CN111123983A - Interception net capture control system and control method for unmanned aerial vehicle - Google Patents

Interception net capture control system and control method for unmanned aerial vehicle Download PDF

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CN111123983A
CN111123983A CN202010249485.3A CN202010249485A CN111123983A CN 111123983 A CN111123983 A CN 111123983A CN 202010249485 A CN202010249485 A CN 202010249485A CN 111123983 A CN111123983 A CN 111123983A
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net
interception
point cloud
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CN111123983B (en
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尹彦卿
王昂
罗伟
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Avic Jincheng Unmanned System Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract

The invention discloses an unmanned aerial vehicle interception net capture control system, which comprises a target searching and tracking module, an interception control module and a net shooting fire control module, wherein the target searching and tracking module comprises: the interception net-catching control system can be carried on an unmanned aerial vehicle, autonomously guides and approaches a target after the target unmanned aerial vehicle is found, launches net bombs, and drags and flies back to a base after the target unmanned aerial vehicle is caught. The system has the advantages of wide search range, high precision and the like by using the pair of laser radars as search sensing equipment, is not easily interfered by ground echo and target motion and stillness, can autonomously generate a interception air line and autonomously guide to approach a target unmanned aerial vehicle according to the position of the target unmanned aerial vehicle by using the interception control module, can automatically fire and control and launch net bombs when the target flies into the coverage surface of the net bombs, and has good accuracy and no additional damage.

Description

Interception net capture control system and control method for unmanned aerial vehicle
Technical Field
The invention relates to a control system and a control method, in particular to an unmanned aerial vehicle interception net capture control system and a control method, and belongs to the technical field of unmanned aerial vehicle control systems.
Background
Along with the development of the unmanned aerial vehicle industry, many rotor unmanned aerial vehicles are becoming miniaturized, portable, simplification day by day for unmanned aerial vehicle reserves rise rapidly. However, the huge amount of unmanned aerial vehicles kept brings an increasingly difficult problem of unmanned aerial vehicle management, and aerial photography of the unmanned aerial vehicles frequently happens when the unmanned aerial vehicles break into the no-fly areas and invade the news of airport runways; furthermore, the consumer unmanned aerial vehicle is used as a detection tool with low price by lawless persons in the interior and abroad, even weapons invade confidential areas and military restricted areas, and the technical development requirement for countering the unmanned aerial vehicle is very urgent.
At present, the search means for the illegal unmanned aerial vehicle is generally a search using radio radar, and the technical means for striking the illegal unmanned aerial vehicle is generally the following two:
1. the general position of the illegal unmanned aerial vehicle is found through radio, radar or photoelectric means, and then the illegal unmanned aerial vehicle is expelled in a form of regional radio interference;
2. directly destroying the target unmanned aerial vehicle by using killer weapons such as cannons and missiles;
the first method is mainly limited in that the radio search radar can only detect a moving target close to or far away from the moving target, can not find an illegal unmanned aerial vehicle hovering and transversely moving, and has limited detection precision which can only be generally accurate to about ten meters; and radio interference belongs to regional coverage interference, and all equipment in the peripheral scope of target all can be influenced, and when target unmanned aerial vehicle was in the autonomous navigation flight rather than the remote control mode, the radio interference effect was not good, and the target still can fly by oneself. In the second method, the gunship and the fighter plane driven by people need to be moved by using the killer weapon, the cost is very high, and a large amount of fragments and remains are dropped when the killer weapon is knocked down, so that the method is not suitable for being used in the occupied areas.
The invention patent with application number 201710166611.7 discloses an airborne net gun device of an unmanned aerial vehicle, which belongs to a net catching hardware device, can effectively catch the illegal unmanned aerial vehicle in time under the condition of on-site safety, and can greatly enhance the catching capacity of the illegal unmanned aerial vehicle by an auxiliary aiming system. However, such devices cannot flexibly cope with the movement of the target position, are easily interfered by factors such as ground echo, and cannot realize automatic capture.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an unmanned aerial vehicle interception net capture control system and a control method, which can realize automatic interception net capture and have the advantages of wide search range, high precision, strong anti-interference capability and the like.
In order to achieve the above object, the present invention adopts the following technical solutions:
an unmanned aerial vehicle interception net catches control system, includes:
the target searching and tracking module: the system comprises a three-axis stability-increasing holder, an upward-looking laser radar, a downward-looking laser radar, a zooming camera, an attitude sensor and a data switch, wherein data of the zooming camera, the upward-looking laser radar, the downward-looking laser radar and the attitude sensor are all output to the data switch; the target searching and tracking module firstly splices output point cloud data of the top view laser radar and the bottom view laser radar and corrects the motion, then searches a target point cloud set in the point cloud data, continuously tracks after judging a target position, outputs a relative position and sends target position information to the interception control module;
the interception control module: calculating interception routes according to the received target position information, updating ideal interception positions in real time, and guiding the aircraft to continuously approach the target aircraft to realize interception control;
the fire control module of the shooting net: the net bullet fire control system comprises a net bullet emitter and a net bullet trajectory calculation submodule, wherein the net bullet trajectory calculation submodule judges whether the predicted position of a target can fly into the coverage surface of a net fire control module within a certain time according to the target relative position and the target flight speed output by a target searching and tracking module, if the target is located in the coverage surface, the aim is finished, the net bullet is automatically triggered to emit, and the interception net capture is finished.
Preferably, the zoom camera is fixedly connected with the attitude sensor and is installed on the head-up axis of the three-axis stability-increasing pan-tilt, and the upward-looking laser radar and the downward-looking laser radar are respectively installed in a vertically staggered mode with the head-up axis of the stability-increasing pan-tilt at an installation angle α, so that the vertical scanning range can be expanded, and the effectiveness of target searching and tracking is improved.
Preferably, the yaw and pitch angles of the triaxial stability-increasing pan-tilt head are controllable, and the roll angle is automatically compensated to be horizontal.
Still preferably, the specific process of the target searching and tracking module is as follows:
(1) splicing and motion correction are carried out on output point cloud data of the upper view laser radar and the lower view laser radar:
recording an installation angle as α, a pan-tilt pitch angle as pitch and a yaw angle as yaw;
outputting point cloud coordinates relative to self axis by upward-looking laser radar
Figure 898522DEST_PATH_IMAGE001
Transforming to northeast coordinate system
Figure 406602DEST_PATH_IMAGE002
Recording a set of point clouds output by the view laser radar after the transformation as S1;
point cloud coordinates relative to self axis output by downward-looking laser radar
Figure 253335DEST_PATH_IMAGE003
Transforming to northeast coordinate system
Figure 322922DEST_PATH_IMAGE004
Recording the set of the point cloud output by the view laser radar after the transformation as S2; synthesizing the point cloud data after the two radar transformations into a total point cloud set S:
Figure 255106DEST_PATH_IMAGE005
；
(2) searching a target point cloud set in the point cloud data:
setting the number of points in the total point cloud set as m, and dividing the point cloud set into a plurality of convex hulls according to the following method: for each point p, if a convex hull K exists, the nearest distance from p to K is smaller than the distance threshold value
Figure 68341DEST_PATH_IMAGE006
Adding the point p into the convex hull K; if any convex hull K does not exist, the nearest distance from p to K is smaller than the distance threshold value
Figure 35160DEST_PATH_IMAGE006
Independently generating a new convex hull by the point p; through the steps, the point cloud is divided into points with the distance between the points larger than that of the point cloud
Figure 10070DEST_PATH_IMAGE006
The convex hull of (2);
for each divided convex hull, calculating the distance between any two points in the convex hull point set, if it is greater than
Figure 695129DEST_PATH_IMAGE006
Discarding the convex hull;
(3) continuously tracking after the target is judged, and outputting a relative position:
guiding the horizontal-view axis of the tripod head to align with the target one by one for the rest target convex hulls, shooting images by using a zoom camera and returning the images to the ground for manual identification, controlling the horizontal-view axis of the tripod head to continuously align with the target convex hull if the target is really required to be captured by the manual identification, and taking the gravity center coordinates of the convex hull as the coordinates of the target
Figure 545011DEST_PATH_IMAGE007
。
Still preferably, the said interception control module obtains the ideal interception position according to the following algorithm procedure
Figure 366337DEST_PATH_IMAGE008
And time of interception
Figure 512147DEST_PATH_IMAGE009
This position is the position with the shortest interception time:
Figure 418923DEST_PATH_IMAGE010
in the formula (I), the compound is shown in the specification,
Figure 573961DEST_PATH_IMAGE011
in order to be the cruising speed of the airplane,
Figure 249793DEST_PATH_IMAGE012
is the actual position of the machine,
Figure 832084DEST_PATH_IMAGE013
the target is relative to the position of the target (northeast coordinate system) and the target motion speed
Figure 226156DEST_PATH_IMAGE014
I.e. the target movement speed is equal to the differential of the target position over time.
Preferably, the net shooting fire control module comprises a net bullet trajectory calculation submodule and a net bullet emitter, the net bullet trajectory calculation submodule generates an ideal coverage surface within a certain time after the net bullet is launched, and if the target is located in the coverage surface, the net bullet emitter launches the net bullet to launch.
More preferably, the net-bullet launcher is mounted on the lower part of the drone, the launching axis points to the heading direction of the drone, and has a downward fixed mounting angle β.
Further preferably, the calculation method of the ideal coverage surface is as follows:
(1) the gravity center motion trail of the launched net bomb is a parabola, and the parameter equation is as follows:
Figure 417841DEST_PATH_IMAGE015
v is the initial speed of net ejection; in the formula, V is the initial speed of the net bomb, theta is the included angle between the axis of the net bomb emitter and the horizontal plane, y and z represent a coordinate system, the y axis points forwards horizontally along the axis of the emitter, the origin is positioned at the outlet of the emitter, the z axis points upwards vertically, the origin is positioned at the outlet of the emitter, and t is a trajectory equation parameter, namely the flying time of the net bomb after being emitted; the x axis and the x axis are also referred to below and point to the right vertically and horizontally, and the origin of coordinates is located at the center of the unmanned aerial vehicle;
(2) the coverage area of the net bomb is assumed to be a circle which is perpendicular to the movement track of the gravity center of the net bomb at a moment, the circle center of the circle is the position of the gravity center of the net bomb, and the radius of the circle is changed according to the following formula:
Figure 213759DEST_PATH_IMAGE016
in the formula (I), the compound is shown in the specification,
Figure 966951DEST_PATH_IMAGE017
the time for the net bomb to be completely unfolded,
Figure 582740DEST_PATH_IMAGE018
the radius at which the net bullet is fully deployed,
Figure 79581DEST_PATH_IMAGE019
to be the rate at which the net bomb unwinds,
Figure 730005DEST_PATH_IMAGE020
。
the invention also discloses a method for realizing the net capture control by adopting the unmanned aerial vehicle interception net capture control system, which comprises the following steps:
s1, the zoom camera, the upward-looking laser radar, the downward-looking laser radar and the attitude sensor of the target search control module transmit the acquired data to a data switch, and the data enters a processor for calculation, wherein the calculation method comprises the following steps:
s1-1, matching and motion correction are carried out on output point cloud data of the upper view laser radar and the lower view laser radar:
upward view laser radarOutput point cloud coordinates relative to its own axis
Figure 654098DEST_PATH_IMAGE021
Transforming to northeast coordinate system
Figure 22763DEST_PATH_IMAGE022
Recording a set of point clouds output by the view laser radar after the transformation as S1;
point cloud coordinates relative to self axis output by downward-looking laser radar
Figure 556250DEST_PATH_IMAGE003
Transforming to northeast coordinate system
Figure 61181DEST_PATH_IMAGE023
Recording the set of the point cloud output by the view laser radar after the transformation as S2;
synthesizing the point cloud data after the two radar transformations into a total point cloud set S:
Figure 156176DEST_PATH_IMAGE005
；
s1-2, searching a target point cloud set in the point cloud data:
if the number of points in the total point cloud set is m, dividing the total point cloud set into a plurality of convex hulls according to the following method:
for each point p, if a convex hull K exists, the nearest distance from p to K is smaller than the distance threshold value
Figure 746557DEST_PATH_IMAGE006
Adding the point p into the convex hull K;
if any convex hull K does not exist, the nearest distance from p to K is smaller than the distance threshold value
Figure 585200DEST_PATH_IMAGE006
Independently generating a new convex hull by the point p;
through the steps, the point cloud can be divided into individual points with the distance between the points larger than that of the point cloud
Figure 210216DEST_PATH_IMAGE006
The convex hull of (2);
for each divided convex hull, calculating the distance between any two points in the convex hull point set, if it is greater than
Figure 476113DEST_PATH_IMAGE006
Then the convex hull is discarded because the drone target that generally needs to be captured is not larger than
Figure 553790DEST_PATH_IMAGE006
(ii) a The above-mentioned
Figure 429080DEST_PATH_IMAGE006
2-4 m;
s1-3, continuously tracking after the target is judged, and outputting a relative position:
guiding the horizontal-view axis of the tripod head to align with the target one by one for the rest target convex hulls, shooting images by using a zoom camera and returning the images to the ground for manual identification, controlling the horizontal-view axis of the tripod head to continuously align with the target convex hull if the target is really required to be captured by the manual identification, and taking the gravity center coordinates of the convex hull as the coordinates of the target
Figure 908603DEST_PATH_IMAGE007
；
S2, the interception control module captures the sensor and the flight controller carried on the unmanned aerial vehicle according to interception of the unmanned aerial vehicle, and the actual position of the unmanned aerial vehicle is obtained
Figure 345400DEST_PATH_IMAGE024
Meanwhile, the output data of the tracking module is searched according to the target and converted into a northeast coordinate system, so that the position of the target relative to the self-machine can be obtained
Figure 175953DEST_PATH_IMAGE025
And speed of movement of the object
Figure 356399DEST_PATH_IMAGE026
I.e. the speed of movement of the object is equal to the pair of object positionsDifferentiation of time;
then, the ideal interception position is obtained according to the following algorithm
Figure 956007DEST_PATH_IMAGE027
And time of interception
Figure 563706DEST_PATH_IMAGE029
This position is the position with the shortest interception time:
Figure 350397DEST_PATH_IMAGE030
in the formula
Figure 833068DEST_PATH_IMAGE031
Is the cruising speed of the airplane.
In the working process, the target searching and tracking module continuously updates the target position, the interception control module updates the ideal interception position in real time and guides the target to continuously approach the target machine, so that interception is finished;
s3, when the machine is guided to the position near the periphery of a target, the shooting net fire control module is started, the shooting net trajectory and the coverage range are calculated in real time, the gravity center motion track of the launched net bullet is a parabola, and the parameter equation is as follows:
Figure 287183DEST_PATH_IMAGE032
wherein theta refers to an included angle between the axis of the emitter and the horizontal line and is positive downwards; t is a parameter of a parameterized equation and refers to the expected flight time of the net bomb; v is the initial speed of the net ejection,
the coverage area of the net can be assumed to be a circle which is perpendicular to the movement track of the gravity center of the net bullet at a moment, the circle center of the circle is the position of the gravity center of the net bullet, and the radius of the circle is changed according to the following formula:
Figure 269046DEST_PATH_IMAGE033
in the formula (I), the compound is shown in the specification,
Figure 543032DEST_PATH_IMAGE034
the time for the net bomb to be completely unfolded,
Figure 65281DEST_PATH_IMAGE035
the radius at which the net bullet is fully deployed,
Figure 170640DEST_PATH_IMAGE036
to be the rate at which the net bomb unwinds,
Figure 120141DEST_PATH_IMAGE037
；
generating an ideal coverage surface within a certain time after the net bomb is launched according to the algorithm, and judging the predicted position of the target within a certain time according to the target relative position and the target flight speed output by the target searching and tracking module
Figure 147003DEST_PATH_IMAGE038
Whether can fly into this covering surface, if the target is in this face, can think to aim the completion, the firing of automatic trigger net bullet, net bullet corner system has the rope, connects in the unmanned aerial vehicle lower part, can twine, cladding target machine after hitting target unmanned aerial vehicle to hang target machine and navigate back. Where t again refers to the expected flight times of the net projectile and the target machine, the prediction process may increase t linearly from 0 to a certain value and calculate the net projectile coverage and the expected target position for each t to determine when overlap will occur.
Preferably, in the present invention, the point cloud coordinates of the above-mentioned upward-looking lidar output with respect to its own axis
Figure 729336DEST_PATH_IMAGE021
Transformation to the northeast coordinate system is done as follows:
note that the distance from this point to the lidar is:
Figure 158043DEST_PATH_IMAGE039
，
coordinates transformed into the northeast coordinate system:
Figure 278446DEST_PATH_IMAGE040
Figure 527025DEST_PATH_IMAGE041
；
the point cloud coordinates output by the downward-looking laser radar relative to the axis of the downward-looking laser radar
Figure 391075DEST_PATH_IMAGE003
Transformation to the northeast coordinate system is done as follows:
note that the distance from this point to the lidar is:
Figure 877551DEST_PATH_IMAGE042
coordinates transformed into the northeast coordinate system:
Figure 965593DEST_PATH_IMAGE043
Figure 701468DEST_PATH_IMAGE044
；
wherein α is the installation angle, pitch is the pan-tilt angle, and yaw is the yaw angle.
The invention has the advantages that:
(1) the interception net capture control system can be carried on the unmanned aerial vehicle, autonomously guides and approaches a target after the target unmanned aerial vehicle is found, launches net bombs, and drags and flies back to the base after the target unmanned aerial vehicle is captured. The system takes a pair of laser radars as search sensing equipment, has the advantages of wide search range, high precision and the like, and is not easily interfered by ground echo and movement and stillness of targets.
(2) In the control method, the target is accurately positioned in a three-dimensional space, and the point cloud data can be used for obtaining accurate distance data of the target besides the direction, which is important for interception planning and final fire control guidance; by utilizing the interception control module, an interception air route can be generated autonomously according to the position of the target unmanned aerial vehicle, the target unmanned aerial vehicle can be guided to approach the target unmanned aerial vehicle autonomously, when the target flies into the coverage surface of the net bomb, the net bomb can be automatically fired and launched, the accuracy is good, and the subsidiary damage can not be caused.
(3) The net shooting fire control module comprises a net bullet emitter and a net bullet trajectory calculation submodule, the target unmanned aerial vehicle can be hung in the catching net through the net bullet emitter to fly and be brought back to the base, and the target unmanned aerial vehicle cannot fall to the ground to affect the property safety of people. After the net bullet emitter emits the net, the movement track of the net is a parabola under the action of gravity, drop of a trajectory is not considered in the prior art, the movement track is directly regarded as a straight line, the error can be ignored for a short-distance target, but the error is more obvious when the distance is longer, the control system and the control method of the invention realize accurate calculation by using a three-dimensional space, the net capture accuracy can be greatly improved, and the net bullet emitter is also suitable for the interception net capture of a long-distance (more than 100 meters) unmanned aerial vehicle.
Drawings
Fig. 1 is a structural block diagram of an unmanned plane interception net capture control system of the invention;
fig. 2 is a schematic structural diagram of a blocking net capture control system carrying unmanned aerial vehicle of the unmanned aerial vehicle;
FIG. 3 is a schematic view of the structure of FIG. 2 from another perspective;
FIG. 4 is a schematic diagram of the structure of the target search tracking module of the present invention;
FIG. 5 is a schematic view of the structure of FIG. 4 from another perspective;
FIG. 6 is a schematic of a interception route generated by the interception control module of the present invention;
FIG. 7 is a schematic view of the fire control module of the present invention.
The meaning of the reference symbols in the figures:
1. the system comprises a target searching and tracking module, 101, a three-axis stability-increasing holder, 102, an attitude sensor, 103, a zoom camera, 104, an upward-looking laser radar, 105, a downward-looking laser radar, 2, a interception control module and 3, a shooting fire control module.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
Referring to fig. 1, the interception control system of the present invention includes: the target searching and tracking module 1, the interception control module 2 and the shooting fire control module 3 continuously track the target after the target is judged by the target searching and tracking module 1, and output the relative position of the target to the interception control module 2, the target searching and tracking module 1 continuously updates the target position along with the time, the interception control module 2 updates the ideal interception position in real time, and guides the target to continuously approach the target, thereby completing interception; when the machine is guided to the vicinity of the periphery of the target, the shooting net fire control module 3 is started, the shooting net trajectory and the coverage range are calculated in real time, and whether the predicted position of the target flies into the coverage surface within a certain time can be judged according to the relative position and the flying speed of the target output by the target searching and tracking module 1. If the target is in the coverage surface, the aiming is finished, the net bomb is automatically triggered to be launched, and the interception net capture is finished.
As shown in FIGS. 2 to 5, the target searching and tracking module 1 mainly comprises a three-axis stabilization holder 101, an upper view laser radar 104, a lower view laser radar 105, a visible light zoom camera 103, an attitude sensor 102 (IMU) and a data exchange, wherein the yaw and pitch angles of the three-axis stabilization holder 101 are controllable, the roll angle is automatically compensated to be horizontal, the visible light zoom camera 103 and the attitude sensor 102 are fixedly connected and installed on the plane view axis of the three-axis stabilization holder 101, because the existing three-dimensional laser radar is generally large in horizontal scanning angle and small in vertical scanning angle, two laser radars, namely the upper view laser radar 104 and the lower view laser radar 105, are installed, and the two laser radars and the axis of the stabilization holder form an installation angle α which is installed in a vertically staggered mode, so that the vertical scanning range is expanded, and the scanning dead angle is avoided.
In the target searching and tracking process, data collected by the zoom camera 103, the two laser radars and the IMU are all transmitted to a data switch and enter a processor for calculation, and the specific calculation method in the searching and tracking process is as follows:
(1) matching and motion correction are carried out on the output point cloud data of the upward-view laser radar 105 and the downward-view laser radar:
recording an installation angle as α, a pan-tilt pitch angle as pitch and a yaw angle as yaw;
point cloud coordinates output by the look-up lidar 104 relative to its own axis
Figure 867745DEST_PATH_IMAGE021
Transforming to the northeast coordinate system by:
note that the distance from this point to the lidar is:
Figure 208728DEST_PATH_IMAGE039
，
coordinates transformed into the northeast coordinate system:
Figure 670933DEST_PATH_IMAGE040
Figure 894104DEST_PATH_IMAGE041
，
recording the set of the point cloud output by the view laser radar 104 after the transformation as S1;
point cloud coordinates relative to its own axis output by the look-down lidar 105
Figure 162274DEST_PATH_IMAGE003
Transforming to the northeast coordinate system by:
note that the distance from this point to the lidar is:
Figure 154501DEST_PATH_IMAGE042
coordinates transformed into the northeast coordinate system:
Figure 787608DEST_PATH_IMAGE043
Figure 199872DEST_PATH_IMAGE045
，
recording the set of the point cloud output by the look-down laser radar 105 after the transformation as S2;
synthesizing the point cloud data after the two radar transformations into a total point cloud set S:
Figure 209416DEST_PATH_IMAGE005
。
(2) searching a target point cloud set in the point cloud data:
if the number of points in the total point cloud set is m, dividing the total point cloud set into a plurality of convex hulls according to the following method:
for each point p, if a convex hull K exists, the nearest distance from p to K is smaller than the distance threshold value
Figure 56150DEST_PATH_IMAGE006
Adding the point p into the convex hull K;
if any convex hull K does not exist, the nearest distance from p to K is smaller than the distance threshold value
Figure 125737DEST_PATH_IMAGE006
Independently generating a new convex hull by the point p;
through the steps, the point cloud can be divided into individual points with the distance between the points larger than that of the point cloud
Figure 57921DEST_PATH_IMAGE006
The convex hull of (1).
For the determination of the drone target, it is common to use
Figure 871156DEST_PATH_IMAGE006
The setting is about 3 meters, and the specific numerical value can be flexibly set according to the actual use requirement. This is because: unmanned aerial vehicle is in spacious position usually when flying, and keeps certain distance with the barrier, so can think through this step if there is target unmanned aerial vehicle in the point cloud data, must have divided into an independent convex closure with target unmanned aerial vehicle.
For each divided convex hull, calculating the distance between any two points in the convex hull point set, if it is greater than
Figure 572396DEST_PATH_IMAGE006
Then the convex hull is discarded, and the drone target that generally needs to be captured is no larger than
Figure 812884DEST_PATH_IMAGE006
。
(3) Continuously tracking after the target is judged, and outputting a relative position:
guiding the horizontal-view axes of the tripod head to align with the targets one by one for the rest target convex hulls, shooting images by using a zoom camera 103 and returning the images to the ground for manual identification, controlling the horizontal-view axes of the tripod head to align with the target convex hull continuously if the targets are required to be captured in the manual identification, and taking the gravity center coordinates of the convex hulls as the coordinates of the targets
Figure 730899DEST_PATH_IMAGE007
。
When the target is locked and tracked, the position (X) of the target is obtainedt，Yt，Zt) The information is transmitted to an interception control module 2, the interception control module 2 captures a sensor and a flight controller carried on the unmanned aerial vehicle according to interception of the owner, and the actual position of the owner can be obtained
Figure 82246DEST_PATH_IMAGE024
While searching for the output data (X) of the tracking module 1 on the basis of the targett，Yt，Zt) And the coordinate system is converted into a northeast coordinate system, so that the position of the target relative to the self-machine can be obtained
Figure 903572DEST_PATH_IMAGE025
And speed of movement of the object
Figure 314962DEST_PATH_IMAGE046
。
Then, according to the course schematic shown in FIG. 6, the ideal interception location is found according to the following algorithm
Figure DEST_PATH_IMAGE047
And time of interception
Figure 690579DEST_PATH_IMAGE029
This position is the position with the shortest interception time:
Figure 845617DEST_PATH_IMAGE030
in the formula
Figure 521449DEST_PATH_IMAGE031
Is the cruising speed of the airplane.
In the working process, the target searching and tracking module 1 continuously updates the target position, the interception control module 2 updates the ideal interception position in real time, and guides the target to continuously approach the target machine, so that interception is completed.
As shown in figure 3, the net bullet launcher of the shooting net fire control module 3 is installed at the lower part of the unmanned aerial vehicle, the launching axis points to the heading direction of the unmanned aerial vehicle, and the launching axis has a downward fixed installation angle β, and cannot be adjusted.
The gravity center motion trail of the launched net bomb is a parabola, and the parameter equation is as follows:
Figure 602275DEST_PATH_IMAGE032
wherein theta refers to an included angle between the axis of the emitter and the horizontal line and is positive downwards; t is a parameter of a parameterized equation and refers to the expected flight time of the net bomb; in the formula, V is the initial speed of net ejection and can be obtained through experiments.
The coverage area of the net bomb can be assumed to be a circle which is perpendicular to the movement track of the gravity center of the net bomb at a moment, the circle center of the circle is the position of the gravity center of the net bomb, and the radius of the circle is changed according to the following formula:
Figure 996347DEST_PATH_IMAGE033
in the formula (I), the compound is shown in the specification,
Figure 689497DEST_PATH_IMAGE034
the time for the net bomb to be completely unfolded,
Figure 485415DEST_PATH_IMAGE035
the radius at which the net bullet is fully deployed,
Figure 973028DEST_PATH_IMAGE036
to be the rate at which the net bomb unwinds,
Figure 854396DEST_PATH_IMAGE037
。
the ideal coverage surface within a certain time after the net bomb is launched can be generated by the algorithm. According to the target relative position and the target flight speed output by the target searching and tracking module, the predicted position of the target in a certain time can be judged
Figure 351237DEST_PATH_IMAGE038
Whether or not to fly into the cover. If the target is in the plane, the aiming is considered to be finished, and the net bomb is automatically triggered to be launched. Where t again refers to the expected flight times of the net projectile and the target machine, the prediction process may increase t linearly from 0 to a certain value and calculate the net projectile coverage and the expected target position for each t to determine when overlap will occur.
In order to conveniently realize the net-catching operation, a rope is arranged at one corner of the net bomb and connected to the lower part of the unmanned aerial vehicle, and the target unmanned aerial vehicle can be wound and coated after hitting the target unmanned aerial vehicle and can be hung for homing.
In conclusion, the interception net capture control system can be carried on the unmanned aerial vehicle, autonomously guides and approaches a target after finding the target unmanned aerial vehicle, launches net bombs, and captures the target unmanned aerial vehicle to drag the target unmanned aerial vehicle to fly back to the base. The system takes a pair of laser radars as search sensing equipment, has the advantages of wide search range, high precision and the like, and is not easily interfered by ground echo and movement and stillness of a target; the interception control module 2 can autonomously generate an interception route and autonomously guide the target unmanned aerial vehicle to approach the target unmanned aerial vehicle according to the position of the target unmanned aerial vehicle, when the target flies into the coverage surface of the net bomb, the net bomb can be automatically fired and launched, the accuracy is good, and the subsidiary killing cannot be caused; the net shooting fire control module 3 comprises a net bullet emitter and a net bullet trajectory calculation submodule, and the target unmanned aerial vehicle can be hung in a catching net through the net bullet emitter to fly and be brought back to the base, and cannot fall to the ground to influence the property safety of people.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims (10)

1. The utility model provides an unmanned aerial vehicle interception net catches control system which characterized in that includes:
the target searching and tracking module: the system comprises a three-axis stability-increasing holder, an upward-looking laser radar, a downward-looking laser radar, a zooming camera, an attitude sensor and a data switch, wherein the zooming camera, the upward-looking laser radar, the downward-looking laser radar and the attitude sensor all output acquired data to the data switch; the target searching and tracking module firstly splices output point cloud data of the top view laser radar and the bottom view laser radar and corrects the motion, then searches a target point cloud set in the point cloud data, continuously tracks after judging a target position, outputs a relative position and sends target position information to the interception control module;
the interception control module: generating an interception route according to the received target position information, updating an ideal interception position in real time, and guiding the aircraft to continuously approach the target aircraft to realize interception control;
the fire control module of the shooting net: the net bullet fire control system comprises a net bullet emitter and a net bullet trajectory calculation submodule, wherein the net bullet trajectory calculation submodule judges whether the predicted position of a target can fly into the coverage surface of a net fire control module within a certain time according to the target relative position and the target flight speed output by a target searching and tracking module, if the target is located in the coverage surface, the aim is finished, the net bullet is automatically triggered to emit, and the interception net capture is finished.
2. The unmanned aerial vehicle interception net capture control system according to claim 1, wherein the zoom camera is fixedly connected with the attitude sensor and is installed on a head-up axis of the three-axis stabilization holder, and the upper-view laser radar and the lower-view laser radar are respectively installed with the head-up axis of the stabilization holder in an up-and-down staggered mode at an installation angle α.
3. The unmanned aerial vehicle interception net capture control system according to claim 1, wherein the yaw and pitch angles of the triaxial stabilizing pan-tilt are controllable, and the roll angle is automatically compensated to be horizontal.
4. The unmanned aerial vehicle interception net capture control system according to claim 1, wherein the specific search and tracking process of the target search and tracking module is as follows:
(1) splicing and motion correction are carried out on output point cloud data of the upper view laser radar and the lower view laser radar:
outputting point cloud coordinates relative to self axis by upward-looking laser radar
Figure 378565DEST_PATH_IMAGE001
Transforming to northeast coordinate system
Figure 319976DEST_PATH_IMAGE002
Recording a set of point clouds output by the view laser radar after the transformation as S1;
point cloud coordinates relative to self axis output by downward-looking laser radar
Figure 400802DEST_PATH_IMAGE003
Transforming to northeast coordinate system
Figure 794874DEST_PATH_IMAGE004
Recording the set of the point cloud output by the view laser radar after the transformation as S2; change two radars intoSynthesizing the converted point cloud data into a total point cloud set S:
Figure 488024DEST_PATH_IMAGE005
；
(2) searching a target point cloud set in the point cloud data:
setting the number of points in the total point cloud set as m, and dividing the point cloud set into a plurality of convex hulls according to the following method: for each point p, if a convex hull K exists, the nearest distance from p to K is smaller than the distance threshold value
Figure 18362DEST_PATH_IMAGE006
Adding the point p into the convex hull K; if any convex hull K does not exist, the nearest distance from p to K is smaller than the distance threshold value
Figure 771555DEST_PATH_IMAGE006
Independently generating a new convex hull by the point p; through the steps, the point cloud is divided into points with the distance between the points larger than that of the point cloud
Figure 652923DEST_PATH_IMAGE006
The convex hull of (2);
for each divided convex hull, calculating the distance between any two points in the convex hull point set, if it is greater than
Figure 149763DEST_PATH_IMAGE006
Discarding the convex hull;
(3) continuously tracking after the target is judged, and outputting a relative position:
and guiding the horizontal-view axis of the tripod head one by one to align the target for the rest target convex hulls, shooting images by using a zoom camera and returning the images to the ground for manual identification, controlling the horizontal-view axis of the tripod head to continuously align and track the target convex hull if the target is really required to be captured by the manual identification, and taking the gravity center coordinates of the convex hull as the coordinates of the target
Figure 800188DEST_PATH_IMAGE007
。
5. The unmanned aerial vehicle interception net capture control system of claim 1, wherein the interception control module calculates an ideal interception position
Figure 957237DEST_PATH_IMAGE008
And time of interception
Figure 325902DEST_PATH_IMAGE009
：
Figure 360854DEST_PATH_IMAGE010
In the formula (I), the compound is shown in the specification,
Figure 131364DEST_PATH_IMAGE011
in order to be the cruising speed of the airplane,
Figure 960779DEST_PATH_IMAGE012
is the actual position of the machine,
Figure 816740DEST_PATH_IMAGE013
the position of the target relative to the mobile terminal and the moving speed of the target
Figure 858645DEST_PATH_IMAGE014
I.e. the target movement speed is equal to the differential of the target position over time.
6. The unmanned aerial vehicle interception net capture control system according to claim 1, wherein the net shooting fire control module comprises a net bullet trajectory calculation submodule and a net bullet emitter, the net bullet trajectory calculation submodule generates an ideal coverage surface within a certain time after the net bullet is launched, and the net bullet emitter triggers the net bullet to be launched if the target is in the coverage surface.
7. The intercept net capture control system for drones, according to claim 6, wherein said net projectile launcher is mounted to the lower portion of the drone with the launch axis pointing in the direction of the drone heading and having a fixed mounting angle β pointing downward.
8. The unmanned aerial vehicle interception net capture control system according to claim 6, wherein said ideal coverage is calculated by the following method:
(1) the gravity center motion trail of the launched net bomb is a parabola, and the parameter equation is as follows:
Figure 716618DEST_PATH_IMAGE015
in the formula, V is the initial speed of the net bomb, theta is the included angle between the axis of the net bomb emitter and the horizontal plane, y and z represent a coordinate system, the y axis points forwards horizontally along the axis of the emitter, the origin is positioned at the outlet of the emitter, the z axis points upwards vertically, the origin is positioned at the outlet of the emitter, and t is a trajectory equation parameter, namely the flying time of the net bomb after being emitted;
(2) the coverage area of the net bomb is assumed to be a circle which is perpendicular to the movement track of the gravity center of the net bomb at a moment, the circle center of the circle is the position of the gravity center of the net bomb, and the radius of the circle is changed according to the following formula:
Figure 982514DEST_PATH_IMAGE016
in the formula (I), the compound is shown in the specification,
Figure 60191DEST_PATH_IMAGE017
the time for the net bomb to be completely unfolded,
Figure 702525DEST_PATH_IMAGE018
the radius at which the net bullet is fully deployed,
Figure 978786DEST_PATH_IMAGE019
to be the rate at which the net bomb unwinds,
Figure 415583DEST_PATH_IMAGE020
。
9. the control method for realizing interception net shooting by adopting the unmanned aerial vehicle interception net shooting control system according to any one of claims 1-8 is characterized by comprising the following steps:
s1, the zoom camera, the upward-looking laser radar, the downward-looking laser radar and the attitude sensor of the target search control module transmit the acquired data to a data switch, and the data enters a processor for calculation, wherein the calculation method comprises the following steps:
s1-1, matching and motion correction are carried out on output point cloud data of the upper view laser radar and the lower view laser radar:
outputting point cloud coordinates relative to self axis by upward-looking laser radar
Figure 980557DEST_PATH_IMAGE021
Transforming to northeast coordinate system
Figure 161002DEST_PATH_IMAGE022
Recording a set of point clouds output by the view laser radar after the transformation as S1;
point cloud coordinates relative to self axis output by downward-looking laser radar
Figure 495032DEST_PATH_IMAGE003
Transforming to northeast coordinate system
Figure 601266DEST_PATH_IMAGE023
Recording the set of the point cloud output by the view laser radar after the transformation as S2;
synthesizing the point cloud data after the two radar transformations into a total point cloud set S:
Figure 653535DEST_PATH_IMAGE005
；
s1-2, searching a target point cloud set in the point cloud data:
setting the number of points in the total point cloud set as m, and dividing the total point cloud set into a plurality of convex hulls according to the following method:
for each point p, if a convex hull K exists, the nearest distance from p to K is smaller than the distance threshold value
Figure 372093DEST_PATH_IMAGE006
Adding the point p into the convex hull K; if any convex hull K does not exist, the nearest distance from p to K is smaller than the distance threshold value
Figure 826208DEST_PATH_IMAGE006
Independently generating a new convex hull by the point p;
for each divided convex hull, calculating the distance between any two points in the convex hull point set, if it is greater than
Figure 604808DEST_PATH_IMAGE006
Discarding the convex hull; the above-mentioned
Figure 878794DEST_PATH_IMAGE006
2-4 m;
s1-3, continuously tracking after the target is judged, and outputting a relative position:
guiding the horizontal-view axis of the tripod head to align with the target one by one for the rest target convex hulls, shooting images by using a zoom camera and returning the images to the ground for manual identification, controlling the horizontal-view axis of the tripod head to continuously align and track the target convex hull if the target is really required to be captured by the manual identification, and taking the gravity center coordinates of the convex hull as the coordinates of the target
Figure 401043DEST_PATH_IMAGE007
；
S2, the interception control module captures the sensor and the flight controller carried on the unmanned aerial vehicle according to interception of the unmanned aerial vehicle, and the actual position of the unmanned aerial vehicle is obtained
Figure 709664DEST_PATH_IMAGE024
And simultaneously, the output data of the tracking module is searched according to the target and is converted into a northeast coordinate system, so that the target tracking system can be obtainedRelative position of target to self machine
Figure 157701DEST_PATH_IMAGE025
And speed of movement of the object
Figure 918984DEST_PATH_IMAGE026
I.e. the target movement speed is equal to the differential of the target position over time;
then, the ideal interception position is obtained
Figure 41660DEST_PATH_IMAGE027
And time of interception
Figure 204788DEST_PATH_IMAGE028
：
Figure 325191DEST_PATH_IMAGE029
In the formula
Figure 839349DEST_PATH_IMAGE030
The cruising speed of the airplane is the cruising speed of the airplane;
in the working process, the target searching and tracking module continuously updates the target position, the interception control module updates the ideal interception position in real time and guides the target to continuously approach the target machine, so that interception is finished;
s3, when the machine is guided to the position near the periphery of a target, the shooting net fire control module is started, the shooting net trajectory and the coverage range are calculated in real time, the gravity center motion track of the launched net bullet is a parabola, and the parameter equation is as follows:
Figure 703400DEST_PATH_IMAGE031
wherein theta refers to an included angle between the axis of the emitter and the horizontal line and is positive downwards; t is a parameter of a parameterized equation and refers to the expected flight time of the net bomb; v is the initial speed of the net ejection,
the coverage range of the shooting net can be assumed to be a circle which is perpendicular to the movement track of the gravity center of the net bullet at a moment, the circle center of the circle is the position of the gravity center of the net bullet, and the radius of the circle is changed according to the following formula:
Figure 455455DEST_PATH_IMAGE032
in the formula (I), the compound is shown in the specification,
Figure 12339DEST_PATH_IMAGE033
the time for the net bomb to be completely unfolded,
Figure 246749DEST_PATH_IMAGE034
the radius at which the net bullet is fully deployed,
Figure 914490DEST_PATH_IMAGE035
to be the rate at which the net bomb unwinds,
Figure 786631DEST_PATH_IMAGE036
；
generating an ideal coverage surface within a certain time after the net bomb is launched according to the two formulas, and judging the predicted position of the target within a certain time according to the target relative position and the target flight speed output by the target searching and tracking module
Figure 311154DEST_PATH_IMAGE037
Whether can fly into this covering surface, if the target is in this face, can think to aim the completion, the firing of automatic trigger net bullet, net bullet corner system has the rope, connects in the unmanned aerial vehicle lower part, can twine, cladding target machine after hitting target unmanned aerial vehicle to hang target machine and navigate back, wherein (X)t，Yt，Zt) Is the position of the target relative to the machine.
10. The method for realizing the net capture control by the unmanned aerial vehicle interception net capture control system according to claim 9, wherein the point cloud coordinates relative to the axis of the unmanned aerial vehicle output by the upward-looking laser radar are point cloud coordinates
Figure 534324DEST_PATH_IMAGE021
Transformation to the northeast coordinate system is done as follows:
note that the distance from this point to the lidar is:
Figure 740178DEST_PATH_IMAGE038
，
coordinates transformed into the northeast coordinate system:
Figure 732405DEST_PATH_IMAGE039
Figure 631091DEST_PATH_IMAGE040
；
the point cloud coordinates output by the downward-looking laser radar relative to the axis of the downward-looking laser radar
Figure 75978DEST_PATH_IMAGE003
Transformation to the northeast coordinate system is done as follows:
note that the distance from this point to the lidar is:
Figure 318479DEST_PATH_IMAGE041
coordinates transformed into the northeast coordinate system:
Figure 430791DEST_PATH_IMAGE042
Figure 234799DEST_PATH_IMAGE043
；
wherein α is the installation angle, pitch is the pan-tilt angle, and yaw is the yaw angle.
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