Unmanned aerial vehicle collision system and collision control method

Abstract

The invention provides an unmanned aerial vehicle collision system and a collision control method. The collision system comprises a mobile computer, a data chain ground terminal, a remote controller and an unmanned aerial vehicle flight device, the mobile computer is configured to display the unmanned aerial vehicle situation and the photoelectric image, and is used for sending an instruction to the unmanned aerial vehicle flight device; the remote controller is configured to perform flight remote control on the unmanned aerial vehicle flight device; an airborne computer on the unmanned aerial vehicle flight device is configured to operate a combined navigation algorithm, give position, attitude and course information of the unmanned aerial vehicle flight device, and realize navigation, guidance and control of the unmanned aerial vehicle flight device; a photoelectric module on the unmanned aerial vehicle flight device is configured to detect and identify a target in real time; the mobile computer communicates with the unmanned aerial vehicle flight device to realize information interaction; according to the scheme provided by the invention, the flight device of the unmanned aerial vehicle can be controlled, the target is collided through remote control, the collision response speed is increased, and the collision cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle collision, and in particular relates to a unmanned aerial vehicle collision system and a collision control method. Background Art

[0002] In recent years, with the rapid development of drone technology, the use scenarios of military drones have expanded from traditional reconnaissance, instruction, and integrated reconnaissance and attack to various scenarios such as ground attack and air strike. Especially in modern warfare, a large number of small and medium-sized drones have participated in the war, which fully demonstrates the importance of drones in modern warfare. Drones have defined modern warfare to a certain extent; however, there is a lack of systematic research on impact drones in existing technologies.

[0003] Based on the technical problems existing in the use of the above-mentioned drones, there is no relevant solution yet; therefore, there is an urgent need to find effective solutions to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies in the above-mentioned technologies and propose a UAV collision system and a collision control method, aiming to solve the collision problem of existing UAVs.

[0005] The invention provides a UAV collision system, which comprises a ground command and control subsystem and a UAV flight device; the ground command and control subsystem comprises a mobile computer, a data link ground terminal and a remote controller; the mobile computer is configured to display the UAV situation and optoelectronic images, and is used to send instructions to the UAV flight device; the data link ground terminal is configured to realize communication between the mobile computer and the UAV flight device, and realize data interaction between the ground command and control subsystem and the UAV flight device; the remote controller is configured to remotely control the flight of the UAV flight device; the UAV flight device is provided with an airborne computer, an optoelectronic module and a data link airborne terminal; the airborne computer is configured to run a combined navigation algorithm, give the position, attitude and heading information of the UAV flight device, and run a guidance law and a control law at the same time, so as to realize navigation, guidance and control of the UAV flight device; the optoelectronic module is configured to detect and identify targets in real time, and transmit the targets to the ground command and control subsystem; the data link airborne terminal is configured to realize communication between the UAV flight device and the ground command and control subsystem, and realize information interaction between the UAV flight device and the ground command and control subsystem.

[0006] Furthermore, the UAV flight device is also provided with an external sensor module and an internal sensor module, and the external sensor module and the internal sensor module respectively include a GPS receiver, a magnetometer and a barometer.

[0007] Furthermore, the drone situation refers to the distribution situation formed by multiple drone flying devices; the drone situation includes the situation of one's own drone and the situation of the enemy drone; the optoelectronic module includes a visible light camera and an optoelectronic computer; the visible light camera is used to obtain optoelectronic images for identifying targets; and the optoelectronic computer is used to process optoelectronic images.

[0008] Furthermore, the UAV flight device includes a fuselage and a rotor; the fuselage is a long strip structure and is arranged in a vertical direction during flight; the left and right sides of the fuselage extend along the horizontal X direction to form wings, and the wings on the left and right sides of the fuselage are symmetrical with the vertical center line of the fuselage; the front and rear sides of the wings extend along the horizontal Y direction to form rotor arms, and a rotor motor is provided on the rotor arm; the rotor is arranged on the top of the rotor arm and is transmission-connected to the output end of the rotor motor.

[0009] Furthermore, the fuselage and the wing are integrally injection molded by plastic; the rotor arm is a carbon tube structure; the projection area of ​​the wing along the vertical direction is smaller than the projection area of ​​the wing along the horizontal direction; the projection area of ​​the fuselage along the vertical direction is smaller than the projection area of ​​the fuselage along the horizontal direction.

[0010] Furthermore, the rotor is made of wooden material and is an integrally formed structure.

[0011] Furthermore, a warhead is provided on the fuselage, and the warhead is located at the front section of the fuselage; the warhead is a steel cone structure; the warhead is used to achieve collision with a target; the target is an enemy drone.

[0012] Furthermore, the total thrust of the rotor is twice the weight of the entire UAV flight device; the thrust-to-weight ratio of the UAV flight device is, and the maximum acceleration of the UAV flight device is 2*9.8m / s 2 .

[0013] Accordingly, in combination with the above solution, the present invention also provides a UAV collision control method, which includes the following process:

[0014] S1: Real-time detection of enemy targets through the optoelectronic module, giving a target prompt box in the optoelectronic image, and transmitting it back to the ground command and control subsystem in real time, and displaying it on the screen of the mobile computer;

[0015] S2: The ground command personnel determine the impact target by clicking on the screen of the mobile computer according to the combat requirements; the ground command personnel's clicking instructions are sent to the onboard computer of the UAV flight device, and then forwarded to the optoelectronic module by the onboard computer;

[0016] S3: The optoelectronic module measures the guidance information between the UAV flight device and the selected target in real time and sends it to the onboard computer. After receiving the guidance information, the onboard computer controls the UAV flight device to switch to the attack mode and guides the UAV flight device to crash into the target.

[0017] S4: After the impact, the onboard computer controls the UAV flight device to enter the cruise mode. After the UAV flight device is in a stable state, it switches to the return mode to achieve recovery.

[0018] Furthermore, in step S3: the control parameters of the UAV flight device are as follows according to the guidance information:

[0019] The pitch rate is: q c =k 1 *∈ y ;

[0020] The yaw rate is: r c =k 2 *∈ x ;

[0021] The roll angle command is:

[0022] Among them, q c is the pitch rate command of the UAV; r c is the yaw angular rate; is the roll angle command; k 1 and k 2 are proportional guidance coefficients; k 3 is the proportional coefficient of the yaw angle rate to the roll angle command; (∈ x ,∈ y ) is the angular velocity of the missile-target line of sight.

[0023] The solution provided by the present invention has the following technical effects:

[0024] First, the UAV flight device provided by the present invention adopts a rudderless tail-seat layout, which can be quickly deployed and taken off in different terrains, and improves the response speed to impact commands. Conventional fixed-wing aircraft require rudders to achieve stability and control, which increases the installation process and complexity, and also increases the inspection and maintenance process; the UAV flight device provided by the present invention adopts a rudderless tail-seat layout, and adopts high-frequency speed adjustment of four motors, which can replace the role of rudders and stabilizers, simplifying the complexity of the UAV structure and the size of the whole machine, and is easy to carry and deploy.

[0025] Second, the UAV flight device provided by the present invention adopts a multi-rotor rudderless tail seat layout, which increases the impact cross-sectional area through the rotor and improves the collision probability of mid-air collision. At the same time, the multi-rotor power redundancy is large, the UAV flight speed is high, the collision accuracy is high, and the damage effect is good; wherein, the hovering throttle of the multi-rotor is about 50% (preferably designed to be 50%), the total thrust of the rotor is twice the total weight of the aircraft, and when flying level, the thrust-to-weight ratio of the aircraft is 2, which can achieve a maximum of 2*9.8m / s 2 acceleration, enabling high-speed flight.

[0026] Third, the UAV flight device provided by the present invention uses a wooden propeller rotor. Even if part of it is damaged, the remaining part can still provide partial pulling force, which improves the recovery probability and reduces the cost of use. Compared with wooden propellers, if other materials such as carbon fiber propellers are damaged, the remaining part cannot maintain the original airfoil and cannot work normally.

[0027] The solution provided by the present invention can control the flight devices of small and medium-sized unmanned aerial vehicles to collide with stationary ground targets and ground / air moving targets, and can achieve a strike effect similar to that of a cruise missile or a surface-to-air missile. It can cause damage to ground targets with known longitude and latitude information and ground / air moving targets. Compared with traditional cruise missiles and surface-to-air missiles, it greatly reduces combat costs and facilitates cluster attacks and continuous attacks. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] The present invention will be further described below in conjunction with the accompanying drawings:

[0030] Figure 1 This is a front view of the structure of the drone of the present invention;

[0031] Figure 2 This is a flow chart of a UAV collision control method of the present invention;

[0032] Figure 3 This is a schematic diagram of a UAV impact system of the present invention.

[0033] In the figure: 1. fuselage; 2. wing; 3. rotor arm; 4. rotor. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The meaning of "several" is one or more, unless otherwise clearly and specifically defined.

[0037] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] like Figure 1 to Figure 2As shown, the present invention provides a UAV impact system, the impact system includes a ground command and control subsystem and a UAV flight device; wherein the ground command and control subsystem includes a mobile computer, a data link ground terminal and a remote controller; specifically, the mobile computer is configured to display the UAV situation and optoelectronic images, and is used to send instructions to the UAV flight device; further, the data link ground terminal is configured to realize communication between the mobile computer and the UAV flight device, and realize data interaction between the ground command and control subsystem and the UAV flight device, and the interaction data includes optoelectronic return images and UAV command and control information; further, the remote controller is configured to remotely control the flight of the UAV flight device; further, the UAV flight device is provided with an onboard computer, Optoelectronic module and data link airborne terminal; further, the airborne computer is configured to run a combined navigation algorithm to provide the position, attitude and heading information of the UAV flight device, and simultaneously run the guidance law and control law to realize navigation, guidance and control of the UAV flight device; further, the optoelectronic module is configured to detect and identify the target in real time, and transmit it to the ground command and control subsystem; further, the data link airborne terminal is configured to realize communication between the UAV flight device and the ground command and control subsystem, and realize information exchange between the UAV flight device and the ground command and control subsystem; the UAV collision system provided by the present invention can realize the control of the UAV flight device, and collide with the target by remote control, thereby improving the collision response speed and reducing the collision cost.

[0040] Preferably, in combination with the above scheme, Figure 1 to Figure 2 As shown, the UAV flight device is also provided with an external sensor module and an internal sensor module, which respectively include a GPS receiver, a magnetometer and a barometer, so that the UAV flight device forms a backup of external and internal sensors; preferably, the GPS receiver is ublox MAX M10s, the magnetometer is HMC8310L, and the barometer is MS5611; further, the UAV flight device is also provided with a rotor electric regulator, which is responsible for receiving the control signal from the flight control system and adjusting the current supplied to the motor accordingly, thereby controlling the speed of the motor, and then realizing precise control of the UAV attitude; further, the UAV flight device is also provided with a lithium battery and its distribution circuit, and the lithium battery provides power to the onboard electronic equipment and power equipment on the UAV flight device through the distribution circuit; further, the mobile computer adopts a Thinkbook Plus 17 dual-screen laptop computer, in which the left side of the large screen is used to display the photoelectric return image, the right side of the large screen is used to display the UAV situation, and the small screen on the right side of the keyboard is used to display the UAV command interface, which is used to send instructions to the UAV flight platform.

[0041] Preferably, in combination with the above scheme, Figure 1 to Figure 2As shown, the UAV situation refers to the distribution situation formed by multiple UAV flight devices, that is, in actual applications, the flight distribution state formed by multiple friendly or enemy UAVs; specifically, the UAV situation includes friendly UAV situation and enemy UAV situation; further, the optoelectronic module includes a visible light camera and an optoelectronic computer; specifically, the visible light camera is used to obtain optoelectronic images for identifying targets; the optoelectronic computer is used to process optoelectronic images.

[0042] Preferably, in combination with the above scheme, Figure 1 to Figure 2 As shown, the UAV flight device includes a fuselage 1 and a rotor 4; wherein the fuselage 1 is a long strip structure and is arranged in the vertical direction during flight, so that the impact area in the horizontal direction can be increased; further, the left and right sides of the fuselage 1 extend along the horizontal X direction to form wings 2, and the wings 2 on the left and right sides of the fuselage 1 are symmetrically structured with the vertical center line of the fuselage 1 to improve flight balance; further, the front and rear sides of the wing 2 extend along the horizontal Y direction to form a rotor arm 3, and a rotor motor is provided on the rotor arm 3; further, the rotor 4 is arranged on the top of the rotor arm 3 and is transmission-connected to the output end of the rotor motor; further, the rotor motor is electrically connected to the rotor electric regulator to achieve callback; it should be noted that the above-mentioned horizontal X direction and horizontal Y direction refer to the coordinate system directions of the X-axis and Y-axis of the horizontal plane.

[0043] Preferably, in combination with the above scheme, Figure 1 to Figure 2 As shown, the fuselage 1 and the wing 2 are respectively formed by integral plastic injection molding, which makes the UAV flight device low in cost and high in production efficiency; further, the rotor arm 3 is a carbon tube structure, specifically, the rotor arm adopts a carbon tube of standard size as the main structure, which is relatively low in cost; further, the wing 2 is a plate-like structure, and the projection area of ​​the wing 2 in the vertical direction is smaller than the projection area of ​​the wing 2 in the horizontal direction, which can effectively increase the collision probability; further, the fuselage 1 is a plate-like structure, and the projection area of ​​the fuselage 1 in the vertical direction is smaller than the projection area of ​​the fuselage 1 in the horizontal direction, which can effectively increase the collision probability.

[0044] Preferably, in combination with the above scheme, Figure 1 to Figure 2 As shown, the rotor 4 is made of wood material and is an integrally formed structure; specifically, the rotor 4 is designed as a wooden blade, so that after being damaged by an impact, the remaining blades can provide better pulling force to complete the return recovery.

[0045] Preferably, in combination with the above scheme, Figure 1 to Figure 2As shown, the UAV flight device provided by the present invention adopts a control method without rudder surfaces, adopts rotors to realize fixed-wing modal control, eliminates rudder surfaces and supporting servos and cables, reduces manufacturing costs, and reduces assembly workload; wherein, a warhead is also provided on the fuselage 1, and the warhead is located at the front section of the fuselage 1; the warhead is a steel cone structure; specifically, the warhead is used to achieve collision with a target; further, the optoelectronic module detects and identifies the target as an enemy UAV or a stationary object (i.e., a collision target).

[0046] Preferably, in combination with the above scheme, Figure 1 to Figure 2 As shown, the onboard computer has a built-in GPS receiver, a barometer, an accelerometer, an angular rate gyro and a magnetometer; specifically, the onboard computer runs a combined navigation algorithm to provide information such as the position, attitude and heading of the UAV flight device. At the same time, the onboard computer runs guidance laws and control laws to achieve navigation, guidance and control of the UAV flight device; further, the built-in GPS receiver model of the onboard computer is ublox MAXM10s, the barometer model is MS5611, the accelerometer model is BMI088, the angular rate gyro model is BMI088, and the magnetometer model is RM3100.

[0047] Preferably, in combination with the above scheme, Figure 1 to Figure 2 As shown, the total pulling force of the rotor 4 is twice the weight of the entire UAV flight device; the thrust-to-weight ratio of the UAV flight device is 2, and the maximum acceleration of the UAV flight device is 2*9.8m / s 2 .

[0048] Accordingly, in combination with the above scheme, Figures 1 to 3 As shown, the present invention also provides a UAV collision control method, the collision control method comprising the following process:

[0049] S1: Real-time detection of enemy targets through the optoelectronic module, giving a target prompt box in the optoelectronic image, and transmitting it back to the ground command and control subsystem in real time, and displaying it on the screen of the mobile computer;

[0050] S2: The ground command personnel determine the impact target by clicking on the screen of the mobile computer according to the combat requirements; the ground command personnel's clicking instructions are sent to the onboard computer of the UAV flight device, and then forwarded to the optoelectronic module by the onboard computer;

[0051] S3: The optoelectronic module measures the guidance information between the UAV flight device and the selected target in real time and sends it to the onboard computer. After receiving the guidance information, the onboard computer controls the UAV flight device to switch to the attack mode and guides the UAV flight device to crash into the target.

[0052] S4: After the impact, the onboard computer controls the UAV flight device to enter the cruise mode. After the UAV flight device is in a stable state, it switches to the return mode to achieve recovery.

[0053] Preferably, in combination with the above scheme, Figure 1 to Figure 2 As shown, in step S3: the control parameters of the UAV flight device are as follows according to the guidance information:

[0054] The pitch rate is: q c =k1*∈y;

[0055] The yaw rate is: r c =k2*∈x;

[0056] The roll angle command is:

[0057] Among them, q c is the pitch rate command of the UAV; r c is the yaw angular rate; is the roll angle command; k 1 and k 2 are proportional guidance coefficients; k 3 is the proportional coefficient of the yaw angle rate to the roll angle command; (∈ x ,∈ y ) is the angular velocity of the missile-target line of sight.

[0058] The solution provided by the present invention has the following technical effects:

[0059] First, the UAV flight device provided by the present invention adopts a rudderless tail-seat layout, which can be quickly deployed and taken off in different terrains, and improves the response speed to impact commands. Conventional fixed-wing aircraft require rudders to achieve stability and control, which increases the installation process and complexity, and also increases the inspection and maintenance process; the UAV flight device provided by the present invention adopts a rudderless tail-seat layout, and adopts high-frequency speed adjustment of four motors, which can replace the role of rudders and stabilizers, simplifying the complexity of the UAV structure and the size of the whole machine, and is easy to carry and deploy.

[0060] Second, the UAV flight device provided by the present invention adopts a multi-rotor rudderless tail seat layout, which increases the impact cross-sectional area through the rotor and improves the collision probability of mid-air collision. At the same time, the multi-rotor power redundancy is large, the UAV flight speed is high, the collision accuracy is high, and the damage effect is good; wherein, the hovering throttle of the multi-rotor is about 50% (preferably designed to be 50%), the total thrust of the rotor is twice the total weight of the aircraft, and when flying level, the thrust-to-weight ratio of the aircraft is 2, which can achieve a maximum of 2*9.8m / s 2 acceleration, enabling high-speed flight.

[0061] Third, the UAV flight device provided by the present invention uses a wooden propeller rotor. Even if part of it is damaged, the remaining part can still provide partial pulling force, which improves the recovery probability and reduces the cost of use. Compared with wooden propellers, if other materials such as carbon fiber propellers are damaged, the remaining part cannot maintain the original airfoil and cannot work normally.

[0062] The solution provided by the present invention can control the flight devices of small and medium-sized unmanned aerial vehicles to collide with stationary ground targets and ground / air moving targets, and can achieve a strike effect similar to that of a cruise missile or a surface-to-air missile. It can cause damage to ground targets with known longitude and latitude information and ground / air moving targets. Compared with traditional cruise missiles and surface-to-air missiles, it greatly reduces combat costs and facilitates cluster attacks and continuous attacks.

[0063] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above-mentioned technical content without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any changes, modifications, equivalent changes and modifications made to the above embodiments based on the technology of the present invention without departing from the content of the technical solution of the present invention belong to the protection scope of the present technical solution.

Claims

1. A drone impact system, characterized in that: The impact system includes a ground command and control subsystem and a UAV flight device; the ground command and control subsystem includes a mobile computer, a data link ground terminal and a remote controller; The mobile computer is configured to display the drone situation and optoelectronic images, and is also used to send instructions to the drone flight device; The data link ground terminal is configured to realize communication between the mobile computer and the UAV flight device, and realize data interaction between the ground command and control subsystem and the UAV flight device; The remote controller is configured to remotely control the flight of the UAV flight device; The UAV flight device is provided with an onboard computer, an optoelectronic module and an onboard data link terminal; The onboard computer is configured to run a combined navigation algorithm to provide the position, attitude and heading information of the UAV flight device, and to run guidance and control laws to achieve navigation, guidance and control of the UAV flight device; The optoelectronic module is configured to detect and identify targets in real time and transmit them to the ground command and control subsystem; the data link airborne terminal is configured to realize communication between the UAV flight device and the ground command and control subsystem, and realize information exchange between the UAV flight device and the ground command and control subsystem.

2. The drone impact system according to claim 1, characterized in that: The UAV flight device is also provided with an external sensor module and an internal sensor module, and the external sensor module and the internal sensor module respectively include a GPS receiver, a magnetometer and a barometer.

3. The drone impact system according to claim 1, characterized in that: The UAV situation refers to the distribution situation formed by multiple UAV flying devices; the UAV situation includes the situation of one's own UAV and the situation of enemy UAV; the optoelectronic module includes a visible light camera and an optoelectronic computer; the visible light camera is used to obtain optoelectronic images for identifying targets; the optoelectronic computer is used to process the optoelectronic images.

4. The drone impact system according to claim 1, characterized in that: The unmanned aerial vehicle flight device comprises a fuselage (1) and a rotor (4); the fuselage (1) is a long strip structure and is arranged in a vertical direction during flight; the left and right sides of the fuselage (1) extend in a horizontal X direction to form wings (2), and the wings (2) on the left and right sides of the fuselage (1) are symmetrically structured with respect to the vertical center line of the fuselage (1); the front and rear sides of the wings (2) extend in a horizontal Y direction to form rotor arms (3), and a rotor motor is arranged on the rotor arm (3); the rotor (4) is arranged on the top of the rotor arm (3) and is transmission-connected to the output end of the rotor motor.

5. The drone impact system according to claim 4, characterized in that: The fuselage (1) and the wing (2) are integrally formed by plastic injection molding; the rotor arm (3) is a carbon tube structure; the projection area of ​​the wing (2) in the vertical direction is smaller than the projection area of ​​the wing (2) in the horizontal direction; and the projection area of ​​the fuselage (1) in the vertical direction is smaller than the projection area of ​​the fuselage (1) in the horizontal direction.

6. The drone impact system according to claim 4, characterized in that: The rotor (4) is made of a wooden material, and the rotor (4) is an integrally formed structure.

7. The drone impact system according to claim 4, characterized in that: The fuselage (1) is provided with a warhead, and the warhead is located at the front section of the fuselage (1); the warhead is a steel cone structure; the warhead is used to achieve collision with the target; the target is an enemy drone.

8. The drone impact system according to claim 4, characterized in that: The total pulling force of the rotor (4) is twice the weight of the entire UAV flight device; the thrust-to-weight ratio of the UAV flight device is 2, and the maximum acceleration of the UAV flight device is 2*9.8m / s 2 .

9. A UAV collision control method, characterized in that: The collision control method comprises the following process: S1: Real-time detection of enemy targets through the optoelectronic module, providing a target prompt box in the optoelectronic image, and transmitting it back to the ground command and control subsystem in real time, and displaying it on the screen of the mobile computer; S2: The ground control personnel determines the collision target by clicking on the screen of the mobile computer according to the combat requirements; the clicking instruction of the ground control personnel is sent to the onboard computer of the UAV flight device, and forwarded to the optoelectronic module by the onboard computer; S3: the photoelectric module measures the guidance information between the UAV flight device and the selected target in real time and sends it to the onboard computer. After receiving the guidance information, the onboard computer controls the UAV flight device to switch to the attack mode and guides the UAV flight device to collide with the target. S4: After the collision is completed, the onboard computer controls the UAV flight device to enter the cruise mode, and after the state of the UAV flight device is stable, it is switched to the return mode to achieve recovery.

10. The UAV collision control method according to claim 9, characterized in that: In step S3: the control parameters of the UAV flight device are as follows according to the guidance information: The pitch rate is: q c =k1*∈ y ; The yaw rate is: r c =k2*∈ x ; The roll angle command is: Among them, q c is the pitch rate command of the UAV; r c is the yaw angular rate; is the roll angle command; k1 and k2 are proportional guidance coefficients respectively; k3 is the proportional coefficient from the yaw rate to the roll angle command; (∈ x ,∈ y ) is the angular velocity of the missile-target line of sight.

Images