Method for resolving angular velocity of virtual seeker frame based on geographic position guidance
By setting the target's latitude and longitude in the ground control station software, the relative position between the UAV and the target is determined, and the angular velocity vector in the northeast-northeast coordinate system is obtained. This solves the problem of high-frequency noise in traditional UAV guidance systems, realizes accurate calculation of the angular velocity of the virtual seeker frame, and improves the control accuracy of UAV guidance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-20
- Publication Date
- 2026-03-31
AI Technical Summary
When traditional UAV guidance systems use geographic coordinate guidance after removing the seeker, the calculation of the frame angular velocity generates high-frequency noise, leading to inaccurate control.
By setting the target's latitude and longitude in the ground control station software, the relative position of the UAV and the target in the northeast-northeast coordinate system is determined, the angular velocity vector in the northeast-northeast coordinate system is obtained, and the frame angular velocity of the virtual seeker is calculated by vector cross product and unit vectorization to avoid high-frequency noise.
This technology enables the accurate acquisition of the frame angular velocity of the virtual seeker without altering the existing control system framework, thereby improving the accuracy and stability of guidance and control.
Smart Images
Figure CN121762862A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) guidance technology, specifically to a method, system, device, program product, and storage medium for calculating the angular velocity of a virtual seeker frame based on geographic location guidance. Background Technology
[0002] With the continuous development of technology, drones are playing an increasingly prominent role in mission execution. Traditional drone guidance systems typically rely on various types of seekers, such as radar seekers, infrared seekers, or electro-optical seekers. While these seekers can achieve target tracking and locking to a certain extent, they also have many limitations and high costs.
[0003] Since most traditional UAVs use proportional guidance for attack, and the control input for proportional guidance is often the frame angular velocity measured by the seeker, when the UAV removes the seeker and uses geographic coordinate guidance, and is required to not change the existing control system framework, if the calculated frame angle derivative is used as the frame angular velocity, high-frequency noise will be generated. Therefore, how to reconstruct the angular velocity signal of the virtual seeker becomes a problem.
[0004] Therefore, a method for calculating the angular velocity of a virtual seeker frame based on geographic location guidance is needed to solve the above problems. Summary of the Invention
[0005] To address the issue that the control input for proportional guidance in existing technologies is often the frame angular velocity measured by the seeker, when the UAV removes the seeker and adopts geographic coordinate guidance, and the existing control system framework is not changed, using the calculated frame angle derivative as the frame angular velocity will generate high-frequency noise. This invention provides a method for calculating the frame angular velocity of a virtual seeker based on geographic location guidance to solve the existing problems.
[0006] The first aspect of this invention provides a method for calculating the angular velocity of a virtual seeker frame based on geographic location guidance. This method employs the following technical solution, including: The target's latitude, longitude, and altitude are transmitted to the flight control computer via the ground control station software. Determine the relative position coordinates of the target and the UAV in the northeast coordinate system; Based on the relative position coordinates of the target and the UAV in the northeast coordinate system, obtain the angular velocity vector in the northeast coordinate system; The frame angular velocity of the virtual seeker is obtained based on the angular velocity vector angle in the northeast coordinate system.
[0007] A further technical solution of the present invention is that the step of determining the relative position coordinates of the target and the UAV in the northeast coordinate system is as follows: The latitude, longitude, and altitude of the aircraft are obtained by combining inertial navigation and satellite systems carried by the drone. The aircraft's latitude and longitude and the target's latitude and longitude, as set by the ground station, are converted to the northeast coordinate system to obtain the target's position and the aircraft's position. Subtracting the aircraft's position from the target's position yields the relative position coordinates of the target and the UAV in the northeast-east coordinate system.
[0008] A further technical solution of the present invention is that the step of obtaining the angular velocity vector in the northeast coordinate system is as follows: The flight control computer obtains the transformation matrix from the geographic frame to the machine frame based on the aircraft's attitude. The northeast velocity of the aircraft is obtained from the inertial navigation system; The aircraft's velocity vector is obtained from the relative distance vector between the aircraft and the target, based on the aircraft's northeast-southeast ground velocity. Obtain the angular velocity vector in the northeast coordinate system based on the aircraft's velocity vector.
[0009] A further technical solution of the present invention is to obtain the aircraft's velocity vector by cross-multiplying the aircraft's northeast-southeast ground speed and the relative distance vector between the aircraft and the target.
[0010] A further technical solution of the present invention is that the step of obtaining the angular velocity vector in the northeast-northeast coordinate system based on the aircraft's velocity vector is as follows: the product of the aircraft's velocity vectors is converted into a unit vector to obtain the angular velocity vector in the northeast-northeast coordinate system.
[0011] A further technical solution of the present invention is that, based on the angular velocity vector angle in the northeast coordinate system, the step of obtaining the frame angular velocity of the virtual seeker is as follows: based on the transformation matrix from the geographic system to the body system, the angular velocity vector is transformed to the body coordinate system to obtain the frame angular velocity of the virtual seeker.
[0012] A second aspect of the present invention provides a system for calculating the angular velocity of a virtual seeker frame based on geographic location guidance, comprising: The parameter binding module is used to bind parameters in the ground control station software and send the target latitude, longitude and altitude to the flight control computer. The position determination module is used to determine the relative position coordinates of the target and the UAV in the northeast-northeast coordinate system; The frame angular velocity acquisition module is used to obtain the angular velocity vector in the northeast-east coordinate system based on the relative position coordinates of the target and the UAV in the northeast-east coordinate system; and to obtain the frame angular velocity of the virtual seeker based on the angular velocity vector angle in the northeast-east coordinate system.
[0013] A third aspect of the present invention provides an electronic device including a processor, a memory, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the steps of the method provided in the first aspect of the present invention.
[0014] A fourth aspect of the invention provides a program product including a computer program that, when run, performs the steps of the method provided in the first aspect of the invention.
[0015] A fifth aspect of the invention provides a storage medium having a computer program stored thereon, which, when run, performs the steps of the method provided in the first aspect of the invention.
[0016] The beneficial effects of this invention are: The proposed method for calculating the angular velocity of a virtual seeker frame based on geographic location guidance can obtain the angular velocity of the virtual seeker frame according to the relative position coordinates of the aircraft and the target and the direction of motion velocity. This angular velocity can then be used as the input for guidance control. Furthermore, since it is a vector cross product, the obtained angular velocity signal will not have high-frequency noise from the derivative, thus ensuring the accuracy of control. This method is beneficial for shortening the research and development process without changing the original guidance control framework. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a flowchart illustrating a method for calculating the angular velocity of a virtual seeker frame based on geographic location guidance according to the present invention. Figure 2 The coordinates are the relative positions of the UAV and the target in this embodiment of the invention. Figure 3 This refers to the angular velocity of the virtual seeker frame. Detailed Implementation
[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0020] An embodiment of the present invention provides a method for calculating the angular velocity of a virtual seeker frame based on geographic location guidance, as follows: Figure 1 As shown, it includes: S1. Input the target latitude, longitude, and altitude, and send it to the flight control computer; Specifically, the target's latitude, longitude, and altitude are encoded in the ground control station software and sent to the flight control computer.
[0021] S2. Determine the relative position coordinates of the target and the UAV in the northeast coordinate system; For example, in one specific embodiment, the steps for determining the relative position coordinates of the target and the UAV in the northeast-east coordinate system are as follows: obtain the aircraft's latitude and longitude using the inertial navigation system and satellite combination carried by the UAV; convert the aircraft's latitude and longitude and the target's latitude and longitude set by the ground station to the northeast-east coordinate system to obtain the target position and the aircraft position; subtract the aircraft position from the target position to obtain the relative position coordinates of the target and the UAV in the northeast-east coordinate system.
[0022] S3. Obtain the frame angular velocity of the virtual seeker; Specifically, based on the relative position coordinates of the target and the UAV in the northeast-east coordinate system, the angular velocity vector in the northeast-east coordinate system is obtained; based on the angular velocity vector angle in the northeast-east coordinate system, the frame angular velocity of the virtual seeker is obtained.
[0023] For example, in one specific embodiment, the step of obtaining the angular velocity vector in the northeast-northeast coordinate system is as follows: the flight control computer obtains the transformation matrix from the geographic frame to the aircraft frame according to the corresponding attitude of the aircraft; the northeast-northeast velocity of the aircraft is obtained according to the inertial navigation; the aircraft velocity vector is obtained from the relative distance vector between the aircraft and the target according to the northeast-northeast velocity of the aircraft; and the angular velocity vector in the northeast-northeast coordinate system is obtained according to the aircraft velocity vector.
[0024] In this embodiment, the aircraft's velocity vector is obtained by cross-multiplying the aircraft's northeast-southeast ground velocity and the relative distance vector between the aircraft and the target.
[0025] In this embodiment, the step of obtaining the angular velocity vector in the northeast-east coordinate system based on the aircraft's velocity vector is as follows: the product of the aircraft's velocity vectors is converted to a unit vector to obtain the angular velocity vector in the northeast-east coordinate system.
[0026] In this embodiment, the step of obtaining the frame angular velocity of the virtual seeker based on the angular velocity vector angle in the northeast coordinate system is as follows: based on the transformation matrix from the geographic system to the body system, the angular velocity vector is transformed to the body coordinate system to obtain the frame angular velocity of the virtual seeker.
[0027] A system for calculating the frame angular velocity of a virtual seeker based on geographic location guidance includes: a parameter binding module, a position determination module, and a frame angular velocity acquisition module. The parameter binding module is used to bind parameters in the ground control station software and send the target's latitude, longitude, and altitude to the flight control computer. The position determination module is used to determine the relative position coordinates of the target and the UAV in the northeast-east coordinate system. The frame angular velocity acquisition module is used to obtain the angular velocity vector in the northeast-east coordinate system based on the relative position coordinates of the target and the UAV in the northeast-east coordinate system. Based on the angular velocity vector angle in the northeast-east coordinate system, the frame angular velocity of the virtual seeker is obtained.
[0028] An electronic device includes a processor, a memory, and a computer program stored in the memory, wherein when the computer program is executed by the processor, the steps of a method for calculating the angular velocity of a virtual seeker frame based on geographic location guidance are disclosed.
[0029] A program product includes a computer program that, when run, performs steps of a method for calculating the angular velocity of a location-based guided virtual seeker frame.
[0030] A storage medium having a computer program stored thereon, which, when run, performs steps of a method for calculating the angular velocity of a virtual seeker frame based on geographic location guidance.
[0031] The method is explained below with reference to the accompanying drawings: like Figure 2 As shown, Figure 2 The relative position coordinates between the UAV and the target include the following parameters: latitude, longitude, and altitude of the UAV. Latitude and longitude of the target The speed of drones in the northeast Transformation matrix from geographic coordinate system to body coordinate system The method for calculating the frame angular velocity of the virtual seeker based on geographic location guidance in this embodiment obtains the position and direction of motion of the UAV relative to the target based on the above parameters, and thus determines the frame angular velocity of the virtual seeker.
[0032] Based on the parameter information, the latitude, longitude, and altitude of the UAV and the target are transformed to the northeast-northeast coordinate system to obtain the position of the aircraft in the northeast-northeast coordinate system. The position of the target in the northeast coordinate system Then, the mathematical description of the relative position coordinates between the target and the aircraft can be obtained as follows:
[0033] The expression for the frame angular velocity of the virtual seeker is:
[0034] in, This indicates the northward distance between the target and the aircraft, with north being positive. This indicates the eastward distance between the target and the aircraft, with east being positive. Indicates the ground distance between the target and the aircraft, with the direction pointing towards the ground being positive; The transformation matrix from the geographic coordinate system to the body coordinate system as specified in the prior art; Let be the frame pitch angular velocity of the virtual seeker, and be the second term of the vector. ω represents the frame azimuth angular velocity of the virtual seeker, and ω represents the third term of the vector.
[0035] The principle for solving the virtual frame angular velocity is to multiply the relative distance vector between the aircraft and the target by the aircraft's velocity vector, and then convert the resulting vector product to a unit vector to obtain the angular velocity vector in the NE-G coordinate system. The transformation matrix is then used to transform this angular velocity vector to the body coordinate system, and finally the frame angular velocity of the virtual seeker is obtained.
[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A method for solving the frame angular velocity of a virtual seeker based on geo-position guidance, characterized in that, The method comprises the following steps: The ground control station software performs binding to send the target latitude and longitude to the flight control computer; The relative position coordinates of the target and the unmanned aerial vehicle in the north-east-geodetic coordinate system are determined; The angular velocity vector in the north-east-geodetic coordinate system is obtained based on the relative position coordinates of the target and the unmanned aerial vehicle in the north-east-geodetic coordinate system; The frame angular velocity of the virtual seeker is obtained based on the angle of the angular velocity vector in the north-east-geodetic coordinate system.
2. The method of claim 1, wherein the frame angular velocity of the virtual pilot is calculated based on the geographical position of the virtual pilot. The step of determining the relative position coordinates of the target and the unmanned aerial vehicle in the north-east-geodetic coordinate system comprises the following steps: The latitude and longitude of the aircraft are obtained by the inertial navigation system and satellite combination carried by the unmanned aerial vehicle; The target position and the aircraft position in the north-east-geodetic coordinate system are obtained by converting the latitude and longitude of the aircraft and the target latitude and longitude bound by the ground station; The relative position coordinates of the target and the unmanned aerial vehicle in the north-east-geodetic coordinate system are obtained by subtracting the aircraft position from the target position.
3. The method of claim 1, wherein the frame angular velocity is calculated based on the geographic position guidance. The step of obtaining the angular velocity vector in the north-east-geodetic coordinate system comprises the following steps: The flight control computer obtains the conversion matrix from the geographical system to the aircraft system according to the corresponding attitude of the aircraft; The north-east-geodetic speed of the aircraft is obtained according to the inertial navigation system; The speed vector of the aircraft is obtained according to the relative distance vector of the aircraft and the target and the north-east-geodetic speed of the aircraft; The angular velocity vector in the north-east-geodetic coordinate system is obtained according to the speed vector of the aircraft.
4. The method of claim 3, wherein the frame angular velocity is calculated based on the geographic position guidance. The speed vector of the aircraft is obtained by the cross product of the north-east-geodetic speed of the aircraft and the relative distance vector of the aircraft and the target.
5. The method of claim 3, wherein the frame angular velocity is calculated based on the geographic position guidance. The step of obtaining the angular velocity vector in the north-east-geodetic coordinate system according to the speed vector of the aircraft comprises the following steps: unit vectorization is performed on the speed vector of the aircraft, and the angular velocity vector in the north-east-geodetic coordinate system is obtained.
6. The method of claim 3, wherein the frame angular velocity of the virtual pilot head is calculated based on the geographical position. The step of obtaining the frame angular velocity of the virtual seeker based on the angle of the angular velocity vector in the north-east-geodetic coordinate system comprises the following steps: the angular velocity vector is converted to the aircraft coordinate system based on the conversion matrix from the geographical system to the aircraft system, and the frame angular velocity of the virtual seeker is obtained.
7. A system for solving the frame angular velocity of a virtual seeker based on geo- location guidance, characterized in that, The method comprises the following steps: The parameter binding module is used for performing binding by the ground control station software to send the target latitude and longitude to the flight control computer; The position determination module is used for determining the relative position coordinates of the target and the unmanned aerial vehicle in the north-east-geodetic coordinate system; The frame angular velocity acquisition module is used for obtaining the angular velocity vector in the north-east-geodetic coordinate system based on the relative position coordinates of the target and the unmanned aerial vehicle in the north-east-geodetic coordinate system, and obtaining the frame angular velocity of the virtual seeker based on the angle of the angular velocity vector in the north-east-geodetic coordinate system.
8. An electronic device, comprising: The processor, the memory, and the computer program stored in the memory, when executed by the processor, realize the steps of the method of any one of claims 1-6.
9. A program product, characterized by The computer program is executed to perform the steps of the method of any one of claims 1-6.
10. A storage medium, characterized by The computer program is stored on the computer readable medium and is executed to perform the steps of the method of any one of claims 1-6.