A timing control method for a single-soldier version of a UAV

Abstract

The present invention proposes a single-soldier version of a UAV timing control method, which realizes information transmission between an electronic safety and safety release device and a UAV flight control center through an environmental sensor interface and a firing input interface, receives an electrical signal converted from environmental information collected by an environmental sensor of the UAV through the environmental sensor interface, including a UAV take-off signal, a UAV detection target signal, and a target being in an attack range signal; receives a detonation signal transmitted to the UAV by a ground station; unlocks a safety detonation execution module when two static switches and one dynamic switch are both in a closed condition, and the detonation signal sent by the ground station can be transmitted to the safety detonation execution module; when the detonation signal sent by the ground station is identified, the safety detonation execution module supplies power to complete the detonation of the UAV warhead to achieve a strike on the target.

Description

Technical Field

[0001] The invention belongs to the field of individual unmanned aerial vehicle control, in particular to a timing control method for an individual version of an unmanned aerial vehicle. Background Art

[0002] Drones are also called remote-controlled aircraft, automatic aircraft or unmanned aircraft, etc. In most cases, we call them drones. The U.S. Department of Defense defines drones as aircraft that do not carry operators, take off using aerodynamics, can fly autonomously or remotely, can be used once or recovered, and carry lethal or non-lethal payloads. In view of its unique advantages such as low cost, low loss, zero casualties, reusability and high mobility, its scope of use has been expanded to the three major fields of military, civilian and scientific research. In the military, it can be used for reconnaissance, surveillance, communication relay, electronic countermeasures, fire guidance, combat results evaluation, harassment, temptation, ground (sea) attack, target simulation and early warning. In modern local wars dominated by information technology, drones have been used to perform tasks such as reconnaissance, surveillance, setting false targets, harassment and temptation, electronic interference and attacking enemy targets, and have achieved quite good results. People are increasingly aware of its great role and potential.

[0003] As a future development trend of drones, the development of unmanned fighter jets has been put on the agenda. The combat mission of unmanned fighter jets is very clear, that is, to suppress the enemy's defense firepower and implement precision strikes. Unmanned fighter jets can carry various airborne sensors including active radars, as well as various existing weapons and equipment. Like manned tactical fighter jets, they can perform various combat missions in accordance with combat regulations and respond to new targets and threats. Since unmanned fighter jets can be used as combat aircraft and can carry weapons to perform combat missions, in order to ensure the safety of unmanned aircraft when performing missions, the research on the timing control of drone take-off, target capture, target aiming, and supply links during combat becomes crucial. Summary of the invention

[0004] The purpose of the present invention is to provide a single-soldier version of the UAV timing control method to achieve the single-soldier version of the UAV take-off, target capture, target aiming, strike timing control link, to achieve safety control.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] A single-soldier version of the UAV timing control method is implemented in the following way:

[0007] Information transmission between the electronic safety and arming device and the UAV flight control center is realized through the environmental sensor interface and the ignition input interface;

[0008] The environmental information collected by the environmental sensor of the UAV is received through the environmental sensor interface and converted into an electrical signal, including the UAV take-off signal, the UAV detects the target signal, and the target is within the attack range signal;

[0009] Receive the detonation signal transmitted to the UAV by the ground station;

[0010] The above environmental information is identified through the safety state control module, and the timing control of the single-soldier version of the UAV is realized by a combination of two static switches and one dynamic switch: when the environmental signal of the UAV taking off is identified, an instruction to close the first static switch is sent within the set time, so as to control the first static switch to be closed within the set time, and the closing signal is sent to the flight control system to complete the action unlocking of the UAV taking off; when the environmental signal when the UAV detects the target is identified, an instruction to close the second static switch is sent within the set time, so as to control the second static switch to be closed within the set time, and the closing signal is sent to the flight control system to complete the action unlocking of the UAV tracking the target; when the environmental signal when the target is within the attack range is identified, an instruction to close the dynamic switch is sent within the set time, so as to control the dynamic switch to be closed within the set time, and the closing signal is sent to the flight control system to complete the action unlocking of the UAV warhead aiming at the target;

[0011] When two static switches and one dynamic switch are both in the closed condition, the safe detonation execution module is unlocked and the detonation signal issued by the ground station can be transmitted to the safe detonation execution module; when the detonation command issued by the ground station is recognized, the safe detonation execution module supplies power to complete the detonation of the UAV warhead to achieve a strike on the target.

[0012] Compared with the prior art, the present invention has the following significant advantages:

[0013] The control function of the programmable logic control chip can realize the orderly closure of static switches and dynamic switches. The environmental sensor interface receives the electrical signals converted from the environmental information collected by the environmental sensors of the UAV, including the UAV take-off signal, the UAV detection target signal, and the target being in the attack range signal. It completes the action unlocking of the UAV take-off, the action unlocking of tracking the target, and the action unlocking of aiming at the target, and completes the detonation of the UAV warhead to strike the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is the logic block diagram of the full electronic safety system of the individual soldier version of the UAV.

[0015] Figure 2 This is the working flow chart of the fuze electronic safety and arming device.

[0016] Figure 3 This is the control system structure diagram.

[0017] Figure 4 The flowchart of the software algorithm is shown in Figure 2.

[0018] Figure 5 This is the schematic diagram of the static switch SW1 switching circuit.

[0019] Figure 6 This is the schematic diagram of the static switch SW2 switching circuit.

[0020] Figure 7 This is the detonation trigger circuit diagram. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] Combination Figure 1 , a single-soldier version of the UAV timing control method of this embodiment is implemented in the following way:

[0023] Signal adaptation module, the environmental sensor interface and ignition input interface in the signal adaptation module are used to realize the information transmission between the electronic safety and arming device and the UAV flight control center. The environmental sensor interface is used to receive the environmental information collected by the environmental sensor of the UAV and converted into electrical signals. The ignition input interface is used to receive the detonation signal transmitted to the UAV by the ground station.

[0024] The safety status control module includes two parts: environmental information recognition and insurance release logic control;

[0025] The environmental information identification part is used to receive three independent environmental signals from the environmental adaptation module to achieve the purpose of releasing the electronic safety system insurance for the drone. According to the requirements of GJB373A-97, the number of insurance parts in the design of the fuze safety system is at least 2, and their start-up excitation signals must be independent of each other and obtained from different environments, and any insurance part in the insurance state can ensure that the insurance state of the fuze release system is not changed. Therefore, the present invention uses three independent environmental signals experienced during the flight of the drone as the start-up excitation of the insurance parts in the electronic safety and release insurance device, and these three environmental signals are respectively the environmental signal when the drone takes off, that is, the power supply signal generated when the drone is turned on on the ground, the environmental signal when the drone captures the target at an altitude of more than 200 meters, that is, the excitation signal of the drone reaches a height of more than 200 meters, and the environmental signal when the drone approaches the target after capturing the target and reaches the drone attack distance. The present invention adopts a combination of two static insurance parts and one dynamic insurance part, which are SW1, SW2, and DW. The three environmental signals are transmitted to the safety control module as the start-up excitation signal to open the insurance parts one by one according to the control logic. DW is a dynamic electrical fuse that provides energy isolation. The fuse is in a dynamic working state during the release process.

[0026] The release logic control part adopts a redundant design, using two completely independent ASIC modules working in parallel. No module can independently release the system to prevent common failure. According to the judgment method of "threshold + time window + sequence", two static switches and one dynamic switch are controlled to realize the control of safety logic, action sequence and subsequent explosive foil detonation.

[0027] The safe detonation execution module uses a high-voltage pulse power device to convert low-voltage direct current into high-voltage alternating current through an inverter boost circuit to charge the high-voltage capacitor. After charging is completed, it is in a standby state. After the ground station sends a detonation signal, the triode switch circuit provides a trigger voltage for the pulse trigger transformer, and the pulse voltage that meets the thyristor trigger voltage is obtained through winding boosting. The circuit is turned on to discharge the high-voltage switch capacitor and turn on the high-voltage switch. Only after the high-voltage switch is turned on can the high-voltage capacitor discharge and detonate the explosive foil to complete the detonation work.

[0028] The power module is used to power the above modules. The power module is directly powered by the drone power battery, with a supply voltage of 14V to 16.8V. During operation, the voltage will fluctuate slightly with the motor power. The current is less than 1An, and the fuze automatically converts it to the required voltage through the DCDC module.

[0029] like Figure 2 As shown, after the UAV power supply is powered, it receives the signal from the remote controller and starts to take off, and the UAV power supply provides the required voltage for each module circuit of the fuze. The ASIC module is powered on and works, waiting for the static switch SW1 release signal to be received within the time window. If it is received normally, the SW1 switch is unlocked; waiting for the static switch SW2 release signal to be received within the time window. If it is received normally, the SW2 switch is unlocked; waiting for the dynamic switch DW signal to be received within the time window. If it is received normally, the DW switch is unlocked, and a pulse signal is output to trigger the high-voltage conversion circuit to start boosting and start charging the high-voltage capacitor; receiving the detonation signal, the detonation trigger circuit turns on the high-voltage switch, and the high-voltage capacitor discharges to detonate the explosive foil, thereby detonating the detonation sequence and the warhead charge.

[0030] The arming logic control part adopts dual controllers, namely programmable logic controllers CPLD1 and CPLD2; this example adopts the controller system structure as follows Figure 3 As shown, its working principle is:

[0031] After the controller is powered on, it starts working based on the timing signal to detect whether there is a large current in the safe detonation execution module, and then determines whether the environmental excitation signal transmitted from the signal adaptation module to start the insurance component meets the requirements. If the requirements are met, SW1, SW2, and DW are closed in sequence to complete the release of the insurance. The flow chart is as follows Figure 4As shown, the release process is described in detail below. The excitation signals mentioned below are respectively the drone take-off signal, the drone detects the target signal, and the target is within the attack range signal.

[0032] After the system is powered on, the two chips start working with the timing signal as the time reference, and CPLD1 detects the system status (such as the binding status, whether there is a large current in the high-voltage circuit, etc.). Under normal system conditions, after the drone takes off, CPLD1 unlocks the static switch SW1 and allows it to move. When the drone take-off signal arrives, CPLD1 is responsible for identifying whether the drone take-off signal meets expectations. After meeting the requirements, it sends information to CPLD2 to allow the static switch SW1 to be closed. CPLD2 receives the instruction to close SW1 from CPLD1, completes the closing action of SW1, and sends the closing signal to the flight control system to complete the action unlocking of the drone take-off. If CPLD2 does not receive the CPLD1 signal to allow the closure of SW1 within the pre-bound time node, the system enters a fault state. After SW1 is successfully closed, CPLD2 unlocks the static switch SW2 and opens the detection time window for the drone to detect the target signal. If the target signal detected by the drone can be detected within the time window, the information to allow the static switch SW2 to be closed is sent to CPLD1. Otherwise, if the target signal detected by the drone is still not detected at the end of the time window, the system enters a fault state. CPLD1 receives the closing SW2 instruction from CPLD2, completes the closing action of SW2, and sends the closing signal to the flight control system to complete the action unlocking of the UAV tracking the target. If CPLD1 does not receive the permission to close SW2 information from CPLD2 within the pre-set time node, the system enters a fault state. After SW2 is successfully closed, CPLD1 unlocks the dynamic switch DW, and at the same time, the target is in the detection time window of the attack range signal. If the target can be detected in the time window, the dynamic switch DW start instruction is sent to CPLD2. Otherwise, the target is still not detected in the attack range signal at the end of the time window, and the system enters a fault state. CPLD2 receives the dynamic switch DW start instruction sent by CPLD1, controls the dynamic switch DW to start working, completes the charging of the high-voltage capacitor, enters the insurance release state, and sends the closing signal to the flight control system to complete the action unlocking of the UAV warhead aiming at the target.

[0033] The safe detonation execution module includes a high-voltage conversion circuit; when the safety parts SW1, SW2, and DW are all opened, the detonation signal can be smoothly transmitted to the safe detonation execution module. After receiving the detonation signal, the high-voltage conversion circuit of the safe detonation execution module starts to work, and uses the high-voltage pulse power device to convert the low-voltage direct current generated by the power module (drone power battery) through the inverter boost circuit to a high-voltage alternating current, and charges the high-voltage pulse capacitor. After charging, it is in a ready state. When the detonation signal comes, the detonation trigger circuit turns on the high-voltage switch, and the high-voltage capacitor discharges to the subsequent explosive foil, detonates the explosive foil, and thus detonates the subsequent charge. The high-voltage conversion circuit adopts a high-voltage converter and a Walton four-fold voltage rectifier circuit. Using a high-voltage pulse power device, the low-voltage direct current provided by the power module is converted into a high-voltage alternating current through an inverter boost circuit, and the high-voltage pulse capacitor is charged. After charging, it is in a ready state. The high-voltage converter adopts a single-ended flyback converter and a Walton four-fold voltage rectifier circuit to invert the power supply voltage to above 1120V, providing high voltage for the high-voltage switch and the detonation of the explosive foil.

[0034] The safety detonation execution module and the safety state control module are designed on different circuit boards; since the working principle of the safety detonation execution module is to detonate the subsequent explosive foil by charging and discharging a large capacitor, it is in a high voltage state when working, while the components of the safety state control module are in a low voltage state, so the two modules should be isolated and arranged on different circuit boards during design. To ensure the safety and reliability of the system, the SW1 switch circuit and the SW2 switch circuit are respectively connected to the high voltage and ground of the subsequent safety execution module, and the DW switch provides a boost pulse control signal to the subsequent safety execution module. Only when all three switches are in a closed working state, the subsequent circuit will start.

[0035] The main functions of the safety state control module are divided into four aspects: environmental signal recognition, logic control, release execution and ignition control. The release execution circuit has two functions: one is to unlock the system insurance state according to the environmental excitation signal, and the other is to provide working voltage for the subsequent safety detonation execution circuit. Therefore, in the design, the static switches SW1 and SW2 are respectively connected to the positive and negative poles of the subsequent safety detonation execution module to ensure that the subsequent circuit will not increase the voltage when the insurance is not released and the static switch is not closed; the dynamic switch DW is connected to the drive of the subsequent detonation execution module to prevent the subsequent circuit from being started unexpectedly, thereby charging and discharging the high-voltage capacitor, ensuring the safety and reliability of the circuit. This example uses a switch circuit to execute the system release work. Considering the comprehensive needs, the release execution circuit uses a MOS tube digital switch circuit, which is the most commonly used switch circuit, mainly composed of transistors or MOS tubes, and is widely used in switching power supplies, motor drives, relay drives and other occasions. By conducting-disconnecting the current between the drain and source of the MOS tube, the MOS tube works in the cut-off area or constant current area to realize the on-off control of the circuit. Since MOS tubes do not have charge storage effects, they switch faster than transistors and can achieve high-speed switching, so they are widely used in high-frequency switching power supply circuits. The static switch SW1 circuit in this example uses a PMOS tube. Since its gate is a high-impedance terminal, if the gate is left floating, the MOS tube may be turned on due to accidental interference. Therefore, the gate needs to be connected to the ground with a resistor, and PMOS tubes usually have parasitic diodes to prevent the source and drain from being reversed, such as Figure 5 As shown, in the circuit design, the static switch SW1 adopts the P-channel logic enhancement power field effect transistor ST2301. When the main control system determines that the SW1 switch allows unlocking and sends a release signal, the transistor 2n3904 is turned on through the 1G08 XOR gate, so that the G pole of the static switch ST2301 is grounded; when the safety switch is released under the action of the drone take-off signal, the circuit is turned on, so that the gate voltage of the PMOS is lower than the source voltage, the switch is closed, and the positive pole of the subsequent detonation execution module is connected. The static switch SW2 circuit adopts an NMOS tube. Since its gate is a high impedance end, if the gate is floating, the MOS tube may be turned on due to accidental interference, so the gate needs to be connected to the ground with a resistor, such as Figure 6 As shown. The circuit design uses N-channel logic enhancement power field effect transistor ST2300, which is produced using high-density, DMOS channel technology. This high-density process is particularly suitable for reducing conduction. When the main control system determines that the SW2 switch allows unlocking and sends a release signal, the signal is output after judgment by the 1G08 AND gate, making the gate G voltage of the NMOS higher than the source S and drain D voltages, and the switch is closed.

[0036] The detonation trigger circuit mainly includes a pulse trigger transformer, a triode switch circuit, a high-voltage capacitor, a high-voltage switch, a thyristor, and a high-voltage switch capacitor. Figure 7As shown, when the high-voltage capacitor is charged and the ground station sends a detonation signal, the transistor switch circuit provides a trigger voltage for the pulse trigger transformer, and the pulse voltage that meets the thyristor trigger voltage is obtained through the winding boost, and the circuit is turned on to discharge the high-voltage switch capacitor, and the high-voltage switch is turned on. Only after the high-voltage switch is turned on can the high-voltage capacitor be discharged to detonate the explosive foil and complete the detonation work. The base of the transistor is connected to the low-current detonation signal end, the collector is connected to the high-voltage capacitor, and the emitter is grounded. The transistor switch uses the characteristic that a small amount of current injected into the base can form a large current between the emitter and the collector to charge the high-voltage capacitor. The primary coil of the pulse trigger transformer is connected in series with the high-voltage capacitor to the collector of the transistor, the secondary coil is connected to the thyristor gate, the high-voltage switch capacitor is connected to the thyristor anode, and the high-voltage switch is connected to the thyristor cathode. When the high-voltage capacitor is discharged, a pulse voltage that meets the thyristor trigger voltage is obtained through the pulse trigger transformer. At this time, the detonation trigger circuit is turned on, the high-voltage switch capacitor is discharged, the high-voltage switch is turned on, and the explosive foil is detonated.

[0037] The triode switch circuit can control the high-power system through a low-power signal, and is suitable for many chips with weak I / O port driving capabilities. Thyristors, also known as silicon-controlled rectifiers, are small in size, high in efficiency, and low in cost. They are widely used in contactless switch circuits and controlled rectifier devices. When there is a reverse voltage between the cathode and anode of the thyristor, and there is also a reverse voltage between the cathode and the gate, the thyristor is triggered to turn on, the gate is in a saturated state, and the on-off state no longer changes. Therefore, the thyristor only needs to control the current of the gate to meet its triggering moment to turn on.

[0038] To ensure the safety and reliability of the system, the first static switch circuit and the second static switch circuit are connected to the high voltage and ground of the post-stage safety execution module respectively. The dynamic switch provides a boost pulse control signal to the post-stage safety execution module. The post-stage circuit will only start when all three switches are in a closed working state. The post-stage circuit consists of a high-voltage conversion circuit and an initiation trigger circuit. The high-voltage conversion circuit charges the high-voltage capacitor, and the output end of the high-voltage capacitor is connected to the positive electrode of the thyristor. When the winding voltage is boosted to a pulse voltage that meets the thyristor trigger voltage, the initiation trigger circuit is turned on, causing the high-voltage capacitor to discharge and detonate the explosive foil, completing the initiation.

Claims

1. A single-soldier version of the UAV timing control method, characterized in that: This is accomplished by: Information transmission between the electronic safety and arming device and the UAV flight control center is realized through the environmental sensor interface and the ignition input interface; The environmental information collected by the environmental sensor of the UAV is received through the environmental sensor interface and converted into an electrical signal, including the UAV take-off signal, the UAV detects the target signal, and the target is within the attack range signal; Receive the detonation signal transmitted to the UAV by the ground station; The above environmental information is identified through the safety state control module, and the timing control of the single-soldier version of the UAV is realized by a combination of two static switches and one dynamic switch: when the environmental signal of the UAV taking off is identified, an instruction to close the first static switch is sent within the set time, so as to control the first static switch to be closed within the set time, and the closing signal is sent to the flight control system to complete the action unlocking of the UAV taking off; when the environmental signal when the UAV detects the target is identified, an instruction to close the second static switch is sent within the set time, so as to control the second static switch to be closed within the set time, and the closing signal is sent to the flight control system to complete the action unlocking of the UAV tracking the target; when the environmental signal when the target is within the attack range is identified, an instruction to close the dynamic switch is sent within the set time, so as to control the dynamic switch to be closed within the set time, and the closing signal is sent to the flight control system to complete the action unlocking of the UAV warhead aiming at the target; When two static switches and one dynamic switch are both in the closed condition, the safe detonation execution module is unlocked and the detonation signal sent by the ground station can be transmitted to the safe detonation execution module; when the detonation signal sent by the ground station is recognized, the safe detonation execution module is powered to complete the detonation of the UAV warhead to achieve a strike on the target.

2. The timing control method of the single-soldier version of the UAV according to claim 1 is characterized in that: The safe detonation execution module comprises: The high-voltage conversion circuit is used to boost the direct current provided by the power supply and convert it into alternating current to charge the high-voltage capacitor; The detonation trigger circuit is used to turn on the high-voltage switch to discharge the high-voltage capacitor to the subsequent exploding foil, detonate the exploding foil, and thus detonate the subsequent charge.

3. The timing control method of the single-soldier version of the UAV according to claim 2 is characterized in that: The high-voltage conversion circuit adopts a high-voltage converter and a Walton four-fold voltage rectifier circuit to invert the power supply voltage to above 1120V to charge the high-voltage capacitor, and is in a standby state after charging is completed; The detonation trigger circuit mainly includes a pulse trigger transformer, a triode switch circuit, a high-voltage capacitor, a high-voltage switch, a thyristor, and a high-voltage switch capacitor; When the high-voltage capacitor is charged and the ground station sends a detonation signal, the transistor switch circuit provides a trigger voltage for the pulse trigger transformer. After the winding is stepped up, a pulse voltage that meets the thyristor trigger voltage is obtained, which turns on the circuit to discharge the high-voltage switch capacitor and turn on the high-voltage switch. Only after the high-voltage switch is turned on can the high-voltage capacitor discharge and detonate the explosive foil, completing the detonation work.

4. The timing control method of the single-soldier version of the UAV according to claim 1 is characterized in that: The first static switch adopts a PMOS tube.

5. The timing control method of the single-soldier version of the UAV according to claim 1 is characterized in that: The second static switch uses an NMOS tube.

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