Human-in-loop handover method and device based on laser and infrared dual-mode guidance and medium

Abstract

The invention provides a laser and infrared dual-mode guided human-in-loop handover method, device and medium, a laser guidance system and an infrared guidance system are alternately and compositely applied, a weapon is guided to fly to a target orientation by applying semi-active laser guidance when the missile-target distance is long, and target features are accurately identified by applying infrared imaging guidance when the missile-target distance is short. And high-precision guidance is realized. According to the method, the limitation of a single guidance mode is avoided, the comprehensive advantage of the homing performance of the guidance system is formed, the advantages of two guidance technologies are combined, composite guidance in a handover form is adopted, the method has the advantages of being small in data processing amount, easy and convenient to operate and easy to implement, and therefore the comprehensive advantage of the homing performance of the guidance system is achieved. Therefore, the precision of mid-guidance is effectively improved, and the striking efficiency of a guided weapon is better exerted.

Description

Technical Field

[0001] The present invention relates to the field of guidance and control technology, and particularly to a man-in-the-loop handover method, device and medium for dual-mode laser and infrared guidance. Background Art

[0002] With the rapid development of optoelectronic technology, precision-guided weapons have become the main means of killing in information-based warfare and play a crucial role in war. At present, most guided weapon systems adopt technologies such as laser, infrared, radar, image guidance and composite guidance.

[0003] The millimeter-wave radar guidance system has poor anti-interference ability and is greatly affected by ground clutter, so it cannot accurately identify targets in complex environments; in semi-active laser guidance, there are beam divergence angle and divergence angle in laser irradiation at long ranges, and the target cannot be accurately irradiated at long distances, which is not conducive to the strike of long-range missions and has certain limitations. The infrared imaging guidance system has strong anti-interference ability and concealment, and can realize all-weather operation. However, when imaging at long distances, the target is mostly a point-source target, with less information, and is easily affected by targets with similar infrared thermal radiation, making it impossible to quickly locate the target; at close range, infrared imaging can obtain detailed feature information, including rich shape and texture features.

[0004] Existing composite guidance usually fuses infrared images and laser images, in which there are signal delays resulting in asynchronous laser and infrared image data and a large amount of data processing throughout the process. Summary of the Invention

[0005] In view of this, the present invention provides a man-in-the-loop handover method, device and medium for dual-mode laser and infrared guidance, which alternately and compositely applies two guidance systems of laser and infrared. When the missile-target distance is far, semi-active laser guidance is applied to guide the weapon to fly towards the target azimuth, and when the missile-target distance is close, infrared imaging guidance is applied to accurately identify the target features, realizing high-precision guidance.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] A man-in-the-loop handover method for dual-mode laser and infrared guidance, in which the aircraft uses a seeker to intercept signals and executes a mid-course and terminal handover strategy to enter terminal guidance; in the terminal guidance stage, if the laser signal is lost, the laser loss logic is entered; if the slant range R < R3 and the laser still fails to search for the target, the target coordinates are updated according to the last laser tracking information before the laser loss, and infrared manual intervention tracking is enabled;

[0008] If the laser tracking is lost after entering the laser guidance mode, and the loss time T_jd < T2, the aircraft maintains the state of the previous frame before the loss and continues to fly. Otherwise, the seeker enters the mid-course guidance state, and at the same time calculates the preset angle of the seeker after calculating the new target position obtained by combining the frame angle output by the seeker in the previous frame before the target loss with the attitude position of the missile body and the target altitude; when the infrared target is lost, if the loss time T_hd < T3, it maintains the state of the previous frame before the loss and continues to fly; otherwise, it judges the missile-target distance again. If the missile-target distance R < R4, the missile-target line-of-sight angular velocity is set to zero, and the preset angle of the seeker is calculated after calculating the new target position obtained by combining the frame angle output by the seeker in the previous frame before the target loss with the attitude position of the missile body and the target altitude; where R3 > R4 represents the missile-target distance in different stages; T2 and T3 are specific time values.

[0009] Among them, it includes the following steps:

[0010] Step 1, after the aircraft separates from the orbit, it enters the mid-course guidance flight stage;

[0011] Step 2, when the flight time satisfies T > T1, turn on the laser irradiation;

[0012] Step 3, the aircraft takes the bound target position as the target point and flies according to the mid-course guidance logic;

[0013] Step 4, when the missile-target distance R < R1, the seeker is turned on, and the seeker deflects and flies following the preset angle;

[0014] Step 5, when the missile-target distance R < R2, allow the seeker to intercept the laser target;

[0015] Step 6, the aircraft uses the signal intercepted by the seeker and executes the mid-course to terminal handover strategy to enter the terminal guidance;

[0016] Step 7, the seeker searches for the target according to the preset logic;

[0017] Step 8, when the laser tracking is lost after the laser guidance mode, and the continuous laser loss time T_jd < the preset time T2, the aircraft maintains the state of the previous frame before the loss and continues to fly;

[0018] Step 9, when the missile-target distance R < R3, allow the infrared signal to be accessed;

[0019] Step 10, the aircraft uses the infrared signal intercepted by the seeker, executes the handover strategy, and enters the infrared terminal guidance logic;

[0020] Step 11, when receiving the man-in-the-loop intervention signal, execute the corresponding man-in-the-loop intervention logic;

[0021] Step 12, during the infrared terminal guidance process, after manual intervention to perform the target switching signal, enter the target switching logic;

[0022] Step 13, when the infrared target is lost, execute the corresponding strategy according to the loss time T_hd and the missile-target distance R;

[0023] Among them, the distance R1>R2>R3>R4 represents the distance between the projectile and the target at different stages; T1 is the specific preset time value.

[0024] Wherein, in said step 6, if laser loss occurs in the final guidance stage, the process proceeds to step 8.

[0025] Wherein, in step 10, if target switching is required in the infrared terminal guidance stage, proceed to step 12.

[0026] Wherein, in step 13, when the infrared target is lost, if the loss time T_hd is less than the preset time T3, the infrared tracking is maintained unchanged.

[0027] Wherein, the laser tracking information includes sight angle and projectile coordinates.

[0028] The present invention also provides an electronic device, comprising a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the laser and infrared dual-mode guided human-in-the-loop handover method described in the present invention.

[0029] The present invention also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the laser and infrared dual-mode guided human-in-the-loop handover method described in the present invention.

[0030] Beneficial effects:

[0031] 1. The method of the present invention uses a semi-active laser + passive infrared dual-mode guidance system composite guidance strategy to identify and track the target. In the early stage of the aircraft leaving the orbit, laser irradiation is used to guide the aircraft to point to the target location; after the infrared target signal is captured, the infrared guidance mode is switched to accurately point to the target, avoiding the limitations of a single guidance mode, forming a comprehensive advantage of the guidance system's homing performance, combining the advantages of the two guidance technologies, and adopting a handover form composite guidance, which has the characteristics of small data processing volume, simple operation and easy implementation, thereby achieving the comprehensive advantage of the guidance system's homing performance. This not only effectively improves the accuracy of mid-range guidance, but also better exerts the strike effectiveness of guided weapons.

[0032] 2. The method of the present invention combines the two guidance methods of laser and infrared to select the optimal guidance mode in different flight stages, thereby improving the accuracy of the aircraft's hit on the target. Especially in complex electromagnetic environments, laser guidance can provide high-precision target positioning, while infrared guidance can be used as a backup plan when the laser signal is lost or unavailable, ensuring the reliability of the guidance system. Due to the use of a dual-mode guidance mechanism, when one guidance method is interfered with or fails, the other guidance method can take over in time, reducing the impact of external interference on the aircraft's hit accuracy. In addition, in the laser guidance mode, if the laser is lost, the system can respond quickly and switch to the mid-guidance state or perform a laser search, thereby enhancing the system's anti-interference performance.

[0033] 3. In the method of the present invention, the human-in-the-loop intervention logic allows the operator to adjust the aircraft's attack strategy according to actual conditions, including target switching and coping with target loss. This flexibility enables the aircraft system to respond to changes more effectively in a complex battlefield environment, improving the system's adaptability and combat effectiveness. In the infrared terminal guidance process, human intervention is allowed for target switching, which makes it possible to handle multiple targets or priority changes, enhancing the system's versatility and combat value.

[0034] 4. The guidance strategy of the method of the present invention reasonably arranges the timing of activating different guidance modes, such as turning on the seeker or allowing access to infrared signals only within a specific distance range, which helps to save energy, extend the flight time of the aircraft, and reduce unnecessary equipment wear.

[0035] 5. In the method of the present invention, by setting multiple safety checkpoints (such as T>T1, R<R1, R<R2, etc.), the safety of the aircraft in each flight phase is ensured. At the same time, there are detailed processing procedures for the interception and loss of laser and infrared signals, which prevents misoperation caused by signal problems and improves the safety of the entire system.

[0036] 6. The method of the present invention has developed detailed guidance logic for different flight phases and conditions. From laser irradiation, guidance head startup, laser permission interception to the final terminal guidance handover, each step has been carefully designed to achieve precise control of the aircraft and ensure that it flies along the predetermined trajectory until it hits the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The figure is a flow chart of a method according to an embodiment of the present invention.

[0038] Figure 2 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0040] The present invention provides a laser and infrared dual-mode guided human-in-the-loop handover method, the process is as follows: Figure 1 As shown, the following steps are included:

[0041] Step 1: After the aircraft (missile) leaves orbit, it enters the mid-range guidance flight phase.

[0042] Step 2, laser irradiation; if the flight time satisfies T>T1, turn on the laser irradiation.

[0043] Step 3, mid-range guidance flight: The aircraft takes the binding target position as the target point and flies according to the mid-range guidance logic.

[0044] Step 4, seeker head power on: if the missile-target distance R is less than R1, the seeker head is powered on, and the seeker head deflects at the preset angle and enters step 5; otherwise, it returns to step 3 and continues the guided flight.

[0045] Step 5, laser interception is allowed; after the missile-target distance R<R2, the seeker is allowed to intercept the laser target. If the laser target is intercepted, go to step 6; otherwise, go to step 7.

[0046] Step 6, laser guidance mode: the aircraft uses the seeker to intercept the signal and executes the mid-terminal handover strategy to enter the terminal guidance. If the laser is lost during the terminal guidance stage, go to step 8; if the slant range R < R2, go to step 9.

[0047] Step 7, laser search mode: the seeker searches for the target using the preset logic. If the target is intercepted, it proceeds to step 6. If the slant range between the missile and the target is R < R3 during the search, it proceeds to step 9.

[0048] Step 8, laser lost mode: if the laser tracking is lost after entering the laser guidance mode, and the laser loss time T_jd < preset time T2, the aircraft maintains the state of the previous frame lost and continues to fly, otherwise the new target position is calculated according to the output angle of the seeker combined with the missile body attitude, position and altitude, and enters the medium guidance state to fly, and the seeker enters step 7;

[0049] Step 9, infrared guidance allows access: when the missile-target distance R<R3, the infrared signal is allowed to access; after the infrared signal is allowed to access, infrared interception judgment is performed. If the infrared target is intercepted, go to step 10; otherwise, go to step 11.

[0050] Step 10, infrared guidance mode: the aircraft uses the infrared interception signal of the seeker, executes the handover strategy, and enters the infrared terminal guidance logic. If target switching is required in the infrared terminal guidance stage, go to step 12. If the infrared target is lost, go to step 13; otherwise, infrared terminal guidance is performed until the target is hit.

[0051] Step 11, human-in-the-loop intervention logic: If a human-in-the-loop intervention signal is received, go to step 13; otherwise go to step 8.

[0052] Step 12, target switching logic: in the infrared terminal guidance process, after manual intervention to send the target switching signal, the target switching logic is entered; the new target position is sent to the seeker through the human in the loop, and the seeker performs infrared capture of the target. If a new target is captured, the new target is tracked, otherwise the old target is continued to be tracked, and then step 10 is continued.

[0053] Step 13, infrared target loss strategy: when the infrared target is lost, if the loss time T_hd is less than the preset time T3, the infrared tracking is maintained unchanged; otherwise, the missile-target distance is determined again. If the missile-target distance R is less than the given distance R4, the missile-target sight angle is set to zero and the aircraft flies in a straight line. Otherwise, enter step 11.

[0054] Among them, the distance R1>R2>R3>R4 represents the distance between the projectile and the target at different stages; T1, T2, and T3 are specific preset time values.

[0055] The embodiment of the present application also provides an electronic device, Figure 2The structure of the electronic device provided by the embodiment of the present invention is shown. For example, the electronic device 20 may include a processor 21, a memory 22 and a transmission device 23. The processor 21 is used to execute the laser and infrared dual-mode guided human-in-the-loop handover method mentioned in the above embodiment, wherein the processor and the memory may be connected by a bus or other means, taking the bus connection as an example. The transmission device may be connected to the processor and the memory by wire or wirelessly. The memory, as a non-transient computer-readable storage medium, may be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the laser and infrared dual-mode guided human-in-the-loop handover method in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, the laser and infrared dual-mode guided human-in-the-loop handover method in the above method embodiment is realized. The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The one or more modules are stored in the memory, and when executed by the processor, the laser and infrared dual-mode guided human-in-the-loop handover method in the embodiment is executed.

[0056] As another aspect, the present application also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the device described in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled into the device. The computer-readable storage medium may be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the laser and infrared dual-mode guided human-in-the-loop handover method described in the present application.

[0057] 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.

Claims

1. A laser and infrared dual-mode guided human-in-the-loop handover method, characterized in that: The aircraft uses a seeker to intercept the signal and executes the mid-course and terminal handover strategy to enter the terminal guidance; if the laser signal is lost during the terminal guidance phase, it enters the laser loss logic; if the slant range R < R3 and the target has still not been searched by the laser, the target coordinates are updated according to the last laser tracking information before the laser loss, and the infrared manual intervention tracking is enabled. If the laser tracking is lost after entering the laser guidance mode and the loss time T_jd < T2, the aircraft maintains the state of the previous frame before the loss and continues to fly; otherwise, the seeker enters the mid-course guidance state, and at the same time, according to the frame angle output by the seeker in the previous frame before the target loss, combined with the attitude position of the missile body and the target altitude, the new target position is calculated, and then the preset angle of the seeker is calculated; when the infrared target is lost, if the loss time T_hd < T3, it maintains the state of the previous frame before the loss and continues to fly; otherwise, the missile-target distance is judged again. If the missile-target distance R < R4, the missile-target line-of-sight angular velocity is set to zero, and according to the frame angle output by the seeker in the previous frame before the target loss, combined with the attitude position of the missile body and the target altitude, the new target position is calculated, and then the preset angle of the seeker is calculated; where R3 > R4 represents the missile-target distances in different stages; T2 and T3 are specific time values.

2. The method according to claim 1, characterized in that It includes the following steps: Step 1: After the aircraft leaves the orbit, it enters the mid-course guidance flight phase. Step 2: When the flight time satisfies T > T1, the laser irradiation is turned on. Step 3: The aircraft takes the bound target position as the target point and flies according to the mid-course guidance logic. Step 4: When the missile-target distance R < R1, the seeker is turned on, and the seeker deflects and flies following the preset angle. Step 5: When the missile-target distance R < R2, the seeker is allowed to intercept the laser target. Step 6: The aircraft uses the seeker to intercept the signal and executes the mid-course and terminal handover strategy to enter the terminal guidance. Step 7: The seeker searches for the target according to the preset logic. Step 8: When the laser tracking is lost after the laser guidance mode and the continuous laser loss time T_jd < the preset time T2, the aircraft maintains the state of the previous frame before the loss and continues to fly. Step 9: When the missile-target distance R < R3, the infrared signal is allowed to be accessed. Step 10: The aircraft uses the seeker to intercept the infrared signal, executes the handover strategy, and enters the infrared terminal guidance logic. Step 11: When the in-the-loop intervention signal is received, the corresponding in-the-loop intervention logic is executed. Step 12: During the infrared terminal guidance process, after the manual intervention for the target switching signal, it enters the target switching logic. Step 13: When the infrared target is lost, the corresponding strategy is executed according to the loss time T_hd and the missile-target distance R; where the distance R1 > R2 > R3 > R4 represents the missile-target distances in different stages; T1 is a specific preset time value.

3. The method according to claim 2, characterized in that In step 6, if the laser is lost during the terminal guidance phase, it enters step 8.

4. The method according to claim 2, characterized in that , in step 10, if the target needs to be switched during the infrared terminal guidance phase, it enters step 12.

5. The method according to claim 2, characterized in that , in step 13, when the infrared target is lost, if the loss time T_hd < the preset time T3, the infrared tracking remains unchanged.

6. The method according to any one of claims 1 to 5, characterized in that: The laser tracking information includes the line-of-sight angle and the missile coordinates.

7. An electronic device, characterized in that: The electronic device includes a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the laser and infrared dual-mode guided human-in-the-loop handover method as described in any one of claims 1-6.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the laser and infrared dual-mode guided human-in-the-loop handover method described in any one of claims 1-6.

Images