CN111811339B - Aircraft laser guidance control system and method using ground laser indicator - Google Patents
Aircraft laser guidance control system and method using ground laser indicator Download PDFInfo
- Publication number
- CN111811339B CN111811339B CN202010543156.XA CN202010543156A CN111811339B CN 111811339 B CN111811339 B CN 111811339B CN 202010543156 A CN202010543156 A CN 202010543156A CN 111811339 B CN111811339 B CN 111811339B
- Authority
- CN
- China
- Prior art keywords
- laser
- target
- aircraft
- ground
- signal
- 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.)
- Active
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/24—Beam riding guidance systems
- F41G7/26—Optical guidance systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/24—Beam riding guidance systems
- F41G7/26—Optical guidance systems
- F41G7/263—Means for producing guidance beams
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an aircraft laser guidance control system and method using a ground laser indicator, which automatically calculate a target coordinate according to a received diffuse reflection laser signal while providing guidance laser for an aircraft, and transmit the target coordinate to the aircraft in a signal transmission mode, so that the aircraft can perform guidance control by using the target coordinate detected by a self-seeker, and can also use the received target coordinate as supplement so as to accurately calculate a guidance instruction when the self-seeker fails to obtain the target coordinate.
Description
Technical Field
The invention relates to the field of aircraft guidance control, in particular to an aircraft laser guidance control system and method utilizing a ground laser indicator.
Background
The principle of the method is that a laser beam with a specific frequency band is emitted to a target position, a seeker arranged on the aircraft receives a laser signal diffusely reflected by a target, and the laser signal is tracked, so that the aircraft can know the target position and provide target position information for guidance control;
in the actual working process, the external environment of the aircraft and the flight state of the aircraft are complex and changeable, when the flight speed of the aircraft approaches the sound speed, the aircraft may shake violently, even if some aircraft do not reach the sound speed, the aircraft can also shake during descending flight, in addition, under the influence of severe weather such as strong wind, heavy rain and the like, the air flow can become unstable, and further the stability of the aircraft body can be influenced.
For the above reasons, the present inventors have conducted intensive studies on the existing aircraft laser guidance control system and control method, and have awaited designing a new aircraft guidance control system and method that can solve the above problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention makes a keen study and designs an aircraft laser guidance control system and method using a ground laser indicator, the system and method provide guidance laser for an aircraft, simultaneously calculate a target coordinate according to a received diffuse reflection laser signal, and transmit the target coordinate to the aircraft in a signal transmission mode, so that the aircraft can perform guidance control by using the target coordinate detected by a self-guidance head, and can also use the received target coordinate as supplement so as to accurately calculate a guidance instruction when the self-guidance head fails to obtain the target coordinate, thereby completing the invention.
In particular, it is an object of the present invention to provide an aircraft laser guidance control system using a ground laser pointer, the system comprising a laser seeker and a ground laser pointer;
the laser seeker is arranged on the aircraft and used for receiving laser signals diffusely reflected on a target so as to obtain the bullet sight line angular speed used for resolving the aircraft guidance instruction,
the ground laser indicator is used for emitting laser to irradiate a target, receiving a laser signal diffusely reflected by the target, determining the position coordinates of the target and transmitting the position coordinates of the target to the aircraft.
The invention also provides an aircraft laser guidance control method by utilizing the ground laser indicator,
the laser pointer on the ground emits laser to irradiate the target,
the laser guidance head arranged on the aircraft receives the laser signals diffusely reflected by the target, so as to obtain the visual angular velocity of the bullet,
and receiving the laser signal diffusely reflected by the target through the ground laser indicator to obtain a target position coordinate, and transmitting the obtained target position coordinate to the aircraft through the signal transmitting unit.
The invention has the advantages that:
(1) according to the aircraft laser guidance control system and method utilizing the ground laser indicator, the aircraft obtains the bullet sight line angular speed through the laser guide head at the last guiding section, when the laser guide head cannot capture laser signals due to factors such as the self attitude of the aircraft and the like or the laser emitting end and the target are shielded by other objects, the aircraft can still obtain the target position coordinates, and further reasonable guidance instructions can still be calculated, so that the anti-jamming capability of the aircraft is improved, and the hit rate is improved.
(2) According to the aircraft laser guidance control system and method using the ground laser indicator, when the ground laser indicator loses the target, the target can be searched again, and the estimated target position information is output in time, so that the whole flight track is more stable, and the hit rate is improved.
Drawings
FIG. 1 shows a logical view of the overall structure of an aircraft laser guidance control system using a ground laser pointer according to a preferred embodiment of the present invention;
FIG. 2 shows a schematic diagram of a laser target indicator configuration according to a preferred embodiment of the present invention;
FIG. 3 illustrates an aircraft and target trajectory diagram in an embodiment of the invention;
FIG. 4 shows a diagram of an aircraft and target trajectory in a comparative example of the invention.
The reference numbers illustrate:
1-laser seeker
2-ground laser indicator
21-target Capture Unit
22-laser target indicator
23-satellite signal receiving unit
24-target position resolving unit
25-Signal transmitting Unit
221-laser transmitter
222 laser detector
223-optical filter
224-reflector
225-spherical shell
3-receiving module
4-transfer module
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the aircraft laser guidance control system using the ground laser pointer provided by the invention, as shown in fig. 1, the guidance control system comprises a laser guide head 1 and a ground laser pointer 2, wherein the laser guide head 1 is installed on an aircraft and is used for receiving a laser signal diffused on a target so as to lock the position of the target and provide a bullet sight line angular speed for resolving an aircraft guidance instruction in real time, and the laser guide head 1 may be an existing laser guide head in the field, which is not particularly limited in this application.
The ground laser indicator 2 can move within a certain range from a target, can emit laser to irradiate the target, can receive laser signals diffusely reflected by the target, further determines a target position coordinate, and transmits the target position coordinate to the aircraft.
In a preferred embodiment, as shown in fig. 1, the ground laser pointer 2 includes a target acquisition unit 21, a laser target pointer 22, a satellite signal receiving unit 23, a target position resolving unit 24, and a signal transmitting unit 25.
The target capturing unit 21 includes a camera, which is used for searching for a target in a larger range, providing a larger range of visual information for a user, and obtaining a position of the target, and the camera existing in the art may be selected, which is not particularly limited in this application.
The laser target indicator 22 is used for performing a small-range search near the position of the camera after the camera acquires the position of the target, starting to track the target once the target is acquired, specifically capturing and tracking the target, adjusting the emission direction of the laser, and continuously irradiating the target with the laser; the position obtained by the target capturing unit 21 is a certain spatial range, and is not an accurate position coordinate, and the range of the position coverage depends on factors such as the pixel of the camera, the distance between the target capturing unit and the target, and the moving speed of the target, and can be set according to specific situations, which is not particularly limited in this application.
The laser target indicator 22 is used for emitting and receiving laser signals, and specifically, the laser target indicator 22 comprises a laser emitter 221, a laser detector 222, a filter 223, a reflector 224 and a spherical housing 225.
The laser transmitter 221 is used for transmitting laser to irradiate a target;
the laser detector 222 is used for receiving a laser signal diffusely reflected at the target;
the optical filter 223 is used for filtering the laser signal reflected by diffusion;
the reflector 224 is used for adjusting the direction of the laser reflected by diffusion;
the spherical housing 225 is a protective casing for protecting the laser emitter 221, the laser detector 222, the optical filter 223 and the mirror 224 therein.
The laser emitter emits laser beams, laser reflected by a target in a diffuse mode passes through the spherical outer cover, enters the optical filter through the reflector, is focused on the laser detector 222, and deviation of the target is given out by the laser detector, so that the emitting direction of the laser is corrected, and the laser can be ensured to irradiate the target all the time. During the process of the laser target indicator 22 continuously illuminating the target, the emitting direction/angle of the laser emitter 221 may be automatically adjusted according to the diffuse reflection laser signal received by the laser emitter, and may be manually controlled by the user.
The laser target pointer 22 is capable of providing target position information in real time, including a linear distance between the laser target pointer 22 and the target, i.e., a light speed multiplied by half of a time from the emission of the laser light to the reception of the laser light, and further including an irradiation angle of the laser light, which includes a target elevation angle and a target azimuth angle.
The satellite signal receiving unit 23 is a satellite receiver, and can receive satellite signals, so as to obtain the position of the satellite signal receiving unit 23, that is, the position coordinate of the ground laser pointer 2.
The target position calculating unit 24 is configured to receive target position information, that is, a linear distance between the laser target indicator 22 and the target, an irradiation angle of the laser, and a position of the laser target indicator 22 in real time, and calculate a position coordinate of the target according to the received target position information, where when the target indicator 22 fails to obtain the target position, the calculating unit 24 obtains the target position information by calculation, and further continuously calculates the position coordinate of the target, where the target position coordinate is based on coordinate information in a geodetic coordinate system.
The signal transmitting unit 25 is used for transmitting the target position coordinates calculated by the target position calculating unit 24 to the aircraft in real time, and the signal transmitting unit 25 comprises an ultra-short wave radio station.
In a preferred embodiment, the aircraft laser guidance control system further comprises a receiving module 3 and a transferring module 4 which are installed on the aircraft, wherein the receiving module 3 is in signal connection with the signal transmitting unit 25 and is used for receiving the target position coordinates transmitted by the signal transmitting unit 25; the receiving module 3 also comprises an ultrashort wave radio station for signal connection with the ultrashort wave radio station in the signal transmitting unit.
The transfer module 4 is connected with the laser seeker 1 and the receiving module 3, and is also connected with a satellite receiver and a guidance instruction resolving module on an aircraft, when the laser seeker can receive laser signals diffusely reflected by a target, namely the laser seeker can provide the visual line angular velocity of a bullet, the transfer module 4 transmits the visual line angular velocity of the bullet obtained by the laser seeker to the guidance instruction resolving module so that the guidance instruction resolving module can resolve the guidance instruction;
when the laser seeker 1 cannot provide the line-of-sight angular velocity of the missile, the transfer module 4 calculates the line-of-sight angular velocity of the missile according to the received target position coordinates and the position coordinates of the aircraft provided by the satellite receiver on the aircraft, and transmits the line-of-sight angular velocity of the missile to the guidance instruction calculation module.
Because the transfer module 4 and the guidance instruction resolving module are arranged, the guidance control can be carried out by adopting the proportion guidance rate after the aircraft enters the final guidance section.
In a preferred embodiment, the ground laser pointer 2 further comprises a driving device capable of driving the ground laser pointer to walk, such as a vehicle or the like, and the ground laser pointer 2 and a corresponding user can be carried with the vehicle for quick maneuvering and can be fixedly installed at a specific position.
In a preferred embodiment, when the laser detector 222 loses the target or the target is blocked by an object such as a building, the target capturing unit 21 is controlled to perform a task of capturing/finding the target. Preferably, when the laser detector 222 fails to obtain the laser signal diffusely reflected from the target, the target capturing unit 21 is controlled to start the operation, and the target capturing unit 21 may be manually controlled by the operator to start the operation.
The target position calculating unit 24 is configured to calculate the position coordinates of the target according to the laser signal diffusely reflected from the target and obtained by the laser detector 222, wherein the position information of the target, that is, the linear distance between the laser target indicator and the target, the target elevation angle, and the target azimuth angle, can be directly read from the diffusely reflected laser signal. A specific calculation process for calculating the position coordinates of the target by using the position information of the target and the position coordinates of the ground laser pointer 2 is known in the art, and the present application is not particularly limited thereto. That is, if the laser detector 222 can obtain the target position information in real time, the target position calculating unit 24 can output the target position coordinates in real time.
Preferably, in the target position calculating unit 24, an O-ZXY right-handed rectangular coordinate system is constructed with the laser target indicator as an origin, the Y-axis points to the sky direction, the X-axis points to the estimated target direction, and the Z-axis is perpendicular to the OXY plane and forms a right-handed rectangular coordinate system with the OXY plane; the target height angle is an included angle formed by a connecting line of the target and the indicator and the projection of the connecting line on the OXZ plane, and the included angle is positive upwards along the Y-axis direction; the target azimuth is the angle between the projection of the indicator and the target connecting line on the OXZ plane and the X axis, and the forward angle along the Z axis is positive.
When the laser detector 222 cannot receive the laser signal diffusely reflected from the target, the target position calculating unit 24 calculates/estimates target position information at a subsequent time from the target position information obtained at the previous two times until the target position information is obtained again by the laser detector 222.
Preferably, the laser transmitter 221 operates once every 0.001s, that is, transmits a laser signal once every 0.001s, and is configured to transmit the laser signal once every moment, t represents a current moment, t-1 represents a consecutive previous moment, t-2 represents a previous moment of t-1, and R is a target position information corresponding to the moment ttRepresenting the relative distance between the piloted helicopter and the target,
representing the elevation angle, epsilon, of the objecttRepresenting the azimuth of the target, uniformly defined by atRepresents; in the target position information corresponding to the time t-1,Rt-1representing the relative distance between the piloted helicopter and the target,
representing the elevation angle, epsilon, of the objectt-1Representing the azimuth of the target, uniformly defined by at-1Represents; r in the target position information corresponding to time t-2t-2Representing the relative distance between the piloted helicopter and the target,
representing the elevation angle, epsilon, of the objectt-2Representing the azimuth of the target, uniformly defined by at-2Represents;
the difference between the target position information corresponding to adjacent time instants is called a position difference, and is expressed by the following formula:
the difference between two adjacent positions is expressed as:
ct-1＝bt-1-bt-2，ct-2＝bt-2-bt-3
preferably, the target position information a corresponding to the time t +1t+1Obtained by the following formula:
wherein the content of the first and second substances,
and representing the difference value estimated value at the time t, and substituting the target position information corresponding to the time t, the time t-1 and the time t-2 into the formula to obtain the target position information corresponding to the time t + 1.
Wherein the content of the first and second substances,
is obtained by the following formula,
Preferably, the k value is solved by the following formula:
preferably, the laser detector 222 is further provided with a judging module, which is configured to judge whether the diffuse reflection laser signal is accurate according to a time taken for receiving the diffuse reflection laser signal. The judging module continuously records the time from the laser emission to the diffuse reflection laser signal receiving each time, namely the round trip time, compares the received new round trip time value with the stored previous round trip time value, and considers that the laser signal is diffusely reflected from the target and is accurate when the absolute value of the difference between the two values is less than one seventh of the stored previous round trip time value, and the position information of the target read by the laser signal is also accurate; when the absolute value of the difference is greater than or equal to one-seventh of the last round trip time value stored, the laser signal is considered to be not diffusely reflected from the target and is inaccurate, and the position information of the target read by the laser signal is not available. Every time a laser signal is transmitted and correspondingly received, the operation is called as a group of operation, because two adjacent groups of operations are separated by a period of time, generally about 0.001s, the time is enough for the laser to travel for hundreds of kilometers, the laser signal received in the subsequent operation can not be transmitted in the previous group of operation.
In a preferred embodiment, the laser transmitter 221 is operated once every 0.001s, and correspondingly, the target position calculation unit 24 calculates target position information once every 0.001s, and the operating frequency of the ultrashort wave radio of the aircraft signal transmitting unit 25 and the receiving module 3 is 100Hz, i.e., the ultrashort wave radio is operated once every 0.01 s.
Preferably, the aircraft signal transmitting unit 25 selects one of the 10 pieces of target location information to transmit to the aircraft, and more preferably, sequentially judges whether the 10 pieces of target location information are directly measured or calculated by the target location calculating unit 24, selects the directly measured target location information if there is the directly measured target location information, and preferentially selects the latest target location information when there are a plurality of pieces of target location information that can be transmitted.
The frequency of the guidance instruction in the aircraft is 100Hz, and correspondingly, when the accurate diffuse reflection laser signal is not received in the laser seeker for 0.01 second continuously, the transfer module 4 calculates the visual line angular speed of the bullet according to the received target position coordinate and the position coordinate of the aircraft provided by the satellite receiver on the aircraft.
The invention also provides an aircraft laser guidance control method by utilizing the ground laser indicator, which comprises the following steps:
the laser light is emitted through the ground laser pointer 2 to irradiate the target,
the laser guidance head 1 arranged on the aircraft receives the laser signals diffusely reflected by the target, thereby obtaining the visual angular velocity of the bullet,
the laser signal diffusely reflected by the target is received by the ground laser pointer 2 to obtain the target position coordinate, and the obtained target position coordinate is transmitted to the aircraft through the signal transmitting unit 25.
In a preferred embodiment, the ground laser pointer 2 includes a target acquisition unit 21, a laser target pointer 22, a satellite signal receiving unit 23, a target position resolving unit 24, and a signal transmitting unit 25. The target capturing unit 21 includes a camera for searching a target in a large range, providing a user with a large range of visual information, and obtaining an approximate position of the target; the laser target indicator 22 is used for performing a small-range search near the approximate position of the target after the camera acquires the approximate position of the target, starting to track the target once the target is acquired, that is, specifically capturing and tracking the target, adjusting the emission direction of the laser, and continuously irradiating the target with the laser.
Preferably, the laser target indicator 22 includes a laser emitter 221, a laser detector 222, a light filter 223, a reflector 224 and a spherical housing 225, the laser emitter is used for emitting a laser beam, the laser reflected by the target diffusely passes through the spherical housing, enters the light filter through the reflector, and then focuses on the laser detector 222, and the laser detector gives a deviation of the target, so as to correct the emitting direction of the laser and ensure that the laser can always irradiate the target. As shown in fig. 2, the laser emitter is coaxial with the laser detector, the optical filter, the reflector and the spherical housing, the laser emitter emits a laser beam, the laser reflected by the target in a diffused manner passes through the spherical housing, enters the optical filter through the reflector, is focused on the laser detector, and the laser detector gives a deviation of the target, so that the emission direction of the laser is corrected, and the laser can be ensured to irradiate the target all the time.
Preferably, the laser detector 222 includes a four-quadrant detector array, the four detectors are located in four quadrants of a rectangular coordinate system, the axis of the optical system is taken as a symmetry axis, each diode represents one quadrant of the space, the diameter of the detector array is about 1cm, and the distance between the diodes is 0.13 mm. To avoid the focused laser energy, a distance is left between the detector and the focal plane. The laser indicator receives the echo energy to form an approximately circular light spot on the detector, the diode receives the light energy of the light spot and outputs a certain photocurrent, and the current is in direct proportion to the coverage area of each quadrant of the light spot. After the outputs of the four detecting elements are amplified by the same amplifier, the azimuth coordinate Y, Z of the target can be obtained, so that the error signals of two channels of the elevation angle and the direction angle are obtained:
wherein IA、IB、IC、IDThe peak values of the output currents of the four diodes are respectively. If the center of the light spot is coincident with the central axis of the optical system, the target is positioned at the center of the laser beam, and the next laser beam of the laser indicator is continuously emitted along the direction; if the light spot deviates from the central axis, an error signal occurs, the indicator adjusts the emitting direction of the next laser beam according to the error signal, so that the laser beam is emitted towards the center of the target, and the target cannot be lost in the emitting time interval of the laser because the emitting time interval of the laser is small enough and the light speed is fast enough, thereby ensuring that the laser can automatically and continuously track the target.
In a preferred embodiment, the position coordinates, i.e., the longitude and latitude coordinates, where the laser target indicator 22 is located are obtained in real time by the satellite signal receiving unit 23, so that the position coordinates of the target are calculated based on the position coordinates.
In a preferred embodiment, the target position coordinates are obtained in real time by the target position calculation unit 24 and transmitted to the aircraft in real time by the signal transmission unit 25.
In a preferred embodiment, when receiving the laser signal diffusely reflected from the target, the target position calculating unit 24 can obtain the relative distance between the ground laser pointer and the target, the target elevation angle and the target azimuth angle according to the laser signal, and then calculate the position coordinate of the target by obtaining the position coordinate of the laser target pointer 22 by the satellite signal receiving unit 23.
When the target position calculating unit 24 fails to receive the laser signal diffusely reflected from the target, the target position calculating unit 24 calculates the relative distance between the ground laser pointer and the target, the target elevation angle and the target azimuth angle at the time according to the relative distance between the ground laser pointer and the target, the target elevation angle and the target azimuth angle obtained at the previous two times, so as to continuously calculate the position coordinates of the target.
Specifically, the position information of the target is calculated by the following formula:
wherein the content of the first and second substances,
an estimate of the difference representing time t, at+1Indicating target position information corresponding to the t +1 moment; bt-1Representing a difference between target position information corresponding to adjacent time instants; the solution is given by:
Preferably, the k value is solved by the following formula:
wherein the laser transmitter 221 is operated once every 0.001s, that is, a laser signal is transmitted once every 0.001s, the laser signal is set to be transmitted once every moment, t represents the current moment, t-1 represents the continuous previous moment, t-2 represents the previous moment of t-1, and t is the time of tIn the target position information corresponding to the mark, RtRepresenting the relative distance between the piloted helicopter and the target,
representing the elevation angle, epsilon, of the objecttRepresenting the azimuth of the target, uniformly defined by atRepresents; r in the target position information corresponding to the time t-1t-1Representing the relative distance between the piloted helicopter and the target,
representing the elevation angle, epsilon, of the objectt-1Representing the azimuth of the target, uniformly defined by at-1Represents; r in the target position information corresponding to time t-2t-2Representing the relative distance between the piloted helicopter and the target,
representing the elevation angle, epsilon, of the objectt-2Representing the azimuth of the target, uniformly defined by at-2And (4) showing.
Preferably, the laser target indicator 22 is started to work once every 0.001s, and can correspondingly obtain target position information once, so as to obtain a target position coordinate, and when the laser target indicator 22 is started to work and cannot directly obtain the target position information, the target capturing unit 21 is controlled to start to work, and simultaneously, a user is reminded.
In a preferred embodiment, the target position coordinates obtained by the ground laser pointer 2 are received by the receiving module 3 in the method.
When the relay module 4 on the aircraft monitors that the laser seeker 1 receives a laser signal of target diffuse reflection, the relay module 4 transmits the bullet eye sight angular velocity provided by the laser seeker 1 to the guidance instruction resolving module so as to resolve the guidance instruction in a guidance mode of proportional guidance.
When the relay module 4 on the aircraft monitors that the laser seeker 1 cannot receive the laser signal diffusely reflected by the target, the relay module 4 calculates the line-of-sight angular velocity of the missile according to the received position coordinate of the target and the position coordinate of the aircraft provided by the satellite receiver on the aircraft, and transmits the line-of-sight angular velocity of the missile to the guidance instruction calculation module.
Example (b):
the movement locus of the target is set as shown by a dotted line in fig. 3, the movement speed of the target is 150m/s, the movement speed of the aircraft is 800m/s, the position of the aircraft is (0,0) at the beginning of the experiment, the position of the target is (5000,4000), and after the aircraft enters the final guide section, the aircraft is guided and controlled by the aircraft laser guidance control system using the ground laser indicator.
The target is irradiated through a laser target indicator on the ground laser indicator, and meanwhile, a laser signal diffusely reflected by the target is received, and the position coordinate of the target is calculated.
And after the aircraft is launched and enters the final guide section, when the aircraft is positioned between 1874m and 4043m in the X-axis direction, the laser guide head on the aircraft fails to capture a laser signal, the aircraft calculates the visual line angular speed of the missile according to the received target position coordinate and the aircraft position coordinate, and then the guidance control is carried out continuously through the proportional guidance ratio.
Flight trajectories of the aircraft and the target as shown in fig. 3, it can be seen from fig. 3 that the flight trajectory of the aircraft at a position between 1874m and 4043m in the X-axis direction fluctuates little, and finally the aircraft hits the target.
Comparative example:
the movement locus of the target is set as shown by a dotted line in fig. 4, the movement speed of the target is 150m/s, the movement speed of the aircraft is 800m/s, the position of the aircraft is (0,0) at the beginning of the experiment, the position of the target is (5000,4000), and the aircraft is guided and controlled through proportional guidance guiding and guiding rate.
The overload required in the enhanced proportional guidance law is obtained by the following formula:
When the aircraft is set to be at a position between 1806m and 4043m in the X-axis direction, the aircraft already enters a final guide section, a laser guide head on the aircraft fails to capture a laser signal, the aircraft keeps the original flight attitude to move forward, and the flight attitude is adjusted according to the target position after the aircraft captures the target again.
The flight trajectories of the aircraft and the target are shown in fig. 4, and it can be seen from fig. 4 that the aircraft eventually fails to hit the target.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (10)
1. An aircraft laser guidance control system using a ground laser pointer is characterized in that the system comprises a laser guide head (1) and a ground laser pointer (2);
the laser seeker (1) is arranged on an aircraft and used for receiving laser signals diffusely reflected on a target so as to obtain the visual line angular speed of the missile for resolving the guidance instruction of the aircraft,
the ground laser indicator (2) is used for emitting laser to irradiate a target, receiving a laser signal diffusely reflected by the target, determining the position coordinate of the target and transmitting the position coordinate of the target to an aircraft,
the ground laser pointer (2) comprises a target acquisition unit (21), a laser target pointer (22), a satellite signal receiving unit (23), a target position calculating unit (24) and a signal transmitting unit (25);
the aircraft laser guidance control system also comprises a receiving module (3) and a transfer module (4) which are installed on the aircraft;
the receiving module (3) is in signal connection with the signal transmitting unit (25) and is used for receiving the target position coordinates;
the transfer module (4) is connected with the laser guide head (1) and the receiving module (3) and is also connected with a satellite receiver on an aircraft,
when the laser seeker (1) fails to provide the bullet eye sight angular velocity, the transfer module (4) calculates the bullet eye sight angular velocity according to the received target position coordinates and the position coordinates of the aircraft provided by the satellite receiver on the aircraft.
2. The aircraft laser guidance control system using the ground laser pointer as claimed in claim 1,
the target capturing unit (21) is used for searching for a target and obtaining the position of the target,
the laser target indicator (22) is used for emitting and receiving laser signals,
the satellite signal receiving unit (23) is used for receiving satellite signals so as to obtain the position coordinates of the ground laser pointer (2),
the target position calculating unit (24) is used for calculating target position coordinates,
the signal transmitting unit (25) is used for transmitting the target position coordinates to the aircraft.
3. The aircraft laser guidance control system using the ground laser pointer as claimed in claim 2,
the laser target indicator (22) comprises a laser emitter (221), a laser detector (222), a filter (223), a reflector (224) and a spherical housing (225);
the laser transmitter (221) is used for transmitting laser to irradiate a target,
the laser detector (222) is configured to receive a laser signal diffusely reflected at the target,
the optical filter (223) is used for filtering the laser signal reflected by diffusion,
the reflector (224) is used for adjusting the direction of the laser light reflected in a diffused way,
the spherical housing (225) is a protective shell and is used for protecting a laser emitter (221), a laser detector (222), a filter (223) and a reflector (224) in the spherical housing.
4. An aircraft laser guidance control system using a ground laser pointer as claimed in claim 3,
the target position calculating unit (24) is used for calculating the position coordinates of the target according to the laser signals which are obtained by the laser detector (222) and are diffusely reflected from the target.
5. The aircraft laser guidance control system using the ground laser pointer as claimed in claim 4,
when the laser detector (222) fails to receive the laser signal diffusely reflected from the target, the target position calculating unit (24) calculates/estimates target position information at the subsequent time according to the target position information obtained at the first two times.
6. A laser guidance control method for an aircraft by using a ground laser indicator is characterized in that in the method,
the laser indicator (2) on the ground emits laser to irradiate the target,
the laser guidance head (1) arranged on the aircraft receives the laser signals diffusely reflected at the target so as to obtain the angular velocity of the line of sight of the bullet,
the laser signal diffusely reflected at the target is received by the ground laser indicator (2) to obtain the target position coordinate, the obtained target position coordinate is transmitted to the aircraft by the signal transmitting unit (25),
when the laser seeker (1) receives a laser signal of target diffuse reflection, the bullet eye sight angular speed provided by the laser seeker (1) is transmitted to the guidance instruction resolving module through the transfer module (4) so as to resolve the guidance instruction;
when the laser seeker (1) cannot receive the laser signal of the diffuse reflection of the target, the transfer module (4) calculates the line-of-sight angular speed of the missile according to the received position coordinates of the target and the position coordinates of the aircraft, and transmits the line-of-sight angular speed of the missile to the guidance instruction calculation module.
7. The laser guidance control method for an aircraft using a ground laser pointer as claimed in claim 6,
the ground laser pointer (2) comprises a target acquisition unit (21), a laser target pointer (22), a satellite signal receiving unit (23), a target position calculating unit (24) and a signal transmitting unit (25).
8. The laser guidance control method for an aircraft using a ground laser pointer as claimed in claim 7,
the laser target indicator (22) includes a laser emitter (221), a laser detector (222), a filter (223), a mirror (224), and a spherical housing (225).
9. The laser guidance control method for an aircraft using a ground laser pointer as claimed in claim 6,
when the ground laser indicator (2) receives laser signals diffusely reflected by the target, the target position calculating unit (24) can calculate the position coordinates of the target according to the relative distance between the ground laser indicator and the target, the height angle of the target, the azimuth angle of the target and the position coordinates of the ground laser indicator (2).
10. The laser guidance control method for an aircraft using a ground laser pointer as claimed in claim 9, wherein when the target position calculating unit (24) fails to receive the laser signal diffusely reflected from the target, the target position calculating unit (24) calculates the relative distance between the ground laser pointer and the target, the target elevation angle and the target azimuth angle at the time point based on the relative distance between the ground laser pointer and the target, the target elevation angle and the target azimuth angle obtained at the previous two time points, thereby continuing to calculate the position coordinates of the target.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010543156.XA CN111811339B (en) | 2020-06-15 | 2020-06-15 | Aircraft laser guidance control system and method using ground laser indicator |
| JP2022545413A JP2023511448A (en) | 2020-06-15 | 2021-06-11 | AIRCRAFT LASER GUIDANCE CONTROL SYSTEM AND METHOD USING GROUND-TYPE LASER POINTER |
| PCT/CN2021/099806 WO2021254276A1 (en) | 2020-06-15 | 2021-06-11 | Aircraft laser guidance control system and method using ground laser indicator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010543156.XA CN111811339B (en) | 2020-06-15 | 2020-06-15 | Aircraft laser guidance control system and method using ground laser indicator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111811339A CN111811339A (en) | 2020-10-23 |
| CN111811339B true CN111811339B (en) | 2021-07-13 |
Family
ID=72845177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010543156.XA Active CN111811339B (en) | 2020-06-15 | 2020-06-15 | Aircraft laser guidance control system and method using ground laser indicator |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2023511448A (en) |
| CN (1) | CN111811339B (en) |
| WO (1) | WO2021254276A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111811339B (en) * | 2020-06-15 | 2021-07-13 | 北京理工大学 | Aircraft laser guidance control system and method using ground laser indicator |
| CN112799428A (en) * | 2020-12-31 | 2021-05-14 | 广州极飞科技股份有限公司 | Control method, control device, controlled equipment and readable storage medium |
| CN114526634A (en) * | 2022-02-22 | 2022-05-24 | 哈尔滨工业大学 | Continuous wave semi-active laser seeker system |
| CN114608391B (en) * | 2022-03-21 | 2023-09-29 | 陕西北斗东芯科技有限公司 | Cannonball guidance method and system with stealth effect |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5685504A (en) * | 1995-06-07 | 1997-11-11 | Hughes Missile Systems Company | Guided projectile system |
| CN104501657B (en) * | 2014-12-18 | 2016-03-16 | 扬州天目光电科技有限公司 | Drone version laser ranging target-designator |
| JP2017219261A (en) * | 2016-06-08 | 2017-12-14 | 三菱電機株式会社 | Target state quantity estimation device |
| JP7025156B2 (en) * | 2017-09-19 | 2022-02-24 | 株式会社トプコン | Data processing equipment, data processing method and data processing program |
| CN108106597B (en) * | 2017-11-30 | 2020-07-07 | 中国人民解放军国防科技大学 | Method for measuring angle of full strapdown laser seeker under condition of target linear field of view |
| CN108100277B (en) * | 2017-12-14 | 2020-01-07 | 北京华力创通科技股份有限公司 | Unmanned aerial vehicle defense system and method |
| CN109269352B (en) * | 2018-09-20 | 2021-03-30 | 北京机械设备研究所 | Unmanned aerial vehicle target tracking method and system based on ground detection |
| CN110262534A (en) * | 2019-06-25 | 2019-09-20 | 北京机械设备研究所 | A kind of unmanned plane tracking and intercepting system and method for low slow Small object |
| CN111272015A (en) * | 2020-03-23 | 2020-06-12 | 西安深瞳智控技术有限公司 | System and method for evaluating dynamic tracking performance of laser seeker |
| CN111811339B (en) * | 2020-06-15 | 2021-07-13 | 北京理工大学 | Aircraft laser guidance control system and method using ground laser indicator |
-
2020
- 2020-06-15 CN CN202010543156.XA patent/CN111811339B/en active Active
-
2021
- 2021-06-11 JP JP2022545413A patent/JP2023511448A/en active Pending
- 2021-06-11 WO PCT/CN2021/099806 patent/WO2021254276A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| JP2023511448A (en) | 2023-03-17 |
| CN111811339A (en) | 2020-10-23 |
| WO2021254276A1 (en) | 2021-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111811339B (en) | Aircraft laser guidance control system and method using ground laser indicator | |
| US8451432B2 (en) | Laser spot tracking with off-axis angle detection | |
| US7773202B2 (en) | Laser spot tracker and target identifier | |
| US9874625B2 (en) | Electromagnetic radiation source locating system | |
| KR101631555B1 (en) | Measuring system and method for determining new points | |
| EP1629300B1 (en) | System and method for locating a target and guiding a vehicle toward the target | |
| CN109269352B (en) | Unmanned aerial vehicle target tracking method and system based on ground detection | |
| KR101553998B1 (en) | System and method for controlling an unmanned air vehicle | |
| US4925129A (en) | Missile defence system | |
| JP2625360B2 (en) | Relative guidance method using global positioning system | |
| US9000340B2 (en) | System and method for tracking and guiding at least one object | |
| KR20210133972A (en) | Vehicle-mounted device with networked scopes for simultaneous tracking of targets from multiple different devices | |
| CN114502465A (en) | Determination of attitude by pulsed beacons and low cost inertial measurement units | |
| US20220013020A1 (en) | Drone optical guidance system | |
| US6469783B1 (en) | Solid state modulated beacon tracking system | |
| CN114935339A (en) | Unmanned aerial vehicle operation navigation positioning system and method | |
| US5664741A (en) | Nutated beamrider guidance using laser designators | |
| CN111781955B (en) | Aircraft laser guidance control system and method provided with piloting helicopter | |
| KR101062335B1 (en) | Apparatus and method for pursuing moving launch objects signals | |
| RU2543144C2 (en) | Aircraft landing process | |
| RU2242019C2 (en) | Method for determination of co-ordinates of distant object on terrain and device for its realization | |
| KR102293816B1 (en) | Combined driving laser system and control method | |
| RU89217U1 (en) | SELF-PROPELLED FIRE INSTALLATION | |
| CN113671981A (en) | Remote laser guidance aircraft control system and control method thereof | |
| EP3205973B1 (en) | A missile for use in a laser beam riding missile guidance system |
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 | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lin Defu Inventor after: Wang Yaning Inventor after: Wang Hui Inventor after: Wang Wei Inventor after: Wang Jiang Inventor before: Wang Yaning Inventor before: Wang Hui Inventor before: Lin Defu Inventor before: Wang Wei Inventor before: Wang Jiang |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Hui Inventor after: Wang Heting Inventor after: Wang Yaning Inventor after: Lin Defu Inventor after: Wang Wei Inventor after: Wang Jiang Inventor before: Lin Defu Inventor before: Wang Yaning Inventor before: Wang Hui Inventor before: Wang Wei Inventor before: Wang Jiang |