A device for generating a flight mission for an unmanned aerial vehicle-interceptor to enter the guidance zone of a moving air target

Abstract

The utility model relates to the field of aircraft control, in particular to the control of an unmanned aerial vehicle (UAV) designed to intercept and / or track aerial targets. The technical result achieved by the solution consists in increasing the probability of intercepting an aerial target without the use of GPS signals. This technical result is achieved due to the fact that the device for generating a flight mission for an unmanned aerial vehicle (UAV)-interceptor to enter the guidance zone of a moving aerial target comprises a housing in which a ground-based optical-electronic measuring device (NOEIS) is installed for detecting and tracking an aerial target, determining the direction to the target and the range to it, predicting the target's location and transmitting the flight mission to the UAV-interceptor, characterized in that the NOEIS is designed with the ability to specify a local coordinate system,connected simultaneously with the NOEIS and the launch point of the UAV-interceptor, wherein the relative position of the NOEIS and the launch point of the UAV-interceptor is specified by a predetermined displacement vector in the said local coordinate system, the NOEIS comprises a rotating optical unit and a range finder, the NOEIS is configured to calculate the location of an aerial target in the said local coordinate system based on the angular location data of the rotating optical unit and the range finder data, the NOEIS is configured to determine the parameters of movement and predict the location of an aerial target by the time the UAV-interceptor enters the guidance zone based on the location of the aerial target, the NOEIS is configured to generate a flight mission based on the predicted location of the aerial target and the said predetermined displacement vector, wherein the flight mission includes at least one of the following: longitudinal, transverse and vertical displacement, flight altitude,course and entry point into the guidance zone,

Description

[0001] Field of technology to which the utility model belongs

[0002] The utility model relates to the field of aircraft control, in particular to the control of an unmanned aerial vehicle (UAV) designed to intercept and / or track air targets.

[0003] Technology Level

[0004] A solution is known (RU 234329, published on 27.05.2025), which discloses a device for determining the location of a UAV in space, comprising: a housing containing image recording cameras installed therein and connected to each other by functional communication lines, a laser rangefinder, a data processing unit, characterized in that a rotation means is attached to the housing, configured to rotate the housing in the horizontal and vertical planes, the processing unit is configured to detect the UAV in images received from the cameras, command the means to rotate the direction of the device upon detection of the UAV so that the laser rangefinder is directed at the detected UAV, determining the location of the UAV based on data from the laser rangefinder and data from the rotation means.This device determines the location of the UAV using cameras and a rangefinder and launches an interceptor, but the patent does not disclose the details of the control of the UAV interceptor, only the possibility of its use.

[0005] A known solution (US 11465741 B2, published 11.10.2022), selected as a prototype, describes air countermeasure systems, methods, and means, capable of being deployed, for neutralizing and engaging aerial targets. The prototype describes the use of a ground station that, using cameras and a rangefinder, detects a UAV in the sky, directs an interceptor UAV toward it, and creates a flight mission for it to enter the targeting zone.

[0006] However, this solution does not disclose the features of operation in conditions of absence or suppression of GPS signals.

[0007] Disclosure of utility model

[0008] In one aspect of the utility model, a device is disclosed for generating a flight mission for an unmanned aerial vehicle (UAV) interceptor to enter a guidance zone for a moving aerial target, comprising a housing in which is installed

[0009] Ground-based optical-electronic measuring system (NOEIS) for detecting and tracking an air target, determining the direction to the target and the range to it, predicting the location of the target and transmitting the flight mission to the UAV interceptor,

[0010] characterized by the fact that

[0011] The NOEIS is designed with the ability to specify a local coordinate system associated simultaneously with the NOEIS and the launch point of the UAV interceptor,

[0012] wherein the relative position of the NOEIS and the launch point of the UAV interceptor is specified by a predetermined displacement vector in the specified local coordinate system,

[0013] NOEIS contains a rotating optical unit and a rangefinder,

[0014] The NOEIS is configured to calculate the location of an air target in the said local coordinate system based on the angular location data of the rotating optical unit and the rangefinder data,

[0015] The NOEIS is designed with the ability to determine the movement parameters and predict the location of an air target by the time the UAV interceptor enters the target acquisition zone based on the location of the air target,

[0016] The NOEIS is configured to generate a flight mission based on the predicted location of the air target and said predetermined displacement vector, wherein the flight mission includes at least one of the following: longitudinal, transverse and vertical displacement, flight altitude, course and entry point into the guidance zone.

[0017] In additional aspects, it is disclosed that the origin of the local coordinate system is combined with the location point of the NOEIS, and the location of the launch point is stored as an offset vector from the said means, or the origin of the local coordinate system is combined with the launch point of the interceptor UAV, and the location of the NOEIS is specified as an offset vector relative to the said launch point; before calculating the location of the target, a coordinate transformation is performed from the coordinate system of the rotary measuring unit to the local coordinate system using predetermined parameters of mutual calibration of the optical channel, the rangefinder; the entry point into the follow-up guidance zone is determined taking into account the predicted location of the target, the preparation and launch time of the interceptor UAV, the estimated speed of the interceptor UAV and the accumulated error of its INS;the size of the follow-up guidance zone is determined taking into account at least the error in predicting the target movement, the error in measuring the range, the error in determining the angular position of the rotary measuring unit and the accumulated error of the on-board INS; after entering the follow-up guidance zone, the interceptor UAV independently detects and tracks the target using the on-board follow-up guidance system, the distance from the entry point into the follow-up guidance zone to the predicted location of the aerial target is set equal to no more than 60% of the maximum distance at which the interceptor UAV can detect the aerial target using on-board means; the NOEIS is configured to direct the interceptor UAV to the entry point into the follow-up guidance zone at an angle of 45 to 60 degrees to the horizontal; the NOEIS and the interceptor UAV are connected by a wired or wireless communication line;The interceptor UAV is mounted on the launcher; the flight mission is transmitted to the interceptor UAV or the launcher via the NOEIS prior to or at launch; the NOEIS is mounted on a mobile vehicle and is capable of tracking its current coordinates relative to the initial coordinates using gyroscopes and accelerometers, and making adjustments to the interceptor UAV's location within the local coordinate system.

[0018] The main tasks solved by the declared utility model are detection of a target and direction of an interceptor UAV towards it.

[0019] The essence of the utility model is that a ground-based means for determining the location of an aerial target in space and an interceptor UAV, which are located in the same local coordinate system, are used; when an aerial target is detected, its coordinates are also entered into the local coordinate system, which allows for the precise direction of the interceptor UAV to the targeting area; then the interceptor UAV captures the target using onboard means and either accompanies it or intercepts it (shoots it down or otherwise neutralizes it).

[0020] The technical result achieved by the solution is to increase the probability of intercepting an air target without using GPS signals.

[0021] Brief description of drawings

[0022] Fig. 1 shows the process of tracking an air target.

[0023] Fig. 2 shows the UAV interceptor entering the targeting zone.

[0024] Implementation of a utility model

[0025] The proposed method is implemented using a ground-based optical-electronic measuring system (GEOMS), which detects an aerial target and generates a flight mission, an unmanned aerial vehicle (UAV) interceptor, which carries out the flight mission, and a communication link between them. A possible variant is the use of a ground control post (GCP) in addition to the GEOMS, which takes over the flight mission generation functions from the GEOMS and leaves it solely with aerial target detection functions. This variant is particularly suitable when multiple GEOMS are used, transmitting data to a single GCP. Another variant is the use of one of the multiple GEOMS, which functions as the GCP.

[0026] The NOEIS is an autonomous measurement module capable of detecting, acquiring, and continuously tracking an aerial target, as well as determining its coordinates and range. The NOEIS includes an optical sighting unit containing at least one of the following measurement channels: a television surveillance channel operating in the visible wavelength range and a thermal imaging channel operating in the infrared wavelength range, enabling the detection and tracking of aerial targets under various lighting and meteorological conditions.

[0027] The NOEIS includes a laser rangefinder or radar rangefinder capable of measuring the range to an aerial target. The optical sighting unit and laser rangefinder are mounted on a two-axis stabilized rotating base, the drives of which provide angular guidance and tracking of the aerial target in the horizontal and vertical planes. The NOEIS contains a primary video processing unit capable of automatically detecting an aerial target in the field of view based on specified selection criteria and generating control signals for the guidance drives to maintain the aerial target within the tracking zone in automatic tracking mode. This process is not described in detail in this application, as it is well known in the prior art.

[0028] The NOEIS comprises a trajectory information processing unit capable of receiving a sequence of measurements of the air target's coordinates and range from the NOEIS, calculating the air target's current spatial coordinates and its velocity vector components, and predicting the air target's location at the moment the UAV interceptor enters the target acquisition range. This prediction can be based on the formation of a linear or nonlinear model of the air target's movement. At least two spatial points of the air target and the times at which these points are determined can be used for the prediction. Based on this data, it is possible to determine the air target's location after a specified time.Having constructed the trajectory of an air target, it is possible to determine the section of this trajectory on which interception is possible using an interceptor UAV located in a known location relative to the NOEIS, knowing the maximum or course speed of the interceptor UAV.

[0029] The NOEIS additionally includes a flight mission generation unit capable of calculating the coordinates of the targeting area and waypoints for the UAV interceptor based on the predicted location of the aerial target, as well as generating the flight mission data structure in a format compatible with the UAV interceptor's onboard control system. The NOEIS may include a display and control unit, providing the operator with visual monitoring of the air situation, the parameters of the tracked aerial target, and the state of the UAV interceptor, as well as the ability to manually intervene in the process of flight mission generation and transmission.

[0030] The data transmission channel is designed to enable secure two-way data transfer between the NOEIS and the UAV interceptor. It provides both a one-time download of the flight mission before the UAV's launch and continuous updating of the flight mission during the UAV's approach to the aerial target as the target's location forecast is refined (if communication between the UAV interceptor and the NOEIS is possible after the UAV intercepts). The data transmission channel can be implemented using a radio channel in the decimeter or centimeter wavelength range using interference-resistant data transmission protocols, or a fiber-optic communication line can be used.

[0031] The 120 interceptor UAV can be located on the launch platform or can be installed on a site prepared for its launch.

[0032] The combination of design and functional features - the use of a NOEIS with a rangefinder, preferably on a stabilized base, a computing means for predicting the trajectory of an air target, and a data transmission channel protected from interference with the ability to update the flight mission in real time - ensures the formation and transmission to the UAV interceptor of an up-to-date flight mission without the use of on-board active means for detecting an air target in the early stages of movement, which increases the likelihood of successfully completing the interception task.

[0033] The task of the NOEIS is to generate a flight mission for placing an interceptor UAV into the target acquisition zone of an aerial target, taking into account the need to ensure an optimal trajectory for entering the target acquisition zone. The formation of the trajectory allows the interceptor UAV to fly around obstacles (trees, wires, etc.), and enter the target acquisition zone at an optimal angle so that it can reliably detect the aerial target with its onboard acquisition systems.

[0034] The interceptor UAV is launched after the generated flight mission is transmitted to the interceptor UAV via the data link. The flight mission contains the coordinates of the estimated target acquisition zone, defined as the airspace region within which the interceptor UAV can approach the target at a distance sufficient to employ onboard acquisition and tracking capabilities or to directly engage the target. The target acquisition zone coordinates are calculated based on the predicted location of the target, taking into account the interceptor UAV's flight performance characteristics, including maximum approach speed and available flight time.

[0035] After receiving a flight mission, the interceptor UAV's onboard control system generates a flight route to the target acquisition zone and controls the interceptor UAV's propulsion systems to follow the specified route. Preferably, during flight to the target acquisition zone, the interceptor UAV's onboard control system receives updated aerial target position data via the data link and adjusts the flight route in accordance with the updated aerial target position forecast, thereby compensating for aerial target maneuvers and initial forecast errors.

[0036] The interceptor UAV's reaching the targeting zone is determined by meeting the condition of approaching the aerial target at a range not exceeding a specified threshold. After this, the NOEIS transmits a command to the interceptor UAV to switch to autonomous targeting mode using its onboard target detection and tracking systems. If communication between the interceptor UAV and the NOEIS is lost after takeoff, the interceptor UAV relies on onboard target detection and terminates its flight path, transitioning to target acquisition or target tracking.

[0037] For navigation during the flight to the target acquisition zone of the airborne target, the UAV-interceptor 120 uses an inertial navigation system (INS), designed with the capability of autonomously determining the current spatial location of the UAV-interceptor - coordinates, components of the velocity vector and angular orientation - based on data from accelerometers and gyroscopes without the use of external navigation signals.

[0038] The INS provides continuous dead reckoning of the UAV interceptor's coordinates in the absence or suppression of satellite navigation system signals, which increases the UAV's resistance to interference and autonomy during aerial target interception missions. The cumulative error of the INS can be compensated for by correction using data received via the data link from the NOEIS, which has precise information on the UAV's current location based on independent measurements, provided that communication between them is maintained after the UAV's launch.

[0039] In the preferred embodiment, the INS is based on micromechanical gyroscopes and accelerometers, but the use of fiber-optic or laser gyroscopes, which provide higher accuracy of coordinate calculation with increased autonomous navigation time, is not excluded.

[0040] To guide the UAV interceptor into the final guidance zone, the NOEIS generates a coordinate system (Cartesian, cylindrical, or spherical coordinate systems are possible, but...) linked simultaneously to the NOEIS and the UAV launch point. This enables interception without GPS signals or in conditions where they are jammed. The relative positions of the NOEIS and the UAV launch point are determined by a predetermined offset vector in the specified local coordinate system. This provides the NOEIS with information about the location of the launch pad with the UAV interceptor or the UAV itself. This information is necessary for formulating a flight mission to enter the final guidance zone.

[0041] Figure 1 shows the NOEIS 110, which detects an aerial target (at point A in Figure 1) and continuously tracks it, during which the angular coordinates of the aerial target are measured (using the rotary measuring units of the NOEIS 110) and the range to it (using, for example, a laser rangefinder), based on the sequence of which the NOEIS 110 calculates the current spatial coordinates of the aerial target and the components of its velocity vector. Based on the accumulated trajectory data, the NOEIS 110 predicts the location of the aerial target to a lead horizon sufficient for the interceptor UAV 120 to be delivered to the calculated interception point (point B in Figure 1), by extrapolating the trajectory of the aerial target based on a kinematic model of its movement.Based on the predicted location of the air target, the NOEIS 110 generates a flight mission containing the coordinates of the follow-on guidance zone and transmits it to the UAV-interceptor 120 via a data transmission channel, after which the UAV-interceptor 120 performs a flight to the follow-on guidance zone in an autonomous mode with the possibility of receiving an updated flight mission as the NOEIS 110’s forecast of the air target’s location is refined.

[0042] The coordinates of the UAV-interceptor 120 launcher or the UAV-interceptor 120 itself must be specified in the local coordinate system of the NOEIS 110 during the deployment phase of the NOEIS 110 complex and the UAV-interceptor 120. The local coordinate system of the NOEIS 110 is defined by the location of its reference point—the center of the rotating base—and the orientation of the rotation axes. In the NOEIS 110, rotation is performed in the horizontal and vertical planes using drives (servos or stepper motors). Since the launcher is stationary, its coordinates in the specified local coordinate system remain unchanged throughout its entire operational period and do not require redefinition with each use.

[0043] The launcher coordinates in the local coordinate system of the NOEIS 110 are determined by one of the following methods. In the first method, the launcher coordinates are determined by geodetic methods during the deployment of the system and are manually entered into the NOEIS 110 by the operator. In the second method, the NOEIS 110 performs a single angular guidance to the launcher's reference element while simultaneously measuring the distance to it with a laser rangefinder. Based on this, the NOEIS 110 automatically calculates the launcher coordinates in the local coordinate system of the NOEIS 110. The obtained launcher coordinates are stored in memory and used to generate the flight mission for the UAV-interceptor 120 to calculate the starting point of the route and the initial movement vector of the UAV-interceptor 120 after launch.

[0044] The use of a local coordinate system as a single reference system for the coordinates of the launcher, air target and guidance zone makes it possible to form a flight mission for the UAV-interceptor 120 without the use of global navigation satellite systems, which increases autonomy and interference immunity in conditions of suppression or absence of satellite navigation signals.

[0045] The NOEIS 110 generates a flight mission for the UAV-interceptor 120, containing at least one of the following parameters: longitudinal displacement, transverse displacement, vertical displacement relative to the calculated interception point, flight altitude on the route to the follow-up guidance zone, the course of the UAV-interceptor 120 in the follow-up guidance zone, and the coordinates of the entry point into the follow-up guidance zone.

[0046] The longitudinal offset determines the deviation of the calculated interception point from the current predicted position of the aerial target along its direction of movement and is used to anticipate the aerial target's range maneuver. The lateral offset determines the deviation of the calculated interception point from the aerial target's trajectory in the horizontal plane perpendicular to its direction of movement and enables the interceptor UAV 120 to enter the targeting zone from a specified lateral direction relative to the aerial target. The vertical offset specifies the deviation of the calculated interception point from the predicted flight altitude of the aerial target and enables the interceptor UAV 120 to enter the targeting zone at an elevated or depressed altitude relative to the aerial target, depending on the tactical situation.

[0047] The flight altitude is defined as the absolute or relative altitude at which the UAV-interceptor 120 flies en route to the final guidance zone and is selected by the NOEIS 110, preferably based on the conditions of ensuring the minimum time for the UAV-interceptor 120 to enter the final guidance zone, reducing the radar signature of the UAV-interceptor 120, and conforming to the terrain in the operational area. The course in the final guidance zone determines the angular direction of movement of the UAV-interceptor 120 at the moment of entering the final guidance zone and is defined based on the condition of ensuring the most favorable approach angle for the UAV-interceptor 120 to the aerial target. The entry point into the final guidance zone is specified by spatial coordinates in the local coordinate system of the NOEIS 110 and determines the location of the UAV-interceptor 120's transition from en-route flight mode to final guidance mode toward the aerial target.

[0048] The combination of the specified flight mission parameters provides the NOEIS 110 with the ability to flexibly control the interception geometry of an aerial target and adapt the route of the UAV-interceptor 120 to the changing trajectory of the aerial target, predicted by the NOEIS 110 in real time. Moreover, the flight mission may contain either the full set of the listed parameters or a subset sufficient to guide the UAV-interceptor 120 to the targeting zone under the specific conditions of the system's operation.

[0049] Working solution

[0050] The interception of an air target by the UAV interceptor 120 is carried out according to Fig. 2, in which:

[0051] O - observation post where NOEIS 110 is located,

[0052] S - UAV interceptor launch point 120,

[0053] Рвх - entry point into the guidance zone,

[0054] ΔZ - the targeting zone in which the UAV interceptor 120 can reliably detect an air target using onboard means,

[0055] τ - time of entry of UAV-interceptor 120 into the targeting zone,

[0056] rOS is the displacement vector from point O to point S, which is necessary for forming the flight mission for the UAV interceptor 120,

[0057] T(t) - target coordinates in the local OXYZ coordinate system at the moment of detection or at the moment of formation of the flight mission, the Z axis is not shown in Fig. 2, since Fig. 2 shows a top view.

[0058] T(t+τ) - predicted target location after time τ,

[0059] The location of the NOEIS 110 O and the launch location of the UAV-interceptor 120 S are known in advance and referenced to a single local coordinate system OXYZ. The location of S is specified relative to the location of O by the displacement vector rOS.

[0060] NOEIS 110 detects and tracks an aerial target by measuring its direction and range, i.e., parameters α (horizontal angle), β (vertical angle), and D (distance to the aerial target). Based on this data, NOEIS 110 calculates the aerial target's current location T(t) in the local coordinate system.

[0061] Based on the sequence of aerial target locations, the target's direction and speed vT are determined, after which the aerial target's location is predicted by the time the UAV-interceptor 120 enters the targeting zone. The solution to this problem is well known in the prior art and is not described in detail here.

[0062] Taking into account the known displacement vector rOS, NOEIS 110 generates a flight mission for the UAV-interceptor 120 relative to its launch location.

[0063] After receiving a flight mission, the UAV interceptor 120 takes off from point S and follows the route along the onboard INS to the entry point Pвх into the guidance zone ΔZ.

[0064] The target acquisition zone ΔZ is defined as a target search area, the size of which is selected taking into account the target movement prediction error, the measurement error of the NOEIS 110, the accumulated error of the INS of the UAV-interceptor 120 and the range of confident target acquisition by the on-board system of the UAV-interceptor 120.

[0065] After entering the target acquisition zone, the 120-unit interceptor UAV independently searches for, detects, and tracks the target using its onboard target acquisition system. However, the 120-unit interceptor UAV is not required to precisely reach the predicted target location: it is guided to an area where the aerial target should be within reliable acquisition range, accounting for various errors and uncertainties.

[0066] On the principles of detecting an air target by an interceptor UAV 120

[0067] To increase the probability of detecting an aerial target by the UAV-interceptor 120, it is necessary to take into account that exiting to a point located too close to the aerial target increases the risk that, due to errors and inaccuracies, it will not fall into the view of the camera of the UAV-interceptor 120, and exiting to a point located too far from the aerial target will result in it falling into the view of the camera, but will not be reliably captured due to too great a distance to it.

[0068] Determination of the optimal parameters of the guidance zone is based on a geometric analysis of the conditions for guaranteed detection of an air target by the onboard guidance system of the UAV-interceptor 120, taking into account the totality of errors accumulated during the formation and execution of the flight mission.

[0069] The total error in the location of an air target relative to the actual location of the UAV-interceptor 120 at the moment of entering the guidance zone is determined as the standard deviation of the total error, calculated using the formula:

[0070] σ_total = √(σ²_pred + σ²_ins + σ²_oes + σ²_tgt)

[0071] where σ_pred is the standard deviation of the aerial target trajectory prediction error due to the finite length of the observation track and the uncertainty of the aerial target motion model; σ_ins is the standard deviation of the accumulated error of the INS of the UAV-interceptor 120 during the autonomous flight from the launcher to the final guidance zone; σ_oes is the standard deviation of the measurement error of the NOEIS 110, including instrumental errors in measuring the angular coordinates and range to the aerial target; σ_tgt is the standard deviation of the deviation of the aerial target from the predicted route due to the maneuver of the aerial target during the flight of the UAV-interceptor 120 to the final guidance zone. The specified components of the total error are assumed to be independent, which ensures the applicability of the quadrature summation law. There may be other influencing factors that are not specifically addressed in this application.

[0072] The radius of the guidance zone is preferably set equal to three times the value of the total standard deviation:

[0073] R_zone = 3 · σ_total,

[0074] which corresponds to a confidence level of 0.997 with a normal distribution law for the total error and ensures the guaranteed location of an aerial target within the guidance zone if this distance is not greater than the guaranteed detection range of the on-board means of the UAV interceptor 120 (D_max) and the aerial target is within the view of the on-board means.

[0075] The condition for guaranteed acquisition of an aerial target by the onboard guidance system is formulated from the requirement that the half-width of the field of view of the onboard camera w(Dtarget) at a range Dtarget to the aerial target at the moment the UAV-interceptor 120 enters the guidance zone be no less than the radius of the guidance zone:

[0076] w(Dtarget) = Dtarget tan(α / 2) ≥ R_zone = 3 σ_total

[0077] where α is the full field of view of the onboard camera, and α / 2 is the half-field of view. The left-hand side of the inequality represents the linear dimension of the half-width of the onboard camera's field of view in a plane perpendicular to the optical axis, at a distance Dtarget from the interceptor UAV 120.

[0078] The optimal encounter range Dtarget* is defined as the minimum range at which the specified condition is met, with an upper limit of the maximum detection range of an air target by an onboard camera D_max:

[0079] Dtarget* = min(3 · σ_total / tan(α / 2), D_max)

[0080] When the encounter range is equal to Dtarget*, the field of view of the onboard camera is guaranteed to cover the total error zone, while the range to the aerial target does not exceed the limit value at which the aerial target is distinguishable by the onboard camera.

[0081] The interception feasibility condition is met if and only if the minimum encounter range does not exceed the maximum detection range of the onboard camera:

[0082] 3 σ_total / tan(α / 2) ≤ D_max

[0083] which is equivalent to the condition:

[0084] tan(α / 2) ≥ 3 σ_total / D_max

[0085] If the specified condition is not met, intercepting an aerial target using this onboard guidance system is geometrically impossible given the existing errors. In this case, the NOEIS 110 computing unit generates a signal indicating the impossibility of interception and transmits it to the operator or the UAV interceptor group control system 120 for a decision on changing the target's operational parameters.

[0086] The field of view reserve characterizes the degree to which the actual field of view of the onboard camera at the optimal range exceeds the minimum required and is calculated as:

[0087] Δ_margin = Dtarget* tan(α / 2) − 3 σ_total

[0088] Relative stock percentage:

[0089] Δ_margin,% = (Dtarget * tan(α / 2) − 3 σ_total) / (D* tan(α / 2)) 100%

[0090] The field of view margin characterizes the system's resistance to unexpected increases in errors above the calculated values ​​and is used by the computing unit of the flight task generation device as a criterion for assessing the reliability of the generated flight task.

[0091] The optimal range of the encounter of the UAV-interceptor 120 with an aerial target in the follow-up guidance zone is determined from the condition of maximizing the total probability of capturing the aerial target by the on-board follow-up guidance system, which is the product of two independent components: the probability of capturing the aerial target by range and the probability of finding the aerial target in the field of view of the on-board camera, taking into account the lateral displacement of the aerial target relative to the axis of the camera of the UAV-interceptor 120.

[0092] The probability of acquiring an aerial target by range P_range(Dtarget) characterizes the ability of the onboard target acquisition system to detect and acquire an aerial target at a given range Dtarget. This probability is assumed to be equal to one when the range to the aerial target does not exceed 0.8 D_max, where D_max is the maximum range of confident acquisition of an aerial target by the onboard target acquisition system, corresponding to a capture probability of at least 0.8. In the range from 0.8 D_max to 1.25 D_max, the acquisition probability by range decreases linearly from one to zero in accordance with the expression:

[0093] P_range(D) = 1 − (Dtarget − 0.8 D_max) / (0.45 D_max)

[0094] At ranges exceeding 1.25 D_max, the probability of acquiring an aerial target at range is assumed to be zero. This piecewise linear approximation reflects the physical characteristics of the onboard target acquisition system, for which the detection probability at a range of D_max is approximately 0.8 and decreases to zero at ranges exceeding D_max by approximately 1.25 times. These parameters may vary depending on the equipment used and environmental conditions; a specialist in this field can replace the coefficients without creative effort, which will not affect the essence of the solution.

[0095] The probability of finding an aerial target in the field of view of the onboard camera P_fov(Dtarget) is determined by the ratio of the half-width of the camera's field of view at a range of Dtarget to the typical lateral displacement of the aerial target relative to the calculated location Δ_typ, caused by a combination of errors in predicting the trajectory of the aerial target, measurements of the NOEIS 110, navigation of the UAV-interceptor 120 and the maneuver of the aerial target:

[0096] P_fov(Dtarget) = min(1, Dtarget · tan(α / 2) / Δ_typ)

[0097] where α is the full field of view of the onboard camera. This expression reflects the assumption of a uniform distribution of the aerial target's lateral displacement within the range of ±Δ_typ and means that the probability of finding an aerial target in the camera's field of view increases linearly with increasing engagement range until the half-width of the field of view reaches Δ_typ, at which point the probability is assumed to be equal to one.

[0098] The total probability of capturing an air target is determined as the product of the specified components:

[0099] P_total(Dtarget) = P_range(Dtarget) P_fov(Dtarget)

[0100] The optimal engagement range D_opt is defined as the value of Dtarget at which the total probability P_total(Dtarget) reaches a maximum. When the typical lateral displacement of an aerial target Δ_typ is small relative to the half-width of the onboard camera's field of view at a range of D_max, namely, the condition Δ_typ / tan(α / 2) ≤ 0.8·D_max is met, the probability of finding an aerial target in the field of view reaches unity in the zone where the acquisition probability by range is also equal to unity, and the optimal engagement range is D_opt = Δ_typ / tan(α / 2).

[0101] In the general case, when the exact values ​​of the components of a typical lateral displacement of an aerial target are unknown and the condition for acquiring an aerial target in the field of view is formed in a zone of decreasing acquisition probability with range, the optimal engagement range is determined analytically by differentiating the expression for the total acquisition probability and equating the derivative to zero. Solving this equation for Dtarget with the adopted linear approximations of the probability components yields:

[0102] D_opt = (0.45 D_max + 0.8 D_max) / 2 = 0.625 D_max

[0103] In a preferred embodiment of the invention, providing an additional safety margin for unknown system errors, the optimal meeting range is rounded down and is taken to be equal to:

[0104] D_opt = D_max / 2

[0105] The specified value is justified by the fact that at an engagement range of D_max / 2, the probability of acquiring an aerial target by range is guaranteed to be equal to one, the half-width of the onboard camera's field of view is D_max / 2 · tan(α / 2) and covers typical lateral displacements of an aerial target with a reserve, and the total probability of acquisition is determined solely by the P_fov component and reaches the maximum achievable value in the zone of guaranteed acquisition by range. Thus, directing the UAV-interceptor 120 to a point offset along the course of the aerial target by a distance of D_max / 2 from the estimated location of the aerial target, under conditions of unknown errors, ensures the best achievable compromise between the probability of acquiring an aerial target by range and the probability of the aerial target being located in the field of view of the onboard camera.

[0106] The value of D_max may vary for different objects, especially objects of different sizes, the NOEIS 110 is configured to estimate the size of an aerial target and determine D_max based on pre-set data on the capabilities of the on-board systems of the UAV interceptor 120. In one embodiment, D_max is set proportionally to the size of the aerial target.

[0107] The angle from which the UAV-interceptor 120 begins to detect an aerial target is also important. An aerial target is always larger and easier to detect from above and below than from behind or in front. Therefore, in one embodiment, the NOEIS 110 positions the UAV-interceptor 120 at an angle of 45 to 60 degrees relative to the horizontal, which allows for a larger image of the aerial target against the sky while still allowing for easier interception at high horizontal speeds.

[0108] In one embodiment, the NOEIS 110 adjusts D_max depending on weather conditions, for example, in conditions of rain, snow, fog, D_max is reduced by 2 times.

[0109] In one embodiment, the NOEIS 110 determines the correction factor for the maximum range of confident acquisition of an air target by the onboard guidance system D_max based on the results of its own detection of the air target by the optical means of the NOEIS 110.

[0110] The NOEIS 110 computing unit accesses a database containing reference detection ranges for various types of aerial targets under normal environmental conditions and retrieves the reference detection range X corresponding to the detected aerial target type under normal visibility conditions. The actual aerial target detection range of the NOEIS 110 is currently designated X_fact. Based on a comparison of the reference and actual aerial target detection ranges, the NOEIS 110 computing unit calculates the correction coefficient k using the formula:

[0111] k = X_fact / X

[0112] where k≤1 for degraded visibility conditions and k=1 for visibility conditions corresponding to normal. The adjusted value of the maximum range of confident acquisition of an aerial target by the onboard guidance system is determined as:

[0113] D_max_corr = k D_max = (X_fact / X) D_max

[0114] The physical meaning of the specified correction is as follows. Since the NOEIS 110 and the on-board guidance system of the UAV-interceptor 120 operate in the same environmental conditions - in the same airspace, with the same visibility range, the same dustiness and humidity of the atmosphere - a decrease in the detection range of an air target by the NOEIS 110 relative to the reference value indicates a similar proportional decrease in the detection range of the on-board guidance system of the UAV-interceptor 120. Consequently, if the NOEIS 110 detected an air target at a range of X_fact = X / a, where a > 1 is the visibility deterioration factor, then the maximum range of confident acquisition of an air target by the on-board guidance system also decreases at once:

[0115] D_max_corr = D_max / a

[0116] The adjusted value D_max_corr is used by the NOEIS 110 computing unit instead of the nominal value D_max when calculating the optimal meeting range of the UAV-interceptor 120 with an air target:

[0117] D_opt = D_max_corr / 2 = D_max / (2a),

[0118] which ensures the adaptation of the flight mission of the UAV-interceptor 120 to the actual visibility conditions and increases the probability of capturing an air target by the on-board guidance system in conditions of degraded visibility compared to using the nominal value of D_max without correction.

[0119] Implementation option 1

[0120] In one embodiment, the origin of the local coordinate system is aligned with the launch point of the UAV-interceptor 120, and the location of the NOEIS 110 is defined as an offset vector relative to said launch point. If the origin of the local coordinate system is aligned with the launch point of the UAV-interceptor 120, the flight mission is immediately defined relative to the launch location of the UAV-interceptor 120. Longitudinal, lateral, and vertical offsets, intermediate points, and the entry point into the guidance zone can be transmitted as relative coordinates from the launch point. This simplifies the execution of the mission by the autopilot / INS and reduces the risk of error in coordinate recalculation, thereby contributing to the stated technical result.

[0121] Implementation option 2

[0122] The NOEIS 110 and the UAV interceptor 120 are connected by a communication line, wherein the communication line is implemented in the form of a radio channel, a wired communication line, a fiber optic line, a launcher contact interface, or a combination thereof.

[0123] Implementation option 3

[0124] In one embodiment, before calculating the target location, coordinates are transformed from the coordinate system of the rotary measuring unit to the local coordinate system using predetermined parameters for mutual calibration of the optical channel and the rangefinder. In this application, mutual calibration of the optical channel, the rangefinder, and / or the radar sensor refers to the preliminary determination of angular and spatial offsets between the optical axis of the camera, the rangefinder / radar axis, and the axes of the rotary unit. Calibration can be performed by configuring the NOEIS 110 using a reference target or a control target with a known location. The obtained parameters are used to transform the sighting angle and range into target coordinates in the local system so that the measured range corresponds as accurately as possible to the actual range.

[0125] Implementation option 4

[0126] In one embodiment, the coordinates of the entry point into the follow-up guidance zone are determined by calculation based on a combination of the following parameters: the predicted location of the aerial target at the time of completion of the maneuver of approach of the UAV-interceptor 120 with the aerial target, the time of preparation of the UAV-interceptor 120 for launch / entry into mode, the time of launch of the UAV-interceptor 120 from the launcher and the calculated speed of the UAV-interceptor 120 on the flight route to the follow-up guidance zone, the required approach angle and the accumulated error of the INS are also taken into account.

[0127] The task of NOEIS 110 is to guide the UAV-interceptor 120 to an air target so that it can capture it itself and then follow or attack it.

[0128] Preferably, the NOEIS 110 creates a flight mission such that the UAV-interceptor 120 enters the course of the aerial target at a distance to the aerial target of no more than X meters, where X is the distance of confident target acquisition by the UAV-interceptor 120 itself. Taking into account a multitude of error-creating factors, the UAV-interceptor 120 is brought into the follow-up guidance zone, which is a spherical sector with an apex at the point of the predicted location of the aerial target, with a radius of no more than the distance at which the UAV-interceptor 120 confidently acquires the target and with a flat angle of no more than half the viewing angle of the target acquisition means on board the UAV-interceptor 120. This makes it possible to reduce the influence of errors and increase the reliability of the interception of the aerial target.

[0129] The NOEIS 110 determines the total available time from the moment of detection of an aerial target until the moment of entry of the UAV-interceptor 120 into the follow-up guidance zone as the difference between the predicted time of the aerial target's stay in the range of the UAV-interceptor 120 and the sum of the time of preparation of the UAV-interceptor 120 for launch and the launch time. Based on the available flight time and the estimated speed of the UAV-interceptor 120, the computing unit determines the maximum range that the UAV-interceptor 120 is capable of covering from the launcher to the entry point into the follow-up guidance zone, and calculates the coordinates of the entry point into the follow-up guidance zone as points on the trajectory of approach of the UAV-interceptor 120 with the predicted location of the aerial target, located within the specified maximum range and ensuring the specified course of the UAV-interceptor 120 in the follow-up guidance zone.When the predicted location of an air target changes during the flight of the UAV-interceptor 120, the computing unit recalculates the coordinates of the entry point into the guidance zone with the transmission of an updated flight mission to the UAV-interceptor 120 via the data transmission channel.

[0130] The use of the specified method for determining the entry point into the follow-up guidance zone ensures the optimization of the route of the UAV-interceptor 120, taking into account its actual flight and technical characteristics and the time constraints imposed by the procedure for preparing for the launch, which increases the probability of the UAV-interceptor 120 entering the follow-up guidance zone at the estimated time and, as a result, the probability of successfully intercepting an air target.

[0131] Implementation option 5

[0132] In one embodiment, the size of the guidance zone is determined taking into account the error in predicting the movement of the air target, the error in measuring the range, the error in determining the angular location of the rotary unit, the accumulated error of the INS, the range and the viewing angle for confident target acquisition by the onboard guidance system.

[0133] Different aerial targets have different movement patterns. The more their movement deviates from a straight and uniform line, the less accurate the forecast. Therefore, it is preferable to ensure that the UAV-interceptor 120 reaches the targeting zone as quickly as possible. The NOEIS 110 creates a flight mission for the fastest possible entry into the targeting zone, taking into account at least the preparation time, the required trajectory (distance to the target), and the speed of the UAV-interceptor 120.

[0134] The range and angular position readings contain errors that can only be compensated for by adjusting the size of the targeting zone.

[0135] Implementation option 6

[0136] In one embodiment, the flight mission includes at least one intermediate waypoint, defined by a relative offset from the launch point in the local coordinate system, so that the interceptor UAV 120 flies around obstacles or takes off from cover.

[0137] Implementation option 7

[0138] In one embodiment, after the UAV interceptor 120 reaches the entry point into the follow-up guidance zone, control of approaching the aerial target is transferred to the on-board follow-up guidance system of the UAV interceptor 120, which independently detects and tracks the aerial target without using data from the NOEIS 110.

[0139] The onboard target acquisition system is capable of detecting an aerial target in the acquisition zone based on the predicted aerial target location data transmitted as part of the NOEIS 110 flight mission. It then searches for the aerial target in a spatial sector determined by the accuracy of the aerial target location forecast and the navigational error of the interceptor UAV 120 at the time of entry into the acquisition zone. Upon detection of the aerial target, the onboard target acquisition system switches to autonomous target tracking mode and generates control commands for the interceptor UAV 120, ensuring its approach to the aerial target according to the selected guidance pattern.

[0140] The on-board guidance system may use optical means, acoustic means, radio direction-finding means, or a combination of these.

[0141] In one embodiment, the NOEIS 110 may continue to track the airborne target and transmit updated position data to the interceptor UAV 120 via a data link as a backup source of targeting in the event the airborne target is lost by the onboard targeting system.

[0142] The use of an onboard guidance system for independent detection and tracking of an aerial target in the final approach phase ensures an increase in the accuracy of guidance of the UAV-interceptor 120 to the aerial target compared to the guidance mode solely based on the commands of the NOEIS 110, and also ensures the possibility of successfully completing the interception of an aerial target in conditions of a disruption in the functioning of the data transmission channel between the NOEIS 110 and the UAV-interceptor 120.

[0143] Implementation option 8

[0144] In one embodiment, a device for generating a flight mission for an interceptor UAV 120 is disclosed. This device is structurally and functionally a single unit. All elements of this device are contained within a single housing and are connected by functional communication lines. The claimed device comprises a stationary base and is an autonomous complex that operates without operator intervention throughout the entire cycle, from detecting an aerial target to transmitting the flight mission to the interceptor UAV 120. The device housing is mounted on a two-axis rotating base with guidance drives in the horizontal and vertical planes, providing angular tracking of the aerial target within the entire observation sphere accessible from the device's deployment position.

[0145] The following functional blocks are placed and structurally combined in a single device housing:

[0146] An optical unit containing a television surveillance channel operating in the visible wavelength range and, optionally, a thermal imaging channel operating in the infrared wavelength range. This unit provides the formation of a video stream for targeting the device body;

[0147] laser rangefinder, combined along the axis with the optical unit, which provides measurement of the range to an air target;

[0148] a two-axis rotating base, configured to direct the optical unit toward an air target based on signals from the computing unit;

[0149] a computing unit operatively connected to an optical unit, a laser rangefinder and a two-axis rotary base, configured to

[0150] automatic detection of an air target in the field of view of the optical unit according to pre-set characteristics,

[0151] capture an air target in automatic tracking mode,

[0152] generation of control signals for two-axis rotary base drives,

[0153] calculating the current spatial coordinates of an air target and the components of its velocity vector in the local coordinate system of the device,

[0154] predicting the location of an air target on the lead horizon based on a kinematic model of the air target’s movement,

[0155] formation of a flight mission containing at least one of the following parameters: longitudinal, transverse and vertical displacement relative to the calculated interception point, flight altitude on the route to the follow-up guidance zone, the course of the interceptor UAV 120 in the follow-up guidance zone and the coordinates of the entry point into the follow-up guidance zone.

[0156] - a communication unit, functionally connected to the computing unit, configured to transmit a flight mission to the UAV interceptor 120.

[0157] The memory of the computing unit stores the coordinates of the launcher of the UAV-interceptor 120 in the local coordinate system, which were previously entered during the deployment of the device and are used in calculating the flight mission.

[0158] The communication unit ensures secure transmission of the generated flight mission to the UAV-interceptor 120 via a radio channel in the decimeter or centimeter wavelength range using interference-resistant data transmission protocols. This data can be transmitted either once before the UAV-interceptor 120's launch or continuously updated during its flight to the target acquisition zone. Alternatively, the flight mission can be transmitted via a wired communication line; communication with the UAV-interceptor 120 can be maintained throughout its flight via fiber optics.

[0159] All functional units of the device are electrically interconnected via an internal data bus and are powered by a single power source located within the device's housing or connected to it via an external connector. Autonomous operation of the device is ensured by the software of the computing unit, which implements a continuous closed-loop data processing cycle: air target detection - air target tracking - coordinate and range measurement - air target location prediction - flight mission generation - flight mission transmission to the UAV-interceptor 120 - performed without operator intervention from the moment the device is turned on until the air target is intercepted.

[0160] Implementation option 9

[0161] In one embodiment, the NOEIS 110 is installed on a mobile vehicle and is designed with the ability to operate under conditions of changing its own location during the process of tracking an air target and forming a flight mission for the UAV interceptor 120.

[0162] To provide the specified capability, the NOEIS 110 comprises an inertial measurement unit (IMU) comprising a three-axis gyroscope and a three-axis accelerometer, and is configured to continuously determine the current position and orientation of the NOEIS 110 relative to its initial position at the moment of deployment, taken as the origin of the local coordinate system. The computing unit of the NOEIS 110 calculates the current coordinates of the NOEIS 110 by double integrating the accelerometer signals, taking into account the angular orientation determined from the gyroscope signals, and generates a displacement vector for the NOEIS 110 relative to the origin of the local coordinate system.

[0163] When the location of the NOEIS 110 changes during aerial target tracking, the origin of the local coordinate system shifts along with the NOEIS 110, which changes the coordinates of all objects specified in the specified local coordinate system, including the coordinates of the UAV-interceptor 120 launcher and the estimated position of the aerial target. The computing unit of the NOEIS 110 makes adjustments to the coordinates of the UAV-interceptor 120 launcher in the local coordinate system by subtracting the displacement vector of the NOEIS 110 from the initially specified coordinates of the launcher, which ensures the relevance of the launcher coordinates in the current local coordinate system at each data update step. The estimated coordinates of the aerial target and the point of entry of the UAV-interceptor 120 into the follow-up guidance zone, calculated based on the NOEIS 110 aerial target tracking data, are adjusted in a similar manner.

[0164] The adjusted coordinates of the UAV-interceptor 120 launcher and the estimated entry point into the target acquisition zone are transmitted by the NOEIS 110 computing unit to the flight mission generation unit, which uses these coordinates to generate an updated flight mission for the UAV-interceptor 120, taking into account the current position of the NOEIS 110 on the mobile vehicle. This technical solution ensures the accuracy of the UAV-interceptor 120 flight mission as the NOEIS 110 moves while tracking an aerial target, without the need for repeated deployment and georeferencing of the NOEIS 110, thereby increasing interception reliability.

[0165] The embodiments are not limited to the embodiments described herein; other embodiments of the invention that do not depart from the spirit and scope of the present invention will become apparent to those skilled in the art based on the information set forth in the description and knowledge of the prior art.

[0166] Elements mentioned in the singular do not exclude a plurality of elements unless otherwise specifically stated.

[0167] A functional connection between elements is defined as a connection that ensures the correct interaction of these elements with one another and the implementation of a particular functionality of the elements. Specific examples of a functional connection may include a connection enabling the exchange of information, a connection enabling the transmission of electric current, a connection enabling the transmission of mechanical motion, a connection enabling the transmission of light, sound, electromagnetic or mechanical vibrations, etc. The specific type of functional connection is determined by the nature of the interaction between the aforementioned elements and, unless otherwise specified, is achieved by well-known means using principles well-known in the art.

[0168] The methods disclosed herein comprise one or more steps or actions to achieve the described method. The steps and / or actions of the method may be substituted for one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is specified, the order and / or use of specific steps and / or actions may be varied without departing from the scope of the claims.

[0169] The application does not specify specific software and hardware for implementing the blocks in the drawings, but it should be clear to those skilled in the art that the essence of the invention is not limited to a specific software or hardware implementation, and therefore, any software and hardware known in the art can be used to implement the invention. Thus, the hardware can be implemented in one or more specialized integrated circuits, digital signal processors, digital signal processing devices, programmable logic devices, field-programmable gate arrays, processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic modules configured to perform the functions described in this document, a computer, or combinations of the above.

[0170] Although not specifically mentioned, it is obvious that when it comes to storing data, programs, etc., it is implied that there is a machine-readable storage medium, examples of machine-readable storage media include read-only memory, random access memory, register, cache memory, semiconductor memories, magnetic media such as internal hard disks and removable disks, magneto-optical media and optical media such as CD-ROMs and digital versatile discs (DVDs), as well as any other storage media known in the art.

[0171] Although exemplary embodiments have been described in detail and shown in the accompanying drawings, it should be understood that such embodiments are illustrative only and are not intended to limit the broader invention, and that the present utility model should not be limited to the particular arrangements and structures shown and described, since various other modifications may be apparent to those skilled in the art.

[0172] The features mentioned in various dependent claims, as well as the implementations disclosed in various parts of the description, can be combined to achieve useful effects, even if the possibility of such a combination is not explicitly disclosed.

Claims

1. A device for generating a flight mission for an unmanned aerial vehicle (UAV) interceptor to enter the guidance zone of a moving aerial target, comprising a housing in which is installed ground-based optical-electronic measuring system (NOEIS) for detecting and tracking an aerial target, determining the direction to the target and the range to it, predicting the location of the target and transmitting the flight mission to the UAV interceptor, characterized by the fact that The NOEIS is designed with the ability to set a local coordinate system associated simultaneously with the NOEIS and the launch point of the UAV interceptor, where the relative position of the NOEIS and the launch point of the UAV interceptor is specified by a predetermined displacement vector in the specified local coordinate system, NOEIS contains a rotating optical unit and a rangefinder, The NOEIS is designed with the ability to calculate the location of an air target in the said local coordinate system based on the angular location data of the rotating optical unit and the rangefinder data, The NOEIS is designed with the ability to determine the movement parameters and predict the location of an air target by the time the UAV interceptor enters the target target location guidance zone; The NOEIS is configured to generate a flight mission based on the predicted location of the air target and the said predetermined displacement vector, wherein the flight mission includes at least one of the following: longitudinal, transverse and vertical displacement, flight altitude, course and entry point into the guidance zone.

2. The device according to paragraph 1, in which the origin of the local coordinate system is aligned with the location point of the NOEIS, and the location of the launch point is stored as a displacement vector from the said means, or the origin of the local coordinate system is aligned with the launch point of the UAV interceptor, and the location of the NOEIS is specified as a displacement vector relative to the said launch point.

3. The device according to paragraph 1, in which the NOEIS is configured to perform, before calculating the location of the target, a coordinate transformation from the coordinate system of the rotary measuring unit to the local coordinate system using predetermined parameters of mutual calibration of the optical channel, rangefinder.

4. The device according to paragraph 1, in which the NOEIS is designed with the ability to determine the entry point into the guidance zone taking into account the predicted location of the target, the time of preparation and launch of the UAV-interceptor, the calculated speed of the UAV-interceptor and the accumulated error of its INS.

5. The device according to item 1, in which the NOEIS is configured to determine the size of the guidance zone taking into account at least the error in predicting the target movement, the error in measuring the range, the error in determining the angular location of the rotary measuring unit and the accumulated error of the onboard INS.

6. The device according to paragraph 1, in which the NOEIS is designed with the ability to set the distance from the entry point into the guidance zone to the predicted location of the aerial target, equal to no more than 60% of the maximum distance at which the UAV interceptor can detect the aerial target using onboard means.

7. The device according to paragraph 1, in which the NOEIS is designed with the ability to direct the UAV interceptor to the entry point into the guidance zone at an angle of 45 to 60 degrees to the horizontal.

8. The device according to claim 1, in which the NOEIS and the UAV interceptor are connected by a wired or wireless communication line.

9. The device according to paragraph 1, in which the NOEIS is designed with the possibility of transmitting a flight mission to the UAV interceptor or to the UAV interceptor launcher before launch or at the moment of launch.

10. The device according to paragraph 1, in which the NOEIS is installed on a mobile vehicle and is configured to track its current coordinates relative to the initial coordinates using gyroscopes and accelerometers, and to make adjustments to the location of the interceptor UAV in the local coordinate system.

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