Multifunctional regional unmanned aerial vehicle control and guide strike system and device

Abstract

The invention belongs to the technical field of unmanned aerial vehicle application, discloses a multifunctional regional unmanned aerial vehicle control and guide strike system and device, and aims to solve the problems of unsmooth information exchange, unknown target direction distance and low man-machine interaction efficiency when an aerial reconnaissance aircraft guides an FPV crossing aircraft to strike in the prior art. The system comprises a multifunctional GPS module, a ground station and a depth-improved crossing machine flight control installed on a striking unmanned aerial vehicle, the flight control is internally provided with a robust course resolving module, and the module fuses data of a magnetometer, a GPS and a gyroscope to generate an anti-interference high-robustness absolute head course angle; the flight controller is also internally provided with an adaptive OSD generation module which adaptively adjusts the visual attribute of a target indicator in an OSD interface according to the target distance and the data quality. According to the scheme, the guiding effect, the stability and the man-machine interaction efficiency of collaborative strike of the small unmanned aerial vehicle and the micro unmanned aerial vehicle are remarkably improved, and the unmanned aerial vehicle area management and control and air crash searching functions are considered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle application, and in particular to a multifunctional regional unmanned aerial vehicle management and control and guidance and strike system and device integrating high-robustness heading calculation and adaptive man-machine interaction interface. BACKGROUND

[0002] Small and micro unmanned aerial vehicles, especially manually controlled penetration vehicles, are increasingly used in military and police fields due to their high maneuverability and low cost. In typical applications, reconnaissance unmanned aerial vehicles and strike penetration vehicles often work cooperatively.

[0003] However, the prior art has several bottlenecks in such applications that are difficult to overcome. First, in the information link between the reconnaissance and strike units, the traditional method relies on voice communication between the operators, which has high information transmission delay and is prone to errors, seriously restricting the response speed and strike accuracy of cooperative operations.

[0004] Second, although some technologies attempt to display target position information on the flight glasses of the penetration vehicle pilot, the solutions are generally simple, such as simply displaying an arrow pointing to the target on the screen. Such solutions do not solve two core technical problems of the penetration vehicle in actual flight: first, strong electromagnetic interference. The power system of the penetration vehicle generates a large instantaneous current when it accelerates rapidly, causing serious interference to the onboard magnetometer, resulting in frequent changes and inaccuracy of the calculated heading of the aircraft nose, and the guiding arrow on the screen will therefore shake violently or point to the wrong direction, misleading the pilot and even leading to mission failure. Second, high cognitive load. The penetration vehicle pilot needs to devote most of his energy to attitude control and obstacle avoidance during high-speed and high-maneuverability flight. A static and undifferentiated guiding arrow has too little information for the pilot to intuitively judge the distance of the target, the threat level, and the credibility of the current guiding information, resulting in low man-machine interaction efficiency.

[0005] Furthermore, for the management of a large number of friendly unmanned aerial vehicles in a region, the prior art of Chinese patent CN119942848A focuses on preventing external intrusion and lacks fine monitoring and flight safety management of friendly unmanned aerial vehicle violations. Or, after the unmanned aerial vehicle crashes, there is a lack of reliable and independent search beacon, resulting in high loss rate of equipment assets.

[0006] Therefore, there is an urgent need in the market for an innovative solution that not only integrates regional management, crash search, and guidance and strike functions, but also fundamentally solves the two technical pain points of inaccurate heading calculation of the penetration vehicle in complex environments and low man-machine interaction efficiency. SUMMARY

[0007] The present application aims to provide a multifunctional regional unmanned aerial vehicle management and control and guidance strike system and device to solve the problems of unstable guidance strike heading calculation, insufficient information in man-machine interactive interface, single system function and high cost in the prior art.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical solutions: A multifunctional regional unmanned aerial vehicle management and control and guidance strike system comprises at least one multifunctional GPS module and a ground station, and a strike unmanned aerial vehicle is provided with a deeply improved through machine flight control for realizing high-precision guidance strike.

[0009] The robust heading calculation module innovatively adopts a data fusion algorithm such as complementary filtering or Kalman filtering to realize real-time fusion of magnetometer data, GPS ground heading data and gyroscope angular velocity data, which effectively overcomes the fatal influence of electromagnetic interference on a single magnetometer when the through machine is in high-power discharge, and can continuously output a stable and accurate absolute machine heading angle to provide a reliable data basis for subsequent target calculation.

[0010] The adaptive OSD generation module constructs a new set of tactical guidance interface, which is no longer a simple direction arrow, but dynamically associates the visual attributes of target indicators such as color, shape and flicker frequency with key tactical information such as target distance and data quality; for example, it is displayed as a stable green arrow at a long distance, and changes to a prominent red flickering arrow when entering the attack distance; when the GPS signal becomes poor, the arrow becomes translucent, which intuitively and efficiently transmits rich situation information to the pilot, greatly reduces the cognitive load of the pilot and improves the decision-making efficiency.

[0011] Compared with the prior art, the present application has the following beneficial effects: 1. The present application introduces a robust heading calculation module to fundamentally solve the heading calculation problem of the through machine in the extreme maneuvering state, ensuring that the OSD guidance information is stable and reliable under any working condition, which is a decisive technical prerequisite for realizing precision strike, i.e. having the advantages of revolutionary improvement of guidance accuracy and stability.

[0012] 2. The innovative adaptive OSD interface of the present application transmits key tactical information to the pilot through intuitive visual changes, realizes the leap from informing the direction to transmitting the situation, greatly reduces the cognitive burden of the pilot, shortens the "observation-judgment-decision" loop time, and has the advantage of significantly enhancing the man-machine interactive efficiency.

[0013] 3、The application seamlessly integrates three core functions of high-precision guidance strike, fine regional control and high-success-rate crash search in a set of low-cost and easy-to-deploy system, has a very high cost-effectiveness and practical value, that is, has the advantages of comprehensive and highly integrated system functions.

[0014] 4、The application defines a target data injection protocol, so that the system can be easily adapted to various types of inventory open source flight control hardware, and the upgrading cost is low. At the same time, it supports two communication modes of pass-through and relay, and can flexibly cope with different range and complexity of task scenarios, that is, has the advantages of strong compatibility and flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, together with the embodiments of the application, to explain the application, and do not constitute a limitation on the application. In the drawings: Figure 1 is a flowchart of the regional UAV control function provided by the embodiment of the application; Figure 2 is a flowchart of the find plane function provided by the embodiment of the application; Figure 3 is a flowchart of the guidance strike function provided by the embodiment of the application; Figure 4 is a block diagram of the overall structure of the system provided by the embodiment of the application; Figure 5 is a connection structure diagram of the system in pass-through mode provided by the embodiment of the application; Figure 6 is a connection structure diagram of the system in relay mode provided by the embodiment of the application; Figure 7 is a data flow diagram of the robust heading calculation module provided by the embodiment of the application; Figure 8 is a diagram of three states of the adaptive OSD tactical guidance interface provided by the embodiment of the application; Figure 9 is a data flow and interface diagram of the target data injection protocol provided by the embodiment of the application. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the application will be described in detail below with reference to the drawings of the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0017] Referring to Figure 4 The multifunctional regional unmanned aerial vehicle management and control and guidance and attack device provided by the embodiment of the application mainly comprises four core parts of a deeply improved crossing machine flight control, a multifunctional GPS module, a communication relay station and a ground station.

[0018] The deeply improved crossing machine flight control is the core of the application. In a specific example, it is based on a commercially available open source flight control of an STM32F7 chip-based flight control for secondary development of hardware and software. On the hardware level, a high-precision magnetometer is added. On the software level, the key module of the application is added in the firmware: Referring to Figure 7 The robust heading calculation module aims to solve the problem of accurate perception of the heading of the crossing machine in a high dynamic and strong interference environment. The input of the module includes three parts: the geomagnetic heading angle M theta from the magnetometer 701, the ground orientation angle (COG) G theta from the GPS module 702, and the yaw angular velocity GyrZ from the gyroscope 703. The data fusion algorithm 704 adopts a complementary filtering strategy, and its working principle is as follows: When the ground speed is less than 2m / s in low-speed flight or hovering, the GPS ground orientation angle G theta is unreliable due to large measurement error. At this time, the algorithm mainly trusts the geomagnetic heading angle M theta provided by the magnetometer as a long-term reference, and simultaneously uses the angular velocity integral GyrZ of the gyroscope to quickly respond to short-term head rotation.

[0019] When the ground speed is greater than 5m / s in high-speed straight flight, the interference of the electromagnetic field of the unmanned aerial vehicle itself on the magnetometer 701 will be intensified, and the GPS ground orientation angle G theta is very accurate at this time. The algorithm will increase the weight of G theta to correct the long-term drift of the gyroscope integral.

[0020] Through this kind of dynamic weighting fusion mode, the complementary filter 704 can continuously output a high-robustness absolute head heading angle R theta 705 which is smooth, stable and can resist instantaneous interference, ensuring the accuracy of subsequent calculations.

[0021] The tactical target calculation module receives the local coordinates and target coordinates from the multifunctional GPS module, and the high-robustness absolute head heading angle R theta output by the robust heading calculation module. Its calculation process includes: Convert the local coordinates and target coordinates from latitude and longitude to radians.

[0022] Calculate the great circle distance d between the two points using the spherical cosine formula.

[0023] Calculate the initial azimuth angle theta from the local direction to the target, and convert it to the absolute azimuth angle theta' with 0 degrees as the north.

[0024] Read the high-robustness absolute head heading angle R theta.

[0025] The relative direction angle θ0= θ'- Rθ of the target relative to the current nose is calculated.

[0026] The relative direction angle θ0and distance doutput by this module are the basis for the subsequent OSD generation.

[0027] Please refer to Figure 8 The adaptive OSD generation module is responsible for generating a tactical guidance interface on the FPV flight glasses screen to reduce the cognitive load of the operator.

[0028] In the normal guidance state, when the target distance d is greater than a first threshold value of, for example, 500 meters, a green solid arrow 801 of a normal size is displayed in the center of the screen, with the distance number 802 clearly displayed next to it.

[0029] In the medium distance alert state, when the second threshold value of, for example, 50 meters < target distance d <= first threshold value, the color of the arrow 801 changes to a more eye-catching yellow, reminding the operator that the target has entered the medium distance range.

[0030] In the close distance attack / danger alert state, when the target distance d <= second threshold value, the arrow 801 turns red and starts to flash at a frequency of 1 Hz, sending a strong visual alert to the operator that it has entered the final attack route or needs to take immediate action.

[0031] In addition, there is also a GPS signal quality indicator 803 in a corner of the screen, which turns red when the number of satellites reported by the GPS module is less than 8 or the position accuracy factor HDOP value is greater than 1.5, at the same time the guidance arrow 801 as a whole becomes translucent, directly informing the pilot that the current guidance information is of low reliability and should be used with caution.

[0032] The multifunctional GPS module is an integrated independent external device, which includes power module, control module, Bluetooth / WIFI module, GPS / Beidou positioning module, wireless communication module and signal module in its internal. The power module is built-in rechargeable lithium battery, which ensures independent endurance after the main machine loses power.

[0033] Please refer to Figure 9 In a specific example, the communication between this module and the flight control follows a specially designed target data injection protocol. The control module 903 of the module is responsible for processing the target coordinate data received from the wireless communication module 904. Instead of directly forwarding the raw data to the flight control, it encapsulates it into a custom MSP data frame 901 together with its own real-time GPS coordinates.

[0034] For example, using an MSP instruction code such as MSP_EXTERNAL_TARGET_INFO which is not commonly occupied, the frame load successively contains target longitude, latitude, height and native GPS coordinates, the encapsulated data frame is sent to the deep improved crossing machine flight control 905 through the UART serial interface 902, the MSP parser in the flight control firmware can extract the target and native coordinates after receiving the customized frame, and send them to the tactical target solving module, the protocolized design makes the external module and the flight control decoupled efficiently, and has strong compatibility and expansibility.

[0035] The communication relay station is an air signal forwarding device carried on the unmanned aerial vehicle platform, and the ground station is composed of a ground station receiver, a visual terminal and a supporting software system. Figure 5 When the air control range is small, the straight-through mode is adopted, and the multifunctional GPS module on each unmanned aerial vehicle directly establishes communication with the ground station. Figure 6 When the air control range is large or there is terrain obstruction, the relay mode is adopted, and a communication relay station is carried by an unmanned aerial vehicle to fly as an air data relay.

[0036] The specific implementation of the method provided by the application will be described in detail below. Figures 1 to 3 The steps in the method provided by the application will be described in detail.

[0037] S100, regional unmanned aerial vehicle control, please refer to Figure 1 The specific operation process of this function is as follows: Before starting the task, the ground personnel uses the control system software to connect with the multifunctional GPS module on each unmanned aerial vehicle to be flown through Bluetooth or WiFi, and configures a unique identity number for it; then the module is fixed on the aircraft body, and after the unmanned aerial vehicle is powered on, the multifunctional GPS module starts to run automatically, obtains positioning information and periodically broadcasts data containing its number and position to the ground station; after receiving the data, the ground station system marks the position icon and number of each unmanned aerial vehicle on the electronic map in real time, and the management personnel can monitor the flight state of all unmanned aerial vehicles in the air space through this situation map.

[0038] S200, find the plane, search for the crashed plane, please refer to Figure 2 When the unmanned aerial vehicle crashes and loses contact, the specific operation process of this function is as follows: The management personnel inquires the online state of the lost unmanned plane in the ground station system, if the system shows that the plane is still online, it indicates that the multifunctional GPS module is still working due to independent power supply, at this time, the accurate falling position can be obtained on the map directly, and the instruction is sent remotely to trigger the sound and light signal on the module; if the system shows offline, the flight trajectory can be played back to determine the approximate area of signal interruption, and an unmanned plane carrying a communication relay station is dispatched to fly over the area to try to reestablish communication with the lost module.

[0039] S300, reconnaissance guided strike, please refer to Figure 3 The specific operation process of this function is as follows: Firstly, the reconnaissance unmanned plane searches the target area, and after discovering and locking the target, the accurate coordinate information of the target is reported to the ground station; the ground station commander confirms the target information, makes a strike decision, and selects one or more standby penetration planes to execute the task; the commander directs the target coordinate data to the designated penetration plane through the ground station system.

[0040] The multifunctional GPS module on the penetration plane immediately transmits the target coordinates to the on-board deeply improved penetration plane flight control together with its real-time GPS coordinates through the target data injection protocol described above.

[0041] Subsequently, the robust heading calculation module, the tactical target calculation module, and the adaptive OSD generation module in the flight control work cooperatively, as described above, and finally an adaptive tactical guidance interface is displayed on the FPV flight glasses of the operator in real time.

[0042] The operator only needs to adjust the flight direction according to the dynamically changing arrow indication in the glasses, and observe the distance change, so as to quickly and accurately fly to the target and implement the strike. After the strike is completed, the reconnaissance unmanned plane can evaluate and feedback the strike effect.

[0043] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-functional regional UAV management and control and guided strike system, characterized in that, The system comprises: at least one multifunctional GPS module, which is detachably installed on the UAV, contains an independent power supply and an audible and visual signal indication module, and is used for acquiring and sending self-positioning information and a unique identity number of the UAV; a ground station, which has a wireless communication function, is used for receiving information sent by the at least one multifunctional GPS module, and presents the situation of the UAV on a visual terminal; wherein the system is further used for realizing a reconnaissance-guided attack function, the ground station is used for receiving target information sent by a reconnaissance UAV, and the target information is sent to the multifunctional GPS module of a designated attack UAV; the attack UAV is installed with a deeply improved penetration aircraft flight control, and the multifunctional GPS module sends the target information and self-positioning information to the deeply improved penetration aircraft flight control; the deeply improved penetration aircraft flight control comprises: a robust heading calculation module, which is used for fusing geomagnetic heading data from a magnetometer, ground heading data from a GPS module, and angular velocity data from a gyroscope, generating a high-robustness absolute machine head heading angle which is still stable in a high-maneuvering and strong electromagnetic interference environment through a preset data fusion algorithm; a tactical target calculation module, which is used for calculating a relative flight direction and a straight-line distance of a target relative to a machine head of the UAV in real time according to the high-robustness absolute machine head heading angle, self-positioning information of the UAV, and the target information; an adaptive OSD generation module, which is used for generating a tactical guidance interface containing the relative flight direction and the straight-line distance, and superimposing and displaying the tactical guidance interface in a flight picture through an OSD display module; at least one visual attribute of a target indicator in the tactical guidance interface is adaptively adjusted according to the straight-line distance and / or data quality of the UAV positioning information.

2. The multi-functional regional UAV management and control and guided attack system of claim 1, wherein, The robust heading calculation module adopts complementary filtering or Kalman filtering as the data fusion algorithm to suppress the influence of electromagnetic interference caused by large-current discharge of the UAV on the magnetometer.

3. The multi-functional regional UAV management and control and guided attack system according to claim 1 or 2, characterized in that, The adaptive OSD generation module is used for: when the straight-line distance is greater than a preset first threshold, setting the visual attribute of the target indicator to a first state; when the straight-line distance is less than the first threshold, setting the visual attribute of the target indicator to a second state, the second state being significantly different from the first state in color, shape or flicker frequency to provide a close-range warning to an operator.

4. The multi-functional regional UAV management and control and guided attack system of claim 2, wherein, The adaptive OSD generation module is further used for monitoring data quality of the UAV positioning information; when the data quality is lower than a preset reliability threshold, changing the transparency of the target indicator or adding a specific identifier to the target indicator to warn the operator that the credibility of the current guidance information is reduced.

5. The multi-functional regional UAV management and control and guided attack system of claim 1, wherein, The multi-functional GPS module communicates with the deeply improved crossover aircraft flight control through a target data injection protocol; the multi-functional GPS module encapsulates the target information received from the ground station and its own positioning information into a data frame conforming to the target data injection protocol, and sends it to the deeply improved crossover aircraft flight control through a serial interface; The protocol aims to seamlessly inject external target data into the internal processing flow of the flight control to be compatible with the existing open source flight control hardware architecture.

6. The multi-functional regional UAV management and control and guided attack system of claim 1, wherein, Further comprising: A communication relay station carried by the unmanned aerial vehicle and hovering in the designated airspace, used to forward wireless communication data between the multi-functional GPS module and the ground station to expand the control range of the system.

7. The multi-functional regional UAV management and control and guided attack system of claim 1, wherein, The multi-functional GPS module comprises: A GPS / Beidou positioning module for obtaining real-time geographic location information of the module; A wireless communication module for data transmission with the ground station or communication relay station; A control module for processing positioning information and communication data; An independent power module for providing power to the multi-functional GPS module after the main power of the unmanned aerial vehicle is exhausted.

8. The multi-functional regional UAV management and control and guided attack system of claim 8, wherein, The multi-functional GPS module further comprises a signal module; the signal module comprises a high-brightness LED indicator and / or a buzzer; the ground station can control the signal module to emit sound and light signals through wireless communication for searching the crashed unmanned aerial vehicle.

9. A multi-functional regional UAV management and guidance and strike method based on the system of any one of claims 1-8, characterized in that, The steps include: S1: Regional unmanned aerial vehicle control, each unmanned aerial vehicle in the region is configured and installed with a multi-functional GPS module having a unique identity number, the multi-functional GPS module periodically sends its own positioning information and identity number to the ground station, and the ground station displays the positions and numbers of all unmanned aerial vehicles on a digital map in real time; S2: Crash unmanned aerial vehicle search, when the unmanned aerial vehicle crashes and loses contact, the last online real-time position or historical flight trajectory of the unmanned aerial vehicle is checked through the ground station to determine the approximate crash area; if the multi-functional GPS module on the unmanned aerial vehicle is still online, the ground station remotely controls it to emit sound and light signals to assist the on-site search; S3: Small and micro unmanned aerial vehicle reconnaissance guidance strike, the target coordinates are sent to the ground station by the reconnaissance unmanned aerial vehicle after discovering and positioning the target; the commander confirms the target on the ground station and assigns the strike task to the designated strike unmanned aerial vehicle; the ground station sends the target coordinates to the multi-functional GPS module on the strike unmanned aerial vehicle; The multi-functional GPS module transmits the target coordinates and its own real-time coordinates to the deeply improved crossover aircraft flight control on board; The robust heading calculation module of the flight control generates a high-robustness absolute machine head heading angle through a data fusion algorithm; The tactical target calculation module of the flight control calculates the relative flight direction and distance of the target according to the high-robustness absolute machine head heading angle and position information; The adaptive OSD generation module of the flight control adaptively adjusts the visual properties of the target indicator according to the calculated distance and / or data quality, and generates a tactical guidance interface to be displayed in the flight picture, guiding the operator to control the unmanned aerial vehicle to fly to the target and execute the strike.

10. A multi-functional regional UAV management and control and guided strike device, characterized in that, The system of any one of claims 1-8 is included.

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