CN115420145A - Individual shoulder-carried over-the-horizon target aiming system and method - Google Patents

Abstract

The present invention relates to the technical field of single-soldier launching operations, in particular to a single-soldier shoulder-mounted over-the-horizon target aiming system and method. The system includes a weapon body, a control unit, and positioning antennas and center Computing module, wireless communication module, collimator. In the present invention, the positioning information of the weapon body obtained by the positioning antenna, the target positioning information received by the wireless communication module and the positioning information of the reconnaissance vehicle, the central calculation module calculates the target aiming information, and the operator operates the collimator to aim. Using dual-antenna heading and low-cost MIMU fusion for navigation filtering, real-time calculation and output of weapon body position and three-axis attitude information. The invention can realize the virtual aiming of the long-range target beyond the visual range, and on the basis of ensuring the aiming accuracy of the weapon system, it also improves the safety factor of the operators themselves and the battlefield survival rate.

Description

An individual shoulder-mounted over-the-horizon target aiming system and method

technical field

The invention relates to the technical field of individual soldier launch operations, in particular to a single soldier shoulder-mounted over-the-horizon target aiming system and method.

Background technique

Individual shoulder-launched air defense missiles, also known as portable air defense missiles, are light air defense weapons with the smallest volume, the lightest weight, the shortest range, and the smallest shooting height in the air defense missile series. Shoulder-launched anti-aircraft missiles can be carried by individual soldiers and are easy to use. Once the enemy is detected, soldiers can shoot on their shoulders. It only takes a few seconds to switch from the marching state to the combat state. The whole set of weapons also has excellent concealment. The main parts can be disassembled and carried in the suitcase, and people with a little training can quickly assemble them. For example, the more popular "Stinger" and "Sam" series of shoulder-launched missiles are small in size and can be easily placed vertically inside the compartment of a small car, and it is not a problem to transport them in off-road vehicles or vans. The "Stinger" and "Sam" shoulder-launched missiles are divided into two parts: the sight and the launch tube. The sight is only the size of an aluminum kettle for travel, and the launch tube is two or three meters long. Just snap it on. When in use, the launcher usually wears an earphone on his head, and uses the seeker of the missile to aim at the target. There will be a "beep, beep" sound in the earphone. When there is a long "beep", it indicates that the target has been locked. To fire.

China's shoulder-launched air defense missile technology is world-leading, such as Qianwei-18, which has a short reaction time. In addition to attacking helicopters, it can also intercept cruise missiles and supersonic targets. Second to none, it uses a dual-band infrared passive seeker that can detect target engine exhaust and body temperature.

The above-mentioned individual weapons are traditional aiming methods, which are generally aimed at sight-range or short-range targets, and the safety of operators within this range will also be threatened to a certain extent. Due to the limited working distance of the seeker, and the fact that the operator outside the line of sight cannot directly aim at the strike target through naked eye observation, it is difficult to achieve long-range aiming beyond the line of sight with the existing technology.

Contents of the invention

The purpose of the present invention is to provide a shoulder-mounted over-the-horizon target aiming system and method to solve the technical problem in the prior art that long-range over-the-horizon targeting cannot be performed.

In order to solve the above-mentioned technical problems, the individual shoulder-mounted over-the-horizon target sighting system provided by the present invention includes a weapon body, a control unit, a positioning antenna connected to the control unit, a central computing module, a wireless communication module, and a collimator;

The positioning antenna is fixed on the weapon body and is used to obtain positioning information of the weapon body;

The wireless communication module is used to receive the reconnaissance vehicle location information and target location information sent by the reconnaissance vehicle;

The central calculation module is used to calculate target aiming information according to weapon body positioning information, reconnaissance vehicle positioning information and target positioning information, and the target aiming information refers to the position information of the target relative to the weapon body;

The collimator is fixed on the weapon body and is used for aiming the target according to the target aiming information.

Further, it also includes a MIMU inertial measurement unit electrically connected to the control unit, and there are two positioning antennas; the two positioning antennas and the MIMU inertial measurement unit can realize integrated navigation.

Further, the target aiming information includes the azimuth, elevation and distance information of the target in the coordinate system of the weapon body.

Further, the central calculation module is used to first calculate the position vectors of the target and the weapon body in the reconnaissance vehicle coordinate system, and then calculate the position vector of the target relative to the weapon body in the reconnaissance vehicle coordinate system, and finally calculate the position vector of the target relative to the weapon The orientation, pitch and distance information of the body in the weapon body coordinate system.

Further, the collimator includes a touch screen electrically connected to the control unit; the touch screen is used for projecting and displaying target aiming information.

Further, the collimator includes a rear camera electrically connected to the control unit; the rear camera is used to assist in realizing virtual aiming in real-scene mode.

Further, the collimator includes a power supply module for power supply.

The present invention also provides an individual shoulder-mounted over-the-horizon target aiming method, which is applied to the above-mentioned individual shoulder-mounted over-the-horizon target aiming system, and the method includes:

The positioning information of the weapon body is obtained through the positioning antenna on the weapon body, and the wireless communication module on the weapon body receives the reconnaissance vehicle positioning information and target positioning information sent by the reconnaissance vehicle;

The central calculation module calculates the target aiming information according to the weapon body positioning information, the reconnaissance vehicle positioning information and the target positioning information, and the target aiming information refers to the position information of the target relative to the weapon body;

The operator operates the collimator to perform target collimation according to the target collimation information.

Further, the specific method for calculating the target aiming information by the central calculation module is:

Calculate the position vectors of the target and the weapon body in the reconnaissance vehicle coordinate system respectively;

Calculate the position vector of the target relative to the weapon body in the reconnaissance vehicle coordinate system;

Calculate the azimuth, pitch and distance information of the target relative to the weapon body in the weapon body coordinate system.

Furthermore, integrated navigation is realized by using the MIMU inertial measurement unit and the dual antennas on the weapon body.

Adopt above-mentioned technical scheme, the present invention has following beneficial effect:

The single-soldier shoulder-mounted over-the-horizon target targeting system provided by the present invention uses the positioning information of the weapon body obtained through the positioning antenna, the target positioning information and the positioning information of the reconnaissance vehicle received through the wireless communication module, and the central calculation module calculates the target targeting information , the operator operates the collimator to aim. Use dual-antenna heading and low-cost MIMU fusion for navigation filtering, real-time calculation and output of weapon body position and three-axis attitude information, dual-antenna heading is not disturbed by abnormal geomagnetic field, and the orientation performance is stable and reliable, thus ensuring stable and reliable output of integrated navigation filter heading information. The invention can realize the virtual aiming of the long-range target beyond the visual range, and on the basis of ensuring the aiming accuracy of the weapon system, it also improves the safety factor of the operators themselves and the battlefield survival rate.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description These are some implementations of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without creative work.

Fig. 1 is the structural representation of the individual shoulder-mounted over-the-horizon target aiming system provided by the embodiment of the present invention;

Fig. 2 is another schematic diagram of the single-soldier shoulder-mounted over-the-horizon target aiming system provided by the embodiment of the present invention.

Reference signs:

1- weapon body; 2- directional main antenna; 3- directional secondary antenna;

4-collimator; 5-power supply module; 6-control unit;

7-touch screen; 8-dual antenna directional board; 9-wireless communication module;

10-rear camera; 11-central computing module.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

The present invention will be further explained below in combination with specific embodiments.

As shown in Fig. 1 and Fig. 2, the embodiment of the present invention provides a shoulder-mounted over-the-horizon target sighting system for an individual soldier, which includes a weapon body 1, a control unit 6, a positioning antenna connected to the control unit 6, a central computing Module 11, wireless communication module 9, collimator 4;

The positioning antenna is fixed on the weapon body 1 for obtaining the positioning information of the weapon body 1; the wireless communication module 9 is used for receiving the reconnaissance vehicle positioning information and target positioning information sent by the reconnaissance vehicle;

The central calculation module 11 is used to calculate target aiming information according to the positioning information of the weapon body 1, the positioning information of the reconnaissance vehicle and the target positioning information, and the target aiming information refers to the position information of the target relative to the weapon body 1;

The collimator 4 is fixed on the weapon body 1, and is used for aiming at the target according to the target aiming information, and then launching the weapon.

The individual shoulder-mounted over-the-horizon target sighting system provided in this embodiment, the positioning information of the weapon body 1 obtained by the positioning antenna and the target positioning information and the positioning information of the reconnaissance vehicle received by the wireless communication module 9 are calculated by the central computing module 11. The target aiming information is displayed, and the operator operates the collimator 4 to aim. This method can realize virtual aiming of long-range targets beyond visual range. On the basis of ensuring the aiming accuracy of the weapon system, it also improves the operator's own safety factor and battlefield survival rate.

Further, this embodiment also includes a MIMU inertial measurement unit electrically connected to the control unit 6, and there are two positioning antennas; the two positioning antennas and the MIMU inertial measurement unit can realize integrated navigation. The two positioning antennas are the directional main antenna 2 and the directional secondary antenna 3 respectively. Use dual-antenna heading and low-cost MIMU fusion for navigation filtering, real-time calculation and output of weapon body 1 position and three-axis attitude information, dual-antenna heading is not disturbed by abnormal geomagnetic field, and the orientation performance is stable and reliable, thus ensuring stable output of integrated navigation filter Reliable heading information. The MIMU inertial measurement unit is an existing technology, which includes a three-axis gyroscope and a three-axis accelerometer, which can measure the three-axis angular motion and linear motion of the weapon body 1 in real time, and perform filter calculation with the aforementioned dual-antenna heading fusion, and output the three-dimensional weapon body 1 in real time Position (longitude, latitude, elevation) and three-axis attitude (heading, pitch, roll).

Wherein, the target aiming information includes the azimuth, pitch and distance information of the target in the coordinate system of the weapon body 1 . The specific calculation method is:

The central calculation module 11 is used to calculate the position vectors of the target and the weapon body 1 respectively in the reconnaissance vehicle coordinate system, and then calculate the position vector of the target relative to the weapon body 1 in the reconnaissance vehicle coordinate system, and finally calculate the position vector of the target relative to the weapon body 1 Azimuth, pitch, and distance information in the weapon body 1 coordinate system.

Specifically:

1. Calculation of the position vector of the target in the reconnaissance vehicle coordinate system

，俯仰

，距离

，可以转换得到目标在侦察车坐标系（当地北东地坐标系）的位置矢量为：The reconnaissance vehicle obtains the true north orientation of the target line of sight vector

, pitch

,distance

, the position vector of the target in the reconnaissance vehicle coordinate system (local northeast coordinate system) can be transformed as:

（1）

(1)

2. The position vector calculation of the weapon body 1 in the reconnaissance vehicle coordinate system

（纬度、经度、高程），武器本体1获取自身绝对坐标

（纬度、经度、高程），计算武器本体1相对侦察车位置矢量在侦察车坐标系的表示，

分别表示位置矢量的北向、东向、地向坐标分量：The reconnaissance vehicle determines its own absolute coordinates through its own navigation system

(latitude, longitude, elevation), weapon body 1 obtains its own absolute coordinates

(latitude, longitude, elevation), calculate the representation of the position vector of the weapon body 1 relative to the reconnaissance vehicle in the reconnaissance vehicle coordinate system,

Represent the north, east and ground coordinate components of the position vector respectively:

（2）

(2)

为地球半径，取6371000米。in

For the radius of the earth, take 6371000 meters.

3. Calculation of the position vector of the target relative to the weapon body 1 in the scout vehicle coordinate system

The difference between the target and the weapon body 1 in the coordinate system components can be obtained to obtain the expression of the position vector of the target relative to the weapon body 1 in the reference coordinate system of the reconnaissance vehicle:

（3）

(3)

4. Calculate the azimuth, pitch and distance of the target relative to the weapon body 1

、俯仰

、横滚

，可以将（3）式的位置矢量转换到武器本体1的本体坐标系中：Since the weapon body 1 is generally within a few kilometers from the reconnaissance vehicle, the three coordinate axes of the local north-east coordinate system of the two are basically parallel. According to the real-time orientation calculated by the weapon body 1's own positioning system

, pitch

, roll

, the position vector of (3) can be transformed into the body coordinate system of weapon body 1:

（4）

(4)

、俯仰

、距离

信息：According to the north, east, and ground components in the above formula, the orientation of the target relative to the weapon body 1 in the latter coordinate system can be calculated

, pitch

,distance

information:

（5）

(5)

、俯仰

投影在触摸显示屏7的二维平面坐标中，操作人员调整武器本体1射击方向使得目标标识与触摸显示屏7中心十字分划对准，即可实现目标瞄准。Further, the collimator 4 includes a touch screen 7 electrically connected to the control unit 6; the touch screen 7 is used for projecting and displaying target aiming information. Specifically, the above orientation

, pitch

Projected on the two-dimensional plane coordinates of the touch screen 7, the operator adjusts the shooting direction of the weapon body 1 so that the target mark is aligned with the center reticle of the touch screen 7 to achieve target aiming.

Further, the collimator 4 includes a rear camera 10 electrically connected to the control unit 6; the rear camera 10 is used to assist in realizing the virtual aiming of the real scene mode, and the rear camera 10 can realize real scene display, thereby improving the virtual aiming experience of individual operators .

Further, the collimator 4 includes a power supply module 5 for power supply, which provides sufficient power guarantee for the hardware modules of the collimator system to work.

Further, the collimator 4 includes a dual-antenna directional board 8 .

The single-soldier shoulder-mounted over-the-horizon target aiming system provided by the present invention can realize the over-the-horizon virtual standard. Virtual aiming exercises based on imaginary target information to achieve the purpose of simulated aiming exercises. For individual operators, this operation process is completely consistent with the aiming of ultra-long-range real targets in actual combat. It can be used for live ammunition operations and simulations at the same time. drill.

The present invention also provides an individual shoulder-mounted over-the-horizon target aiming method, which is applied to the above-mentioned individual shoulder-mounted over-the-horizon target aiming system, and the method includes:

The positioning information of the weapon body 1 is obtained through the positioning antenna on the weapon body 1, and the wireless communication module 9 on the weapon body 1 receives the reconnaissance vehicle positioning information and target positioning information sent by the reconnaissance vehicle;

The central calculation module 11 calculates target aiming information according to the positioning information of the weapon body 1, the positioning information of the reconnaissance vehicle and the target positioning information, and the target aiming information refers to the position information of the target relative to the weapon body 1;

The operator operates the collimator 4 to perform target collimation according to the target collimation information.

Further, the specific method for calculating the target aiming information by the central calculation module 11 is:

Calculate the position vectors of the target and the weapon body 1 in the reconnaissance vehicle coordinate system respectively;

Calculate the position vector of the target relative to the weapon body 1 in the reconnaissance vehicle coordinate system;

Calculate the azimuth, pitch and distance information of the target relative to the weapon body 1 in the weapon body 1 coordinate system.

Further, integrated navigation is realized by utilizing the MIMU inertial measurement unit and the dual antennas on the weapon body 1 .

Further, the operator operates the collimator 4 to perform target aiming according to the target aiming information, specifically including:

The azimuth, pitch and distance information of the target relative to the weapon body 1 in the coordinate system of the weapon body 1 is projected on the touch screen 7 of the collimator 4, and the operator operates the collimator 4 to aim at the position on the touch screen 7.

The principle of the individual shoulder-mounted over-the-horizon target aiming method provided by the present invention is the same as that of the above-mentioned individual shoulder-mounted over-the-horizon target aiming system, and will not be repeated here.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (10)

1. A single soldier's shoulder-mounted over-the-horizon target sighting system is characterized in that it includes a weapon body, a control unit and a positioning antenna, a central computing module, a wireless communication module, and a collimator that are all connected to the control unit; The positioning antenna is fixed on the weapon body and is used to obtain positioning information of the weapon body; The wireless communication module is used to receive the reconnaissance vehicle location information and target location information sent by the reconnaissance vehicle; The central calculation module is used to calculate target aiming information according to weapon body positioning information, reconnaissance vehicle positioning information and target positioning information, and the target aiming information refers to the position information of the target relative to the weapon body; The collimator is fixed on the weapon body and is used for aiming the target according to the target aiming information. 2. the shoulder-mounted over-the-horizon target sighting system for individual soldiers according to claim 1, is characterized in that, also comprises the MIMU inertial measurement unit that is electrically connected with described control unit, and described positioning antenna is two; Two The positioning antenna and the MIMU inertial measurement unit can realize integrated navigation. 3. The individual shoulder-mounted over-the-horizon target targeting system according to claim 1, wherein the target targeting information includes the azimuth, elevation, and distance information of the target in the weapon body coordinate system. 4. the individual shoulder-mounted over-the-horizon target sighting system according to claim 3, is characterized in that, said central calculation module is used to first calculate the position vector of target and weapon body respectively in the reconnaissance vehicle coordinate system, and then Calculate the position vector of the target relative to the weapon body in the reconnaissance vehicle coordinate system, and finally calculate the azimuth, pitch, and distance information of the target relative to the weapon body in the weapon body coordinate system. 5. The shoulder-mounted over-the-horizon target sighting system for individual soldiers according to claim 1, wherein the collimator includes a touch screen electrically connected with the control unit; the touch screen is used for projection Displays targeting information. 6. The individual shoulder-mounted over-the-horizon target sighting system according to claim 1, wherein the collimator includes a rear camera electrically connected to the control unit; the rear camera is used to assist Realize virtual aiming in real scene mode. 7. The individual soldier's shoulder-mounted over-the-horizon target sighting system according to claim 1, wherein the collimator includes a power supply module for power supply. 8. A single soldier's shoulder-mounted beyond-the-horizon target aiming method is characterized in that it is applied to the individual's shoulder-mounted beyond-the-horizon target aiming system described in any one of claims 1-7, and the method includes : The positioning information of the weapon body is obtained through the positioning antenna on the weapon body, and the wireless communication module on the weapon body receives the reconnaissance vehicle positioning information and target positioning information sent by the reconnaissance vehicle; The central calculation module calculates the target aiming information according to the weapon body positioning information, the reconnaissance vehicle positioning information and the target positioning information, and the target aiming information refers to the position information of the target relative to the weapon body; The operator operates the collimator to perform target collimation according to the target collimation information. 9. The individual shoulder-mounted over-the-horizon target aiming method according to claim 8, wherein the specific method for calculating target aiming information by the central calculation module is: Calculate the position vectors of the target and the weapon body in the reconnaissance vehicle coordinate system respectively; Calculate the position vector of the target relative to the weapon body in the reconnaissance vehicle coordinate system; Calculate the azimuth, pitch and distance information of the target relative to the weapon body in the weapon body coordinate system. 10. The individual shoulder-mounted over-the-horizon target aiming method according to claim 8, characterized in that, the dual antennas on the MIMU inertial measurement unit and the weapon body are used to realize combined navigation.

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