CN108955722B - Unmanned aerial vehicle target positioning indicating system and indicating method - Google Patents
Unmanned aerial vehicle target positioning indicating system and indicating method Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle target positioning indicating system, which comprises an airborne laser range finder, an airborne camera, an airborne high-precision inertial navigation system, a satellite direction finding receiver and an airborne high-speed data transmission radio station, wherein the airborne laser range finder, the airborne camera, the airborne high-precision inertial navigation system, the satellite direction finding receiver and the airborne high-speed data transmission radio station are carried on an unmanned aerial vehicle; the airborne camera is used for photographing, compressing and storing a ground target after receiving an instruction of the task computer, recording time information at the moment, and transmitting photographed pictures or videos to the ground monitoring station in real time through the airborne high-speed data transmission radio station. Has the following advantages: the comprehensive airborne laser range finder, airborne camera, airborne high-precision inertial navigation, satellite direction-finding receiver and airborne high-speed data transmission radio station are configured, information such as battlefield environment and airplane performance is comprehensively utilized, a combat target is detected and accurately positioned, and the target is indicated, so that the missile is guided to be accurately struck, and the combat capability of the unmanned aerial vehicle in the combat fields such as target detection, target indication and tactical striking is improved.
Description
Technical Field
The invention belongs to the technical field of airborne navigation communication positioning, and particularly relates to an unmanned aerial vehicle target positioning indicating system and an indicating method.
Background
The development direction of modern military theory and war mode makes unmanned aerial vehicles play an increasingly important role in future war. Unmanned aerial vehicles play an important role in war with their specific modes of operation and effectiveness of operation. In the future air defense battlefield, the unmanned aerial vehicle becomes an important air threat, and brings a serious challenge to air defense combat.
How to design an unmanned aerial vehicle target location indicating system to improve unmanned aerial vehicle and at the operation ability in fields such as target reconnaissance, target indication, tactics are hit, are the thing that needs to solve at present urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an unmanned aerial vehicle target positioning indicating system and an indicating method, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides an unmanned aerial vehicle target positioning indicating system, which comprises an airborne laser range finder, an airborne camera, an airborne high-precision inertial navigation system, a satellite direction finding receiver and an airborne high-speed data transmission radio station, wherein the airborne laser range finder, the airborne camera, the airborne high-precision inertial navigation system, the satellite direction finding receiver and the airborne high-speed data transmission radio station are carried on an unmanned aerial vehicle;
the airborne laser range finder comprises an infrared transmitter and an infrared receiver; the infrared transmitter is used for transmitting an infrared beam to a ground target; the infrared receiver is used for receiving the light pulse reflected by the ground target from the current infrared light beam before the next infrared light pulse is sent out, and recording the time for sending the infrared light beam and the time for receiving the light pulse, so that the distance from the unmanned aerial vehicle to the ground target, namely the altitude data of the unmanned aerial vehicle, is measured;
the airborne camera is used for photographing, compressing and storing a ground target after receiving an instruction of the task computer, recording time information at the moment, and transmitting photographed pictures or videos to the ground monitoring station in real time through the airborne high-speed data transmission radio station;
the airborne high-precision inertial navigation is used for measuring the current acceleration, pitching and rolling data of the unmanned aerial vehicle;
the satellite direction-finding receiver is used for combining carrier phase measurement values of multiple frequency points of each satellite by receiving the multi-frequency-point satellite signals of the two airborne antennas, solving the whole-cycle ambiguity of the carrier phase, and finally solving a baseline vector between the master antenna and the slave antenna so as to obtain the accurate course angle and pitch angle of the airplane;
the airborne high-speed data transmission station is used for issuing measurement information of the airborne laser range finder, the airborne camera, the airborne high-precision inertial navigation and the satellite direction finding receiver to a ground monitoring station in real time, and the ground monitoring station integrates and processes data.
The invention also provides an indication method of the unmanned aerial vehicle target positioning indication system, and the target detection process comprises the following steps:
step 1, an unmanned aerial vehicle flies to a ground target area according to a preset track, a task computer triggers an airborne laser range finder, an airborne camera, an airborne high-precision inertial navigation and a satellite direction finding receiver to work synchronously through a time synchronization system, and measurement data information at the current moment is obtained through measurement; the measurement data information comprises elevation data measured by an airborne laser range finder, picture or video data shot by an airborne camera, acceleration, pitching and rolling data output by airborne high-precision inertial navigation, and course angle and pitch angle data of the current airplane measured by a satellite direction-finding receiver;
step 2, the unmanned aerial vehicle issues the measurement data information to a ground monitoring station through an airborne high-speed data transmission radio station;
and 3, fusing the received measurement data information by the ground monitoring station to obtain accurate position coordinates and image information of the ground target point.
Preferably, step 3 specifically comprises:
the elevation data measured by the airborne laser range finder is assumed to be h; the method comprises the following steps that a direction angle of a current airplane measured by a satellite direction finding receiver is a, a pitch angle is b, and an inclination angle is c;
then the unmanned aerial vehicle is at the position (0,0, h), and the coordinates of the projection point of the unmanned aerial vehicle on the ground are (h) tan (b) cos (a) + h tan (c) sin (a), — h tan (b) sin (a) + h tan (c) cos (a)), 0) formula 1
If the unmanned aerial vehicle takes a next photo at the position (0,0, h), the direction angle of the unmanned aerial vehicle is a, the pitch angle is b, and the inclination angle is c; the size of the photograph is x1 x2, and x1 and x2 are the length and width values of the photograph, respectively; assuming that the maximum angle of pitch and tilt is x degrees for the drone measurement, typical values for the drone measurement points are:
(h*tan(x/180*π),h*tan(x/180*π),0)
because of the fact that
d(tan(x))/dx＝1/cos(x)^2,
Therefore, it is not only easy to use
tan(x+dx)≈tan(x)+1/cos(x)^2*dx；
When x is relatively small, cos (x) ≈ 1, tan (x + dx) ≈ tan (x) + dx may be considered,
corresponding to the formula 1, h tan (b), when the angle error is Δ b, the measurement error is h Δ b, and the accurate position data of the corresponding ground point in the direction can be obtained only by controlling the angle error within a certain range.
Preferably, after the step 3, the method further comprises:
and 4, the unmanned aerial vehicle flies to a ground target area according to a preset track, after the accurate position coordinate and image information of the target point are obtained in a detection mode, the airborne laser range finder is kept opened, the target is continuously irradiated, and when the projectile body with the laser seeker flies to the position near the target point, the projectile body is guided to fly to the target point according to light information returned by the unmanned aerial vehicle laser irradiator, so that accurate striking is realized.
The unmanned aerial vehicle target positioning indicating system and the indicating method provided by the invention have the following advantages:
the comprehensive airborne laser range finder, airborne camera, airborne high-precision inertial navigation, satellite direction-finding receiver and airborne high-speed data transmission radio station are configured, information such as battlefield environment and airplane performance is comprehensively utilized, a combat target is detected and accurately positioned, and the target is indicated, so that the missile is guided to be accurately struck, and the combat capability of the unmanned aerial vehicle in the combat fields such as target detection, target indication and tactical striking is improved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle target positioning indication system provided by the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides an unmanned aerial vehicle target positioning indicating system, which comprehensively applies a satellite navigation technology, a wireless communication technology, a laser ranging technology and an imaging technology to an unmanned aerial vehicle, so that the unmanned aerial vehicle plays more and more comprehensive roles in war, and the advantages of the unmanned aerial vehicle in the field of battles such as target reconnaissance, target indication, tactical striking and the like are more and more obvious. The invention realizes an unmanned aerial vehicle target positioning and indicating system, and aims to comprehensively use information such as battlefield environment, airplane performance and the like, detect and accurately position a combat target, and guide a projectile body to strike accurately by indicating the target.
Referring to fig. 1, the target positioning indication system for the unmanned aerial vehicle includes an airborne laser range finder, an airborne camera, an airborne high-precision inertial navigation system, a satellite direction finding receiver and an airborne high-speed data transmission station, which are mounted on the unmanned aerial vehicle;
the airborne laser range finder comprises an infrared transmitter and an infrared receiver; the infrared transmitter is used for transmitting an infrared beam to a ground target; the infrared receiver is used for receiving the light pulse reflected by the ground target from the current infrared light beam before the next infrared light pulse is sent out, and recording the time for sending the infrared light beam and the time for receiving the light pulse, so that the distance from the unmanned aerial vehicle to the ground target, namely the altitude data of the unmanned aerial vehicle, is measured;
the airborne camera is used for photographing, compressing and storing a ground target after receiving an instruction of the task computer, recording time information at the moment, and transmitting photographed pictures or videos to the ground monitoring station in real time through the airborne high-speed data transmission radio station;
the airborne high-precision inertial navigation is used for measuring the current acceleration, pitching and rolling data of the unmanned aerial vehicle;
the satellite direction-finding receiver is used for combining carrier phase measurement values of multiple frequency points of each satellite by receiving the multi-frequency-point satellite signals of the two airborne antennas, solving the whole-cycle ambiguity of the carrier phase, and finally solving a baseline vector between the master antenna and the slave antenna so as to obtain the accurate course angle and pitch angle of the airplane;
the airborne high-speed data transmission station is used for issuing measurement information of the airborne laser range finder, the airborne camera, the airborne high-precision inertial navigation and the satellite direction finding receiver to a ground monitoring station in real time, and the ground monitoring station integrates and processes data.
The invention also provides an indicating method according to the unmanned aerial vehicle target positioning indicating system, and the main application scenes can be divided into two types: target detection and target indication.
The target detection process is as follows:
step 1, an unmanned aerial vehicle flies to a ground target area according to a preset track, a task computer triggers an airborne laser range finder, an airborne camera, an airborne high-precision inertial navigation and a satellite direction finding receiver to work synchronously through a time synchronization system, and measurement data information at the current moment is obtained through measurement; the measurement data information comprises elevation data measured by an airborne laser range finder, picture or video data shot by an airborne camera, acceleration, pitching and rolling data output by airborne high-precision inertial navigation, and course angle and pitch angle data of the current airplane measured by a satellite direction-finding receiver;
step 2, the unmanned aerial vehicle issues the measurement data information to a ground monitoring station through an airborne high-speed data transmission radio station;
and 3, fusing the received measurement data information by the ground monitoring station to obtain accurate position coordinates and image information of the ground target point.
The step 3 specifically comprises the following steps:
the elevation data measured by the airborne laser range finder is assumed to be h; the method comprises the following steps that a direction angle of a current airplane measured by a satellite direction finding receiver is a, a pitch angle is b, and an inclination angle is c;
then the unmanned aerial vehicle is at the position (0,0, h), and the coordinates of the projection point of the unmanned aerial vehicle on the ground are (h) tan (b) cos (a) + h tan (c) sin (a), — h tan (b) sin (a) + h tan (c) cos (a)), 0) formula 1
If the unmanned aerial vehicle takes a next photo at the position (0,0, h), the direction angle of the unmanned aerial vehicle is a, the pitch angle is b, and the inclination angle is c; the size of the photograph is x1 x2, and x1 and x2 are the length and width values of the photograph, respectively; assuming that the maximum angle of pitch and tilt is x degrees for the drone measurement, typical values for the drone measurement points are:
(h*tan(x/180*π),h*tan(x/180*π),0)
because of the fact that
d(tan(x))/dx＝1/cos(x)^2,
Therefore, it is not only easy to use
tan(x+dx)≈tan(x)+1/cos(x)^2*dx；
When x is relatively small, cos (x) ≈ 1, tan (x + dx) ≈ tan (x) + dx may be considered,
corresponding to the formula 1, h tan (b), when the angle error is Δ b, the measurement error is h Δ b, and the accurate position data of the corresponding ground point in the direction can be obtained only by controlling the angle error within a certain range.
The target indication process is as follows:
unmanned aerial vehicle is according to predetermineeing the orbit and flying to ground target area, obtains the accurate position coordinate of target point and image information back through the reconnaissance mode, keeps airborne laser range finder open, continuously shines the target, and the projectile that possesses the laser seeker is when flying near the target point, according to the light information that unmanned aerial vehicle laser irradiator returned, guides the projectile to fly to the target point, realizes accurate striking.
The unmanned aerial vehicle target positioning indicating system and the indicating method provided by the invention have the following advantages:
the comprehensive airborne laser range finder, airborne camera, airborne high-precision inertial navigation, satellite direction-finding receiver and airborne high-speed data transmission radio station are configured, information such as battlefield environment and airplane performance is comprehensively utilized, a combat target is detected and accurately positioned, and the target is indicated, so that the missile is guided to be accurately struck, and the combat capability of the unmanned aerial vehicle in the combat fields such as target detection, target indication and tactical striking is improved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (2)
1. An indication method of an unmanned aerial vehicle target positioning indication system is characterized in that the unmanned aerial vehicle target positioning indication system comprises an airborne laser range finder, an airborne camera, an airborne high-precision inertial navigation system, a satellite direction finding receiver and an airborne high-speed data transmission radio station, wherein the airborne laser range finder, the airborne camera, the airborne high-precision inertial navigation system, the satellite direction finding receiver and the airborne high-speed data transmission radio station are arranged on an unmanned;
the airborne laser range finder comprises an infrared transmitter and an infrared receiver; the infrared transmitter is used for transmitting an infrared beam to a ground target; the infrared receiver is used for receiving the light pulse reflected by the ground target from the current infrared light beam before the next infrared light pulse is sent out, and recording the time for sending the infrared light beam and the time for receiving the light pulse, so that the distance from the unmanned aerial vehicle to the ground target, namely the altitude data of the unmanned aerial vehicle, is measured;
the airborne camera is used for photographing, compressing and storing a ground target after receiving an instruction of the task computer, recording time information at the moment, and transmitting photographed pictures or videos to the ground monitoring station in real time through the airborne high-speed data transmission radio station;
the airborne high-precision inertial navigation is used for measuring the current acceleration, pitching and rolling data of the unmanned aerial vehicle;
the satellite direction-finding receiver is used for combining carrier phase measurement values of multiple frequency points of each satellite by receiving the multi-frequency-point satellite signals of the two airborne antennas, solving the whole-cycle ambiguity of the carrier phase, and finally solving a baseline vector between the master antenna and the slave antenna so as to obtain the accurate course angle and pitch angle of the airplane;
the airborne high-speed data transmission station is used for issuing the measurement information of the airborne laser range finder, the airborne camera, the airborne high-precision inertial navigation and the satellite direction finding receiver to a ground monitoring station in real time, and the ground monitoring station integrates and processes the data;
the target detection process comprises the following steps:
step 1, an unmanned aerial vehicle flies to a ground target area according to a preset track, a task computer triggers an airborne laser range finder, an airborne camera, an airborne high-precision inertial navigation and a satellite direction finding receiver to work synchronously through a time synchronization system, and measurement data information at the current moment is obtained through measurement; the measurement data information comprises elevation data measured by an airborne laser range finder, picture or video data shot by an airborne camera, acceleration, pitching and rolling data output by airborne high-precision inertial navigation, and course angle and pitch angle data of the current airplane measured by a satellite direction-finding receiver;
step 2, the unmanned aerial vehicle issues the measurement data information to a ground monitoring station through an airborne high-speed data transmission radio station;
step 3, the ground monitoring station performs fusion processing on the received measurement data information according to the received measurement data information, so that accurate position coordinates and image information of a ground target point are obtained;
the step 3 specifically comprises the following steps:
the elevation data measured by the airborne laser range finder is assumed to be h; the method comprises the following steps that a direction angle of a current airplane measured by a satellite direction finding receiver is a, a pitch angle is b, and an inclination angle is c;
then the unmanned aerial vehicle is at the position (0,0, h), and the coordinates of the projection point of the unmanned aerial vehicle on the ground are (h) tan (b) cos (a) + h tan (c) sin (a), — h tan (b) sin (a) + h tan (c) cos (a)), 0) formula 1
If the unmanned aerial vehicle takes a next photo at the position (0,0, h), the direction angle of the unmanned aerial vehicle is a, the pitch angle is b, and the inclination angle is c; the size of the photograph is x1 x2, and x1 and x2 are the length and width values of the photograph, respectively; assuming that the maximum angle of pitch and tilt is x degrees for the drone measurement, typical values for the drone measurement points are:
(h*tan(x/180*π),h*tan(x/180*π),0)
because of the fact that
d(tan(x))/dx＝1/cos(x)^2,
Therefore, it is not only easy to use
tan(x+dx)≈tan(x)+1/cos(x)^2*dx；
When x is relatively small, cos (x) is approximately equal to 1, tan (x + dx) is approximately equal to tan (x) and + dx, and corresponding to a formula 1, h _ tan (b), when the angle error is delta b, the measurement error is h _ delta b, and the accurate position data of the corresponding ground point in the direction can be obtained only by controlling the angle error within a certain range.
2. The indication method of the unmanned aerial vehicle target positioning indication system according to claim 1, further comprising, after step 3:
and 4, the unmanned aerial vehicle flies to a ground target area according to a preset track, after the accurate position coordinate and image information of the target point are obtained in a detection mode, the airborne laser range finder is kept opened, the target is continuously irradiated, and when the projectile body with the laser seeker flies to the position near the target point, the projectile body is guided to fly to the target point according to light information returned by the unmanned aerial vehicle laser irradiator, so that accurate striking is realized.
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| CN109885101B (en) * | 2019-01-04 | 2022-02-22 | 北京测威科技有限公司 | Method and system for simulating missile terminal guidance by using unmanned aerial vehicle |
| 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 |
| RU2758285C1 (en) * | 2021-01-11 | 2021-10-28 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Method for group video navigation of aircraft |
| CN112882076A (en) * | 2021-01-21 | 2021-06-01 | 江苏云巅电子科技有限公司 | Intelligent construction site-oriented accurate personnel positioning system and positioning method |
| CN113093601A (en) * | 2021-03-30 | 2021-07-09 | 中琪华安(北京)科技有限公司 | Close-range aviation firepower support system and method |
| CN114942028B (en) * | 2022-05-24 | 2023-06-09 | 石家庄兵甲堂高科技有限公司 | Target positioning method, device, terminal equipment and system based on multidimensional signals |
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| GB2506411B (en) * | 2012-09-28 | 2020-03-11 | 2D3 Ltd | Determination of position from images and associated camera positions |
| CN102928861B (en) * | 2012-09-29 | 2015-05-06 | 凯迈（洛阳）测控有限公司 | Target positioning method and device for airborne equipment |
| CN104296598A (en) * | 2013-07-18 | 2015-01-21 | 贵州贵航飞机设计研究所 | Method for stably tracking irradiation target by means of airborne anti-smoke photoelectric sight-stabilizing system of unmanned aerial vehicle |
| CN103604427B (en) * | 2013-12-10 | 2016-10-12 | 中国航天空气动力技术研究院 | UAS and method to ground moving target dynamic location |
| CN104316949B (en) * | 2014-10-29 | 2016-10-26 | 上海大学 | A kind of unmanned plane search target method for rapidly positioning |
| CN104501802A (en) * | 2015-01-09 | 2015-04-08 | 中国人民解放军63961部队 | Earth target capturing and identifying method used for high-speed aircraft |
| CN105242682B (en) * | 2015-11-04 | 2018-06-19 | 北京航天科颐技术有限公司 | Target drone target signature measurement system |
| FR3054336A1 (en) * | 2016-07-22 | 2018-01-26 | Parrot Drones | SELF-CONTAINING DRONE-CONDUCTED VIEWING SYSTEM WITH TARGET TRACKING AND IMPROVED TARGET LOCATION. |
| CN106683097A (en) * | 2017-03-03 | 2017-05-17 | 广东工业大学 | Unmanned aerial vehicle positioning method and system |
| CN107121666A (en) * | 2017-04-17 | 2017-09-01 | 南京航空航天大学 | A kind of near space moving target localization method based on unmanned vehicle |
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