CN110615104A - Unmanned aerial vehicle weapon platform stable aiming control method - Google Patents
Unmanned aerial vehicle weapon platform stable aiming control method Download PDFInfo
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- CN110615104A CN110615104A CN201910809021.0A CN201910809021A CN110615104A CN 110615104 A CN110615104 A CN 110615104A CN 201910809021 A CN201910809021 A CN 201910809021A CN 110615104 A CN110615104 A CN 110615104A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D7/00—Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
Abstract
The invention relates to the technical field of unmanned weapon platform control, in particular to a stable aiming control method for an unmanned aerial vehicle weapon platform, which comprises the steps of starting an unmanned aerial vehicle, controlling the unmanned aerial vehicle to reach a target area, and controlling the unmanned aerial vehicle to fly in the target area; then starting a follow-up aiming system, performing power-on self-inspection on a weapon station, searching a target area to read a shooting table, simultaneously, identifying a target by a ground remote control operation station, and finding out a target position for resolving; and finally, after the weapon is launched in the launching bin, the ground remote control station calculates the motion position of the target through the detection image acquired by the photoelectric system and judges whether the target is hit. The invention realizes the stable aiming and the quick trajectory locking of the weapon platform to the target, ensures the aiming of the photoelectric system to the target and the trajectory calculation according to the aiming information, and realizes the accurate striking to the target.
Description
Technical Field
The invention relates to the technical field of unmanned weapon platform control, in particular to a stable aiming control method for an unmanned aerial vehicle weapon platform.
Background
The unmanned aerial vehicle-mounted weapon platform mainly comprises a photoelectric system, a launching bin and a related electrical system, and is mounted on the unmanned aerial vehicle so as to search, track, lock and strike a target; the stable aiming of the airborne weapon platform is difficult because the weapon platform is influenced by external factors such as unmanned aerial vehicle movement, body vibration, target movement and the like, so that the weapon platform has the relative movement between the body and the target in a large range and the self-posture change in high frequency, thereby realizing the stable aiming of the airborne weapon platform and ensuring certain precision; the trajectory of the unmanned airborne weapon platform is resolved difficultly, because the unmanned aerial vehicle has small load capacity and can only carry a rocket projectile with light weight and small hitting distance, the distance between the unmanned aerial vehicle and a target is small, the time from the appearance of the target to the departure of the target from the hitting range is short, and the weapon platform needs to complete the trajectory resolution with large calculation amount in a very short time, so that the trajectory resolution is difficult to realize.
Disclosure of Invention
The invention aims to solve the defects that stable aiming and rapid trajectory calculation of a target are difficult in the prior art, and provides a stable aiming control method for an unmanned aerial vehicle weapon platform.
In order to achieve the purpose, the invention adopts the following technical scheme:
designing a stable aiming control method for an unmanned aerial vehicle weapon platform, comprising the following steps;
step 1: starting the unmanned aerial vehicle, controlling the unmanned aerial vehicle to reach a target area, and then controlling the unmanned aerial vehicle to fly in the target area;
step 2: starting a follow-up aiming system, wherein the follow-up aiming system consists of a launching bin, a photoelectric system and a follow-up mechanism, and then carrying out stabilized aiming control, and the specific implementation steps are as follows:
A. firstly, a photoelectric system obtains a target image, then target position information and motion information are transmitted to a follow-up sight stabilizing system, and the follow-up system resolves a relative position vector of a target and an unmanned aerial vehicle
B. The body determines the position vector of the current position and the body position of the image point according to the motion track of the bodyMeanwhile, the ground remote control operation station can determine the position of the unmanned aerial vehicle during image acquisition of the target position;
C. according to the target motion condition and the time delay interval delta t from image acquisition to ground signal receiving, time delay information calculation is carried out, and the weapon platform can determine a target motion vectorWherein, the target position is represented by A, the aiming center is represented by C, the unmanned aerial vehicle position is represented by O, M represents a turntable, subscript 0 represents the image point position, subscript 1 represents the current position, and subscript 2 represents the predicted position;
and step 3: the weapon station carries out power-on self-check, searches a target area to read a shooting table, simultaneously, the ground remote control operation station identifies the target and finds that the target solves the target position
And 4, step 4: calculating the trajectory, wherein after the unmanned aerial vehicle reaches a target area, the trajectory calculating module starts to work, a firing table is read from the storage module firstly, and preparation is carried out for subsequent trajectory calculation, and the specific implementation steps are as follows:
a. after the photoelectric system finds a target, the trajectory calculation module calculates the relative position of the unmanned aerial vehicle and the target after time delay according to the target position and motion information acquired from the ground remote control operation station;
b. using the calculation result as a coordinate query firing table, acquiring trajectory time and corresponding firing conditions, and sending the firing conditions to a servo mechanism;
c. starting a corresponding servo motor in the servo mechanism, adjusting a launching angle, correcting the position of a bullet according to trajectory time, obtaining an accurate relative position of the bullet after n iterations and preliminary launching data to realize trajectory locking, and launching a weapon through a launching bin;
and 5: after the weapon is launched in the launching bin, the ground remote control station calculates the motion position of the target through the detection image acquired by the photoelectric system and judges whether the target is hit or not.
Preferably, in step 2, in the stabilized sighting control, the sighting center and the position vector of the target are aimedAnd the ground remote control station calculates according to the image, the focal length and the shot-to-eye distance.
Preferably, the image point unmanned aerial vehicle and the target position vectorIs based on the unmanned plane attitude, the shot-eye distance andcalculate, wherein the drone attitude includes the pitch angle and yaw angle of the drone.
Preferably, the position vector of the image point drone and the current droneAnd obtaining the positioning information according to the unmanned aerial vehicle GPS.
Preferably, the current position vector of the drone and the targetBy the formulaIs calculated, wherein the image point target and the current target position vectorAnd calculating according to the target motion and the current time delay information from the image point.
Preferably, in the target locking stage, the time interval Δ t between the image acquisition and the reception of the ground signal includes the time of image acquisition, signal transmission, image processing, ground-to-target judgment and response of the servo system; in the target tracking phase, Δ t does not include the time for ground determination.
Preferably, the direction vector of the rotary table is constructed according to the pitch angle and the yaw angle of the current rotary tableThe pitch angle and the yaw angle are obtained by measuring through a turntable inertia measuring element; according toAndcalculating rotation angle information theta transmitted to servo mechanismf、θp。
Preferably, the delay information is calculated based on the weapon station rotation speed omega and the angle information thetafAnd thetapCalculating the system response delay, calculating θfAnd thetapCorrection amount of (a) Delta thetafAnd Δ θpAccording to Δ θfAnd Δ θpCalculating new time delay according to delta thetafAnd Δ θpDetermining when the calculated Delta thetafAnd Δ θpIf the value is less than a certain value, the calculation is terminated.
Preferably, in step 4, after the system obtains the preliminary firing data, the body motion condition and the crosswind condition are brought into a trajectory calculation module to perform trajectory calculation, the landing point information is obtained, if the body motion condition and the crosswind condition meet the target, the calculation is finished, the calculation result is sent to the servo mechanism, and otherwise, the trajectory is calculated again according to the landing point and the firing schedule modified firing conditions.
The stable aiming control method for the weapon platform of the unmanned aerial vehicle has the advantages that:
1. the follow-up aiming system obtains the target position through the photoelectric system and solves the position vector of the target and the unmanned aerial vehicle through the follow-up systemUnmanned aerial vehicle GPS positioning to obtain position vector of image point unmanned aerial vehicle and current unmanned aerial vehicleImage point target and current target position vectorObtaining the current positions of the unmanned aerial vehicle and the target according to calculation, calculating a delay time interval delta t, and finally stably aiming the target accurately;
2. the trajectory calculation is carried out according to engine parameters and pneumatic parameters, and automatic correction of the firing data is carried out, so that rapid and accurate trajectory calculation and trajectory locking are realized, and accurate hitting of the unmanned airborne weapon platform to the target is realized.
Drawings
Fig. 1 is a schematic diagram of a basic structure of a follow-up stabilized aiming system of a stabilized aiming control method for an unmanned aerial vehicle weapon platform, according to the present invention;
fig. 2 is a schematic diagram of a target steady aiming principle of the unmanned aerial vehicle weapon platform steady aiming control method provided by the invention;
fig. 3 is a trajectory calculation flow chart of the unmanned aerial vehicle weapon platform stable aiming control method provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-3, a method for controlling stable aiming of an unmanned aerial vehicle weapon platform comprises the following steps;
step 1: starting the unmanned aerial vehicle, controlling the unmanned aerial vehicle to reach a target area, and then controlling the unmanned aerial vehicle to fly in the target area;
step 2: starting a follow-up aiming system, wherein the follow-up aiming system consists of a launching bin, a photoelectric system and a follow-up mechanism, and then carrying out stabilized aiming control, and the specific implementation steps are as follows:
A. firstly, a photoelectric system obtains a target image, then target position information and motion information are transmitted to a follow-up sight stabilizing system, and the follow-up system resolves a relative position vector of a target and an unmanned aerial vehiclePosition vector of image point unmanned aerial vehicle and targetIs based on the unmanned plane attitude, the shot-eye distance andcalculate, wherein, the unmanned aerial vehicle gesture includes unmanned aerial vehicle's every single move angle and yaw angle, aims the position vector of center and targetCalculating by a ground remote control station according to the image, the focal length and the bullet distance;
constructing a direction vector of a rotating platform according to a pitch angle and a yaw angle of the unmanned aerial vehicleThe pitch angle and the yaw angle are obtained by measuring through a turntable inertia measuring element; according toAndcalculating rotation angle information theta transmitted to servo mechanismf、θp；
B. The body determines the position vector of the current position and the body position of the image point according to the motion track of the bodyMeanwhile, the ground remote control operation station can determine the position of the unmanned aerial vehicle during image acquisition of the target position, and the position vector of the unmanned aerial vehicle at the image point and the current unmanned aerial vehicleObtaining the positioning information according to the unmanned aerial vehicle GPS;
C. according to the motion condition of the target and the time delay interval delta t from image acquisition to ground signal receiving, time delay information calculation is carried out, wherein the time delay information calculation is carried out according to the rotating speed omega of the weapon station and the angle information thetafAnd thetapCalculating the system response delay, calculating θfAnd thetapCorrection amount of (a) Delta thetafAnd Δ θpAccording to Δ θfAnd Δ θpCalculating new time delay according to delta thetafAnd Δ θpDetermining when the calculated Delta thetafAnd Δ θpWhen the value is less than a certain value, the calculation is terminated;
the weapon platform may then determine a target motion vectorCurrent position vector of drone and targetBy the formulaCalculating the position vector of the image point target and the current targetCalculating according to the target motion and the current time delay information from the image point; in the target locking stage, the time interval delta t from image acquisition to ground signal receiving comprises the time of image acquisition, signal transmission, image processing, ground target judgment and follow-up system response; in the target tracking stage, the delta t does not contain the time for ground judgment;
wherein, the target position is represented by A, the aiming center is represented by C, the unmanned aerial vehicle position is represented by O, M represents a turntable, subscript 0 represents the image point position, subscript 1 represents the current position, and subscript 2 represents the predicted position;
and step 3: the weapon station carries out power-on self-check, searches a target area to read a shooting table, simultaneously, the ground remote control operation station identifies the target and finds that the target solves the target position
And 4, step 4: calculating the trajectory, wherein after the unmanned aerial vehicle reaches a target area, the trajectory calculating module starts to work, a firing table is read from the storage module firstly, and preparation is carried out for subsequent trajectory calculation, and the specific implementation steps are as follows:
a. after the photoelectric system finds a target, the trajectory calculation module calculates the relative position of the unmanned aerial vehicle and the target after time delay according to the target position and motion information acquired from the ground remote control operation station;
b. using the calculation result as a coordinate query firing table, acquiring trajectory time and corresponding firing conditions, and sending the firing conditions to a servo mechanism;
c. starting a corresponding servo motor in a servo mechanism, adjusting a launching angle, correcting the position of a bullet according to trajectory time, obtaining an accurate relative position of the bullet and primary launching data after n iterations, bringing the motion condition of a body and the crosswind condition into a trajectory calculation module to perform trajectory calculation after a system obtains the primary launching data, obtaining drop point information, finishing calculation if the system meets a target, sending a calculation result to the servo mechanism, otherwise, calculating the trajectory again according to the drop point and a firing table to correct the launching condition, finally realizing trajectory locking, and launching a weapon through a launching bin;
wherein, ballistic solution is calculated according to engine parameters and aerodynamic parameters, and the specific calculation model is as follows:
in the formula, the formula (1) is a mass equation, the formulas (2) and (3) are a centroid motion equation, the formulas (4) and (5) are a motion equation around the center, the formulas (6) and (7) are speed conversion equations of speed and relative airflow (speed containing wind), and the formulas (8) and (9) are calculation equations of an attack angle, a sideslip angle, a total attack angle and a speed declination;
wherein m iscBurning fuel for the engine in seconds; v, theta, sigma are respectively velocity, trajectory inclination angle and trajectory deflection angle; alpha and beta are respectively an attack angle and a sideslip angle; phi, psi, gamma pitch attitude angles, yaw attitude angles, roll attitude angles; omegax1,ωx1,ωx1Three angular velocity components of the ballistic system; alpha is alphah,γvTotal angle of attack and speed declination; f. ofx，fy，fzThe distribution is the components of the wind speed on three axes of a ground coordinate system; qx1,Qy1,Qz1Aerodynamic force applied to the rocket projectile in flight; p is rocket projectile engine thrust; mqx1,Mqx1,Mqx1Is a pneumatic moment Mdx1,Mdx1,Mdx1Is a pneumatic damping torque. Vx1,Vy1,Vz1Three components of velocity in the projectile system;three components of the air flow speed after wind interference in the projectile system are considered;
and 5: after the weapon is launched in the launching bin, the ground remote control station calculates the motion position of the target through the detection image acquired by the photoelectric system and judges whether the target is hit or not.
The follow-up aiming system obtains the position of the target through the photoelectric system, and solves the position vector of the target and the unmanned aerial vehicle through the follow-up systemUnmanned aerial vehicle GPS positioning to obtain position vector of image point unmanned aerial vehicle and current unmanned aerial vehicleImage point target and current target position vectorObtaining the current unmanned aerial vehicle and the current target according to calculationThe target position, and the time delay interval delta t is calculated, and finally, the target can be stably aimed accurately; in addition, the trajectory calculation is carried out according to the engine parameters and the pneumatic parameters, and automatic correction of the firing data is carried out, so that rapid and accurate trajectory calculation and trajectory locking are realized, and accurate hitting of the unmanned airborne weapon platform on the target is realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. A stable aiming control method for an unmanned aerial vehicle weapon platform is characterized by comprising the following steps;
step 1: starting the unmanned aerial vehicle, controlling the unmanned aerial vehicle to reach a target area, and then controlling the unmanned aerial vehicle to fly in the target area;
step 2: starting a follow-up aiming system, wherein the follow-up aiming system consists of a launching bin, a photoelectric system and a follow-up mechanism, and then carrying out stabilized aiming control, and the specific implementation steps are as follows:
A. firstly, a photoelectric system obtains a target image, then target position information and motion information are transmitted to a follow-up sight stabilizing system, and the follow-up system resolves a relative position vector of a target and an unmanned aerial vehicle
B. The body determines the position vector of the current position and the body position of the image point according to the motion track of the bodyMeanwhile, the ground remote control operation station can determine the position of the unmanned aerial vehicle during image acquisition of the target position;
C. according to the movement of the object and the acquisition of the image to the reception of the ground signalThe time delay interval delta t is delayed, the delay information is calculated, and the weapon platform can determine the target motion vectorWherein, the target position is represented by A, the aiming center is represented by C, the unmanned aerial vehicle position is represented by O, M represents a turntable, subscript 0 represents the image point position, subscript 1 represents the current position, and subscript 2 represents the predicted position;
and step 3: the weapon station carries out power-on self-check, searches a target area to read a shooting table, simultaneously, the ground remote control operation station identifies the target and finds that the target solves the target position
And 4, step 4: calculating the trajectory, wherein after the unmanned aerial vehicle reaches a target area, the trajectory calculating module starts to work, a firing table is read from the storage module firstly, and preparation is carried out for subsequent trajectory calculation, and the specific implementation steps are as follows:
a. after the photoelectric system finds a target, the trajectory calculation module calculates the relative position of the unmanned aerial vehicle and the target after time delay according to the target position and motion information acquired from the ground remote control operation station;
b. using the calculation result as a coordinate query firing table, acquiring trajectory time and corresponding firing conditions, and sending the firing conditions to a servo mechanism;
c. starting a corresponding servo motor in the servo mechanism, adjusting a launching angle, correcting the position of a bullet according to trajectory time, obtaining an accurate relative position of the bullet after n iterations and preliminary launching data to realize trajectory locking, and launching a weapon through a launching bin;
and 5: after the weapon is launched in the launching bin, the ground remote control station calculates the motion position of the target through the detection image acquired by the photoelectric system and judges whether the target is hit or not.
2. The method as claimed in claim 1, wherein in step 2, the position vector of the aiming center and the target is used in the stabilized aiming controlAnd the ground remote control station calculates according to the image, the focal length and the shot-to-eye distance.
3. The method of claim 2, wherein the image point is a position vector of the drone relative to the targetIs based on the unmanned plane attitude, the shot-eye distance andcalculate, wherein the drone attitude includes the pitch angle and yaw angle of the drone.
4. The method of claim 3, wherein the image point drone and the current drone are positioned in a vector of positionsAnd obtaining the positioning information according to the unmanned aerial vehicle GPS.
5. The method of claim 4, wherein the current UAV and target position vector isBy the formulaIs calculated, wherein the image point target and the current target position vectorAnd calculating according to the target motion and the current time delay information from the image point.
6. The method of claim 5, wherein in the target-locking phase, the time interval Δ t between the image acquisition and the reception of the ground signal includes the time of image acquisition, signal transmission, image processing, ground-to-target determination, and response of the servo system; in the target tracking phase, Δ t does not include the time for ground determination.
7. The method of claim 6, wherein a turret direction vector is constructed based on the pitch and yaw angles of the current turretThe pitch angle and the yaw angle are obtained by measuring through a turntable inertia measuring element; according toAndcalculating rotation angle information theta transmitted to servo mechanismf、θp。
8. The method of claim 7, wherein the delay information is calculated based on the rotational speed ω of the weapon station and the angular information θfAnd thetapCalculating the system response delay, calculating θfAnd thetapCorrection amount of (a) Delta thetafAnd Δ θpAccording to Δ θfAnd Δ θpCalculating new time delay according to delta thetafAnd Δ θpDetermining when the calculated Delta thetafAnd Δ θpIf the value is less than a certain value, the calculation is terminated.
9. The stable aiming control method for the unmanned aerial vehicle weapon platform according to claim 1, wherein in step 4, after the system obtains the preliminary firing data, the body motion condition and the crosswind condition are brought into a trajectory calculation module to perform trajectory calculation, the drop point information is obtained, if the system meets the target, the calculation is finished, the calculation result is sent to a servo mechanism, otherwise, the trajectory is calculated again according to the drop point and firing table modified firing conditions.
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