Miniature missile weapon combat system based on ad hoc network

Abstract

The invention discloses a miniature missile weapon combat system based on an ad hoc network, and relates to the technical field of weapon equipment, the miniature missile weapon combat system comprises at least one investigation terminal and at least one striking terminal, and the striking terminal is connected with a grenade launcher; each investigation terminal can form an ad hoc network with all the striking terminals and / or all the investigation terminals within the communication range of the investigation terminal, and communication and data transmission are carried out on the investigation terminal and all the striking terminals and / or all the investigation terminals; the investigation terminal is used for measuring and resolving coordinate data of the target and sending the coordinate data of the target to the striking terminal in the ad hoc network; the striking terminal is used for solving the relative position of a bullet target according to the coordinate data of the target and judging whether the relative position of the bullet target is within a striking range or not, if so, providing a recommended firing direction and a recommended firing angle range, and allowing to execute a firing action; and if not, reselecting to hit the terminal or cancel the hit task. According to the invention, a decentralized ad hoc network mode is formed through the investigation terminal and the strike terminal, so that the fault tolerance and flexibility of the system are enhanced.

Description

Technical Field

[0001] The present application relates to the field of weapon equipment technology, and in particular to a micro-missile weapon combat system based on a self-organizing network. Background Art

[0002] Ad hoc network is a network that combines mobile communication and computer network. Its basic concept is that each user terminal in the network has both the functions of a router and a host. As a host, the terminal needs to run various user-oriented applications; as a router, the terminal needs to run the corresponding routing protocol to complete the forwarding of data packets and routing maintenance according to the routing strategy and routing table. Ad hoc network has a wide range of applications in the military field. For example, ALOHA network and PR network are both used for military communications. Ad hoc network technology also provides a solution for computer-supported collaborative work systems, which is suitable for environments where it is impossible or difficult to deploy fixed infrastructure, such as battlefields, disaster areas or temporary activity sites.

[0003] like Figure 1 As shown, in the existing scheme 1 (i.e., application number: 201822187601.4, authorization announcement number: CN209134399U, utility model name is a utility model patent for a multi-network single-soldier reconnaissance command system based on a self-organizing network), a system is proposed to include a single-soldier front-end carrying device, multiple single-soldier self-organizing network wireless transmission devices, a near-end command center and a remote command center. The entire system adopts a wireless connection method between the various devices, which ensures the portability of the single-soldier equipment, realizes the use of the single-soldier communication network, and solves the problem of dependence on wired network communication access points. However, the existing scheme 1 gets rid of the dependence of the reconnaissance information return on the wired network through the self-organizing network, and only solves the problem of the information return path.

[0004] like Figure 2 As shown, in the existing scheme 2 (application number: 202110421741.7, application publication number: CN113156993A, invention name is invention patent of intelligent command and control system for collaborative combat of multiple unmanned aerial vehicles), a system is proposed, which includes an unmanned aerial vehicle 100 and a control terminal 200 wirelessly connected to the unmanned aerial vehicle. The unmanned aerial vehicle 100 is shaped like a seagull and is used for patrol detection in a cluster airspace hovering manner. If an enemy situation is detected, the detected enemy situation information is transmitted to the control terminal 200, and an early warning is given to the control terminal 200, and an intensive attack is launched to carry out a destructive attack in the form of self-detonation.

[0005] like Figure 3As shown, in the existing scheme 3 (application number: 202110421828.4, application publication number: CN113124717A, invention name: Invention patent of intelligent command and control system for collaborative combat of multiple underwater detection aircraft), a system is proposed, which includes an underwater detection aircraft (100) and a control terminal (200) wirelessly connected to the underwater detection aircraft (100). The underwater detection aircraft (100) is shaped like a leech and is used to avoid the enemy's detection system, shield the enemy's thermal imaging detection system, and absorb the enemy's thermal imaging detection system with its unique shape. Information is transmitted to the propeller of the enemy aircraft carrier and / or ship, and patrol detection is performed in a cluster transmission mode. If the underwater detection aircraft (100) detects an enemy situation, the detected enemy situation information is transmitted to the control terminal (200), and an early warning prompt is given to the control terminal (200), and an intensive attack is launched, rushing towards the enemy aircraft carrier and / or ship in the form of self-detonation to destroy the power system of the enemy aircraft carrier and / or ship; and the control terminal (200) shields the signal in the set territorial waters area to interfere with the enemy's combat command system.

[0006] However, both the existing solution 2 and the existing solution 3 have the following defects:

[0007] (1) A large amount of energy is required to keep each unit in cruising or working condition.

[0008] (2) A control center is still needed to control all units. If the control center fails, the entire system will collapse.

[0009] (3) It is only applicable to defensive missions, because the control center and a large number of units cannot easily enter the enemy's hinterland, and the mission process is very likely to expose the target.

[0010] (4) The usage scenarios are limited and are only applicable to the sea surface and water, but not to street fighting and built-up areas.

[0011] (5) Saturation attacks waste resources and are prone to causing accidental injuries.

[0012] (6) It is not in line with the development trend of the times and cannot achieve precise strikes against the enemy based on intelligent and digital platforms. Summary of the invention

[0013] The purpose of this application is to provide a micro-missile weapon combat system based on self-organizing network, which forms a decentralized self-organizing network mode through reconnaissance terminals and strike terminals, thereby enhancing the system's fault tolerance and flexibility.

[0014] To achieve the above-mentioned purpose, the present application provides a micro-missile weapon combat system based on a self-organizing network, comprising: at least one reconnaissance terminal and at least one strike terminal, the strike terminal being connected to a grenade launcher; each reconnaissance terminal can form a self-organizing network with all strike terminals and / or all reconnaissance terminals within its own communication range, and perform communication and data transmission; wherein the reconnaissance terminal: is used to measure and solve the coordinate data of the target, and send the coordinate data of the target to the strike terminal selected from the self-organizing network; the strike terminal: is used to solve the relative position of the missile and the target according to the coordinate data of the target, and perform a strike range analysis on the relative position of the missile and the target; if the relative position of the missile and the target is within a preset strike range, a recommended firing direction and a recommended firing angle range are provided, and a launch action is allowed to be executed to strike the target; if the relative position of the missile and the target is outside the preset strike range, a strike terminal is reselected or the strike mission is canceled.

[0015] As above, the detection terminal at least includes: a first communication module, a laser ranging module, a first inertial measurement module and a first data solution module; wherein the first communication module: is used to send the coordinate data of the target to the strike terminal in the ad hoc network; the laser ranging module: is used to measure the distance to the target and obtain the distance between the detection terminal and the target; provides a laser spot function; the first inertial measurement module: is used to obtain the coordinate data of the detection terminal itself, wherein the coordinate data of the detection terminal itself at least includes: the longitude and latitude of the detection terminal itself; in the process of using the laser ranging module to aim at the target for ranging, it is used to obtain the azimuth and pitch angle of the laser direction; the first data solution module: is used to solve the coordinate data of the target according to the coordinate data of the detection terminal itself, the azimuth and pitch angle of the laser direction, and the distance between the detection terminal and the target, and send the coordinate data of the target to the first communication module; wherein the coordinate data of the target at least includes: the longitude and latitude of the target.

[0016] As above, the expression of the target's latitude and longitude is: Z2=Z1+L1×sinβ1;where, d2=L1×cosβ1×cosα1;

[0017] d1=L1×cosβ1×sinα1; where (X2,Y2,Z2) are the longitude and latitude of the target, X2 is the longitude of the target, Y2 is the latitude of the target, and Z2 is the elevation of the target; d1 is the east-west distance between the reconnaissance terminal and the target; d2 is the north-south distance between the reconnaissance terminal and the target; (X1,Y1,Z1) are the longitude and latitude of the reconnaissance terminal itself, X1 is the longitude of the reconnaissance terminal itself, Y1 is the latitude of the reconnaissance terminal itself, and Z1 is the elevation of the reconnaissance terminal itself; α1 is the azimuth of the laser direction; β1 is the pitch angle of the laser direction; L1 is the distance between the reconnaissance terminal and the target.

[0018] As above, the strike terminal at least includes: a second communication module, a second inertial measurement module, a second data solution module and a various-element binding module; wherein, the second communication module: is used to receive the coordinate data of the target; the second inertial measurement module: is used to obtain the coordinate data of the strike terminal itself, wherein the coordinate data of the strike terminal itself at least includes: the longitude and latitude of the strike terminal itself; the second data solution module: calculates the relative position of the missile and the target according to the coordinate data of the strike terminal itself and the coordinate data of the target, and performs a strike range analysis on the relative position of the missile and the target. If the relative position of the missile and the target is within the preset strike range, the strike can be made, and the recommended firing direction and recommended firing angle range are obtained; if the relative position of the missile and the target is outside the preset strike range, the strike cannot be made; the various-element binding module: when the relative position of the missile and the target is within the preset strike range, it is used to complete the missile binding, and complete the missile launch action according to the recommended firing direction and recommended firing angle range.

[0019] As above, the expression for the recommended direction α2 is: d3=(X2-X0)×111194.93×cosY0; d4=(Y2-Y0)×111194.93; where d3 is the east-west distance between the strike terminal and the target; d4 is the north-south distance between the strike terminal and the target; X0 is the longitude of the strike terminal itself, and Y0 is the latitude of the strike terminal itself; X2 is the longitude of the target, and Y2 is the latitude of the target.

[0020] As above, the expression of the relative position L2 of the projectile and the target is: z=Z2-Z0; wherein z is the height difference between the strike terminal and the target; Z2 is the elevation of the target; Z0 is the elevation of the strike terminal itself; d3 is the east-west distance between the strike terminal and the target; d4 is the north-south distance between the strike terminal and the target.

[0021] As above, the recommended beam angle range is: greater than or equal to β2 and less than 60°, wherein, z is the height difference between the strike terminal and the target; L2 is the relative position of the missile and the target.

[0022] As above, after the strike terminal receives the coordinate data of the target, it sends communication information to the first communication module of the reconnaissance terminal through the second communication module, and after receiving the confirmation information sent by the reconnaissance terminal based on the communication information, it obtains the recommended shooting direction and recommended shooting angle range, and completes the missile launch action according to the recommended shooting direction and recommended shooting angle range.

[0023] As above, the preset strike range is: L2-range (range); if L2-range (range)>0, the relative position of the projectile and the target is outside the preset strike range and cannot be struck; if L2-range (range)≤0, the relative position of the projectile and the target is within the preset strike range and can be struck; among them, range is a built-in function; L2 is the relative position of the projectile and the target.

[0024] As mentioned above, after the missile is launched, it flies in the inertial group and satellite combined navigation mode, obtains the missile's own position coordinates in real time through the inertial combination module on the missile, corrects the missile's own position coordinates according to preset correction conditions through the satellite positioning module on the missile, obtains the corrected position information, calculates the real-time missile-target relative position in real time according to the corrected position information through the computer on the missile, and controls the flight attitude and trajectory of the missile by controlling the air cabin until the real-time missile-target relative position is less than the preset distance, turns on the laser seeker on the missile to capture the laser spot provided by the laser ranging module, and after capturing the laser spot, switches to the terminal guidance mode, and controls the missile to fly to the laser spot by controlling the air rudder on the missile, so as to accurately strike and damage the target.

[0025] The beneficial effects achieved by this application are as follows:

[0026] (1) In the micro-missile weapon combat system based on self-organizing network of the present application, each terminal (reconnaissance terminal or strike terminal) can establish connection with other terminals (reconnaissance terminal or strike terminal) within its own communication range, thereby forming a decentralized self-organizing network mode, which enhances the system's fault tolerance and flexibility.

[0027] (2) In the micro-missile weapon combat system based on self-organizing network of the present application, the reconnaissance terminal and the strike terminal do not need to be in the same place, which can improve the search and combat efficiency of the team and reduce the severity of the consequences of personnel exposure.

[0028] (3) In the micro-missile weapon combat system based on self-organizing network of the present application, the strike terminal can launch the missile outside the field of vision of the target (for example, behind a bunker), and the enemy cannot obtain the sound and smoke information of the launching process, which greatly improves the safety of the launcher.

[0029] (4) In the micro-missile weapon combat system based on self-organizing network of the present application, a large amount of energy is not required, and it is not necessary to keep each terminal (reconnaissance terminal or strike terminal) in cruise or working state all the time.

[0030] (5) In the micro-missile weapon combat system based on self-organizing network of the present application, a single soldier can carry a reconnaissance terminal and / or a strike terminal, which enhances the combat capability of a single soldier, the information sharing capability of a squad, and the strike capability in multiple terrain environments.

[0031] (6) The micro-missile weapon combat system based on self-organizing network of the present application is suitable for various combat missions. The lightweight equipment and flexible combination enable the team to enter the enemy's hinterland and carry out precise strikes on local high-value targets (such as radars, base stations, etc.).

[0032] (7) When fighting on plains or at sea, lightweight terminals (reconnaissance terminals or strike terminals) can be placed on drones to perform operations in order to gain a wider field of view and strike range, and reduce personnel exposure.

[0033] (8) The micro-missile weapon combat system based on self-organizing network of the present application adopts laser semi-active guidance, which can accurately attack and achieve targeted strike damage, reducing costs and the rate of accidental injuries. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0035] Figure 1 A structural diagram of an embodiment of a multi-network individual reconnaissance and command system based on a self-organizing network;

[0036] Figure 2 A schematic diagram of the structure of an embodiment of an intelligent command and control system for coordinated combat of multiple UAVs;

[0037] Figure 3 A schematic diagram of the structure of an embodiment of an intelligent command and control system for cooperative operations of multiple underwater detection aircraft;

[0038] Figure 4 A schematic diagram of the structure of an embodiment of a micro-missile weapon combat system based on a self-organizing network;

[0039] Figure 5 A schematic diagram of the structure of an embodiment of a detection terminal and a strike terminal;

[0040] Figure 6 A schematic diagram of the coordinate relationship between the detection terminal and the target;

[0041] Figure 7 A schematic diagram of the coordinate relationship between the strike terminal and the target;

[0042] Figure 8 A schematic diagram of the coordinate relationship between the reconnaissance terminal, the strike terminal and the target;

[0043] Fig. 9The present invention is a flowchart for the use of an embodiment of a micro-missile weapon combat system based on a self-organizing network. DETAILED DESCRIPTION

[0044] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0045] like Figure 4-9 As shown, the present application provides a micro-missile weapon combat system based on a self-organizing network, including: at least one reconnaissance terminal and at least one strike terminal, and the strike terminal is connected to a grenade launcher. Each reconnaissance terminal can form a self-organizing network with all strike terminals and / or all reconnaissance terminals within its own communication range, and communicate and transmit data. Among them, the reconnaissance terminal: is used to measure and solve the coordinate data of the target, and send the coordinate data of the target to the strike terminal selected from the self-organizing network. The strike terminal: is used to solve the relative position of the projectile and the target according to the coordinate data of the target, and perform a strike range analysis on the relative position of the projectile and the target. If the relative position of the projectile and the target is within the preset strike range, a recommended firing direction and a recommended firing angle range are provided, and the launch action is allowed to be executed to strike the target; if the relative position of the projectile and the target is outside the preset strike range, the strike terminal is reselected or the strike mission is canceled.

[0046] Specifically, the specific number of reconnaissance terminals is set according to the actual situation. The specific number of strike terminals is set according to the actual situation. A single soldier can carry a reconnaissance terminal and / or a strike terminal, which enhances the combat capability of a single soldier, the information sharing capability of a small team, and the strike capability in multiple terrain environments. When fighting on plains or sea, the reconnaissance terminal or the strike terminal can be placed on a drone to perform operations to obtain more vision and strike range, and reduce personnel exposure.

[0047] like Fig. 9 As shown, the use process of an embodiment of a micro-missile weapon combat system based on a self-organizing network is as follows: the squad mission starts, the squad networking is turned on (i.e., each reconnaissance terminal in the squad forms a self-organizing network with all the strike terminals and / or all the reconnaissance terminals within its own communication range), after the target is found, the reconnaissance terminal measures the target parameters, and after obtaining the target coordinate data (i.e., target coordinates), the reconnaissance terminal selects a strike terminal from the self-organizing network, and sends the target coordinate data to the selected strike terminal, the strike terminal solves the relative position of the missile and the target according to the target coordinate data, and evaluates the strikeability of the relative position of the missile and the target, if it is strikeable, the strike terminal binds the missile and the target elements, and the shooter adjusts the position and launches the missile; if it is not strikeable, the strike terminal is reselected.

[0048] Further, such as Figure 5 As shown, the reconnaissance terminal at least includes: a first communication module, a laser ranging module, a first inertial measurement module and a first data solving module.

[0049] Among them, the first communication module is used to send the target's coordinate data to the strike terminal in the self-organizing network.

[0050] Specifically, the first communication module is used to implement ad hoc network establishment and data communication.

[0051] Laser ranging module: used to measure the distance between the target and the detection terminal; provides laser spot function.

[0052] Specifically, the laser ranging module is used to complete the ranging and provide the laser spot function.

[0053] The first inertial measurement module is used to obtain the coordinate data of the detection terminal itself, wherein the coordinate data of the detection terminal itself includes at least: the longitude and latitude of the detection terminal itself; in the process of using the laser ranging module to aim at the target for ranging, it is used to obtain the azimuth and pitch angle of the laser direction.

[0054] Specifically, the first inertial measurement module is used to measure the latitude, longitude and height (three coordinates) of the reconnaissance terminal and the azimuth and elevation functions of the laser system.

[0055] The first data solving module is used to solve the coordinate data of the target according to the coordinate data of the detection terminal itself, the azimuth and elevation angle of the laser direction, and the distance between the detection terminal and the target, and send the coordinate data of the target to the first communication module; wherein the coordinate data of the target includes at least: the latitude and longitude of the target.

[0056] Specifically, the first data solving module is used to realize the target coordinate calculation function.

[0057] As an example, Figure 6 and Figure 8 As shown, the longitude and latitude of the reconnaissance terminal itself is (X1, Y1, Z1); the longitude and latitude of the target is (X2, Y2, Z2); the distance between the reconnaissance terminal and the target is L1; the azimuth angle of the laser direction is α1; and the elevation angle of the laser direction is β1.

[0058] Furthermore, the expression of the target's latitude and longitude (X2, Y2, Z2) is:

[0059]

[0060] Z2=Z1+L1×sinβ1;

[0061] in,

[0062] d2=L1×cosβ1×cosα1;

[0063] d1=L1×cosβ1×sinα1;

[0064] Among them, (X2, Y2, Z2) are the longitude and latitude of the target, X2 is the longitude of the target, Y2 is the latitude of the target, and Z2 is the elevation of the target; d1 is the east-west distance between the reconnaissance terminal and the target; d2 is the north-south distance between the reconnaissance terminal and the target; (X1, Y1, Z1) are the longitude and latitude of the reconnaissance terminal itself, X1 is the longitude of the reconnaissance terminal itself, Y1 is the latitude of the reconnaissance terminal itself, and Z1 is the elevation of the reconnaissance terminal itself; α1 is the azimuth of the laser direction; β1 is the pitch angle of the laser direction; L1 is the distance between the reconnaissance terminal and the target.

[0065] Specifically, it is assumed that the earth is an ideal sphere with a radius R of 6371 km; the operating team has a limited range of activities and is little affected by the curvature of the earth. For every 1 degree of latitude difference between two points on the earth's surface, the north-south distance difference is 111194.93 m; at this latitude θ, for every 1 degree of longitude difference between the two points, the east-west distance difference is (111194.93×cosθ) m. The reconnaissance terminal calculates the north-south distance d2 and the east-west distance d1 by measuring its own latitude and longitude coordinates (X1, Y1, Z1), azimuth 1 (α1), elevation angle 1 (β1) and distance L1, and then calculates the latitude Y2 based on latitude Y1, d2 and the distance difference of each latitude; and then calculates the longitude X2 based on the longitude X1, d1 and the distance difference of each longitude corresponding to latitude Y2. Z2 is calculated based on Z1, elevation angle 1 (β1) and distance L1.

[0066] Further, such as Figure 5 As shown, the strike terminal at least includes: a second communication module, a second inertial measurement module, a second data solving module and a various element binding module.

[0067] Wherein, the second communication module is used to receive the coordinate data of the target.

[0068] The second inertial measurement module is used to obtain the coordinate data of the strike terminal itself, wherein the coordinate data of the strike terminal itself at least includes: the longitude and latitude of the strike terminal itself.

[0069] The second data calculation module: calculates the relative position of the projectile and the target based on the coordinate data of the strike terminal itself and the coordinate data of the target, and performs a strike range analysis on the relative position of the projectile and the target. If the relative position of the projectile and the target is within the preset strike range, the strike can be made, and the recommended shooting direction and recommended shooting angle range are obtained; if the relative position of the projectile and the target is outside the preset strike range, the strike cannot be made.

[0070] Parameter binding module: When the relative position of the missile and the target is within the preset strike range, it is used to complete the missile binding and complete the missile launch action according to the recommended firing direction and recommended firing angle range.

[0071] Specifically, Figure 7 and Figure 8 As shown, the longitude and latitude of the attack terminal itself are (X0, Y0, Z0); the longitude and latitude of the target are (X2, Y2, Z2); the recommended shooting direction is α2; the recommended shooting angle range is: greater than or equal to β2, and less than 60°; the relative position of the projectile and the target is L2.

[0072] After the reconnaissance terminal sends the target's latitude and longitude (X2, Y2, Z2) to the strike terminal, the strike terminal measures its own latitude and longitude (X0, Y0, Z0), where X0 is the strike terminal's own longitude, Y0 is the strike terminal's own latitude, and Z0 is the strike terminal's own altitude. The relative positions of the two points are calculated by (X0, Y0, Z0) and (X2, Y2, Z2). The height difference z between the two points is obtained based on Z0 and Z2; the east-west distance d3 between the two points is calculated based on the distance difference of each longitude corresponding to longitude X0, longitude X2, and latitude Y0; the north-south distance d4 between the two points is calculated based on latitude Y0, latitude Y2, and the distance difference of each latitude. The three items z, d3, and d4 are combined to form the spatial distance L2 between the two points. If L2 exceeds the preset strike range (for example, the missile range), it is determined to be out of the strike range; otherwise, it is determined that the target can be struck. The second data solution module further solves the recommended shooting direction α2 and the recommended shooting angle range for the shooter's reference.

[0073] Furthermore, the expression for shooting toward α2 is recommended as follows:

[0074]

[0075] d3=(X2-X0)×111194.93×cosY0;

[0076] d4=(Y2-Y0)×111194.93;

[0077] Among them, d3 is the east-west distance between the strike terminal and the target; d4 is the north-south distance between the strike terminal and the target; X0 is the longitude of the strike terminal itself, and Y0 is the latitude of the strike terminal itself; X2 is the longitude of the target, and Y2 is the latitude of the target.

[0078] Furthermore, the expression of the relative position L2 of the projectile and the target is:

[0079]

[0080] z = Z2 - Z0;

[0081] Among them, z is the height difference between the strike terminal and the target; Z2 is the elevation of the target; Z0 is the elevation of the strike terminal itself; d3 is the east-west distance between the strike terminal and the target; d4 is the north-south distance between the strike terminal and the target.

[0082] Furthermore, the recommended range of the beam angle is: greater than or equal to β2 and less than 60°, where:

[0083] Furthermore, the preset strike range is: L2-range (range); if L2-range (range)>0, the relative position of the projectile and the target is outside the preset strike range and cannot be struck; if L2-range (range)≤0, the relative position of the projectile and the target is within the preset strike range and can be struck; wherein range is a built-in function; L2 is the relative position of the projectile and the target.

[0084] Specifically, when the relative position of the projectile and the target is outside the preset strike range and cannot be struck, the reconnaissance terminal reselects the strike terminal or cancels the strike mission. If the strike terminal is reselected, the target's coordinate data is sent to the newly selected strike terminal, and the newly selected strike terminal obtains the new relative position of the projectile and the target, and performs a strike range analysis on the new relative position of the projectile and the target.

[0085] Furthermore, after receiving the coordinate data of the target, the strike terminal sends communication information to the first communication module of the reconnaissance terminal through the second communication module, and after receiving the confirmation information sent by the reconnaissance terminal based on the communication information, it obtains the recommended shooting direction and recommended shooting angle range, and completes the missile launch action according to the recommended shooting direction and recommended shooting angle range.

[0086] Further, such as Fig. 9 As shown, after the missile is launched, the missile flies in the inertial group and satellite combined navigation mode, obtains the missile's own position coordinates in real time through the inertial combination module on the missile, corrects the missile's own position coordinates according to the preset correction conditions through the satellite positioning module on the missile, obtains the corrected position information, calculates the real-time missile-target relative position in real time according to the corrected position information through the computer on the missile, and controls the flight attitude and trajectory of the missile by controlling the air cabin until the real-time missile-target relative position is less than the preset distance (i.e.: Fig. 9 The laser seeker on the missile is turned on to capture the laser spot provided by the laser ranging module. After capturing the laser spot, it is switched to the terminal guidance mode. The computer on the missile controls the air rudder to control the missile to fly towards the laser spot and accurately strike and damage the target.

[0087] Specifically, the preset correction conditions are set according to the actual situation, and the specific method of correcting the position coordinates of the missile itself according to the preset correction conditions by the satellite positioning module on the missile can be realized by using existing technology. Controlling the flight attitude and trajectory of the missile by controlling the air cabin can be realized by using existing technology, so it will not be repeated here. The advantage of laser semi-active guidance is that after launch, the real-time relative position of the missile and the target reaches the preset distance, the laser guidance head is turned on, the laser spot is captured, and terminal guidance is performed; if the laser spot is not captured, it is guided according to the longitude and latitude high coordinates (i.e.: combined navigation guidance) to achieve damage.

[0088] Furthermore, a preset distance is set when the various element binding modules complete the missile binding.

[0089] Specifically, the specific value of the preset distance is set according to the actual situation.

[0090] The beneficial effects achieved by this application are as follows:

[0091] (1) In the micro-missile weapon combat system based on self-organizing network of the present application, each terminal (reconnaissance terminal or strike terminal) can establish connection with other terminals (reconnaissance terminal or strike terminal) within its own communication range, thereby forming a decentralized self-organizing network mode, which enhances the system's fault tolerance and flexibility.

[0092] (2) In the micro-missile weapon combat system based on self-organizing network of the present application, the reconnaissance terminal and the strike terminal do not need to be in the same place, which can improve the search and combat efficiency of the team and reduce the severity of the consequences of personnel exposure.

[0093] (3) In the micro-missile weapon combat system based on self-organizing network of the present application, the strike terminal can launch the missile outside the field of vision of the target (for example, behind a bunker), and the enemy cannot obtain the sound and smoke information of the launching process, which greatly improves the safety of the launcher.

[0094] (4) In the micro-missile weapon combat system based on self-organizing network of the present application, a large amount of energy is not required, and it is not necessary to keep each terminal (reconnaissance terminal or strike terminal) in cruise or working state all the time.

[0095] (5) In the micro-missile weapon combat system based on self-organizing network of the present application, a single soldier can carry a reconnaissance terminal and / or a strike terminal, which enhances the combat capability of a single soldier, the information sharing capability of a squad, and the strike capability in multiple terrain environments.

[0096] (6) The micro-missile weapon combat system based on self-organizing network of the present application is suitable for various combat missions. The lightweight equipment and flexible combination enable the team to enter the enemy's hinterland and carry out precise strikes on local high-value targets (such as radars, base stations, etc.).

[0097] (7) When fighting on plains or at sea, lightweight terminals (reconnaissance terminals or strike terminals) can be placed on drones to perform operations in order to gain a wider field of view and strike range, and reduce personnel exposure.

[0098] (8) The micro-missile weapon combat system based on self-organizing network of the present application adopts laser semi-active guidance, which can accurately attack and achieve targeted strike damage, reducing costs and the rate of accidental injuries.

[0099] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic creative concepts. Therefore, the scope of protection of the present application is intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application. Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the protection scope of the present application and its equivalent technology, the present application is also intended to include these modifications and variations.

Claims

1. A micro missile weapon combat system based on a self-organizing network, characterized in that: include: at least one reconnaissance terminal and at least one strike terminal, wherein the strike terminal is connected to the grenade launcher; Each reconnaissance terminal can form an ad hoc network with all attack terminals and / or all reconnaissance terminals within its communication range, and conduct communication and data transmission; Among them, the reconnaissance terminal is used to measure and solve the coordinate data of the target, and send the coordinate data of the target to the strike terminal selected from the ad hoc network; Strike terminal: It is used to calculate the relative position of the projectile and the target according to the target's coordinate data, and to perform strike range analysis on the relative position of the projectile and the target. If the relative position of the projectile and the target is within the preset strike range, it provides recommended firing direction and recommended firing angle range, and allows the launch action to be executed to strike the target. If the relative position of the projectile and the target is outside the preset strike range, the strike terminal is reselected or the strike mission is canceled.

2. The micro-missile weapon combat system based on ad hoc network according to claim 1 is characterized in that: The reconnaissance terminal at least includes: a first communication module, a laser ranging module, a first inertial measurement module and a first data solving module; Wherein, the first communication module is used to send the coordinate data of the target to the strike terminal in the ad hoc network; Laser ranging module: used to measure the distance between the target and the detection terminal; provides laser spot function; The first inertial measurement module is used to obtain the coordinate data of the detection terminal itself, wherein the coordinate data of the detection terminal itself includes at least: the longitude and latitude of the detection terminal itself; when the laser ranging module is used to aim at the target for ranging, it is used to obtain the azimuth and pitch angle of the laser direction; The first data solving module is used to solve the coordinate data of the target according to the coordinate data of the detection terminal itself, the azimuth and elevation angle of the laser direction, and the distance between the detection terminal and the target, and send the coordinate data of the target to the first communication module; wherein the coordinate data of the target includes at least: the latitude and longitude of the target.

3. The micro-missile weapon combat system based on ad hoc network according to claim 2 is characterized in that: The expression of the target's latitude and longitude is: Z2=Z1+L1×sinβ1; in, d2=L1×cosβ1×cosα1; d1=L1×cosβ1×sinα1; Among them, (X2, Y2, Z2) are the longitude and latitude of the target, X2 is the longitude of the target, Y2 is the latitude of the target, and Z2 is the elevation of the target; d1 is the east-west distance between the reconnaissance terminal and the target; d2 is the north-south distance between the reconnaissance terminal and the target; (X1, Y1, Z1) are the longitude and latitude of the reconnaissance terminal itself, X1 is the longitude of the reconnaissance terminal itself, Y1 is the latitude of the reconnaissance terminal itself, and Z1 is the elevation of the reconnaissance terminal itself; α1 is the azimuth of the laser direction; β1 is the pitch angle of the laser direction; L1 is the distance between the reconnaissance terminal and the target.

4. The micro-missile weapon combat system based on ad hoc network according to claim 2 is characterized in that: The strike terminal at least includes: a second communication module, a second inertial measurement module, a second data solving module and a various element binding module; Wherein, the second communication module is used to receive the coordinate data of the target; The second inertial measurement module is used to obtain the coordinate data of the strike terminal itself, wherein the coordinate data of the strike terminal itself at least includes: the longitude and latitude of the strike terminal itself; The second data calculation module calculates the relative position of the projectile and the target according to the coordinate data of the strike terminal itself and the coordinate data of the target, and performs a strike range analysis on the relative position of the projectile and the target. If the relative position of the projectile and the target is within the preset strike range, the projectile and the target can be struck, and the recommended firing direction and the recommended firing angle range are obtained; if the relative position of the projectile and the target is outside the preset strike range, the projectile and the target cannot be struck; Parameter binding module: When the relative position of the missile and the target is within the preset strike range, it is used to complete the missile binding and complete the missile launch action according to the recommended firing direction and recommended firing angle range.

5. The micro-missile weapon combat system based on ad hoc network according to claim 4 is characterized in that: The recommended expression for shooting toward α2 is: d3=(X2-X0)×111194.93×cosY0; d4=(Y2-Y0)×111194.93; Among them, d3 is the east-west distance between the strike terminal and the target; d4 is the north-south distance between the strike terminal and the target; X0 is the longitude of the strike terminal itself, and Y0 is the latitude of the strike terminal itself; X2 is the longitude of the target, and Y2 is the latitude of the target.

6. The micro-missile weapon combat system based on ad hoc network according to claim 4 is characterized in that: The expression of the relative position L2 between the projectile and the target is: z = Z2 - Z0; Among them, z is the height difference between the strike terminal and the target; Z2 is the elevation of the target; Z0 is the elevation of the strike terminal itself; d3 is the east-west distance between the strike terminal and the target; d4 is the north-south distance between the strike terminal and the target.

7. The micro-missile weapon combat system based on ad hoc network according to claim 4 is characterized in that: The recommended beam angle range is: greater than or equal to β2 and less than 60°, where: z is the height difference between the strike terminal and the target; L2 is the relative position of the missile and the target.

8. The micro-missile weapon combat system based on ad hoc network according to claim 4 is characterized in that: After receiving the target's coordinate data, the strike terminal sends communication information to the first communication module of the reconnaissance terminal through the second communication module. After receiving the confirmation information sent by the reconnaissance terminal based on the communication information, it obtains the recommended shooting direction and recommended shooting angle range, and completes the missile launch action based on the recommended shooting direction and recommended shooting angle range.

9. The micro-missile weapon combat system based on ad hoc network according to claim 4 is characterized in that: The preset strike range is: L2-range (range); if L2-range (range)>0, the relative position of the projectile and the target is outside the preset strike range and cannot be struck; if L2-range (range)≤0, the relative position of the projectile and the target is within the preset strike range and can be struck; among them, range is a built-in function; L2 is the relative position of the projectile and the target.

10. The micro-missile weapon combat system based on ad hoc network according to claim 4 is characterized in that: After the missile is launched, it flies in the inertial group and satellite combined navigation mode. The inertial combination module on the missile obtains the missile's own position coordinates in real time, and the satellite positioning module on the missile corrects the missile's own position coordinates according to the preset correction conditions to obtain the corrected position information. The computer on the missile calculates the real-time relative position of the missile and the target according to the corrected position information, and controls the flight attitude and trajectory of the missile by controlling the air cabin until the real-time relative position of the missile and the target is less than the preset distance. The laser seeker on the missile is turned on to capture the laser spot provided by the laser ranging module. After capturing the laser spot, it is switched to the terminal guidance mode. The computer on the missile controls the air rudder to control the missile to fly to the laser spot, and accurately strikes and destroys the target.

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