CN106444829A - Guidance unmanned aerial vehicle net cast interception method for "low-altitude, slow-speed and small" target - Google Patents
Guidance unmanned aerial vehicle net cast interception method for "low-altitude, slow-speed and small" target Download PDFInfo
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- G—PHYSICS
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- 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
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention relates to a guidance unmanned aerial vehicle net cast interception method for a "low-altitude, slow-speed and small" target. The guidance unmanned aerial vehicle net cast interception method comprises the steps that an unmanned aerial vehicle is set as the standby state; a ground control station determines a threat target and controls photoelectric detection equipment to perform dynamic tracking on the threat target; the ground control station acquires the location of the threat target and transmits a flight instruction to the unmanned aerial vehicle; and the unmanned aerial vehicle enters the maneuvering flight mode and reaches the area near the target. When the distance between the unmanned aerial vehicle and the target is less than a first threshold, the unmanned aerial vehicle is controlled to accurately approximate the target through a visual guidance device and a distance measurement device. When the distance between the unmanned aerial vehicle and the target is less than a second threshold, a net cast device is automatically triggered to emit an interception net to wind the target to fall off and finally the unmanned aerial vehicle returns. With application of the method, the net cast device is automatically triggered to intercept the target according to the relative location information between the unmanned aerial vehicle and the target so that the interception precision and the degree of automation can be effectively enhanced.
Description
Technical field
The present invention relates to net is thrown in vehicle technology field, more particularly to a kind of guidance unmanned plane for " low little slowly " target
Hold-up interception method.
Background technology
" low little slowly " target refers to the aircraft that flying height is low, flight speed is slow, characteristic signal is little, such as model airplane
(fixed-wing, many rotors, helicopter), balloon drifted by wind, dynamic-delta-wing, aerodone etc., with low cost, manipulation simple, rise
Convenient feature drops.In important events such as some megaevent, meetings, or in the case of war, easily by lawless person
Or hostile force is utilized, as delivery explosive, the instrument that throws in biochemical weapon agent, disseminate the behaviors such as leaflet.How effective
The interference of defence " low little slowly " target, vandalism, it has also become the global problem of regular maintenance airflight order and security.
Both at home and abroad for the disposal options of " low little slowly " target mainly include hard Casualty Mode, microwave interference, laser injure,
The methods such as flexible netting interception.
The hard Casualty Mode of aircraft is directly hit, such as with guided missile, shell etc., precision strike, hit rate is carried out to aircraft
Relatively low, and a large amount of fragmentations for producing after the completion of attacking easily accidentally injure unrelated person, the safety to surrounding constitutes great prestige
The side of body.If using laser weapon or radio interference weapons interception aircraft, on the one hand whole intercepting system is extremely complex, huge
Greatly, involve great expense, using and difficult in maintenance, on the other hand such system is subject to external interference and infringement, and reliability is relatively low.
In addition, radio interference weapon can cause serious electromagnetic pollution to environment.
Flexible netting interception mode is a kind of effective no collateral damage Interception Technology for " low little slowly " target, at present
Flexible netting interception mode for " low little slowly " target is mainly intercepted with the transmitting of net bullet and manual unmanned plane throws net interception mode
Based on.But net bullet transmitting interception mode has the deficiency that effective intercept distance is shorter, use cost is high, manual unmanned plane is thrown net and is blocked
There is the low deficiency of intersection accuracy and automaticity in the mode of cutting.
Therefore, can effectively improve that intercept distance for " low little slowly " target is remote, intercept essence in the urgent need to proposing one kind
Degree and " low little slowly " object intercepting method of high degree of automation.
Content of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of guidance unmanned plane for " low little slowly " target throws net intercept
Method, in order to solve that hit rate in prior art is low, poor reliability, the problems such as involve great expense and be difficult in maintenance.
The purpose of the present invention is mainly achieved through the following technical solutions：
Unmanned plane is set to holding state by step S1, ground control station；
Step S2, ground control station determine threat target, and control photoelectric detection equipment carries out dynamic tracking to threatening target；
Step S3, ground control station obtain the threat target real-time position information, and send flight directive to unmanned plane；
Step S4, unmanned plane enter maneuvering flight pattern, according to the target real time position letter for receiving from ground control station
The own location information that breath and unmanned plane GPS navigation device are measured is reached and threatens target proximity region；
Step S5, when unmanned plane with threaten target distance less than first threshold when, by vision guide device and range finding
Device control unmanned plane accurately approaches the threat target；
Step S6, when unmanned plane is with the distance between target is threatened less than Second Threshold, throw net device and trigger automatically, send out
Penetrating interception net will threaten target winding to fall；
Step S7, ground control station control unmanned plane make a return voyage.
In based on an alternative embodiment of the invention, step S1 is further included：Unmanned plane in the standby state, keeps
Tethered hovering state, is connected by being tethered at cable and ground lift-off retracting device, is powered by floor power supply device, carry out long-time and stay
Null value is kept；
It is supply lines to be tethered inside cable, and outside is tensile materials, is tethered between cable and unmanned plane by slip ring connecting device
Connection, 360 ° of achievable unmanned plane rotate and be tethered at being automatically separated for cable.
In based on an alternative embodiment of the invention, step S2 is further included, ground control station passes through electro-optical distance measurement
Device measures the threat orientation of the target under Electro-Optical Sensor Set coordinate system, pitching, oblique distance coordinate in real time, by the position of target
Confidence breath passes to ground control station in real time；
In based on an alternative embodiment of the invention, the target that ground control station is measured to Electro-Optical Sensor Set is in photoelectricity
Coordinate Conversion under detection device coordinate system is the longitude under earth coordinates, latitude and height coordinate.
Based in an alternative embodiment of the invention, step S5 is further included, visual guidance device by vision with
Track algorithm controls head optical axis alignment target, while range unit is found range to target；Unmanned plane is by optical axis direction and and mesh
Distance measurement value between mark is exported to flight control assemblies, the direction of motion of flight control assemblies control unmanned plane and optical axis direction one
Cause.
In based on an alternative embodiment of the invention, Electro-Optical Sensor Set and ground control station are placed in ground, by electricity
Cable or wireless network connection；
Unmanned plane is communicated by wireless link with the ground control station, and is referred in response to the control of ground control station
Order.
Based in an alternative embodiment of the invention, range unit is supersonic range finder, laser ranging system, double
Visually feel one or more in range unit.
In based on an alternative embodiment of the invention, first threshold is 30m.
In based on an alternative embodiment of the invention, Second Threshold is 8m.
Being installed on below unmanned plane based in an alternative embodiment of the invention, throwing net device, by electronic triggering device,
The parts such as small gas cylinder, interception net, guide cone, drawing head, main body constitute, and are cast as power with gases at high pressure and intercept net.
In based on an alternative embodiment of the invention, the visual guidance device on unmanned plane, range unit, GPS navigation
Device, throwing net device are powered by unmanned machine battery.
The present invention has the beneficial effect that：
The invention provides a kind of new hold-up interception method for " low little slowly " target, with unmanned plane as platform, carries and throws
Net device is implemented to intercept to " low little slowly " target, can effectively improve interception oblique distance, intercept oblique distance only by ground location distance, nobody
Machine flight parameter and communication distance impact, system each composition all can Reusability, reduces cost.Filled using ground photoelectric tracking
Put tracking target, ground control station sends flight control instruction according to target position information, using unmanned plane GPS navigation flight with
The latter end visual guidance combined guidance mode that combines of flight, automatic according to relative position information between unmanned plane and target
Triggering is thrown net device and target is implemented to intercept, and can effectively improve intersection accuracy with automaticity.
Other features and advantages of the present invention will be illustrated in the following description, also, partial change from description
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can pass through in the explanation that is write
In book, claims and accompanying drawing, specifically noted structure is realizing and obtain.
Description of the drawings
Accompanying drawing is only used for illustrating the purpose of specific embodiment, and is not considered as limitation of the present invention, in whole accompanying drawing
In, identical reference markss represent identical part.
Fig. 1 throws net hold-up interception method schematic diagram for guidance unmanned plane；
Fig. 2 is GPS navigation Coordinate Conversion schematic diagram；
Fig. 3 is visual guidance Coordinate Conversion schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings specifically describing the preferred embodiments of the present invention, wherein, accompanying drawing constitutes the application part, and
It is used for together with embodiments of the present invention explaining the principle of the present invention.
According to a specific embodiment of the present invention, disclose a kind of guidance unmanned plane for " low little slowly " target and throw net
Hold-up interception method, specifically includes following steps：
Step one：Unmanned plane is set to holding state by ground control station.
Specifically, under holding state, unmanned plane can keep being tethered at floating state, be reclaimed with ground lift-off by being tethered at cable
Device connects, and is powered by floor power supply device, carries out long-time and leaves a blank on duty, and continuous airborne period is up to 24h.
Unmanned plane is communicated by wireless link with ground control station, and the control instruction in response to ground control station,
Can switch under tethered hovering state and maneuvering flight state.
Specifically, it is supply lines to be tethered inside cable, and outside is tensile materials.Being tethered at cable can by ground lift-off retracting device
Realize automatic lift-off and the recovery of unmanned plane.It is tethered between cable and unmanned plane and is connected by slip ring connecting device, can achieve nobody
360 ° of machine rotate and be tethered at being automatically separated for cable.
Step 2：Ground control station determines threat target, and control photoelectric detection equipment enters Mobile state to the threat target
Tracking.
Ground control station determines threat target, control by the search data to target spatial domain passed back by Electro-Optical Sensor Set
Photoelectric detection equipment processed carries out dynamic tracking to threatening target；
The threat target that Electro-Optical Sensor Set is confirmed in response to ground control station, to threatening target to carry out dynamic tracking, and
Target orientation under Electro-Optical Sensor Set coordinate system, pitching, oblique distance coordinate are measured by way of laser ranging in real time, by mesh
Target positional information passes to ground control station in real time.
Specifically, Electro-Optical Sensor Set and ground control station are placed in ground, are connected by cable or wireless network.
Step 3：Ground control station obtains the threat target real-time position information, and sends flight directive to unmanned plane.
The target location that ground control station is measured to Electro-Optical Sensor Set carries out real-time resolving, by the method for coordinate transform
By Coordinate Conversion of the target under Electro-Optical Sensor Set coordinate system be longitude of the target under earth coordinates, latitude and height sit
Mark.
Wherein, as shown in Fig. 2 wherein, for target-based coordinate system, (Xl, Yl, Zl are Ol to GPS navigation Coordinate Conversion schematic diagram for L system
3-D walls and floor), B system is that ground control station is sat for Electro-Optical Sensor Set coordinate system (Xb, Yb, Zb are Ob 3-D walls and floor), V system
Mark system (Xv, Yv, Zv are Ov 3-D walls and floor), T system is geographic coordinate system (Xt, Yt, Zt are Ot 3-D walls and floor), and I system is big
Ground coordinate system (Xi, Yi, Zi are Oi 3-D walls and floor).
Solution process is as follows：
(1) rectangular coordinate of the target under B system is:
In formula,The homogeneous coordinate transformation matrix of B system is tied to for L；D surveys output valve for laser ranging；α and β are respectively light
Angle is pointed in the orientation of electrical resistivity survey examining system and pitching, wherein, the sign of α and β for rotate counterclockwise for just, rotate clockwise for
Negative, the rotation operator that Rot (z, α) is referred to as in the rotation operator on Z axis, Rot (y, β) referred to as Y-axis, Trans (d, 0,0) are referred to as putting down
Move operator (same as below).
(2) rectangular coordinate of the target under V system is:
In formula,The homogeneous coordinate transformation matrix of V system is tied to for B；Δψα、ΔθαWith Δ φαRespectively Photodetection system
Alignment of orientation angle, pitching between ground control station and rolling leveling angle.In the case of ideal fit, these angle values are
0.Δx1,Δy1,Δz1For Electro-Optical Sensor Set and the distance between ground control station component.
(3) rectangular coordinate of the target under T system is：
In formula,The homogeneous coordinate transformation matrix of T system is tied to for V；ψm、θmAnd φmRespectively ground control station is for geography
Alignment of orientation angle, pitching and rolling leveling angle that coordinate system is installed, in the case of ideal fit, these angle values are 0.
(4) rectangular coordinate of the target under I system is:
In formula,The homogeneous coordinate transformation matrix of I system is tied to for T；Lv, Bv and Hv are respectively the geodetic coordinates letter of carrier
Breath, i.e. longitude, latitude and height.For ellipsoid radius of curvature in prime vertical；A=
6378137m is semimajor axis of ellipsoid；B=6356752m is semiminor axis of ellipsoid, and a=0.08182 is the first eccentricity of ellipsoid.
Earth right angle coordinate system under target positioning equation can be obtained in sum：
Rectangular coordinate x by target under earth coordinatesi,yi,zi, target can be calculated under earth coordinates
Geodetic coordinates (longitude Lt, latitude BtWith elevation Ht)：
In formula,Second eccentric ratio e '=0.0820944379469.
Step 4：According to the flight control instruction that ground control station sends, unmanned plane is separated with cable is tethered at, by on-board batteries
Power supply, is changed into maneuvering flight pattern；Flight control assemblies on unmanned plane are according to the target reality for receiving from ground control station
When the unmanned plane own location information that measures of positional information and GPS navigation device, constantly carry out position feedback control, until it reaches
Target proximity region.
Specifically, unmanned plane is communicated by wireless link with ground control station.
Step 5：When unmanned plane with the distance for threatening target less than first threshold when, by vision guide device and
Range unit control unmanned plane accurately approaches the threat target.
When the distance of unmanned plane and target is less than first threshold, unmanned plane visual guidance mission phase, unmanned plane is entered
On visual guidance device by Vision Tracking control head optical axis alignment target, while on unmanned planeRange unitRight
Target is found range.Unmanned plane exports optical axis direction and the distance measurement value between target to flight control assemblies, makes unmanned plane
The direction of motion consistent with optical axis direction, control guiding unmanned plane accurately approach target.
Wherein Vision Tracking includes visual guidance coordinate transform, and schematic diagram is as shown in Figure 3.
Target relative position solution process：
Wherein, H system is head coordinate system (Xh, Yh, Zh are Oh 3-D walls and floor), P system for unmanned plane coordinate system (Xp, Yp,
Zp is Op 3-D walls and floor)
(1) rectangular coordinate of the target under H system is:
In formula,The homogeneous coordinate transformation matrix of H system is tied to for L；L surveys output valve for supersonic sounding；γ and δ are respectively cloud
Angle is pointed in the orientation of platform optical axis and pitching, and wherein, the sign of γ and δ is negative for rotating counterclockwise as just, rotating clockwise.
(2) rectangular coordinate of the target under P system is:
In formula,The homogeneous coordinate transformation matrix of P system is tied to for H；Δψβ、ΔθβWith Δ φβRespectively head datum mark with
Alignment of orientation angle, pitching between unmanned plane datum mark and rolling leveling angle.In the case of ideal fit, these angle values are
0.Δx2,Δy2,Δz2For head datum mark and the distance between unmanned plane datum mark component.
Can obtain in sum, target positioning equation under unmanned plane coordinate system：
The range unit is the range unit using principles such as ultrasonic ranging, laser ranging, binocular distance measurement.Survey
It is co-axially mounted with head, camera away from device.
In a preferred embodiment, range sensor is to surpass supersonic range finder, using the high-power electrostatic of URM05 type
Sound ranging sensor.The sensor measurement distance has hyposensitivity up to 10 meters to the absorbance of barrier.URM05 type
Sensor has higher ultrasonic measurement angular resolution.There are single echo mode and two kinds of working conditions of many echo modes.
Probe orientation angle is 15 °.
In a further advantageous embodiment, range sensor is laser ranging system, using laser phase method e measurement technology,
Effective measurement distance 30m, certainty of measurement 1m.
Further, on unmanned plane visual guidance device, Ultrasonic ranging device, GPS navigation device, net device and head are thrown
Motor is powered by unmanned machine battery.
Specifically, first threshold=30m.
Step 6：When the distance between unmanned plane and target are less than Second Threshold, net device is thrown in triggering, and transmitting intercepts net
Target winding is fallen.
The size for intercepting net optionally can be selected.
Specifically, throw net device be installed on below unmanned plane, by electronic triggering device, small gas cylinder, intercept net, guide cone,
The part such as drawing head, main body constitutes, and using pneumatic emission principle, is cast as power with gases at high pressure and intercepts net, safe efficient,
Environmental protection.A diameter of 73mm of net device is thrown, coverage is 10m.It can be braiding nettle and the braiding of rice word heel rope to intercept net
Form.
For example：Intercept net：Formed by the 15 mesh kernmantles braiding of 3m × 3m.
Specifically, Second Threshold=8m.
Step 7：Unmanned plane makes a return voyage.
Beneficial effect：The invention provides a kind of new hold-up interception method for " low little slowly " target, is flat with unmanned plane
Platform, carries and throws net device to the enforcement interception of " low little slowly " target, can effectively improve interception oblique distance, intercept oblique distance and only receive ground location
Distance, unmanned plane during flying parameter and communication distance impact, system each composition all can Reusability, reduces cost.Using ground
Photoelectronic tracking device tracks target, and ground control station sends flight control instruction according to target position information, using unmanned plane GPS
The combined guidance mode that navigation flight is combined with the flight of latter end visual guidance, according to the relative position between unmanned plane and target
To target implement intercept automatically by triggering throwing net device for confidence breath, can effectively improve intersection accuracy with automaticity.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in,
Should all be included within the scope of the present invention.
Claims (10)
1. a kind of guidance unmanned plane for " low little slowly " target throws net hold-up interception method, it is characterised in that comprise the following steps：
Unmanned plane is set to holding state by step S1, ground control station；
Step S2, ground control station determine threat target, and control photoelectric detection equipment carries out dynamic tracking to the threat target；
Step S3, ground control station obtain the threat target real-time position information, and send flight directive to unmanned plane；
Step S4, unmanned plane enter maneuvering flight pattern, according to the target real-time position information for receiving from ground control station and
The own location information that unmanned plane GPS navigation device is measured reaches the threat target proximity region；
Step S5, when unmanned plane with described threaten target distance less than first threshold when, by vision guide device and range finding
Device control unmanned plane accurately approaches the threat target；
Step S6, when unmanned plane with described threat the distance between target less than Second Threshold when, throw net device and trigger automatically, send out
Penetrate interception net the threat target winding is fallen；
Step S7, ground control station control unmanned plane make a return voyage.
2. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 throws net hold-up interception method, and its feature exists
In step S1 is further included：Unmanned plane in the said standby state, keep be tethered at floating state, by be tethered at cable with
Ground lift-off retracting device connection, powered by floor power supply device, carry out long-time leave a blank on duty；
Described being tethered inside cable is supply lines, and outside is tensile materials, is tethered between cable and unmanned plane by slip ring connecting device
Connection, 360 ° of achievable unmanned plane rotate and be tethered at being automatically separated for cable.
3. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 or 2 throws net hold-up interception method, its feature
It is,
Step S2 is further included, the ground control station measures the threat target in real time by electro-optical distance measurement device and exists
Orientation, pitching, oblique distance coordinate under Electro-Optical Sensor Set coordinate system, the positional information of target is passed to ground control station in real time；
Step S3 is further included, the target that ground control station is measured to Electro-Optical Sensor Set is in Electro-Optical Sensor Set coordinate
Coordinate Conversion under system is the longitude under earth coordinates, latitude and height coordinate.
4. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 throws net hold-up interception method, and its feature exists
In, step S5 is further included,
The visual guidance device controls head optical axis alignment target by Vision Tracking, while the range unit is to mesh
Mark is found range；
Unmanned plane exports optical axis direction and the distance measurement value between target to flight control assemblies,
The direction of motion of flight control assemblies control unmanned plane is consistent with optical axis direction.
5. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 throws net hold-up interception method, and its feature exists
In,
The Electro-Optical Sensor Set and ground control station are placed in ground, are connected by cable or wireless network；
The unmanned plane is communicated by wireless link with the ground control station, and is referred in response to the control of ground control station
Order.
6. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 throws net hold-up interception method, and its feature exists
In,
The range unit is supersonic range finder, laser ranging system, one or more in binocular distance measurement device.
7. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 throws net hold-up interception method, and its feature exists
In the first threshold is 30m.
8. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 throws net hold-up interception method, and its feature exists
In the Second Threshold is 8m.
9. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 or 2 throws net hold-up interception method, its feature
It is,
Described throwing net device be installed on below unmanned plane, by electronic triggering device, small gas cylinder, intercept net, guide cone, drawing head,
The part such as main body constitutes, and is cast as power with gases at high pressure and intercepts net.
10. a kind of guidance unmanned plane for " low little slowly " target as claimed in claim 1 throws net hold-up interception method, and its feature exists
In,
Visual guidance device, range unit, GPS navigation device on the unmanned plane, throwing net device are supplied by unmanned machine battery
Electricity.
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| CN107861122A (en) * | 2017-10-19 | 2018-03-30 | 北京飞小鹰科技有限责任公司 | Geographical grid system, predator's system, the counter system of aircraft |
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