CN107757919A - Armed drones' optronic fire control system and method - Google Patents
Armed drones' optronic fire control system and method Download PDFInfo
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- CN107757919A CN107757919A CN201711015806.8A CN201711015806A CN107757919A CN 107757919 A CN107757919 A CN 107757919A CN 201711015806 A CN201711015806 A CN 201711015806A CN 107757919 A CN107757919 A CN 107757919A
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- fire control
- governor motion
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- 238000010304 firing Methods 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 241000237858 Gastropoda Species 0.000 claims 1
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- 238000009434 installation Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
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- 235000008434 ginseng Nutrition 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
- F41G3/24—Bombsights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D7/00—Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses armed drones' optronic fire control system and method, including fuselage, power supply, electric platform, camera, rangefinder, sensor, computer, firing angle governor motion, communication module, ground indication control board.Electric platform controls camera and laser range finder capture, tracking target, measurement target, and computer calculates firing data, governor motion and unmanned plane execute instruction are aimed at target according to the parameter received according to solution hit method.Beneficial effects of the present invention：Fire control system of the present invention is compact-sized, small volume, precision are high, mechanism performs soon, preferably meet the lightweight of unmanned plane fire control system, automation and slewing and the particular/special requirement to strike target, fire control system workflow conciliates hit method, and occupancy resource is few, resolves efficiency high.The present invention realizes armed drones to target accurate measurement, precisely fine sight, strike.
Description
Technical field
The present invention relates to arms aiming and control technology, and in particular to the aiming of UAV flight's weapon is with automatically controlling skill
Art.
Background technology
Control to weapon-shooting, by initially use foresight and rear sight, develop finally complex sighting device,
All it is by human eye observation, manually operated.Modern Gun, tank gun, tactical rocket and guided missile, air weapon, shipborne weapon
Deng being furnished with fire control system mostly.Non- guided weapon is equipped with fire control system, can improve the rapidity and accuracy aimed at transmitting, increases
By force to the adaptability of severe battlefield surroundings, fully to play the Kill capability of weapon.Guided weapon is equipped with fire control system, due to
Probability aiming has been carried out before transmitting, the condition of work of its guidance system can be improved, has improved respond of the guided missile to maneuvering target,
Reduce the fault rate of guidance system.The species and scale of fire control system functional module, be according to its control weapon characteristic with
Application environment come design with equipment.For example, for the weapon shot between stopping, its fire control system is transported with regard to need not have carrier
The function of dynamic parametric measurement；In order to mitigate weight, reduce cost, small-bore Ground Artillery, is often unworthy of servomechanism in some,
And the firing data provided by gunner by computer sets on cannon.
Fire control system develops by decades, one had evolved into command, control, communications and intelligence (C4I) system
Individual important component.Fire control system species is various, by optimal in structure point：Ground Artillery fire control system, missile fire control system, dive
Ship fire control system, surface ship fire control system, aircraft airborne fire control system etc.；By sensor point：Radar fire control system, photoelectricity fire
Control system etc..Because armed drones are also in the starting stage, most of unmanned plane for carrying weapon at present, using controlling nobody
Machine flight attitude adjusts weapon firing angle run-home, without firing angle, directive governor motion.Flight attitude change is taken aim to weapon
Standard has very serious interference, and without firing angle, directive governor motion, armed drones do not adapt to target polytropy, targeting
Precision is very low.Existing airborne fire control system, gun fire control system, Ship Fire Control System because volume, weight, function etc. because
Element is unsuitable for unmanned plane, it may be said that armed drones' fire control system is also in technological gap.
Unmanned plane includes fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, multi-rotor unmanned aerial vehicle etc..The non-system that unmanned plane can carry
Weapon limitednumber is led, the generally small-sized firepower equipment such as rifle, grenade launcher, rocket-launching battery, range is generally nearer.By
The objective condition such as unmanned plane bearing capacity and space limits, and preferably uses that small and light, precision is high, the optoelectronic device of good concealment is caught
Obtain and track target, ballistic computation Rational Simplification, control system is reliably efficient, whole fire control system need around it is effective, practical,
Handy principle is built.
The content of the invention
It may do a little simplified or omit in this part and the description of the present application summary and denomination of invention, and it is this
Simplify or omit and cannot be used for limiting the scope of the present invention.
In view of existing armed drones' fire control system has above mentioned problem, it is an object of the invention to provide armed drones' light
Electric fire control system, substitute artificial vision's sighting system by way of parameter acquiring and input, computer are automatically processed and controlled,
So as to realize the accurate measurement to target, precisely fine sight, strike, Operational Effectiveness Rat is improved.
In order to solve the above technical problems, the present invention provides following technical scheme：Armed drones' optronic fire control system, including
Fuselage, power supply, electric platform, camera, rangefinder, sensor, computer, firing angle governor motion, communication module, the aobvious control in ground
Platform.
The fuselage is fixed-wing, single rotor, DCB Specimen or multi-rotor unmanned aerial vehicle fuselage, is that the installation of fire control system is put down
Platform.
The power supply provides electric power support for whole fire control system.
The electric platform is arranged on fuselage.Preferably, electric platform has two frees degree, can up and down adjust and turn
It is dynamic, and the servomotor of respective direction is installed.
The camera is arranged on electric platform, includes infrared module.Preferably, camera have image recognition and with
Track module.
The rangefinder is arranged on electric platform, parallel with camera mounting axis, and synchronous travel direction and angle
Rotate.Preferably, rangefinder is laser range finder, has measurement target range, the function of relative altitude.
Further, the camera and the rangefinder can be with integrated.
The sensor is arranged on fuselage, measures the parameters such as height, air pressure, motion and the posture of unmanned aerial vehicle platform.
The computer is arranged on fuselage, preferably single-chip microcomputer.
The firing angle governor motion is arranged on fuselage bottom, including base plate, hinge seat, firing angle guide rod, drive rod, silk
Mother, screw mandrel, bearing block, location guide, servomotor.Base plate is mounting platform, installation hinge seat in one end below base plate, separately
One end a pair of bearing installed above, hinge seat are hinged with firing angle guide rod, and the firing angle guide rod other end is hinged with drive rod, are driven
The lever other end and screw lower hinge, it is arranged on through the screw mandrel both ends in screw silk hole on bearing block, servomotor is arranged on
It is connected on fuselage bottom plate and with screw mandrel, installs one or a few location guide additional in screw mandrel parallel position, location guide passes through screw
Unthreaded hole, both ends are also secured on bearing block, firing angle guide rod middle part installation carry mechanism, both ends pocketed springs.Base plate,
Hinge seat, firing angle guide rod and drive rod surround quadrilateral frame, and screw, screw mandrel, bearing block, location guide and servomotor are formed
Drive part.Base plate can be integrated with fuselage bottom plate.
The communication module is arranged on fuselage, is responsible for the various figures of unmanned plane itself, fire control system and ground indication control board
Picture, data and the information transfer of instruction.
The ground indication control board, including display, manipulation table top and signal transmitting and receiving module.Display shows UAS
The image transmitted and various data, manipulation table top control unmanned plane during flying posture and flight path, aiming, amendment to fire control system and
Shooting is controlled, and is had automatic fire and artificial shooting both of which option, when not having run-home, is limited automatic fire mould
Formula, signal transmitting and receiving module are installed on the indication control board of ground, are responsible for data, the transmitting-receiving of instruction and image information and are received.
Another object of the present invention is to provide weapon UAV electro-optical's fire control system method of work：Computer receives target ginseng
Number, unmanned plane parameter and corrected parameter, the firing data needed for hit is calculated according to solution hit method, is adjusted to firing angle
Mechanism and unmanned plane fly control module and send firing data's instruction, common by regulating and controlling unmanned plane during flying direction and firing angle guide rod angle
Complete weapon to aim at target, automatic mode shooting or artificial mode are assigned by operating personnel in ground indication control board after run-home
Shooting instruction.
A kind of preferred scheme of armed drones' optronic fire control system：In armed drones' optronic fire control system
On the basis of increase directive governor motion.
The directive governor motion, including race ring, steering driving mechanism.Directive governor motion is arranged on waist,
The base plate of firing angle governor motion is connected to the race ring of rotation.
The first technical scheme of the steering driving mechanism is servomotor, and servo motor rotor driving bearing circle rotates.
Second of technical scheme that the present invention also provides the steering driving mechanism is gear pair, servomotor, servo electricity
Machine sliding tooth wheel set, gear pair driving bearing circle rotate.
The third technical scheme that the present invention also provides the steering driving mechanism is race ring, turbine and worm, servo electricity
Machine, servomotor driving turbine and worm, turbine and worm driving bearing circle rotate.
A kind of preferred scheme of armed drones' optronic fire control system, its fire control system method of work are：Computer
Target component, unmanned plane parameter and corrected parameter are received, the firing data needed for hit is calculated according to solution hit method,
Firing data's instruction is sent to directive governor motion and firing angle governor motion, by regulating and controlling directive governor motion orientation angle and penetrating
Angle guide rod high and low angle completes weapon and target is aimed at jointly, and automatic mode shooting or artificial mode are by operator after run-home
Member assigns shooting instruction in ground indication control board.
The present invention also provides the solution hit method of weapon UAV electro-optical's fire control system.Due to armed drones' electro-optical fire control
The particularity of system and carried weapon, weapon aiming target real-time and required precision should be met, again can not be to computer
Performance requirement is too high.It is preferred, therefore, that computer is established with unmanned plane according to target component, unmanned plane parameter and corrected parameter
Platform solves for the mathematical modeling under the inertial coodinate system of origin, solve the predicted point calculating of meeting of hit, and uses
Firing table Approximate Solution calculates firing data.
The present invention also proposes a kind of armed drones, and the unmanned plane is used to install fire control system described above, the unmanned plane
Including flying control module.
Beneficial effects of the present invention：Armed drones' optronic fire control system of the invention is compact-sized, small volume, precision
It is high, reaction is fast, preferably meet the lightweight of unmanned plane fire control system, automation and slewing and strike target it is special will
Ask, fire control system workflow conciliates hit method, and occupancy resource is few, resolves efficiency high, and mechanism is performed soon, realized to target
Accurate measurement, precisely fine sight, strike.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, it can also be obtained according to these accompanying drawings other
Accompanying drawing.Wherein：
Fig. 1 schematic diagrames of armed drones' optronic fire control system general structure embodiment 1 of the present invention；
Firing angle governor motion schematic diagram in Fig. 2 armed drones' optronic fire control systems of the present invention；
Fig. 3 schematic diagrames of weapon UAV electro-optical fire control system general structure embodiment 2 of the present invention；
The schematic diagram of directive governor motion embodiment 1 in Fig. 4 armed drones' optronic fire control systems of the present invention；
The schematic diagram of directive governor motion embodiment 2 in Fig. 5 armed drones' optronic fire control systems of the present invention；
The schematic diagram of directive governor motion embodiment 3 in Fig. 6 armed drones' optronic fire control systems of the present invention；
Fig. 7 weapon UAV electro-optical fire control system ground indication control board schematic diagrames of the present invention；
The fire control workflow schematic diagram of Fig. 8 fire control system general structures embodiment 1；
The fire control workflow schematic diagram of Fig. 9 fire control system general structures embodiment 2.
Embodiment
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, it is clear that described embodiment is only one of the present invention
Divide embodiment, rather than whole embodiments, therefore the present invention is not limited by following public specific embodiment.Based on this hair
Bright embodiment, those skilled in the art obtain all other embodiment in the case of creative work is not made, belonged to
In the scope of protection of the invention.The embodiment of the present invention is described in detail with reference to Figure of description.
Because rotor wing unmanned aerial vehicle, particularly multi-rotor unmanned aerial vehicle itself steering are more convenient, its own direction can be passed through and turned
Move to adjust the firing direction of carrying weapon, therefore multi-rotor unmanned aerial vehicle can not install directive adjustment mechanism.
As shown in figure 1, armed drones' optronic fire control system general structure embodiment 1, fuselage 1 is mounting platform, electronic
Head 2 is arranged on back, the camera 3 installed above of head 2 and rangefinder 4, and head 2 has two frees degree, can be up and down
Left and right four direction regulation rotates, and installs corresponding servomotor.Camera 3 and the diameter parallel of rangefinder 4 are arranged on electronic
Head 2, and synchronous travel direction and angular turn.Sensor 5 is arranged on fuselage, measurement unmanned aerial vehicle platform height, air pressure, fortune
The parameters such as dynamic and posture.Firing angle governor motion 6 (dashed box) is using fuselage bottom plate as base plate, among fuselage.Firing angle is adjusted
(dashed box) the carry weapon of mechanism 6 12.Power supply 7 is installed on the fuselage 1, and electric power support is provided for whole fire control system.Computer 8 is pacified
On unmanned plane, computer 8 receives the dbjective state parameter that electric platform 2, camera 3 and rangefinder 4 transmit, sensor 5
The unmanned plane displacement and attitude parameter transmitted, the corrected parameter that operator gives, calculates the parameters of target motion and life
Needed for firing data, to firing angle governor motion 6 (dashed box) send instruct while, to unmanned plane fly control module 9 send finger
Order, relevant data are transmitted in earthward indication control board by communication module 10.Ground indication control board is floor synthetic display and operation platform,
It is the command and control center of armed drones.
As shown in Fig. 2 firing angle governor motion in armed drones' optronic fire control system, base plate 61 is mounting platform, base
One end bottom of seat board 61 is installed by hinge seat 62, other end a pair of bearing 63 installed above, hinge seat 62 and firing angle guide rod 64 1
End is be hinged, and the other end of firing angle guide rod 64 is be hinged with drive rod 65, the other end of drive rod 65 and the lower hinge of screw 66, screw 66 by
Silk hole, unthreaded hole and articulated section composition, are arranged on bearing block, servomotor 68 is installed through the both ends of screw mandrel 67 in 66 holes of screw
It is connected on base plate 61 and with screw mandrel 67, installs one or more location guide 69 additional in the parallel position of screw mandrel 67, it is fixed
Position guide rod 69 passes through the unthreaded hole of screw 66, and both ends are also secured on bearing block 63, and one end pocketed springs 70 of location guide 69 balance
Side draw of the screw to screw mandrel.The middle part of firing angle guide rod 64 installation carry mechanism 71, both ends pocketed springs 72, carry mechanism 71
Carry weapon.Servomotor 68 drives screw 66, the hinge of screw 66 according to the firing data's drive screw 67 received, screw mandrel 67
Chain drives drive rod 65, and drive rod 65 drives the angular adjustment of firing angle guide rod 64, and firing angle guide rod 64 drives weapon.Preferably, firing angle
The middle part of guide rod 64 is square-section, can prevent weapon from rotating.
As shown in figure 3, armed drones' optronic fire control system general structure embodiment 2, fuselage 1 is mounting platform, electronic
Head 2 is arranged on back, its camera 3 and rangefinder 4 installed above, has two frees degree, can up and down four
Direction regulation rotates, and installs corresponding servomotor.Camera 3 and the diameter parallel of rangefinder 4 are arranged on electric platform 2, and
Synchronous travel direction and angular turn.Sensor 5 is arranged on fuselage, measurement unmanned aerial vehicle platform height, air pressure, motion and posture
Etc. parameter.Directive governor motion 11 (dashed box) is arranged on waist, including race ring, steering driving mechanism.Firing angle adjusts machine
The base plate of structure 6 (dashed box) is connected on the race ring below directive governor motion 11 (dashed box).Firing angle governor motion 6 (dashed box) is hung
Carry weapon 12.Computer 8 is arranged on fuselage, the target that computer 8 receives electric platform 2, camera 3 and rangefinder 4 transmit
State parameter, the unmanned plane displacement and attitude parameter that sensor 5 transmits, the corrected parameter that operator gives, is calculated
Firing data needed for the parameters of target motion and hit, to directive governor motion 11 (dashed box) and firing angle governor motion 6 (dashed box)
While sending firing data's instruction, relevant data are transmitted in earthward indication control board by communication module 10.Power supply 7 is arranged on machine
With, provide electric power support for whole fire control system.Ground indication control board is floor synthetic display and operation platform, is armed drones
Command and control center.
As shown in figure 4, directive governor motion embodiment 1 in armed drones' optronic fire control system, including race ring 111,
Servomotor 112, base plate 113, the outer ring of race ring 111 are fixed on the centre position of fuselage 1, and servomotor 112 is fixed on fuselage,
The rotor of servomotor 112 direct drive race ring 111 inner ring rotates, and inner ring drives following base plate 113 to rotate.
As shown in figure 5, directive governor motion embodiment 2 in armed drones' optronic fire control system, including race ring 111,
Gear pair 114, servomotor 112, base plate 113, the inner ring of race ring 111 are fixed on the centre position of fuselage 1, race ring 111
Set gear 114 outside outer ring, servomotor 112 are fixed on fuselage bottom, the rotor of servomotor 112 installation gear 114, servo electricity
Machine 112 drives gear pair 114 to move, and gear 114 drives the outer ring rotating of race ring 111, and outer ring drives 113 turns following of base plate
It is dynamic.
As shown in fig. 6, directive governor motion embodiment 3 in armed drones' optronic fire control system, including race ring 111,
Turbine and worm 115, servomotor 112, base plate 113, the inner ring of race ring 111 are fixed on the centre position of fuselage 1, race ring
Turbine 115 is set with outside 111 outer rings, servomotor 112 is fixed on the bottom of fuselage 1, and the armature spindle of servomotor 112 installs worm screw 115,
Servomotor 112 drives turbine and worm 115 to move according to firing data is received, and turbine 115 drives the outer ring of race ring 111 to turn
Dynamic, outer ring drives following base plate 113 to rotate.
As shown in fig. 7, armed drones' optronic fire control system ground indication control board, including display 21, manipulation table top 22 and
Signal transmitting and receiving module 23.The image and various data that the display UAS of display 21 transmits.Manipulation table top 22 controls nobody
Machine flight attitude and flight path, manipulate the aiming, amendment and shooting criterions of optronic fire control system.Signal transmitting and receiving module 23 installs ground
On indication control board, it is responsible for data, the transmitting-receiving of instruction and image-receptive.Manipulation table top has the machine that opens the light, aims at tracking, amendment, automatic shooting
Hit, the artificial control button such as shooting, have the control stick of control unmanned plane during flying posture, control electric platform camera and rangefinder
Control stick.
As shown in figure 8, containing only firing angle governor motion fire control workflow：Armed drones reach presumptive area, fire control system
System carries out system power-up and carries out System self-test 202 according to the instruction of ground indication control board 200 start 201.System completion self-test is simultaneously true
After recognizing normally, electric platform, camera and sensor 203 are in open state, and rangefinder, computer are standby, with
When prepare receive run-home instruction.The commander's control of ground indication control board 200 electric platform, camera and sensor 203 work,
Electric platform, camera and the job information of sensor 203 are sent to ground indication control board 200.The mesh that earthward indication control board 200 is assigned
The instruction aimed at is marked, electric platform manipulation camera and rangefinder 204 capture, track target, constantly measure coordinates of targets parameter,
And provide Target Coordinate Data from trend computer 206.Computer 206 transmits in reception electric platform, camera and rangefinder
Dbjective state parameter 204, the unmanned plane parameter that sensor 205 transmits, operator by ground indication control board 200 give repair
Positive parameter, the firing data needed for the parameters of target motion and hit is calculated according to solution hit method, is continuously adjusted to firing angle
The high and low angle that section mechanism 207 is sent in firing data is instructed and is adjusted, while the orientation angle in firing data is referred to
Order is sent to unmanned plane and flies control module 208, and unmanned plane flies control module and automatically adjusts the heading of unmanned plane, by regulation and control nobody
Relevant data are sent to ground indication control board 200 by machine direction and firing angle high and low angle to complete the tracking aiming to target.
While completing target aiming, aiming symbol is sent to ground indication control board 200 and prompted, such as have selected automatic fire mould
Formula, automatic firing 209 after aiming, percussion is assigned manually in ground indication control board 200 by operating personnel if it have selected artificial mode
Instruction 209.
As shown in figure 9, the fire control workflow of governor motion containing directive：Armed drones reach presumptive area, fire control system
According to the instruction of ground indication control board 200 start 201, carry out system power-up and carry out System self-test 202.System is completed self-test and confirmed
After normal, electric platform, camera and sensor 203 are in open state, and rangefinder, computer are standby, at any time
Prepare the instruction of reception run-home.The commander's control of ground indication control board 200 electric platform, camera and sensor 203 work, electricity
Dynamic head, camera and the job information of sensor 203 are sent to ground indication control board 200.The target that earthward indication control board 200 is assigned
The instruction of aiming, electric platform manipulation camera and rangefinder 204 capture, track target, constantly measure coordinates of targets parameter, and
Target Coordinate Data is provided from trend computer 206.Computer 206 is receiving what electric platform, camera and rangefinder transmitted
Dbjective state parameter 204, the unmanned plane parameter that sensor 205 transmits, the amendment that operator is given by ground indication control board 200
Parameter, the firing data needed for the parameters of target motion and hit is calculated according to solution hit method, is continuously adjusted to firing angle
While mechanism 207 and firing angle governor motion 208 send firing data's instruction, relevant data are sent to ground indication control board 200.
Directive governor motion 207 and firing angle governor motion 208 manipulate weapon according to the firing data of reception and are tracked aiming.Complete
While target aims at, aiming symbol is sent to ground indication control board 200 and prompted, the operating personnel for receiving prompting pass through certainly
Dynamic or artificial mode assigns shooting instruction.Automatic fire pattern is such as have selected, automatic firing 209 after aiming, if having selected artificial
Pattern then assigns jet instruction 209 manually by operating personnel in ground indication control board 200.
The present invention also provides the solution hit method of weapon UAV electro-optical's fire control system.For shooting fixed mesh between stopping
Mark, computer need not resolve the predicted point that meets of hit.But for marching fire moving target, computer needs root
According to target and unmanned aerial vehicle platform real-time status parameter solve the predicted point that meets of hit, add computer burden.For
Reduce and real-time and required precision are met again to computer requirement, strengthen the practicality of fire control system, establish and put down with unmanned plane
Platform solves for the mathematical modeling under the inertial coodinate system of origin.In the selection for calculating firing data's method, approached from firing table
Solution（2016 of the specific visible National Defense Industry Press of calculation method the 1st edition《Fire Control System Design outline》）.
The present invention also proposes a kind of armed drones, and the unmanned plane is used to install fire control system described above, the unmanned plane
Including flying control module.
Above in association with schematic diagram to the present invention have been described in detail, when the embodiment of the present invention is described in detail, for purposes of illustration only,
Schematic diagram can disobey general proportion and make partial enlargement, and the explanation of embodiment illustrated above is only intended to help and understands the present invention
Principle and method and it is unrestricted；Meanwhile for those skilled in the art, according to the thought of the present invention, in specific embodiment party
There will be changes in formula and application.In summary, this specification content should not be construed as limiting the invention, and appoint
What those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in, all
It should cover within scope of the presently claimed invention.
Claims (10)
1. armed drones' optronic fire control system, it is characterised in that including fuselage, power supply, electric platform, camera, rangefinder,
Sensor, computer, firing angle governor motion, communication module, ground indication control board.
2. firing angle governor motion as claimed in claim 1, it is characterised in that：Including base plate, hinge seat, firing angle guide rod, driving
Bar, screw, screw mandrel, bearing block, location guide, servomotor, base plate, hinge seat, firing angle guide rod and drive rod surround four sides
Shape framework, screw, screw mandrel, bearing block, location guide and servomotor form drive part, and base plate can be with fuselage bottom plate
One.
3. ground indication control board as claimed in claim 1, it is characterised in that：Manipulate table top control unmanned plane during flying posture and boat
Mark, aiming, amendment and shooting to fire control system are controlled, and have automatic fire and artificial shooting both of which option, are not having
When having run-home, automatic fire pattern is limited.
4. camera as claimed in claim 1 and the rangefinder, it is characterised in that：Rangefinder is laser range finder, with shooting
Head mounting axis is parallel, and synchronous travel direction and angular turn, and camera and rangefinder can be with integrated.
A kind of 5. preferred scheme of armed drones' optronic fire control system as claimed in claim 1, it is characterised in that：In the force
Increase directive governor motion on the basis of dress UAV electro-optical's fire control system, the directive governor motion includes race ring, turned to
Drive mechanism, directive governor motion are arranged on waist, and the base plate of firing angle governor motion is connected to the race ring of rotation.
6. steering driving mechanism as claimed in claim 5, it is characterised in that：The first technical scheme is servomotor, and servo is electric
Machine rotor driving bearing circle rotates；Second of technology is gear pair, servomotor, servomotor sliding tooth wheel set, and gear pair drives
Dynamic bearing circle rotates；The third technology is race ring, turbine and worm, servomotor, and servomotor drives turbine and worm, turbine snail
Bar driving bearing circle rotates.
7. weapon UAV electro-optical's fire control system method of work, it is characterised in that：Computer receives target component, unmanned plane parameter
And corrected parameter, the firing data needed for hit is calculated according to solution hit method, to firing angle governor motion and unmanned plane
Fly control module and send firing data's instruction, weapon is completed jointly to mesh by regulating and controlling unmanned plane during flying direction and firing angle guide rod angle
Mark aims at, and automatic mode shooting or artificial mode assign shooting instruction by operating personnel in ground indication control board after run-home.
A kind of 8. preferred scheme method of work of weapon UAV electro-optical's fire control system, it is characterised in that：Computer receives target
Parameter, unmanned plane parameter and corrected parameter, the firing data needed for hit is calculated according to solution hit method, is adjusted to directive
Save mechanism and firing angle governor motion sends firing data's instruction, it is high by regulating and controlling directive governor motion orientation angle and firing angle guide rod
Low angle complete jointly weapon to target aim at, after run-home automatic mode shooting or artificial mode by operating personnel on ground
Indication control board assigns shooting instruction.
9. hit method is solved as described in claim any one of 7-8, it is characterised in that：Computer is according to target component, unmanned plane
Parameter and corrected parameter, establish and solved by the mathematical modeling under the inertial coodinate system of origin of unmanned aerial vehicle platform, carry out solution hit
The predicted point calculating of meeting of target, and firing data is calculated using firing table Approximate Solution.
A kind of 10. armed drones, it is characterised in that：Including the fire control system described in claim any one of 1-9.
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| CN109099779A (en) * | 2018-08-31 | 2018-12-28 | 江苏域盾成鹫科技装备制造有限公司 | A kind of detecting of unmanned plane and intelligent intercept system |
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| CN108423188A (en) * | 2018-05-15 | 2018-08-21 | 南京理工大学 | A kind of unmanned plane cradle head mechanism of carry firearms |
| CN109099779A (en) * | 2018-08-31 | 2018-12-28 | 江苏域盾成鹫科技装备制造有限公司 | A kind of detecting of unmanned plane and intelligent intercept system |
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| CN111076612A (en) * | 2019-12-25 | 2020-04-28 | 武汉华中天勤防务技术有限公司 | Intelligent unmanned vehicle lane warfare weapon station |
| CN112455692A (en) * | 2021-01-27 | 2021-03-09 | 北京天创凯睿科技有限公司 | Machine gun sliding seat for fighter plane |
| CN113091513A (en) * | 2021-03-03 | 2021-07-09 | 上海机电工程研究所 | Real-time dynamic calibration method, system and medium for ship-based missile weapon system |
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| CN113848992A (en) * | 2021-08-26 | 2021-12-28 | 上海合时智能科技有限公司 | Target detection location and automatic shooting system based on unmanned aerial vehicle and armed beating robot |
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| CN113716050A (en) * | 2021-09-26 | 2021-11-30 | 湖南数军物联网科技有限公司 | Automatic shooting unmanned aerial vehicle and unmanned on duty system |
| KR102383127B1 (en) * | 2021-11-12 | 2022-04-08 | 최종필 | Rifle recoil absorber for drones |
| KR102383128B1 (en) * | 2021-11-12 | 2022-04-08 | 최종필 | Rifle Mounts for Drones |
| CN114265497A (en) * | 2021-12-10 | 2022-04-01 | 中国兵器装备集团自动化研究所有限公司 | Man-machine interaction method and device for transmitter aiming system |
| 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 |
| CN114476075A (en) * | 2022-01-13 | 2022-05-13 | 中国电子科技集团公司第三研究所 | Hoist and mount load gesture stable platform |
| CN116477054A (en) * | 2022-12-13 | 2023-07-25 | 南京理工大学 | Cloud deck mechanism for mounting firearm |
| RU2824014C1 (en) * | 2023-02-20 | 2024-07-31 | Карауланов Антон Александрович | Small unmanned aerial vehicle (embodiments) |
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