Missile-borne battlefield situational awareness system and sensing methods

Abstract

This invention belongs to the field of battlefield situation assessment technology, specifically disclosing a missile-borne battlefield situation awareness system and method. It includes several sets of sensing devices mounted on dispensers at the tail of the missile body. The dispensers are connected to and controlled by an onboard computer, which ejects the sensing devices. The sensing devices are connected to a weapon launch system, capable of collecting battlefield data and transmitting it to the weapon launch system. The weapon launch system can issue self-destruct commands to the sensing devices and perform battlefield situation assessments based on the data transmitted back from the sensing devices. This invention solves the problems of untimely and easily interfered-with conventional battlefield situation awareness methods, as well as the limitations of passive parachute-based methods that struggle to actively perceive the battlefield situation, resulting in limited effective sensing data. It also addresses the issues of complex and costly rotor-based active methods. By forming a spatial network with multiple sensing devices, it maximizes the perception of the battlefield situation.

Description

Technical Field

[0001] This invention belongs to the field of battlefield situation assessment technology, and in particular relates to a missile-borne battlefield situation awareness system and a sensing method. Background Technology

[0002] In the context of modern information warfare, after striking a target, a rapid assessment of the damage effect is needed to provide a basis for subsequent operational decisions and accelerate the Out-of-Balance-Axis (OODA) cycle. Currently, commonly used battlefield situational awareness acquisition methods include satellite detection, high-altitude reconnaissance aircraft, and UAV reconnaissance. However, these devices are largely affected by weather, smoke, and other environmental factors, failing to meet the real-time requirements of a highly dynamic battlefield. Existing missile-borne detachable sensing devices include parachute passive and rotor active types. Parachute passive sensors have limited sensing fields of view and cannot reliably detect target areas, especially camera-attached parachute passive sensors, which are prone to ineffective sensing. Rotor active sensors suffer from complex structures, excessive space occupation by the ammunition carrier, high operational difficulty, and high costs. Furthermore, both technologies are prone to biases leading to insufficient effective data. Summary of the Invention

[0003] The purpose of this invention is to provide a missile-borne battlefield situational awareness system and method to solve the problems of limited sensing field of view, complex structure and easy deviation of existing missile-borne separate sensing devices.

[0004] To achieve the above objectives, one technical solution of the present invention is: a missile-borne battlefield situation awareness system, comprising several sets of sensing devices mounted on dispensers at the tail of the missile body; the dispensers are connected to and controlled by an onboard computer; the dispensers are used to deploy several sets of sensing devices according to a predetermined spatial distribution scheme; the sensing devices are connected to a weapon launching system; the sensing devices are capable of collecting battlefield data and transmitting it to the weapon launching system; the weapon launching system is capable of issuing self-destruct commands to the sensing devices and performing battlefield situation assessments based on the data transmitted back by the sensing devices; and the sensing devices are capable of self-destruction after completing their sensing tasks.

[0005] The sensing device includes a main body, a tail fin module, a processor, a storage unit, a shock wave sensing module, a communication module, a positioning module, a power supply module, an image acquisition module, and a self-destruct module. The image acquisition module is located at the front end of the main body, the tail fin is located at the rear end of the main body, and the shock wave sensing module is located in the middle of the main body. The main body has an internal mounting cavity, and the processor, communication module, positioning module, power supply module, and self-destruct module are installed within the mounting cavity. The power supply module supplies power to the tail fin module, processor, storage unit, shock wave sensing module, communication module, positioning module, image acquisition module, and self-destruct module. The processor is connected to the storage unit, tail fin module, and other components. The system comprises a wing module, a shockwave sensing module, a communication module, a positioning module, an image acquisition module, and a self-destruct module, which are connected to achieve data interaction and control. The communication module enables communication between the processor and the weapon launching system, as well as communication between the processors of each sensing device. The positioning module enables the positioning of the sensing devices. The image acquisition module acquires image data in front of the sensing devices and can adjust its angle. The tail wing module adjusts the attitude of the sensing devices. The shockwave sensing module senses shockwaves. The self-destruct module enables the self-destruction of the entire sensing device. The image data acquired by the image acquisition module is stored in the memory.

[0006] Furthermore, the tail fin module is provided in several groups, and the several groups of tail fin modules are evenly distributed around the circumference of the tail of the main body. Each group of tail fin modules includes a servo and a rudder. The servo is installed in the mounting cavity and is connected to the rudder to control the rotation of the rudder. The servo is connected to the power supply module and the processor.

[0007] Furthermore, the shock wave sensing module is provided in several groups, which are evenly distributed around the center of the main body. Each group of shock wave sensing modules includes a locking structure, an unfolding structure, and a shock wave sensor. The main body is provided with a locking cavity, and the locking structure is located in the locking cavity and can lock the unfolding structure and the shock wave sensor in the locking cavity. The unfolding structure can enable the shock wave sensor to detach from the locking cavity and unfold. The unfolding structure includes a mounting rod and a first elastic element. The first elastic element is installed in the locking cavity and is used to pop out the mounting rod. The shock wave sensor is installed on the mounting rod.

[0008] Furthermore, the locking structure includes a second elastic element, a limiting rod, and a limiting drive element. The limiting rod has a connecting block and a wedge block on each side. One side of the second elastic element is fixed to the locking cavity, and the other side is fixed to the connecting block. One side of the mounting rod has an inclined surface that cooperates with the wedge block. The wedge block is used to lock the mounting rod in the locking cavity. The limiting drive element is used to drive the limiting rod away from the mounting rod and realize the separation of the inclined surface and the wedge block.

[0009] Furthermore, the limiting drive component is a solenoid, the limiting rod is an iron core, the solenoid is fixed inside the locking cavity, and the solenoid is located outside the limiting rod and does not contact the limiting rod.

[0010] Furthermore, the image acquisition module includes an image acquisition unit, a pitch drive unit, and a torsion drive unit. The torsion drive unit is fixed on the main body and is connected to the pitch drive unit. The pitch drive unit is connected to the image acquisition unit, and the rotation axis of the pitch drive unit is perpendicular to the rotation axis of the torsion drive unit.

[0011] Furthermore, the positioning module includes a GPS module and a UWB module, and the processor calculates the relative position of the sensing device in space by reading data from the GPS module and the UWB module.

[0012] Furthermore, a transparent protective cover is installed at the front end of the main body, and the image acquisition module is located inside the transparent protective cover.

[0013] Furthermore, the processor is also connected to a power module, which is installed in the mounting cavity. The power module is connected to the solenoid and the self-destruct module, and can energize the solenoid and activate the self-destruct module.

[0014] To achieve the above objectives, another technical solution of the present invention is: a missile-borne battlefield situational awareness method, comprising...

[0015] The weapon launching system issues a launch command, and the projectile is launched and flies through the air;

[0016] When the missile's onboard computer senses that it has reached the airspace above the target area, the onboard computer senses that it has sent an activation command to the sensing device. The power supply module and processor in the sensing device are activated, the sensing device begins to work, and establishes a data link with the weapon launch system through the communication module. Then the onboard computer controls the dispenser to eject the sensing device from the missile body.

[0017] After the sensing devices are launched, the processor obtains its own pose data by reading the data from the positioning module and adjusts its own pose through the tail fin module; multiple sensing devices form a spatial mesh structure, the shock wave sensing module senses the shock wave, and the image acquisition module scans the battlefield to search for targets of interest;

[0018] Once the sensing devices detect a target of interest, a certain number of them will continuously track and detect it for a period of time, while other sensing devices continue to detect other targets of interest or scan the battlefield.

[0019] When the vertical line of the battlefield explodes, the shock wave sensing module senses the shock wave. A certain number of sensing devices closest to the shock wave adjust the acquisition angle of the corresponding image acquisition module and search for and sense in the direction of the shock wave. Other sensing devices continue to sense other targets of interest or scan the battlefield.

[0020] When a sensing device encounters an obstruction to its field of vision, the processor requests collaborative sensing from other idle sensing devices. If there are no idle sensing devices, the sensing device that encountered the obstruction to its field of vision adjusts its own posture through the tail fin module to sense the target.

[0021] The image acquisition module continuously acquires image data and transmits it to the storage device via the processor. The processor also sends the image data from the storage device to the weapon launching system via the communication module.

[0022] Once the sensing device detects a target of interest, the processor calculates the target's location based on data from the shock wave sensing module and the positioning module. The weapon launching system can stitch together and display the image data captured by each sensing device and mark the target's location.

[0023] When a sensing device is damaged and cannot function, the weapon launching system sends instructions to the remaining sensing devices, which then change their own attitude through the tail fin module and re-network.

[0024] After the perception mission is completed, the processor sends a self-destruct command to the self-destruct module, the perception device self-destructs, and the weapon launch system assesses the battlefield situation based on the data returned by the perception device.

[0025] The beneficial effects of this technical solution are as follows:

[0026] ① Install positioning modules (UWB module and GPS module) on the sensing devices so that the sensing devices can accurately obtain their own position data and that of other sensing devices. This allows them to control their own posture by controlling the tail fin module, enabling multiple sensing devices to form a spatial network structure and achieve multi-view perception of the battlefield situation.

[0027] ② Once the sensing devices form a spatial network, the shock wave sensing module is deployed, and the image acquisition module scans and searches the area in front of the sensing devices, enabling the sensing devices to have active sensing capabilities. When the shock wave sensing module senses a shock wave, the image acquisition module can quickly turn its viewpoint to the direction from which the shock wave is coming, further enhancing the active sensing capabilities of the sensing devices, enabling them to quickly capture effective information on the battlefield and transmit it back.

[0028] ③ The various sensing devices can perform collaborative tasks to ensure maximum perception of the battlefield situation. Specifically: 1) When a sensing device's field of view is obstructed while sensing a target, it can request other idle sensing devices to assist in sensing. If an idle sensing device is available, it can adjust its own posture to achieve complete perception of the target; 2) When a sensing device is damaged, the remaining sensing devices will re-network and optimize the spatial topology to achieve maximum perception of the battlefield situation.

[0029] ④ This invention solves the problems of untimely and easily interfered conventional battlefield situational awareness methods, as well as the problem of limited effective sensing data due to the difficulty of active battlefield situational awareness by parachute passive methods, and the problem of complex and high cost of rotor active methods. By forming a spatial network of multiple sensing devices, the invention maximizes the perception of the battlefield situation. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the missile-borne battlefield situational awareness system of the present invention;

[0031] Figure 2 This is a schematic diagram of the external structure of the sensing device in the missile-borne battlefield situational awareness system of the present invention.

[0032] Figure 3 for Figure 2 Internal structure diagram;

[0033] Figure 4 for Figure 2 A schematic diagram of the mid-tail wing module;

[0034] Figure 5 for Figure 2 A schematic diagram of the structure of the image acquisition module;

[0035] Figure 6 This is a schematic diagram of the pitch drive mechanism in the image acquisition module.

[0036] Figure 7 This is a schematic diagram of the torsion drive component in the image acquisition module;

[0037] Figure 8 for Figure 2 A schematic diagram of the unfolded shock wave sensing module;

[0038] Figure 9 for Figure 8 Side view;

[0039] Figure 10 This is a schematic diagram of the structure when the shock wave sensing module is located inside the locking cavity.

[0040] Figure 11 This is a schematic diagram of the unfolded structure of the shock wave sensing module.

[0041] Figure 12 This is a diagram of the sensing process of a sensing device. Detailed Implementation

[0042] The following detailed description illustrates the specific implementation method:

[0043] The reference numerals in the accompanying drawings include: transparent protective cover 11, main body 12, frame 13, tail fin module 2, servo motor 21, stabilizer plate 22, rudder 23, shock wave sensor module 3, second elastic element 31, solenoid 32, limit rod 33, shock wave sensor 34, mounting rod 35, first elastic element 36, UWB module 41, power module 42, communication module 43, storage device 44, processor 45, GPS module 46, image acquisition module 5, image acquisition device 51, pitch drive 52, torsion drive 53, power supply module 6, self-destruct module 7, sensing device 8, dispenser 9, projectile body 10.

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0045] Example 1

[0046] The basics are as follows: Figure 1-12 As shown: missile-borne battlefield situational awareness system, such as Figure 1As shown, the system includes several sets of sensing devices 8 mounted on dispensers 9 at the tail of the missile body 10. The dispensers 9 are connected to and controlled by an onboard computer. The dispensers 9 deploy the sensing devices 8 according to a predetermined spatial distribution scheme. The sensing devices 8 are connected to a weapon launch system. The sensing devices 8 can collect battlefield data and transmit it to the weapon launch system. The weapon launch system can issue self-destruct commands to the sensing devices 8 and perform battlefield situation assessments based on the data transmitted back by the sensing devices 8. Upon receiving the self-destruct command, the sensing devices 8 can self-destruct. Alternatively, the processor 45 can also send a self-destruct command to the power module 42 after its internal clock reaches a certain time.

[0047] like Figure 2 , 3 As shown, the sensing device 8 includes a main body 12, a tail fin module 2, a processor 45, a power module 42, a storage device 44, a shock wave sensing module 3, a communication module 43 (specifically a wireless communication module 43), a positioning module, a power supply module 6, an image acquisition module 5, and a self-destruct module 7; the image acquisition module 5 is located at the front end of the main body 12, and a transparent protective cover 11 is also installed at the front end of the main body 12, with the image acquisition module 5 located inside the transparent protective cover 11. The tail fin is located at the rear of the main body 12, and the shock wave sensing module 3 is located in the middle of the main body 12. An installation cavity is provided inside the main body 12, and the processor 45, power module 42, communication module 43, positioning module, power supply module 6, and self-destruct module 7 are installed within the installation cavity. The power supply module 6 supplies power to the tail fin module 2, processor 45, power module 42, storage device 44, shock wave sensing module 3, communication module 43, positioning module, image acquisition module 5, and self-destruct module 7. The processor 45 is connected to the storage device 44, power module 42, tail fin module 2, shock wave sensing module 3, communication module 43, positioning module, and image acquisition module 5 respectively. The self-destruct module 7 connects to the sensor 8 and enables data interaction and control. The communication module 43 enables communication between the processor 45 and the weapon launching system, as well as communication between the processors 45 of each sensing device 8. The positioning module enables the positioning of the sensing device 8. The image acquisition module 5 acquires image data in front of the sensing device 8 and can adjust its angle. The tail fin module 2 enables the adjustment of the pose of the sensing device 8. The shock wave sensing module 3 senses the shock wave. The self-destruct module 7 enables the self-destruction of the entire sensing device 8, and the self-destruct module 7 uses conventional electrically controlled pyrotechnic explosives. The image data acquired by the image acquisition module 5 is stored in the storage device 44. Specifically:

[0048] like Figure 2-4As shown, the tail fin module 2 is provided in several groups, which are evenly distributed around the circumference of the tail of the main body 12. In this embodiment, there are four groups. Each tail fin module 2 includes a stabilizing plate 22, a servo motor 21, and a rudder 23. The stabilizing plate 22 is fixed on the main body 12, the servo motor 21 is installed in the mounting cavity, and the servo motor 21 is connected to the rudder 23 and used to control the rotation of the rudder 23. The rudder 23 is rotatably connected to the stabilizing plate 22, and the servo motor 21 is connected to the power supply module 6 and the processor 45.

[0049] like Figure 8-11 As shown, the shock wave sensing module 3 is provided in several groups, which are evenly distributed around the circumference of the middle part of the main body 12, specifically four groups; the four groups of shock wave sensing modules 3 are staggered with the four groups of tail fin modules 2, as shown. Figure 9 As shown. Each shock wave sensing module 3 includes a locking structure, an unfolding structure, and a shock wave sensor 34. The main body 12 is provided with several sets of locking cavities corresponding to the shock wave sensing module 3. The locking structure is located in the locking cavity and can lock the unfolding structure and the shock wave sensor 34 in the locking cavity. The locking structure includes a second elastic element 31 (specifically a compression spring), a limiting rod 33, and a limiting drive. The limiting rod 33 has a connecting block and a wedge on both sides (the inclined surface of the wedge is located below). The wedge is horizontally slidably connected to the locking cavity. The left side of the second elastic element 31 is fixed to the locking cavity, and the right side is fixed to the connecting block. The end face of the connecting block is a plane to ensure complete contact with the second elastic element 31. One side of the mounting rod 35 is provided with an inclined surface that cooperates with the wedge. The wedge is used to lock the mounting rod 35 in the locking cavity. The limiting drive is used to drive the limiting rod 33 away from the mounting rod 35 and realize the separation of the inclined surface and the wedge. The limiting drive component uses a solenoid 32, and the limiting rod 33 uses an iron core. The solenoid 32 is fixed inside the locking cavity and is located outside the limiting rod 33 without contacting it. The second elastic element 31, the solenoid 32, and the limiting rod 33 are coaxial. The locking cavity is filled with grease to prevent corrosion of the iron core. The unfolding structure enables the shock wave sensor 34 to detach from the locking cavity and unfold. The unfolding structure includes a mounting rod 35 and a first elastic element 36 (specifically a torsion spring). The first elastic element 36 is installed on the right side inside the locking cavity and is used to drive the mounting rod 35 to rotate, thus popping the mounting rod 35 out. The shock wave sensor 34 is mounted on the mounting rod 35.

[0050] like Figure 5-7As shown, the image acquisition module 5 includes an image acquisition unit 51 (specifically a camera), a pitch drive unit 52 (specifically a pitch motor), and a torsion drive unit 53 (specifically a torsion motor). A frame 13 is mounted on the main body 12. The stator of the torsion drive unit 53 is fixed to the frame 13, and the rotor of the torsion drive unit 53 is connected to the stator of the pitch drive unit 52. The rotor of the pitch drive unit 52 is connected to the image acquisition unit 51, and the rotation axis of the pitch drive unit 52 is perpendicular to the rotation axis of the torsion drive unit 53. The pitch drive unit 52 can rotate the image acquisition unit 51 by 180 degrees, and the torsion drive unit 53 can rotate the image acquisition unit 51 by 360 degrees. By adjusting the rotation angles of the two drives, images can be captured at any position within the front hemisphere of the sensing device 8.

[0051] like Figure 3 As shown, the positioning module includes a GPS module 46 and a UWB module 41. The processor 45 calculates the relative position of the sensing device 8 in space by reading data from the GPS module 46 and the UWB module 41. The power module 42 is connected to the solenoid 32 and the self-destruct module 7. The power module 42 can energize the solenoid 32 and activate the self-destruct module 7.

[0052] The second elastic element 31 is initially compressed, providing thrust to the limiting rod 33; the first elastic element 36 has initial torque, which ensures that the shock wave sensing module 3 automatically unfolds after the limiting is released; when the sensing device 8 is thrown by the dispenser 9 and moves to the predetermined position, the processor 45 sends a command to the power controller, the power module 42 energizes the solenoid 32, and the solenoid 32 generates a magnetic field to push the limiting rod 33 to move and release the limiting on the mounting rod 35; the mounting rod 35 unfolds under the action of the first elastic element 36; the four sets of shock wave sensing modules 3 unfold to form a shock wave sensing array.

[0053] When the onboard computer detects that the munition has reached the airspace above the target, it sends an activation command to the sensing device 8. The power supply module 6 and processor 45 in the sensing device 8 are activated, and the sensing device 8 begins operation, establishing a data link with the weapon launch system. The activation of the power supply module 6 means that it begins supplying power to the sensing device 8. This is achieved by an electromagnetic relay installed at the power supply terminal of the power supply module 6. Upon receiving the activation current from the processor 45, the relay's contacts close and latch, thus initiating power supply to the power supply module 6.

[0054] Example 2

[0055] The missile-borne battlefield situational awareness method includes the following steps:

[0056] The weapon launch system issues a launch command, and the projectile 10 is launched and flies through the air;

[0057] When the onboard computer of the missile body 10 has reached the airspace above the target area, the onboard computer sends an activation command to the sensing device 8. The power supply module 6 and processor 45 in the sensing device 8 are activated, the sensing device 8 starts to work, and establishes a data link with the weapon launch system through the communication module 43. Then the onboard computer controls the dispenser 9 to eject the sensing device 8 from the missile body 10.

[0058] After the sensing device 8 is launched, the processor 45 obtains its own pose data by reading the data from the positioning module and adjusts its own pose through the tail fin module 2. After multiple sensing devices 8 form a spatial mesh structure, the processor 45 sends a command to the power module 42. The power module 42 cancels the limit by supplying power to the solenoid coil. The shock wave sensing module 3 is deployed and senses the shock wave. At the same time, the image acquisition module 5 scans the battlefield and searches for targets of interest (tanks, armored vehicles, etc.).

[0059] Once the sensing device 8 detects a target of interest, a certain number (1-2 groups) of sensing devices 8 will continuously track and detect it for a period of time, while other sensing devices 8 continue to detect other targets of interest or scan the battlefield.

[0060] When the vertical line of the battlefield explodes, the shock wave sensing module senses the shock wave. A certain number (1-2 groups) of sensing devices 8 closest to the shock wave adjust the acquisition angle of the corresponding image acquisition module 5 and search for and sense in the direction of the shock wave. Other sensing devices 8 continue to sense other targets of interest or scan the battlefield.

[0061] When the sensing device 8 encounters an obstruction to its field of vision, the processor 45 requests collaborative sensing from other idle sensing devices 8. If there are no idle sensing devices 8, the sensing device 8 that encounters the obstruction to its field of vision will adjust its own posture through the tail fin module 2 to sense the target.

[0062] The image acquisition module 5 continuously acquires image data and transmits it to the storage device 44 through the processor 45 for storage. The processor 45 also sends the image data in the storage device 44 to the weapon launch system through the communication module 43. Due to the limited power of the modules in the sensing device 8, the sensing device 8 can first transmit the data to the relay device (high-altitude reconnaissance aircraft, early warning aircraft, etc.), and the relay device will then send the data to the weapon launch system.

[0063] When the sensing device 8 detects a target of interest, the processor 45 calculates the target's location based on the data from the shock wave sensing module 3 and the positioning module. The weapon launching system can stitch together and display the image data captured by each sensing device 8 and mark the target's location.

[0064] When a sensing device 8 is damaged and cannot function, the weapon launching system sends instructions to the remaining sensing devices 8. The remaining sensing devices 8 change their own attitude through the tail fin module 2, re-network, optimize the spatial topology, and achieve maximum perception of the battlefield situation.

[0065] After the perception mission is completed, the weapon launch system sends a self-destruct command to the perception device 8. When the processor 45 receives the self-destruct command or its internal clock reaches a certain time, the processor 45 sends a self-destruct command to the power module 42. The power module 42 activates the self-destruct module 7, and the entire perception device self-destructs. The weapon launch system assesses the battlefield situation based on the data returned by the perception device 8 and makes subsequent strike decisions.

[0066] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0067] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics of the solutions are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A missile-borne battlefield situational awareness system, characterized in that: The system includes several sets of sensing devices (8) mounted on dispensers (9) at the tail of the projectile (10). The dispensers (9) are connected to and controlled by an onboard computer. The dispensers (9) are used to launch several sets of sensing devices (8) according to a predetermined spatial distribution scheme. The sensing devices (8) are connected to a weapon launching system. The sensing devices (8) can collect battlefield data and send it to the weapon launching system. The weapon launching system can issue self-destruct commands to the sensing devices (8) and can perform battlefield situation assessment based on the data returned by the sensing devices (8). The sensing devices (8) can self-destruct after completing the sensing task. The sensing device (8) includes a main body (12), a tail fin module (2), a processor (45), a storage device (44), a shock wave sensing module (3), a communication module (43), a positioning module, a power supply module (6), an image acquisition module (5), and a self-destruct module (7). The image acquisition module (5) is located at the front end of the main body (12), the tail fin module (2) is located at the rear end of the main body (12), and the shock wave sensing module (3) is located in the middle of the main body (12). The main body (12) has an installation cavity, and the processor (45), communication module (43), positioning module, power supply module (6), and self-destruct module (7) are installed in the installation cavity. The power supply module (6) is used to supply power to the tail fin module (2), processor (45), storage device (44), shock wave sensing module (3), communication module (43), positioning module, image acquisition module (5), and self-destruct module (7). The processor (45) is connected to the storage (44), tail fin module (2), shock wave sensing module (3), communication module (43), positioning module, image acquisition module (5), and self-destruct module (7) respectively to realize data interaction and control. The communication module (43) is used to realize communication between the processor (45) and the weapon launching system, as well as communication between the processors (45) of each sensing device (8). The positioning module is used to realize the positioning of the sensing device (8). The image acquisition module (5) is used to acquire image data in front of the sensing device (8) and the image acquisition module (5) can adjust the angle. The tail fin module (2) is used to realize the adjustment of the pose of the sensing device (8). The shock wave sensing module (3) is used to sense the shock wave. The self-destruct module (7) is used to realize the self-destruction of the entire sensing device (8). The image data acquired by the image acquisition module (5) is stored in the storage (44). The shock wave sensing module (3) is provided in several groups, and the several groups of shock wave sensing modules (3) are evenly distributed in the circumferential direction of the middle part of the main body (12); each group of shock wave sensing modules (3) includes a locking structure, an unfolding structure and a shock wave sensor (34). The main body (12) is provided with a locking cavity. The locking structure is located in the locking cavity and can lock the unfolding structure and the shock wave sensor (34) in the locking cavity; the unfolding structure can realize the shock wave sensor (34) detaching from the locking cavity and unfolding; the unfolding structure includes a mounting rod (35) and a first elastic element (36). The first elastic element (36) is installed in the locking cavity and is used to pop out the mounting rod (35). The shock wave sensor (34) is installed on the mounting rod (35). Missile-borne battlefield situational awareness methods, including The weapon launching system issues a launch command, and the projectile (10) is launched and flies in the air; When the onboard computer of the missile body (10) senses that it has flown to the airspace above the target area, the onboard computer senses that it sends an activation command to the sensing device (8). The power supply module (6) and processor (45) in the sensing device (8) are activated, the sensing device (8) starts to work, and establishes a data link with the weapon launch system through the communication module (43). Then the onboard computer controls the dispenser (9) to eject the sensing device (8) from the missile body (10). After the sensing device (8) is launched, the processor (45) obtains its own pose data by reading the data from the positioning module and adjusts its own pose through the tail fin module (2); multiple sensing devices (8) form a spatial mesh structure, the shock wave sensing module (3) senses the shock wave, and the image acquisition module (5) scans the battlefield to search for targets of interest; Once the sensing device (8) finds a target of interest, a certain number of sensing devices (8) will continuously track and sense it for a period of time, while other sensing devices (8) will continue to sense other targets of interest or scan the battlefield. When an explosion occurs on the battlefield, the shock wave sensing module senses the shock wave. A certain number of sensing devices (8) closest to the shock wave adjust the acquisition angle of the corresponding image acquisition module (5) and search for and sense in the direction of the shock wave. Other sensing devices (8) continue to sense other targets of interest or scan the battlefield. When the sensing device (8) encounters a visual obstruction, the processor (45) requests collaborative sensing from other idle sensing devices (8). If there is no idle sensing device (8), the sensing device (8) that encounters a visual obstruction will adjust its own posture through the tail fin module (2) to sense the target. The image acquisition module (5) continuously acquires image data and transmits it to the storage device (44) via the processor (45) for storage. The processor (45) also sends the image data in the storage device (44) to the weapon launching system via the communication module (43). When the sensing device (8) detects a target of interest, the processor (45) calculates the target position based on the data from the shock wave sensing module (3) and the positioning module. The weapon launching system can stitch together and display the image data captured by each sensing device (8) and mark the target position. When a sensing device (8) is damaged and cannot work, the weapon launching system sends instructions to the remaining sensing devices (8), and the remaining sensing devices (8) change their own attitude through the tail fin module (2) and re-network. When the sensing mission is completed, the processor (45) sends a self-destruct command to the self-destruct module (7), the sensing device (8) self-destructs, and the weapon launching system assesses the battlefield situation based on the data returned by the sensing device.

2. The missile-borne battlefield situational awareness system according to claim 1, characterized in that: The tail wing module (2) is provided in several groups, and the several groups of tail wing modules (2) are evenly distributed around the tail of the main body (12). Each group of tail wing modules (2) includes a servo (21) and a rudder (23). The servo (21) is installed in the mounting cavity. The servo (21) is connected to the rudder (23) and is used to control the rotation of the rudder (23). The servo (21) is connected to the power supply module (6) and the processor (45).

3. The missile-borne battlefield situational awareness system according to claim 1, characterized in that: The locking structure includes a second elastic element (31), a limiting rod (33), and a limiting drive element. The limiting rod (33) has a connecting block and a wedge on both sides. One side of the second elastic element (31) is fixed to the locking cavity, and the other side is fixed to the connecting block. One side of the mounting rod (35) has an inclined surface that cooperates with the wedge. The wedge is used to lock the mounting rod (35) in the locking cavity. The limiting drive element is used to drive the limiting rod (33) away from the mounting rod (35) and realize the separation of the inclined surface and the wedge.

4. The missile-borne battlefield situational awareness system according to claim 3, characterized in that: The limiting drive component adopts a solenoid (32), the limiting rod (33) adopts an iron core, the solenoid (32) is fixed in the locking cavity, and the solenoid (32) is located outside the limiting rod (33) and does not contact the limiting rod (33).

5. The missile-borne battlefield situational awareness system according to claim 1, characterized in that: The image acquisition module (5) includes an image acquisition unit (51), a pitch drive unit (52), and a torsion drive unit (53). The torsion drive unit (53) is fixed on the main body (12). The torsion drive unit (53) is connected to the pitch drive unit (52). The pitch drive unit (52) is connected to the image acquisition unit (51). The rotation axis of the pitch drive unit (52) is perpendicular to the rotation axis of the torsion drive unit (53).

6. The missile-borne battlefield situational awareness system according to claim 5, characterized in that: The positioning module includes a GPS module (46) and a UWB module (41). The processor (45) calculates the relative position of the sensing device (8) in space by reading data from the GPS module (46) and the UWB module (41).

7. The missile-borne battlefield situational awareness system according to claim 1, characterized in that: The front end of the main body (12) is also equipped with a transparent protective cover (11), and the image acquisition module (5) is located inside the transparent protective cover (11).

8. The missile-borne battlefield situational awareness system according to claim 4, characterized in that: The processor (45) is also connected to a power module (42), which is installed in the mounting cavity. The power module (42) is connected to the solenoid (32) and the self-destruct module (7). The power module (42) can energize the solenoid (32) and activate the self-destruct module (7).

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