EP0740123A1 - System for determining the location and the roll angle of a moving body - Google Patents

System for determining the location and the roll angle of a moving body Download PDF

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Publication number
EP0740123A1
EP0740123A1 EP96400769A EP96400769A EP0740123A1 EP 0740123 A1 EP0740123 A1 EP 0740123A1 EP 96400769 A EP96400769 A EP 96400769A EP 96400769 A EP96400769 A EP 96400769A EP 0740123 A1 EP0740123 A1 EP 0740123A1
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EP
European Patent Office
Prior art keywords
mobile
optical
optical elements
roll angle
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP96400769A
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German (de)
French (fr)
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EP0740123B1 (en
Inventor
Thierry Solenne
Jean-Pierre Merle
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Aerospatiale Matra
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Airbus Group SAS
Aerospatiale Matra
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Publication of EP0740123A1 publication Critical patent/EP0740123A1/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/30—Command link guidance systems
    • F41G7/301—Details
    • F41G7/305—Details for spin-stabilized missiles

Definitions

  • the present invention relates to a system for determining the position and the roll angle of a mobile.
  • piloting devices are actuated, for example lateral thrusters with gas generator, jet interceptors or control surfaces, for appropriate durations and at determined instants, that is to say for determined positions of said control devices relative to said reference axis.
  • the determination of the position and the determination of the roll angle are carried out independently of each other.
  • Determining the roll angle is generally more difficult to carry out and it often requires expensive auxiliary means.
  • the roll angle can be determined by a measurement carried out on board the missile, for example an inertial measurement.
  • a measurement carried out on board the missile for example an inertial measurement.
  • a known solution recommends to arrange on said missile an optical device comprising a reflector and a polarizer and to illuminate this optical device from the ground. The radiation reflected by said optical device is then detected on the ground and is processed so as to extract the roll angle of said missile.
  • the object of the present invention is to remedy these drawbacks. It relates to a precise and low-cost system making it possible to determine both the roll angle and the position relative to a reference axis of a mobile.
  • the implementation of the invention is inexpensive, since most of the elements of the system according to the invention, except of course the optical elements, already exist on a mobile guidance system, to which the system conforms. is generally associated with the invention.
  • the optical elements are arranged at the radially external ends respectively of three of said fins.
  • Such an arrangement makes it possible to separate the optical elements as far as possible from the longitudinal axis of the mobile and thus makes it possible to protect said optical elements, as well as the light flashes generated, against the disturbances that could be caused by any smoke produced at the rear. of said mobile near its longitudinal axis during the propulsion of said mobile, as is the case for certain types of missiles.
  • the optical elements used can advantageously be produced in different ways.
  • said optical elements are simply emitters of light flashes, for example light beacons
  • the system according to the invention comprises a flash generator luminous device mounted in a fixed position near said optical detector and capable of emitting light flashes at least in the environment of said reference axis, and said optical elements are light reflectors capable of reflecting light flashes received from said flash generator luminous.
  • Figure 1 shows schematically the system according to the invention associated with a mobile.
  • FIG. 2 represents an image taken showing the mobile and making it possible to illustrate the implementation of the invention.
  • the system 1 according to the invention and shown in FIG. 1 is intended to continuously determine the roll angle, as well as the position relative to an OX reference axis, of a mobile 2, in this case d 'a missile.
  • the reference axis OX represents for example the line of sight of a weapon system not shown, for example an anti-tank system, equipped with the system 1 according to the invention and aimed at a target not shown to be reached by said missile 2.
  • the data determined by the system 1 and supplied to the weapon system can in particular be used to develop guidance orders intended to guide the missile 2 along said reference axis OX.
  • Said optical elements 8, 9 and 10 are intended to reflect, in the direction of the optical detector 3, the light flashes 7 received from said generator 6.
  • said optical elements 8, 9 and 10 are preferably arranged at the radially external ends 11A of three of said fins 11, as shown in FIG. 1.
  • Said light flashes 7 emitted by the generator 6 and reflected by the optical elements 8, 9 and 10 are detected by the optical detector 3.
  • said generator 6 continuously illuminates said optical elements 8, 9 and 10, which makes it possible to take an image at any time, since the optical elements 8, 9 and 10 then reflect continuously received light.
  • the system 1 comprises a control unit 17 which is connected via links 18 and 19 respectively to the generator 6 and to the electronics 15 and which simultaneously controls the latter.
  • the light flashes 7 picked up by the optical detector 3 are capable of activating the photosensitive elements 13 of the matrix 12, and therefore of being able to be identified on a PI image capture.
  • the computer 4 determines the roll angle and the position of the missile 2, from the position of said optical elements 8, 9 and 10 in such a PI image capture, as shown in FIG. 2.
  • the angle ⁇ between said axis OY and the base line LB defined by the optical elements 8 and 9 is determined on the image capture PI
  • the indeterminacy of 180 ° which then exists for the roll angle is lifted by the position of the optical element 10, with respect to this base line LB.
  • optical elements 8, 9 and 10 there is also shown in FIG. 2, in solid line, the body of missile 2 seen from the rear and the fins 11, although these elements are generally not visible on such an image capture, only the optical elements 8, 9 and 10 appearing in reality.
  • the distance D is determined between said point O and the longitudinal axis LL of missile 2, indicated by a point P on the image taking PI.
  • Said point P corresponds to the projection of the optical element 10 on the base line LB (along the perpendicular PE).
  • the position of said point P in the OYZ reference frame therefore indicates the desired position of the missile 2 relative to the OX reference axis.
  • the position and the roll angle ⁇ of the missile 2 can be determined in a simple, efficient and simultaneous manner.
  • the implementation of the invention is inexpensive, since most of the elements of the system 1 already exist on a missile guidance system with which the system 1 is generally associated. Thus, only the optical elements 8, 9 and 10, for example simple mirrors, are to be mounted specifically and are lost after the implementation of the invention.
  • the optical elements are individual emitters emitting radiation capable of being picked up by the optical detector 3. These emitters can emit either continuously or at determined times. In the latter case, it is necessary to provide synchronization, for example of the radio type, between said transmitters and the electronics 15 taking the image pickups.
  • the data calculated by the system 1 can be used to guide the missile 2.
  • the light flashes 7 are used not only for the location, but also for the remote control of the missile 2 from the firing and guidance station. 3, 4, 6, 17.
  • the present invention is particularly well suited for determining the guidance orders of a missile driven in rotation and the guidance of which is implemented by piloting devices not shown, for example side thrusters with gas generator or control surfaces, arranged at the periphery of the missile and activated for appropriate durations, at instants determined as a function of the position and the angle of rotation, i.e. the angle roll, missile, therefore according to the data determined by the present invention.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Optical Transform (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The system includes three optical elements (8,9,10) mounted on the vehicle (2) in order to generate light flashes (7). Two of these elements are mounted in diametrically opposed positions (8,9) w.r.t the axis of the vehicle (L), whilst the third (10) is arranged to be perpendicular to these two elements. An optical detector (3) is mounted at the origin of the line along which the mobile vehicle (2) is travelling, with a lens (14) and detector array (13). The output of the detector is linked to a computer (4) which is able to determine the position and angle of roller (phi) of the vehicle (2) w.r.t. the axis (X), by analysis of the positions of the received light flashes.

Description

La présente invention concerne un système pour déterminer la position et l'angle de roulis d'un mobile.The present invention relates to a system for determining the position and the roll angle of a mobile.

Quoique non exclusivement, elle est particulièrement bien appropriée à la localisation et au guidage de missiles, notamment des missiles entraînés en rotation.Although not exclusively, it is particularly well suited to locating and guiding missiles, in particular missiles driven in rotation.

Pour guider un missile animé d'un mouvement de rotation autour de son axe longitudinal, par rapport à un axe de référence, par exemple la ligne de visée d'un système d'arme ayant lancé ledit missile, on actionne des dispositifs de pilotage, par exemple des impulseurs latéraux à générateur de gaz, des intercepteurs de jet ou des gouvernes, pendant des durées appropriées et à des instants déterminés, c'est-à-dire pour des positions déterminées desdits dispositifs de pilotage par rapport audit axe de référence.To guide a missile animated with a rotational movement around its longitudinal axis, with respect to a reference axis, for example the line of sight of a weapon system having launched said missile, piloting devices are actuated, for example lateral thrusters with gas generator, jet interceptors or control surfaces, for appropriate durations and at determined instants, that is to say for determined positions of said control devices relative to said reference axis.

Par conséquent, il est nécessaire, pour effectuer le guidage d'un tel missile, de connaître :

  • d'une part, la position du missile par rapport audit axe de référence ; et
  • d'autre part, l'angle de roulis du missile, permettant de déterminer la position desdits dispositifs de pilotage agencés à des endroits déterminés sur ledit missile.
Consequently, in order to guide such a missile, it is necessary to know:
  • on the one hand, the position of the missile with respect to said reference axis; and
  • on the other hand, the roll angle of the missile, making it possible to determine the position of said piloting devices arranged at determined locations on said missile.

Généralement, la détermination de la position et la détermination de l'angle de roulis sont effectuées indépendamment l'une de l'autre.Generally, the determination of the position and the determination of the roll angle are carried out independently of each other.

De nombreuses méthodes sont connues pour déterminer la position d'un mobile par rapport à un axe de référence, comme par exemple celle divulguée par le brevet FR-2 583 523 de la demanderesse.Many methods are known for determining the position of a mobile with respect to a reference axis, such as that disclosed by patent FR-2,583,523 to the applicant.

La détermination de l'angle de roulis est généralement plus difficile à mettre en oeuvre et elle nécessite souvent des moyens auxiliaires coûteux.Determining the roll angle is generally more difficult to carry out and it often requires expensive auxiliary means.

De façon connue, l'angle de roulis peut être déterminé par une mesure effectuée à bord du missile, par exemple une mesure inertielle. Toutefois, une telle solution nécessite d'embarquer un matériel coûteux, sophistiqué et généralement fragile.In known manner, the roll angle can be determined by a measurement carried out on board the missile, for example an inertial measurement. However, such a solution requires embarking expensive, sophisticated and generally fragile equipment.

C'est pourquoi les mesures nécessaires à la détermination de l'angle de roulis sont généralement effectuées à partir du sol, notamment pour des missiles à coût réduit.This is why the measurements necessary for determining the roll angle are generally carried out from the ground, in particular for low-cost missiles.

A cet effet, une solution connue préconise d'agencer sur ledit missile un dispositif optique comportant un catadioptre et un polariseur et d'illuminer ce dispositif optique à partir du sol. Le rayonnement réfléchi par ledit dispositif optique est ensuite détecté au sol et est traité de manière à en extraire l'angle de roulis dudit missile.To this end, a known solution recommends to arrange on said missile an optical device comprising a reflector and a polarizer and to illuminate this optical device from the ground. The radiation reflected by said optical device is then detected on the ground and is processed so as to extract the roll angle of said missile.

Toutefois, par cette méthode, subsiste une ambiguïté de 180° sur la valeur de l'angle de roulis déterminé. Il est alors nécessaire de prévoir des moyens supplémentaires pour lever cette indétermination, comme par exemple ceux proposés par les brevets européens EP-0 485 292 et EP-0 628 782, ce qui augmente davantage encore le coût de mise en oeuvre de cette solution.However, by this method, an ambiguity of 180 ° remains on the value of the determined roll angle. It is then necessary to provide additional means for removing this indeterminacy, such as for example those proposed by European patents EP-0 485 292 and EP-0 628 782, which further increases the cost of implementing this solution.

La présente invention a pour objet de remédier à ces inconvénients. Elle concerne un système précis et à coût réduit permettant de déterminer à la fois l'angle de roulis et la position par rapport à un axe de référence d'un mobile.The object of the present invention is to remedy these drawbacks. It relates to a precise and low-cost system making it possible to determine both the roll angle and the position relative to a reference axis of a mobile.

A cet effet, ledit système comportant un détecteur optique disposé à poste fixe et susceptible de réaliser une prise d'image de l'environnement dudit axe de référence dans lequel ledit mobile est susceptible de se déplacer, est remarquable, selon l'invention, en ce qu'il comporte :

  • trois éléments optiques montés sur ledit mobile et susceptibles d'engendrer des éclats lumineux en direction dudit détecteur optique, un premier et un deuxième desdits éléments optiques formant une ligne de base étant montés de façon diamétralement opposée par rapport audit axe longitudinal et le troisième élément optique étant agencé sur une droite au moins sensiblement perpendiculaire à cette ligne de base passant par ledit axe longitudinal ; et
  • un calculateur relié audit détecteur optique et susceptible de déterminer la position et l'angle de roulis dudit mobile à partir de la position desdits éléments optiques dans une prise d'image réalisée par ledit détecteur optique captant lesdits éclats lumineux, ledit angle de roulis correspondant à l'angle entre ladite ligne de base et un axe d'un repère de référence déterminé, l'ambiguïté de 180° sur ledit angle de roulis étant levée par la position du troisième élément optique, et la position dudit mobile par rapport audit axe de référence étant obtenue à partir de la projection de la position dudit troisième élément optique sur ladite ligne de base.
To this end, said system comprising an optical detector arranged at a fixed station and capable of taking an image of the environment of said reference axis in which said mobile is capable of moving, is remarkable, according to the invention, in what it includes:
  • three optical elements mounted on said mobile and capable of generating flashes of light towards said optical detector, a first and a second of said optical elements forming a base line being mounted in diametrically opposite relation to said longitudinal axis and the third optical element being arranged on a straight line at least substantially perpendicular to this base line passing through said longitudinal axis; and
  • a computer connected to said optical detector and capable of determining the position and the roll angle of said mobile from the position of said optical elements in an image taken by said optical detector capturing said light flashes, said roll angle corresponding to the angle between said base line and an axis of a determined reference mark, the ambiguity of 180 ° on said roll angle being lifted by the position of the third optical element, and the position of said mobile relative to said axis of reference being obtained from the projection of the position of said third optical element on said baseline.

Ainsi, grâce à l'invention, on peut déterminer simultanément, à partir d'une seule prise d'image, la position par rapport audit axe de référence et l'angle de roulis dudit mobile.Thus, thanks to the invention, one can simultaneously determine, from a single image capture, the position relative to said reference axis and the roll angle of said mobile.

De plus, la mise en oeuvre de l'invention est peu coûteuse, puisque l'essentiel des éléments du système conforme à l'invention, excepté bien entendu les éléments optiques, existent déjà sur un système de guidage de mobile, auquel le système conforme à l'invention est généralement associé.In addition, the implementation of the invention is inexpensive, since most of the elements of the system according to the invention, except of course the optical elements, already exist on a mobile guidance system, to which the system conforms. is generally associated with the invention.

De façon avantageuse, lorsque ledit mobile comporte quatre ailettes uniformément réparties sur sa périphérie, comme c'est le cas pour de nombreux types de missiles, on agence les éléments optiques aux extrémités radialement externes respectivement de trois desdites ailettes.Advantageously, when said mobile comprises four fins uniformly distributed around its periphery, as is the case for many types of missiles, the optical elements are arranged at the radially external ends respectively of three of said fins.

Un tel agencement permet d'éloigner les éléments optiques le plus possible de l'axe longitudinal du mobile et permet ainsi de protéger lesdits éléments optiques, ainsi que les éclats lumineux engendrés, contre les perturbations que pourrait engendrer une éventuelle fumée produite à l'arrière dudit mobile à proximité de son axe longitudinal lors de la propulsion dudit mobile, comme c'est le cas pour certains types de missiles.Such an arrangement makes it possible to separate the optical elements as far as possible from the longitudinal axis of the mobile and thus makes it possible to protect said optical elements, as well as the light flashes generated, against the disturbances that could be caused by any smoke produced at the rear. of said mobile near its longitudinal axis during the propulsion of said mobile, as is the case for certain types of missiles.

Par ailleurs, selon l'invention, les éléments optiques utilisés peuvent être réalisés avantageusement de différentes manières.Furthermore, according to the invention, the optical elements used can advantageously be produced in different ways.

Ainsi, dans un premier mode de réalisation, lesdits éléments optiques sont simplement des émetteurs d'éclats lumineux, par exemple des balises lumineuses, tandis que, dans un second mode de réalisation, le système conforme à l'invention comporte un générateur d'éclats lumineux monté à poste fixe à proximité dudit détecteur optique et susceptible d'émettre des éclats lumineux au moins dans l'environnement dudit axe de référence, et lesdits éléments optiques sont des réflecteurs de lumière susceptibles de réfléchir les éclats lumineux reçus dudit générateur d'éclats lumineux.Thus, in a first embodiment, said optical elements are simply emitters of light flashes, for example light beacons, while, in a second embodiment, the system according to the invention comprises a flash generator luminous device mounted in a fixed position near said optical detector and capable of emitting light flashes at least in the environment of said reference axis, and said optical elements are light reflectors capable of reflecting light flashes received from said flash generator luminous.

Les figures du dessin annexé feront bien comprendre comment l'invention peut être réalisée. Sur ces figures, des références identiques désignent des éléments semblables.The figures of the appended drawing will make it clear how the invention can be implemented. In these figures, identical references designate similar elements.

La figure 1 montre de façon schématique le système conforme à l'invention associé à un mobile.Figure 1 shows schematically the system according to the invention associated with a mobile.

La figure 2 représente une prise d'image montrant le mobile et permettant d'illustrer la mise en oeuvre de l'invention.FIG. 2 represents an image taken showing the mobile and making it possible to illustrate the implementation of the invention.

Le système 1 conforme à l'invention et représenté sur la figure 1 est destiné à déterminer en continu l'angle de roulis, ainsi que la position par rapport à un axe de référence OX, d'un mobile 2, en l'occurrence d'un missile.The system 1 according to the invention and shown in FIG. 1 is intended to continuously determine the roll angle, as well as the position relative to an OX reference axis, of a mobile 2, in this case d 'a missile.

L'axe de référence OX représente par exemple la ligne de visée d'un système d'arme non représenté, par exemple un système anti-char, équipé du système 1 conforme à l'invention et pointé sur une cible non représentée devant être atteinte par ledit missile 2.The reference axis OX represents for example the line of sight of a weapon system not shown, for example an anti-tank system, equipped with the system 1 according to the invention and aimed at a target not shown to be reached by said missile 2.

Les données déterminées par le système 1 et fournies au système d'arme peuvent notamment être utilisées pour élaborer des ordres de guidage destinés à guider le missile 2 le long dudit axe de référence OX.The data determined by the system 1 and supplied to the weapon system can in particular be used to develop guidance orders intended to guide the missile 2 along said reference axis OX.

Selon l'invention, ledit système 1 comporte :

  • un détecteur optique 3 monté à poste fixe, par exemple dans ledit système d'arme ;
  • un calculateur 4 relié audit détecteur optique 3 par une liaison 5 ;
  • un générateur 6 d'éclats lumineux 7 monté à poste fixe, à proximité dudit détecteur optique 3, par exemple également dans ledit système d'arme ; et
  • trois éléments optiques 8, 9, 10 montés sur ledit missile 2.
According to the invention, said system 1 comprises:
  • an optical detector 3 mounted at a fixed station, for example in said weapon system;
  • a computer 4 connected to said optical detector 3 by a link 5;
  • a generator 6 of light flashes 7 mounted in a fixed position, near said optical detector 3, for example also in said weapon system; and
  • three optical elements 8, 9, 10 mounted on said missile 2.

Lesdits éléments optiques 8, 9 et 10 représentent des réflecteurs de lumière qui sont agencés selon l'invention de manière particulière sur ledit missile 2, à savoir plus précisément :

  • les éléments optiques 8 et 9 sont agencés de façon diamétralement opposée par rapport à l'axe longitudinal L-L dudit missile 2 de forme cylindrique, lesdits éléments optiques 8 et 9 définissant une ligne de base LB représentée sur la figure 2 et précisée ci-dessous ; et
  • l'élément optique 10 est agencé sur une perpendiculaire PE à ladite ligne de base LB passant par ledit axe longitudinal L-L.
Said optical elements 8, 9 and 10 represent light reflectors which are arranged according to the invention in a particular way on said missile 2, namely more precisely:
  • the optical elements 8 and 9 are arranged diametrically opposite with respect to the longitudinal axis LL of said missile 2 of cylindrical shape, said optical elements 8 and 9 defining a baseline LB shown in FIG. 2 and specified below; and
  • the optical element 10 is arranged on a perpendicular PE to said base line LB passing through said longitudinal axis LL.

Lesdits éléments optiques 8, 9 et 10 sont destinés à réfléchir, en direction du détecteur optique 3, les éclats lumineux 7 reçus dudit générateur 6.Said optical elements 8, 9 and 10 are intended to reflect, in the direction of the optical detector 3, the light flashes 7 received from said generator 6.

Lorsque le missile 2 comporte quatre ailettes 11 uniformément réparties sur sa périphérie, on agence de préférence lesdits éléments optiques 8, 9 et 10 aux extrémités radialement externes 11A de trois desdites ailettes 11, tel que représenté sur la figure 1.When the missile 2 comprises four fins 11 uniformly distributed around its periphery, said optical elements 8, 9 and 10 are preferably arranged at the radially external ends 11A of three of said fins 11, as shown in FIG. 1.

Ceci permet d'éviter que de la fumée F, ou éventuellement une flamme, produite lors de la propulsion à l'arrière du missile 2, à proximité de l'axe L-L, ne perturbe lesdits éclats lumineux 7, avant et/ou après leur réflexion sur les éléments optiques 8, 9 et 10.This makes it possible to prevent smoke F, or possibly a flame, produced during propulsion at the rear of the missile 2, near the axis LL, from disturbing said light flashes 7, before and / or after their reflection on the optical elements 8, 9 and 10.

Lesdits éclats lumineux 7 émis par le générateur 6 et réfléchis par les éléments optiques 8, 9 et 10 sont détectés par le détecteur optique 3.Said light flashes 7 emitted by the generator 6 and reflected by the optical elements 8, 9 and 10 are detected by the optical detector 3.

A cet effet, ledit détecteur optique 3, qui représente par exemple une caméra visible ou infrarouge, comporte de façon connue :

  • une matrice plane 12 d'éléments photosensibles 13, par exemple du type à transfert de charge, qui est perpendiculaire à l'axe de référence OX ;
  • une optique 14 susceptible de former sur ladite matrice 12 l'image de l'environnement dudit axe de référence OX ; et
  • un moyen électronique 15 relié par une liaison 16 à ladite matrice 12 et susceptible de réaliser des prises d'image PI dudit environnement.
To this end, said optical detector 3, which represents for example a visible or infrared camera, comprises in known manner:
  • a planar matrix 12 of photosensitive elements 13, for example of the charge transfer type, which is perpendicular to the reference axis OX;
  • an optic 14 capable of forming on said matrix 12 the image of the environment of said reference axis OX; and
  • electronic means 15 connected by a link 16 to said matrix 12 and capable of taking PI images of said environment.

Dans un premier mode de réalisation non représenté, ledit générateur 6 illumine en continu lesdits éléments optiques 8, 9 et 10, ce qui permet d'effectuer une prise d'image à tout instant, puisque les éléments optiques 8, 9 et 10 réfléchissent alors en continu la lumière reçue.In a first embodiment not shown, said generator 6 continuously illuminates said optical elements 8, 9 and 10, which makes it possible to take an image at any time, since the optical elements 8, 9 and 10 then reflect continuously received light.

Toutefois, de préférence, dans un second mode de réalisation, on prévoit une synchronisation entre la génération des éclats lumineux 7 par le générateur 6 et la prise d'image par l'électronique 15.However, preferably, in a second embodiment, provision is made for synchronization between the generation of the light flashes 7 by the generator 6 and the image taking by the electronics 15.

A cet effet, le système 1 comporte une unité de commande 17 qui est reliée par l'intermédiaire de liaisons 18 et 19 respectivement au générateur 6 et à l'électronique 15 et qui commande simultanément ces derniers.To this end, the system 1 comprises a control unit 17 which is connected via links 18 and 19 respectively to the generator 6 and to the electronics 15 and which simultaneously controls the latter.

Ladite unité de commande 17 peut en particulier :

  • soit être actionnée par un utilisateur du système 1 conforme à l'invention, lorsque celui-ci souhaite connaître la position et l'angle de roulis du missile 2 ;
  • soit comporter une horloge qui actionne ladite unité de commande 17 à intervalles de temps réguliers.
Said control unit 17 can in particular:
  • either be actuated by a user of the system 1 according to the invention, when the latter wishes to know the position and the roll angle of the missile 2;
  • or include a clock which activates said control unit 17 at regular time intervals.

Les éclats lumineux 7 captés par le détecteur optique 3 sont susceptibles d'activer les éléments photosensibles 13 de la matrice 12, et donc de pouvoir être repérés sur une prise d'image PI.The light flashes 7 picked up by the optical detector 3 are capable of activating the photosensitive elements 13 of the matrix 12, and therefore of being able to be identified on a PI image capture.

Selon l'invention, le calculateur 4 détermine l'angle de roulis et la position du missile 2, à partir de la position desdits éléments optiques 8, 9 et 10 dans une telle prise d'image PI, comme représenté sur la figure 2.According to the invention, the computer 4 determines the roll angle and the position of the missile 2, from the position of said optical elements 8, 9 and 10 in such a PI image capture, as shown in FIG. 2.

A cet effet, on détermine sur ladite prise d'image PI un repère de référence OYZ défini dans le plan de la matrice 12 et tel que :

  • l'axe OY correspond à la ligne de base LB passant par les éléments optiques 8 et 9 sur une prise d'image du missile 2, lorsque ce dernier ne présente aucun roulis ; et
  • l'axe OZ est perpendiculaire à l'axe OY.
To this end, a reference mark OYZ defined in the plane of the matrix 12 and such that:
  • the axis OY corresponds to the baseline LB passing through the optical elements 8 and 9 on an image taking of the missile 2, when the latter has no roll; and
  • the OZ axis is perpendicular to the OY axis.

Par conséquent, selon l'invention, pour déterminer l'angle de roulis du missile 2, on détermine sur la prise d'image PI l'angle φ entre ledit axe OY et la ligne de base LB définie par les éléments optiques 8 et 9. L'indétermination de 180° qui existe alors pour l'angle de roulis est levée par la position de l'élément optique 10, par rapport à cette ligne de base LB.Consequently, according to the invention, to determine the roll angle of the missile 2, the angle φ between said axis OY and the base line LB defined by the optical elements 8 and 9 is determined on the image capture PI The indeterminacy of 180 ° which then exists for the roll angle is lifted by the position of the optical element 10, with respect to this base line LB.

On remarquera que, pour bien expliciter et illustrer la position desdits éléments optiques 8, 9 et 10, on a également représenté sur la figure 2, en trait continu, le corps du missile 2 vu de l'arrière et les ailettes 11, bien que ces éléments ne soient généralement pas visibles sur une telle prise d'image, seuls les éléments optiques 8, 9 et 10 apparaissant en réalité.It will be noted that, to clearly explain and illustrate the position of said optical elements 8, 9 and 10, there is also shown in FIG. 2, in solid line, the body of missile 2 seen from the rear and the fins 11, although these elements are generally not visible on such an image capture, only the optical elements 8, 9 and 10 appearing in reality.

En outre, pour déterminer la position du missile 2 par rapport à l'axe de référence OX qui est perpendiculaire au plan de la prise d'image PI et qui passe par le point O représenté, on détermine la distance D entre ledit point O et l'axe longitudinal L-L du missile 2, indiqué par un point P sur la prise d'image PI. Ledit point P correspond à la projection de l'élément optique 10 sur la ligne de base LB (suivant la perpendiculaire PE). La position dudit point P dans le repère de référence OYZ indique donc la position recherchée du missile 2 par rapport à l'axe de référence OX.In addition, to determine the position of missile 2 relative to the reference axis OX which is perpendicular to the plane of the image taking PI and which passes through the point O represented, the distance D is determined between said point O and the longitudinal axis LL of missile 2, indicated by a point P on the image taking PI. Said point P corresponds to the projection of the optical element 10 on the base line LB (along the perpendicular PE). The position of said point P in the OYZ reference frame therefore indicates the desired position of the missile 2 relative to the OX reference axis.

Bien entendu, dans le cas où le plan formé par les trois détecteurs optiques 8, 9 et 10 sur le missile 2 est parallèle au plan de la matrice 12 du détecteur optique 3, ce point P correspond au centre des éléments optiques 8 et 9, tel que représenté.Of course, in the case where the plane formed by the three optical detectors 8, 9 and 10 on the missile 2 is parallel to the plane of the array 12 of the optical detector 3, this point P corresponds to the center of the optical elements 8 and 9, as shown.

Ainsi, grâce à l'invention, on peut déterminer de manière simple, efficace et simultanée la position et l'angle de roulis φ du missile 2.Thus, thanks to the invention, the position and the roll angle φ of the missile 2 can be determined in a simple, efficient and simultaneous manner.

De plus, la mise en oeuvre de l'invention est peu coûteuse, puisque l'essentiel des éléments du système 1 existent déjà sur un système de guidage de missile auquel le système 1 est généralement associé. Ainsi, seuls les éléments optiques 8, 9 et 10, par exemple de simples miroirs, sont à monter de façon spécifique et sont perdus après la mise en oeuvre de l'invention.In addition, the implementation of the invention is inexpensive, since most of the elements of the system 1 already exist on a missile guidance system with which the system 1 is generally associated. Thus, only the optical elements 8, 9 and 10, for example simple mirrors, are to be mounted specifically and are lost after the implementation of the invention.

Dans un autre mode de réalisation non représenté, les éléments optiques sont des émetteurs individuels émettant des rayonnements susceptibles d'être captés par le détecteur optique 3. Ces émetteurs peuvent émettre, soit en continu, soit à des instants déterminés. Dans ce dernier cas, il est nécessaire de prévoir une synchronisation, par exemple du type radioélectrique, entre lesdits émetteurs et l'électronique 15 effectuant les prises d'image.In another embodiment not shown, the optical elements are individual emitters emitting radiation capable of being picked up by the optical detector 3. These emitters can emit either continuously or at determined times. In the latter case, it is necessary to provide synchronization, for example of the radio type, between said transmitters and the electronics 15 taking the image pickups.

Comme indiqué précédemment, les données calculées par le système 1 peuvent être utilisées pour guider le missile 2. Ainsi, les éclats lumineux 7 servent non seulement à la localisation, mais encore à la télécommande du missile 2 à partir du poste de tir et de guidage 3, 4, 6, 17. Notamment, la présente invention est particulièrement bien adaptée pour déterminer les ordres de guidage d'un missile entraîné en rotation et dont le guidage est mis en oeuvre par des dispositifs de pilotage non représentés, par exemple des impulseurs latéraux à générateur de gaz ou des gouvernes, agencés à la périphérie du missile et activés pendant des durées appropriées, à des instants déterminés en fonction de la position et de l'angle de rotation, c'est-à-dire l'angle de roulis, du missile, donc en fonction des données déterminées par la présente invention.As indicated previously, the data calculated by the system 1 can be used to guide the missile 2. Thus, the light flashes 7 are used not only for the location, but also for the remote control of the missile 2 from the firing and guidance station. 3, 4, 6, 17. In particular, the present invention is particularly well suited for determining the guidance orders of a missile driven in rotation and the guidance of which is implemented by piloting devices not shown, for example side thrusters with gas generator or control surfaces, arranged at the periphery of the missile and activated for appropriate durations, at instants determined as a function of the position and the angle of rotation, i.e. the angle roll, missile, therefore according to the data determined by the present invention.

Claims (4)

Système pour déterminer l'angle de roulis (φ), ainsi que la position par rapport à un axe de référence (OX), d'un mobile (2) présentant un axe longitudinal (L-L), ledit système (1) comportant un détecteur optique (3) disposé à poste fixe et susceptible de réaliser une prise d'image (PI) de l'environnement dudit axe de référence (OX) dans lequel ledit mobile (2) est susceptible de se déplacer,
caractérisé en ce qu'il comporte : - trois éléments optiques (8, 9, 10) montés sur ledit mobile (2) et susceptibles d'engendrer des éclats lumineux (7) en direction dudit détecteur optique (3), un premier et un deuxième desdits éléments optiques (8, 9) formant une ligne de base (LB) étant montés de façon diamétralement opposée par rapport audit axe longitudinal (L-L) et le troisième élément optique (10) étant agencé sur une droite au moins sensiblement perpendiculaire (PE) à cette ligne de base (LB) passant par ledit axe longitudinal ; et - un calculateur (4) relié audit détecteur optique (3) et susceptible de déterminer la position et l'angle de roulis (φ) dudit mobile (2) à partir de la position desdits éléments optiques (8, 9, 10) dans une prise d'image (PI) réalisée par ledit détecteur optique (3) captant lesdits éclats lumineux (7), ledit angle de roulis (φ) correspondant à l'angle entre ladite ligne de base (LB) et un axe (OY) d'un repère de référence déterminé (OYZ), l'ambiguïté de 180° sur ledit angle de roulis étant levée par la position dudit troisième élément optique (10), et la position dudit mobile (2) par rapport audit axe de référence (OX) étant obtenue à partir de la projection de la position dudit troisième élément optique (10) sur ladite ligne de base (LB). System for determining the roll angle (φ), as well as the position relative to a reference axis (OX), of a mobile (2) having a longitudinal axis (LL), said system (1) comprising a detector optics (3) disposed at a fixed station and capable of taking an image (PI) of the environment of said reference axis (OX) in which said mobile (2) is capable of moving,
characterized in that it comprises: - three optical elements (8, 9, 10) mounted on said mobile (2) and capable of generating light flashes (7) in the direction of said optical detector (3), a first and a second of said optical elements (8, 9 ) forming a baseline (LB) being mounted diametrically opposite with respect to said longitudinal axis (LL) and the third optical element (10) being arranged on a straight line at least substantially perpendicular (PE) to this baseline (LB ) passing through said longitudinal axis; and - a computer (4) connected to said optical detector (3) and capable of determining the position and the roll angle (φ) of said mobile (2) from the position of said optical elements (8, 9, 10) in a image taking (PI) carried out by said optical detector (3) capturing said light flashes (7), said roll angle (φ) corresponding to the angle between said base line (LB) and an axis (OY) d '' a determined reference mark (OYZ), the ambiguity of 180 ° on said roll angle being lifted by the position of said third optical element (10), and the position of said mobile (2) relative to said reference axis (OX ) being obtained from the projection of the position of said third optical element (10) on said base line (LB). Système selon la revendication 1, ledit mobile (2) comportant quatre ailettes (11) uniformément réparties sur sa périphérie,
caractérisé en ce que lesdits éléments optiques (8, 9, 10) sont agencés aux extrémités radialement externes (11A) respectivement de trois desdites ailettes (11).System according to claim 1, said mobile (2) comprising four fins (11) uniformly distributed around its periphery,
characterized in that said optical elements (8, 9, 10) are arranged at the radially outer ends (11A) respectively of three of said fins (11). Système selon l'une des revendications 1 ou 2,
caractérisé en ce que lesdits éléments optiques sont des émetteurs d'éclats lumineux.System according to one of claims 1 or 2,
characterized in that said optical elements are emitters of light flashes. Système selon l'une des revendications 1 ou 2,
caractérisé en ce qu'il comporte un générateur (6) d'éclats lumineux (7) monté à poste fixe à proximité dudit détecteur optique (3) et susceptible d'émettre des éclats lumineux (7) au moins dans l'environnement dudit axe de référence (OX), et en ce que lesdits éléments optiques (8, 9, 10) sont des réflecteurs de lumière susceptibles de réfléchir les éclats lumineux (7) reçus dudit générateur (6).System according to one of claims 1 or 2,
characterized in that it comprises a generator (6) of light flashes (7) mounted in a fixed position near said optical detector (3) and capable of emitting light flashes (7) at least in the environment of said axis reference (OX), and in that said optical elements (8, 9, 10) are light reflectors capable of reflecting the light flashes (7) received from said generator (6).
EP96400769A 1995-04-24 1996-04-10 System for determining the location and the roll angle of a moving body Expired - Lifetime EP0740123B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9504868A FR2733326B1 (en) 1995-04-24 1995-04-24 SYSTEM FOR DETERMINING THE POSITION AND ANGLE OF A MOBILE
FR9504868 1995-04-24

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EP0740123A1 true EP0740123A1 (en) 1996-10-30
EP0740123B1 EP0740123B1 (en) 2000-03-01

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CA (1) CA2174572A1 (en)
DE (1) DE69606791T2 (en)
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FR (1) FR2733326B1 (en)
IL (1) IL117912A (en)
NO (1) NO315395B1 (en)

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US8074555B1 (en) * 2008-09-24 2011-12-13 Kevin Michael Sullivan Methodology for bore sight alignment and correcting ballistic aiming points using an optical (strobe) tracer
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Also Published As

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IL117912A0 (en) 1996-08-04
ES2143152T3 (en) 2000-05-01
EP0740123B1 (en) 2000-03-01
US5708583A (en) 1998-01-13
DE69606791D1 (en) 2000-04-06
FR2733326A1 (en) 1996-10-25
BR9601590A (en) 1998-03-24
NO961611L (en) 1996-10-25
CA2174572A1 (en) 1996-10-25
NO315395B1 (en) 2003-08-25
DE69606791T2 (en) 2000-07-06
FR2733326B1 (en) 1997-06-06
IL117912A (en) 2000-08-13
NO961611D0 (en) 1996-04-23

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