CN109612456A - A kind of low altitude coverage positioning system - Google Patents
A kind of low altitude coverage positioning system Download PDFInfo
- Publication number
- CN109612456A CN109612456A CN201811623450.0A CN201811623450A CN109612456A CN 109612456 A CN109612456 A CN 109612456A CN 201811623450 A CN201811623450 A CN 201811623450A CN 109612456 A CN109612456 A CN 109612456A
- Authority
- CN
- China
- Prior art keywords
- ground
- aerial reconnaissance
- catapult
- reconnaissance device
- based terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012790 confirmation Methods 0.000 claims abstract description 9
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 7
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 7
- 238000004064 recycling Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 72
- 238000004891 communication Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000000386 athletic effect Effects 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 238000011840 criminal investigation Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 24
- 230000008569 process Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 13
- 238000006073 displacement reaction Methods 0.000 description 13
- 238000005192 partition Methods 0.000 description 12
- 238000006243 chemical reaction Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 7
- 239000003721 gunpowder Substances 0.000 description 6
- 230000009885 systemic effect Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 238000001931 thermography Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000004880 explosion Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 235000015429 Mirabilis expansa Nutrition 0.000 description 3
- 244000294411 Mirabilis expansa Species 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 235000013536 miso Nutrition 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005057 refrigeration Methods 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 244000043261 Hevea brasiliensis Species 0.000 description 1
- 208000004350 Strabismus Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920003052 natural elastomer Polymers 0.000 description 1
- 229920001194 natural rubber Polymers 0.000 description 1
- 229920001084 poly(chloroprene) Polymers 0.000 description 1
- 239000003380 propellant Substances 0.000 description 1
- 235000020095 red wine Nutrition 0.000 description 1
- 239000012925 reference material Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0066—Radiation pyrometry, e.g. infrared or optical thermometry for hot spots detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Automation & Control Theory (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a kind of low altitude coverage positioning systems, the system includes: ground catapult, aerial reconnaissance device and ground based terminal, flip angle signal is sent to ground catapult by ground based terminal, ground catapult drives driving motor according to the angle-data received, and driving motor rotates ground catapult to set angle；Ground based terminal is sent to ground catapult for confirmation signal is launched, ground catapult emits aerial reconnaissance device, aerial reconnaissance device acquires real time comprehensive data, and it is sent to ground based terminal, the ground based terminal receives integrated data, carries out dynamic image synthesis and object discriminance analysis and pushes object information.The system goes up to the air rapidly sensor in a short time, avoids influencing realizing that accurately ground target positions while object；Aerial reconnaissance device volume is small, can be carried around, and convenient for recycling, can repeatedly utilize, and can be applied to the scenes such as search and rescue after shaking, the conservation of wildlife, criminal investigation, big flood relief.
Description
Technical field
The present invention relates to aerial reconnaissance technical fields, and in particular to a kind of low altitude coverage positioning system.
Background technique
Traditional detection device is mainly: target level is obtained by ultralow frequency electric wave or electromagnetic induction technology from ground
Confidence breath, wherein ultralow frequency electric wave is mainly used for life-detection instrument, and electromagnetic induction is mainly used for metal detector, but ground is visited
It is limited to survey device investigative range, and is easy to be blocked by barrier；From in the air by UAV flight's infrared sensing detection device
Or airborne radar obtains object location information, but unmanned plane lift-off speed is slower, poor in timeliness, and be easy to produce huge
Noise alarm object.
Airborne radar cost is higher, is more partial to military domain, is not suitable for the monitoring of short distance exact position；From underwater
Object location information in water is obtained by radiocoustic position finding technology, but sound propagation velocity is slower, object is in movement shape
Be easy to produce position location deviation when state, and can not detecting objects whether be life entity.In addition, what these three methods were related to
Device volume is larger, not portable and carrying.
Summary of the invention
Goal of the invention: for overcome the deficiencies in the prior art, the present invention provides a kind of positioning of low altitude coverage, and this method can be with
Solve the problems such as ground obstacle avoidance ability is poor, investigative range is small, poor in timeliness, big, at high cost, not portable noise.
Technical solution: a kind of low altitude coverage positioning system of the present invention, the system include: ground catapult, sky
Middle detection device and ground based terminal, flip angle signal is sent to the ground catapult by the ground based terminal, described
Ground catapult drives driving motor according to the angle-data received, and the driving motor rotation ground catapult is extremely
Set angle；Ground based terminal will launch confirmation signal and be sent to ground catapult, and ground catapult emits aerial reconnaissance dress
It sets, the aerial reconnaissance device acquires real time comprehensive data, and is sent to the ground based terminal, and the ground based terminal receives institute
Integrated data is stated, dynamic image synthesis and object discriminance analysis are carried out and pushes object information；The integrated data includes
Aerial reconnaissance device displacement posture information, aerial reconnaissance device relative position information, object periphery depth map and heat
Image.
Preferably, the aerial reconnaissance device is the spherical shell for including upper hemispherical shell and lower hemisphere shell composition, on the spherical shell
It opens up multiple detector reception holes and circumferentially opens up parachute accommodating groove, cloth in the spherical shell at the top of upper hemispherical shell
Set infrared detection system, motion-sensing system, master control system and power supply system, the infrared detection system, motion-sensing
System and power supply system are connected with the master control system, and the infrared detection system includes multiple infrared detectors, described red
External detector is fixed on the spherical shell by the detector reception hole.
Preferably, the multiple infrared detector includes several infrared detector A and peace along spherical shell circumference layered arrangement
The infrared detector B, several infrared detector A on vertex are total in addition to vertex on spherical shell and lower vertex under the spherical shell
M layers, every layer of N number of infrared detector of setting, wherein 3≤M≤6,9≤N≤15.
Preferably, the infrared detection system is used to capture the thermograph and depth map, further includes that infrared signal is deposited
Reservoir and the first A/D Acquisition Circuit, the infrared detector and the first A/D Acquisition Circuit with the infrared signal memory
It is electrically connected, the thermograph and depth are transferred to the master control system by the infrared signal memory.
Preferably, the motion-sensing system, for the motion state of lasting capture aerial reconnaissance device comprising automatically controlled
Parachute, electronically controlled motor, inertial sensor and the 2nd A/D Acquisition Circuit, the automatically controlled parachute upper end pass through the landing
Umbrella accommodating groove is placed in outside spherical shell, and the electronically controlled motor drives opening/recycling of the automatically controlled parachute, the 2nd A/D acquisition
Circuit is connected with the inertial sensor, and the electronically controlled motor and master control system are electrically connected.
Preferably, the master control system includes the first master controller and the first WIFI module, and first WIFI module is negative
The information that duty passback infrared detector and inertial sensor are collected into, first WIFI module and first master controller
It is electrically connected.
Preferably, the unlocked state includes photoelectric sensor, the second master controller, the second WIFI module and insurance dress
It sets, the photoelectric sensor, the second WIFI module and safety device and second master controller are electrically connected；The light
Electric transducer is fixed on the ejection gun barrel exit, has foreign for detecting in gun barrel outlet fixed range, described
Second master controller obtains the signal of the presence or absence of photoelectric sensor detection foreign matter, controls the safety device locking/solution
Lock, and the signal for having foreign is sent to by the ground based terminal by second WIFI module.
Preferably, the ground based terminal includes:
Ground catapult initialization module for the relevant parameter of ground catapult to be arranged, and checks external environment
Whether it is suitable for ejection, and passes through the WIFI module and ground catapult progress information exchange in ground based terminal；
Target monitoring module, for checking the objectives after the ejection of aerial reconnaissance device in monitoring range on full time shaft
Information carries out information mutual communication by the first WIFI module and the aerial reconnaissance device；
Aerial reconnaissance unit state checks module, for confirming the working condition and device loss feelings of aerial reconnaissance device
Condition passes through the first WIFI module and the aerial reconnaissance device carries out information mutual communication to provide convenience for maintenance and repairing.
The utility model has the advantages that compared with prior art, the present invention its remarkable advantage is: 1, the present invention utilizes aerial reconnaissance device
It realizes that a kind of low altitude coverage positioning system, the system go up to the air rapidly sensor in a short time, can be used for emergency, keep away
Exempt to influence to realize that accurately ground target positions while object；2, the aerial reconnaissance device volume that the present invention uses is small, can
It carries, and convenient for recycling, can repeatedly utilize, can be applied to search and rescue after shake, the conservation of wildlife, criminal investigation, big flood are rescued
The scenes such as help；3, aerial reconnaissance device of the present invention, by aerial ranging, barrier barrier when evading ground ranging；4,
Patrol Locator System of the invention is simply easy to operate, and method accuracy rate is high, and the real time information of object can be obtained.
Detailed description of the invention
Fig. 1 is aerial reconnaissance equipments overall structure schematic diagram of the present invention；
Fig. 2 is aerial reconnaissance device schematic diagram of internal structure 1 of the present invention；
Fig. 3 is aerial reconnaissance device schematic diagram of internal structure 2 of the present invention；
Fig. 4 is infrared detection system structural schematic diagram of the present invention；
Fig. 5 is the work flow diagram of aerial reconnaissance device of the present invention；
Fig. 6 is ground catapult structural schematic diagram of the present invention；
Fig. 7 is the flow chart of work methods of ground catapult of the present invention；
Fig. 8 is the structural schematic diagram that low latitude of the present invention positions search system；
Fig. 9 is the flow chart of work methods of ground based terminal of the present invention；
Figure 10 is the simulation architecture schematic diagram of ground catapult described in one embodiment of the invention；
Air drag F and aerial reconnaissance device matter when Figure 11 is the ejection of aerial reconnaissance device described in one embodiment of the invention
The relational graph of heart speed V；
The figure of height of center of mass and time relationship when Figure 12 is the ejection of aerial reconnaissance device described in one embodiment of the invention；
Figure 13 is the relationship of the displacement and time of aerial reconnaissance device X-direction described in one embodiment of the invention；
Figure 14 is aerial reconnaissance device mass center vertical component and horizontal component Y-X relationship described in one embodiment of the invention
Figure；
Figure 15 is aerial reconnaissance device systemic velocity and time chart described in one embodiment of the invention；
Figure 16 is relative position schematic diagram of the object described in one embodiment of the invention to user；
Object described in Figure 17 one embodiment of the invention is polar schematic diagram with respect to ground terminal conversion；
Figure 18 is relative position calculation method flow chart of the object described in one embodiment of the invention to ground based terminal；
Figure 19 is the interface and interaction schematic diagram of ground based terminal of the present invention.
It include: aerial reconnaissance device 100 in figure, spherical shell 101, detector reception hole 102, parachute accommodating groove 103,
One partition 104, second partition 105, third partition 106 and the 4th partition 107, infrared detection system 1, infrared detector 11 are red
External detector A111, infrared detector B112, infrared signal memory 12, the first A/D Acquisition Circuit 13, motion-sensing system
2, automatically controlled parachute 21, electronically controlled motor 22, inertial sensor 23, the 2nd A/D Acquisition Circuit 24, master control system 3, the first master control
Device 31 processed, the first WIFI module 32, sequence circuit 33, D/A conversion circuit 34, power supply system 4, power circuit 41 protect circuit
42,
Ejector 200, ejection gun barrel 201, trigger mechanism 202, trigger 2021, trigger 2022, unlocked state 203, the
Two WIFI modules 2031, the second master controller 2032, safety device 2033, photoelectric sensor 2034, communication module 204, third
A/D Acquisition Circuit 2041, the 2nd D/A conversion circuit 2042, power module 205, driving motor 206, ground based terminal 300.
Specific embodiment
As shown in figure 8, the present invention utilizes aerial reconnaissance device and corresponding catapult-launching gear, it is fixed to realize a kind of low altitude coverage
Position system, which includes: ground catapult, aerial reconnaissance device and ground based terminal, and the ground based terminal will launch angle
Degree signal is sent to the ground catapult, and the ground catapult is according to the angle-data driving driving electricity received
Machine, the driving motor rotate ground catapult to set angle；Ground based terminal is sent to ground bullet for confirmation signal is launched
Injection device, ground catapult emit aerial reconnaissance device, and the aerial reconnaissance device acquires real time comprehensive data, and sends
To the ground based terminal, the ground based terminal receives the integrated data, carries out dynamic image synthesis and object discriminance analysis
And push object information；The integrated data includes aerial reconnaissance device displacement posture information, aerial reconnaissance device phase
To the depth map and thermograph of location information, object periphery.
Aerial reconnaissance device 100 of the present invention as shown in Figure 1, the spherical shell formed including upper hemispherical shell and lower hemisphere shell
101, the sphere is small in size, can be carried around, and may be designed as 15cm.200 shell of device uses double-layer structure, first mainly
Using the carbon fibre composite that tensile strength is high, density is small, corrosion resistance, durability are good, its outer layer covers stickiness it is high,
Elasticity high natural rubber or neoprene can play the role of effective vibration isolation, electricity inside protection aerial reconnaissance device
Road.
Multiple detector reception holes 102 are opened up on the spherical shell 101 and circumferentially open up drop at the top of upper hemispherical shell
Umbrella accommodating groove 103 is fallen, arrangement infrared detection system 1, motion-sensing system 2, master control system 3 and confession in the spherical shell 101
Electric system 4, infrared detection system 1, motion-sensing system 2 and power supply system 4 are connected with the master control system 3, described infrared
Detection system 1 includes multiple infrared detectors 11, and the infrared detector 11 is fixed on by the detector reception hole 102
On the spherical shell 101.
As shown in Figures 2 and 3, in spherical shell 101 circumferentially from top to bottom successively install first partition 104, second partition 105,
Third partition 106 and the 4th partition 107, the 4th partition 107 be used to place automatically controlled parachute 21 in motion-sensing system 2 and
Automatically controlled parachute 21 is driven to open the electronically controlled motor 22 with recycling, automatically controlled 21 upper end of parachute passes through the parachute accommodating groove
103, which are placed in outside spherical shell 1 electronically controlled motor 22 selection stepper motor, stepper motor in one of the embodiments, can pass through arteries and veins
The position of signal control motor revolving speed and stopping is rushed, automatically controlled parachute 21 has the risk being stuck in aerial reconnaissance device, passes through
It adjusts stepper motor state and can effectively take out parachute and be unfolded.
Third partition 106 places the inertial sensor 23 in motion-sensing system 2 and is connected with inertial sensor 23
2nd A/D Acquisition Circuit 24.The inertial sensor 23 is responsible for collecting detection device displacement state, comprising: speed adds
Speed, angular acceleration, Space Rotating angle etc. issue signal to the master control system 3 after detecing.Inertial sensor 23 detects
When aerial reconnaissance device 100 rises to highest point (when vertical direction speed is reduced to 0), master control system 3 drives detection device 100 to push up
The electronically controlled motor 22 at end opens automatically controlled parachute 21, and the first WIFI module 32 continues return data in the process.
Preferably, 23 parameter of inertial sensor is as follows: model are as follows: SI-11.S1.C-30,10 hertz of sensitivity <
0.0015 °, duplicate measurements deviation ± 0.0030 °, temperature coefficient deviation ± 0.0025 °/K, output data rate: 1600 hertz,
Bandwidth: 400 hertz, digital interface: SPI, operating temperature -40~85 °.
Second partition 105 places 3 associated components of master control system and 4 associated components of power supply system, specific to place the first master
Controller 31, the first WIFI module 32 for signal transmitting and receiving, sequence circuit 33, D/A conversion circuit 34 and for providing electricity
The power circuit 41 in source and the protection circuit 42 being connected with power circuit 41, D/A conversion circuit and 32 phase of the first WIFI module
Even, sequence circuit 33, power circuit 41 and the first WIFI module 32 are connected with the first master controller 31.
First WIFI module 32 includes submodule WIFI RFID module, and WIFI RFID module is responsible for returning each sensor
The information being collected into, while being responsible for passback detection device location information to ground based terminal 300.Wifi RFID module is Wifi mould
The submodule of block mainly determines the specific relative position of detection device by WIFI RFID technique.WIFI main module is mainly responsible for
The transmission work of all data includes the detection device relative position got by WIFI RFID technique in these data.
It is the high-power wifi module of model SKW77 that this system is mounted, and farthest 1.5 km of communication distance, the module is in short distance
It is unattenuated from signal in communication context, the case where not received there is no signal.
As shown in figure 4, first partition 104 place infrared detection system 1 in infrared signal memory 12 and with infrared letter
The first connected A/D Acquisition Circuit 13 of number memory 12, infrared signal memory 11 is preferably non-in one of the embodiments,
Refrigeration focal surface infrared signal memory, all infrared detectors 11 are electrically connected with infrared signal memory 12.Infrared acquisition
Device 11 is connected by prolonging the data line of detection device inner wall arrangement with undermost non-refrigeration focal surface infrared signal memory.
The carbon fibre composite that the spherical shell of aerial reconnaissance device uses with a thickness of 2.5cm, the density of material are compared
Larger in the averag density of internal electronic element, case weight accounts for 90% or more of entire detection device weight, aerial reconnaissance dress
The mass center set generally within ball centre, electronic component in the sky the Mass Distribution inside detection device to the device balance
It influences negligible.
On first master controller 31 data-interface be all made of SPI (Serial Peripheral Interface, it is serial outer
If interface), wherein it is connected between the first master controller 31 and sequence circuit 33 using serial time clock line (SCLK), remaining is all
The equal data line MISO connection of data interaction between module.
Multiple infrared detectors 11 of 101 outer surface of spherical shell include the spy along spherical shell circumference layered arrangement on the spherical shell
Survey the detector reception hole of vertex setting under several infrared detector A111 and the spherical shell in device reception hole 102 (in figure not
Mark) in infrared detector B112, it is preferred that infrared detector 11 be non-refrigerating infrared focal plane sensor, be responsible for receipts
Collect the infrared thermal imaging figure and depth map of external environment；Multiple extra dry red wine external detector A111 are in addition to vertex on spherical shell and lower vertex
It is M layers total, every layer of N number of infrared detector of setting, wherein 3≤M≤6,9≤N≤15.The upper vertex of spherical shell is due to needing to place electricity
Parachute 21 is controlled, therefore does not place infrared detector.
Preferably, infrared detector totally 61, wherein detection device infrared detector A111 distribution have five layers, every layer altogether
12, amount to 60, the infrared detector B112 of bottom is one.The detecting space angle of each infrared detector is 45 °,
Quantity can be set in 360 ° of spatial dimensions as 8, quantity can be set in 180 ° of spatial dimensions as 4.It is red in detecting angle in order to enhance
The space angle of adjacent two sensors is set 30 ° by the signal strength of outside line, the present invention, on the one hand can cover spy in all directions
Range is surveyed, on the other hand can also accomplish to acquire data exhaustive.By aerial ranging, barrier barrier when evading ground ranging.
IR Detector Parameters are as follows: model: LA3110 (384 × 288 17 μm) uncooled ir cartridge assemblies；Noise
Equivalent temperature difference: 25 DEG C of≤60mK@, f/1.0 (≤50mK is optional)；Frame frequency: 50 hertz；Operating voltage: 4V；Power consumption :≤1.7W；
Operating temperature: -40 DEG C~+60 DEG C.
It is illustrated in figure 5 each module working principle flow chart in aerial reconnaissance device, after the first main operation controller, is used to
Property sensor persistently captures the motion state of detection device；First when inertial sensor detects that detection device is raised to highest point,
Then electronically controlled motor drives automatically controlled parachute release；Infrared sensor persistently captures thermograph and depth map, the first WIFI module
Submodule WIFI RFID persistently capture the relative position of detection device, when terminal persistently returns the first WIFI module to the ground
Whether data, detection detection device land, have landed when having detected to finish, then closed all the sensors, rear WIFI
RFID module persistently returns the relative position of detection device.
As shown in fig. 6, can be directly fixed on ground, invention additionally discloses a kind of ground catapult including above-mentioned
Aerial reconnaissance device 100 and ejector 200, the ejector 200 include matched with 100 sphere of aerial reconnaissance device
Gun barrel 201 is launched, aerial reconnaissance device 100 is placed in the ejection gun barrel 201.
Ejector 200 includes and the matched ejection gun barrel 201 of the aerial reconnaissance device sphere, trigger mechanism 202, logical
Module 204, unlocked state 203 and power module 205 are interrogated, the communication module 204 is used to acquire and receiving and transmitting signal, the electricity
Source module 205 is used to supply energy source, and the aerial reconnaissance device 100 is placed in the ejection gun barrel 201, the unlocked state
203 whether be used to control the transmitting of the aerial reconnaissance device 100, when unlocked state 203 locks, the not work of trigger mechanism 202
Make, the aerial reconnaissance device 100 does not emit；When unlocked state 203 unlocks, the trigger mechanism 202 can ignite, aerial to visit
Device 100 is surveyed to launch out of described ejection gun barrel 101.
Trigger mechanism 202 includes trigger 2021 and trigger 2022, is placed in the bottom of ejection gun barrel 201, trigger
2021 i.e. gunpowder trigger-type fuse, after cocking 2022, fuse can light a fire, and generate explosion in ejection gun barrel 201, make
Aerial reconnaissance device 100 flies out.
The unlocked state 203 includes photoelectric sensor 2034, the second master controller 2032, the second WIFI module 2031
With safety device 2033, the photoelectric sensor 2034, the second WIFI module 2031 and safety device 2033 and described second
Master controller 2032 is electrically connected.
The photoelectric sensor 2034 is annular, the outer wall of 201 mouthfuls of gun barrel of ejection is nested in, for detecting the gun barrel
Have a foreign in outlet fixed range, it is 45 degree that photoelectric sensor 2034, which can monitor space angle, can monitoring distance be 1m, by
The analog signal that photoelectric sensor 2034 detects is converted to digital signal 1 and 0 by the 3rd A/D Acquisition Circuit 2041, wherein
When signal is 1, represents foreign around ground catapult emission port and represent ground catapult emission port when signal is 0
Surrounding has foreign matter, and the digital signal after conversion is passed to the second master controller 2032, if the second master controller 2032 receives
Digital signal 1, then unlock ground catapult, if the second master controller 2032 receives digital signaling zero, tripper is lock
Determine state.
The second master controller 2032 is used to be stored with the feedback signal of foreign in catapult-launching gear, and passes through the 2nd WIFI
Module 2031 sends the signal to ground based terminal 300.Second master controller 2032 driving driving motor 206 and ejection simultaneously
Device work, the preferred stepper motor of driving motor 206.The present apparatus status information obtained after the processing of second master controller 2032
Analog signal is converted to by the 2nd D/A conversion circuit 2042, and ground based terminal 300 is back to by the second WIFI module 2031.Cause
This can be used for emergency, it can be achieved that sensor goes up to the air rapidly in a short time by way of ejection, avoid influencing mesh
Realize that accurately ground target positions while marking object.
Data-interface, which is connect, with the second master controller 2032 is all made of SPI (Serial Peripheral
Interface --- Serial Peripheral Interface (SPI)), all data bus connections use MISO data line.
As shown in fig. 6, safety device 2033 is located at 2022 periphery of ground catapult trigger, the device 2033 is for locking
Fixed or unlock trigger 2022, the device 2033 can make operator that can not detain in lock state by clamp trigger 2022
Trigger action 2022 lights fuse, and safety device 2033 is by the second master controller 2032 control unlock and locking, the second master controller
2032 receive the signal of the sending of photoelectric sensor 2034 after carry out data processing, and by MISO data line to safety device
2033 send instruction, i.e. automatic when foreign within the scope of 1m around photoelectric sensor 2034 detects emitter emission port
Unlock state.
It is illustrated in figure 7 the work flow diagram of ejector.
Ejector 200 is fixed on ground first, confirmation detection device launch environment is good, photoelectric sensor 2034
There is foreign within the scope of detection ground catapult emission port 1m, by the 3rd A/D Acquisition Circuit 2041 by photoelectric sensor 2034
The analog signal detected is converted to digital signal 1 and 0, wherein when signal is 1, represents around ground catapult emission port
Foreign, when signal is 0, representing has foreign matter around ground catapult emission port, and the digital signal after conversion is passed to
Second master controller 2032, if the second master controller 2032 receives digital signal 1, safety device 2033 is unlocked, if second is main
Controller 2032 receives digital signaling zero, then safety device 2033 is lock state.
Secondly, flip angle signal is sent to the second master controller by the second WIFI module 2031 by ground based terminal 300
2032, the second master controller 2032 drives stepper motor 206 according to the angle-data that receives, and rotation ejection gun barrel 201 is to setting
Determine angle.
Finally, ground based terminal 300 is sent to the second master controller for confirmation signal is launched by the second WIFI module 2031
2032, emit aerial reconnaissance device.
The first master controller and the second master controller in the present invention are MCU, model STM32F103C8T6, and first
WIFI module and the second WIFI module are mainly responsible for the transmission work of all data, include passing through WIFI RFID in these data
The detection device relative position that technology is got.It is the high-power wifi module of model SKW77 that this system is mounted, most
1.5 km of remote communication distance.
It is discussed below the motion model of aerial reconnaissance device, in the present invention, the motion model of aerial reconnaissance device 100 is such as
Under:
When air drag is directly proportional to velocity squared, by kinematics formula and Newton's second law, can write out aerial
The Movement Locus Equation of detection device in uphill process, there is following equation in O-xy coordinate:
The direction x:
The direction y:
By substituendSubstitution formula
Have
To above formula variables separation and at the same time integrating, and apply initial boundary conditions
Continue using the separation of variable, and with primary condition x |T=0=0, it can obtain
By substituend
Bringing (2) formula into has
The separation of variable is equally used, and primary condition is added
It can obtain
By substituendContinue variables separation integral, and primary condition y be added |T=0=0, it can obtain
Work as v in above formulayWhen=0, y obtains maximum value ymax, t1Moment aerial reconnaissance device reaches highest point, declines process
It will(3) formula of substitution, and the separation of variable is used, primary condition is addedIt can obtain
It can similarly obtain
Wherein
Wherein, x1It is the horizontal displacement of aerial reconnaissance device uphill process, x2It is the horizontal displacement of parachute decline process,
Y is the vertical displacement of aerial reconnaissance device uphill process, vx1It is the speed in the horizontal direction of aerial reconnaissance device uphill process
Degree, vx2It is the speed in the horizontal direction of parachute decline process, vy1It is the vertical direction of aerial reconnaissance device uphill process
On speed, vy2It is the speed in the vertical direction of parachute decline process, CVIt is the aerial resistance coefficient of object, m1
It is the quality of aerial reconnaissance device, m2It is the quality of parachute, g is acceleration of gravity, v0It is the initial velocity of aerial reconnaissance device.
k1=0.5 ρ0S1C1, ροIt is the density of air, S1It is the maximum cross-section area of aerial reconnaissance device, C1It is aerial reconnaissance device
Coefficient of air resistance；k2=0.5 ρ0S2C2, S2It is the maximum cross-section area of parachute, C2It is the air drag system of parachute
Number.
Based on above-mentioned aerial reconnaissance device and ground catapult, the workflow of the search system includes:
After the launch angle of S1, the environment of confirmation aerial reconnaissance device detection and adjustment ground-level ejection gun barrel, ejector
By the aerial reconnaissance device to airborne ejection；
It is first turned on ground based terminal application interface, ground based terminal 300 is sent out flip angle signal by the second WIFI module
Ground catapult is given, ground catapult drives stepper motor 208, rotation ejection dress according to the angle-data received
It sets to set angle；
Then, ground based terminal is sent to ground catapult, ground for confirmation signal is launched by the second WIFI module 203
Face catapult-launching gear emits aerial reconnaissance device, sets shooting angle, and confirm ejection altitude, pulls ejector after confirmation is errorless
Trigger, wherein ejection momentum is ignited generations by gunpowder, for fixed value；
In one of the embodiments, in the step (1), the angle, θ and ejection aerial reconnaissance dress of ground catapult
The relationship of the height h set are as follows:
Wherein, P is the momentum that gunpowder explosion generates, m1It is the quality of aerial reconnaissance device, m2It is the matter of automatically controlled parachute
Amount.
Finally, ejector is emitted aerial reconnaissance device by the driving force after propellant ignition fuse.
S2, obtain the current integrated data of the aerial reconnaissance device, the integrated data include aerial reconnaissance device from
Body athletic posture information, aerial reconnaissance device relative position information, object periphery depth map and thermograph；
After aerial reconnaissance device leaves ground catapult, infrared detector enters working condition, persistently captures object
The depth map and thermograph on periphery, the submodule WIFI RFID module in the first WIFI module persistently capture described aerial
The relative position information of detection device, the inertial sensor persistently capture the aerial reconnaissance device displacement posture letter
Breath, and send information to first master controller.
S3, ground based terminal receive the integrated data, carry out dynamic image synthesis and object discriminance analysis and push mesh
Mark object information.As shown in figure 9, being the work flow diagram of ground based terminal.
The analog signal that infrared detector 11 and inertial sensor 23 capture is converted to by A/D converter 13
Digital signal inputs the first master controller 31, and the first master controller 31 passes through D/A converter 34 for digital signal after treatment
Analog signal is converted to, ground based terminal 300 is sent to by the first WIFI module 32.300 device of ground based terminal is received by aerial
The infrared thermal imaging figure and depth map that detection device 100 issues, 2 frame, detection device displacement posture information and detection per second
Device location information.
In one of the embodiments, in step (3), carries out dynamic image synthesis and object discriminance analysis and push
Object information, specifically includes:
(31) image of the every frame transmission of the infrared detector is synthesized one by ground based terminal in a manner of UV textures
HDR scene textures；Each infrared detector exports a corresponding transmission image.
(32) identify that the characteristic point in infrared thermal imaging figure, temperature are higher than organism surface temperature by image recognition algorithm
Point is defaulted as 30 degrees centigrades, object and external environment line of demarcation is distinguished by the characteristic point, to calculate target
Object centroid position obtains its relative position coordinates with respect to aerial reconnaissance device；
(33) position coordinates of the object with respect to aerial reconnaissance device, including distance, azimuth, pitch angle are synthesized,
And position coordinates of the object with respect to user are calculated with respect to the position coordinates of user by aerial reconnaissance device；
(34) position of object user opposite with aerial reconnaissance device is sat by the target detection interface of ground based terminal
Mark is pushed to user.
Therefore, this kind of low latitude localization method can cope with emergency, and accuracy rate is high, can position the real time information of object.
The ground based terminal is mobile terminal, and the communication apparatus such as mobile phone, computer, ipad, it includes WIFI module on hardware
And compass, it include data analysis module on software, using including: in man-machine interface
Ground catapult initialization module for the relevant parameter of ground catapult to be arranged, and checks external environment
Whether it is suitable for ejection, and passes through the WIFI module and ground catapult progress information exchange in ground catapult；
Target monitoring module, for checking the objectives after the ejection of aerial reconnaissance device in monitoring range on full time shaft
Information, user can traverse entire workflow by sliding slider bar, and click the thermal imaging of deployable object after object
Figure and depth map carry out information mutual communication by the first WIFI module and the aerial reconnaissance device；
Aerial reconnaissance unit state checks module, for confirming the working condition and device loss feelings of aerial reconnaissance device
Condition passes through the first WIFI module and the aerial reconnaissance device carries out information mutual communication to provide convenience for maintenance and repairing.
The specific embodiment of a motion simulation process is given below:
In the case of being 45 ° the following are the angle of emergence, i.e. the set angle of ejection gun barrel is 45 °, with Adams software emulation
Detector motion process:
(1) Adams software, using detection device centroid position as coordinate origin, ejector direction are imported in model file
For 45 ° of directions of XY axis, as shown in Figure 10.
Wherein, the averag density 1000kg/m of 200 diameter 15cm of aerial reconnaissance device, aerial reconnaissance device and parachute3,
In detection device flight course, the direction of suffered air drag F is always contrary with detection device systemic velocity, and detects
Device systemic velocity direction always time to time change.So air drag need to be decomposed when applying active force to model
For two component F of axis positive direction and axis negative directionxAnd FyApplied, as shown in figure 11.
Suffered air drag F=0.5 ρ V in detection device flight course2SmCw, direction and detection device systemic velocity direction
On the contrary；Wherein, ρ∞For atmospheric density, V∞For detection device systemic velocity, Sm=0.25 π D2M is detection device maximum cross section
Product, Cw is coefficient of air resistance.Detection device coefficient of air resistance 0.5, parachute coefficient of air resistance 1.4.In Adams
Add the direction gravity G Y-axis negative direction, size 9.8m/s2, resistance F suffered by detection deviceX1, FY1, resistance suffered by parachute
FX2, FY2。
Consider to cast 45 ° of direction, initial velocity V is setX=28.7m/s, VY=28.7m/s.According to resistance formula F=
0.5ρV2SmCW, consult reference materials to obtain atmospheric density 1.288Kg/m3, detection device diameter 15cm, detection device coefficient of air resistance CW
=0.5, parachute coefficient of air resistance CW=1.4, detection device and parachute overall average density 1000kg/m3, parachute Y-axis
Diameter 1.190m, parachute X-axis diameter 0.2m use 61 infrared detectors in detection device.
Icon is selected in mono- column Function in Adams, into Functions editor；It is defeated in Functions editor text box
Enter:
Resistance suffered by detection device
FX1=0.5*1.288* (.shell.danwan_V**2) * (3.1415/4) * (0.15**2) * 0.5*sin (atan
(.shell.danwa n_VX/(0-.shell.danwan_VY)))*IF(.shell.danwan_VY-0:0,0,-1)
FY1=0.5*1.288* (.shell.danwan_V**2) * (3.1415/4) * (0.15**2) * 0.5*cos (atan
(.shell.danwa n_VX/(0-.shell.danwan_VY)))*IF(.shell.danwan_VY-0:0,0,-1)
Resistance suffered by parachute
FX2=0.5*1.288* (.shell.danwan_V**2) * (3.1415/4) * (0.200**2) * 1.4*sin
(atan(.shell.danw an_VX/(0-.shell.danwan_VY)))*IF(.shell.danwan_VY-0:1,0,0)
FY2=0.5*1.288* (.shell.danwan_V**2) * (3.1415/4) * (1.190**2) * 1.4*cos
(atan(.shell.dan wan_VX/(0-.shell.danwan_VY)))*IF(.shell.danwan_VY-0:1,0,0)
The above are Adams Functions editor resistance expression formulas, in the Adams experiment of the present embodiment, aerial reconnaissance device
Entitled danwan, shell is geometrical body, refers to that part or model .shell.danwan_VY refer in Adams
The speed of the vertical direction of aerial reconnaissance mounted cast .shell.danwan_VX are the level sides of aerial reconnaissance mounted cast
To speed .shell.danwan_V is the speed of aerial reconnaissance mounted cast.
It is 40m in view of 45 degree of oblique fire maximum heights of aerial reconnaissance device, aerial reconnaissance device lift-off height depends on ground
The loadings of gunpowder in catapult-launching gear, the momentum that the gunpowder explosion of fixed amount can only generate fixed size push aerial reconnaissance dress
It sets, the outgoing momentum that ground catapult acts on aerial reconnaissance device is fixed value 71Ns, which will can at most visit in the air
It surveys 45 degree of device oblique fires and arrives the high-altitude 40m, calculation formula is as follows:
Wherein, P is the momentum that gunpowder explosion generates, and momentum is 71Ns in the present embodiment, and θ is ground catapult gun tube
With the angle on ground, squint angle is 45 degree in the present embodiment, m1It is the quality of aerial reconnaissance device, m2It is the quality of parachute,
Gross mass 1.77kg in the present embodiment.
Emulation duration 19s is set in Adams, step number 600 is emulated, in the emulation experiment of the present embodiment, using title
.danwan.CM_Position.X indicate that the displacement in aerial reconnaissance device x and the direction y becomes with .danwan.CM_Position.Y
Change, CM represents mass center.It is as shown in figure 12 the relationship of detection device height of center of mass (Length) and time (Time), Tu13Wei
Aerial reconnaissance device X-direction is displaced the relationship of (.danwan.CM_Position.X) and time (Time), and Figure 14 is detection dress
Set mass center vertical component and horizontal component Y-X height relationships figure；Figure 15 be aerial reconnaissance device systemic velocity (Velcoity) and
Time (Time) relational graph.
21 points of detection device X, Y-direction motion process are taken to be quantitatively described, specific corresponding relationship such as the following table 1:
21 points are with 0.9 second on time dimension for a step-length herein, acquisition points can according to the size of step-length into
Row adjustment, other step-lengths can also be set as according to specific requirements and are quantitatively described.The meaning for describing these points is to retouch
Aerial reconnaissance device is stated in the current relative position i.e. change in displacement in the direction x and y.It is real according to the motion simulation of detection device
It tests, it can be seen that shorter and the detection device exploitativeness the time required to positioning.
1 aerial reconnaissance device of table is in current relative position, that is, direction x and y change in displacement
(2) depth map and thermograph of the current relative position coordinates of aerial reconnaissance device, object periphery are obtained
I.e. activation infrared detector enters working condition after detection device leaves ejector, and the first master controller and inertia pass
Sensor is in and continues working state, and inertial sensor detects and issues signal to the first master controller after foreign impacts, and first is main
Controller control infrared detector enters working condition.
(3) ground based terminal receiving sensor integrated data
The analog signal that infrared detector and inertial sensor capture is converted into number by the 2nd A/D Acquisition Circuit
Word signal inputs the first master controller, and the first master controller passes through D/A conversion circuit after treatment and converts digital signals into
Analog signal is sent to ground based terminal by the first WIFI module.Ground based terminal reception is issued infrared by aerial reconnaissance device
Thermograph and depth map, detection device displacement posture information and detection device location information.
(4) ground based terminal carries out dynamic image synthesis and object discriminance analysis and pushes object information
After ground based terminal device receives the information of aerial reconnaissance device transmission, by the figure of the every frame transmission of infrared detector
Picture shares 61 infrared detectors in the present embodiment, and totally 61 transmission images synthesize one in a manner of UV textures
It opens HDR scene textures and passes through the characteristic point in image recognition algorithm identification infrared thermal imaging figure, wherein temperature is higher than biology
The point of shell temperature, is defaulted as 30 degrees centigrades, object and external environment line of demarcation is distinguished by characteristic point, to count
Object centroid position is calculated, its relative position coordinates with respect to aerial reconnaissance device is obtained.
Synthesize position coordinates of the target with respect to aerial reconnaissance device, including distance, azimuth, pitch angle and aerial reconnaissance
Device calculates position coordinates of the target with respect to user with respect to two groups of vectors of position coordinates of user.Pass through ground based terminal application
The position coordinates of target user opposite with aerial reconnaissance device are pushed to user by target detection interface.
The relative position calculating process of target to user are as follows:
As shown in figure 16, A is user position, and B is aerial reconnaissance device position, and C is target position；
d1For user-aerial reconnaissance device relative distance, d2For aerial reconnaissance device-target relative distance, d3It is opposite for user-target
Distance；As shown in figure 17, θ1For user-aerial reconnaissance tool face azimuth, θ2For aerial reconnaissance device-azimuth of target, θ3For
User-azimuth of target；For user-aerial reconnaissance device pitch angle,For aerial reconnaissance device-target pitch angle,For
User-target pitch angle.
As shown in figure 18, the relative position calculating process of object to ground based terminal is as follows:
Object is with respect to aerial reconnaissance device polar coordinatesAerial reconnaissance device is with respect to ground based terminal polar coordinatesIt is directly obtained by the sensor of aerial reconnaissance device, turns rectangular space coordinate formula by polar coordinates:
Two polar coordinates are converted into space right-angle relative coordinate, two spaces right angle relative coordinate are directly added, then
There is object with respect to ground terminal space right angle relative coordinate (x3,y3,z3)=(x1+x2,y1+y2,z1+z2), finally by the space
Right angle relative coordinate turns polar coordinates formula by space right-angle relative coordinate:
Object is converted into respect to ground based terminal polar coordinatesIt can be by the coordinate information in ground based terminal
User is pushed to by man-machine interface.
In the present embodiment, as shown in figure 19, ground based terminal includes 3 interfaces: ejection initialization interface, target monitoring
Interface, detection device state check interface, can be switched in three interfaces by the operation that horizontally slips.Wherein: ejection is just
Beginningization interface is used to be arranged the relevant parameter of ground catapult.
Wherein flip angle is freely set by user, and set angle is 45 ° in the present embodiment, when setting flip angle
Afterwards, ground based terminal calculates the ejection altitude that can achieve under the flip angle according to above-mentioned calculation formula automatically, and on boundary
It is shown on face.
And check whether external environment is suitable for ejection；Target monitoring interface is used to check monitoring range after detection device ejection
Objectives information on interior full time shaft, user can traverse entire workflow by sliding slider bar, and after click target
The specifying information of deployable target, i.e. thermograph and depth map；Detection device state checks interface for confirming detection device
Working condition and device loss situation, with for maintenance and repair convenience is provided.
(5) recycling after the landing of aerial reconnaissance device
After the landing of aerial reconnaissance device, user recycles according to the aerial reconnaissance device location information received, completes detection.
The above described is only a preferred embodiment of the present invention, not making any limit to technical scope of the invention
System, therefore the changes or modifications that claim under this invention and specification are done in every case, all should belong to what the invention patent covered
Within the scope of.
Claims (9)
1. a kind of low altitude coverage positioning system, which is characterized in that the system include: ground catapult, aerial reconnaissance device with
And flip angle signal is sent to the ground catapult, the ground catapult by ground based terminal, the ground based terminal
Driving motor is driven according to the angle-data received, the driving motor rotates ground catapult to set angle；Ground
Terminal will launch confirmation signal and be sent to ground catapult, and ground catapult emits aerial reconnaissance device, the aerial spy
It surveys device and acquires real time comprehensive data, and be sent to the ground based terminal, the ground based terminal receives the integrated data, carries out
Dynamic image synthesis and object discriminance analysis simultaneously push object information；The integrated data includes aerial reconnaissance device itself
Athletic posture information, aerial reconnaissance device relative position information, object periphery depth map and thermograph.
2. low altitude coverage positioning system according to claim 1, which is characterized in that the aerial reconnaissance device be include upper
The spherical shell of hemispherical Shell and lower hemisphere shell composition, opens up multiple detector reception holes and the top in upper hemispherical shell on the spherical shell
Parachute accommodating groove is circumferentially opened up, arrangement infrared detection system, motion-sensing system, master control system and confession in the spherical shell
Electric system, the infrared detection system, motion-sensing system and power supply system are connected with the master control system, the infrared spy
Examining system includes multiple infrared detectors, and the infrared detector is fixed on the spherical shell by the detector reception hole.
3. low altitude coverage positioning system according to claim 2, which is characterized in that the multiple infrared detector includes edge
Several infrared detector A of the spherical shell circumference layered arrangement and infrared detector B for being mounted on vertex under the spherical shell, it is described several
Infrared detector A is M layers total in addition to vertex on spherical shell and lower vertex, every layer of N number of infrared detector of setting, wherein 3≤M≤6,9≤
N≤15。
4. low altitude coverage positioning system according to claim 2, which is characterized in that the infrared detection system is used to capture
The thermograph and depth map further include infrared signal memory and the first A/D Acquisition Circuit, the infrared detector and
One A/D Acquisition Circuit is electrically connected with the infrared signal memory, and the infrared signal memory is by the thermograph
The master control system is transferred to depth.
5. low altitude coverage positioning system according to claim 2, which is characterized in that the motion-sensing system, for holding
The motion state of continuous capture aerial reconnaissance device comprising automatically controlled parachute, electronically controlled motor, inertial sensor and the 2nd A/D
Acquisition Circuit, the automatically controlled parachute upper end are placed in outside spherical shell by the parachute accommodating groove, and the electronically controlled motor drives institute
Opening/recycling of automatically controlled parachute is stated, the 2nd A/D Acquisition Circuit is connected with the inertial sensor, the electronically controlled motor
It is electrically connected with master control system.
6. low altitude coverage positioning system according to claim 5, which is characterized in that the master control system includes the first master control
Device processed and the first WIFI module, first WIFI module are responsible for returning the letter that infrared detector and inertial sensor are collected into
Breath, first WIFI module and first master controller are electrically connected.
7. low altitude coverage positioning system according to claim 1, which is characterized in that the ground catapult includes and institute
State the matched ejection gun barrel of aerial reconnaissance device sphere, trigger mechanism, communication module, unlocked state, power module, the communication
Module is used to acquire and receiving and transmitting signal, and the power module is used to supply energy source, and the aerial reconnaissance device is placed in the ejection
In gun barrel, whether the unlocked state is used to control the transmitting of the aerial reconnaissance device, when unlocked state locking, trigger mechanism
It does not work, the aerial reconnaissance device does not emit；When unlocked state unlocks, the trigger mechanism ignites, aerial reconnaissance device from
Launch in the ejection gun barrel.
8. low altitude coverage positioning system according to claim 7, which is characterized in that the unlocked state includes photoelectric sensing
Device, the second master controller, the second WIFI module and safety device, the photoelectric sensor, the second WIFI module and insurance dress
It sets and is electrically connected with second master controller；The photoelectric sensor is fixed on the ejection gun barrel exit, for detecting
There is foreign in gun barrel outlet fixed range, it is different that second master controller obtains the presence or absence of described photoelectric sensor detection
The signal of object controls the safety device lock locking/unlocking, and is sent the signal for having foreign by second WIFI module
To the ground based terminal.
9. low altitude coverage positioning system according to claim 8, which is characterized in that the ground based terminal includes:
Whether ground catapult initialization module for the relevant parameter of ground catapult to be arranged, and checks external environment
It is suitable for ejection, and passes through the WIFI module and ground catapult progress information exchange in ground based terminal；
Target monitoring module, for checking the objectives letter after the ejection of aerial reconnaissance device in monitoring range on full time shaft
Breath carries out information mutual communication by the first WIFI module and the aerial reconnaissance device；
Aerial reconnaissance unit state checks module, for confirming the working condition and device loss situation of aerial reconnaissance device, with
Convenience is provided to safeguard and repairing, information mutual communication is carried out by the first WIFI module and the aerial reconnaissance device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811623450.0A CN109612456B (en) | 2018-12-28 | 2018-12-28 | Low-altitude search positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811623450.0A CN109612456B (en) | 2018-12-28 | 2018-12-28 | Low-altitude search positioning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109612456A true CN109612456A (en) | 2019-04-12 |
| CN109612456B CN109612456B (en) | 2022-04-29 |
Family
ID=66013051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811623450.0A Active CN109612456B (en) | 2018-12-28 | 2018-12-28 | Low-altitude search positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109612456B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111731486A (en) * | 2020-06-04 | 2020-10-02 | 上海机电工程研究所 | Parachute ejection device |
| CN113091513A (en) * | 2021-03-03 | 2021-07-09 | 上海机电工程研究所 | Real-time dynamic calibration method, system and medium for ship-based missile weapon system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4025913A (en) * | 1975-12-22 | 1977-05-24 | The United States Of America As Represented By The Secretary Of The Navy | Electrical field sensing and transmitting apparatus |
| CN1140261A (en) * | 1995-12-22 | 1997-01-15 | 中国科学院空间科学与应用研究中心 | Ejection space electric field detecting method and apparatus |
| WO2005010842A1 (en) * | 2003-07-25 | 2005-02-03 | Wei Chen | Method and device for detecting infrared sources |
| CN105137421A (en) * | 2015-06-25 | 2015-12-09 | 苏州途视电子科技有限公司 | Photoelectric composite low-altitude early warning detection system |
| US20160203694A1 (en) * | 2011-02-22 | 2016-07-14 | Flir Systems, Inc. | Infrared sensor systems and methods |
| WO2017199273A1 (en) * | 2016-05-19 | 2017-11-23 | 株式会社 スカイロボット | Search system |
| CN108957445A (en) * | 2018-07-30 | 2018-12-07 | 四川九洲空管科技有限责任公司 | A kind of low-altitude low-velocity small targets detection system and its detection method |
-
2018
- 2018-12-28 CN CN201811623450.0A patent/CN109612456B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4025913A (en) * | 1975-12-22 | 1977-05-24 | The United States Of America As Represented By The Secretary Of The Navy | Electrical field sensing and transmitting apparatus |
| CN1140261A (en) * | 1995-12-22 | 1997-01-15 | 中国科学院空间科学与应用研究中心 | Ejection space electric field detecting method and apparatus |
| WO2005010842A1 (en) * | 2003-07-25 | 2005-02-03 | Wei Chen | Method and device for detecting infrared sources |
| US20160203694A1 (en) * | 2011-02-22 | 2016-07-14 | Flir Systems, Inc. | Infrared sensor systems and methods |
| CN105137421A (en) * | 2015-06-25 | 2015-12-09 | 苏州途视电子科技有限公司 | Photoelectric composite low-altitude early warning detection system |
| WO2017199273A1 (en) * | 2016-05-19 | 2017-11-23 | 株式会社 スカイロボット | Search system |
| CN108957445A (en) * | 2018-07-30 | 2018-12-07 | 四川九洲空管科技有限责任公司 | A kind of low-altitude low-velocity small targets detection system and its detection method |
Non-Patent Citations (1)
| Title |
|---|
| 贺成龙等: "单兵小型无人机侦察系统发展与分析", 《飞航导弹》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111731486A (en) * | 2020-06-04 | 2020-10-02 | 上海机电工程研究所 | Parachute ejection device |
| CN111731486B (en) * | 2020-06-04 | 2023-12-19 | 上海机电工程研究所 | parachute ejection device |
| CN113091513A (en) * | 2021-03-03 | 2021-07-09 | 上海机电工程研究所 | Real-time dynamic calibration method, system and medium for ship-based missile weapon system |
| CN113091513B (en) * | 2021-03-03 | 2023-02-28 | 上海机电工程研究所 | Real-time dynamic calibration method, system and medium for ship-based missile weapon system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109612456B (en) | 2022-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104168455B (en) | A kind of space base large scene camera system and method | |
| US11373539B2 (en) | Unmanned aerial vehicle management | |
| JP7195415B2 (en) | A counter-deployment system that facilitates the neutralization of the target aircraft | |
| CN106444829B (en) | One kind throwing net hold-up interception method for the guidance unmanned plane of " low slow small " target | |
| US11396375B2 (en) | Modular unmanned aerial system | |
| CN105980950B (en) | The speed control of unmanned vehicle | |
| JP2022502621A (en) | Close proximity measures to neutralize target aircraft | |
| CN109460066A (en) | Virtual reality system for aircraft | |
| JP5567805B2 (en) | Flying object detection method, system, and program | |
| CN106274617B (en) | Ship, machine combination monitoring method and monitoring system | |
| US20020196339A1 (en) | Panoramic aerial imaging device | |
| US8573529B2 (en) | Standoff detection of motion and concealed unexploded ordnance (UXO) | |
| CN107655362A (en) | Multimode unmanned aerial vehicle | |
| CN206893109U (en) | A kind of unmanned plane monitoring system | |
| KR101748305B1 (en) | Low Altitude Unmanned Aircraft Surveillance System | |
| KR20170095056A (en) | Security system using a drone having a plurality of rotor | |
| US20180251218A1 (en) | Space Combat Drone | |
| CN109612456A (en) | A kind of low altitude coverage positioning system | |
| CN109649654A (en) | A kind of low altitude coverage localization method | |
| CN108848348A (en) | A kind of crowd's abnormal behaviour monitoring device and method based on unmanned plane | |
| CN109683205A (en) | A kind of aerial reconnaissance device and ground-level ejection system | |
| US20180037321A1 (en) | Law enforcement drone | |
| KR20130009893A (en) | Auto-docking system for complex unmanned aeriel vehicle | |
| CN107328310A (en) | Multiple target target ship TT＆C system | |
| JP2022521523A (en) | Weapon targeting training system and its methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |