Sight projection system and sight projection method

Abstract

To suitably capture a target position, improve aiming accuracy, and accurately project a projectile to a predicted landing point.SOLUTION: A sight projection system, in which a manned aircraft and an unmanned aircraft work together to aim at a target and project a projectile from the manned aircraft, comprises: a relative position acquisition unit that acquires the relative position between the unmanned aircraft and the target; an unmanned aircraft position acquisition unit that acquires the unmanned aircraft position in the unmanned aircraft's absolute coordinate system; a target position acquisition unit that acquires the target position of the target in the absolute coordinate system based on the relative position and the unmanned aircraft position; a manned aircraft position acquisition unit that acquires the manned aircraft position in the manned aircraft's absolute coordinate system; a sight unit that acquires the target position and aims at the target based on the manned aircraft position and the target position; and a landing calculation unit that acquires the target position and calculates a predicted landing point of the projectile relative to the target based on the manned aircraft position and the target position.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a sight projection system and a sight projection method. [Background technology]

[0002] Conventionally, there is known an aiming system using an unmanned aerial vehicle that identifies a predicted landing point of a projectile based on information about the projectile to be projected at a target, provided position data, and a map database (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2016-540949 Summary of the Invention [Problem to be solved by the invention]

[0004] In the targeting system of Patent Document 1, the target position of the target is specified based on a map database, the surrounding environmental conditions of the specified target position are grasped from images, and the landing prediction point is specified based on the image data and information on the projectile. However, since the target position is based on the map database, if there is an error between the target position on the map database and the target position in real space, it is difficult to capture the target position with high accuracy.

[0005] Therefore, an object of the present disclosure is to provide an aiming projection system and an aiming projection method that can preferably capture a target position, improve aiming accuracy, and accurately project a projectile onto a predicted landing point. [Means for solving the problem]

[0006] The targeting projection system disclosed herein is a targeting projection system in which a manned aircraft and an unmanned aircraft work together to aim at a target and project a projectile from the manned aircraft, and includes a relative position acquisition unit that acquires the relative position between the unmanned aircraft and the target, a drone position acquisition unit that acquires the unmanned aircraft position in an absolute coordinate system of the unmanned aircraft, a target position acquisition unit that acquires a target position of the target in the absolute coordinate system based on the relative position and the unmanned aircraft position, a manned aircraft position acquisition unit that acquires the manned aircraft position in the absolute coordinate system of the manned aircraft, an aiming unit that acquires the target position and aims at the target based on the manned aircraft position and the target position, and a landing calculation unit that acquires the target position and calculates a predicted landing point of the projectile relative to the target based on the manned aircraft position and the target position.

[0007] The targeting projection method disclosed herein is a targeting projection method executed by an targeting projection system in which a manned aircraft and an unmanned aircraft work together to align the target and project a projectile from the manned aircraft, in which the targeting projection system executes the steps of acquiring a relative position between the unmanned aircraft and the target, acquiring an unmanned aircraft position in an absolute coordinate system of the unmanned aircraft, acquiring a target position of the target in the absolute coordinate system based on the relative position and the unmanned aircraft position, acquiring the manned aircraft position in the absolute coordinate system of the manned aircraft, acquiring the target position from the unmanned aircraft and aligning the target based on the manned aircraft position and the target position, and acquiring the target position from the unmanned aircraft and calculating a predicted landing point of the projectile relative to the target based on the manned aircraft position and the target position. Effect of the Invention

[0008] According to the present disclosure, it is possible to suitably capture a target position, improve aiming accuracy, and accurately project a projectile onto a predicted landing point. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a sight projection system according to a first embodiment. [Diagram 2] FIG. 2 is an explanatory diagram relating to the display of the sight projection system according to the first embodiment. [Diagram 3] FIG. 3 is a diagram relating to a display unit of the sight projection system according to the first embodiment. [Figure 4] FIG. 4 is a flowchart relating to the control of the unmanned aerial vehicle of the target projection system according to the first embodiment. [Diagram 5] FIG. 5 is a flowchart relating to the control of the manned aircraft by the target projection system according to the first embodiment. [Figure 6] FIG. 6 is a flowchart relating to the control of a manned aircraft by the target projection system according to the second embodiment. [Figure 7] FIG. 7 is a flowchart relating to the control of a manned aircraft by the target projection system according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the disclosure is not limited to these embodiments. In addition, the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially the same. Furthermore, the components described below can be appropriately combined, and when there are multiple embodiments, each embodiment can be combined.

[0011] [First embodiment] The targeting projection system 10 according to the first embodiment is a system in which a manned aircraft 11 and an unmanned aircraft 12 cooperate to aim at a target and project a projectile. Examples of such targeting projection systems 10 include a system that projects a fire extinguishing agent as a projectile at a target forest fire, or a system that projects a bullet as a projectile at a target threat. First, the targeting projection system 10 will be described with reference to FIG. 1.

[0012] (targeting projection system) FIG. 1 is a diagram of a sight projection system according to a first embodiment. As shown in FIG. 1, the sight projection system 10 includes a manned aircraft 11, an unmanned aircraft 12, and an operation control device 13. The manned aircraft 11 is equipped with a projectile and projects the projectile by aiming at a target. The manned aircraft 11 is, for example, an airplane or a rotorcraft. The unmanned aircraft 12 captures the position of a target and outputs the target position to the manned aircraft 11. The unmanned aircraft 12 is, for example, a drone having a multirotor, an unmanned airplane, an unmanned rotorcraft, or the like. The operation control device 13 is a control device for operating the unmanned aircraft 12. The operation control device 13 is mounted on a ground facility or a moving body such as the manned aircraft 11, a car, or a ship.

[0013] In the sight projection system 10, the operation control device 13 controls the flight of the unmanned aerial vehicle 12 while the unmanned aerial vehicle 12 captures a target and acquires a target position T of the target. In the sight projection system 10, the target position T is output from the unmanned aerial vehicle 12 to the manned aerial vehicle 11, and the manned aerial vehicle 11 acquires the target position T. Then, in the sight projection system 10, based on the acquired target position T, a predicted landing point P of the projectile is calculated, and the manned aerial vehicle 11 aims at the target. Note that, in the first embodiment, the operation control device 13 controls the flight of the unmanned aerial vehicle 12, but the present invention is not particularly limited to this configuration, and the operation control device 13 may be omitted and the unmanned aerial vehicle 12 may perform autonomous flight control.

[0014] The unmanned aerial vehicle 12 includes a relative position acquisition unit 21, an unmanned aerial vehicle position acquisition unit 22, a target position acquisition unit 23, and a target determination unit 24.

[0015] The relative position acquisition unit 21 acquires the relative position between the unmanned aerial vehicle 12 and the target. The relative position acquisition unit 21 is, for example, a camera and an image processing unit, and acquires the relative positional relationship between the unmanned aerial vehicle 12 and the target as a relative position by processing an image captured by the camera in the image processing unit. Note that the relative position acquisition unit 21 is not particularly limited, and may be, for example, a laser range finder, or any other device that can acquire the relative position between the unmanned aerial vehicle 12 and the target.

[0016] The unmanned aircraft position acquisition unit 22 acquires the unmanned aircraft position (hereinafter also referred to as the unmanned aircraft position) in the absolute coordinate system of the unmanned aircraft 12. The unmanned aircraft position acquisition unit 22 is, for example, a GPS (Global Positioning System) that acquires the unmanned aircraft position in the earth coordinate system as the absolute coordinate system.

[0017] The target position acquisition unit 23 acquires a target position T of the target in the Earth coordinate system as an absolute coordinate system based on the relative position and the unmanned aircraft position. The target position acquisition unit 23 calculates the target position in the Earth coordinate system by adding the relative position to the unmanned aircraft position in the Earth coordinate system. The target position acquisition unit 23 functions, for example, by a control unit (not shown) provided in the unmanned aircraft 12. The target position acquisition unit 23 outputs position information of the acquired target position T in the Earth coordinate system to the manned aircraft 11 by wireless communication or the like.

[0018] The target determination unit 24 performs image processing on the image acquired by the relative position acquisition unit 21 to determine whether or not a target exists. The target determination unit 24 determines whether or not a target exists by comparing the acquired image with a database related to targets prepared in advance through image recognition.

[0019] In the first embodiment, the relative position acquisition unit 21, the target position acquisition unit 23 and the target determination unit 24 are provided in the unmanned aerial vehicle 12, but this is not particularly limited and may be provided, for example, in the operation control device 13 or a manned aircraft, or in external ground equipment not shown.

[0020] The manned aircraft 11 includes a manned aircraft position acquisition unit 26, an aiming unit 27, and a landing calculation unit 28.

[0021] The manned aircraft position acquisition unit 26 acquires the manned aircraft position (hereinafter also referred to as the manned aircraft position) in the absolute coordinate system of the manned aircraft 11. The manned aircraft position acquisition unit 26 is, for example, a GPS (Global Positioning System) that acquires the manned aircraft position in the Earth coordinate system as the absolute coordinate system, similar to the unmanned aircraft position acquisition unit 22. Note that the manned aircraft position acquisition unit 26 may be configured to acquire the aircraft speed, attitude angle, and attitude angular velocity in addition to the manned aircraft position.

[0022] The landing calculation unit 28 calculates the projection trajectory of the projectile projected from the manned aircraft 11, and calculates the predicted landing point P. Here, a plurality of types of projectiles are prepared and mounted on the manned aircraft 11. The projection trajectory is calculated based on the selected projectile, the manned aircraft position, the target position T, and the attitude angle of the manned aircraft. Note that by adding the aircraft speed and attitude angular velocity of the manned aircraft, the accuracy of the projection trajectory from the manned aircraft 11 during movement can be improved.

[0023] The aiming unit 27 is aiming at the target. The aiming unit 27 displays the target position T and the predicted landing point P on the display unit 30 shown in FIG. 3 based on the manned aircraft position, the target position, and the calculation result of the projected trajectory by the landing calculation unit 28.

[0024] Next, the display of the display unit 30 of the manned aircraft 11 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 is an explanatory diagram relating to the display of the sight projection system according to the first embodiment. Fig. 3 is a diagram relating to the display unit of the sight projection system according to the first embodiment.

[0025] The display unit 30 displays the target position T and the predicted landing point P. As shown in FIG. 2, the display unit 30 has a two-dimensional display area that is a sphere with a radius r that is the distance from the manned aircraft position to the target position T. The display unit 30 displays the point where the display area intersects with the projection trajectory of the projectile as the predicted landing point P. The display unit 30 displays an image as shown in FIG. 3, which simultaneously displays the target position T and the predicted landing point P of the projectile. Note that if the projection trajectory is short and the projectile cannot reach the target, the predicted landing point P is displayed below the target position T.

[0026] (Aiming projection method) Next, a method of sight projection by the sight projection system 10 will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a flowchart relating to the control of an unmanned aerial vehicle of the sight projection system according to the first embodiment. Fig. 5 is a flowchart relating to the control of a manned aerial vehicle of the sight projection system according to the first embodiment. First, the control of the unmanned aerial vehicle 12 of the sight projection system will be described with reference to Fig. 4.

[0027] As shown in FIG. 4, in the sight projection system 10, the unmanned aerial vehicle 12 acquires an image captured by a camera used as the relative position acquisition unit 21 (step S11). Next, the unmanned aerial vehicle 12 performs image processing on the acquired image in the target determination unit 24 to determine whether or not a target exists (step S12). If the unmanned aerial vehicle 12 determines in step S12 that a target does not exist in the image (step S12: No), the process proceeds to step S11. On the other hand, if the unmanned aerial vehicle 12 determines in step S12 that a target exists in the image (step S12: Yes), the unmanned aerial vehicle 12 executes step S13 to acquire the unmanned aerial vehicle position in the Earth coordinate system by the unmanned aerial vehicle position acquisition unit 22. After executing step S13, the unmanned aerial vehicle 12 executes step S14 to acquire a relative position with respect to the target. Specifically, in step S14, the unmanned aerial vehicle 12 acquires a relative position between the unmanned aerial vehicle 12 and the target by performing image processing on the image captured by the camera serving as the relative position acquisition unit 21.

[0028] After executing step S14, the unmanned aerial vehicle 12 executes step 15, which calculates and acquires a target position T in the Earth coordinate system based on the unmanned aerial vehicle position acquired in step S13 and the relative position acquired in step S14. Thereafter, the unmanned aerial vehicle 12 determines whether or not there is an output instruction for the calculated target position T from the manned aerial vehicle (manned aircraft) 11 or the operation control device (CS: Control System) 13 (step S16). Specifically, in step S16, the unmanned aerial vehicle 12 determines whether or not there is an output instruction based on whether or not it has received an output command signal from the manned aerial vehicle (manned aircraft) 11 or the operation control device (CS: Control System) 13. When the unmanned aerial vehicle 12 determines that there is an output instruction (step S16: Yes), it outputs position information of the target position T toward the manned aerial vehicle 11 (step S17), and ends control of the unmanned aerial vehicle 12. On the other hand, when the unmanned aerial vehicle 12 determines that there is no output instruction (step S16: No), it repeatedly executes step S16 until there is an output instruction. In the first embodiment, the position information of the target position T is output when the output command signal is received. However, the position information may be output when the target position acquisition unit 23 acquires the target position T.

[0029] Next, the control of the manned aircraft 11 of the sight projection system will be described with reference to FIG. 5. As shown in FIG. 5, in the sight projection system 10, the manned aircraft 11 executes step S21 in which the manned aircraft position acquisition unit 26 acquires the manned aircraft position in the Earth coordinate system. After executing step S21, the manned aircraft 11 determines whether or not to acquire the target position T from the unmanned aircraft 12 (step S22). When the manned aircraft 11 determines that the target position T is acquired (step S22: Yes), it outputs an output instruction signal for acquiring the target position T to the unmanned aircraft 12, and receives the target position T output from the unmanned aircraft 12 that has received the output instruction signal (step S23). On the other hand, when the manned aircraft 11 determines that the target position T is not acquired (step S22: No), it proceeds to step S21 without outputting the output instruction signal.

[0030] After executing step S23, the manned aircraft 11 determines whether a projectile has been selected (step S24). When the manned aircraft 11 determines in step S24 that a predetermined type of projectile has been selected (step S24: Yes), the manned aircraft 11 executes a trajectory calculation to calculate the projection trajectory of the projectile projected from the manned aircraft 11 by the landing calculation unit 28 (step S25). After executing step S25, the manned aircraft 11 calculates and acquires, based on the trajectory calculation result, a point where a display area having a radius r representing the distance to the target position T intersects with the projection trajectory of the projectile as a predicted landing point P (step S26). After executing step S26, the manned aircraft 11 causes the aiming unit 27 to simultaneously display the acquired target position T and predicted landing point P on the display unit 30, and aims at the target (step S27), and then ends control of the manned aircraft 11.

[0031] In the above-described target projection method using the target projection system 10, even when it is difficult for the manned aircraft 11 to capture the target, it is possible for the unmanned aircraft 12 to capture the target.

[0032] [Second embodiment] Next, a second embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart related to the control of a manned aircraft by a target projection system according to the second embodiment. In the second embodiment, in order to avoid redundant description, only parts different from the first embodiment will be described, and parts having the same configuration as the first embodiment will be described with the same reference numerals.

[0033] (Aiming projection method) In the aim projection method in the second embodiment, the display form of the target position T and the predicted landing point P is different from that in the first embodiment. Specifically, in the first embodiment, the target position T and the predicted landing point P are displayed simultaneously, but in the second embodiment, the target position T and the predicted landing point P are displayed at different times.

[0034] The control of the manned aircraft 11 of the sight projection system will be described with reference to Fig. 6. As shown in Fig. 6, in the sight projection system 10, the manned aircraft 11 executes steps S31 to S33. Note that steps S31 to S33 are similar to steps S21 to S23 in the first embodiment, and therefore description thereof will be omitted.

[0035] After executing step S33, the manned aircraft 11 calculates the display position of the display unit 30 corresponding to the acquired target position T (step S34), displays the target position T on the display unit 30, and aims at the target (step S35). Subsequently, after executing step S35, the manned aircraft 11 determines whether a projectile has been selected (step S36). When the manned aircraft 11 determines in step S36 that a predetermined type of projectile has been selected (step S36: Yes), it executes trajectory calculation to calculate the projection trajectory of the projectile projected from the manned aircraft 11 by the landing calculation unit 28 (step S37). After executing step S37, the manned aircraft 11 calculates and acquires, based on the trajectory calculation result, the point where the display area having a radius r representing the distance to the target position T intersects with the projection trajectory of the projectile as a predicted landing point P (step S38). After executing step S38, the manned aircraft 11 displays the acquired predicted landing point P together with the target position T on the display unit 30 (step S39), and then ends control of the manned aircraft 11.

[0036] As described above, in the target projection method of the second embodiment, before the type of projectile is selected, the target position T is displayed on the display unit 30, and after the type of projectile is selected, the predicted landing point P is displayed on the display unit 30 together with the target position T.

[0037] [Third embodiment] Next, a third embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart related to the control of a manned aircraft by a target projection system according to the third embodiment. In the second embodiment, in order to avoid redundant description, only parts different from the first embodiment will be described, and parts having the same configuration as the first embodiment will be described with the same reference numerals.

[0038] (Aiming projection method) The aim projection method in the third embodiment further includes the processes of steps S50 and S51 in addition to the second embodiment. That is, in the third embodiment, the target position T can be manually input.

[0039] The control of the manned aircraft 11 by the target projection system 10 will be described with reference to Fig. 7. As shown in Fig. 7, in the target projection system 10, the manned aircraft 11 executes steps S41 to S49. Note that steps S41 to S49 are similar to steps S31 to S39 in the second embodiment, and therefore description thereof will be omitted.

[0040] If the manned aircraft 11 determines in step S42 that it has not acquired the target position T (step S42: No), it determines whether or not to accept manual input of the distance to the target position T (step S50). If the manned aircraft 11 determines in step S50 that it has not accepted manual input of the distance to the target position T (step S50: No), it proceeds to step S41. On the other hand, if the manned aircraft 11 determines in step S50 that it has accepted manual distance input (step S50: Yes), it acquires the manually input distance (step S51). Then, the manned aircraft 11 displays the target position T on the display unit 30 based on the acquired distance.

[0041] As described above, the sight projection system 10 and the sight projection method according to the first to third embodiments can be understood, for example, as follows.

[0042] The targeting projection system 10 of the first aspect is a targeting projection system 10 in which a manned aircraft 11 and an unmanned aircraft 12 work together to align the target and project a projectile from the manned aircraft 11. The targeting projection system 10 includes a relative position acquisition unit 21 that acquires the relative position between the unmanned aircraft 12 and the target, a drone position acquisition unit 22 that acquires the unmanned aircraft position in the absolute coordinate system of the unmanned aircraft 12, a target position acquisition unit 23 that acquires a target position T of the target in the absolute coordinate system based on the relative position and the unmanned aircraft position, a manned aircraft position acquisition unit 26 that acquires the manned aircraft position in the absolute coordinate system of the manned aircraft 11, an aiming unit 27 that acquires the target position T and aligns the target based on the manned aircraft position and the target position T, and a landing calculation unit 28 that acquires the target position T and calculates a predicted landing point P of the projectile relative to the target based on the manned aircraft position and the target position T.

[0043] According to this configuration, the unmanned aerial vehicle 12 can suitably capture the target, and the manned aerial vehicle 11 can acquire the target position T from the unmanned aerial vehicle 12. This improves the aiming accuracy of the manned aerial vehicle 11, and allows the projectile to be projected at the predicted landing point P with high accuracy.

[0044] As a second aspect, in the targeting projection system 10 of the first aspect, the manned aircraft 11 further includes a display unit 30 that displays the target position T and the predicted landing point P, and the display unit 30 has a two-dimensional display area that is a sphere with a radius equal to the distance from the manned aircraft position to the target position T, and displays the point where the display area intersects with the projection trajectory of the projectile as the predicted landing point P.

[0045] According to this configuration, even if the attitude of the manned aircraft 11 changes, the predicted landing point P can be changed linearly because the display area is a sphere centered on the manned aircraft 11. This makes it possible to further improve the aiming accuracy of the manned aircraft 11.

[0046] As a third aspect, in the targeting projection system 10 according to the first or second aspect, a plurality of different types of projectiles are prepared, and the manned aircraft 11 further includes a display unit 30 that displays the target position T and the predicted landing point P, and the display unit 30 displays the predicted landing point P together with the target position T after the type of projectile is selected and the predicted landing point P is calculated by the landing calculation unit 28.

[0047] According to this configuration, when a projectile is selected, the predicted landing point P can be displayed on the display unit 30 together with the target position T at the same time.

[0048] As a fourth aspect, in the targeting projection system 10 according to the first or second aspect, a plurality of different types of projectiles are provided, and the manned aircraft 11 further includes a display unit 30 that displays the target position T and the predicted landing point P, and the display unit 30 displays the target position T before the type of projectile is selected.

[0049] According to this configuration, the target position T can be displayed on the display unit 30 before the projectile is selected.

[0050] As a fifth aspect, in the target projection system 10 relating to the fourth aspect, the display unit 30 displays the predicted landing point P together with the target position T after the type of the projectile is selected and the predicted landing point P is calculated by the landing calculation unit 28.

[0051] According to this configuration, even if the target position T is displayed on the display unit 30 before the projectile is selected, once the projectile is selected, the predicted landing point P can be displayed on the display unit 30 together with the target position T at the same time.

[0052] As a sixth aspect, in the aim projection system 10 relating to any one of the first to fifth aspects, when the target position acquisition unit 23 acquires the target position T, it outputs position information of the target position T to the aiming unit 27 and the landing calculation unit 28.

[0053] According to this configuration, the acquired target position T can be output to the aiming unit 27 and the landing calculation unit 28 regardless of the presence or absence of an output instruction.

[0054] A seventh aspect of the target projection method is an target projection method executed by a target projection system 10 in which a manned aircraft 11 and an unmanned aircraft 12 cooperate to aim at a target and project a projectile, in which the target projection system 10 executes the following steps: step S14 of acquiring a relative position between the unmanned aircraft 12 and the target; step S13 of acquiring an unmanned aircraft position in an absolute coordinate system of the unmanned aircraft 12; step S15 of acquiring a target position T of the target in the absolute coordinate system based on the relative position and the unmanned aircraft position; step S21 of acquiring the manned aircraft position in the absolute coordinate system of the manned aircraft 11; step S27 of acquiring the target position T from the unmanned aircraft 12 and aiming at the target based on the manned aircraft position and the target position T; and step S26 of acquiring the target position T from the unmanned aircraft 12 and calculating a predicted landing point P of the projectile relative to the target based on the manned aircraft position and the target position T.

[0055] According to this configuration, the unmanned aerial vehicle 12 can suitably capture the target, and the manned aerial vehicle 11 can acquire the target position T from the unmanned aerial vehicle 12. This improves the aiming accuracy of the manned aerial vehicle 11, and allows the projectile to be projected at the predicted landing point P with high accuracy. [Explanation of symbols]

[0056] 10. Aiming Projection System 11 Manned aircraft 12 Unmanned aerial vehicle 13 Operation and control device 21 Relative position acquisition unit 22 Unmanned aircraft position acquisition part 23 Target position acquisition section 26 Manned aircraft position acquisition section 27 Sighting Unit 28 Landing Calculation Section

Claims

1. 1. An aim projection system in which a manned aircraft and an unmanned aircraft cooperate to aim at a target and project a projectile from the manned aircraft, a relative position acquisition unit that acquires a relative position between the unmanned aerial vehicle and the target; an unmanned aerial vehicle position acquisition unit that acquires an unmanned aerial vehicle position in an absolute coordinate system of the unmanned aerial vehicle; a target position acquisition unit that acquires a target position of the target in the absolute coordinate system based on the relative position and the unmanned aerial vehicle position; a manned aircraft position acquisition unit that acquires a manned aircraft position in an absolute coordinate system of the manned aircraft; an aiming unit that acquires the target position and adjusts aiming at the target based on the manned aircraft position and the target position; a landing calculation unit that acquires the target position and calculates a predicted landing point of the projectile relative to the target based on the manned aircraft position and the target position.

2. The manned aircraft comprises: A display unit that displays the target position and the predicted landing point is further provided, The display unit is The targeting projection system according to claim 1, wherein a two-dimensional display area is a sphere having a radius equal to the distance from the manned aircraft position to the target position, and a point where the display area intersects with the projection trajectory of the projectile is displayed as the predicted landing point.

3. A plurality of different types of projectiles are prepared, The manned aircraft comprises: A display unit that displays the target position and the predicted landing point is further provided, The display unit is The sight projection system according to claim 1 , wherein after the type of the projectile is selected and the predicted landing point is calculated by the landing calculation unit, the predicted landing point is displayed together with the target position.

4. A plurality of different types of projectiles are prepared, The manned aircraft comprises: A display unit that displays the target position and the predicted landing point is further provided, The display unit is 10. The sight projection system of claim 1, wherein said target location is displayed before said projectile type is selected.

5. The display unit is The sight projection system according to claim 4 , wherein after the type of the projectile is selected and the predicted landing point is calculated by the landing calculation unit, the predicted landing point is displayed together with the target position.

6. The aim projection system according to claim 1 , wherein the target position acquisition unit, upon acquiring the target position, outputs position information of the target position to the aiming unit and the landing calculation unit.

7. 1. A targeting and projection method implemented by a targeting and projection system in which a manned aircraft and an unmanned aircraft cooperate with each other to aim at a target and project a projectile from the manned aircraft, comprising: The targeting projection system comprises: obtaining a relative position between the unmanned aerial vehicle and the target; obtaining an unmanned aerial vehicle position in an absolute coordinate system of the unmanned aerial vehicle; obtaining a target position of the target in the absolute coordinate system based on the relative position and the unmanned aerial vehicle position; obtaining a manned aircraft position in an absolute coordinate system of the manned aircraft; acquiring the target position and aiming at the target based on the manned aircraft position and the target position; acquiring the target position; and calculating a predicted landing point of the projectile relative to the target based on the manned aircraft position and the target position.

Images