Unmanned fixed wing cooperative irradiation guide point resolving method

Abstract

The invention relates to an unmanned fixed wing cooperative irradiation guide point resolving method, and belongs to the technical field of airborne fire control. Comprising the following steps: acquiring longitudes and latitudes of an aggressor, an irradiator and a target; calculating the distance between the irradiator and the target according to the longitudes and latitudes of the irradiator and the target; calculating the distance between the irradiator and the aggressor according to the longitudes and latitudes of the irradiator and the aggressor; calculating the distance between the aggressor and the target according to the longitude and latitude of the aggressor and the target; calculating an auxiliary angle according to the distance between the irradiator and the target, the distance between the irradiator and the aggressor and the distance between the aggressor and the target; obtaining the farthest irradiation distance of the irradiation machine, and calculating the distance between the auxiliary point and the target point according to the farthest irradiation distance of the irradiation machine; and comparing the auxiliary angle with # imgabs0 #, determining the range of the auxiliary angle, and calculating the azimuth angle of the guide point and the distance between the guide point and the target point by adopting a calculation formula in the range. The method is used for resolving the unmanned fixed wing cooperative irradiation guide point and provides a basis for subsequent precise guidance.

Description

Technical Field

[0001] The invention belongs to the technical field of airborne fire control, and in particular relates to a method for solving unmanned fixed-wing collaborative illumination guidance points. Background Art

[0002] The coordinated combat of helicopters and drones is a typical application mode of future helicopter combat. In the coordinated ground strike combat mode, manned aircraft can guide drones and helicopters to jointly complete tasks such as reconnaissance, detection, identification, positioning and attack on enemy targets through real-time mission planning.

[0003] In a typical combat scenario where laser missiles are used to strike ground targets, drones are required to continuously illuminate the target during the laser missile attack to guide the laser missile to complete the final strike. The laser spot irradiated on the target should be captured by the laser missile as much as possible. Since the irradiation angle and distance affect the capture effect of the laser missile, and due to the characteristics of fixed-wing hovering flight, it is also necessary to meet the irradiation requirements in all directions of the hovering, so it is necessary to select appropriate irradiation guidance points. Summary of the invention

[0004] The technical problems to be solved by the present invention are:

[0005] In order to avoid the shortcomings of the prior art, the present invention provides a method for solving the unmanned fixed-wing collaborative illumination guidance point, which is used to solve the unmanned fixed-wing collaborative illumination guidance point and provide a basis for subsequent precise guidance.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A method for solving guidance points of unmanned fixed-wing collaborative illumination, characterized by comprising:

[0008] Obtain the longitude and latitude of the attacking aircraft, the current longitude and latitude of the irradiating aircraft, and the longitude and latitude of the target;

[0009] Calculate the distance between the irradiator and the target based on the current longitude and latitude of the irradiator and the longitude and latitude of the target;

[0010] The distance between the irradiator and the attacking aircraft is calculated based on the current longitude and latitude of the irradiator and the longitude and latitude of the attacking aircraft;

[0011] Calculate the distance between the attack aircraft and the target based on the longitude and latitude of the attack aircraft and the longitude and latitude of the target;

[0012] Calculate the auxiliary angle based on the distance between the irradiator and the target, the distance between the irradiator and the attacking aircraft, and the distance between the attacking aircraft and the target;

[0013] Obtain the farthest irradiation distance of the irradiator, and calculate the distance between the auxiliary point and the target point based on the farthest irradiation distance of the irradiator;

[0014] The auxiliary angle and By comparison, the range of the auxiliary angle is determined, and the calculation formula within the range is used to calculate the azimuth of the guide point and the distance between the guide point and the target point.

[0015] A further technical solution of the present invention is as follows: the distance between the irradiator and the target is calculated based on the current longitude and latitude of the irradiator and the longitude and latitude of the target, specifically:

[0016] R1=6371.393acos(cos(lat i )cos(lat t )cos(lon i -lon t )+sin(lat i )sin(lat t ))

[0017] Among them, lon t ,lat t is the longitude and latitude of the target, lon i ,lat i It is the current longitude and latitude of the irradiator.

[0018] A further technical solution of the present invention is to calculate the distance between the irradiator and the attacking aircraft according to the current longitude and latitude of the irradiator and the longitude and latitude of the attacking aircraft, specifically:

[0019] R2=6371.393acos(cos(lat f )cos(lat i )cos(lon f -lon i )+sin(lat f )sin(lat i ))

[0020] Among them, lon f ,lat f is the longitude and latitude of the attack aircraft.

[0021] A further technical solution of the present invention is to calculate the distance between the attacking aircraft and the target according to the longitude and latitude of the attacking aircraft and the longitude and latitude of the target, specifically:

[0022] R3=6371.393acos(cos(lat f )cos(lat t )cos(lon f -lon t )+sin(lat f )sin(lat t)).

[0023] A further technical solution of the present invention is to calculate the auxiliary angle according to the distance between the irradiator and the target, the distance between the irradiator and the attacking aircraft, and the distance between the attacking aircraft and the target, specifically:

[0024]

[0025] A further technical solution of the present invention is to calculate the distance between the auxiliary point and the target point according to the farthest irradiation distance of the irradiator, specifically:

[0026]

[0027] Among them, R max is the maximum irradiation distance of the irradiator, R d is the distance between the auxiliary point and the target point.

[0028] A further technical solution of the present invention is: the calculation formula within the range is used to calculate the azimuth of the guide point and the distance between the guide point and the target point, specifically:

[0029] if but

[0030]

[0031] if but

[0032] R e =R d -R i

[0033]

[0034] in, is the azimuth of the pilot point, R e is the distance between the guide point and the target point, R i is the circling radius of the irradiator.

[0035] A computer system, characterized in that it comprises: one or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned method.

[0036] A computer-readable storage medium, characterized in that it stores computer-executable instructions, which are used to implement the above method when executed.

[0037] A computer program product, characterized by comprising computer executable instructions, wherein the instructions are used to implement the above method when executed.

[0038] The beneficial effects of the present invention are:

[0039] The present invention provides a method for calculating an unmanned fixed-wing collaborative irradiation guidance point. The fixed-wing collaborative irradiation guidance point calculated according to the method can quickly guide the fixed-wing UAV to the irradiation area, so as to ensure that the unmanned fixed-wing irradiation machine can provide guidance information for the laser-guided weapons launched by the attack aircraft in real time and continuously during the hovering process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings are only for the purpose of illustrating specific embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0041] Figure 1 Flowchart of the unmanned fixed-wing collaborative illumination guidance point calculation method provided by the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] The present invention provides a method for calculating unmanned rotor cooperative illumination guidance points, such as Figure 1 As shown, the following steps are included:

[0045] Step 1: Information Acquisition

[0046] The ground mission planning system obtains the longitude lon of the attack aircraft through the loaded mission data f , latitude lat f , the longitude of the target lon t , latitude latt , the current longitude of the irradiator is lon i , latitude lat i , the maximum irradiation distance R is obtained by the laser irradiation guide device max , the circling radius R is obtained by the irradiation machine i ;

[0047] Step 2: Establish coordinate system O t

[0048] A rectangular coordinate system is established with point O, the projection of the target position on the horizontal plane, as the origin, and the line connecting the target and the attack aircraft projected on the horizontal plane as the X-axis. The direction of the Y-axis is determined by the right-hand rule.

[0049] Step 3: Calculate the auxiliary angle Use formula (1) to calculate the distance R1 between the irradiator and the target

[0050] R1=6371.393acos(cos(lat i )cos(lat t )cos(lon i -lon t )+sin(lat i )sin(lat t )) (1)

[0051] Use formula (2) to calculate the distance R2 between the irradiator and the attacking aircraft

[0052] R2=6371.393acos(cos(lat f )cos(lat i )cos(lon f -lon i )+sin(lat f )sin(lat i )) (2)

[0053] Use formula (3) to calculate the distance R3 between the attacking aircraft and the target

[0054] R3=6371.393acos(cos(lat f )cos(lat t )cos(lon f -lon t )+sin(lat f )sin(lat t )) (3)

[0055] Use formula (4) to calculate the auxiliary angle

[0056]

[0057] lon f — longitude of the attack aircraft, in rad;

[0058] lat f —Latitude of the attack aircraft, in rad;

[0059] lon t —Target longitude, in rad;

[0060] lat t —Target latitude, in rad;

[0061] lon i — Longitude of the irradiator, in rad;

[0062] lat i —Latitude of the irradiator, in rad;

[0063] Step 4: Calculate the distance R between the auxiliary point D and the target point d

[0064] Calculate R using formula (5) d

[0065]

[0066] R max —The farthest irradiation distance, in m;

[0067] Step 5: Calculate the azimuth of the guidance point E Distance to target R e

[0068] Calculate κ using formula (6)

[0069]

[0070] if but

[0071]

[0072] if but

[0073] R e =R d -R i (9)

[0074]

[0075] Example 1

[0076] Step 1: Information Acquisition

[0077] The ground mission planning system obtains the longitude lon of the carrier aircraft through the loaded mission data f , latitude lat f , the longitude of the target lon t , latitude lat t , the current longitude of the irradiator is lon i , latitude lat i , the maximum irradiation distance R is obtained by the laser irradiation guide device max , the circling radius R is obtained by the irradiation machine i ;

[0078] In this embodiment:

[0079] The ground mission planning system obtains the longitude of the carrier aircraft 111.9° and latitude 33.8°, the longitude of the target 112° and latitude 34°, and the current longitude of the irradiator 111.95° and latitude 34.1° through the loaded mission data. The maximum irradiation distance of 10,000m is obtained through the laser irradiation guidance device, and the hovering radius of 500m is obtained through the irradiator.

[0080] Step 2: Establish coordinate system O t

[0081] A rectangular coordinate system is established with point O, the projection of the target position on the horizontal plane, as the origin, and the line connecting the target and the attack aircraft projected on the horizontal plane as the X-axis. The direction of the Y-axis is determined by the right-hand rule.

[0082] Step 3: Calculate the auxiliary angle

[0083] Use formula (1) to calculate the distance R1 between the irradiator and the target

[0084] R1=6371.393acos(cos(lat i )cos(lat t )cos(lon i -lon t )+sin(lat i )sin(lat t )) (1)

[0085] Use formula (2) to calculate the distance R2 between the irradiator and the attacking aircraft

[0086] R2=6371.393acos(cos(lat f )cos(lat i )cos(lon f -lon i )+sin(lat f )sin(lat i)) (2)

[0087] Use formula (3) to calculate the distance R3 between the attacking aircraft and the target aircraft

[0088] R3=6371.393acos(cos(lat f )cos(lat t )cos(lon f -lon t )+sin(lat f )sin(lat t )) (3)

[0089] Use formula (4) to calculate the auxiliary angle

[0090]

[0091] lon f — longitude of the attack aircraft, in rad;

[0092] lat f —Latitude of the attack aircraft, in rad;

[0093] lon t —Target longitude, in rad;

[0094] lat t —Target latitude, in rad;

[0095] lon i — Longitude of the irradiator, in rad;

[0096] lat i —Latitude of the irradiator, in rad;

[0097] In this embodiment:

[0098] R1=6371.393acos(cos(34.2)cos(34)cos(111.6-112)+sin(34.2)sin(34))=43021.59(m)

[0099] R2=6371.393acos(cos(33.95)cos(34.2)cos(111.7-111.6)+sin(33.95)sin(34.2))=29282.73(m)

[0100] R3=6371.393acos(cos(33.95)cos(34)cos(111.7-112)+sin(33.95)sin(34))=28215.44(m)

[0101]

[0102] Step 4: Calculate the distance R between the auxiliary point D and the target point d

[0103] Calculate R using formula (5) d

[0104]

[0105] In this embodiment:

[0106]

[0107] Step 5: Calculate the azimuth between the guidance point E and the target With distance R e

[0108] Calculate κ using formula (6)

[0109]

[0110] if but

[0111]

[0112] if but

[0113] R e =R d -R i (9)

[0114]

[0115] In this embodiment:

[0116]

[0117] because: so

[0118] R e =R d -R i =9075.65-500=8575.65(m)

[0119] Because: 113.1>111.6, so

[0120]

[0121] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft, characterized in that: include: Obtain the longitude and latitude of the attacking aircraft, the current longitude and latitude of the irradiating aircraft, and the longitude and latitude of the target; Calculate the distance between the irradiator and the target based on the current longitude and latitude of the irradiator and the longitude and latitude of the target; The distance between the irradiator and the attacking aircraft is calculated based on the current longitude and latitude of the irradiator and the longitude and latitude of the attacking aircraft; Calculate the distance between the attack aircraft and the target based on the longitude and latitude of the attack aircraft and the longitude and latitude of the target; Calculate the auxiliary angle based on the distance between the irradiator and the target, the distance between the irradiator and the attacking aircraft, and the distance between the attacking aircraft and the target; Obtain the farthest irradiation distance of the irradiator, and calculate the distance between the auxiliary point and the target point based on the farthest irradiation distance of the irradiator; The auxiliary angle and By comparison, the range of the auxiliary angle is determined, and the calculation formula within the range is used to calculate the azimuth of the guide point and the distance between the guide point and the target point.

2. According to claim 1, a method for calculating unmanned rotor cooperative illumination guidance points is characterized in that: The distance between the irradiator and the target is calculated according to the current longitude and latitude of the irradiator and the longitude and latitude of the target, specifically: R1=6371.393acos(cos(lat) i )basket(lat t )co(lon i -lon t )+sin(lat i )sin(lat t )) Among them, lon t ,lat t is the longitude and latitude of the target, lon i ,lat i It is the current longitude and latitude of the irradiator.

3. According to claim 2, a method for calculating unmanned rotor cooperative illumination guidance points is characterized in that: The distance between the irradiator and the attacking aircraft is calculated based on the current longitude and latitude of the irradiator and the longitude and latitude of the attacking aircraft. Specifically: R2=6371.393acos(cos(lat) f )basket(lat i )co(lon f -lon i )+sin(lat f )sin(lat i )) Among them, lon f ,lat f is the longitude and latitude of the attack aircraft.

4. According to claim 3, a method for calculating unmanned rotor cooperative illumination guidance points is characterized in that: The distance between the attacking aircraft and the target is calculated based on the longitude and latitude of the attacking aircraft and the longitude and latitude of the target. Specifically: R3=6371.393acos(cos(lat) f )basket(lat t )co(lon f -lon t )+sin(lat f )sin(lat t ))。 5. According to claim 4, a method for calculating unmanned rotor cooperative illumination guidance points is characterized in that: The auxiliary angle is calculated based on the distance between the irradiator and the target, the distance between the irradiator and the attacking aircraft, and the distance between the attacking aircraft and the target. Specifically:

6. The unmanned rotor cooperative illumination guidance point solution method according to claim 5, characterized in that: The distance between the auxiliary point and the target point is calculated according to the farthest irradiation distance of the irradiator, specifically: Among them, R max is the maximum irradiation distance of the irradiator, R d is the distance between the auxiliary point and the target point.

7. The unmanned rotor cooperative illumination guidance point calculation method according to claim 6, characterized in that: The calculation formula within the range is used to calculate the azimuth of the guide point and the distance between the guide point and the target point, specifically: if but if but R e =R d -R i in, is the azimuth of the pilot point, R e is the distance between the guide point and the target point, R i is the circling radius of the irradiator.

8. A computer system, characterized in that include: One or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method of claim 1.

9. A computer-readable storage medium, characterized in that Computer executable instructions are stored, and when the instructions are executed, they are used to implement the method of claim 1.

10. A computer program product, characterized in that The invention comprises computer executable instructions, which are used to implement the method of claim 1 when being executed.

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