Counter route planning method for middle-high altitude fixed-wing unmanned aerial vehicle by helicopter

Abstract

The invention provides a countering route planning method for a middle-high altitude fixed-wing unmanned aerial vehicle by a helicopter, and the method comprises the steps: calculating the coordinates of a meeting point and the coordinates of a countering preparation point based on the course of the helicopter, the coordinates of the initial position of the helicopter, the speed of the helicopter, the course of the unmanned aerial vehicle, the coordinates of the initial position of the unmanned aerial vehicle, and the speed of the unmanned aerial vehicle; determining a circle based on a diameter and a circle center by taking a line segment formed by connecting the initial position of the unmanned aerial vehicle and the meeting point as the diameter and a midpoint of the line segment formed by connecting the initial position of the unmanned aerial vehicle and the meeting point as the circle center; making a tangent line to the circle based on the course and the initial position of the helicopter so as to determine a tangent point; determining a ball based on the coordinate of the initial position of the unmanned aerial vehicle, the coordinate of the tangency point and the coordinate of the countering preparation point; determining a section of inferior arc on the spherical surface of the ball based on the tangency point and the countering preparation point; the initial position of the helicopter is connected with the tangent point to form a line segment, and the counter preparation point is connected with the meeting point to form a line segment; according to the invention, the problem of countering route planning is solved.

Description

Technical Field

[0001] This invention belongs to the field of flight path planning technology, and in particular relates to a flight path planning method for helicopters to counter medium- and high-altitude fixed-wing UAVs. Background Technology

[0002] Due to their high altitude (1000-2000 meters), moderate speed (150-240 km / h), and low cost, countermeasures against medium- and high-altitude fixed-wing UAVs using ground equipment and fixed-wing aircraft are costly and inefficient. Therefore, helicopter-based countermeasures against UAVs are a highly effective solution.

[0003] There is no existing technology on countermeasure route planning for helicopters against medium- and high-altitude fixed-wing UAVs. This invention focuses on solving the problem of countermeasure route planning. Summary of the Invention

[0004] Purpose of the invention: To address the problem of counter-route planning involved in the background art, a planning method for minor spherical arcs is provided.

[0005] This application provides a method for planning a counter-flight route for helicopters against medium- and high-altitude fixed-wing UAVs, the method comprising: Based on the helicopter's heading, the coordinates of the helicopter's initial position P1 and the helicopter's speed V1, as well as the UAV's heading, the coordinates of the UAV's initial position P2 and the UAV's speed V2, the coordinates of the meeting point P3 and the countermeasure preparation point P5 are calculated. A circle is determined based on the diameter and the midpoint of the line segment connecting the initial position P2 of the drone and the meeting point P3. Based on the helicopter's heading and initial position P1, a tangent is drawn to the circle to determine the tangent point P4. The sphere is determined based on the coordinates of the initial position P2 of the UAV, the coordinates of the tangent point P4, and the coordinates of the countermeasure preparation point P5; Based on the tangent point P4 and the countermeasure preparation point P5, a minor arc P4P5 is determined on the surface of the ball. The initial position P1 of the helicopter is connected to the tangent point P4 to form a line segment P1P4, and the countermeasure preparation point P5 is connected to the meeting point P3 to form a line segment P5P3. The line segment P1P4, the minor arc P4P5 and the line segment P5P3 are connected end to end in sequence to form a countermeasure flight path.

[0006] Preferably, the countermeasure preparation point P5 is located directly behind the UAV.

[0007] Preferably, before calculating the coordinates of the meeting point P3 and the countermeasure preparation point P5 based on the helicopter's heading, the coordinates of the helicopter's initial position P1, and the helicopter's speed V1, and the UAV's heading, the coordinates of the UAV's initial position P2, and the UAV's speed V2, the method further includes: Obtain the helicopter's heading, coordinates of its initial position P1, and speed V1, as well as the UAV's heading, coordinates of its initial position P2, and speed V2.

[0008] Preferably, the step of calculating the coordinates of the meeting point P3 and the countermeasure preparation point P5 based on the helicopter's heading, the coordinates of the helicopter's initial position P1, and the helicopter's speed V1, as well as the UAV's heading, the coordinates of the UAV's initial position P2, and the UAV's speed V2, includes: Determine the helicopter's direction vector based on its heading; Determine the drone's direction vector based on its heading; Based on the helicopter's initial position P1, helicopter speed V1, helicopter's direction vector, UAV's initial position P2, relative speed between the helicopter and UAV, and the vector of their relative speeds, determine the coordinates of the meeting point P3. Based on the coordinates of the meeting point P3, the direction vector of the UAV, and the distance between the countermeasure preparation point P5 and the UAV, the coordinates of the countermeasure preparation point P5 are determined.

[0009] Preferably, determining the helicopter's direction vector based on the helicopter's heading includes: The helicopter's direction vector is calculated based on its heading using the following formula: ; S1 is the helicopter's heading.

[0010] Preferably, determining the direction vector of the UAV based on its heading includes: The following formula is used to calculate the UAV's direction vector based on its heading: ; S2 is the drone's heading.

[0011] Preferably, before determining the coordinates of the meeting point P3 based on the helicopter's initial position P1, helicopter speed V1, helicopter's direction vector, UAV's initial position P2, the relative speed between the helicopter and the UAV, and the vector of their relative speeds, the method further includes: Using the following formula, the relative speeds of the helicopter and the drone are calculated based on the helicopter speed V1, the drone speed V2, the helicopter heading, and the drone heading; .

[0012] Preferably, determining the coordinates of the meeting point P3 based on the helicopter's initial position P1, helicopter speed V1, helicopter's direction vector, UAV's initial position P2, the relative speed between the helicopter and the UAV, and the vector of their relative speeds includes: Using the following formula, based on the initial position P2 of the UAV, the speed V2 of the helicopter, the direction vector of the UAV, the initial position P1 of the helicopter, the relative speed between the helicopter and the UAV, and the vector of the relative speed, the coordinates of the meeting point P3 are determined. .

[0013] Preferably, determining the coordinates of the countermeasure preparation point P5 based on the coordinates of the encounter point P3, the direction vector of the UAV, and the distance between the countermeasure preparation point P5 and the UAV includes: Using the following formula, the coordinates of the countermeasure preparation point P5 are calculated based on the coordinates of the meeting point P3, the direction vector of the UAV, and the distance between the countermeasure preparation point P5 and the UAV.

[0014] Where N is the distance between the countermeasure preparation point P5 and the drone.

[0015] In summary, the beneficial effects of the present invention are as follows: 1) This invention designs a three-dimensional countermeasure route planning method for a specific target, and the route parameters meet the requirements of flight control autopilot, filling a functional gap; 2) During the test flight of a certain type of helicopter, the method was used to successfully complete the countermeasure flight path planning, guide the flight control system to automatically control the helicopter to complete the flight path and reach the predetermined countermeasure position. Attached Figure Description

[0016] Figure 1 A schematic diagram of the flight path planning for helicopters to counter medium- and high-altitude fixed-wing UAVs. Detailed Implementation

[0017] Please see Figure 1 This application provides a method for countering medium- and high-altitude fixed-wing UAVs using helicopters, including: Step 1: Obtain the helicopter's heading, the coordinates of the helicopter's initial position P1, and the helicopter's speed V1; and the UAV's heading, the coordinates of the UAV's initial position P2, and the UAV's speed V2. Step 2: Based on the initial position P2 of the UAV, the speed V2 of the helicopter, the direction vector of the UAV, the initial position P1 of the helicopter, the relative speed between the helicopter and the UAV, and the vector of the relative speed, determine the coordinates of the meeting point P3 and the coordinates of the countermeasure preparation point P5. Step 3: Using the line segment connecting the initial position P2 of the drone and the meeting point P3 as the diameter, and the midpoint of the line segment connecting the initial position P2 of the drone and the meeting point P3 as the center, determine the circle based on the diameter and the center. Step 4: Based on the helicopter's heading and initial position P1, draw a tangent to the circle to determine the tangent point P4; Step 5: Determine the sphere based on the coordinates of the initial position P2 of the UAV, the coordinates of the tangent point P4, and the coordinates of the countermeasure preparation point P5; Step 6: Based on the tangent point P4 and the counter-attack preparation point P5, determine a minor arc P4P5 on the surface of the ball; Step 7: Connect the initial position P1 of the helicopter with the tangent point P4 to form a line segment P1P4, and connect the countermeasure preparation point P5 with the meeting point P3 to form a line segment P5P3. Connect the line segment P1P4, the minor arc P4P5 and the line segment P5P3 end to end in sequence to form a countermeasure flight path.

[0018] In this application embodiment, the overall solution is described as follows: the flight path planning process for helicopter countering medium- and high-altitude fixed-wing UAVs is divided into one sphere, one minor arc on the sphere, one circle, five points, and one tangent, as follows: Figure 1 The helicopter is at its initial position (P1), and the helicopter is traveling along its heading. ,high ,speed During flight, the helicopter-borne search radar detected the UAV's initial position (P2), and the UAV proceeded along its flight path. ,high ,speed Flying in a straight line, the helicopter and drone will meet at point P3. The helicopter will fly tangentially for Mkm to point P4, then follow a minor arc to reach point P5, located Nkm behind P3, to prepare for countermeasures. At this point, the drone will be positioned between P3 and P5, while the helicopter will fly along its heading... ,high ,speed Flight, to counter drones.

[0019] A method for planning countermeasures between helicopters and medium-to-high altitude fixed-wing UAVs is provided, with the following specific implementation steps: Step 1): Based on the known positions, headings, speeds, initial coordinates (P1) and (P2) of the helicopter and drone, and the speeds of both aircraft. ,speed The coordinates of the meeting point (P3) and the coordinates of the ray (P2) and the point Nkm behind (P5) can be calculated. The helicopter's direction vector is: ; The direction vector of the drone is: ; The relative velocity vector between the helicopter and the drone The calculation is as follows:

[0020] After unfolding:

[0021] Position difference vector between helicopter and drone for:

[0022] The encounter time t between the helicopter and the drone is:

[0023] in, Representing vectors and The dot product, i.e., the projection separation of relative velocities in the direction of relative position;

[0024] Meeting point P3:

[0025] P5 point calculation:

[0026] Where N is the distance between the countermeasure preparation point P5 and the drone. Step 2): Through point P1, form a perpendicular line segment between planes (P1), (P2), and (P3), and use the line segment connecting (P2) and (P3) as the diameter to determine a circle; Step 3): Based on the positional relationship between the helicopter and the drone, the helicopter flies Mkm along the tangent of the circle from (P1) to point P4.

[0027] Step 4): A sphere can be determined based on the three-dimensional coordinates of points (P2), (P4), and (P5); Step 5): Further determine the minor arcs (P4) and (P5) on the sphere; Step 8): Connect line segments (P1) (P4), minor arcs (P4) (P5) and line segments (P5) (P3) through the above steps to form a countermeasure route.

[0028] In one feasible implementation, the helicopter's initial position is P1 (0,0,2), in km; its initial heading is S1 = 45°; its initial altitude is H1 = 2 km; and its speed is V1 = 0.3 km / h. The UAV's initial position is P2 (20,15,5), in km; its initial heading is S2 = 225°; its altitude is H2 = 5 km; and its speed is V2 = 0.5 km / h. N = 3. Convert heading to a vector: ; ; The relative velocity vector between the helicopter and the drone The calculation is as follows:

[0029]

[0030] Meeting point P3:

[0031] P5 point calculation:

[0032] It should be noted that the process of helicopter countering high-altitude fixed-wing UAVs can be described as follows: the helicopter-borne search radar detects the UAV's position, heading, and speed; the helicopter-borne fire control system follows the countermeasure plan; the helicopter first deviates from the UAV's heading to avoid target detection; then it climbs to the target's altitude, adjusts its heading and bearing to be directly behind the target and flying in the same direction and at the same speed; after the helicopter pilot completes the preparation of the onboard weapons, it accelerates to overtake the UAV and countermeasures it.

[0033] Key points of this invention: 1) The flight trajectory is determined by using a circle plus a tangent and a sphere plus a minor arc; 2) The values ​​of M and N can be adjusted according to the positional relationship and maneuverability of the helicopter and the drone to ensure the completion of the plan.

[0034] The present invention has the following technical effects: 1) This invention designs a three-dimensional countermeasure route planning method for a specific target, and the route parameters meet the requirements of flight control autopilot, filling a functional gap; 2) During the test flight of a certain type of helicopter, the method was used to successfully complete the countermeasure flight path planning, guide the flight control system to automatically control the helicopter to complete the flight path and reach the predetermined countermeasure position.

Claims

1. A method for planning a counter-flight route for helicopters against medium- and high-altitude fixed-wing unmanned aerial vehicles (UAVs), characterized in that: The method includes: Based on the helicopter's heading, the coordinates of the helicopter's initial position P1 and the helicopter's speed V1, as well as the UAV's heading, the coordinates of the UAV's initial position P2 and the UAV's speed V2, the coordinates of the meeting point P3 and the countermeasure preparation point P5 are calculated. A circle is determined based on the diameter and the midpoint of the line segment connecting the initial position P2 of the drone and the meeting point P3. Based on the helicopter's heading and initial position P1, a tangent is drawn to the circle to determine the tangent point P4. The sphere is determined based on the coordinates of the initial position P2 of the UAV, the coordinates of the tangent point P4, and the coordinates of the countermeasure preparation point P5; Based on the tangent point P4 and the countermeasure preparation point P5, a minor arc P4P5 is determined on the surface of the ball. The initial position P1 of the helicopter is connected to the tangent point P4 to form a line segment P1P4, and the countermeasure preparation point P5 is connected to the meeting point P3 to form a line segment P5P3. The line segment P1P4, the minor arc P4P5 and the line segment P5P3 are connected end to end in sequence to form a countermeasure flight path.

2. The method according to claim 1, characterized in that: The countermeasure preparation point P5 is located directly behind the UAV.

3. The method according to claim 1, characterized in that: Before calculating the coordinates of the meeting point P3 and the countermeasure preparation point P5 based on the helicopter's heading, the coordinates of the helicopter's initial position P1, and the helicopter's speed V1, and the UAV's heading, the coordinates of the UAV's initial position P2, and the UAV's speed V2, the following steps are also included: Obtain the helicopter's heading, coordinates of its initial position P1, and speed V1, as well as the UAV's heading, coordinates of its initial position P2, and speed V2.

4. The method according to claim 2, characterized in that: The calculation of the coordinates of the meeting point P3 and the countermeasure preparation point P5 based on the helicopter's heading, initial position P1 coordinates, and speed V1, and the UAV's heading, initial position P2 coordinates, and speed V2, includes: Determine the helicopter's direction vector based on its heading; Determine the drone's direction vector based on its heading; Based on the helicopter's initial position P1, helicopter speed V1, helicopter's direction vector, UAV's initial position P2, relative speed between the helicopter and UAV, and the vector of their relative speeds, determine the coordinates of the meeting point P3. Based on the coordinates of the meeting point P3, the direction vector of the UAV, and the distance between the countermeasure preparation point P5 and the UAV, the coordinates of the countermeasure preparation point P5 are determined.

5. The method according to claim 4, characterized in that: The determination of the helicopter's direction vector based on the helicopter's heading includes: The helicopter's direction vector is calculated based on its heading using the following formula: ； S1 is the helicopter's heading.

6. The method according to claim 4, characterized in that: The determination of the UAV's direction vector based on the UAV's heading includes: The following formula is used to calculate the UAV's direction vector based on its heading: ； S2 is the drone's heading.

7. The method according to claim 4, characterized in that: Before determining the coordinates of the meeting point P3 based on the helicopter's initial position P1, helicopter speed V1, helicopter's direction vector, UAV's initial position P2, the relative speeds of the helicopter and UAV, and the vector of their relative speeds, the process also includes: Using the following formula, the relative speeds of the helicopter and the drone are calculated based on the helicopter speed V1, the drone speed V2, the helicopter heading, and the drone heading; 。 8. The method according to claim 4, characterized in that: The determination of the coordinates of the meeting point P3 based on the helicopter's initial position P1, helicopter speed V1, helicopter's direction vector, UAV's initial position P2, relative speed between the helicopter and the UAV, and the vector of their relative speeds includes: Using the following formula, based on the initial position P2 of the UAV, the speed V2 of the helicopter, the direction vector of the UAV, the initial position P1 of the helicopter, the relative speed between the helicopter and the UAV, and the vector of the relative speed, the coordinates of the meeting point P3 are determined. 。 9. The method according to claim 4, characterized in that: The determination of the coordinates of the countermeasure preparation point P5 based on the coordinates of the encounter point P3, the direction vector of the UAV, and the distance between the countermeasure preparation point P5 and the UAV includes: Using the following formula, the coordinates of the countermeasure preparation point P5 are calculated based on the coordinates of the meeting point P3, the direction vector of the UAV, and the distance between the countermeasure preparation point P5 and the UAV. Where N is the distance between the countermeasure preparation point P5 and the drone.

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