ground task manager (25) comprises a ground integrated control board (251), and a data distribution module (2511) is provided on the ground integrated control board (251) and instruction reassembly module (2512), where, 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);The data distribution module (2511) is used for distributing the data information transmitted by the airborne subsystem (1) to the ground task manager (25) through the ground data link terminal (21) to the aiming control seats (22), the flight control seats (22), and the flight control seats (22), respectively. control seat (23) and weapon control seat (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 instruction reorganization module (2512) is used to reorganize the instruction information fed back to the ground task manager (25) by the aiming stabilization control seat (22), the flight control control seat (23) and the weapon control seat (24), and send it to the ground task manager (25). Airborne data link terminal (11). 6.一种无人直升机控制方法,利用权利要求4或5所述的系统,其中,所述方法包括以下步骤:6. An unmanned helicopter control method, utilizing the system of claim 4 or 5, wherein the method comprises 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;Step 1. Use the aiming stabilization device (12) and the aiming stabilization control seat (22) to search, detect, identify, lock, track and locate the target; 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. 7.根据权利要求6所述的方法,其中,7. The method of claim 6, wherein, 所述步骤1包括以下子步骤:Described step 1 includes the following sub-steps: 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 sight stabilization device (12) to search for the target, and directly transmit the image information detected in the search process to the sight stabilization control through the airborne data link terminal (11) and the ground data link terminal (21) seats (22); 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装置(12)进行目标识别和锁定;Step 1-2, the aiming stabilization control seat (22) controls the aiming stabilization device (12) to perform target recognition 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, positioning the target at the stable aiming control seat (22); 和/或and / or 所述步骤2包括以下子步骤: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 ground task manager (25) and the ground data link terminal in turn, and then to the airborne task manager (15); 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;Step 2-3, the airborne task manager (15) outputs the solution information to the flight control module (13), and controls the unmanned helicopter to fly to the area where the seeker can capture the target; 和/或and / or 所述步骤3包括以下子步骤:The 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 ground task manager (25) receives the "power on" command and transmits it to the airborne task manager (15); 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, the airborne task manager (15) controls the seeker of the weapon module (14) to power up after receiving the "power-on" command, and the seeker searches for the target; 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 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) to target lock. 8.根据权利要求6或7所述的方法,其中,在步骤4之后进行步骤5:8. The method according to claim 6 or 7, wherein after step 4, step 5 is performed: 步骤5、进行战后评估。Step 5. Conduct a post-war assessment. 9.根据权利要求8所述的方法,其特征在于,9. The method of claim 8, wherein: 所述步骤5包括以下子步骤: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 post-battle evaluation according to the combination of geometric evaluation and simulation evaluation; 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 analysis by the stable aiming control seat (22), if the strike is qualified, the strike is over; if the strike is unqualified, the target is struck a second time.
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