WO2021254276A1 - 利用地面激光指示器的飞行器激光制导控制系统及方法 - Google Patents

利用地面激光指示器的飞行器激光制导控制系统及方法 Download PDF

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WO2021254276A1
WO2021254276A1 PCT/CN2021/099806 CN2021099806W WO2021254276A1 WO 2021254276 A1 WO2021254276 A1 WO 2021254276A1 CN 2021099806 W CN2021099806 W CN 2021099806W WO 2021254276 A1 WO2021254276 A1 WO 2021254276A1
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Prior art keywords
laser
target
aircraft
ground
signal
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PCT/CN2021/099806
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English (en)
French (fr)
Inventor
林德福
王亚宁
王辉
王伟
王江
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北京理工大学
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Priority to JP2022545413A priority Critical patent/JP2023511448A/ja
Publication of WO2021254276A1 publication Critical patent/WO2021254276A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/24—Beam riding guidance systems
    • F41G7/26—Optical guidance systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/24—Beam riding guidance systems
    • F41G7/26—Optical guidance systems
    • F41G7/263—Means for producing guidance beams

Definitions

  • the invention relates to the field of aircraft guidance and control, in particular to an aircraft laser guidance control system and method using a ground laser pointer.
  • laser guidance to control aircraft flying to the target position is currently a more commonly used guidance control method. Its principle is to emit a laser beam of a specific frequency band to the target position, and receive the laser signal diffusely reflected by the target through the seeker installed on the aircraft, and Track the laser signal so that the aircraft knows the target position and provides target position information for guidance and control;
  • the external environment of the aircraft and its own flight status are complex and changeable.
  • the aircraft may vibrate violently. Vibration will also occur.
  • the air flow will become unstable due to severe weather such as strong winds and heavy rains, which will affect the stability of the aircraft.
  • the seeker on it may be at a certain level. If the tracking laser signal is lost within the time period, that is, the laser signal is separated from the field of view. At this time, the aircraft loses the specific target position and can only continue to fly according to the current flight attitude until it captures the laser signal again or lands. The final accuracy of the hit has a certain undesirable effect.
  • the present inventor has made an in-depth study on the existing aircraft laser guidance control system and control method, hoping to design a new aircraft guidance control system and method that can solve the above-mentioned problems.
  • the inventor of the present invention has carried out intensive research and designed an aircraft laser guidance control system and method using a ground laser pointer.
  • the diffuse reflection laser signal calculates the target coordinates, and transmits the target coordinates to the aircraft through signal transmission, so that the aircraft can use the target coordinates detected by its own seeker for guidance and control, and can also use the received target coordinates
  • the purpose of the present invention is to provide an aircraft laser guidance control system using a ground laser pointer, the system including a laser seeker and a ground laser pointer;
  • the laser seeker is installed on the aircraft, and is used to receive the laser signal diffusely reflected on the target, so as to obtain the angular velocity of the line of sight of the projectile used to calculate the guidance command of the aircraft,
  • the ground laser pointer is used to emit laser light to irradiate the target, and receive the laser signal diffusely reflected by the target, determine the target position coordinate, and transmit the target position coordinate to the aircraft.
  • the present invention also provides a laser guidance control method for an aircraft using a ground laser pointer.
  • a laser guidance control method for an aircraft using a ground laser pointer.
  • the ground laser pointer emits laser light to illuminate the target
  • the laser seeker installed on the aircraft receives the diffusely reflected laser signal at the target to obtain the angular velocity of the projectile’s line of sight.
  • the ground laser pointer receives the laser signal diffusely reflected at the target, obtains the target position coordinates, and then transmits the obtained target position coordinates to the aircraft through the signal transmitting unit.
  • the aircraft obtains the angular velocity of the projectile’s visual line of sight through the laser seeker in the final guidance section.
  • the aircraft can still obtain the target position coordinates, and then can still calculate reasonable guidance instructions, thereby improving the aircraft’s anti-jamming ability and improving hits. Rate.
  • Figure 1 shows a logical diagram of the overall structure of an aircraft laser guidance control system using a ground laser pointer according to a preferred embodiment of the present invention
  • Figure 2 shows a schematic structural diagram of a laser target indicator according to a preferred embodiment of the present invention
  • Figure 3 shows a trajectory diagram of an aircraft and a target in an embodiment of the present invention
  • Fig. 4 shows a trajectory diagram of an aircraft and a target in a comparative example of the present invention.
  • the guidance control system includes a laser seeker 1 and a ground laser pointer 2, wherein the laser seeker 1 Installed on the aircraft, used to receive the diffuse laser signal on the target, to lock the target position, and provide real-time visual line-of-sight angular velocity for calculating the guidance command of the aircraft.
  • the laser seeker 1 can be selected from existing ones in the field.
  • the laser seeker is not particularly limited in this application.
  • the ground laser pointer 2 can move within a certain range from the target, can emit laser to irradiate the target, and can also receive the laser signal diffusely reflected by the target, thereby determining the target position coordinate, and transmitting the target position coordinate to the aircraft.
  • the ground laser pointer 2 includes a target capturing unit 21, a laser target pointer 22, a satellite signal receiving unit 23, a target position solving unit 24, and a signal transmitting unit 25.
  • the target capturing unit 21 includes a camera, which is used to search for a target in a larger range, provide users with a larger range of visual information, and obtain the position of the target.
  • the existing camera in the field can be selected. This is not particularly limited.
  • the laser target indicator 22 is used to perform a small-range search near the position of the target after the camera obtains the position of the target. Once the target is acquired, it starts to track the target, that is, specifically capture and track the target, and adjust the laser emission direction. Continuously irradiate the target with laser; the position obtained by the target capture unit 21 is a certain spatial range, not an accurate position coordinate. The coverage of the position depends on the pixels of the camera, the distance between the target capture unit and the target, and the movement of the target Factors such as speed can be set according to specific conditions, which are not particularly limited in this application.
  • the laser target indicator 22 is used to transmit and receive laser signals.
  • the laser target indicator 22 includes a laser transmitter 221, a laser detector 222, a filter 223, a mirror 224 and a spherical cover 225.
  • the laser transmitter 221 is used to emit laser light to irradiate a target
  • the laser detector 222 is used to receive the diffusely reflected laser signal at the target;
  • the filter 223 is used to filter the laser signal diffusely reflected back
  • the reflecting mirror 224 is used to adjust the direction of the laser light diffusely reflected back;
  • the spherical outer cover 225 is a protective shell for protecting the laser transmitter 221, the laser detector 222, the filter 223 and the reflector 224 inside.
  • the laser transmitter emits a laser beam.
  • the laser diffusely reflected by the target passes through the spherical cover, enters the filter through the reflector, and then focuses on the laser detector 222.
  • the laser detector gives the deviation of the target, thereby correcting the laser emission direction , To ensure that the laser can always reach the target.
  • the emitting direction/angle of the laser transmitter 221 can be automatically adjusted according to the diffuse reflection laser signal it receives, or it can be manually controlled by the user.
  • the laser target indicator 22 can provide real-time target position information, including the linear distance between the laser target indicator 22 and the target, that is, the speed of light multiplied by half of the time from emitting the laser to receiving the laser, and can also include laser irradiation Angle, the illumination angle includes the target high and low angle and the target azimuth angle.
  • the satellite signal receiving unit 23 is a satellite receiver, capable of receiving satellite signals, so as to know the location of the satellite signal receiving unit 23, that is, the location coordinates of the ground laser pointer 2.
  • the target position calculation unit 24 is used to receive target position information in real time, that is, the linear distance between the laser target indicator 22 and the target, the irradiation angle of the laser, and the position of the laser target indicator 22, and according to the received target position information The position coordinates of the target are calculated. When the target indicator 22 cannot obtain the target position, the calculation unit 24 obtains the target position information through calculation, and then continues to calculate the position coordinates of the target.
  • the target position coordinates described in this application are Based on the coordinate information in the geodetic coordinate system.
  • the signal transmitting unit 25 is used to transmit the target position coordinates calculated by the target position calculating unit 24 to the aircraft in real time, and the signal transmitting unit 25 includes an ultrashort wave radio station.
  • the aircraft laser guidance control system further includes a receiving module 3 and a relay module 4 installed on the aircraft, wherein the receiving module 3 is signal-connected to the signal transmitting unit 25 for receiving the signal transmitting unit 25 The coordinates of the target position transmitted; the receiving module 3 also includes an ultrashort wave radio station, which is used to connect with the ultrashort wave radio signal in the signal transmitting unit.
  • the relay module 4 is connected to the laser seeker 1 and the receiving module 3, and is also connected to the satellite receiver on the aircraft and the guidance instruction solving module.
  • the relay module 4 transmits the angular velocity of the line of sight of the projectile obtained by the laser seeker to the guidance instruction solution module, so that the guidance instruction solution module can resolve the guidance instruction;
  • the relay module 4 calculates the angular velocity of the line of sight of the projectile according to the received target position coordinates and the position coordinates of the aircraft provided by the satellite receiver on the aircraft, and The angular velocity of the line of sight of the projectile is transmitted to the guidance instruction solving module.
  • the aircraft can use proportional guidance guidance for guidance control after entering the terminal guidance section.
  • the laser seeker can capture the laser signal, and the target enters the laser guidance.
  • the field of view of the seeker is used as a sign for the aircraft to enter the final guidance section. Even if the laser seeker loses the laser signal during the guidance process, it will not directly cause the aircraft to miss the target.
  • the guidance control system provided in this application can also be used to enter the aircraft. Proportional guidance guidance control is performed before the terminal guidance section, and the time of the terminal guidance section is delayed by the change of direction.
  • the ground laser pointer 2 also includes a driving device capable of driving it to walk, such as a truck, etc., which can carry the ground laser pointer 2 and the corresponding user quickly and move it quickly.
  • a driving device capable of driving it to walk, such as a truck, etc., which can carry the ground laser pointer 2 and the corresponding user quickly and move it quickly. Fixed installation in a specific location.
  • the target capturing unit 21 when the laser detector 222 loses a target or the target is blocked by an object such as a building, the target capturing unit 21 is controlled to perform the task of capturing/finding the target.
  • the target capturing unit 21 when the laser detector 222 fails to obtain the laser signal diffusely reflected from the target, the target capturing unit 21 is controlled to start working, and the target capturing unit 21 may also be manually controlled by the operator to start working.
  • the target position calculation unit 24 is used to calculate the position coordinates of the target according to the laser signal diffusely reflected from the target obtained by the laser detector 222, wherein the position information of the target can be directly read from the diffusely reflected laser signal, That is, the linear distance between the laser target indicator and the target, the target height angle and the target azimuth angle.
  • the specific calculation process for calculating the target position coordinates through the position information of the target and the position coordinates of the ground laser pointer 2 is known in the art, and this application does not specifically limit this. That is, if the laser detector 222 can obtain the target position information in real time, the target position solving unit 24 can output the target position coordinates in real time.
  • an O-ZXY right-handed rectangular coordinate system is constructed with the laser target indicator as the origin, the Y axis points to the sky, the X axis points to the estimated target direction, and the Z axis is perpendicular to the OXY plane.
  • the right-handed rectangular coordinate system is formed;
  • the target height angle is the angle formed by the connection between the target and the indicator and the projection of the connection on the OXZ plane, and the upward angle along the Y axis is positive;
  • the target azimuth is the indicator and the target
  • the angle between the projection of the line on the OXZ plane and the X axis is positive along the direction of the Z axis.
  • the target position calculation unit 24 calculates/estimates the target position information at the subsequent time according to the target position information obtained at the first two moments, until it passes through the laser again.
  • the detector 222 obtains target location information.
  • the laser transmitter 221 works once every 0.001s, that is, once every 0.001s, the laser signal is emitted once every time.
  • t-2 represents the last time at t-1
  • R t represents the relative distance between the pilot helicopter and the target
  • ⁇ t denotes the target azimuth, collectively denoted by a a t
  • t-1 target position information corresponding to the time R & lt t-1 represents the relative distance between the target and the helicopter pilot, Represents the target high and low angle
  • ⁇ t-1 represents the target azimuth angle, which is uniformly represented by at -1
  • R t-2 represents the relative distance between the pilot helicopter and the target, Indicates the high and low angle of the target
  • ⁇ t-2 represents the azimuth angle of the target, which is uniformly represented by at -2 ;
  • the difference between the target position information corresponding to adjacent moments is called the position difference, which is expressed as:
  • the target location information at+1 corresponding to time t+1 is obtained by the following formula:
  • Is the estimated value of the difference at t-1, k is the smoothing constant, and its value range is 0 to 1.
  • the k value is calculated by the following formula:
  • the laser detector 222 is also provided with a judgment module, which is used to judge whether the diffuse reflection laser signal is accurate according to the time it takes to receive the diffuse reflection laser signal.
  • the judging module keeps recording the time it takes from emitting the laser to receiving the diffuse reflection laser signal each time, which is called the round-trip time, and compares the received new round-trip time value with the stored last round-trip time value, when the two When the absolute value of the difference is less than one-seventh of the stored last round-trip time value, it is considered that the laser signal is diffusely reflected from the target, which is accurate, and the position information of the target is also read from the laser signal.
  • the laser transmitter 221 operates once every 0.001s.
  • the target position calculating unit 24 calculates target position information every 0.001s, and the aircraft signal transmitting unit 25
  • the working frequency of the ultra-short wave radio station with the receiving module 3 is 100 Hz, that is, the ultra-short wave radio station works once every 0.01 second.
  • the aircraft signal transmitting unit 25 selects one of the 10 target position information and sends it to the aircraft. More preferably, it sequentially determines whether the 10 target position information is directly measured or obtained by the target position calculation unit 24. Yes, if it is obtained by direct measurement, select the target location information obtained by direct measurement. When there are multiple target location information that can be sent, the latest target location information is preferred.
  • the frequency for resolving the guidance command in the aircraft is 100 Hz.
  • the relay module 4 according to the received target position coordinates Calculate the visual line-of-sight angular velocity of the missile with the position coordinates of the aircraft provided by the satellite receiver on the aircraft.
  • the present invention also provides a laser guidance control method for an aircraft using a ground laser pointer, in the method:
  • the ground laser pointer 2 emits laser light to irradiate the target
  • the laser seeker 1 installed on the aircraft receives the laser signal diffusely reflected at the target to obtain the angular velocity of the projectile’s line of sight.
  • the ground laser pointer 2 receives the laser signal diffusely reflected at the target to obtain the target position coordinates, and then transmits the obtained target position coordinates to the aircraft through the signal transmitting unit 25.
  • the ground laser pointer 2 includes a target capturing unit 21, a laser target pointer 22, a satellite signal receiving unit 23, a target position solving unit 24 and a signal transmitting unit 25.
  • the target capture unit 21 includes a camera, which is used to search for a target in a larger range, provide users with a larger range of visual information, and obtain the approximate position of the target; the laser target indicator 22 is used to search for the target in the camera. After obtaining the approximate location of the target, search in a small area near its approximate location. Once the target is acquired, the target will be tracked, that is, the target will be specifically captured and tracked, the laser emission direction will be adjusted, and the target will be continuously illuminated with the laser.
  • the laser target indicator 22 includes a laser emitter 221, a laser detector 222, a filter 223, a reflector 224, and a spherical cover 225.
  • the laser emitter is used to emit a laser beam, and the laser diffusely reflected by the target passes through the spherical
  • the outer cover enters the filter through the mirror, and then focuses on the laser detector 222.
  • the laser detector gives the deviation of the target, so as to correct the emission direction of the laser to ensure that the laser can always irradiate the target.
  • the laser transmitter is coaxial with the laser detector, filter, mirror and spherical cover. The laser transmitter emits a laser beam.
  • the laser diffusely reflected by the target passes through the spherical cover and enters the filter through the mirror. Then focus on the laser detector, and the deviation of the target is given by the laser detector, so as to correct the emitting direction of the laser to ensure that the laser can irradiate the target all the time.
  • the laser detector 222 includes a four-quadrant detector array, the four detectors are located in the four quadrants of the rectangular coordinate system, with the axis of the optical system as the axis of symmetry, and each diode represents a quadrant of the space.
  • the diameter of the array is about 1 cm, and the distance between the diodes is 0.13 mm.
  • the laser pointer receives the echo energy and forms an approximately circular light spot on the detector.
  • the diode receives the light energy of the light spot and outputs a certain photocurrent. The size of the current is proportional to the coverage area of the light spot in each quadrant.
  • I A, I B, I C , I D are four diodes peak output current. If the center of the spot coincides with the central axis of the optical system, it means that the target is in the center of the laser beam, and the next laser of the laser pointer will continue to be emitted in this direction; if the spot deviates from the central axis, an error signal will appear, indicating The device will adjust the emission direction of the next laser beam according to this error signal, so that the laser beam is emitted toward the center of the target. Since the time interval of laser emission is small enough and the speed of light is fast enough, the target will not be lost within the time interval of laser emission, thus Ensure that the laser can automatically and continuously track the target.
  • the satellite signal receiving unit 23 obtains the position coordinates of the laser target indicator 22 in real time, that is, the latitude and longitude coordinates, so as to calculate the position coordinates of the target according to the position coordinates.
  • the target position calculation unit 24 obtains the target position coordinates in real time, and the signal transmission unit 25 transmits the obtained target position coordinates to the aircraft in real time.
  • the target position calculating unit 24 when the target position calculating unit 24 receives the laser signal diffusely reflected from the target, it can learn the relative distance between the ground laser pointer and the target and the target height angle according to the laser signal. And the target azimuth angle, and then the position coordinates of the laser target indicator 22 obtained by the satellite signal receiving unit 23 can be used to calculate the position coordinates of the target.
  • the target position resolving unit 24 When the target position resolving unit 24 fails to receive the laser signal diffusely reflected from the target, the target position resolving unit 24 obtains the relative distance between the ground laser pointer and the target according to the first two moments, The target high and low angle and target azimuth angle calculate the relative distance between the ground laser pointer and the target, the target high and low angle and the target azimuth angle at that moment, so as to continue to calculate the position coordinates of the target.
  • the position information of the target is solved by the following formula:
  • Is the estimated value of the difference at t-1, k is the smoothing constant, and its value range is 0 to 1.
  • the k value is calculated by the following formula:
  • the laser transmitter 221 works once every 0.001s, that is, it emits a laser signal every 0.001s, and the laser signal is set to emit once every time, t represents the current time, and t-1 represents the last continuous time.
  • T-2 represents the last time t-1, in the target position information corresponding to time t, R t represents the relative distance between the pilot helicopter and the target, Represents a target elevation angle, ⁇ t denotes the target azimuth, collectively denoted by a a t;
  • R t-2 represents the relative distance between the pilot helicopter and the target, Indicates the high and low angle of the target, ⁇ t-2 represents the azimuth angle of
  • the laser target indicator 22 starts to work once every 0.001s, and can obtain target position information correspondingly, and then can obtain a target position coordinate.
  • the laser target indicator 22 starts to work and cannot directly obtain the target
  • the target capturing unit 21 is controlled to start work, and the user is reminded at the same time.
  • the target position coordinates obtained by the ground laser pointer 2 are received by the receiving module 3.
  • the relay module 4 on the aircraft monitors that the laser seeker 1 receives the target diffusely reflected laser signal, the relay module 4 transmits the angular velocity of the line of sight of the projectile provided by the laser seeker 1 to the guidance instruction calculation module for passing The guidance method of proportional guidance solves the guidance command.
  • the relay module 4 on the aircraft monitors that the laser seeker 1 is unable to receive the diffusely reflected laser signal of the target, the relay module 4 is based on the received target position coordinates and the position coordinates of the aircraft provided by the satellite receiver on the aircraft. Calculate the visual line-of-sight angular velocity of the projectile, and transfer the visual line-of-sight angular velocity of the projectile to the guidance instruction calculation module.
  • the trajectory of the target is set as shown by the dotted line in Figure 3.
  • the speed of the target is 150m/s and the speed of the aircraft is 800m/s.
  • the position of the aircraft is (0,0)
  • the position of the target is (5000,4000)
  • the aircraft is guided and controlled by the aircraft laser guidance control system using the ground laser pointer provided in this application.
  • the laser target indicator on the ground laser pointer illuminates the target, and at the same time receives the laser signal diffused by the target, and calculates the target position coordinates.
  • the laser seeker on the aircraft fails to capture the laser signal, and the aircraft is based on the received target position coordinates Calculate the line-of-sight angular velocity of the missile with the coordinates of the aircraft's position, and then continue to conduct guidance control through the proportional guidance guidance rate.
  • the flight trajectory of the aircraft and the target is shown in Fig. 3. As can be seen from Fig. 3, the flight trajectory fluctuation of the aircraft in the position between 1874m-4043m in the X-axis direction is small, and the aircraft finally hits the target.
  • the trajectory of the target is set as shown by the dotted line in Figure 4.
  • the speed of the target is 150m/s, and the speed of the aircraft is 800m/s.
  • the position of the aircraft is (0,0), and the position of the target is (5000,4000), the aircraft is guided and controlled by the proportional guidance guidance rate.
  • a represents the overload required
  • a T represents the overload of the maneuvering target
  • N represents the guidance coefficient
  • the value is 4
  • V represents the speed of the aircraft, Indicates the angular velocity of the line of sight of the projectile.
  • the aircraft When the aircraft is set to a position between 1806m-4043m in the X-axis direction, the aircraft has entered the final guidance section, and the laser seeker on the aircraft fails to capture the laser signal. The aircraft maintains its original flight attitude and moves forward again. After capturing the target, adjust the flight attitude according to the target position.
  • Fig. 4 The flight trajectory of the aircraft and the target is shown in Fig. 4. From Fig. 4, it can be seen that the aircraft failed to hit the target in the end.

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Abstract

本发明公开了一种利用地面激光指示器的飞行器激光制导控制系统及方法，该系统及方法在为飞行器提供导引激光的同时，还自行根据接收到的漫反射激光信号解算目标坐标，并通过信号传输的方式将目标坐标传递给飞行器，从而使得飞行器即可以利用自身导引头探测到的目标坐标进行制导控制，还可以利用接收到的目标坐标作为补充，以便于在自身导引头未能获得目标坐标时准确地解算制导指令。

Description

利用地面激光指示器的飞行器激光制导控制系统及方法 技术领域
本发明涉及飞行器制导控制领域，具体涉及一种利用地面激光指示器的飞行器激光制导控制系统及方法。
背景技术
通过激光制导控制飞行器飞向目标位置是目前比较常用的制导控制方法，其原理是向目标位置发射特定频段的激光束，通过安装在飞行器上的导引头接收由目标漫反射的激光信号，并追踪该激光信号，从而使得飞行器获知目标位置，为制导控制提供目标位置信息；
在实际工作过程中，飞行器的外界环境及其自身的飞行状态都是复杂多变的，当飞行器的飞行速度接近音速时，飞行器可能存在剧烈抖动，有些飞行器即使没有达到音速，其在下降飞行时也会发生抖动现象，另外，受到大风、暴雨等恶劣天气的影响，空气气流会变得不稳定，进而也会影响机体的稳定性，在飞行器抖动时，其上的导引头有可能在一定时间段内丢失追踪的激光信号，即激光信号从视场域中脱离，此时飞行器失去具体的目标位置，只能按照当前的飞行姿态继续飞行，直至再次捕获到激光信号或者着陆，自然会对最终的命中精度带来一定的不良影响。
由于上述原因，本发明人对现有的飞行器激光制导控制系统及控制方法做了深入研究，以期待设计出一种能够解决上述问题的新的飞行器制导控制系统及方法。
发明内容
为了克服上述问题，本发明人进行了锐意研究，设计出一种利用地面激光指示器的飞行器激光制导控制系统及方法，该系统及方法在为飞行器提供导引激光的同时，还自行根据接收到的漫反射激光信号解算目标坐标，并 通过信号传输的方式将目标坐标传递给飞行器，从而使得飞行器即可以利用自身导引头探测到的目标坐标进行制导控制，还可以利用接收到的目标坐标作为补充，以便于在自身导引头未能获得目标坐标时准确地解算制导指令，从而完成本发明。
具体来说，本发明的目的在于提供一种利用地面激光指示器的飞行器激光制导控制系统，该系统包括激光导引头和地面激光指示器；
所述激光导引头安装在飞行器上，用于接收目标上漫反射的激光信号，从而获得用于解算飞行器制导指令的弹目视线角速度，
所述地面激光指示器用于发射激光照射目标，并且接收目标漫反射的激光信号，确定目标位置坐标，并且将该目标位置坐标传递给飞行器。
本发明还提供一种利用地面激光指示器的飞行器激光制导控制方法，该方法中，
通过地面激光指示器发射激光照射目标，
通过安装在飞行器上的激光导引头接收目标处漫反射的激光信号，从而获得弹目视线角速度，
通过地面激光指示器接收目标处漫反射的激光信号，获得目标位置坐标，再将获得的目标位置坐标通过信号发射单元传递给飞行器。
本发明所具有的有益效果包括：
(1)根据本发明提供的利用地面激光指示器的飞行器激光制导控制系统及方法中，飞行器在末制导段通过激光导引头获得弹目视线角速度，当由于飞行器自身姿态等因素导致激光导引头不能捕获到激光信号时，或者激光发射端与目标之间被其他物体遮挡时，飞行器仍然能够获得目标位置坐标，进而仍然能够解算出合理的制导指令，从而提高飞行器的抗干扰能力，提高命中率。
(2)根据本发明提供的利用地面激光指示器的飞行器激光制导控制系统及方法中，地面激光指示器丢失目标时，能够再次寻找目标，并且及时输出估计的目标位置信息，使得整体飞行轨迹更为平稳，提高命中率。
附图说明
图1示出根据本发明一种优选实施方式的利用地面激光指示器的飞行器激光制导控制系统整体结构逻辑图；
图2示出根据本发明一种优选实施方式的激光目标指示器结构示意图；
图3示出本发明实施例中的飞行器及目标轨迹图；
图4示出本发明对比例中的飞行器及目标轨迹图。
附图标号说明：
1-激光导引头
2-地面激光指示器
21-目标捕获单元
22-激光目标指示器
23-卫星信号接收单元
24-目标位置解算单元
25-信号发射单元
221-激光发射器
222-激光探测器
223-滤光片
224-反射镜
225-球形外罩
3-接收模块
4-中转模块
具体实施方式
下面通过附图和实施例对本发明进一步详细说明。通过这些说明，本发明的特点和优点将变得更为清楚明确。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里 作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
根据本发明提供的利用地面激光指示器的飞行器激光制导控制系统，如图1中所示，该制导控制系统包括激光导引头1和地面激光指示器2，其中，所述激光导引头1安装在飞行器上，用于接收目标上漫反的激光信号，从而锁定目标位置，实时提供用于解算飞行器制导指令的弹目视线角速度，所述激光导引头1可以选用本领域中已有的激光导引头，本申请对此不做特别限定。
所述地面激光指示器2能够在距离目标一定范围内移动，能够发射激光照射目标，还能够接收目标漫反射的激光信号，进而确定目标位置坐标，并且将该目标位置坐标传递给飞行器。
在一个优选的实施方式中，如图1中所示，所述地面激光指示器2包括目标捕获单元21、激光目标指示器22、卫星信号接收单元23、目标位置解算单元24和信号发射单元25。
其中，目标捕获单元21包括摄像头，其用于在较大范围内搜寻目标，为使用者提供较大范围的视觉信息，获得目标的位置，可以选用本领域中已有的摄像头，本申请中对此不做特别限定。
所述激光目标指示器22用于在摄像头获得目标的位置后，在其位置附近进行小范围搜索，一旦获取目标，即开始对目标进行跟踪，即具体捕获、追踪目标，调整激光的发射方向，持续用激光照射目标；所述目标捕获单元21获得的位置是一定空间范围，不是精确的位置坐标，该位置涵盖范围取决于该摄像头的像素、目标捕获单元与目标之间的距离及目标的运动速度等因素，可以根据具体情况设置，本申请中对此不做特别限定。
所述激光目标指示器22用于发射并接收激光信号，具体来说，激光目标指示器22包括激光发射器221、激光探测器222、滤光片223、反射镜224以及球形外罩225。
所述激光发射器221用于发射激光照射目标；
所述激光探测器222用于接收目标处漫反射的激光信号；
所述滤光片223用于过滤漫反射回来的激光信号；
所述反射镜224用于调整漫反射回来的激光方向；
所述球形外罩225是保护壳体，用以保护其内部的激光发射器221、激光探测器222、滤光片223和反射镜224。
激光发射器发射激光束，目标漫反射回来的激光通过球形外罩，经反射镜进入滤光片，而后聚焦在激光探测器222上，由激光探测器给出目标的偏差，从而修正激光器的发射方向，保证激光能一直照射到目标。所述激光目标指示器22持续照射目标的过程中，激光发射器221的发射方向/角度可以根据其接收到的漫反射激光信号自动调整，还可以由使用者手动控制。
所述激光目标指示器22能够实时提供目标位置信息，包括激光目标指示器22与目标之间的直线距离，即光速乘以从发射激光到接收到激光的时间的一半，还能包括激光的照射角度，所述照射角度包括目标高低角和目标方位角。
所述卫星信号接收单元23即为卫星接收机，能够接收卫星信号，从而获知该卫星信号接收单元23所在的位置，即为地面激光指示器2所在的位置坐标。
目标位置解算单元24用于实时接收目标位置信息，即激光目标指示器22与目标之间的直线距离、激光的照射角度和激光目标指示器22所在的位置，并根据接收到的目标位置信息解算出目标的位置坐标，在目标指示器22未能够获得目标位置时，该解算单元24通过推算获得目标位置信息，进而继续解算出目标的位置坐标，本申请中所述的目标位置坐标是基于大地坐标系下的坐标信息。
信号发射单元25用于将目标位置解算单元24解算出的目标位置坐标实时传递给飞行器，所述信号发射单元25包括超短波电台。
在一个优选的实施方式中，该飞行器激光制导控制系统还包括安装在 飞行器上的接收模块3和中转模块4，其中，所述接收模块3与信号发射单元25信号相连，用以接收信号发射单元25发射出的目标位置坐标；所述接收模块3也包括超短波电台，用以与信号发射单元中的超短波电台信号相连。
所述中转模块4与激光导引头1和接收模块3相连，还与飞行器上的卫星接收机和制导指令解算模块相连，当所述激光导引头能够接收到目标漫反射的激光信号时，即所述激光导引头能够提供弹目视线角速度时，所述中转模块4将激光导引头获得的弹目视线角速度传递给制导指令解算模块，以便于制导指令解算模块解算制导指令；
当所述激光导引头1未能提供弹目视线角速度时，所述中转模块4根据接收到的目标位置坐标和飞行器上卫星接收机提供的飞行器的位置坐标解算出弹目视线角速度，并将该弹目视线角速度传递给制导指令解算模块。
由于设置有所述中转模块4和制导指令解算模块，飞行器进入末制导段以后可以采用比例导引制导率进行制导控制，本申请中，将激光导引头能够捕获激光信号，目标进入激光导引头的视场域内作为飞行器进入末制导段的标志，即使制导过程中，激光导引头阶段性丢失激光信号也不会直接导致飞行器脱靶，通过本申请提供的制导控制系统还可以在飞行器进入末制导段以前进行比例导引制导控制，变向延迟末制导段的时间。
在一个优选的实施方式中，所述地面激光指示器2还包括能够驱动其行走的驱动装置，如运载汽车等等，能够带着该地面激光指示器2及相应使用者快速机动，也能过固定安装在特定位置。
在一个优选的实施方式中，当该激光探测器222丢失目标或者目标被建筑物等物体遮挡时，控制目标捕获单元21执行捕获/寻找目标的作业任务。优选地，当该激光探测器222未能获得从目标处漫反射的激光信号，则控制目标捕获单元21启动工作，还可以由操作者手动控制该目标捕获单元21启动工作。
所述目标位置解算单元24用于根据激光探测器222获得的从目标处漫反射的激光信号解算出目标的位置坐标，其中，从漫反射的激光信号能够直 接读取出目标的位置信息，即激光目标指示器与目标之间的直线距离、目标高低角和目标方位角。通过目标的位置信息和地面激光指示器2的位置坐标解算出目标位置坐标的具体解算过程为本领域已知的，本申请对此不做特别限定。即如果激光探测器222能够实时获得目标位置信息，则目标位置解算单元24能够实时输出目标位置坐标。
优选地，在目标位置解算单元24中，以激光目标指示器为原点构建O-ZXY右手直角坐标系，Y轴指向天空方向，X轴指向估计的目标方向，Z轴垂直于OXY平面并与其组成右手直角坐标系；目标高低角为目标与指示器的连线和连线在OXZ平面的投影所构成的夹角，沿着Y轴方向向上夹角为正；目标方位角为指示器与目标连线在OXZ平面的投影与X轴之间的夹角，沿Z轴的方向向前夹角为正。
在激光探测器222未能够接收到从目标处漫反射的激光信号时，目标位置解算单元24根据前两个时刻获得的目标位置信息推算/估计出后续时刻的目标位置信息，直至再次通过激光探测器222获得目标位置信息。
优选地，该激光发射器221每隔0.001s工作一次，即每隔0.001s发射一次激光信号，设定所述激光信号每个时刻发射一次，t表示当前时刻，t-1表示连续的上一时刻，t-2表示t-1的上一时刻，t时刻对应的目标位置信息中，R t表示领航直升机与目标之间的相对距离，
Figure PCTCN2021099806-appb-000001
表示目标高低角，ε t表示目标方位角，统一由a t表示；t-1时刻对应的目标位置信息中，R t-1表示领航直升机与目标之间的相对距离，
Figure PCTCN2021099806-appb-000002
表示目标高低角，ε t-1表示目标方位角，统一由a t-1表示；t-2时刻对应的目标位置信息中，R t-2表示领航直升机与目标之间的相对距离，
Figure PCTCN2021099806-appb-000003
表示目标高低角，ε t-2表示目标方位角，统一由a t-2表示；
相邻时刻对应的目标位置信息之间的差值称之为位置差值，用下式表示为：
Figure PCTCN2021099806-appb-000004
相邻两个位置差值之间的差值表示为：
c t-1＝b t-1-b t-2，c t-2＝b t-2-b t-3
优选地，t+1时刻对应的目标位置信息a t+1通过下式获得：
Figure PCTCN2021099806-appb-000005
其中，
Figure PCTCN2021099806-appb-000006
表示t时刻的差值预估值，将t、t-1和t-2时刻对应的目标位置信息代入到上式中即可获知t+1时刻对应的目标位置信息。
其中，
Figure PCTCN2021099806-appb-000007
通过下式获得，
Figure PCTCN2021099806-appb-000008
Figure PCTCN2021099806-appb-000009
为t-1时刻的差值预估值，k为平滑常数，其取值范围为0～1。
优选地，通过下式解算k值：
Figure PCTCN2021099806-appb-000010
优选地，激光探测器222上还设置有判断模块，其用于根据接收到漫反射激光信号所用时间来判断该漫反射激光信号是否准确。该判断模块持续记录每次从发射激光到接收到漫反射激光信号所用时间，称之为往返时间，并将接收到的新的往返时间值与存储的上一个往返时间值进行比较，当二者之差的绝对值小于存储的上一个往返时间值的七分之一时，认为该激光信号是由目标处漫反射而来的，是准确的，由该激光信号读取出目标的位置信息也是准确的；当二者之差的绝对值大于或等于存储的上一个往返时间值的七分之一时，认为该激光信号不是由目标处漫反射而来的，是不准确的，由该激光信号读取出目标的位置信息也是不可用的。每发射一次激光信号，并对应接收一次激光信号，称之为一组操作，由于相邻两组操作都会间隔一段时间，一般为0.001s左右，该时间足够激光行进上百公里，所以后续操作中接收到的激光信号不会上一组操作时发出的。
在一个优选的实施方式中，所述激光发射器221每隔0.001s工作一次，相应的，所述目标位置解算单元24每隔0.001s解算出一个目标位置信息，所 述飞行器信号发射单元25和接收模块3的超短波电台的工作频率为100Hz，即超短波电台每隔0.01秒工作一次。
优选地，所述飞行器信号发射单元25从10个目标位置信息中挑选一个发送给飞行器，更优选地，依次判断10个目标位置信息是直接测量得到的还是通过目标位置解算单元24解算得到的，如果有直接测量得到的，则选择直接测量得到的目标位置信息，当存在多个可发送的目标位置信息时，优先选择最晚得到的目标位置信息。
飞行器中解算制导指令的频率为100Hz，与之对应地，当所述激光导引头中连续0.01秒未接收到准确的漫反射激光信号时，所述中转模块4根据接收到的目标位置坐标和飞行器上卫星接收机提供的飞行器的位置坐标解算出弹目视线角速度。
本发明还提供一种利用地面激光指示器的飞行器激光制导控制方法，该方法中：
通过地面激光指示器2发射激光照射目标，
通过安装在飞行器上的激光导引头1接收目标处漫反射的激光信号，从而获得弹目视线角速度，
通过地面激光指示器2接收目标处漫反射的激光信号，获得目标位置坐标，再将获得的目标位置坐标通过信号发射单元25传递给飞行器。
在一个优选的实施方式中，地面激光指示器2包括目标捕获单元21、激光目标指示器22、卫星信号接收单元23、目标位置解算单元24和信号发射单元25。其中，所述目标捕获单元21包括摄像头，其用于在较大范围内搜寻目标，为使用者提供较大范围的视觉信息，获得目标的大概位置；所述激光目标指示器22用于在摄像头获得目标的大概位置后，在其大概位置附近进行小范围搜索，一旦获取目标，即开始对目标进行跟踪，即具体捕获、追踪目标，调整激光的发射方向，持续用激光照射目标。
优选地，所述激光目标指示器22包括激光发射器221、激光探测器222、 滤光片223、反射镜224以及球形外罩225，激光发射器用于发射激光束，目标漫反射回来的激光通过球形外罩，经反射镜进入滤光片，而后聚焦在激光探测器222上，由激光探测器给出目标的偏差，从而修正激光器的发射方向，保证激光能一直照射到目标。如图2中所示，激光发射器与激光探测器、滤光片、反射镜以及球形外罩同轴，激光发射器发射激光束，目标漫反射回来的激光通过球形外罩，经反射镜进入滤光片，而后聚焦在激光探测器上，由激光探测器给出目标的偏差，从而修正激光器的发射方向，保证激光能一直照射到目标。
优选地，所述激光探测器222包括四象限探测器阵列，四个探测器处于直角坐标系的四个象限中，以光学系统的轴为对称轴，每个二极管代表空间的一个象限，探测器阵列的直径约1cm左右，二极管之间的距离为0.13mm。为了避开聚焦的激光能量，探测器与焦平面之间保留一定距离。激光指示器接收到回波能量，在探测器上形成一个近似圆形的光斑，二极管接收到光斑的光能，并输出一定的光电流，电流的大小与各个象限光斑的覆盖面积成正比。四个探测元件的输出经相同的放大器放大后，可以求得目标的方位坐标Y、Z，从而得到高低角和方向角两个通道的误差信号：
Figure PCTCN2021099806-appb-000011
Figure PCTCN2021099806-appb-000012
其中I A、I B、I C、I D分别为四个二极管输出电流的峰值。若光斑的中心与光学系统的中心轴重合，则说明目标就在激光束的中心，激光指示器的下一束激光将继续沿此方向发射；若光斑偏离中心轴，则会出现误差信号，指示器将根据此误差信号调整下一次激光束的发射方向，使激光束朝目标中心发射，由于激光发出的时间间隔足够小、光速足够快，因此目标不会在激光发出的时间间隔内丢失，从而保证了激光能自动持续跟踪目标。
在一个优选的实施方式中，通过卫星信号接收单元23实时获得激光目标指示器22所在的位置坐标，即经纬度坐标，以便于根据该位置坐标解算目 标的位置坐标。
在一个优选的实施方式中，通过目标位置解算单元24实时获得目标位置坐标，并通过信号发射单元25将获得的目标位置坐标实时传递给飞行器。
在一个优选的实施方式中，所述目标位置解算单元24在接收到目标处漫反射来的激光信号时，能够根据该激光信号获知地面激光指示器与目标之间的相对距离、目标高低角和目标方位角，再通过卫星信号接收单元23获得的激光目标指示器22所在的位置坐标，即可解算出目标的位置坐标。
当所述目标位置解算单元24未能接收到目标处漫反射来的激光信号时，所述目标位置解算单元24根据前两个时刻获得的地面激光指示器与目标之间的相对距离、目标高低角和目标方位角推算出该时刻的地面激光指示器与目标之间的相对距离、目标高低角和目标方位角，从而继续解算出目标的位置坐标。
具体通过下式解算目标的位置信息：
Figure PCTCN2021099806-appb-000013
其中，
Figure PCTCN2021099806-appb-000014
表示t时刻的差值预估值，a t+1表示t+1时刻对应的目标位置信息；b t-1表示相邻时刻对应的目标位置信息之间的差值；通过下式解算：
Figure PCTCN2021099806-appb-000015
Figure PCTCN2021099806-appb-000016
通过下式获得，
Figure PCTCN2021099806-appb-000017
Figure PCTCN2021099806-appb-000018
为t-1时刻的差值预估值，k为平滑常数，其取值范围为0～1。
优选地，通过下式解算k值：
Figure PCTCN2021099806-appb-000019
其中，该激光发射器221每隔0.001s工作一次，即每隔0.001s发射一次激光信号，设定所述激光信号每个时刻发射一次，t表示当前时刻，t-1表示 连续的上一时刻，t-2表示t-1的上一时刻，t时刻对应的目标位置信息中，R t表示领航直升机与目标之间的相对距离，
Figure PCTCN2021099806-appb-000020
表示目标高低角，ε t表示目标方位角，统一由a t表示；t-1时刻对应的目标位置信息中，R t-1表示领航直升机与目标之间的相对距离，
Figure PCTCN2021099806-appb-000021
表示目标高低角，ε t-1表示目标方位角，统一由a t-1表示；t-2时刻对应的目标位置信息中，R t-2表示领航直升机与目标之间的相对距离，
Figure PCTCN2021099806-appb-000022
表示目标高低角，ε t-2表示目标方位角，统一由a t-2表示。
优选地，所述激光目标指示器22每隔0.001s启动工作一次，能够对应获得一次目标位置信息，进而能够获得一个目标位置坐标，当所述激光目标指示器22启动工作并且未能够直接获得目标位置信息时，控制所述目标捕获单元21启动工作，同时提醒使用者。
在一个优选的实施方式中，该方法中，通过接收模块3接收地面激光指示器2获得的目标位置坐标。
当飞行器上的中转模块4监测到激光导引头1接收到目标漫反射的激光信号时，中转模块4将激光导引头1提供的弹目视线角速度传递给制导指令解算模块，用以通过比例导引的制导方式解算制导指令。
当飞行器上的中转模块4监测到激光导引头1未能够接收到目标漫反射的激光信号时，所述中转模块4根据接收到的目标位置坐标和飞行器上卫星接收机提供的飞行器的位置坐标解算出弹目视线角速度，并将该弹目视线角速度传递给制导指令解算模块。
实施例：
设定目标的运动轨迹如图3中虚线所示，目标的运动速度为150m/s，飞行器的运动速度为800m/s，实验开始时，飞行器所在位置为(0,0)，目标所在位置为(5000,4000)，在飞行器进入末制导段以后，通过本申请提供的利用地面激光指示器的飞行器激光制导控制系统对飞行器进行制导控制。
通过地面激光指示器上的激光目标指示器照射目标，同时接收目标漫 反射的激光信号，解算目标位置坐标。
设定在飞行器发射并进入到末制导段以后，飞行器在X轴方向处于1874m-4043m之间的位置时，飞行器上的激光导引头未能捕获到激光信号，飞行器根据接收到的目标位置坐标和飞行器位置坐标解算弹目视线角速度，进而继续通过比例导引制导率进行制导控制。
飞行器和目标的飞行轨迹如图3中所示，从图3可知，飞行器在X轴方向处于1874m-4043m之间的位置时的飞行轨迹波动较小，最终飞行器命中目标。
对比例：
设定目标的运动轨迹如图4中虚线所示，目标的运动速度为150m/s，飞行器的运动速度为800m/s，实验开始时，飞行器所在位置为(0,0)，目标所在位置为(5000,4000)，通过比例导引制导率对飞行器进行制导控制。
所述增强型比例导引制导律中需用过载通过下式获得：
Figure PCTCN2021099806-appb-000023
a表示需用过载，a T表示机动目标的过载，N表示导引系数，取值为4，V表示飞行器的速度，
Figure PCTCN2021099806-appb-000024
表示弹目视线角速度。
设定飞行器在X轴方向处于1806m-4043m之间的位置时，飞行器已经进入到末制导段，飞行器上的激光导引头未能捕获到激光信号，飞行器保持原本的飞行姿态前行，在再次捕获到目标后根据目标位置调整飞行姿态。
飞行器和目标的飞行轨迹如图4中所示，从图4可知，最终飞行器未能命中目标。
以上结合了优选的实施方式对本发明进行了说明，不过这些实施方式仅是范例性的，仅起到说明性的作用。在此基础上，可以对本发明进行多种替换和改进，这些均落入本发明的保护范围内。

Claims (10)

  1. 一种利用地面激光指示器的飞行器激光制导控制系统，其特征在于，该系统包括激光导引头(1)和地面激光指示器(2)；
    所述激光导引头(1)安装在飞行器上，用于接收目标上漫反射的激光信号，从而获得用于解算飞行器制导指令的弹目视线角速度，
    所述地面激光指示器(2)用于发射激光照射目标，并且接收目标漫反射的激光信号，确定目标位置坐标，并且将该目标位置坐标传递给飞行器。
  2. 根据权利要求1所述的利用地面激光指示器的飞行器激光制导控制系统，其特征在于，
    所述地面激光指示器(2)包括目标捕获单元(21)、激光目标指示器(22)、卫星信号接收单元(23)、目标位置解算单元(24)和信号发射单元(25)；
    所述目标捕获单元(21)用于搜寻目标，获得目标的位置，
    所述激光目标指示器(22)用于发射并接收激光信号，
    所述卫星信号接收单元(23)用于接收卫星信号，从而获得地面激光指示器2所在的位置坐标，
    所述目标位置解算单元(24)用于解算目标位置坐标，
    所述信号发射单元(25)用于将目标位置坐标传递给飞行器。
  3. 根据权利要求2所述的利用地面激光指示器的飞行器激光制导控制系统，其特征在于，
    激光目标指示器(22)包括激光发射器(221)、激光探测器(222)、滤光片(223)、反射镜(224)以及球形外罩(225)；
    所述激光发射器(221)用于发射激光照射目标，
    所述激光探测器(222)用于接收目标处漫反射的激光信号，
    所述滤光片(223)用于过滤漫反射回来的激光信号，
    所述反射镜(224)用于调整漫反射回来的激光方向，
    所述球形外罩(225)是保护壳体，用以保护其内部的激光发射器(221)、激光探测器(222)、滤光片(223)和反射镜(224)。
  4. 根据权利要求2所述的利用地面激光指示器的飞行器激光制导控制系统，其特征在于，
    所述目标位置解算单元(24)用于根据激光探测器(222)获得的从目标处漫反射的激光信号解算出目标的位置坐标。
  5. 根据权利要求4所述的利用地面激光指示器的飞行器激光制导控制系统，其特征在于，
    当所述激光探测器(222)未能接收到从目标处漫反射的激光信号时，目标位置解算单元(24)根据前两个时刻获得的目标位置信息推算/估计出后续时刻的目标位置信息。
  6. 根据权利要求6所述的利用地面激光指示器的飞行器激光制导控制系统，其特征在于，
    该飞行器激光制导控制系统还包括安装在飞行器上的接收模块(3)和中转模块(4)；
    其中，所述接收模块(3)与信号发射单元(25)信号相连，用以接收目标位置坐标；
    所述中转模块(4)与激光导引头(1)和接收模块(3)相连，还与飞行器上的卫星接收机相连，
    当所述激光导引头(1)未能提供弹目视线角速度时，所述中转模块(4)根据接收到的目标位置坐标和飞行器上卫星接收机提供的飞行器的位置坐标解算出弹目视线角速度。
  7. 一种利用地面激光指示器的飞行器激光制导控制方法，其特征在于，该方法中，
    通过地面激光指示器(2)发射激光照射目标，
    通过安装在飞行器上的激光导引头(1)接收目标处漫反射 的激光信号，从而获得弹目视线角速度，
    通过地面激光指示器(2)接收目标处漫反射的激光信号，获得目标位置坐标，再将获得的目标位置坐标通过信号发射单元(25)传递给飞行器。
  8. 根据权利要求7所述的利用地面激光指示器的飞行器激光制导控制方法，其特征在于，
    所述地面激光指示器(2)包括目标捕获单元(21)、激光目标指示器(22)、卫星信号接收单元(23)、目标位置解算单元(24)和信号发射单元(25)；
    优选地，其中，激光目标指示器(22)包括激光发射器(221)、激光探测器(222)、滤光片(223)、反射镜(224)以及球形外罩(225)。
  9. 根据权利要求7所述的利用地面激光指示器的飞行器激光制导控制方法，其特征在于，
    在地面激光指示器(2)接收到目标漫反射的激光信号时，所述目标位置解算单元(24)能够根据地面激光指示器与目标之间的相对距离、目标高低角、目标方位角和地面激光指示器(2)的位置坐标解算出目标的位置坐标；
    优选地，当所述目标位置解算单元(24)未能接收到目标处漫反射来的激光信号时，所述目标位置解算单元(24)根据前两个时刻获得的地面激光指示器与目标之间的相对距离、目标高低角和目标方位角推算出该时刻的地面激光指示器与目标之间的相对距离、目标高低角和目标方位角，从而继续解算出目标的位置坐标。
  10. 根据权利要求7所述的利用地面激光指示器的飞行器激光制导控制方法，其特征在于，
    当激光导引头(1)接收到目标漫反射的激光信号时，通过 中转模块(4)将激光导引头(1)提供的弹目视线角速度传递给制导指令解算模块，用以解算制导指令；
    优选地，当激光导引头(1)未能够接收到目标漫反射的激光信号时，所述中转模块(4)根据接收到的目标位置坐标和飞行器的位置坐标解算出弹目视线角速度，并传递给制导指令解算模块。
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