Rocket-boosted unmanned aerial vehicle cluster autonomous launch control system

Abstract

The application discloses a rocket-assisted unmanned aerial vehicle cluster autonomous launching control system, and belongs to the field of unmanned aerial vehicle cluster autonomous launching, which comprises a ground control station, N unmanned aerial vehicle clusters and X standby unmanned aerial vehicle clusters; a vehicle-mounted self-organizing network data link is wirelessly connected with all airborne self-organizing network data links, and uplink and downlink remote control and telemetry data transmission and reception are realized through an antenna; each unmanned aerial vehicle is provided with an airborne initiator and is equipped with a booster rocket; the ground control station sends a take-off instruction to the unmanned aerial vehicle cluster, the unmanned aerial vehicle itself executes ignition through the airborne initiator, and the one-station multi-machine unmanned aerial vehicle cluster autonomous and orderly rocket-assisted launching control is realized; after the rocket is ignited successfully, the unmanned aerial vehicle is pushed away from the launching frame, the ignition cable is taut under stress and is automatically disconnected from the initiator; after the fuel is burned out, the rocket is separated from the unmanned aerial vehicle under the action of gravity and aerodynamic resistance, and the rocket-assisted launching is completed. The application reduces the system complexity, improves the launching efficiency and safety.

Description

Technical Field

[0001] This invention belongs to the field of autonomous launch of unmanned aerial vehicle (UAV) swarms, and specifically relates to a rocket-assisted autonomous launch control system for UAV swarms. Background Technology

[0002] Traditional rocket-assisted drone swarm launch methods typically use ground power and ground-based booster rocket initiators to ignite and launch the booster rockets. The ground-based booster rocket initiators and booster rockets are connected by wires. The number of wired connections required at the launch site must be equal to the number of drones. An equal number of operators are needed to ignite the individual booster rockets of each drone in the swarm. The wired connections are limited by the cable distance, which is usually tens to hundreds of meters.

[0003] In a scenario involving the launch of N drones, N sets of ignition and launch lines, N sets of ground-based booster rocket detonators positioned in safe locations on-site, and N sets of operators are required. This scenario leads to extremely chaotic on-site operations, significantly increasing launch safety risks and making accidents more likely. Furthermore, the N sets of ignition and launch lines are intertwined, and if one or more sets experience connection failures, short circuits, or open circuits, the on-site faults cannot be easily eliminated, especially when the N sets of booster rockets are already installed, posing a significant safety risk.

[0004] Reference document: CN 114399897 B "Dense Continuous Launch Control System for Unmanned Aerial Vehicles Based on High-Speed ​​Fiber Optic Bus", etc. Summary of the Invention

[0005] To address the problems of complexity and site limitations in traditional wired rocket-assisted UAV swarm launch systems, excessive redundancy in manpower and equipment at the launch site, high launch safety risks and difficult fault handling, and low launch efficiency and reliability, this invention proposes an autonomous launch control system for rocket-assisted UAV swarms. This system utilizes a wireless connection between the ground control station and the swarm of UAVs, and reduces system complexity by integrating the rocket initiator with the individual UAV unit. Through a wireless self-organizing network and integrated unit design, it achieves lightweight, intelligent, and highly reliable swarm launches, improving launch success rates and maximizing launch site safety.

[0006] The rocket-assisted unmanned aerial vehicle (UAV) swarm autonomous launch control system includes a ground control station, a cluster of N UAVs, and a cluster of X backup UAVs. The vehicle-mounted ad hoc network data link of the ground control station is simultaneously connected to the airborne ad hoc network data links of the N UAVs and the X backup UAVs, and receives downlink telemetry data and sends uplink remote control commands through antennas to achieve uplink and downlink communication.

[0007] Each UAV (including N main mission UAVs and X backup UAVs) is equipped with a detonator and a booster rocket. The takeoff command is sent through the ground control station to trigger the onboard detonator to perform the rocket ignition operation, realizing orderly and autonomous launch control of a multi-UAV cluster from a single station.

[0008] The detonator is connected to the UAV via a power supply and communication connector, and to the rocket via an ignition output connector.

[0009] The drone's onboard battery connects to the detonator's power and communication socket via its built-in power and communication connector, providing a stable and reliable power supply to all the functional modules inside the detonator that require power.

[0010] After receiving the rocket ignition command from the ground operator, the flight control computer connects to the initiator's power and communication connector via the UAV's built-in power and communication connector, sending the rocket ignition command to the main control CPU module inside the initiator. The main control CPU module converts the ignition command into an ignition control signal, which is transmitted through the MOSFET or solid-state relay circuit inside the initiator to the ignition output connector, providing a continuous and stable ignition drive current to the rocket. The ignition drive current is converted into heat energy to ignite the propellant for ignition boost, or to control the parachute compartment door, airbag compartment door, or parachute jettisoning actuators.

[0011] The ignition drive circuits of the rocket and the drone are connected by an ignition cable wound around the launch pad's rotating arm; two ignition drive cables (corresponding to the positive and negative terminals of rocket ignition) are led out from the tail of the rocket, with plugs welded to their ends; the ignition cables are fixed to the rotating arm of the launch pad by spiral winding; the plugs are connected to the plug sockets installed on the belly of the drone by magnetic attraction.

[0012] The rocket and the drone are connected via a conical surface. The main conical surface consists of a convex cone (plug) and a concave cone (socket). The convex cone is located on the underside of the drone, while the concave cone is located at the end of the rocket. The convex cone (plug) and concave cone (socket) are precisely machined to achieve a high-precision fit. During rocket installation, the convex cone at the tail of the drone is inserted into the concave cone at the head of the booster rocket, and the conical surface guides the initial positioning. When the booster rocket ignites and burns, the thrust is transmitted to the drone through the conical connection. At this time, the conical surfaces fit tightly together under the action of axial force. When the rocket fuel is exhausted, the thrust drops sharply to zero, the axial clamping force between the conical surfaces disappears, and the separation mechanism automatically unlocks under the coupling of aerodynamic drag and gravity.

[0013] The working principle of the rocket-assisted unmanned aerial vehicle swarm autonomous launch control system is as follows:

[0014] Step 1: Fix N drones on N sets of launchers on the ground, turn on the onboard battery power switch, and power on all drones;

[0015] Step 2: The ground control station sends a full self-test command to each of the N flight control computers to complete the pre-flight ground self-test of each UAV and transmit the self-test status to the ground control station.

[0016] Step 3: The flight commander confirms whether there are any drones with abnormal self-check status. If so, select one from the backup drones according to the pre-set mission number to replace it and perform a self-check; otherwise, proceed to Step 4 to launch the drone with rocket booster for a drone with normal self-check status.

[0017] Step 4: After receiving the takeoff command, the flight operator operates the onboard computer to send takeoff commands to all UAVs with normal self-test status, specifying the launch sequence and launch interval, and launches them in sequence and at the specified intervals.

[0018] For N drones with normal self-test status, their launch sequence and launch interval, as well as flight-related parameters such as flight mission route, flight altitude, flight speed, and flight area, have all been pre-programmed into the onboard flight control computer, or can be changed in real time during flight.

[0019] The specific launch process is as follows:

[0020] Step 401: Each of the N UAVs starts its engine and, once the engine reaches takeoff speed, reports its status to the ground control station via radio connection through the onboard ad hoc network data link.

[0021] Step 402: The flight operator, through the network interface or serial communication interface of the onboard computer, automatically sends the takeoff command for UAV #1 sequentially according to a preset program. After an interval of T1, the takeoff command for UAV #2 is sent, after an interval of T2, the takeoff command for UAV #3 is sent, and so on, after an interval of T... N-1 After a certain time, send the N# drone takeoff command again until all takeoff commands have been sent to the vehicle-mounted ad hoc network data link, eliminating the need for flight operators to repeatedly send drone takeoff commands.

[0022] Flight commanders issue takeoff orders at ground control stations, and flight operators send takeoff instructions through the ground station software interface on the onboard computer.

[0023] The takeoff command includes the individual drone aircraft number;

[0024] Step 403: The vehicle-mounted ad hoc network data link sends the takeoff command to the airborne ad hoc network data link of each UAV through the antenna;

[0025] The communication mode of one station for multiple drones can be achieved by using time division multiplexing or frequency division multiplexing technology between the vehicle-mounted ad hoc network data link and the airborne ad hoc network data links of N drones.

[0026] Step 404: After receiving the takeoff command, the airborne self-organizing network data link transmits it to the flight control computer, which then sends it to the respective airborne rocket detonators via serial port connection.

[0027] Step 405: After receiving the command, the initiator controls the internal MOS transistor or relay to turn on, and provides continuous current to the booster rocket through the ignition output line (including plug-in connection). The rocket ignites after the ignition threshold is reached.

[0028] Step 406: Each UAV determines whether its own ignition has failed. If ignition fails, it broadcasts an ignition failure signal to the ground control station and surrounding backup UAVs via the onboard ad hoc network data link, triggering the replacement process; otherwise, proceed to step 407.

[0029] The specific replacement process is as follows:

[0030] Based on the number of ignition failures (denoted as M), the backup UAV system automatically selects an equal number (M) of backup UAVs from X backup UAVs according to the preset mission sequence number to enter the launch ready state and reports the launch ready state to the ground control station.

[0031] The ground control station sends a self-test command to the flight control computers of each of the M backup UAVs to complete their pre-flight ground self-tests. Backup UAVs that pass the self-test will continue to undergo rocket-assisted launches to replace and complete the formation of the M UAVs that failed to launch from the original N UAVs.

[0032] The onboard computer recalculates the launch sequence and interval of all backup drones according to preset logic, as well as flight parameters such as flight path, altitude, speed, and area. After confirmation by ground operators, the flight operators send takeoff commands to all M backup drones with normal self-test status via the onboard computer, according to the recalculated launch sequence and interval.

[0033] Step 407: After the rocket ignites successfully, it will lift the drone into the air. The ignition cable wrapped around the launch pad rotating arm will gradually tighten as the drone rises. The disconnect plug near the end of the cable segment on the fuselage will automatically disconnect from the disconnect socket fixed on the fuselage of the drone, thus achieving automatic separation of the disconnect connector.

[0034] Step 408: After fuel combustion is complete, the rocket separates from the UAV fuselage due to gravity, the rocket booster launch is complete, and the UAV reaches its minimum design airspeed. Continuing with the engine's thrust, the UAV's speed continues to increase until it reaches its mission airspeed, and it enters its respective mission phase.

[0035] The advantages of this invention are:

[0036] 1. This invention provides an autonomous launch control system for rocket-assisted unmanned aerial vehicle (UAV) swarms, which eliminates the need for traditional ground detonators and wired connections, requires no ground power supply or close-range manual operation, simplifies the launch process, reduces system complexity, improves launch efficiency and safety, and maximizes the safety of ground personnel.

[0037] 2: This invention discloses an autonomous launch control system for a rocket-assisted unmanned aerial vehicle (UAV) swarm. Through an automatic disconnection design, the disconnecting connector automatically disengages when the booster rocket ignites. After the rocket fuel is exhausted, the rocket can safely and quickly separate from the UAV body without generating additional forces or torques on the swarm of UAVs, thus not affecting the attitude stability and control of the swarm.

[0038] 3: This invention discloses a rocket-assisted unmanned aerial vehicle (UAV) swarm autonomous launch control system. Based on existing time-division multiplexing or frequency-division multiplexing technologies, it can reliably establish communication connections between vehicle-mounted ad hoc network data links and airborne ad hoc network data links, quickly achieving one-stop multi-UAV connection and multi-UAV autonomous connection. It sends ignition commands to N UAVs according to a preset sequence and interval, and accurately transmits them to the airborne ad hoc network data links of each UAV via wireless connection. Finally, the flight control computer of each UAV executes and controls the ignition, improving rocket launch efficiency, launch flexibility, and launch reliability.

[0039] 4. This invention discloses an autonomous launch control system for a rocket-assisted unmanned aerial vehicle (UAV) swarm. The onboard initiators of N UAVs are powered by their respective onboard batteries. UAVs typically carry onboard batteries to power their avionics. The ignition process of each UAV's booster rocket is short (milliseconds), requiring low driving current (amperes), and has low instantaneous power and energy demands. Conventional onboard batteries, while meeting the power needs of all avionics during flight, can simultaneously meet the instantaneous power and energy requirements of the booster rocket ignition, eliminating the need for a dedicated ground power source. This approach reduces system equipment composition, system complexity, and system production costs. Attached Figure Description

[0040] Figure 1 This is a block diagram of the ground control station, N UAVs, and X backup UAV cluster system of the present invention;

[0041] Figure 2 This is a schematic diagram of a single UAV and booster rocket of the present invention;

[0042] Figure 3 This is a partially enlarged view of the connection between the ignition drive cable of the present invention and the rotating arm of the rocket and launch pad;

[0043] Figure 4 This is a schematic diagram of the entire process of transmitting takeoff commands for clustered UAVs according to the present invention;

[0044] Figure 5 This is a schematic diagram of the entire process of the take-off steps of the clustered drones of the present invention. Detailed Implementation

[0045] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0046] A rocket-assisted unmanned aerial vehicle (UAV) swarm autonomous launch control system enables simultaneous communication between multiple UAVs via a vehicle-mounted ad hoc network data link installed on a ground control station. Based on this one-station-multiple-UAV communication connection, takeoff commands are sent from the ground control station to achieve autonomous swarm launch control. The difference from traditional rocket-assisted UAV swarm launch methods lies in the use of wireless communication for swarm launch control, eliminating the complex and messy wired connections of traditional ground-based swarm launches. Furthermore, by employing an airborne booster rocket initiator integrated with each UAV, convenient single-unit autonomous launch is achieved, eliminating the need for additional ground initiator equipment. The comprehensive use of wireless connection technology between the ground control station and the swarm of UAVs, along with the integrated design of the rocket initiator and the UAV, significantly reduces system complexity, increases launch success rate, and maximizes launch site safety.

[0047] The airborne booster rocket initiator in this invention is a fixed airborne device mounted on a UAV, the airborne battery is a fixed airborne device mounted on a single UAV, the airborne ad hoc network data link is a fixed airborne device mounted on a single UAV, and the vehicle-mounted ad hoc network data link is a fixed vehicle-mounted device mounted on a ground control station. This makes the most of the necessary airborne / vehicle-mounted equipment of the swarm UAVs and the ground control station, avoids additional equipment, shortens the development cycle, and reduces development costs.

[0048] The rocket-assisted unmanned aerial vehicle (UAV) swarm autonomous launch control system, such as Figure 1 As shown, it includes a ground control station, a cluster of N drones, and a cluster of X backup drones.

[0049] The ground control station's vehicle-mounted ad hoc network data link is simultaneously connected to the airborne ad hoc network data links of N UAVs and X standby UAVs. It receives downlink telemetry data and transmits uplink remote control commands via antennas, enabling uplink and downlink communication. Within the maximum number of network nodes supported by the vehicle-mounted ad hoc network data link, the airborne ad hoc network data links of N UAVs and X standby UAVs can all access the network, achieving ad hoc network communication between all UAVs and the ground control station.

[0050] The UAV's onboard equipment includes a flight control computer, an onboard ad hoc data link, a combined inertial navigation system (INS), an engine, an onboard battery, an onboard booster rocket initiator, and other onboard equipment. The flight control computer is used for full-process flight control and management; the onboard ad hoc data link is used to transmit telemetry data and receive remote control data with the vehicle-mounted ad hoc data link at the ground control station; the combined inertial navigation system is used to measure attitude and position data during flight; the engine provides the power required for flight within the UAV's flight envelope; the onboard battery provides power support for the onboard avionics during flight and meets power consumption requirements, as well as the instantaneous power and energy requirements for booster rocket ignition during launch; the onboard booster rocket initiator is used to ignite the booster rocket and the canopy actuator; and other onboard equipment fulfills other specific functional requirements of the UAV.

[0051] The main vehicle-mounted equipment of the ground control station includes an onboard computer, an onboard ad hoc network data link, and other onboard equipment. The onboard computer is used to deploy ground station software and realize human-machine interaction functions such as telemetry data display and remote control command planning. The onboard ad hoc network data link is used to complete the telemetry data downlink and remote control data transmission functions with the airborne ad hoc network data link in the UAV equipment. Other onboard equipment is used to fulfill other specific functional requirements of the ground control station.

[0052] The airborne ad hoc network data link and the vehicle-mounted ad hoc network data link transmit and receive radio data through airborne antennas and vehicle-mounted antennas, respectively, and both have uplink and downlink communication capabilities.

[0053] During command transmission, if issues arise such as poor signal connection between the vehicle-mounted and airborne ad hoc network data links, or command transmission failure, the vehicle-mounted computer will repeatedly send the command until it is successfully sent or the signal is completely interrupted and the command cannot be sent. A notification will be displayed in a key part of the ground station software, allowing flight operators and flight commanders to make on-site decisions on whether to continue or abort the launch. This invention eliminates the need for multiple vehicle-mounted ad hoc network data links. The communication between the vehicle-mounted ad hoc network data link and the respective airborne ad hoc network data links of the N UAVs can be achieved using time-division multiplexing or frequency-division multiplexing technology, reducing system complexity and lowering system costs.

[0054] like Figure 2As shown, each UAV is equipped with its own onboard detonator and a booster rocket. It sends takeoff commands through the ground control station and achieves orderly and autonomous rocket booster launch control of a multi-UAV cluster through its own detonator.

[0055] The initiator is connected to the booster rocket via a plug-in connector (non-fixed connection connector), to the UAV via a power supply and communication connector, and to the rocket via an ignition output connector.

[0056] The UAV's onboard battery connects to the detonator's power and communication socket via its built-in power and communication connector, providing a stable and reliable power supply to all functional modules inside the detonator that require power. The power and capacity are designed to meet the operational requirements of the onboard avionics during flight and the ignition requirements of the booster rocket during launch.

[0057] After receiving the rocket ignition command from the ground operator, the flight control computer connects to the initiator's power and communication connector via the UAV's built-in power and communication connector, sending the rocket ignition command to the main control CPU module inside the initiator. The main control CPU module converts the ignition command into an ignition control signal, which is transmitted through the MOSFET or solid-state relay circuit inside the initiator to the ignition output connector, providing a continuous and stable ignition drive current to the rocket. The ignition drive current is converted into heat energy to ignite the propellant for ignition boost, or to control the parachute compartment door, airbag compartment door, or parachute jettisoning actuators.

[0058] like Figure 3 As shown, the ignition drive circuits of the rocket and the drone are connected via an ignition cable wound around the launch pad's rotating arm. Two high-temperature resistant silicone ignition drive cables (corresponding to the rocket's positive and negative ignition terminals) extend from the rocket's tail, wrapped with a Kevlar braided layer, and have plug-in connectors soldered to their ends. The ignition cables are secured to the launch pad's rotating arm via a spiral winding method, with a length reserved to accommodate the maximum stretch before the drone leaves the launch pad, preventing insufficient stretching or excessive tension. This plug-in connector connects magnetically to a plug-in socket mounted on the drone's belly. This magnetic connection prevents mechanical wear, and the automatic separation mechanism under force ensures easy plug-in / socket separation.

[0059] The rocket and the drone are connected via a conical surface. The main conical surface consists of a convex cone (plug) and a concave cone (socket). The convex cone is located on the underside of the drone, while the concave cone is located at the end of the rocket. The convex cone (plug) and concave cone (socket) are precision-machined to achieve a high-precision fit, ensuring axial and radial positioning. During rocket installation, the convex cone at the tail of the drone is inserted into the concave cone at the head of the booster rocket, and the conical surface guides the initial positioning. When the booster rocket ignites and burns, the thrust is transmitted to the drone through the conical connection. At this time, the conical surfaces fit tightly together under the action of axial force. When the rocket fuel is exhausted, the thrust drops sharply to zero, the axial clamping force between the conical surfaces disappears, and the separation mechanism automatically unlocks under the coupling of aerodynamic drag and gravity.

[0060] like Figure 4 and Figure 5 As shown, the working principle of the rocket-assisted unmanned aerial vehicle (UAV) swarm autonomous launch control system is as follows:

[0061] Step 1: Fix N drones on N sets of launchers on the ground, turn on the onboard battery power switch, and power on all drones;

[0062] Turn on the onboard battery power switch of each of the N drones, and the N drones fixed on the ground launcher will start to power on.

[0063] Step 2: The ground control station sends a full self-test command to each of the N flight control computers to complete the pre-flight ground self-test of each UAV and transmit the self-test status to the ground control station.

[0064] After the ground control station sends a self-test command for the entire aircraft, the flight control computers of each of the N UAVs receive the self-test command and complete the pre-flight checks of all equipment, including aerodynamic control surfaces, engines, and integrated inertial navigation systems.

[0065] Step 3: The flight commander confirms whether there are any drones with abnormal self-check status. If so, select one from the backup drones according to the pre-set mission number to replace it and perform a self-check; otherwise, proceed to Step 4 to launch the drone with rocket booster for a drone with normal self-check status.

[0066] Step 4: After receiving the takeoff command, the flight operator operates the onboard computer to send takeoff commands to all UAVs with normal self-test status, specifying the launch sequence and launch interval, and launches them in sequence and at the specified intervals.

[0067] For N drones with normal self-test status, their launch sequence and launch interval, as well as flight-related parameters such as flight mission route, flight altitude, flight speed, and flight area, have all been pre-programmed into the onboard flight control computer, or can be changed in real time during flight.

[0068] The specific launch process is as follows:

[0069] Step 401: Each of the N UAVs starts its engine and, once the engine reaches takeoff speed, reports its status to the ground control station via radio connection through the onboard ad hoc network data link.

[0070] Step 402: The flight operator, through the network interface or serial communication interface of the onboard computer, automatically sends the takeoff command for UAV #1 sequentially according to a preset program. After an interval of T1, the takeoff command for UAV #2 is sent, after an interval of T2, the takeoff command for UAV #3 is sent, and so on, after an interval of T... N-1 After a certain time, send the N# drone takeoff command again until all takeoff commands have been sent to the vehicle-mounted ad hoc network data link, eliminating the need for flight operators to repeatedly send drone takeoff commands.

[0071] Flight commanders issue takeoff orders at ground control stations, and flight operators send takeoff instructions through the ground station software interface on the onboard computer.

[0072] The takeoff command includes the individual drone aircraft number;

[0073] Step 403: The vehicle-mounted ad hoc network data link sends the takeoff command to the airborne ad hoc network data link of each UAV through the antenna;

[0074] The communication mode of one station for multiple drones can be achieved by using time division multiplexing or frequency division multiplexing technology between the vehicle-mounted ad hoc network data link and the airborne ad hoc network data links of N drones.

[0075] Step 404: After receiving the takeoff command, the airborne self-organizing network data link transmits it to the flight control computer, which then sends it to the respective airborne rocket detonators via serial port connection.

[0076] Step 405: After receiving the command, the initiator controls the internal MOS transistor or relay to turn on, and provides continuous current to the booster rocket through the ignition output line (including plug-in connection). The rocket ignites after the ignition threshold is reached.

[0077] Step 406: Each UAV determines whether its own ignition has failed. If ignition fails, it broadcasts an ignition failure signal to the ground control station and surrounding backup UAVs via the onboard ad hoc network data link, triggering the replacement process; otherwise, proceed to step 407.

[0078] The specific replacement process is as follows:

[0079] If M drones out of N drones fail to ignite, the M failed drones broadcast an ignition failure signal to X backup drones and the ground control station via their onboard ad hoc network data link. Upon receiving the ignition failure signal from the M failed drones, the first M backup drones, ordered according to a preset mission sequence number, will automatically enter launch-ready status and report their launch-ready status to the ground control station. These backup drones will then replace the corresponding failed drones in performing the swarm mission.

[0080] After the ground control station confirms the launch readiness status of the first M UAVs among the X backup UAVs, if the status is acceptable, it sends a full self-test command. Step two is repeated, sending full self-test commands to the flight control computers of each of the backup UAVs (the first M out of the X), completing the pre-flight ground self-test for each UAV, and transmitting the self-test status to the ground control station. The M UAVs with normal self-test status continue to perform booster launch missions according to the new sequence, completing the UAV swarm formation of the M failed UAVs among the N UAVs, ensuring that there are still N UAVs with normal status capable of continuing to perform swarm formation missions.

[0081] After repeating step two, the ground control station performs step three for self-check confirmation. Once confirmed, the onboard computer recalculates the launch sequence and interval of the M backup UAVs that will replace the existing ones in the swarm formation mission, as well as flight parameters such as flight path, altitude, speed, and area, according to preset logic. After confirmation by ground operators, the flight operators send takeoff commands to all M backup UAVs with normal self-check status via the onboard computer, according to the recalculated launch sequence and interval.

[0082] Step 407: After the rocket ignites successfully, it will lift the drone into the air. The ignition cable wrapped around the launch pad rotating arm will gradually tighten as the drone rises. The disconnect plug near the end of the cable segment on the fuselage will automatically disconnect from the disconnect socket fixed on the fuselage of the drone, thus achieving automatic separation of the disconnect connector.

[0083] Step 408: After fuel combustion is complete, the rocket separates from the UAV fuselage due to gravity, the rocket booster launch is complete, and the UAV reaches its minimum design airspeed. Continuing with the engine's thrust, the UAV's speed continues to increase until it reaches its mission airspeed, and it enters its respective mission phase.

[0084] Airborne rocket booster initiators are commonly used in the launch and recovery processes of rocket-assisted unmanned aerial vehicles (UAVs).

[0085] During launch, the airborne booster rocket initiator provides a continuous and stable ignition current to the booster rocket through a safe and controllable ignition circuit, completing the booster rocket's ignition. The booster rocket provides a continuous and stable boosting force through a continuous and stable chemical combustion process, enabling the rocket to propel the UAV from zero to establish initial velocity. The initial velocity provided by the booster rocket after ignition is generally above the UAV's stall velocity, effectively ensuring the UAV's initial safe flight. After the booster rocket completes its work, it automatically detaches from the UAV, and the engine provides continuous and stable flight power through a continuous and stable chemical combustion process, enabling the UAV to complete its subsequent mission flight.

[0086] During the recovery phase, after the rocket-assisted UAV shuts down its engines, its speed continuously decreases to a safe parachute deployment speed range due to air resistance. At this point, the airborne booster rocket initiator triggers the parachute door actuator via a safe and controllable ignition circuit, opening the parachute door. After the parachute door opens, the parachute deploys, and the UAV's speed further decreases, entering the stable parachute descent phase. In this phase, the airborne booster rocket initiator provides a continuous and stable ignition current to the airbag door actuator via a safe and controllable ignition circuit, opening the airbag door. Once the airbag door is open, the landing cushion airbag begins to inflate to reduce the overload impact upon landing, protecting the UAV's airframe structure and onboard avionics. Upon landing, the flight control computer detects the landing overload impact and sends a parachute-cutting command to the airborne booster rocket initiator. The initiator then provides a continuous and stable ignition current to the parachute jettison actuator via a safe and controllable ignition circuit, cutting the cable connection between the UAV and the parachute, completing the recovery process.

[0087] The swarm autonomous launch control system described in this invention eliminates the need for ground power, ground detonators, and manual operation, thus avoiding traditional wired connections and preventing ground personnel from operating the detonators at close range. This simplifies the launch process and enhances safety. This method reduces the launch process, lowers system complexity, improves launch efficiency and safety, and maximizes the safety of ground personnel. Utilizing an automatic disconnection mechanism, the connector automatically disconnects from the socket when the booster rocket begins ignition. After the rocket fuel is exhausted, the rocket can safely and quickly separate from the UAV body without generating additional forces or torques on the swarm UAVs, and without affecting the attitude stability and control of the swarm UAVs. Based on existing time-division multiplexing or frequency-division multiplexing technologies, a stable and reliable communication connection can be established between the vehicle-mounted ad hoc network data link and the airborne ad hoc network data link, quickly realizing one-stop multi-drone connection. Ignition commands are sent to N drones according to a preset sequence and interval, and accurately transmitted to the airborne ad hoc network data link of each drone via wireless connection. Finally, the flight control computer of each drone executes and controls the ignition, improving rocket launch efficiency, launch flexibility, and launch reliability.

[0088] The airborne initiators of N drones are powered by their respective onboard batteries. Drones typically carry onboard batteries to power their avionics. The ignition process of each drone's booster rocket is short (milliseconds), requiring low drive current (amperes), and has low instantaneous power and energy demands. Conventional onboard batteries, while meeting the power needs of all avionics during flight, can simultaneously meet the instantaneous power and energy requirements of the booster rocket ignition, eliminating the need for a dedicated ground power source. This approach reduces system equipment composition, system complexity, and system production costs.

[0089] The cluster autonomous launch control system described in this invention uses the airborne booster rocket initiator as the terminal actuator, which is mainly responsible for receiving and executing control commands from the flight control computer, supplying power to the ignition circuit, and triggering the rocket to operate.

[0090] The pyrotechnics commonly used in the launch and recovery of rocket-assisted unmanned aerial vehicles (UAVs) generally include rocket boosters, airbag door actuators, parachute door actuators, and parachute jettisoning detonators. The airborne booster rocket initiator is mainly used to control the ignition and propulsion of the rocket boosters, the airbag door actuators, the parachute door actuators, and the ignition and cutting of the parachute jettisoning detonators.

[0091] The airborne booster rocket initiator uses a solid-state switch to control the on / off state of the ignition current of various pyrotechnics. It employs isolation methods, using photoelectric and electromagnetic means to isolate high-voltage and low-voltage electricity, and uses a microcontroller to achieve intelligent control of the ignition switch and ignition detection functions.

[0092] The airborne booster rocket initiator uses a mature isolated drive power module as its basic functional unit. It communicates with the flight control computer through the main control CPU module, receives commands from the flight control computer, and realizes the ignition timing output function.

[0093] The airborne booster rocket initiator consists of a shell, connectors, an isolated power supply module, a main control CPU module, an isolated drive module, an isolated communication module, a current limiting protection module, and an ignition detection module.

[0094] The housing supports the main circuit board and connectors of the airborne booster rocket initiator. Connectors facilitate internal and external electrical connections for the airborne booster rocket initiator, flight control computer, airborne battery, and pyrotechnics, including power supply and communication connectors and ignition output connectors. The isolated power supply module converts the operating power to internal power and performs necessary EMI filtering and shielding. The main control CPU module generates control timing sequences, controls the output of the isolated drive module, and enables pyrotechnic ignition. The isolated drive module receives control signals from the main control CPU module and uses connectors to achieve isolated drive control of the pyrotechnics. The isolated communication module handles external communication, receiving ignition control commands from the flight control computer and sending them to the main control CPU, while also periodically transmitting necessary information back to the flight control computer. The current limiting protection module ensures normal power supply and circuit operation even when the pyrotechnics are short-circuited, guaranteeing the normal ignition of other pyrotechnics. The ignition detection module detects the ignition results and periodically transmits the ignition results back to the flight control computer.

[0095] The flight control computer sends pyrotechnic ignition commands to the onboard isolated communication module of the airborne booster rocket initiator via a power supply and communication connector. The isolated communication module transmits the pyrotechnic ignition commands to the main control CPU module via a serial port connection. After receiving the pyrotechnic ignition commands, the main control CPU module outputs an ignition control signal, which is sent to the isolated drive module via a signal connection. After receiving the ignition control signal, the isolated drive module controls the conduction of the ignition circuit, generates an ignition drive current, and drives the pyrotechnic ignition through the ignition output connector. The current limiting protection module controls the magnitude of the ignition drive current by setting different resistance values ​​of the current limiting protection resistor to drive pyrotechnics with different current requirements. The ignition detection module is used to monitor the magnitude of the drive current of the current limiting protection module and the temperature near the current limiting protection resistor in real time, and transmits the current and temperature data back to the main control CPU module via a serial port connection.

Claims

1. An autonomous launch control system for a rocket-assisted unmanned aerial vehicle (UAV) swarm, characterized in that, It includes a ground control station, a cluster of N UAVs, and a cluster of X backup UAVs; the vehicle-mounted ad hoc network data link of the ground control station is simultaneously connected to the airborne ad hoc network data links of the N UAVs and the X backup UAVs, and receives downlink telemetry data and sends uplink remote control commands through antennas to realize uplink and downlink communication; Each UAV is equipped with its own onboard detonator and a booster rocket. The takeoff command is sent through the ground control station to trigger the onboard detonator to ignite the rocket, thus achieving orderly and autonomous launch control of a multi-UAV cluster from a single station. The initiator is connected to the UAV via a power supply and communication connector, and is also connected to the rocket via an ignition output connector. The ignition drive circuits of the rocket and the drone are connected by an ignition cable wound around the launch pad's rotating arm; two ignition drive cables are led out from the tail of the rocket, corresponding to the positive and negative terminals of the rocket ignition, and a disconnect plug is welded to the end; the ignition cable is fixed to the rotating arm of the launch pad by spiral winding; the disconnect plug is connected to the disconnect socket installed on the belly of the drone by magnetic attraction. The UAV's onboard battery connects to the detonator's power and communication socket via its built-in power and communication connector, providing a stable and reliable power supply to all the functional modules inside the detonator that require power.

2. The rocket-assisted unmanned aerial vehicle (UAV) swarm autonomous launch control system as described in claim 1, characterized in that, After receiving the rocket ignition command from the ground operator, the flight control computer connects to the initiator's power and communication connector via the UAV's built-in power and communication connector, sending the rocket ignition command to the main control CPU module inside the initiator. The main control CPU module converts the ignition command into an ignition control signal, which is transmitted through the MOSFET or solid-state relay circuit inside the initiator to the ignition output connector, providing a continuous and stable ignition drive current to the rocket. The ignition drive current is converted into heat energy to ignite the propellant for ignition boost, or to control the parachute compartment door, airbag compartment door, or parachute jettisoning actuators.

3. The autonomous launch control system for a rocket-assisted unmanned aerial vehicle swarm as described in claim 1, characterized in that, The rocket and the drone are connected by a conical surface. The main conical surface is composed of a convex cone and a concave cone. The drone's belly is a convex cone device, and the rocket's end is a concave cone device. The convex cone and the concave cone are fitted together with high precision through precision machining. When installing the rocket, the convex cone at the tail of the UAV is inserted into the concave cone at the head of the booster rocket, and the cone surface guides the initial positioning. When the booster rocket ignites and burns, the thrust is transmitted to the UAV through the conical connection. At this time, the conical surfaces are tightly fitted under the action of axial force. When the rocket fuel is exhausted, the thrust drops to zero, the axial clamping force between the conical surfaces disappears, and the separation mechanism automatically unlocks under the coupling of aerodynamic drag and gravity.

4. The autonomous launch control system for a rocket-assisted unmanned aerial vehicle swarm as described in claim 1, characterized in that, The working principle is as follows: Step 1: Fix N drones on N sets of launchers on the ground, turn on the onboard battery power switch, and power on all drones; Step 2: The ground control station sends a full self-test command to each of the N flight control computers to complete the pre-flight ground self-test of each UAV and transmit the self-test status to the ground control station. Step 3: The flight commander confirms whether there are any drones with abnormal self-check status. If so, select one from the backup drones according to the pre-set mission number to replace it and perform a self-check; otherwise, proceed to Step 4 and launch the drone with rocket booster for the drone with normal self-check status. Step 4: After receiving the takeoff command, the flight operator operates the onboard computer to send takeoff commands to all UAVs with normal self-test status, specifying the launch sequence and launch interval, and launches them in sequence and at the specified intervals. The specific launch process is as follows: Step 401: Each of the N UAVs starts its engine and, once the engine reaches takeoff speed, reports its status to the ground control station via radio connection through the onboard ad hoc network data link. Step 402: The flight operator, through the network interface or serial communication interface of the onboard computer, automatically sends the takeoff command for UAV #1 sequentially according to a preset program. After an interval of T1, the takeoff command for UAV #2 is sent, after an interval of T2, the takeoff command for UAV #3 is sent, and so on, after an interval of T... N-1 After a certain time, send the N# drone takeoff command again, until all takeoff commands have been sent to the vehicle-mounted ad hoc network data link; The takeoff command includes the individual drone aircraft number; Step 403: The vehicle-mounted ad hoc network data link sends the takeoff command to the airborne ad hoc network data link of each UAV through the antenna; Step 404: After receiving the takeoff command, the airborne self-organizing network data link transmits it to the flight control computer, which then sends it to the respective airborne rocket detonators via serial port connection. Step 405: After receiving the command, the initiator controls the internal MOSFET or relay to turn on, providing a continuous current to the booster rocket through the ignition output circuit. The rocket ignites after reaching the ignition threshold. Step 406: Each UAV determines whether its own ignition has failed. If ignition fails, it broadcasts an ignition failure signal to the ground control station and surrounding backup UAVs via the onboard ad hoc network data link, triggering the replacement process. Otherwise, proceed to step 407; Step 407: After the rocket ignites successfully, it will lift the drone into the air. The ignition cable wrapped around the launch pad rotating arm will gradually tighten as the drone rises. The disconnect plug near the end of the cable segment on the fuselage will automatically disconnect from the disconnect socket fixed on the fuselage of the drone, thus achieving automatic separation of the disconnect connector. Step 408: After the fuel combustion is completed, the rocket separates from the UAV fuselage due to gravity, the rocket booster launch is completed, and the UAV reaches the minimum design airspeed; under the continuous thrust of the engine, the speed of the UAV continues to increase until it reaches the mission flight airspeed and enters its respective mission phase.

5. The autonomous launch control system for a rocket-assisted unmanned aerial vehicle swarm as described in claim 4, characterized in that, In step four, for N UAVs with normal self-test status, their launch sequence and launch interval, as well as flight mission routes, flight altitudes, flight speeds, and flight area parameters, have all been pre-programmed into the onboard flight control computer.

6. The autonomous launch control system for a rocket-assisted unmanned aerial vehicle swarm as described in claim 4 or 5, characterized in that, In step 403, the vehicle-mounted ad hoc network data link and the airborne ad hoc network data links of the N UAVs are connected by time division multiplexing or frequency division multiplexing technology to achieve a one-stop multi-UAV communication mode.

7. A rocket-assisted unmanned aerial vehicle (UAV) swarm autonomous launch control system as described in claim 4 or 5, characterized in that, The specific replacement process in step 406 is as follows: The backup UAV system is denoted as M based on the number of ignition failures. It automatically selects an equal number of backup UAVs from X backup UAVs according to the preset mission sequence number and enters the launch ready state, and reports the launch ready state to the ground control station. The ground control station sends a self-test command to the flight control computers of each of the M standby UAVs to complete their pre-flight ground self-tests. The standby UAVs with normal self-test status will continue to be launched with rocket boosters to replace and complete the formation of the M UAVs that failed to launch from the original N UAVs. The onboard computer will recalculate the launch sequence and launch interval of all backup drones according to preset logic, as well as flight mission routes, flight altitudes, flight speeds, and flight area parameters. After confirmation by ground operators, flight operators send takeoff commands to all M-frame standby UAVs that are in normal self-test status via the onboard computer, according to the recalculated launch sequence and interval.

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