Triaxial normalized search system, method for searching for a helicopter and a manned spacecraft return capsule

Abstract

The application discloses a triaxial normalization search system, a helicopter and a method for searching a manned spaceship return capsule. The method for searching the manned spaceship return capsule comprises the following steps: adjusting a first position of a helicopter standby, so that the helicopter approaches a landing area of the manned spaceship return capsule; starting searching according to the landing area, if there is a specific event, a specific strategy is adopted to search for the manned spaceship return capsule, so as to output a second position of the manned spaceship return capsule; and based on the second position, search and rescue guarantee is implemented on the manned spaceship return capsule.

Description

Technical Field

[0001] This invention relates to the aerospace field, and in particular to a three-axis unified search system, a helicopter, and a method for searching the return capsule of a manned spacecraft. Background Technology

[0002] A manned spacecraft is a spacecraft that enables astronauts to live and work in outer space to carry out space missions and return to Earth. It can operate independently, serve as a "ferry" between Earth and a space station, and dock with a space station or other spacecraft for joint flights. Manned spacecraft are relatively small in size, limited by the amount of consumables they can carry, lack resupply capabilities, and are not reusable.

[0003] A key purpose of manned spacecraft is as a transportation vehicle between Earth and space, ferrying astronauts to and from the space station. The manned spacecraft also serves as a lifeboat. Astronauts work long hours on the space station and are constantly at risk of danger, such as micrometeoroids or debris from artificial celestial bodies penetrating the pressure chamber walls, space station control system instability, or sudden illness of an astronaut. In such emergencies, astronauts need to immediately evacuate the space station and return to Earth. Therefore, when astronauts are working on the space station, at least one manned spacecraft is docked with the space station, acting as an orbital lifeboat, ready to evacuate astronauts and return them to Earth at any time.

[0004] The technical problem this invention aims to solve is how to achieve near-miss landing at the spacecraft landing site, address the technical challenges of rapid search for manned spacecraft, and enhance the search and rescue capabilities for astronauts. Summary of the Invention

[0005] The purpose of this invention is to provide a three-axis unified search system, a helicopter, and a method for searching manned spacecraft return capsules, which can not only achieve capsule landing and solve the technical problem of rapid search for manned spacecraft, but also greatly improve the search and rescue support capabilities for astronauts.

[0006] According to one aspect of the present invention, at least one embodiment provides a method for searching for a manned spacecraft return capsule, applicable to a helicopter, comprising: adjusting a first standby position of the helicopter to bring the helicopter close to the landing area of ​​the manned spacecraft return capsule; initiating a search based on the landing area; if a specific event occurs, employing a specific strategy to search and locate the manned spacecraft return capsule, thereby outputting a second position of the manned spacecraft return capsule; and providing search and rescue support for the manned spacecraft return capsule based on the second position.

[0007] According to another aspect of the invention, at least one embodiment also provides a helicopter, comprising: a processor adapted to implement various instructions; and a memory adapted to store a plurality of instructions, said instructions being loaded by the processor and executed as described above for searching for a manned spacecraft return capsule.

[0008] According to another aspect of the present invention, at least one embodiment also provides a three-axis unified search system, including: the helicopter described above, the ground ballistic and impact point measurement system, and the ground command center.

[0009] According to another aspect of the present invention, at least one embodiment also provides a computer-readable non-volatile storage medium storing computer program instructions that, when the computer executes the program instructions, perform the method described above for searching for the return capsule of a manned spacecraft.

[0010] Through the above embodiments of the present invention, during the launch phase of a manned spacecraft, if a malfunction of the launch vehicle causes the manned spacecraft to need to implement an emergency escape, this system can carry out subsequent emergency search and rescue operations based on the escape location of the manned spacecraft; during the return to the landing site phase of the manned spacecraft, this system can be on the spot upon landing, searching and finding the landed return capsule immediately, creating conditions for astronaut rescue and improving the astronaut search and rescue support capability; during the return to the landing site process of the manned spacecraft, if a large-scale deviation occurs, this system can quickly move forward to search and find the return capsule; in the event of various search difficulties after the manned spacecraft's return capsule lands, "especially the difficulty of visual discovery at night, and the abnormality of radio beacons and flashing position indicators after the return capsule lands," this system can provide advanced search technology systems and search tactics as support. Attached Figure Description

[0011] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of a three-axis unified search system according to an embodiment of the present invention;

[0013] Figure 2 This is a schematic diagram of a helicopter according to an embodiment of the present invention;

[0014] Figure 3 This is a flowchart of a method for searching for the return capsule of a manned spacecraft according to an embodiment of the present invention;

[0015] Figure 4This is a schematic diagram of the search guidance terminal landing point prediction guidance mode interface according to an embodiment of the present invention;

[0016] Figure 5 This is a schematic diagram of the integrated ballistic guidance mode of the search guidance terminal according to an embodiment of the present invention. Detailed Implementation

[0017] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] A manned spacecraft is a spacecraft that ensures astronauts can live and work in space to perform space missions and return safely to Earth. Generally, a manned spacecraft consists of a crew module, an orbital module, a reentry module, and a service module. The crew module can have a two-module or three-module structure. At the front is the docking mechanism, followed by the orbital module, then the reentry module and the service module, and finally connected to the launch vehicle. Some modules are connected by transition modules, and manned spacecraft with extravehicular activity (EVA) missions also have an airlock for EVA.

[0020] Generally speaking, there are strict conditions and requirements for the recovery of manned spacecraft. The landing site must meet four basic conditions at the same time: First, it must be under the spacecraft that it has passed through multiple times, or the spacecraft will pass over this area multiple times; second, the site must be open, and the area occupied by houses and tall trees must be less than one-thousandth; third, the terrain must be flat, the surface slope must not exceed five degrees, and the slope length must not exceed five times the circumference of the return capsule; fourth, the weather conditions in this area must be good.

[0021] Based on this, the present invention provides a three-axis unified search system capable of achieving near-landing detection and rapidly locating manned spacecraft. For example, during the launch phase of a manned spacecraft, if a launch vehicle malfunctions, requiring the spacecraft to escape, this system can initiate a subsequent emergency search and rescue operation based on the escape location. During the return to the landing site, this system can achieve near-landing detection, immediately finding the landed capsule and creating conditions for astronaut rescue, thus improving astronaut search and rescue support capabilities. If significant deviations occur during the return process, this system can quickly move forward to search for and locate the capsule. In situations where various search difficulties arise after the manned spacecraft's return capsule lands, "especially at night when visual detection is very difficult, and when radio beacons and flashing position indicators malfunction after landing," this system can provide advanced search technology and tactics as support. Figure 1 As shown, the environment of the triaxial unified search system may include a hardware environment and a network environment. The hardware environment includes: a helicopter 100, a ground ballistic and impact point measurement system 200, and a ground command center 300.

[0022] The helicopter 100, such as Figure 2 As shown, the system includes: a processor 202; and a memory 204 configured to store computer program instructions, which are adapted to be loaded by the processor and executed by the processor to provide the method for searching the return capsule of a manned spacecraft developed according to this invention (which will be described in detail later). The processor 202 can be any suitable processor, such as a central processing unit, microprocessor, embedded processor, etc., and can adopt architectures such as x86 and ARM. The memory 204 can be any suitable storage device, such as a non-volatile storage device, including but not limited to magnetic storage devices, semiconductor storage devices, optical storage devices, etc., and can be arranged as a single storage device, a storage device array, or a distributed storage device. The embodiments of this invention do not limit these possibilities. Those skilled in the art will understand that the structure of the helicopter 100 described above is merely illustrative and does not limit the structure of the equipment. For example, this invention can also install four other devices on the helicopter 100: an airborne ultra-shortwave direction finder, a search guidance terminal, an electro-optical pod, and a high-power searchlight.

[0023] Here, the airborne VHF directional instrument is a basic search and guidance device that can receive the 243MHz beacon from the manned spacecraft return capsule and provide the search direction angle. After zeroing to eliminate pointing system errors, the pointer swings 5° to the left and right of the line connecting the airborne VHF directional instrument and the beacon. The pilot can determine the search direction based on the centerline of the pointer swing. In order to achieve three-axis unification, this invention adds the VHF directional instrument to the longitudinal axis of the helicopter 100, so that when the VHF directional instrument points to 0°, the VHF directional instrument's direction coincides with the longitudinal axis of the fuselage, that is, the 0° direction of the airborne VHF directional instrument coincides with the longitudinal axis of the helicopter 100.

[0024] Here, the present invention adds a search and guidance terminal to the front cabin of helicopter 100. This search and guidance terminal is the terminal equipment for constructing an integrated air-ground search and guidance system at the landing site, and can also be called an integrated air-ground search and guidance system. This system is based on the spacecraft return trajectory measured by relay communication satellites, ground radar and telemetry equipment, and generates a comprehensive trajectory through optimization and sends it to helicopter 100. The search and guidance terminal equipment added to the front cabin of helicopter 100 can receive the comprehensive trajectory and impact point forecast pushed by the ground command center 300, receive the 406MHz international rescue beacon position information of the spacecraft return capsule demodulated by the airborne ultra-shortwave direction finder, and can manually input the high-precision impact point forecast provided by the ground. Meanwhile, this integrated air-ground search and guidance system makes full use of the length of the helicopter's tail boom to install two Beidou navigation terminals, which are used to determine the angle between the longitudinal axis of the helicopter and due north. The two Beidou navigation terminals receive the target position information and calculate in real time the angle between the line connecting the helicopter and the target (i.e., the manned spacecraft return capsule) and due north. The angle between the line connecting the helicopter and the target and the longitudinal axis of the helicopter is the helicopter search direction angle. In order to achieve three-axis unification, when developing and installing the search and guidance terminal, the longitudinal axis of the helicopter is taken as the 0° search direction, that is, the 0° direction of the search and guidance terminal coincides with the longitudinal axis of the helicopter.

[0025] Here, the electro-optical pod is typically mounted on the nose side of the helicopter 100. To achieve tri-axis unification, this invention adjusts the optical axis system so that the 0° direction of the electro-optical pod's optical axis is parallel to the longitudinal axis of the helicopter 100 when the electro-optical pod is installed. That is, the 0° direction of the electro-optical pod's optical axis is parallel to the longitudinal axis of the helicopter 100. With the electro-optical pod installed, the helicopter 100 can search for targets in the air and track them to the landing of the manned spacecraft's return capsule. A laser rangefinder is used to locate the return capsule, with a positioning accuracy of 30m to 60m.

[0026] Here, a high-power searchlight is typically mounted on the other side of the nose of helicopter 100. To achieve triaxial unification, this invention adjusts the searchlight beam axis so that the 0° direction of the searchlight is parallel to the longitudinal axis of helicopter 100 when the high-power searchlight is mounted on helicopter 100. That is, the 0° direction of the high-power searchlight is parallel to the longitudinal axis of helicopter 100. The helicopter 100 is equipped with a high-power searchlight with a beam angle of 4°–20°, a single-person detection distance of 1000m, and a beam diameter of 35m–176m at a slant distance of 500m.

[0027] As can be seen, in order to achieve rapid search and discovery, this invention, following the principle of "three-axis unification," integrates four types of aerial search equipment—an airborne VHF / UHF direction finder, a search guidance terminal, an electro-optical pod, and a high-power searchlight—onto the helicopter 100. These three axes refer to the acquisition guidance axis, the approach guidance axis, and the confirmation guidance axis. Specifically, the acquisition guidance axis includes the 0° pointing of the search guidance terminal and the airborne VHF / UHF direction finder in the forward cockpit of the helicopter 100; the approach guidance axis is the 0° pointing of the optical axis of the electro-optical pod; and the confirmation guidance axis is the 0° pointing of the high-power searchlight. "Three-axis unification" means that the 0° pointing of the search guidance terminal, the airborne VHF / UHF direction finder, the optical axis of the electro-optical pod, and the high-power searchlight in the forward cockpit of the helicopter 100 are either coincident with or parallel to the longitudinal axis of the helicopter 100.

[0028] It should also be noted that the helicopter 100 can be one or more (i.e., a helicopter squadron or helicopter group), or it can include multiple processing nodes, which can be presented externally as a whole. Optionally, the helicopter 100 can also send the acquired data to the ground command center 300, so that the ground command center 300 can execute the method of the present invention for searching for the manned spacecraft return capsule. Optionally, the helicopter 100 can connect to the ground command center 300 via a network.

[0029] The ground-based ballistics and impact point measurement system 200 can provide accurate impact point prediction support for aerial search during the manned spacecraft's return process, especially after the return capsule lands. The ground-based ballistics and impact point measurement system 200 may include: a ground-based passive positioning system, a small optical rendezvous positioning system, and a global search and rescue satellite system. Here, the ground-based passive positioning system deploys one main station and nine auxiliary stations at the landing site. In the event of a return capsule malfunction, it can receive a 243MHz search beacon and use a multi-station time difference positioning method to obtain the wind-blown trajectory of the parachute assembly, with a positioning accuracy of 150m to 400m. The ground-based passive positioning system of this invention can use surrounding radar positioning data as a reference and Doppler velocity measurement as a basis to obtain a high-precision wind-blown trajectory of the parachute assembly in near real-time calculation, with a positioning accuracy better than 30m. Here, a small-scale optical rendezvous and positioning system is deployed at the landing site. Multiple sets of small-scale optical equipment are used to obtain optical images of the parachute assembly during the wind-blown phase. The rendezvous and positioning method provides high-precision coordinates of the parachute assembly, with a positioning accuracy of 40m to 80m. Here, a global search and rescue satellite system is connected to the landing site. After landing, the positioning results of the return capsule from the global search and rescue satellite system can be reported to the helicopter team, with a positioning accuracy of 50m to 150m. In other words, the three systems—the ground-based passive positioning system, the small-scale optical rendezvous and positioning system, and the global search and rescue satellite system—primarily provide precise landing point coordinates after the manned spacecraft's return capsule lands.

[0030] The ground command center 300 is able to contact the Ministry of Transport's Communication and Information Center to obtain the landing coordinates of the manned spacecraft's return capsule after it lands, and then notify the search and rescue personnel on helicopter 100. Helicopter 100 (the crew) will switch the search guidance terminal to the landing point prediction guidance mode, manually input the landing coordinates of the return capsule, and begin searching the landing area according to the instructions of the search guidance terminal.

[0031] Through the above-described method of this invention, a three-axis unified search system is constructed, and a three-axis unified search technology system is designed and implemented. Subsequently, this invention can be used to develop rapid search tactics for different situations based on the technical status of the manned spacecraft return capsule, and has been tested in actual combat missions, proving its suitability for the rapid search needs of manned spacecraft.

[0032] Based on the aforementioned operating environment, at least one embodiment of the present invention proposes a method for searching for the return capsule of a manned spacecraft. This method can be loaded and executed by the processor 202 of a helicopter 100, at least achieving near-landing of the capsule, solving the technical challenge of rapid search for manned spacecraft, and improving the astronaut search and rescue support capabilities. Figure 3The flowchart shown illustrates a method for searching the return capsule of a manned spacecraft. It should be noted that the steps illustrated in the flowchart can be executed in a computer system, such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than that presented here. The method may include the following steps:

[0033] Step S301: Adjust the helicopter to its first standby position so that the helicopter approaches the landing area of ​​the manned spacecraft return capsule.

[0034] Step S303: Start the search based on the landing area. If a specific event exists, use a specific strategy to search and find the manned spacecraft return capsule, and output the second location of the manned spacecraft return capsule.

[0035] Step S305: Conduct search and rescue support for the manned spacecraft return capsule based on the second location.

[0036] Since this invention pertains to search and rescue support for the return capsule of a manned spacecraft, it is necessary to understand the manned spacecraft return capsule. Generally, a manned spacecraft return capsule is equipped with a parachute, a parachute-capsule assembly, a flashing position beacon, and a radio beacon. The return capsule is approximately 2.5 meters high and has a bell-shaped configuration with a base diameter of approximately 2.5 meters. The parachute has an area of ​​approximately 1200 m². 2 The area of ​​the paved surface is not less than 400m² 2 The parachute-carrier assembly descends at a speed of 8 m / s. The main parachute has a canopy diameter of 39 m and a height of 49 m. The vertical height of the parachute-carrier assembly is approximately 70 m. A flashing position beacon is used for visual distress calls at night, employing strobe lights as a distress signal, flashing approximately 45 times per minute. In clear weather, the communication range is approximately 5 km. Radio beacons include a 243 MHz search beacon with a 243 MHz carrier and a 1 kHz sine wave modulation signal; the antennas are located on the reentry capsule's hatch and bottom. A 406 MHz international rescue position beacon has a 406.028 MHz carrier, modulating the reentry capsule's GPS position data; the antennas are located on the side walls and bottom.

[0037] Through research, the inventors discovered that helicopter 100 (squadrons) might encounter the following difficulties when searching for manned spacecraft: difficulty visually identifying the return capsule during nighttime return of the manned spacecraft; malfunction or obstruction of the flashing beacon, resulting in no optical signal guidance during the search; and malfunction of the radio beacon, preventing the transmission of search guidance signals. Therefore, the inventors developed the following three-axis unified search tactic:

[0038] In step S301, the helicopter is adjusted to its first standby position to bring it close to the landing area of ​​the manned spacecraft's return capsule. For example, before the manned spacecraft's return braking, the ground control center 300 obtains the manned spacecraft's return capsule's ballistic data and theoretical parachute deployment point position based on radar, telemetry equipment, etc. The helicopter 100 obtains the manned spacecraft's return capsule's parachute deployment point position from the ground control center 300, and in the landing point prediction guidance mode of the search and guidance terminal in the forward cabin of the helicopter 100 (e.g., Figure 4 (As shown) Manually input the parachute deployment point of the manned spacecraft return capsule, and adjust the first standby position of helicopter 100 according to the distance between helicopter 100 and the parachute deployment point displayed on the search guidance terminal.

[0039] The primary objective is to position the helicopter 100 within the parachute deployment range of the manned spacecraft's return capsule, which is visible from the electro-optical pod, and to ensure it is at least as far as the jettison distance of the manned spacecraft's return capsule. The parachute deployment and jettison distances of the manned spacecraft's return capsule are shown in Table 1.

[0040] Table 1. Shortest Acquisition Distance for Helicopter Electro-Optical Pods

[0041]

[0042] In step S303, a search is initiated based on the landing area. If a specific event exists, a specific strategy is employed to locate the manned spacecraft return capsule and output its second position. For example, if the specific event is the absence of a visually visible flashing beacon, an electro-optical pod is used to track the manned spacecraft return capsule. If the electro-optical pod tracks the capsule to its landing point, a laser rangefinder is used to measure the landing coordinates. The electro-optical pod includes a laser rangefinder. The second position of the manned spacecraft return capsule is output based on the landing coordinates. For example, if the specific event is the absence of a visually visible flashing beacon, an electro-optical pod is used to track the capsule. If the electro-optical pod fails to track the capsule to its landing point, the search guidance terminal outputs the second position based on the 406MHz international rescue beacon position information. For example, if the specific event is that the airborne VHF directional instrument cannot receive the 243MHz search beacon from the manned spacecraft return capsule, the helicopter's longitudinal axis is adjusted to the search direction of the search guidance terminal to locate the manned spacecraft return capsule. For example, if a specific event occurs where the flashing beacon, the 243MHz search beacon, and the 406MHz international rescue beacon all fail, the search guidance terminal will search for and locate the manned spacecraft return capsule based on the landing point prediction guidance mode. In this case, the helicopter 100 can receive the predicted landing point of the manned spacecraft return capsule from the ground command center 300.

[0043] In other words, the principles for handling abnormal search situations in this invention are as follows: 1) If the flashing beacon cannot be seen visually, two search strategies are adopted: First, if the electro-optical pod tracks the landing of the manned return capsule, a laser rangefinder is used to mark and measure the landing coordinates of the manned spacecraft's return capsule, and the crew uses a high-power searchlight to search for the return capsule and parachute around the measured landing coordinates; Second, if the electro-optical pod does not track the landing of the manned spacecraft's return capsule, the search guidance terminal in the front cabin of helicopter 100 switches to the 406 beacon guidance mode. After receiving the 406 beacon return capsule position data, helicopter 100 (the crew) uses a high-power searchlight to search for the return capsule and parachute around the landing coordinates. 2) If the airborne VHF directional instrument cannot receive the 243MHz search beacon, the longitudinal axis of helicopter 100 is adjusted based on the search direction of the search guidance terminal in the front cabin of helicopter 100. 3) If the flashing beacon, the 243MHz search beacon, and the 406MHz international rescue beacon all fail, after the manned spacecraft return capsule lands, the Helicopter 100 team will receive the predicted landing point of the return capsule from the ground command center 300. The search guidance terminal in the front cabin of the Helicopter 100 will switch to the landing point prediction guidance mode and use a high-power searchlight to search for the return capsule and parachute.

[0044] In step S305, search and rescue support is provided for the manned spacecraft return capsule based on the second location. For example, after the manned spacecraft return capsule's parachute deploys, the helicopter's longitudinal axis is adjusted to -15° according to the direction of the ultra-shortwave directional instrument or search guidance terminal; the electro-optical pod is used to search for the manned spacecraft return capsule in the 0° to -30° range, and the helicopter's flight direction is adjusted according to the direction of the electro-optical pod to guide the helicopter to track and approach the manned spacecraft return capsule; at the second location, a high-powered searchlight is used to search for and confirm the manned spacecraft return capsule, and search and rescue support is provided for the astronauts.

[0045] In other words, this invention guides the helicopter 100 to capture, approach, and confirm the parachute assembly based on a second position. When the parachute assembly is captured (i.e., the manned spacecraft return capsule deploys its parachute), the helicopter 100 crew adjusts the longitudinal axis of the helicopter to approximately -15° based on the direction of the ultra-shortwave directional instrument or the forward cabin search guidance terminal. The electro-optical pod operator searches for the target within the 0° to -30° range. When the parachute assembly is approached (i.e., after the electro-optical pod captures the parachute assembly), the helicopter 100 adjusts its flight direction according to the direction of the electro-optical pod, aligning its longitudinal axis with the parachute assembly, guiding the helicopter to track and approach it. During this process, the electro-optical pod operator adjusts the focus to ensure the parachute assembly image is of appropriate size and centered on the display screen, tracking the manned spacecraft return capsule until landing. When the helicopter 100 approaches the landing point of the manned spacecraft return capsule, a high-powered searchlight selects an appropriate beam angle and points towards the flashing position marker of the manned spacecraft return capsule, searching for and confirming the return capsule and parachute.

[0046] Through the above embodiments of the present invention, a landing site search tactic is constructed according to the three-axis unified search tactic. By equipping helicopters with ultra-shortwave direction finders, integrated air-ground search and guidance terminals, electro-optical pods, and high-power searchlights, astronaut search and rescue missions can locate the return capsule immediately after the manned spacecraft lands, achieving the mission objective of landing on the helicopter and creating conditions for timely rescue of astronauts.

[0047] At least one embodiment of the present invention also provides a computer-readable non-volatile storage medium for storing computer program instructions. When the computer executes the program instructions, it executes the method for searching for the return capsule of a manned spacecraft developed in this invention. It should also be noted that the method for searching for the return capsule of a manned spacecraft developed in this invention can also be called a three-axis unified search tactic. Furthermore, a large-scale deviation search tactic and a launch phase escape search tactic can be built based on this three-axis unified concept.

[0048] For example, a large-scale deviation search tactic: 1) Forward search: When a large-scale deviation occurs at the manned spacecraft's return landing site, the personnel in the rear cabin of the helicopter observe the actual flight trajectory of the manned spacecraft's return capsule through a large display screen, determine the flight position of the manned spacecraft's return capsule, and report to the flight crew. The flight crew then uses the search guidance terminal in the forward cabin to indicate the distance and search direction (e.g., ...). Figure 5 (As shown), immediately move forward to search the possible landing area of ​​the return capsule. 2) Obtain the landing position: After the manned spacecraft return capsule lands, the ground command center 300 contacts the Ministry of Transport's Communication and Information Center to obtain the landing coordinates of the manned spacecraft return capsule, and informs the search and rescue personnel on helicopter 100. The crew switches the search guidance terminal in the front cabin to the landing point prediction guidance mode, manually inputs the landing coordinates of the manned spacecraft return capsule, and searches towards the landing area according to the instructions of the search guidance terminal in the front cabin. 3) Search discovery: After approaching the predicted landing area, switch the search guidance terminal in the front cabin to the 406 position beacon guidance mode, and use the airborne VHF directional instrument to receive the 243MHz search beacon direction and the return capsule's flashing position beacon as guidance to search and confirm the manned spacecraft's return capsule.

[0049] For example, the launch phase escape search strategy is as follows: 1) Forward search: After a launch vehicle malfunction causes the manned spacecraft to escape, the approximate landing area of ​​the return capsule is calculated based on the manned spacecraft system. Helicopter 100 takes off to conduct a forward search. During the search, the search area is adjusted according to the landing point predicted by the telemetry and control system. 2) Obtaining the landing position: After the manned spacecraft return capsule lands, the ground command center 300 contacts the Ministry of Transport's Communication and Information Center to obtain the landing coordinates of the return capsule and informs the search and rescue personnel on Helicopter 100. The crew switches the search guidance terminal in the forward cabin to the landing point prediction guidance mode, manually inputs the landing coordinates of the return capsule, and searches towards the landing area according to the instructions of the search guidance terminal in the forward cabin. 3) Search discovery: After approaching the predicted landing area, the search guidance terminal in the forward cabin is switched to the 406 position beacon guidance mode, and the search is confirmed by receiving the 243MHz search beacon direction from the airborne VHF directional instrument and the flashing position beacon of the return capsule.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for searching for the return capsule of a manned spacecraft, applicable to helicopters, characterized in that, include: Adjust the helicopter to its first standby position so that it approaches the landing area of ​​the manned spacecraft's return capsule; A search is initiated based on the landing area. If a specific event occurs, a specific strategy is used to search and locate the manned spacecraft return capsule, and the second location of the manned spacecraft return capsule is output. Based on the second location, search and rescue support will be provided for the manned spacecraft's return capsule. The helicopter is equipped with a search and guidance terminal at the front, with its 0° direction aligned with the helicopter's longitudinal axis; a high-power searchlight is mounted on the nose of the helicopter, with its 0° direction parallel to the helicopter's longitudinal axis; an electro-optical pod is mounted on the nose of the helicopter, with its optical axis 0° aligned with the helicopter's longitudinal axis; and an airborne VHF / UHF direction finder is mounted on the helicopter's longitudinal axis, with its 0° direction aligned with the helicopter's longitudinal axis.

2. The method according to claim 1, wherein the manned spacecraft return capsule is equipped with a flashing position beacon, and the specific event is that the flashing position beacon is no longer visible to the naked eye, characterized in that, A specific search strategy was used to discover that the manned spacecraft return capsule included: The photoelectric pod is used to track the return capsule of the manned spacecraft; If the optoelectronic pod tracks the landing of the manned spacecraft return capsule, a laser rangefinder is used to mark points and measure the landing coordinates of the manned spacecraft return capsule, wherein the optoelectronic pod includes the laser rangefinder; The second position of the manned spacecraft return capsule is output based on the landing coordinates.

3. The method according to claim 1, wherein the manned spacecraft return capsule is equipped with a flashing position beacon, and the specific event is when the flashing position beacon is not visible to the naked eye, characterized in that, A specific search strategy was used to discover that the manned spacecraft return capsule included: The photoelectric pod is used to track the return capsule of the manned spacecraft; If the optoelectronic pod fails to track the landing of the manned spacecraft's return capsule, the search and guidance terminal will output a second location based on the 406MHz international rescue beacon location information.

4. The method according to claim 1, wherein the manned spacecraft return capsule is equipped with a radio beacon, and the specific event is failure to receive a 243MHz search beacon, characterized in that, A specific search strategy was used to discover that the manned spacecraft return capsule included: If the airborne VHF directional instrument fails to receive the 243MHz beacon from the manned spacecraft return capsule, the longitudinal axis of the helicopter will be adjusted to the search direction of the search guidance terminal in order to locate the manned spacecraft return capsule.

5. The method according to claim 1, wherein the specific event is the failure of the flashing beacon, the 243MHz search beacon, and the 406MHz international rescue beacon, characterized in that, A specific search strategy was used to discover that the manned spacecraft return capsule included: The search and guidance terminal locates the manned spacecraft return capsule based on the landing point prediction guidance mode. The helicopter can receive the predicted landing point of the manned spacecraft return capsule from the ground command center.

6. The method according to claim 1, wherein the manned spacecraft return capsule is equipped with a parachute, characterized in that, Search and rescue support for the manned spacecraft's return capsule based on the second location includes: When the parachute of the manned spacecraft return capsule deploys, the longitudinal axis of the helicopter is adjusted to -15° according to the direction of the ultra-shortwave directional instrument or the search guidance terminal. The photoelectric pod is used to search for the manned spacecraft return capsule in the 0° to -30° range, and the helicopter's flight direction is adjusted according to the direction of the photoelectric pod to guide the helicopter to track and approach the manned spacecraft return capsule; At the second location, the high-powered searchlight was used to search for and confirm the return capsule of the manned spacecraft, and search and rescue support was provided for the astronauts.

7. The method according to claim 1, characterized in that, The first position for adjusting a helicopter to standby includes: The location of the parachute deployment point of the manned spacecraft's return capsule is obtained from the ground command center to adjust the first standby position of the helicopter. The ground command center obtains the ballistic data and theoretical parachute deployment point of the manned spacecraft's return capsule based on radar and telemetry equipment.

8. A helicopter, comprising: A processor, suitable for implementing various instructions; And a memory adapted to store multiple instructions adapted to be loaded and executed by a processor: the method for searching a manned spacecraft return capsule as described in any one of claims 1-7.

9. A three-axis normalized search system, comprising: The helicopter as described in claim 8.

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