CN109029126B - Intelligent full-automatic weapon station - Google Patents
Intelligent full-automatic weapon station Download PDFInfo
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- CN109029126B CN109029126B CN201811062163.7A CN201811062163A CN109029126B CN 109029126 B CN109029126 B CN 109029126B CN 201811062163 A CN201811062163 A CN 201811062163A CN 109029126 B CN109029126 B CN 109029126B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H13/00—Means of attack or defence not otherwise provided for
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Abstract
The invention relates to an intelligent full-automatic weapon station, which comprises a firepower detection unit, a firepower control unit and a firepower execution unit, wherein the firepower detection unit is used for detecting firepower; the firepower detection unit is used for detecting and searching firepower hitting target information, the firepower control unit generates firepower control instructions according to detection results of the firepower detection unit, and the firepower execution unit realizes automatic ammunition filling, aiming and hitting of hitting targets according to the firepower control instructions; the firepower detection unit obtains firepower hitting target information through unmanned aerial vehicle aerial detection, ground photoelectric search and a C4ISR system data chain. The invention has high automation and intelligence degree, can automatically search and lock the target according to various sensing systems, and can meet the requirement of quick, accurate, efficient and intelligent front-edge support.
Description
Technical Field
The patent relates to the technical field of control, especially, relate to a full-automatic weapon station of intelligence.
Background
At present, weapon stations are composed of firearms, servos, photoelectric search devices, etc., making it possible to fire targets in a relatively safe manner. However, with the development of modern technology, the traditional weapon station can not meet the requirements, does not form a data chain with other systems, lacks an efficient detection means, and still manually completes a series of operations such as aiming and shooting.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide an intelligent fully-automatic weapon station, which solves the problems of low intelligent automation degree, weak combined combat efficiency, incomplete investigation means, poor precision and high operation requirement of the existing weapon station.
The purpose of the invention is mainly realized by the following technical scheme:
an intelligent full-automatic weapon station comprises a firepower detection unit, a firepower control unit and a firepower execution unit;
the firepower detecting unit is used for detecting and searching firepower hitting target information and sending a detecting result to the firepower control unit;
the firepower control unit generates firepower control instructions according to detection results of the firepower detection unit and sends the firepower control instructions to the firepower execution unit;
the fire execution unit realizes automatic ammunition filling, aiming and striking on a striking target according to a fire control instruction;
the firepower detection unit obtains firepower hitting target information through unmanned aerial vehicle aerial detection, ground photoelectric search and a C4ISR system data chain.
Further, the fire detection unit comprises an unmanned aerial vehicle and an air-to-air data link receiving module;
the unmanned aerial vehicle carries a photoelectric searching device and a ground data chain sending module; the system is used for cruising above a hitting target area, reconnaissance and search of a target in the hitting area through a carried photoelectric searching device, and after the target is searched and tracked and positioned to determine target information, the target information is sent to a sky-to-earth data chain receiving module arranged on the ground through a ground-to-earth data chain sending module;
the air-to-ground data chain receiving module is used for establishing a data link with a ground-to-ground data chain sending module carried by the unmanned aerial vehicle and receiving target information issued by the unmanned aerial vehicle; and transmits the received target information to the fire control unit.
Through unmanned aerial vehicle aviation cruise search, enlarged the scope of scouting the search, make the weapon storehouse grasp the regional target condition of battlefield better.
Further, the fire detection unit further comprises a C4ISR system data link receiving module, configured to establish a data link with the C4ISR system, receive target information detected by another system and sent by the C4ISR system, and send the received target information to the fire control unit.
By incorporating the weapon library into a unified combat system with the C4ISR system, the maximization of the combat efficiency of the weapon library is realized.
Further, the fire detection unit further comprises a ground photoelectric search module; the system is used for carrying out photoelectric search on an area in a visual range to obtain target information and sending the searched target information to the fire power control unit.
Further, the fire control unit comprises a target selection module, a positioning and orientation module and a fire control module;
the target selection module performs data fusion on target information discovered by the unmanned aerial vehicle, the target information received by the C4ISR system data chain receiving module and the target information searched by the ground photoelectric search module, and after the priority of hitting targets is selected, the target data is sent to the fire control module according to a priority hitting sequence;
the positioning and orientation module is used for positioning and orienting the weapon station and providing the position, course and attitude information of the weapon station to the fire force control module;
the fire control module performs fire output calculation according to the target information sent by the target selection module and the position, course and posture information of the weapon station provided by the positioning and orienting module to obtain fire control data including the position of a sighting line striking the target and binding firing data and outputs the fire control data to the fire execution unit.
Further, the method for data fusion in the target selection module comprises the following steps:
if the C4ISR system data link receiving module, the unmanned aerial vehicle and the ground photoelectric searching module all contain the position information of the same target, and the mutual position information has errors, the position information of the ground photoelectric searching module is used as a standard;
if the C4ISR system data link receiving module detects that the unmanned aerial vehicle contains the position information of the same target and the mutual position information has errors, the position information sent by the unmanned aerial vehicle is taken as the standard;
if unmanned aerial vehicle and ground photoelectricity search module contain the positional information of the same target, and when mutual positional information has the error, use the positional information of ground photoelectricity search module as the standard.
Further, the method for determining the priority of the hit target selected by the target selection module comprises the following steps:
judging whether a target priority striking sequence sent by a commander exists in target information sent by a C4ISR system received by the C4ISR system data link receiving module;
if yes, determining the priority of the striking target according to the requirement of a commander;
if not, according to the information including the target type and the position contained in the target information, the priority striking sequence is determined according to the target type and the position information which are preferentially combined, or the priority striking sequence is determined according to the target position and the target type information which are preferentially combined.
Further, if the target with the attack capability is included in the attack target types, the prior attack order is determined according to the attack range and the damage capability of the target and the position information.
Further, the fire power execution unit comprises a servo device, an automatic ammunition feeding device and a gun body;
the gun body and the automatic ammunition feeding device are both arranged on the servo device;
the automatic ammunition feeding device and the cannon body are matched under the control of the servo device to realize automatic loading and continuous launching of the cannonball;
the servo device controls the automatic ammunition feeding device to provide corresponding ammunition according to the bound shooting data output by the fire control module; receiving the position of the aiming line output by the fire force control module to control the gun body to automatically finish the aiming action and track and lock the target; and shooting the cannonball according to the shooting instruction.
Furthermore, the automatic ammunition feeding device, the gun body and the servo device are matched to realize automatic loading and continuous launching of the ammunition, after the gun body finishes the shooting of the ammunition and launches the ammunition out of the gun barrel, the automatic ammunition feeding device automatically loads ammunition into the gun body, the servo device executes the aiming actions in the horizontal direction and the vertical direction of the axis of the gun barrel, and the shooting point of the gun barrel is changed through the aiming actions to enable the gun barrel to hit the target.
The invention has the following beneficial effects:
the weapon station has high automation and intelligence degree, can automatically search and lock targets according to various sensing systems, can adapt to a combined combat command system in a battlefield in a new period, and can meet the requirement of rapid, accurate, efficient and intelligent frontier fire support of troops.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic diagram of a weapon station component connection according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The invention discloses an intelligent full-automatic weapon station, which comprises a firepower detection unit, a firepower control unit and a firepower execution unit, as shown in figure 1;
the firepower detecting unit is used for detecting and searching firepower hitting target information and sending a detecting result to the firepower control unit;
the firepower control unit generates firepower control instructions according to detection results of the firepower detection unit and sends the firepower control instructions to the firepower execution unit;
the fire execution unit realizes automatic ammunition filling, aiming and striking on a striking target according to a fire control instruction;
the firepower detection unit obtains firepower hitting target information through unmanned aerial vehicle aerial detection, ground photoelectric search and a C4ISR system data chain.
Furthermore, the firepower detecting unit comprises an unmanned aerial vehicle detecting system, a C4ISR system data link receiving module and a ground photoelectric searching module, and the firepower detecting unit respectively obtains striking target information and sends the striking target information to the firepower control unit.
Specifically, the unmanned aerial vehicle detection system comprises an unmanned aerial vehicle and an air-to-air data link receiving module arranged on the ground;
the unmanned aerial vehicle carries a photoelectric searching device and a ground data chain sending module; the system is used for cruising above a hitting target area, reconnaissance and search of a target in the hitting area through a carried photoelectric searching device, and after the target is searched and tracked and positioned to determine target information, the target information is sent to a sky-to-earth data chain receiving module arranged on the ground through a ground-to-earth data chain sending module;
the air-to-ground data chain receiving module is used for establishing a data link with a ground-to-ground data chain sending module carried by the unmanned aerial vehicle and receiving target information issued by the unmanned aerial vehicle; and transmits the received target information to the fire control unit.
Through unmanned aerial vehicle aviation cruise search, enlarged the scope of scouting the search, make the weapon storehouse grasp the regional target condition of battlefield better.
Specifically, the C4ISR system data link receiving module is configured to establish a data link with the C4ISR system, receive target information sent by the C4ISR system and detected by another system, and send the received target information to the fire control unit.
By incorporating the weapon library into a unified combat system with the C4ISR system, the maximization of the combat efficiency of the weapon library is realized.
Specifically, a ground photoelectric search module; the system is used for carrying out photoelectric search on an area in a visual range to obtain target information and sending the searched target information to the fire power control unit.
Further, the fire control unit comprises a target selection module, a positioning and orientation module and a fire control module;
the target selection module performs data fusion on target information discovered by the unmanned aerial vehicle, the target information received by the C4ISR system data chain receiving module and the target information searched by the ground photoelectric search module, and after the priority of hitting targets is selected, the target data is sent to the fire control module according to a priority hitting sequence;
the positioning and orientation module is used for positioning and orienting the weapon station and providing the position, course and attitude information of the weapon station to the fire force control module;
optionally, the positioning and orientation module adopts a dual-antenna satellite direction finding + INS positioning mode, and includes a dual-antenna direction finding module, an INS assembly and a processing module group;
the double-antenna direction-finding module comprises a master/slave satellite receiving antenna and a baseband signal processing board;
the INS assembly comprises a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer and a barometer;
the dual-antenna direction finding module receives GPS, Beidou and GLONAS satellite signals through a master/slave satellite receiving antenna, a baseband signal processing board transmits processed information to the processing module, a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer and a barometer of the INS assembly output information such as three-axis angular velocity, three-axis acceleration, three-axis magnetic field intensity and the barometer to the processing module, and the processing module integrates the acquired information, resolves output position, course and attitude information and outputs the information to the fire control module.
Specifically, the fire control module performs fire output calculation according to target information sent by the target selection module and position, course and posture information of the weapon station provided by the positioning and orienting module, obtains fire control data including a position of a sight line striking a target and binding firing data, and outputs the fire control data to the fire execution unit.
Specifically, the method for data fusion in the target selection module includes:
if the C4ISR system data link receiving module, the unmanned aerial vehicle and the ground photoelectric searching module all contain the position information of the same target, and the mutual position information has errors, the position information of the ground photoelectric searching module is used as a standard;
if the C4ISR system data link receiving module detects that the unmanned aerial vehicle contains the position information of the same target and the mutual position information has errors, the position information sent by the unmanned aerial vehicle is taken as the standard;
if unmanned aerial vehicle and ground photoelectricity search module contain the positional information of the same target, and when mutual positional information has the error, use the positional information of ground photoelectricity search module as the standard.
Because the data link receiving module of the C4ISR system, the unmanned aerial vehicle and the ground photoelectric searching module are adopted, and in the three firepower detecting methods, the ground photoelectric searching module directly detects the target although the detecting distance is the closest, the possibility of receiving interference is the minimum, and the target detected by the ground photoelectric searching module is used as the standard when the three firepower detecting methods detect the target;
unmanned aerial vehicle detection is an indirect detection method, the detection distance is obviously wider than the detection range of a ground photoelectric search module, and the coverage area is large;
compared with target information received by a data chain receiving module of a C4ISR system, the unmanned aerial vehicle detection is more reliable in target position determination due to fewer forwarding levels and more direct although the target information is an indirect detection method, and the target information is detected by the unmanned aerial vehicle.
Specifically, the method for determining the priority of the hit target selected by the target selection module includes:
judging whether a target priority striking sequence sent by a commander exists in target information sent by a C4ISR system received by the C4ISR system data link receiving module;
if yes, determining the priority of the striking target according to the requirement of a commander;
if not, according to the information including the target type and the position contained in the target information, the priority striking sequence is determined according to the target type and the position information which are preferentially combined, or the priority striking sequence is determined according to the target position and the target type information which are preferentially combined.
As a ring of battlefield comprehensive striking force, the weapon station is subject to the unified command of a commander, so that a target is struck by installing a target priority striking sequence sent by a C4ISR system; when the striking target is selected by self, if the target type has larger benefit on the striking effect, the priority striking sequence is determined according to the target type and the position information; and if the difference of the target type on the benefits of the striking effect is not large, determining the prior striking sequence according to the target position and the target type information.
Specifically, if the target with the attack capability is included in the attack target types, the prior attack order is determined according to the attack range and the damage capability of the target and the position information.
The target with relatively large threat to the weapon station is determined to be struck preferentially according to the striking range and the damage capability of the target and the position information, so that the enemy target is prevented from striking the target.
Further, the fire power execution unit comprises a servo device, an automatic ammunition feeding device and a gun body;
the gun body and the automatic ammunition feeding device are both arranged on the servo device;
the automatic ammunition feeding device and the cannon body are matched under the control of the servo device to realize automatic loading and continuous launching of the cannonball;
the servo device controls the automatic ammunition feeding device to provide corresponding ammunition according to the bound shooting data output by the fire control module; receiving the position of the aiming line output by the fire force control module to control the gun body to automatically finish the aiming action and track and lock the target; and shooting the cannonball according to the shooting instruction.
Furthermore, the automatic ammunition feeding device, the gun body and the servo device are matched to realize automatic loading and continuous launching of the ammunition, after the gun body finishes the shooting of the ammunition and launches the ammunition out of the gun barrel, the automatic ammunition feeding device automatically loads ammunition into the gun body, the servo device executes the aiming actions in the horizontal direction and the vertical direction of the axis of the gun barrel, and the shooting point of the gun barrel is changed through the aiming actions to enable the gun barrel to hit the target.
The weapon station of this embodiment also includes a power module that provides power to the entire weapon station.
In summary, the intelligent full-automatic weapon station disclosed by the embodiment of the invention has high automation and intelligence degree, can automatically search and lock targets according to various sensing systems, can adapt to a combined combat command system in a new battlefield period, and can meet the requirement of rapid, accurate, efficient and intelligent frontier fire support of troops.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. An intelligent full-automatic weapon station is characterized by comprising a firepower detection unit, a firepower control unit and a firepower execution unit;
the firepower detecting unit is used for detecting and searching firepower hitting target information and sending a detecting result to the firepower control unit;
the firepower control unit generates firepower control instructions according to detection results of the firepower detection unit and sends the firepower control instructions to the firepower execution unit;
the fire execution unit realizes automatic ammunition filling, aiming and striking on a striking target according to a fire control instruction;
the firepower detection unit obtains firepower hitting target information through unmanned aerial vehicle aerial detection, ground photoelectric search and a C4ISR system data chain;
the fire control unit comprises a target selection module, a positioning and orienting module and a fire control module;
the target selection module performs data fusion on target information discovered by the unmanned aerial vehicle, the target information received by the C4ISR system data chain receiving module and the target information searched by the ground photoelectric search module, and after the priority of hitting targets is selected, the target data is sent to the fire control module according to a priority hitting sequence;
the positioning and orientation module is used for positioning and orienting the weapon station and providing the position, course and attitude information of the weapon station to the fire force control module;
the fire control module performs fire output calculation according to target information sent by the target selection module and position, course and posture information of a weapon station provided by the positioning and orienting module to obtain fire control data including aiming line positions of hitting targets and binding firing data and outputs the fire control data to the fire execution unit;
the method for fusing data in the target selection module comprises the following steps:
if the C4ISR system data link receiving module, the unmanned aerial vehicle and the ground photoelectric searching module all contain the position information of the same target, and the mutual position information has errors, the position information of the ground photoelectric searching module is used as a standard;
if the C4ISR system data link receiving module detects that the unmanned aerial vehicle contains the position information of the same target and the mutual position information has errors, the position information sent by the unmanned aerial vehicle is taken as the standard;
if unmanned aerial vehicle and ground photoelectricity search module contain the positional information of the same target, and when mutual positional information has the error, use the positional information of ground photoelectricity search module as the standard.
2. The intelligent fully-automatic weapon station of claim 1, wherein said fire detection unit comprises an unmanned aerial vehicle and an air-to-air data link receiving module;
the unmanned aerial vehicle carries a photoelectric searching device and a ground data chain sending module; the system is used for cruising above a hitting target area, reconnaissance and search of a target in the hitting area through a carried photoelectric searching device, and after the target is searched and tracked and positioned to determine target information, the target information is sent to a sky-to-earth data chain receiving module arranged on the ground through a ground-to-earth data chain sending module;
the air-to-ground data chain receiving module is used for establishing a data link with a ground-to-ground data chain sending module carried by the unmanned aerial vehicle and receiving target information issued by the unmanned aerial vehicle; and transmits the received target information to the fire control unit.
3. The intelligent automatic weapon station of claim 1, wherein the fire detection unit further comprises a C4ISR system data link receiving module for establishing a data link with the C4ISR system, receiving target information detected by other systems transmitted by the C4ISR system, and transmitting the received target information to the fire control unit.
4. The intelligent fully automatic weapon station of claim 1, wherein said fire detection unit further comprises a ground photoelectric search module; the system is used for carrying out photoelectric search on an area in a visual range to obtain target information and sending the searched target information to the fire power control unit.
5. The intelligent fully-automatic weapon station of claim 1, wherein the determination method for selecting hit target priority by the target selection module comprises:
judging whether a target priority striking sequence sent by a commander exists in target information sent by a C4ISR system received by the C4ISR system data link receiving module;
if yes, determining the priority of the striking target according to the requirement of a commander;
if not, according to the information including the target type and the position contained in the target information, the priority striking sequence is determined according to the target type and the position information which are preferentially combined, or the priority striking sequence is determined according to the target position and the target type information which are preferentially combined.
6. The intelligent full-automatic weapon station of claim 5, wherein if the target type includes a target with attack capability, the prior striking sequence is determined according to the striking range and damage capability of the target and the position information.
7. The intelligent fully automatic weapon station of claim 1, wherein said fire execution unit comprises a servo device, an automatic ammunition feed device and a gun body;
the gun body and the automatic ammunition feeding device are both arranged on the servo device;
the automatic ammunition feeding device and the cannon body are matched under the control of the servo device to realize automatic loading and continuous launching of the cannonball;
the servo device controls the automatic ammunition feeding device to provide corresponding ammunition according to the bound shooting data output by the fire control module; receiving the position of the aiming line output by the fire force control module to control the gun body to automatically finish the aiming action and track and lock the target; and shooting the cannonball according to the shooting instruction.
8. The intelligent automatic weapon station of claim 7, wherein the automatic ammunition feeding device, the gun body and the servo device are matched to realize automatic loading and continuous launching of the cannonball, the automatic ammunition feeding device automatically loads ammunition into the gun body after the gun body finishes shooting the cannonball and launches the cannonball out of the barrel, and the servo device executes aiming motions of the axis of the gun body tube in the horizontal direction and the vertical direction, and the shooting point of the cannonball is changed through the aiming motions to hit a target.
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| CN111561840A (en) * | 2020-05-08 | 2020-08-21 | 北京壮龙无人机科技有限公司 | Ground attack method and system based on unmanned aerial vehicle investigation |
| CN114427803A (en) * | 2021-12-24 | 2022-05-03 | 湖南金翎箭信息技术有限公司 | Anti-frog grenade positioning control system and control method |
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