CN113282099B - Graphical representation method for bomb launching sector angle condition satisfaction condition of low-speed unmanned aerial vehicle - Google Patents
Graphical representation method for bomb launching sector angle condition satisfaction condition of low-speed unmanned aerial vehicle Download PDFInfo
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Abstract
A graphical representation method for meeting the condition of a bomb launching sector angle of a low-speed unmanned aerial vehicle can visually represent the influence of the bomb launching sector angle on the bomb launching of an air wind field when the low-speed unmanned aerial vehicle launches bombs, can rapidly plan bomb attack tasks under different application scenes, and improves the flexibility and the timeliness of the low-speed unmanned aerial vehicle when executing a bomb attack task, so that the use energy efficiency of the bombs is improved to the maximum extent, a weapon manipulator of the unmanned aerial vehicle can be assisted to complete the bomb attack task under the crosswind condition, and the use condition of the bombs on the low-speed unmanned aerial vehicle is widened.
Description
Technical Field
The invention relates to a graphical representation method for the condition that the bomb feeding sector angle condition of a low-speed unmanned aerial vehicle meets, and belongs to the technical field of target striking in the unmanned aerial vehicle technology.
Background
At present, the types of airborne bombs of unmanned aerial vehicles at home and abroad are more, and conventional aviation bombs, GPS type guided bombs, laser type guided bombs and other guided type bombs exist. Because unmanned aerial vehicle is low in flying speed, high altitude wind has a great influence on the flight attitude of unmanned aerial vehicle, and most of unmanned aerial vehicle airborne bombs do not have a power device. Consequently, when low-speed unmanned aerial vehicle thrown in the bomb, receive aerial crosswind's influence easily and lead to the drift angle great and then influence the bomb and throw in the sector angle condition. Conventionally, the bomb attack path of the unmanned aerial vehicle is designed according to the downwind or upwind direction and points to the direction of a target to be hit, so that the throwing sector angle of the bomb is as small as possible. The method has the disadvantages that the designed attack route inlet is possibly far away from the current position of the unmanned aerial vehicle, the unmanned aerial vehicle needs to fly for a long time to complete the striking task, and the flexibility and the timeliness of the unmanned aerial vehicle when executing the bomb striking task are low.
With the optimization of the pneumatic appearance of the guided bomb and the development of a navigation control algorithm, the allowable sector angle range is gradually enlarged when the guided bomb is thrown in. In addition, conventional aviation bombs often employ low resistance profiles that also allow for delivery within a range of fan angles. When the low-speed unmanned aerial vehicle executes a bomb striking task, the bomb can be thrown in under the conditions of certain air crosswind environment and large sector angle meeting throwing requirements. At this time, if the drone still performs bomb blast operation according to the downwind or headwind attack route, the flexibility and effectiveness will be reduced. Therefore, in order to meet the fan angle condition when the low-speed unmanned aerial vehicle puts in the bomb and complete the bomb attack mission as quickly and flexibly as possible, a method capable of quickly completing the bomb attack mission planning of the low-speed unmanned aerial vehicle under a certain crosswind condition needs to be researched.
Disclosure of Invention
The invention solves the technical problems that: aiming at the problem that the flexibility and the effectiveness of the bomb striking operation of the unmanned aerial vehicle according to the downwind or upwind attack route are low in the prior art, the graphical representation method of the low-speed unmanned aerial vehicle for the condition that the bomb throwing sector angle condition is met is provided.
The technical problem to be solved by the invention is realized by the following technical scheme:
a graphical representation method for the condition that the bomb launching sector angle condition of a low-speed unmanned aerial vehicle meets comprises the following steps:
(1) Calculating the maximum side wind component allowed when the low-speed unmanned aerial vehicle throws the bomb according to the flight speed of the low-speed unmanned aerial vehicle and the maximum throwing sector angle of the bomb;
(2) Determining the maximum high-altitude wind speed limit allowed when the low-speed unmanned aerial vehicle executes a bomb shooting task according to the maximum high-altitude wind speed limit of bomb off-orbit flight and the maximum high-altitude wind speed limit of low-speed unmanned aerial vehicle flight;
(3) Drawing a rainbow ring capable of representing all information according to bomb attack route, maximum high altitude wind speed limit and bomb throwing sector angle information;
(4) Calculating bomb throwing parameters meeting the bomb throwing sector angle condition according to the rainbow ring obtained in the step (3);
(5) And (5) utilizing the bomb launching parameters obtained in the step (4) to carry out bomb attack mission planning.
In the step (4), the bomb disposal parameters include:
under the condition that the direction of a bomb attack airway is determined, the air wind field requirement of the bomb throwing sector angle condition is met when a bomb attack task is carried out;
under the condition that the direction range of a bomb attack airway is determined, the air wind field requirement of a bomb throwing sector angle condition is met when a bomb striking task is carried out;
when the bomb needs to be thrown under all air wind field conditions, the bomb attack route direction range meeting the bomb throwing fan angle condition is met;
the bomb throwing sector angle is an included angle between a projection of a connecting line between the low-speed unmanned aerial vehicle and a bomb striking target on a horizontal plane and a projection of a longitudinal axis of a low-speed unmanned aerial vehicle body on the horizontal plane.
In the step (1), the maximum side wind component V allowed when the low-speed unmanned aerial vehicle puts in the bomb WMBRx The calculation method specifically comprises the following steps:
V WMBRx ＝V UAV sinθ Max
in the formula, the flight speed of the low-speed unmanned aerial vehicle is cruise airspeed V UAV The maximum throwing sector angle of the bomb is theta Max 。
In the step (2), the maximum high altitude wind speed V allowed by the low-speed unmanned aerial vehicle when the low-speed unmanned aerial vehicle executes the bomb striking task WM The calculation method specifically comprises the following steps:
V WM ＝min{V WMB ,V WMU }
in the formula, V WMB Maximum high altitude wind speed limit for bomb off-orbit flight, V WMU The maximum high-altitude wind speed limit for the low-speed unmanned aerial vehicle, namely the requirement of bomb off-track flight and unmanned aerial vehicle flight on the high-altitude wind speed is met when the low-speed unmanned aerial vehicle executes a bomb striking task.
In the rainbow ring, U represents unmanned aerial vehicle, T represents target and vector
Express the ground speed and vector of the unmanned plane
Express unmanned aerial vehicle cruising airspeed, vector
Indicating high altitude wind speed V WS O is the center of the rainbow ring, L1 represents the attack route to the target, and the radius is R Min The circle of (b) is used to indicate the limit of the crosswind component when the bomb is thrown on the attack route L1, and R is present Min ＝V WMBRx (ii) a Radius R Max The circle of (c) is used to indicate the maximum allowable high altitude wind speed when performing a bomb blast mission, and has an R Max ＝V WM (ii) a Two lines L1 and L2 parallel to L1 and a radius R Min The circle of (a) is tangent to represent the air wind field area meeting the bomb launching sector angle condition.
In the rainbow ring, R Max Must be greater than R Min When the low-speed unmanned aerial vehicle executes a bomb striking task, the allowed maximum high-altitude wind speed is greater than the allowed maximum side wind component when a bomb is thrown, and if R is greater than the allowed maximum side wind component Max Not more than R Min And within the maximum high-altitude wind speed limit allowed by the low-speed unmanned aerial vehicle when the low-speed unmanned aerial vehicle executes a bomb attack task, the high-altitude wind field can meet the condition of the throwing sector angle of the bombs, and the unmanned aerial vehicle can finish the bomb attack task.
In the step (4), according to the rainbow ring constructed in the step (3), the specific steps of calculating the bomb release parameters meeting the bomb release sector angle condition are as follows:
and drawing an air wind field area which can represent the sector angle condition of the bomb striking task under the attack route by taking any bomb attack route as a reference, rotating the area around the center of the rainbow ring, and taking the swept area as the air wind field area which can meet the sector angle condition of the bomb striking task under the attack route range in the swept angle interval.
The rainbow ring supports an off-line estimation or on-line real-time working mode, and can carry out the task planning of bomb attack on each layer.
Compared with the prior art, the invention has the advantages that:
(1) According to the graphical representation method for the condition satisfaction of the bomb launching sector angle of the low-speed unmanned aerial vehicle, the relationship among the bomb attacking airway, the high-altitude wind speed limiting condition and the condition satisfaction of the bomb launching sector angle can be represented through the annular schematic diagram, the judgment of the bomb launching condition and the planning of a bomb attacking task can be rapidly and conveniently carried out through a rainbow ring, a weapon manipulator of the unmanned aerial vehicle can be assisted to complete a bomb striking task under the condition of crosswind, and the use condition of a bomb on the low-speed unmanned aerial vehicle is widened;
(2) The method can adopt the off-line or on-line real-time rainbow ring to participate in the bomb attack operation, and improves the flexibility and timeliness of the low-speed unmanned aerial vehicle when executing the bomb attack task, thereby improving the use energy efficiency of the bombs to the maximum extent.
Drawings
Fig. 1 is a schematic diagram illustrating calculation of a bomb launching sector angle of a low-speed unmanned aerial vehicle provided by the invention;
fig. 2 is a schematic diagram illustrating calculation of a low-speed unmanned aerial vehicle bomb launching sector angle meeting conditions;
FIG. 3 is a schematic view of an area of an air field meeting a low-speed unmanned aerial vehicle bomb launching sector angle condition under a given condition of bomb attack route direction provided by the invention;
FIG. 4 is a schematic view of an area of an air field meeting a low-speed unmanned aerial vehicle bomb launching sector angle condition under a given condition of a bomb attack route direction range provided by the invention;
fig. 5 is a schematic view of the direction range of a bomb attack route meeting the bomb launch fan angle condition when the bomb launch is performed under all air wind field conditions;
Detailed Description
The utility model provides a graphic representation method of low-speed unmanned aerial vehicle's bomb is put in sector angle condition and is satisfied with the condition, can directly perceivedly show that aerial wind field when low-speed unmanned aerial vehicle puts in the bomb, to the influence of bomb input sector angle, plan the bomb attack task under the different application scenes fast, flexibility and ageing when improving low-speed unmanned aerial vehicle and carrying out the bomb and strike the task to furthest improves the use efficiency of bomb, and the concrete step is as follows:
(1) Calculating the maximum side wind component allowed when the low-speed unmanned aerial vehicle throws the bomb according to the flight speed of the low-speed unmanned aerial vehicle and the maximum throwing sector angle of the bomb;
wherein, the maximum side wind component V that is allowed when low-speed unmanned aerial vehicle puts in the bomb WMBRx The calculating method specifically comprises the following steps:
V WMBRx ＝V UAV sinθ Max
in the formula, the flight speed of the low-speed unmanned aerial vehicle is cruise airspeed V UAV The maximum throwing sector angle of the bomb is theta Max ；
(2) Determining the maximum high-altitude wind speed limit allowed when the low-speed unmanned aerial vehicle executes a bomb shooting task according to the maximum high-altitude wind speed limit of bomb off-orbit flight and the maximum high-altitude wind speed limit of low-speed unmanned aerial vehicle flight;
wherein, the maximum high altitude wind speed V allowed when the low speed unmanned aerial vehicle executes the bomb shooting task WM The calculation method specifically comprises the following steps:
V WM ＝min{V WMB ,V WMU }
in the formula, V WMB Maximum high altitude wind speed limit for bomb off-track flight, V WMU The maximum high-altitude wind speed limit for the low-speed unmanned aerial vehicle, namely the requirements of bomb off-orbit flight and unmanned aerial vehicle flight on high-altitude wind speed are met when the low-speed unmanned aerial vehicle executes a bomb shooting task;
(3) Drawing a rainbow ring capable of representing all information according to bomb attack route, maximum high altitude wind speed limit and bomb throwing sector angle information;
wherein, in the rainbow ring, U represents unmanned aerial vehicle, T represents target, vector
Representing ground speed and vector of unmanned aerial vehicle
Express unmanned aerial vehicle cruising airspeed, vector
Indicating high altitude wind speed V WS O is the center of the rainbow ring, L1 represents the attack route to the target, and the radius is R Min The circle of (A) is used to indicate the limit of the crosswind component when the bomb is launched under the attack route L1, and has R Min ＝V WMBRx (ii) a Radius R Max The circle of (c) is used to indicate the maximum allowable high altitude wind speed when performing a bomb blast mission, and has an R Max ＝V WM (ii) a Two lines L1 and L2 parallel to L1 and having a radius R Min The circle tangency of the system is used for representing the air wind field area meeting the bomb throwing sector angle condition;
in particular, R Max Must be greater than R Min When the low-speed unmanned aerial vehicle executes a bomb striking task, the allowed maximum high-altitude wind speed is greater than the allowed maximum side wind component when bombs are thrown, and if R is greater than R, the maximum side wind component is allowed Max Not more than R Min If the unmanned aerial vehicle is in the maximum high-altitude wind speed limit allowed when the low-speed unmanned aerial vehicle executes the bomb attack task, the high-altitude wind field can meet the condition of the throwing sector angle of the bombs, and the unmanned aerial vehicle can finish the bomb attack task;
(4) Calculating bomb throwing parameters meeting the bomb throwing sector angle condition according to the rainbow ring obtained in the step (3);
wherein, the bomb is put in the parameter and is included:
under the condition that the direction of a bomb attack airway is determined, the air wind field requirement of the bomb throwing sector angle condition is met when a bomb attack task is carried out;
under the condition that the direction range of a bomb attack airway is determined, the requirement of an air wind field on the condition of a bomb launching sector angle is met when a bomb striking task is carried out;
when the bomb needs to be thrown under all air wind field conditions, the bomb attack route direction range meeting the bomb throwing fan angle condition is met;
the bomb throwing sector angle is an included angle between a projection of a connecting line between the low-speed unmanned aerial vehicle and a bomb striking target on a horizontal plane and a projection of a longitudinal axis of a low-speed unmanned aerial vehicle body on the horizontal plane;
according to the rainbow ring constructed in the step (3), the specific steps of calculating the bomb release parameters meeting the bomb release sector angle condition are as follows:
drawing an aerial wind field area which can represent the fan angle condition of a bomb attack mission under the attack route by taking any bomb attack route as a reference, rotating the area around the center of a rainbow ring, and taking a swept area as the aerial wind field area which can meet the fan angle condition of the bomb attack mission under the attack route range in the swept angle range;
(5) And (4) utilizing the bomb launching parameters obtained in the step (4) to carry out bomb attack mission planning.
The rainbow ring supports an off-line estimation or on-line real-time working mode, and can carry out the task planning of bomb attack on each layer.
The following is further illustrated in accordance with specific examples:
in this embodiment, the graphical representation method calculates, according to the characteristics of the bomb thrown by the low-speed unmanned aerial vehicle, the flight speed of the low-speed unmanned aerial vehicle, the limitation of the bomb throwing sector angle, and the requirements of the low-speed unmanned aerial vehicle flight and the bomb throwing on the air windfarm, the maximum crosswind meeting the limitation of the sector angle when the low-speed unmanned aerial vehicle throws the bomb, and the maximum allowable wind speed of the low-speed unmanned aerial vehicle for executing a bomb strike task, and draws an annular schematic diagram capable of representing the relationship among a bomb attack route, a high-altitude wind speed limitation condition, and a bomb throwing sector angle meeting condition, and performs bomb attack task planning in different application scenes by using the schematic diagram, and the specific steps are as follows:
calculating the maximum side wind component allowed when the low-speed unmanned aerial vehicle throws the bomb according to the flight speed of the low-speed unmanned aerial vehicle and the maximum throwing sector angle of the bomb;
determining the maximum high-altitude wind speed allowed by the low-speed unmanned aerial vehicle when the low-speed unmanned aerial vehicle executes a bomb shooting task according to the maximum high-altitude wind speed limit of bomb off-orbit flight and the maximum high-altitude wind speed limit of low-speed unmanned aerial vehicle flight;
drawing an annular schematic diagram, namely a rainbow ring, which can represent the relationship among a bomb attack airway, a high-altitude wind speed limiting condition and a bomb throwing fan angle satisfying condition;
step four, with the help of the rainbow ring of step three, carry out the relevant calculation that satisfies bomb and throw in the sector angle condition, include:
(4-1) calculating the air wind field requirement meeting the sector angle condition when a bomb striking task is carried out under the airway on the premise that the bomb striking airway direction is determined;
(4-2) calculating the air wind field requirement meeting the sector angle condition when a bomb striking task is carried out in the airway range on the premise that the bomb striking airway direction range is determined;
(4-3) when the bomb launching is required to be carried out under all air wind field conditions, calculating the bomb attack airway direction range meeting the bomb launching sector angle condition;
and step five, planning a bomb attack task according to the calculation result of the step four.
In the graphical representation method of the condition that the bomb launching sector angle condition of the low-speed unmanned aerial vehicle meets, the flying speed of the aircraft is represented by airspeed, the airspeed of the low-speed unmanned aerial vehicle is small, and the attack route direction needs to be pointed to a target when bombs are launched; the airspeed adjusting range of the low-speed unmanned aerial vehicle is smaller, the adjusting amount of the low-speed unmanned aerial vehicle has smaller influence on the invention, and the flying speed of the low-speed unmanned aerial vehicle is selected as the cruising airspeed V of the unmanned aerial vehicle for facilitating understanding UAV . The bomb throwing sector angle theta refers to an included angle between a projection of a connecting line between the low-speed unmanned aerial vehicle and a bomb hitting target on a horizontal plane and a projection of a longitudinal axis of a low-speed unmanned aerial vehicle body on the horizontal plane, and the relationship between the included angle and high-altitude wind is shown in fig. 1. U denotes unmanned aerial vehicle, T denotes target, L denotes attack route pointing to target, V GS And V WS Respectively representing the ground speed and the high-altitude wind speed of the unmanned aerial vehicle, V WSX And V WSY Respectively representing the crosswind component of high-altitude wind on a vertical attack route and the downwind/upwind component on a parallel attack route, theta and V UAV And V WSX The relational expression among the three is as follows:
V WSX ＝V UAV sinθ
then, when the low-speed unmanned aerial vehicle puts in the bomb, the maximum allowable side wind component V is obtained WMBRx Expression (2)The following were used:
V WMBRx ＝V UAV sinθ Max
wherein, theta Max The maximum launching sector angle of the bomb is determined by the normal launching requirements of the bomb.
In the graphical representation method for indicating the condition that the bomb launching sector angle condition of the low-speed unmanned aerial vehicle meets, when the low-speed unmanned aerial vehicle executes a bomb striking task, the allowed maximum high altitude wind speed V WM The expression of (c) is:
V WM ＝min{V WMB ,V WMU }
wherein, V WMB Maximum high altitude wind speed limit for bomb off-track flight, V WMU The maximum high-altitude wind speed limit for the low-speed unmanned aerial vehicle, namely the requirement of bomb off-orbit flight and the requirement of unmanned aerial vehicle flight on high-altitude wind speed are met when the low-speed unmanned aerial vehicle executes a bomb shooting task;
in the method for graphically representing the condition that the bomb launching fan angle condition of the low-speed unmanned aerial vehicle meets, as shown in fig. 2. U denotes drone, T denotes target, vector
Representing ground speed and vector of unmanned aerial vehicle
Express unmanned aerial vehicle cruising airspeed, vector
Indicating high altitude wind speed V WS L1 represents an attack path directed to the target with radius R Min The small circle of (A) is used to indicate the limitation of the side wind component when bomb shooting is performed under the attack route L1, and has R Min ＝V WMBRx (ii) a Radius R Max The great circle of (A) is used to indicate the maximum allowable high altitude wind speed when performing a bomb blast mission, and has an R Max ＝V WM (ii) a Two lines L1 and L2 parallel to L1 and a radius R Min The small circle tangency of (a) is used for representing the air wind field area meeting the bomb throwing fan surface angle condition. This enables characterization of bomb assaultThe annular schematic diagram of the relationship among the road, the high-altitude wind speed limiting condition and the condition that the bomb throwing sector angle meets is named as a rainbow ring.
In the graphical representation method of the condition that the bomb launching sector angle condition of the low-speed unmanned aerial vehicle meets, the computation steps of meeting the bomb launching sector angle condition by means of the rainbow ring in the third step are as follows: in the rainbow ring, an air wind field area which can represent the fan angle condition when a bomb striking task is carried out under an attack airway is drawn by taking a certain attack airway as a reference, the area rotates around the center of the rainbow ring according to specific application, and the swept area is as follows: under the attack route range in the swept angle interval, the air wind field area of the sector angle condition for carrying out the bomb striking task can be met. The method comprises the following specific steps:
(S1) on the premise of giving a bomb attack airway direction, calculating the air wind field requirement meeting the sector angle condition when a bomb striking task is carried out under the airway, as shown in figure 3. L1 represents an attack path directed to the target, and two straight lines L1 and L2 parallel to L1 and tangent to the small circle intersect the large circle at intersections E, F, G and H. According to the description of the rainbow ring in the third step, when high-altitude wind speed V is represented WS Vector of (2)
At high altitude wind speed V within strip zone EFGH WS When the low-speed unmanned aerial vehicle executes a bomb striking task, the allowed maximum high altitude wind speed V is less than or equal to WM (i.e., radius R of the great circle) Max ) Side wind component V of high-altitude wind on vertical attack route WSX When the bomb is thrown by the unmanned aerial vehicle with the speed less than or equal to the low speed, the allowed maximum side wind component V WMBRx (i.e., the radius R of the small circle Min ) At the moment, the bomb throwing fan angle theta is smaller than or equal to the maximum bomb throwing fan angle theta Max . Therefore, the stripe area EFGH is an air wind field area which meets the fan angle condition when a bomb strike task is performed under a given bomb attack route L1;
(S2) on the premise of giving the range of the direction of the bomb attacking airway, calculating to meet the requirement of blasting in the airway rangeThe air wind field requirements for the fan angle condition when a bullet hits a mission are shown in fig. 4. L1 and L2 represent two boundaries of a target-oriented bomb attack route range, and the attack route range is from L1 direction to L2 direction in a counterclockwise rotation mode; and rotating the air wind field strip area EFGH which corresponds to the attack route L1 and meets the condition of the bomb launching sector angle to the direction of the attack route L2 along the counterclockwise direction by taking the point O as the center, wherein the area swept in the period is a shadow EJGL. When the high altitude wind speed V is expressed WS Vector of (2)
When the attack path is in the shadow area EJGL, the attack path in the range from the direction L1 to the direction L2 is necessary to satisfy the condition of the bomb launching sector angle. At the moment, according to the high altitude wind speed V WS And the attack route direction is adjusted in the range from the direction L1 to the direction L2. Therefore, the shadow area EJGL is an air wind field area which meets the fan angle condition when a bomb striking task is carried out in a given range from the bomb striking route direction L1 to the direction L2 in the counterclockwise direction;
(S3) when the bomb launching is required to be carried out under all the air wind field conditions, calculating the bomb attack airway direction range meeting all the air wind field bomb launching fan angle conditions, as shown in figure 5. L1 represents an attack route pointing to a target in any direction, and the air wind field strip area EFGH which corresponds to the attack route L1 and meets the bomb shooting sector angle condition rotates in the anticlockwise direction or the clockwise direction (taking the anticlockwise rotation as an example here) by taking a point O as the center until the strip area is used for representing that the radius of the maximum high-altitude wind speed is allowed to be R when a bomb shooting task is executed Max Until all the great circles are swept, the attack route at this time is L3, the air wind field stripe region corresponding to the attack route L3 and meeting the bomb launching sector angle condition is EMGN, and the rotation angle is alpha. According to the description in the previous paragraph, an attack route adjusted in the range from the direction L1 to the direction L3 can ensure that the wind speed is less than the maximum allowable high altitude wind speed V WM Under all wind field conditions, the low-speed unmanned aerial vehicle can meet the requirements of the limitation of the bomb launching sector angle and the attack route directionThe adjustment range is the angle alpha.
According to different application scenes, bomb attack mission planning of different layers is performed, and the method mainly comprises the following steps:
when an attack route is limited when a bomb attack task is executed, whether a high-altitude wind field can meet bomb throwing conditions or not is estimated in advance according to weather forecast; planning an attack route range required for executing a bomb shooting task in advance according to the weather forecast high-altitude wind field condition; and in the flight process of the low-speed unmanned aerial vehicle, judging bomb launching conditions and planning an attack route in real time according to the measured high-altitude wind field.
The invention is suitable for a low-speed observing and shooting integrated unmanned aerial vehicle capable of carrying bombs, provides an annular schematic diagram capable of representing the relationship among a bomb attack route, a high-altitude wind speed limiting condition and a bomb throwing sector angle meeting condition, and is named as a rainbow ring. By utilizing the rainbow ring, the feasibility of a bomb striking task can be predicted in advance and a bomb attack area can be planned in an off-line state, or the judgment of bomb releasing conditions and the attack route planning can be performed on line in real time. The method can assist a weapon operator of the unmanned aerial vehicle to complete a bomb striking task under the crosswind condition, relax the use condition of the bomb on the low-speed unmanned aerial vehicle, and improve the flexibility and timeliness of the low-speed unmanned aerial vehicle when executing the bomb striking task, so that the use energy efficiency of the bomb is improved to the maximum extent.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (8)
1. A graphical representation method for the condition that the bomb throwing sector angle condition of a low-speed unmanned aerial vehicle meets is characterized by comprising the following steps:
(1) Calculating the maximum side wind component allowed when the low-speed unmanned aerial vehicle throws the bomb according to the flight speed of the low-speed unmanned aerial vehicle and the maximum throwing sector angle of the bomb;
(2) Determining the maximum high-altitude wind speed limit allowed when the low-speed unmanned aerial vehicle executes a bomb shooting task according to the maximum high-altitude wind speed limit of bomb off-orbit flight and the maximum high-altitude wind speed limit of low-speed unmanned aerial vehicle flight;
(3) Drawing a rainbow ring capable of representing all information according to bomb attack route, maximum high altitude wind speed limit and bomb throwing sector angle information;
(4) Calculating bomb throwing parameters meeting the bomb throwing sector angle condition according to the rainbow ring obtained in the step (3);
(5) And (4) utilizing the bomb launching parameters obtained in the step (4) to carry out bomb attack mission planning.
2. The method of claim 1, wherein the method comprises the following steps:
in the step (4), the bomb release parameters include:
under the condition that the direction of a bomb attack airway is determined, the requirement of an air wind field on the condition of a bomb launching sector angle is met when a bomb striking task is carried out;
under the condition that the direction range of a bomb attack airway is determined, the requirement of an air wind field on the condition of a bomb launching sector angle is met when a bomb striking task is carried out;
when the bomb needs to be thrown under all air wind field conditions, the bomb attack route direction range meeting the bomb throwing fan angle condition is met;
the bomb throwing sector angle is an included angle between a projection of a connecting line between the low-speed unmanned aerial vehicle and a bomb striking target on a horizontal plane and a projection of a longitudinal axis of a low-speed unmanned aerial vehicle body on the horizontal plane.
3. The method of claim 1, wherein the method comprises the following steps:
in the step (1), the low-speed unmanned aerial vehicle allows for bomb throwingMaximum side wind component V WMBRx The calculation method specifically comprises the following steps:
V WMBRx =V UAV gsinθ Max
in the formula, the flight speed of the low-speed unmanned aerial vehicle is cruise airspeed V UAV The maximum throwing sector angle of the bomb is theta Max 。
4. The method of claim 1, wherein the method comprises the following steps:
in the step (2), the maximum high altitude wind speed V allowed by the low-speed unmanned aerial vehicle when the low-speed unmanned aerial vehicle executes the bomb striking task WM The calculation method specifically comprises the following steps:
V WM ＝min{V WMB ,V WMU }
in the formula, V WMB Maximum high altitude wind speed limit for bomb off-track flight, V WMU The maximum high-altitude wind speed limit for the low-speed unmanned aerial vehicle, namely the requirement of bomb off-track flight and unmanned aerial vehicle flight on the high-altitude wind speed is met when the low-speed unmanned aerial vehicle executes a bomb striking task.
5. The method of claim 1, wherein the method comprises the following steps:
in the rainbow ring, U represents unmanned aerial vehicle, T represents target and vector
Express the ground speed and vector of the unmanned plane
Express unmanned aerial vehicle cruising airspeed, vector
Indicating high altitude wind speed V WS O is the center of the rainbow ring, L1 represents the attack route to the target, and the radius is R Min Is indicated inWhen bomb is launched under the attack route L1, the limitation of cross wind component is realized, and R exists Min ＝V WMBRx (ii) a Radius R Max The circle of (A) is used to indicate the maximum allowable high altitude wind speed when performing a bomb blast mission, and has an R Max ＝V WM (ii) a Two lines L1 and L2 parallel to L1 and having a radius R Min The circle of (a) is tangent to represent the air wind field area meeting the bomb launching sector angle condition.
6. The method of claim 1, wherein the method comprises the following steps:
in the rainbow ring, R Max Must be greater than R Min The maximum high altitude wind speed allowed by the low speed drone when performing a bomb blast mission should be greater than the maximum side wind component allowed when a bomb is dropped.
7. The method of claim 1, wherein the method comprises the following steps:
in the step (4), according to the rainbow ring constructed in the step (3), the specific steps of calculating the bomb release parameters meeting the bomb release sector angle condition are as follows:
and drawing an air wind field area which can represent the sector angle condition of the bomb striking task under the attack route by taking any bomb attack route as a reference, rotating the area around the center of the rainbow ring, and taking the swept area as the air wind field area which can meet the sector angle condition of the bomb striking task under the attack route range in the swept angle interval.
8. The method of claim 1, wherein the method comprises the following steps:
the rainbow ring supports an off-line estimation or on-line real-time working mode, and can plan the bomb attack mission of each layer.
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