Fuse control method and device based on micro unmanned vehicle

Abstract

The invention provides a fuze control method and device based on a miniature unmanned vehicle, the de-protection information comes from an inertial navigation Doppler and a depth sensor of the vehicle, the detonation time is controlled by a console, and the application of a full-electronic fuze on the miniature unmanned vehicle is realized according to a corresponding fuze control strategy. Comprising a navigation controller, an inertial navigation Doppler log, a depth sensor, a power supply control board, an in-line detonation device and a console, wherein optical fiber communication is adopted between the console and the navigation controller, RS422 serial port communication is adopted between the inertial navigation Doppler log and the navigation controller, RS485 serial port communication is adopted between the depth sensor and the navigation controller, and CAN bus communication is adopted between the power supply control board and the in-line detonation device and the navigation controller.

Description

Technical Field

[0001] The present invention belongs to the technical field of UUVs, and in particular relates to a fuze control method and device based on a micro-unmanned aerial vehicle. Background Art

[0002] In order to achieve the blasting capability, the cable-controlled micro-underwater unmanned vehicle is designed with a shaped-charge warhead and a fuze. The main function of the fuze is to ensure the safety of the underwater unmanned vehicle during transportation, storage and use, and to control the detonation and destruction of underwater targets at the appropriate time. This type of underwater unmanned vehicle is manually deployed, and the navigation, detection and identification links are all completed autonomously. When it finds and confirms the target, it is manually controlled to approach and detonate the shaped-charge warhead.

[0003] Due to the small size of this type of aircraft, it is difficult to install a set of sensors for the fuze alone. Therefore, the environmental information for the fuze to be deployed must rely on the sensors of the unmanned aircraft system. However, the fuzes used in existing mine-clearing equipment are electromechanical fuzes, which adopt mechanical and water pressure fuses and are large in size, making them difficult to be directly applied to this type of cable-controlled micro-unmanned aircraft. Summary of the invention

[0004] The present invention proposes a fuze control method and device based on a micro-unmanned aerial vehicle. The release information comes from the vehicle's inertial navigation Doppler and depth sensor, the detonation timing is controlled by a control console, and the application of the full electronic fuze on the micro-unmanned aerial vehicle is realized according to the corresponding fuze control strategy.

[0005] The present invention is achieved through the following technical solutions.

[0006] A fuze control method based on a micro-unmanned aerial vehicle comprises the following steps:

[0007] Step 1: Turn on the power of the aircraft, and power on the navigation controller, inertial navigation Doppler log and depth sensor to start working; after placing the aircraft in water, use the control console to send a power-on command, which is forwarded by the navigation controller, and the power control board is used to power on the in-line detonator;

[0008] Step 2: The in-line detonator performs self-inspection after power-on. After the self-inspection is qualified, the first safety is released, the navigation controller sends a status query instruction, the fuze feeds back status information, and the navigation controller sends the status back to the control console;

[0009] Step 3: After the vehicle enters the water, the depth sensor sends the measured working water depth to the navigation controller. If the navigation controller determines that the water depth is greater than or equal to 7 meters for 10 consecutive seconds, the prerequisite for releasing the second insurance is met. After receiving the release command issued by the control console, the navigation controller sends the insurance release command, the fuze releases the second insurance, the navigation controller sends a status query command, the fuze feeds back the status information, and the navigation controller sends the status back to the control console;

[0010] Step 4: When the aircraft is sailing, the inertial navigation Doppler log sends the measured speed information to the navigation controller. If the navigation controller determines that the speed is greater than 1.5m / s for 10 consecutive seconds, it meets the prerequisite for releasing the third insurance. After receiving the release command issued by the display and control console, the navigation controller sends the insurance release command, the fuze releases the third insurance, the navigation controller sends a status query command, the fuze feedbacks the status information, and the navigation controller sends the status back to the control console;

[0011] Step 5: The control console issues a detonation command. After receiving the command, the navigation controller issues a detonation command to the fuze. The fuze releases the fourth safety and detonates after the capacitor is fully charged. The navigation controller sends a status query command, the fuze feeds back status information, and the navigation controller transmits the status back to the display console.

[0012] Beneficial effects of the present invention:

[0013] 1. Compared with the existing electromechanical fuze, the fully electronic fuze of the present invention has higher safety performance;

[0014] 2. Existing electromechanical fuzes cannot be directly applied to cable-controlled micro-sized aircraft, and cannot directly use environmental information uploaded by aircraft sensor equipment. The fuze control system of the present invention can be directly used in aircraft;

[0015] 3. The release information of the present invention comes from the aircraft inertial navigation Doppler and depth sensor, and the detonation timing is controlled by the control console, which is safer;

[0016] 4. The present invention has formulated a corresponding fuze control strategy and realized the application of full electronic fuze on micro unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the fuze control device based on a micro-unmanned aerial vehicle of the present invention. DETAILED DESCRIPTION

[0018] The exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the embodiments shown and described in the accompanying drawings are only exemplary and are intended to illustrate the principles and spirit of the present invention, rather than to limit the scope of the present invention.

[0019] A fuze control method based on a micro-unmanned aerial vehicle specifically comprises the following steps:

[0020] Step 1: Turn on the power of the aircraft, and power on the navigation controller, inertial navigation Doppler log and depth sensor to start working; after placing the aircraft in water, use the control console to send a power-on command, which is forwarded by the navigation controller, and the power control board is used to power on the in-line detonator;

[0021] Step 2: The in-line detonator performs self-inspection after power-on. After the self-inspection is qualified, the first safety is released, the navigation controller sends a status query instruction, the fuze feeds back status information, and the navigation controller sends the status back to the control console;

[0022] Step 3: After the vehicle enters the water, the depth sensor sends the measured working water depth to the navigation controller. If the navigation controller determines that the water depth is greater than or equal to 7 meters for 10 consecutive seconds, the prerequisite for releasing the second insurance is met. After receiving the release command issued by the control console, the navigation controller sends the insurance release command, the fuze releases the second insurance, the navigation controller sends a status query command, the fuze feeds back the status information, and the navigation controller sends the status back to the control console;

[0023] Step 4: When the aircraft is sailing, the inertial navigation Doppler log sends the measured speed information to the navigation controller. If the navigation controller determines that the speed is greater than 1.5m / s for 10 consecutive seconds, it meets the prerequisite for releasing the third insurance. After receiving the release command issued by the display and control console, the navigation controller sends the insurance release command, the fuze releases the third insurance, the navigation controller sends a status query command, the fuze feedbacks the status information, and the navigation controller sends the status back to the control console;

[0024] Step 5: The control console issues a detonation command. After receiving the command, the navigation controller issues a detonation command to the fuze. The fuze releases the fourth safety and detonates after the capacitor is fully charged. The navigation controller sends a status query command, the fuze feeds back status information, and the navigation controller transmits the status back to the display console.

[0025] In specific implementation, if the vehicle has already been detonated when the navigation controller sends a status query instruction, there is no need to feedback status information.

[0026] Furthermore, after the navigation controller issues a safety release or detonation command, if the second safety is not released or the third safety is not released in the received status feedback information, the control command is repeatedly issued.

[0027] Furthermore, if the order of issuing the release and detonation commands is incorrect, that is, the detonation command is issued without issuing the release command, the fuze will be judged as an external error operation and the fuze will be locked. At this time, the power must be turned on again to resume work.

[0028] Furthermore, there is a capacitor charging process from the time the fuze receives the normal detonation command to the final detonation inspection, and the detonation delay is about 0.5±1s.

[0029] like Figure 1 As shown, the present invention also includes a device for realizing the above-mentioned fuze control method based on a micro-unmanned aerial vehicle, specifically comprising: a navigation controller, an inertial navigation Doppler log, a depth sensor, a power control board, an inline detonating device and a control console; wherein the control console and the navigation controller use optical fiber communication, the inertial navigation Doppler log and the navigation controller use RS422 serial port communication, the depth sensor and the navigation controller use RS485 serial port communication, and the power control board and the inline detonating device all use CAN bus communication with the navigation controller;

[0030] The in-line detonator receives release information and detonation instructions from the navigation controller;

[0031] The inertial navigation and Doppler log provide the fuze with the speed information for arming;

[0032] The depth sensor provides the underwater depth information for the fuze to release;

[0033] The power control panel provides power for the fuze and is controlled by the navigation controller when the fuze is powered on.

[0034] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0035] It is obvious to those skilled in the art that the embodiments of the present invention are not limited to the details of the above exemplary embodiments, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or basic features of the embodiments of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the embodiments of the present invention is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the embodiments of the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules or devices stated in the system, device or terminal claims can also be implemented by the same unit, module or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0036] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred implementation modes, those skilled in the art should understand that the technical solutions of the embodiments of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fuze control method based on a micro-unmanned aerial vehicle, characterized in that: The following steps are involved: Step 1: Turn on the power of the aircraft, and power on the navigation controller, inertial navigation Doppler log and depth sensor to start working; after placing the aircraft in water, use the control console to send a power-on command, which is forwarded by the navigation controller, and the power control board is used to power on the in-line detonator; Step 2: The in-line detonator performs self-inspection after power-on. After the self-inspection is qualified, the first safety is released, the navigation controller sends a status query instruction, the fuze feeds back status information, and the navigation controller sends the status back to the control console; Step 3. After the vehicle enters the water, the depth sensor sends the measured working water depth to the navigation controller. If the navigation controller determines that the water depth is greater than or equal to 7 meters for 10 consecutive seconds, it meets the prerequisite for releasing the second insurance. After receiving the release command issued by the control console, the navigation controller sends the insurance release command, the fuze releases the second insurance, the navigation controller sends a status query command, the fuze feeds back status information, and the navigation controller sends the status back to the control console.

2. A fuze control method based on a micro-unmanned aerial vehicle as claimed in claim 1, characterized in that: After step 3, it also includes: Step 4: When the aircraft is sailing, the inertial navigation Doppler log sends the measured speed information to the navigation controller. If the navigation controller determines that the speed is greater than 1.5m / s for 10 consecutive seconds, it meets the prerequisite for releasing the third insurance. After receiving the release command issued by the display and control console, the navigation controller sends the insurance release command, the fuze releases the third insurance, the navigation controller sends a status query command, the fuze feedbacks the status information, and the navigation controller sends the status back to the control console; Step 5: The control console issues a detonation command. After receiving the command, the navigation controller issues a detonation command to the fuze. The fuze releases the fourth safety and detonates after the capacitor is fully charged. The navigation controller sends a status query command, the fuze feeds back status information, and the navigation controller transmits the status back to the display console.

3. A fuze control method based on a micro-unmanned aerial vehicle as claimed in claim 1 or 2, characterized in that: If the aircraft has already been detonated when the navigation controller sends a status query command, there is no need to feedback status information.

4. A fuze control method based on a micro-unmanned aerial vehicle as claimed in claim 1 or 2, characterized in that: After the navigation controller issues a safety release or detonation command, if the second safety is not released or the third safety is not released in the received status feedback information, the control command is issued again.

5. A fuze control method based on a micro-unmanned aerial vehicle as claimed in claim 1 or 2, characterized in that: If the order of issuing the release and detonation commands is incorrect, that is, the detonation command is issued without issuing the release command, the fuze will be judged as an external error operation and the fuze will be locked. At this time, the power must be turned on again to resume work.

6. A fuze control method based on a micro-unmanned aerial vehicle as claimed in claim 1 or 2, characterized in that: There is a capacitor charging process from the time the fuze receives the normal detonation command to the final detonation inspection, and the detonation delay is about 0.5±1s.

7. A device for implementing any one of claims 1 to 6 of the fuze control method based on a micro-unmanned aerial vehicle, characterized in that: include: A navigation controller, an inertial navigation Doppler log, a depth sensor, a power control board, an inline detonator and a control console; wherein the control console and the navigation controller use optical fiber communication, the inertial navigation Doppler log and the navigation controller use RS422 serial port communication, the depth sensor and the navigation controller use RS485 serial port communication, and the power control board and the inline detonator all use CAN bus communication with the navigation controller; The in-line detonator receives the release information and detonation command from the navigation controller; the inertial navigation and Doppler log provide the release speed information for the fuze; the depth sensor provides the release underwater depth information for the fuze; The power control panel provides power for the fuze and is controlled by the navigation controller when the fuze is powered on.

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