CN107885230A - Depopulated helicopter control system and its control method with laser guided weapon - Google Patents
Depopulated helicopter control system and its control method with laser guided weapon Download PDFInfo
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- CN107885230A CN107885230A CN201610868352.8A CN201610868352A CN107885230A CN 107885230 A CN107885230 A CN 107885230A CN 201610868352 A CN201610868352 A CN 201610868352A CN 107885230 A CN107885230 A CN 107885230A
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- 230000006798 recombination Effects 0.000 claims description 6
- 238000005215 recombination Methods 0.000 claims description 6
- 238000012856 packing Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 238000009792 diffusion process Methods 0.000 claims description 2
- 230000003993 interaction Effects 0.000 description 7
- 230000005622 photoelectricity Effects 0.000 description 4
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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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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
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Abstract
The invention discloses the depopulated helicopter control system with laser guided weapon and control method, the system includes On-Board Subsystem and ground subsystem, the On-Board Subsystem includes type onboard data link terminal, steady collimation device, flies control module, weapon module and airborne task manager, weapon is carried in weapon module, the laser seeker containing laser pickoff is provided with weapon；The ground subsystem includes ground data chain terminal, steady take aim at manipulates seat, flies control manipulation seat, weapon manipulation seat and ground-based mission manager；It the described method comprises the following steps：1st, target is scanned for, detected, identified, lock, track and positioned, then steady collimation device is to objective emission laser, 2nd, adjustment flight range makes, laser pickoff is set to receive through the irreflexive laser of target, 3rd, weapon manipulation seat sends " upper electricity " instruction, control laser seeker on electricity, 4, weapon manipulation seat send " igniting " instruction, progress target strike.
Description
Technical field
The present invention relates to depopulated helicopter, more particularly to laser-guided depopulated helicopter, especially, it is related to and carries
Laser-guided depopulated helicopter control system and its control method.
Background technology
In modern war, it is the key fought to hit some transient maneuvering targets and time critical target.Existing
, can be with carrying arms and the more mostly fixed wing aircraft hit in technology, the irradiation, no but fixed wing aircraft can not hover
Can hovering attack, hang the shortcomings of weighing the.
And drawbacks described above is directed to, can effectively be solved using depopulated helicopter, because depopulated helicopter can be real
Now hovering irradiation and hovering attack, also, relative to manned helicopter, depopulated helicopter is unmanned, Personal Safety is high, body
Product is smaller, is not easy to be detected, simple structure, cost-effective.
But prior art openly with carry weapon and can not examine dozen depopulated helicopter of one.
The content of the invention
In order to overcome above mentioned problem, present inventor has performed studying with keen determination, a kind of depopulated helicopter control system is designed
And its control method, so as to complete the present invention.
One aspect of the present invention provides a kind of depopulated helicopter control system, embodies in the following areas：
(1) the depopulated helicopter control system of laser guided weapon is carried, wherein, the system includes On-Board Subsystem 1
With ground subsystem 2, wherein, the On-Board Subsystem 1 include type onboard data link terminal 11, steady collimation device 12, fly control module
13rd, weapon module 14 and airborne task manager 15, wherein, weapon 143, the weapon are mounted with the weapon module 14
Including laser seeker 1431 and missile-borne computer 1432, the laser seeker 1431 includes laser pickoff 14311.
(2) system according to above-mentioned (1), wherein,
The type onboard data link terminal 11 is used to carry out information transfer with ground subsystem 2, and described information includes airborne son
Data message, image information and the ground subsystem 2 that system 1 is sent to ground subsystem 2 are sent to the finger of On-Board Subsystem 1
Make information；
The steady collimation device 12 is used to scanning for target under the control of ground subsystem 2, detect, identify, lock,
Tracking and positioning, and to objective emission laser；
The winged control module 13 is used for the flight for controlling depopulated helicopter；
The weapon module 14 is used to carry weapon, and is carried out after " igniting " instruction of the transmission of ground subsystem 2 is received
The transmitting of weapon；
The airborne task manager 15 is used to receive steady collimation device 12, flies the number that control module 13 and weapon module 14 are transmitted
It is believed that breath, row information of going forward side by side processing, are then sent to ground subsystem by type onboard data link terminal 11 by the information after processing
2, meanwhile, it is additionally operable to receive the command information that ground subsystem 2 is sent, and the distribution of command information is carried out, for surely taking aim at dress
Put 12, winged control module 13 and weapon module 14 is controlled；
The laser seeker 1431 is used to receive the irreflexive laser of target, to carry out target following and target lock-on；
The missile-borne computer 1432 is used to the state parameter of weapon 143 being transferred to airborne task manager 15, described
State includes the power-up state of laser seeker and the emission state of weapon.
(3) system according to above-mentioned (1) or (2), wherein, the weapon module 14 also includes the airborne He of hanger 141
Arm discharge cylinder 142, wherein, the airborne hanger 141 is used to connect depopulated helicopter and arm discharge cylinder 142；The weapon
Launching tube 142 is used to carry weapon 143.
(4) system according to one of above-mentioned (1) to (3), wherein after steady collimation device 12 positions to target, to mesh
Mark transmitting laser, laser diffusion occurs in target, produces diffusing reflection laser；
Preferably, after weapon 143 is launched, the laser pickoff 14311 in laser seeker 1431 receives diffusing reflection and swashed
Light, key instruction is formed, laser seeker 1431 is tracked strike to target.
(5) system according to one of above-mentioned (1) to (4), wherein, the airborne task manager 15 includes motherboard
151st, airborne integrated control panel 152 and weapon hair control plate 153；
Preferably, information forwarding module 1521, data extraction and packing are provided with the airborne integrated control panel 152
Module 1522 and instruction distribution module 1523；
It is highly preferred that being sent out in the weapon electric control module 1531 and ignition control module are provided with control plate 153
1532。
(6) system according to one of above-mentioned (1) to (5), wherein, the ground subsystem 2 includes ground data chain
Terminal 21, steady take aim at manipulate seat 22, fly control manipulation seat 23, weapon manipulation seat 24 and ground-based mission manager 25.
(7) system according to one of above-mentioned (1) to (6), wherein, it is comprehensive that the ground-based mission manager 25 includes ground
Control panel 251 is closed, data distribution module 2511 and instruction recombination module 2512 are provided with floor synthetic control panel 251.
Another aspect of the present invention provides a kind of depopulated helicopter control method, is embodied in the following aspects：
(8) control method of the depopulated helicopter with laser guided weapon, wherein, it the described method comprises the following steps：
Step 1, using steady collimation device 12 and it is steady take aim at manipulation seat 22 target scanned for, detect, identify, locked, with
Track and positioning, then, steady collimation device 12 is to objective emission laser；
Step 2, adjustment flight range, enable the laser pickoff 14311 of laser seeker 1431 to receive through target
Irreflexive laser, i.e. diffusing reflection laser；
Step 3, weapon manipulation seat 24 send " upper electricity " instruction, control electricity on laser seeker 1431；
Step 4, weapon manipulation seat 24 send " igniting " instruction, carry out target strike.
Brief description of the drawings
Fig. 1 shows the structural representation of the depopulated helicopter control system of the present invention with laser guided weapon；
Fig. 2 shows the structural representation of On-Board Subsystem of the present invention；
Fig. 3 shows the structural representation of ground subsystem of the present invention；
Fig. 4 shows the control method of the depopulated helicopter of the present invention with laser guided weapon.
Drawing reference numeral explanation：
1- On-Board Subsystems；11- type onboard data link terminals；The steady collimation devices of 12-；121- image recorders；122- visible rays
TV；123- video trackers；124- thermal infrared imagers；125- Laser Measurings shine device；126- servo controllers；127- photoelectricity management
Computer；13- flies control module；131- sense signals modules；132- flight control computers；133- executing agencies；14- weapon modules；
The airborne hangers of 141-；142- arm discharge cylinders；143- weapons；1431- laser seekers；14311- laser pickoffs；1432- bullets
Carry computer；The airborne task managers of 15-；151- motherboards；The airborne integrated control panels of 152-；1521- information forwarding modules；
1522- data are extracted and packetization module；1523- instructs distribution module；153- weapons hair control plate；The upper electric control modules of 1531-；
1532- ignition control module；2- ground subsystems；21- ground data chain terminals；22- surely takes aim at manipulation seat；23- flies control manipulation
Seat；24- weapons manipulate seat；25- ground-based mission managers；251- floor synthetic control panels；2511- data distribution modules；
2512- instruction recombination modules.
Embodiment
Below by accompanying drawing, the present invention is described in more detail.By these explanations, the features and advantages of the invention will
Become more apparent from clearly.
One aspect of the present invention provides the depopulated helicopter control system with laser guided weapon, as shown in figure 1, described
System includes On-Board Subsystem 1 and ground subsystem 2.
Wherein, the On-Board Subsystem 1 is arranged on depopulated helicopter, and the ground subsystem 2 is arranged on ground, its
The really ground observation and control station of On-Board Subsystem 1.
According to a kind of preferred embodiment of the present invention, as shown in figure 1, being provided with the On-Board Subsystem 1 airborne
Data-Link terminal 11, steady collimation device 12, fly control module 13, weapon module 14 and airborne task manager 15.
Wherein, the Data-Link terminal 11 is used to carry out information transfer with ground subsystem 2, and described information includes airborne son
Data message, image information and the ground subsystem 2 that system 1 is sent to ground subsystem 2 are sent to the finger of On-Board Subsystem 1
Make information；The steady collimation device 12 is used to scanning for target under the control of ground subsystem 2, detect, identify, lock,
Tracking and positioning, and after positioning to objective emission laser；The winged control module 13 is used for the flight for controlling depopulated helicopter；
The weapon module 14 is used to carry weapon, and the hair of weapon is carried out after " igniting " instruction of the transmission of ground subsystem 2 is received
Penetrate；The airborne task manager 15 is used to receive steady collimation device 12, flies to control the data letter that module 13 and weapon module 14 are transmitted
Breath, row information of going forward side by side processing, is then sent to ground subsystem 2, together by type onboard data link terminal 11 by the information after processing
When, be additionally operable to receive the command information that ground subsystem 2 is sent, and carry out the distribution of command information, realize to steady collimation device 12,
Fly the control of control module 13 and weapon module 14.
In further preferred embodiment, as shown in figure 1, the data message detected is passed through machine by steady collimation device 12
Carry task manager 15 and be transferred to type onboard data link terminal 11, the graphical information detected is transferred directly to airborne data link end
End 11；Fly control module 13 and the data message detected is transferred to type onboard data link terminal 11 by airborne task manager 15；
The data message detected is transferred to type onboard data link terminal 11 by weapon module 14 by airborne task manager 15.
Wherein, the data message that steady collimation device 12 transmits includes target range, azimuth, the angle of site, image recorder shape
State (working condition, transmission state, electrifying startup state, wait acknowledgement state, interface rate), depopulated helicopter attitude angle (are bowed
The elevation angle, yaw angle and roll angle) and depopulated helicopter position (longitude, latitude and height)；The number that the winged control module 13 is transmitted
It is believed that breath includes temporal information, the attitude angle of depopulated helicopter (angle of pitch, yaw angle and roll angle), the position of depopulated helicopter
(longitude, latitude and height), the east of the general speed of depopulated helicopter and depopulated helicopter, north, day component velocity；The weapon module
Whether the data message of transmission is for the state parameter information of guided missile, in particular in power up mode or ignition mode.
In the present invention, after depopulated helicopter takes off, steady collimation device 12 enters working condition at once, and target is searched
Rope, and the image information detected is transferred to ground subsystem 2 in real time, ground subsystem 2 controls steady collimation device 12 to mesh
Mark is detected, identified and locked, and after lock onto target, ground subsystem 2 controls steady collimation device 12 to be tracked target, laser
Ranging, data message is obtained, and in time by detected data information transfer to ground subsystem 2, the basis of ground subsystem 2
The information that steady collimation device 12 is sent sends command information to winged control module 13, the flight of depopulated helicopter is controlled, until target position
Within the detection range of weapon module 14, now, ground subsystem 2 sends " upper electricity " and instructed to airborne task manager 15,
Airborne task manager 15 receives instruction control laser seeker 1431 and carries out electricity, and by laser seeker 1431 " on
Electricity " state transfer to ground subsystem 2, after receiving " upper electricity " signal that airborne task manager 15 exports send out by ground subsystem 2
Go out " igniting " to instruct to airborne task manager 15, airborne task manager 15 receives the instruction and controls the igniting hair of weapon 143
Penetrate.
In the present invention, the depopulated helicopter can hang 100 kilograms or so of weight, wherein, the weapon module is up to 40
Kilogram or so, the steady collimation device is up to 30 kilograms or so.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 the steady collimation device 12 includes image recorder
121st, visual TV 122, video tracker 123, thermal infrared imager 124, Laser Measuring shine device 125, servo controller 126 and light
Fulgurite manages computer 127.
Wherein：
Described image recorder 121 is used to store the image letter that visual TV 122 and thermal infrared imager 124 detect
Breath；
The visual TV 122 is used to carry out picture catching, the visible images (image between steady collimation device 12 offer daytime
Information), wherein, when receiving zoom or focusing instruction, visual field does corresponding consecutive variations, and exports current focal length value for it；
Also, when ambient light changes, the time for exposure can continuously thickening, ensure real-time output image information, then image information is through light
Fulgurite reason computer 127 is recorded after compressing, meanwhile, exported by type onboard data link terminal 11 to ground subsystem 2；
The video tracker 123 is used to carry out target following, and manages real-time output tracking in computer 127 to photoelectricity
State parameter and target relative to the center of aiming azimuth angle deviation amount and pitch angle deviation amount, with realize target it is accurate with
Track；
For the thermal infrared imager 124 for scanning for, detecting and identifying to target under the conditions of round the clock, it has brightness
The functions such as regulation, contrast adjustment, dipole inversion, auto-focusing, nonuniformity correction, Electronic magnification and image enhaucament；
The Laser Measuring can launch the laser rays from depopulated helicopter to target according to device 125, and be measured by laser rays
Target range, azimuth and angle of site etc.；
The servo controller 126 is used for the motion for controlling steady collimation device 12, that is, controls its rotation, carry out 360 ° of target
Search, until searching target, the servo controller uses DSP Processor；
The photoelectricity management computer 127 is used to handle the information that steady collimation device 12 detects, and receives ground subsystem
The command information of transmission, each part of steady collimation device is adjusted or controlled according to the command information, described information includes
Data message and image information, wherein, the photoelectricity management computer uses powerpc processors.
In the present invention, the target range refers to the air line distance between depopulated helicopter and target；The azimuth
Refer to that top is overlooked, vector is 0, clockwise for just；The angle of site refer to azimuth be 0 ° when, be with horizontal forward
0, it is negative to come back just, to bow.
In further preferred embodiment, the steady collimation device 12 also includes Universal Power and connecting bracket, its
In, the Universal Power is used to realize Power convert, and the connecting bracket is used to carry out steady collimation device and depopulated helicopter
Connection.
Wherein, when depopulated helicopter starts, generator can temporary transient power down, therefore set Universal Power to steady collimation device
Restarted, wherein, Universal Power is served only for the moment of depopulated helicopter startup.
In embodiment still more preferably, the data message detected is transferred directly to by the steady collimation device 12
Airborne task manager 15, type onboard data link terminal 11 is sent to by airborne task manager；Meanwhile the steady collimation device 12 will
The image information detected is transferred directly to type onboard data link terminal 11.
Wherein, because the form of image information is larger, processing procedure can be made if being forwarded by task manager 15
Slack-off, therefore, only data message is forwarded to type onboard data link terminal 11 through task manager 15, and image information is then direct
Type onboard data link terminal 11 is transferred to, wherein, the data message includes target range, azimuth, the angle of site, image recorder
State, depopulated helicopter attitude angle (angle of pitch, yaw angle and roll angle) and depopulated helicopter position (longitude, latitude and height
Degree).
According to a kind of preferred embodiment of the present invention, from depopulated helicopter departure time, steady collimation device 12 is in
Working condition, and target search is carried out, and the image information detected in search procedure is transferred to ground subsystem in real time.
In further preferred embodiment, the image information that ground subsystem 2 is transmitted according to steady collimation device 12 controls
Steady collimation device 12 is scanned for target, detects, identified, and lock onto target.
In embodiment still more preferably, under the control of ground subsystem 2, steady collimation device 12 is carried out to target
After locking, the video tracker 123 in steady collimation device 12 is tracked to target until steady collimation device 12 can be carried out to target
Positioning.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 the winged control module 13 includes sense signals module
131st, flight control computer 132 and executing agency 133.
Wherein, the sense signals module 131 is used to measure the state of flight of depopulated helicopter, obtains flight ginseng
Number, the flight parameter include temporal information, the attitude angle of depopulated helicopter, the position of depopulated helicopter, depopulated helicopter
Ground velocity and velocity attitude, the velocity attitude refers to the direction where the speed of depopulated helicopter, because speed is vector；It is described
Flight control computer 132 is used to receive ground subsystem 2 and be sent to command information, and receive that sense signals module 131 measures flies
Row parameter, then：First, the flight parameter is exported to airborne task manager 15, second, according to flight parameter and instruction
Information is handled, and obtains performing control instruction, and the execution control instruction is exported to executing agency 133；The execution
Mechanism 133 is used for the state of flight for controlling depopulated helicopter.
Wherein, flight control computer is handled as follows：Current flight parameter is merged with command information, performed
Control instruction, wherein, it is that flight parameter is constantly updating because during depopulated helicopter moves ahead to carry out fusion, therefore, is needed
Current flight parameter is combined to obtain performing control instruction with command information.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 the weapon module 14 also includes airborne hanger
141st, arm discharge cylinder 142 and weapon 143, wherein, laser seeker 1431 and missile-borne computer are provided with weapon 143
1432。
In further preferably embodiment, laser pickoff 14311 is provided with laser seeker 1431.
Wherein, the airborne hanger 141 is used to connect depopulated helicopter and arm discharge cylinder 142, the arm discharge cylinder
142 are used to carry weapon 143, and the missile-borne computer 1432 is used to the state parameter of weapon 143 being transferred to airborne task pipe
Manage device 15.Wherein, the state parameter includes off working state parameter, " upper electricity " state parameter and " igniting " state parameter.Institute
State laser seeker 1431 to be used to guide weapon airbound target after arm discharge, carry out precision strike.In the present invention, it is described
Missile-borne computer uses DSP Processor.
Specifically, after steady collimation device 12 positions to target, to objective emission laser, laser occurs unrestrained at target
Reflect, generation diffusing reflection laser, after arm discharge, laser pickoff receives diffusing reflection laser, forms key instruction, and guiding is military
Device airbound target, the tracking to target is realized when target is hit, finally realizes precision strike.
Wherein, by flying the control of control module 13, weapon is made before transmission, unmanned helicopter flight to laser seeker can
The region of diffusing reflection laser is received, specifically, the image information that ground subsystem 2 is transmitted according to steady collimation device 12 resolve all
Member, obtain resolving information, and information transfer will be resolved to control module 13 is flown, control unmanned helicopter flight to laser seeker can
Receive the region of diffusing reflection laser.Then, ground subsystem 2 sends " upper electricity " instruction, airborne task manager 15 receive " on
Electricity " instruction, and control electricity, laser seeker 1431 on laser seeker 1431 to start shooting, then, ground subsystem 2 sends " point
To airborne task manager 15, weapon module 14 receives " igniting " that airborne task manager 15 forwards and instructed simultaneously for fire " instruction
Control weapon 143 carries out igniting transmitting, and weapon 143 goes out arm discharge cylinder 142, and during arm discharge, laser seeker connects
Diffusing reflection laser is received, key instruction is formed, airbound target, forms precision strike.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 the airborne task manager 15 includes motherboard
151st, airborne integrated control panel 152 and weapon hair control plate 153.
Wherein, the motherboard 151 is used to connect airborne integrated control panel 152 and weapon hair control plate 153, and electricity is provided for it
Source, data message and level controling signal；The airborne integrated control panel 152 is used for the processing of information, specifically, surely will take aim at dress
Put the data message of 12, winged control module 13 and the transmission of weapon module 14 and the image information of the transmission of weapon module 14 is transmitted to ground
Face system 2, and the data message transmitted to steady collimation device 12 and winged control module 13 is extracted and packed, and is then sent to force
Device module 14, meanwhile, for receiving the command information of the output of ground subsystem 2, and command information is distributed to respectively and surely takes aim at dress
Put 12, fly control module 13 and weapon module 14；The weapon generates the upper electricity and weapon that control plate 153 is used to control laser seeker
Igniting transmitting.
In further preferred embodiment, airborne integrated control panel 152 and weapon hair the control plate 153 is set and mother
On plate 151, and to be vertically arranged.
In embodiment still more preferably, the task manager 15 also includes transformer, ATR cabinets, air plug
Component and damper.
Wherein, the transformer is powered by airborne power supply, shift voltage level, for powering；The ATR cabinets use
Aviation ATR standards make；The air plug component is to include power input air plug and signal interaction air plug, wherein, the power supply is defeated
It is aviation plug special to enter air plug, for giving internal circuit components supply of electric power, the signal interaction air plug and steady collimation device
12nd, fly control module 13, weapon module 14 and type onboard data link terminal 11 and carry out signal interaction；The damper is used to adapt to nobody
The vibration environment of helicopter, reduce due to vibrating the influence to ATR cabinet insides element structure and electromagnetic environment.
According to a kind of preferred embodiment of the present invention, as shown in Fig. 2 being set on the airborne integrated control panel 152
There are information forwarding module 1521, data extraction and packetization module 1522 and instruction distribution module 1523.
Wherein, described information forwarding module 1521 is used to transmit steady collimation device 12, winged control module 13 and weapon module 14
Data message be transmitted to type onboard data link terminal 11, be then transferred to ground subsystem 2；The data extraction and packetization module
152 are used to the data message that steady collimation device 12 and winged control module 13 are transferred to airborne task manager 15 carrying out extracting section simultaneously
Packing, be then sent to weapon module 14, wherein, extract fly control module detection depopulated helicopter attitude angle and position and
The data messages such as the angle of site, azimuth and the target range of steady collimation device detection；The instruction distribution module 1523 is used for ground
The feedback command that face system 2 is sent is distributed, and is distributed to steady collimation device 12 respectively and is flown control module 13.
In further preferred embodiment, the information forwarding module 1521 in airborne task manager 15 surely will take aim at dress
Put the data message that 12, winged control module 13 and weapon module 14 transmit and be all transmitted to type onboard data link terminal 11, then transmit
To ground subsystem 2.
In embodiment still more preferably, data extraction and forwarding module 1522 in airborne task manager 15
The data message that steady collimation device 12 and winged control module 13 send airborne task manager 15 to is subjected to extracting section and packed, so
After export to weapon module 14.
Wherein, data extraction includes the height of steady collimation device 12 output with the data that forwarding module 1522 is extracted and packed
The data messages such as low angle, azimuth and target range, and fly attitude angle and the position of the depopulated helicopter that control module 13 exports
Deng data message.
According to a kind of preferred embodiment of the present invention, it is provided with as shown in Fig. 2 being sent out in the weapon on control plate 153
Electric control module 1531 and ignition control module 1532.
Wherein, the upper electric control module 1531 is used to receive " upper electricity " instruction that ground subsystem 2 is sent, and controls force
Laser seeker 1431 in device module 14 carries out electricity；The ignition control module 1532 is sent out for receiving ground subsystem 2
" igniting " instruction gone out, and control the weapon 143 in weapon module 14 to carry out igniting transmitting.
According to a kind of preferred embodiment of the present invention, On-Board Subsystem 1 also includes airborne power supply, wherein, airborne power supply
22~33V voltages (28V) are provided, introduced by air plug component, for the motherboard 151 in airborne task manager 15, airborne synthesis
Control panel 152 and weapon hair control plate 153 provide voltage.
According to a kind of preferred embodiment of the present invention, the ground subsystem 2 includes ground data chain terminal 21, surely taken aim at
Manipulate seat 22, fly control manipulation seat 23, weapon manipulation seat 24 and ground-based mission manager 25.
Wherein, the ground data chain terminal 21 is used to carry out information transfer with On-Board Subsystem 1, and described information includes machine
Subsystems 1 are sent to the data message of ground subsystem 2 and image information and ground subsystem 2 are sent to On-Board Subsystem
1 command information；The steady manipulation seat 22 of taking aim at is used to control steady collimation device 12, to realize search and tracking to target, together
When be used for carry out postwar assessment；The winged control manipulation seat 23, which is used to control, flies control module 13, and then controls depopulated helicopter
Flight；The weapon manipulation seat 24 is used to control weapon module 14, the upper electricity and weapon of major control laser seeker 1431
143 igniting transmitting；The ground-based mission manager 25 is used to handle the information that On-Board Subsystem 1 transmits, then distinguishes
Export and take aim at manipulation seat 22 to steady, fly control manipulation seat 23 and weapon manipulation seat 24, meanwhile, receive it is steady take aim at manipulation seat 22,
Fly the command information at control manipulation seat 23 and weapon manipulation seat 24, and command information is transmitted by ground data chain terminal 21
To On-Board Subsystem 1.
According to a kind of preferred embodiment of the present invention, as shown in Figure 1：Steady collimation device 12 leads to the data message detected
Cross airborne task manager 15 and type onboard data link terminal 11 is transferred to ground data chain terminal 21, while the image that will be detected
Information is directly transferred to ground data chain terminal 21 by type onboard data link terminal 11；Fly control module 13 to believe the data detected
Breath is transferred to ground data chain terminal 21 by airborne task manager 15 and type onboard data link terminal 11；Weapon module 14 will be examined
The data message measured is transferred to ground data chain terminal 21 by airborne task manager 15 and type onboard data link terminal 11.
In further preferred embodiment：As shown in figure 1, what ground data chain whole 21 detected steady collimation device 12
Image information is transferred directly to surely take aim at manipulation seat 22, is then transferred to weapon manipulation seat 24, carries out the resolving set of data；Ground number
Steady collimation device 12, winged control module 13 and weapon module 14 are detected that data message passes through ground-based mission manager according to chain terminal 21
25 are distributed to steady take aim at respectively manipulates seat 22, flies to control manipulation seat 23 and weapon manipulation seat 24.
In the present invention, On-Board Subsystem 1 and ground are carried out using type onboard data link terminal 11 and ground data chain terminal 21
Information transfer between face system 2, the type onboard data link terminal 11 and ground data chain terminal 21 can be realized at a distance
Transmission, specifically, more than 100km remote information transfer can be achieved, also, transmitting procedure is stable, ensure that information transfer
Promptness, and its security is good, wherein, described information includes data message, image information and command information.
According to a kind of preferred embodiment of the present invention, after depopulated helicopter takes off, steady collimation device 12 enters work at once
State, target is scanned for, and the image information searched is transferred to the steady of ground subsystem 2 in real time and takes aim at manipulation seat
22, surely take aim at information transmit according to steady collimation device 12 at manipulation seat 22 control steady collimation device 12 to carry out the detection of target, identify and
Locking, after lock onto target, steady collimation device 12 is tracked to target, while laser ranging, and in time obtain laser ranging
Data information transfer takes aim at manipulation seat 22 to the steady of ground subsystem 2, surely takes aim at manipulation seat 22 and controls steady collimation device 12 to target
Positioned, and to objective emission laser.
In further preferred embodiment, surely take aim at manipulation seat 22 and receive the image information that steady collimation device 12 detects
Afterwards, above- mentioned information is forwarded to weapon manipulation seat 22 in real time, wherein, target is positioned at steady manipulation seat 22 of taking aim at
Afterwards, the image information that weapon manipulation seat 22 is transmitted according to steady collimation device 12 carries out the resolving set of data, obtains resolving information, and will solution
The area of diffusing reflection laser can be received to laser seeker 1431 to control module 13, control unmanned helicopter flight is flown by calculating information transfer
Domain.
In embodiment still more preferably, unmanned helicopter flight to the cocoa of laser seeker 1431 receives unrestrained anti-
After penetrating the region of laser, weapon manipulation seat 24 sends " upper electricity " instruction, and is transferred to by ground-based mission manager 25 airborne
Task manager 15, airborne task manager 15 receive the laser seeker 1431 of control weapon module 14 after " upper electricity " instruction
Upper electricity.
Wherein, on laser seeker 1431 after electricity, its power-up state is passed sequentially through airborne task management by weapon module 14
Device 15, type onboard data link terminal 11, ground data chain terminal 21 and ground-based mission manager 25 are sent to weapon manipulation seat 24.
In embodiment still more preferably, weapon manipulation seat 24 receives the upper electric shape of laser seeker 1431
" igniting " instruction after state, is sent, the instruction is transferred to by airborne task manager 15 by ground-based mission manager 25, airborne
Control weapon 143 carries out igniting transmitting after business manager 15 receives the instruction, carries out strike.
According to a kind of preferred embodiment of the present invention, as shown in figure 3, the ground-based mission manager 25 is comprehensive including ground
Control panel 251 is closed, data distribution module 2511 and instruction recombination module 2512 are provided with floor synthetic control panel 251.
Wherein, the data distribution module 2511 is used to On-Board Subsystem 1 being transferred to by ground data chain terminal 21
The data message of ground-based mission manager 25 is distributed, and is distributed to steady take aim at respectively and is manipulated seat 22, flies the control manipulation and of seat 23
Weapon manipulates seat 24；The instruction recombination module 2512 is used to take aim at manipulation seat 22, winged control manipulation seat 23 and weapon by steady
The command information that manipulation seat 24 feeds back to ground-based mission manager 25 is recombinated, and is sent to type onboard data link terminal 11.
In further preferred embodiment, the ground-based mission manager 25 also includes ATR cabinets, transformer and boat
Connector assembly, wherein, the air plug component includes power input air plug and signal interaction air plug.
Wherein, the ATR cabinets are the military cabinet of air standard, made in strict accordance with national military standard is accurate, meet army of state environment
Adaptability requirement, structural support is provided for box house component；The transformer is used to adjust outside access voltage, is adapted to casing
Interior hardware circuit power supply requirement characteristic；The air plug component is to include power input air plug and signal interaction air plug, wherein, it is described
Power input air plug is aviation plug special, for giving internal circuit components supply of electric power, the signal interaction air plug with it is steady
Take aim at manipulation seat 22, winged control manipulation seat 23, weapon manipulation seat 24 and ground data chain terminal 21 and carry out signal interaction.
According to a kind of preferred embodiment of the present invention, steady take aim at is distributed to by ground-based mission manager 25 and manipulates seat 22
Data message includes the target range that steady collimation device 12 detects, azimuth, the angle of site, image recorder state, nobody goes straight up to
Machine attitude angle and depopulated helicopter position；The data message for flying to control manipulation seat 22 is distributed to by ground-based mission manager 25 to be included
Fly control module 13 detect temporal information, the attitude angle of depopulated helicopter, the position of depopulated helicopter, the ground of depopulated helicopter
The direction of speed and the speed of depopulated helicopter, the velocity attitude refers to the direction where the speed of depopulated helicopter, because fast
Degree is vector.；The data message that weapon manipulation seat 22 is distributed to by ground-based mission manager 25 detects for weapon module 14
Guided missile state parameter information, in particular to whether in power up mode or ignition mode.
In further preferred embodiment, surely take aim at manipulation seat 22, fly to control manipulation seat 23 and weapon manipulation seat
24 receive ground-based mission manager 25 distribution data message after respectively output order information, the command information is respectively to steady
Collimation device 12, winged control module 13 and weapon module 14 are controlled.
Another aspect of the present invention provides a kind of control method of depopulated helicopter, wherein, as shown in figure 4, methods described
Comprise the following steps：
Step 1, using steady collimation device 12 and it is steady take aim at manipulation seat 22 target scanned for, detect, identify, locked, with
Track and positioning, then steady collimation device 12 is to objective emission laser.
Wherein, after depopulated helicopter takes off, steady collimation device 12 enters working condition, and it is right in real time surely to take aim at manipulation seat 22
Steady collimation device 12 is controlled, and steady collimation device 12 is scanned for and position target.
According to a kind of preferred embodiment of the present invention, the step 1 includes following sub-step：
Step 1-1, target is scanned for using steady collimation device 12, and the image information detected in search procedure is passed
It is defeated by steady take aim at and manipulates seat 22；
Wherein, the image information that steady collimation device 12 detects is transferred directly to type onboard data link terminal 11；
Step 1-2, the steady image information transmitted according to steady collimation device 12 at manipulation seat 22 of taking aim at controls steady collimation device 12 to carry out
Detection, identification and the locking of target；
Step 1-3, after steady collimation device 12 is to target lock-on, surely takes aim at the manipulation steady collimation device 12 in seat 22 and target is tracked
And positioning, and the data message detected and image information are transferred to steady take aim at and manipulate seat 22；
Wherein, the data message is transferred to type onboard data link terminal 11, described image by airborne task manager 15
Information is transferred directly to type onboard data link terminal；After steady collimation device 12 positions to target, steady collimation device 12 launches laser,
The laser reaches target, and diffusing reflection occurs at target.
In step 1, surely take aim at manipulation seat 22 and the image information received is transferred to weapon manipulation seat 24 in real time；
In the present invention, steady collimation device 12 will detect that image information passes through type onboard data link terminal 11 and ground data chain
Terminal 21 is transferred to steady after taking aim at manipulation seat 22, surely takes aim at manipulation seat 22 and the image information received is transferred into weapon manipulation seat
Position 24.
Step 2, adjustment flight range, make laser seeker 1431 receive through the irreflexive laser of target, i.e. diffusing reflection
Laser.
According to a kind of preferred embodiment of the present invention, the step 2 includes following sub-step：
Step 2-1, weapon manipulation seat 24 carries out the resolving set of data to surely taking aim at the image information that manipulation seat 24 is sent, and obtains
Resolve information；
Step 2-2, information will be resolved and is transferred to ground-based mission manager 25 and ground data chain terminal 21 successively, then passed
It is defeated by airborne task manager 15；
Step 2-3, airborne task manager 15 will resolve information and export to winged control module 13, control unmanned helicopter flight
The region of diffusing reflection laser can be received to laser seeker.
Step 3, the upper electricity using the weapon manipulation control of seat 24 laser seeker 1431.
According to a kind of preferred embodiment of the present invention, step 3 includes following sub-step：
Step 3-1, after unmanned helicopter flight can receive the region of diffusing reflection laser to laser seeker 1431, weapon
Manipulation seat 24 sends " upper electricity " instruction；
Step 3-2, ground-based mission manager 25 receives " upper electricity " instruction, and is transferred to airborne task manager 15, airborne
Task manager 15 receives electricity on the laser seeker 1431 that weapon module 14 is controlled after " upper electricity " instructs；
Step 3-3, weapon module 14 by the power-up state parameter of laser seeker pass sequentially through airborne task manager 15,
Type onboard data link terminal 11, ground data chain terminal 21 and ground-based mission manager 25 are sent to weapon manipulation seat 24.
Step 4, weapon manipulation seat 24 send " igniting " instruction, carry out target strike.
Wherein, " igniting " instruction is sent after receiving the power-up state parameter of laser seeker at weapon manipulation seat 24,
The transmitting of weapon 143 is carried out, target is hit.
In the present invention, after arm discharge, laser seeker 1431 receives the irreflexive laser of target, the diffusing reflection
Laser form key instruction, weapon is realized tracking to target, accurately hit.
According to a kind of preferred embodiment of the present invention, step 5 is carried out after step 4：Step 5, carry out postwar assessment.
Wherein, after target strike, postwar assessment is carried out using steady manipulation seat 22 of taking aim at.
In further preferred embodiment, the step 5 includes following sub-step：
Step 5-1, steady collimation device 12 is shot to postwar environment, and the image information through shooting, which is transferred to, surely takes aim at manipulation seat
Position 22.
Step 5-2, steady manipulation seat 22 of taking aim at combines according to geometry assessment and simulation assessment and carries out postwar assessment.
Wherein, the geometry assesses the shape-change amount for referring to target, and the inside lines for referring to target is assessed in the simulation
Deformation quantity.
Step 5-3, analyzed through steady manipulation seat 22 of taking aim at, if strike is qualified, strike terminates, right if strike is unqualified
Target carries out second strike.
Wherein, the deformation of the improper outwardly and inwardly lines for referring to target of strike is smaller, that is, without just when hitting
Middle target may have occurred skew, therefore, it is necessary to carry out second strike.If strike is qualified, strike terminates, without second
Strike.
In the present invention, data message refers to telemetry intelligence (TELINT), i.e. information detected by On-Board Subsystem, the instruction letter
Breath refers to remote information, i.e., the information that ground subsystem is controlled to On-Board Subsystem.
Beneficial effect includes possessed by the present invention：
(1) weapon of system institute provided by the present invention carry uses laser guidance, attack precision height；
(2) system of the present invention integrates On-Board Subsystem and ground subsystem, and simple in construction, cost-effective；
(3) system provided by the present invention is to be based on depopulated helicopter, it has, and unmanned, personal safety performance is high,
Small volume, it is not easy to be detected, the irradiation that can hover, the attack that can hover, hangs the advantages that weight is high；
(4) system provided by the present invention can carry out battle reconnaissance, and target accurate pointing is positioned, fixed point irradiation, and
Using laser guidance, the precision strike to target can be realized；
(5) system of the present invention has that voyage is remote, the hang time is long, controllability is high, can in real time attack, be reusable
The features such as；
(6) the method for the invention is fought flexibly, efficiently, can be to the real-time Precise strike of maneuvering target.
In the description of the invention, it is necessary to the orientation of instruction such as explanation, term " on ", " under ", " interior " and " outer " or
Position relationship is based on the orientation or position relationship under working condition of the present invention, is for only for ease of the description present invention and simplification is retouched
State, rather than instruction or imply signified device or element there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
Above in association with preferred embodiment, the present invention is described, but these embodiments are only exemplary
, only play illustrative effect.On this basis, a variety of replacements and improvement can be carried out to the present invention, these each fall within this
In the protection domain of invention.
Claims (10)
1. the depopulated helicopter control system with laser guided weapon, it is characterised in that the system includes On-Board Subsystem
(1) and ground subsystem (2), wherein, type onboard data link terminal (11) is provided with the On-Board Subsystem (1), surely takes aim at dress
Put (12), fly control module (13), weapon module (14) and airborne task manager (15), wherein, in the weapon module (14)
On be mounted with weapon (143), the weapon (143) is provided with laser seeker (1431) and missile-borne computer (1432), institute
Stating laser seeker (1431) includes laser pickoff (14311).
2. system according to claim 1, it is characterised in that
The type onboard data link terminal (11) is used to carry out information transfer with ground subsystem (2), and described information includes airborne son
System (1) is sent to the data message of ground subsystem (2) and image information and ground subsystem (2) are sent to airborne subsystem
The command information of system (1)；
The steady collimation device (12) is used to scanning for target under the control of ground subsystem (2), detect, identify, lock,
Tracking and positioning, and after positioning to objective emission laser；
The winged control module (13) is used for the flight for controlling depopulated helicopter；
The weapon module (14) is used to carry weapon, and is carried out after " igniting " instruction of ground subsystem (2) transmission is received
The transmitting of weapon；
The airborne task manager (15) is used to receive steady collimation device (12), flies to control module (13) and weapon module (14) transmission
Data message, row information of going forward side by side processing, the information after processing is then sent to by ground by type onboard data link terminal (11)
Subsystem (2), meanwhile, it is additionally operable to receive the command information that ground subsystem (2) is sent, and the distribution of command information is carried out, use
It is controlled in steady collimation device (12), winged control module (13) and weapon module (14)；
The laser seeker (1431) is used to receive through the irreflexive laser of target, to carry out the strike to target；
The missile-borne computer (1432) is used to give the state transfer of weapon (143) to airborne task manager (15), the shape
State includes the power-up state of laser seeker and the emission state of weapon.
3. system according to claim 1 or 2, it is characterised in that the weapon module (14) also includes airborne hanger
(141) and arm discharge cylinder (142), wherein, the airborne hanger (141) is used to connect depopulated helicopter and arm discharge cylinder
(142)；The arm discharge cylinder (142) is used to carry weapon (143).
4. the system according to one of claims 1 to 3, it is characterised in that after steady collimation device (12) positions to target,
To objective emission laser, laser diffusion occurs in target, produces diffusing reflection laser；
Preferably, after weapon (143) transmitting, the laser pickoff (14311) in laser seeker (1431) receives diffusing reflection
Laser, key instruction is formed, laser seeker (1431) is tracked strike to target.
5. the system according to one of Claims 1-4, it is characterised in that the airborne task manager (15) includes mother
Plate (151), airborne integrated control panel (152) and weapon hair control plate (153), wherein,
The motherboard (151) is used to connect airborne integrated control panel (152) and weapon hair control plate (153), and power supply, number are provided for it
It is believed that breath and level controling signal；
The airborne integrated control panel (152) is used for steady collimation device (12), flies control module (13) and weapon module (14) transmission
Data message and the image information of weapon module (14) transmission be transmitted to ground subsystem (2), and to steady collimation device (12)
Extracted and packed with the data message of winged control module (13) transmission, be then sent to weapon module (14), meanwhile, for connecing
The command information of ground subsystem (2) output is received, and command information is distributed to steady collimation device (12) respectively, flies control module (13)
With weapon module (14)；
The igniting that the weapon generates upper electricity and weapon that control plate (153) is used to control laser seeker is launched；
Preferably, information forwarding module (1521), data extraction and packing are provided with the airborne integrated control panel (152)
Module (1522) and instruction distribution module (1523)；
It is highly preferred that being sent out in the weapon upper electric control module (1531) and ignition control module are provided with control plate (153)
(1532)。
6. the system according to one of claim 1 to 5, it is characterised in that the ground subsystem (2) includes ground data
Chain terminal (21), steady take aim at manipulate seat (22), fly control manipulation seat (23), weapon manipulation seat (24) and ground-based mission manager
(25), wherein,
The ground data chain terminal (21) is used to carry out information transfer with On-Board Subsystem (1), and described information includes airborne son
System (1) is sent to the data message of ground subsystem (2) and image information and ground subsystem (2) are sent to airborne subsystem
The command information of system (1)；
Steady take aim at manipulates seat (22) for controlling steady collimation device (12), to realize search and tracking to target, uses simultaneously
In progress postwar assessment；
Winged control manipulation seat (23) is used to send instruction to winged control module (13), and then controls the flight of depopulated helicopter；
Weapon manipulation seat (24) is used for the transmitting for the upper electricity and weapon (143) for controlling laser seeker (1431)；
The ground-based mission manager (25) is used to handle the information of On-Board Subsystem (1) transmission, and is distributed to and surely takes aim at
Manipulate seat (22), fly to control manipulation seat (23) and weapon manipulation seat (24), meanwhile, receive steady take aim at and manipulate seat (22), fly
Control manipulation seat (23) and the command information of weapon manipulation seat (24), and command information is passed through into ground data chain terminal (21)
It is transferred to On-Board Subsystem (1).
7. the system according to one of claim 1 to 6, it is characterised in that the ground-based mission manager (25) includes ground
Face integrated control panel (251), data distribution module (2511) and instruction recombination mould are provided with floor synthetic control panel (251)
Block (2512), wherein,
The data distribution module (2511) is used to On-Board Subsystem (1) being transferred to ground by ground data chain terminal (21)
The data message of task manager (25) is distributed to steady take aim at and manipulates seat (22), flies to control manipulation seat (23) and weapon manipulation respectively
Seat (24)；
The instruction recombination module (2512) is used to steady manipulation seat (22), winged control manipulation seat (23) and the weapon taken aim at manipulating seat
The command information that position (24) feeds back to ground-based mission manager (25) is recombinated, and is sent to type onboard data link terminal (11).
8. the control method of the depopulated helicopter with laser guided weapon, is preferably by described in one of claim 1 to 7
System, wherein, it the described method comprises the following steps：
Step 1, using steady collimation device (12) and it is steady take aim at manipulation seat (22) target scanned for, detect, identify, locked, with
Track and positioning, then, steady collimation device (12) is to objective emission laser；
Step 2, adjustment flight range, make the laser pickoff (14311) of laser seeker (1431) can receive through target
Irreflexive laser, i.e. diffusing reflection laser；
Step 3, weapon manipulation seat (24) send " upper electricity " instruction, control electricity on laser seeker (1431)；
Step 4, weapon manipulation seat (24) send " igniting " instruction, carry out target strike.
9. the method according to claim 11, wherein,
The step 1 includes following sub-step:
Step 1-1, target is scanned for using steady collimation device (12), and the image information detected in search procedure is transmitted
Manipulation seat (22) is taken aim to steady；
Step 1-2, surely taking aim at the image information that manipulation seat (22) is transmitted according to steady collimation device (12) controls steady collimation device (12) to enter
Detection, identification and the locking of row target；
Wherein, in step 1-2, produced after steady collimation device (12) lock onto target to objective emission laser, the laser in target
Raw diffusing reflection；
Step 1-3, after steady collimation device (12) is to target lock-on, surely takes aim at manipulation seat (22) and control steady collimation device (12) to enter target
Line trace and positioning；
Wherein, in step 1, surely take aim at manipulation seat (22) and the image information received is transferred to weapon manipulation seat in real time
(24)；
And/or
The step 2 includes following sub-step：
Step 2-1, weapon manipulation seat (24) carries out the resolving set of data to the steady image information for taking aim at manipulation seat (24) transmission, obtains
Resolve information；
Step 2-2, information will be resolved and is transferred to ground-based mission manager (25) and ground data chain terminal (21) successively, then passed
It is defeated by airborne task manager (15)；
Step 2-3, airborne task manager (15) will resolve information and export to winged control module (13), control unmanned helicopter flight
The region of diffusing reflection laser can be received to laser seeker (1431)；
And/or
The step 3 includes following sub-step：
Step 3-1, after unmanned helicopter flight can receive the region of diffusing reflection laser to laser seeker (1431), weapon manipulation
Seat (24) sends " upper electricity " instruction；
Step 3-2, ground-based mission manager (25) receives " upper electricity " instruction, and is transferred to airborne task manager (15), airborne
Task manager (15) controls electricity on laser seeker (1431) after receiving " upper electricity " instruction；
Step 3-3, weapon module (14) by the power-up state parameter of laser seeker pass sequentially through airborne task manager (15),
Type onboard data link terminal (11), ground data chain terminal (21) and ground-based mission manager (25) are sent to weapon manipulation seat
(24)。
10. method according to claim 8 or claim 9, wherein, step 5 is carried out after step 4：
Step 5, carry out postwar assessment；
Preferably, the step 5 includes following sub-step：
Step 5-1, steady collimation device (12) shoots to postwar environment, and the image information through shooting is transferred to steady take aim at and manipulates seat
(22)；
Step 5-2, surely take aim at manipulation seat (22) and postwar assessment is carried out according to geometry assessment and simulation assessment combination；
Step 5-3, manipulation seat (22) analysis is taken aim at through steady, if strike is qualified, strike terminates, if strike is unqualified, to mesh
Mark carries out second strike.
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| CN110645834A (en) * | 2019-08-29 | 2020-01-03 | 北京宏大和创防务技术研究院有限公司 | Intelligent wushu ware station control system |
| CN111385082A (en) * | 2020-03-23 | 2020-07-07 | 北京中科众为技术有限公司 | Missile-borne data chain system and missile provided with data chain system |
| CN111385082B (en) * | 2020-03-23 | 2024-02-23 | 北京中科众为技术有限公司 | Missile-borne data link system and missile provided with same |
| CN111781955A (en) * | 2020-06-15 | 2020-10-16 | 北京理工大学 | Aircraft laser guidance control system and method provided with piloting helicopter |
| CN111781955B (en) * | 2020-06-15 | 2022-02-15 | 北京理工大学 | Aircraft laser guidance control system and method provided with piloting helicopter |
| CN113608467A (en) * | 2021-07-29 | 2021-11-05 | 西安超越申泰信息科技有限公司 | Unmanned aerial vehicle machine carries task manager realization device |
| CN114485267A (en) * | 2021-12-30 | 2022-05-13 | 北京理工大学 | Emission and photoelectric cooperative control method |
| CN114485267B (en) * | 2021-12-30 | 2023-06-09 | 北京理工大学 | Emission and photoelectric cooperative control method |
| CN114199076A (en) * | 2021-12-30 | 2022-03-18 | 西安深瞳智控技术有限公司 | Unmanned aerial vehicle photoelectric sight stabilizing system based on target detection and tracking |
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