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

Abstract

The invention discloses an unmanned helicopter control system and a control method thereof, wherein the system includes an airborne subsystem (1) and a ground subsystem (2), and the airborne subsystem (1) includes airborne data A link terminal (11), a sight stabilization device (12), a flight control module (13), a weapon module (14) and an airborne task manager (15), the ground subsystem (2) includes a ground data link terminal (21) ), Aiming Control Seat (22), Flight Control Seat (23), Weapon Control Seat (24) and Ground Mission Manager (25). The method includes the following steps: Step 1, use the aiming stabilization device and the aiming stabilization control seat to search, detect, identify, lock, track and locate the target, and step 2, adjust the flight area so that the target is within the detection range of the seeker. Inside, step 3, use weapon modules and weapon control seats to conduct target search and target locking, step 4, carry out target strike, and step 5, carry out post-war assessment.

Description

An unmanned helicopter control system and its control method

technical field

The invention relates to an unmanned helicopter, in particular to an unmanned helicopter control system and a control method thereof.

Background technique

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.

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.

However, the existing technology does not disclose an unmanned helicopter that can mount weapons and integrate inspection and attack.

SUMMARY OF THE INVENTION

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.

One aspect of the present invention provides an unmanned helicopter control system, which is embodied in the following aspects:

(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) 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) 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) The system according to any one of (1) to (3) above, wherein,

The flight control module 13 includes a sensor sub-module 131, a flight control computer 132 and an actuator 133; and/or

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) 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 ;

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;

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 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) 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.

Another aspect of the present invention provides an unmanned helicopter control method, which is embodied in the following aspects:

(8) An unmanned helicopter control method, wherein the method comprises the following steps:

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;

Step 2. Adjust the flight area so that the target is within the detection range of the seeker;

Step 3. Use the weapon module 14 and the weapon control seat 24 to perform target search and target locking;

Step 4. Target strike.

Description of drawings

Fig. 1 shows the structural schematic diagram of the unmanned helicopter control system of the present invention;

Fig. 2 shows the structural schematic diagram of the airborne subsystem of the present invention;

FIG. 3 shows a schematic structural diagram of the ground subsystem according to the present invention;

FIG. 4 shows the control method of the unmanned helicopter according to the present invention.

Description of reference numbers:

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.

Detailed ways

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.

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 .

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.

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 .

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 .

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 .

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.

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.

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.

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.

in:

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

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;

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;

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;

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;

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;

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.

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.

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.

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.

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 .

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).

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.

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 .

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 .

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 .

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 .

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.

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.

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 .

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 .

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.

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.

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.

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 .

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.

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.

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.

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.

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 .

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.

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.

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 .

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. .

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 .

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.

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.

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 .

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 .

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 .

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.

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 .

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.

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.

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.

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.

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 .

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.

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.

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 .

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.

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.

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:

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.

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.

According to a preferred embodiment of the present invention, the step 1 includes the following sub-steps:

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;

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;

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;

Steps 1-3, after the aiming stabilization control seat 22 locks the target, the aiming stabilization device 12 tracks the target;

Steps 1-4, locate the target at the steady aiming control seat 22 .

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.

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.

Step 2. Adjust the flight area so that the target is within the detection range of the seeker.

According to a preferred embodiment of the present invention, the step 2 includes the following sub-steps:

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;

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;

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.

Step 3. Use the weapon module 14 and the weapon control seat 24 to perform target search and target locking.

According to a preferred embodiment of the present invention, step 3 includes the following sub-steps:

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;

Step 3-2, the ground task manager 25 receives the "power on" command and transmits it to the airborne task manager 15;

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;

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.

Step 4. Target strike.

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.

According to a preferred embodiment of the present invention, step 5 is performed after step 4: step 5, post-war assessment is performed.

Among them, after the target is struck, the post-battle evaluation is carried out by using the stable aiming control seat 22.

In a further preferred embodiment, the step 5 includes the following sub-steps:

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 .

Step 5-2, the aiming stabilization control seat 22 conducts a post-battle evaluation based on a combination of geometric evaluation and simulation evaluation.

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.

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.

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.

The beneficial effects of the present invention include:

(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) 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) 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) The system of the present invention has the characteristics of long voyage, long airborne time, high controllability, real-time attack, and reusability;

(5) The method of the present invention is flexible and efficient in combat, and can precisely attack the maneuvering target in real time.

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.

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. 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; 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, The aiming stabilization device (12) is used to search, detect, 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 weapon module (14) is used to carry the weapon, and launches the weapon after receiving the "ignition" instruction sent by the ground subsystem (2); 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); 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, 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); The video tracker (123) is used for target tracking; The infrared thermal imager (124) is used for searching, detecting and identifying targets under day and night conditions; The image recorder (121) is used for storing image information detected by the visible light television (122) and the infrared thermal imager (124); 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; 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; 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; 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; and / or 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); A seeker (1431) and a missile-borne computer (1432) are arranged on the weapon (143); The airborne task manager (15) includes a motherboard (151), an airborne integrated control board (152) and a weapon launch control board (153), wherein, 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; 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; 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. 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. 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. 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, 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; 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; 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; 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. 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, 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); 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. An unmanned helicopter control method, utilizing the system of claim 4 or 5, wherein the method comprises the following steps: 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; Step 2. Adjust the flight area so that the target is within the detection range of the seeker; Step 3. Use the weapon module (14) and the weapon control seat (24) to perform target search and target locking; Step 4. Target strike. 7. The method of claim 6, wherein, Described step 1 includes the following sub-steps: 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); 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); Steps 1-3, after the aiming stabilization control seat (22) locks the target, the aiming stabilization device (12) tracks the target; Steps 1-4, positioning the target at the stable aiming control seat (22); and / or The step 2 includes the following sub-steps: 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; 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); 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; and / or The step 3 includes the following sub-steps: 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; Step 3-2, the ground task manager (25) receives the "power on" command and transmits it to the airborne task manager (15); 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; 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. The method according to claim 6 or 7, wherein after step 4, step 5 is performed: Step 5. Conduct a post-war assessment. 9. The method of claim 8, wherein: The step 5 includes the following sub-steps: 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); Step 5-2, the aiming stabilization control seat (22) conducts post-battle evaluation according to the combination of geometric evaluation and simulation evaluation; 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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