Target drone identification measurement reference device and target drone measurement system

Abstract

The target drone identification measurement benchmark device and the target drone measurement system provided by the embodiment of the invention comprise an inertia measurement module, an interface computer and a radio module, the inertia measurement module is in communication connection with the interface computer, and the interface computer is in communication connection with the radio module; the inertial measurement module is used for determining navigation data according to the gyroscope data and the accelerometer data, sending the navigation data to the interface computer, and receiving a flight control instruction sent by the interface computer to switch working states; the interface computer is used for receiving the navigation data sent by the inertial measurement module, forwarding the navigation data to the radio module and receiving instruction information of the radio module so as to determine a flight control instruction according to the instruction information; and the radio module receives the navigation data forwarded by the interface computer, modulates the navigation data into a radio signal, issues the radio signal to a ground monitoring system, demodulates the radio signal sent by the ground monitoring system into instruction information, and sends the instruction information to the interface computer.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle monitoring and control and related technical fields, and in particular to a target drone identification and measurement reference device and a target drone measurement system. Background Art

[0002] A target drone refers to a military aircraft used as a target for shooting training. This aircraft uses remote control or pre-set flight paths and modes to simulate enemy aircraft or incoming missiles during military exercises or weapon tests, providing imaginary targets and shooting opportunities for various types of artillery or missile systems. It is a type of unmanned aircraft.

[0003] In order to ensure the high cost-effectiveness of the target drone, the target drone usually adopts a low-cost sensor system with relatively low performance and reliability. This leads to problems such as inconsistent data acquisition, low measurement accuracy, incomplete measurement elements, and lack of measurement benchmarks in the target drone's own sensor information and the information obtained during the test process, resulting in a lack of effective data support for identification, assessment and evaluation. Summary of the invention

[0004] The embodiments described herein provide a target drone identification measurement reference device and a target drone measurement system to solve the problems existing in the prior art.

[0005] In a first aspect, according to the content of the present disclosure, there is provided a target drone identification measurement reference device, comprising: an inertial measurement module, an interface computer and a radio module, wherein the inertial measurement module is communicatively connected to the interface computer, and the interface computer is communicatively connected to the radio module;

[0006] The inertial measurement module is configured to determine navigation data according to the gyroscope data and the accelerometer data, send the navigation data to the interface computer, and receive the flight control command sent by the interface computer to switch the working state, wherein the navigation data includes position data, speed data, altitude data, attitude and heading data, angular velocity data and axial acceleration data;

[0007] The interface computer is configured to receive the navigation data sent by the inertial measurement module, forward the navigation data to the radio module, and receive instruction information from the radio module to determine a flight control instruction according to the instruction information, and send the flight control instruction to the inertial measurement module, so that the inertial measurement module switches the working state based on the flight control instruction;

[0008] The radio module is configured to receive the navigation data forwarded by the interface computer, modulate the navigation data into a radio signal and send it to the ground monitoring system, so that the ground monitoring system can monitor the target aircraft based on the radio signal, and demodulate the radio signal sent by the ground monitoring system into command information and send it to the interface computer.

[0009] In some embodiments of the present disclosure, the inertial measurement module includes a fiber optic gyro assembly, an accelerometer assembly, and a navigation computer;

[0010] The fiber optic gyro assembly is configured to send the fiber optic gyro data to the navigation computer;

[0011] the accelerometer assembly configured to send the accelerometer data to the navigation computer;

[0012] The navigation computer is configured to determine navigation data based on the fiber optic gyro data and the accelerometer data.

[0013] In some embodiments of the present disclosure, the interface computer includes a communication unit and a navigation and flight control solution unit;

[0014] Wherein, the communication unit is configured to receive the navigation data sent by the inertial measurement module, forward the navigation data to the radio module, and receive instruction information sent by the radio module;

[0015] The navigation flight control solving unit is configured to solve the instruction information to obtain a flight control instruction and send the flight control instruction to the inertial measurement module.

[0016] In some embodiments of the present disclosure, a GNSS module is further included, wherein the GNSS module is communicatively connected to the inertial measurement module;

[0017] The GNSS module is configured to send satellite positioning data to the inertial measurement module.

[0018] In some embodiments of the present disclosure, a power supply module is further included, wherein the power supply module is communicatively connected to the inertial measurement module, the interface computer and the radio module respectively;

[0019] The power module is configured to provide operating voltage to the inertial measurement module, the interface computer and the radio module.

[0020] In some embodiments of the present disclosure, the GNSS module is integrated into the power module.

[0021] In some embodiments of the present disclosure, a storage module is further included, and the storage module is communicatively connected to the interface computer;

[0022] The storage module is configured to store the navigation data.

[0023] In some embodiments of the present disclosure, the target drone identification measurement reference device further includes a control cable, a data download cable, a satellite receiving antenna and a measurement and control antenna;

[0024] The target drone identification measurement reference device obtains a voltage signal from the target drone electrical system through the control cable, exchanges data with the flight control system through the control cable, and receives a detection configuration signal from the detection system through the control cable;

[0025] Downloading the stored data of the target drone identification and measurement reference device through the data download cable;

[0026] The target drone identification and measurement reference device receives satellite positioning data via the satellite receiving antenna;

[0027] The target drone identification and measurement reference device sends a radio signal to a ground monitoring system through the measurement and control antenna, or receives a radio signal sent by the ground monitoring system through the measurement and control antenna.

[0028] In a second aspect, according to the content of the present disclosure, there is provided a target drone measurement system, comprising the target drone identification measurement reference device according to any one of the first aspects, and also comprising a target drone flight control system and a ground monitoring system, wherein the target drone identification measurement reference device is communicatively connected to the ground monitoring system, and an interface computer of the target drone identification measurement reference device is communicatively connected to the target drone flight control system;

[0029] The interface computer of the target drone identification and measurement reference device receives the flight control data sent by the target drone flight control system, and sends the flight control data and the navigation data to the ground monitoring system through the radio module. The ground monitoring system receives the flight control data and the navigation data sent by the target drone identification and measurement reference device, and monitors the position of the target drone based on the navigation data and the flight control data.

[0030] In some embodiments of the present disclosure, a detection system is further included. The detection system is communicatively connected to the target drone identification and measurement reference device, and the detection system performs detection configuration on the target drone identification and measurement reference device.

[0031] The target drone identification measurement reference device and target drone measurement system provided by the disclosed embodiment, on the one hand, sends the navigation data determined by the inertial measurement module to the interface computer, which is forwarded by the interface computer and then sent to the radio module, and the navigation data is modulated into a radio signal by the radio module and then sent to the ground monitoring system, so that the ground monitoring system can monitor the target drone, and on the other hand, the radio module receives the radio signal sent by the ground monitoring system, and demodulates the received radio signal into command information and sends it to the interface computer, and the interface computer converts the command information into a flight control command and then sends it to the navigation computer in the inertial measurement module, so as to control the flight state of the target drone according to the radio signal sent by the ground monitoring system. In addition, since the inertial measurement module includes a fiber optic gyro component and an accelerometer component, on the one hand, the measurement accuracy of the inertial measurement module is met, and on the other hand, the miniaturization requirement of the target drone identification measurement reference device is met.

[0032] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure, wherein:

[0034] Figure 1 It is a structural schematic diagram of a target drone identification and measurement benchmark device provided by an embodiment of the present disclosure;

[0035] Figure 2 It is a schematic diagram of the external structure of a target drone identification and measurement reference device provided by an embodiment of the present disclosure;

[0036] Figure 3 It is a structural schematic diagram of a target drone measurement system provided by an embodiment of the present disclosure.

[0037] In the drawings, reference numerals with the same last two digits correspond to the same elements. It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0039] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by a person skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are joined together directly or through one or more intermediate components.

[0040] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0041] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0042] Furthermore, in all embodiments of the present disclosure, terms such as “first” and “second” are used only to distinguish one component (or a part of a component) from another component (or another part of a component).

[0043] In the description of the present application, unless otherwise specified, "plurality" means more than two (including two), and similarly, "multiple groups" means more than two groups (including two).

[0044] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0045] Based on the problems existing in the prior art, the present invention provides a target drone identification measurement benchmark device. Figure 1 is a schematic diagram of the structure of the target drone identification measurement benchmark device provided by the embodiment of the present disclosure, such as Figure 1 As shown, the target drone identification measurement reference device 100 includes: an inertial measurement module 10, an interface computer 20 and a radio module 30, wherein the inertial measurement module 10 is communicatively connected to the interface computer 20, and the interface computer 20 is communicatively connected to the radio module 30; wherein the inertial measurement module 10 is configured to determine navigation data according to gyroscope data and accelerometer data, and send the navigation data to the interface computer 20, and receive the flight control command sent by the interface computer 20 to switch the working state, wherein the navigation data includes position data, speed data, altitude data, attitude and heading data, angular velocity data and axial acceleration data; the interface computer 20 is configured The inertial measurement module 10 is configured to receive navigation data sent by the inertial measurement module 10, and forward the navigation data to the radio module 30, and receive command information from the radio module 30 to determine the flight control command according to the command information, and send the flight control command to the inertial measurement module, so that the inertial measurement module switches the working state based on the flight control command; the radio module 30 is configured to receive navigation data forwarded by the interface computer 20, and modulate the navigation data into a radio signal and then send it to the ground monitoring system, so that the ground monitoring system can monitor the target drone based on the radio signal, and demodulate the radio signal sent by the ground monitoring system into command information and send it to the interface computer 20.

[0046] In a specific implementation, the target drone identification measurement reference device includes an inertial measurement module 10, which determines navigation data based on acquired gyroscope data and accelerometer data, wherein the gyroscope data is collected based on a fiber optic gyroscope assembly, and the accelerometer data is collected based on an accelerometer assembly.

[0047] In order to ensure that the target drone identification measurement reference device is suitable for installation on various types of target drones, the target drone identification measurement reference device must be designed to be miniaturized. At present, the inertial measurement modules produced domestically are of various types, with different prices, performances, and precision. The target drone identification measurement reference device is required to have the characteristics of small size, low power consumption, light weight, and high precision. After extensive research, there are many optional models of accelerometer components that meet the precision requirements. For gyro components, although MEMS gyro is small in size and low in price, it has the disadvantages of low precision and poor reliability. Although laser gyro has high precision, it has the disadvantages of high price and large size. After comprehensive consideration, it is decided that the inertial measurement module adopts fiber optic gyro components and accelerometer components to achieve a small integrated structure design.

[0048] In a specific embodiment, the inertial measurement module 10 includes a fiber optic gyro component, an accelerometer component and a navigation computer; the fiber optic gyro component is configured to send fiber optic gyro data to the navigation computer; the accelerometer component is configured to send accelerometer data to the navigation computer; the navigation computer is configured to determine navigation data based on the fiber optic gyro data and the accelerometer data.

[0049] Specifically, the inertial measurement module 10 includes a three-axis fiber optic gyro assembly, three accelerometer assemblies and a navigation computer. The fiber optic gyro assembly and the accelerometer assembly are used to sense the angular velocity and acceleration of each axis of the target aircraft respectively. The angular velocity and acceleration collected by the fiber optic gyro assembly and the accelerometer assembly are then sent to the navigation computer for processing. The attitude and heading data of the target aircraft are obtained by integration, and the acceleration of the target aircraft is sensed by the accelerometer assembly. After converting the target aircraft coordinate system into the navigation coordinate system, the position data, velocity data, altitude data, etc. of the target aircraft are obtained.

[0050] As a specific implementation, after the inertial measurement module 10 determines the navigation data, the navigation data is sent to the interface computer 20, which is forwarded by the interface computer 20 and then sent to the radio module 30. The navigation data is modulated into a radio signal by the radio module 30 and then sent to the ground monitoring system, so that the ground monitoring system can monitor the target drone based on the radio signal, and the navigation data of the target drone obtained by the target drone identification and measurement reference device is sent to the ground monitoring system in real time, so that the ground monitoring system can monitor the target drone in real time based on the real-time navigation data of the target drone.

[0051] As another specific implementation, the radio module 30 receives a radio signal sent by a ground monitoring system (the radio signal sent by the ground monitoring system includes a control signal), and demodulates the received radio signal into command information and sends it to the interface computer 20. The interface computer 20 converts the command information into a flight control command and then sends it to the navigation computer in the inertial measurement module 10, thereby realizing the control of the working state of the inertial measurement module according to the radio signal sent by the ground monitoring system.

[0052] It should be noted that in the above embodiment, the interface computer can use the STM32H743I chip. Under the premise of sufficient resources, the LQFP100 package is selected to avoid the vibration environment adaptability problem caused by the BGA package. The STM32H743I is a high-performance, 400MHz operating frequency 32-bit ARM Cortex-M7 MCU with a floating point unit (FPU), supports double-precision (IEEE754 compatible) and single-precision data processing instructions and data types, and integrates up to 2MB flash memory, 1MB RAM, Art accelerator, L1 cache, peripheral memory interface and various peripherals. The chip has a computing power of 856DMIPS / 2.14DMIPS / MHz, which can meet the needs of drone flight control algorithms. The built-in large-capacity RAM and Flash make it unnecessary for the interface computer to expand the memory, reduce the amount of component data and communication links, and improve the reliability of the computer.

[0053] In addition, the communication interface between the navigation computer and the interface computer in the inertial measurement module adopts RS422 with handshake signals and DMA with the serial port (baud rate configured to 1Mbps), which can meet the low-latency transmission requirements of large amounts of data between the two computers. The navigation computer reports navigation data periodically, and each cycle requires approximately 100 bytes. The delay caused by UART transmission is approximately 0.7ms, and the time for the CPU to package and parse data is negligible. The data delay caused by the communication process has little impact on the control system.

[0054] The target drone identification measurement reference device provided by the embodiment of the present disclosure, on the one hand, sends the navigation data determined by the inertial measurement module to the interface computer, which is forwarded by the interface computer and then sent to the radio module, and the navigation data is modulated into a radio signal by the radio module and then sent to the ground monitoring system, so that the ground monitoring system can monitor the target drone, and on the other hand, the radio module receives the radio signal sent by the ground monitoring system, and demodulates the received radio signal into command information and sends it to the interface computer, and the interface computer converts the command information into a flight control command and then sends it to the navigation computer in the inertial measurement module, so as to control the flight state of the target drone according to the radio signal sent by the ground monitoring system. In addition, since the inertial measurement module includes a fiber optic gyro component and an accelerometer component, on the one hand, the measurement accuracy of the inertial measurement module is met, and on the other hand, the miniaturization requirement of the target drone identification measurement reference device is met.

[0055] Based on the above embodiment, the interface computer includes a communication unit and a navigation and flight control solving unit; wherein the communication unit is configured to receive navigation data sent by the inertial measurement module, forward the navigation data to the radio module, and receive instruction information sent by the radio module; the navigation and flight control solving unit is configured to solve the instruction information to obtain flight control instructions and send the flight control instructions to the inertial measurement module.

[0056] In a specific implementation, an interface computer is provided to include a communication unit and a navigation flight control solving unit, wherein the communication unit forwards the received navigation data to a radio module and receives instruction information sent by the radio module, and the navigation flight control solving unit obtains the instruction information received through the communication unit, and obtains the flight control instruction by solving the instruction information, and then when the flight control instruction is sent to the inertial measurement module through the communication unit, the working state of the inertial measurement module is switched and controlled based on the flight control instruction.

[0057] In a specific implementation manner, see Figure 1 The target drone identification measurement reference device also includes a GNSS module 40 , which is communicatively connected to the inertial measurement module 10 ; the GNSS module 40 is configured to send satellite positioning data to the inertial measurement module 10 .

[0058] Combination Figure 1 The target drone identification measurement reference device also includes a GNSS module 40. The GNSS module 40 sends the acquired satellite positioning data to the inertial measurement module 10. The navigation computer in the inertial measurement module 10 corrects the navigation data based on the satellite positioning data and the navigation data through a combined navigation algorithm to improve the accuracy of the determined navigation data, so that the navigation data can more realistically reflect the flight status of the target drone.

[0059] It should be noted that the combined navigation algorithm is mainly based on the error equation of the strapdown inertial navigation system, with the various error terms of the strapdown inertial navigation system as state quantities, and the satellite positioning data of satellite navigation as observation. The Kalman filter is used to estimate the various error parameters of the navigation data in real time, compensate the navigation data, and suppress the divergence of the navigation data.

[0060] In the disclosed embodiment, the target drone identification and measurement reference device corrects the navigation data through a combined navigation algorithm and provides navigation-level data information, thereby solving the problems of incomplete data types and unreliable accuracy in low-cost target drone identification test. The target drone identification and measurement reference device has a built-in recording of reference data and transmits data back in real time through a radio module, which is used to monitor the working status of the target drone identification and measurement reference device during the identification test, and the navigation data obtained has a high confidence level.

[0061] In a specific implementation manner, see Figure 1 The target drone identification measurement reference device also includes a power supply module 50, which is respectively communicatively connected to the inertial measurement module 10, the interface computer 20 and the radio module 30; the power supply module 50 is configured to provide working voltage to the inertial measurement module 10, the interface computer 20 and the radio module 30.

[0062] Specifically, the power module adopts a DC-DC power supply, which is compact, highly efficient and easy to use.

[0063] In a preferred implementation, the GNSS module 40 is integrated into the power module 50 .

[0064] By integrating the GNSS module into the power module, the overall volume of the target drone identification and measurement reference device can be further reduced, thereby realizing a miniaturized design of the target drone identification and measurement reference device.

[0065] In a specific implementation manner, see Figure 1 The target drone identification measurement reference device also includes a storage module 60, which is communicatively connected to the interface computer 20; the storage module 60 is configured to store navigation data.

[0066] The interface computer communicates with the storage module through a two-way LVTTL level UART interface. The storage module receives data from the two UARTs and stores it in two files after each startup. The storage module supports 100M network, and external users access data files through the FTP protocol. FTP can set a password to improve data confidentiality.

[0067] In a specific embodiment, Figure 2 Schematic diagram of the external structure of a target drone identification and measurement benchmark device provided by an embodiment of the present disclosure. Figure 2 As shown, the target drone identification and measurement reference device also includes a control cable, a data download cable, a satellite receiving antenna and a measurement and control antenna; the target drone identification and measurement reference device obtains a voltage signal from the target drone electrical system through the control cable, exchanges data with the flight control system through the control cable, and receives a detection configuration signal of the detection system through the control cable; the target drone identification and measurement reference device realizes the download of stored data through the data download cable; the target drone identification and measurement reference device receives satellite positioning data through the satellite receiving antenna; the target drone identification and measurement reference device sends radio signals to the ground monitoring system through the measurement and control antenna, or receives radio signals sent by the ground monitoring system through the measurement and control antenna.

[0068] Specific, combined Figure 2 , by setting up the target drone identification measurement benchmark device including control cable, data download cable, satellite receiving antenna and measurement and control antenna,

[0069] It should be noted that in the disclosed embodiment, the interface computer, power module, and GNSS module are fixedly arranged on one side of the chassis of the target drone identification and measurement reference device with a quick locking structure and inserted into the slot. Each module board can be quickly pulled out for replacement and repair after opening the chassis cover of the target drone identification and measurement reference device. The fiber optic gyroscope assembly and the accelerometer assembly are fixed to the case of the target drone identification and measurement reference device through eight-point rubber shock absorbers. The shock absorber parameters are designed according to 90Hz, which can effectively filter out high-frequency vibrations and improve measurement accuracy. At the same time, the eight-point rubber shock absorbers can effectively reduce inter-axis coupling and improve attitude measurement accuracy.

[0070] In addition, the target drone identification and measurement reference device also includes a mounting pallet, which is a mechanical mounting transition piece between the target drone identification and measurement reference device and the target drone. The mounting pallet is precisely fixed to the target drone through four M8 screw holes. The mounting pallet needs to have mounting positioning surfaces or positioning pins and adjustment holes to ensure installation accuracy.

[0071] Furthermore, in the disclosed embodiment, in order to effectively solve the problem of low-cost target drone measurement benchmarks, the target drone identification and measurement benchmark device adopts a non-cooperative design, that is, the target drone identification and measurement benchmark device itself completes data collection, production, and storage, forming a closed system, and does not interact with the original target drone. It only minimizes dependence on the target drone in terms of power supply. This design can ensure that the system is compatible with more target drone models, ensure that the collected data is not affected by the target drone's own platform, and ensure the neutrality and confidence of the data.

[0072] In addition, in order to increase the number of target drone models that the target drone identification and measurement reference device is compatible with, the target drone identification and measurement reference device adopts a low-intrusive design. From the perspective of the power supply design of the target drone identification and measurement reference device, the average power consumption of the target drone identification and measurement reference device is only 50W, and it is powered by the 27V power supply on the target drone. The power supply requirements are typical avionics equipment power supply requirements. Whether it is powered by a battery or a generator, it can maintain stable operation and is easy to modify the power supply system of the original aircraft; the control interface of the target drone identification and measurement reference device does not invade the target drone dashboard, and it can be powered on through an independent switch, the system working state can be converted through radio commands, and data can be stored through an independent cable management system; the target drone identification and measurement reference device only needs to be fixed on the target drone with a navigation antenna and a radio antenna, among which the navigation antenna can also use a power divider solution to obtain signals based on the navigation antenna of the target drone, without additional installation; the target drone identification and measurement reference device uses UHF band radio channels and 400MHZ~450MHZ frequencies, which almost do not interfere with the measurement and control frequency bands used by the mainstream target drones, and has good electromagnetic adaptability. The low-intrusive design of the target drone identification and measurement reference device will hardly damage the original system, appearance and structure of the target drone, and is the design basis for the target drone identification and measurement reference device to be installed on the target drone to obtain test identification data.

[0073] In addition, the high efficiency and cost-effectiveness of the target drone are not only reflected in the navigation equipment, but also in its compact structure and highly integrated functions. In order to expand the target drone models applicable to the target drone identification and measurement reference device, enhance the versatility of the target drone identification and measurement reference device, and ensure that the target drone identification and measurement reference device can be installed on most target drones participating in the identification test tasks, the target drone identification and measurement reference device adopts a miniaturized design. The target drone identification and measurement reference device structure uses an integrated design, which separates each functional part into an independent structure to avoid mutual interference, and can become an integral structure to reduce space, while ensuring that the structural strength meets the use requirements. The length, width and height of the target drone identification and measurement reference device do not exceed 200mm long x 160mm wide x 150mm high, which is close to the volume and size of small-sized avionics equipment, and meets the installation requirements of most target drones.

[0074] The target drone identification measurement benchmark device is designed with high integration on the basis of miniaturization. On the one hand, the target drone identification measurement benchmark device is compatible with the existing target range measurement and control system, and the data transmission radio used by the target drone identification measurement benchmark device has a mature ground station system and professional operation and maintenance personnel; on the other hand, the target drone identification measurement benchmark device also integrates the IMU, satellite navigation receiver, telemetry radio, recorder function, and computer input and output functions through design. In a limited size space, the target drone identification measurement benchmark device has the data acquisition capability, remote control and telemetry capability, and data recording capability required to obtain the identification measurement data benchmark, and has the expansion capability to participate in flight control.

[0075] Based on the above embodiments, the present disclosure also provides a target drone measurement system. Figure 3 The target drone measurement system provided by the embodiment of the present disclosure is as follows: Figure 3 As shown, the target drone measurement system includes the target drone identification and measurement reference device 100 of any one of the above embodiments, and also includes a target drone flight control system 200 and a ground monitoring system 300. The target drone identification and measurement reference device 1000 is communicatively connected with the ground monitoring system 300, and the interface computer of the target drone identification and measurement reference device 100 is communicatively connected with the target drone flight control system 200; the interface computer of the target drone identification and measurement reference device receives the flight control data sent by the target drone flight control system, and sends the flight control data and navigation data to the ground monitoring system through the radio module, and the ground monitoring system receives the flight control data and navigation data sent by the target drone identification and measurement reference device, and monitors the position of the target drone according to the navigation data and the flight control data.

[0076] As a specific implementation, the target drone measurement system further includes a detection system 400, which is communicatively connected with the target drone identification and measurement reference device, and the detection system performs detection configuration on the target drone identification and measurement reference device.

[0077] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0078] Each functional unit or module in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0079] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0080] Unless the context clearly indicates otherwise, the singular form of the words used herein and in the appended claims includes the plural and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the words "comprise" and "include" are to be interpreted as inclusive rather than exclusive. Likewise, the terms "include" and "or" should be interpreted as inclusive unless such interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it is located after a group of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or comprehensive.

[0081] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present application can be implemented individually or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are intended for purposes of illustration only and are not intended to limit the scope of the present application.

[0082] Several embodiments of the present disclosure are described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the attached claims.

Claims

1. A target drone identification measurement benchmark device, characterized in that: include: An inertial measurement module, an interface computer and a radio module, wherein the inertial measurement module is communicatively connected to the interface computer, and the interface computer is communicatively connected to the radio module; The inertial measurement module is configured to determine navigation data according to the gyroscope data and the accelerometer data, send the navigation data to the interface computer, and receive the flight control command sent by the interface computer to switch the working state, wherein the navigation data includes position data, speed data, altitude data, attitude and heading data, angular velocity data and axial acceleration data; The interface computer is configured to receive the navigation data sent by the inertial measurement module, forward the navigation data to the radio module, and receive instruction information from the radio module to determine a flight control instruction according to the instruction information, and send the flight control instruction to the inertial measurement module, so that the inertial measurement module switches the working state based on the flight control instruction; The radio module is configured to receive the navigation data forwarded by the interface computer, modulate the navigation data into a radio signal and send it to the ground monitoring system, so that the ground monitoring system can monitor the target aircraft based on the radio signal, and demodulate the radio signal sent by the ground monitoring system into command information and send it to the interface computer.

2. The device according to claim 1, characterized in that The inertial measurement module includes a fiber optic gyro assembly, an accelerometer assembly and a navigation computer; The fiber optic gyro assembly is configured to send the fiber optic gyro data to the navigation computer; the accelerometer assembly configured to send the accelerometer data to the navigation computer; The navigation computer is configured to determine navigation data based on the fiber optic gyro data and the accelerometer data.

3. The device according to claim 1, characterized in that The interface computer includes a communication unit and a navigation and flight control solution unit; Wherein, the communication unit is configured to receive the navigation data sent by the inertial measurement module, forward the navigation data to the radio module, and receive instruction information sent by the radio module; The navigation flight control solving unit is configured to solve the instruction information to obtain a flight control instruction and send the flight control instruction to the inertial measurement module.

4. The device according to claim 1, characterized in that Also includes a GNSS module, the GNSS module is communicatively connected with the inertial measurement module; The GNSS module is configured to send satellite positioning data to the inertial measurement module.

5. The device according to claim 4, characterized in that Also includes a power module, the power module is communicatively connected to the inertial measurement module, the interface computer and the radio module respectively; The power module is configured to provide operating voltage to the inertial measurement module, the interface computer and the radio module.

6. The device according to claim 5, characterized in that The GNSS module is integrated in the power module.

7. The device according to claim 1, characterized in that Also includes a storage module, the storage module is communicatively connected with the interface computer; The storage module is configured to store the navigation data.

8. The device according to claim 1, characterized in that The target drone identification and measurement reference device also includes a control cable, a data download cable, a satellite receiving antenna and a measurement and control antenna; The target drone identification measurement reference device obtains a voltage signal from the target drone electrical system through the control cable, exchanges data with the flight control system through the control cable, and receives a detection configuration signal from the detection system through the control cable; Downloading the stored data of the target drone identification and measurement reference device through the data download cable; The target drone identification and measurement reference device receives satellite positioning data via the satellite receiving antenna; The target drone identification and measurement reference device sends a radio signal to a ground monitoring system through the measurement and control antenna, or receives a radio signal sent by the ground monitoring system through the measurement and control antenna.

9. A target drone measurement system, characterized in that: The target drone identification and measurement reference device comprises the target drone identification and measurement reference device according to any one of claims 1 to 8, and also comprises a target drone flight control system and a ground monitoring system, wherein the target drone identification and measurement reference device is communicatively connected to the ground monitoring system, and the interface computer of the target drone identification and measurement reference device is communicatively connected to the target drone flight control system; The interface computer of the target drone identification and measurement reference device receives the flight control data sent by the target drone flight control system, and sends the flight control data and the navigation data to the ground monitoring system through the radio module. The ground monitoring system receives the flight control data and the navigation data sent by the target drone identification and measurement reference device, and monitors the position of the target drone based on the navigation data and the flight control data.

10. The target drone measurement system according to claim 9, characterized in that: It also includes a detection system, which is communicatively connected with the target drone identification and measurement benchmark device, and the detection system performs detection configuration on the target drone identification and measurement benchmark device.

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