CN109443097A - A kind of acquisition equipment and catching method for rotor wing unmanned aerial vehicle - Google Patents
A kind of acquisition equipment and catching method for rotor wing unmanned aerial vehicle Download PDFInfo
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- CN109443097A CN109443097A CN201811362957.5A CN201811362957A CN109443097A CN 109443097 A CN109443097 A CN 109443097A CN 201811362957 A CN201811362957 A CN 201811362957A CN 109443097 A CN109443097 A CN 109443097A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a kind of acquisition equipments and catching method for rotor wing unmanned aerial vehicle.Acquisition equipment is by missile launcher and catches net formula fly bomb and forms.Missile launcher is made of gun body and sighting system.Fly bomb pushes transmitting by high pressure gas cylinder in missile launcher, and ballistic trajectory is nearly parabola.By measurement and unmanned plane target distance and angle, resolving obtains muzzle and moves up angle and catch net delayed release time acquisition equipment, and delay data is passed to by wireless transport module and catches net formula fly bomb.After the completion of setting, trigger is detained, net formula fly bomb is caught in transmitting.Fly bomb according to delay data in flight course, catch net, capture to target by delay release.Accurate capture to unmanned plane target can be realized using the solution of the present invention.
Description
Technical field
The invention belongs to the simple type fire control system fields of optoelectronic integration, specifically, be it is a kind of for rotor nobody
The acquisition equipment and catching method of machine.
Background technique
With the development of aviation industry, in order to complete the impossible high-risk task of manned aircraft institute, the hair of unmanned plane
Exhibition has received widespread attention.As using big boundary as the rise of a collection of unmanned plane enterprise of representative, Small Civil unmanned plane is gradually opened
Begin universal.While civilian unmanned plane is popularized, unmanned plane invades airport, the event frequency of headroom protection zone has generation, seriously threatens
Aerospace safety.
The existing for example anti-unmanned plane laser weapon of anti-unmanned plane weapon there are higher cost, easily it is affected by environment, to nobody
The deficiencies of machine causes irreversible damage, can not capture to unmanned plane.And it existing catch net device and catches net there are uncontrollable
Opening time only carries out trajectory estimation, the low defect of precision with naked eyes.It is that firearms class weapon is quick that optoelectronic integration, which takes aim at tool, simultaneously
The important auxiliary tool of reaction, precision strike.
Summary of the invention
The purpose of the present invention is to provide a kind of acquisition equipment and catching method for rotor wing unmanned aerial vehicle, energy basis catches net
Fly bomb ballistic trajectory, delays time to control catch net release, realize the accurate capture to unmanned plane target.
Realize technical solution of the invention are as follows: a kind of acquisition equipment for rotor wing unmanned aerial vehicle, including fly bomb transmitting
Device and catch net formula fly bomb, missile launcher includes to catch net rifle and its sighting system；
In the sighting system, object lens are mounted on imaging sensor front end；
Imaging sensor is located at the forefront of sighting system, provides video signal for the resolving of target ballistic trajectory；
Laser range finder is parallel with imaging sensor optical axis, positioned at the forefront of sighting system, for measuring acquisition equipment
The distance between target rotor wing unmanned aerial vehicle provides range information for the resolving of target ballistic trajectory；
Obliquity sensor is located at the inside of sighting system, parallel with rifle axis, provides angle letter for the resolving of target ballistic trajectory
Breath；
First wireless transport module is located at the inside of sighting system, by wireless communication, to catch net formula fly bomb transmission delay
Discharge data；
Image procossing master control borad is located at the inside of sighting system, carries out distance to target by range information and angle information
Ballistic solution resolves fly bomb parabolic path, and is converted into pixel information and catches the delayed release time of net formula fly bomb, and will
Pixel information superposition is shown in OLED display screen；
Eyepiece is mounted on the rear end of OLED display screen, and OLED display screen is located at the rearmost end of sighting system, aobvious by moving down
The respective pixel point for showing cross cursor, makes operator raise acquisition equipment, enables cross cursor run-home.
A kind of catching method for rotor wing unmanned aerial vehicle, comprising the following steps:
Image procossing master control borad identifies rotor wing unmanned aerial vehicle target, tracks；
Unmanned plane real time video image center of the image procossing master control borad in oled display screen is superimposed cross cursor, control
Missile launcher makes cross cursor be directed at rotor wing unmanned aerial vehicle target；After alignment target, start the continuous ranging of laser range finder, obtains
Range information；
Obliquity sensor measures acquisition equipment and ground pitch angle information；
Image procossing master control borad is by searching for distance H, measurement angle α and moves down pixel x, delayed release time tdIt is corresponding
Relation table needs the pixel information moved down for resolving with the pitch angle and range information on ground and catches the delay of net formula fly bomb
The time of release, and the cross cursor at video hub is moved down into corresponding pixel, while wireless transport module releases delay
Time tranfer is put to catching net formula fly bomb；
Missile launcher to be raised, cross cursor is made to correspond to unmanned plane target, cocking catches the transmitting of net formula fly bomb,
Net in-flight is caught according to delay data delay release, target rotor wing unmanned aerial vehicle is captured.
The mapping table builds table method are as follows:
It is measured by photoelectric door and catches the fixed emission rate v of net formula fly bomb0, obtained catching net formula fly bomb according to outer trajectory theory
Center of mass motion equation group, with measurement angle α, distance H and systemic velocity vtSimultaneous, obtains that different angle is corresponding to catch net formula fly bomb
Center of mass motion equation of locus；The value that change distance H, measurement angle α are repeated by matlab program obtains different distance H, measurement
The each intersection point for catching net formula fly bomb center of mass motion trajectory diagram of angle [alpha] and corresponding trajectory tilt angle θ；The i.e. corresponding trajectory rail of each intersection point
Mark capture point, trajectory tilt angle θ are the angle of practical missile launcher transmitting；Under a proportional relationship: (trajectory tilt angle θ-measurement angle
Degree α)/cross cursor moves down pixel=detector longitudinal direction field angle/OLED longitudinal resolution, and cross cursor can be obtained and move down picture
Vegetarian refreshments information；It is calculated according to center of mass motion equation group and catches the time required for net formula fly bomb is emitted to ballistic trajectory capture point
t；T subtracts fly bomb and ignites to the time t for catching net release needs completelyCAs fly bomb delayed release time td；It is obtained by above-mentioned steps
Distance H, measurement angle α and move down pixel x, delayed release time tdMapping table.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) flying height of unmanned plane determines simple trajectory
There are error, the present invention devises a set of auxiliary electron aimed fire system for estimation, improves the capture essence to rotor wing unmanned aerial vehicle
Accuracy；(2) sighting system is able to achieve the identification to unmanned plane target, improves operation convenience.
Detailed description of the invention
Fig. 1 is principle of the invention figure.
Fig. 2 is sighting system schematic diagram.
Fig. 3 is system principle schematic diagram.
Fig. 4 is overall structure figure of the present invention.
Fig. 5 is missile launcher concrete structure diagram.
Fig. 6 is to catch net formula fly bomb concrete structure diagram
Fig. 7 is to catch web frame schematic diagram.
Fig. 8, which is that different angle is corresponding, catches net formula fly bomb center of mass motion trajectory diagram.
Specific embodiment
A kind of acquisition equipment for rotor wing unmanned aerial vehicle of the present invention uses transmitter in acquisition equipment main body, and net is caught in transmitting
Formula fly bomb.Catching net is octagonal shape, hangs small iron shot at each angle, catches net using gunpowder ejection in initiation bomb body, catches in transmitting
It catches net in net opening procedure rotor wing unmanned aerial vehicle target is captured using catching the net air drag opening different with iron shot.
On sighting system composition, imaging sensor is ccd sensor, and video data is passed to image procossing master control borad.Swash
Ligh-ranging machine will send image procossing master control borad to by RS232 serial ports with the distance measure of target.Imaging sensor and swash
Ligh-ranging machine keeps optical axis parallel.The external interface of image procossing master control borad and temperature sensor, obliquity sensor, wireless transmission
Module is connected.By treated, video data passes through rear end OLED display screen real-time display to image procossing master control borad.Sighting system
It is connected by attachment base with transmitter, by wireless transport module and catches net formula fly bomb transmitting delay parameter.
Net formula fly bomb is caught to be made of bullet, magazine two parts, bullet include it is releasable it is collapsible catch net, body is by controlling
The control circuit and wireless receiving module composition for catching net release, are powered, fly bomb is in off-position when storage using button cell.
Catching method includes the following steps:
(10) target imaging: target optical signal is converted to image video signal by CCD；
(20) cross-graduation: vision signal is superimposed cross-graduation through FPGA and uses for ranging；
(30) target identification: FPGA is tracked identification to target in video and adds mark；
(40) laser ranging: after cross-graduation pushes down target, start the continuous ranging of laser ranging component；
(50) temperature inclination angle measures: thermometric, and angle measurement module carries out temperature, inclination angle measurement；
(0) ballistic solution: FPGA carries out ballistic solution by distance, pitch angle, temperature parameter, obtains catching net delay number
According to muzzle elevation angle, and convert cursor for angle and move down pixel information；
(70) data are transmitted: the delay data of resolving being sent to fly bomb by wireless transmission, is set；
(80) shooting prepares: setting completion.Ranging graduation blanking, display shooting graduation, is simultaneously stopped ranging and parameter dress
It is fixed；
(90) graduation adjusts: FPGA will shoot graduation and move down corresponding pixel, and when shooting needs to raise in muzzle, will penetrate
Hit graduation alignment unmanned plane target；
(100) fly bomb emits: detaining gun body trigger, fly bomb transmitting；
(110) catch net release: fly bomb in flight course according to firing table and delay data delayed exploding gunpowder, catch by body ejection
Net；
(120) it captures target: catching net and target rotor wing unmanned aerial vehicle is captured.
The invention will be further described for 1-8 and embodiment with reference to the accompanying drawing.
In the sighting system, target optical signal is converted to analog video and believed by image device object lens and imaging sensor
Number, by part analog-to-digital conversion (AD) in image processing circuit, analog video signal is converted into digital video signal.Number view
Frequency signal is superimposed with cross-graduation through field programmable gate array (FPGA), in OLED eyepiece component displaying target image, for swashing
Ligh-ranging machine ranging uses.
Image processing board identifies unmanned plane target, tracks.Using the method for contour segmentation cluster, according to big boundary
The contour feature of PHANTOM4 unmanned plane identifies the unmanned plane target in video sequence, and labels.
Acquisition equipment is adjusted, cross-graduation center alignment target is made, after pushing down target, starting laser ranging component is continuously surveyed
Away from wherein laser ranging component, which powers on, voluntarily works, using by key control.Laser ranging module will measurement obtain and target away from
Image processing circuit is fed back to by RS232 serial ports from value.
Temperature-measuring module measures temperature information, and inclination angle measurement module measures fly bomb obliquity information, the data measured are led to
It crosses RS232 serial ports and is transferred to image procossing master control borad.
By photoelectric door, it can measure and catch net formula fly bomb initial velocity v0, for the same acquisition equipment, v0For fixed number
Value.
Fly bomb launching trajectory curve resolves, and according to outer trajectory theory, provides and catches net by independent variable, rectangular coordinate system of t
Formula fly bomb center of mass motion equation group (1):
Wherein, x, y are respectively horizontal component of the fly bomb from t moment coordinate (x, y) after rifle, gun muzzle and vertical component；C is bullet
Road coefficient；θ is trajectory tilt angle；U, w are respectively horizontal component velocity and vertical component velocity；G is acceleration of gravity；For virtual temperature；
For the virtual temperature under standard state；v0For the initial velocity of fly bomb；vtFor virtual temperatureWhen fly bomb speed, HtIt (y) is gas weight function；G
(vt) it is resistance function.
When the initial conditions of integral are t=0；U=u0=v0cosθ0；W=w0=v0sinθ0；Y=y0=0；X=x0=0
According to vtIt can be established under different trajectory tilt angles with t, initial velocity v0When, net formula fly bomb center of mass motion equation of locus is caught,
It is carried out curve fitting by MATLAB, can get that different angle is corresponding catches net formula fly bomb center of mass motion track, as shown in Figure 8.
It, can be by catching net formula fly bomb mass center in different trajectory tilt angle θ in the case that distance H, measurement angle α have been measured
It does and intersects on Movement Locus Equation, the available and closest ballistic curve of α, trajectory tilt angle θ is that missile launcher should be adjusted
Whole actual transmission angle.It can thus be concluded that the angle that θ-α as needs to adjust.
According to formula (2), the pixel information x for moving down cross cursor can be obtained.
Wherein θ-α differential seat angle, F are detector longitudinal direction field angle, and h is detector longitudinal resolution, and x is to need cross light
Mark the pixel moved down.
It is available to be emitted to time t required for ballistic trajectory capture point from catching net formula fly bomb according to formula (1).Pass through
The high-speed camera of 1000fps is surveyed, and needs t from fly bomb ignition to net release completely is caughtCTime.Therefore net delay release is caught
Time tdAs t-tC。
It in real process, is calculated by computer, obtains the initial velocity v of fixed fly bomb0, different distance H, measurement
It is corresponding to move down pixel x, delayed release time t in the case of angle [alpha]dData.Its corresponding relationship look-up table is cured to figure
As in processing board.It the following is distance H, the measurement angle α of part and move down pixel x, delayed release time tdMapping table.
Image processing board carries out ballistic solution according to distance value, pitching angle value by searching for table, obtain moving down pixel x and
Fly bomb catches net delayed release time td, and cross cursor is moved down by display by OLED, muzzle is raised, by shooting graduation alignment
Unmanned plane target is completed to aim at step.
Fly bomb is caught net delayed release time t by image processing boarddIt is wireless that second is sent to by the first wireless transport module
The delay received release data are passed to delays time to control module by transmission module, the second wireless transport module.Fly bomb will simultaneously
Oneself state information, feeds back to image processing module including battery capacity etc., is shown by OLED display.
When shooting graduation run-home, transmitter trigger is detained, by trigger fire firing pins, striker fires high pressure gas
Bottle, high pressure gas cylinder launch rapidly, and the transmitting of net formula fly bomb is caught in promotion.Fly bomb in flight course according to delay release data, draw by delay
It is quick-fried to catch net transmitting module, so that net is caught in transmitting, unmanned plane target is captured.
Claims (7)
1. a kind of acquisition equipment for rotor wing unmanned aerial vehicle, it is characterised in that: including missile launcher [1] and catch net formula fly bomb
[2], missile launcher [1] includes to catch net rifle [3] and its sighting system [4]；
In the sighting system [4], object lens [5] are mounted on imaging sensor [6] front end；
Imaging sensor [6] is located at the forefront of sighting system [4], provides video signal for the resolving of target ballistic trajectory；
Laser range finder [10] is parallel with imaging sensor [6] optical axis, is located at the forefront of sighting system [4], catches for measuring
The distance between device and target rotor wing unmanned aerial vehicle are obtained, provides range information for the resolving of target ballistic trajectory；
Obliquity sensor [12] is located at the inside of sighting system [4], parallel with rifle axis, provides angle for the resolving of target ballistic trajectory
Information；
First wireless transport module [13] is located at the inside of sighting system [4], by wireless communication, passes to catch net formula fly bomb [2]
Defeated delay discharges data；
Image procossing master control borad [7] is located at the inside of sighting system [4], by range information and angle information to target carry out away from
When from ballistic solution, resolving fly bomb parabolic path, and being converted into pixel information and catch the delay release of net formula fly bomb [2]
Between, and pixel information superposition is shown on OLED display screen [8]；
Eyepiece [9] is mounted on the rear end of OLED display screen [8], and OLED display screen [8] is located at the rearmost end of sighting system [4], leads to
The respective pixel point for moving down display cross cursor is crossed, so that operator is raised acquisition equipment, enables cross cursor run-home.
2. acquisition equipment according to claim 1, it is characterised in that: it further includes temperature sensor that sighting system [4] is internal
[11], it is connected with the external interface of image procossing master control borad [7].
3. acquisition equipment according to claim 1, it is characterised in that: the net rifle [3] of catching is driven using air pressure, by pulling
Machine fire firing pins, striker fire high pressure gas cylinder, and high pressure gas cylinder launches rapidly, and net formula fly bomb [2] transmitting is caught in promotion.
4. acquisition equipment according to claim 1, it is characterised in that: the net formula fly bomb [2] of catching includes bullet [14], bullet
Storehouse [15] two parts；Bullet [14] is caught net [16] and is caught net transmitting module [17] comprising collapsible, collapsible to catch net [16] setting
In bullet [14] front end, it is connected with the net transmitting module [17] of catching of its rear end, includes the second wireless transport module in magazine [15]
[18] it is connected with delays time to control module [19], delays time to control module [19] with net transmitting module [17] is caught, the second wireless transmission mould
Block [18] passes to the delay received release data delays time to control module [19], and delays time to control module [19] is according to delay number
Net transmitting module [17] are caught according to ignition, so that net is caught in release.
5. acquisition equipment according to claim 1, it is characterised in that: described catch net [16] are octagonal shape, at each angle
Hang small iron shot.
6. a kind of catching method for rotor wing unmanned aerial vehicle, which comprises the following steps:
1) image procossing master control borad identifies rotor wing unmanned aerial vehicle target, tracking；
2) unmanned plane real time video image center of the image procossing master control borad in oled display screen is superimposed cross cursor, and control flies
Ball emitter makes cross cursor be directed at rotor wing unmanned aerial vehicle target；After alignment target, start the continuous ranging of laser range finder, obtain away from
From information；
3) obliquity sensor measurement acquisition equipment and ground pitch angle information；
4) image procossing master control borad by searching for distance H, measurement angle α and moves down pixel x, delayed release time tdIt is corresponding to close
It is table, needs the pixel information moved down for resolving with the pitch angle and range information on ground and catch the delay of net formula fly bomb to release
The time put, and the cross cursor at video hub is moved down into corresponding pixel, while wireless transport module discharges delay
Time tranfer is caught net formula fly bomb；
5) missile launcher is raised, cross cursor is made to correspond to unmanned plane target, cocking catches the transmitting of net formula fly bomb, is flying
Net is caught according to delay data delay release in row, target rotor wing unmanned aerial vehicle is captured.
7. the catching method according to claim 6 for rotor wing unmanned aerial vehicle, which is characterized in that the mapping table
Build table method are as follows:
It is measured by photoelectric door and catches the fixed emission rate v of net formula fly bomb0, obtained catching net formula fly bomb mass center according to outer trajectory theory
Movement difference equations, with measurement angle α, distance H and systemic velocity vtSimultaneous, obtains that different angle is corresponding to catch net formula fly bomb mass center
Movement Locus Equation；The value that change distance H, measurement angle α are repeated by matlab program, obtains different distance H, measurement angle
The each intersection point for catching net formula fly bomb center of mass motion trajectory diagram of α and corresponding trajectory tilt angle θ；The i.e. corresponding ballistic trajectory of each intersection point is caught
It obtains a little, trajectory tilt angle θ is the angle of practical missile launcher transmitting；Under a proportional relationship: (trajectory tilt angle θ-measurement angle
α)/cross cursor moves down pixel=detector longitudinal direction field angle/OLED longitudinal resolution, and cross cursor can be obtained and move down pixel
Point information；It is calculated according to center of mass motion equation group and catches time t required for net formula fly bomb is emitted to ballistic trajectory capture point；
T subtracts fly bomb and ignites to the time t for catching net release needs completelyCAs fly bomb delayed release time td；By above-mentioned steps obtain away from
From H, measurement angle α and move down pixel x, delayed release time tdMapping table.
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| CN111123983A (en) * | 2020-04-01 | 2020-05-08 | 中航金城无人系统有限公司 | Interception net capture control system and control method for unmanned aerial vehicle |
| CN111609760A (en) * | 2020-06-01 | 2020-09-01 | 中光智控(北京)科技有限公司 | Intelligent sighting telescope shooting opportunity determination method and system |
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| CN113357965A (en) * | 2021-06-01 | 2021-09-07 | 吉林大学 | Unmanned aerial vehicle capturing device and method based on annular scanning type millimeter wave radar point cloud imaging |
| CN113357965B (en) * | 2021-06-01 | 2022-07-12 | 吉林大学 | Unmanned aerial vehicle capturing device and method based on annular scanning type millimeter wave radar point cloud imaging |
| CN114812280A (en) * | 2022-05-24 | 2022-07-29 | 刘加凯 | Fixed-point air-blast anti-rotor unmanned aerial vehicle fiber bomb system |
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