CN107885230B - Unmanned helicopter control system with laser guided weapon and control method thereof - Google Patents
Unmanned helicopter control system with laser guided weapon and control method thereof Download PDFInfo
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- CN107885230B CN107885230B CN201610868352.8A CN201610868352A CN107885230B CN 107885230 B CN107885230 B CN 107885230B CN 201610868352 A CN201610868352 A CN 201610868352A CN 107885230 B CN107885230 B CN 107885230B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention discloses an unmanned helicopter control system with a laser guided weapon and a control method, wherein the system comprises an airborne subsystem and a ground subsystem, the airborne subsystem comprises an airborne data link terminal, a stabilized sighting device, a flight control module, a weapon module and an airborne task manager, the weapon is loaded in the weapon module, and a laser guide head with a laser receiver is arranged on the weapon; the ground subsystem comprises a ground data link terminal, a stabilized sighting control seat, a flight control seat, a weapon control seat and a ground task manager; the method comprises the following steps: 1. searching, detecting, identifying, locking, tracking and positioning a target, then emitting laser to the target by a sight stabilizing device, 2, adjusting a flight area to enable a laser receiver to receive the laser reflected by the target in a diffuse mode, 3, sending an 'electrifying' instruction by a weapon control seat, controlling a laser seeker to be electrified, and 4, sending an 'igniting' instruction by the weapon control seat, and hitting the target.
Description
Technical Field
The invention relates to an unmanned helicopter, in particular to an unmanned helicopter with laser guidance, and particularly relates to an unmanned helicopter control system with laser guidance and a control method thereof.
Background
In modern war, striking a few fleeting maneuvering targets and time sensitive targets is critical to combat. In the prior art, a weapon can be carried and a fixed wing aircraft is used for striking, but the fixed wing aircraft has the defects of incapability of hovering irradiation, incapability of hovering attack, secondary hanging and the like.
Aiming at the defects, the unmanned helicopter can effectively solve the problems that hovering irradiation and hovering attack can be realized, and compared with the manned helicopter, the unmanned helicopter is unmanned, high in personal safety, small in size, not easy to detect, simple in structure and high in cost performance.
However, the prior art does not disclose an unmanned helicopter that can carry weapons and be used for scouting and striking.
Disclosure of Invention
In order to overcome the above problems, the present inventors have made intensive studies to design an unmanned helicopter control system and a control method thereof, and have completed the present invention.
The invention provides an unmanned helicopter control system on one hand, which is embodied in the following aspects:
(1) unmanned helicopter control system with laser guided weapons, wherein the system comprises an onboard subsystem 1 and a ground subsystem 2, wherein the onboard subsystem 1 comprises an onboard data link terminal 11, a sight stabilizer 12, a flight control module 13, a weapons module 14 and an onboard mission manager 15, wherein a weapon 143 is mounted on the weapons module 14, the weapon comprises a laser guidance head 1431 and an onboard computer 1432, and the laser guidance head 1431 comprises a laser receiver 14311.
(2) The system according to the above (1), wherein,
the airborne data link terminal 11 is used for carrying out information transmission with the ground subsystem 2, wherein the information comprises data information and image information which are sent to the ground subsystem 2 by the airborne subsystem 1 and instruction information which is sent to the airborne subsystem 1 by the ground subsystem 2;
the sight stabilizing device 12 is used for searching, detecting, identifying, locking, tracking and positioning a target under the control of the ground subsystem 2, and emitting laser to the target;
the flight control module 13 is used for controlling the flight of the unmanned helicopter;
the weapon module 14 is used for carrying a weapon and launching the weapon after receiving an ignition command sent by the ground subsystem 2;
the airborne task manager 15 is configured to receive data information transmitted by the stabilized sighting device 12, the flight control module 13, and the weapon module 14, process the data information, send the processed information to the ground subsystem 2 through the airborne data link terminal 11, receive instruction information sent by the ground subsystem 2, distribute the instruction information, and control the stabilized sighting device 12, the flight control module 13, and the weapon module 14;
the laser guide head 1431 is configured to receive laser diffusely reflected by a target, so as to perform target tracking and target locking;
the onboard computer 1432 is used to transmit the status parameters of the weapon 143, including the power-on status of the laser seeker and the firing status of the weapon, to the onboard mission manager 15.
(3) The system according to (1) or (2), wherein the weapon module 14 further comprises an onboard rack 141 and a weapon barrel 142, wherein the onboard rack 141 is used for connecting the unmanned helicopter with the weapon barrel 142; the weapon barrel 142 is used for carrying a weapon 143.
(4) The system according to one of the above (1) to (3), wherein after the target is positioned by the sight stabilizing device 12, laser is emitted to the target, and diffuse reflection of the laser occurs on the target to generate diffuse reflection laser;
preferably, after the weapon 143 is fired, the laser receiver 14311 in the laser guide head 1431 receives the diffuse reflection laser to form a guiding instruction, so that the laser guide head 1431 performs tracking striking on the target.
(5) The system according to one of the above (1) to (4), wherein the on-board task manager 15 includes a motherboard 151, an on-board integrated control board 152, and a weapon release control board 153;
preferably, an information forwarding module 1521, a data extracting and packing module 1522 and an instruction distributing module 1523 are arranged on the onboard integrated control board 152;
more preferably, a power-on control module 1531 and an ignition control module 1532 are provided on the weapon firing control board 153.
(6) The system according to one of the above (1) to (5), wherein the ground subsystem 2 includes a ground data link terminal 21, a stabilized sighting control seat 22, a flight control seat 23, a weapons control seat 24, and a ground mission manager 25.
(7) The system according to one of the above (1) to (6), wherein the ground task manager 25 includes a ground integrated control board 251, and a data distribution module 2511 and an instruction reorganization module 2512 are disposed on the ground integrated control board 251.
The invention provides a control method of an unmanned helicopter, which is embodied in the following aspects:
(8) method for controlling an unmanned helicopter with laser guided munitions, wherein said method comprises the steps of:
step 1, searching, detecting, identifying, locking, tracking and positioning a target by using a sight-stabilizing device 12 and a sight-stabilizing control seat 22, and then, emitting laser to the target by the sight-stabilizing device 12;
step 2, adjusting the flight area to enable the laser receiver 14311 of the laser guide head 1431 to receive laser diffusely reflected by the target, namely, diffusely reflected laser;
step 3, the weapon control seat 24 sends a power-on command to control the laser guide head 1431 to be powered on;
and 4, sending an ignition command by the weapon control seat 24 to strike the target.
Drawings
FIG. 1 is a schematic diagram of an unmanned helicopter control system with laser guided munitions according to the present invention;
FIG. 2 shows a schematic structural diagram of the onboard subsystem of the present invention;
FIG. 3 shows a schematic of the ground subsystem of the present invention;
fig. 4 shows a control method of the unmanned helicopter with laser guided munitions according to the invention.
The reference numbers illustrate:
1-an onboard subsystem; 11-airborne data link terminal; 12-a stabilized sighting device; 121-image recorder; 122-visible light television; 123-a video tracker; 124-infrared thermal imager; 125-laser illuminator; 126-a servo controller; 127-a photoelectric management computer; 13-a flight control module; 131-a sensor sub-module; 132-flight control computer; 133-an actuator; 14-a weapon module; 141-an airborne hanger; 142-a weapon barrel; 143-weapons; 1431-laser guide head; 14311-laser receiver; 1432-a launch computer; 15-onboard task manager; 151-mother board; 152-onboard integrated control panel; 1521-information forwarding module; 1522-data extraction and packing module; 1523-instruction dispatch module; 153-weapon firing control board; 1531-power-on control module; 1532 — an ignition control module; 2-a ground subsystem; 21-ground data link terminal; 22-stabilizing the aiming control seat; 23-flight control seats; 24-weapon control seats; 25-a ground task manager; 251-a ground comprehensive control panel; 2511-a data distribution module; 2512-instruction reorganization module.
Detailed Description
The invention is explained in further detail below with reference to the drawing. The features and advantages of the present invention will become more apparent from the description.
In one aspect of the invention, an unmanned helicopter control system with laser guided munitions is provided, as shown in fig. 1, comprising an airborne subsystem 1 and a ground subsystem 2.
The airborne subsystem 1 is arranged on the unmanned helicopter, the ground subsystem 2 is arranged on the ground, and the ground subsystem is actually a ground observation and control station of the airborne subsystem 1.
According to a preferred embodiment of the present invention, as shown in fig. 1, an onboard data link terminal 11, a sighting device 12, a flight control module 13, a weapon module 14 and an onboard task manager 15 are provided on the onboard subsystem 1.
The data link terminal 11 is used for transmitting information with the ground subsystem 2, wherein the information includes data information and image information sent to the ground subsystem 2 by the airborne subsystem 1 and instruction information sent to the airborne subsystem 1 by the ground subsystem 2; the sight stabilizing device 12 is used for searching, detecting, identifying, locking, tracking and positioning a target under the control of the ground subsystem 2, and emitting laser to the target after positioning; the flight control module 13 is used for controlling the flight of the unmanned helicopter; the weapon module 14 is used for carrying a weapon and launching the weapon after receiving an ignition command sent by the ground subsystem 2; the airborne task manager 15 is configured to receive data information transmitted by the stabilized sighting device 12, the flight control module 13, and the weapon module 14, process the data information, send the processed information to the ground subsystem 2 through the airborne data link terminal 11, receive instruction information sent by the ground subsystem 2, and distribute the instruction information, so as to control the stabilized sighting device 12, the flight control module 13, and the weapon module 14.
In a further preferred embodiment, as shown in fig. 1, the sighting device 12 transmits the detected data information to the onboard data link terminal 11 through the onboard task manager 15, and transmits the detected graphic information to the onboard data link terminal 11 directly; the flight control module 13 transmits the detected data information to the airborne data link terminal 11 through the airborne task manager 15; the weapon module 14 transmits the detected data information to the on-board datalink terminal 11 through the on-board task manager 15.
The data information transmitted by the sight stabilizing device 12 includes a target distance, an azimuth angle, a high-low angle, an image recorder state (a working state, a transmission state, a power-on starting state, a waiting confirmation state, an interface rate), an unmanned helicopter attitude angle (a pitch angle, a yaw angle and a roll angle) and an unmanned helicopter position (a longitude, a latitude and an altitude); the data information transmitted by the flight control module 13 includes time information, attitude angles (pitch angle, yaw angle and roll angle) of the unmanned helicopter, positions (longitude, latitude and altitude) of the unmanned helicopter, the total speed of the unmanned helicopter and the east, north and celestial speeds of the unmanned helicopter; the data information transmitted by the weapon module is the state parameter information of the missile, specifically, whether the missile is in a power-on mode or a firing mode.
In the invention, after the unmanned helicopter takes off, the sight stabilizing device 12 immediately enters a working state to search a target and transmits detected image information to the ground subsystem 2 in real time, the ground subsystem 2 controls the sight stabilizing device 12 to detect, identify and lock the target, after the target is locked, the ground subsystem 2 controls the sight stabilizing device 12 to track and measure distance by laser to obtain data information and transmit the detected data information to the ground subsystem 2 in time, the ground subsystem 2 sends instruction information to the flight control module 13 according to the information sent by the sight stabilizing device 12 to control the flight of the unmanned helicopter until the target is positioned in a detection range of the weapon module 14, at the moment, the ground subsystem 2 sends a power-on instruction to the airborne task manager 15, the airborne task manager 15 receives the instruction to control the laser guide head 1431 to power on, and transmits the power-on state of the laser guide head 1431 to the ground subsystem 2, the ground subsystem 2 sends an ignition instruction to the airborne task manager 15 after receiving the power-on signal output by the airborne task manager 15, and the airborne task manager 15 receives the instruction and controls the weapon 143 to ignite and launch.
In the invention, the unmanned helicopter can be hung by about 100 kilograms, wherein the weapon module can reach about 40 kilograms, and the sight stabilizing device can reach about 30 kilograms.
According to a preferred embodiment of the present invention, as shown in fig. 2, the sighting device 12 includes an image recorder 121, a visible light television 122, a video tracker 123, a thermal infrared imager 124, a laser detector 125, a servo controller 126 and an optical management computer 127.
Wherein:
the image recorder 121 is used for storing the image information detected by the visible light television 122 and the thermal infrared imager 124;
the visible light television 122 is used for capturing images and providing a daytime visible light image (image information) for the sighting device 12, wherein when the sighting device receives a zooming or focusing instruction, the visual field is correspondingly and continuously changed, and the current focal length value is output; moreover, when the external light changes, the exposure time can be continuously thickened, the real-time output of image information is ensured, then the image information is compressed by the photoelectric management computer 127 and recorded, and meanwhile, the image information is output to the ground subsystem 2 through the airborne data link terminal 11;
the video tracker 123 is configured to track a target and output a tracking state parameter, an azimuth angle deviation amount and a pitch angle deviation amount of the target relative to the aiming center to the photoelectric management computer 127 in real time, so as to achieve accurate tracking of the target;
the thermal infrared imager 124 is used for searching, detecting and identifying targets under day and night conditions, and has the functions of brightness adjustment, contrast adjustment, polarity conversion, automatic focusing, non-uniform correction, electronic zooming, image enhancement and the like;
the laser illuminator 125 can emit a laser line from the unmanned helicopter to the target, and measure a target distance, an azimuth angle, a high-low angle, and the like through the laser line;
the servo controller 126 is used for controlling the movement of the sight stabilizing device 12, namely controlling the sight stabilizing device to rotate, and searching for a target by 360 degrees until the target is searched, and the servo controller adopts a DSP processor;
the photoelectric management computer 127 is configured to process information detected by the sight stabilizing device 12, receive instruction information sent by the ground subsystem, and adjust or control each component of the sight stabilizing device according to the instruction information, where the information includes data information and image information, and the photoelectric management computer uses a powerpc processor.
In the invention, the target distance refers to a straight line distance between the unmanned helicopter and the target; the azimuth angle refers to the upward overlook, the aircraft course is 0, and the clockwise direction is positive; the elevation angle refers to that when the azimuth angle is 0 degrees, the horizontal forward is 0 degrees, the head-up is positive, and the head-down is negative.
In a further preferred embodiment, the sight-stabilizing device 12 further includes a secondary power board for implementing power conversion and a connecting bracket for connecting the sight-stabilizing device with the unmanned helicopter.
When the unmanned helicopter is started, the generator can be powered off temporarily, so that the secondary power supply board is arranged to restart the sight stabilizing device, wherein the secondary power supply board is only used at the moment when the unmanned helicopter is started.
In a further preferred embodiment, the sighting device 12 transmits the detected data information directly to the onboard task manager 15, and the onboard task manager transmits the detected data information to the onboard data link terminal 11; meanwhile, the stabilized sighting device 12 directly transmits the detected image information to the airborne data link terminal 11.
Because the format of the image information is large, if the image information is forwarded by the task manager 15, the processing process is slow, so that only the data information is forwarded to the airborne data link terminal 11 through the task manager 15, and the image information is directly transmitted to the airborne data link terminal 11, wherein the data information includes a target distance, an azimuth angle, a pitch angle, an altitude angle, an image recorder state, an unmanned helicopter attitude angle (a pitch angle, a yaw angle and a roll angle) and an unmanned helicopter position (a longitude, a latitude and an altitude).
According to a preferred embodiment of the invention, the sight-stabilizing device 12 is in an operating state from the takeoff moment of the unmanned helicopter, and performs target search, and transmits image information detected in the search process to the ground subsystem in real time.
In a further preferred embodiment, the ground subsystem 2 controls the sighting device 12 to search, detect, identify and lock the target according to the image information transmitted by the sighting device 12.
In a further preferred embodiment, after the target is locked by the sighting device 12 under the control of the ground subsystem 2, the target is tracked by the video tracker 123 in the sighting device 12 until the sighting device 12 can locate the target.
According to a preferred embodiment of the present invention, as shown in fig. 2, the flight control module 13 includes a sensor submodule 131, a flight control computer 132, and an actuator 133.
The sensor submodule 131 is configured to measure a flight state of the unmanned helicopter to obtain flight parameters, where the flight parameters include time information, an attitude angle of the unmanned helicopter, a position of the unmanned helicopter, a ground speed of the unmanned helicopter, and a speed direction, and the speed direction is a direction in which a speed of the unmanned helicopter is located because the speed is a vector; the flight control computer 132 is configured to receive instruction information sent by the ground subsystem 2, receive flight parameters measured by the sensor sub-module 131, and then: firstly, the flight parameters are output to the airborne task manager 15, secondly, the flight parameters and the instruction information are processed to obtain execution control instructions, and the execution control instructions are output to the execution mechanism 133; the actuator 133 is used for controlling the flight state of the unmanned helicopter.
Wherein, the flight control computer carries out the following processing: the current flight parameters and the instruction information are fused to obtain the execution control instruction, wherein the fusion is performed because the flight parameters are continuously updated in the process of advancing the unmanned helicopter, so that the execution control instruction needs to be obtained by combining the current flight parameters with the instruction information.
According to a preferred embodiment of the invention, as shown in fig. 2, the weapon module 14 further comprises an on-board rack 141, a weapon barrel 142 and a weapon 143, wherein a laser guide 1431 and an on-board computer 1432 are provided on the weapon 143.
In a further preferred embodiment, a laser receiver 14311 is provided on the laser guide head 1431.
The onboard rack 141 is used for connecting the unmanned helicopter with a weapon barrel 142, the weapon barrel 142 is used for carrying a weapon 143, and the onboard computer 1432 is used for transmitting the status parameters of the weapon 143 to the onboard mission manager 15. The state parameters comprise a non-working state parameter, a power-on state parameter and an ignition state parameter. The laser guide head 1431 is used for guiding the weapon flying target to strike accurately after the weapon is fired. In the invention, the missile-borne computer adopts a DSP processor.
Specifically, after the stabilized sighting device 12 positions the target, laser is emitted to the target, the laser is subjected to diffuse reflection at the target to generate diffuse reflection laser, after the weapon is emitted, the laser receiver receives the diffuse reflection laser to form a guiding instruction to guide the weapon to fly the target, the target is tracked when the target is struck, and finally accurate striking is achieved.
Before the weapon is launched, the unmanned helicopter flies to an area where the laser seeker can receive diffuse reflection laser through the control of the flight control module 13, specifically, the ground subsystem 2 performs resolving operations according to image information transmitted by the stabilized sighting device 12 to obtain resolving information, transmits the resolving information to the flight control module 13, and controls the unmanned helicopter to fly to the area where the laser seeker can receive the diffuse reflection laser. Then, the ground subsystem 2 sends out a power-on command, the airborne task manager 15 receives the power-on command and controls the laser guide head 1431 to be powered on, the laser guide head 1431 is started, then the ground subsystem 2 sends out an ignition command to the airborne task manager 15, the weapon module 14 receives the ignition command forwarded by the airborne task manager 15 and controls the weapon 143 to be ignited and launched, the weapon 143 is sent out of the weapon launching barrel 142, and in the process of launching the weapon, the laser guide head receives diffuse reflection laser to form a guiding command and fly an object to form accurate striking.
According to a preferred embodiment of the present invention, as shown in fig. 2, the on-board task manager 15 includes a motherboard 151, an on-board integrated control board 152, and a weapons launch control board 153.
The motherboard 151 is used for connecting an onboard integrated control board 152 and a weapon firing control board 153 and providing power supply, data information and level control signals for the motherboard; the onboard integrated control board 152 is used for processing information, specifically, forwarding data information transmitted by the sight stabilizing device 12, the flight control module 13 and the weapon module 14 and image information transmitted by the weapon module 14 to the ground subsystem 2, extracting and packaging the data information transmitted by the sight stabilizing device 12 and the flight control module 13, and then sending the data information to the weapon module 14, and meanwhile, receiving instruction information output by the ground subsystem 2 and respectively distributing the instruction information to the sight stabilizing device 12, the flight control module 13 and the weapon module 14; the weapon firing control board 153 is used for controlling the power-on of the laser guidance head and the firing of the weapon.
In a further preferred embodiment, the onboard integrated control board 152 and weapon firing control board 153 are mounted on the motherboard 151 and are vertically disposed.
In a further preferred embodiment, the task manager 15 further comprises a transformer, an ATR chassis, an aerial plug assembly and a shock absorber.
The transformer is powered by an onboard power supply, converts the voltage level and is used for supplying power; the ATR case is manufactured by adopting an aviation ATR standard; the aviation plug assembly comprises a power input aviation plug and a signal interaction aviation plug, wherein the power input aviation plug is an aviation special plug and is used for supplying power to internal circuit components, and the signal interaction aviation plug is in signal interaction with the stabilized sighting device 12, the flight control module 13, the weapon module 14 and the airborne data chain terminal 11; the shock absorber is used for adapting to the vibration environment of the unmanned helicopter and reducing the influence of vibration on the internal component structure and the electromagnetic environment of the ATR case.
According to a preferred embodiment of the present invention, as shown in fig. 2, an information forwarding module 1521, a data extracting and packing module 1522 and a command distributing module 1523 are disposed on the onboard integrated control board 152.
The information forwarding module 1521 is configured to forward data information transmitted by the stabilized sighting device 12, the flight control module 13, and the weapon module 14 to the airborne data link terminal 11, and then transmit the data information to the ground subsystem 2; the data extracting and packing module 152 is configured to partially extract and pack data information transmitted to the onboard task manager 15 by the sighting device 12 and the flight control module 13, and then send the data information to the weapon module 14, where data information such as an attitude angle and a position of the unmanned helicopter detected by the flight control module, and a high-low angle, an azimuth angle, a target distance and the like detected by the sighting device are extracted; the instruction distribution module 1523 is configured to distribute the feedback instruction sent by the ground subsystem 2, and respectively distribute the feedback instruction to the sight stabilizing device 12 and the flight control module 13.
In a further preferred embodiment, the message forwarding module 1521 in the on-board task manager 15 forwards all data messages transmitted by the sighting device 12, the flight control module 13 and the weapon module 14 to the on-board data link terminal 11 and then to the ground subsystem 2.
In a further preferred embodiment, the data extraction and forwarding module 1522 in the on-board mission manager 15 partially extracts and packages the data information transmitted by the stabilized sighting device 12 and the flight control module 13 to the on-board mission manager 15, and then outputs the data information to the weapon module 14.
The data extracted and packaged by the data extracting and forwarding module 1522 includes data information such as altitude angle, azimuth angle, target distance and the like output by the stabilized sighting device 12, and data information such as attitude angle and position of the unmanned helicopter output by the flight control module 13.
In a preferred embodiment of the present invention, as shown in fig. 2, a power-on control module 1531 and an ignition control module 1532 are provided on the weapon firing control board 153.
The power-on control module 1531 is configured to receive a power-on command sent by the ground subsystem 2, and control the laser guidance head 1431 in the weapon module 14 to power on; the ignition control module 1532 is configured to receive the "ignition" command from the ground subsystem 2 and control the weapon 143 in the weapon module 14 to fire and shoot.
According to a preferred embodiment of the present invention, the onboard subsystem 1 further comprises an onboard power supply, wherein the onboard power supply provides 22-33V (28V) voltage, which is introduced through the air plug assembly, and provides voltage for the motherboard 151, the onboard integrated control board 152 and the weapon emission control board 153 in the onboard task manager 15.
According to a preferred embodiment of the present invention, the ground subsystem 2 includes a ground data link terminal 21, a stabilized sighting control seat 22, a flight control seat 23, a weapon control seat 24 and a ground mission manager 25.
The ground data link terminal 21 is used for carrying out information transmission with the airborne subsystem 1, wherein the information comprises data information and image information sent to the ground subsystem 2 by the airborne subsystem 1 and instruction information sent to the airborne subsystem 1 by the ground subsystem 2; the sight-stabilizing control seat 22 is used for controlling the sight-stabilizing device 12 to search and track a target and simultaneously used for post-war evaluation; the flight control seat 23 is used for controlling the flight control module 13 so as to control the flight of the unmanned helicopter; the weapon control seat 24 is used for controlling the weapon module 14, mainly controlling the power-on of the laser guide head 1431 and the firing emission of the weapon 143; the ground task manager 25 is configured to process information transmitted by the airborne subsystem 1, and then output the information to the sight stabilizing control seat 22, the flight control seat 23, and the weapon control seat 24, and at the same time receive instruction information of the sight stabilizing control seat 22, the flight control seat 23, and the weapon control seat 24, and transmit the instruction information to the airborne subsystem 1 through the ground data link terminal 21.
According to a preferred embodiment of the invention, as shown in fig. 1: the stabilized sighting device 12 transmits the detected data information to the ground data chain terminal 21 through the airborne task manager 15 and the airborne data chain terminal 11, and simultaneously transmits the detected image information to the ground data chain terminal 21 directly through the airborne data chain terminal 11; the flight control module 13 transmits the detected data information to the ground data link terminal 21 through the airborne task manager 15 and the airborne data link terminal 11; the weapon module 14 transmits the detected data information to the ground datalink terminal 21 through the on-board task manager 15 and the on-board datalink terminal 11.
In a further preferred embodiment: as shown in fig. 1, the ground data link terminal 21 directly transmits the image information detected by the sight stabilizing device 12 to the sight stabilizing control seat 22, and then transmits the image information to the weapon control seat 24 to calculate the data; the ground data link terminal 21 distributes the data information detected by the sight stabilizing device 12, the flight control module 13 and the weapon module 14 to the sight stabilizing control seat 22, the flight control seat 23 and the weapon control seat 24 respectively through the ground task manager 25.
In the invention, the airborne data link terminal 11 and the ground data link terminal 21 are adopted to transmit information between the airborne subsystem 1 and the ground subsystem 2, the airborne data link terminal 11 and the ground data link terminal 21 can realize long-distance transmission, in particular, the long-distance information transmission of more than 100km can be realized, in addition, the transmission process is stable, the timeliness of the information transmission is ensured, and the safety is good, wherein the information comprises data information, image information and instruction information.
According to a preferred embodiment of the invention, after the unmanned helicopter takes off, the sight stabilizing device 12 enters a working state immediately to search for a target and transmits the searched image information to the sight stabilizing control seat 22 of the ground subsystem 2 in real time, the sight stabilizing control seat 22 controls the sight stabilizing device 12 to detect, identify and lock the target according to the information transmitted by the sight stabilizing device 12, after the target is locked, the sight stabilizing device 12 tracks the target and measures the distance by laser at the same time, and transmits the data information obtained by the distance measurement by laser to the sight stabilizing control seat 22 of the ground subsystem 2 in time, and the sight stabilizing control seat 22 controls the sight stabilizing device 12 to position the target and emit laser to the target.
In a further preferred embodiment, after receiving the image information detected by the sighting device 12, the sighting controlling seat 22 forwards the information to the weapon controlling seat 22 in real time, wherein after the sighting controlling seat 22 locates the target, the weapon controlling seat 22 performs resolving operations according to the image information transmitted by the sighting device 12 to obtain resolving information, and transmits the resolving information to the flight control module 13, so as to control the unmanned helicopter to fly to an area where the laser seeker 1431 can receive the diffuse reflection laser.
In a further preferred embodiment, after the unmanned helicopter flies to an area where the laser guidance head 1431 can receive the diffuse reflection laser, the weapon control seat 24 issues a "power-on" command and transmits the command to the onboard mission manager 15 through the ground mission manager 25, and the onboard mission manager 15 controls the laser guidance head 1431 of the weapon module 14 to be powered on after receiving the "power-on" command.
After the laser guidance head 1431 is powered on, the weapon module 14 sends the power-on state to the weapon control seat 24 through the airborne task manager 15, the airborne data link terminal 11, the ground data link terminal 21 and the ground task manager 25 in sequence.
In a further preferred embodiment, the weapon control seat 24 receives the power-on state of the laser guide 1431, and then sends an "ignition" command, and the ground task manager 25 transmits the command to the on-board task manager 15, and the on-board task manager 15 receives the command and then controls the weapon 143 to fire and shoot, so as to perform striking.
According to a preferred embodiment of the present invention, as shown in fig. 3, the ground task manager 25 includes a ground integrated control board 251, and a data distribution module 2511 and an instruction reconstruction module 2512 are disposed on the ground integrated control board 251.
The data distribution module 2511 is configured to distribute data information transmitted by the airborne subsystem 1 to the ground task manager 25 through the ground data link terminal 21, and respectively distribute the data information to the sight stabilizing control seat 22, the flight control seat 23, and the weapon control seat 24; the instruction reorganizing module 2512 is configured to reorganize instruction information fed back to the ground task manager 25 by the stabilized sighting control seat 22, the flight control seat 23, and the weapon control seat 24, and send the instruction information to the airborne data link terminal 11.
In a further preferred embodiment, the ground task manager 25 further comprises an ATR chassis, a transformer, and an avionics component, wherein the avionics component comprises a power input avionics and a signal interaction avionics.
The ATR case is an aviation standard military case, is manufactured strictly according to the national military standard, meets the environmental adaptability requirement of the national military, and provides structural support for the internal components of the case body; the transformer is used for adjusting external access voltage and adapting to the power supply requirement characteristic of a hardware circuit in the box body; the aviation plug assembly comprises a power input aviation plug and a signal interaction aviation plug, wherein the power input aviation plug is an aviation special plug and is used for supplying power to internal circuit components, and the signal interaction aviation plug is used for carrying out signal interaction with a stabilized aiming control seat 22, a flying control seat 23, a weapon control seat 24 and a ground data link terminal 21.
According to a preferred embodiment of the present invention, the data information distributed to the stabilized sighting control seat 22 by the ground task manager 25 includes the target distance, the azimuth angle, the altitude angle, the image recorder state, the unmanned helicopter attitude angle and the unmanned helicopter position detected by the stabilized sighting device 12; the data information distributed to the flight control seat 22 by the ground task manager 25 includes time information detected by the flight control module 13, an attitude angle of the unmanned helicopter, a position of the unmanned helicopter, a ground speed of the unmanned helicopter, and a direction of a speed of the unmanned helicopter, which is a direction in which the speed of the unmanned helicopter is located because the speed is a vector. (ii) a The data information distributed to the weapon control seats 22 by the ground task manager 25 is the state parameter information of the missile detected by the weapon module 14, specifically, whether to be in the power-on mode or the ignition mode.
In a further preferred embodiment, the stabilized sighting control seat 22, the flight control seat 23, and the weapon control seat 24 respectively output instruction information for controlling the stabilized sighting device 12, the flight control module 13, and the weapon module 14, respectively, after receiving the data information distributed by the ground mission manager 25.
In another aspect, the present invention provides a control method of an unmanned helicopter, wherein, as shown in fig. 4, the method includes the following steps:
step 1, searching, detecting, identifying, locking, tracking and positioning a target by using the sight-stabilizing device 12 and the sight-stabilizing control seat 22, and then emitting laser to the target by the sight-stabilizing device 12.
After the unmanned helicopter takes off, the sight stabilizing device 12 enters a working state, and the sight stabilizing control seat 22 controls the sight stabilizing device 12 in real time, so that the sight stabilizing device 12 searches and positions a target.
According to a preferred embodiment of the invention, said step 1 comprises the following sub-steps:
1-1, searching a target by using a sight-stabilizing device 12, and transmitting image information detected in the searching process to a sight-stabilizing control seat 22;
the image information detected by the stabilized sighting device 12 is directly transmitted to the airborne data link terminal 11;
step 1-2, the sight-stabilizing control seat 22 controls the sight-stabilizing device 12 to detect, identify and lock the target according to the image information transmitted by the sight-stabilizing device 12;
step 1-3, after the target is locked by the sight stabilizing device 12, the sight stabilizing control seat 22 tracks and positions the target by the sight stabilizing device 12, and transmits detected data information and image information to the sight stabilizing control seat 22;
the data information is transmitted to the airborne data link terminal 11 through the airborne task manager 15, and the image information is directly transmitted to the airborne data link terminal; after the sight stabilizing device 12 positions the target, the sight stabilizing device 12 emits laser light, which reaches the target and is diffusely reflected at the target.
In step 1, the stabilized sighting control seat 22 transmits the received image information to the weapon control seat 24 in real time;
in the invention, after the stabilized sighting device 12 transmits the detected image information to the stabilized sighting control seat 22 through the airborne data link terminal 11 and the ground data link terminal 21, the stabilized sighting control seat 22 transmits the received image information to the weapon control seat 24.
And 2, adjusting the flight area to enable the laser guide head 1431 to receive laser which is subjected to diffuse reflection by the target, namely diffuse reflection laser.
According to a preferred embodiment of the invention, said step 2 comprises the following sub-steps:
step 2-1, the weapon control seat 24 calculates data of the image information sent by the sight stabilizing control seat 24 to obtain calculated information;
step 2-2, sequentially transmitting the resolving information to the ground task manager 25 and the ground data link terminal 21, and then transmitting the resolving information to the airborne task manager 15;
and 2-3, outputting the resolving information to the flight control module 13 by the airborne task manager 15, and controlling the unmanned helicopter to fly to an area where the laser seeker can receive the diffuse reflection laser.
And 3, controlling the laser guide head 1431 to be powered on by utilizing the weapon control seat 24.
According to a preferred embodiment of the invention, step 3 comprises the following sub-steps:
step 3-1, after the unmanned helicopter flies to the area where the laser guide head 1431 can receive the diffuse reflection laser, the weapon control seat 24 sends a power-on command;
step 3-2, the ground task manager 25 receives the power-on command and transmits the power-on command to the airborne task manager 15, and the airborne task manager 15 controls the laser guide head 1431 of the weapon module 14 to be powered on after receiving the power-on command;
and 3-3, the weapon module 14 sends the power-on state parameters of the laser seeker to a weapon control seat 24 through the airborne task manager 15, the airborne data link terminal 11, the ground data link terminal 21 and the ground task manager 25 in sequence.
And 4, sending an ignition command by the weapon control seat 24 to strike the target.
Wherein, after receiving the power-on state parameter of the laser guidance head, the weapon control seat 24 sends an ignition command to fire the weapon 143 and strike the target.
In the present invention, after the weapon is fired, the laser guide head 1431 receives the laser diffusely reflected by the target, and the diffusely reflected laser forms a guide instruction, so that the weapon can track the target and strike the target accurately.
According to a preferred embodiment of the invention, step 4 is followed by step 5: and 5, carrying out post-war evaluation.
Wherein after the target is hit, the stabilized aiming control seat 22 is utilized for post-war evaluation.
In a further preferred embodiment, said step 5 comprises the following sub-steps:
and 5-1, shooting the post-battle environment by the sight stabilizing device 12, and transmitting shot image information to the sight stabilizing control seat 22.
And 5-2, performing post-war evaluation on the stabilized sighting control seat 22 according to the combination of geometric evaluation and simulation evaluation.
The geometric evaluation refers to the external deformation of the target, and the simulation evaluation refers to the internal deformation of the target.
And 5-3, analyzing by the sight-stabilizing control seat 22, if the striking is qualified, finishing striking, and if the striking is unqualified, striking the target for the second time.
The improper striking means that the deformation of the outer and inner lines of the target is small, that is, the target may be shifted without a center target during striking, and therefore, a second striking is required. If the striking is qualified, the striking is finished without secondary striking.
In the invention, the data information refers to telemetering information, namely information detected by the airborne subsystem, and the instruction information refers to remote control information, namely information for controlling the airborne subsystem by the ground subsystem.
The invention has the advantages that:
(1) the weapon carried by the system provided by the invention is guided by laser, and the hitting precision is high;
(2) the system integrates the airborne subsystem and the ground subsystem, and has simple structure and high cost performance;
(3) the system provided by the invention is based on the unmanned helicopter, and has the advantages of unmanned driving, high personal safety performance, small volume, difficulty in detection, capability of hovering irradiation, capability of hovering attack, high hanging weight and the like;
(4) the system provided by the invention can be used for battlefield reconnaissance, accurate directional positioning and fixed point irradiation of the target, and accurate attack on the target can be realized by adopting laser guidance;
(5) the system has the characteristics of long voyage, long dead time, high controllability, real-time attack, reusability and the like;
(6) the method of the invention has flexible and efficient operation and can accurately attack the maneuvering target in real time.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner" and "outer" indicate the orientation or positional relationship based on the operation state of the present invention, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus should not be construed as limiting the present invention.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (8)
1. Unmanned helicopter control system with laser guided weapon, characterized in that, the system includes airborne subsystem (1) and ground subsystem (2), wherein, be provided with on-board data link terminal (11), steady sighting device (12), flight control module (13), weapon module (14) and on-board task manager (15) on the airborne subsystem (1), wherein, on the weapon module (14) hangs weapon (143), be provided with laser guide head (1431) and missile-borne computer (1432) at weapon (143), laser guide head (1431) includes laser receiver (14311);
the airborne task manager (15) is used for receiving data information transmitted by the stabilized sighting device (12), the flight control module (13) and the weapon module (14), processing the data information, sending the processed information to the ground subsystem (2) through the airborne data link terminal (11), receiving instruction information sent by the ground subsystem (2), distributing the instruction information, and controlling the stabilized sighting device (12), the flight control module (13) and the weapon module (14);
the on-board task manager (15) comprises a motherboard (151), an on-board integrated control board (152) and a weapon emission control board (153),
the motherboard (151) is used for connecting an onboard integrated control board (152) and a weapon firing control board (153) and providing power supply, data information and level control signals for the motherboard;
the airborne integrated control panel (152) is used for forwarding data information transmitted by the sight stabilizing device (12), the flight control module (13) and the weapon module (14) and image information transmitted by the weapon module (14) to the ground subsystem (2), extracting and packaging the data information transmitted by the sight stabilizing device (12) and the flight control module (13), sending the data information to the weapon module (14), receiving instruction information output by the ground subsystem (2) and respectively distributing the instruction information to the sight stabilizing device (12), the flight control module (13) and the weapon module (14);
the weapon firing control board (153) is used for controlling the electrification of the laser seeker and the firing of the weapon;
an information forwarding module (1521), a data extraction and packaging module (1522) and an instruction distribution module (1523) are arranged on the airborne integrated control panel (152);
a power-on control module (1531) and an ignition control module (1532) are arranged on the weapon firing control board (153);
the ground subsystem (2) comprises a ground data link terminal (21), a stabilized sighting control seat (22), a flight control seat (23), a weapon control seat (24) and a ground task manager (25),
the ground data link terminal (21) is used for carrying out information transmission with the airborne subsystem (1), and the information comprises data information and image information which are sent to the ground subsystem (2) by the airborne subsystem (1) and instruction information which is sent to the airborne subsystem (1) by the ground subsystem (2);
the stabilized sighting control seat (22) is used for controlling the stabilized sighting device (12) so as to search and track a target and simultaneously used for post-war evaluation;
the flight control seat (23) is used for sending an instruction to the flight control module (13) so as to control the flight of the unmanned helicopter;
the weapon control seat (24) is used for controlling the power-on of the laser guide head (1431) and the emission of the weapon (143);
the ground task manager (25) is used for processing information transmitted by the airborne subsystem (1), distributing the information to the stabilized sighting control seat (22), the flight control seat (23) and the weapon control seat (24), receiving instruction information of the stabilized sighting control seat (22), the flight control seat (23) and the weapon control seat (24), and transmitting the instruction information to the airborne subsystem (1) through the ground data link terminal (21);
the ground task manager (25) comprises a ground comprehensive control panel (251), a data distribution module (2511) and an instruction recombination module (2512) are arranged on the ground comprehensive control panel (251), wherein,
the data distribution module (2511) is used for respectively distributing data information transmitted to the ground task manager (25) by the airborne subsystem (1) through the ground data link terminal (21) to the stabilized sighting control seat (22), the flight control seat (23) and the weapon control seat (24);
the instruction recombination module (2512) is used for recombining the instruction information fed back to the ground task manager (25) by the stabilized sighting control seat (22), the flight control seat (23) and the weapon control seat (24) and sending the recombined instruction information to the airborne data chain terminal (11).
2. The system of claim 1,
the airborne data link terminal (11) is used for carrying out information transmission with the ground subsystem (2), and the information comprises data information and image information which are sent to the ground subsystem (2) by the airborne subsystem (1) and instruction information which is sent to the airborne subsystem (1) by the ground subsystem (2);
the sight stabilizing device (12) is used for searching, detecting, identifying, locking, tracking and positioning a target under the control of the ground subsystem (2), and emitting laser to the target after positioning;
the flight control module (13) is used for controlling the flight of the unmanned helicopter;
the weapon module (14) is used for carrying a weapon and launching the weapon after receiving an ignition command sent by the ground subsystem (2);
the laser guide head (1431) is used for receiving laser diffusely reflected by a target so as to strike the target;
the onboard computer (1432) is used to transmit the status of the weapon (143), including the power-on status of the laser seeker and the firing status of the weapon, to the onboard mission manager (15).
3. The system of claim 1, wherein the weapon module (14) further comprises an on-board pylon (141) and a weapon launch canister (142), wherein the on-board pylon (141) is configured to connect the unmanned helicopter with the weapon launch canister (142); the weapon launching barrel (142) is used for carrying a weapon (143).
4. The system according to any one of claims 1 to 3, wherein after the target is positioned by the sight stabilizing device (12), laser light is emitted to the target, and diffuse reflection of the laser light occurs on the target to generate diffuse reflection laser light;
after the weapon (143) is fired, a laser receiver (14311) in the laser guide head (1431) receives the diffuse reflection laser to form a guide instruction, so that the laser guide head (1431) tracks and hits a target.
5. Method for controlling an unmanned helicopter with laser guided weapons, using the system according to one of claims 1 to 3, wherein said method comprises the following steps:
step 1, searching, detecting, identifying, locking, tracking and positioning a target by using a sight-stabilizing device (12) and a sight-stabilizing control seat (22), and then emitting laser to the target by the sight-stabilizing device (12);
step 2, adjusting a flight area to enable a laser receiver (14311) of the laser guide head (1431) to receive laser which is diffusely reflected by the target, namely diffusely reflected laser;
step 3, the weapon control seat (24) sends a power-on command to control the power-on of the laser guide head (1431);
and 4, sending an ignition command by the weapon control seat (24) to strike the target.
6. The method of claim 5, wherein,
the step 1 comprises the following substeps:
1-1, searching a target by using a sight-stabilizing device (12), and transmitting image information detected in the searching process to a sight-stabilizing control seat (22);
step 1-2, the stabilized sighting control seat (22) controls the stabilized sighting device (12) to detect, identify and lock a target according to image information transmitted by the stabilized sighting device (12);
in the step 1-2, the stabilized sighting device (12) locks a target and then emits laser to the target, and the laser generates diffuse reflection on the target;
step 1-3, after the target is locked by the sight stabilizing device (12), the sight stabilizing control seat (22) controls the sight stabilizing device (12) to track and position the target;
wherein, in step 1, the stabilized sighting control seat (22) transmits the received image information to the weapon control seat (24) in real time;
and/or
The step 2 comprises the following substeps:
step 2-1, the weapon control seat (24) resolves the image information sent by the sight stabilizing control seat (24) to obtain resolved information;
step 2-2, sequentially transmitting the resolving information to a ground task manager (25) and a ground data link terminal (21), and then transmitting the resolving information to an airborne task manager (15);
step 2-3, the airborne task manager (15) outputs the resolving information to the flight control module (13) to control the unmanned helicopter to fly to an area where the laser seeker (1431) can receive the diffuse reflection laser;
and/or
The step 3 comprises the following substeps:
step 3-1, after the unmanned helicopter flies to an area where the laser guide head (1431) can receive diffuse reflection laser, the weapon control seat (24) sends a power-on command;
3-2, the ground task manager (25) receives the power-on command and transmits the power-on command to the airborne task manager (15), and the airborne task manager (15) controls the laser guide head (1431) to be powered on after receiving the power-on command;
and 3-3, the weapon module (14) sends the power-on state parameters of the laser seeker to a weapon control seat (24) sequentially through the airborne task manager (15), the airborne data link terminal (11), the ground data link terminal (21) and the ground task manager (25).
7. The method of claim 5, wherein step 4 is followed by step 5:
and 5, carrying out post-war evaluation.
8. The method of claim 7,
the step 5 comprises the following substeps:
step 5-1, shooting an environment after battle by the sight-stabilizing device (12), and transmitting shot image information to a sight-stabilizing control seat (22);
step 5-2, the stabilized sighting control seat (22) performs post-war evaluation according to the combination of geometric evaluation and simulation evaluation;
and 5-3, analyzing by the sight-stabilizing control seat (22), if the striking is qualified, finishing striking, and if the striking is unqualified, striking the target for the second time.
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| 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 |
| CN109774940A (en) * | 2019-01-23 | 2019-05-21 | 西安深瞳智控技术有限公司 | It is a kind of to examine the integrated synthesis avionics system for beating unmanned plane |
| CN110645834A (en) * | 2019-08-29 | 2020-01-03 | 北京宏大和创防务技术研究院有限公司 | Intelligent wushu ware station control system |
| CN111385082B (en) * | 2020-03-23 | 2024-02-23 | 北京中科众为技术有限公司 | Missile-borne data link system and missile provided with same |
| 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 |
| CN113608467A (en) * | 2021-07-29 | 2021-11-05 | 西安超越申泰信息科技有限公司 | Unmanned aerial vehicle machine carries task manager realization device |
| CN114199076A (en) * | 2021-12-30 | 2022-03-18 | 西安深瞳智控技术有限公司 | Unmanned aerial vehicle photoelectric sight stabilizing system based on target detection and tracking |
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