CN115092363B - Distributed intelligent reconnaissance and striking integrated system and method - Google Patents
Distributed intelligent reconnaissance and striking integrated system and method Download PDFInfo
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- CN115092363B CN115092363B CN202210827168.4A CN202210827168A CN115092363B CN 115092363 B CN115092363 B CN 115092363B CN 202210827168 A CN202210827168 A CN 202210827168A CN 115092363 B CN115092363 B CN 115092363B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G1/00—Arrangements of guns or missile launchers; Vessels characterised thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/005—Search and rescue [SAR] vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a distributed intelligent reconnaissance and striking integrated system and method, which relate to the field of intelligent weapon control and comprise the following steps: the upper end of the ship body is provided with a ship cabin; the photoelectric tracking reconnaissance device comprises a photoelectric detection head and a photoelectric control cabinet, wherein the photoelectric detection head is fixedly arranged at the top of the ship cabin, and the photoelectric control cabinet is arranged in the ship cabin; the inertial navigation device is arranged below the photoelectric detection head; the remote control weapon station comprises a weapon platform and a wall hanging box, wherein the weapon platform is fixedly arranged on the front side of the upper end of the warship body, and the wall hanging box is arranged in the warship cabin. The invention has the advantages that: the photoelectric, navigation and remote control weapon equipment on the unmanned ship are optimally integrated to form a distributed intelligent reconnaissance and striking integrated system, so that the warning patrol, intelligence reconnaissance, offshore accurate striking, search and rescue and other tasks of a designated area, as well as the mine exploration/mine discharge, anti-frog personnel and other special combat tasks can be effectively completed.
Description
Technical Field
The invention relates to intelligent martial arts control, in particular to a distributed intelligent reconnaissance and striking integrated system and method.
Background
Unmanned surface vessel (unmanned surface vessel, abbreviated as USV) is an important supporting force for reconnaissance monitoring, information collection, accurate striking and reduction of army casualties in future war. Unmanned boats equipped with advanced control systems, communication systems, sensor systems, and weapon systems may perform a variety of war and non-war military tasks.
In order to strike the offshore illegal behaviors, a weapon platform is usually installed on a law enforcement naval vessel for striking deterrence, and based on the scheme, the distributed intelligent reconnaissance striking integrated system and method are provided.
Disclosure of Invention
In order to solve the technical problems, the technical scheme is to provide a distributed intelligent reconnaissance and striking integrated system and method, and the photoelectric, navigation and remote control weapon equipment on the unmanned ship are optimally integrated to form the distributed intelligent reconnaissance and striking integrated system, so that the tasks of warning patrol, intelligence reconnaissance, offshore accurate striking, search and rescue and the like of a designated area, and the mine exploration/mine discharge, anti-frogman and other special fight tasks can be effectively completed.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A distributed intelligent scout and strike integrated system comprising:
the ship body is provided with a ship cabin at the upper end;
The photoelectric tracking reconnaissance equipment comprises a photoelectric detection head and a photoelectric control cabinet, wherein the photoelectric control cabinet is connected with the photoelectric detection head through wireless and/or wired communication, the photoelectric detection head is fixedly arranged at the top of a ship cabin and is used for collecting target image information, the photoelectric control cabinet is arranged in the ship cabin and is used for receiving image information, navigation information and responding to an upper computer control instruction;
The inertial navigation device is arranged below the photoelectric detection head and is used for measuring navigation information and motion parameter information of the ship body course, the posture, the speed and the position;
The remote control weapon station comprises a weapon platform and a wall built-up box, wherein the wall built-up box is connected with the weapon platform through wireless and/or wired communication, the weapon platform is fixedly arranged on the front side of the upper end of the warship body and is used for striking a target, the wall built-up box is arranged in the warship cabin and is used for driving and shooting control of the weapon platform.
Preferably, the photoelectric detection head is installed at the top of the ship cabin through a photoelectric servo mechanism, and the photoelectric detection head is internally integrated with:
The visible light sensor is used for collecting visible light image information of a target;
the refrigeration type infrared sensor is used for collecting infrared image information of a target;
the laser range finder is used for measuring the distance between the target and the ship body;
the angle encoder is used for measuring the deflection angle of the photoelectric detection head;
And the sensor control module is used for controlling the visible light sensor, the refrigeration type infrared sensor and the laser range finder.
Preferably, the photoelectric control cabinet is integrated with:
The photoelectric comprehensive control module is used for comprehensively controlling the photoelectric detection head;
the image tracking module is used for carrying out image processing and target extraction on the target image acquired by the visible light and the infrared sensor;
The intelligent recognition module is used for obtaining the deep layer characteristics of the water surface target and carrying out autonomous detection and recognition on the water surface target;
The servo driving module is used for sending a control signal to the photoelectric servo mechanism;
the video coding module is used for coding the visible light output by the image tracking module and the image information acquired by the refrigeration type infrared sensor.
Preferably, the inertial navigation device comprises:
The inertial sensing unit comprises three two-frequency mechanically-jittered laser gyroscopes and three quartz flexible accelerometers which are fixedly arranged on the rigid support seat in an orthogonal state;
The navigation computer unit comprises an IMU power module, a navigation resolving module and an IF conversion module.
Preferably, the remote control weapon station further comprises a portable console, the portable console is connected with the weapon platform through wireless and/or wired communication, and the portable console is used for manually performing weapon platform servo control, filling and shooting.
Preferably, the weapon platform comprises a machine gun and a gun tower, the machine gun is mounted on the gun tower, and the gun tower comprises:
the base is used for installing all the components;
The bullet feeding mechanism is used for carrying out bullet feeding on the machine gun;
The first filling mechanism is used for first filling the machine gun;
the high-low mechanism is used for adjusting the high-low pitching angle of the machine gun;
the azimuth mechanism is used for adjusting the azimuth angle of the machine gun;
A bracket and a cradle for mounting a machine gun.
Preferably, a laser calibration device is further installed on the gun tower, and the laser calibration device is used for providing real-time attitude angle data for the weapon platform.
Preferably, the wall built-up box is internally integrated with:
the weapon comprehensive control module is used for comprehensively controlling the weapon platform;
The shooting control module is used for controlling the machine gun, the bullet feeding mechanism and the first loading mechanism;
The power-on control module is used for controlling the sensor;
And the motor driving module is used for controlling the high-low mechanism and the azimuth mechanism to perform corresponding angle driving control.
Preferably, the photoelectric detection head, the photoelectric control cabinet and the wall built-up box are integrated with a power module, and the power module is used for supplying power to the photoelectric detection head and/or the photoelectric control cabinet and/or the wall built-up box.
And gyroscopes are arranged in the photoelectric detection head and the weapon platform and used for keeping the stability of the photoelectric detection head and/or the weapon platform.
Further, an intelligent reconnaissance striking method based on the intelligent reconnaissance striking integrated system is provided, and the method comprises the following steps:
starting up the photoelectric tracking reconnaissance equipment, reconnaissance detection is carried out on a designated area, and environmental situation is perceived;
after the photoelectric tracking reconnaissance equipment finds and identifies a specific target, tracking and ranging the target, calculating real-time three-dimensional motion parameters of the target, and transmitting the real-time three-dimensional motion parameters to a ship control system of the ship in combination with target type identification information to carry out auxiliary navigation decision;
The inertial navigation equipment provides navigation information and attitude information of the boat to the ship control system, so that the boat can carry out warning patrol tasks on the designated area and position according to the set route;
The photoelectric tracking reconnaissance equipment sends three-dimensional motion parameters of the target, the type of the target and threat degree information to a remote weapon station and a remote display control terminal;
The remote control weapon station performs fire control calculation according to the target data, the navigation information and the gesture data measured by the laser calibration device and combines the gun trajectory data to calculate shooting data, and intelligently generates a shooting scheme;
An operator performs shooting operation on the remote display control terminal, the remote weapon station responds to a shooting command to perform fire coordination, and the target is precisely hit according to the generated shooting scheme or is manually controlled by the operator to hit;
In the process of shooting the target, the photoelectric tracking reconnaissance equipment performs overall process tracking observation and video recording on the hit target, and after the target shooting is finished, the photoelectric tracking reconnaissance equipment performs hit effect evaluation by comparing the change condition of the target in the video images before and after the hit.
Compared with the prior art, the invention has the beneficial effects that:
The photoelectric tracking and reconnaissance equipment adopts visible light and a refrigeration type infrared sensor to collect target images, so that the detection distance is longer, the detail observation of the target is clearer, and the target reconnaissance and tracking precision is effectively improved;
Based on intelligent target identification and threat analysis, an autonomous shooting scheme is generated, the intelligent level of the system is improved, loads such as infrared light and visible light are used as detection means, image information of targets on different types of water surfaces is obtained as a data basis, the targets are effectively detected, tracked and identified, and situation awareness of surrounding areas of the unmanned ship can be effectively completed by combining information of inertial navigation equipment; analyzing and judging the target, calculating the threat degree of the target, combining the type of the target and the threat degree, automatically generating a quick and feasible shooting scheme and a plan by a remote control weapon station, assisting an unmanned ship operation commander to quickly make a high-quality combat decision scheme, and effectively improving the intelligent level of the system;
The photoelectric tracking reconnaissance equipment is utilized to intelligently evaluate the hitting effect of the system, and after the system hits a target, the photoelectric tracking reconnaissance equipment can be utilized to detect the hit target, so that a damage image after the target is hit is obtained. Combining the image information characteristics before target striking to identify and position the target, extracting the basic characteristics of the key parts of the target on the basis of front and rear image registration, and establishing the change relation between the target video images before striking and after striking; performing physical damage evaluation on the target according to the damage characteristics extracted from the key parts, and completing evaluation on the target striking effect by combining the structural data knowledge of the target;
The photoelectric tracking reconnaissance equipment and the remote control weapon station are installed in a distributed mode, so that the interference of smoke, flame, vibration and impact generated in the shooting process of the remote control weapon station on the photoelectric tracking reconnaissance equipment can be effectively reduced, the tracking precision of a system on a target in shooting is guaranteed, meanwhile, a laser calibration device is installed at the lower part of the remote control weapon station, the posture data of a base of the remote control weapon station after the deformation of a ship body under impact vibration is measured, and fire control calculation correction is carried out by utilizing the posture data, so that the shooting stability and precision of the system are effectively improved;
The photoelectric tracking reconnaissance equipment, the remote weapon station and the inertial navigation equipment adopt a deep coupling design, integrate the functions of target detection reconnaissance, target tracking, intelligent identification, autonomous inertial navigation, high-precision fire striking and the like, integrate technologies such as three-dimensional perception, deep learning, intelligent servo control, fire control resolving and the like, and carry out integrated optimization coupling design, so that information interaction is convenient and quick; compared with the traditional single machine system, the information comprehensive processing capability of the system is effectively improved.
Drawings
FIG. 1 is a schematic view of the installation of the present invention;
FIG. 2 is a block diagram of a photoelectric tracking reconnaissance device according to the present invention;
FIG. 3 is a block diagram of the constituent modules of the remote weapon station of the present invention;
FIG. 4 is a schematic diagram of a workflow in the present invention;
FIG. 5 is a schematic diagram of a tracking control technique according to the present invention;
FIG. 6 is a flowchart of the striking effect evaluation according to the present invention.
The reference numerals in the figures are:
1. a warship body; 101. a ship cabin; 2. photoelectric tracking reconnaissance equipment; 3. an inertial navigation device; 4. remote control weapon stations.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
Referring to fig. 1-3, a distributed intelligent reconnaissance and striking integrated system is characterized by comprising:
the ship body 1, the upper end of the ship body 1 is provided with a ship cabin 101;
The photoelectric tracking reconnaissance equipment 2 comprises a photoelectric detection head and a photoelectric control cabinet, wherein the photoelectric control cabinet is connected with the photoelectric detection head through wireless and/or wired communication, the photoelectric detection head is fixedly arranged at the top of the ship cabin 101 and is used for collecting target image information, the photoelectric control cabinet is arranged inside the ship cabin 101 and is used for receiving the image information, navigation information and responding to an upper computer control instruction;
The inertial navigation device 3 is arranged below the photoelectric detection head, and the inertial navigation device 3 is used for providing navigation information and motion parameter information of heading, gesture, speed and position for the ship body 1;
the remote control weapon station 4, the remote control weapon station 4 includes weapon platform and wall built-in box, connects through wireless and/or wired communication between wall built-in box and the weapon platform, and weapon platform fixed mounting is in warship body 1 upper end front side, and the weapon platform is used for striking the target, and wall built-in box installs inside warship cabin 101, and wall built-in box is used for driving and shooting control to the weapon platform.
The photoelectric tracking reconnaissance equipment 2 has the functions of intelligent target searching, tracking identification, remote control weapon station guiding and the like, and is generally arranged at the top of a cockpit and other visual field wide places. The remote control weapon station 4 is provided with a machine gun, large recoil impact force is generated during shooting, the remote control weapon station 4 is generally arranged at relative firm positions such as a warship head deck, the photoelectric tracking reconnaissance equipment 2 and the remote control weapon station 4 are installed in a distributed mode, the interference of smoke, flame, vibration and impact generated in the shooting process of the remote control weapon station 4 to the photoelectric tracking reconnaissance equipment 2 can be effectively reduced, the tracking precision of a system to a target during shooting is guaranteed, the inertial navigation equipment 3 is responsible for providing gesture and position information, is an important data source of a ship control system, is installed below a photoelectric detection head, realizes strapdown installation with the photoelectric tracking reconnaissance equipment 2, and reduces the influence of ship deformation on photoelectric measurement target information.
The photoelectric tracking reconnaissance equipment 2 senses the water surface situation, reconnaissance and monitoring are carried out on the target, detection, reconnaissance, tracking, identification and ranging are carried out on a specific target, three-dimensional target data are provided, target threat judgment can be carried out, and the remote control weapon station 4 is guided to fight; the remote control weapon station 4 is responsible for fire deterrence and striking of the target in the effective area; the inertial navigation device 3 provides necessary attitude and navigation information of the ship body 1 for a ship control system, a remote control weapon station 4 and a photoelectric tracking reconnaissance device 2, and optimally integrates photoelectric navigation and remote control weapon devices on an unmanned ship to form a distributed intelligent reconnaissance/striking/navigation integrated system; the method integrates the data information detected by each device into traction through digitization, informatization, intellectualization and integration, realizes information resource integration and full utilization, breaks through the resource sealing barrier among traditional devices, overcomes the weaknesses of single-machine device application and use, realizes capturing, tracking, identifying and high-precision measurement of targets, autonomous navigation and intelligent hitting of targets, improves the reconnaissance capability, scene reconstruction capability, autonomous navigation capability and firepower hitting capability of unmanned boats, effectively improves the comprehensive combat capability of the system, and better completes the tasks of warning patrol, informative reconnaissance, offshore accurate hitting and search and rescue of a designated area, and the tasks of mine exploring/mine removing, anti-frog person and other special combat.
The photoelectric detection head is installed at the top of the ship cabin 101 through a photoelectric servo mechanism, and the photoelectric detection head is internally integrated with:
the visible light sensor is used for collecting visible light image information of the target;
The refrigeration type infrared sensor is used for collecting infrared image information of a target;
the laser range finder is used for measuring the distance between the target and the ship body 1;
the angle encoder is used for measuring the deflection angle of the photoelectric detection head;
And the sensor control module is used for controlling the visible light sensor, the refrigeration type infrared sensor and the laser range finder.
The photoelectric control cabinet is internally integrated with:
the photoelectric comprehensive control module is used for comprehensively controlling the photoelectric detection head;
the image tracking module is used for carrying out image processing and target extraction on the target image acquired by the visible light and the infrared sensor;
the intelligent recognition module is used for acquiring the deep level characteristics of the water surface target and carrying out autonomous detection and recognition on the water surface target;
The servo driving module is used for sending a control signal to the photoelectric servo mechanism;
the video coding module is used for coding the visible light output by the image tracking module and the image information acquired by the refrigeration type infrared sensor.
The inertial navigation device 3 includes:
the inertial sensing unit comprises three two-frequency mechanically-jittered laser gyroscopes and three quartz flexible accelerometers which are fixedly arranged on the rigid support seat in an orthogonal state;
The navigation computer unit comprises an IMU power module, a navigation resolving module and an IF conversion module.
The remote control weapon station 4 can be optionally provided with a portable console, and the portable console controls the remote control weapon station 4 through a network interface. The network interface of the convenient control console is connected with the wireless communication equipment on the unmanned ship, so that an operator can remotely control the equipment, the functions of servo control, filling, shooting and the like of the remote control weapon station 4 can be implemented, and the functions can also be integrally realized by the display control terminal of the photoelectric tracking reconnaissance equipment 2.
Weapon platform includes rifle and rifle tower, and the rifle is installed on the rifle tower, and the rifle tower includes:
The base is used for installing all the components;
the bullet feeding mechanism is used for feeding bullets to the machine gun;
the first filling mechanism is used for first filling the machine gun;
the high-low mechanism is used for adjusting the high-low pitching angle of the machine gun;
The azimuth mechanism is used for adjusting the azimuth angle of the machine gun;
The bracket and the cradle are used for installing the machine gun.
The gun tower is also provided with a laser calibration device, the laser calibration device is used for providing real-time attitude angle data for the weapon platform, the base of the weapon station platform is provided with the laser calibration device, the real-time attitude angle data is provided for the remote control weapon station, and the influence of hull deformation on shooting precision after impact in navigation and shooting processes is eliminated.
The wall built-up box is internally integrated with:
the weapon comprehensive control module is used for comprehensively controlling the weapon platform;
the shooting control module is used for controlling the machine gun, the bullet feeding mechanism and the first loading mechanism;
The power-on control module is used for controlling the sensor;
And the motor driving module is used for controlling the high-low mechanism and the azimuth mechanism to perform corresponding angle driving control.
The photoelectric detection head, the photoelectric control cabinet and the wall built-up box are integrated with power supply modules, and the power supply modules are used for supplying power to the photoelectric detection head and/or the photoelectric control cabinet and/or the wall built-up box;
and gyroscopes are arranged in the photoelectric detection head and the weapon platform, and are used for keeping the stability of the photoelectric detection head and/or the weapon platform.
Further, referring to fig. 4, an intelligent scout striking method based on the distributed intelligent scout striking integrated system is provided, which includes the following steps:
The photoelectric tracking reconnaissance equipment 2 starts up to work, reconnaissance detection is carried out on a designated area, and environmental situation is perceived;
After a specific target is found and identified, the photoelectric tracking reconnaissance equipment 2 tracks and measures the distance of the target, calculates real-time three-dimensional motion parameters of the target, combines target type identification information, transmits the real-time three-dimensional motion parameters to a ship control system of the ship, carries out auxiliary sailing decision, and is shown in fig. 5, the target tracking is carried out by adopting a servo tracking control technology based on inertial space calculation, the off-target quantity in the photoelectric tracking reconnaissance equipment 2 is subjected to time synchronization and coordinate conversion to obtain target geographic system pointing information with delay, the information is extrapolated at a certain moment to obtain target geographic system pointing information at the current moment, then the expected command angle information of a ship turntable at the current moment is obtained by calculating according to the ship body 1 gesture obtained in real time, and the servo control system can realize target image tracking closed loop by responding to the command angle;
The inertial navigation device 3 provides navigation information and attitude information of the boat to a ship control system, so that the boat can carry out warning patrol tasks on the designated area and position according to a set route;
The photoelectric tracking reconnaissance equipment 2 sends the three-dimensional motion parameters of the target, the type of the target and threat degree information to the remote weapon station 4 and the remote display and control terminal;
The remote control weapon station 4 performs fire control calculation according to target data, navigation information and gesture data measured by the laser calibration device and combines gun trajectory data to calculate shooting data, and intelligently generates a shooting scheme;
An operator performs shooting operation on the remote display control terminal, the remote weapon station responds to a shooting command to perform fire coordination, and the target is precisely hit according to the generated shooting scheme or is manually controlled by the operator to hit;
referring to fig. 6, in the process of shooting a target, the photoelectric tracking and reconnaissance device 2 performs overall process tracking observation and video recording on the hit target, after the system hits the target, the photoelectric tracking and reconnaissance device 2 is used to detect the hit target to obtain a damaged image after the target is hit, the target is identified and positioned by combining with the image information characteristics before the target is hit, the basic characteristics of the key parts of the target are extracted on the basis of front and rear image registration, the change relation between the video images of the target before and after the hit is established, the physical damage evaluation is performed on the target according to the damage characteristics extracted from the key parts, and the evaluation of the target hit effect is completed by combining with the structural data knowledge of the target.
In the process of tracking and striking, the photoelectric tracking reconnaissance equipment 2, the remote control weapon station 4 and the inertial navigation equipment 3 are directly interacted with each other, the inertial navigation equipment 3 outputs a time system signal, and the weapon station, the photoelectric and the inertial navigation synchronously perform data transmission of inertial navigation attitude data, angular velocity data, photoelectric target three-dimensional data and optical fiber gyro data under the time system signal, so that the data are directly interacted, the system reaction time is effectively reduced, and the system fight efficiency is improved.
In summary, the invention has the advantages that: the photoelectric, navigation and remote control weapon equipment on the unmanned ship are optimally integrated to form a distributed intelligent reconnaissance and striking integrated system, so that the warning patrol, intelligence reconnaissance, offshore accurate striking, search and rescue and other tasks of a designated area, as well as the mine exploration/mine discharge, anti-frog personnel and other special combat tasks can be effectively completed.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. Distributed intelligent reconnaissance and striking integrated system, characterized by comprising:
the ship comprises a ship body (1), wherein a ship cabin (101) is arranged at the upper end of the ship body (1);
The photoelectric tracking reconnaissance device (2), the photoelectric tracking reconnaissance device (2) comprises a photoelectric detection head and a photoelectric control cabinet, the photoelectric control cabinet is connected with the photoelectric detection head through wireless and/or wired communication, the photoelectric detection head is fixedly arranged at the top of the ship cabin (101), the photoelectric detection head is used for collecting target image information, the photoelectric control cabinet is arranged in the ship cabin (101), and the photoelectric control cabinet is used for receiving the image information, navigation information and responding to an upper computer control instruction;
The inertial navigation device (3), the inertial navigation device (3) is arranged below the photoelectric detection head, and the inertial navigation device (3) is used for providing navigation information and motion parameter information of heading, gesture, speed and position for the ship body (1);
The remote control weapon station (4), the remote control weapon station (4) comprises a weapon platform and a wall built-up box, the wall built-up box is connected with the weapon platform through wireless and/or wired communication, the weapon platform is fixedly arranged on the front side of the upper end of the warship body (1), the weapon platform is used for striking a target, the wall built-up box is arranged in the warship cabin (101), and the wall built-up box is used for driving and shooting control of the weapon platform;
The photoelectric detection head is arranged at the top of the ship cabin (101) through a photoelectric servo mechanism, and the photoelectric detection head is internally integrated with:
The visible light sensor is used for collecting visible light image information of a target;
the refrigeration type infrared sensor is used for collecting infrared image information of a target;
the laser range finder is used for measuring the distance between a target and the ship body (1);
the angle encoder is used for collecting the deflection angle of the photoelectric detection head;
The sensor control module is used for controlling the visible light sensor, the refrigeration type infrared sensor and the laser range finder;
the weapon platform includes rifle and rifle tower, the rifle is installed on the rifle tower, the rifle tower includes:
the base is used for installing all the components;
The bullet feeding mechanism is used for carrying out bullet feeding on the machine gun;
The first filling mechanism is used for first filling the machine gun;
the high-low mechanism is used for adjusting the high-low pitching angle of the machine gun;
the azimuth mechanism is used for adjusting the azimuth angle of the machine gun;
a bracket and cradle for mounting a machine gun;
The gun tower is also provided with a laser calibration device which is used for providing real-time attitude angle data for the weapon platform;
The photoelectric tracking reconnaissance equipment and the remote control weapon station are installed in a distributed mode, so that the interference of smoke, flame, vibration and impact generated in the shooting process of the remote control weapon station to the photoelectric tracking reconnaissance equipment can be effectively reduced, the tracking precision of a system to a target in shooting is guaranteed, meanwhile, the laser calibration device is installed at the lower part of the remote control weapon station, the gesture data of a base of the remote control weapon station after the deformation of a ship body under impact vibration is measured, and fire control calculation correction is carried out by utilizing the gesture data, so that the shooting stability and precision of the system are effectively improved.
2. The distributed intelligent reconnaissance and striking integrated system of claim 1, wherein: the photoelectric control cabinet is internally integrated with:
The photoelectric comprehensive control module is used for comprehensively controlling the photoelectric detection head;
the image tracking module is used for carrying out image processing and target extraction on the target image acquired by the visible light and the infrared sensor;
The intelligent recognition module is used for obtaining the deep layer characteristics of the water surface target and carrying out autonomous detection and recognition on the water surface target;
The servo driving module is used for sending a control signal to the photoelectric servo mechanism;
the video coding module is used for coding the visible light output by the image tracking module and the image information acquired by the refrigeration type infrared sensor.
3. The distributed intelligent reconnaissance and striking integrated system of claim 1, wherein: the inertial navigation device (3) comprises:
The inertial sensing unit comprises three two-frequency mechanically-jittered laser gyroscopes and three quartz flexible accelerometers which are fixedly arranged on the rigid support seat in an orthogonal state;
The navigation computer unit comprises an IMU power module, a navigation resolving module and an IF conversion module.
4. The distributed intelligent reconnaissance and striking integrated system of claim 1, wherein: the remote control weapon station (4) further comprises a portable console, the portable console is connected with the weapon platform through wireless and/or wired communication, and the portable console is used for manually performing weapon platform servo control, filling and shooting.
5. The distributed intelligent reconnaissance and striking integrated system of claim 4, wherein: the wall built-up box is internally integrated with:
the weapon comprehensive control module is used for comprehensively controlling the weapon platform;
The shooting control module is used for controlling the machine gun, the bullet feeding mechanism and the first loading mechanism;
The power-on control module is used for controlling the sensor;
And the motor driving module is used for controlling the high-low mechanism and the azimuth mechanism to perform corresponding angle driving control.
6. The distributed intelligent reconnaissance and striking integrated system of claim 1, wherein: the photoelectric detection head, the photoelectric control cabinet and the wall built-up box are integrated with power supply modules, and the power supply modules are used for supplying power to the photoelectric detection head and/or the photoelectric control cabinet and/or the wall built-up box;
And gyroscopes are arranged in the photoelectric detection head and the weapon platform and used for keeping the stability of the photoelectric detection head and/or the weapon platform.
7. A distributed integrated intelligent reconnaissance striking method suitable for the distributed intelligent reconnaissance striking integrated system according to any one of claims 1 to 6, comprising the steps of:
starting up the photoelectric tracking reconnaissance equipment (2), performing reconnaissance detection on a designated area, and sensing an environment situation;
After a specific target is found and identified, the photoelectric tracking reconnaissance equipment (2) tracks and ranges the target, calculates real-time three-dimensional motion parameters of the target, and transmits the real-time three-dimensional motion parameters to a ship control system of the ship in combination with target type identification information to carry out auxiliary navigation decision;
The inertial navigation equipment (3) provides navigation information and attitude information of the ship to a ship control system, so that the ship body (1) can carry out warning patrol tasks on the designated area and position according to a set route;
the photoelectric tracking reconnaissance equipment (2) sends three-dimensional motion parameters of a target, the type of the target and threat degree information to a remote weapon station (4) and a remote display control terminal;
the remote control weapon station (4) performs fire control calculation according to target data, navigation information and gesture data measured by the laser calibration device and combines gun trajectory data to calculate shooting data, and intelligently generates a shooting scheme;
An operator performs shooting operation on the remote display control terminal, the remote weapon station responds to a shooting command to perform fire coordination, and the target is precisely hit according to the generated shooting scheme, or is manually controlled by the operator to hit;
in the process of shooting targets, the photoelectric tracking reconnaissance equipment (2) performs overall process tracking observation and video recording on the hit targets, and after the target shooting is finished, the photoelectric tracking reconnaissance equipment (2) performs hit effect evaluation by comparing the change conditions of the targets in video images before and after the hit.
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