Method for pointing and controlling terminal target to guide sighting telescope through low-altitude blind compensation system

Abstract

The invention belongs to the field of low-altitude target guide sighting telescope methods, and particularly relates to a method for a low-altitude blind compensation system to instruct and control a terminal target guide sighting telescope. The method comprises the following steps of: performing remote communication on low-altitude blind compensation system equipment; acquiring longitude and latitude height information of detection equipment in the low-altitude blind compensation system, acquiring longitude and latitude height information of sighting telescope equipment, and acquiring attitude information of current orientation, pitching, rolling and the like of the sighting telescope; acquiring information of a target detected by detection equipment in the low-altitude blind compensation system; calculating the position of the detection target relative to the sighting telescope equipment; and calculating the moving direction and the specific numerical value of the sighting telescope in the current posture, and displaying the information on a sighting telescope display. According to the invention, a sighting telescope can be guided to aim at a system to detect a target with high precision under the condition of long-distance different-space arrangement of low-altitude blind compensation system equipment.

Description

Technical Field

[0001] The invention belongs to the field of low-altitude target guidance sighting method, and particularly relates to a low-altitude blind spot compensation system command terminal target guidance sighting method. Background Art

[0002] When using purely mechanical strike equipment without electronic control, the equipment operator is generally required to use a sight to aim at the target position. When striking a moving target in the air, the command center is required to give the target position based on the target information of the detection equipment so that the strike equipment can aim according to the target position.

[0003] When the command center is far away from the strike equipment, if long-distance wired transmission is used to send the target location information, although the real-time location information can be guaranteed, the layout of a wired network of several kilometers or even more than ten kilometers requires a lot of time and materials. If communication equipment such as walkie-talkies are used for manual transmission, there is a risk of delayed reporting of location information; in the case of multiple targets, manual transmission of information is prone to errors; and the accuracy of the operator's judgment of the target's direction and pitch is not high. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention adopts wireless communication means, based on UDP / IP and TCP / IP protocol communication methods, to guide the aiming device at a long distance. The aiming device and the three-dimensional electronic compass are fixed on the strike equipment, and the strike position of the aiming device is calculated based on the position information reported by the detection equipment, the electronic compass, etc. The strike target is manually assigned through the command terminal, which reduces the time of command and dispatch, and can ensure the timeliness and accuracy of the transmitted data.

[0005] The technical solution of the present invention is: a method for guiding a target sighting device of a low-altitude blind spot compensation system charging terminal, which is characterized by comprising the following steps:

[0006] Step 1: Use radio transmission equipment to achieve long-distance communication with the remote terminal equipment of the low-altitude blind spot compensation system, use radio equipment to achieve network routing, and then perform data interaction based on UDP / IP or TCP / IP protocol according to the characteristics of the equipment;

[0007] Step 2. Assemble the sight, electronic compass and strike equipment together, and keep the three devices in the same posture. The position information and attitude information of the electronic compass can be used as the position and attitude information of the sight and strike equipment. The current longitude and latitude position information (B0, L0, H0) and attitude information (azi,ele, roll) of the electronic compass are transmitted to the command terminal via Ethernet in the data format of a binary message via radio. As the longitude and latitude information of the sight and the azimuth, pitch, roll and other attitude information, the low-altitude blind spot detection system detection equipment reports the current longitude and latitude position information to the command terminal in the data format of a binary message. The command terminal parses the position information and attitude information reported by each device, calculates the average value of the position information, and stores it in the configuration file;

[0008] Step 3: Use the low-altitude blind spot detection system to detect the target in binary form. The command terminal parses the target's location information. The detection device's geographic coordinates are (ulon, ulat, ualt), and the geocentric coordinates are (X0, Y0, Z0). If the location information is the polar coordinates (ρ, θ, γ) relative to the detection device, ρ is the distance, θ is the azimuth arc, and γ is the pitch arc. Finally, the target geocentric coordinates (X, Y, Z) and target geographic coordinates (B, L, H) are calculated.

[0009] Step 4: According to the target's geocentric coordinates (X, Y, Z) and the sight's geographic coordinates (B0, L0, H0), the geocentric coordinates (X0, Y0, Z0) are used to calculate the target's polar coordinates (ρ0, θ0, γ0) relative to the sight, and the direction and specific value to be moved are calculated through the current sight's posture (azi, ele, roll);

[0010] The beneficial effects of the present invention are as follows: after testing, the time spent on data transmission in the whole process is very short. After the deployment is successful, it only takes no more than 4 seconds to transmit a batch of target positions to the sight, and the azimuth accuracy of the target position is less than or equal to 0.2 degrees, and the pitch accuracy is less than or equal to 0.3 degrees. The present invention is suitable for use in various weapon systems or anti-unmanned systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a scene simulation diagram.

[0012] Figure 2 It is a flow chart of the present invention.

[0013] Figure 3 This is a flow chart of the position information average difference limit calculation method.

[0014] Figure 4 Flowchart for target position information calculation. DETAILED DESCRIPTION

[0015] Glossary:

[0016] Low-altitude blind spot compensation system: It is mainly used to monitor and detect low-altitude areas (usually low-altitude areas near the ground) to make up for the detection blind spots of conventional detection systems in the low-altitude range. It is generally composed of low-altitude detection radars and other equipment. These devices can detect ultra-low-altitude flying targets, such as small drones and low-altitude penetration aircraft, and play a key role in military air defense, airport clearance security, and low-altitude protection of important facilities.

[0017] Polar coordinates: A coordinate system relative to a fixed point, generally in the form of an ordered pair (ρ, θ, γ), where ρ is the distance, θ is the azimuth in radians, and γ is the pitch in radians.

[0018] Station center coordinates: The station center coordinates are a three-dimensional coordinate system with the observation station as the center, with the north-south direction as the y-axis, the east-west direction as the x-axis, and the vertical direction as the z-axis. The parameters are the distance values ​​in the three-dimensional directions.

[0019] Geocentric coordinates: Geocentric coordinates are a coordinate system established with the center of mass of the earth as the origin. The X-axis points to the intersection of the prime meridian and the equator, the Y-axis is perpendicular to the X-axis, and the Z-axis is parallel to the earth's rotation axis.

[0020] Geographic coordinates: Geographic coordinates are a coordinate system that uses longitude and latitude to represent locations on the Earth's surface.

[0021] Figure 1 This is a scene simulation diagram. The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] like Figure 2 As shown, the specific implementation steps of the present invention are as follows:

[0023] Step 1: Use radio transmission equipment to achieve long-distance communication with the remote terminal equipment of the low-altitude blind spot compensation system, use radio equipment to achieve network routing, and then perform data interaction based on UDP / IP or TCP / IP protocol according to the characteristics of the equipment. For equipment that uses serial communication, the serial port to network port module in the radio equipment can be used to convert the serial communication into Ethernet communication;

[0024] Step 2: Assemble the sight, electronic compass and strike equipment together, and keep the three devices in the same posture. The position information and attitude information of the electronic compass can be used as the position and attitude information of the sight and strike equipment. The current latitude and longitude position information (B0, L0, H0) and attitude information (azi, ele, roll) of the electronic compass are transmitted to the command terminal via Ethernet in the data format of binary messages via radio. As the latitude and longitude information of the sight and the attitude information such as azimuth, pitch, and roll, the low-altitude blind spot detection system detection equipment reports the current latitude and longitude position information to the command terminal in the data format of binary messages. The command terminal parses the position information and attitude information reported by each device, calculates the average value of the position information, and stores it in the configuration file.

[0025] The specific process of calculating the average value of the position information is as follows: Figure 3 As shown: 50 pieces of geographical coordinate location information reported by the cumulative device, longitude lon1, lon2...lon50, latitude lat1, lat2...lat50, altitude alt1, alt2...alt50, longitude and latitude units are degrees, altitude units are meters, calculate the overall average difference of the 50 location information, the formula is as follows:

[0026]

[0027] Where xi is one of the longitude and latitude information, MD is the overall mean difference, u is the average value of the position, MDlon is defined as the longitude mean difference, MDlat is the latitude mean difference, MDalt is the altitude mean difference, ulon is the longitude average, ulat is the latitude average, and ualt is the altitude average. When MDlon and MDlat are less than 0.00001, and MDalt is less than 5, the geographic coordinates (ulon, ulat, ualt) can be used as the final location information of the current device and stored in the .ini configuration file. When the average difference does not meet the conditions, delete the items where |xi-u|>MD. If the number of remaining items is greater than 30, recalculate the average value u and use the new average value as the final location information. If it does not meet the condition greater than 30, clear the accumulated location information data, re-cache the location information, and repeat the above operations.

[0028] When the strike equipment is moving or not fixed, the readiness status of the strike equipment can be remotely identified. If it is not ready, a reminder that the strike equipment is not ready can be given on the command terminal, ensuring that the strike equipment can work normally and effectively, improving the accuracy of the position, and ensuring that the strike target can be found quickly.

[0029] Step 3: Figure 4The position information of the target relative to the sight is calculated by using the position information of the device itself reported by the low-altitude blind spot detection system, as well as the position information of the sight. The detection device reports the position information in the form of a binary message. The geographic coordinates of the detection device are (ulon, ulat, ualt), and the geocentric coordinates are (X0, Y0, Z0). The position information of the target is generally the polar coordinates (ρ, θ, γ) relative to the detection device. ρ is the distance, θ is the azimuth arc, and γ is the pitch arc. The following process can be used to convert it into geocentric coordinates:

[0030] Convert the polar coordinates relative to the detection device to the station center coordinates (x, y, z) relative to the detection device:

[0031] x=ρcosθcosγ, y=ρsinθγcosγ, z=ρsinγ

[0032] Relative to the detection equipment's station center coordinates to the target's geocentric coordinates (X, Y, Z):

[0033] X=X0+xcosθcosγ-ysinθ+zcosθsinγ

[0034] Y=Y0+xsinθcosγ+ycosθ+zsinθsinγ

[0035] Z=Z0-xsinγ+zcosγ

[0036] Step 4. According to the target's geocentric coordinates (X, Y, Z) and the sight's geographic coordinates (B0, L0, H0), the geocentric coordinates (X0, Y0, Z0) are used to calculate the target's polar coordinates (ρ0, θ0, γ0) relative to the sight. The calculation method is as follows:

[0037] The geocentric coordinates are converted to the station-centric coordinates (x0, y0, z0) of the sighting device:

[0038]

[0039] The station center coordinates relative to the sighting device are converted to the polar coordinates relative to the sighting device (ρ0, θ0, γ0):

[0040]

[0041] The direction and specific value to be moved are calculated by the current aiming device posture (azi,ele,roll). The azimuth difference to be moved is Δazi=azi-(θ0*180 / π), and the pitch difference is Δele=ele-(γ0*180 / π). In this step, the azimuth difference Δazi and the pitch difference Δele are accurate to two decimal places, the azimuth accuracy is less than or equal to 0.2 degrees, and the pitch longitude is less than or equal to 0.3 degrees. According to the distance between the aiming device and the target, the command operator reasonably assigns the target to the aiming device unit, transmits the information to the aiming device through the control command, and feeds back to the aiming device user through the aiming device display interface.

[0042] In the present invention, the wireless communication equipment can be selected from shelf products, and wireless equipment with different ranges can be selected according to demand. The wireless equipment used in the test is small in size and has a long battery life. The sight and the three-dimensional electronic compass are directly fixed on the strike equipment, and the strike equipment can directly aim according to the rotation information displayed by the sight, which meets the weight and volume requirements of individual combat, and the combat distance can reach 20 kilometers. The wireless equipment and the sight do not need to be connected to the strike equipment, and the equipment can be disassembled and assembled at any time, which is convenient for equipment reuse. The cost required is much lower than that of using optical fiber wired transmission, and the deployment time can be greatly reduced.

[0043] The present invention unifies the Ethernet communication, reduces the situation where the command terminal needs to monitor multiple interfaces when different devices use different transmission interfaces, such as 232 serial ports, 422 serial ports, etc., reduces the workload of the command terminal, and is conducive to functional modularization.

[0044] The accusation terminal of the present invention uses a unified device information format and target data format, which can connect to different transmission protocols of different devices, and can also require other devices to report in a unified format according to the data format of the accusation terminal.

[0045] The present invention calculates the position information using the average difference limitation method, which increases the accuracy of the target position. The 50 selected position information and the minimum number of 30 credible position information can be manually set by the command terminal. The more the number selected, the more credible the number, the more accurate the position information, and the longer the positioning time will be. Therefore, according to the actual situation, if there is enough time, the two values ​​can be set larger to improve the accuracy. If you need to enter the state quickly, set the two values ​​smaller to reduce the preparation time.

[0046] The present invention can dynamically allocate targets by the command terminal operator. In the case of multiple targets and multiple aiming devices, the target can be allocated to a suitable aiming device according to the effective range of the strike device, the on-site environment of the strike device, and the working status of the strike device, and the target can be aimed at by the aiming device, and subsequent strike processing can be carried out.

Claims

1. A method for guiding a target sighting device of a low-altitude blind spot compensation system command terminal, characterized in that: The following steps are involved: Step 1: Realize long-distance communication with the remote device of the low-altitude blind spot compensation system terminal through radio transmission equipment; Step 2: Assemble the sight, electronic compass and strike equipment together, and keep the three devices in the same posture. The position information and attitude information of the electronic compass can be used as the position and attitude information of the sight and strike equipment. The current latitude and longitude position information and attitude information of the electronic compass are transmitted to the command terminal via radio in the data format of binary messages. The low-altitude blind spot detection system detection equipment reports the current latitude and longitude position information to the command terminal in the data format of binary messages; the command terminal parses the position information and attitude information reported by each device and calculates the average value of the position information; Step 3. Calculate the target's position information relative to the sight by using the target's position information reported by the low-altitude blind spot detection system. The geographic coordinates of the detection device are (ulon, ulat, ualt), and the geocentric coordinates are (X0, Y0, Z0). The target's position information is generally the polar coordinates (ρ, θ, γ) relative to the detection device, ρ is the distance, θ is the azimuth arc, and γ is the pitch arc, which are converted to geocentric coordinates: Convert the polar coordinates relative to the detection device to the station center coordinates (x, y, z) relative to the detection device: x=ρcosθcosγ, y=ρsinθγcosγ, z=ρsinγ Relative to the detection equipment's station center coordinates to the target's geocentric coordinates (X, Y, Z): X=X1+xcosθcosγ-ysinθ+zcosθsinγ Y=Y1+xsinθcosγ+ycosθ+zsinθsinγ Z=Z1-xsinγ+zcosγ Step 4: Calculate the polar coordinates (ρ0, θ0, γ0) of the target relative to the sight based on the target's geocentric coordinates (X, Y, Z) and the sight's geocentric coordinates (X0, Y0, Z0). The calculation process is as follows: The geocentric coordinates are converted to the station-centric coordinates (x0, y0, z0) of the sighting device: The station center coordinates relative to the sighting device are converted to the polar coordinates relative to the sighting device (ρ0, θ0, γ0): The direction and specific value to be moved are calculated by the current aiming posture (azi,ele,roll). The azimuth value to be moved is Δazi=azi-(θ 0 *180 / π), the pitch value is Δele=ele-(γ0*180 / π), the command terminal transmits the azimuth and pitch difference information of the sight to be moved to the sight through the control command, and the sight displays the direction and angle value to be moved.

2. A method for guiding the sighting device of a low-altitude blind spot compensation system command terminal according to claim 1, characterized in that: In step 2, the specific process of calculating the average value of the location information is as follows: accumulate the 50 pieces of geographic coordinate location information reported by the device, longitude lon1, lon2.........lon50, latitude lat1, lat2.........lat50, altitude alt1, alt2.........alt50, longitude and latitude units are degrees, altitude units are meters, calculate the overall average difference of the 50 pieces of location information, the formula is as follows: Where xi is one of the longitude and latitude information, MD is the overall mean difference, u is the average value of the position, MDlon is defined as the mean difference in longitude, MDlat is the mean difference in latitude, MDalt is the mean difference in altitude, ulon is the average longitude, ulat is the average latitude, and ualt is the average altitude.

3. A method for guiding the sighting device of a low-altitude blind spot compensation system command terminal according to claim 1, characterized in that: In step 1, wireless equipment is used to unify the communication interfaces of all devices into Ethernet communication.

4. A method for guiding the sighting device of a low-altitude blind spot compensation system command terminal according to claim 2, characterized in that: In step 2, the average difference limit is adopted to improve the accuracy of geographic coordinates. When MDlon and MDlat are less than 0.00001 and MDalt is less than 5, the geographic coordinates are used as the final location information of the current device and stored in the .ini configuration file. When the average difference does not meet the conditions, delete the items where |xi-u|>MD. If the number of remaining items is greater than 30, recalculate the average value u and use the new average value as the final location information. If it does not meet the condition greater than 30, clear the accumulated location information data, re-cache the location information, and repeat the above operation.

5. The method for guiding the sighting device of the low-altitude blind spot compensation system command terminal according to claim 1 is characterized in that: The azimuth and elevation differences finally calculated in step 4 are accurate to two decimal places, with an azimuth accuracy of less than or equal to 0.2 degrees and an elevation longitude of less than or equal to 0.3 degrees.

6. The method for guiding the sighting device of the low-altitude blind spot compensation system command terminal according to claim 1 is characterized in that: In step 4, the command terminal operator dynamically allocates targets. In the case of multiple targets and multiple aiming devices, the targets can be allocated to appropriate aiming devices based on the effective range of the strike equipment, the on-site environment of the strike equipment, and the working status of the strike equipment.

Images