CN108873932A - Unmanned plane bee colony attack guidance system and bootstrap technique based on wireless ultraviolet light - Google Patents
Unmanned plane bee colony attack guidance system and bootstrap technique based on wireless ultraviolet light Download PDFInfo
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- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses a kind of, and the unmanned plane bee colony based on wireless ultraviolet light attacks guidance system, including signal transmitter, signal transmitter includes beacon guide device, and beacon guide device is interior to be connected with modulation module, driving circuit and ultraviolet LED array in turn by electric signal；It further include the signal receiver being installed on unmanned plane, signal receiver includes passing through the sequentially connected photoelectric conversion module of electric signal, power measurement module and computing module, three-axis sensor is installed in power measurement module, photoelectric conversion module is successively also connected with filter module, amplification module and signal demodulation module by electric signal, and signal demodulation module and computing module pass through conducting wire and be connected with pressure gauge module jointly.The invention also discloses its bootstrap techniques.The advantages that system is fought flexibly, autonomous collaboration, strong antijamming capability, good concealment, wide visual field receive, is able to carry out all weather operations.
Description
Technical field
The invention belongs to photoelectric information technical fields, and in particular to the unmanned plane bee colony based on wireless ultraviolet light attacks guidance
System further relates to carry out unmanned plane bee colony attack bootstrap technique using the guidance system.
Background technique
With being growing for modern war fighting range and being stepped up for operation difficulty, single unmanned plane is being executed
It may be subjected to the limitation of viewing angle when problem, thus drain message, so can not comprehensive completion scouting and attack；And
Single unmanned plane failure must just make a return voyage, and then be delayed the execution of task.Unmanned plane bee colony, which is fought, can play remote surpass
The cumulative fighting capacity of individual.It is such as formed into columns according to mission requirements, battlefield surroundings and threat characteristics using reasonable, by more efficient
Battlefield collaboration, can be well realized the scale effect of bee colony operation.Therefore, it is contemplated that executing task jointly using multi rack
Unmanned plane constitutes a bee colony cooperative system.
Group behavior of the initial thinking of unmanned plane bee colony system from biology.For example, honeybee in groups flight when, honeybee
By simply being exchanged with companion around, it will be able to keep certain formation, be drawn close to bee colony center, or toward the direction
It is mobile, while being maintained a certain distance between individual.Such interactive cooperation facilitates them and completes more complex task.By bee
The thought of group bee colony is applied in unmanned plane, is the thought of bee colony unmanned plane bee colony control.Unmanned plane bee colony is from biology
Group behavior, therefore it inherits a series of features of biocenose behavior.
Summary of the invention
The purpose of the present invention is to provide the unmanned plane bee colonies based on wireless ultraviolet light to attack guidance system, using ultraviolet light
Precise strike is completed in ranging and positioning, the cooperation of unmanned plane bee colony.
It is another object of the present invention to provide above-mentioned, and the unmanned plane bee colony based on wireless ultraviolet light attacks bootstrap technique.
The technical scheme adopted by the invention is that the unmanned plane bee colony based on wireless ultraviolet light attacks guidance system, including
Signal transmitter, signal transmitter include beacon guide device, and beacon guide device is interior to be connected with modulation in turn by electric signal
Module, driving circuit and ultraviolet LED array；It further include the signal receiver being installed on unmanned plane, signal receiver includes logical
The sequentially connected photoelectric conversion module of electric signal, power measurement module and computing module are crossed, is equipped with three in power measurement module
Axle sensor, photoelectric conversion module are successively also connected with filter module, amplification module and signal demodulation module by electric signal, believe
Number demodulation module and computing module are connected with pressure gauge module by conducting wire jointly.
The features of the present invention also characterized in that
Ultraviolet LED array is in hemispherical structure, and ultraviolet LED array is made of the ultraviolet LED arranged in weft and warp.
The wavelength that each ultraviolet LED uses is 200nm~280nm, and typical luminous power is 0.3mW.
The model MS-5611 of pressure gauge module.
The model 5R7154 of photoelectric conversion module, typical gains 107。
Another technical solution of the present invention is,
Unmanned plane bee colony based on wireless ultraviolet light attacks bootstrap technique, is specifically implemented according to the following steps：
Step 1, beacon guide device is installed：The beacon guide device for having target of attack location information is placed in distance
At object 80m~120m；
Step 2, scan phase：After the completion of step 1, initiation beacon guide device is scanned, and waits unmanned plane bee colony
It arrives；
Ultraviolet LED array in beacon guide device carries out according to weft direction with the alternate mode of warp direction luminous；
Ultraviolet LED array shines according to warp direction, and ultraviolet LED array shines according to weft direction, power measurement module
On the optical signal that receives of three-axis sensor record corresponding to ultraviolet LED array pitching angle theta1And θ2；
Step 3, unmanned plane bee colony：Unmanned plane bee colony is flown in the air, in the non-direct vision of ultraviolet light, calculates each unmanned plane
With ultraviolet beacon distance r, as shown in formula (4), using the smallest unmanned plane of r value as leader, other unmanned planes follow leader to fly
Row target object；
In formula (4), lambertw function is f (w)=w*exp (w) inverse function, i.e. w=lambertw (f (w)), wherein
Exp (w) is exponential function, and w is any plural number；PtIt is to send power；PrIt is received optical power；ArIt is to be connect in photoelectric conversion module
The area of batter diameter；KsFor scattering coefficient；PsIt is Scattering Phase Function；φ1It is transmitting beam angle；φ2It is signal receiver
Field of view of receiver angle；KeFor atmosphere attenuation coefficien, by scattering coefficient KsWith atmosphere absorbance KaForm (Ke=Ks+Ka)；θ1It is letter
The elevation angle of number transmitter；θ2It is the elevation angle of signal receiver；
Step 4, when bee colony leader is in right above object central point, i.e. bee colony leader and ground level h meets formula (5)
When, unmanned plane bee colony bombs object；
In formula (5), r1Be leader at a distance from beacon guide device, x be object and beacon guide device straight line away from
From.
The beneficial effects of the invention are as follows：Based on wireless ultraviolet ligh-ranging and location technology, wireless ultraviolet light guidance is realized
Unmanned plane bee colony attacking system, which fights flexibly, and autonomous collaboration, strong antijamming capability, good concealment, wide visual field receive
The advantages that, it is able to carry out all weather operations.
Detailed description of the invention
Fig. 1 is that the present invention is based on the frame diagrams of the unmanned plane bee colony of wireless ultraviolet light attack guidance system；
Fig. 2 is that the present invention is based on ultraviolet LED array figures in the unmanned plane bee colony of wireless ultraviolet light attack guidance system；
Fig. 3 is that the present invention is based on unmanned plane during flying schematic diagrames in the unmanned plane bee colony of wireless ultraviolet light attack bootstrap technique；
Fig. 4 is leader and target of attack in a kind of unmanned plane bee colony attack bootstrap technique based on wireless ultraviolet light of the present invention
The location drawing of object.
In figure, 1. signal transmitters, 2. modulation modules, 3. driving circuits, 4. ultraviolet LED arrays, 5. signal receivers, 6.
Photoelectric conversion module, 7. power measurement modules, 8. computing modules, 9. filter modules, 10. amplification modules, 11. signal solution mode transfers
Block, 12. pressure gauge modules.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention is based on the unmanned plane bee colonies of wireless ultraviolet light to attack guidance system, as shown in Figure 1, including signal transmitter
1, signal transmitter 1 includes beacon guide device, and beacon guide device is interior to be connected with modulation module 2 in turn by electric signal, drives
Dynamic circuit 3 and ultraviolet LED array 4；It further include the signal receiver 5 being installed on unmanned plane, signal receiver 5 includes passing through electricity
The sequentially connected photoelectric conversion module 6 of signal, power measurement module 7 and computing module 8, photoelectric conversion module 6 pass through electric signal
It is successively also connected with filter module 9, amplification module 10 and signal demodulation module 11, signal demodulation module 11 and computing module 8 are logical
It crosses conducting wire and is connected with pressure gauge module 12 jointly；
Ultraviolet LED array 4 is in hemispherical structure, as shown in Fig. 2, and ultraviolet LED array 4 by being arranged in weft and warp
Ultraviolet LED is constituted, and the wavelength that each ultraviolet LED uses is 200nm~280nm, and typical luminous power is 0.3mW；
The model 5R7154 of photoelectric conversion module 6, typical gains 107；
Modulation module 2 uses PPM modulation circuit；
3 module of driving circuit uses DD311 constant-current driven chip；
Three-axis sensor is installed in power measurement module 7；
Computing module 8 is completed by airborne computer；
Filter module 9 uses digital filtering method；
Amplification module 10 uses FPGA cake core；
Demodulation module 11 uses PPM demodulator circuit；
The model MS-5611 of pressure gauge module 12.
The present invention is based on the unmanned plane bee colonies of wireless ultraviolet light to attack guidance system, and concrete operating principle is：
The beacon guide device for having target of attack location information is placed at distance objective object 80m~120m, nothing is worked as
Man-machine bee colony is flown in the air, and ultraviolet signal is converted to telecommunications by the photoelectric conversion module 6 on unmanned plane in receiver module 5
Number, the pitching angle theta of ultraviolet LED array 4 corresponding to the optical signal that the three-axis sensor record in power measurement module 7 receives1
And θ2, by computing module 8, each unmanned plane and ultraviolet beacon distance r are calculated, using the smallest unmanned plane of r value as leader,
Other unmanned planes follow leader flight target object, electric signal of the signal receiver 5 after the conversion of photoelectric conversion module 6,
Signal processing is carried out by filter module 9, amplification module 10, signal demodulation module 11, the target of attack position received is believed
Breath, which demodulates, to be come, and bee colony leader is calculated at a distance from ground by pressure gauge module 12, when the bee colony leader of real-time measurement is in
Right above object central point, unmanned plane bee colony bombs object.
Unmanned plane bee colony based on wireless ultraviolet light attacks bootstrap technique, is specifically implemented according to the following steps：
Step 1, beacon guide device is installed：The beacon guide device for having target of attack location information is placed in distance
At object 80m~120m；
Step 2, scan phase：After the completion of step 1, initiation beacon guide device is scanned, and waits unmanned plane bee colony
It arrives；
Ultraviolet LED array 4 in beacon guide device carries out according to weft direction with the alternate mode of warp direction luminous；
Ultraviolet LED array 4 shines according to warp direction, and ultraviolet LED array 4 shines according to weft direction, power measurement mould
The pitching angle theta of ultraviolet LED array 4 corresponding to the optical signal that three-axis sensor record on block 7 receives1And θ2；
Step 3, unmanned plane bee colony：Unmanned plane bee colony is flown in the air, in the non-direct vision of ultraviolet light, calculates each unmanned plane
With ultraviolet beacon distance r, as shown in formula (4), using the smallest unmanned plane of r value as leader, as shown in figure 3, other unmanned planes
Follow leader flight target object；
Ultraviolet light direct-view link power is exponentially decayed in atmosphere free space, and atmospheric attenuation is represented byFrom
By space path loss and r2It is inversely proportionalThe reception gain of detector isUltraviolet communication under direct vision
Received optical power, as shown in formula (1)：
In formula (1), r is the communication distance of unmanned plane and ultraviolet beacon under direct vision；PtIt is to send power；PrIt is to receive
Optical power；ArIt is the area of receiving aperture in photoelectric conversion module 6；Indicate atmospheric attenuation；
Unmanned plane is calculated by power measurement module and receives the ultraviolet non-direct-view optical power of beacon, as shown in formula (2)：
In formula (2), r indicates the non-straight communication distance for optionally descending unmanned plane Yu ultraviolet beacon；
By ultraviolet light received optical power formula (1) and lambertw function under the conditions of non-direct-view, under direct vision unmanned plane with
The communication distance r of ultraviolet beacon, as shown in formula (3)：
Formula (2) are substituted into formula (3), unmanned plane and ultraviolet beacon distance r are obtained, as shown in formula (4)：
In formula (4), lambertw function is f (w)=w*exp (w) inverse function, i.e. w=lambertw (f (w)), wherein
Exp (w) is exponential function, and w is any plural number；
In formula (2), formula (3) and formula (4), PtIt is to send power；PrIt is received optical power；ArIt is receiving aperture on PMT6
Area；KsFor scattering coefficient；PsIt is Scattering Phase Function；φ1It is transmitting beam angle；φ2It is the reception view of signal receiver 5
Rink corner；KeFor atmosphere attenuation coefficien, by scattering coefficient KsWith atmosphere absorbance KaForm (Ke=Ks+Ka)；θ1It is that signal is sent
The elevation angle of machine 1；θ2It is the elevation angle of signal receiver 5；
In formula (4), the Pt, Ar, Ke, Ps, φ1, φ2And KsIt is known quantity, received optical power PrPass through power measurement mould
Block 7 obtains, θ1、θ2It is measured by the three-axis sensor being installed in power measurement module 7, r is by importing operation for formula (4)
Module 8 is calculated；
Step 4, when bee colony leader is in right above object central point, i.e. bee colony leader and ground level h meets formula (5)
When, as shown in figure 4, unmanned plane bee colony bombs object；
In formula (5), r1Be leader at a distance from beacon guide device, x be object and beacon guide device straight line away from
From.
Method of the invention is based on wireless ultraviolet ligh-ranging and location technology, realizes the unmanned plane of wireless ultraviolet light guidance
The advantages that bee colony attacking system, the system are fought flexibly, autonomous collaboration, strong antijamming capability, good concealment, wide visual field receive,
It is able to carry out all weather operations, and can realize the accurate positioning of target in the place of not GPS signal, and realize that attack is appointed
Business.Apply in unmanned plane operation provide a kind of effective technological means for the following ultraviolet communication.
Claims (6)
1. the unmanned plane bee colony based on wireless ultraviolet light attacks guidance system, which is characterized in that including signal transmitter (1), institute
Stating signal transmitter (1) to include includes beacon guide device, and beacon guide device is interior to be connected with modulation mould in turn by electric signal
Block (2), driving circuit (3) and ultraviolet LED array (4)；It further include the signal receiver (5) being installed on unmanned plane, the letter
Number receiver (5) includes passing through the sequentially connected photoelectric conversion module of electric signal (6), power measurement module (7) and computing module
(8), three-axis sensor is installed, the photoelectric conversion module (6) is successively gone back by electric signal in the power measurement module (7)
It is connected with filter module (9), amplification module (10) and signal demodulation module (11), the signal demodulation module (11) and operation mould
Block (8) is connected with pressure gauge module (12) by conducting wire jointly.
2. the unmanned plane bee colony according to claim 1 based on wireless ultraviolet light attacks guidance system, which is characterized in that institute
Ultraviolet LED array (4) are stated in hemispherical structure, and the ultraviolet LED array (4) is by the ultraviolet LED in weft and warp arrangement
It constitutes.
3. the unmanned plane bee colony according to claim 2 based on wireless ultraviolet light attacks guidance system, which is characterized in that every
The wavelength that a ultraviolet LED uses is 200nm~280nm, and typical luminous power is 0.3mW.
4. the unmanned plane bee colony according to claim 1 based on wireless ultraviolet light attacks guidance system, which is characterized in that institute
State the model MS-5611 of pressure gauge module (12).
5. the unmanned plane bee colony according to claim 1 based on wireless ultraviolet light attacks guidance system, which is characterized in that institute
State the model 5R7154 of photoelectric conversion module (6), typical gains 107。
6. the unmanned plane bee colony based on wireless ultraviolet light attacks bootstrap technique, which is characterized in that be specifically implemented according to the following steps：
Step 1, beacon guide device is installed：The beacon guide device for having target of attack location information is placed in distance objective
At object 80m~120m；
Step 2, scan phase：After the completion of step 1, initiation beacon guide device is scanned, and waits the arrival of unmanned plane bee colony；
Ultraviolet LED array (4) in beacon guide device carries out according to weft direction with the alternate mode of warp direction luminous；
Ultraviolet LED array (4) shines according to warp direction, and ultraviolet LED array (4) shines according to weft direction, power measurement mould
The pitching angle theta of ultraviolet LED array (4) corresponding to the optical signal that three-axis sensor record on block (7) receives1And θ2；
Step 3, unmanned plane bee colony：Unmanned plane bee colony is flown in the air, in the non-direct vision of ultraviolet light, calculates each unmanned plane and purple
The distance r of outer beacon, as shown in formula (4), using the smallest unmanned plane of r value as leader, other unmanned planes follow leader flight to fly
To object；
In formula (4), lambertw function is f (w)=w*exp (w) inverse function, i.e. w=lambertw (f (w)), wherein exp
It (w) is exponential function, w is any plural number；PtIt is to send power；PrIt is received optical power；ArIt is to be connect on photoelectric conversion module (6)
The area of batter diameter；KsFor scattering coefficient；PsIt is Scattering Phase Function；φ1It is transmitting beam angle；φ2It is signal receiver
(5) field of view of receiver angle；KeFor atmosphere attenuation coefficien, by scattering coefficient KsWith atmosphere absorbance KaComposition；θ1It is that signal is sent
The elevation angle of machine (1)；θ2It is the elevation angle of signal receiver (5)；
Step 4, when bee colony leader is in right above object central point, i.e., bee colony leader and ground level h meet formula (5),
Unmanned plane bee colony bombs object；
In formula (5), r1It is leader at a distance from beacon guide device, x is the linear distance of object and beacon guide device.
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| CN109917370A (en) * | 2019-02-26 | 2019-06-21 | 西安理工大学 | Localization method between ships deck hand in wireless ultraviolet light secret communication |
| CN109991999A (en) * | 2019-03-29 | 2019-07-09 | 郑州信大捷安信息技术股份有限公司 | Unmanned plane formation self aligning system and method |
| CN110456813A (en) * | 2019-04-16 | 2019-11-15 | 西安理工大学 | The unmanned plane of wireless ultraviolet light guidance is formed into columns the method that optimal sub-clustering formation is kept |
| CN111176321A (en) * | 2019-12-27 | 2020-05-19 | 西安羚控电子科技有限公司 | Heterogeneous swarm unmanned aerial vehicle cooperative attack system and method |
| CN111601356A (en) * | 2020-04-17 | 2020-08-28 | 西安理工大学 | Wireless ultraviolet light cooperation unmanned aerial vehicle covert dynamic clustering system and method |
| CN113556672A (en) * | 2020-04-23 | 2021-10-26 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
| CN114527426A (en) * | 2020-11-06 | 2022-05-24 | 西安理工大学 | Emergency positioning system and positioning method based on ultraviolet beacon |
| CN111193543B (en) * | 2020-01-06 | 2023-07-11 | 陕西想象力智能科技有限公司 | Ultraviolet light communication system based on ZigBee ad hoc network |
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| CN111601356A (en) * | 2020-04-17 | 2020-08-28 | 西安理工大学 | Wireless ultraviolet light cooperation unmanned aerial vehicle covert dynamic clustering system and method |
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| CN113556672A (en) * | 2020-04-23 | 2021-10-26 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
| CN113556672B (en) * | 2020-04-23 | 2022-10-11 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
| CN114527426A (en) * | 2020-11-06 | 2022-05-24 | 西安理工大学 | Emergency positioning system and positioning method based on ultraviolet beacon |
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