Repeatable fuze type precise guidance assembly and system and use method

Abstract

The invention discloses a repeatable fuze type precise guidance assembly and system and a use method, and belongs to the technical field of communication guidance and flight control. The assembly mainly comprises a shell, a radio frequency antenna, a satellite antenna, a missile-borne controller, a rudder system, a fairing, a folding rotor wing, an explosive rope, an explosive bolt, a compression spring, a slewing bearing type speed reducer, a battery, a rotating disc and a motor. Wherein the radio frequency antenna and the rudder system are both installed on the shell, the satellite antenna is installed on the wall face of the shell, the missile-borne controller and the battery are installed in the shell, the inner ring of the slewing bearing type speed reducer is connected with the battery, and the outer ring of the slewing bearing type speed reducer is connected with the rotating disc; the folding rotor wings are fixed on the turntable, an output shaft of the motor is connected with the turntable, and the compression spring is fixed at the lower end of the motor. The mode that an original fuse is not replaced and a fixed rotor wing is additionally arranged is adopted, and the problems of storage, destruction, maintenance and repeated use of the original fuse are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of communication guidance and flight control, and in particular to a repeatable fuze type precision guidance component, system and use method. Background Art

[0002] The fuze-type precision guidance component technology is the best solution for the guidance transformation of uncontrolled ammunition such as grenades, mortars, and rockets. It is also a hot topic of research in various countries. Its core is to miniaturize the electrical system of guidance, control, fuze and other precision guidance functions into a control component. The existing fuze-type precision guidance components are connected to the ammunition by replacing the fuze of the original ammunition, and other components use the original ammunition to achieve the guidance transformation of the original uncontrolled ammunition with minimal changes. Therefore, the existing products or solutions have the following three problems:

[0003] First, it cannot be recovered and reused after launch, which not only increases the cost of military operations, but also limits the sustained combat capability of the weapon system; second, the replacement of the original fuse will continue to consume funds whether it is stored, destroyed or maintained; third, there is no communication after launch, and it is impossible to obtain information on the flight status, landing point and damage of the ammunition in a timely manner. Summary of the invention

[0004] The purpose of the present invention is to overcome the problems existing in the prior art and to provide a repeatable fuze type precision guidance component, system and use method.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] In a first aspect, a repeatable fuze precision guidance assembly is provided, comprising a housing, a radio frequency antenna, a satellite antenna, an onboard controller, a rudder system, a fairing, a folding rotor, an explosive cord, an explosive bolt, a compression spring, a slewing bearing type reducer, a battery, a turntable, and a motor;

[0007] The radio frequency antenna and the rudder system are both installed on the shell, the satellite antenna is installed on the shell wall, the missile-borne controller and the battery are installed in the shell, the inner ring of the slewing bearing type reducer is connected to the battery, and the outer ring of the slewing bearing type reducer is connected to the turntable; the folding rotor is fixed on the turntable, the output shaft of the motor is connected to the turntable, and the compression spring is fixed to the lower end of the motor;

[0008] During installation, the assembly and the fuse are in a compressed state, the explosive rope is inserted into the battery, and the fairing is fixed to the battery by explosive screws.

[0009] In some possible embodiments of the first aspect, the rudder system includes four rudders and four rudder blades correspondingly fixedly mounted on the housing.

[0010] In some possible embodiments of the first aspect, the radio frequency antenna is installed on the upper end of the shell through a pressure ring.

[0011] In some possible embodiments of the first aspect, the satellite antennas are evenly installed in pairs on the wall of the shell.

[0012] In some possible embodiments of the first aspect, the missile-borne controller has its own gyro measurement component.

[0013] In a second aspect, a method for using a repeatable fuze precision guidance assembly is provided, comprising:

[0014] In precision guidance mode, when the missile reaches the target, the explosive cord and explosive bolts are detonated to blow up the fairing, the assembly and the missile are separated by the compression spring, the folded rotor is unfolded, and the missile switches to drone mode;

[0015] In drone mode, the rudder system is used to control the direction of the component and brake and reduce rotation. Then, the control base station information is received through the RF antenna, the rotor is folded and starts working, and the control component conducts reconnaissance over the target point or returns to the launch point for recovery.

[0016] In some possible embodiments of the second aspect, in the precision guidance mode, the four servos stop the yaw, pitch, and roll trajectory corrections, slow down the component, reduce the rotation, and stabilize the component's posture; in the UAV mode, the four servos cooperate with the folding rotors to complete the lift and realize lifting, hovering, and yaw.

[0017] According to a third aspect, a repeatable fuze precision guidance system is provided, comprising the repeatable fuze precision guidance component, a main control unit, a sensor system, a communication unit and an actuator, wherein the main control unit is respectively connected to the sensor system, the communication unit and the actuator; wherein the main control unit comprises precision guidance flight control software set in the precision guidance mode and unmanned aerial vehicle (UAV) flight control software set in the unmanned aerial vehicle (UAV) mode.

[0018] In some possible embodiments of the third aspect, the sensor system includes an IMU sensor and an altimeter.

[0019] In some possible embodiments of the third aspect, a power management unit is further included, and the power management unit is connected to the main control unit.

[0020] It should be further explained that the technical features corresponding to the above options can be combined or replaced with each other to form a new technical solution if there is no conflict.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] (1) The present invention adds a drone-style folding rotor to a traditional precision-guided assembly, and uses the assembly's own onboard controller and rudder blades for flight control. At the same time, there is no need to replace the original fuze of the uncontrolled ammunition as in the existing product solutions. After the assembly of the present invention is directly installed on the original warhead, the precision guidance function is retained during flight, and the ballistic deviation of the uncontrolled ammunition is corrected. When it reaches the vicinity of the target point, the fairing is ejected by the explosive cord and the explosive bolt, so that the assembly of the present invention is separated from the original uncontrolled ammunition. The folding rotor of the present invention is then unfolded, and the rudder blades of the servo reduce the rotation and speed of the assembly, and the folding rotor is used to form a drone mode. At this time, the uncontrolled rocket can stay above the target point for reconnaissance or damage assessment, or directly return to the launch point for recycling and reuse. At this time, the guided uncontrolled rocket maintains a relatively high guidance accuracy and can still hit the target point relatively accurately. The assembly product of the present invention will continue to be reused after returning to the launch point as a "ferry". In summary, compared with existing precision-guided component products and solutions, the present invention adopts a method of not replacing the original fuze and adding a fixed folding rotor, which solves the problems of storage, destruction, maintenance and reuse of the original fuze, further improves combat effectiveness and reduces overall costs.

[0023] (2) Compared with existing gun-launched UAVs or coaxial fixed-wing UAVs, the present invention has the ability to precisely guide uncontrolled ammunition. Another difference is that the rudder blades of the guidance component are used to brake and reduce rotation to improve the steady-state capability of the component.

[0024] (3) When the assembly of the present invention is used, different modes are implemented in stages during the flight process to respectively realize guidance and unmanned flight control.

[0025] (4) The present invention avoids the previous practice of obtaining flight information of uncontrolled ammunition modified by precision guidance components mainly by radar measurement or telemetry. Radar measurement often has the problem of inadequate tracking and is affected by terrain, and cannot effectively observe the flight information of the missile, often loses the missile, and cannot clearly determine whether it hits the target. There are great limitations; the only problem with using telemetry is that it is expensive. Especially for product testing, after the missile drops during flight, it is impossible to obtain the impact point through radar measurement or telemetry, and it is impossible to recover the experimental data. The present invention can timely feedback the position information to establish a round-trip information channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a diagram showing the appearance of components according to an embodiment of the present invention;

[0027] Figure 2 A diagram showing the structure of components according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the components of the folding rotor after unfolding according to an embodiment of the present invention;

[0029] Figure 4The component usage process shown in the embodiment of the present invention;

[0030] Figure 5 The following is a schematic diagram of the use process of components shown in the embodiment of the present invention;

[0031] Figure 6 A schematic diagram of component flight control shown in an embodiment of the present invention;

[0032] Figure 7 The method of using the components in drone mode shown in the embodiment of the present invention;

[0033] Figure 8 A system block diagram showing an embodiment of the present invention.

[0034] In the figure: 1-RF antenna; 2-pressure ring; 3-shell; 4-rudder system; 5-satellite antenna; 6-controller; 7-battery; 8-folding rotor; 9-slewing bearing type reducer; 10-turntable; 11-motor; 12-compression spring; 13-fairing; 14-explosive bolt; 15-explosive rope; 16-screw. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various configurations. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] It should be noted that the defects existing in the solutions in the above-mentioned prior art are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above-mentioned problems and the solutions proposed in the embodiments of the present application for the above-mentioned problems below should all be the contributions made by the inventor to the present application in the process of invention and creation, and should not be understood as technical contents known to technical personnel in this field.

[0037] In view of the technical problems pointed out in the background technology, the embodiments provided by the present invention are as follows:

[0038] Reference Figure 1-Figure 3 In an exemplary embodiment, a repeatable fuze precision guidance assembly is provided, including a housing 3, a radio frequency antenna 1, a satellite antenna 5, an onboard controller 6, a rudder system 4, a fairing 13, a folding rotor 8, an explosive cord 15, an explosive bolt 14, a compression spring 12, a slewing bearing type reducer 9, a battery 7, a turntable 10 and a motor 11.

[0039] The appearance of the component of the present invention is as follows Figure 1As shown, the structure of the component is as follows Figure 2 and Figure 3 As shown, the radio frequency antenna 1 is installed on the upper end of the shell 3 through the pressure ring 2, the rudder system 4 includes four servos and corresponding rudder blades fixedly installed on the shell 3, the satellite antenna 5 is generally composed of a pair, and if anti-interference function is required, two pairs are generally arranged and evenly installed on the wall of the shell 3, the missile-borne controller 6 and the battery 7 are fixed in the shell 3 by screws, the inner ring of the slewing bearing type reducer 9 is fixed and connected to the battery 7 by screws, and the outer ring rotates and is connected to the turntable 10, the folding rotor 8 is fixed on the turntable 10, the output shaft of the motor 11 is fixed to the turntable 10, the motor 11 is hollow, and the screw 16 passes through the middle and is tightened by a gasket nut. The other end of the screw 16 is fixed to the battery 7, and the compression spring 12 is fixed to the lower end of the motor 11. When installing, keep the assembly and the fuze in a compressed and tightened state, the explosive cord 15 is inserted into the groove of the battery 7, and the two fairings 13 are fixed to the battery 7 by circumferential explosive bolts 14.

[0040] Specifically, when the assembly is combined with an uncontrolled missile for flight, the satellite antenna 5 is used to obtain the missile body speed and position information, and the gyroscope is used to measure the missile body roll angle. The rudder system 4 drives the rudder blade as an actuator to achieve three-dimensional correction of the missile body pitch, yaw and roll. When the assembly and the missile are separated by the compression spring 12, the folding rotor 8 is unfolded, and the rudder blade is used to control the direction of the assembly and brake and reduce the rotation. After receiving the control base station information through the radio frequency antenna 1, the folding rotor 8 starts to work to control the assembly or conduct reconnaissance over the target point or return to the launch point for recovery.

[0041] In another exemplary embodiment, a method for using a component is provided. When the component is used, Figure 1 In the embodiment, the assembly is fixed to the warhead cone of the atomic bomb through two fairings 13 using explosive bolts 14. At this time, the compression spring 12 of the assembly is tightly compressed on the fuze, so that there is a spring compression force between the assembly and the bomb. Since the fairing 13 and the warhead are tightly installed, the assembly will not be ejected.

[0042] After the components and the missile are installed and tightened, they are loaded into the launch tube after ground position testing, trajectory calculation, parameter binding, etc. The use process is as follows: Figure 4As shown, the satellite antenna 5 receives the satellite positioning information, starts the guidance from the serial number satellite at t1, and transmits the guidance data to the missile-borne controller 6 for signal processing, and generates a control signal after processing through the rotation information and attitude of the gyro measurement component of the missile-borne controller 6 through the flight control software, controls the rudder system 4 to rotate, generates yaw and pitch moments to perform three-dimensional trajectory correction, and at this time, the flight information of the missile body is transmitted to the front through the radio frequency antenna 1, so that the front can grasp the missile body information in time to perform height, missile-target distance and other detections, and judge and analyze the information through the controller and the preset information. When the missile flies to the time point t4, the explosive cord 15 and the explosive bolt 14 are detonated, and the explosive force generated causes the fairing 13 to fall off, and the folding rotor 8 constrained inside the fairing 13 is unfolded after losing the constraint, and the compressed compression spring 12 is released after losing the constraint, so that the component is separated from the missile body, and the high-speed missile body is prevented from hitting the component. At this time, the component has an attack angle, high speed, and rotation speed that are not conducive to the operation of the folding rotor 18. Therefore, the missile-borne controller 6 controls the rudder system 4 to brake, brake, turn, and reduce the rotation to achieve the purpose of slowing down and stabilizing the component. Then the motor 11 drives the turntable 10 to drive the folding rotor 8 to work through the slewing bearing type reducer 9, and the component switches from the guidance function to the drone flight function. The drone mode is returned through automatic driving or front operation to make the component return to the front, and the component is elastically landed and recovered through the component compression spring 12, and the recovery, inspection and maintenance are completed for reuse. At this time, the uncontrolled projectile that has been separated from the assembly is on a relatively accurate trajectory due to the early correction of the guidance assembly. Although the last section of the trajectory is uncontrolled, it still has good strike accuracy. The use process is as follows: Figure 5 As shown, t1 is the guidance start time and t4 is the component separation time point.

[0043] at the same time Figure 6 It is the method of using the components of the drone mode to lift and yaw. Generally speaking, the rotor generates F by increasing or decreasing speed. 升降 At this time, the rudder system 4 controls the rudder blade to produce a deflection angle, thereby generating F 偏航1 and F 偏航2 , the coupling will control the component to fly in the reserved direction. The specific process is as follows Figure 7 .

[0044] In another exemplary embodiment, a repeatable fuze precision guidance system is provided, the system comprising: Figure 8 As shown, the present invention uses independent precision guidance flight control software in the precision guidance stage, and then independently uses the UAV flight control software in the UAV mode stage, that is, sharing a hardware control unit, integrating two independent flight control software, and attached test software, monitoring software, binding software, and energy management software.

[0045] The main control unit is the "brain" of the system, responsible for receiving, processing and issuing all key instructions. It also has the function of temporary data storage and long-term storage of key information such as flight data, system configuration and navigation maps. According to the deviation of the target attitude and position and the current attitude and position, the target angle of each servo and the target speed of the rotor are calculated, and attitude control is performed through the actuator.

[0046] Sensor module: including IMU to provide attitude and acceleration data, altimeter to measure flight altitude, and other special sensors (such as wind speed, wind direction sensor, geomagnetic, etc.). These sensors together provide the system with environmental perception and its own status information.

[0047] Power management unit: It consists of a battery, a servo drive module, a UAV motor drive module and a power monitoring module to ensure that the system has a stable and efficient energy supply during flight.

[0048] Communication unit: ensures real-time data transmission and information sharing between the system and ground base stations or other related systems through radio, satellite or other communication methods. Its functions include: target information binding, remote monitoring, command issuance and coordinated flight.

[0049] Actuators: including servos controlling trajectory correction during the precision guidance phase and the flight direction during the UAV flight phase, and rotors providing power for the UAV flight. These actuators adjust the system's trajectory and flight attitude according to flight control instructions.

[0050] Directions:

[0051] In precision guidance mode, the four servos are mainly used for attitude adjustment (yaw, pitch, roll).

[0052] Before the drone mode is turned on, the four servos stop the yaw, pitch, and roll trajectory corrections to slow down and reduce the rotation of the component to stabilize the component's attitude.

[0053] In drone mode, the four servos mainly cooperate with the rotor to complete lift and achieve ascent, descent, hovering and yaw.

[0054] Specifically, by adjusting the angle θ of the servo i , the torque of the drone in the x-axis and y-axis directions can be changed to achieve yaw and attitude adjustment.

[0055] The lifting and lowering are achieved by adjusting the rotor speed ω. Increasing the rotor speed will generate greater lift, causing the drone to rise; reducing the speed will reduce the lift, causing the drone to descend.

[0056] By adjusting the rudder blades, the torque of the components in four directions (forward, backward, left, and right) is balanced to achieve hovering. Forward and backward balance: By adjusting the deflection angle of a pair of rudder blades, a corresponding pitch torque is generated to keep the drone balanced in the forward and backward directions. Left and right balance: By adjusting the deflection angle of another pair of rudder blades, a corresponding rolling torque is generated to keep the drone balanced in the left and right directions. In order to maintain the hovering state, the control system needs to continuously adjust the deflection angle of the rudder blades to offset external interference (such as wind).

[0057] Furthermore, combined with Figure 7 A specific control method is given: using the data from the sensor module, the attitude angle (pitch angle θ, yaw angle ψ, roll angle φ) of the current UAV is calculated through quaternion or Euler angle method, the target attitude angle is set, and compared with the current attitude angle, the attitude deviation Δθ, Δψ, Δφ is calculated, and the adaptive PID control algorithm is used to generate the control command u(t) according to the attitude deviation, and the control command u(t) is converted into a PWM (pulse width modulation) signal to drive the four servos to drive the rudder to actuate. The relationship between the servo angle and the control command can be expressed as:

[0058] α i =f(u i (t))

[0059] where α i is the turning angle of the i-th servo, u i (t) is the corresponding control instruction.

[0060] According to the flight environment and mission requirements, the parameters of the PID controller (K p , K i , K d ) and the folding rotor speed to improve the response speed and stability of the system. It also includes servo fault detection and fault tolerance algorithms. When a servo fails, it can automatically adjust the working status of other servos to ensure the safe flight of the drone.

[0061] The above specific implementation methods are detailed descriptions of the present invention. It cannot be determined that the specific implementation methods of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions and substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. A repeatable fuze precision guidance assembly, characterized in that: It includes a shell, a radio frequency antenna, a satellite antenna, a missile-borne controller, a rudder system, a fairing, a folding rotor, an explosive cord, an explosive bolt, a compression spring, a slewing bearing type reducer, a battery, a turntable and a motor; The radio frequency antenna and the rudder system are both installed on the shell, the satellite antenna is installed on the shell wall, the missile-borne controller and the battery are installed in the shell, the inner ring of the slewing bearing type reducer is connected to the battery, and the outer ring of the slewing bearing type reducer is connected to the turntable; the folding rotor is fixed on the turntable, the output shaft of the motor is connected to the turntable, and the compression spring is fixed to the lower end of the motor; During installation, the assembly and the fuse are in a compressed state, the explosive rope is inserted into the battery, and the fairing is fixed to the battery by explosive screws.

2. A repeatable fuze precision guidance assembly according to claim 1, characterized in that: The rudder system comprises four rudders and four rudder blades correspondingly fixedly mounted on the housing.

3. A repeatable fuze precision guidance assembly according to claim 1, characterized in that: The radio frequency antenna is mounted on the upper end of the shell through a pressure ring.

4. A repeatable fuze precision guidance assembly according to claim 1, characterized in that: The satellite antennas are evenly installed in pairs on the wall surface of the housing.

5. A repeatable fuze precision guidance assembly according to claim 1, characterized in that: The missile-borne controller is provided with a gyro measurement component.

6. A method for using the repeatable fuze precision guidance assembly according to any one of claims 1 to 5, characterized in that: include: In precision guidance mode, when the missile reaches the target, the explosive cord and explosive bolts are detonated to blow up the fairing, the assembly and the missile are separated by the compression spring, the folded rotor is unfolded, and the missile switches to drone mode; In drone mode, the rudder system is used to control the direction of the component and brake and reduce rotation. Then, the control base station information is received through the RF antenna, the rotor is folded and starts working, and the control component conducts reconnaissance over the target point or returns to the launch point for recovery.

7. The method for using a repeatable fuze precision guidance assembly according to claim 6, characterized in that: In the precision guidance mode, the four servos stop the yaw, pitch and roll trajectory corrections, slow down the component, reduce the rotation, and stabilize the component's posture. In the UAV mode, the four servos cooperate with the folding rotors to complete the lift and achieve lifting, hovering and yaw.

8. A repeatable fuze precision guidance system, comprising the repeatable fuze precision guidance assembly according to any one of claims 1 to 5, characterized in that: It also includes a main control unit, a sensor system, a communication unit and an actuator, and the main control unit is connected to the sensor system, the communication unit and the actuator respectively; wherein the main control unit includes precision guidance flight control software set in the precision guidance mode and unmanned aerial vehicle flight control software set in the unmanned aerial vehicle mode.

9. A repeatable fuze precision guidance system according to claim 8, characterized in that: The sensor system includes an IMU sensor and an altimeter.

10. A repeatable fuze precision guidance system according to claim 8, characterized in that: It also includes a power management unit, which is connected to the main control unit.

Images