CN114508965A - Multi-machine cooperative miniature seeker and control method thereof - Google Patents
Multi-machine cooperative miniature seeker and control method thereof Download PDFInfo
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- CN114508965A CN114508965A CN202210118659.1A CN202210118659A CN114508965A CN 114508965 A CN114508965 A CN 114508965A CN 202210118659 A CN202210118659 A CN 202210118659A CN 114508965 A CN114508965 A CN 114508965A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/22—Homing guidance systems
- F41G7/2206—Homing guidance systems using a remote control station
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Abstract
The application discloses multimachine cooperative miniature seeker, including seeker, magazine, image processing module, coprocessor, missile-borne computer, image transmission module and data transmission module, image processing module, coprocessor, missile-borne computer all set up in the magazine, and the seeker is connected to image processing module, and image processing module connects coprocessor and image transmission module, and coprocessor connects data transmission module and missile-borne computer, and image processing module is connected to the missile-borne computer. The application also discloses a multi-machine cooperative micro seeker control method, which adopts different network ports to transmit video and image data, searches and marks targets in a specified range, and synchronously interacts with a ground station to realize closed-loop cooperative control between the seeker and a cooperative processor. The problem that the traditional seeker is large in size, heavy in weight and incapable of achieving the synergistic capacity is solved. The dual-mode guiding device has the advantages of dual-mode guiding, small volume and cooperative communication function.
Description
Technical Field
The application belongs to the technical field of aviation aircrafts, and particularly relates to a multi-machine cooperative miniature seeker and a control method thereof.
Background
The seeker is arranged at the head of the guided weapon, a device for measuring the motion parameters of the target relative to the guided weapon and generating the guidance information is used as a core component of the flying patrol bomb, provides autonomous detection, identification and tracking services for the flying patrol bomb, provides information such as a line-of-sight angular velocity required by guidance and the like, and directly determines the detection effect, the attack precision, the damage effect and the like of the missile through the performance of the seeker.
The existing seeker is designed aiming at an independent flying patrol basically, has no coordination capability, needs to connect a video network port of the seeker to a coordination processing module, intercepts images from video streams, identifies target information on the images, sends the positions of the targets in the images to a missile-borne computer, transmits the target information to the seeker through the missile-borne computer, and performs tracking control according to received position instructions.
The image processing of the existing seeker is complex, the lag is large, and in the flying process of a flying patrol bomb, the position of a target in an image is changed rapidly, so that when the seeker receives position information, the actual position of the target is changed, the seeker cannot track the target correctly, a ground station cannot receive video information downloaded by the seeker, a person cannot control a loop or monitor the target actually tracked by the seeker, a cooperative processor cannot judge whether the seeker tracks a specified target correctly, only the target position can be sent regularly, the tracking closed loop of the seeker is interrupted in each sending period, and the tracking effect is influenced.
Therefore, designing a small-sized light-weight seeker with certain coordination capability becomes a technical problem to be solved urgently in the technical field of the current seeker.
Disclosure of Invention
The application aims to provide a multi-machine cooperative miniature seeker, and solves the problems that an existing traditional seeker is large in size, heavy in weight and incapable of having cooperative capacity. The method has the characteristics of dual-mode guidance, low cost and small volume, and has a cooperative communication function.
In order to solve the above problems, the technical scheme adopted by the application is as follows:
a multi-machine cooperative miniature seeker comprises a seeker body, a magazine, an image processing module, a coprocessor, an missile-borne computer, an image transmission module and a data transmission module, wherein the image processing module, the coprocessor and the missile-borne computer are arranged in the magazine, the image processing module is connected with the seeker body through a connector, a net port and a serial port are formed in the image processing module, the image processing module is respectively connected with the coprocessor and the image transmission module through the net port formed in the image processing module, a serial port is formed in the coprocessor, the coprocessor is respectively connected with the data transmission module and the missile-borne computer through the serial port, and the missile-borne computer is connected with the image processing module through the serial port.
In some embodiments, the image processing module is provided with dual network ports, one of the network ports of the dual network ports is connected to the coprocessor, and the other network port is connected to the image processing module.
In addition, the application also provides a multi-machine cooperative micro guidance control method, which comprises the following steps:
the seeker and the coprocessor are started, the image processing module collects infrared and visible light detector COMS information, the COMS information is processed, then video data are downloaded to the ground station, and meanwhile picture data are sent to the coprocessor in a timed mode.
After receiving the picture data, the coprocessor identifies a target in the picture, calculates the position of the target in the image and sends the position to the missile-borne computer; and the missile-borne computer sends the position information to the seeker and sends a pre-recognition instruction to the image processing module.
After the image processing module receives the position of the pre-tracking target and the pre-recognition instruction, searching is carried out near the designated position, and after the image processing module recognizes the target, the recognized target is respectively marked and coded.
The image processing module sends the video and the image after the mark coding to the ground station and the coprocessor respectively; and after receiving the image with the marked code, the cooperative processor processes the image and feeds the code of the tracking target back to the missile-borne computer.
And the missile-borne computer sends the codes to the image processing module and simultaneously sends a tracking instruction to the seeker, and the seeker locks and tracks the target after receiving the feedback and the instruction and enters a tracking mode.
After entering a tracking mode, the image processing module downloads video data at regular time and sends a tracking effect graph to the coprocessor at regular time; and the cooperative processor receives the tracking effect graph at regular time, identifies the tracking effect graph, judges the current tracking state of the seeker and judges whether the tracking target is correct or not, if the tracking target is abnormal, the tracking target is fed back to the missile-borne computer, and the missile-borne computer sends an exit tracking instruction to the seeker.
Through the process, closed-loop control between the seeker and the coprocessor is finally achieved.
In some embodiments, the image processing module sends the picture data to the co-processor with an interval time of 20ms to 50 ms.
In some embodiments, after receiving the position of the pre-tracking target and the pre-recognition instruction, the image processing module searches backward 1/10-2/10 pixels in the designated position and searches left and right 1/10-2/10 pixels in width.
In some embodiments, the image processing module periodically downloads the video data for a time interval of 20ms to 50ms after the seeker enters the tracking mode.
In some embodiments, after the image processing module identifies the target, the image processing module encodes the identified target in a manner that the numbers of the upper left corner and the lower right corner are sequentially increased, and marks the numbers on the target.
The application has the beneficial effects that:
1. the multi-machine cooperative miniature seeker is structurally characterized in that an image processing module is independently designed, independent of the seeker and located inside a magazine, so that on one hand, the requirement on the output torque of a motor is lower, the size and the dimension of the motor can be reduced, and the size and the mass of the seeker are further reduced; on the other hand, the problem that the normal work of the seeker is influenced due to the fact that the inner temperature of the seeker is too high due to the fact that the space of the seeker is closed and the image processing module and the infrared module generate heat is effectively avoided.
2. The image processing module of the multi-machine cooperative miniature seeker is provided with double network ports, one network port is connected with the cooperative processor and used for transmitting image data, and the other network port is connected with the image transmission module. The design of double network ports is adopted to download video data one way and download image data one way, so that the detection and tracking effect of the seeker can be observed by the ground station, and meanwhile, the lag between the coprocessor and the seeker is reduced.
3. According to the micro seeker control method, the seeker searches near the target position, the searching range is set to be 1/10-2/10 pixel backward, and the left and right sides are 1/10-2/10 pixel wide, so that the problem that the target position cannot be accurately detected due to movement caused by flying of the patrol missile is effectively solved.
4. According to the micro seeker control method, the identified targets are respectively marked and coded, and are sent to the coprocessor for confirmation and then tracked, so that the tracking accuracy is effectively improved; and (3) downloading the tracking picture at fixed time after tracking, so that the tracking effect can be monitored, and the communication load can be reduced.
5. The invention has double-mode guidance, small volume and light weight, simultaneously has a cooperative interface, can better serve cooperative combat, cluster formation and the like, and has wide applicability.
Drawings
FIG. 1 is a schematic view of a multi-unit cooperative micro seeker according to the present application;
figure 2 micro seeker control flow diagram.
Description of reference numerals:
in the figure: 1. a seeker; 2. a magazine; 3. An image processing module; 4. A co-processor; 5. A missile-borne computer; 6. An image transmission module; 7. and a data transmission module.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the following explains the present solution by way of specific embodiments and with reference to the accompanying drawings.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The application discloses a multi-machine-cooperated miniature seeker which provides azimuth and pitching line-of-sight angular speed for a flying patrol bomb and provides last-guidance striking service for the flying patrol bomb. The system has a visible and infrared detection dual-mode, has a large travel and can provide better detection and tracking services. Meanwhile, the method can be applied to urban traffic cooperative monitoring, multi-machine cooperative security, forest fire prevention and the like, and has higher social application value.
As shown in fig. 1, the multi-machine cooperative miniature seeker includes a seeker 1, a magazine 2, an image processing module 3, a coprocessor 4, a missile-borne computer 5, an image transmission module 6 and a data transmission module 7, the coprocessor, the missile-borne computer and the image processing module 3 are disposed in the magazine 2, the image processing module 3 is connected to the seeker 1 through a connector, and a servo control module, a detector module and an optical system are disposed in the seeker. Two network ports and two serial ports are arranged on the image processing module 3, one network port of the image processing module 3 is connected with the coprocessor 4, and the other network port of the image processing module 3 is connected with the image transmission module 6. The coprocessor 4 is provided with two serial ports, the coprocessor 4 is respectively connected with the data transmission module 7 and the missile-borne computer 5 through the serial ports, and the missile-borne computer 5 is connected with the image processing module 3 through the serial ports.
The image processing module of the miniature seeker is arranged in the magazine, the volume and the mass of the seeker can be reduced, the miniature seeker has the advantages of being small in volume and light in mass, the miniature seeker meets the design requirements of the miniature seeker, and the mass of the seeker can be reduced to about 300g after the miniature seeker is designed. In addition, the image processing module is arranged in the magazine, so that the problem that the normal work of the seeker is influenced by overhigh internal temperature of the seeker due to poor heat dissipation effect of the seeker which is a closed space when the image processor and the infrared module are arranged inside the seeker in the traditional design is effectively solved.
The image processing module of the miniature seeker adopts a double-network-port design and is respectively used for transmitting video data and image data, the video data and the image data are respectively transmitted through different network ports to ensure that the ground station can observe the investigation and tracking effect of the seeker, and meanwhile, the lag between the coprocessor and the seeker is reduced.
The micro seeker adopts a multi-machine cooperative processing structure, a serial port and a network port are independently configured on the image processing module, a cooperative control command is received, a target tracking condition is output, the micro seeker can better serve various conditions such as cooperative combat and cluster formation, and the micro seeker has wide applicability.
As shown in fig. 2, the present application discloses a multi-machine cooperative micro seeker and a control method of the multi-machine cooperative micro seeker, wherein the control method specifically includes:
(1) after the seeker and the coprocessor are started to work, the image processing module collects infrared and visible light detector COMS information and processes the information, video information of the seeker is sent to the image transmission module through the first internet access, the video information is received through the ground terminal, video data are downloaded to the ground station, monitoring is carried out through ground station software, and therefore the ground station can observe videos captured by the seeker in real time; and the image processing module sends the investigation information to the coprocessor in the form of picture data at a timing of 20ms through the network port while sending the video information.
(2) After receiving the picture data, the coprocessor identifies the picture data, identifies whether a tracking target or a striking target exists in the picture, calculates the position of the tracking target or the striking target in the picture, sends the position information to the missile-borne computer through a first serial port arranged on the coprocessor, and sends the position information and a pre-identification instruction to the image processing module through a second serial port and finally to the seeker.
(3) After receiving the position information and the pre-recognition instruction of the tracking target or the hitting target, the image processing module searches nearby the designated position, wherein the searching range is one-tenth of the pixel size backwards and one-tenth of the pixel width left and right. After the image processing module identifies the tracking target or the striking target in advance, the tracking target or the striking target which is identified in advance is marked and coded respectively, and the video and the image which are marked and coded are sent to the ground station and the cooperative processor respectively by the image processing module.
The coding mode of the target is that the numbers of the upper left corner and the lower right corner are sequentially increased, the numbers are marked at the positions, which are convenient to identify, of the tracking target or the hitting target, and can be marked at the upper left corner or the lower right corner of the tracking target or the hitting target.
(4) After receiving the image with the marked code, the cooperative processor processes the image and feeds back the code of the tracking target or the hitting target to the missile-borne computer; and the missile-borne computer sends the code of the tracking target or the hitting target to the image processing module through the serial port II, simultaneously sends a tracking instruction, and the seeker locks and tracks the target after receiving the tracking instruction and enters a tracking mode.
(5) After entering the tracking mode, the image processing module continues to download video data at a timing of 20ms, and simultaneously sends a tracking effect image to the coprocessor at a timing of 3 s. And the cooperative processor receives the tracking effect graph every 3s timing period, identifies the tracking effect graph, judges whether the current tracking state and the tracking target of the seeker are correct or not, if the tracking is normal, the seeker continues tracking, if the tracking target is abnormal, the seeker feeds back the tracking result to the missile-borne computer, and the missile-borne computer sends an exit tracking instruction to the seeker. The determination of the target abnormality is made by observation at a ground station.
Through the steps, closed-loop control between the seeker and the coprocessor is finally achieved.
The foregoing is only a preferred embodiment of the present application and it will be apparent to those skilled in the art that numerous modifications and adaptations can be made without departing from the principles of the present application and these are intended to be included within the scope of the present application.
Claims (7)
1. A multi-machine-cooperative miniature seeker is characterized by comprising a seeker, a magazine, an image processing module, a coprocessor, an missile-borne computer, an image transmission module and a data transmission module, wherein the image processing module, the coprocessor and the missile-borne computer are all arranged in the magazine, the image processing module is connected with the seeker through a connector, a net port and a serial port are formed in the image processing module, the image processing module is respectively connected with the coprocessor and the image transmission module through the net port formed in the image processing module, the coprocessor is provided with the serial port, the coprocessor is respectively connected with the data transmission module and the missile-borne computer through the serial port, and the missile-borne computer is connected with the image processing module through the serial port.
2. The multi-machine cooperative miniature seeker of claim 1, wherein said image processing module is provided with dual ports, one of said dual ports is connected to said coprocessor, and the other port is connected to said image transmission module.
3. A control method of a multi-machine cooperative miniature seeker is characterized by comprising the following steps:
starting the seeker and the coprocessor, downloading video data to a ground station after the image processing module collects and processes COMS information of the infrared and visible light detectors, and sending picture data to the coprocessor at regular time;
after receiving the picture data, the cooperative processor identifies a target in the picture, calculates the position of the target in the image and sends the position to the missile-borne computer; the missile-borne computer sends the position information to the seeker and sends a pre-recognition instruction to the image processing module;
after receiving the position of the pre-tracking target and the pre-recognition instruction, the image processing module searches nearby the designated position, and after recognizing the target, the image processing module respectively marks and codes the recognized target;
the image processing module sends the video and the image after the mark coding to the ground station and the coprocessor respectively; after receiving the image with the marked code, the cooperative processor processes the image and feeds back the code of the tracking target to the missile-borne computer;
the missile-borne computer sends the codes to the image processing module and simultaneously sends a tracking instruction to the seeker, and the seeker locks and tracks the target after receiving the feedback and the instruction and enters a tracking mode;
after the seeker enters a tracking mode, the image processing module downloads video data at regular time and sends a tracking effect graph to the coprocessor at regular time; the cooperative processor receives the tracking effect graph at regular time, identifies the tracking effect graph, judges the current tracking state of the seeker and whether the tracking target is correct, feeds back the tracking target to the missile-borne computer if the tracking target is abnormal, and the missile-borne computer sends an exit tracking instruction to the seeker;
through the process, closed-loop control between the seeker and the coprocessor is finally achieved.
4. The method as claimed in claim 3, wherein the image processing module sends the image data to the coprocessor for an interval of 20ms to 50 ms.
5. The method as claimed in claim 3, wherein the image processing module, after receiving the pre-tracking target position and the pre-recognition command, searches backward 1/10-2/10 pixels and has left and right 1/10-2/10 pixels wide.
6. The method as claimed in claim 3, wherein the timing downloading of the video data by the image processing module is 20ms to 50ms after entering the tracking mode.
7. The method as claimed in claim 3, wherein the coding is performed by increasing the numbers from the top left to the bottom right and labeling the numbers on the target.
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| CN202210118659.1A CN114508965B (en) | 2022-02-08 | 2022-02-08 | Multi-machine cooperative miniature seeker and control method thereof |
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| CN202210118659.1A CN114508965B (en) | 2022-02-08 | 2022-02-08 | Multi-machine cooperative miniature seeker and control method thereof |
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| US4615496A (en) * | 1985-01-03 | 1986-10-07 | The Boeing Company | Hybrid semi-strapdown infrared seeker |
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| CN111385082A (en) * | 2020-03-23 | 2020-07-07 | 北京中科众为技术有限公司 | Missile-borne data chain system and missile provided with data chain system |
| CN111721167A (en) * | 2020-05-19 | 2020-09-29 | 李超 | Aviation computer radar guidance system |
| CN112880488A (en) * | 2021-02-08 | 2021-06-01 | 上海机电工程研究所 | Master-slave bomb overall layout system and master-slave bomb cooperative detection method |
-
2022
- 2022-02-08 CN CN202210118659.1A patent/CN114508965B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4615496A (en) * | 1985-01-03 | 1986-10-07 | The Boeing Company | Hybrid semi-strapdown infrared seeker |
| CN108931155A (en) * | 2018-07-09 | 2018-12-04 | 北京航天控制仪器研究所 | One kind not depending on satellite navigation and increases journey guided munition self-contained guidance system |
| CN109270945A (en) * | 2018-09-21 | 2019-01-25 | 北京大翔航空科技有限公司 | A kind of control system for strapdown guidance unmanned plane |
| CN111385082A (en) * | 2020-03-23 | 2020-07-07 | 北京中科众为技术有限公司 | Missile-borne data chain system and missile provided with data chain system |
| CN111721167A (en) * | 2020-05-19 | 2020-09-29 | 李超 | Aviation computer radar guidance system |
| CN112880488A (en) * | 2021-02-08 | 2021-06-01 | 上海机电工程研究所 | Master-slave bomb overall layout system and master-slave bomb cooperative detection method |
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