CN113654404A - Laser terminal guidance aircraft information point-to-point transmission system and method - Google Patents
Laser terminal guidance aircraft information point-to-point transmission system and method Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/008—Combinations of different guidance systems
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- 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
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- 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
- F41G7/30—Command link guidance systems
Abstract
The invention discloses a laser terminal guidance aircraft information point-to-point transmission system and a method, wherein the system solves the problems of aircraft emission delay and laser irradiator starting delay and asynchronization by introducing a command synchronizer and an execution synchronizer; the time for irradiating the target by the guide laser is reduced by introducing the timing module, and the guide laser is encrypted by introducing the laser frequency encoder, so that the possibility that the guide laser is discovered, interfered and shielded by the target is reduced, the laser guide process is ensured to be carried out stably and orderly, and the safety of an observation unit and the accuracy of an aircraft are improved; and then, by introducing a communication controller, the frequency of the ultrashort wave communication is adaptively changed along with the change of the channel, and the stable and optimal communication quality is always ensured.
Description
Technical Field
The invention relates to the field of guidance control of laser guidance aircrafts, in particular to a point-to-point transmission system and method for information of a laser terminal guidance aircraft.
Background
The laser guidance aircraft is a guidance aircraft which is more and more widely applied, and the basic working principle of the laser guidance aircraft is as follows: at the end of the trajectory, the laser irradiator starts to irradiate the target, and the laser detector on the aircraft detects the laser signal diffusely reflected by the target in real time; after the target enters the field of view of the detector, the laser detector can control a corresponding pulse engine or a corresponding steering engine according to a deviation signal of the target deviating from the center of the field of view, and the flight track of the aircraft is corrected, so that the hit precision is improved, and the aircraft can be basically ensured to land at the laser irradiation position.
The work flow of the traditional aircraft information transmission system is as follows: the front observer searches for the target, measures and calculates the position of the target and sends information to the commander through the radio station; the commander judges whether the launching aircraft can hit, if so, the launching elevation angle is calculated, and then the commander issues a launching instruction to the launching vehicle through the radio station and issues an irradiation instruction to the observer through the radio station; the launching vehicle launches the aircraft after receiving the command, and the observer starts the laser irradiator after receiving the command; after the aircraft lands, a front observer sends target damage information to a commander through a radio station, and the commander judges whether the aircraft needs to be transmitted or not and calculates a transmitting elevation angle after analyzing the landing point and the damage information of the aircraft.
The conventional information transmission system has the following disadvantages: 1) the traditional information transmission is carried out through a radio station, and because the automation degree is low, the information transmission is delayed due to manual sending and receiving of commands, the launching delay of an aircraft and the starting delay of a laser irradiator are asynchronous, and the aircraft cannot accurately hit a target; 2) the laser irradiator is started when the aircraft emits the laser, the laser irradiation time is long, and the frequency of the guided laser is fixed, so that the guided laser is easier to be detected by a target, and measures such as escaping or interference, shielding and the like are taken, the accuracy of the aircraft is reduced, and the exposure possibility of a forward observer is increased; 3) the ultra-short wave radio station has no self-adaptive frequency selection function, and the ultra-short wave channel has defects that the transmission quality of the ultra-short wave channel is unstable, the fluctuation of the communication quality is large due to the transmission of a single channel, and in addition, the influence of noise interference on communication is difficult to ensure the information transmission effect; 4) the long time required for analyzing and evaluating the damage information of the target by the commander may cause the target to be diverted or concealed, and the expected effect of the subsequent launching aircraft is difficult to achieve.
For the above reasons, the present inventors have made intensive studies on the existing laser end-guided vehicle information transmission system, and have awaited the design of a new transmission system capable of solving the above-mentioned problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention carries out intensive research and designs a laser terminal guidance aircraft information point-to-point transmission system, which solves the problems of aircraft emission delay and laser irradiator starting delay and asynchronization by introducing a command synchronizer and an execution synchronizer; the time for irradiating the target by the guide laser is reduced by introducing the timing module, and the guide laser is encrypted by introducing the laser frequency encoder, so that the possibility that the guide laser is discovered, interfered and shielded by the target is reduced, the laser guide process is ensured to be carried out stably and orderly, and the safety of an observation unit and the accuracy of an aircraft are improved; and finally, evaluating the damage condition of the target according to the image change condition of the target area, quickly and accurately judging whether the next aircraft still selects the target, and improving the overall operation efficiency of the system, thereby completing the invention.
In particular, the invention aims to provide a laser terminal guidance aircraft information point-to-point transmission system, which comprises a transmitting unit 1, a command unit 2 and an observation unit 3,
wherein the launching unit 1 comprises a launching vehicle 11 for launching an aircraft, and further comprises a command synchronizer 12,
the observation unit 3 includes a target capturing module 31, a laser irradiator 34, and an execution synchronizer 36;
the command synchronizer 12 and the execution synchronizer 36 are used to enable the aircraft to complete the binding of the elements simultaneously with the laser illuminator 34.
The command synchronizer 12 is configured to receive the aircraft launching angle and the fuze working mode sent by the command unit 2, and package and send the aircraft launching angle and the fuze working mode to the launch vehicle 11, so as to ensure that the command synchronizer 12 and the execution synchronizer 36 send information at the same time.
Wherein, the transmitting unit 1 further comprises a communication radio station I13;
the first communication radio station 13 is used for sending the state self-checking information and the vehicle-launching position information of the launching unit 1 to the command unit 2 and receiving the launching angle, the fuse working mode and the launching instruction information sent by the command unit.
The command unit 2 comprises a resolving module 21, a first communication controller 22, a second communication radio station 23 and a third communication radio station 24;
preferably, before the aircraft is launched, the resolving module 21 is configured to receive the state self-checking information sent by the launching unit 1 and the observation unit 3, and determine the working state of the whole system;
also receives the position information of the launching vehicle sent by the launching unit 1 by using the coordinate information of the laser irradiator and the target coordinate information sent by the receiving observation unit 3, and carries out shooting data solution by combining the information,
the resolving module 21 is further configured to send a transmission instruction to the launch vehicle 11 of the launch unit 1;
more preferably, after the aircraft is launched, the calculating module 21 is configured to receive aircraft position information and speed information sent by the aircraft and target position information and speed information sent by the observation unit, and calculate the distance between the aircraft and the target and the remaining time of the aircraft entering the terminal guidance segment in real time to generate accurate countdown information.
The first communication controller 22 is used for enabling the frequency of the ultrashort wave communication to change along with channel change in a self-adaptive mode, and the stable and optimal communication quality is guaranteed all the time;
preferably, before the aircraft is launched, the first communication controller 22 takes over the communication link of the second communication station 23, the third communication station 24 and the command unit 2.
The second communication radio station 23 is used for communicating with the first communication radio station 13, receiving the state self-checking information and the vehicle position information sent by the transmitting unit, and sending a transmitting angle, a fuze working mode and a transmitting instruction to a command synchronizer of the transmitting unit;
preferably, station three 24 is used to communicate with station four 37 and the aircraft.
The target capturing module 31 is used for searching and tracking a target, and locking the target in an image recognition mode; the target capture module 31 sends the coordinate information of the laser irradiator and the target coordinate information to the resolving module 21;
preferably, the laser irradiator 34 is configured to receive the fuse operation mode and the pseudo random frequency sent by the execution synchronizer 36, and complete the binding; the laser irradiator 34 is further configured to receive the irradiation instruction sent from the execution synchronizer 36, and emit a laser beam to track the irradiation target after receiving the irradiation instruction.
The observation unit 3 further comprises a timing module 32, a laser frequency encoder 33, a second communication controller 35 and a fourth communication station 37;
the timing module 32 is configured to receive accurate countdown information transmitted by the command unit 2 in real time, and send the accurate countdown information to the execution synchronizer 36 2 seconds before the aircraft enters the laser terminal section;
preferably, the laser frequency encoder 33 is configured to generate and select a pseudo-random frequency according to a preset encoding rule, and send the pseudo-random frequency to the execution synchronizer 36.
The second communication controller 35 is used for enabling the frequency of the ultrashort wave communication to change adaptively along with channel change, and always ensuring stable and optimal communication quality;
preferably, before the aircraft is launched, the second communication controller 35 takes over the communication link between the fourth communication station 37 and the observation unit 3;
preferably, the communication station four 37 is used for communication with the communication station three 24.
The invention further provides a point-to-point transmission method of the laser terminal guidance aircraft.
The invention has the advantages that:
(1) according to the laser terminal guidance aircraft information point-to-point transmission system provided by the invention, the problems of aircraft emission delay and laser irradiator starting delay and asynchronization are solved by introducing the command synchronizer and the execution synchronizer;
(2) according to the laser terminal guidance aircraft information point-to-point transmission system provided by the invention, the time for irradiating the target by the guidance laser is reduced by introducing the timing module, and the guidance laser is encrypted by introducing the laser frequency encoder, so that the possibility that the guidance laser is discovered, interfered and shielded by the target is reduced, the laser guidance process is ensured to be carried out stably and orderly, and the safety of an observation unit and the accuracy of an aircraft are improved;
(3) according to the laser terminal guidance aircraft information point-to-point transmission system provided by the invention, the frequency of ultrashort wave communication is adaptively changed along with the change of a channel by introducing the communication controller, so that the stable and optimal communication quality is always ensured
(4) According to the laser terminal guidance aircraft information point-to-point transmission system provided by the invention, the target damage effect is evaluated by comparing the target area images before and after the aircraft lands, the evaluation speed is higher, and the confidence coefficient of the evaluation result is higher.
Drawings
FIG. 1 is a logic diagram of the overall structure of a laser terminal guidance aircraft information point-to-point transmission system according to a preferred embodiment of the invention;
FIG. 2 is a schematic diagram illustrating a flight trajectory and a target motion trajectory of an aircraft according to an embodiment of the invention
FIG. 3 shows an enlarged view of the landing area of FIG. 2
FIG. 4 shows an image of a target area of an embodiment of an aircraft before landing;
fig. 5 shows an image of the target area after the aircraft has landed in an embodiment.
The reference numbers illustrate:
1-transmitting unit
11-launching vehicle
12-command synchronizer
13-communication station one
2-Command Unit
21-resolving module
22-communication controller one
23-communication station two
24-communication station III
3-Observation cell
31-target Capture Module
32-timing module
33-laser frequency encoder
34-laser irradiator
35-communication controller two
36-execution synchronizer
37-communication station four
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 laser terminal guidance aircraft information point-to-point transmission system provided by the invention, as shown in FIG. 1, the system comprises a transmitting unit 1, a command unit 2 and an observation unit 3.
The transmitting unit 1 comprises a transmitting vehicle 11, a command synchronizer 12 and a first communication radio station 13.
The launching vehicle 11 is configured to receive a launching angle, a direction, and a fuse working mode sent by the command synchronizer 12, complete data binding, receive a launching instruction sent by a resolving module of the command unit 2, and launch the aircraft. The fuse mode of operation in this application is referred to as "slap" or "delayed blast". Wherein "touch fry" is used to move an object or an exposed object; "delayed blasting" is used for stationary building-like targets, providing a 0.02 second delay to allow the aircraft to explode while drilling into the interior of the building target. All of the specifications described in this application are referred to as "firing specifications". The shooting data solved by the resolving module mainly comprises the launching angle and the direction of the aircraft. The launch vehicle "binding" can be understood as the actual adjustment of the launch angle, direction and fuse operating mode of the aircraft by the operator according to "data".
The command synchronizer 12 is used for receiving the aircraft launching angle and the fuse working mode sent by the command unit 2, packaging and sending the aircraft launching angle and the fuse working mode to the launching vehicle 11, and ensuring that the command synchronizer 12 and the execution synchronizer 36 send information at the same time, so that the aircraft and the laser irradiator complete data binding at the same time, and the problem of asynchronism caused by information transmission delay is solved.
The first communication radio station 13 is used for communicating with the second communication radio station 23, sending the state self-checking information and the vehicle-launching position information of the launching unit 1 to the command unit 2, and receiving other information such as a launching angle, a fuse working mode and a launching instruction sent by the command unit. The state self-checking information comprises the working states of an aircraft, a fire control system, an electrical system, a mechanical power system and communication equipment in the transmitting unit; the system also comprises the running states of a central processing unit of a resolving module and a program in the command unit and the state of communication equipment; the system also comprises a power supply of a laser irradiator in the observation unit, a laser tube and the working state of a power gear; the image recognition algorithm of the target capture module and the working state of the laser range finder; the working states of the timing module, the laser frequency encoder and other communication equipment.
The command unit 2 comprises a resolving module 21, a first communication controller 22, a second communication radio 23 and a third communication radio 24.
Before the aircraft is launched, the resolving module 21 is configured to receive the state self-checking information sent by the launching unit 1 and the observation unit 3, and send a control instruction when the working state of the entire system is determined to be normal.
The resolving module is also used for collecting geodetic information, meteorological information and the like, receiving the coordinate information of the laser irradiator and the coordinate information of the target sent by the observation unit, wherein the coordinate information of the target refers to the distance and the azimuth angle of the target relative to the laser irradiator, receiving the position information of the launching vehicle sent by the launching unit, and combining the information to perform shooting data resolving, wherein the shooting data resolving comprises resolving whether the aircraft can be launched, and resolving the launching angle and the direction. The acquisition of the geodetic information refers to the measurement of coordinates (longitude and latitude) and elevations (altitude) of the transmitting unit, the commanding unit and the observation unit, and the coordinates (longitude and latitude) and the elevations (altitude) are incorporated into a unified coordinate system, so that shooting data are resolved more accurately; the method and the device adopt a global satellite positioning system or an inertia measurement technology to acquire geodetic information. The meteorological information is collected by a meteorological balloon, for example, the highest point of flight of the aircraft is 8000 m, the meteorological information (wind speed, wind direction, atmospheric pressure and the like) can be collected every 200 m in the ascending process of the meteorological balloon until the meteorological information at the height of 9000 m is collected, and the meteorological information at all the heights of the flight of the aircraft is covered, so that shooting data calculation is accurately carried out.
The resolving module 21 sends a transmission instruction to the transmitting vehicle 11 of the transmitting unit 1 through the second radio station 23.
After the aircraft is launched, the calculating module 21 is further configured to receive aircraft position information and speed information sent by the aircraft and target position information and speed information sent by the observing unit, calculate a distance between the aircraft and the target and a remaining time of the aircraft entering a final guidance segment in real time, generate accurate countdown information, and send the accurate countdown information to the timing module 32 of the observing unit 3 through the third communication station 24 by the commanding unit 2 in real time.
After the aircraft lands, the resolving module 2 is further configured to receive the target damage state sent by the target capturing module, assist a user in analyzing the aircraft landing point and damage information, determine whether the aircraft needs to be launched and resolve the launch elevation angle.
The first communication controller 22 is used for enabling the frequency of the ultrashort wave communication to change adaptively along with channel change, and the stable and optimal communication quality is guaranteed all the time. Before the aircraft is launched, the first communication controller 22 takes over the communication links of the second communication station 23, the third communication station 24 and the command unit 2.
The second communication radio station 23 is used for communicating with the first communication radio station 13, receiving the state self-checking information and the position information of the launching vehicle sent by the launching unit, and sending other information such as a launching angle, a fuse working mode, a launching instruction and the like to a command synchronizer of the launching unit.
The fuse working mode is selected by a user according to actual conditions, and particularly, the user selects and determines the fuse working mode after the user determines that the fuse can be launched.
Communication station three 24 is used to communicate with communication station four 37 and the aircraft.
Before the aircraft is launched, the third communication station 24 receives the state self-test information sent by the observation unit 3, receives the laser irradiator and the target coordinate information sent by the target capture module 31 of the observation unit 3, and sends a fuze working mode to the execution synchronizer 36 of the observation unit.
After the aircraft enters the inertial guidance section, the third communication station 24 receives the aircraft position and speed information sent by the aircraft and the moving target position and speed information sent by the target capture module 31 of the observation unit in real time, and sends accurate countdown information to the timing module of the observation unit in real time.
After the aircraft lands, the third communication station 24 is used for receiving the target damage information sent by the target capture module 31.
The observation unit 3 includes a target capture module 31, a timing module 32, a laser frequency encoder 33, a laser irradiator 34, a second communication controller 35, an execution synchronizer 36, and a fourth communication station 37.
The target capture module 31 includes a camera, a laser range finder and a magnetic compass type north finder. The camera comprises two optical loads of an infrared shooting system and a visible light shooting system, and is used for continuously shooting images, searching and tracking a ground target, and locking the target in an image identification mode; the laser range finder is used for calculating the relative distance between the laser irradiator and the target; the magnetic compass type north finder is used for calculating the azimuth angle between the laser irradiator and the target.
Preferably, before the aircraft is launched, the target capture module 31 sends the laser illuminator coordinate information and the target coordinate information to the resolving module 21 of the command unit 2 through the communication station four 37.
After the aircraft enters the inertial guidance section, the target capture module 31 sends the position and speed information of the target to the resolving module 21 of the command unit 2 in real time through the communication radio station four 37.
After the aircraft lands, the target capturing module 31 is configured to send an irradiation stopping instruction to the laser irradiator 34, collect a target damage state, and send the target damage state to the resolving module 21 of the command unit 2 through the communication radio station four 37, where the target damage state includes a picture of a target position.
The timing module 32 is configured to receive accurate countdown information transmitted by the command unit 2 in real time, and send the accurate countdown information to the execution synchronizer 36 2 seconds before the aircraft enters the laser tail section, so as to reduce the time for the target to be irradiated by the laser.
Preferably, the timing module is further configured to receive the aircraft launching time transferred by the command unit 2, calculate the time when the aircraft enters the countdown according to the launching point position transferred by the command unit 2 and the target position detected by the target capture module 31, and count down the time, because the flight time of the aircraft is affected by factors such as environment and angle, the countdown is not accurate enough, after receiving the accurate countdown information, the countdown calculated by the aircraft itself is covered with the accurate countdown information, and if the accurate countdown information is not received enough, laser irradiation control is performed according to the countdown calculated by the aircraft itself, that is, the countdown information is sent to the execution synchronizer 36 2 seconds before the aircraft enters the final guidance segment.
The laser frequency encoder 33 generates 24 pseudo-random frequency families C0-C23 according to a preset encoding rule, and randomly selects one pseudo-random frequency to send to the execution synchronizer 36. The pseudo-random frequency family is different from the general 8 kinds of fixed frequencies B0-B7, and the possibility that the target finding laser signal and the laser signal are actively interfered can be reduced simultaneously. The laser seeker of the aircraft is provided with a laser frequency decoder, and the laser frequency emitted by the laser irradiator can be calculated according to the same coding rule, so that the laser seeker can capture guide laser in time, and laser end guidance is completed.
The laser irradiator 34 is used for receiving the fuse working mode and the pseudorandom frequency sent by the execution synchronizer 36 and completing data binding; the laser irradiator 34 is further configured to receive the irradiation command sent from the execution synchronizer 36, and emit a laser beam of a certain frequency to track the irradiation target after receiving the irradiation command.
And the second communication controller 35 is used for enabling the frequency of the ultrashort wave communication to change along with channel change in a self-adaptive manner, and always ensuring stable and optimal communication quality. Before the aircraft is launched, the second communication controller 35 takes over the communication link between the fourth communication station 37 and the observation unit 3. The communication controller takes over the input and output (communication link) of data between the communication radio station and other modules, measures the transmission quality of the ultrashort wave communication channel in real time, specifically measures the arrival time and strength of the received signal, and compares the measured signal with other communication channels which are not accessed but have good states. If the two communication controllers reach the same optimal channel, the two communication controllers are switched to the optimal channel at the same time, so that the communication speed and quality among the modules reach the optimal. And then the communication controller continuously measures the transmission quality of all the channels in real time and compares the transmission quality to judge whether the channels need to be switched.
Preferably, before the aircraft is launched, the synchronizer 36 is configured to receive the fuze operating mode sent by the command unit 2 and the pseudo-random frequency sent by the laser frequency encoder 33, and package and send the fuze operating mode and the pseudo-random frequency to the laser irradiator 34. The command synchronizer 12 and the execution synchronizer 36 are ensured to send information at the same time, and the aircraft and the laser irradiator complete the element binding at the same time, thereby solving the problem of asynchronization caused by information transmission delay. The transmission rate of the ultrashort wave radio is slightly smaller than the speed of light, the main influence factor of the traditional delay is the hysteresis effect of the transmitting and receiving devices and manual operation, and the influence of the transmission distance is small and negligible.
Preferably, the control method to ensure that synchronizer 12 is commanded and synchronizer 36 is executed to send information simultaneously is: the command synchronizer sends a synchronization instruction to the execution synchronizer and then starts 1 second countdown, the execution synchronizer receives the synchronization instruction and then starts 1 second countdown, the execution synchronizer sends information after the countdown is finished, the execution synchronizer 36 sends fuse working mode and pseudo-random frequency information to the laser irradiator 34, and the command synchronizer 12 sends aircraft launching angle and fuse working mode information to the launching vehicle.
Because the instruction transmission delay caused by the device is within 0.001 second and the distance factor is ignored, compared with a manual mode, the automatic countdown can be considered to be finished at the same time (the error is within 0.001 second), and the simultaneous information transmission is ensured.
Preferably, in order to avoid signal interference, the command synchronizer and the execution synchronizer are provided with cipher boxes, eight synchronous ciphers D0-D7 can be provided, the command synchronizer randomly selects one (such as D2) and generates a synchronous command containing the synchronous ciphers according to a format specified by a station communication protocol, after the execution synchronizer receives the synchronous command, the synchronous ciphers (D2) are calculated according to an encoding rule, and the countdown is started.
After the aircraft is launched, the synchronizer 36 is configured to receive the accurate countdown information sent by the timing module 32 2 seconds before the aircraft enters the laser ending segment, and send an irradiation instruction to the laser irradiator 1 second later.
The communication station four 37 is used to communicate with the communication station three 24. Before the aircraft is launched, the communication radio station four 37 sends the state self-checking information, the laser irradiator coordinate information and the target coordinate information of the observation unit 3 to the resolving module 21 of the command unit 2, and receives the fuze working mode sent by the command unit 2.
After the aircraft enters the inertial guidance section, the communication radio station four 37 sends the position and speed information of the moving target to a resolving module of the command unit, and receives accurate countdown information sent by the command unit 2 in real time.
In a preferred embodiment, the target capture module is further configured to take target area images/photographs of the aircraft before and after landing, wherein the target area images/photographs of the aircraft before landing are generated to the calculation module 21;
and then, judging whether the target moves or not through a plurality of continuous target area images within 10 th to 12 th seconds after the aircraft lands, and if the target does not move, continuously transmitting the target area image of 12 th second to the resolving module 21. And if the target moves, transmitting the target movement information to the command unit, and controlling the transmitting unit to transmit the aircraft again by the command unit.
In a preferred embodiment, the resolving module 21 is further configured to receive the image/photo of the target area before the aircraft lands and the image/photo of the target area after the aircraft lands sent by the target capturing module, and obtain the mean value of the gray scale change of the target area by the following formula (one):
wherein p ist0Pixel value, P, of an image of a target area before landing of an aircraftt1Pixel value, N, of an image of a target area after landing of an aircraftbThe number of pixel points of the target area image is taken; hbIs the average value of the gray scale change of the target area.
Then counting the total number of the pixel points of the damaged part as SHSWherein, the change difference of each pixel point is compared with the average value of the gray level change of the target area one by one at | Pt0(x)-Pt1(x)|≥HbThen, the pixel point is judged to be a damaged pixel point;
and if the damaged partial pixel points account for more than 80% of the total pixel points, the target is judged to meet the damage requirement, the aircraft does not need to be launched again, and otherwise, the command unit controls the launching unit to launch the aircraft again.
The invention also provides a point-to-point transmission method of the laser terminal guidance aircraft, which comprises the following steps according to the time sequence:
And 2, performing state self-check on the transmitting unit 1, the command unit 2 and the observation unit 3, wherein the transmitting unit 1 sends the state information to the resolving module 21 of the command unit 2 through the communication radio station I13, the observation unit 3 sends the state information to the resolving module 21 of the command unit 2 through the communication radio station IV 37, and the resolving module is used for confirming that the overall state of the system is normal.
And 3, collecting geodetic information and meteorological information through the resolving module 21, sending the position information of the launching vehicle to the resolving module 21 of the command unit 2 by the launching unit 1 through the communication radio station I13, and sending the coordinate information of the laser irradiator and the target coordinate information to the resolving module 21 of the command unit 2 by the target capturing module 31 of the observation unit 3 through the communication radio station IV 37.
And 4, the resolving module 21 of the command unit 2 combines the information to perform shooting data resolving, if the aircraft can be launched, the launching angle is calculated, and the launching angle is sent to the command synchronizer 12 of the launching unit 1 through the communication radio station II 23.
And step 5, the user selects a fuse working mode according to the actual situation, and sends the fuse working mode to the command synchronizer 12 of the transmitting unit 1 through the communication radio station II 23 and sends the fuse working mode to the execution synchronizer 36 of the observation unit 3 through the communication radio station III 24. A pseudo-random frequency is randomly selected by the laser frequency encoder 33 and sent to the execution synchronizer 36.
And 6, packing the emission angle and the fuse working mode by the command synchronizer 12 and sending the packed emission angle and the fuse working mode to the emission vehicle 11, and packing the fuse working mode and the pseudorandom frequency by the execution synchronizer 36 and sending the packed fuse working mode and the pseudorandom frequency to the laser irradiator 34. The command synchronizer 12 and the execution synchronizer 36 transmit information at the same time, and the emission vehicle 11 and the laser irradiator 34 complete the binding of the elements at the same time.
And 7, issuing a transmission instruction to the transmitting vehicle by the resolving module 21 of the command unit 2 through the communication radio station II 23, and transmitting by the aircraft. The flying process of the aircraft sequentially comprises an unpowered ascending section, an inertial guidance section and a laser final guidance section. The aircraft is initially in an unpowered ascending section, when the aircraft is close to level flight, the gyroscope is turned on, the inertial navigation system is started, the duck rudder is turned on, the fairing is thrown to expose the laser seeker, and the aircraft is switched to the inertial guidance section to continue flying.
And 8, after the aircraft enters the inertial guidance section, the resolving module 21 of the command unit 2 receives the position and the speed information of the aircraft sent by the aircraft and the position and the speed information of the target sent by the target capturing module 31 of the observation unit 3 in real time through the third communication station 24, resolves the distance between the aircraft and the target and the accurate residual time of the aircraft entering the final guidance section in real time, and generates accurate countdown information. The command unit 2 sends the accurate countdown information to the timing module 32 of the observation unit 3 through the third communication station 24 in real time.
Step 9, the timing module 32 sends accurate countdown information to the execution synchronizer 36 2 seconds before the aircraft enters the laser ending section, the execution synchronizer sends an irradiation instruction to the laser irradiator after 1 second, the laser irradiator starts to irradiate the target, and the aircraft enters the laser ending section after 1 second. The target enters the visual field of the aircraft seeker, the seeker is started and receives the laser signal diffusely reflected by the target, and the aircraft successfully captures the target. The laser receiver on the aircraft sensitively guides the laser, and the attitude is adjusted to make the center of the field of view of the guide head align to the target until the landing is accurately carried out at the target position.
Step 10, after the aircraft lands, the target capture module 31 of the observation unit 3 sends an irradiation stopping instruction to the laser irradiator 34, and the laser irradiator stops irradiation; the target capturing module 31 captures image information of a target area and sends the image information to the resolving module 21 of the command unit 2 through the communication radio station four 37, and the resolving module 21 evaluates the damage effect, judges whether to transmit the aircraft and whether to resolve the transmitting elevation again. In step 10, the target damage effect is evaluated by the following method:
the target capturing module is used for acquiring the image information of the target area in real time, and the target capturing module sends the image information to the resolving module of the command unit in real time due to the large amount of the image information and the complex calculation of the evaluation process. The resolving module evaluates the damage effect according to the gray level change degree of the target image pixel points before and after the aircraft lands. Preferably, the pixel value of the target image after the aircraft lands is the pixel value of the target image after 10-15 seconds of the aircraft landing, and is preferably the pixel value of the target image after 12 seconds. The inventor finds that factors influencing image acquisition, such as flare smoke caused by aircraft landing after 10-15 seconds can be mostly dispersed, and an image for identification can be obtained.
Further preferably, the target capturing module continuously shoots the target area after the aircraft lands for 10 seconds, and compares and judges whether the target moves, if the target moves, the target damage effect is directly judged to be not expected, and if the target does not move, the target area after the aircraft lands for 12 seconds is collected for further analysis and evaluation. The specific further analytical evaluation method is as follows:
firstly, solving the gray scale change of the target area image by the following formula (I):
wherein p ist0Pixel value, P, of an image of a target area before landing of an aircraftt1Pixel value, N, of an image of a target area after landing of an aircraftbThe number of pixel points of the target area image is taken; hbIs the average value of the gray scale change of the target area.
Calculating the number of pixel points of the damaged part of the target area:
using HbAnd evaluating the gray level change degree of the pixel points of the image in the target area as a judgment standard. For each pixel point of the target area, when | Pt0(x)-Pt1(x)|≥HbThen, the pixel point is judged to be the pixel point of the damaged part of the target area, and finally the total number of the pixel points of the damaged part of the target area is SHS。
And evaluating the damage effect S of the target by using the change of the number of pixel points contained in the target area before and after the aircraft landsHS/SMB. Wherein S isMBThe total number of pixels contained in the target area. S represents the effect of the destruction of the target,
when the target damage effect S is more than or equal to 80 percent, the aircraft is judged to meet the damage requirement on the target, and the command unit displays the target damage effect value.
Preferably, the target area is a circular area with a radius of 2.5 meters and a center of the target, the circular area can cover a common moving target, and the target capture module adjusts the magnification of the camera to just contain the target area when performing damage assessment.
Example (b):
And 2, self-checking the states of the transmitting unit, the command unit and the observation unit, wherein the transmitting unit transmits the state information to a resolving module of the command unit through the communication radio station, the observation unit transmits the state information to the resolving module of the command unit through the communication radio station IV, and the resolving module confirms that the overall state of the system is normal and then performs subsequent operation.
And 3, collecting geodetic information and meteorological information through a resolving module, sending the position information of a sending vehicle to the resolving module of the command unit through a communication radio station by a sending unit to be longitude 103 degrees E, latitude 31 degrees N and altitude 500 meters, sending the coordinate information of the laser irradiator to be longitude 103 degrees 9 'E, latitude 31 degrees 7' N, altitude 600 meters and target coordinate information by a target capturing module of the observation unit through the resolving module of the communication radio station four-way command unit, wherein the target information comprises the distance of 800 meters of the target relative to the laser irradiator and 30 degrees north.
And 4, a resolving module of the command unit combines the information to resolve shooting data, and the aircraft can be transmitted according to the known effective flying distance of 22000 meters, the transmitting angle of the aircraft is 45 degrees, and the aircraft is transmitted to a command synchronizer of the transmitting unit through a second communication radio station.
And 5, selecting the fuse working mode as collision explosion, sending the fuse working mode to a command synchronizer of the transmitting unit through the communication radio station II, and sending the fuse working mode to an execution synchronizer of the observation unit through the communication radio station III. Random selection of 6 x 10 by laser frequency encoder14The pseudo-random frequency in Hz is sent to the execution synchronizer.
And 6, packing the emission angle and the fuse working mode through a command synchronizer and sending the packed emission angle and the fuse working mode to an emission vehicle, and packing the fuse working mode and the pseudorandom frequency through an execution synchronizer and sending the packed fuse working mode and the pseudorandom frequency to a laser irradiator. The command synchronizer 12 and the execution synchronizer 36 transmit information at the same time, and the emission vehicle 11 and the laser irradiator 34 complete the binding of the elements at the same time.
And 7, a resolving module of the command unit issues a transmission instruction to the transmitting vehicle through the communication radio station, and the aircraft transmits the transmission instruction. The flying process of the aircraft sequentially comprises an unpowered ascending section, an inertial guidance section and a laser final guidance section. The aircraft is initially in an unpowered ascending section, when the aircraft is close to flat flight, the gyroscope is turned on, the inertial navigation system is started, the duck rudder is turned on, the fairing is thrown to expose the laser seeker, the laser seeker is turned into an inertial guidance section to continue flying, and the flying track of the aircraft is shown in figure 2.
And 8, enabling the aircraft to enter the inertial guidance section 40 seconds after being transmitted, receiving the aircraft position and speed information sent by the aircraft and the target position and speed information sent by the target capture module of the observation unit in real time through the communication radio station III by the resolving module of the command unit, resolving the distance between the aircraft and the target and the accurate remaining time for the aircraft to enter the final guidance section in real time, and generating accurate countdown information. And the command unit sends the accurate countdown information to a timing module of the observation unit in real time through a communication radio station III. And starting accurate countdown after the inertia guide section, wherein the countdown duration is 24 seconds.
And 9, the timing module sends accurate countdown information to the execution synchronizer 2 seconds before the aircraft enters the laser final guidance section, the execution synchronizer sends an irradiation instruction to the laser irradiator 1 second later, the laser irradiator starts to irradiate the target, and the aircraft enters the laser final guidance section 1 second later. The target enters the visual field of the aircraft seeker 65 seconds after the aircraft emits, the seeker is started and receives the laser signal diffusely reflected by the target, and the aircraft successfully captures the target. The laser receiver on the aircraft sensitively guides the laser, and the attitude is adjusted to make the center of the field of view of the guide head align to the target until the landing is accurately carried out at the target position.
Step 10, after the aircraft lands, a target capturing module of the observation unit sends an irradiation stopping instruction to the laser irradiator, and the laser irradiator stops irradiating; the target capturing module collects a photo of a target area after the aircraft lands for 10 seconds, judges that the target does not move after the aircraft lands, and collects and sends the photo of the target area to the resolving module again 12 seconds after the aircraft lands.
The motion trajectory of the target is shown by the dashed line in fig. 2, and the enlarged landing area is shown in fig. 3. According to the target track, the target turns and accelerates 5 seconds before the aircraft lands, the speed before turning is 10m/s of uniform motion, and the speed after turning is acceleration of 4m/s2The acceleration motion of (2); analysis shows that the laser irradiation time is 16 seconds, the final guide section is 15 seconds, the target begins to turn to escape after capturing the guide laser, namely the target captures the guide laser 11 seconds after the laser irradiation, but the target is short in irradiation time of the guide laserThe time to guide the laser was found to be too late and the chance of escape had been lost at the time of discovery.
According to the embodiment, the problem that the aircraft emission delay and the laser irradiator start delay are asynchronous is solved through the cooperative control of the command synchronizer and the execution synchronizer, the possibility of target escape is further reduced by means of controlling laser irradiation time, laser encryption and the like by the timing module, the escape time of the target is shortened, and the possibility that the aircraft hits the target is increased.
Comparing the acquired photograph of the target area before the aircraft landed as shown in FIG. 4 with the photograph of the target area 12 seconds after the aircraft landed as shown in FIG. 5, the method obtains
Furthermore, the resolution of the target area image is 100Dpi, and the total number S of pixel points contained in the target areaMB≈3.043×108，
Satisfy | Pt0(x)-Pt1(x)|≥HbTotal number of pixels S of the damaged portion of the target regionHS＝2.76×108，
Thereby obtaining the target damage effect S ═ SHS/SMB＝90.7％。
In the case of a better destruction of the target, the aircraft has already reached the desired target without having to launch the aircraft again.
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. A laser terminal guidance aircraft information point-to-point transmission system is characterized by comprising an emitting unit (1), a command unit (2) and an observation unit (3),
wherein the transmitting unit (1) comprises a transmitting vehicle (11) for transmitting the aircraft and also comprises a command synchronizer (12),
the observation unit (3) comprises a target capture module (31), a laser illuminator (34) and an execution synchronizer (36);
the command synchronizer (12) and the execution synchronizer (36) are used for enabling the aircraft and the laser irradiator (34) to complete the element binding simultaneously.
2. The laser end-guided vehicle information point-to-point transmission system as claimed in claim 1,
the command synchronizer (12) is used for receiving the aircraft launching angle and the fuze working mode sent by the command unit (2), packaging and sending the aircraft launching angle and the fuze working mode to the launching vehicle (11), and ensuring that the command synchronizer (12) and the execution synchronizer (36) send information at the same time.
3. The laser end-guided vehicle information point-to-point transmission system as claimed in claim 1,
the transmitting unit (1) further comprises a first communication radio station (13);
the communication radio station I (13) is used for sending the state self-checking information and the vehicle position information of the transmitting unit (1) to the command unit (2) and receiving the transmitting angle, the fuse working mode and the transmitting instruction information sent by the command unit.
4. The laser end-guided vehicle information point-to-point transmission system as claimed in claim 1,
the command unit (2) comprises a resolving module (21), a first communication controller (22), a second communication radio station (23) and a third communication radio station (24);
preferably, before the aircraft transmits, the resolving module (21) is used for receiving the state self-checking information sent by the transmitting unit (1) and the observing unit (3) and judging the overall working state of the system;
also receives the coordinate information of the laser irradiator and the target coordinate information sent by the observation unit (3), receives the position information of the launching vehicle sent by the launching unit (1), and combines the information to carry out shooting data solution,
the resolving module (21) is also used for sending a transmitting instruction to a transmitting vehicle (11) of the transmitting unit (1);
preferably, after the aircraft is launched, the calculating module (21) is used for receiving aircraft position information and speed information sent by the aircraft and target position information and speed information sent by the observation unit, calculating the distance between the aircraft and the target and the remaining time of the aircraft entering a final guide section in real time, and generating accurate countdown information;
more preferably, the resolving module (21) is further configured to receive the image/photo of the target area before the aircraft lands and the image/photo of the target area after the aircraft lands sent by the target capturing module, and obtain the mean value of the gray scale change of the target area by the following formula (one):
wherein p ist0Pixel value, P, of an image of a target area before landing of an aircraftt1Pixel value, N, of an image of a target area after landing of an aircraftbThe number of pixel points of the target area image is taken; hbThe mean value of the gray level change of the target area is obtained;
then counting the total number of the pixel points of the damaged part as SHSWherein, the change difference of each pixel point is compared with the average value of the gray level change of the target area one by one at | Pt0(x)-Pt1(x)|≥HbThen, the pixel point is judged to be a damaged pixel point;
and if the damaged partial pixel points account for more than 80% of the total pixel points, the target is judged to meet the damage requirement, the aircraft does not need to be launched again, and otherwise, the command unit controls the launching unit to launch the aircraft again.
5. The laser end-guided vehicle information point-to-point transmission system as claimed in claim 4,
the first communication controller (22) is used for enabling the frequency of the ultrashort wave communication to change along with channel change in a self-adaptive manner, and always ensuring stable and optimal communication quality;
preferably, before the aircraft is launched, the first communication controller (22) takes over the communication links of the second communication station (23), the third communication station (24) and the command unit (2).
6. The laser end-guided vehicle information point-to-point transmission system as claimed in claim 4,
the second communication radio station (23) is used for communicating with the first communication radio station (13), receiving the state self-checking information and the position information of the launching vehicle sent by the launching unit, and sending a launching angle, a fuse working mode and a launching instruction to a command synchronizer of the launching unit;
preferably, station three (24) is used to communicate with station four (37) and the aircraft.
7. The laser end-guided vehicle information point-to-point transmission system as claimed in claim 1,
the target capturing module (31) is used for searching and tracking a target and locking the target in an image recognition mode; the target capturing module (31) sends the coordinate information of the laser irradiator and the target coordinate information to the resolving module (21);
preferably, the target capturing module (31) is also used for taking a target area image/photo before the aircraft lands and a target area image/photo after the aircraft lands;
preferably, the laser irradiator (34) is used for receiving the fuze working mode and the pseudo-random frequency sent by the execution synchronizer (36) and completing the binding; the laser irradiator (34) is also used for receiving the irradiation instruction sent by the execution synchronizer (36) and emitting laser beams to track the irradiation target after receiving the irradiation instruction.
8. The laser end-guided vehicle information point-to-point transmission system as claimed in claim 1,
the observation unit (3) further comprises a timing module (32), a laser frequency encoder (33), a second communication controller (35) and a fourth communication station (37);
the timing module (32) is used for receiving accurate countdown information transmitted by the command unit (2) in real time and sending the accurate countdown information to the execution synchronizer (36) 2 seconds before the aircraft enters the laser final section;
preferably, the laser frequency encoder (33) is used for generating and selecting a pseudo-random frequency according to a preset encoding rule and sending the pseudo-random frequency to the execution synchronizer (36).
9. The laser end-guided vehicle information point-to-point transmission system as claimed in claim 1,
the second communication controller (35) is used for enabling the frequency of the ultrashort wave communication to change along with channel change in a self-adaptive manner, and ensuring stable and optimal communication quality all the time;
preferably, before the aircraft is launched, the second communication controller (35) takes over the communication link between the fourth communication station (37) and the observation unit (3);
preferably, the communication station four (37) is used for communication with the communication station three (24).
10. A point-to-point transmission method for a laser terminal guidance aircraft is characterized in that,
the method comprises the following steps in time sequence:
step 1, before the aircraft is launched, a first communication controller (13) is used for taking over communication links of a second communication radio station (23), a third communication radio station (24) and a command unit (2), and a second communication controller (35) is used for taking over communication links of a fourth communication radio station (37) and an observation unit (3);
step 2, self-checking the states of the transmitting unit (1), the command unit (2) and the observation unit (3), wherein the transmitting unit (1) sends state information to a resolving module (21) of the command unit (2) through a communication radio station I (13), the observation unit (3) sends the state information to the resolving module (21) of the command unit (2) through a communication radio station IV (37), and the resolving module confirms that the overall state of the system is normal;
step 3, collecting geodetic information and meteorological information through a resolving module (21), sending the position information of a launching vehicle to a resolving module of a command unit through a communication radio station by a transmitting unit, and sending the coordinate information of the laser irradiator and the target coordinate information by a target capturing module of an observation unit through a resolving module of a four-way command unit of the communication radio station;
step 4, a resolving module (21) of the command unit (2) combines the information to perform shooting data resolving, if the aircraft can be launched, the launching angle is calculated, and the shooting data is sent to a command synchronizer of the launching unit 1 through a communication radio station II;
step 5, selecting a fuse working mode, and sending the fuse working mode to a command synchronizer of the transmitting unit and an execution synchronizer (36) of the observation unit; randomly selecting a pseudo-random frequency by a laser frequency encoder (33) and sending the pseudo-random frequency to an execution synchronizer (36);
step 6, packing the emission angle and the fuse working mode by a command synchronizer (12) and sending the packed emission angle and the fuse working mode to an emission vehicle (11), and packing the fuse working mode and the pseudorandom frequency by an execution synchronizer (36) and sending the packed fuse working mode and the pseudorandom frequency to a laser irradiator (34); the command synchronizer and the execution synchronizer send information at the same time, and the emission vehicle (11) and the laser irradiator (34) complete the binding of the bits at the same time;
step 7, a resolving module (21) of the command unit (2) issues a transmitting instruction to a transmitting vehicle through a communication radio station II (23) and the aircraft transmits the transmitting instruction;
step 8, after the aircraft enters the inertial guidance section, a resolving module (21) of the command unit (2) receives the position and the speed information of the aircraft sent by the aircraft and the target position and the speed information sent by a target capturing module (31) of the observation unit (3) in real time through a third communication radio station (24), and resolves the distance between the aircraft and the target and the accurate remaining time of the aircraft entering the final guidance section in real time to generate accurate countdown information; the command unit (2) sends the accurate countdown information to a timing module (32) of the observation unit (3) in real time through a communication radio station III (24);
step 9, the timing module (32) sends accurate countdown information to the execution synchronizer (36) 2 seconds before the aircraft enters the laser final guidance section, the execution synchronizer (36) sends an irradiation instruction to the laser irradiator after 1 second, the laser irradiator starts to irradiate a target, and the aircraft enters the laser final guidance section after 1 second;
step 10, after the aircraft lands, stopping irradiating by the laser irradiator; the target capturing module (31) captures image information of a target area and sends the image information to a resolving module (21) of the command unit (2) through a communication radio station four (37), and the target damage effect is evaluated through the resolving module (21);
preferably, the targeted damaging effect is evaluated by the following method:
firstly, solving the gray scale change of the target area image by the following formula (I):
wherein p ist0Pixel value, P, of an image of a target area before landing of an aircraftt1Pixel value, N, of an image of a target area after landing of an aircraftbThe number of pixel points of the target area image is taken; hbThe mean value of the gray level change of the target area is obtained;
calculating the number of pixel points of the damaged part of the target area:
using HbAs a judgment standard, evaluating the gray level change degree of the pixel points of the image in the target area; for each pixel point of the target area, when | Pt0(x)-Pt1(x)|≥HbThen, the pixel point is judged to be the pixel point of the damaged part of the target area, and finally the total number of the pixel points of the damaged part of the target area is SHS；
And evaluating the damage effect S of the target by using the change of the number of pixel points contained in the target area before and after the aircraft landsHS/SMB(ii) a Wherein S isMBThe total number of pixel points contained in the target area; s represents the target damage effect;
when the target damage effect S is more than or equal to 80 percent, the aircraft is judged to meet the damage requirement on the target, and the command unit displays the target damage effect value.
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Inventor after: Wang Hui Inventor after: Yang Haorui Inventor after: Li Tao Inventor after: Lin Defu Inventor after: Wang Wei Inventor after: Wang Jiang Inventor after: Song Tao Inventor after: Fan Shipeng Inventor before: Wang Hui Inventor before: Li Tao Inventor before: Lin Defu Inventor before: Wang Wei Inventor before: Wang Jiang Inventor before: Song Tao Inventor before: Fan Shipeng |