A method and system for controlling the aiming of a drone with a seeker core

Abstract

The present application relates to the technical field of unmanned aerial vehicle seeker target tracking and gimbal servo control, and particularly relates to a method and system for aiming control of an unmanned aerial vehicle core of a seeker. The method obtains a target image, image center coordinates and gimbal angle, identifies and tracks the target, and forms a target tracking state set. The target deviation and gimbal deviation are calculated, the gimbal is controlled to adjust the line of sight and form a gimbal compensation state, and when the target residual deviation continuously exceeds the target deviation threshold or the gimbal deviation exceeds the centering threshold, a body compensation trigger result containing the target deviation direction and the gimbal deviation direction is generated. When the two directions correspond, the unmanned aerial vehicle body is controlled to perform lateral or longitudinal position compensation, and the updated result is used for the next control cycle. Through the gimbal pre-compensation, compensation triggering and direction matching, the present application forms a layered collaborative control closed loop of the gimbal and the body, reduces repeated responses and maintains the gimbal centering state.

Description

Technical Field

[0001] This invention relates to the fields of unmanned aerial vehicle (UAV) motion control, seeker target tracking, and gimbal servo control, and particularly to a UAV aiming control method and system with a seeker as its core. Background Technology

[0002] In the field of UAV seeker aiming and control technology, existing solutions typically involve the seeker acquiring target images, identifying, locking onto, and tracking the target, and then controlling the gimbal's azimuth and pitch motors to adjust the line of sight based on the target's positional deviation in the image. Some solutions also send the target's azimuth angle, line-of-sight angular velocity, or relative motion parameters to the flight control system, which then controls the UAV to adjust its heading, attitude, or position. While these solutions can achieve target tracking and line-of-sight adjustment when the target's range of motion is small and the gimbal deflection angle is within its normal operating range, they are prone to problems such as continuous accumulation of gimbal deflection angle, gradual deviation of the gimbal from its centering position, and inconsistent timing of intervention between airframe control and gimbal control when the target is continuously moving or the relative position between the UAV and the target changes continuously.

[0003] Existing solutions often generate gimbal control commands or flight control commands directly based on the target deviation in the current control cycle. When the target image is affected by UAV vibration, short-term target obstruction, or fluctuations in the detection position, the target position change within a single control cycle may be directly transmitted to the airframe control system. When the gimbal continuously compensates for the target deviation, the gimbal azimuth or pitch angle may gradually approach the mechanical limit. Because there is a lack of continuous connection between the residual target deviation after gimbal adjustment, the deviation of the gimbal's relative centering position, and the intervention conditions of the flight control system, it is easy to cause repeated responses from the gimbal and the airframe, or delayed airframe compensation intervention.

[0004] Regarding the joint processing of target residual deviation and gimbal deviation, existing technologies still have shortcomings in the integration of target continuous offset state recognition, gimbal centering state determination, aircraft compensation direction matching, and post-compensation state feedback. Therefore, it is necessary to address the issue of hierarchical and coordinated control of gimbal line-of-sight adjustment and UAV body position compensation based on target residual deviation and gimbal deviation in continuous target tracking scenarios for UAVs. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a UAV aiming and control method with a seeker core, comprising: S100: Acquire the target image, image center coordinates, gimbal azimuth angle, and gimbal pitch angle of the seeker system; the target recognition module identifies and tracks the target, obtains the target center coordinates, and generates a target tracking status set; S200: Calculate the target horizontal deviation, target vertical deviation, gimbal azimuth deviation, and gimbal pitch deviation based on the target tracking state set; generate azimuth control commands and pitch control commands based on the target horizontal deviation and target vertical deviation to control the gimbal to adjust the line of sight; calculate the adjusted target residual deviation and update the gimbal deviation to generate the gimbal compensated state. S300: Based on the state after gimbal compensation, when the target residual deviation exceeds the target deviation threshold for multiple consecutive control cycles, or when the gimbal deviation exceeds the centering threshold, generate a body compensation trigger result that includes the target offset direction and the gimbal deviation direction. S400: Based on the body compensation trigger result, when the target offset direction corresponds to the gimbal deviation direction, the airframe adjustment command is generated; the flight control system controls the UAV to perform lateral position compensation or longitudinal position compensation according to the airframe adjustment command; the target image, gimbal azimuth angle and gimbal pitch angle are acquired, the target residual deviation and gimbal deviation are updated, and the updated results are used as the input for the next control cycle.

[0006] Furthermore, the generation of the target tracking state set includes: The target center coordinates, the image center coordinates, the gimbal azimuth angle, and the gimbal pitch angle are associated according to the same control cycle; The associated target center coordinates, image center coordinates, gimbal azimuth angle, and gimbal pitch angle are written into the target tracking state set.

[0007] Furthermore, the guidance head system includes a three-light camera module, the target recognition module, and a decision control module; The three-light camera module includes a visible light camera, an infrared camera, and a laser rangefinder; The target recognition module performs target detection, target recognition, target locking, and target tracking on the target image acquired by the visible light camera or the infrared camera, and sends the target center coordinates to the decision control module.

[0008] Furthermore, the calculation of the target horizontal deviation, the target vertical deviation, the gimbal azimuth deviation, and the gimbal pitch deviation includes: Calculate the difference between the x-coordinate of the target center coordinate and the x-coordinate of the image center coordinate to generate the target horizontal deviation; Calculate the difference between the ordinate of the target center coordinate and the ordinate of the image center coordinate to generate the target vertical deviation; Calculate the difference between the gimbal azimuth angle and the gimbal azimuth midpoint angle to generate the gimbal azimuth deviation. Calculate the difference between the gimbal pitch angle and the gimbal pitch midpoint angle to generate the gimbal pitch deviation.

[0009] Furthermore, the generation of the gimbal compensation state includes: The remaining target deviation includes the remaining horizontal target deviation and the remaining vertical target deviation, and the updated gimbal deviation includes the updated gimbal azimuth deviation and the updated gimbal pitch deviation. The gimbal controller drives the gimbal azimuth motor according to the azimuth control command, and drives the gimbal pitch motor according to the pitch control command. After the gimbal azimuth motor and the gimbal pitch motor execute the corresponding control commands, the target center coordinates, the gimbal azimuth angle, and the gimbal pitch angle are reacquired. The remaining deviation of the target is calculated based on the reacquired target center coordinates, and the gimbal deviation is updated based on the reacquired gimbal azimuth and gimbal pitch angles.

[0010] Furthermore, the generation of the body compensation triggering result includes: The remaining deviation of the target is recorded according to multiple consecutive control cycles; The horizontal target offset direction is generated based on the sign of the remaining horizontal deviation of the target, and the vertical target offset direction is generated based on the sign of the remaining vertical deviation of the target. The updated gimbal azimuth deviation and gimbal pitch deviation are compared with the azimuth centering threshold and pitch centering threshold, respectively. When the gimbal azimuth deviation exceeds the azimuth centering threshold, or the gimbal pitch deviation exceeds the pitch centering threshold, the gimbal deviation direction is generated according to the sign of the corresponding gimbal deviation.

[0011] Furthermore, the generation of the body adjustment command includes: Match the target offset direction with the gimbal offset direction; When the target offset direction corresponds to the gimbal offset direction, a lateral position compensation command is generated based on the target's remaining horizontal deviation and the gimbal's azimuth deviation, or a longitudinal position compensation command is generated based on the target's remaining vertical deviation and the gimbal's pitch deviation. If the updated gimbal azimuth deviation and gimbal pitch deviation do not exceed the corresponding centering threshold, the generation of the body adjustment command will stop.

[0012] Furthermore, when the target tracking status is a short-term target loss status, the azimuth control command and pitch control command of the previous control cycle are maintained, and the generation of new body adjustment commands is stopped; After re-identifying and locking onto the target, the target tracking state set is updated according to the newly determined target center coordinates; When the communication link status is abnormal, the transmission of the airframe adjustment command to the flight control system is stopped.

[0013] Furthermore, the seeker system is fixedly connected to the execution load, and the seeker system and the execution load rotate synchronously with the gimbal azimuth motor and the gimbal pitch motor; Obtain the axis deviation compensation parameters between the optical axis of the guide head and the axis pointing towards the execution load; The target center coordinates are corrected based on the axis deviation compensation parameters; The horizontal deviation and vertical deviation of the target are calculated based on the corrected target center coordinates.

[0014] This invention provides a hierarchical cooperative aiming control system for a UAV seeker, comprising: The target tracking state generation module is used to acquire the target image, image center coordinates, gimbal azimuth angle and gimbal pitch angle of the seeker system, perform target recognition and target tracking on the target image, obtain the target center coordinates, and associate the target center coordinates, the image center coordinates, the gimbal azimuth angle and the gimbal pitch angle to generate a target tracking state set; The gimbal compensation module, connected to the target tracking state generation module, is used to calculate the target horizontal deviation, target vertical deviation, gimbal azimuth deviation, and gimbal pitch deviation based on the target tracking state set. It generates azimuth control commands and pitch control commands based on the target horizontal deviation and target vertical deviation to control the gimbal to adjust the line of sight. It also calculates the target remaining deviation and updates the gimbal deviation based on the adjusted target center coordinates, gimbal azimuth angle, and gimbal pitch angle to generate the gimbal-compensated state. The body compensation trigger module, connected to the gimbal compensation module, is used to generate a body compensation trigger result containing the target offset direction and the gimbal offset direction based on the sign of the target residual deviation and the sign of the gimbal offset when the target residual deviation exceeds the target deviation threshold for multiple consecutive control cycles or the gimbal offset exceeds the centering threshold, based on the gimbal compensation state. The aircraft compensation control module, connected to the aircraft compensation triggering module, is used to match the target offset direction with the gimbal deviation direction based on the aircraft compensation triggering result. When the target offset direction corresponds to the gimbal deviation direction, an aircraft adjustment command is generated and sent to the flight control system. The flight control system controls the UAV to perform lateral position compensation or longitudinal position compensation, and updates the target remaining deviation and the gimbal deviation based on the target image, gimbal azimuth angle, and gimbal pitch angle obtained after position compensation. The updated result is sent to the target tracking status generation module as input for the next control cycle.

[0015] The key innovations of this invention include: (1) The target horizontal deviation and target vertical deviation between the target center coordinates and the image center coordinates, along with the gimbal azimuth angle and gimbal pitch angle relative to the corresponding median angle, are included in the same control link; first, the gimbal is controlled to adjust the line of sight according to the target deviation, and then the gimbal compensation state containing the target residual deviation and the updated gimbal deviation is formed according to the adjusted target center coordinates and gimbal angle.

[0016] (2) The state after gimbal compensation is used as the basis for the flight control system intervention. The remaining deviation of the target is checked for multiple consecutive control cycles to see if it exceeds the target deviation threshold. The gimbal deviation is compared with the centering threshold. The target offset direction and gimbal offset direction are formed according to the signs of the remaining target deviation and the gimbal deviation, and the airframe adjustment command is generated only when the two directions correspond.

[0017] (3) After the flight control system performs lateral position compensation or longitudinal position compensation, it reacquires the target image, gimbal azimuth angle and gimbal pitch angle, updates the target remaining deviation and gimbal deviation; the update result is returned to the next control cycle, and the system controls the continued generation or cessation of the body adjustment command based on whether the updated gimbal deviation is within the centering threshold range.

[0018] The following are its main beneficial effects: (1) By incorporating the positional deviation of the target in the image and the deviation of the gimbal relative to the median angle into the control process, and having the gimbal take the lead in adjusting the line of sight, the target deviation that the gimbal has eliminated can be distinguished from the target residual deviation that still needs to be processed, thereby reducing the repeated response of the gimbal control and the body control to the same original target deviation.

[0019] (2) By checking the remaining deviation of the target through multiple consecutive control cycles and matching the target offset direction with the gimbal offset direction, the trigger state caused by image fluctuation or short-term position change in a single control cycle can be eliminated, so that the body position compensation corresponds to the control state of continuous target offset and gimbal offset in the corresponding direction, reducing the mismatch between the timing of body compensation intervention and the compensation direction.

[0020] (3) By recalculating the target residual deviation and gimbal deviation after the body position compensation, and using the updated results for the next control cycle, the body compensation process can be continuously constrained by the target tracking state and the gimbal centering state; when the gimbal returns to the centering threshold range, the new body adjustment is stopped, so that the body compensation and the gimbal centering process are continuously connected. Attached Figure Description

[0021] Figure 1 A flowchart illustrating a UAV aiming and control method based on a seeker core, provided in an embodiment of this application; Figure 2 This is a structural block diagram of a UAV aiming control system with a seeker core, provided as an embodiment of this application. Detailed Implementation

[0022] Example 1: Refer to Figure 1 This is a flowchart illustrating a UAV aiming and control method with a seeker core provided in an embodiment of the present invention. The flowchart may include at least steps S100-S400: S100: Acquire the target image, image center coordinates, gimbal azimuth angle, and gimbal pitch angle of the seeker system; the target recognition module identifies and tracks the target, obtains the target center coordinates, and generates a target tracking status set; S200: Calculate the target horizontal deviation, target vertical deviation, gimbal azimuth deviation, and gimbal pitch deviation based on the target tracking state set; generate azimuth control commands and pitch control commands based on the target horizontal deviation and target vertical deviation to control the gimbal to adjust the line of sight; calculate the adjusted target residual deviation and update the gimbal deviation to generate the gimbal compensated state. S300: Based on the state after gimbal compensation, when the target residual deviation exceeds the target deviation threshold for multiple consecutive control cycles, or when the gimbal deviation exceeds the centering threshold, generate a body compensation trigger result that includes the target offset direction and the gimbal deviation direction. S400: Based on the body compensation trigger result, when the target offset direction corresponds to the gimbal deviation direction, the airframe adjustment command is generated; the flight control system controls the UAV to perform lateral position compensation or longitudinal position compensation according to the airframe adjustment command; the target image, gimbal azimuth angle and gimbal pitch angle are acquired, the target residual deviation and gimbal deviation are updated, and the updated results are used as the input for the next control cycle.

[0023] S100: Acquire the target image, image center coordinates, gimbal azimuth angle, and gimbal pitch angle of the seeker system; the target recognition module identifies and tracks the target, obtains the target center coordinates, and generates a target tracking status set. This implementation applies to a UAV equipped with a seeker system, a gimbal control system, and a flight control system. The seeker system is connected to the gimbal controller and the flight control system via communication interfaces. The gimbal controller is connected to the gimbal azimuth motor, the gimbal pitch motor, and the angle feedback unit. The seeker system and the actuator are fixedly mounted on the gimbal frame. When the gimbal azimuth motor actuates, the seeker system and the actuator rotate synchronously around the azimuth axis; when the gimbal pitch motor actuates, the seeker system and the actuator rotate synchronously around the pitch axis. The decision control module is located within the seeker system, receiving the target center coordinates output by the target recognition module, and receiving the gimbal azimuth and pitch angles fed back by the gimbal controller.

[0024] The three-light camera module includes a visible light camera, an infrared camera, and a laser rangefinder. When the visible light imaging conditions meet the target recognition requirements, the target recognition module reads the continuous target images output by the visible light camera. When the target and background distinction in the visible light image is insufficient, the target recognition module reads the continuous target images output by the infrared camera. In one embodiment, the working channel is specified by a pre-configured seeker working mode, and the current working channel is maintained during target tracking, without frequent switching within adjacent control cycles. When the laser rangefinder outputs the target distance, the target distance is associated with the current target image using the same control cycle number. In embodiments where the target distance is not involved in the target center coordinate calculation, the target tracking state set generation process in this step remains unchanged.

[0025] Once the seeker system enters the target search state, the target recognition module receives the target image according to the image acquisition cycle and performs target detection within the target image. The detection result is the target region in the image coordinate system. The target recognition module reads the horizontal and vertical boundaries of the target region and uses the center position of the target region as the target center coordinates. The target center coordinates are denoted as (Xt, Yt), where Xt represents the position of the target center in the horizontal direction of the image, and Yt represents the position of the target center in the vertical direction of the image. The image center coordinates are denoted as (Xc, Yc), which is determined by the effective imaging range of the image output by the current working channel. When the working channel is switched, the target recognition module rereads the corresponding image size and updates the image center coordinates.

[0026] After target detection is completed, the target recognition module correlates the current detection result with the target tracking result of the previous control cycle. If the positional change between the current target region and the previous target region is within the target tracking range, and the target feature matching result matches the current target identifier, the target recognition module sets the target tracking state to target locked state and updates the target center coordinates. If no target corresponding to the target identifier is detected in the current image, but the duration of non-detection does not exceed the short-term loss time threshold, the target tracking state is set to target short-term loss state. In the short-term loss state, the target center coordinates and target movement direction of the previous control cycle are retained, and the original target is not replaced by an unmatched target region. If the duration of non-detection exceeds the short-term loss time threshold, the current target locked state is released, the current control link is paused, and the target search process is re-entered.

[0027] The angle feedback unit reads the gimbal azimuth angle corresponding to the gimbal azimuth motor and the gimbal pitch angle corresponding to the gimbal pitch motor in each control cycle. The target image and angle feedback are associated using the control cycle number. When the acquisition time of the target image and the angle feedback time are inconsistent, the decision control module selects the gimbal azimuth angle and gimbal pitch angle whose acquisition time is closest to the current target image. If no valid angle feedback is obtained in the current control cycle, the decision control module does not use the angle value of the previous cycle to replace the current angle value to generate a new body adjustment command. Instead, it sets the current control cycle to a gimbal angle feedback abnormal state, maintains the line-of-sight control state of the previous control cycle, and waits for the next angle feedback.

[0028] In one implementation, after the seeker system is installed, the seeker optical axis and the actuator load pointing axis are calibrated. During calibration, the actuator load pointing axis is aligned with the calibration target, the position of the calibration target in the seeker image coordinate system is recorded, and an axis deviation compensation parameter is formed based on the deviation between this position and the image center coordinates. During target tracking, the target recognition module or decision control module corrects the target center coordinates based on the axis deviation compensation parameter. When the axis deviation compensation parameter is expressed as an image coordinate offset, the lateral and longitudinal offsets are applied to the abscissa and ordinate of the target center coordinates, respectively; when the axis deviation compensation parameter is expressed as an angular offset, compensation is performed during the subsequent conversion of target deviation to gimbal control values. When no actuator load is configured or the seeker optical axis and actuator load pointing axis are coaxially mounted, the axis deviation compensation parameter is set to zero.

[0029] After the target recognition module sends the target center coordinates to the decision control module, the decision control module correlates the target center coordinates, image center coordinates, gimbal azimuth angle, gimbal pitch angle, and target tracking status according to the same control cycle. The correlation results form a target tracking status set. The target center coordinates and image center coordinates in this set are used by S200 to calculate the target horizontal deviation and target vertical deviation; the gimbal azimuth angle and gimbal pitch angle are used by S200 to calculate the gimbal azimuth deviation and gimbal pitch deviation; and the target tracking status is used as the output condition for subsequent steps to control gimbal commands and body adjustment commands.

[0030] S200: Calculate the target horizontal deviation, target vertical deviation, gimbal azimuth deviation, and gimbal pitch deviation based on the target tracking state set; generate azimuth control commands and pitch control commands based on the target horizontal and vertical deviations to control the gimbal to adjust the line of sight; calculate the adjusted target residual deviation and update the gimbal deviation, generating the gimbal-compensated state. After receiving the target tracking status set generated by S100, the decision control module first reads the target tracking status. When the target tracking status is locked, it calculates the target deviation and gimbal deviation. When the target tracking status is temporarily lost, it does not recalculate the target deviation based on the unconfirmed image area, maintains the azimuth control command and pitch control command of the previous control cycle, and stops generating new airframe adjustment commands for the flight control system. When the target tracking status is unlocked, it stops the azimuth control command and pitch control command corresponding to the current target, and the gimbal enters the current line-of-sight holding state or the preset search state.

[0031] The target horizontal deviation is obtained by subtracting the x-coordinate of the target center from the x-coordinate of the image center, denoted as ΔX = Xt - Xc; the target vertical deviation is obtained by subtracting the y-coordinate of the target center from the y-coordinate of the image center, denoted as ΔY = Yt - Yc. The coordinate directions are pre-configured by the current image coordinate system. In one implementation, the x-coordinate points from the left side of the image to the right side, and the y-coordinate points from the top side of the image to the bottom side; a positive ΔX indicates the target center is located to the right of the image center, and a negative ΔX indicates the target center is located to the left of the image center; a positive ΔY indicates the target center is located below the image center, and a negative ΔY indicates the target center is located above the image center. When the opposite y-coordinate direction is used, the decision control module synchronously adjusts the direction mapping relationship of the pitch control command.

[0032] The azimuth and pitch midpoints of the gimbal are determined by the gimbal mounting structure and initial calibration results. The azimuth deviation is obtained by subtracting the current azimuth angle from the gimbal midpoint, and the pitch deviation is obtained by subtracting the current pitch angle from the gimbal midpoint. The sign of the azimuth deviation indicates the direction of deflection of the gimbal relative to the azimuth midpoint, and the sign of the pitch deviation indicates the direction of deflection of the gimbal relative to the pitch midpoint. After changing the gimbal mounting direction or recalibrating the gimbal midpoint, the decision control module reads the updated midpoint configuration and does not use the gimbal deviation before recalibration.

[0033] The decision control module generates azimuth control commands based on the target horizontal deviation. Specifically, the sign of the target horizontal deviation is used to select the rotation direction of the gimbal's azimuth motor, and the absolute value of the target horizontal deviation is used to select the azimuth angle increment or azimuth angular velocity control amount. When the target horizontal deviation is within the preset field of view center area, the azimuth control command maintains the current azimuth angle or outputs a limited small adjustment amount; when the target horizontal deviation exceeds the field of view center area, the decision control module increases the azimuth control amount according to a preset mapping relationship between the deviation amount and the control amount. When the mapping relationship adopts a proportional mapping, the control amount is proportional to the target horizontal deviation; when a segmented mapping is adopted, different deviation intervals correspond to different azimuth angle increments or azimuth angular velocities.

[0034] Pitch control commands are generated from the target vertical deviation according to the same control logic. The sign of the target vertical deviation corresponds to the rotation direction of the gimbal's pitch motor, and the absolute value of the target vertical deviation corresponds to the pitch angle increment or pitch angular velocity control quantity. Before outputting azimuth and pitch control commands, the decision control module limits the amplitude of both types of control commands according to the gimbal's allowed azimuth angle range, pitch angle range, and control command amplitude. The limited control commands do not continue to increase the gimbal's rotation in the mechanical limit direction; at this time, the current gimbal deviation is still retained in the gimbal-compensated state, allowing the S300 to determine whether the UAV body participates in position compensation.

[0035] After receiving azimuth and pitch control commands, the gimbal controller drives the azimuth and pitch motors respectively. The two motors change the position of the gimbal frame according to the corresponding control commands, and the seeker system and its fixed load rotate synchronously with the gimbal frame. During gimbal movement, the target recognition module continues to receive target images and maintain target tracking, without stopping target center coordinate updates despite the gimbal motors executing control commands. If the azimuth or pitch motor has not returned to a valid execution state, the gimbal controller retains the incomplete state, and the decision control module does not consider this control command as completed gimbal compensation.

[0036] After the gimbal completes its azimuth and pitch adjustments for the current control cycle, the target recognition module re-determines the target center coordinates, and the angle feedback unit re-reads the gimbal azimuth and pitch angles. The decision control module calculates the remaining horizontal and vertical deviations of the target based on the newly acquired target center coordinates and image center coordinates; it also recalculates the gimbal azimuth and pitch deviations based on the newly acquired gimbal azimuth and pitch angles. The remaining horizontal and vertical deviations together constitute the remaining target deviation, and the updated gimbal azimuth and pitch deviations together constitute the updated gimbal deviation.

[0037] When a target is briefly lost during the execution of gimbal control commands, the decision control module saves the most recent valid target residual deviation and does not use the targetless image during the period of loss to calculate a new deviation. After the target is relocked within the short-term loss time threshold, the target residual deviation is calculated using the relocked target center coordinates, and the temporary state retained during the loss period is cleared. When the gimbal angle feedback is abnormal, the most recent valid gimbal deviation is retained, but no new body compensation is triggered based on this retained value until the abnormal state is resolved.

[0038] The gimbal compensation state is formed by the target residual deviation, the updated gimbal deviation, the target tracking status, and the gimbal control command execution status. S300 reads the target residual deviation in the gimbal compensation state and checks whether it continuously exceeds the target deviation threshold within the continuous control cycle; at the same time, it reads the updated gimbal azimuth deviation and gimbal pitch deviation and compares them with the corresponding centering thresholds.

[0039] S300: Based on the state after gimbal compensation, when the target residual deviation exceeds the target deviation threshold for multiple consecutive control cycles, or when the gimbal deviation exceeds the centering threshold, generate a body compensation trigger result containing the target offset direction and the gimbal deviation direction. After receiving the gimbal compensation status from S200, the decision control module does not directly drive the UAV based on the target residual deviation within a single control cycle. The target residual deviation is easily affected by UAV vibration, partial target occlusion, and changes in the image detection bounding box. Therefore, the decision control module records the target residual horizontal and vertical deviations over multiple consecutive control cycles and maintains continuous status in both the horizontal and vertical directions. If the target tracking status in the current control cycle is not in a target-locked state, that control cycle is not counted as a consecutive threshold exceedance.

[0040] For the horizontal direction, the decision control module compares the absolute value of the target's remaining horizontal deviation with the horizontal target deviation threshold. If the target's remaining horizontal deviation exceeds the horizontal target deviation threshold for multiple consecutive control cycles, and the deviation sign remains consistent within adjacent control cycles, the horizontal direction is set to a continuous target offset state. When the target's remaining horizontal deviation is positive, the target offset direction is recorded as the right side of the image; when the target's remaining horizontal deviation is negative, the target offset direction is recorded as the left side of the image. If, during continuous recording, the target's remaining horizontal deviation returns to the threshold range, or the deviation sign changes, the current continuous state of the horizontal direction is cleared, and recording resumes from a new control cycle.

[0041] The vertical direction is handled in the same way. When the remaining vertical deviation of the target exceeds the vertical target deviation threshold for multiple consecutive control cycles, and the deviation signs remain consistent, the vertical direction is set to a continuous target offset state. The target offset direction corresponding to whether the remaining vertical deviation of the target is positive or negative is interpreted according to the image vertical coordinate direction configured in S200. When both the horizontal and vertical directions are in a continuous target offset state, the body compensation triggering result retains the continuous target offset state in both directions simultaneously, and S400 checks the generation conditions for lateral position compensation and longitudinal position compensation respectively.

[0042] For gimbal centering, the decision control module compares the absolute value of the gimbal azimuth deviation with the azimuth centering threshold, and the absolute value of the gimbal pitch deviation with the pitch centering threshold. When the gimbal azimuth deviation exceeds the azimuth centering threshold, the gimbal azimuth state is set to the deviation centering region, and the azimuth deviation direction is determined based on the sign of the gimbal azimuth deviation. When the gimbal pitch deviation exceeds the pitch centering threshold, the gimbal pitch state is set to the deviation centering region, and the pitch deviation direction is determined based on the sign of the gimbal pitch deviation. When both deviations are within their respective centering thresholds, the gimbal state is set to centering.

[0043] The state where the gimbal deviation exceeds the centering threshold does not require multiple consecutive control cycles to be met. When the current angle of the gimbal has significantly deviated from the center position, the decision control module generates the corresponding gimbal deviation direction in the current control cycle. If the remaining target deviation has not yet formed a continuous offset state, but the gimbal deviation has exceeded the centering threshold, the mechanism compensation trigger result retains the gimbal deviation trigger reason; if the remaining target deviation continuously exceeds the threshold while the gimbal is still within the centering region, the mechanism compensation trigger result retains the target continuous offset trigger reason. When both conditions are met, both the target offset direction and the gimbal deviation direction are retained, and the direction matching is performed by S400.

[0044] In one implementation, when the gimbal azimuth or pitch angle approaches the corresponding mechanical limit angle, the decision control module sets a mechanical limit warning state based on the difference between the current angle and the mechanical limit angle. The mechanical limit warning state participates in the body compensation triggering result as a gimbal deviation triggering cause, but does not change the generation method of the target offset direction and the gimbal deviation direction. When the gimbal angle feedback is in an abnormal state, a mechanical limit warning state is not generated based on the abnormal angle, nor is a new body compensation triggering cause added based on the most recently retained angle value.

[0045] When the target tracking status is a short-term target loss state, the decision control module suspends the continuous cycle accumulation of the target's remaining deviation, maintains the azimuth and pitch control commands from the previous control cycle, and sets the airframe compensation trigger result to a paused output state. After the target is re-identified and locked, the continuous cycle accumulation starts from the first valid target remaining deviation after re-locking. When the communication link status is an abnormal state, the decision control module can still calculate the target's continuous offset state and gimbal centering state, but a prohibition on transmission state is added to the airframe compensation trigger result, and the S400 does not send airframe adjustment commands to the flight control system.

[0046] The trigger result for machine compensation consists of the trigger status, trigger direction, and trigger reason. The trigger direction includes the target offset direction and the gimbal deviation direction. The trigger reason corresponds to the target's remaining deviation continuously exceeding the threshold, the gimbal deviation exceeding the centering threshold, or the mechanical limit warning status. The S400 reads the correspondence between the target offset direction and the gimbal deviation direction, and accordingly distinguishes between position compensation requiring machine involvement and instantaneous target deviation that is still being processed by the gimbal.

[0047] S400: Based on the body compensation trigger result, when the target offset direction corresponds to the gimbal deviation direction, an airframe adjustment command is generated; the flight control system controls the UAV to perform lateral position compensation or longitudinal position compensation according to the airframe adjustment command; the target image, gimbal azimuth angle, and gimbal pitch angle are acquired, the target residual deviation and gimbal deviation are updated, and the updated results are used as the input for the next control cycle. After receiving the body compensation trigger result, the decision control module first performs matching in the horizontal and vertical directions. In the horizontal direction, when the target offset direction is to the right of the image and the gimbal's azimuth deviation direction is the corresponding rightward deviation direction, a horizontal correspondence is formed; similarly, when the target offset direction is to the left of the image and the gimbal's azimuth deviation direction is the corresponding leftward deviation direction, a horizontal correspondence is also formed. In the vertical direction, the target offset direction and the gimbal pitch deviation direction are matched according to a preset mapping relationship between the image's vertical coordinate, the gimbal pitch angle, and the UAV's longitudinal movement direction.

[0048] When the target's offset direction does not correspond to the gimbal's deviation direction, the decision control module does not immediately generate a corresponding adjustment command for the aircraft. For example, if the target shifts to the right in the current image, but the gimbal's azimuth angle is still in a leftward deviation state, this indicates that the current remaining target deviation is inconsistent with the gimbal's long-term deflection direction. The decision control module continues to have the gimbal perform line-of-sight adjustment, and reacquires the target center coordinates and gimbal azimuth angle in the next control cycle. Only after the target's offset direction and the gimbal's deviation direction are re-corresponding does the calculation process for the aircraft adjustment command begin.

[0049] When horizontal alignment is achieved, the decision control module generates a lateral position compensation command based on the target's remaining horizontal deviation and the gimbal's azimuth deviation. The signs of the target's remaining horizontal deviation and the gimbal's azimuth deviation together determine the direction of the lateral position compensation; their absolute values ​​are used in the calculation of the lateral position compensation amount. In one implementation, the target's remaining horizontal deviation and the gimbal's azimuth deviation are proportionally converted separately, and then the two conversion results are weighted to form a lateral position increment or a lateral velocity increment. The generated lateral position compensation command is limited by the range of lateral commands allowed by the flight control system; any portion exceeding the range is limited according to the allowed range.

[0050] When vertical alignment is achieved, the decision control module generates a longitudinal position compensation command based on the target's remaining vertical deviation and the gimbal pitch deviation. This longitudinal position compensation command is configured as a longitudinal position increment or a longitudinal velocity increment according to the flight control system interface. When both the target's remaining vertical deviation and the gimbal pitch deviation are valid, they both participate in the compensation calculation. If the gimbal pitch deviation exceeds the pitch alignment threshold, but the target's remaining vertical deviation has not yet formed a sustained offset state, the decision control module generates a restricted longitudinal position compensation command based on the gimbal pitch deviation direction, and rechecks the compensation direction based on the target's remaining vertical deviation in the next control cycle.

[0051] When the matching conditions are met in both the horizontal and vertical directions, the decision control module generates an airframe adjustment command that simultaneously includes lateral and longitudinal position compensation. Upon receiving the airframe adjustment command, the flight control system converts the lateral and longitudinal position compensation commands into UAV motion control variables according to its own position control loop. During airframe position compensation, the gimbal control system does not exit target tracking; the target recognition module continues to update the target center coordinates, and the gimbal controller continues to perform azimuth and pitch adjustments based on the target's horizontal and vertical deviations.

[0052] After executing the airframe adjustment command, the flight control system returns the current airframe adjustment status to the decision control module via the communication interface. The decision control module does not rely on the fact that the airframe adjustment command has been sent as a basis for compensation completion; instead, it reacquires the target image, gimbal azimuth angle, and gimbal pitch angle in subsequent control cycles. The target recognition module updates the target center coordinates based on the new target image; the decision control module calculates the remaining horizontal and vertical deviations of the target based on the new target center coordinates, and updates the gimbal azimuth and pitch deviations based on the new gimbal azimuth and pitch angles.

[0053] If neither the updated gimbal azimuth deviation nor the gimbal pitch deviation exceeds the corresponding centering threshold, the decision control module stops generating new airframe adjustment commands, the flight control system terminates the current lateral or longitudinal position compensation, and the gimbal control system continues to perform line-of-sight adjustments based on the current target deviation. If either gimbal deviation still exceeds the corresponding centering threshold, and the target offset direction still corresponds to the gimbal offset direction, the decision control module recalculates the airframe adjustment commands according to the updated remaining target deviation and gimbal deviation.

[0054] After the aircraft position is compensated, if the target offset direction reverses, the decision control module stops increasing the position compensation along the original direction and waits for the gimbal to complete the line-of-sight adjustment for the current control cycle. When the target offset direction corresponds to the new gimbal offset direction in a subsequent control cycle, a corresponding aircraft adjustment command is generated. This process does not use the target offset direction before compensation; the aircraft adjustment direction is always limited by the current remaining target deviation and the current gimbal deviation.

[0055] When the target tracking status transitions to a short-term target loss status, the decision control module stops generating new airframe adjustment commands and does not continue to increase the UAV's position compensation based on the predicted target position; the azimuth and pitch control commands from the previous control cycle are maintained within the short-term loss time threshold. After the target is relocked, a new target tracking status set is established with the newly determined target center coordinates, and S200 to S400 are re-executed. When the communication link status is abnormal, the decision control module stops sending airframe adjustment commands to the flight control system; the gimbal control system continues to execute azimuth and pitch control within the current effective angle range until the communication link is restored or the target tracking status is cleared.

[0056] The updated target center coordinates, remaining target deviation, gimbal azimuth angle, gimbal pitch angle, gimbal azimuth deviation, gimbal pitch deviation, and target tracking status together constitute the input for the next control cycle. In the next control cycle, S100 continues to correlate the target status and gimbal angle status, and S200 calculates the new target deviation and gimbal deviation. The gimbal execution result determines whether S300 generates a new body compensation trigger result, which in turn alters the target position and gimbal deviation status in subsequent control cycles.

[0057] Example 2: Figure 2 This diagram illustrates a structural block diagram of a drone aiming control system based on a seeker core according to an embodiment of the present invention. Figure 2 As shown, the structure may include: The target tracking state generation module 01 is used to acquire the target image, image center coordinates, gimbal azimuth angle, and gimbal pitch angle of the seeker system. It performs target recognition and tracking on the target image to obtain the target center coordinates, and associates the target center coordinates, image center coordinates, gimbal azimuth angle, and gimbal pitch angle to generate a target tracking state set. The target tracking state generation module is located within the seeker system. Its image input end is connected to the three-light camera module, and its angle input end receives the gimbal azimuth angle and gimbal pitch angle output by the angle feedback unit in the gimbal control system via a communication interface. When the current working channel is the visible light channel, the target image comes from the visible light camera; when the current working channel is the infrared channel, the target image comes from the infrared camera. The image center coordinates are determined based on the effective imaging area of ​​the current working channel. After a switching of the working channel, the target tracking state generation module reconfigures the image center coordinates according to the switched image size. Upon receiving continuous target images, the target tracking state generation module first detects a target region in the current target image that matches the target identifier, and then performs position and target feature matching between the current target region and the target region of the previous control cycle. When the matching result meets the target tracking conditions, the center position of the target region is used as the target center coordinates. If the target is not detected in the current target image and the duration of non-detection does not exceed the short-term loss time threshold, the target center coordinates of the previous control cycle are retained, and the unmatched target region is not used to replace the original target. After the target is re-detected, the target center coordinates are updated according to the re-detected target region. The target image, gimbal azimuth angle, and gimbal pitch angle are associated according to the same control cycle. When the angle feedback time is inconsistent with the image acquisition time, the gimbal azimuth angle and gimbal pitch angle with the feedback time close to the current image acquisition time are selected. If no valid angle feedback is obtained in the current control cycle, no new gimbal angle state is provided to subsequent modules. The line-of-sight control state of the previous control cycle is retained, and the angle feedback is reread in the next control cycle. After the target state and gimbal angle state are associated, the target tracking state set is sent to the gimbal compensation module. The target center coordinates and image center coordinates are used to calculate the target deviation, and the gimbal azimuth angle and gimbal pitch angle are used to calculate the deviation of the gimbal relative to the centering position.

[0058] The gimbal compensation module 02, connected to the target tracking state generation module, is used to calculate the target horizontal deviation, target vertical deviation, gimbal azimuth deviation, and gimbal pitch deviation based on the target tracking state set. It generates azimuth control commands and pitch control commands based on the target horizontal and vertical deviations to control the gimbal to adjust its line of sight. It also calculates the remaining target deviation and updates the gimbal deviation based on the adjusted target center coordinates, gimbal azimuth angle, and gimbal pitch angle, generating the gimbal-compensated state. The gimbal compensation module reads the position differences between the target center coordinates and the image center coordinates in the horizontal and vertical directions, respectively forming the target horizontal deviation and target vertical deviation. Simultaneously, it reads the pre-configured gimbal azimuth median angle and gimbal pitch median angle, compares the current gimbal azimuth angle with the gimbal azimuth median angle, and compares the current gimbal pitch angle with the gimbal pitch median angle, respectively forming the gimbal azimuth deviation and gimbal pitch deviation. The direction of the target horizontal deviation is used to select the rotation direction of the gimbal azimuth motor, and the direction of the target vertical deviation is used to select the rotation direction of the gimbal pitch motor. The absolute values ​​of the two target deviations are converted into corresponding angle increments or angular velocity control quantities according to a preset deviation-control quantity mapping relationship. Before the control quantity is output, the gimbal compensation module limits the amplitude based on the gimbal's allowed azimuth angle range, pitch angle range, and the allowed control increment in a single control cycle. The limited azimuth control command and pitch control command are then transmitted to the gimbal control system. After the gimbal control system drives the gimbal azimuth motor and gimbal pitch motor, the gimbal compensation module checks the motor execution receipt and angle feedback. If no valid execution receipt is obtained or the feedback angle is inconsistent with the command direction, the current action is not considered a completed line-of-sight adjustment, and the current control state is maintained while waiting for resampling. After obtaining valid angle feedback, the target tracking state generation module re-provides the adjusted target center coordinates. Based on this, the gimbal compensation module recalculates the horizontal and vertical position differences of the target relative to the image center, forming the target residual deviation. The adjusted gimbal azimuth and pitch angles are then compared with their corresponding median angles to form updated gimbal azimuth and pitch deviations. The target residual deviation, the updated gimbal deviation, and the current target tracking state together constitute the gimbal-compensated state, which is then transmitted to the machine compensation trigger module.

[0059] The body compensation trigger module 03, connected to the gimbal compensation module, is used to generate a body compensation trigger result containing the target offset direction and the gimbal deviation direction based on the sign of the target remaining deviation and the sign of the gimbal deviation, when the target remaining deviation exceeds the target deviation threshold for multiple consecutive control cycles, or when the gimbal deviation exceeds the centering threshold, according to the gimbal compensation state. The body compensation trigger module reads the target remaining horizontal deviation, target remaining vertical deviation, gimbal azimuth deviation, and gimbal pitch deviation, and sets independent trigger states for the horizontal and vertical directions. For the target remaining horizontal deviation, the body compensation trigger module compares its absolute value with the horizontal target deviation threshold and checks whether the deviation signs are consistent within consecutive control cycles; when the target remaining horizontal deviation continuously exceeds the horizontal target deviation threshold and the signs remain consistent, the target offset direction in the horizontal direction is formed based on the sign. For the target remaining vertical deviation, the same processing is performed according to the vertical target deviation threshold and the image vertical coordinate direction to form the target offset direction in the vertical direction. If the target residual deviation returns to the corresponding target deviation threshold range within any control cycle, or if the sign of the target residual deviation reverses, the continuous cycle accumulation in the original direction is terminated, and the next accumulation begins from a new effective control cycle. The gimbal centering state is obtained by comparing the gimbal azimuth deviation and the gimbal pitch deviation with the azimuth centering threshold and the pitch centering threshold, respectively. When the gimbal azimuth deviation exceeds the azimuth centering threshold, the azimuth deviation direction is formed based on the sign of the gimbal azimuth deviation; when the gimbal pitch deviation exceeds the pitch centering threshold, the pitch deviation direction is formed based on the sign of the gimbal pitch deviation. When the target tracking state is a short-term target loss state, the continuous cycle accumulation of the target residual deviation is paused, and a new target offset direction is not formed based on the image content during the loss period. When the gimbal angle feedback is invalid, the formation of a new gimbal offset direction based on the gimbal deviation is paused. The body compensation trigger results retain the trigger states, target offset directions, and gimbal offset directions in the horizontal and vertical directions, respectively, and are sent to the body compensation control module for the body compensation control module to verify the correspondence between the two types of directions.

[0060] The aircraft compensation control module 04, connected to the aircraft compensation trigger module, is used to match the target offset direction with the gimbal deviation direction based on the aircraft compensation trigger result. When the target offset direction corresponds to the gimbal deviation direction, an aircraft adjustment command is generated and sent to the flight control system. The flight control system controls the UAV to perform lateral position compensation or longitudinal position compensation, and updates the target remaining deviation and the gimbal deviation based on the target image, gimbal azimuth angle, and gimbal pitch angle obtained after position compensation. The updated result is sent to the target tracking status generation module as input for the next control cycle. The aircraft compensation control module first checks the directional correspondence between the horizontal and vertical directions. The target offset direction indicates the direction in which the target still deviates from the image center after gimbal adjustment, and the gimbal deviation direction indicates the deflection direction of the gimbal relative to the corresponding median angle. When both point to the corresponding control directions, the current target remaining deviation is considered to be related to the cumulative gimbal deflection. When the target is horizontally aligned, the airframe compensation control module generates a lateral position compensation command based on the target's remaining horizontal deviation and the gimbal's azimuth deviation. When the target is vertically aligned, it generates a longitudinal position compensation command based on the target's remaining vertical deviation and the gimbal's pitch deviation. If both directions meet the matching conditions, the airframe adjustment command includes both lateral and longitudinal position compensation amounts. If either direction does not meet the matching conditions, no position compensation amount is output for that direction, and the gimbal compensation module continues to handle the line-of-sight adjustment for that direction. The airframe adjustment command is transmitted to the flight control system via a communication interface. The flight control system executes the UAV's airframe position adjustment according to the current position control loop and returns the command reception and execution status. If the communication interface does not return a valid reception status or the flight control system reports an unavailable status, the airframe compensation control module stops sending new airframe adjustment commands, and the gimbal compensation module maintains target tracking within its allowable angle range. During airframe position compensation, the target image and gimbal angle are continuously acquired according to the control cycle. The airframe compensation control module re-obtains the target's remaining deviation based on the new target center coordinates and re-obtains the gimbal deviation based on the new gimbal azimuth and pitch angles. When both the updated gimbal azimuth and pitch deviations return to their corresponding centering threshold ranges, the output of new aircraft adjustment commands ceases. If a gimbal deviation still exceeds its corresponding centering threshold and the orientation matching relationship remains unchanged, the next aircraft adjustment command is generated based on the updated state. The update result is fed back to the target tracking state generation module via a feedback connection, and is re-associated with the target image, image center coordinates, and gimbal angle obtained in the next control cycle to form a new target tracking state set.

Claims

1. A hierarchical cooperative aiming control method for a UAV seeker, characterized in that, include: S100: Acquire the target image, image center coordinates, gimbal azimuth angle, and gimbal pitch angle of the seeker system; The target recognition module identifies and tracks the target, obtains the target center coordinates, and generates a target tracking status set. S200: Calculates the target horizontal deviation, target vertical deviation, gimbal azimuth deviation, and gimbal pitch deviation based on the target tracking status set; generates azimuth control commands and pitch control commands based on the target horizontal deviation and target vertical deviation to control the gimbal to adjust the line of sight; Calculate the adjusted target residual deviation and update the gimbal deviation to generate the gimbal compensation state; S300: Based on the state after gimbal compensation, when the target residual deviation exceeds the target deviation threshold for multiple consecutive control cycles, or when the gimbal deviation exceeds the centering threshold, generate a body compensation trigger result that includes the target offset direction and the gimbal deviation direction. S400: Based on the body compensation trigger result, when the target offset direction corresponds to the gimbal deviation direction, the airframe adjustment command is generated; the flight control system controls the UAV to perform lateral position compensation or longitudinal position compensation according to the airframe adjustment command; the target image, gimbal azimuth angle and gimbal pitch angle are acquired, the target residual deviation and gimbal deviation are updated, and the updated result is used as the input for the next control cycle.

2. The method according to claim 1, characterized in that, The generation of the target tracking state set includes: The target center coordinates, the image center coordinates, the gimbal azimuth angle, and the gimbal pitch angle are associated according to the same control cycle; The associated target center coordinates, image center coordinates, gimbal azimuth angle, and gimbal pitch angle are written into the target tracking state set.

3. The method according to claim 1, characterized in that, The guidance head system includes a three-light camera module, the target recognition module, and a decision control module; The three-light camera module includes a visible light camera, an infrared camera, and a laser rangefinder; The target recognition module performs target detection, target recognition, target locking, and target tracking on the target image acquired by the visible light camera or the infrared camera, and sends the target center coordinates to the decision control module.

4. The method according to claim 1, characterized in that, The calculation of the target horizontal deviation, the target vertical deviation, the gimbal azimuth deviation, and the gimbal pitch deviation includes: Calculate the difference between the x-coordinate of the target center coordinate and the x-coordinate of the image center coordinate to generate the target horizontal deviation; Calculate the difference between the ordinate of the target center coordinate and the ordinate of the image center coordinate to generate the target vertical deviation; Calculate the difference between the gimbal azimuth angle and the gimbal azimuth midpoint angle to generate the gimbal azimuth deviation. Calculate the difference between the gimbal pitch angle and the gimbal pitch midpoint angle to generate the gimbal pitch deviation.

5. The method according to claim 4, characterized in that, The generation of the gimbal compensation state includes: The remaining target deviation includes the remaining horizontal target deviation and the remaining vertical target deviation, and the updated gimbal deviation includes the updated gimbal azimuth deviation and the updated gimbal pitch deviation. The gimbal controller drives the gimbal azimuth motor according to the azimuth control command, and drives the gimbal pitch motor according to the pitch control command. After the gimbal azimuth motor and the gimbal pitch motor execute the corresponding control commands, the target center coordinates, the gimbal azimuth angle, and the gimbal pitch angle are reacquired. The remaining deviation of the target is calculated based on the reacquired target center coordinates, and the gimbal deviation is updated based on the reacquired gimbal azimuth and gimbal pitch angles.

6. The method according to claim 5, characterized in that, The generation of the body compensation trigger result includes: The remaining deviation of the target is recorded according to multiple consecutive control cycles; The horizontal target offset direction is generated based on the sign of the remaining horizontal deviation of the target, and the vertical target offset direction is generated based on the sign of the remaining vertical deviation of the target. The updated gimbal azimuth deviation and gimbal pitch deviation are compared with the azimuth centering threshold and pitch centering threshold, respectively. When the gimbal azimuth deviation exceeds the azimuth centering threshold, or the gimbal pitch deviation exceeds the pitch centering threshold, the gimbal deviation direction is generated according to the sign of the corresponding gimbal deviation.

7. The method according to claim 6, characterized in that, The generation of the body adjustment command includes: Match the target offset direction with the gimbal offset direction; When the target offset direction corresponds to the gimbal offset direction, a lateral position compensation command is generated based on the target's remaining horizontal deviation and the gimbal's azimuth deviation, or a longitudinal position compensation command is generated based on the target's remaining vertical deviation and the gimbal's pitch deviation. If the updated gimbal azimuth deviation and gimbal pitch deviation do not exceed the corresponding centering threshold, the generation of the body adjustment command will stop.

8. The method according to claim 1, characterized in that: When the target tracking status is a short-term target loss state, the azimuth control command and pitch control command of the previous control cycle are maintained, and the generation of new body adjustment commands is stopped; After re-identifying and locking onto the target, the target tracking state set is updated according to the newly determined target center coordinates; When the communication link status is abnormal, the transmission of the airframe adjustment command to the flight control system is stopped.

9. The method according to claim 1, characterized in that, The seeker system is fixedly connected to the execution load, and the seeker system and the execution load rotate synchronously with the gimbal azimuth motor and the gimbal pitch motor; Obtain the axis deviation compensation parameters between the optical axis of the guide head and the axis pointing towards the execution load; The target center coordinates are corrected based on the axis deviation compensation parameters; The horizontal deviation and vertical deviation of the target are calculated based on the corrected target center coordinates.

10. A hierarchical collaborative aiming control system for an unmanned aerial vehicle (UAV) seeker, applied to the method according to any one of claims 1 to 9, characterized in that, include: The target tracking state generation module is used to acquire the target image, image center coordinates, gimbal azimuth angle and gimbal pitch angle of the seeker system, perform target recognition and target tracking on the target image to obtain the target center coordinates, and associate the target center coordinates, the image center coordinates, the gimbal azimuth angle and the gimbal pitch angle to generate a target tracking state set; The gimbal compensation module, connected to the target tracking state generation module, is used to calculate the target horizontal deviation, target vertical deviation, gimbal azimuth deviation, and gimbal pitch deviation based on the target tracking state set. It generates azimuth control commands and pitch control commands based on the target horizontal deviation and target vertical deviation to control the gimbal to adjust the line of sight. It also calculates the target remaining deviation and updates the gimbal deviation based on the adjusted target center coordinates, gimbal azimuth angle, and gimbal pitch angle to generate the gimbal-compensated state. The body compensation trigger module, connected to the gimbal compensation module, is used to generate a body compensation trigger result containing the target offset direction and the gimbal offset direction based on the sign of the target residual deviation and the sign of the gimbal offset when the target residual deviation exceeds the target deviation threshold for multiple consecutive control cycles or the gimbal offset exceeds the centering threshold, based on the gimbal compensation state. The aircraft compensation control module, connected to the aircraft compensation triggering module, is used to match the target offset direction with the gimbal deviation direction based on the aircraft compensation triggering result. When the target offset direction corresponds to the gimbal deviation direction, an aircraft adjustment command is generated and sent to the flight control system. The flight control system controls the UAV to perform lateral position compensation or longitudinal position compensation, and updates the target remaining deviation and the gimbal deviation based on the target image, gimbal azimuth angle, and gimbal pitch angle obtained after position compensation. The updated result is sent to the target tracking status generation module as input for the next control cycle.

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