A kind of weapon system and servo tracking control method of reconnaissance

Abstract

The application provides a kind of reconnaissance and attack weapon system and reconnaissance and attack weapon follow-up tracking control method, including photoelectric tracking system and photoelectric servo system;Photoelectric tracking system includes visible light imaging device, infrared imaging device, laser ranging device, GNSS and IMU integrated in central platform;Photoelectric servo system includes pitch adjustment subsystem and direction adjustment subsystem;Pitch adjustment subsystem and direction adjustment subsystem are connected with central platform.The reconnaissance and attack weapon system and reconnaissance and attack weapon follow-up tracking control method of the application are suitable for the follow-up tracking of airborne photoelectric platform under various external disturbances and self vibration or friction conditions, ensure that the line of sight is always directed to the target, the stable aiming of airborne launch system, and the continuous ballistic locking of target.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of target detection and tracking, and particularly relates to a reconnaissance and attack weapon system and a reconnaissance and attack weapon follow-up tracking control method. BACKGROUND

[0002] An airborne photoelectric stable tracking platform and an airborne rocket launching system are important components of a miniature intelligent reconnaissance and attack weapon, the airborne photoelectric stable tracking platform needs to keep the optical axis of a photoelectric imaging system stable, and the airborne rocket launching system needs to keep real-time aiming at a target, however, the airborne photoelectric stable tracking platform and the airborne rocket launching system are easily disturbed by the motion of an aircraft and the environment during operation, the control performance is affected by factors such as nonlinear friction, gyroscope drift and system vibration, and various uncertain factors exist in the working environment of the unmanned aerial vehicle, in the short and violent battlefield environment, the best attack opportunity is fleeting, therefore, under the condition of fixed hardware, the follow-up tracking control method of the airborne photoelectric stable tracking platform and the airborne rocket launching system is of great significance to the reconnaissance and attack weapon system.

[0003] There are many studies on the airborne photoelectric stable tracking platform, but the miniature intelligent reconnaissance and attack weapon platform has an additional rocket launching system compared with the general airborne photoelectric stable tracking platform, since the airborne miniature rocket flies in the air for several seconds to tens of seconds, simple follow-up tracking cannot meet the demand for attacking dynamic targets. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is to provide a reconnaissance and attack weapon platform follow-up tracking method meeting the demand for attacking dynamic targets and realizing continuous locking and tracking of a target in a flight attitude.

[0005] The above technical purpose of the present application is realized by the following technical scheme:

[0006] A reconnaissance and attack weapon system, comprising a photoelectric tracking system and a photoelectric servo system;

[0007] The photoelectric tracking system comprises a visible light imaging device, an infrared imaging device, a laser ranging device, a GNSS and an IMU integrated in a central platform (1);

[0008] The photoelectric servo system comprises a pitch adjusting subsystem and a direction adjusting subsystem; the pitch adjusting subsystem and the direction adjusting subsystem are connected with the central platform (1);

[0009] The pitch adjusting subsystem controls the motion of the central platform (1) along the vertical direction axis, and the direction adjusting subsystem controls the motion of the central platform (1) along the horizontal direction axis;

[0010] The central platform (1) is connected with the launching chamber (2) through the direction adjusting subsystem; the launching chamber (2) is filled with rocket shells.

[0011] Preferably, the pitch adjusting subsystem comprises two groups of pitch motors, each group of pitch motors comprising a photoelectric pitch motor and a launching chamber pitch motor, each group of pitch motors being connected to the two sides of the central platform respectively, the photoelectric pitch motor being connected with a photoelectric pitch shaft gear, the launching chamber pitch motor being connected with a launching chamber pitch shaft gear, the launching chamber pitch shaft gear being connected with the launching chamber through a pitch shaft, the photoelectric pitch shaft gear being connected with the central platform through a pitch shaft, and the pitch shaft being further connected with a pitch shaft encoder.

[0012] A follow-up tracking control method of a reconnaissance and attack weapon system, comprising the following steps:

[0013] S1, the unmanned aerial vehicle carrying the reconnaissance and attack weapon system flies to a target area, continuously acquires image information of the target area through a visible light imaging device and an infrared imaging device, and calibrates a target from the image information of the target area to acquire position information and attitude information of the target;

[0014] S2, a miss distance between the target and an image center of the image information is calculated according to the position information and the attitude information in step S1, an angle difference between the target and the image center is calculated, then a pitch angle and a direction angle of a photoelectric servo system are adjusted according to the angle difference, and the target after the adjustment is kept at the image center;

[0015] S3, a laser ranging device measures a relative distance and a relative angle between the reconnaissance and attack weapon system and the target, and queries a launch angle of a projectile launched to the target corresponding to the current relative distance and the relative angle from a firing table;

[0016] If the launch angle is less than a predetermined threshold, a rocket shell is launched to the target;

[0017] If the launch angle is greater than the predetermined threshold, a trajectory is calculated at intervals of 30 ms, the launch angle of the current position of the unmanned aerial vehicle is calculated, and the attitude of the reconnaissance and attack weapon system is calibrated and the target is tracked, until the calculated launch angle is less than the predetermined threshold.

[0018] The specific steps of calibrating the attitude of the reconnaissance and attack weapon system and stably tracking the target in step S3 are as follows:

[0019] S3.1, attitude adjustment: a mathematical relationship among a reference coordinate system of the position of the unmanned aerial vehicle, a pitch coordinate system of a pitch shaft of the pitch adjusting subsystem, and a yaw coordinate system of a yaw shaft of the direction adjusting subsystem is established, as follows:

[0020]

[0021]

[0022] wherein,

[0023] respectively, are angular velocities of the base coordinate system, the yaw coordinate system and the pitch coordinate system;

[0024] The foot marks x, y and z respectively are coordinate axes;

[0025] θ p is a movement angle of the pitch axis, and θ a is a movement angle of the direction axis;

[0026] is a transformation matrix from the base coordinate to the yaw coordinate:

[0027]

[0028] represents a transformation matrix from the yaw coordinate to the pitch coordinate;

[0029]

[0030] According to the above formula, the dynamic parameters about the pitch axis and the direction axis are sequentially solved, and the dynamic models of the two are calculated;

[0031] The position information of the target collected by the reconnaissance and attack weapon system and the attitude information of the unmanned aerial vehicle are substituted into the dynamic model, and the parameters that need to be adjusted in attitude are solved, and the attitude of the reconnaissance and attack weapon system is adjusted according to the parameters;

[0032] S3.2, follow-up tracking: an adaptive fuzzy backstepping controller is established, and follow-up tracking of the target is realized under the adaptive fuzzy backstepping controller;

[0033] Firstly, the following fuzzy logic system is established:

[0034] R′: If x1 is F1 l and x2 is and,...,

[0035] x n is Then y is G l , l = 1, 2,..., N;

[0036] wherein,

[0037] x = (x1, x2,..., x n ) T is the system input;

[0038] y is the system output;

[0039] F i l and G l are fuzzy sets respectively;

[0040] N denotes the number of rules;

[0041] In the fuzzy logic system, the functional relationship between the system output and input is:

[0042]

[0043] where,

[0044] and are membership functions of F i l and G l respectively;

[0045] Solving the above equations, we get,

[0046]

[0047] y(x) = Γ T φ(x);

[0048] where,

[0049] and φ(x) = [φ1(x),..., φ N (x)] T are ideal constant weight vector and basis function vector respectively;

[0050] Then, define the error vector:

[0051] z1 = x1 - x 1r

[0052] z2 = x2 - α1

[0053]

[0054] Then design the controller by the backstepping method;

[0055] Calculate the virtual control and adaptive law:

[0056]

[0057]

[0058]

[0059] Then calculate the actual control law:

[0060]

[0061] Then the controller is designed, the position information of the target is substituted into the controller relative to the coordinates of the reconnaissance weapon system and the unmanned aerial vehicle attitude information, the pitch adjustment subsystem and the direction adjustment subsystem in the reconnaissance weapon system are automatically adjusted, and the follow-up tracking of the target is realized.

[0062] The ballistic solution method of the step S3.3 is specifically that the following ballistic solution equation is established, and the launch angle is solved:

[0063]

[0064] Wherein,

[0065]

[0066]

[0067]

[0068]

[0069]

[0070]

[0071]

[0072]

[0073]

[0074]

[0075] v rξ = (v-W x2 ) cos delta2 cos delta1-W y2 cos delta2 sin delta1-W z2 sin delta2;

[0076] delta r = arc cos (v rξ / v r );

[0077]

[0078]

[0079] m is the mass of the rocket projectile;

[0080] d is the length of the rocket projectile;

[0081] l is the length of the rocket;

[0082] S is the cross-sectional area of the rocket;

[0083] C x is the drag coefficient;

[0084] C y is the lift coefficient;

[0085] C z is the Magnus force coefficient;

[0086] m z is the moment of inertia coefficient;

[0087] m zz ' is the derivative of the equatorial damping moment coefficient;

[0088] m xz ' is the derivative of the polar damping moment coefficient;

[0089] m y ' is the derivative of the Magnus moment coefficient;

[0090] is the force component along the axes of the body coordinate system;

[0091] is the moment component along the axes of the body coordinate system;

[0092] v is the flight velocity of the rocket;

[0093] v r is the velocity of the rocket relative to the UAV;

[0094] is the component of the velocity of the rocket relative to the UAV along the body coordinate system;

[0095] is the component of the velocity of the rocket relative to the UAV along the second body coordinate system;

[0096] β is the first second body coordinate system angle;

[0097] W x is the longitudinal wind;

[0098] W z is the lateral wind;

[0099] is the component of the wind velocity along the body coordinate system.

[0100] In the trajectory calculation of the rocket, the lead prediction is also included, which specifically includes the following steps:

[0101] S3.4, after obtaining a set of ballistic solution data, record the predicted flight time T0 of the rocket projectile this time;

[0102] S3.5, calculate a set of ballistic solution data with flight time T=T0+T1;

[0103] Wherein, T1 is the prediction time, the prediction time is less than the time required for the photoelectric servo system to complete a follow-up tracking;

[0104] S.3.6, from step S3.4, a set of ballistic solution data is obtained, and the rocket projectile is launched to the target when the time T is reached.

[0105] The above technical scheme of the present application has the following advantages compared with the prior art:

[0106] The present application takes into account the use characteristics of the micro intelligent reconnaissance and attack weapon system, and is suitable for the follow-up tracking of the airborne photoelectric platform under various external disturbances and self-vibration or friction conditions, ensures that the line of sight is always directed to the target, and ensures the stable aiming of the airborne launching system, so as to continuously lock the trajectory of the target.

[0107] The present application introduces fuzzy control and adaptive control in the control algorithm, so that the control method can be applied to various environments, has better environmental adaptability, and reduces the dependence of the weapon platform on the combat use environment.

[0108] The present application increases the calculation and prediction of target motion and self-motion in the aiming control, considers the flight time of the rocket projectile in the air, and makes the aiming of the launching system more accurate. BRIEF DESCRIPTION OF DRAWINGS

[0109] Figure 1 is a structure schematic diagram of the reconnaissance and attack weapon system provided by the embodiment of the present application;

[0110] Figure 2 is a schematic diagram of each coordinate system in the reconnaissance and attack weapon system provided by the embodiment of the present application;

[0111] Wherein, 1, central platform; 2, launching bin; 3, azimuth motor; 4, azimuth gear; 5, launching bin elevation motor; 6, photoelectric elevation shaft gear; 7, launching bin elevation shaft gear; 8, azimuth shaft; 9, elevation shaft; 10, elevation shaft encoder; 11, azimuth shaft encoder; 12, photoelectric elevation motor. DETAILED DESCRIPTION

[0112] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application.

[0113] Embodiment one

[0114] As shown in the figure, the embodiment provides a kind of see and hit weapon system, including photoelectric tracking system and photoelectric servo system. Figure 1

[0115] The photoelectric tracking system includes visible light imaging device, infrared imaging device, laser ranging device, GNSS and IMU integrated in central platform 1;

[0116] The photoelectric servo system includes elevation adjustment subsystem and direction adjustment subsystem;The elevation adjustment subsystem and the direction adjustment subsystem are connected with central platform 1;

[0117] The direction adjustment subsystem includes azimuth motor 3, the azimuth motor 3 is connected with azimuth shaft 8 through azimuth gear 4, the azimuth shaft 11 is connected with central platform 1, and the azimuth gear 4 is connected with azimuth shaft encoder 11;

[0118] The elevation adjustment subsystem includes two groups of elevation motors, each group of elevation motor includes photoelectric elevation motor 12 and launch bin elevation motor 5, each group of elevation motor is connected to the two sides of central platform 1 respectively, the photoelectric elevation motor 12 is connected with photoelectric elevation shaft gear 6, the launch bin elevation motor 5 is connected with launch bin elevation shaft gear 7, the launch bin elevation shaft gear 7 is connected with launch bin 2 through elevation shaft 9, the photoelectric elevation shaft gear 6 is connected with central platform 1 through elevation shaft 9, and the elevation shaft 9 is also connected with elevation shaft encoder 10. Specifically, the elevation shaft in the embodiment includes two sections of independently moving photoelectric elevation shaft and launch elevation shaft (not shown in the figure), the photoelectric elevation shaft is connected with central platform 1, and the launch elevation shaft is connected with launch bin 2, so as to realize independent elevation control of the launch bin and central platform by the elevation adjustment subsystem.

[0119] The launch bin 2 is filled with rocket, and the rocket receives instructions to attack the target after the photoelectric tracking system realizes tracking of the target.

[0120] The system is carried by unmanned aerial vehicle, the position information of the target is obtained through the photoelectric tracking system, then the position of the launch bin is adjusted through the photoelectric servo system, and the rocket is launched to the target to realize follow-up tracking and attack on the target.

[0121] Embodiment two​

[0122] The embodiment provides a method for tracking and aiming of a reconnaissance and attack weapon, comprising the following steps:

[0123] S1, a reconnaissance and attack weapon system is carried by a UAV and flies to a target area, visible light imaging devices and infrared imaging devices are used to continuously acquire image information of the target area, and the reconnaissance and attack weapon system calibrates a target from the image information of the target area and acquires position information and attitude information of the target;

[0124] S2, a miss distance between the target and an image center is calculated according to the position information and the attitude information in step S1, an angle difference between the target and the image center is calculated, then, an elevation angle and a direction angle of an optoelectronic servo system are adjusted according to the angle difference, and the target after the adjustment is kept at the image center;

[0125] S3, a laser ranging device measures a relative distance and a relative angle between the reconnaissance and attack weapon system and the target, and a launch angle of a projectile launched to the target corresponding to the current relative distance and the relative angle is inquired from a firing table;

[0126] If the launch angle is less than a predetermined threshold, a rocket is launched to the target;

[0127] If the launch angle is greater than the predetermined threshold, a trajectory is calculated at intervals of 30 ms, the launch angle of the current position of the UAV is calculated, meanwhile, attitude calibration of the reconnaissance and attack weapon system and stable tracking of the target are performed, until the calculated launch angle is less than the predetermined threshold.

[0128] Specific steps of the attitude calibration of the reconnaissance and attack weapon system and the stable tracking of the target in step S3 are as follows:

[0129] S3.1, attitude adjustment: a position of the UAV is taken as a basic coordinate system, an elevation axis of an elevation subsystem is taken as an elevation coordinate system, and a direction axis of a direction adjusting subsystem is taken as a yaw coordinate system, a mathematical relationship among the three is established, and the mathematical relationship is as follows:

[0130]

[0131]

[0132] Wherein,

[0133] The angular velocities of the basic coordinate system, the yaw coordinate system and the elevation coordinate system are respectively represented by ωx, ωy and ωz.

[0134] The coordinate axes are respectively represented by x, y and z.

[0135] θ p is a motion angle of the elevation axis, and θ a is a motion angle of the direction axis.

[0136] The transformation matrix from body coordinates to yaw coordinates is:

[0137]

[0138] The transformation matrix from yaw coordinates to pitch coordinates is represented as:

[0139]

[0140] According to the above formula, the dynamic parameters about the pitch axis and the direction axis are sequentially solved, and the dynamic models of the two are calculated.

[0141] The specific process of establishing the dynamic model of the pitch axis and the direction axis in this step is as follows. Since the dynamic models of the pitch axis and the direction axis only differ in input parameters, in this embodiment, the dynamic model of the pitch axis is taken as an example.

[0142] First, the pitch angle momentum moment and the direction angle momentum moment are calculated:

[0143]

[0144]

[0145] The driving torque is calculated:

[0146]

[0147] The moment of inertia of the direction axis and the moment of inertia of the pitch axis are calculated:

[0148] J a = diag(J ax , J ay , J az );

[0149] J p = diag(J px , J py , J pz );

[0150] The following dynamic model is established:

[0151]

[0152]

[0153] Wherein, the subscripts p and a respectively represent the pitch axis and the direction axis, and the subscripts x, y and z represent the coordinate axes.

[0154] Then, the output torque of each motor (direction motor, pitch motor) is calculated:

[0155]

[0156] where J m is the inertia diagonal matrix and B m is the damping diagonal matrix of the motor, r is the reduction ratio, I a is the motor current, K m is the diagonal constant matrix.

[0157] The output of the voltage is calculated as:

[0158]

[0159] where K b , R and L are the back electromotive force constant, the resistance and the inductance of the motor respectively, and are n x n diagonal matrices;

[0160] The state vector is defined as:

[0161]

[0162]

[0163]

[0164]

[0165] where,

[0166]

[0167] b = L -1 ;

[0168]

[0169] f2 = -L -1 K b r -1 x2 - L -1 Rx3;

[0170] After all the relevant parameters are calculated, the design of the dynamic model is completed.

[0171] The position information of the target collected by the weapon system and the attitude information of the unmanned aerial vehicle are substituted into the dynamic model, and the parameters that need to be adjusted are calculated. According to the calculated parameters, the weapon system controls the azimuth adjustment subsystem and the elevation adjustment subsystem in the photoelectric elevation system to adjust the attitude.

[0172] S3.2, follow-up tracking: an adaptive fuzzy backstepping controller is established, and follow-up tracking of the target is realized under the adaptive fuzzy backstepping controller;

[0173] First, a fuzzy logic system is established as follows:

[0174] R l : If x1 is F1 l and x2 is and,...,

[0175] x n is Then y is G l , l = 1, 2,..., N;

[0176] where,

[0177] x = (x1, x2,..., x n ) T is the system input;

[0178] y is the system output;

[0179] F i l and G l are fuzzy sets, respectively;

[0180] N represents the number of rules;

[0181] In the fuzzy logic system, the functional relationship between the system output and the input is:

[0182]

[0183] where,

[0184] and are membership functions of F i l and G l , respectively;

[0185] Solving,

[0186]

[0187] y(x) = Γ T φ(x);

[0188] where,

[0189] and φ(x) = [φ1(x),..., φ N (x)] T are ideal constant weight vectors and basis function vectors, respectively;

[0190] Then, define the error vector:

[0191] z1 = x1 - x 1r

[0192] z2 = x2 - a1

[0193]

[0194] Then the controller is designed by backstepping method;

[0195] The virtual control variable and adaptive law are calculated:

[0196]

[0197]

[0198]

[0199] Then the actual control law is calculated:

[0200]

[0201] Then the controller is designed, the position information of the target collected is substituted into the controller relative to the coordinates (x, y, z) of the weapon system and the unmanned aerial vehicle attitude information (θ a and θ p ), the pitch adjustment subsystem and the direction adjustment subsystem in the attack weapon system are automatically adjusted, and the follow-up tracking of the target is realized.

[0202] The ballistic solution method of the step S3.3 is specifically that the following ballistic solution equation is established, and the launch angle is solved:

[0203]

[0204] wherein,

[0205]

[0206]

[0207]

[0208]

[0209]

[0210]

[0211]

[0212]

[0213]

[0214]

[0215] v rξ = (v - W x2 ) cos δ2 cos δ1 - W y2 cos δ2 sin δ1 - W z2 sin δ2;

[0216] δ r = arccos (v rξ / v r );

[0217]

[0218]

[0219] m is the mass of the rocket projectile;

[0220] d is the length of the rocket projectile;

[0221] l is the length of the rocket projectile;

[0222] S is the cross-sectional area of the rocket projectile;

[0223] C x is the drag coefficient;

[0224] C y is the lift coefficient;

[0225] C z is the Magnus force coefficient;

[0226] m z is the moment of inertia coefficient;

[0227] m zz ' is the derivative of the equatorial damping moment coefficient;

[0228] m xz ' is the derivative of the polar damping moment coefficient;

[0229] m y ' is the derivative of the Magnus moment coefficient;

[0230] F is the force component of the trajectory coordinate system axis;

[0231] M is the moment component of the trajectory coordinate system axis;

[0232] v is the flight speed of the rocket projectile;

[0233] v r is the relative speed of the rocket projectile to the UAV;

[0234] is the component of the rocket projectile speed relative to the UAV along the first axis of the projectile axis system;

[0235] is the component of the rocket projectile speed relative to the UAV along the second axis of the projectile axis system;

[0236] β is the first second axis of the projectile angle;

[0237] W x is the longitudinal wind;

[0238] W z is the lateral wind;

[0239] is the component of the wind speed along the axis of the projectile axis system The above trajectory calculation process further includes a look-ahead prediction process, which specifically includes the following steps:

[0240] S3.4, after obtaining a set of trajectory calculation data, record the predicted flight time T0of the rocket projectile;

[0241] S3.5, calculate a set of trajectory calculation data with a flight time of T=T0+T1;

[0242] wherein T1is the prediction time, and the prediction time is less than the time required for the photoelectric servo system to complete one follow-up tracking;

[0243] S.3.6, from the time when a set of trajectory calculation data is obtained in step S3.4 to the time T, launch the rocket projectile toward the target.

[0244] Obviously, the above embodiments are only examples for the purpose of clarity, and are not intended to limit the embodiments. Based on the above description, those skilled in the art can make other different forms of changes or modifications. Here, it is not necessary and impossible to exhaust all the embodiments. The obvious changes or modifications derived therefrom are still within the protection scope of the present application.

Claims

1. A weapon system comprising a sensor and a weapon, wherein the weapon is configured to be fired in response to a signal from the sensor. The system comprises an optoelectronic tracking system and an optoelectronic servo system; The optoelectronic tracking system comprises a visible light imaging device, an infrared imaging device, a laser ranging device, a GNSS and an IMU integrated in a central platform (1); The optoelectronic servo system comprises a pitch adjustment subsystem and a direction adjustment subsystem, both of which are connected with the central platform (1); The pitch adjustment subsystem controls the movement of the central platform (1) along the vertical axis, and the direction adjustment subsystem controls the movement of the central platform (1) along the horizontal axis; The central platform (1) is connected with a launching chamber (2) through the direction adjustment subsystem, and the launching chamber (2) is filled with rocket projectiles; The system is configured to perform a fire-and-forget weapon servo tracking control method, comprising the following steps: S1. An unmanned aerial vehicle (UAV) carrying a fire-and-forget weapon system flies to a target area, continuously acquires image information of the target area through a visible light imaging device and an infrared imaging device, and calibrates a target from the image information of the target area to obtain position information of the target and attitude information of the UAV; S2. According to the position information and the attitude information in step S1, a miss distance between the target and the image center is calculated, an angle difference between the target and the image center is calculated, and then the pitch angle and the direction angle of the optoelectronic servo system are adjusted according to the angle difference to keep the target at the image center after adjustment; S3. A laser ranging device measures the relative distance and the relative angle between the fire-and-forget weapon system and the target, and queries a launch angle corresponding to the current relative distance and the relative angle from a firing table to launch a projectile at the target; If the launch angle is less than a predetermined threshold, a rocket projectile is launched at the target; If the launch angle is greater than the predetermined threshold, a trajectory is calculated every 30 ms to calculate the launch angle at the current position of the UAV, and the fire-and-forget weapon system is calibrated and tracked to the target until the calculated launch angle is less than the predetermined threshold; The specific steps of calibrating the attitude of the fire-and-forget weapon system and tracking the target in step S3 are as follows: S3.

1. Attitude adjustment: a mathematical relationship among the position of the UAV as a reference coordinate system, the pitch axis of the pitch adjustment subsystem as a pitch coordinate system, and the direction axis of the direction adjustment subsystem as a yaw coordinate system is established as follows: ； ； Wherein, yaw and pitch angular velocities of the base coordinate system, the yaw coordinate system, and the pitch coordinate system, respectively; The subscripts x, y and z represent the coordinate axes, respectively; is the angle of movement of the pitch axis, is the angle of movement of the directional axis; is the transformation matrix from body coordinates to yaw coordinates: ； Ry represents the transformation matrix from yaw coordinates to pitch coordinates; ； According to the above formula, the dynamic parameters about the pitch axis and the direction axis are sequentially solved, and the dynamic models of the two axes are calculated; The position information of the target and the attitude information of the UAV collected by the fire-and-forget weapon system are substituted into the dynamic models to solve the parameters that need to be adjusted, and the fire-and-forget weapon system is adjusted according to the parameters; S3.

2. Tracking: an adaptive fuzzy backstepping controller is established to realize tracking of the target under the adaptive fuzzy backstepping controller; Firstly, the following fuzzy logic system is established: : If is and is and,..., is Then is , ; Wherein, is a system input; is the system output; and are fuzzy sets, respectively; N represents the number of rules; In the fuzzy logic system, the functional relationship between the system output and the input is as follows: ； Wherein, , and are membership functions of and respectively; Solving the above equation, ； ； Wherein, and are the ideal constant weight vector and basis function vector, respectively; Then, the error vector is defined as follows: ； After that, the controller is designed by backstepping method; The virtual control variable and the adaptive law are calculated: ； ； ； Then the actual control law is calculated: ； Then the controller is designed, the position information of the target relative to the coordinates of the weapon system and the attitude information of the UAV are substituted into the controller, the pitch adjustment subsystem and the direction adjustment subsystem in the weapon system are automatically adjusted, and the follow-up tracking of the target is realized.

2. The weapon system as claimed in claim 1, characterized in that The direction adjustment subsystem comprises an azimuth motor (3), the azimuth motor (3) is connected with an azimuth shaft (8) through an azimuth gear (4), the azimuth shaft (8) is connected with the central platform (1), and the azimuth gear (4) is connected with an azimuth shaft encoder (11); The pitch adjustment subsystem comprises two groups of pitch motors, each group of pitch motor comprises an optoelectronic pitch motor (12) and a launching chamber pitch motor (5), each group of pitch motor is connected to the two sides of the central platform (1) respectively, the optoelectronic pitch motor (12) is connected with an optoelectronic pitch shaft gear (6), the launching chamber pitch motor (5) is connected with a launching chamber pitch shaft gear (7), the launching chamber pitch shaft gear (7) is connected with the launching chamber (2) through a pitch shaft (9), the optoelectronic pitch shaft gear (6) is connected with the central platform (1) through the pitch shaft (9), and the pitch shaft (9) is also connected with a pitch shaft encoder (10).

3. The weapon system of claim 1, wherein, When the trajectory of the rocket is solved, the lead prediction is also included, and the method comprises the following steps: S3.4, after a set of trajectory solving data is obtained, the expected flight time T0 of the rocket is recorded; S3.5, a set of trajectory solving data with a flight time of T=T0+T1 is calculated; Wherein, T1 is the prediction time, and the prediction time is less than the time required for the optoelectronic servo system to complete one follow-up tracking; S.3.6, from the time when a set of trajectory solving data obtained in step S3.4 to the time when the time T is reached, the rocket is launched to the target.

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