A method for guiding the sighting device of the command terminal of a low-altitude blind spot compensation system

Abstract

The present application belongs to the field of low-altitude target guiding sight method, and particularly relates to a target guiding sight method of a low-altitude blind-filling system command terminal. The present application comprises a long-distance communication step of a low-altitude blind-filling system device; a step of acquiring longitude and latitude information of a detection device in the low-altitude blind-filling system, acquiring longitude and latitude information of a sighting device, and acquiring attitude information such as current azimuth, pitch and roll of the sighting device; a step of acquiring target information detected by the detection device in the low-altitude blind-filling system; a step of calculating the position of the detected target relative to the sighting device; and a step of calculating the direction and specific value of the movement of the sighting device in the current attitude, and displaying the information on a sighting display. The present application can realize high-precision guiding of a sighting aiming system to detect a target under the condition that the low-altitude blind-filling system device is arranged at a long distance and in different spaces.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of low-altitude target guiding sight method, and particularly relates to a target guiding sight method of a low-altitude blind-filling system command terminal. BACKGROUND

[0002] In the use of a pure mechanical striking device without electronic control, a device operator generally needs to use a sight to aim at a target position, and when striking an air-moving target, a command center needs to give a target position according to target information of a detection device, so that the striking device can aim at the target position.

[0003] When the command center is far away from the striking device, if long-distance wired transmission is used to send target position information, although the real-time performance of the position information can be ensured, a long-distance wired network arrangement needs a large amount of time and materials. If a walkie-talkie or other communication device is used for manual transmission, there is a risk of delayed reporting of the position information; in the case of multiple targets, manual transmission of information is prone to errors; and the accuracy of the target azimuth and pitch judged by the operator is not high. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application uses a wireless communication means, a UDP / IP and TCP / IP protocol communication mode, to guide a sight at a long distance. The sight and a three-dimensional electronic compass are fixed on the striking equipment, and the striking position of the sight is calculated according to position information reported by a detection device and an electronic compass, a striking target is manually distributed by a command terminal, the time of command scheduling is reduced, and the timeliness and accuracy of the transmission data can be ensured.

[0005] The technical scheme of the present application is as follows: a target guiding sight method of a low-altitude blind-filling system command terminal, characterized by comprising the following steps:

[0006] Step 1: long-distance communication is realized between a low-altitude blind-filling system command terminal remote device and a wireless radio transmission device, network routing is realized by using a wireless radio device, and data interaction is carried out based on a UDP / IP or TCP / IP protocol according to the characteristics of the device;

[0007] Step two, assemble the sight, electronic compass and strike equipment together, keep the three device posture consistent, the position information and posture information of the electronic compass can be used as the position and posture information of the sight and strike equipment. The current longitude and latitude position information (B0, L0, H0) and posture information (azi, ele, roll) of the electronic compass are transmitted to the control terminal in binary message data format through the Ethernet by radio, as the longitude and latitude information and the attitude, pitch, roll and other posture information of the sight, the low altitude blind filling system detection equipment reports the current longitude and latitude position information to the control terminal in binary message data format. The control terminal analyzes the position information and posture information reported by each device, calculates the average value of the position information, and stores it in the configuration file;

[0008] Step three, through the low altitude blind filling system detection equipment, the information of the target is reported in binary message form, the control terminal analyzes the position information of the target, the geographic coordinates of the detection equipment are (ulon, ulat, ualt), the geocentric coordinates are (X0, Y0, Z0), wherein the position information is polar coordinates (ρ, θ, γ) relative to the detection equipment, wherein ρ is the distance, θ is the azimuth radian, and γ is the pitch radian, and finally the geocentric coordinates (X, Y, Z) and the geographic coordinates (B, L, H) of the target are calculated;

[0009] Step four, according to the geocentric coordinates (X, Y, Z) of the target and the geographic coordinates (B0, L0, H0) of the sight, the geocentric coordinates (X0, Y0, Z0), the polar coordinates (ρ0, θ0, γ0) of the target relative to the sight are calculated, and the direction and specific value of the movement are calculated through the current sight posture (azi, ele, roll);

[0010] The beneficial effects of the present application are: through tests, the time spent in data transmission in the whole process is extremely small, after successful arrangement, a batch of target positions are transmitted to the sight in no more than 4 seconds, the target position azimuth accuracy is less than or equal to 0.2 degrees, and the pitch accuracy is less than or equal to 0.3 degrees. The present application is suitable for use in various weapon systems or anti-no systems. BRIEF DESCRIPTION OF DRAWINGS

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

[0012] Figure 2 It is a flowchart of the present application.

[0013] Figure 3 It is a flowchart of the position information average difference limit calculation method.

[0014] Figure 4 It is a target position information calculation flowchart. DETAILED DESCRIPTION

[0015] Glossary:

[0016] Low-altitude blind spot detection systems are primarily used to monitor and detect low-altitude areas (usually near the ground) to compensate for the low-altitude detection blind spots of conventional detection systems. These systems typically consist of low-altitude detection radars and other equipment. These devices can detect ultra-low-altitude targets, such as small drones and low-altitude penetration aircraft. They play a key role in military air defense, airport clearance and security, and the low-altitude protection of critical facilities.

[0017] Polar coordinates: A coordinate system relative to a fixed position, generally consisting of ordered pairs (ρ, θ, γ), where ρ is distance, θ is azimuth in radians, and γ is 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 is 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 implement network routing, and then use UDP / IP or TCP / IP protocol to exchange data 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 two: Assemble the sighting device, electronic compass and striking equipment together, keep the three devices in the same posture, the position information and posture information of the electronic compass can be used as the position and posture information of the sighting device and striking equipment. The current longitude, latitude and height position information (B0, L0, H0) and posture information (azi, ele, roll) of the electronic compass are transmitted to the command terminal in the form of binary message data through Ethernet by radio, as the longitude, latitude and height information and the azimuth, pitch and roll posture information of the sighting device. The current longitude, latitude and height position information of the low-altitude blind-filling system detection equipment is reported to the command terminal in the form of binary message data. The command terminal analyzes the position information and posture 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 shown in Figure 3 The 50 pieces of geographical coordinate position information reported by the device, longitude lon1, lon2, …, lon50, latitude lat1, lat2, …, lat50, and altitude alt1, alt2, …, alt50, are accumulated, the unit of longitude and latitude is degree, and the unit of altitude is meter. The overall average difference of the 50 pieces of position information is calculated, and the formula is as follows:

[0026]

[0027] Wherein xi is one of the longitude, latitude and height information, MD is the overall average difference, u is the average value of the position, MDlon is the average difference of longitude, MDlat is the average difference of latitude, MDalt is the average difference of altitude, ulon is the average value of longitude, ulat is the average value of latitude, and ualt is the average value of altitude. When MDlon and MDlat are less than 0.00001, and MDalt is less than 5, the geographical coordinates (ulon, ulat, ualt) can be used as the final position information of the current device and stored in the.ini configuration file. When the average difference does not meet the condition, the items with |xi-u|>MD are deleted, and if the number of remaining items is greater than 30, the average value u is recalculated, and the new average value is used as the final position information. If the condition of being greater than 30 is not met, the accumulated position information data is cleared, the position information is buffered again, and the above operation is repeated.

[0028] When the striking equipment is moving or not installed fixedly, the striking equipment preparation state can be remotely identified. When the striking equipment is not ready, the command terminal can give a reminder that the striking equipment is not ready, so as to ensure that the striking equipment can work normally and effectively, improve the accuracy of the position, and ensure that the striking target can be quickly found.

[0029] Step three, as Figure 4The information of the target relative to the device and the position information of the sighting device are calculated by the position information of the device itself reported by the low-altitude blind-filling system detection device, and the position information of the sighting device. 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 polar coordinates (p, q, g) relative to the detection device, p is the distance, q is the azimuth radian, and g is the pitch radian. The following process can be used to convert it to geocentric coordinates:

[0030] Polar coordinates relative to the detection device are converted to station-centered coordinates (x, y, z) relative to the detection device:

[0031] x = pcosqcosg, y = psinqgcosg, z = psing

[0032] Station-centered coordinates relative to the detection device are converted to geocentric coordinates (X, Y, Z) of the target:

[0033] X = X0 + xcosqcosg - ysinq + zcosqsin g

[0034] Y = Y0 + xsinqcosg + ycosq + zsinqsin g

[0035] Z = Z0 - xsing + zcosg

[0036] Step four, according to the geocentric coordinates (X, Y, Z) of the target and the geographic coordinates (B0, L0, H0) of the sighting device, the geocentric coordinates (X0, Y0, Z0), the polar coordinates (p0, q0, g0) of the target relative to the sighting device are calculated, and the calculation method is as follows:

[0037] Geocentric coordinates are converted to station-centered coordinates (x0, y0, z0) relative to the sighting device:

[0038]

[0039] Station-centered coordinates relative to the sighting device are converted to polar coordinates (p0, q0, g0) relative to the sighting device:

[0040]

[0041] The direction and specific value of the movement required are calculated through the current sight posture (azi, ele, roll), the azimuth difference value is Delta azi = azi - (theta0 * 180 / pi), the elevation difference value is Delta ele = ele - (gamma0 * 180 / pi), the azimuth difference value Delta azi and the elevation difference value Delta ele are accurate to two decimal places in this step, the azimuth accuracy is less than or equal to 0.2 degrees, and the elevation longitude is less than or equal to 0.3 degrees. According to the distance between the sight and the target, the target is reasonably assigned to the sight unit by the command and control operator, and the information is transmitted to the sight through the control command, and the information is fed back to the sight user through the sight display interface.

[0042] In the application, the wireless communication equipment can select the shelf product, and the wireless equipment with different action distances can be selected according to the requirement, the wireless equipment used for testing has small volume and long endurance time, the sight and the three-dimensional electronic compass are directly fixed on the striking equipment, the striking equipment can directly aim according to the rotation information displayed by the sight, the weight and volume requirements of the single soldier combat are met, and the combat distance can reach 20 kilometers. The wireless equipment and the sight do not need to be connected with the striking equipment, the equipment can be disassembled at any time, the equipment reuse is facilitated, the required cost is far lower than that of using optical fiber wired transmission, and the arrangement time can be greatly reduced.

[0043] In the application, the Ethernet communication is unified, the situation that the command and control terminal needs to monitor multiple interfaces when different transmission interfaces such as 232 serial ports and 422 serial ports are used is reduced, the work load of the command and control terminal is reduced, and the functional modularization is beneficial.

[0044] In the application, the unified device information format and target data format are used in the command and control terminal, different transmission protocols of different devices can be connected, and the rest of the devices can be required to report according to the format according to the data format of the command and control terminal.

[0045] In the application, the average difference limiting method is used for calculating the position information, the accuracy of the target position is increased, the selected 50 position information and the minimum number of credible position information 30 can be manually set by the command and control terminal, the more the selected number is, the more the number of credible position information is, the more accurate the position information is, and the positioning time is relatively longer, so the two values can be set large according to the actual situation, the accuracy is improved, the two values are set small if it is required to quickly enter the state, and the preparation time is reduced.

[0046] In the application, the target can be dynamically assigned by the command and control terminal operator, in the case of multiple targets and multiple sights, the target can be assigned to the appropriate sight according to the action distance of the striking equipment, the field environment of the striking equipment and the working state of the striking equipment, the target is aimed through the sight, and subsequent striking processing is performed.

Claims

1. A method for guiding a target sight of a command terminal in a low-altitude blind spot compensation system, characterized by: The following steps are involved: Step 1: Realize long-distance communication with the remote terminal device of the low-altitude blind spot compensation system through radio transmission equipment; Step 2: Assemble the sight, electronic compass, and strike equipment together, keeping the three devices in the same posture. The position and posture information of the electronic compass can be used as the position and posture information of the sight and strike equipment; The electronic compass's current latitude, longitude, and altitude position information and attitude information are transmitted to the command terminal via radio in binary message format. The low-altitude blind spot detection system's detection equipment reports the current latitude, longitude, and altitude position information to the command terminal in binary message format. The command terminal analyzes the position and attitude information reported by each device and calculates the average position information. Step 3: Calculate the target's position 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 relative to the polar coordinates of the detection device ( , , ), , is the azimuth arc, is the pitch radian, converted to geocentric coordinates: Convert polar coordinates relative to the detection device to station center coordinates (x, y, z) relative to the detection device: , ， ； Convert the station center coordinates relative to the detection equipment to the target geocentric coordinates (X, Y, Z): ， ， ； Step 4. Calculate the target's polar coordinates relative to the sight based on the target's geocentric coordinates (X, Y, Z) and the sight's geographic coordinates (B0, L0, H0), and geocentric coordinates (X0, Y0, Z0). , , ), the calculation process is: The geocentric coordinates are converted to the station-centric coordinates (x0, y0, z0) relative to the sighting device: ； The station center coordinate relative to the sighting device is converted to the polar coordinate relative to the sighting device ( , , ): ， ， ； Calculate the direction and specific value of the movement through the current aiming posture (azi,ele,roll). The azimuth value to be moved is , The command terminal transmits the azimuth and pitch difference information of the sight to be moved to the sight through control commands, and the sight displays the direction and angle values ​​that need to be moved.

2. The method for guiding a target sight 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 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 unit is meter), and calculate the overall average difference of the 50 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. The method for guiding a target sight 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. The method for guiding a target sight 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 used 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. If the average difference does not meet the conditions, the items where |xi-u|>MD are deleted. If the number of remaining items is greater than 30, the average value u is recalculated and used as the final location information. If it does not meet the condition greater than 30, the accumulated location information data is cleared, the location information is cached again, and the above steps are repeated.

5. The method for guiding a target sight of a low-altitude blind spot compensation system command terminal according to claim 1, 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 accuracy of less than or equal to 0.3 degrees.

6. The method for guiding a target sight of a low-altitude blind spot compensation system command terminal according to claim 1, characterized in that: In step 4, the terminal operator dynamically allocates targets. In the case of multiple targets and multiple aiming devices, the target can be allocated to the appropriate aiming device 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