CN113671981B - 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 irradiation unit, selects and tracks an irradiation target in an image recognition mode, controls the rotor unmanned aerial vehicle to plan the flight track of the rotor unmanned aerial vehicle, and gives consideration to self safety and irradiation effect, so that necessary laser guidance is continuously provided.
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 taking a rotor unmanned plane as an observation 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 the target, and the laser detector on the aircraft detects the laser signal diffusely reflected by the target in real time; when the target enters the field of view of the detector, the laser detector can control the corresponding pulse engine or steering engine according to the deviation signal of the target deviated from the center of the field of view, so as to correct the flight trajectory, realize the accurate hit of the target and greatly improve the hit precision of the aircraft.
Traditional laser guidance aircraft system workflow and characteristics: when the traditional aircraft performs work, the observation unit searches the target and calculates the position of the target, then the command unit calculates the emission elevation angle according to the table, the emission command is issued after calculating the units, and the emission unit emits a plurality of aircrafts. The front irradiation unit irradiates the target with laser light, 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 light on the irradiation unit is limited, if the irradiation unit is far away from the target, the attenuation of the laser intensity is serious, the expected guidance effect is difficult to be achieved, and if the irradiation unit is too close to the target, the possibility of being found by the target is increased, so that the safety of the irradiation unit is difficult to be practically ensured all the time.
For the above reasons, the present inventors have made intensive studies on conventional remote laser guided vehicle control systems aiming at the drawbacks of the conventional laser guided vehicle systems, in hopes of designing a remote laser guided vehicle control system capable of solving the above problems.
Disclosure of Invention
In order to overcome the problems, the inventor has conducted intensive studies and devised a remote laser guidance aircraft control system which introduces a rotor unmanned aerial vehicle carrying irradiation unit, selects and tracks an irradiation target through an image recognition mode, and controls the rotor unmanned aerial vehicle to plan its own flight track, and gives consideration to self safety and irradiation effect, thereby continuously providing necessary laser guidance, and completing the invention.
In particular, it is an object of the present invention to provide a remote laser guided vehicle system comprising a launch unit 1, a command unit 2 and a rotorcraft 3,
Wherein the transmitting unit 1 is used for transmitting an aircraft,
The command unit 2 is used for carrying out 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 installed on the rotary unmanned aerial vehicle 3,
The resolving module 32 is configured to control a flight trajectory of the rotorcraft, and is also configured to select a laser irradiation target.
Wherein the image capturing module 31 is configured to acquire ground image information of a target area in real time, and find a target from the ground image.
When the rotorcraft 3 finds the target, a target area containing the position of the target is selected by the image capturing module 31, all the targets in the target area are found, and the types of the targets are respectively marked.
Wherein the resolving module 32 includes a target weight selecting sub-module 321 and a path planning sub-module 322;
when a plurality of targets are included in the target area, a final target is selected by the target weight selection sub-module 321.
The path planning submodule 322 is used for calculating the irradiation position of the unmanned rotorcraft, controlling the unmanned rotorcraft to fly to the irradiation position, and emitting guide laser to irradiate the target at the irradiation position.
The invention also provides a laser guidance aircraft control method, which comprises the following steps:
Step 1, continuously obtaining ground image information through a rotor unmanned aerial vehicle, analyzing whether the ground image contains a target,
Step 2, after finding the target, controlling the rotor unmanned aerial vehicle to ascend, obtaining the image information of the target area, marking the position and the type of the target in the target area, selecting the final target,
Step3, calculating the irradiation position or the standby position, controlling the rotor unmanned aerial vehicle to fly to the irradiation position/the 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 terminal guidance section.
The invention also provides a method of selecting a final target from a target area, the method comprising:
All objects within the object region are first identified,
The weight value of each target is solved one by one, and the target with the maximum weight value is selected as the final target;
preferably, the weight value of each target is solved one by the following formula (one):
q=x Type(s) ×0.4+x Motorized drive ×0.25+x Threat ×0.35 (one)
Wherein Q represents a target weight, x Type(s) represents a weight integral corresponding to a target type, x Motorized drive represents a weight integral corresponding to a target motion speed, and x Threat represents a weight integral corresponding to a target threat degree.
The invention has the beneficial effects that:
(1) According to the remote laser guidance aircraft control system and the control method thereof, 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 has small size and good concealment, and is easier to approach a target for reconnaissance;
(2) According to the remote laser guidance aircraft control system and the control method thereof, the rotor unmanned aerial vehicle has the target selection capability and the irradiation position selection capability, so that the optimal target can be selected in combination with the actual situation, the unmanned aerial vehicle can be protected from being found, and the survivability is improved.
(3) According to the remote laser guidance aircraft control system and the control method thereof, the rotor unmanned aerial vehicle can find a plurality of targets and can also guide a plurality of aircrafts in sequence according to an optimal sequence.
Drawings
FIG. 1 illustrates a logical view of the overall architecture of a remote laser guided vehicle control system in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a target area and an irradiation position in an embodiment;
FIG. 3 illustrates a flight trajectory of an aircraft in an embodiment;
fig. 4 shows a partial enlarged view of fig. 3.
Reference numerals 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 further described in detail below by means of the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used 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. Although various aspects of the embodiments are illustrated in the accompanying 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 an aircraft and adjusting the transmitting angle of the aircraft before transmitting so as to adjust the track height and the flight distance of the aircraft; and gives the aircraft a sufficiently large initial velocity at the time of launch;
The command unit 2 is used for carrying out information interaction with the launching unit 1, the rotor unmanned aerial vehicle 3 and the aircraft; the method comprises the steps of receiving information sent by a transmitting unit 1, a rotor unmanned aerial vehicle 3 and an aircraft, and sending control instructions to the transmitting unit 1, an observing unit 3 and the aircraft after 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 a user can judge and correct whether the types of objects are accurate or not, and then feedback the judging and correcting results to the unmanned rotorcraft 3. More preferably, the command unit 2 may also input a scout radius value of the scout vehicle to the rotorcraft 3. Through optional manual input, the system can be highly automated so as to cope with rapidly-changing field environments, and the accuracy and stability of the system can be improved through manual participation, so that the system omission is reduced.
The unmanned rotorcraft is provided with an image capturing module 31, a resolving module 32 and a laser irradiation module 33, wherein the resolving module 32 is used for controlling the flight track of the unmanned rotorcraft and is also used for selecting a laser irradiation target. The image capturing module 21 is configured to acquire, in real time, ground image information of the area to be surveyed, and to transmit the ground image information to the command unit 2 while providing the ground image information to the resolving module 32. The laser irradiation module 33 is used for emitting guiding laser to continuously irradiate the target so as to guide the aircraft to fly towards the target, and is also used for emitting ranging laser so as to obtain the distance between the rotor unmanned aerial vehicle and the object to be measured.
Preferably, the rotor unmanned aerial vehicle is further provided with a satellite signal receiving module, so as to obtain position information of the rotor unmanned aerial vehicle in real time, wherein the position information comprises longitude coordinates, latitude coordinates and altitude information.
Preferably, the laser irradiation module 33 includes a guiding laser emitting device, a laser range finder and a magnetic compass type north seeker, the guiding laser emitting device is used for continuously tracking the target and emitting guiding laser, the laser range finder is used for determining the relative distance between the unmanned rotorcraft and the target, and the magnetic compass type north seeker is used for determining the azimuth angle between the unmanned rotorcraft and the target.
In a preferred embodiment, the command unit 2 is further configured to send instructions to the rotorcraft, to control the rotorcraft to fly towards an area where the target may be present, i.e. the area to be surveyed, within which the rotorcraft needs to search for the target. Preferably, the image capturing module 31 on the rotorcraft is capable of capturing a range of ground images and identifying individual objects in the images, i.e., finding targets from the ground images.
Preferably, the commanding unit 2 is further configured to determine whether the aircraft can be launched according to the final target position information, the launching unit position information and the aircraft range after receiving the position information of the final target sent by the rotorcraft, and calculate the launching elevation angle of the aircraft if the aircraft can be launched, and send the launching instruction and the launching elevation angle to the launching unit. Wherein the location information includes longitude coordinates, latitude coordinates, and altitude information; the target position information needs to be obtained through resolving, the rotor unmanned aerial vehicle 3 determines the relative position and the relative distance between the rotor unmanned aerial vehicle and the target through ranging laser, the position information of the target is resolved by combining the position information of the rotor unmanned aerial vehicle, and the resolving process can be carried out in the rotor unmanned aerial vehicle or a command unit.
In a preferred embodiment, the image capturing module 31 comprises a camera for capturing a ground image in real time and transmitting it to the resolving module 32 and the command unit, and the resolving module 32 comprises an image database, in which target profile information is stored, and the resolving module 32 recognizes an object on the ground image in real time and compares the object with the target profile, and considers the object on the ground image as a target when the similarity of the object on the ground image and the image in the image database reaches a preset value. Preferably, the preset value may be selected to be 80% -90%.
When the rotorcraft finds the target, the flying height of the rotorcraft is raised, a circular area containing the position of the target is selected by the camera of the image capturing module 31, which is called a target area, all the targets in the target area are found, and the types of the targets are marked.
Preferably, the method for selecting the target area is as follows: the first object found is irradiated by the laser irradiation module 33 to obtain the position information of the object, and then a point which is 1-2 km away from the object is selected as a circular point along the flight direction of the rotorcraft, wherein the object area is a circle with the circular point as a circle center and 2.5-3 km as a radius, and the radius is shown as R 1 in fig. 2. Wherein, the image capturing module 31 continuously captures a ground image of the front of the unmanned rotorcraft, the dot and the first target are on the same horizontal plane, and the distance between the dot and the unmanned rotorcraft is greater than the distance between the first target and the unmanned rotorcraft.
In a preferred embodiment, the calculation 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 selecting sub-module 321, and the aircraft is guided to fly toward the final target.
The types of the targets include an air defense aircraft launching vehicle, a tank, a command vehicle, a scout vehicle and the like, and the types of the targets are marked when the objects in the ground image/target area are identified as the targets.
The target weight selecting 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=x Type(s) ×0.4+x Motorized drive ×0.25+x Threat ×0.35 (one)
Wherein Q represents a target weight, x Type(s) represents a weight integral corresponding to a target type, x Motorized drive represents a weight integral corresponding to a target motion speed, and x Threat represents a weight integral corresponding to a target threat degree. Preferably, when the target is an air defense vehicle launching vehicle, x Type(s) takes a value of 0.7, when the target is a tank, x Type(s) takes a value of 0.6, when the target is a command vehicle, x Type(s) takes a value of 1, and when the target is a scout vehicle, x Type(s) takes a value of 0.9; the value of x Motorized drive is determined according to the target movement speed selection, and the value of x Threat is determined according to the number of similar targets in the target area and the distance between the similar targets.
Further preferably, the target weight selecting sub-module 321 calculates the movement speed of the target according to the relative position relationship of the target in the front and rear frame images, the time difference between the two adjacent frames and the distance between the target and the rotor unmanned aerial vehicle, the specific solution formula is shown in the formula (two),
Wherein V T represents the target movement speed, d 1 represents the movement distance of the target position in two adjacent frames of images, 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 maximized when the speed of movement of the object is calculated, thereby making the calculation more accurate.
X Motorized drive takes a value of 0.3 when the target movement speed is 20 km/h or less, x Motorized drive takes a value of 0.5 when the target movement speed is greater than 20 km/h and 50 km/h or less, x Motorized drive takes a value of 0.7 when the target movement speed is greater than 50 km/h and 80 km/h or less, and x Motorized drive takes a value of 0.8 when the target movement speed is greater than 80 km/h;
Further preferably, x Threat is specifically selected as x Threat ＝0.6p1+0.4p2.
Wherein, the value of p 1 is determined by the number of similar targets in the target area, and the value of p 2 is determined by the average value of the distances between the similar targets in the target area;
Specifically, when the number of the similar objects is 1, the p 1 takes a value of 0.35; when the number of the similar targets is 2, the p 1 is 0.4; when the number of the similar targets is 3, the p 1 is 0.45; when the number of the similar targets is 4 or more, the p 1 takes a value of 0.5. When the average value of the distances between the similar targets is smaller than 300 meters, the p 2 is 0.5; when the average value of the distance is more than 300 meters and less than 600 meters, the p 2 takes a value of 0.4; when the average value of the distance is more than 600 meters and less than 1000 meters, the value of p 2 is 0.3; when the average value of the distance is more than 1000 m, p 2 takes a value of 0.2, and when only one target exists, p 2 takes a value of 0.
By automatically selecting the estimated optimal target as the final target, the rapid reaction and the maximization of benefits can be realized, and a plurality of targets can be classified according to the rapid reaction and the maximization of benefits, so that a plurality of aircrafts can be guided to track and hit the targets in batches.
In a preferred embodiment, the path planning sub-module 322 is configured to calculate an irradiation position of the unmanned rotorcraft, and control the unmanned rotorcraft to fly to the irradiation position, and after the unmanned rotorcraft reaches the irradiation position, the laser irradiation module 33 emits the guided laser to irradiate the target at a predetermined time.
Preferably, the rotor unmanned aerial vehicle is further preloaded with a reconnaissance radius value of the reconnaissance vehicle, the rotor unmanned aerial vehicle is further capable of receiving the reconnaissance radius value of the reconnaissance vehicle transmitted by the command unit 2, the received value is used as a criterion after the reconnaissance radius value of the reconnaissance vehicle transmitted by the ground is received, and the value preloaded in the rotor unmanned aerial vehicle is used as a criterion when the reconnaissance radius value of the reconnaissance vehicle transmitted by the ground is not received.
Preferably, after the image capturing module 31 finds the targets, the target area is acquired, and the position information of all the targets in the target area is calculated, a ground coordinate system is established, and the coordinate values of the respective targets are converted/calculated. Preferably, the origin of coordinates of the ground coordinate system is a solving aircraft impact point, that is, a landing point under an ideal condition that no laser guidance exists when the aircraft is in a terminal guidance section and no external environment interference exists, the X axis of the ground coordinate system passes through the origin A (0, 0), the Z axis is a vertical upward direction, the 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 determination and correction results sent by the command unit 2, and update the target area information accordingly.
In a preferred embodiment, when there is no scout in the target contained in the target area, the path planning sub-module 322 calculates the illumination location by the following equation (three),
Wherein (x 1,y1,z1) represents the irradiation position of the unmanned aerial vehicle in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and (x Secondary minor ,y Secondary minor ,z Secondary minor ) represents the position of the target with the second weight value in the ground coordinate system.
In a preferred embodiment, when the target area contains a scout vehicle in the target, and the scout radius of the scout vehicle is less than a specified value, the path planning sub-module 322 calculates the illumination position by the following equation (four),
Where (x 2,y2,z2) represents the illuminated 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 object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and R 2 represents the scout radius of the scout.
The set value in the application relates to the intensity of the emitted laser on the laser irradiator, and is preferably 5000 meters in the application.
Preferably, when the target is selected as a scout vehicle, the second solution in equation (four) is 0, and only the first solution is used.
Preferably, when a plurality of scout vehicles are included in the target area, if the scout range of the scout vehicle closest to the target does not overlap with the scout range of the other scouts, the closest scout vehicle is selected to calculate the irradiation position using equation (four).
When the scout range of the closest scout vehicle to the target overlaps with the scout range of another scout vehicle, the irradiation position is calculated by the following equation (four#):
Wherein, (x 2,y2,z2) represents the illuminated position of the drone in the ground coordinate system, (x C,yC,zC) represents the position of the point C of the scout nearest to the target, (x 'C,y'C,z'C) represents the position of another scout in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, R 2 represents the scout radius of the scout nearest to the target, and R' 2 represents the scout radius of another scout.
In a preferred embodiment, when the target area contains a scout vehicle in the target and the scout radius of the scout vehicle is greater than a specific value, the path planning sub-module 322 calculates the standby position 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 scout vehicle point C in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and R 2 represents the scout radius of the scout vehicle.
The path planning sub-module 322 calculates the irradiation position by the following equation (six),
(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 unmanned aerial vehicle in the ground coordinate system, and (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system.
Preferably, when the target is selected as a scout vehicle, the second solution in equation (five) is 0, and only the first solution is used.
Preferably, when the target area includes a plurality of scout vehicles, if the scout range of the scout vehicle closest to the target does not overlap with the scout range of the other scout vehicles, the closest scout vehicle is selected to calculate the standby position using equation (five).
When the scout range of the scout vehicle closest to the target overlaps with the scout range of another scout 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 point C of the scout vehicle nearest to the target in the ground coordinate system, (x 'C,y'C,z'C) represents the position of another scout vehicle in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, R 2 represents the scout radius of the scout vehicle nearest to the target, and R' 2 represents the scout radius of another scout vehicle.
After the aircraft emits for a certain time, the rotary-wing unmanned aerial vehicle flies from the standby position to the irradiation position, and emits a guiding laser irradiation target immediately after reaching the irradiation position.
The specific time passes through and (3) solving the following formula (seven).
Wherein T represents the specific time, T 1 represents the total time taken by the aircraft from launching to landing, which is the time estimated from the total distance before the aircraft launches, V UAV represents the maximum speed of the rotorcraft, and T 2 represents the laser terminal guidance time of the aircraft.
The irradiation position is a safe position and is located outside the reconnaissance range of the reconnaissance vehicle, so that the laser irradiation task can be completed under 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, since the target may be in a moving state, the irradiation position may also need to be changed, so the unmanned rotorcraft calculates the irradiation position in real time and controls the adjustment position of the unmanned rotorcraft in real time.
In a preferred embodiment, a timing module 323 is also included in the calculation module 32 for calculating/storing the time of entry of the aircraft into the terminal guidance zone and controlling the laser irradiation module 33 to start operation and emit the guidance laser 1 second before the aircraft enters the terminal guidance zone. Preferably, when the launching unit 1 launches the aircraft, the launching unit 1 will transmit information such as specific time and launching angle of the aircraft to the command unit 2 in real time, the command unit 2 will transmit the information of the launching time of the aircraft to the timing module 323 of the rotorcraft in time, and the timing module 323 will calculate the time when the aircraft enters the terminal guidance section. More preferably, the timing module 323 is further configured to receive, in real time, aircraft position information from the aircraft, and calculate and update a time when the aircraft enters the terminal guidance zone based on the information.
The invention also provides a laser guidance aircraft control method, which comprises the following steps:
Step 1, continuously obtaining ground image information through a rotor unmanned aerial vehicle, analyzing whether the ground image contains a target,
Step 2, after finding the target, controlling the rotor unmanned aerial vehicle to ascend to obtain image information of the target area, marking the position and the type of the target in the target area, selecting a final target,
And 3, calculating an irradiation position or a standby position, and controlling the rotor unmanned aerial vehicle to fly to the irradiation position/the 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 terminal guidance section.
Preferably, in step 1, the similarity between each object in the ground image and the target outline is compared by retrieving pre-stored target outline information from the image database in the resolving module 32, and the ground image is considered to contain the target when the similarity reaches more than 85%.
Preferably, in step 2, the rotorcraft cruises at a height of 2000 meters from the ground before finding the target, ascends at a height of 1000 meters after finding the target, and adjusts the angle of the image capturing module 31, thereby obtaining image information of the target area, and respectively labeling the position and type of each target in the target area, wherein the target types include an air defense aircraft launching vehicle, a tank, a command vehicle, a scout vehicle, and the like.
The target area selection method comprises the following steps: the first object found is irradiated by the laser irradiation module 33 to obtain the position information of the first object, and then a point at a distance of 1-2 km from the first object is selected as a circular point, preferably 1.5km, along the flight direction of the rotorcraft, and the target area is a circle with the circular point as a center and a radius of 2.5-3 km, preferably 2.5km. Wherein, the image capturing module 31 continuously captures a ground image of the front of the unmanned rotorcraft, the dot and the first target are on the same horizontal plane, and the distance between the dot and the unmanned rotorcraft is greater than the distance between the first target and the unmanned rotorcraft.
When a plurality of targets are contained in the target area, the method for selecting the final target from the target area comprises the following steps: the weight value of each target is solved one by one through the following formula (I), and the target with the largest weight value is selected as the final target.
Q=x Type(s) ×0.4+x Motorized drive ×0.25+x Threat ×0.35 (one)
Wherein Q represents a target weight, x Type(s) represents a weight integral corresponding to a target type, x Motorized drive represents a weight integral corresponding to a target motion speed, and x Threat represents a weight integral corresponding to a target threat degree. Preferably, when the target is an air defense vehicle launching vehicle, x Type(s) takes a value of 0.7, when the target is a tank, x Type(s) takes a value of 0.6, when the target is a command vehicle, x Type(s) takes a value of 1, and when the target is a scout vehicle, x Type(s) takes a value of 0.9; the value of x Motorized drive is determined according to the target movement speed selection, and the value of x Threat is determined according to the number of similar targets in the target area and the distance between the similar targets.
Preferably, the target weight selecting sub-module 321 calculates the movement speed of the target according to the relative position relationship of the target in the front and rear frame images, the time difference between the two adjacent frames and the distance between the target and the rotor unmanned aerial vehicle, the specific solution formula is shown in the formula (two),
Wherein V T represents the target movement speed, d 1 represents the movement distance of the target position in two adjacent frames of images, 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 maximized when the speed of movement of the object is calculated, thereby making the calculation more accurate.
X Motorized drive takes a value of 0.3 when the target movement speed is 20 km/h or less, x Motorized drive takes a value of 0.5 when the target movement speed is greater than 20 km/h and 50 km/h or less, x Motorized drive takes a value of 0.7 when the target movement speed is greater than 50 km/h and 80 km/h or less, and x Motorized drive takes a value of 0.8 when the target movement speed is greater than 80 km/h;
Preferably, x Threat is specifically selected as x Threat ＝0.6p1+0.4p2.
Wherein, the value of p 1 is determined by the number of similar targets in the target area, and the value of p 2 is determined by the average value of the distances between the similar targets in the target area;
Specifically, when the number of the similar objects is 1, the p 1 takes a value of 0.35; when the number of the similar targets is 2, the p 1 is 0.4; when the number of the similar targets is 3, the p 1 is 0.45; when the number of the similar targets is 4 or more, the p 1 takes a value of 0.5. When the average value of the distances between the similar targets is smaller than 300 meters, the p 2 is 0.5; when the average value of the distance is more than 300 meters and less than 600 meters, the p 2 takes a value of 0.4; when the average value of the distance is more than 600 meters and less than 1000 meters, the value of p 2 is 0.3; when the average value of the distance is more than 1000 meters, the value of p 2 is 0.2.
In a preferred embodiment, in step 3, different irradiation positions are selected according to whether the target area contains a scout vehicle and the scout radius of the scout vehicle, and the rotor unmanned flying towards the irradiation positions is controlled. When there are a plurality of calculated irradiation positions, a position closest to the rotary unmanned aerial vehicle is selected as a final irradiation position.
Wherein when no scout car is present in the target contained in the target area, the irradiation position is calculated by the following expression (III),
Wherein (x 1,y1,z1) represents the irradiation position of the unmanned aerial vehicle in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and (x Secondary minor ,y Secondary minor ,z Secondary minor ) represents the position of the target with the second weight value in the ground coordinate system. The irradiation position and the standby position obtained in the application are all positions in a ground coordinate system, and in the process of controlling the flight of the rotor craft, the specific advancing direction is needed to be calculated according to the current position of the rotor craft.
In a preferred embodiment, the method for calculating the irradiation position or standby position is: when the target area contains a scout car and the scout radius of the scout car is 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 unmanned aerial vehicle in the ground coordinate system, (x C,yC,zC) represents the position of the scout vehicle C in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target, and R 2 represents the scout radius of the scout vehicle.
The set value is related to the intensity of the emitted laser on the laser irradiator, and is preferably 5km in the present application.
In a preferred embodiment, when the target area contains a scout vehicle in the target, and the scout radius of the scout vehicle is greater than a specific value, 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 scout vehicle point C in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and R 2 represents the scout radius of the scout vehicle.
The irradiation position is calculated by the following (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 unmanned aerial vehicle in the ground coordinate system, and (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system.
After the aircraft emits for a certain time, the rotary-wing unmanned aerial vehicle flies from the standby position to the irradiation position at the maximum speed, and emits a guiding laser irradiation target immediately after reaching the irradiation position.
The specific time passes through and (3) solving the following formula (seven).
Where T represents the specified time, T 1 represents the total time the aircraft takes from launch to landing, V UAV represents the maximum speed of the rotorcraft, and T 2 represents the aircraft laser terminal guidance time.
Examples
The position information of the command unit and the transmitting unit is 107 degrees E of longitude, 34 degrees N of latitude and 600 meters of altitude, and the position information of the rotor unmanned aerial vehicle is 107 degrees 20'E of longitude, 34 degrees 16' N of latitude and 700 meters of altitude. Taking off the unmanned aerial vehicle, starting to search for a target, and keeping the flying height to be H=2000 meters; continuously obtaining ground image information, and firstly finding out an aerial vehicle launching vehicle, namely M points (200, 1500, 200) in fig. 2 through comparison, controlling the rotary wing unmanned aerial vehicle to ascend by 1000 meters, and setting a target area, wherein the target area and a ground coordinate system are as shown in fig. 2, the center point B (0,3000,200) of the target area, and the radius R 1 =2500 meters. A plurality of targets are found in the target area, including an air defense aircraft launching vehicle, namely a point M, a tank, namely points N1 and N2, which are 280 meters apart, and a command vehicle, namely an O and a reconnaissance vehicle, namely a 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=x Type(s) ×0.4+x Motorized drive ×0.25+x Threat ×0.35 (one)
The weight calculation values of the four targets are respectively given, and the values of each target x Type(s) are as follows: the launching vehicle of the air defense aircraft is 0.7, the tank is 0.6, the command vehicle is 1, and the reconnaissance vehicle is 0.9;
the speeds of the four targets obtained by measurement are respectively as follows: the launching vehicle of the air defense aircraft is 17 km/h, the two tanks are 15 km/h, the command vehicle is 56 km/h, and the reconnaissance vehicle is 82 km/h; the corresponding maneuvering weight is 0.3 of the anti-air vehicle launching vehicle, 0.3 of the tank, 0.7 of the command vehicle and 0.8 of the reconnaissance vehicle;
Regarding the threat part, x Threat ＝0.6p1+0.4p2, when the number of similar targets is 1, the value of p 1 is 0.35; when the number of the similar targets is 2, the p 1 is 0.4; when the average value of the distances between the similar targets is smaller than 300 meters, the p 2 is 0.5; the values of x Threat are therefore as follows: the launching vehicle of the air defense aircraft is 0.21, the tank is 0.44, the command vehicle is 0.21, and the reconnaissance vehicle is 0.21;
the weights of the four targets obtained by the formula (one) are respectively: the air defense aircraft launching vehicle is 0.4285, the tank is 0.469, the command vehicle is 0.6485, and the reconnaissance vehicle is 0.6335, so the command vehicle is selected as a final target.
And the command module is used for calculating that the distance between the final target and the transmitting module is 48000 meters, and determining that the aircraft can be transmitted, wherein the transmitting angle of the aircraft is 45 degrees.
The target type comprises a scout vehicle, the scout radius of the scout vehicle is input by a command unit, namely R 2 is 3000 meters, and the coordinate of the W point of the irradiation position is calculated by the formula (IV):
Wherein, the values of the parameters are as follows:
The final target coordinates are command vehicle point O coordinates (-300, 1000, 300), and scout vehicle point C coordinates (0, 3500, 200);
The coordinates (x 2,y2,z2) = (-357.8,518.8,319.3) of the irradiation position W point are solved.
And controlling the rotor unmanned aerial vehicle to reach the irradiation position, and controlling the launching module to launch the aircraft.
When the aircraft is launched and starts to count, the command vehicle always advances at a constant speed of 56 km/h. After 120 seconds of aircraft firing, the rotorcraft transmits a pilot laser to illuminate the final target and the aircraft lands after 135 seconds of firing.
The flight path of the aircraft is shown in fig. 3, fig. 4 is a partial enlarged view of fig. 3, and the paths of the aircraft and the target path when approaching landing 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 range of the aircraft.
The invention has been described above in connection with preferred embodiments, which are, however, exemplary only and for illustrative purposes. On this basis, the invention can be subjected to various substitutions and improvements, and all fall within the protection scope of the invention.
Claims (5)
1. A remote laser guidance aircraft control system is characterized by comprising 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,
The command unit (2) is used for carrying out 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 track of the rotor unmanned aerial vehicle and selecting a laser irradiation target;
The image capturing module (31) is used for acquiring ground image information of a target area in real time and searching a target from the ground image;
after the rotor unmanned aerial vehicle (3) finds out the target, a target area containing the position of the target 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 marked respectively;
The target area selection method comprises the following steps: firstly, a first target found is irradiated by a laser irradiation module (33) to obtain the position information of the target, then a point which is 1-2 km away from the target is selected as a round point along the flight direction of the rotor unmanned aerial vehicle, and the target area is a circle which takes the round point as a circle center and takes 2.5-3 km as a radius;
the resolving module (32) comprises a target weight selecting sub-module (321) and a path planning sub-module (322);
Selecting a final target by a target weight selection sub-module (321) when a plurality of targets are contained in the target area;
the target weight selecting sub-module (321) calculates the weight value of each target one by one through the following formula (one), and selects the target with the largest weight value as the final target, wherein Q=x Type(s) ×0.4+x Motorized drive ×0.25+x Threat ×0.35 (one)
Wherein, Q represents a target weight, x Type(s) represents a weight integral corresponding to a target type, x Motorized drive represents a weight integral corresponding to a target motion speed, and x Threat represents a weight integral corresponding to a target threat degree;
When the target is an air defense aircraft launching vehicle, the value of x Type(s) is 0.7, when the target is a tank, the value of x Type(s) is 0.6, when the target is a command vehicle, the value of x Type(s) is 1, and when the target is a scout vehicle, the value of x Type(s) is 0.9;
X Motorized drive takes a value of 0.3 when the target movement speed is 20 km/h or less, x Motorized drive takes a value of 0.5 when the target movement speed is greater than 20 km/h and 50 km/h or less, x Motorized drive takes a value of 0.7 when the target movement speed is greater than 50 km/h and 80 km/h or less, and x Motorized drive takes a value of 0.8 when the target movement speed is greater than 80 km/h;
The specific value of x Threat is x Threat ＝0.6p1+0.4p2;
When the number of the similar targets is 1, the p 1 is 0.35; when the number of the similar targets is 2, the p 1 is 0.4; when the number of the similar targets is 3, the p 1 is 0.45; when the number of the similar targets is 4 or more, the p 1 takes a value of 0.5; when the average value of the distances between the similar targets is smaller than 300 meters, the p 2 is 0.5; when the average value of the distance is more than 300 meters and less than 600 meters, the p 2 takes a value of 0.4; when the average value of the distance is more than 600 meters and less than 1000 meters, the value of p 2 is 0.3; when the average value of the distance is more than 1000 m, p 2 takes a value of 0.2, and when only one target exists, p 2 takes a value of 0.
2. The remote laser guided vehicle control system of claim 1,
The path planning submodule (322) is used for calculating the irradiation position of the unmanned rotorcraft, controlling the unmanned rotorcraft to fly to the irradiation position, and emitting guide laser to irradiate the target at the irradiation position.
3. The remote laser guided vehicle control system of claim 2,
When there is no scout in the target contained in the target area, 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 unmanned aerial vehicle in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and (x Secondary minor ,y Secondary minor ,z Secondary minor ) represents the position of the target with the second weight value in the ground coordinate system;
when the target area contains a scout vehicle and the scout radius of the scout vehicle is smaller than a specific value, the path planning sub-module (322) calculates the irradiation position by the following formula (four),
Where (x 2,y2,z2) represents the illuminated 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 object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and R 2 represents the scout radius of the scout.
4. A method of controlling a laser guided vehicle, the method being implemented using a remote laser guided vehicle control system according to any one of claims 1 to 3, the method comprising the steps of:
Step 1, continuously obtaining ground image information through a rotor unmanned aerial vehicle, analyzing whether the ground image contains a target,
Step 2, after finding the target, controlling the rotor unmanned aerial vehicle to ascend, obtaining the image information of the target area, marking the position and the type of the target in the target area, selecting the final target,
Step3, calculating the irradiation position or the standby position, controlling the rotor unmanned aerial vehicle to fly to the irradiation position/the 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 terminal guidance section.
5. The method of claim 4, wherein,
In the step 3, the method for calculating the irradiation position or the standby position is as follows:
when there is no scout car in the target contained in the target area, the irradiation position is calculated by the following equation (three),
Wherein, (x 1,y1,z1) represents the irradiation position of the unmanned aerial vehicle in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and (x Secondary minor ,y Secondary minor ,z Secondary minor ) represents the position of the target with the second weight value in the ground coordinate system;
When the target area contains a scout car and the scout radius of the scout car is 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 unmanned aerial vehicle in the ground coordinate system, (x C,yC,zC) represents the position of the scout vehicle C in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target, and R 2 represents the scout radius of the scout vehicle;
When the target area contains a scout vehicle and the scout radius of the scout vehicle is 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 vehicle point C in the ground coordinate system, (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system, and R 2 represents the scout radius of the scout vehicle;
The irradiation position is calculated by the following (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 unmanned aerial vehicle in the ground coordinate system, and (x Target object ,y Target object ,z Target object ) represents the position of the final target in the ground coordinate system.
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