CN107883817B - Unmanned helicopter control system and control method with integrated guidance weapon - Google Patents
Unmanned helicopter control system and control method with integrated guidance weapon Download PDFInfo
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- CN107883817B CN107883817B CN201610868513.3A CN201610868513A CN107883817B CN 107883817 B CN107883817 B CN 107883817B CN 201610868513 A CN201610868513 A CN 201610868513A CN 107883817 B CN107883817 B CN 107883817B
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G9/00—Systems for controlling missiles or projectiles, not provided for elsewhere
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses the unmanned helicopter control systems and control method that have integrated guidance weapon, the system comprises On-Board Subsystems and ground subsystem, the On-Board Subsystem includes weapon module, image guidance weapon and laser guided weapon are carried in weapon module, described image guided weapon and laser guided weapon respectively include image seeker and laser seeker；It the described method comprises the following steps: 1, target is scanned for, detection, identification, locking, tracking and positioning, optionally, steady collimation device is to objective emission laser, 2, adjust flight range, make target within the search range of image seeker, and/or, laser seeker is set to receive through the irreflexive laser of target, 3, weapon manipulates seat and issues " powering on " instruction, control image seeker and/or laser seeker power on, 4, weapon manipulates seat and issues " igniting " instruction, carry out the transmitting of image guidance weapon and/or laser guided weapon, realize target strike.
Description
Technical field
The present invention relates to unmanned helicopters, more particularly to the unmanned helicopter with integrated guidance, particularly, are related to having
The unmanned helicopter control system and control method of integrated guidance.
Background technique
In modern war, hitting some transient maneuvering targets and time critical target is the key that fight.Existing
It, can be with carrying arms and what is hit is relatively mostly fixed wing aircraft, the irradiation, no but fixed wing aircraft cannot hover in technology
Can hovering attack, hang the disadvantages of weighing the.
And it is directed to drawbacks described above, it can effectively be solved using unmanned helicopter, because unmanned helicopter can be real
Now hovering irradiation and hovering attack, also, relative to manned helicopter, unmanned helicopter is unmanned, Personal Safety is high, body
Product is smaller, is not easy to be detected, and simple structure, cost performance are high.But the prior art can be beaten there is no open with carry weapon and examining
The unmanned helicopter of one.
Summary of the invention
In order to overcome the above problem, present inventor has performed sharp study, design a kind of with integrated guidance weapon
Unmanned helicopter control system and its control method, thereby completing the present invention.
One aspect of the present invention provides a kind of unmanned helicopter control system with integrated guidance weapon, is embodied in
Following aspect:
(1) the unmanned helicopter control system of integrated guidance weapon is had, wherein the system comprises On-Board Subsystems 1
With ground subsystem 2, wherein be provided with weapon module 14 on the On-Board Subsystem 1, the carry in the weapon module 14
There are image guidance weapon 143 and laser guided weapon 144, wherein be provided on described image guided weapon 143 image guided
First 1431 and image missile-borne computer 1432；Laser seeker 1441 and laser are provided on the laser guided weapon 144
Missile-borne computer 1442, the laser seeker 1441 include laser pickoff 14411.
(2) system according to above-mentioned (1), wherein the On-Board Subsystem 1 further include type onboard data link terminal 11,
Steady collimation device 12 and winged control module 13, wherein the airborne task manager 15 includes motherboard 151, airborne integrated control panel 152
Control plate 153 is sent out with weapon.
(3) system according to above-mentioned (1) or (2), wherein the ground subsystem 2 includes ground data chain terminal
21, it surely takes aim at manipulation seat 22, fly control manipulation seat 23, weapon manipulation seat 24 and ground-based mission manager 25, wherein describedly
Face task manager 25 includes floor synthetic control panel 251, and data distribution module is provided on floor synthetic control panel 251
2511 and instruction recombination module 2512.
Another aspect of the present invention provides a kind of control method of integrated guidance unmanned helicopter, embodies as follows:
(4) control method of the unmanned helicopter with laser guided weapon, wherein the described method comprises the following steps:
Step 1, using steady collimation device 12 and surely take aim at manipulation seat 22 target scanned for, detect, identify, lock, with
Track and positioning, optionally, steady collimation device 12 is to objective emission laser；
Step 2, adjustment flight range, make target within the search range of image seeker 1431, and/or, adjustment flies
Row region enables the laser pickoff 14411 of laser seeker 1441 to receive through the irreflexive laser of target, i.e. diffusing reflection
Laser；
Step 3, weapon manipulation seat 24 issue " powering on " instruction, control image seeker 1431 and/or laser seeker
1441 power on；
Step 4, weapon manipulation seat 24 issue " igniting " instruction, carry out image guidance weapon 1431 and/or laser guidance
Target strike is realized in the transmitting of weapon 1432.
Detailed description of the invention
Fig. 1 shows the structural schematic diagram of the unmanned helicopter control system of the present invention with integrated guidance weapon；
Fig. 2 shows the structural schematic diagrams of winged control module of the present invention；
Fig. 3 shows the structural schematic diagram of steady collimation device of the present invention；
Fig. 4 shows the structural schematic diagram of weapon module of the present invention；
Fig. 5 shows the structural schematic diagram of airborne task manager of the present invention；
Fig. 6 shows the structural schematic diagram of ground subsystem of the present invention；
Fig. 7 shows the control method of the unmanned helicopter of the present invention with integrated guidance weapon.
Drawing reference numeral explanation:
1- On-Board Subsystem；11- type onboard data link terminal；The steady collimation device of 12-；121- image recorder；122- visible light
TV；123- video tracker；124- thermal infrared imager；125- laser illuminator；126- servo controller；127- photoelectricity management
Computer；13- flies control module；131- sense signals module；132- flight control computer；133- executing agency；14- weapon module；
The airborne hanger of 141-；142- arm discharge cylinder；143- image guidance weapon；1431- image seeker；144- laser guidance is military
Device；1441- laser seeker；14411- laser pickoff；1432- missile-borne computer；The airborne task manager of 15-；151- is female
Plate；The airborne integrated control panel of 152-；1521- information forwarding module；1522- data are extracted and packetization module；1523- instruction distribution
Module 1523；153- weapon hair control plate；The upper electric control module of 1531-；15311- image guidance weapon powers on control submodule；
15312- laser guided weapon powers on control submodule；1532- ignition control module；15321- image guidance weapon ignition control
Submodule；15322- laser guided weapon ignition control submodule；2- ground subsystem；21- ground data chain terminal；22- is steady
Take aim at manipulation seat；23- flies control manipulation seat；24- weapon manipulates seat；25- ground-based mission manager；The control of 251- floor synthetic
Plate；2511- data distribution module；2512- instruction recombination module.
Specific embodiment
Below by attached drawing, the present invention is described in more detail.Illustrated by these, the features and advantages of the invention will
It becomes more apparent from clear.
One aspect of the present invention provides the unmanned helicopter control system with integrated guidance weapon, as shown in Figure 1, described
System includes On-Board Subsystem 1 and ground subsystem 2.
Wherein, the On-Board Subsystem 1 is set on unmanned helicopter, and the ground subsystem 2 is set on ground,
The really ground observation and control station of On-Board Subsystem 1.
A kind of preferred embodiment according to the present invention, as shown in Figure 1, being provided with weapon on the On-Board Subsystem 1
Module 14, as shown in figure 4, being mounted with image guidance weapon 143 and laser guided weapon 144 in weapon module 14.
Wherein, the weapon module 14 is for carrying image guidance weapon 143 and laser guided weapon 144, and is receiving
The transmitting of image guidance weapon 143 and/or laser guided weapon 144 is carried out after " igniting " instruction that ground subsystem 2 is sent.
In further preferred embodiment, as shown in figure 4, being provided with image on described image guided weapon 143
Target seeker 1431 and image missile-borne computer 1432.
Wherein, described image target seeker 1431 is used to carry out target acquisition and lock onto target before striking target；The figure
As missile-borne computer 1432 is used to by the missile-borne computer 1432 be used to export 143 state of image guidance weapon, institute
The state of stating includes off working state, power-up state and emission state.
In embodiment still more preferably, as shown in figure 4, being provided on the laser guided weapon 144 sharp
Light homing head 1441 and laser missile-borne computer 1442, the laser seeker 1441 include laser pickoff 14411.
Wherein, the laser seeker 1441 is for receiving through the irreflexive laser of target, to carry out the strike to target；
For the laser missile-borne computer 1442 for exporting the state of laser guided weapon 144, the state includes inoperative
State, power-up state and emission state.In the present invention, described image missile-borne computer and laser missile-borne computer are all made of
Dsp processor.
A kind of preferred embodiment according to the present invention, as shown in figure 4, the weapon module 14 further includes airborne hanger
141 and arm discharge cylinder 142.
Wherein, the airborne hanger 141 is for connecting unmanned helicopter and arm discharge cylinder 142；The arm discharge cylinder
142 for carrying image guidance weapon 143 and laser guided weapon 144.In the present invention, the airborne hanger and arm discharge
Cylinder is respectively two, is respectively used to carrying image guidance weapon 143 and laser guided weapon 144.
A kind of preferred embodiment according to the present invention, as shown in Figure 1, the On-Board Subsystem 1 further includes on-board data
Chain terminal 11, flies control module 13 and airborne task manager 15 at steady collimation device 12.
Wherein, the data-link terminal 11 is used to carry out information transmission with ground subsystem 2, and the information includes airborne son
System 1 is sent to the data information of ground subsystem 2 and image information and ground subsystem 2 are sent to On-Board Subsystem 1
Command information；The steady collimation device 12 is for scanning for target under the control of ground subsystem 2, detecting, identifying, locking
Fixed, tracking and positioning；The winged control module 13 is used to control the flight of unmanned helicopter；The airborne task manager 15 is used
In receiving steady collimation device 12, flying the data information that control module 13 and weapon module 14 are transmitted, row information of going forward side by side is handled, specifically,
By steady collimation device 12, fly the data information that control module 13 and weapon module 14 are transmitted and the image information that weapon module 14 is transmitted
It is transmitted to ground subsystem 2, and the data information transmitted to steady collimation device 12 and winged control module 13 is extracted and is packaged, then
It is sent to weapon module 14, meanwhile, it is also used to receive the command information of the transmission of ground subsystem 2, and carry out point of command information
Hair realizes the control to steady collimation device 12, winged control module 13 and weapon module 14.
In further preferred embodiment, as shown in Figure 1, the data information that steady collimation device 12 will test passes through machine
It carries task manager 15 and is transferred to type onboard data link terminal 11, the graphical information that will test is transferred directly to airborne data link end
End 11；The data information that flying control module 13 will test is transferred to type onboard data link terminal 11 by airborne task manager 15；
The data information that weapon module 14 will test is transferred to type onboard data link terminal 11 by airborne task manager 15.
Wherein, the data information that steady collimation device 12 transmits includes target range, azimuth, the angle of site, image recorder shape
State (working condition, electrifying startup state, waits acknowledgement state, interface rate at transmission state), unmanned helicopter attitude angle (are bowed
The elevation angle, yaw angle and roll angle) and unmanned helicopter position (longitude, latitude and height)；The number that the winged control module 13 is transmitted
It is believed that breath include temporal information, the attitude angle of unmanned helicopter (pitch angle, yaw angle and roll angle), unmanned helicopter position
(longitude, latitude and height), the east of the general speed of unmanned helicopter and unmanned helicopter, north, day component velocity；The weapon module
The data information of transmission is the state of image guidance weapon and laser guided weapon, and the state includes off working state, powers on
State and emission state.
A kind of preferred embodiment according to the present invention, after unmanned helicopter takes off, steady collimation device 12 enters work at once
State scans for target, and the image information that will test is transferred to ground subsystem 2 in real time, in ground subsystem 2
Control under target is detected, identified and is locked, after lock onto target, ground subsystem 2 controls steady collimation device 12 to target
It is tracked, laser ranging, obtains data information, and in time by detected data information transfer to ground subsystem 2, ground
Face system 2 sends command information to winged control module 13 according to the information that steady collimation device 12 is sent, and controls flying for unmanned helicopter
Row.
In further preferred embodiment:
(1) when carrying out target strike using image guidance weapon 143, control unmanned flight's machine, which flies, is located at figure to target
As target seeker 1431 region of search in, at this point, ground subsystem 2 issue " powering on " command information give airborne task manager
15, airborne task manager 15 receives the command information, and controls image seeker 1431 and powered on, while will be image guided
First 1431 " powering on " state transfer to ground subsystem 2, ground subsystem 2 receive that airborne task manager 15 exports " on
Electricity " state, and " igniting " instruction is issued to airborne task manager 15, machine after image seeker 1431 locks target
Task manager 15 is carried to receive the instruction and control the igniting transmitting of image guided weapon 143.
(2) when carrying out target strike using laser guided weapon 144, after steady collimation device positions target, to mesh
Unrestrained transmitting occurs at target, generates diffusing reflection laser for mark transmitting laser, laser, then controls unmanned flight's machine and flies to laser
Target seeker 1441 can receive in the region of diffusing reflection laser, at this point, ground subsystem 2 issues " powering on " instruction to airborne task pipe
Device 15 is managed, airborne task manager 15 receives instruction control laser seeker 1431 and powered on, and by laser seeker
For 1431 " powering on " state transfer to ground subsystem 2, ground subsystem 2 receives " powering on " that airborne task manager 15 exports
" igniting " instruction is issued after state to airborne task manager 15, airborne task manager 15 receives the instruction and controls laser system
Lead the igniting transmitting of weapon 144.
(3) when being carried out while being hit using image guidance weapon 143 and laser guided weapon 144, steady collimation device is to mesh
After mark is positioned, to objective emission laser, unrestrained transmitting occurs at target for laser, generates diffusing reflection laser, then controls nothing
People's flying machine, which flies to target, to be located in the region of search of image seeker 1431, and the laser seeker in the region
1441 receivable diffusing reflection laser, at this point, ground subsystem 2 issues " powering on " command information to airborne task manager 15, machine
It carries task manager 15 and receives the command information, and control image seeker 1431 and laser seeker 1441 is powered on, together
When by " powering on " state transfer of image seeker 1431 and laser seeker 1441 to ground subsystem 2, ground subsystem 2 is received
" powering on " state exported to airborne task manager 15, and after image seeker 1431 locks target and laser is led
After leader 1441 receives diffusing reflection laser, " igniting " instruction is issued to airborne task manager 15, airborne task manager 15
It receives the instruction and controls image guided weapon 143 and the igniting transmitting of laser guided weapon 144.
Wherein, ground subsystem 2 carries out the resolving set of data according to the image information that steady collimation device 12 transmits, and obtains resolving letter
Breath, and information will be resolved and be transferred to and fly control module 13, control unmanned helicopter flight to target is located at image seeker 1431
In region of search and/or laser seeker 1441 can receive in the region of diffusing reflection laser.
In the present invention, the unmanned helicopter can hang 100 kilograms of weight or so, wherein the weapon module is up to 80
Kilogram or so, the steady collimation device is up to 30 kilograms or so.
A kind of preferred embodiment according to the present invention, as shown in figure 3, the steady collimation device 12 includes image recorder
121, visual TV 122, video tracker 123, thermal infrared imager 124, laser illuminator 125, servo controller 126 and light
Fulgurite manages computer 127.
Wherein:
Described image recorder 121 is used to store the image letter that visual TV 122 and thermal infrared imager 124 detect
Breath；
The visual TV 122 provides visible images (image between daytime for carrying out picture catching, for steady collimation device 12
Information), wherein, when receiving zoom or focusing instruction, visual field does corresponding consecutive variations, and exports current focal length value for it；
Also, when ambient light variation when, the time for exposure can continuously thickening, guarantee in real time output image information, then image information is through light
It is recorded after fulgurite reason computer compression, meanwhile, it is exported by type onboard data link terminal 11 to ground subsystem 2；
The video tracker 123 is for carrying out target following, and the output tracking shape in real time into photoelectricity management computer
The azimuth angle deviation amount and pitch angle deviation amount of state parameter and target relative to the center of aiming, with realize target it is accurate with
Track；
The thermal infrared imager 124 under the conditions of round the clock for scanning for target, detecting and identifying, with brightness
The functions such as adjusting, contrast adjustment, dipole inversion, auto-focusing, nonuniformity correction, Electronic magnification and image enhancement；
The laser illuminator 125 can emit the laser rays from unmanned helicopter to target, and be measured by laser rays
Target range, azimuth and angle of site etc.；
The servo controller 126 is used to control the movement of steady collimation device 12, that is, controls its rotation, carries out 360 ° of target
Search, until searching target, wherein servo controller DSP at manages device；
The photoelectricity management computer 127 receives ground subsystem for handling the information that steady collimation device 12 detects
The command information of transmission, is adjusted or controls according to each component of the described instruction information to steady collimation device, and the information includes
Data information and image information, wherein the photoelectricity management computer uses powerpc processor.
In the present invention, the target range refers to the linear distance between unmanned helicopter and target；The azimuth
Refer to that top is overlooked, vector is 0, is positive clockwise；When the angle of site refers to that azimuth is 0 °, to be horizontally forward
0, new line is positive, and bows and is negative.
In further preferred embodiment, the steady collimation device 12 further includes Universal Power and connecting bracket,
In, for realizing power supply conversion, the connecting bracket is used to carry out steady collimation device and unmanned helicopter the Universal Power
Connection.
Wherein, unmanned helicopter start when, generator can temporary power down, therefore setting Universal Power to steady collimation device
Restarted, wherein Universal Power is served only for the moment of unmanned helicopter starting.
In embodiment still more preferably, the data information that the steady collimation device 12 will test is transferred directly to
Airborne task manager 15 sends type onboard data link terminal 11 to by airborne task manager；Meanwhile the steady collimation device 12 will
The image information detected is transferred directly to airborne task chain terminal 11.
Wherein, since the format of image information is larger, treatment process can be made if being forwarded by task manager 15
Slack-off, therefore, only data information is forwarded to type onboard data link terminal 11 through task manager 15, and image information is then direct
It is transferred to type onboard data link terminal 11, wherein the data information includes target range, azimuth, the angle of site, image recorder
State, unmanned helicopter attitude angle (pitch angle, yaw angle and roll angle) and unmanned helicopter position (longitude, latitude and height
Degree).
A kind of preferred embodiment according to the present invention, from unmanned helicopter departure time, steady collimation device 12 is in
Working condition, and target search is carried out, and the image information detected in search process is transferred to ground subsystem in real time.
In further preferred embodiment, ground subsystem 2 is controlled according to the image information that steady collimation device 12 transmits
Steady collimation device 12 carries out target acquisition, identification and lock onto target.
In embodiment still more preferably, after ground subsystem 2 locks target, in steady collimation device 12
Video tracker 123 carries out tracking to target until steady collimation device 12 can position target.
A kind of preferred embodiment according to the present invention hits target according to laser guided weapon 144, then surely
Collimation device 12 is after positioning target, i.e., to objective emission laser, unrestrained transmitting, las er-guidance can occur at target for the laser
First 1441 after the power-up, receives diffusing reflection laser, and by laser aiming, carries out precision strike to target.
Wherein, after laser guided weapon 144 emits, laser pickoff 14411 receives diffusing reflection laser, forms guidance and refers to
It enables, guides 144 target of laser guided weapon, the tracking to target is realized in target strike, finally realizes precision strike.
A kind of preferred embodiment according to the present invention, as shown in Fig. 2, the winged control module 13 includes sense signals module
131, flight control computer 132 and executing agency 133.
Wherein, the sense signals module 131 obtains flight ginseng for measuring to the state of flight of unmanned helicopter
Number, the flight parameter includes temporal information, the attitude angle of unmanned helicopter, the position of unmanned helicopter, unmanned helicopter
The directional velocity of ground velocity and unmanned helicopter, the directional velocity refer to the direction where the speed of unmanned helicopter, because fast
Degree is vector；The flight control computer 132 is used to receive the command information of the transmission of ground subsystem 2, and receiving sensor submodule
The flight parameter that block 131 measures, then: first, exporting the flight parameter to airborne task manager 15, being joined according to flight
Several and command information is handled, and obtains executing control instruction, and the execution control instruction is exported to executing agency 133；
The executing agency 133 is used to receive the execution control instruction of flight control computer output, controls the flight of unmanned helicopter.At this
In invention, the flight control computer uses arm processor.
Wherein, flight control computer is handled as follows: current flight parameter being merged with command information, is executed
Control instruction, wherein carrying out fusion is because during unmanned helicopter moves ahead, and flight parameter is constantly updating, and therefore, is needed
It to obtain executing control instruction with command information in conjunction with current flight parameter.
A kind of preferred embodiment according to the present invention, as shown in figure 5, the airborne task manager 15 includes motherboard
151, airborne integrated control panel 152 and weapon hair control plate 153.
Wherein, the motherboard 151 provides electricity for connecting airborne integrated control panel 152 and weapon hair control plate 153 for it
Source, data information and level controling signal；The airborne integrated control panel 152 is used for the processing of information, specifically, will surely take aim at dress
It sets the data information that 12, winged control module 13 and weapon module 14 are transmitted and the image information that weapon module 14 is transmitted is transmitted to ground
Face system 2, and the data information transmitted to steady collimation device 12 and winged control module 13 is extracted and is packaged, and is then sent to force
Device module 14, meanwhile, for receiving the command information of the output of ground subsystem 2, and command information is distributed to respectively and surely takes aim at dress
It sets 12, fly control module 13 and weapon module 14；The weapon hair control plate 153 is for controlling powering on and weapon for laser seeker
Igniting transmitting.
In further preferred embodiment, the airborne integrated control panel 152 and weapon hair control plate 153 are arranged and mother
On plate 151, and to be vertically arranged.
In embodiment still more preferably, the task manager 15 further includes transformer, ATR cabinet, air plug
Component and damper.
Wherein, the transformer is powered by airborne power supply, shift voltage level, for powering；The ATR cabinet uses
The production of aviation ATR standard；The air plug component be include power input air plug and signal interaction air plug, wherein the power supply is defeated
Entering air plug is aviation plug special, for giving internal circuit components power supply, the signal interaction air plug and steady collimation device
12, fly control module 13, weapon module 14 and type onboard data link terminal 11 and carry out signal interaction；The damper is for adapting to nobody
The vibration environment of helicopter reduces due to vibrating the influence to ATR cabinet inside element structure and electromagnetic environment.
A kind of preferred embodiment according to the present invention, as shown in figure 5, being arranged on the airborne integrated control panel 152
There are information forwarding module 1521, data to extract and packetization module 1522 and instruction distribution module 1523.
Wherein, the information forwarding module 1521 is used to transmit steady collimation device 12, winged control module 13 and weapon module 14
Data information be transmitted to type onboard data link terminal 11, be then transferred to ground subsystem 2；The data are extracted and packetization module
152 data information for steady collimation device 12 and winged control module 13 to be transferred to airborne task manager 15 carries out extracting section simultaneously
Be packaged, be then sent to weapon module 14, wherein extract fly control module detection unmanned helicopter attitude angle and position and
The data informations such as the angle of site, azimuth and the target range of steady collimation device detection；Described instruction distribution module 1523 is used for ground
The feedback command that face system 2 is sent is distributed, and is distributed to steady collimation device 12 respectively and is flown control module 13.
In further preferred embodiment, the information forwarding module 1521 in airborne task manager 15 will surely take aim at dress
It sets the data information that 12, winged control module 13 and weapon module 14 transmit and is all transmitted to type onboard data link terminal 11, then transmit
To ground subsystem 2.
In embodiment still more preferably, the data in airborne task manager 15 are extracted and packetization module 1522
The data information that steady collimation device 12 and winged control module 13 send airborne task manager 15 to is subjected to extracting section and is packaged, so
After export to weapon module 14.
Wherein, it includes the height that steady collimation device 12 exports that data, which extract the data for extracting and being packaged with packetization module 1522,
The data informations such as low angle, azimuth and target range, and fly attitude angle and the position of the unmanned helicopter that control module 13 exports
Equal data informations.
A kind of preferred embodiment according to the present invention is provided on control plate 153 as shown in figure 5, sending out in the weapon
Electric control module 1531 and ignition control module 1532.
In further preferred embodiment, the upper electric control module 1531 includes electric control on image guidance weapon
Submodule 15311 and laser guided weapon power on control submodule 15312.
Wherein, described image guided weapon power on control submodule 15311 for receive ground subsystem 2 sending "
Electricity " instruction, and control powering on for image seeker 1431；Laser guided weapon power on control submodule 15312 for receive
" powering on " instruction that face system 2 issues, and control laser seeker 1441 and powered on.
In embodiment still more preferably, as shown in figure 5, the ignition control module 1532 includes image guidance
Weapon ignition control submodule 15321 and laser guided weapon ignition control submodule 15322.
Wherein, described image guided weapon ignition control submodule 15321 is used to receive " the point of the sending of ground subsystem 2
Fire " instruction, and control image guided weapon 143 and carry out igniting transmitting；The laser guided weapon ignition control submodule 15322
For receiving " igniting " instruction of the sending of ground subsystem 2, and controls laser guided weapon 144 and carry out igniting transmitting.
A kind of preferred embodiment according to the present invention, On-Board Subsystem 1 further include airborne power supply, wherein airborne power supply
It provides 22~33V voltage (28V), is introduced by air plug component, for the motherboard 151 in airborne task manager 15, airborne synthesis
Control panel 152 and weapon hair control plate 153 provide voltage.
A kind of preferred embodiment according to the present invention, as shown in fig. 6, the ground subsystem 2 includes ground data chain
Terminal 21 surely takes aim at manipulation seat 22, flies control manipulation seat 23, weapon manipulation seat 24 and ground-based mission manager 25.
Wherein, the ground data chain terminal 21 is used to carry out information transmission with On-Board Subsystem 1, and the information includes machine
Subsystems 1 are sent to the data information of ground subsystem 2 and image information and ground subsystem 2 are sent to On-Board Subsystem
1 command information；The manipulation seat 22 of surely taking aim at is for controlling steady collimation device 12, to realize search, detection, knowledge to target
Not, locking tracking and positioning, and for carrying out postwar assessment；The winged control manipulation seat 23 flies control module 13 for controlling, into
And control the flight of unmanned helicopter；The weapon manipulation seat 24 mainly controls image guided for controlling weapon module 14
First 1431 and/or laser seeker 1441 power on and image guidance weapon 143 and/or laser guided weapon 144
Igniting transmitting；The information that the ground-based mission manager 25 is used to transmit On-Board Subsystem 1 is handled, then output is given respectively
It surely takes aim at manipulation seat 22, fly control manipulation seat 23 and weapon manipulation seat 24, meanwhile, it receives and surely takes aim at manipulation seat 22, flies control behaviour
Control seat 23 and weapon manipulation seat 24 command information, and by command information by ground data chain terminal 21 be transferred to it is airborne
Subsystem 1.
A kind of preferred embodiment according to the present invention, the data information that steady collimation device 12 will test as shown in Figure 1: are logical
It crosses airborne task manager 15 and type onboard data link terminal 11 is transferred to ground data chain terminal 21, while the image that will test
Information directly passes through type onboard data link terminal 11 and is transferred to ground data chain terminal 21；Fly the data letter that control module 13 will test
Breath is transferred to ground data chain terminal 21 by airborne task manager 15 and type onboard data link terminal 11；Weapon module 14 will be examined
The data information measured is transferred to ground data chain terminal 21 by airborne task manager 15 and type onboard data link terminal 11.
In further preferred embodiment: as shown in Figure 1, what ground data chain whole 21 detected steady collimation device 12
Image information is transferred directly to surely take aim at manipulation seat 22, is then transferred to weapon manipulation seat 24, carries out the resolving set of data；Ground number
Steady collimation device 12, winged control module 13 and weapon module 14 are detected that data information passes through ground-based mission manager according to chain terminal 21
25 are distributed to steady manipulation seat 22, winged control manipulation seat 23 and the weapon taken aim at respectively manipulates seat 24.
In the present invention, On-Board Subsystem 1 and ground are carried out using type onboard data link terminal 11 and ground data chain terminal 21
Information transmission between face system 2, the type onboard data link terminal 11 and ground data chain terminal 21 can be realized at a distance
Transmission, specifically, it can be achieved that the remote information of 100km or more is transmitted, also, transmission process is stablized, and ensure that information is transmitted
Timeliness, and its safety is good, wherein the information includes that On-Board Subsystem is exported to the data information of ground subsystem
The command information of On-Board Subsystem is fed back to image information and ground subsystem.
A kind of preferred embodiment according to the present invention, after unmanned helicopter takes off, steady collimation device 12 enters work at once
State scans for target, and the image information searched is transferred to surely taking aim at for ground subsystem 2 in real time and manipulates seat
22, surely taking aim at the information control transmitted according to steady collimation device 12 at manipulation seat 22 is that steady collimation device 12 carries out the detection of target, identification
And locking, after lock onto target, laser ranging is carried out, obtains data information, and in time by data information transfer to ground subsystem 2
Surely take aim at manipulation seat 22, after locking, surely take aim at manipulation seat 22 control under, steady collimation device 12 to target carry out tracking until
Positioning.
In further preferred embodiment, surely takes aim at manipulation seat 22 and receive the image information that steady collimation device 12 detects
Afterwards, above- mentioned information are forwarded to weapon manipulation seat 22 in real time, wherein position to target surely taking aim at manipulation seat 22
Afterwards, weapon manipulates seat 22 and carries out the resolving set of data according to the image information that steady collimation device 12 transmits, and obtains resolving information, and will solution
It calculates information and is transferred to and fly control module 13, control unmanned helicopter flight can search for target and/or laser leading to image seeker
It takes the lead the regions of 1431 receivable diffusing reflection laser.
A kind of preferred embodiment according to the present invention, as shown in figure 3, the ground-based mission manager 25 includes that ground is comprehensive
Control panel 251 is closed, data distribution module 2511 and instruction recombination module 2512 are provided on floor synthetic control panel 251.
Wherein, the data distribution module 2511 is used to for On-Board Subsystem 1 being transferred to by ground data chain terminal 21
The data information of ground-based mission manager 25 is distributed, and is distributed to respectively and is surely taken aim at manipulation seat 22, flies control manipulation 23 and of seat
Weapon manipulates seat 24；Described instruction recombination module 2512 is used to surely to take aim at manipulation seat 22, flies control manipulation seat 23 and weapon
The command information that manipulation seat 24 feeds back to ground-based mission manager 25 is recombinated, and type onboard data link terminal 11 is sent to.
In further preferred embodiment, the ground-based mission manager 25 further includes ATR cabinet, transformer and boat
Connector assembly, wherein the air plug component includes power input air plug and signal interaction air plug.
Wherein, the ATR cabinet is the military cabinet of air standard, in strict accordance with the production of national military standard quasi-, meets army, state environment
Adaptability requirement, provides structural support for box house component；The transformer is adapted to cabinet for adjusting external access voltage
Interior hardware circuit power supply requirement characteristic；The air plug component be include power input air plug and signal interaction air plug, wherein it is described
Power input air plug is aviation plug special, for giving internal circuit components power supply, the signal interaction air plug and steady
It takes aim at manipulation seat 22, winged control manipulation seat 23, weapon manipulation seat 24 and ground data chain terminal 21 and carries out signal interaction.
A kind of preferred embodiment according to the present invention is distributed to by ground-based mission manager 25 and surely takes aim at manipulation seat 22
Data information include steady collimation device 12 detect target range, azimuth, the angle of site, image recorder state, nobody goes straight up to
Machine attitude angle and unmanned helicopter position；Include by the data information that ground-based mission manager 25 is distributed to winged control manipulation seat 22
Fly control module 13 detect temporal information, the attitude angle of unmanned helicopter, the position of unmanned helicopter, unmanned helicopter it is total
The component velocity of speed and unmanned helicopter in east, north, day direction；Weapon manipulation seat 22 is distributed to by ground-based mission manager 25
Data information be the state parameter information of guided missile that weapon module 14 detects, in particular to whether in power up mode or igniting
Mode.
In further preferred embodiment, surely takes aim at manipulation seat 22, flies control manipulation seat 23 and weapon manipulation seat
24 receive ground-based mission manager 25 distribution data information after respectively output order information, described instruction information is respectively to steady
Collimation device 12, winged control module 13 and weapon module 14 are controlled.
Another aspect of the present invention provides a kind of control method of unmanned helicopter, wherein as shown in fig. 7, the method
The following steps are included:
Step 1, using steady collimation device 12 and surely take aim at manipulation seat 22 target scanned for, detect, identify, lock, with
Track and positioning, optionally, steady collimation device 12 is to objective emission laser.
Wherein, after unmanned helicopter takes off, steady collimation device 12 enters working condition, and it is right in real time surely to take aim at manipulation seat 22
Steady collimation device 12 is controlled, and steady collimation device 12 is made to scan for and position target.Also, when control laser guided weapon
When 144 progress target strike, steady collimation device 12 is needed to objective emission laser after positioning to target, if control image guidance is military
Device 143 carries out target strike, and steady collimation device 12 does not need then to objective emission laser.
A kind of preferred embodiment according to the present invention, the step 1 include following sub-step:
Step 1-1, target is scanned for using steady collimation device 12, and the image information detected in search process is passed
It is defeated by and surely takes aim at manipulation seat 22；
Wherein, the image information that steady collimation device 12 detects is transferred directly to type onboard data link terminal 11；Also, surely take aim at behaviour
The image information received is transferred to weapon manipulation seat 24 in real time by control seat 22；
Step 1-2, it surely takes aim at manipulation seat 22 and the steady progress of collimation device 12 is controlled according to the image information that steady collimation device 12 transmits
Detection, identification and the locking of target；
Step 1-3, after steady collimation device 12 is to target lock-on, steady collimation device 12 is to mesh under the control for surely taking aim at manipulation seat 22
Mark is tracked and is positioned, and then optionally, steady collimation device 12 is to objective emission laser；
Wherein, in step 1-3, when carrying out target strike using laser guided weapon 144, in steady collimation device 12 to mesh
After mark is positioned, steady collimation device 12 emits laser, and the laser reaches target, and diffusing reflection occurs at target.
In the present invention, steady collimation device 12 will test image information by type onboard data link terminal 11 and ground data chain
Terminal 21 be transferred to surely take aim at manipulation seat 22 after, surely take aim at manipulation seat 22 by the image information received be transferred to weapon manipulation seat
Position 24.
Step 2, adjustment flight range, make target within the search range of image seeker 1431, and/or, adjustment flies
Row region enables the laser pickoff 14411 of laser seeker 1441 to receive through the irreflexive laser of target, i.e. diffusing reflection
Laser.
A kind of preferred embodiment according to the present invention, the step 2 include following sub-step:
Step 2-1, weapon manipulation seat 24 carries out the resolving set of data to the image information that manipulation seat 24 is sent surely is taken aim at, and obtains
Resolve information；
Step 2-2, information will be resolved and is successively transferred to ground-based mission manager 25 and ground data chain terminal 21, then passed
It is defeated by airborne task manager 15；
Step 2-3, airborne task manager 15 will resolve information and export to winged control module 13, control unmanned helicopter flight
To the detectable mesh target area of image seeker 1431, and/or, control unmanned helicopter flight to laser seeker 1441 can connect
Receive the region of diffusing reflection laser.
Wherein, when carrying out target strike using image guidance weapon 143, flight range is adjusted, leads target in image
Within the search range of leader 1431；When carrying out target strike using laser guided weapon 144, flight range is adjusted, makes to swash
The laser pickoff 14411 of light homing head 1441 can be received through the irreflexive laser of target, i.e. diffusing reflection laser；Work as use
When image guidance weapon and laser guided weapon carry out target strike jointly, flight range is adjusted, makes target in image seeker
Within 1431 search range, and the laser pickoff 14411 of laser seeker 1441 is enable to receive through target diffusing reflection
Laser.
In the present invention, it is preferred to be hit jointly using image guidance weapon and laser guided weapon, strike in this way is imitated
Rate is high.
Step 3, weapon manipulation seat 24 issue " powering on " instruction, control image seeker 1431 or laser seeker 1441
It powers on.
A kind of preferred embodiment according to the present invention, when carrying out target strike using image guidance weapon 143, step
3 include following sub-step:
Step 3-1, after unmanned helicopter flight can search for mesh target area to image seeker 1431, weapon manipulates seat
24 issue " powering on " instruction to image guidance weapon 143；
Step 3-2, ground-based mission manager 25 receives " powering on " instruction, and is transferred to airborne task manager 15, airborne
Control image seeker 1431 powers on after task manager 15 receives " powering on " instruction；
Step 3-3, the state of image seeker 1431 is passed sequentially through airborne task manager 15, airborne by weapon module 14
Data-link terminal 11, ground data chain terminal 21 and ground-based mission manager 25 are sent to weapon manipulation seat 24.
A kind of preferred embodiment according to the present invention, when carrying out target strike using laser guided weapon 143, step
3 include following sub-step:
Step 3-1, after unmanned helicopter flight can receive the region of diffusing reflection laser to laser seeker 1441, weapon
It manipulates seat 2 and issues " powering on " instruction to laser seeker 1441；
Step 3-2, ground-based mission manager 25 receives " powering on " instruction, and is transferred to airborne task manager 15, airborne
Control laser seeker 1441 powers on after task manager 15 receives " powering on " instruction；
Step 3-3, the power-up state parameter of laser seeker 1441 is passed sequentially through airborne task management by weapon module 14
Device 15, type onboard data link terminal 11, ground data chain terminal 21 and ground-based mission manager 25 are sent to weapon manipulation seat 24.
Step 4, weapon manipulation seat 24 issue " igniting " instruction, carry out image guidance weapon 1431 and/or laser guidance
Target strike is realized in the transmitting of weapon 1432.
A kind of preferred embodiment according to the present invention is being schemed when carrying out target strike using image guidance weapon 143
After locking as target seeker 1431 to target, weapon manipulates seat 24 and issues " igniting " instruction to image guidance weapon 143, right
Target carries out strike.
Another preferred embodiment according to the present invention, it is military when carrying out target strike using laser guided weapon 144
Device manipulation seat 24 refers to the sending of laser guided weapon 144 " igniting " after receiving the power-up state of laser seeker 1441
It enables, target is carried out and is hit.
Wherein, after laser guided weapon 144 emits, laser seeker 1441 receives the irreflexive laser of target, described
Irreflexive laser forms key instruction, so that laser guided weapon 144 is realized the tracking to target, is accurately hit.
A kind of preferred embodiment according to the present invention, step 5 is carried out after step 4: step 5 carries out postwar assessment.
Wherein, after target strike, postwar assessment is carried out using manipulation seat 22 is surely taken aim at.
In further preferred embodiment, the step 5 includes following sub-step:
Step 5-1, steady 12 pairs of postwar environment of collimation device are shot, and the image information through shooting, which is transferred to, surely takes aim at manipulation seat
Position 22.
Step 5-2, manipulation seat 22 is surely taken aim to combine according to geometry assessment and simulation assessment and carry out postwar assessment.
Wherein, the geometry assessment refers to the shape-change amount of target, and the simulation assessment refers to the inside lines of target
Deformation quantity.
Step 5-3, it is surely taken aim at manipulation seat 22 to analyze, if strike is qualified, strike terminates, right if strike is unqualified
Target carries out second strike.
Wherein, the deformation of the improper outwardly and inwardly lines for referring to target of strike is smaller, that is, without just when hitting
Middle target may have occurred offset, and therefore, it is necessary to carry out second strike.If strike is qualified, strike terminates, without second
Strike.
In the present invention, data information refers to telemetry intelligence (TELINT), i.e. information detected by On-Board Subsystem, described instruction letter
Breath refers to remote information, i.e. the information that is controlled On-Board Subsystem of ground subsystem.Also, in the present invention, pass through force
Device manipulates the control at seat 24, and image guidance weapon 143 and laser guided weapon 144 can emit simultaneously or send out by several times
It penetrates, same target can be hit, different target can also be hit.
Beneficial effect possessed by the present invention includes:
(1) weapon of system institute provided by the present invention carry uses combined guidance, i.e. image guidance weapon and laser system
Weapon is led, the two can emit simultaneously or emit by several times, can hit same target, can also be to different target
It is hit；
(2) system of the present invention integrates On-Board Subsystem and ground subsystem, and structure is simple, and cost performance is high；
(3) system provided by the present invention be based on unmanned helicopter, with unmanned, personal safety performance is high,
It is small in size, be not easy to be detected, the irradiation that can hover, the attack that can hover, hang the advantages that weight is high；
(4) system provided by the present invention can carry out battle reconnaissance, position to target accurate pointing, fixed point irradiation, and
Using laser guidance, it is able to achieve the precision strike to target；
(5) system of the present invention is with voyage is remote, the hang time is long, controllability is high, can attack in real time, is reusable
The features such as；
(6) the method for the invention is fought flexibly, efficiently, can be to the real-time Precise strike of maneuvering target.
In the description of the present invention, it should be noted that the orientation of the instructions such as term " on ", "lower", "inner" and "outside" or
Positional relationship is to be merely for convenience of the description present invention based on the orientation or positional relationship under working condition of the present invention and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
Combining preferred embodiment above, the present invention is described, but these embodiments are only exemplary
, only play the role of illustrative.On this basis, a variety of replacements and improvement can be carried out to the present invention, these each fall within this
In the protection scope of invention.
Claims (14)
1. having the unmanned helicopter control system of integrated guidance weapon, which is characterized in that the system comprises On-Board Subsystems
(1) and ground subsystem (2), wherein weapon module (14) are provided on the On-Board Subsystem (1), in the weapon mould
Image guidance weapon (143) and laser guided weapon (144) are mounted on block (14), wherein
Image seeker (1431) and image missile-borne computer (1432) are provided on described image guided weapon (143)；
Laser seeker (1441) and laser missile-borne computer (1442), institute are provided on the laser guided weapon (144)
Stating laser seeker (1441) includes laser pickoff (14411),
The weapon module (14) is receiving ground for carrying image guidance weapon (143) and laser guided weapon (144)
The transmitting of image guidance weapon (143) and/or laser guided weapon (144) is carried out after " igniting " instruction that subsystem (2) is sent；
Described image target seeker (1431) is used to carry out target acquisition and lock onto target before striking target；
The laser seeker (1441) is for receiving through the irreflexive laser of target, to carry out the strike to target；
Described image missile-borne computer (1432) and laser missile-borne computer (1442) are respectively used to image guidance weapon (143)
It is exported with the state of laser guided weapon (144), the state includes off working state, power-up state and emission state.
2. system according to claim 1, which is characterized in that the weapon module (14) further includes airborne hanger (141)
With arm discharge cylinder (142), wherein the airborne hanger (141) is for connecting unmanned helicopter and arm discharge cylinder (142)；
The arm discharge cylinder (142) is for carrying image guidance weapon (143) and laser guided weapon (144).
3. system according to claim 1 or 2, which is characterized in that the On-Board Subsystem (1) further includes airborne data link
Terminal (11), flies control module (13) and airborne task manager (15) at steady collimation device (12), wherein
The data-link terminal (11) is used to carry out information transmission with ground subsystem (2), and the information includes On-Board Subsystem
(1) data information and image information and ground subsystem (2) for being sent to ground subsystem (2) are sent to On-Board Subsystem
(1) command information；
The steady collimation device (12) for target is scanned under the control of ground subsystem (2), is detected, is identified, is locked,
Tracking and positioning, and to objective emission laser；
Winged control module (13) is used to control the flight of unmanned helicopter；
The airborne task manager (15) is for receiving steady collimation device (12), flying control module (13) and weapon module (14) transmission
Data information, row information of going forward side by side processing, then by type onboard data link terminal (11) general, treated that information is sent to ground
Subsystem (2), meanwhile, it is also used to receive the command information of ground subsystem (2) transmission, and carry out the distribution of command information, uses
It is controlled in steady collimation device (12), winged control module (13) and weapon module (14).
4. system according to claim 3, which is characterized in that
The high-definition picture of target area is stored in image missile-borne computer (1432), wherein in image seeker
(1431) after powering on, the height of image and target area that image missile-borne computer (1432) detects image seeker (1431)
Image in different resolution compares, and is used for lock onto target；And/or
After steady collimation device (12) positions target, to objective emission laser, laser diffusion occurs in target, generates unrestrained
Reflection laser.
5. system according to claim 4, which is characterized in that after laser guided weapon (144) transmitting, laser seeker
(1441) laser pickoff (14411) in receives diffusing reflection laser, key instruction is formed, for guiding laser to guide
Weapon (144) is tracked and is hit to target.
6. system according to claim 5, which is characterized in that the airborne task manager (15) include motherboard (151),
Airborne integrated control panel (152) and weapon hair control plate (153), wherein
The motherboard (151) provides power supply, number for connecting airborne integrated control panel (152) and weapon hair control plate (153) for it
It is believed that breath and level controling signal；
The airborne integrated control panel (152) is used for steady collimation device (12), flies control module (13) and weapon module (14) transmission
Data information and the image information of weapon module (14) transmission be transmitted to ground subsystem (2), and to steady collimation device (12)
It extracts and is packaged with the data information of winged control module (13) transmission, be then sent to weapon module (14), meanwhile, for connecing
The command information of ground subsystem (2) output is received, and command information is distributed to steady collimation device (12) respectively, flies control module (13)
With weapon module (14)；
Weapon hair control plate (153) is used to control powering on and controlling for image seeker (1431) and laser seeker (1441)
The igniting of imaged guided weapon (143) and laser guided weapon (144) emits.
7. system according to claim 6, which is characterized in that be provided with letter on the airborne integrated control panel (152)
Cease forwarding module (1521), data are extracted and packetization module (1522) and instruction distribution module (1523).
8. system according to claim 7, which is characterized in that be provided in weapon hair control plate (153) upper automatically controlled
Molding block (1531) and ignition control module (1532).
9. system according to claim 8, which is characterized in that the ground subsystem (2) includes ground data chain terminal
(21), it surely takes aim at manipulation seat (22), fly control manipulation seat (23), weapon manipulation seat (24) and ground-based mission manager (25),
Wherein, the ground data chain terminal (21) is used to carry out information transmission with On-Board Subsystem (1), and the information includes airborne son
System (1) is sent to the data information of ground subsystem (2) and image information and ground subsystem (2) are sent to airborne subsystem
The command information of system (1)；
It is described surely to take aim at manipulation seat (22) for controlling steady collimation device (12), to realize to the search of target, detection, identification, lock
Fixed and tracking, and for carrying out postwar assessment；
Winged control manipulation seat (23) is used to send the flight for instructing, and then controlling unmanned helicopter to winged control module (13)；
Weapon manipulation seat (24) be used to control image seeker (1431) and laser seeker (1441) power on and
Control the transmitting of image guided weapon (143) and laser guided weapon (144)；
The information that the ground-based mission manager (25) is used to transmit On-Board Subsystem (1) is handled, and is distributed to and is surely taken aim at
It manipulates seat (22), fly control manipulation seat (23) and weapon manipulation seat (24), meanwhile, it receives and surely takes aim at manipulation seat (22), flies
The command information of control manipulation seat (23) and weapon manipulation seat (24), and command information is passed through into ground data chain terminal (21)
It is transferred to On-Board Subsystem (1).
10. system according to claim 9, which is characterized in that the ground-based mission manager (25) includes floor synthetic
Control panel (251) is provided with data distribution module (2511) and instruction recombination module on floor synthetic control panel (251)
(2512), wherein
The data distribution module (2511) is used to On-Board Subsystem (1) being transferred to ground by ground data chain terminal (21)
The data information of task manager (25) is distributed to surely takes aim at manipulation seat (22) respectively, flies control manipulation seat (23) and weapon manipulation
Seat (24)；
Described instruction recombination module (2512) is used to surely to take aim at manipulation seat (22), winged control manipulation seat (23) and weapon and manipulates seat
The command information that position (24) feeds back to ground-based mission manager (25) is recombinated, and type onboard data link terminal (11) are sent to.
11. the control method of the unmanned helicopter with integrated guidance weapon, using being described in one of claims 1 to 10 10
System, wherein the described method comprises the following steps:
Step 1, using steady collimation device (12) and surely take aim at manipulation seat (22) target scanned for, detect, identify, lock, with
Track and positioning, steady collimation device (12) is to objective emission laser；
Step 2, adjustment flight range, make target within the search range of image seeker (1431), and/or, adjustment flight
Region receive the laser pickoff (14411) of laser seeker (1441) can through the irreflexive laser of target, i.e., unrestrained anti-
Penetrate laser；
Step 3, weapon manipulation seat (24) issue " powering on " instruction, control image seeker (1431) and/or laser seeker
(1441) it powers on；
Step 4, weapon manipulation seat (24) issue " igniting " instruction, carry out image guidance weapon (1431) and/or laser guidance
Target strike is realized in the transmitting of weapon (1432)；
Wherein, by the control of weapon manipulation seat (24), image guidance weapon (143) and laser guided weapon (144) can be with
Transmitting can also emit by several times simultaneously, can hit same target, can also hit different target.
12. according to the method for claim 11, wherein
The step 1 includes following sub-step:
Step 1-1, target is scanned for using steady collimation device (12), and the image information detected in search process is transmitted
Seat (22) are manipulated to surely taking aim at；
Wherein, it surely takes aim at manipulation seat (22) and the image information received is transferred to weapon manipulation seat (24) in real time；
Step 1-2, surely take aim at the steady collimation device (12) of image information control that manipulation seat (22) transmit according to steady collimation device (12) into
Detection, identification and the locking of row target；
Step 1-3, after steady collimation device (12) is to target lock-on, steady collimation device (12) is right under the control for surely taking aim at manipulation seat (22)
Target is tracked and is positioned, and then optionally, steady collimation device (12) is to objective emission laser；
Wherein, in step 1-3, when carrying out target strike using laser guided weapon (144), steady collimation device (12) is to mesh
The backward objective emission laser in position is demarcated, the laser generates diffusing reflection in target；
And/or
The step 2 includes following sub-step:
Step 2-1, weapon manipulation seat (24) carries out the resolving set of data to the image information for surely taking aim at manipulation seat (24) transmission, obtains
Resolve information；
Step 2-2, information will be resolved and is successively transferred to ground-based mission manager (25) and ground data chain terminal (21), then passed
It is defeated by airborne task manager (15)；
Step 2-3, airborne task manager (15) will resolve information and export to winged control module (13), control unmanned helicopter flight
To the detectable mesh target area of image seeker (1431), and/or, control unmanned helicopter flight to laser seeker (1441)
It can receive the region of diffusing reflection laser；
And/or
The step 3 includes following sub-step:
Step 3-1, after unmanned helicopter flight can search for mesh target area to image seeker (1431), weapon manipulates seat
(24) " powering on " instruction is issued to image guidance weapon (143)；And/or unmanned helicopter flight is to laser seeker (1441)
Behind the region that can receive diffusing reflection laser, weapon manipulates seat (24) and issues " powering on " instruction to laser guided weapon (144)；
Step 3-2, ground-based mission manager (25) receives " powering on " instruction, and is transferred to airborne task manager (15), airborne
Task manager (15) controls on image seeker (1431) and/or laser seeker (1441) after receiving " powering on " instruction
Electricity；
Step 3-3, the state of image seeker (1431) and laser seeker (1441) is passed sequentially through machine by weapon module (14)
Carry task manager (15), type onboard data link terminal (11), ground data chain terminal (21) and ground-based mission manager (25) hair
Give weapon manipulation seat (24).
13. method according to claim 11 or 12, wherein carry out step 5 after step 4:
Step 5 carries out postwar assessment.
14. according to the method for claim 13, which is characterized in that the step 5 includes following sub-step:
Step 5-1, steady collimation device (12) shoots postwar environment, and the image information of shooting is transferred to and surely takes aim at manipulation seat
Position (22)；
Step 5-2, manipulation seat (22) is surely taken aim to combine according to geometry assessment and simulation assessment and carry out postwar assessment；
Step 5-3, manipulation seat (22) analysis is surely taken aim at, if strike is qualified, strike terminates, if strike is unqualified, to mesh
Mark carries out second strike.
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| CN201610868513.3A CN107883817B (en) | 2016-09-29 | 2016-09-29 | Unmanned helicopter control system and control method with integrated guidance weapon |
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| CN201610868513.3A CN107883817B (en) | 2016-09-29 | 2016-09-29 | Unmanned helicopter control system and control method with integrated guidance weapon |
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| CN109254594A (en) * | 2018-09-21 | 2019-01-22 | 北京大翔航空科技有限公司 | A kind of full strapdown terminal guidance method for unmanned plane |
| CN109398709B (en) * | 2018-12-03 | 2023-06-02 | 中航技进出口有限责任公司 | External airborne weapon fire control system and use method |
| US20200256643A1 (en) * | 2019-02-12 | 2020-08-13 | Bae Systems Information And Electronic Systems Integration Inc. | Projectile guidance system |
| CN110701959A (en) * | 2019-11-08 | 2020-01-17 | 北京安达维尔航空设备有限公司 | Weapon nacelle of helicopter actual combat system |
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| CN111781955B (en) * | 2020-06-15 | 2022-02-15 | 北京理工大学 | Aircraft laser guidance control system and method provided with piloting helicopter |
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