Formation cooperation method based on manned aerial vehicle instructing and controlling photoelectric unmanned aerial vehicles

Abstract

The invention belongs to the field of formation cooperative control, and particularly relates to a formation cooperative method based on a manned aerial vehicle instructing and controlling photoelectric unmanned aerial vehicles. The method comprises the steps that a manned aerial vehicle mounts a plurality of photoelectric unmanned aerial vehicles to take off, all the photoelectric unmanned aerial vehicles are sequentially launched after reaching a designated airspace, and a manned / unmanned cooperative formation is constructed through the manned aerial vehicle and the photoelectric unmanned aerial vehicles; performing wide-area search through the photoelectric unmanned aerial vehicles in the manned / unmanned cooperative formation; cooperative positioning is carried out through the electromagnetic unmanned aerial vehicles in the manned / unmanned cooperative formation; and the manned aerial vehicles in the manned / unmanned cooperative formation execute tasks according to the positioning information. According to the formation cooperation method based on the manned aerial vehicle instructing and controlling the photoelectric unmanned aerial vehicles, a tough and distributed task system is constructed and formed by realizing dispersed deployment of task execution power and photoelectric detection power, and cooperative hidden detection and cooperative silent confrontation on the target are realized.

Description

Technical Field

[0001] The present application belongs to the field of formation collaborative control, and in particular, relates to a formation collaborative method based on manned aircraft commanding optoelectronic unmanned aerial vehicles. Background Art

[0002] For traditional aircraft equipment, detection equipment and airborne countermeasure equipment are concentrated in the same aircraft. During the mission, the aircraft needs to turn on its own detection sensors to find and intercept the target, then complete the maneuvering position, launch the countermeasure equipment and continue to control it. The centralized mission execution method of traditional aircraft has significant limitations:

[0003] (1) It is difficult for manned aircraft to conceal themselves. Once a manned aircraft turns on its radar or other detection sensors, it is easy for the target to detect its signal, thus exposing its position;

[0004] (2) Manned aircraft cannot disengage at any time. After launching countermeasure equipment, manned aircraft need to use radar to continuously track the target and continuously control the countermeasure equipment, and cannot disengage in time;

[0005] (3) The manned-aircraft mission chain is easily destroyed. Once a manned aircraft is threatened by a target and forced to evade, the mission chain is easily destroyed and cannot be maintained continuously.

[0006] Therefore, it is desired to have a technical solution to overcome or at least alleviate at least one of the above-mentioned defects of the prior art. Summary of the invention

[0007] The purpose of this application is to provide a formation coordination method based on manned aircraft commanding optoelectronic UAVs to solve at least one problem existing in the prior art.

[0008] The technical solution of this application is:

[0009] A formation coordination method based on manned aircraft commanding optoelectronic UAVs, comprising:

[0010] A manned aircraft takes off with multiple optoelectronic drones mounted on it. After reaching the designated airspace, each optoelectronic drone is launched in turn, and a manned / unmanned collaborative formation is formed through manned aircraft and optoelectronic drones.

[0011] Conducting wide-area search by using optoelectronic drones within the manned / unmanned collaborative formation;

[0012] Co-positioning is performed by using electromagnetic drones within the manned / unmanned collaborative formation;

[0013] The manned aircraft in the manned / unmanned collaborative formation performs tasks based on the positioning information.

[0014] In at least one embodiment of the present application, the step of constructing a manned / unmanned collaborative formation by using a manned aircraft and an optoelectronic unmanned aircraft includes:

[0015] The manned / unmanned collaborative formation includes a manned aircraft and four optoelectronic unmanned aerial vehicles that realize wireless communication with the manned aircraft, wherein:

[0016] The four optoelectronic UAVs were deployed in an isosceles trapezoidal formation 30km-50km in front of the manned aircraft. The manned aircraft and the four optoelectronic UAVs maintained a flight altitude of 8km and pushed forward side by side.

[0017] In at least one embodiment of the present application, the performing of wide-area search by the optoelectronic UAV in the manned / unmanned collaborative formation includes:

[0018] The optoelectronic UAVs in the manned / unmanned collaborative formation are divided into two sub-formations, each sub-formation includes two optoelectronic UAVs, one of which serves as the leader of the sub-formation and the other as the wingman of the sub-formation;

[0019] The four optoelectronic UAVs in the manned / unmanned collaborative formation turn on the optoelectronic detection equipment, divide the airspace ahead into four overlapping areas, and conduct a row-by-row wide-area search.

[0020] In at least one embodiment of the present application, the collaborative positioning by the electromagnetic drone in the manned / unmanned collaborative formation includes:

[0021] When a target enters the detection range of an optoelectronic UAV and is discovered by one of the optoelectronic UAVs in the sub-formation, it guides another optoelectronic UAV in the sub-formation to conduct coordinated detection. The two optoelectronic UAVs determine the position of the target by cross-positioning the target, and then measure and obtain the positioning information of the target, which includes the position coordinates, flight speed and flight direction;

[0022] Two optoelectronic drones in another sub-formation encircled the target.

[0023] In at least one embodiment of the present application, the manned aircraft in the manned / unmanned collaborative formation performs a task according to the positioning information, including:

[0024] The manned aircraft in the manned / unmanned collaborative formation completes maneuvering and positioning according to the positioning information and launches equipment and disengages after meeting the conditions for executing the mission. The manned aircraft designates the leader aircraft of the sub-formation in the sub-formation that detects the target to control the equipment launched by the manned aircraft.

[0025] In at least one embodiment of the present application, the disengagement method of the manned aircraft is: the manned aircraft lowers its flight altitude to below 5 km and remains silent.

[0026] In at least one embodiment of the present application, it also includes:

[0027] If an optoelectronic UAV in the manned / unmanned collaborative formation is damaged, the remaining optoelectronic UAVs will reconstruct the formation.

[0028] In at least one embodiment of the present application,

[0029] If one optoelectronic UAV in the manned / unmanned collaborative formation is damaged, the remaining three optoelectronic UAVs will reconstruct the formation to form a triangle formation and continue wide-area search and collaborative positioning.

[0030] The invention has at least the following beneficial technical effects:

[0031] The formation coordination method based on manned aircraft commanding optoelectronic UAVs of the present application constructs a strong and distributed task system by realizing the dispersed deployment of task execution forces and optoelectronic detection forces, thereby realizing coordinated covert detection of targets and coordinated silent confrontation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the deployment of an optoelectronic UAV in a manned / unmanned collaborative formation according to an implementation method of the present application;

[0033] Figure 2 This is a schematic diagram of a wide-area search of an optoelectronic UAV in a manned / unmanned collaborative formation according to an embodiment of the present application;

[0034] Figure 3 This is a schematic diagram of cooperative positioning of optoelectronic UAVs in a manned / unmanned cooperative formation according to an embodiment of the present application;

[0035] Figure 4 This is a schematic diagram of a manned machine performing a task in a manned / unmanned collaborative formation according to an implementation mode of the present application;

[0036] Figure 5 This is a schematic diagram of the reconstruction of an optoelectronic UAV formation within a manned / unmanned collaborative formation according to an implementation mode of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the embodiment of this application will be described in more detail below in conjunction with the drawings in the embodiment of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of this application, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be construed as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The embodiments of this application are described in detail below in conjunction with the drawings.

[0038] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present application.

[0039] The following is combined with Figures 1 to 5 This application is described in further detail.

[0040] The present application provides a formation coordination method based on manned aircraft commanding optoelectronic UAVs, comprising the following steps:

[0041] A manned aircraft takes off with multiple optoelectronic drones mounted on it. After reaching the designated airspace, each optoelectronic drone is launched in turn, and a manned / unmanned collaborative formation is formed through manned aircraft and optoelectronic drones.

[0042] Conduct wide-area search using optoelectronic drones in manned / unmanned collaborative formations;

[0043] Co-location via electromagnetic drones within manned / unmanned collaborative formations;

[0044] Manned aircraft within the manned / unmanned collaborative formation perform tasks based on positioning information.

[0045] The formation coordination method based on manned aircraft commanding optoelectronic drones of the present application first constructs a manned / unmanned coordinated formation. A manned aircraft mounts multiple optoelectronic drones and takes off. After arriving at the designated airspace, each optoelectronic drone is launched in sequence. In this embodiment, a manned aircraft commands four small low-cost optoelectronic drones to form a manned / unmanned coordinated formation. The four optoelectronic drones complete wireless communication networking with the manned aircraft. According to the real-time planned flight route, the four optoelectronic drones form an isosceles trapezoidal formation and are deployed 30km-50km in front of the manned aircraft. The manned aircraft and the four optoelectronic drones maintain a flight altitude of 8km and advance side by side.

[0046] The present application is based on the formation coordination method of manned aircraft commanding optoelectronic drones. Secondly, a wide-area search is conducted. The specific process of conducting a wide-area search through optoelectronic drones in a manned / unmanned collaborative formation is to divide the optoelectronic drones in the manned / unmanned collaborative formation into two sub-formations, each of which includes two optoelectronic drones, one of which serves as the sub-formation leader and the other as the sub-formation wingman; the four optoelectronic drones in the manned / unmanned collaborative formation turn on the optoelectronic detection equipment, divide the airspace ahead into four overlapping areas, and conduct a row-by-row wide-area search. Through the wide-area search, we strive to find the target as quickly as possible. During the wide-area search, the optoelectronic drone has a high stealth and relies on passive optical detection, so it does not radiate signals to the outside, and therefore has a high concealment.

[0047] The present application discloses a formation coordination method based on manned aircraft accusing optoelectronic drones, and then performs coordinated positioning. The coordinated positioning through electromagnetic drones in a manned / unmanned coordinated formation specifically includes: when a target enters the detection range of an optoelectronic drone and is discovered by an optoelectronic drone in a sub-formation, another optoelectronic drone in the sub-formation is guided to perform coordinated detection, and the two optoelectronic drones determine the position of the target by cross-positioning, and then measure and obtain the positioning information of the target, which includes position coordinates, flight speed and flight direction; two optoelectronic drones in another group of sub-formations autonomously plan routes to encircle the target from another direction.

[0048] The formation coordination method based on manned aircraft charging optoelectronic drones of the present application is further such that the manned aircraft performs tasks according to positioning information. Specifically, the optoelectronic drones in the manned / unmanned collaborative formation report the detected target positioning information to the manned aircraft. The manned aircraft completes the maneuvering and positioning according to the positioning information and launches the equipment and disengages after meeting the conditions for executing the mission. The manned aircraft designates the sub-formation leader in the sub-formation that detects the target to control the equipment launched by the manned aircraft. The manned aircraft performs maneuvering and positioning according to the positioning information and completes the mission preparation. When the target enters the effective mission execution range of the manned aircraft, the manned aircraft immediately launches the equipment soldier and then lowers the altitude to disengage to ensure its own safety. The disengagement method of the manned aircraft is as follows: the manned aircraft lowers the flight altitude to below 5km and remains silent. The manned aircraft radar remains silent throughout the entire process to achieve covert execution of the mission.

[0049] The formation coordination method based on manned aircraft commanding optoelectronic drones of the present application finally also includes the dynamic reconstruction of optoelectronic drones. During the execution of the mission, if the target is detected and 1 to 2 optoelectronic drones in the manned / unmanned collaborative formation are damaged, the remaining optoelectronic drones will reconstruct the formation. If one optoelectronic drone in the manned / unmanned collaborative formation is damaged, the remaining three optoelectronic drones will reconstruct the formation to form a triangular formation, and continue to perform wide-area search and collaborative positioning of the target. In this process, the drone formation tries to ensure that the target positioning information is continuous and complete, supports transparent scene status for manned aircraft, and provides continuous control of equipment launched by manned aircraft.

[0050] The formation coordination method based on manned aircraft commanding optoelectronic drones in this application disperses the mission execution force and optoelectronic detection force through manned / unmanned collaborative formation to build a strong and distributed mission system. By utilizing the pre-deployment of optoelectronic drones, a wide-area search of the target area is achieved in a multi-machine collaborative manner. Once the target is found, the target is stably tracked and accurately located through collaborative detection, supporting manned aircraft to use the target positioning information to complete maneuvering and launching equipment. During this process, the manned aircraft can remain silent throughout the process to avoid exposure; after launching the equipment, it can be detached immediately and handed over to the drone for control; if individual drones are damaged, they can be replaced by other drones to achieve a strong and resistant mission system. This application can greatly expand the detection range of manned aircraft, improve the mission effectiveness of existing equipment, and subvert the traditional mission style of simple cooperation between the leader and the wingman.

[0051] The formation coordination method based on manned aircraft commanding optoelectronic UAVs in this application has the following main advantages:

[0052] (1) Using optoelectronic drones for front-end detection to significantly expand the detection range of manned / unmanned collaborative formations, thereby offsetting the target's stealth advantage in a cheap way;

[0053] (2) Using optoelectronic drones for passive optoelectronic detection, manned aircraft keep radars silent, significantly reducing their own exposure risk;

[0054] (3) The optoelectronic UAV formation conducts a wide-area search in different areas, which increases the detection efficiency of the target by more than 2 times. After discovering the target, the optoelectronic UAV formation coordinates the target and the positioning accuracy meets the mission requirements;

[0055] (4) Manned aircraft use the target positioning information detected by the optoelectronic drone to perform tasks. After launching the equipment, it is controlled by the optoelectronic drone and the aircraft can immediately detach, greatly improving its own survival probability;

[0056] (5) If an optoelectronic UAV formation is damaged, it can autonomously reconstruct the formation with other members to maintain continuous detection of the target.

[0057] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A formation coordination method based on manned aircraft commanding optoelectronic UAVs, characterized in that: include: A manned aircraft takes off with multiple optoelectronic drones mounted on it. After reaching the designated airspace, each optoelectronic drone is launched in turn, and a manned / unmanned collaborative formation is formed through manned aircraft and optoelectronic drones. Conducting wide-area search by using optoelectronic drones within the manned / unmanned collaborative formation; Co-positioning is performed by using electromagnetic drones within the manned / unmanned collaborative formation; The manned aircraft in the manned / unmanned collaborative formation performs tasks based on the positioning information.

2. The formation coordination method based on manned aircraft commanding optoelectronic UAV according to claim 1 is characterized in that: The manned / unmanned collaborative formation is constructed by using manned aircraft and optoelectronic unmanned aircraft, including: The manned / unmanned collaborative formation includes a manned aircraft and four optoelectronic unmanned aerial vehicles that realize wireless communication with the manned aircraft, wherein: The four optoelectronic UAVs were deployed in an isosceles trapezoidal formation 30km-50km ahead of the manned aircraft. The manned aircraft and the four optoelectronic UAVs maintained a flight altitude of 8km and advanced forward side by side.

3. The formation coordination method based on manned aircraft commanding optoelectronic UAV according to claim 2 is characterized in that: The wide-area search is performed by using the optoelectronic UAV in the manned / unmanned collaborative formation, including: The optoelectronic UAVs in the manned / unmanned collaborative formation are divided into two sub-formations, each sub-formation includes two optoelectronic UAVs, one of which serves as the leader of the sub-formation and the other as the wingman of the sub-formation; The four optoelectronic UAVs in the manned / unmanned collaborative formation turn on the optoelectronic detection equipment, divide the airspace ahead into four overlapping areas, and conduct a row-by-row wide-area search.

4. The formation coordination method based on manned aircraft commanding optoelectronic UAV according to claim 3 is characterized in that: The collaborative positioning by using the electromagnetic UAV in the manned / unmanned collaborative formation includes: When a target enters the detection range of an optoelectronic UAV and is discovered by one of the optoelectronic UAVs in the formation, it guides another optoelectronic UAV in the formation to conduct coordinated detection. The two optoelectronic UAVs determine the position of the target by cross-positioning the target, and then measure and obtain the positioning information of the target, which includes the position coordinates, flight speed and flight direction; Two optoelectronic drones in another sub-formation encircled the target.

5. The formation coordination method based on manned aircraft commanding optoelectronic UAV according to claim 4 is characterized in that: The manned aircraft in the manned / unmanned collaborative formation performs tasks according to the positioning information, including: The manned aircraft in the manned / unmanned collaborative formation completes the maneuvering position according to the positioning information and launches the equipment and disengages after meeting the conditions for executing the mission. The manned aircraft designates the leader aircraft of the sub-formation in the sub-formation that detects the target to control the equipment launched by the manned aircraft.

6. The formation coordination method based on manned aircraft commanding optoelectronic UAV according to claim 5 is characterized in that: The way for a manned aircraft to disengage is as follows: the manned aircraft lowers its flight altitude to below 5km and remains silent.

7. The formation coordination method based on manned aircraft commanding optoelectronic UAV according to claim 6 is characterized in that: Also includes: If an optoelectronic UAV in the manned / unmanned collaborative formation is damaged, the remaining optoelectronic UAVs will reconstruct the formation.

8. The formation coordination method based on manned aircraft commanding optoelectronic UAV according to claim 7 is characterized in that: If one optoelectronic UAV in the manned / unmanned collaborative formation is damaged, the remaining three optoelectronic UAVs will reconstruct the formation to form a triangle formation and continue wide-area search and collaborative positioning.

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