CN113671981A - Remote laser guidance aircraft control system and control method thereof - Google Patents
Remote laser guidance aircraft control system and control method thereof Download PDFInfo
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Abstract
The invention discloses a remote laser guidance aircraft control system, which introduces a rotor unmanned aerial vehicle carrying and irradiating unit, selects and tracks an irradiation target in an image recognition mode, controls the rotor unmanned aerial vehicle to plan a flight track of the rotor unmanned aerial vehicle, gives consideration to safety and irradiation effect of the rotor unmanned aerial vehicle, and continuously provides necessary laser guidance.
Description
Technical Field
The invention relates to the field of remote laser guidance aircraft control, in particular to a remote laser guidance aircraft control system using a rotor unmanned aerial vehicle as an observation and tracking platform.
Background
The basic working principle of the laser guidance aircraft is as follows: at the end of the trajectory, the laser irradiator irradiates a target, and a laser detector on the aircraft detects a 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, so that the flight trajectory is corrected, the target is accurately hit, and the hitting precision of the aircraft is greatly improved.
The traditional laser guidance aircraft system has the following working procedures and characteristics: when the traditional aircraft works, the observation unit searches for a target and measures and calculates the position of the target, then the command unit calculates the transmitting elevation angle according to the firing table, the command unit issues a transmitting instruction after measuring and calculating the position, and the transmitting unit transmits a plurality of aircrafts. The front irradiation unit irradiates the target with laser, so that the aircraft receives the laser signal diffusely reflected on the target and performs guidance control, but the working distance of the irradiated laser on the irradiation unit is limited, if the irradiation unit is too far away from the target, the laser intensity is seriously attenuated, and the expected guidance function is difficult to perform, and if the irradiation unit is too close to the target, the possibility of being discovered by the target is increased, so that the safety of the irradiation unit is difficult to be practically ensured.
For the reasons, the inventor of the invention makes an intensive study on the traditional remote laser guidance aircraft control system aiming at the defects of the traditional laser guidance aircraft system so as to wait for designing the remote laser guidance aircraft control system capable of solving the problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention has conducted intensive research and designed a remote laser guidance aircraft control system, which introduces a rotor unmanned aerial vehicle carrying and irradiating unit, selects and tracks an irradiation target in an image recognition mode, controls the rotor unmanned aerial vehicle to plan a flight path of the rotor unmanned aerial vehicle, gives consideration to safety and irradiation effects of the rotor unmanned aerial vehicle, and continuously provides necessary laser guidance, thereby completing the invention.
In particular, the object of the present invention is to provide a remote laser guidance aircraft system, comprising a launching unit 1, a command unit 2 and a rotorcraft 3,
wherein the launching unit 1 is used for launching an aircraft,
the command unit 2 is used for information interaction with the transmitting unit 1 and the rotor unmanned aerial vehicle 3;
an image capture module 31, a resolving module 32 and a laser irradiation module 33 are mounted on the gyroplane 3,
the calculation module 32 is used to control the flight trajectory of the rotorcraft and is also used to select a laser irradiation target.
The image capturing module 31 is configured to obtain ground image information of a target area in real time and find a target from the ground image.
When the unmanned gyroglider 3 finds a target, a target area including the position of the target is selected through the image capturing module 31, all targets in the target area are found, and the types of the targets are respectively marked.
Wherein, the solution module 32 includes a target weight selection sub-module 321 and a path planning sub-module 322;
when a plurality of targets are included in the target area, the final target is selected by the target weight selection submodule 321.
And the path planning submodule 322 is used for calculating the irradiation position of the rotor unmanned aerial vehicle, controlling the rotor unmanned aerial vehicle to fly to the irradiation position, and emitting and guiding laser irradiation targets at the irradiation position.
The invention also provides a control method of the laser guidance aircraft, which comprises the following steps:
and 4, controlling the transmitting unit 1 to transmit the aircraft through the command unit 2, and controlling the laser irradiation module 33 to emit guide laser to irradiate the final target 1 second before the aircraft enters the final guide section.
The invention also provides a method for selecting a final target from a target area, which comprises the following steps:
all objects within the target area are first identified,
resolving the weight values of all targets one by one, and selecting the target with the largest weight value as a final target;
preferably, the weight values of the respective targets are solved one by the following formula (one):
Q＝xtype (B)×0.4+xManeuvering×0.25+xThreatX 0.35 (one)
Wherein Q represents the target weight, xType (B)Weight integral, x, corresponding to the target typeManeuveringWeight integral, x, corresponding to the velocity of the object motionThreatAnd representing the weight integral corresponding to the target threat degree.
The invention has the advantages that:
(1) according to the remote laser guidance aircraft control system and the control method thereof provided by the invention, the rotor unmanned aerial vehicle emits guidance laser, so that the unmanned aerial vehicle has strong maneuverability and wide visual field, and is easy to search, capture and track targets;
in addition, the unmanned aerial vehicle is small in size and good in concealment, and can more easily approach a target to reconnaissance;
(2) according to the remote laser guidance aircraft control system and the control method thereof, the unmanned gyroplane has the target selection capability and the irradiation position selection capability, an optimal target can be selected by combining with actual conditions, the unmanned gyroplane can be protected from being discovered, and the survival capability is improved.
(3) According to the remote laser guidance aircraft control system and the control method thereof provided by the invention, the rotor unmanned aerial vehicle can find a plurality of targets and can also sequentially guide a plurality of aircrafts according to an optimal sequence.
Drawings
FIG. 1 shows a logical view of the overall structure of a remote laser guidance aircraft control system according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram showing a target area and an irradiation position in the embodiment;
FIG. 3 illustrates a flight trajectory of an aircraft in an embodiment;
fig. 4 shows a partial enlarged view of fig. 3.
The reference numbers illustrate:
1-transmitting unit
2-Command Unit
3-rotor unmanned aerial vehicle
31-image capturing module
32-resolving module
321-target weight selection submodule
322-path planning submodule
323-timing module
33-laser irradiation 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 remote laser guidance aircraft control system provided by the invention, as shown in fig. 1, the system comprises a transmitting unit 1, a command unit 2 and a rotor unmanned aerial vehicle 3, wherein the transmitting unit 1 is used for transmitting the aircraft and is also used for adjusting the transmitting angle of the aircraft before transmitting so as to adjust the track height and the flight distance of the aircraft; and giving the aircraft a sufficiently large initial velocity at launch;
the command unit 2 is used for information interaction with the transmitting unit 1, the rotor unmanned aerial vehicle 3 and the aircraft; including receiving the information that transmitting unit 1, rotor unmanned aerial vehicle 3 and aircraft sent, send control command for transmitting unit 1, observation unit 3 and aircraft again after carrying out corresponding processing.
Preferably, the command unit 2 receives image information of a target area transmitted by the unmanned rotorcraft 3, the image information further includes types of objects in the image, and the user can judge and correct the types of the objects and feed back the judgment and correction results to the unmanned rotorcraft 3. More preferably, the command unit 2 can also input to the rotorcraft 3 a scout radius value of the scout car. Through selectively manual input, the system can be highly automated so as to respond to rapidly changing field environments, the accuracy and the stability of the system can be improved through manual participation, and the system omission is reduced.
Install image capture module 31, solve module 32 and laser irradiation module 33 on the unmanned gyroplane, solve module 32 and be used for controlling unmanned gyroplane's flight path, still be used for selecting the laser irradiation target. The image capturing module 21 is used for acquiring the ground image information of the area to be surveyed in real time, and transmitting the ground image information to the command unit 2 while providing the ground image information to the resolving module 32. Laser irradiation module 33 is used for launching guide laser, continuously irradiates the target to the guide aircraft flies to the target, laser irradiation module still is used for launching range finding laser, thereby obtains the distance between rotor unmanned aerial vehicle and the object that awaits measuring.
Preferably, still be provided with satellite signal receiving module on the rotor unmanned aerial vehicle for obtain rotor unmanned aerial vehicle self positional information in real time, positional information includes longitude coordinate, latitude coordinate and altitude information.
Preferably, the laser irradiation module 33 comprises a guiding laser emitting device for continuously tracking the target and emitting a guiding laser for continuously irradiating the target, a laser range finder for determining the relative distance between the rotorcraft and the target, and a magnetic compass type north finder for determining the azimuth angle between the rotorcraft and the target.
In a preferred embodiment, the command unit 2 is also used to send instructions to the gyroplane to control the gyroplane to fly towards an area where a target may be present, i.e. an area to be surveyed, within which the gyroplane needs to search for the target. Preferably, the image capture module 31 on the rotorcraft is capable of taking a range of ground images and identifying individual objects in the images, i.e., finding targets from the ground images.
Preferably, the command unit 2 is further configured to, after receiving the position information of the final target sent by the rotorcraft, determine whether the aircraft can be launched according to the position information of the final target, the position information of the launch unit, and the range of the aircraft, solve a launch elevation angle of the aircraft in the case that the aircraft can be launched, and send a launch instruction and the launch elevation angle to the launch unit. Wherein the location information comprises longitude coordinates, latitude coordinates, and altitude information; target position information needs to be solved and obtains, rotor unmanned aerial vehicle 3 confirms relative position and relative distance between rotor unmanned aerial vehicle and the target through range finding laser, combines rotor unmanned aerial vehicle self's positional information to solve the positional information of target, and this solution process can go on in rotor unmanned aerial vehicle, also can go on in command unit.
In a preferred embodiment, the image capturing module 31 comprises a camera for capturing the ground image in real time and transmitting the ground image to the calculating module 32 and the command unit, the calculating module 32 comprises an image database, the image database stores target shape information, the calculating module 32 recognizes the object on the ground image in real time and compares the object with the target shape, and when the similarity between the object on the ground image and the image in the image database reaches a preset value, the object on the ground image is considered as the target. Preferably, the preset value can be selected to be 80% -90%.
After the unmanned gyroplane finds the target, the flying height of the unmanned gyroplane is raised, a circular area containing the position of the target, called a target area, is selected through a camera of the image capturing module 31, all targets in the target area are found, and the types of the targets are respectively marked.
Preferably, the method for selecting the target area comprises the following steps: firstly, a first target found is irradiated through a laser irradiation module 33 to obtain position information of the target, then, along the flight direction of the rotor unmanned aerial vehicle, a point which is 1-2 km away from the target is selected as a round point, the target area is a circle which takes the round point as the center of circle and 2.5-3 km as the radius, and the radius is as R in figure 21As shown. Wherein, image capture module 31 continuously shoots the ground image directly in front of rotor unmanned aerial vehicle, the dot is on same horizontal plane with first target, and this dot is farther than first target and rotor unmanned aerial vehicle's distance with rotor unmanned aerial vehicle's distance.
In a preferred embodiment, the solution module 32 includes a target weight selection sub-module 321 and a path planning sub-module 322; when a plurality of targets are included in the target area obtained by the image capturing module 31, a final target is selected by the target weight selection sub-module 321, and the aircraft is guided to fly to the final target.
The types of the targets comprise an air defense aircraft launching vehicle, a tank, a command vehicle, a reconnaissance vehicle and the like, and when the objects in the ground image/target area are identified as the targets, the types of the targets are marked at the same time.
The target weight selection sub-module 321 solves the weight values of the respective targets one by the following expression (one), and selects the target having the largest weight value as the final target.
Q＝xType (B)×0.4+xManeuvering×0.25+xThreatX 0.35 (one)
Wherein Q represents the target weight, xType (B)Weight integral, x, corresponding to the target typeManeuveringWeight integral, x, corresponding to the velocity of the object motionThreatAnd representing the weight integral corresponding to the target threat degree. Preferably, when the target is an air defense aircraft launching vehicle, xType (B)A value of 0.7, x when the target is a tankType (B)The value is 0.6, and when the target is a command vehicle, x isType (B)A value of 1, x when the object is a scout carType (B)The value is 0.9; said xManeuveringIs determined according to the selection of the target motion speed, xThreatThe value of (A) is determined according to the number of similar targets in the target area and the distance between similar targets.
Further preferably, the target weight selection submodule 321 calculates the moving speed of the target according to the relative position relationship between the target in the two frames of images, the time difference between the two adjacent frames, and the distance between the target and the unmanned gyroplane, and the specific calculation formula is shown as formula (two),
wherein, VTRepresenting the speed of movement of the object, d1The moving distance of the target position in two adjacent frames of images is represented, t represents the time difference between two adjacent frames, L represents the distance between the target and the rotor unmanned aerial vehicle, and K represents the maximum magnification of the images. Preferably, the magnification of the image is adjusted to be maximum when the moving speed of the object is calculated, thereby making the calculation more accurate.
When the target moving speed is below 20 km/h, xManeuveringA value of 0.3, x when the target movement speed is more than 20 km/h and less than 50 km/hManeuveringA value of 0.5, x when the target movement speed is more than 50 km/h and less than 80 km/hManeuveringThe value is 0.7, and when the target movement speed is more than 80 kilometers per hour, xManeuveringThe value is 0.8;
further preferably, xThreatIs xThreat＝0.6p1+0.4p2。
Wherein p is1The value is determined by the number of similar objects in the object region, p2The value is determined by the average value of the distances between similar targets in the target area;
specifically, when the number of homogeneous objects is 1, p1The value is 0.35; when the number of homogeneous objects is 2, p1The value is 0.4; when the number of homogeneous objects is 3, p1The value is 0.45; all in oneWhen the number of class targets is 4 or more, p1The value is 0.5. When the average value of the distances between the similar targets is less than 300 m, p2The value is 0.5; when the average value of the distances is more than 300 m and less than 600 m, p2The value is 0.4; p when the average value of the distances is 600 m or more and less than 1000 m2The value is 0.3; when the average value of the distances is more than 1000 m, p2The value is 0.2, and when only one target exists, p is2The value is 0.
By automatically selecting and estimating the optimal target as the final target, the rapidity of reaction and the maximization of benefits can be realized, and a plurality of targets can be classified according to the target, and a plurality of aircrafts can be guided to track the target in batches.
In a preferred embodiment, the path planning sub-module 322 is configured to calculate an irradiation position of the drone rotor and control the drone rotor to fly to the irradiation position, and the drone rotor is emitted and guided by the laser irradiation module 33 to irradiate the target laser at a predetermined time after reaching the irradiation position.
Preferably, the rotor unmanned aerial vehicle is also preloaded with a scout radius value of a scout car, and the rotor unmanned aerial vehicle is further capable of receiving the scout radius value of the scout car sent by the command unit 2, after receiving the scout radius value of the scout car sent from the ground, the rotor unmanned aerial vehicle is based on the received numerical value, and when the rotor unmanned aerial vehicle does not receive the scout radius value of the scout car sent from the ground, the rotor unmanned aerial vehicle is based on the numerical value preloaded.
Preferably, after the image capturing module 31 finds the targets, the target area is acquired, the position information of all the targets in the target area is calculated, a ground coordinate system is established, and the coordinate values of each target are converted/calculated. Preferably, the origin of coordinates of the ground coordinate system is a landing place under an ideal condition that a landing point of the aircraft is resolved, that is, no laser guidance exists when the aircraft is at a final guidance section, and no external environment interference exists, an X axis of the ground coordinate system passes through the origin a (0,0,0), a Z axis is a vertical upward direction, a Y axis is a direction perpendicular to an XZ plane, and the right-hand rule is met. Preferably, the unmanned rotorcraft is further configured to receive the judgment and correction results sent by the command unit 2, and update the target area information accordingly.
In a preferred embodiment, when the target area contains no scout cars in the target, the path planning sub-module 322 calculates the irradiation position by the following equation (three),
wherein (x)1,y1,z1) Represents the irradiation position of the drone in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, (x)Of secondary importance,yOf secondary importance,zOf secondary importance) Indicating the location of the object with the second weight value in the ground coordinate system.
In a preferred embodiment, when the target area includes a scout car having a scout radius smaller than a specific value, the path planning submodule 322 calculates the irradiation position by the following equation (four),
wherein (x)2,y2,z2) Represents the irradiation position of the drone in the ground coordinate system, (x)C,yC,zC) Represents the position of the scout point C in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, R2Representing the scout radius of the scout car.
The set value is related to the intensity of the laser emitted from the laser irradiator, and is preferably 5000 meters in the present application.
Preferably, when the target is selected as the scout car, the second solution in equation (four) is 0, and only the first solution is used.
Preferably, when the target area includes a plurality of scouts, if a scout range of a scout car closest to the target does not overlap with other scout range cars, the closest scout car is selected to calculate the irradiation position by using the formula (iv).
When the reconnaissance range of the reconnaissance vehicle closest to the target overlaps with the reconnaissance range of another reconnaissance vehicle, the irradiation position is calculated by the following equation (four #):
wherein (x)2,y2,z2) Represents the irradiation position of the drone in the ground coordinate system, (x)C,yC,zC) Represents the position of the nearest scout vehicle point C from the target, (x'C,y'C,z'C) Representing the position of another scout car in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, R2Denotes the scout radius, R ', of the scout car closest to the target'2Representing the scout radius of another scout car.
In a preferred embodiment, when the target area includes a scout car having a scout radius larger than a specific value, the path planning submodule 322 calculates the standby position according to the following equation (five),
wherein (x)31,y31,z31) Represents the standby position of the unmanned aerial vehicle in the ground coordinate system, (x)C,yC,zC) Represents the position of the scout point C in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, R2Representing the scout radius of the scout car.
The path planning sub-module 322 solves the irradiation position by the following equation (six),
(x31,y31,z31) Represents the standby position of the unmanned aerial vehicle in the ground coordinate system, (x)32,y32,z32) Represents the irradiation position of the drone in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system.
Preferably, when the target is selected as the scout car, the second solution in equation (five) is 0, and only the first solution is used.
Preferably, when the target area includes a plurality of scouts, if the scout range of the scout car closest to the target does not overlap with the scout range cars of other scouts, the closest scout car is selected to calculate the standby position by using the formula (v).
When the reconnaissance range of the reconnaissance vehicle closest to the target overlaps with the reconnaissance range of another reconnaissance vehicle, the standby position is calculated by the following equation (five #):
wherein (x)31,y31,z31) Represents the standby position of the unmanned aerial vehicle in the ground coordinate system, (x)C,yC,zC) Represents the position of the nearest scout vehicle point C in the ground coordinate system, (x'C,y'C,z'C) Representing the position of another scout car in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, R2Denotes the scout radius, R ', of the scout car closest to the target'2Representing the scout radius of another scout car.
After the aircraft is launched for a certain time, the unmanned gyroplane flies from the standby position to the irradiation position, and emits the guided laser irradiation target immediately after reaching the irradiation position.
The specific time is calculated by the following formula (seven).
Wherein T represents the specific time, T1Representing the total time taken by the aircraft from launch to landing, as estimated from the total distance traveled before launch, VUAVMaximum speed, T, of the rotorcraft2And the laser terminal guidance time of the aircraft is shown.
The irradiation position is a safe position and is positioned outside the reconnaissance range of the reconnaissance vehicle, the laser irradiation task can be completed on the premise of protecting the reconnaissance vehicle, and when the reconnaissance range of the reconnaissance vehicle is extremely large, the rotor unmanned aerial vehicle is controlled to enter the reconnaissance range as short as possible, so that the possibility of completing the task is improved.
Preferably, the irradiation position may also need to be changed since the target may be in motion, so the drone resolves the irradiation position in real time and controls the drone to adjust the position in real time.
In a preferred embodiment, a timing module 323 is further included in the calculation module 32, and is used for calculating/storing the time when the aircraft enters the terminal section, and controlling the laser irradiation module 33 to start working and emit the guidance laser 1 second before the aircraft enters the terminal section. Preferably, when the transmitting unit 1 transmits the aircraft, the transmitting unit 1 transmits information such as specific transmitting time and transmitting angle of the aircraft to the commanding unit 2 in real time, the commanding unit 2 transmits transmitting time information of the aircraft to the timing module 323 of the rotor unmanned aerial vehicle in time, and the timing module 323 calculates time for the aircraft to enter a final guidance section. More preferably, the timing module 323 is further configured to receive aircraft position information sent by an aircraft in real time, and calculate and update the time when the aircraft enters the terminal guidance segment according to the information.
The invention also provides a control method of the laser guidance aircraft, which comprises the following steps:
and 3, calculating an irradiation position or a standby position, and controlling the unmanned gyroplane to fly to the irradiation position/standby position.
And 4, controlling the transmitting unit 1 to transmit the aircraft through the command unit 2, and controlling the laser irradiation module 33 to emit guide laser to irradiate the final target 1 second before the aircraft enters the final guide section.
Preferably, in step 1, by retrieving pre-stored target shape information from an image database in the solution module 32, the similarity between each object in the ground image and the target shape is compared, and when the similarity reaches more than 85%, the ground image is considered to contain the target.
Preferably, in step 2, the gyroplane cruises at an altitude of 2000 meters from the ground before finding the target, ascends by 1000 meters after finding the target, and adjusts the angle of the image capturing module 31, so as to obtain the image information of the target area and label the position and the type of each target in the target area respectively, wherein the types of the targets comprise an anti-aircraft launcher, a command car, a tank and the like.
The selection method of the target area comprises the following steps: firstly, a first target found is irradiated through a laser irradiation module 33 to obtain position information of the target, then, along the flight direction of the rotor unmanned aerial vehicle, a point which is 1-2 km away from the target is selected as a circular point, preferably 1.5km, the target area is a circle which takes the circular point as the center of circle and 2.5-3 km as the radius, and the radius is preferably 2.5 km. Wherein, image capture module 31 continuously shoots the ground image directly in front of rotor unmanned aerial vehicle, the dot is on same horizontal plane with first target, and this dot is farther than first target and rotor unmanned aerial vehicle's distance with rotor unmanned aerial vehicle's distance.
When the target area contains a plurality of targets, the method for selecting the final target from the target area comprises the following steps: the weight values of the respective targets are solved one by the following formula (one), and the target with the largest weight value is selected as the final target.
Q＝xType (B)×0.4+xManeuvering×0.25+xThreatX 0.35 (one)
Wherein Q represents the target weight, xType (B)Weight integral, x, corresponding to the target typeManeuveringWeight integral, x, corresponding to the velocity of the object motionThreatAnd representing the weight integral corresponding to the target threat degree. Preferably, when the target is an air defense aircraft launching vehicle, xType (B)A value of 0.7, x when the target is a tankType (B)The value is 0.6, and when the target is a command vehicle, x isType (B)A value of 1, x when the object is a scout carType (B)The value is 0.9; said xManeuveringIs determined according to the selection of the target motion speed, xThreatThe value of (A) is determined according to the number of similar targets in the target area and the distance between similar targets.
Preferably, the target weight selection submodule 321 calculates the moving speed of the target according to the relative position relationship between the target in the two frames of images, the time difference between the two adjacent frames, and the distance between the target and the unmanned gyroplane, and the specific calculation formula is shown as formula (two),
wherein, VTRepresenting the speed of movement of the object, d1The moving distance of the target position in two adjacent frames of images is represented, t represents the time difference between two adjacent frames, L represents the distance between the target and the rotor unmanned aerial vehicle, and K represents the maximum magnification of the images. Preferably, the magnification of the image is adjusted to be maximum when the moving speed of the object is calculated, thereby making the calculation more accurate.
When the target moving speed is below 20 km/h, xManeuveringThe value is 0.3, and when the target movement speed is more than 20 thousandM/h and below 50 km/h xManeuveringA value of 0.5, x when the target movement speed is more than 50 km/h and less than 80 km/hManeuveringThe value is 0.7, and when the target movement speed is more than 80 kilometers per hour, xManeuveringThe value is 0.8;
preferably, xThreatIs xThreat＝0.6p1+0.4p2。
Wherein p is1The value is determined by the number of similar objects in the object region, p2The value is determined by the average value of the distances between similar targets in the target area;
specifically, when the number of homogeneous objects is 1, p1The value is 0.35; when the number of homogeneous objects is 2, p1The value is 0.4; when the number of homogeneous objects is 3, p1The value is 0.45; when the number of the same kind of objects is 4 or more, p1The value is 0.5. When the average value of the distances between the similar targets is less than 300 m, p2The value is 0.5; when the average value of the distances is more than 300 m and less than 600 m, p2The value is 0.4; p when the average value of the distances is 600 m or more and less than 1000 m2The value is 0.3; when the average value of the distances is more than 1000 m, p2The value is 0.2.
In a preferred embodiment, in step 3, different irradiation positions are selected according to whether the target area contains the scout car and the scout radius of the scout car, and the rotor is controlled to fly to the irradiation positions without a person. When there are a plurality of the calculated irradiation positions, the position closest to the rotary-wing unmanned aerial vehicle is selected as the final irradiation position.
Wherein when there is no scout in the target included in the target region, the irradiation position is calculated by the following formula (III),
wherein (x)1,y1,z1) Represents the irradiation position of the drone in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, (x)Of secondary importance,yOf secondary importance,zOf secondary importance) The position of the object representing the second weight value in the ground coordinate system. The position of shining that obtains in this application and ready the position all are the position in the ground coordinate system, at the in-process of control rotor craft flight, need work out specific direction of travel according to rotor unmanned aerial vehicle current position again.
In a preferred embodiment, the method of calculating the irradiation position or the standby position is: when the target area contains a scout car with a scout radius smaller than a specific value, the irradiation position is calculated by the following formula (IV),
wherein (x)2,y2,z2) Represents the irradiation position of the drone in the ground coordinate system, (x)C,yC,zC) Represents the position of the scout car C in the ground coordinate system, (x)Target,yTarget,zTarget) Indicating the position of the final target, R2Representing the scout radius of the scout car.
The set value is related to the intensity of the emitted laser light on the laser irradiator, and is preferably 5km in the present application.
In a preferred embodiment, when the target area includes a scout car having a scout radius larger than a specific value, the standby position is calculated by the following formula (five),
wherein (x)31,y31,z31) Represents the standby position of the unmanned aerial vehicle in the ground coordinate system, (x)C,yC,zC) Represents the position of the scout point C in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, R2Representing the scout radius of the scout car.
The irradiation position is calculated by the following formula (six),
wherein (x)31,y31,z31) Represents the standby position of the unmanned aerial vehicle in the ground coordinate system, (x)32,y32,z32) Represents the irradiation position of the drone in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system.
After the aircraft is launched for a certain time, the unmanned gyroplane flies to the irradiation position from the standby position at the maximum speed, and emits the guided laser irradiation target immediately after reaching the irradiation position.
The specific time is calculated by the following formula (seven).
Wherein T represents the specific time, T1Representing the total time, V, taken by the aircraft from launch to landingUAVMaximum speed, T, of the rotorcraft2And the laser terminal guidance time of the aircraft is shown.
Examples
The position information of the command unit and the transmitting unit is longitude 107 degrees E, latitude 34 degrees N and altitude 600 meters, and the position information of the rotor unmanned aerial vehicle is longitude 107 degrees 20 'E, latitude 34 degrees 16' N and altitude 700 meters. The unmanned aerial vehicle takes off and starts to search for a target, and the flying height is kept to be H equal to 2000 m; continuously acquiring ground image information, firstly finding an air defense aircraft launching vehicle, namely M points (200, 1500 and 200) in figure 2, controlling the rotor wing unmanned aerial vehicle to ascend 1000 meters, and then setting a target area, wherein the target area and a ground coordinate system are shown in figure 2, and the target isCenter point of area B (0,3000,200), radius R12500 m. A number of targets are found in the target area, including an air defense vehicle launch vehicle, i.e., point M, tanks, i.e., points N1 and N2, which are 280 meters apart, a command vehicle, i.e., O, and a scout vehicle, i.e., point C. Because a plurality of targets exist in the target area, the weight value of each target is solved one by one through the formula (I);
Q＝xtype (B)×0.4+xManeuvering×0.25+xThreatX 0.35 (one)
Respectively giving weight calculation values of four targets, each target xType (B)The values of (A) are as follows: the number of launching vehicles of the air defense aircraft is 0.7, the number of tanks is 0.6, the number of command vehicles is 1, and the number of scout vehicles is 0.9;
the speeds of the four targets obtained by measurement are respectively as follows: the air defense aircraft launching vehicle is 17 kilometers per hour, the two tanks are 15 kilometers per hour, the command vehicle is 56 kilometers per hour, and the scout vehicle is 82 kilometers per hour; the corresponding maneuvering weights are 0.3 for an air defense aircraft launching vehicle, 0.3 for a tank, 0.7 for a command vehicle and 0.8 for a scout vehicle;
with respect to the threat component therein, xThreat＝0.6p1+0.4p2When the number of homogeneous objects is 1, p1The value is 0.35; when the number of homogeneous objects is 2, p1The value is 0.4; when the average value of the distances between the similar targets is less than 300 m, p2The value is 0.5; so xThreatThe values of (A) are as follows: the number of launching vehicles of the air defense aircraft is 0.21, the number of tanks is 0.44, the number of command vehicles is 0.21, and the number of scout vehicles is 0.21;
the weights of the four targets are obtained by the formula (one): the airdefense aircraft has 0.4285 launching vehicles, 0.469 tank, 0.6485 command vehicle and 0.6335 scout vehicle, so the command vehicle is selected as the final target.
And determining that the aircraft can be launched by calculating the distance between the final target and the launching module to be 48000 meters through the command module, wherein the launching angle of the aircraft is 45 degrees.
The target category comprises scout cars, the scout radius of which is input by the command unit, i.e. R23000 m, the sitting of the irradiation position W point is calculated by the formula (IV)Marking:
wherein, the values of each parameter are as follows:
the final target coordinates are the coordinates of the command vehicle point O (-300, 1000, 300) and the coordinates of the reconnaissance vehicle point C (0, 3500, 200);
the coordinates (x) of the point W at the irradiation position are obtained2,y2,z2)＝(-357.8,518.8,319.3)。
Control rotor unmanned aerial vehicle to should shine the position, control emission module transmission aircraft again.
When the aircraft is launched and counted, the command vehicle always advances at a constant speed of 56 km/h. After the aircraft is launched for 120 seconds, the unmanned gyroplane emits guiding laser to irradiate a final target, and the aircraft is launched for 135 seconds and then lands.
The flight trajectory of the aircraft is shown in fig. 3, fig. 4 is a partial enlarged view of fig. 3, and the trajectory of the aircraft near landing and the target trajectory are mainly shown in fig. 3 and 4. As can be seen from fig. 3 and 4, the distance between the landing point of the aircraft and the target is below 1 meter, which is within the effective damage range of the aircraft.
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 remote laser guidance aircraft control system is characterized by comprising an emission unit (1), a command unit (2) and a rotor unmanned aerial vehicle (3),
wherein the transmitting unit (1) is used for transmitting an aircraft,
the command unit (2) is used for information interaction with the transmitting unit (1) and the rotor unmanned aerial vehicle (3);
an image capturing module (31), a resolving module (32) and a laser irradiation module (33) are arranged on the rotor unmanned aerial vehicle (3),
the resolving module (32) is used for controlling the flight path of the rotor unmanned aerial vehicle and is also used for selecting a laser irradiation target.
2. The remote laser guidance aircraft control system of claim 1,
the image capturing module (31) is used for acquiring ground image information of a target area in real time and searching for a target from the ground image.
3. The remote laser guidance aircraft control system of claim 1,
when the unmanned gyroplane (3) finds the targets, a target area containing the positions of the targets is selected through an image capturing module (31), all the targets in the target area are found out, and the types of the targets are respectively marked.
4. The remote laser guidance aircraft control system of claim 3,
the solution module (32) comprises a target weight selection sub-module (321) and a path planning sub-module (322);
when a plurality of targets are contained in the target area, a final target is selected by a target weight selection submodule (321).
5. The remote laser guidance aircraft control system of claim 4,
the target weight selection sub-module (321) calculates the weight value of each target one by the following formula (one), and selects the target with the largest weight value as the final target,
Q＝xtype (B)×0.4+xManeuvering×0.25+xThreatX 0.35 (one)
Wherein Q represents the target weight, xType (B)Weight integral, x, corresponding to the target typeManeuveringWeight integral, x, corresponding to the velocity of the object motionThreatAnd representing the weight integral corresponding to the target threat degree.
6. The remote laser guidance aircraft control system of claim 4,
and the path planning submodule (322) is used for calculating the irradiation position of the rotor unmanned aerial vehicle, controlling the rotor unmanned aerial vehicle to fly to the irradiation position, and emitting and guiding laser irradiation targets at the irradiation position.
7. The remote laser guidance aircraft control system of claim 6,
when the target area contains no scout cars in the target, the path planning submodule (322) calculates the irradiation position by the following formula (III),
wherein (x)1,y1,z1) Represents the irradiation position of the drone in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, (x)Of secondary importance,yOf secondary importance,zOf secondary importance) Representing the position of the target with the second weight value in the ground coordinate system;
preferably, when the target area includes a target having a scout car with a scout radius smaller than a specific value, the path planning submodule (322) calculates the irradiation position by the following equation (IV),
wherein (x)2,y2,z2) Represents the irradiation position of the drone in the ground coordinate system, (x)C,yC,zC) Represents the position of the scout point C in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, R2Representing the scout radius of the scout car.
8. A laser guidance aircraft control method is characterized by comprising the following steps:
step 1, continuously obtaining ground image information through a rotor unmanned aerial vehicle, analyzing whether the ground image contains a target or not,
step 2, after the target is found, controlling the rotor unmanned aerial vehicle to ascend to obtain the image information of the target area, marking the position and the type of the target in the target area, selecting the final target,
step 3, calculating an irradiation position or a standby position, controlling the rotor unmanned aerial vehicle to fly to the irradiation position/standby position,
and 4, controlling the transmitting unit (1) to transmit the aircraft through the commanding unit (2), and controlling the laser irradiation module (33) to emit guide laser to irradiate the final target 1 second before the aircraft enters the final guide section.
9. The laser-guided vehicle control method according to claim 8,
in step 3, the method of calculating the irradiation position or the standby position includes:
when there is no scout car in the target included in the target region, the irradiation position is calculated by the following formula (three),
wherein (x)1,y1,z1) Represents the irradiation position of the drone in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, (x)Of secondary importance,yOf secondary importance,zOf secondary importance) The position of the target with the second weight value in the ground coordinate system;
preferably, when the target area includes a target having a scout car with a scout radius smaller than a specific value, the irradiation position is calculated by the following formula (four),
wherein (x)2,y2,z2) Represents the irradiation position of the drone in the ground coordinate system, (x)C,yC,zC) Represents the position of the scout car C in the ground coordinate system, (x)Target,yTarget,zTarget) Indicating the position of the final target, R2Representing a scout radius of the scout car;
preferably, when the target area includes a target having a scout car therein and the scout radius of the scout car is greater than a specific value, the standby position is calculated by the following formula (five),
wherein (x)31,y31,z31) Represents the standby position of the unmanned aerial vehicle in the ground coordinate system, (x)C,yC,zC) Represents the position of the scout point C in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system, R2Representing a scout radius of the scout car;
the irradiation position is calculated by the following formula (six),
wherein (x)31,y31,z31) Represents the standby position of the unmanned aerial vehicle in the ground coordinate system, (x)32,y32,z32) Represents the irradiation position of the drone in the ground coordinate system, (x)Target,yTarget,zTarget) Representing the position of the final target in the ground coordinate system.
10. A method of selecting a final object from an object area, the method comprising:
all objects within the target area are first identified,
resolving the weight values of all targets one by one, and selecting the target with the largest weight value as a final target;
preferably, the weight values of the respective targets are solved one by the following formula (one):
Q＝xtype (B)×0.4+xManeuvering×0.25+xThreatX 0.35 (one)
Wherein Q represents the target weight, xType (B)Weight integral, x, corresponding to the target typeManeuveringWeight integral, x, corresponding to the velocity of the object motionThreatAnd representing the weight integral corresponding to the target threat degree.
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