Laser-guided ocean light environment prohibited area determination method, device, equipment, medium and product

Abstract

The invention discloses a laser-guided ocean light environment prohibited area determination method and device, equipment, a medium and a product, and relates to the field of laser guidance, and the method comprises the steps: obtaining the position of a target point, the flight height of an aerial carrier, the initial delivery speed, the horizontal distance between the aerial carrier and a target, and the course of the aerial carrier; according to the target point position, the aerial carrier flight height, the initial launching speed, the horizontal distance between the aerial carrier and the target and the aerial carrier course, the flight path of the laser guided bomb is determined; for each point location in the flight path, determining a point location state according to a critical model of entering the seeker field of view by direct sunlight and a critical model of entering the seeker field of view by solar reflection; the point position state is that the point position is influenced by the ocean illumination condition or is not influenced by the ocean illumination condition; and changing the course of the aerial carrier, and determining the prohibited area of the marine light environment according to the point position state. According to the method, the guidance accuracy is improved by defining the prohibited area of the marine light environment.

Description

Technical Field

[0001] This application relates to the field of laser guidance, and in particular to a laser-guided method, apparatus, equipment, medium, and product for determining no-dumping zones in marine illuminated environments. Background Technology

[0002] As the core sensing unit of laser-guided bombs, the laser seeker's ability to capture and resolve reflected laser signals determines the guidance performance boundary. When striking island targets at sea, inappropriate aircraft launch direction can cause sunlight to enter the seeker's field of view through direct sunlight or water reflection, inducing light saturation within the seeker. In this situation, the seeker cannot detect the echo energy of the correct laser spot, mistakenly identifying a solar flare as the target, thus severely impacting combat effectiveness. Therefore, a method is needed to clearly define no-drop zones under marine illumination conditions to improve guidance accuracy. Summary of the Invention

[0003] The purpose of this application is to provide a laser-guided method, apparatus, equipment, medium, and product for determining no-dumping zones in marine illuminated environments, which can improve guidance accuracy by clearly defining no-dumping zones in marine illuminated environments.

[0004] To achieve the above objectives, this application provides the following solution: Firstly, this application provides a laser-guided method for determining no-dumping zones in marine illumination environments, including: Acquire the target location, aircraft flight altitude, initial launch speed, horizontal distance between the aircraft and the target, and aircraft heading; The flight trajectory of the laser-guided bomb is determined based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading. For each point in the flight trajectory, the point status is determined based on the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view; the point status is either affected by ocean lighting conditions or not affected by ocean lighting conditions. Change the course of the aircraft and determine the no-dumping zone in the marine light environment based on the location status.

[0005] In one embodiment, determining the flight trajectory of a laser-guided bomb based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading specifically includes: The six-degree-of-freedom rigid body ballistic equations of the laser-guided bomb are solved based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading to obtain the flight trajectory of the laser-guided bomb.

[0006] In one embodiment, for each point in the flight trajectory, the point state is determined based on the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view, specifically including: Determine whether both the critical models for direct sunlight entering the seeker's field of view and the critical models for sunlight reflecting into the seeker's field of view are valid based on each point in the flight trajectory. If so, then the location status is determined to be affected by ocean lighting conditions; If not, then the location status is determined to be that the location is not affected by ocean light conditions.

[0007] In one embodiment, the formula for the critical model of direct sunlight entering the seeker's field of view is: ; ; ; in, The vector BS connecting the seeker head to the sunlight and the vector of the seeker head's central axis are given. Vector angle, For the field of view, and All are intermediate variables. The elevation angle of the seeker's central axis. The direction angle of the seeker's central axis. The solar altitude angle, The azimuth angle of the sun, ( x B , y B , z B ) represents the coordinates of the seeker point B in the flight trajectory.

[0008] In one embodiment, the formula for the critical model of solar reflection entering the seeker's field of view is: ; ; ; in, The vector BA in the opposite direction of the reflected light and the vector of the seeker's central axis. The included angle, For the field of view, and All are intermediate variables. The elevation angle of the seeker's central axis. The direction angle of the seeker's central axis. The solar altitude angle, The azimuth angle of the sun, ( x B , y B , z B ) represents the coordinates of the seeker point B in the flight trajectory.

[0009] In one embodiment, changing the aircraft's course and determining a no-dumping zone based on the location status specifically includes: Change the aircraft's heading and return to "determine the flight trajectory of the laser-guided bomb based on the target point location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading" until the flight trajectory covers the set range; Select all locations whose status is affected by ocean light conditions as no-dumping zones in the ocean light environment.

[0010] Secondly, this application provides a laser-guided device for determining no-dumping zones in marine illumination environments, comprising: The acquisition module is used to acquire the target location, aircraft flight altitude, initial release speed, horizontal distance between the aircraft and the target, and aircraft heading. The flight trajectory determination module is used to determine the flight trajectory of the laser-guided bomb based on the target point location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading. The point status determination module is used to determine the point status for each point in the flight trajectory based on the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view; the point status is either the point is affected by ocean lighting conditions or the point is not affected by ocean lighting conditions. The marine light environment no-dumping zone determination module is used to change the aircraft's course and determine the marine light environment no-dumping zone based on the location status.

[0011] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the laser-guided method for determining no-dumping zones in marine illumination environments.

[0012] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the laser-guided method for determining no-dumping zones in marine illumination environments.

[0013] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the laser-guided method for determining no-dumping zones in marine illumination environments.

[0014] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application provides a method, apparatus, equipment, medium, and product for determining no-drop zones in a laser-guided marine illumination environment. By acquiring the flight trajectory of a laser-guided bomb, the method utilizes critical models of direct sunlight entering the seeker's field of view and solar reflection entering the seeker's field of view to determine whether each point in the flight trajectory is affected by marine illumination conditions. By identifying the points affected by marine illumination conditions, no-drop zones in a marine illumination environment are determined, thereby improving the accuracy of no-drop zone delineation and avoiding the influence of sunlight on the seeker, thus improving guidance accuracy. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of a laser-guided bomb striking a target; Figure 2 This is a schematic diagram illustrating the relative positions of the projectile and the target. Figure 3 A schematic diagram showing sunlight directly entering the seeker's field of view; Figure 4 A schematic diagram showing sunlight reflected into the seeker's field of view; Figure 5 Schematic diagram of the no-throw zone for guide head A; Figure 6 Schematic diagram of the no-throw zone for guide head B; Figure 7 A flowchart illustrating the method for determining no-dumping zones in laser-guided marine illumination environments; Figure 8 A schematic diagram of the functional modules of a laser-guided device for determining no-dumping zones in marine illuminated environments; Figure 9 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0018] To avoid the seeker becoming "blind" due to marine light environment, this application constructs a critical model for direct and reflected sunlight entering the seeker's field of view without adding extra equipment or increasing the seeker's energy threshold. Based on this, the application defines no-drop zones and drop zones under marine light environment according to whether the laser-guided bomb is affected by sunlight during flight.

[0019] This application can provide a theoretical basis for the planning of laser-guided bombs in marine light environments (especially for determining the direction of aircraft deployment), effectively avoid the risk of fundamental failure of the seeker caused by sunlight, and improve the effectiveness of laser-guided bombs in marine light environments.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] In one exemplary embodiment, such as Figure 7 As shown, a laser-guided method for determining no-dumping zones in marine illumination environments is provided. This method is executed by computer equipment, specifically by a terminal or server alone, or by both a terminal and a server. The method includes the following steps.

[0022] Step 701: Obtain the target location, aircraft flight altitude, initial launch speed, horizontal distance between the aircraft and the target, and aircraft heading.

[0023] Step 702: Determine the flight trajectory of the laser-guided bomb based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading.

[0024] Step 703: For each point in the flight trajectory, determine the point status based on the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view; the point status is either affected by ocean lighting conditions or not affected by ocean lighting conditions.

[0025] Step 704: Change the course of the aircraft and determine the no-dumping zone in the marine light environment based on the location status.

[0026] By acquiring the flight trajectory of laser-guided bombs, the critical models of direct sunlight entering the seeker's field of view and solar reflection entering the seeker's field of view are used to determine whether each point in the flight trajectory is affected by ocean lighting conditions. Points affected by ocean lighting conditions are used to determine no-drop zones in ocean lighting environments, thereby improving the accuracy of no-drop zones in ocean lighting environments, avoiding the influence of sunlight on the seeker, and thus improving the accuracy of guidance.

[0027] In an exemplary embodiment, determining the flight trajectory of a laser-guided bomb based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading specifically includes: solving the six-degree-of-freedom rigid body ballistic equations of the laser-guided bomb based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading to obtain the flight trajectory of the laser-guided bomb.

[0028] Once the target point is known, and the flight altitude, initial release speed, horizontal distance from the target, and heading of the carrier aircraft are determined, the six-degree-of-freedom rigid body ballistic equations can be solved with an integration step size of 0.01 to obtain the flight trajectory of a laser-guided bomb (a sequence of multiple discrete points).

[0029] In an exemplary embodiment, for each point in the flight trajectory, the point state is determined according to the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view. Specifically, this includes: determining whether both the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view are valid for each point in the flight trajectory; if yes, the point state is determined to be affected by ocean lighting conditions; if no, the point state is determined to be unaffected by ocean lighting conditions.

[0030] In an exemplary embodiment, changing the aircraft's heading and determining a no-drop zone in the marine light environment based on the location status specifically includes: changing the aircraft's heading and returning to "determining the flight trajectory of the laser-guided bomb based on the target location, the aircraft's flight altitude, the initial drop speed, the horizontal distance between the aircraft and the target, and the aircraft's heading," until the flight trajectory covers a set range; selecting all locations whose location status is affected by marine light conditions as no-drop zones in the marine light environment.

[0031] In another exemplary embodiment, this application also provides a specific process for determining a no-dumping zone in a laser-guided marine illumination environment, including a preliminary model building process and a no-dumping zone delineation process, specifically as follows: Step 1: Construct a critical model for the target entering the seeker's field of view.

[0032] like Figure 1 Describes laser-guided bombs striking targets on islands at sea. O The complete scene. After dropping the laser-guided bomb, the aircraft travels along a curve... a To ensure its own safety, the laser-guided bomb undergoes a detachment flight. During this process, after detaching from the carrier aircraft, it first enters an uncontrolled flight phase. Once the guidance system meets operational requirements, the onboard electro-optical pod continuously emits a laser beam to precisely illuminate the target point. O This provides stable laser designation for laser-guided bombs until they hit their target. The entire trajectory of a laser-guided bomb from release from the aircraft to final impact is a curve. b .

[0033] Assuming the laser-guided bomb is currently in B At this point, the target enters the seeker's field of view. At this time, by... Figure 2 From the relative situation, it can be seen that the line-of-sight vector of the missile is... BO Vector of the seeker's centerline The angle between The field of view of the seeker is less than or equal to the seeker's field of view. At this time, the line of sight of the bullet is connected. BO Located inside the seeker's field of view cone, meaning the target is currently within the seeker's field of view.

[0034] The corresponding mathematical representation is as follows: (1) During the process of laser-guided bombs striking targets on islands at sea, the target location... O It remains unchanged. For ease of analysis, the target point is used. O Construct a northeast-sky coordinate system with the origin as the coordinate origin. ENU Coordinate system): where, x The positive direction of the axis points to geographical due east. y The positive direction of the axis points to geographic true north. z The axis is perpendicular to the horizontal plane and points towards the zenith. Seeker position. B The coordinates can be obtained through ballistic equations or telemetry data (and can be considered as known values). For simplicity, the seeker position coordinates are set as ( x B , y B , z B ).

[0035] Based on the above definition, the target point O With the position of the seeker head B The relative spatial situation is as follows Figure 2 As shown. Figure 2 In the diagram, N represents true north. and These are the azimuth angle and elevation angle of the seeker's central axis, respectively. These two angles describe the orientation of the seeker's central axis in space. In this application, the laser-guided bomb uses a weather vane head as its seeker, whose direction is consistent with the missile's velocity direction. Therefore, these two angles correspond to the ballistic deflection angle. with ballistic inclination angle .

[0036] When the flight trajectory of a laser-guided bomb remains within a vertical plane, the azimuth and elevation angles of the seeker head can be calculated using the following simplified formulas: (2) (3) in, Yaw angle For the angle of attack, Sideslip angle, For pitch (all of the above data can be obtained from ballistic equations or telemetry data).

[0037] Then the point on the central axis of the target and the seeker head connecting vectors The projection components of each axis in the northeast celestial coordinate system are: (4) (5) (6) in, r express Vector magnitude, usually taken It is a unit vector.

[0038] Substituting equations (4) to (6) back into equation (1), we can obtain the angle between the line connecting the missile and the target and the central axis of the seeker at any flight moment of the laser-guided bomb. : (7) Therefore, given that the seeker's field of view is known, the condition for the target to enter the seeker's field of view can be expressed as: (8) Step 2: Construct a critical model for sunlight entering the seeker's field of view.

[0039] S2.1: Construct a model of solar motion.

[0040] For any given moment, the solar altitude angle and solar azimuth Given the circumstances, what are the coordinates of the Sun in the northeast celestial coordinate system? x s ,y s , z s The projection components along each axis can be expressed as: (9) (10) (11) Where R is the Earth-Sun distance.

[0041] When calculating the solar altitude angle and solar azimuth angle at any geographical location and at any time on the Earth's surface, it is necessary to comprehensively consider celestial kinematic parameters and geographic coordinate parameters, among which key variables include declination angle. Hour angle Geographical longitude (East longitude is positive) and geographical latitude This application employs a solar position calculation model, which has been certified by the International Astronomical Union (IAU) and possesses high accuracy in solar position calculation, with a calculation error not exceeding ±0.0003″. The specific calculation formula is as follows: (12) (13) (14) (15) (16) (17) (18) (19) in, n The ordinal number of the desired date within that year. T s True solar time (in hours) T EOT represents the mean solar time corresponding to Beijing time. Q The angle is the solar angle (in radians). It is the ordinal number of the day in a year. It is an intermediate variable.

[0042] S2.2: Construct a critical model for direct sunlight entering the seeker's field of view.

[0043] When laser-guided bombs face the sun S During flight, when the vector BS of the line connecting the seeker to the sun's rays and the vector of the seeker's central axis are... Vector angle Less than or equal to the field of view Time (e.g.) Figure 3 As shown), at this time, sunlight directly enters the seeker, that is, the formula for the critical model of direct sunlight entering the seeker's field of view is: (20) (twenty one) (twenty two) in, and It is merely an intermediate variable and has no special meaning.

[0044] S2.2: Construct a critical model for solar reflection entering the seeker's field of view.

[0045] At any given moment, the sun ( x s , y s , z s The light ray is reflected at point A on the sea level, and the reflected ray passes through point B. x B , y B , z B (Scene illustration as follows) Figure 4 As shown.

[0046] Let the coordinates of point A be ( x A , y A , z A If the vector is... AB In the northeast-northeast coordinate system, it can be represented as: (twenty three) The vector connecting the target and the seeker. Connect the target with the sun's reflection. According to the law of reflection, the direction vector S of the sun's rays and the reflected ray... R Regarding normals N 1 Symmetry, therefore: (twenty four) For specular reflection, there is a unit normal vector. =(0,0,1), then formula (24) can be simplified to: (25) (26) (27) (28) in, Let x be the x-coordinate of the sun's ray vector in the northeast-northeast coordinate system. Let y be the y-coordinate of the sun's ray vector in the northeast-northeast coordinate system. Let z be the z-axis coordinate of the sun's ray vector in the northeast-northeast coordinate system.

[0047] Due to vectors and In the same direction, that is: (29) Therefore: (30) Since point A lies on the horizontal plane, its projection component along the z-axis is 0, i.e. z A =0, therefore for formula (30) we have: (31) Therefore, the proportionality coefficient k： (32) Substituting formula (32) back into formula (29) yields the coordinates of point A: (33) (34) If the reflected light enters the seeker's field of view at this point, it satisfies the condition that the reflected light's opposite direction vector - R Vector of the seeker's centerline The included angle Less than or equal to the field of view The formula for the critical model of sunlight reflecting into the seeker's field of view is: (35) (36) (37) in, and This is merely an intermediate variable and has no special meaning. Reflected ray direction vector - R Let BA be the vector.

[0048] Step 3: Delineate no-dumping zones in marine light environments.

[0049] When a laser-guided bomb strikes a target on an island at sea, based on the theoretical models in steps 1 and 2, it can be determined whether the bomb is affected by sunlight at any moment during its flight. Therefore, based on whether the laser-guided bomb is affected by ocean lighting conditions during its flight, this application delineates a no-drop zone in an ocean lighting environment. The relevant no-drop zone is defined as: within a designated operational area at a specified time, the complete set of all flight points affected by sunlight constitutes the no-drop zone in an ocean lighting environment.

[0050] S3.1: Obtain the flight trajectory of the laser-guided bomb.

[0051] Once the target point is known, and the flight altitude, initial release speed, horizontal distance from the target, and heading of the carrier aircraft are determined, the six-degree-of-freedom rigid body ballistic equations can be solved using the fourth-order Runge-Kutta method with an integration step size of 0.01, thus obtaining the flight trajectory of a laser-guided bomb (a sequence of multiple discrete points).

[0052] S3.2: Determine whether ocean lighting conditions affect the seeker.

[0053] For each point in the flight trajectory obtained in step S3.1, it can be determined whether the point is affected by ocean lighting conditions based on formula (20) in the critical model of direct sunlight entering the seeker's field of view constructed in step S2.1 and formula (35) in the critical model of sunlight reflection entering the seeker's field of view constructed in step S2.2.

[0054] S3.3: Delineate prohibited and non-prohibited zones.

[0055] Under the premise of keeping other external conditions unchanged, by gradually increasing the aircraft's heading and repeating the above steps S3.1 and S3.2, the no-drop zone in the marine light environment within the designated combat range can be obtained.

[0056] The extent of the no-drop zone depends primarily on the geographical location of the mission target, the mission execution time, and the field of view of the seeker, exhibiting distinct spatiotemporal distribution characteristics. Figure 5 and Figure 6 The images show the no-drop zones for seeker 1 (08:00) and seeker 2 (08:15) on September 23, 2023, within a range of 45° south of west and 45° north of west of the target island, displayed in polar coordinates. In this polar coordinate system, the target position is the origin, the polar axis is aligned with the aircraft's heading angle, and the polar radius represents the straight-line distance between the laser-guided bomb projected onto the horizontal plane and the target, expressed in kilometers.

[0057] In actual combat deployments, to maximize the combat effectiveness of laser-guided bombs against island targets at sea, it is essential to strictly avoid the impact of marine lighting conditions on the laser seeker. This application first constructs a critical model for direct and reflected sunlight entering the seeker's field of view, providing theoretical criteria for whether marine lighting conditions affect the seeker. Based on this, a general method for delineating no-drop zones in marine lighting conditions is presented to effectively avoid the adverse effects of sunlight on the combat effectiveness of laser-guided bombs, ensuring their precision guidance and high-efficiency destruction capabilities in complex battlefield environments.

[0058] Based on the same inventive concept, this application also provides a laser-guided marine illumination environment no-ditch zone determination device for implementing the laser-guided marine illumination environment no-ditch zone determination method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more laser-guided marine illumination environment no-ditch zone determination device embodiments provided below can be found in the limitations of the laser-guided marine illumination environment no-ditch zone determination method described above, and will not be repeated here.

[0059] In one exemplary embodiment, such as Figure 8 As shown, a laser-guided device for determining no-dumping zones in marine illumination environments is provided, comprising: The acquisition module is used to acquire the target location, aircraft flight altitude, initial release speed, horizontal distance between the aircraft and the target, and aircraft heading.

[0060] The flight trajectory determination module is used to determine the flight trajectory of the laser-guided bomb based on the target point location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading.

[0061] The point status determination module is used to determine the point status for each point in the flight trajectory based on the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view; the point status is either the point is affected by ocean lighting conditions or the point is not affected by ocean lighting conditions.

[0062] The marine light environment no-dumping zone determination module is used to change the aircraft's course and determine the marine light environment no-dumping zone based on the location status.

[0063] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 9As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data for determining laser-guided no-ditch zones in marine illumination environments. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a method for determining laser-guided no-ditch zones in marine illumination environments.

[0064] Those skilled in the art will understand that Figure 9 The structures shown are merely block diagrams of some structures related to the present application and do not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method embodiments.

[0065] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the above-described method embodiments.

[0066] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described method embodiments.

[0067] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0068] In this application, all actions to acquire signals, information, or data are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with the authorization granted by the owner of the relevant device.

[0069] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0070] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchain. The processors involved in the embodiments provided in this application may be, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A laser-guided method for determining no-dumping zones in marine illumination environments, characterized in that, The laser-guided method for determining no-dumping zones in marine illuminated environments includes: Acquire the target location, aircraft flight altitude, initial launch speed, horizontal distance between the aircraft and the target, and aircraft heading; The flight trajectory of the laser-guided bomb is determined based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading. For each point in the flight trajectory, the point status is determined based on the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view; the point status is either affected by ocean lighting conditions or not affected by ocean lighting conditions. Change the course of the aircraft and determine the no-dumping zone in the marine light environment based on the location status.

2. The laser-guided method for determining no-dumping zones in marine illumination environments according to claim 1, characterized in that, The flight trajectory of the laser-guided bomb is determined based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading. Specifically, this includes: The six-degree-of-freedom rigid body ballistic equations of the laser-guided bomb are solved based on the target location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading to obtain the flight trajectory of the laser-guided bomb.

3. The laser-guided method for determining no-dumping zones in marine illumination environments according to claim 1, characterized in that, For each point in the flight trajectory, the point state is determined based on the critical models of direct sunlight entering the seeker's field of view and solar reflection entering the seeker's field of view, specifically including: Determine whether both the critical models for direct sunlight entering the seeker's field of view and the critical models for sunlight reflecting into the seeker's field of view are valid based on each point in the flight trajectory. If so, then the location status is determined to be affected by ocean lighting conditions; If not, then the location status is determined to be that the location is not affected by ocean light conditions.

4. The laser-guided method for determining no-dumping zones in marine illumination environments according to claim 1, characterized in that, The formula for the critical model of direct sunlight entering the seeker's field of view is: ； ； ； in, The vector BS connecting the seeker head to the sunlight and the vector of the seeker head's central axis are given. Vector angle, For the field of view, and All are intermediate variables. The elevation angle of the seeker's central axis. The direction angle of the seeker's central axis. The solar altitude angle, The azimuth angle of the sun, ( x B , y B , z B ) represents the coordinates of the seeker point B in the flight trajectory.

5. The laser-guided method for determining no-dumping zones in marine illumination environments according to claim 1, characterized in that, The formula for the critical model of solar reflection entering the seeker's field of view is: ； ； ； in, The vector BA in the opposite direction of the reflected light and the vector of the seeker's central axis. The included angle, For the field of view, and All are intermediate variables. The elevation angle of the seeker's central axis. The direction angle of the seeker's central axis. The solar altitude angle, The azimuth angle of the sun, ( x B , y B , z B ) represents the coordinates of the seeker point B in the flight trajectory.

6. The laser-guided method for determining no-dumping zones in marine illumination environments according to claim 1, characterized in that, Changing the aircraft's course and determining the no-dumping zone based on the location status, specifically including: Change the aircraft's heading and return to "determine the flight trajectory of the laser-guided bomb based on the target point location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading" until the flight trajectory covers a set range; Select all locations whose status is affected by ocean light conditions as no-dumping zones in the ocean light environment.

7. A laser-guided device for determining no-dumping zones in marine illumination environments, characterized in that, The laser-guided device for determining no-dumping zones in marine illuminated environments includes: The acquisition module is used to acquire the target location, aircraft flight altitude, initial release speed, horizontal distance between the aircraft and the target, and aircraft heading. The flight trajectory determination module is used to determine the flight trajectory of the laser-guided bomb based on the target point location, the aircraft's flight altitude, the initial release speed, the horizontal distance between the aircraft and the target, and the aircraft's heading. The point status determination module is used to determine the point status for each point in the flight trajectory based on the critical model of direct sunlight entering the seeker's field of view and the critical model of sunlight reflection entering the seeker's field of view; the point status is either the point is affected by ocean lighting conditions or the point is not affected by ocean lighting conditions. The marine light environment no-dumping zone determination module is used to change the aircraft's course and determine the marine light environment no-dumping zone based on the location status.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the laser-guided method for determining no-diving zones in marine illumination environments according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the laser-guided method for determining no-dumping zones in marine illumination environments as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the laser-guided method for determining no-dumping zones in marine illumination environments as described in any one of claims 1-6.

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