Method for determining optimal attack damage opportunity of dynamic target by micro unmanned aerial vehicle (UAV) dive attack
By collecting real-time information on the status of the UAV and the target, and calculating the optimal dive angle and probability of damage, the problem of low accuracy of micro UAVs in hitting high-speed maneuvering targets is solved, the optimal timing for damage is determined, the accuracy of the hit is improved, and the risk of missing the target is reduced.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NANJING UNIV OF SCI & TECH
- Filing Date
- 2026-02-09
- Publication Date
- 2026-06-05
AI Technical Summary
Existing technologies fail to effectively consider the target's maneuverability, resulting in low accuracy of micro-UAVs in hitting high-speed moving targets and difficulty in determining the optimal time for destruction.
By collecting real-time status information of UAVs and targets, calculating the optimal dive angle and damage probability, determining the optimal damage timing using trigonometric relationships, and combining data collection and analysis with lidar and airborne sensors, the timing of projectile launch is optimized.
It improves the accuracy of hitting high-speed maneuvering targets, reduces the risk of missing the target, and is suitable for resource-constrained micro-drones.
Smart Images
Figure CN122151883A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) flight control technology, specifically relating to a method for determining the optimal timing for a dive attack to destroy a dynamic target using a micro UAV. Background Technology
[0002] The micro-drone cruises in the air, detects a target, and flies towards it, pursuing it. Upon reaching its initial dive position, it dives towards the target at the optimal angle and speed. During the dive, once the drone enters the target's high-hazard assessment range, the target will randomly select an angle from a fan-shaped area in front of it to maneuver and evade. After acquiring this evasive information, the drone launches a projectile at the target, hitting it.
[0003] The timing of a micro-drone's projectile launch, or the selection of the destruction timing, directly determines whether the target can be accurately hit. The optimal destruction timing refers to the moment in a drone dive attack mission when the operator issues the attack command or the drone autonomously decides to launch the projectile. This moment is not a single point in time, but an optimal tactical window dynamically calculated from multiple variables. Micro-drones typically have limited payloads and are mostly single-use. Missing the optimal timing may lead to attack failure (missing the target) or minimal results (only causing minor damage). On a resource-constrained battlefield, every attack must aim for the best destruction effect, and the optimal timing is the core of achieving this goal. Launching the projectile too early may reduce the probability of hit due to the greater distance; launching it too late may allow the target to detect it and successfully evade the drone's attack. Choosing to launch the attack at the optimal timing—that is, closer to the target and with extremely short target reaction time—can greatly compress the time window from projectile launch to successful hit.
[0004] Current research on determining the firing timing of micro-UAVs, as described in the literature "Research on Low-Cost UAV Attack Methods for Fixed Ground Targets," includes the function of accurately tracking the target and then performing a dive attack on the ground following a pre-set attack route. The designed flight controller effectively overcomes system errors. Another example is the method proposed in the literature "Research on UAV Attack Methods Based on Climb-Dive Bombing," which involves combining the kinematic laws of the projectile with the maneuverability constraints of the UAV to solve for the projectile's release area.
[0005] However, the above methods do not take into account the target's mobility characteristics and the optimal timing for destruction, resulting in the projectile's inability to damage high-speed moving targets and a low probability of final destruction. Summary of the Invention
[0006] The purpose of this invention is to provide a method for determining the optimal timing for a dive attack on a dynamic target by a micro unmanned aerial vehicle (UAV), which is less affected by target maneuvering and has high accuracy.
[0007] The technical solution for realizing the present invention is as follows:
[0008] A method for determining the optimal timing for a dive attack on a dynamic target by a micro unmanned aerial vehicle (UAV) includes the following steps:
[0009] On-site data acquisition: In cruise mode, real-time acquisition of micro-UAV status information and target status information is performed; the micro-UAV status information includes micro-UAV position, micro-UAV speed, micro-UAV altitude, and micro-UAV pitch angle; the target status information includes target position, target speed, target altitude, and target shoulder width.
[0010] Determining the optimal dive angle: Based on the real-time state information of the micro-drone and the target obtained by the micro-drone, the optimal dive angle range is calculated, and the median value of the optimal dive angle range is selected to obtain the optimal dive angle.
[0011] Determining the probability of damage at the current moment: Based on the status information of the micro-UAV and the target during the dive, the probability of damage at the current moment is obtained through analysis;
[0012] Determining the probability of damage at the next moment: Based on the comparison between the horizontal distance between the micro-UAV and the target and the target's high-risk distance at the next moment, the next moment is selected and determined;
[0013] Determining the optimal moment of destruction: Compare the probability of destruction at the current moment with the probability of destruction at the next moment. If the probability of destruction at the next moment is less than the probability of destruction at the current moment, the current moment is determined to be the optimal moment of destruction for a dive attack, and the UAV immediately launches a projectile at the target.
[0014] Preferably, the step of determining the damage probability at the next moment includes:
[0015] Calculation of horizontal distance at the next moment: The horizontal distance between the micro-UAV and the target at the next moment is calculated according to the following formula: S,
[0016] ,
[0017] In the formula, For the dive attack speed of micro-drones, For the optimal dive angle, Target speed range Boundary values; It is the predicted value of the target's escape angle. It is the time interval for information collection;
[0018] Predicting the probability of damage at the next moment: Compare the horizontal distance between the micro-UAV and the target at the next moment with the target's high-danger distance, and select the corresponding probability of damage.
[0019] Compared with the prior art, the significant advantages of this invention are:
[0020] 1. High accuracy: This invention establishes a missile-target rendezvous model to solve for the optimal dive angle of the UAV, which maximizes the accuracy of the UAV's attack route. At the same time, by comparing and analyzing the actual damage probability and the predicted damage probability, the optimal damage timing is obtained, which effectively reduces the risk of missing the target due to the high maneuverability of the target and improves the accuracy of the dive attack on high-speed maneuvering targets.
[0021] 2. Low computational load: The invention mainly calculates by solving trigonometric function relationships, resulting in low overall computational complexity, making it suitable for resource-constrained micro-drones. Attached Figure Description
[0022] Figure 1 This is the main flowchart of the method for determining the optimal dive attack and damage timing of a dynamic target by a micro unmanned aerial vehicle (UAV) according to the present invention.
[0023] Figure 2 This is a schematic diagram of the optimal dive angle range for micro drones.
[0024] Figure 3 This is a diagram analyzing the two states of the target in its current damaged state. Figure 3 (a) represents the state of the target at the current moment when it has not chosen an escape angle. Figure 3 (b) The state when choosing an escape angle for the target at the current moment.
[0025] Figure 4 yes Figure 1 A flowchart of the steps for determining the damage probability at the next moment.
[0026] Figure 5 This is a diagram analyzing the target's two states in the next moment of damage. Among them, Figure 5 (a) represents the state of the target when it does not choose an escape angle at the next moment. Figure 5 (b) The state when choosing an escape angle for the target in the next moment. Detailed Implementation
[0027] like Figure 1 As shown, the method for determining the optimal dive attack damage timing for dynamic targets by a micro-UAV according to the present invention includes the following steps:
[0028] S1. On-site data acquisition: In cruise mode, real-time acquisition of micro-UAV status information and target status information is performed; the micro-UAV status information includes micro-UAV position, micro-UAV speed, micro-UAV altitude, and micro-UAV pitch angle; the target status information includes target position, target speed, target altitude, and target shoulder width.
[0029] The status information of the micro-UAV and the target status information can be collected in real time by airborne lidar, airborne camera, and airborne altitude sensor.
[0030] Establishment of a synchronous data acquisition database for micro UAVs and ground targets: After the UAV takes off and reaches the preset altitude, it enters cruise mode and uses the UAV's onboard lidar, airborne camera, altitude sensor and other sensors to acquire real-time information on the UAV's altitude, speed and pitch angle, and simultaneously acquires information on the target's speed, altitude, shoulder width and position.
[0031] The navigation and flight control modules of micro-UAVs possess autonomous navigation, autonomous identification, and autonomous tracking capabilities. Their damage module consists of a shaped charge warhead and a fuze controller. The projectile launched by the shaped charge warhead requires a certain formation distance to achieve a good damage effect; therefore, the micro-UAV needs to launch the projectile at a certain distance from the target, this distance being related to the shaped charge warhead it carries. The fuze controller analyzes the target image and distance information acquired by the navigation module, matches and optimizes it with the damage model of the shaped charge warhead, and calculates the optimal spatiotemporal position and attitude of the damage point, sending the results to the flight control module to achieve the best damage operation. During flight, the micro-UAV can acquire its own altitude, speed, pitch angle, and other parameters using its own sensors.
[0032] During combat, operators deploy the micro-drone on a flat surface, take it off to its preset altitude H, and then enter cruise mode. The micro-drone autonomously identifies and tracks targets using its onboard camera, ensuring the center pixel of the image remains centered on the target throughout the process. Simultaneously, onboard algorithms analyze the target image to determine the height of the target's head and abdomen above the ground, as well as the width of its shoulders, laying the foundation for determining the optimal destruction time. When the target detects the drone and begins to flee, the micro-drone's lidar detects it, acquiring real-time information on the distance between the drone and the target, the target's speed, and its evasive angle. The lidar also stores target information for future predictions.
[0033] S2. Determination of the optimal dive angle: Based on the real-time state information of the micro-drone and the target obtained by the micro-drone, the optimal dive angle range is calculated, and the median value of the optimal dive angle range is selected to obtain the optimal dive angle.
[0034] During the dive of the micro drone, the target is detected by lidar. The optimal dive angle range is calculated by combining the real-time information of the drone and the target with trigonometric function relationships. The drone then selects the middle value of the range as the optimal dive angle.
[0035] Figure 2 The diagram shown illustrates the optimal dive angle range for a micro unmanned aerial vehicle (UAV).
[0036] like Figure 2 As shown, the initial dive distance of the micro-drone is set by the operator based on the situation and equipment carried. The dive begins once the lidar detects that the horizontal distance between the micro-drone and the target reaches the initial dive distance. Depending on the accuracy of the onboard sensors, the micro-drone will dive at intervals of... Update the relevant information about the drone and the target, and at the same time... Take n time points at time intervals ( There will be n-1 time windows. ( To achieve optimal damage, the micro-drone targets the area between the target's head and abdomen during its dive, thus allowing the determination of a boundary value for the projectile's final impact point. and When a projectile launched by a micro-drone hits a target, the projectile and the target must be at the same position on the X and Z axes. Then, using the concept of trigonometric function transformation, the optimal dive angle for each time window is determined based on the real-time information acquired by the micro-drone throughout the dive, thereby ensuring the optimal attack path of the micro-drone and ultimately achieving the best damage effect.
[0037] The optimal dive angle range is calculated using the following formula:
[0038] (1),
[0039] In the above formula This indicates that the micro-drone measures the real-time altitude at different points in time based on onboard sensors; simultaneously, using onboard algorithms to analyze the target's image, it determines the height of the target's head and abdomen above the ground. and Based on the known parameters of the shaped charge warhead, the projectile's flight speed can be determined as follows: S represents the real-time horizontal distance between the micro-UAV and the target, measured by the lidar; the speed of the target, measured by the lidar, is... .
[0040] Substituting the target velocity measured by the lidar into equation (1), the maximum and minimum values of the micro-UAV's dive angle can be calculated, thus yielding the optimal dive angle range for the micro-UAV. Subsequently, the micro-UAV is used in each time window based on the median value of the optimal dive angle range calculated in real time. By diving, the error caused by interference can be minimized, increasing the probability of a hit.
[0041] S3. Determining the damage probability at the current moment: Based on the status information of the micro-UAV and the target during the dive, the damage probability at the current moment is obtained through analysis.
[0042] The current damage probability is determined based on the following:
[0043] When S>D, the probability of destruction at the current moment is 100%;
[0044] When S If at time D, Then the current probability of damage is 0; if The current probability of damage is 100%.
[0045] In the formula, S represents the horizontal distance between the micro-drone and the target, and D represents the target's advanced danger distance. To achieve the target shoulder width, The horizontal coordinates of the target location.
[0046] Figure 3 This is a diagram analyzing the two states of the target under its current damaged state.
[0047] in, Figure 3 (a) represents the state of the target at the current moment when it has not chosen an escape angle. Figure 3 (b) The state when choosing an escape angle for the target at the current moment.
[0048] The calculated damage probability at the current moment is specifically as follows:
[0049] The micro drone uses lidar to detect the current horizontal distance S between itself and the target, and can determine the current situation based on the distance.
[0050] Scenario 1: When S > D (e.g., D = 2m), the probability of damage at the current moment is 100%. Specifically: In this scenario, the micro-drone has not yet entered the target's high-danger range D, and the target will not choose an angle to evade or escape. Figure 3As shown in (a), the micro-UAV continuously locks onto the effective damage range of the target using camera image information. Therefore, theoretically, if it attacks the target at the optimal dive angle, the hit rate is 100%. However, airborne sensors inevitably have errors, and there is also wind interference in the environment, so launching projectiles at this time is not a good choice.
[0051] Scenario 2: When S When D (e.g., D=2m) is the effective damage range of the projectile, it is necessary to determine whether the target will escape the effective damage range of the projectile before determining the actual damage probability. Specifically: In this scenario, the micro-drone has entered the target's advanced danger range D, and the target will choose an angle to evade and escape, such as... Figure 3 As shown in (b), the target's shoulder width was determined by analyzing the target's image using an airborne algorithm. The position information of the target center on the Y-axis is determined by lidar. .like If the target is assumed to escape the projectile's destructive range, then the actual probability of damage from the projectile is 0. If the target is not expected to escape the projectile's damage range, then the actual damage probability of the projectile is 100%.
[0052] S 4 Determining the probability of damage at the next moment: Based on the comparison between the horizontal distance between the micro-UAV and the target and the target's high-risk distance at the next moment, the next moment is selected and determined;
[0053] Based on the target speeds acquired and stored by the lidar in the combat scenario, the future speed range of the target is predicted. At the same time, when the target tries to evade, the influence of the target's escape angle is considered, and finally, the probability of damage in the next time window is predicted.
[0054] like Figure 4 As shown, step S4, determining the damage probability at the next moment, includes:
[0055] S41. Calculation of the horizontal distance at the next moment: The horizontal distance between the micro-UAV and the target at the next moment is calculated according to the following formula: S,
[0056] (2),
[0057] In the formula, For the dive attack speed of micro-drones, For the optimal dive angle, Target speed range Boundary values; It is the predicted value of the target's escape angle. It is the time interval for information collection;
[0058] S42. Predict the probability of damage at the next moment: Compare the horizontal distance between the micro-UAV and the target at the next moment with the target's high-danger distance, and select the corresponding probability of damage.
[0059] Figure 5 This is a diagram analyzing the two states of the target under the damage state at the next moment.
[0060] in, Figure 5 (a) represents the state of the target when it does not choose an escape angle at the next moment. Figure 5 (b) The state when choosing an escape angle for the target in the next moment.
[0061] The steps for determining the probability of damage in the next moment include:
[0062] The micro-drone predicts the horizontal distance to the target at the next moment using equation (2). S. Micro drones can determine their current situation based on distance.
[0063] ,
[0064] In the above formula, S represents the horizontal distance between the micro-UAV and the target at the current moment, detected by the lidar; the speed of the micro-UAV during its dive attack is constant and can be obtained from the onboard speed sensor. The micro-drone has determined the optimal dive angle through step S2. The target's speed range can be determined using previously stored information detected by the airborne lidar. This range will change over time. These are the boundary values of this range; It is a predicted value of the angle at which the target may escape, and the prediction range is a fan-shaped area of 180° in front of the target; It is the time interval for information detected by micro-drones.
[0065] By substituting the two boundary values of the target velocity stored in the lidar and the boundary value of the target's possible escape angle into formula (3), the horizontal distance between the micro-UAV and the target at the next moment can be predicted. .
[0066] Scenario 1: When When the distance is greater than 2 meters, the probability of damage in the next moment is 100%. Specifically: In this scenario, the micro-drone will still not enter the target's high-danger range in the next moment, and the target will not choose an angle to evade or escape. Figure 5As shown in (a). The micro-drone will continue to lock onto the target using camera image information in the next moment. Theoretically, if it attacks the target at the optimal dive angle, the hit rate will be 100%. However, the onboard sensors will inevitably have errors, and there will be wind interference in the environment. Therefore, launching the projectile at this moment is not a good choice. The micro-drone will look for a better time to destroy the target.
[0067] Scenario 2: When At 2m, it is necessary to determine whether the target will escape the effective damage range of the projectile before determining the actual damage probability. Specifically: In this scenario, the micro-drone will almost certainly enter the target's high-danger range in the next instant, and the target will choose an angle to evade and escape. Figure 5 As shown in (b), the predicted value for the target's possible escape angle is... The prediction range is a fan-shaped area 180° in front of the target. Based on previously stored information from the airborne lidar, the target's speed range is... This range will change over time. These are the boundary values of this range. Based on the above parameters, determine the distance the target has moved along the Y-axis at the next time point. :
[0068] (3).
[0069] Substituting the two boundary values of the target velocity stored by the lidar and the boundary value of the target's possible escape angle into formula (3), the distance the target may move on the Y-axis at the next moment can be calculated. Using an airborne algorithm, the target's shoulder width is obtained through image analysis. The position information of the target center on the Y-axis is determined by lidar. .like If it is assumed that the target will escape the projectile's damage range in the next moment, then the probability of the projectile causing damage in the next moment is 0; if If it is assumed that the target will not escape the damage range of the projectile in the next moment, then the probability of the projectile causing damage in the next moment is 100%.
[0070] S5. Determining the optimal moment of destruction: Compare the probability of destruction at the current moment with the probability of destruction at the next moment. If the probability of destruction at the next moment is less than the probability of destruction at the current moment, determine the current moment as the optimal moment of dive attack destruction, and the UAV immediately launches projectiles at the target.
[0071] By comparing the probability of damage at the current moment with the probability of damage at the next moment, it can be determined whether the probability of damage to the drone will continue to increase in the future, thus enabling the drone to make an autonomous decision on whether to launch the projectile.
[0072] (1) If the probability of destruction at the next moment is greater than or equal to the probability of destruction at the current moment is 100%, it means that the probability of the UAV hitting the target remains unchanged. Then the micro UAV can continue to approach the target to reduce the risk of missing the target due to the error. Therefore, the micro UAV will continue to approach the target at the best dive angle to find a better opportunity to destroy it, and continue to obtain relevant information about the UAV and the target through the airborne sensors. The new best dive angle is calculated according to the method in step 2.
[0073] (2) If the probability of damage in the next moment is less than the probability of damage in the current moment or the probability of damage in the next moment is 0, it means that the probability of the UAV hitting the target will continue to decrease in the future. In order to prevent the target from escaping the effective damage range of the projectile, the UAV should immediately execute the damage procedure to launch the projectile at the target.
Claims
1. A method for determining the optimal timing for a dive attack on a dynamic target using a micro unmanned aerial vehicle (UAV), characterized in that, Includes the following steps: On-site data acquisition: In cruise mode, real-time acquisition of micro-UAV status information and target status information is performed; the micro-UAV status information includes micro-UAV position, micro-UAV speed, micro-UAV altitude, and micro-UAV pitch angle; the target status information includes target position, target speed, target altitude, and target shoulder width. Determining the optimal dive angle: Based on the real-time state information of the micro-drone and the target obtained by the micro-drone, the optimal dive angle range is calculated, and the median value of the optimal dive angle range is selected to obtain the optimal dive angle. Determining the probability of damage at the current moment: Based on the status information of the micro-UAV and the target during the dive, the probability of damage at the current moment is obtained through analysis; Determining the probability of damage at the next moment: Based on the comparison between the horizontal distance between the micro-UAV and the target and the target's high-risk distance at the next moment, the next moment is selected and determined; Determining the optimal moment of destruction: Compare the probability of destruction at the current moment with the probability of destruction at the next moment. If the probability of destruction at the next moment is less than the probability of destruction at the current moment, the current moment is determined to be the optimal moment of destruction for a dive attack, and the UAV immediately launches a projectile at the target.
2. The method for determining the optimal timing for a dive attack damage as described in claim 1, characterized in that: The status information of the micro-UAV and the target status information are obtained in real time through airborne lidar, airborne camera and airborne altitude sensor.
3. The method for determining the optimal timing for a dive attack damage as described in claim 1, characterized in that, The optimal dive angle range is calculated using the following formula: （1）， In the formula, Real-time altitude of the micro drone and The height of the target's head and the height of the target's abdomen. Let S be the velocity of the projectile, and S be the horizontal distance between the micro-UAV and the target. For the target speed, This represents the maximum dive angle of the micro-drone. This represents the minimum dive angle for a micro-drone.
4. The method for determining the optimal timing for a dive attack damage as described in claim 3, characterized in that, The current damage probability is determined based on the following: When S>D, the probability of destruction at the current moment is 100%; When S If at time D, Then the current probability of damage is 0; if The current probability of damage is 100%. In the formula, S represents the horizontal distance between the micro-drone and the target, and D represents the target's advanced danger distance. To achieve the target shoulder width, The horizontal coordinates of the target location.
5. The method for determining the optimal timing for a dive attack damage as described in claim 4, characterized in that, The steps for determining the damage probability at the next moment include: Calculation of horizontal distance at the next moment: The horizontal distance between the micro-UAV and the target at the next moment is calculated according to the following formula: S, （2）， In the formula, For the dive attack speed of micro-drones, For the optimal dive angle, Target speed range Boundary values; It is the predicted value of the target's escape angle. It is the time interval for information collection; Predicting the probability of damage at the next moment: Compare the horizontal distance between the micro-UAV and the target at the next moment with the target's high-danger distance, and select the corresponding probability of damage.
6. The method for determining the optimal timing for a dive attack damage as described in claim 5, characterized in that, The specific details of predicting the damage probability at the next moment are as follows: when When >D, the probability of damage in the next moment is 100%; when If at time D, Then the probability of damage in the next moment is 0; if If so, the probability of damage in the next moment is 100%; In the formula, This represents the distance the target has moved along the Y-axis at the next time point. （3）。