CN106708095B - A kind of target seeker Dynamic Tracking Data acquisition method - Google Patents
A kind of target seeker Dynamic Tracking Data acquisition method Download PDFInfo
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- CN106708095B CN106708095B CN201611159637.0A CN201611159637A CN106708095B CN 106708095 B CN106708095 B CN 106708095B CN 201611159637 A CN201611159637 A CN 201611159637A CN 106708095 B CN106708095 B CN 106708095B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012360 testing method Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000013480 data collection Methods 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000011156 evaluation Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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Abstract
The invention belongs to sensor fields, and in particular to a kind of target seeker Dynamic Tracking Data acquisition system and acquisition method based on multi-rotor unmanned aerial vehicle.The data collection system includes multi-rotor unmanned aerial vehicle platform, flying platform test equipment and ground control equipment.The present invention, as flying platform, compared with manned helicopter/fixed wing aircraft data collection system, ensures simple using multi-rotor unmanned aerial vehicle, and the period at low cost is short, does not have particular/special requirement to flying field, and can press desired trajectory and fly and close to target；Target seeker locking tracking target is manipulated by wireless data chain technology, image and data are returned by ground control device real-time monitoring target seeker, it is easy to operate, avoid personnel safety's problem of manned platform；Field real scene is relied on, it is more more reliable than the collection result by the virtual views data collection system under hardware-in-the-loop environment.Data collection system of the invention is low-cost, easy to operate, practical, has preferable popularization and use prospect.
Description
Technical field
The invention belongs to sensor fields, and in particular to a kind of target seeker Dynamic Tracking Data based on multi-rotor unmanned aerial vehicle
Acquisition system and acquisition method.
Background technique
Application for aircraft, target seeker to automatically track performance most important.Existing target seeker dynamically track number
Mainly have 3 kinds according to acquisition system scheme: (1) ground sport car evaluation scheme, the program are operation target seeker locking and close to target
Target, but the program can only use target seeker to look squarely target, not can solve when target seeker is from aerial vertical view ground target
Tracking performance verifying；(2) the flight evaluation scheme of manned helicopter or fixed wing aircraft: in the program personnel in helicopter or
Target seeker locking is operated on fixed wing aircraft and close to target, but the program needs to apply course line, higher cost, preparatory period
It is long, ensure it is complicated, under the premise of guaranteeing flight safety highly cannot too low (generally greater than 500m), cannot flight as required
Track is close to ground target；(3) it is assessed under hardware-in-the-loop environment by virtual views, the disadvantages of this solution is virtual views
It is difficult to determine by the image of target simulator generation and the similarity of real scene, is unable to judge accurately the true of assessment result
Property.
Summary of the invention
(1) technical problems to be solved
The purpose of the present invention is to propose to a kind of target seeker Dynamic Tracking Data acquisition method based on multi-rotor unmanned aerial vehicle, with
It solves the problems, such as how easy, safety and seeker performance is assessed at low cost.
(2) technical solution
In order to solve the above technical problems, the present invention proposes a kind of target seeker Dynamic Tracking Data acquisition method, which is adopted
The data collection system that set method uses includes multi-rotor unmanned aerial vehicle platform, flying platform test equipment and ground control equipment；
Wherein, multi-rotor unmanned aerial vehicle platform is used to carry flying platform test equipment by multi-rotor unmanned aerial vehicle；Flying platform test is set
Standby includes target seeker, original video recording device and the airborne terminal of data-link；Wherein, target seeker be used for target carry out dynamic with
Track, original video recording device are used to acquire the video image data that target seeker tracking obtains, and the airborne terminal of data-link is used for will
Original video recording apparatus collecting to video image data be sent to ground control equipment；Ground control equipment includes unmanned plane
Ground control device, target seeker ground control device and data-link ground terminal；Wherein, unmanned aerial vehicle control device for pair
The flight of multi-rotor unmanned aerial vehicle platform is controlled；Target seeker ground control device be used for the target dynamic of target seeker track into
Row control；The data-link ground terminal video image data that the airborne terminal of chain transmits for receiving data；
The collecting method includes the following steps:
S1, flying platform test equipment is mounted on multi-rotor unmanned aerial vehicle platform；
S2, flying platform test equipment and ground control equipment power on；
S3, target seeker lock onto target is manipulated using target seeker ground control device；
S4, starting original video recording device, the airborne terminal of data-link and data-link ground terminal；
S5, multi-rotor unmanned aerial vehicle platform power on；
S6, multi-rotor unmanned aerial vehicle platform fly according to intended trajectory and close to target；
S7, in flight course, carry out the transmission of the video image data of target seeker, target moved by target seeker
State tracking；
S8, multi-rotor unmanned aerial vehicle platform land at target, system cut-off.
Further, the target seeker in flying platform test equipment is infrared image independently target-seeking target seeker or television homing
Head.
(3) beneficial effect
Target seeker Dynamic Tracking Data acquisition method of the invention, using multi-rotor unmanned aerial vehicle as flying platform, with load
People's helicopter/fixed wing aircraft assessment system is compared, and ensures that simply the period at low cost is short, does not have particular/special requirement to flying field,
And desired trajectory flight can be pressed and close to target；The target seeker locking tracking on flying platform is manipulated by wireless data chain technology
Target returns image and data by ground control device real-time monitoring target seeker, easy to operate, avoids manned platform
Personnel safety's problem；Field real scene is relied on, than passing through the virtual views assessment system under hardware-in-the-loop environment
Assessment result is more reliable.Assessment system of the invention is low-cost, easy to operate, practical, has preferable popularization and use prospect.
Detailed description of the invention
Fig. 1 is the composed structure of target seeker of embodiment of the present invention Dynamic Tracking Data acquisition system.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
Target seeker Dynamic Tracking Data acquisition system disclosed in the present embodiment, system composed structure are as shown in Figure 1.This is commented
Estimating system includes multi-rotor unmanned aerial vehicle platform, flying platform test equipment and ground control equipment.
Multi-rotor unmanned aerial vehicle platform using heavy-duty, six axis multi-rotor unmanned aerial vehicle of long endurance (diameter of axle 1.8m, load-carrying 10kg with
On, endurance 15 minutes or more), and flying platform test equipment connecting tooling is equipped in multi-rotor unmanned aerial vehicle.
Flying platform test equipment includes lithium battery, target seeker, original video recording device, the airborne terminal of data-link and electricity
Gas is directly under part.Lithium battery is used to power for flying platform test equipment, voltage 26V electric current 5A 2h of lower working time.Target seeker is used
In carrying out dynamically track to target, using infrared image independently target-seeking target seeker or TV seeker.Original video recording device
The video image data obtained for acquiring target seeker tracking, the airborne terminal of data-link are used for original video recording apparatus collecting
To video image data be sent to ground control equipment.
Ground control equipment includes unmanned aerial vehicle control device, target seeker ground control device and data-link ground surface end
Machine.Unmanned aerial vehicle control device uses two kinds of flight scenarios of autonomous flight and remote manual control, to multi-rotor unmanned aerial vehicle platform
Flight is controlled.Target seeker ground control device uses Labview virtual instrument equipment and technology, manipulates Seeker's light axis, wave
The operation such as door and execution locking unlock, controls the target dynamic tracking of target seeker, while showing and recording data-link
Data and video.The data-link ground terminal video image data that the airborne terminal of chain transmits for receiving data.Data-link machine
Carry terminal and data-link ground surface end function transmission digital signal and vision signal, frequency point 2.38GHz.
The step of acquisition of target seeker Dynamic Tracking Data is carried out using above-mentioned acquisition system are as follows:
S1, flying platform test equipment is mounted on multi-rotor unmanned aerial vehicle platform；
S2, flying platform test equipment and ground control equipment power on；
S3, target seeker lock onto target is manipulated using target seeker ground control device；
S4, starting original video recording device, the airborne terminal of data-link and data-link ground terminal；
S5, multi-rotor unmanned aerial vehicle platform power on；
S6, multi-rotor unmanned aerial vehicle platform fly according to intended trajectory and close to target；
S7, in flight course, carry out the transmission of the video image data of target seeker, target moved by target seeker
State tracking；
S8, multi-rotor unmanned aerial vehicle platform land at target, system cut-off.
The present embodiment is flown by control multi-rotor unmanned aerial vehicle platform according to intended trajectory, simulates target seeker in practical application
In flight path, so that the performance of dynamic tracking to target seeker makes accurate evaluation.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of target seeker Dynamic Tracking Data acquisition method, which is characterized in that the data that the collecting method uses are adopted
Collecting system includes multi-rotor unmanned aerial vehicle platform, flying platform test equipment and ground control equipment；
Wherein, the multi-rotor unmanned aerial vehicle platform is used to carry the flying platform test equipment by multi-rotor unmanned aerial vehicle；
The flying platform test equipment includes target seeker, original video recording device and the airborne terminal of data-link；Wherein, described
Target seeker is used to carry out target dynamically track, and the original video recording device is used to acquire what the target seeker tracking obtained
Video image data, the airborne terminal of data-link are used for the video image data for arriving the original video recording apparatus collecting
It is sent to the ground control equipment；
The ground control equipment includes unmanned aerial vehicle control device, target seeker ground control device and data-link ground surface end
Machine；Wherein, the unmanned aerial vehicle control device is for controlling the flight of the multi-rotor unmanned aerial vehicle platform；It is described to lead
Leader ground control device is used to control the target dynamic tracking of the target seeker；Data-link ground terminal is used for
Receive the video image data of the airborne terminal transmission of the data-link；
The collecting method includes the following steps:
S1, the flying platform test equipment is mounted on the multi-rotor unmanned aerial vehicle platform；
S2, the flying platform test equipment and the ground control equipment power on；
S3, the target seeker lock onto target is manipulated using the target seeker ground control device；
S4, the starting original video recording device, the airborne terminal of the data-link and data-link ground terminal；
S5, the multi-rotor unmanned aerial vehicle platform power on；
S6, the multi-rotor unmanned aerial vehicle platform fly according to intended trajectory and close to the targets；
S7, in flight course, the transmission of the video image data of the target seeker is carried out, by the target seeker to the mesh
Mark carries out dynamically track；
S8, the multi-rotor unmanned aerial vehicle platform land at the target, system cut-off.
2. collecting method as described in claim 1, which is characterized in that led described in the flying platform test equipment
Leader is infrared image independently target-seeking target seeker or TV seeker.
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| CN109885101B (en) * | 2019-01-04 | 2022-02-22 | 北京测威科技有限公司 | Method and system for simulating missile terminal guidance by using unmanned aerial vehicle |
| US11168959B2 (en) * | 2019-07-31 | 2021-11-09 | Bae Systems Information And Electronic Systems Integration Inc. | Wing mounted seeker |
| CN111474384B (en) * | 2020-04-20 | 2022-03-08 | 西安现代控制技术研究所 | Thin-wall position impact signal data correction method |
| CN111458710B (en) * | 2020-04-22 | 2023-03-14 | 西安电子工程研究所 | System and method for acquiring echo distribution of seeker of unmanned airborne radar |
| CN111891385A (en) * | 2020-08-17 | 2020-11-06 | 长沙神弓信息科技有限公司 | Unmanned aerial vehicle orientation module test system |
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| RU2165582C2 (en) * | 1999-06-08 | 2001-04-20 | Государственное унитарное предприятие Конструкторское бюро приборостроения | Optoelectronic system of antiaircraft missile complex |
| CN101118424A (en) * | 2007-09-13 | 2008-02-06 | 北京航空航天大学 | Unmanned aerial vehicle artificial system controller based on single-chip |
| JP2010019487A (en) * | 2008-07-10 | 2010-01-28 | Mitsubishi Electric Corp | Missile guidance system |
| KR102105282B1 (en) * | 2009-02-02 | 2020-04-28 | 에어로바이론먼트, 인크. | Multimode unmanned aerial vehicle |
| CN101586930B (en) * | 2009-06-20 | 2012-12-19 | 中北大学 | High-speed data acquisition processing real-time retransmission device |
| CN103983145B (en) * | 2014-05-21 | 2015-07-29 | 中国航天空气动力技术研究院 | A kind of method utilizing unmanned plane laser seeker most end pulse strategy target acquisition |
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