CN116222305A - Unmanned aerial vehicle and artillery integrated command system and method thereof - Google Patents

Unmanned aerial vehicle and artillery integrated command system and method thereof Download PDF

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Publication number
CN116222305A
CN116222305A CN202310267334.4A CN202310267334A CN116222305A CN 116222305 A CN116222305 A CN 116222305A CN 202310267334 A CN202310267334 A CN 202310267334A CN 116222305 A CN116222305 A CN 116222305A
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China
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aerial vehicle
unmanned aerial
shot
control terminal
coordinates
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CN202310267334.4A
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Inventor
夏广东
张传宇
姚明智
代小军
胡红利
江涛
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Pla Army Border And Coastal Defense College
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Pla Army Border And Coastal Defense College
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Priority to CN202310267334.4A priority Critical patent/CN116222305A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/26—Teaching or practice apparatus for gun-aiming or gun-laying
    • F41G3/30—Gun-laying apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The disclosure relates to an unmanned aerial vehicle and artillery integrated command system and a method thereof. The system comprises: the unmanned aerial vehicle is provided with a nacelle, and acquires a cannon array ground coordinate and a target coordinate through the nacelle; the control terminal is in communication connection with the unmanned aerial vehicle and is used for receiving the gun array ground coordinates and the target coordinates, calculating and looking up a table according to the gun array ground coordinates and the target coordinates to obtain emission data, and sending the emission data to the artillery. According to the method, the gun and aiming point are positioned through the unmanned aerial vehicle, the information obtained by reconnaissance of the unmanned aerial vehicle can directly participate in analysis and calculation, the accurate direction of the gun is directly obtained, and meanwhile the problems of difficult and inaccurate orientation caused by geomagnetic disturbance in alpine mountain areas are avoided.

Description

Unmanned aerial vehicle and artillery integrated command system and method thereof
Technical Field
The embodiment of the disclosure relates to the technical field of gun control, in particular to an integrated command system and method for an unmanned aerial vehicle and a gun.
Background
The unmanned aerial vehicle reconnaissance technology is widely developed, and the equipment for resolving all the elements of the cursive gun is fully developed. The current curvy gun has the problems of long combat preparation time, large difficulty in observation, difficult correction of shooting command, time and labor consumption in manual calculation and large error.
Regarding the above technical solution, the inventors found that the following problems exist: in the related art, the problems of difficult orientation and inaccuracy caused by geomagnetic disturbance in alpine mountain areas are solved, so that the gun and aiming point cannot be accurately positioned.
Accordingly, there is a need to improve one or more problems in the related art as described above.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
An objective of the embodiments of the present disclosure is to provide an integrated command system for a unmanned aerial vehicle and an artillery and a method thereof, so as to at least solve one or more problems in the related technical solutions.
The invention adopts the following technical scheme:
in a first aspect, the present invention provides an integrated command system for a unmanned aerial vehicle and an artillery, comprising:
the unmanned aerial vehicle is provided with a nacelle, and acquires a cannon array ground coordinate and a target coordinate through the nacelle;
the control terminal is in communication connection with the unmanned aerial vehicle and is used for receiving the gun array ground coordinates and the target coordinates, calculating and looking up a table according to the gun array ground coordinates and the target coordinates to obtain emission data, and sending the emission data to the artillery.
Optionally, the control terminal calculates a shot distance, a shot direction and a shot height difference according to the shot-array ground coordinates and the target coordinates, and determines the emission data in a database according to the shot distance, the shot direction and the shot height difference through a query table.
Optionally, the method further comprises: the environment acquisition component is used for acquiring environment information, is in communication connection with the control terminal and sends the environment information to the control terminal; and the control terminal determines the emission data in the database through a query table according to the shot distance, the shot direction and the shot height difference based on the environmental information.
Optionally, after obtaining the reference shot information, the control terminal determines the emission data according to the shot distance, the shot direction and the shot height difference in the database through a query table based on the reference shot information.
Optionally, the control terminal is preset with various types of gun information, and based on the gun information, the emission data are determined in a database according to the gun distance, the gun direction and the gun altitude difference through a query table.
Optionally, the unmanned aerial vehicle acquires the coordinates of the explosion point through the nacelle and sends the coordinates of the explosion point to the control terminal;
and the control terminal calculates and looks up a table according to the explosion point coordinates, the gun array ground coordinates and the target coordinates to obtain emission correction data.
Optionally, the control terminal calculates the gun distance, the gun direction and the gun altitude difference according to the gun array position coordinates and the target coordinates, and calculates the ammunition charge number.
Optionally, the unmanned aerial vehicle acquires image information through the pod and sends the image information to the control terminal;
the control terminal is provided with a touch screen, the image information is displayed through the touch screen, and the target is determined from the image information.
Optionally, the control terminal judges whether the cannon-eye distance exceeds a reasonable distance, and when judging that the reasonable distance is not exceeded, the control terminal determines the emission data in a database according to the cannon-eye distance, the cannon-eye direction and the cannon-eye height difference through a query table.
In a second aspect, the present invention provides an integrated command method for a drone and a gun, where the method determines firing specifications of the gun by using the integrated command system for a drone and a gun according to any one of the embodiments above.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
in the embodiment of the disclosure, the gun and the aiming point are positioned by the unmanned aerial vehicle, and the information obtained by reconnaissance of the unmanned aerial vehicle can directly participate in analysis and calculation, and the precise orientation of the gun is directly obtained, so that the problems of difficult and inaccurate orientation caused by geomagnetic disturbance in alpine mountain areas are avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
Fig. 1 shows a schematic diagram of an integrated command system for a drone and gun in an exemplary embodiment of the present disclosure;
FIG. 2 illustrates a schematic diagram of another integrated command system for a drone and gun in an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic diagram showing a display screen of gun information in an exemplary embodiment of the present disclosure;
FIG. 4 illustrates a logic diagram of an integrated command system for a drone and cannon in an exemplary embodiment of the present disclosure;
fig. 5 illustrates a schematic diagram of a storage medium in an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
In this example embodiment, first, an integrated command system for a unmanned aerial vehicle and an artillery is provided. Referring to fig. 1, it includes: unmanned aerial vehicle and control terminal.
The unmanned aerial vehicle is loaded with a nacelle, and acquires a cannon array ground coordinate and a target coordinate through the nacelle. The control terminal is in communication connection with the unmanned aerial vehicle, and is used for receiving the gun array ground coordinates and the target coordinates, calculating and looking up a table according to the gun array ground coordinates and the target coordinates to obtain emission data, and sending the emission data to the artillery.
It should be understood that the coordinates acquired by the pod of the unmanned aerial vehicle are gaussian projection coordinates of the earth, are gaussian coordinates of a point, and are in one-to-one correspondence with longitude and latitude. Longitude and latitude and Gaussian coordinates can be converted with each other. The pod may employ a three light positioning pod in which a high precision positioning module is provided. The control terminal may be referred to as a ground control station.
It should also be understood that the firing data is the data that must be set on the weapon when firing in order to hit the target. The firing units of the gun mainly comprise a gauge and a direction.
It should also be understood that the unmanned aerial vehicle, the high-precision positioning module, the three-light positioning pod, the unmanned aerial vehicle ground control station and the mortar data interaction platform are information and data. The software platform has the functions of connecting all the hardware and the software into a system, and the software and the hardware can be used for carrying out data interaction quickly and conveniently, realizing the function of high integration and fusion of the software and the hardware, and realizing intellectualization.
It is further understood that through basic data accumulation of gun shooting and gun accurate shooting mode method research, shooting data of various curved shooting guns are established into a basic database, unmanned aerial vehicle and gun intelligent integrated command calculation system software is written, the system software is installed on a ground control station (which can be wirelessly expanded to other tablet personal computers), and data (images, coordinates, elevations, targets, environments and the like) collected by unmanned aerial vehicle reconnaissance are one-key participated in calculation of the data to obtain a required result, and deviation correction can be flexibly carried out.
According to the unmanned aerial vehicle and gun integrated command system, the gun and aiming point are positioned through the unmanned aerial vehicle, the information obtained by reconnaissance of the unmanned aerial vehicle can directly participate in analysis and calculation, the precise orientation required by the gun is directly obtained, and meanwhile the problems of difficult and inaccurate orientation caused by geomagnetic disturbance in alpine mountain areas are also avoided.
Next, the steering-by-wire system described above in the present exemplary embodiment will be described in more detail with reference to fig. 1 to 4.
Optionally, referring to fig. 1, the control terminal calculates a shot distance, a shot direction and a shot altitude difference according to the shot-array ground coordinates and the target coordinates, and determines the emission data in a database according to the shot distance, the shot direction and the shot altitude difference through a query table. It should be understood that the tables in the database may include both a concise table and a basic table. The concise table reflects the corresponding relation between different firing distances and corresponding gauges under the conditions of specified mortar, bullet types and charge numbers. The basic table reflects the variation of the external factors such as various environments, geographies and the like on the gauge and direction of the gun under the condition of specified mortar, bullet types and charge numbers.
The specific calculation formula and algorithm are as follows: (1)
And calculating the shot distance D, the shot direction F and the shot height difference delta H.
Figure BDA0004133467480000051
/>
Figure BDA0004133467480000052
ΔH＝z 2 -z 1 (3)
Wherein, the ground coordinate of the gun array is x 1 ，y 1 ，z 1 The target coordinate is x 2 ，y 2 ，z 2 。
Optionally, referring to fig. 2, further includes: the environment acquisition component is used for acquiring environment information, is in communication connection with the control terminal and sends the environment information to the control terminal; and the control terminal determines the emission data in the database through a query table according to the shot distance, the shot direction and the shot height difference based on the environmental information. It is understood that the environmental information includes altitude barometric pressure, wind speed and direction, air temperature, medicine temperature, etc. The sensors for information such as altitude air pressure, wind speed and wind direction, air temperature and the like can be arranged at the unmanned aerial vehicle or can be arranged on the ground for collection.
Optionally, referring to fig. 1, after acquiring the reference shot information, the control terminal determines the emission data according to the shot distance, the shot direction and the shot altitude difference in the database through a query table based on the reference shot information. It will be appreciated that there is no need to input reference shot information when making a plausible shot.
Optionally, referring to fig. 3, the control terminal is preset with various types of gun information, and based on the gun information, the emission data are determined in a database according to the gun distance, the gun direction and the gun altitude difference through a query table. It should be understood that gun information mainly classifies the types of guns that are equipped and is displayed directly in the control terminal for selection. And different types of artillery may correspond to different tables.
Optionally, referring to fig. 1, the unmanned aerial vehicle acquires a coordinates of a burst point through the pod and transmits the coordinates of the burst point to the control terminal; and the control terminal calculates and looks up a table according to the explosion point coordinates, the gun array ground coordinates and the target coordinates to obtain emission correction data. It is to be understood that the one-key automatic importing of the coordinates of the frying point makes one-key shooting correction for shooting (listing, small interval, large interval) of various types of the mortar, and takes the influence factors of the height difference of the frying eyes into consideration when the frying point correction is made, and the precision is high and the speed is high.
Principle of the correction calculation of the explosion point and a calculation formula:
distance of gun
Figure BDA0004133467480000061
Distance of blasting
Figure BDA0004133467480000062
Gun direction
Figure BDA0004133467480000063
Direction of blasting
Figure BDA0004133467480000064
The result of the above formula can be given by:
eye distance Δd=d 1 -D 2 (8)
Angle of eye-frying Δf=f 1 -F 2 (9)
Deep-frying eye height difference Δh=z 3 -z 2 (10)
Alternatively, referring to fig. 4, the control terminal calculates a shot distance, a shot direction and a shot height difference according to the shot-array ground coordinates and the target coordinates, and automatically calculates the ammunition charge number. It should be understood that the number of charges may be automatically selected by gun information or may be manually entered.
Optionally, referring to fig. 1, the unmanned aerial vehicle acquires image information through the pod and transmits the image information to the control terminal; the control terminal is provided with a touch screen, the image information is displayed through the touch screen, and the target is determined from the image information. It is to be understood that the control terminal can control the unmanned aerial vehicle to fly, and acquire image information of the unmanned aerial vehicle in real time for display. Thereby searching for the target and directly determining the target to be shot on the touch screen, and simultaneously, the target coordinates can be directly generated.
Optionally, referring to fig. 4, the control terminal determines whether the mesh distance exceeds a reasonable distance, and determines the emission data in a database according to the mesh distance, the mesh direction and the mesh height difference by querying a table when it is determined that the reasonable distance is not exceeded. It should be understood that the reasonable distance may be preset by the control terminal to perform judgment, or may be manually judged.
Further, in this example embodiment, there is also provided a method for integrally commanding a unmanned aerial vehicle and an artillery, where the method determines firing data of the artillery by using the unmanned aerial vehicle and the artillery integrated commanding system according to any one of the above embodiments.
In an exemplary embodiment of the present disclosure, a computer readable storage medium is also provided, on which a computer program is stored, which program, when being executed by, for example, a processor, may implement the steps of the integrated command method for a drone and an artillery in any of the embodiments described above. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the control method section of this specification, when said program product is run on the terminal device.
Referring to fig. 5, a program product 500 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (10)

1. An integrated command system for an unmanned aerial vehicle and an artillery, comprising:
the unmanned aerial vehicle is provided with a nacelle, and acquires a cannon array ground coordinate and a target coordinate through the nacelle;
the control terminal is in communication connection with the unmanned aerial vehicle and is used for receiving the gun array ground coordinates and the target coordinates, calculating and looking up a table according to the gun array ground coordinates and the target coordinates to obtain emission data, and sending the emission data to the artillery.
2. The unmanned aerial vehicle and artillery integrated command system according to claim 1, wherein the control terminal calculates a shot distance, a shot direction and a shot altitude difference according to the shot-array ground coordinates and the target coordinates, and determines the emission data in a database according to the shot distance, the shot direction and the shot altitude difference through a query table.
3. The unmanned aerial vehicle and cannon integrated command system of claim 2, further comprising: the environment acquisition component is used for acquiring environment information, is in communication connection with the control terminal and sends the environment information to the control terminal;
and the control terminal determines the emission data in the database through a query table according to the shot distance, the shot direction and the shot height difference based on the environmental information.
4. The unmanned aerial vehicle and artillery integrated command system according to claim 2, wherein the control terminal determines the emission data by querying a table according to the shot distance, the shot direction and the shot altitude difference in the database based on the reference shot information after acquiring the reference shot information.
5. The unmanned aerial vehicle and artillery integrated command system according to claim 2, wherein the control terminal is preset with various types of artillery information, and based on the artillery information, the emission data are determined in a database according to the cannon-eye distance, the cannon-eye direction and the cannon-eye height difference through a query table.
6. The unmanned aerial vehicle and cannon integrated command system of claim 2, wherein the unmanned aerial vehicle obtains the coordinates of the blast point through the pod and sends the coordinates of the blast point to the control terminal;
and the control terminal calculates and looks up a table according to the explosion point coordinates, the gun array ground coordinates and the target coordinates to obtain emission correction data.
7. The unmanned aerial vehicle and artillery integrated command system according to claim 2, wherein the control terminal calculates a mesh distance, a mesh direction and a mesh height difference according to the array ground coordinates and the target coordinates, and calculates an ammunition charge number.
8. The unmanned aerial vehicle and cannon integrated command system of claim 2, wherein the unmanned aerial vehicle obtains image information through the pod and transmits the image information to the control terminal;
the control terminal is provided with a touch screen, the image information is displayed through the touch screen, and the target is determined from the image information.
9. The unmanned aerial vehicle and artillery integrated command system according to any one of claims 1 to 8, wherein the control terminal determines whether the cannon-eye distance exceeds a reasonable distance, and determines the firing data in a database by querying a table according to the cannon-eye distance, the cannon-eye direction, and the cannon-eye height difference when it is determined that the reasonable distance is not exceeded.
10. A method of integrated command of a drone and a gun, characterized in that it determines the firing specifications of the gun by using the integrated command of a drone and a gun system according to any one of claims 1 to 9.
CN202310267334.4A 2023-03-17 2023-03-17 Unmanned aerial vehicle and artillery integrated command system and method thereof Pending CN116222305A (en)

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Application Number Priority Date Filing Date Title
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