Automatic route planning method for reconnaissance and attack unmanned aerial vehicle suitable for double fixed targets

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a reconnaissance and attack unmanned aerial vehicle route automatic planning method suitable for double fixed targets, and the method comprises the steps: obtaining the position information of the double targets on the ground; drawing up a planning task route according to the position information of the double targets; according to the distance from the target projection point to the circle center, the distance of the carrier from the emission point to the target projection point and the distance of the target tracking and attitude adjustment section, obtaining the radius of the circular route; according to the radius of the circular route and the center position of the circular route, acquiring attack route entering point position information; and obtaining position information of a carrier launching point according to the position information of the point entering the attack route and the target tracking and attitude adjustment section distance. According to the method, the unmanned aerial vehicle is guided to execute the double-target attack task to the ground by calculating the positions of the two launching points of the planned route formed by combining the circle and the straight line section passing through the circle center, and the attack precision is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an automatic route planning method for a reconnaissance and strike UAV suitable for dual fixed targets. Background Art

[0002] At present, for fixed targets on the ground, especially two fixed targets, the reconnaissance and attack drone uses target positioning to obtain the target position. The ground operator sets launch points for the two targets on the electronic map in sequence according to the height of the drone's carrying objects and the launch distance. When the drone is manually controlled to fly to the launch point, the launch command of the carrying objects is sent to reach one of the targets. The drone irradiates the ground target with laser according to the command launched from the ground until the target is destroyed, and then flies again and repeats the above steps to destroy the next target.

[0003] This process of manually sending commands to control the drone's flight to destroy dual targets is time-consuming, labor-intensive, and inaccurate. There is an urgent need to develop a method for automatically generating a reconnaissance and strike drone flight path for two fixed targets. Currently, no such method exists for automatically planning a reconnaissance and strike drone flight path for dual fixed targets. Summary of the Invention

[0004] In order to address the deficiencies in the above-mentioned background technology, the present invention provides an automatic route planning method for reconnaissance and attack drones suitable for dual fixed targets. The method automatically generates a mission route to guide the drone to perform a dual-target ground attack mission based on the parameters of the dual ground targets specified by the superior or detected by the drone and the objects carried by the drone.

[0005] The first object of the present invention is to provide a method for automatically planning a route for a reconnaissance and attack UAV suitable for attacking dual fixed targets on the ground, comprising: Obtain the position information of two ground targets; and obtain the short-range and long-range range of the objects carried by the UAV; Plan the mission route based on the position information of the two targets; The mission route consists of a circular route and a line segment passing through the center of the circle; The center position of the circular route is obtained based on the position information of the two targets; wherein the center position is between the projection points of the two targets, and the straight line on which the projection points of the two targets are located passes through the center of the circle; the intersection of the straight line and the circular route is the entry point into the attack route; the projection points of the two targets are the projection points of the two targets on the mission route; Get the distance from the target projection point to the center of the circle; Obtain the distance from the launch point to the target projection point based on the short-range and long-range range of the object carried by the drone; The target tracking and attitude adjustment section distance before launching the carried object is set according to the distance from the launch point to the target projection point; The radius of the circular route is obtained based on the distance from the target projection point to the center of the circle, the distance from the launch point to the target projection point, and the target tracking and attitude adjustment distance. Obtain the location information of the point entering the attack route based on the radius of the circular route and the center position of the circular route; The location information of the launch point of the carried object is obtained based on the location information of the entry point into the attack route and the target tracking and attitude adjustment distance.

[0006] Preferably, before the reconnaissance and strike drone route is automatically planned, the horizontal distance and altitude difference between the two ground targets are measured to meet the following conditions: the horizontal distance between the two ground targets is ≤10Km, and the altitude difference between the two targets does not exceed 100m.

[0007] Preferably, the center position of the circular route is obtained according to the following steps: Obtain the distance between the two targets according to their position information; Obtain the distance from the target projection point to the center of the circle based on the distance between the two targets; According to the position information of the two targets and the distance between the two targets, the angle between the straight line where the projection points of the two targets are located and the true north direction is obtained; The center position of the circle is obtained based on the position information of a target, the distance from the projection point of the target to the center of the circle, and the angle between the straight line where the projection points of the two targets are located and the true north direction.

[0008] Preferably, the distance from the launch point to the target projection point of the carried object is:

[0009] Where, is the distance from the launch point to the target projection point of the carried object; The range for carrying objects is short; The range of the object is long.

[0010] Preferably, the target tracking and attitude adjustment section distance before launching the carried object refers to the distance between the entry point into the attack route and the launch point.

[0011] Preferably, the location information of the point entering the attack route is obtained, and also includes the angle between the straight line where the dual-target projection points are located and the true north direction.

[0012] Preferably, the location information of the launch point of the carried object is obtained, and the angle between the straight line where the dual-target projection points are located and the true north direction is also included.

[0013] Preferably, after obtaining the location information of the point at which the attack route is entered and the location information of the launch point of the carried object, the method further includes: The position information of the point where the attack route is entered and the position information of the launch point of the carried object are both in rectangular coordinates, which are converted into longitude and latitude coordinates; The three-dimensional coordinates of the point entering the attack route are obtained based on the latitude and longitude coordinates of the point entering the attack route, the average height of the drone relative to the two target points, and the average altitude of the target points; The three-dimensional coordinates of the launch point are obtained based on the latitude and longitude coordinates of the launch point of the carried object, the average height of the drone relative to the two target points, and the average altitude of the target points.

[0014] Preferably, according to the reconnaissance and strike instructions, the UAV strikes the target according to the three-dimensional coordinates of the point where it enters the attack route and the three-dimensional coordinates of the launch point.

[0015] A second object of the present invention is to provide an automatic route planning system for a reconnaissance and strike UAV with dual fixed targets, comprising: The route planning module is used to obtain the position information of two ground targets; and obtain the short-range and long-range ranges of the objects carried by the UAV; plan a mission route based on the position information of the two targets; the mission route is composed of a circular route and a line segment passing through the center of the circle; the center position of the circular route is obtained based on the position information of the two targets; wherein the center position is between the projection points of the two targets, and the straight line on which the projection points of the two targets are located passes through the center of the circle; the intersection of the straight line and the circular route is the entry point into the attack route; the projection point of the two targets is the projection point of the two targets on the mission route; The radius calculation module is used to obtain the distance from the target projection point to the center of the circle; obtain the distance from the launch point to the target projection point based on the short-range and long-range ranges of the carried object on the UAV; set the target tracking and attitude adjustment section distance before launching the carried object based on the distance from the launch point to the target projection point; and obtain the radius of the circular route based on the distance from the target projection point to the center of the circle, the distance from the launch point to the target projection point, and the target tracking and attitude adjustment section distance. The launch position module is used to obtain the position information of the entry point into the attack route based on the radius of the circular route and the center position of the circular route; and to obtain the position information of the launch point of the carried object based on the position information of the entry point into the attack route and the target tracking and attitude adjustment segment distance.

[0016] The present invention has at least the following beneficial effects: The present invention provides an automatic route planning method for a reconnaissance and strike UAV suitable for dual fixed targets. Compared with a method of manually sending instructions and operating the UAV to fly to the targets one by one and strike them one by one, the method can calculate the positions of two launch points of a planned route composed of a circle and a straight line segment passing through the center of the circle based on the position information of the dual targets and the short-range and long-range parameters of the carried objects at the operating altitude, guide the UAV to perform the dual-target strike mission on the ground, and effectively improve the strike accuracy.

[0017] The present invention reduces the operational burden of UAV mission operators and the inconvenience of working on electronic maps through an automatic planning method, greatly shortens combat response time, and improves killing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Automatically generate flow charts for planning routes; Figure 2 This is a schematic diagram of the relationship between the short and long ranges of the dual targets and the carried objects of the present invention; Figure 3 This is a schematic diagram of a route planned by combining a circle and a straight line segment passing through the center of the circle according to the present invention. DETAILED DESCRIPTION

[0019] In order to illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following is a detailed description with reference to the embodiments.

[0020] The purpose of the present invention is to propose an automatic route planning method for a reconnaissance and strike UAV suitable for dual fixed targets. According to the parameters of the dual ground targets designated by the superior or detected by the UAV and the objects carried by the UAV, a mission route is automatically generated to guide the UAV to perform the dual-target ground strike mission.

[0021] To achieve the above objectives, the present invention provides a method for automatically planning a route for a reconnaissance and strike UAV suitable for attacking dual fixed targets on the ground, comprising: Before the reconnaissance and strike drone automatically plans its route, it also measures the horizontal distance and altitude difference between two ground targets, meeting the following conditions: the horizontal distance between the two ground targets is ≤10km, and the altitude difference between the two targets does not exceed 100m.

[0022] S1. Obtain the position information of two ground targets; and obtain the short-range and long-range ranges of the objects carried by the UAV; Plan the mission route based on the position information of the two targets; The mission route consists of a circular route and a line segment passing through the center of the circle; S2. Obtaining the center position of the circular route based on the position information of the two targets; wherein the center position is between the projection points of the two targets, and the straight line on which the projection points of the two targets are located passes through the center of the circle; the intersection of the straight line and the circular route is the entry point into the attack route; the projection point of the two targets is the projection point of the two targets on the mission route; The center position of the circular route is obtained by following the steps below: Obtain the distance between the two targets according to their position information; Obtain the distance from the target projection point to the center of the circle based on the distance between the two targets; According to the position information of the two targets and the distance between the two targets, the angle between the straight line where the projection points of the two targets are located and the true north direction is obtained; The center position of the circle is obtained based on the position information of a target, the distance from the target projection point to the center of the circle, and the angle between the straight line where the two target projection points are located and the true north direction.

[0023] S3. Obtain the distance from the launch point to the target projection point of the object carried by the UAV based on the short-range and long-range range of the object carried by the UAV; The distance from the launch point to the target projection point of the object is:

[0024] Where, is the distance from the launch point to the target projection point of the carried object; The range for carrying objects is short; The range of the object is long.

[0025] S4. Setting the target tracking and attitude adjustment distance before launching the object according to the distance from the launch point to the target projection point; For the UAV target tracking and attitude adjustment segment, take = ;in It is the distance from the launch point to the target projection point of the carried object.

[0026] The target tracking and attitude adjustment distance before launching the carried object refers to the distance between the entry point into the attack route and the launch point.

[0027] S5. Obtain the distance from the target projection point to the center of the circle; The radius of the circular route is obtained based on the distance from the target projection point to the center of the circle, the distance from the launch point to the target projection point, and the target tracking and attitude adjustment distance. S6. Obtaining the position information of the point entering the attack route based on the radius of the circular route and the center position of the circular route; the position information of the point entering the attack route also includes the angle between the straight line where the dual target projection points are located and the true north direction.

[0028] S7. Obtain the position information of the launch point of the carried object based on the position information of the point entering the attack route and the distance of the target tracking and attitude adjustment section. The position information of the launch point of the carried object obtained also includes the angle between the straight line where the two target projection points are located and the north direction.

[0029] After obtaining the location information of the point where the attack route is entered and the location information of the launch point of the carried object, it also includes: The position information of the point where the attack route is entered and the position information of the launch point of the carried object are both in rectangular coordinates, which are converted into longitude and latitude coordinates; The three-dimensional coordinates of the point entering the attack route are obtained based on the latitude and longitude coordinates of the point entering the attack route, the average height of the drone relative to the two target points, and the average altitude of the target points; The three-dimensional coordinates of the launch point are obtained based on the latitude and longitude coordinates of the launch point of the carried object, the average height of the drone relative to the two target points, and the average altitude of the target points.

[0030] According to the reconnaissance and strike instructions, the drone strikes the target based on the three-dimensional coordinates of the entry point into the attack route and the three-dimensional coordinates of the launch point.

[0031] In order to illustrate the automatic route planning method for a reconnaissance and strike UAV applicable to dual fixed targets provided by the present invention, it is described in conjunction with the accompanying drawings.

[0032] See also Figure 1 As shown, a method for automatically planning a route for a reconnaissance and strike UAV with two fixed targets includes: Step 1: Obtain ground target points from superior command information or reconnaissance information transmitted by drones Point longitude and latitude and Point longitude and latitude , taking into account the factors of strike time and range of the objects carried, Dot and Horizontal distance of the point , and the altitude difference between the two target points does not exceed 100m. The average height of the drone relative to the two target points is h, and the average altitude of the target points is At this operating altitude, the UAV's carrying object has a close range of , long distance ,like Figure 2 shown.

[0033] Step 2: The planned mission route is as follows Figure 3 As shown, it consists of a circle and a line segment passing through the center of the circle. The circular route is the reconnaissance route, and the straight line segment is the attack route. Dot and Target points Dot and The projection of point on the planned route, the center point O is Dot and The center point of the line segment. Dot and The latitude and longitude of the point and and Dot and The latitude and longitude of the point and Same; will Dot and The latitude and longitude coordinates of the point are converted to the position in the plane rectangular coordinates and , Dot and The distance between points is equal to the target point Dot and Horizontal distance of the point ,but The distance from the point to the center of the circle O = .

[0034] Step 3: Dot and The angle between the line segment formed by the point and the north direction is ,calculate :

[0035] Then the position of the circle center O in the rectangular coordinate system is:

[0036] Step 4: Dot and The intersection of the straight line and the circular route is point A and point B, which are the points of entry into the attack route. Launch point for attack and the target Launch point for attack On the attack path. Calculation Point to Distance of points :

[0037] Point A to Point B to Distance of points Similarly, for the drone target tracking and attitude adjustment segment, take = .

[0038] Calculate the circular reconnaissance route radius R based on the above parameters:

[0039] Step 5: Calculate the rectangular coordinate positions of points A and B entering the attack route:

[0040]

[0041] Step 6: Calculate the launch point and The rectangular coordinate position of the point:

[0042]

[0043] Step 7: Place the center point O and A, B, and The rectangular coordinate position of the point is converted into longitude and latitude coordinates , K represents O, A, B, and . Step 8: The route is composed of a circle and a line segment passing through the center of the circle. The coordinates of the center point O of the circular reconnaissance route are obtained. , with a radius of R, the attack route waypoints passing through the center of the circle are: Point A is the entry adjustment point: ; Point B is the entry adjustment point: ; Point is the launch point of the carried object: ; Point is the launch point of the carried object: .

[0044] The drone flies clockwise or counterclockwise along a circular reconnaissance route, which can be set by the operator according to the current situation. It flies to scout the target. After receiving the command from the superior to prepare to attack the target, it judges the distance from point A and point B and enters point A or point B that is close to the current drone position. If it enters point A, the drone adjusts on the attack route passing through the center of the circle and flies to Launch the object at the time of Attack the target and then fly clockwise or counterclockwise to point B. Continue to adjust the attack route passing through the center of the circle until Launch the object at the time of Similarly, if the UAV enters point B first, it will fly to point A. Launch the object at the time of Attack the target and then fly clockwise or counterclockwise to point A. Continue to adjust the attack route passing through the center of the circle until Launch the object at the time of Click on the target to attack.

[0045] In order to further illustrate the automatic route planning method for a reconnaissance and attack UAV for dual fixed targets provided by the present invention, it is described in conjunction with specific embodiments.

[0046] Step 1: See Figure 2As shown, the ground target point is obtained from the superior command information or the reconnaissance information transmitted by the UAV Point longitude and latitude and Point longitude and latitude , Dot and Horizontal distance of the point , and the altitude difference between the two target points is 60m. The average height of the drone relative to the two target points is h = 2000m, and the average altitude of the target points is , the range of the drone's carrying objects at a working altitude of 2500m is , long distance .

[0047] Step 2: The planned mission route is as follows Figure 3 As shown, it consists of a circle and a line segment passing through the center of the circle. The circular route is the reconnaissance route, and the straight line segment is the attack route. Dot and Target points Dot and The projection of point on the planned route, the center point O is Dot and The center point of the line segment. Dot and The latitude and longitude of the point and and Dot and The latitude and longitude of the point and Same; will Dot and The latitude and longitude coordinates of the point are converted to the position in the plane rectangular coordinates and , Dot and The distance between points is equal to the target point Dot and Horizontal distance of the point ,but The distance from the point to the center of the circle O . Step 3: Dot and The angle between the line segment formed by the point and the north direction is ,calculate :

[0048] Then the position of the circle center O in the rectangular coordinate system is:

[0049] Step 4: Dot and The intersection of the straight line and the circular route is point A and point B, which are the points of entry into the attack route. Launch point for attack and the target Launch point for attack On the attack path. Calculation Point to Distance of points :

[0050] Point A to Point B to Distance of points Similarly, for the drone target tracking and attitude adjustment segment, take . Calculate the circular reconnaissance route radius R based on the above parameters:

[0051] Step 5: Calculate the rectangular coordinate positions of points A and B entering the attack route:

[0052]

[0053] Step 6: Calculate the launch point and The rectangular coordinate position of the point:

[0054]

[0055] Step 7: Place the center point O and A, B, and The rectangular coordinate position of the point is converted into longitude and latitude coordinates , K represents O, A, B, and . Step 8: The route is composed of a circle and a line segment passing through the center of the circle. The coordinates of the center point O of the circular reconnaissance route are obtained. , with a radius of 11334m. The attack route waypoints passing through the center of the circle are: Point A is the entry adjustment point: ; Point B is the entry adjustment point: ; Point is the launch point of the carried object: ; Point is the launch point of the carried object: . The UAV flies clockwise along a circular reconnaissance route to scout the target. After receiving the command from the superior to prepare to attack the target, it will enter point A or point B closer to the current UAV position based on the distance from point A and point B. If it enters point A, the UAV will adjust on the attack route passing through the center of the circle and fly to Launch the object at the time of Attack the target, and then fly clockwise to point B, and continue to adjust the attack route passing through the center of the circle. Launch the object at the time of Similarly, if the UAV enters point B first, it will fly to point A. Launch the object at the time of Attack the target and then fly clockwise to point A. Continue to adjust the attack route passing through the center of the circle. Launch the object at the time of Click on the target to attack.

[0056] The present invention provides an automatic route planning system for a reconnaissance and strike UAV with dual fixed targets, comprising: The route planning module is used to obtain the position information of two ground targets; and obtain the short-range and long-range ranges of the objects carried by the UAV; plan a mission route based on the position information of the two targets; the mission route is composed of a circular route and a line segment passing through the center of the circle; the center position of the circular route is obtained based on the position information of the two targets; wherein the center position is between the projection points of the two targets, and the straight line on which the projection points of the two targets are located passes through the center of the circle; the intersection of the straight line and the circular route is the entry point into the attack route; the projection point of the two targets is the projection point of the two targets on the mission route; The radius calculation module is used to obtain the distance from the target projection point to the center of the circle; obtain the distance from the launch point to the target projection point based on the short-range and long-range ranges of the carried object on the UAV; set the target tracking and attitude adjustment section distance before launching the carried object based on the distance from the launch point to the target projection point; and obtain the radius of the circular route based on the distance from the target projection point to the center of the circle, the distance from the launch point to the target projection point, and the target tracking and attitude adjustment section distance. The launch position module is used to obtain the position information of the entry point into the attack route based on the radius of the circular route and the center position of the circular route; and to obtain the position information of the launch point of the carried object based on the position information of the entry point into the attack route and the target tracking and attitude adjustment segment distance.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for automatically planning a route for a reconnaissance and strike drone with two fixed targets, characterized in that: Used for attacking dual targets on the ground, including: Obtain the position information of two ground targets; and obtain the short-range and long-range range of the objects carried by the UAV; Plan the mission route based on the position information of the two targets; The mission route consists of a circular route and a line segment passing through the center of the circle; The center position of the circular route is obtained based on the position information of the two targets; wherein the center position is between the projection points of the two targets, and the straight line on which the projection points of the two targets are located passes through the center of the circle; the intersection of the straight line and the circular route is the entry point into the attack route; the projection points of the two targets are the projection points of the two targets on the mission route; Get the distance from the target projection point to the center of the circle; Obtain the distance from the launch point to the target projection point based on the short-range and long-range range of the object carried by the drone; The target tracking and attitude adjustment section distance before launching the carried object is set according to the distance from the launch point to the target projection point; The radius of the circular route is obtained based on the distance from the target projection point to the center of the circle, the distance from the launch object to the target projection point, and the target tracking and attitude adjustment distance. Obtain the location information of the point entering the attack route based on the radius of the circular route and the center position of the circular route; The location information of the launch point of the carried object is obtained based on the location information of the entry point into the attack route and the target tracking and attitude adjustment distance.

2. The automatic route planning method for a reconnaissance and strike UAV with dual fixed targets according to claim 1 is characterized in that: Before the reconnaissance and strike drone's route is automatically planned, the horizontal distance and altitude difference between the two ground targets must be obtained to meet the following conditions: the horizontal distance between the two ground targets is ≤10km, and the altitude difference between the two targets does not exceed 100m.

3. The automatic route planning method for a reconnaissance and strike UAV with dual fixed targets according to claim 1 is characterized in that: The center position of the circular route is obtained by following the steps below: Obtain the distance between the two targets according to their position information; Obtain the distance from the target's projection point to the center of the circle based on the distance between the two targets; According to the position information of the two targets and the distance between the two targets, the angle between the straight line where the projection points of the two targets are located and the true north direction is obtained; The center position of the circle is obtained based on the position information of a target, the distance from the projection point of the target to the center of the circle, and the angle between the straight line where the projection points of the two targets are located and the true north direction.

4. The automatic route planning method for a reconnaissance and strike UAV with dual fixed targets according to claim 1 is characterized in that: The distance from the launch point to the target projection point of the object is: Where, is the distance from the launch point to the target projection point of the carried object; The range for carrying objects is short; The range of the object is long.

5. The automatic route planning method for a reconnaissance and strike UAV with dual fixed targets according to claim 1 is characterized in that: The target tracking and attitude adjustment distance before launching the carried object refers to the distance between the entry point into the attack route and the launch point.

6. The automatic route planning method for a reconnaissance and strike UAV with dual fixed targets according to claim 1 is characterized in that: Obtain the position information of the point entering the attack route, including the angle between the straight line where the dual target projection points are located and the north direction.

7. The automatic route planning method for a reconnaissance and strike UAV with dual fixed targets according to claim 1 is characterized in that: The location information of the launch point of the carried object is obtained, including the angle between the straight line where the dual target projection points are located and the north direction.

8. The automatic route planning method for a reconnaissance and strike UAV with dual fixed targets according to claim 1 is characterized in that: After obtaining the location information of the point where the attack route is entered and the location information of the launch point of the carried object, it also includes: The position information of the point where the attack route is entered and the position information of the launch point of the carried object are both in rectangular coordinates, which are converted into longitude and latitude coordinates; The three-dimensional coordinates of the point entering the attack route are obtained based on the latitude and longitude coordinates of the point entering the attack route, the average height of the drone relative to the two target points, and the average altitude of the target points; The three-dimensional coordinates of the launch point are obtained based on the latitude and longitude coordinates of the launch point of the carried object, the average height of the drone relative to the two target points, and the average altitude of the target points.

9. The automatic route planning method for a reconnaissance and strike UAV with dual fixed targets according to claim 1 is characterized in that: According to the reconnaissance and strike instructions, the UAV conducts reconnaissance and strike on the target based on the three-dimensional coordinates of the entry point into the attack route and the three-dimensional coordinates of the launch point.

10. An automatic route planning system for a reconnaissance and strike UAV with dual fixed targets, characterized in that: include: Route planning module, used to obtain the position information of dual ground targets; and obtain the short and long range of the objects carried by the drone; A mission route is planned based on the position information of the two targets; the mission route is composed of a circular route and a line segment passing through the center of the circle; the center position of the circular route is obtained based on the position information of the two targets; wherein the center position is between the projection points of the two targets, and the straight line on which the projection points of the two targets are located passes through the center of the circle; the intersection of the straight line and the circular route is the entry point for the attack route; the dual target projection point is the projection point of the two targets on the mission route; The radius calculation module is used to obtain the distance from the target projection point to the center of the circle; obtain the distance from the launch point to the target projection point based on the short-range and long-range ranges of the carried object on the UAV; set the target tracking and attitude adjustment section distance before launching the carried object based on the distance from the launch point to the target projection point; and obtain the radius of the circular route based on the distance from the target projection point to the center of the circle, the distance from the launch point to the target projection point, and the target tracking and attitude adjustment section distance. The launch position module is used to obtain the position information of the entry point into the attack route based on the radius of the circular route and the center position of the circular route; and to obtain the position information of the launch point of the carried object based on the position information of the entry point into the attack route and the target tracking and attitude adjustment segment distance.

Images