RU202176U1 - STABILIZED OPTICAL-ELECTRONIC SYSTEM OF UNMANNED AIRCRAFT OF MULTIROTOR TYPE - Google Patents

Abstract

The utility model relates to the field of aircraft weapons and military equipment, in particular to the field of application of optoelectronic devices as a payload in special-purpose unmanned aerial vehicles. The purpose of the utility model is to increase the stability and accuracy of the sighting axis of the unmanned aerial vehicle under conditions of rapid turns or In the utility model, the laser emitter of the laser rangefinder-target designator with a device for powering and controlling the laser emitter consists of a combined output and rear mirror of an optical resonator, a wedge assembly, a reflector, a crystal, a rotary prism, a Dove prism, Brewster polarizers, an electro-optical shutter , λ / 4 plates, power supply unit and laser emitter control unit, thermal stabilization system and electro-optical shutter control board, unified power supply unit for laser diode lines, laser diode driver, driver thermal stabilization systems; the gyroscopic stabilization system consists of a complex of optical devices, a platform with units of gyroscopic sensing elements installed on it along three axes and a unit of three-component miniature vibration accelerometers, a two-axis gimbal with cantilever fixing of the outer frame axis, a horizontal plane drive, a vertical plane angle sensor, a horizontal angle sensor plane, amplifying-converting device of the signal of the horizontal plane, integrator of the signal of the horizontal plane, drive of the vertical plane, amplifying-converting device of the signal of the vertical plane, integrator of the signal of the vertical plane, coordinate converter, control unit. 1 wp f-ly, 4 dwg

Description

The utility model relates to the field of aviation weapons and military equipment, in particular, to the field of application of optoelectronic systems as a payload in special purpose unmanned aerial vehicles.

Known "Aiming complex of a combat unmanned aerial vehicle" (RU No. 2294514 C1, 2007), which includes onboard radio-optical-electronic equipment, consisting of: a radar station with a phased array, a radio communication station with a ground command post, an optical-electronic system in visible and infrared wavelengths, a power supply unit, an altimeter, characterized in that the onboard radio-optical-electronic equipment additionally includes a central computing unit, a video information processing unit and a control command generation unit, a first power amplifier and a second power amplifier, and the optoelectronic system includes television and thermal imaging channels, a two-coordinate rotary device and a line-of-sight stabilization system, while the first, second, third, fourth, fifth and sixth inputs of the central computing unit are electrically connected, respectively, to the electrical input of the radar station, the altimeter output, the optical - the electronic system, the first input of the video information processing unit and the formation of control commands and the electrical output of the radio communication station, the first, second, third, fourth, fifth and sixth outputs of the central computing unit are electrically connected, respectively, to the electrical input of the radar station, the control input of the optoelectronic system, the first input of the video information processing unit and the generation of control commands, the input of the ammunition launch drives, the first electrical input of the radio communication station, the first input of the first power amplifier, the second and third inputs of the video information processing unit and the generation of control commands are electrically connected, respectively, to the television signal output of the optoelectronic system and the output of the two-coordinate rotary device of the optoelectronic system, the second, third and fourth outputs of the video information processing unit and the generation of control commands are electrically connected, respectively, to the second electrical the input of the communication radio station, the second of the first power amplifier and the input of the second power amplifier, the outputs of the first and second power amplifiers are electrically connected, respectively, to the input of the drives of the control surfaces of the unmanned aerial vehicle and the input of the two-coordinate rotary device of the optical-electronic system, and also, characterized in that the television channel the optoelectronic system is configured to generate signals of narrow and wide fields of view, the thermal imaging channel of the optoelectronic system is configured to generate signals from narrow and wide fields of view, the radar station with a phased array is designed to operate both in real beam mode and in the synthetic aperture mode, the line of sight stabilization system of the optoelectronic system is made in the form of a direct gyroscopic platform and an indirect one.

The known sighting system is intended for aiming weapons of an unmanned aerial vehicle using unguided ammunition, comparable in accuracy to hitting the target with the accuracy of hitting ammunition with homing heads.

The disadvantages of this sighting system are that the optoelectronic system does not provide target capture and tracking, normalization and additional processing of television and thermal imaging images of the background target environment in abnormal observation conditions: unfavorable weather conditions, artificial interference, increased global and local contrast, normalization of average brightness, improving clarity, reducing fluctuation and noise interference, adaptation to specific observation conditions, prompt change of fields of view, image enhancement modes, switching working channels in capture and tracking mode, combining images of thermal imaging and television channels with proportional values of fields of view, measuring the angular position of targets in the local coordinate system of the product and relative to the center of the video image raster, the required accuracy of alignment of the gyroscopic platform in conditions of rapid turns or uncontrolled vibrations aircraft.

The closest in technical essence to the claimed utility model is the utility model "Optical-electronic system of a combat unmanned aerial vehicle" (RU No. 139683 U1, 2014), which includes a thermal imaging channel, a television channel and a laser rangefinder-target designator, characterized in that the laser The rangefinder-target designator contains a single transmitting device in which a transmitting lens, a collimator element, a first flat inclined mirror, a first laser emitter, a second flat inclined mirror, an optical shutter and a flat mirror are located along the first optical axis, the plane of which is perpendicular to the first optical axis, and along the second optical axis, parallel to the first, the third plane inclined mirror, the second laser emitter and the fourth plane inclined mirror are sequentially located, while the first and second plane inclined mirrors are made with a spectrum-splitting coating and have an optical connection, respectively, with the third and fourth flat oblique mirrors.

The known utility model is intended for the following operations: target detection; determining the range to the target; determining the coordinates of the target; laser illumination of a detected target when aiming a guided weapon; detection of the target laser illumination spot; automatic target acquisition; formation of strobes for presentation of the target image to the operator in the field of view; automatic target tracking; formation and issuance of target designation of thermal imaging homing heads operating on the principle of "fire - forget - hit".

The disadvantages in this prototype of the optoelectronic system of a combat unmanned aerial vehicle is that it is not provided:

high stability of the resonator of the laser emitter of the rangefinder-target designator to changes in the geometry of the resonator components;

the required stabilization accuracy of the gyroscopic platform under conditions of rapid turns and / or uncontrolled vibrations of the unmanned aerial vehicle.

The purpose of the utility model is to increase the stability of the sighting axis of the rangefinder-target designator and the accuracy of the sighting axis of optical devices installed on a gyro-stabilized platform of an unmanned aerial vehicle under conditions of rapid turns and / or uncontrolled vibrations.

The technical result of the utility model is to increase the stability and accuracy of the sighting axis of the unmanned aerial vehicle while ensuring the capture and tracking of the target.

The required technical result of the utility model is achieved by the fact that the optoelectronic system of the unmanned aerial vehicle includes a moving part, consisting of: a television channel, a thermal imaging channel of the medium wave infrared range (MWIR) and / or a thermal imaging channel of the short wave infrared range (SWIR), a laser rangefinder target designator; the moving middle part (fork) and the stationary part (base).

In the utility model, the laser emitter of a laser rangefinder-target designator with a device for powering and controlling the laser emitter consists of a combined output and rear mirror of an optical resonator, a wedge assembly, a reflector, a crystal, a rotary prism, a Dove prism, Brewster polarizers, an electro-optical shutter, a λ / 4 plate , a power supply unit and a laser emitter control unit, a thermal stabilization system and an electro-optical shutter control board, a single power supply unit for laser diode lines, a laser diode driver, a thermal stabilization system driver; the gyroscopic stabilization system consists of a complex of optical instruments, a platform with units of gyroscopic sensing elements installed on it along three axes and a unit of three-component miniature vibration accelerometers, a two-axis gimbal with cantilever fixing of the outer frame axis, a horizontal plane drive, a vertical plane angle sensor, a horizontal angle sensor plane, amplifying-converting device of the signal of the horizontal plane, integrator of the signal of the horizontal plane, drive of the vertical plane, amplifying-converting device of the signal of the vertical plane, integrator of the signal of the vertical plane, coordinate converter, control unit.

The utility model has one claim and is illustrated with four drawing figures, where:

in fig. 1 shows a block diagram of a stabilized optoelectronic system of an unmanned aerial vehicle of a multi-rotor type;

in fig. 2 shows a block diagram of a laser emitter of a rangefinder-target designator with a device for powering and controlling a laser emitter of an optoelectronic system of an unmanned aerial vehicle of a multi-rotor type;

in fig. 3 shows a block diagram of a gyroscopic stabilizer of an indicator type of an optoelectronic system of an unmanned aerial vehicle of a multi-rotor type;

in fig. 4 shows a functional diagram of a gyroscopic stabilizer of an indicator type of an optoelectronic system of an unmanned aerial vehicle of a multi-rotor type.

The block diagram of the stabilized optoelectronic system is shown in Fig. 1, consists of:

1 - movable part;

2 - moving middle part (fork);

3 - stationary part (base);

4 - television channel;

5 - lens with lens controller;

6 - television channel;

7 - switching and power supply board;

8 - thermal imaging channel of the medium-wave infrared range (MWIR) and / or short-wave infrared range (SWIR);

9 - lens with lens controller;

10 - thermal imager matrix;

11 - laser rangefinder-target designator;

12 - telescope;

13 - laser emitter;

14 - device for power supply and control of the laser emitter;

15 - lens;

16 - photodetector;

17 - stabilization system;

18 - blocks of gyroscopic sensitive elements;

19 - block of three-component miniature vibration accelerometers;

20 - absolute angle sensor X;

21 - X-axis microcontroller;

22, 23 - three-phase motor controller located along the X axis;

24 - X-axis engine;

25 - combined rotating contact device;

26 - absolute angle sensor Z;

27 - microcontroller of the Z axis;

28, 29 - three-phase motor controller located along the Z axis;

30 - Z-axis motor;

31 - board of sensors and driver of the Z-axis lock and the drive of the Z-axis lock;

32 - board of sensors and driver of the X-axis lock and the drive of the X-axis lock;

33 - board for control and processing of the stationary part;

34 - processor module;

35 - Ethernet connector;

36 - power connector.

The stabilized optoelectronic system of an unmanned aerial vehicle of a multi-rotor type contains three main functional units:

the movable part 1, having a streamlined shape and containing the optical unit 49: television 4 and thermal imaging channels 8, laser rangefinder-target designator 11; stabilization system 17 and calculator of the movable part 7;

a movable middle part (plug) 2 containing drives of both axes together with controllers 21-23, 27-29, 31-33, a power source and a combined rotary contact device 25;

stationary part 3, containing the main computer 33, 34, the interface unit and the mechanical damper.

The circuit contains a number of important ancillary components:

electromechanical cage drives (along each of the axes), which serve to securely fix the movable part relative to the fixed base during takeoff and landing, as well as in the transport position, while the movable part is turned by the pupils inside the plug, ensuring the protection of the latter;

high-precision sensors of the absolute angular position of each axis, providing discreteness of angular readings with an accuracy of 2.5 angles. sec;

brushless motors developing an angular momentum of more than 1.4 Nm.

The stabilized optical-electronic system of a multi-rotor unmanned aerial vehicle provides the following functions:

formation of integrated digital video streams received from television and thermal imaging channels for fixed intermediate values of fields of view for each of the channels;

round-the-clock in severely difficult weather conditions, the formation of an integrated digital data stream of the background-target environment in optical contrast obtained using a television channel and thermal contrast obtained using a thermal imaging channel;

formation of two-spectral integrated digital images of the background-target environment;

by external target designation, target detection in the visible and medium-wave IR wavelength ranges and their automatic tracking;

measuring range to the target;

determination of the coordinates of the target relative to the geometric axes of the unmanned aerial vehicle;

laser illumination of detected targets for targeting guided weapons;

automatic tracking of targets;

the formation of an adjustable strobe, in accordance with the angular size of the target, for presentation to the operator of images of targets;

built-in control of the functioning of the components of the optoelectronic system of the unmanned aerial vehicle;

automatic blocking (bringing to the stowed position) of the optoelectronic system during takeoff and landing of the unmanned aerial vehicle, as well as by an external command.

FIG. 2 shows a block diagram of a laser emitter 13 of a rangefinder-target designator with a power supply and control device for a laser emitter 14, consisting of a combined output and rear mirror of an optical resonator 37, a wedge assembly 38, a reflector 39, a rotary prism 40, a Dove prism 41, Brewster polarizers 42, electro-optical gate 43, λ / 4 plates 44, a device for powering and controlling a laser emitter 14, a thermal stabilization system and an electro-optical shutter control board 45, a single power supply unit for laser diode strips 46, a laser diode driver 47, a thermal stabilization system driver 48.

The advantage of the above scheme is that the presence of two prisms ensures the stability of the resonator to changes in the geometry ("non-detuning") of the resonator components, as well as the presence of an adjustment unit of wedges 38, which makes it possible to combine the output and rear resonator mirrors on one substrate.

The gate control board is designed to generate a voltage pulse of a given amplitude, shape and duration, which is required to control the electro-optical gate. Functionally, the power supply is divided into a driver for power supply and control of laser diode lines and a driver for a thermal stabilization system.

The laser diode driver 47 is designed to generate current pulses of a given frequency, duration and amplitude in the load and to generate a protection signal against exceeding the maximum permissible amplitude of the current pulse through the laser diodes or voltage across the charging capacitor.

The driver of the thermal stabilization system 48 is intended for measuring and regulating the temperature of laser diodes, measuring the temperature on the device body. Regulation is carried out by changing the voltage on the thermoelectric elements according to the algorithm.

FIG. 3 shows a block diagram of a gyroscopic stabilization system, consisting of an optical block of instruments 49, a platform 50 with a block of gyroscopic sensing elements installed on it along three axes G _X G _Y G _Z 18 and a block of three-component miniature vibration accelerometers A _X A _Y A _Z 19, two-axis gimbal with cantilever fixing of the outer frame axis (not shown in Fig. 3), horizontal plane drive 51, vertical plane angle sensor 52, horizontal plane angle sensor 53, amplification-converting device for the horizontal plane signal 54, horizontal plane signal integrator 55, drive vertical plane 56, amplifier-converting device of the signal of the vertical plane 57, the integrator of the signal of the vertical plane 58, the coordinate converter 59, the control unit 60.

FIG. 4 shows a functional diagram of a gyroscopic stabilization system, consisting of: an optical block of instruments 49 (stabilization object), a platform 50, sensing elements 61, a torque generator 62, drives 63.

измеряются чувствительным элементом гироскопа или акселерометра, сигнал которых после преобразований, необходимых для получения требуемой точности, удовлетворительных характеристик устойчивости и качества регулирования, поступает на привод стабилизации.Disturbing moment along the stabilization axis М _{B. H} acting on the stabilized object in a biaxial suspension causes the stabilization object to move in inertial space. The parameters of this motion are angles α and angular velocities

are measured by a sensitive element of a gyroscope or accelerometer, the signal of which, after transformations necessary to obtain the required accuracy, satisfactory stability characteristics and control quality, is sent to the stabilization drive.

The drive applies to the stabilization object the moment M _OC ., Balancing the moment of external forces M _{V. N.} ... At the same time, the movement of the gyroscope does not exert a force effect on the platform, which makes it possible to use small-sized gyroscopes, as well as laser, fiber-optic and micromechanical gyroscopes as a sensitive element of the gyrostabilizer.

The stabilization system includes two feedback loops of the stabilization system and two feedback loops of the automatic control system. When the gyrostabilizer is controlled manually, the feedback loops of the control system are open.

The stabilization mode along the Z-axis (horizontal axis), according to FIG. 4, at any pitch angles, the signals of the gyroscopic sensitive elements enter the coordinate converter, where, in accordance with the readings of the angle of rotation of the stabilized object around the pitch axis, a combined signal of the gyroscopic sensitive elements is formed. The signal goes through the amplifier-converting device to the stabilization drive. Control along the Z axis is carried out by applying a control signal from the control unit 60 to the feedback channel of the stabilization loop.

When the angles of rotation of the stabilized object around the pitch axis are close to 90 °, it can lead to the loss of the gyrostabilizer performance; to maintain the performance of the biaxial gyro stabilizer, a second gyroscopic sensor is used, the sensitivity axis of which is perpendicular to the sensitivity axis of the first sensitive element, and a block of three-component miniature vibration accelerometers as an additional source of registration of fast turns and / or uncontrolled vibrations. At any pitch angles, the gyrostabilizer remains operable either by switching the stabilization channel along the Z axis from one gyroscopic sensing element to the second, depending on the pitch angle, or by a combination of two gyroscopic sensing elements with a weight coefficient, including provided that the unit of three-component miniature vibration accelerometers is operable.

The stabilization mode along the X-axis (vertical axis) associated with the image is carried out by supplying a signal from the gyroscopic sensing element through the amplifier-converting device 57 to the stabilization drive 56, control is carried out by supplying a control signal from the control unit 60 to the feedback channel of the stabilization loop.

The state and operating modes of the stabilization system of the optoelectronic system of the unmanned aerial vehicle:

the state of mechanical locking, when the gyrostabilizer is turned on, the complex of optical devices is rigidly connected to the unmanned aerial vehicle by mechanical locking devices, the optical axes of the instruments are directed vertically upward to protect the optically transparent structural elements on the sphere;

the state of electrical locking, when the gyrostabilizer is on, gyroscopic stabilization is on, signals from the angular position sensors of the stabilization object are sent to the stabilization drives along the corresponding axes, the stabilization object is connected to the unmanned aerial vehicle, the optical axes of the instruments are set to a position perpendicular to the course axis;

the state of gyroscopic stabilization in inertial space with the possibility of manual control in the horizontal and vertical planes, the earth's surface is surveyed, reconnaissance and target search

the state of the target acquisition and tracking, the gyroscopic stabilization is on, the automatic control system of the gyrostabilizer is turned on according to the signals of the deviation of the line of sight from the optical axis, obtained after image processing from optical devices.

Thus, the proposed technical solution makes it possible to increase the stability of the sighting axis of the rangefinder-target designator and the accuracy of the sighting axis of optical devices installed on a gyro-stabilized platform of an unmanned aerial vehicle under conditions of rapid turns and / or uncontrolled vibrations.

The industrial applicability of the utility model is determined by the fact that the proposed complex can be manufactured in accordance with the proposed description and drawings based on known components using modern technological equipment and used for its intended purpose to stabilize the optoelectronic system of an unmanned aerial vehicle.

Sources of information:

1. Tarasov V.V., Zdobnikov A.E., Gruzdev V.V., Gomzin A.V., Lachugin V.A. Patent for invention RU No. 2294514 C1 "Aiming system of a combat unmanned aerial vehicle". 2005128325/02. Application. 13.09.2005. Publ. February 27, 2007. Bul. No. 6.

2. Tarasov V.V., Gruzdev V.V., Grushinsky V.A. Utility model patent RU No. 139683 U1 "Optical-electronic system of a combat unmanned aerial vehicle". 2013111592/28. Application. 03/15/2013. Publ. 04/20/2014. Bul. No. 11.

Claims (2)

1. Stabilized optoelectronic device of a multi-rotor unmanned aerial vehicle, consisting of a moving part, including a thermal imaging channel, a television channel, a stabilization system and a laser rangefinder-target designator; a moving middle part (plug) and a stationary part (base), characterized in that the laser emitter of the laser rangefinder-target designator with a device for powering and controlling the laser emitter consists of a combined output and rear mirror of the optical resonator, a wedge assembly, a reflector, a crystal, a rotary prism, Doy prisms, Brewster polarizers, electro-optical shutter, λ / 4 plate, power supply unit and laser emitter control unit, thermal stabilization system and electro-optical shutter control board, single power supply unit for laser diode lines, laser diode driver, thermal stabilization system driver; the gyroscopic stabilization system consists of a complex of optical devices, a platform with units of gyroscopic sensing elements installed on it along three axes Г _X Г _Y Г _Z and a block of three-component miniature vibration accelerometers A _X A _Y A _Z , a two-axis gimbal suspension with cantilever fixing of the outer frame axis, horizontal plane drive, vertical plane angle sensor, horizontal plane angle sensor, horizontal plane signal amplifier, horizontal plane signal integrator, vertical plane signal amplifier, vertical plane signal amplifier, vertical plane signal integrator, coordinate converter, control unit. 2. The stabilized optoelectronic device of a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that a medium-wave infrared (MWIR) thermal imaging channel and / or a short-wave infrared (SWIR) thermal imaging channel are used as the thermal imaging channel.

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