A laser beam riding guidance control system and a control method thereof

Abstract

This invention discloses a laser beam-riding guidance control system and its control method, belonging to the field of aircraft guidance and control technology. The system includes: S1, acquiring laser spot energy distribution data to form a two-dimensional energy matrix; S2, calculating the light field quality index based on the two-dimensional energy matrix and a preset light field quality quantification evaluation model; S3, adaptively selecting a guidance mode and generating a guidance trajectory command based on a comparison between the light field quality index and a preset switching threshold; and S4, outputting the guidance trajectory command to the flight control unit to generate a control signal. This invention provides a solid and reliable basis for subsequent intelligent decision-making, achieving the technical effect of adaptively selecting the guidance mode and generating the guidance trajectory command, ensuring that the system can autonomously recover from an uncertain state and quickly return to the most efficient guidance mode.

Description

Technical Field

[0001] This invention relates to the field of aircraft guidance and control, specifically to a laser beam-riding guidance and control system and its control method. Background Technology

[0002] Existing laser beam-riding guidance schemes suffer significant performance degradation under adverse weather conditions such as rain, fog, and dust, which can lead to energy attenuation, scattering, and distortion of the laser beam. These schemes typically rely on a laser receiver to detect the deviation between the aircraft and the center point of the laser beam axis, and a processing unit performs closed-loop control based on this deviation information. When the shape and energy characteristics of the laser spot degrade due to the decrease in atmospheric transmission quality, accurate extraction of the center point of the beam axis becomes difficult, leading to a decrease in guidance accuracy or even control failure, posing a serious threat to the success of the interception mission.

[0003] To address the aforementioned technical problems, a new technical solution is proposed. The core idea of ​​this solution is that the system no longer passively tracks a presumed, clear optical axis center, but actively performs comprehensive cognition and quantitative evaluation of the entire laser spot morphology that may have degraded or been distorted. Based on this evaluation result, the guidance trajectory and search strategy of the aircraft are dynamically and adaptively adjusted.

[0004] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a laser beam-riding guidance control system and its control method to solve the problems mentioned in the background art.

[0006] The technical solution of the present invention includes:

[0007] S1, collects laser spot energy distribution data to form a two-dimensional energy matrix;

[0008] S2, based on the two-dimensional energy matrix and the preset light field quality quantification evaluation model, calculates the light field quality index;

[0009] S3, based on the comparison results between the light field quality index and the preset switching threshold, adaptively selects the guidance mode and generates guidance trajectory commands;

[0010] S4 outputs guidance trajectory commands to the flight control unit to generate control signals.

[0011] Preferably, adaptively selecting the guidance mode and generating guidance trajectory commands includes:

[0012] If the light field quality index is not less than the preset switching threshold, it enters the high-confidence guidance mode and calculates the energy centroid based on the two-dimensional energy matrix, generating a straight-line approximation trajectory command pointing to the energy centroid.

[0013] If the light field quality index is less than the preset switching threshold, the system enters the spiral search guidance mode, saves the currently calculated energy centroid as the search reference point, and generates a spiral search trajectory command around the search reference point.

[0014] Preferably, the calculated light field quality indicators include:

[0015] Calculate the total energy of the light spot based on a two-dimensional energy matrix;

[0016] Based on the two-dimensional energy matrix, the two-dimensional standard deviation of the spot energy distribution is calculated;

[0017] The geometric roundness factor of the light spot is calculated based on the two-dimensional energy matrix.

[0018] The light field quality index is determined by a weighted comprehensive evaluation method by combining the total energy of the light spot, the two-dimensional standard deviation of the light spot energy distribution, the geometric roundness factor of the light spot, the preset reference total energy, the preset maximum allowable dispersion, and the preset multi-factor weighting coefficients.

[0019] Preferably, the instruction for generating a spiral search trajectory around the search reference point includes:

[0020] The spiral search radius is calculated based on the light field quality index and the preset radius control parameters.

[0021] The spiral search angular velocity is calculated based on the light field quality index and the preset angular velocity control parameters.

[0022] By combining the search reference point, the spiral search radius, and the spiral search angular velocity, a spiral search trajectory instruction is generated.

[0023] Preferably, the currently calculated energy centroid is saved as the search reference point, including:

[0024] When switching from high-confidence guidance mode to spiral search guidance mode, the energy centroid coordinates calculated before the switch are saved as a fixed search reference point;

[0025] If the light field quality index is less than the preset switching threshold at the beginning of the guidance process, the preset sensor field of view center will be used as the search reference point.

[0026] Preferred options also include:

[0027] During the execution of the spiral search guidance mode, the optical field quality index is continuously calculated;

[0028] In response to the light field quality index recovering to a level not less than the preset switching threshold, the spiral search guidance mode is exited and the system switches back to the high-confidence guidance mode.

[0029] A laser beam-riding guidance and control system, comprising:

[0030] The data acquisition module is used to collect laser spot energy distribution data and form a two-dimensional energy matrix;

[0031] The quality assessment module is used to calculate the light field quality index based on the two-dimensional energy matrix and the preset light field quality quantification assessment model.

[0032] The trajectory planning module is used to adaptively select the guidance mode and generate guidance trajectory instructions based on the comparison results between the light field quality index and the preset switching threshold.

[0033] The flight control module is used to receive guidance trajectory commands and generate control signals.

[0034] Preferably, the trajectory planning module includes:

[0035] The high-reliability guidance unit is used to calculate the energy centroid based on the two-dimensional energy matrix and generate a straight-line approximation trajectory command pointing to the energy centroid when the light field quality index is not less than the preset switching threshold.

[0036] The spiral search guidance unit is used to save the currently calculated energy centroid as the search reference point and generate a spiral search trajectory command around the search reference point when the light field quality index is less than the preset switching threshold.

[0037] This invention provides an improved laser beam-riding guidance control system and its control method, which, compared with the prior art, has the following improvements and advantages:

[0038] 1. This scheme introduces a laser beam-riding guidance and control method. By collecting laser spot energy distribution data to form a two-dimensional energy matrix, and further calculating the light field quality index based on this two-dimensional energy matrix and a preset light field quality quantification evaluation model, the method maps a complex, unstructured energy distribution field into a single, normalized scalar by weighting and integrating three core features: energy, dispersion, and shape. The advancement of this approach lies in providing the system with an unprecedented capability: to perceive the health status of the light field signal in a precise and quantifiable way, thereby providing a solid and reliable basis for subsequent intelligent decision-making.

[0039] 2. This scheme achieves the technical effect of adaptively selecting guidance mode and generating guidance trajectory commands. When the optical field quality index is not less than the preset switching threshold, the system enters the high-confidence guidance mode, calculates the energy centroid based on the two-dimensional energy matrix, and generates a straight-line approximation trajectory command pointing to the energy centroid. This mode ensures that the highest guidance accuracy and efficiency can be achieved when the signal quality is good. Conversely, when the optical field quality index is less than the preset switching threshold, the system seamlessly switches to the spiral search guidance mode. At this time, the currently calculated energy centroid is saved as the search reference point, and a spiral search trajectory command around the search reference point is generated. This dual-mode architecture gives the guidance system flexibility in the face of different environments, that is, it has the ability to maintain the mission in adversity, rather than failing directly like existing technologies.

[0040] 3. This scheme also includes closed-loop control logic that continuously calculates the optical field quality index during the spiral search and exits the spiral search guidance mode in response to index recovery, ensuring that the system can autonomously recover from uncertain states and quickly return to the most efficient guidance mode. Attached Figure Description

[0041] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0042] Figure 1 This is a flowchart of a laser beam-riding guidance and control method according to the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0044] Example 1:

[0045] Please see Figure 1 This invention provides a laser beam-riding guidance and control method, comprising:

[0046] S1, collects laser spot energy distribution data to form a two-dimensional energy matrix;

[0047] S2, based on the two-dimensional energy matrix and the preset light field quality quantification evaluation model, calculates the light field quality index;

[0048] S3, based on the comparison results between the light field quality index and the preset switching threshold, adaptively selects the guidance mode and generates guidance trajectory commands;

[0049] S4 outputs guidance trajectory commands to the flight control unit to generate control signals;

[0050] This embodiment discloses a laser beam-riding guidance and control method, which includes a series of logically progressive and related operation steps;

[0051] The method begins by collecting laser spot energy distribution data to form a two-dimensional energy matrix; the purpose of the steps is to obtain the original state information of the laser beacon in front of the aircraft; in this embodiment, data acquisition is completed by an optical sensor array with a wide field of view; the array captures the complete spot formed by the laser on the sensor image plane in real time and converts the light intensity information of each pixel into a two-dimensional energy matrix; the matrix is ​​the original data basis for all subsequent analysis and calculation.

[0052] To ensure the validity of the two-dimensional energy matrix, an image preprocessing step can be included before forming the final matrix. In a specific, non-limiting embodiment, the preprocessing step first uses, for example, a Gaussian filter to smooth the raw image data acquired by the sensor to suppress random noise, and then employs an automatic thresholding algorithm, such as Otsu's method, to separate the spot region from the background. The algorithm automatically finds an optimal threshold to classify image pixels into foreground, spot, and background categories, thereby determining the precise outline of the spot. After segmentation, the energy values ​​of all background pixels are set to zero, retaining only the energy values ​​within the spot region. The resulting two-dimensional energy matrix is ​​a data matrix containing only valid spot information with a clean background. This step ensures that the subsequent calculation of the total spot energy is accurate. Two-dimensional standard deviation And especially the geometric roundness factor, which relies on accurate area and perimeter calculations. Accuracy and repeatability of time;

[0053] Based on the matrix, the optical field quality index is calculated by solving a preset optical field quality quantification evaluation model. The purpose of this step is to transform the complex spot morphology, which may have degraded or distorted, collected by the sensor into a single, accurate, and standardized value. The optical field quality index refers to a normalized score used to quantify the availability of the current laser spot, which serves as a decision-making basis for subsequent guidance mode selection. The index is calculated by a preset optical field quality quantification evaluation model, which is a mathematical model based on multi-factor comprehensive evaluation. The model aims to quantify and describe fuzzy and irregular energy distribution patterns, and its structure will be detailed in the following embodiments.

[0054] Based on the above calculation results, and according to the comparison between the light field quality index and the preset switching threshold, the guidance mode is adaptively selected and the guidance trajectory command is generated. The purpose of this step is to dynamically switch the flight strategy of the aircraft according to the quality of the light field. The preset switching threshold is a critical value used to distinguish whether the light field quality is good or poor, and its function is to trigger the switching of the guidance mode. To ensure the effectiveness of the threshold, it is derived from establishing the relationship curve between the interception success rate and the light field quality index value through a large number of experiments, and selecting the quality index value point where the success rate begins to decrease significantly as the threshold.

[0055] The relationship curve can be established using Monte Carlo simulation. The simulation environment can include: a standard atmospheric model, such as the MODTRAN laser transmission attenuation and distortion model, to simulate different meteorological conditions such as rain, fog, and dust; a preset target maneuvering model and aircraft dynamics model; and a guidance controller model containing the control logic of this invention. By randomly combining different meteorological parameters, target initial position, and trajectory in thousands of simulations, the final miss distance in each simulation is recorded, and the interception success is determined. The optical field quality index calculated during each simulation is used to determine the final miss distance. By correlating the average or minimum value with the success or failure of the simulation, a correlation can be fitted between the interception success rate and the light field quality index. A continuously changing curve, for example, if we select the inflection point corresponding to the interception success rate decreasing from 95% to 90%. The value, as a preset switching threshold, provides a quantifiable and robust basis for decision-making;

[0056] The system compares the currently calculated light field quality index with the threshold, adaptively selects between different guidance modes based on the comparison results, and generates corresponding guidance trajectory commands.

[0057] The guidance trajectory command is output to the flight control unit to generate control signals. The purpose of this step is to transform the abstract trajectory planning into physical control of the aircraft's control surfaces or thrusters. Based on the received guidance trajectory command, the flight control unit combines its defined two-dimensional planar lateral motion command with the longitudinal main axis motion of the aircraft toward the target area. After calculation, it generates the specific control quantities required to achieve the three-dimensional spatial composite motion, such as pulse width modulation signals, thereby driving the aircraft to perform the predetermined flight maneuvers.

[0058] The method disclosed in this embodiment, by introducing a comprehensive evaluation of the overall light spot quality and adaptive mode switching based on the evaluation, changes the passive dependence of traditional guidance methods on a clear optical axis center. This enables the guidance system to actively recognize the risk and switch to a more robust search strategy when the laser signal quality deteriorates, and to quickly switch back to high-precision tracking when the signal recovers. As a result, the robustness, environmental adaptability, and final interception success rate of the guidance system are greatly improved under complex weather conditions such as rain, fog, and smoke.

[0059] Compared to existing technologies, the significant difference and advancement of this solution lies in its fundamental shift in guidance philosophy. The laser beam-riding "three-point method" guidance principle adopted in this invention refers to the alignment of the guidance station, the target, and the laser beam-riding UAV in a straight line, thereby achieving precise physical strikes against the target. When the system issues an attack command, the laser guidance module forms a cone-shaped spatial laser information field around the line connecting the center of the laser optical axis and the target. Guided by the spatial laser beam, the laser beam-riding UAV flies along the center of the laser optical axis, ultimately intercepting and physically striking the target UAV through physical collision.

[0060] Existing technologies generally rely on passive tracking of a clear and identifiable center point of the laser beam axis. This method will fail when the laser beam spot is attenuated, scattered, and distorted due to atmospheric disturbances, as it cannot accurately locate the center point. This solution, however, does not assume the existence of a clear center point. Instead, it actively performs comprehensive cognition and quantitative assessment of the energy distribution of the entire laser beam spot, which may have been completely degraded, and dynamically adjusts the guidance strategy based on the assessment results.

[0061] Adaptively select the guidance mode and generate guidance trajectory commands, including:

[0062] If the light field quality index is not less than the preset switching threshold, it enters the high-confidence guidance mode and calculates the energy centroid based on the two-dimensional energy matrix, generating a straight-line approximation trajectory command pointing to the energy centroid.

[0063] If the light field quality index is less than the preset switching threshold, the spiral search guidance mode is entered, and the currently calculated energy centroid is saved as the search reference point, generating a spiral search trajectory command around the search reference point.

[0064] Save the currently calculated energy centroid as the search reference point, including:

[0065] When switching from high-confidence guidance mode to spiral search guidance mode, the energy centroid coordinates calculated before the switch are saved as a fixed search reference point;

[0066] If the light field quality index is less than the preset switching threshold at the beginning of the guidance process, the preset sensor field of view center will be used as the search reference point.

[0067] Also includes:

[0068] During the execution of the spiral search guidance mode, the optical field quality index is continuously calculated;

[0069] When the light field quality index recovers to a level not less than the preset switching threshold, the spiral search guidance mode is exited and the system switches back to the high confidence guidance mode.

[0070] In this embodiment, the adaptive selection of guidance mode and generation of guidance trajectory command in step S3 is further explained. The method includes two complementary guidance modes and their switching logic, and integrates features to form a complete adaptive control closed loop.

[0071] If the calculated light field quality index is not less than the preset switching threshold, the system determines that the current light field quality is good and then enters the high-reliability guidance mode. The purpose of this mode is to achieve rapid and accurate approach to the target under the condition of clear and reliable signal. In this mode, the system calculates the energy centroid of the light spot based on the acquired two-dimensional energy matrix and generates a straight-line approach trajectory command pointing to the energy centroid. The energy centroid refers to the weighted average center of the energy distribution of the light spot, and its function is to serve as the most reliable estimate of the center point of the laser optical axis when the light field quality is good.

[0072] Conversely, if the light field quality index is less than the preset switching threshold, the system determines that the current light field quality has been severely degraded and the accuracy of centroid positioning cannot be guaranteed, and then enters the spiral search guidance mode. The purpose of this mode is to reacquire the guidance signal through a systematic and controllable search flight when the precise beacon is lost.

[0073] Regarding the execution logic of mode switching, as mentioned above, when the system switches from high-confidence guidance mode to spiral search guidance mode, in order to provide a stable anchor point for subsequent searches, the system saves the energy centroid coordinates calculated instantaneously before the switch as a fixed search reference point; the search reference point This refers to a two-dimensional coordinate that remains unchanged during the spiral search. Its function is to ensure that the search behavior always revolves around the approximate area where the target last appears, avoiding aimless drift. If the light field quality index is already below the switching threshold at the beginning of the entire guidance process, the search reference point can be preset as the center of the sensor's field of view. Once the spiral search mode is entered, the system generates a spiral search trajectory instruction around the fixed search reference point.

[0074] As mentioned above, in order to achieve closed-loop control, the system continuously and periodically calculates the light field quality index during the execution of the spiral search guidance mode. Once the quality index of the newly acquired light spot recovers to a level not less than the preset switching threshold, the system will immediately respond, exit the spiral search guidance mode, and switch back to the high-confidence guidance mode when the conditions are met. At the moment of switching back, the system will recalculate the energy centroid based on the current high-quality light spot and use it as the new tracking target to achieve precise locking of the target again.

[0075] Through the aforementioned specific dual-mode design, this invention achieves significant gains. It not only ensures the highest guidance accuracy and high reliability mode when the signal is good, but more importantly, it provides a reliable autonomous recovery mechanism in the event of signal loss or degradation: the spiral search mode. The design of saving search reference points ensures the effectiveness of the search, while the design of continuously monitoring and switching back to the high reliability mode when conditions are met ensures that the system will not remain in an inefficient search state indefinitely. This achieves intelligent and seamless switching between precision strike and robust search, greatly enhancing the combat effectiveness of the aircraft in all scenarios.

[0076] This scheme also includes closed-loop control logic that continuously calculates the optical field quality index during the spiral search and exits the spiral search guidance mode in response to the index recovery, ensuring that the system can autonomously recover from the uncertain state and quickly return to the most efficient guidance mode.

[0077] In summary, this solution constructs a complete technical closed loop, from comprehensive signal evaluation to dual-mode adaptive control and intelligent search, transforming the laser beam-riding guidance system from a passive signal follower into an intelligent control entity capable of actively recognizing the environment, evaluating information, and dynamically optimizing its own behavior. This not only greatly enhances the system's robustness and mission success rate under adverse weather conditions but also represents a significant technological advancement in the evolution from simple control to intelligent control.

[0078] The laser beam-riding UAV design disclosed in this invention involves mounting a laser receiver and an information fusion processing module as standard payloads onto the fuselage of a fixed-wing, rotary-wing, or FPV UAV. To reliably receive spatial laser information fields during attitude adjustments and maneuvers, the optical field of view of the laser receiver needs to be no less than [value missing]. After receiving the spatial laser-encoded information, the laser receiver processes it in real time into y and z deviation voltage values ​​relative to the center of the laser optical axis and sends them to the information fusion processing board. Upon receiving the y and z deviation voltages, the information fusion processing board generates PWM commands for the UAV motors to control their operation via its internal control algorithm. By adjusting the UAV's flight attitude and trajectory in the y and z spatial directions, the UAV's flight direction is adjusted to fly along the optical axis of the laser information field, achieving laser beam riding guidance. This guidance and control process does not require obtaining the UAV's current spatial position information; it only needs to obtain the position deviation of the UAV's flight axis relative to the center of the laser optical axis through the laser receiver to complete the entire guidance and physical strike process, without relying on onboard integrated inertial navigation information.

[0079] Example 2

[0080] The calculated light field quality indices include:

[0081] Calculate the total energy of the light spot based on a two-dimensional energy matrix;

[0082] Based on the two-dimensional energy matrix, the two-dimensional standard deviation of the spot energy distribution is calculated;

[0083] The geometric roundness factor of the light spot is calculated based on the two-dimensional energy matrix.

[0084] The light field quality index is determined by a weighted comprehensive evaluation method by combining the total energy of the light spot, the two-dimensional standard deviation of the light spot energy distribution, the geometric roundness factor of the light spot, the preset reference total energy, the preset maximum allowable dispersion, and the preset multi-factor weighting coefficients.

[0085] In this embodiment, the process of calculating the light field quality index in step S2 is specified, that is, the internal mechanism of the light field quality quantitative evaluation model is explained in detail; the core of the model is to determine the light field quality index Q through a multi-factor weighted comprehensive evaluation method.

[0086] To determine the light field quality index Q, a series of sub-indices need to be calculated in advance; first, based on the two-dimensional energy matrix, the total energy of the light spot is calculated. The total energy of the laser spot refers to the sum of the energy values ​​of all pixels on the sensor target surface during the current acquisition cycle, reflecting the degree of attenuation of laser energy after transmission through the atmosphere. Secondly, based on the two-dimensional energy matrix, the two-dimensional standard deviation of the laser spot energy distribution is calculated. The two-dimensional standard deviation is a statistical measure used to quantify the dispersion of data points relative to their mean, describing the spatial dispersion or focusing of light spot energy. Third, based on the two-dimensional energy matrix, the geometric roundness factor of the light spot is calculated. The geometric roundness factor is a standard shape description parameter in image processing. Its function is to measure the regularity of the light spot outline. It is derived by calculating the relationship between the perimeter and area of ​​the light spot outline. Its value is 1 for an ideal circular light spot.

[0087] The calculation formula is usually as follows: ,in This refers to the area enclosed by the light spot contour obtained through image segmentation, which is the total number of light spot pixels. is the perimeter of the light spot outline; h: geometric roundness factor, used to measure the regularity of the light spot outline; the value is a dimensionless number between 0 and 1, when the light spot is an ideal circle. As the shape of the light spot becomes irregular or elongated, its value decreases.

[0088] The total energy of the light spot, the two-dimensional standard deviation, and the geometric roundness factor mentioned above are all instantaneous parameters dynamically calculated based on the real-time acquisition of the two-dimensional energy matrix;

[0089] After calculating the above dynamic parameters, combined with the total energy of the light spot... Two-dimensional standard deviation of light spot energy distribution Geometric roundness factor of light spot and a series of preset parameters, including a preset reference total energy. Preset maximum permissible dispersion and preset multi-factor weight coefficients The final optical field quality index Q is determined by a weighted comprehensive evaluation method;

[0090] Reference Total Energy It is a benchmark value, derived from the energy value measured under ideal calibration conditions, and used as a reference for judging energy decay;

[0091] Maximum permissible dispersion It is a critical value, derived from the standard deviation of the light spot when it diverges to the point where it can no longer form effective guidance information, as determined by experiments or simulations.

[0092] Multifactor weight coefficients These are three dimensionless coefficients that sum to 1, derived from extensive simulation experiments or online optimization processes based on reinforcement learning, used to adjust the relative importance of each factor in the final evaluation result;

[0093] Taking simulation optimization as an example, a comprehensive performance index can be set. Also known as the cost function, the Cost Function serves as the optimization objective. The index can be defined as the weighted sum of the miss distance and the control energy consumption. It can be achieved using algorithms such as genetic algorithms or particle swarm optimization within the feasible region of the weight coefficients. and A search was conducted; for the weight coefficients of each candidate group, numerous Monte Carlo simulations were performed to calculate its comprehensive performance index. The statistical average value is used to select performance indicators. The set that reaches the minimum As the optimal weighting coefficient, this method transforms the problem of choosing the weighting coefficient into a mathematical problem with a clear optimization objective, thereby avoiding subjective trial and error and ensuring the objectivity and optimality of the parameters.

[0094] The optical field quality index Q is calculated using the following formula for quantitative evaluation of optical field quality:

[0095] ;

[0096] in, This is an indicator of light field quality. These are the weighting coefficients. The current total energy, For reference total energy, For the current dispersion, For maximum dispersion, Roundness factor;

[0097] The formula linearly weights and sums the three dimensions of energy attenuation, focusing degree, and shape regularity, and finally outputs a dimensionless index Q between [0,1] as the final quantitative evaluation of the light field quality;

[0098] The benefit of this implementation method is that it achieves a comprehensive, in-depth, and accurate quantification of the quality of the light spot. Compared with evaluation that relies on only a single feature, such as centroid or peak intensity, this method integrates three core dimensions: energy, dispersion, and shape, so that the evaluation results can more accurately reflect the true usability of the light spot. This refined evaluation provides a highly reliable input for subsequent adaptive decision-making and is the fundamental guarantee that the entire system can make correct judgments under complex conditions.

[0099] This scheme introduces a laser beam-riding guidance and control method. It collects laser spot energy distribution data to form a two-dimensional energy matrix, and further calculates the light field quality index based on the two-dimensional energy matrix and a preset light field quality quantification evaluation model. This step is the cornerstone of the scheme's technological advancement. The light field quality quantification evaluation model is not a simple threshold judgment, but a precise physical phenomenon model, the internal logic of which is expressed by the following formula:

[0100] The formula for calculating the light field quality index Q is as follows:

[0101] ;

[0102] in, Light field quality index Weighting coefficients Current total energy Reference total energy, Current diffusion Maximum diffusion : Roundness factor;

[0103] The physical meaning of the formula lies in decomposing the evaluation process into three orthogonal physical dimensions: the first term This characterizes the degree of energy decay; the second term This characterizes the degree of focusing or spatial dispersion of energy distribution; the third term This characterizes the geometric regularity of the light spot morphology; the formula is not derived from first principles, but rather is a phenomenological model built upon physical insights. It maps a complex, unstructured energy distribution field into a single, normalized scalar by weighting and synthesizing the three core characteristics of energy, dispersion, and shape. The advancement lies in providing the system with an unprecedented capability: to perceive the health status of the light field signal in a precise and quantifiable way, thereby providing a solid and reliable basis for subsequent intelligent decision-making.

[0104] Example 3

[0105] Instructions for generating a spiral search trajectory around a search reference point, including:

[0106] The spiral search radius is calculated based on the light field quality index and the preset radius control parameters.

[0107] The spiral search angular velocity is calculated based on the light field quality index and the preset angular velocity control parameters.

[0108] By combining the search reference point, the spiral search radius, and the spiral search angular velocity, a spiral search trajectory command is generated;

[0109] In this embodiment, the process of generating a spiral search trajectory instruction around a search reference point is specified. The technical concept is that the geometric parameters of the spiral search are not fixed, but dynamically correlated with the light field quality index Q, which characterizes the severity of the environment, to achieve intelligent search behavior.

[0110] First, based on light field quality indicators Calculate the spiral search radius using the preset radius control parameters. The purpose of this step is to dynamically adjust the search range based on the signal quality; spiral search radius. The calculation formula is as follows:

[0111] ;

[0112] in, For the search radius, Based on the radius, The growth coefficient, This is an indicator of light field quality. Sensitivity index;

[0113] In the formula, It is the basic search radius, which is an initial value set based on the aircraft's minimum turning radius and the sensor's field of view. It is the radius growth factor, whose physical dimension is length, and can be understood as the maximum additional search radius; It is the radius sensitivity index, a dimensionless constant greater than 1, used to accelerate the expansion of the search range when the Q value is extremely low; the inherent logic of the formula is reflected in a negative feedback mechanism: when the light field quality Q decreases, As the value increases, the search radius... It will increase non-linearly, thus enabling a wider range of searches when the signal quality is poor;

[0114] Second, based on light field quality indicators Calculate the spiral search angular velocity using the preset angular velocity control parameters. The purpose of this step is to adjust the search speed based on signal quality; spiral search angular velocity. The calculation formula is as follows:

[0115] ;

[0116] in, For the search angular velocity, Based on the angular velocity, The attenuation coefficient is... e is a quality index for the light field; e is the base of the natural logarithm.

[0117] In the formula, It is the base angular velocity, which is determined after comprehensively considering the aircraft's maneuverability and the sensor data refresh rate; This is the angular velocity decay coefficient, a dimensionless parameter used to adjust how quickly the search velocity changes with the Q value; similarly, the formula also reflects negative feedback logic: when the light field quality Q decreases, the angular velocity... This will decrease exponentially, allowing the aircraft to perform slower, more precise searches when the signal is weak, in order to increase the probability of detecting the signal again;

[0118] Combined with search reference points Calculated spiral search radius and spiral search angular velocity Generate spiral search trajectory instructions; the instructions can be defined by standard spiral parametric equations and transmitted to the flight control unit;

[0119] The benefit of this implementation is the realization of a highly intelligent adaptive search strategy; representing the severity of the environment... Q The indicators are transformed into flight action parameters, search radius, and speed through function correlation. This allows the aircraft to no longer execute a rigid, fixed search mode, but to automatically conduct a large-scale, low-speed fine search when the signal quality is extremely poor, and a small-scale, high-efficiency search when the signal is still acceptable. This dynamic adjustment greatly improves the probability and efficiency of re-acquiring the target under various degrees of interference.

[0120] Based on this reliable optical field quality index, this scheme achieves the technical effect of adaptively selecting the guidance mode and generating guidance trajectory commands, which is a major breakthrough compared to the single guidance mode of existing technologies. When the optical field quality index is not less than the preset switching threshold, the system enters the high-reliability guidance mode, calculates the energy centroid based on the two-dimensional energy matrix, and generates a straight-line approximation trajectory command pointing to the energy centroid. This mode ensures that the highest guidance accuracy and efficiency can be achieved when the signal quality is good. Conversely, when the optical field quality index is less than the preset switching threshold, the system seamlessly switches to the spiral search guidance mode, saves the currently calculated energy centroid as the search reference point, and generates a spiral search trajectory command around the search reference point. This dual-mode architecture gives the guidance system flexibility in the face of different environments, that is, it has the ability to maintain the mission in adversity, rather than failing directly like existing technologies.

[0121] The spiral search guidance mode is not static; trajectory parameters and optical field quality indicators vary. Dynamic coupling embodies profound cybernetics principles; the spiral search radius and spiral search angular velocity are determined by the following control laws:

[0122] Spiral search radius The calculation formula is as follows:

[0123] ;

[0124] in, Growth coefficient Light field quality index Sensitivity index;

[0125] Spiral search angular velocity The calculation formula is as follows:

[0126] ;

[0127] in, Search angular velocity, : Basic angular velocity, Attenuation coefficient Light field quality indicators;

[0128] The underlying logic of these two formulas is a non-linear negative feedback mechanism; light field quality The decrease is interpreted by the system as an increase in uncertainty, which is directly translated into adjustments to flight behavior through the control law: search radius. It increases in a power-law manner, while the search angular velocity... This decreases exponentially; this means that in cases of extremely poor signal quality, In extreme cases approaching zero, the aircraft will perform a wide-range, slow-speed, high-precision prudent search to maximize the probability of recapturing the weak signal. This intelligent search strategy is far superior to the fixed-pattern search that may exist in existing technologies. It optimizes the allocation of limited maneuvering energy to the most needed search range and accuracy, achieving a dual improvement in efficiency and success rate.

[0129] Example 4

[0130] A laser beam-riding guidance and control system, comprising:

[0131] The data acquisition module is used to collect laser spot energy distribution data and form a two-dimensional energy matrix;

[0132] The quality assessment module is used to calculate the light field quality index based on the two-dimensional energy matrix and the preset light field quality quantification assessment model.

[0133] The trajectory planning module is used to adaptively select the guidance mode and generate guidance trajectory instructions based on the comparison results between the light field quality index and the preset switching threshold.

[0134] The flight control module is used to receive guidance trajectory commands and generate control signals;

[0135] This embodiment discloses a laser beam-riding guidance and control system, which includes several functional modules that work together to achieve robust guidance of the aircraft.

[0136] The system includes a data acquisition module, the physical carrier of which can be a wide field-of-view optical sensor array and its front-end processing circuit, used to acquire in real time the complete spot energy distribution data formed by the laser on the sensor image plane, and process it into a two-dimensional energy matrix that can be used by subsequent modules, thereby executing step S1 above.

[0137] The system also includes a quality assessment module, which can be implemented by an embedded processor or FPGA. Its core function is to run a preset light field quality quantification assessment model, which receives the two-dimensional energy matrix input by the data acquisition module and calculates the quantified light field quality index according to the model, thereby executing step S2 above.

[0138] The system includes a trajectory planning module, which can also be implemented by an embedded processor. As the core of guidance decision-making, it receives the light field quality index calculated by the quality assessment module, and adaptively selects the guidance mode and generates the corresponding guidance trajectory command based on the comparison result between the index and the preset switching threshold, thereby executing step S3 above.

[0139] The system includes a flight control module, which is usually part of the independent flight management computer on the aircraft. It receives guidance trajectory commands generated by the trajectory planning module and converts them into specific control signals, such as PWM signals, to drive the aircraft's control surfaces or thrusters, thereby executing step S4 in Embodiment 1 to complete closed-loop control of the aircraft's attitude and trajectory.

[0140] This embodiment provides a physical or logical system architecture that can fully implement the above-mentioned invention method; by mapping the method flow to functionally defined modules, an engineering-featured solution is provided; as a whole, the system can autonomously complete the entire process from signal perception, quality assessment, decision planning to final control under complex weather conditions through the collaborative work between modules, transforming the technical concept of this invention to improve guidance robustness and accuracy into a practically deployable, efficient and reliable guidance and control device.

[0141] The trajectory planning module includes:

[0142] The high-reliability guidance unit is used to calculate the energy centroid based on the two-dimensional energy matrix and generate a straight-line approximation trajectory command pointing to the energy centroid when the light field quality index is not less than the preset switching threshold.

[0143] The spiral search guidance unit is used to save the currently calculated energy centroid as the search reference point and generate a spiral search trajectory command around the search reference point when the light field quality index is less than the preset switching threshold.

[0144] In this embodiment, the internal structure of the trajectory planning module is specified; in order to achieve clear management and execution of different guidance modes, the trajectory planning module is further divided into two core functional units.

[0145] One is the high-reliability guidance unit; the unit is activated when the optical field quality index is not less than the preset switching threshold, and is used to calculate the energy centroid based on the two-dimensional energy matrix and generate a straight-line approximation trajectory command pointing to the energy centroid, so as to perform precise guidance when the signal conditions are good.

[0146] The second is the spiral search guidance unit; the unit is activated when the light field quality index is less than the preset switching threshold, in order to save the currently calculated energy centroid as the search reference point and generate a spiral search trajectory instruction around the search reference point, so as to perform a robust search task when the signal quality is poor.

[0147] These two units work together within the trajectory planning module. A top-level logic determines which unit to activate at any given time based on the quality index of the light field, and the trajectory instructions generated by the unit are used as the final output of the entire trajectory planning module.

[0148] This modular subdivision of the trajectory planning module brings the benefits of clear structure and specialized function; encapsulating the two distinct guidance logics in independent units facilitates the independent development, debugging, and optimization of each algorithm, reducing the complexity of system design; at the same time, this clear division ensures the reliability of the switching logic between the two modes, enabling the entire guidance system to maintain powerful functionality while also possessing good maintainability and scalability.

[0149] Example 5

[0150] The present invention also includes:

[0151] The system includes a vehicle-mounted platform, radar detection module, optoelectronic observation and aiming module, laser illumination module, two-axis high-precision servo tracking platform, beam-guided UAV, and integrated control module.

[0152] The radar detection module is powered on and searches the designated airspace, acquiring and tracking the target; after the target is stably tracked, the radar identifies the target and determines whether it is an incoming drone; if there are multiple incoming drone targets, the system will sort them by threat level and select the target to be attacked first.

[0153] When the selected incoming UAV target enters the effective range of the electro-optical observation and targeting subsystem, the radar subsystem automatically sends target data to the electro-optical observation and targeting module; after receiving the data, the electro-optical observation and targeting module searches for, acquires, identifies, locks onto, and tracks the target;

[0154] After the optoelectronic observation and aiming module stabilizes and tracks the target, it outputs precise tracking and guidance commands to the two-axis high-precision servo tracking platform. The platform tracks the target according to the commands. Once the target enters the predetermined strike range of the laser beam-riding guided UAV, the optoelectronic observation and aiming module sends an illumination command to the laser illumination subsystem and simultaneously sends a UAV launch command to the system.

[0155] After receiving the launch control command, the integrated control module emits a laser information field toward the target, and at the same time, the beam-guided UAV takes off. The UAV flies toward the center of the laser information field along the intersection position relationship preset by the integrated control module and flies into the laser information field.

[0156] After entering the information field, the laser receiver on the UAV begins to receive and calculate the y and z positional relationship of the UAV relative to the spatial laser information field in real time. The receiver generates voltage commands from this information and sends them to the onboard information fusion processing module. The information fusion processing module calculates the motor control commands for the UAV based on the y and z information and sends them to the flight controller. The flight controller controls the UAV to fly at a certain speed towards the target UAV while simultaneously adjusting the positional deviation of the UAV relative to the laser central axis, and finally flies to the target UAV near the laser central axis.

[0157] Ultimately, the jib-guided UAV collided with the target UAV, completing its anti-UAV mission.

[0158] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A laser beam-riding guidance and control method, characterized in that, include: S1, collects laser spot energy distribution data to form a two-dimensional energy matrix; S2, based on the two-dimensional energy matrix and the preset light field quality quantification evaluation model, calculates the light field quality index; S3, based on the comparison results between the light field quality index and the preset switching threshold, adaptively selects the guidance mode and generates guidance trajectory commands; S4 outputs guidance trajectory commands to the flight control unit to generate control signals; The optical field quality index Q is calculated using the following formula for quantitative evaluation of optical field quality: in, This is an indicator of light field quality. These are the weighting coefficients. The current total energy, For reference total energy, For the current dispersion, For maximum dispersion, This is the roundness factor.

2. The laser beam-riding guidance and control method according to claim 1, characterized in that, The guidance trajectory command is a PWM command that controls the rotational speed of the UAV motor, used to adjust the UAV's flight attitude and trajectory in the y and z spatial directions; the UAV's flight direction is adjusted to fly along the optical axis of the laser information field, thereby realizing the UAV's laser beam riding guidance; the control process is realized through a closed-loop control method of receiver output and information fusion control board calculation and output.

3. The laser beam-riding guidance and control method according to claim 1, characterized in that, Adaptively select the guidance mode and generate guidance trajectory commands, including: If the light field quality index is not less than the preset switching threshold, it enters the high-confidence guidance mode and calculates the energy centroid based on the two-dimensional energy matrix, generating a straight-line approximation trajectory command pointing to the energy centroid. If the light field quality index is less than the preset switching threshold, the system enters the spiral search guidance mode, saves the currently calculated energy centroid as the search reference point, and generates a spiral search trajectory command around the search reference point.

4. The laser beam-riding guidance and control method according to claim 1, characterized in that, The calculated light field quality indices include: Calculate the total energy of the light spot based on a two-dimensional energy matrix; Based on the two-dimensional energy matrix, the two-dimensional standard deviation of the spot energy distribution is calculated; The geometric roundness factor of the light spot is calculated based on the two-dimensional energy matrix. The light field quality index is determined by a weighted comprehensive evaluation method by combining the total energy of the light spot, the two-dimensional standard deviation of the light spot energy distribution, the geometric roundness factor of the light spot, the preset reference total energy, the preset maximum allowable dispersion, and the preset multi-factor weighting coefficients.

5. The laser beam-riding guidance and control method according to claim 3, characterized in that, Instructions for generating a spiral search trajectory around a search reference point, including: The spiral search radius is calculated based on the light field quality index and the preset radius control parameters. The spiral search angular velocity is calculated based on the light field quality index and the preset angular velocity control parameters. By combining the search reference point, the spiral search radius, and the spiral search angular velocity, a spiral search trajectory instruction is generated.

6. The laser beam-riding guidance and control method according to claim 3, characterized in that, Save the currently calculated energy centroid as the search reference point, including: When switching from high-confidence guidance mode to spiral search guidance mode, the energy centroid coordinates calculated before the switch are saved as a fixed search reference point; If the light field quality index is less than the preset switching threshold at the beginning of the guidance process, the preset sensor field of view center will be used as the search reference point.

7. The laser beam-riding guidance and control method according to claim 3, characterized in that, Also includes: During the execution of the spiral search guidance mode, the optical field quality index is continuously calculated; In response to the light field quality index recovering to a level not less than the preset switching threshold, the spiral search guidance mode is exited and the system switches back to the high-confidence guidance mode.

8. A laser beam-riding guidance and control system, based on the laser beam-riding guidance and control method according to any one of claims 1-7, characterized in that, include: The data acquisition module is used to collect laser spot energy distribution data and form a two-dimensional energy matrix; The quality assessment module is used to calculate the light field quality index based on the two-dimensional energy matrix and the preset light field quality quantification assessment model. The trajectory planning module is used to adaptively select the guidance mode and generate guidance trajectory instructions based on the comparison results between the light field quality index and the preset switching threshold. The flight control module is used to receive guidance trajectory commands and generate control signals.

9. A laser beam-riding guidance and control system according to claim 8, characterized in that, The trajectory planning module includes: The high-reliability guidance unit is used to calculate the energy centroid based on the two-dimensional energy matrix and generate a straight-line approximation trajectory command pointing to the energy centroid when the light field quality index is not less than the preset switching threshold. The spiral search guidance unit is used to save the currently calculated energy centroid as the search reference point and generate a spiral search trajectory command around the search reference point when the light field quality index is less than the preset switching threshold.

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