EP1162428B1 - Method and device for igniting a warhead in a target tracking missile - Google Patents

Description

The invention relates to a method for igniting a warhead in target-tracking missiles, which have an impact fuse and a proximity fuse for igniting a warhead.

The invention further relates to a device for igniting a warhead in target-tracking missiles, which have an impact fuse and a proximity fuse for igniting a warhead, wherein the proximity fuse ignites the warhead with the Zündverzugszeit.

Targeted missiles are guided to a destination by a seeker head. Such a seeker head contains an image-resolving detector, usually a two-dimensional array of detector elements. The resulting image of a visual field scene containing the target is switched to image processing means. From the image processing steering signals are obtained, through which the guided missile is guided to the destination. As the target approaches closer, the seeker provides an image of the target, which increases as the missile approaches the target.

The guided missile contains a warhead, ie an explosive charge through which the target is to be destroyed with the greatest possible security. The trajectory of the missile may differ slightly from the ideal trajectory due to various influences. This may be due, for example, to the encounter geometry, such as maneuvering the target, inaccuracies in the flight guidance of the missile or by limitations in the maneuverability of the missile. In such a case, the guided missile will not hit the target at the optimum location. Of the Missile may even fly past the target at a greater or lesser distance. The guided missile has an impact fuze. The impact fuse ignites the warhead when the missile impacts the target directly. The missile also has a proximity fuse. The proximity fuse responds when the missile has approached the target sufficiently well. He fires the warhead even when the missile flies past the target. Ignition occurs at the ignition delay time following the approach of the proximity fuse. This Zündverzugszeit is chosen so that the ignition takes place in flyby at a time in which the detonating warhead and thereby thrown splinters cause the greatest possible damage to the target. Usually, the ignition delay time is a fixed, empirically found value.

From the US 4,420,129 , which forms a basis for the preamble of claims 1 and 11, is a guided missile or projectile for controlling ships with an ignition system having an impact as well as an overflight fuze for a common ignition. Is it not possible, for example due to high sea state, to lower the missile to a certain height above sea level, the so-called. "Rammtreffer" of a ship by means of the Aufschlagzünders allows so can be used to destroy the ship of the overflight fuse. For this purpose, the guided missile is held on a predetermined flight profile via a navigation computer and an associated altimeter. If the guided missile has fallen below a certain altitude, a switch is activated via the altimeter, which in turn activates a timer. This timer makes after a predetermined time via a switch, the ignition circuit of the ignition system sharp. Via an output signal of the altimeter, an ignition signal for the ignition circuit is then derived, which ensures an explosion of the missile above the ship.

In the US 3,850,103 discloses a computer-controlled approach fuse for an intercept bullet used to combat flying targets. Using a pulsed radar system and a computer, the distance and angle to the combat target is detected and stored. From this, the time is calculated until the interceptor missile is closest to the target, and then determines the remaining "wrong distance" between the interceptor missile and the target. This process is repeated and each time a special time function r determined. From the comparison of the current with the previous time function r, a fixed time value can be determined under certain conditions. At the end of this time value, a trigger signal is sent to the igniter of the proximity fuse via the computer.

The invention has for its object to cause the ignition of the warhead in a guided missile with impact and approach fuse so that the damage to the target is as large as possible.

1. a) Erfassen von lenkspezifischen oder flugkörperspezifischen Parametern als Einflussgrößen, welche während des Flugs des Lenkflugkörpers für einen Direkttreffer oder einen Vorbeiflug bestimmend sind, und
2. b) Einstellen der Zündverzugszeit in Abhängigkeit von solchen Einflussgrößen.

According to the invention this is achieved in a method of the type mentioned by the method steps:

1. a) detecting steering-specific or missile-specific parameters as influencing variables, which are determining during the flight of the missile for a direct hit or a flyby, and
2. b) Setting the ignition delay time as a function of such influencing variables.

1. a) Mittel zum Erfassen von lenkspezifischen oder flugkörperspezifischen Parametern als Einflussgrößen, welche während des Flugs des . Lenkflugkörpers für einen Direkttreffer oder einen Vorbeiflug bestimmend sind, und Einstellmittel zum Einstellen der Zündverzugszeit des Annäherungszünders in Abhängigkeit von solchen Einflußgrößen.

A device of the type mentioned provides accordingly

1. a) means for detecting steering - specific or missile - specific parameters as influencing variables, which during the flight of. Guided missiles are decisive for a direct hit or a flyby, and Adjusting means for adjusting the ignition delay time of the proximity fuse as a function of such influencing variables.

• aus den erfaßten Einflußgrößen eine prädizierte Trefferablage bestimmt wird und
• die Zündverzugszeit nach Maßgabe der so prädizierten Trefferablage eingestellt wird.

This happens advantageously un the form that

• from the detected predictors a predicted hit deposit is determined and
• the ignition delay time is set in accordance with the predicted hit deposit.

Looking at the image of the target, e.g. of an aircraft, then one can set thereon a desired impact point at which the target should be hit by the missile to ensure maximum destructive effect of the warhead. Based on this desired impact point, hit files can be determined according to size and direction. According to the basic idea of the invention, this hit deposit is now predicted as a function of various observable influencing variables. Depending on this predicted hit deposit, the ignition delay time is then set.

This can e.g. in such a way that when the predicted hit deposit is likely to cause a direct hit, the ignition delay time is set so long that the warhead can be fired when the missile impacts the target by the impact fuze. However, if the predicted hit deposit is expected to cause the missile to fly past the target, an ignition delay time is set which is optimized for the effectiveness of the detonating warhead.

The dependency of the hit deposit on the influencing variables and on the remaining flight time of the guided missile can be determined and stored by simulation.

The influencing variables may include steering-specific variables, such as the visual line rotational rates, which result from the geometry of the target and guided missile. The influencing factors but may also include missile-specific variables such as rudder deflection or lateral acceleration. These factors are particularly important when the missile reaches the limits of its maneuverability.

1. (a) aus den Einflußgrößen für eine vorgegebene Restflugzeit laufend eine prädizierte Trefferablage bestimmt wird, und
2. (b) die so für eine bestimmte Restflugzeit prädizierte Trefferablage um diese Restflugzeit verzögert für die Bestimmung der Zündverzugszeit beim Ansprechen des Annäherungszünders bereitgestellt wird.

The remaining flight time can be obtained from image processing of a target image delivered by an image-resolving seeker head of the guided missile. Advantageously, but so proceeded that

1. (a) a predicted hit-deposit is determined continuously from the influencing variables for a given residual flight time, and
2. (b) the hit deposit thus predicted for a certain remaining flight time is delayed by this remaining flight time for the determination of the ignition delay time when the proximity fuse is triggered.

Thus, influencing variables, e.g. the line of sight rotation rate, determined. Taking into account these influencing variables, the predicted hit deposits are determined for a given residual flight time. The hit deposits determined in this way are provided at an exit delayed by the residual flight time on which the determination is based. When addressing the proximity fuse predicted hit deposits are available, which are based on the predictors, which were measured before the specified associated residual flight times and now refer to the time at which the proximity sensor responds. Then no residual flight time to be estimated, which is usually possible only with great inaccuracy.

A hit deposit obtained in this way on the basis of a single remaining flight time may be corrupted by noise.

1. (a) aus den Einflußgrößen parallel für verschiedene Restflugzeiten zugehörige prädizierte Trefferablagen bestimmt werden,
2. (b) jede der für eine Restflugzeit bestimmte prädizierte Trefferablage um diese zugehörige Restflugzeit verzögert für die Bestimmung der Zündverzugszeit beim Ansprechen des Annäherungszünders bereitgestellt wird und
3. (c) für die Bestimmung der Zündverzugszeit ein Mittel oder gewichtetes Mittel der zeitverzögert bereitgestellten prädizierten Trefferablagen gebildet wird.

It is therefore advantageous if

1. (a) predicted hit deposits associated with different residual flight times are determined from the influencing variables in parallel,
2. (b) each of the residual flight predicted hit times delayed by that associated flight time is provided for determining the ignition delay time in response to the proximity fuse, and
3. (c) for the determination of the ignition delay time, an average or weighted average of the time-delayed predicted hit deposits is formed.

Embodiments of the device are the subject of further claims.

Fig.1

veranschaulicht die Definition der Trefferablage und der "Kritischen Trefferablage" bezogen auf ein vom Sucher des Lenkflugkörpers erfaßtes Ziel.

Fig.2

veranschaulicht die Relativgeometrie Lenkflugkörper-Ziel.

Fig.3

veranschaulicht die Relativgeschwindigkeit Lenkflugkörper

Fig.4

veranschaulicht die Annäherungsgeometrie.

Fig.5

ist ein durch Simulation gewonnenes Diagramm und zeigt den Zusammenhang zwischen Trefferablage und Sichtliniendrehrate als Funktion der Restflugzeit.

Fig.6

ist ein durch Simulation gewonnenes Diagramm und zeigt den Zusammenhang zwischen Trefferablage und Sichtliniendrehbeschleunigung als Funktion der Restflugzeit.

Fig.7

ist ein durch Simulation gewonnenes Diagramm und zeigt den Zusammenhang zwischen Trefferablage und maximalem Ruderauschlag als Funktion der Restflugzeit.

Fig.8

ist ein durch Simulation gewonnenes Diagramm und zeigt den Zusammenhang zwischen Trefferablage und gemessener Querbeschleunigung als Funktion der Restflugzeit.

Fig.9

ist ein Blockdiagramm und zeigt im Prinzip die Einbindung einer Direkttreffer-Prädiktion an der Schnittstelle zwischen Lenkeinheit und Zünder.

Fig.10

ist ein schematisches Blockdiagramm und veranschaulicht die Prädiktion der Trefferablage.

Fig.11

veranschaulicht ein zur Prädizierung der Trefferablage vorgesehenes "Fuzzy-Inferenz"-System.

Fig.12

veranschaulicht die Verzögerung der prädizierten Zielablage um die bei der Prädizierung vorausgesetzte Restflugzeit.

An embodiment of the invention is described below with reference to the accompanying drawings.

Fig.1

illustrates the definition of the hit deposit and the "critical hit deposit" with respect to a target detected by the finder of the guided missile.

Fig.2

illustrates the relative geometry guided missile target.

Figure 3

illustrates the relative speed missile

Figure 4

illustrates the approach geometry.

Figure 5

is a graph obtained by simulation and shows the relationship between hit-deposit and visual rotation rate as a function of the remaining flight time.

Figure 6

is a diagram obtained by simulation and shows the relationship between hit-deposit and visual spin as a function of the remaining flight time.

Figure 7

is a diagram obtained by simulation and shows the relationship between hit deposit and maximum rudder exchange as a function of the remaining flight time.

Figure 8

is a diagram obtained by simulation and shows the correlation between hit-deposit and measured lateral acceleration as a function of the remaining flight time.

Figure 9

is a block diagram showing, in principle, the inclusion of a direct hit prediction at the interface between the steering unit and detonator.

Figure 10

FIG. 12 is a schematic block diagram illustrating prediction of hit placement. FIG.

Figure 11

FIG. 11 illustrates a "fuzzy inference" system predicted for prediction of hit-placement. FIG.

Figure 12

illustrates the delay of the predicted target repository by the residual flight time assumed in the predication.

The guided missile contains an impact fuze, which responds to the target when the missile strikes directly and ignites the warhead inside the target, possibly with a very short ignition delay time. The guided missile continues to contain a proximity fuse. The proximity fuse responds when the guided missile has approached the target to a small distance. The proximity fuse also ignites when the guided missile does not hit the target directly but passes close to the target at a small distance. Here, the ignition usually takes place with a Zündverzugszeit. A detonating warhead of a guided missile has two effects, namely a pressure effect and a fragmentation effect. The effect of pressure is particularly noticeable if the warhead detonates within the target or in the immediate vicinity of the target. When detonating outside the target, a Destruction or damage to the target by the splinter effect done. If the missile scored a direct hit, so hit the target directly, then it is best if the warhead is ignited by the impact fuse. In a flyby, the ignition by the proximity fuse with such a Zündverzugszeit that results in a maximum fragmentation effect.

The approach point of the proximity fuse is often poorly defined. This response point may e.g. Depending on the type of target or on the direction from which the guided missile approaches the target. It may therefore happen that with early response of the proximity fuse and fixed ignition delay time the warhead is ignited before the missile occurs on the target, even if the missile would achieve a direct hit without this premature ignition. Then the effectiveness of the warhead would not be maximal and the probability of destruction reduced. For this case, a longer ignition delay time of the proximity fuse would be more favorable since it would allow the impact fuze to take effect. On the other hand, if the Zündverzugszeit the proximity fuse would be extended in this sense, then the ignition of the warhead could be too late in the case of a flyby, so that the splintering effect of the warhead is insufficient and again the probability of destruction is reduced.

For this reason, the ignition delay time is made dependent on the predicted hit deposit.

The "hit deposit" will be explained with reference to FIG.

In Fig. 1, 10 designates a target, here an enemy fighter aircraft, as seen by the image-resolving detector of the guided missile. This target has a "desired aimpoint". When the missile hits the desired point of impact directly, maximum effect of the warhead is guaranteed. This desired impingement point is designated 12 in FIG. The actual impact point now differs from the desired one Impact point 12 on distance and direction. That's the "hit deposit". The hit deposits are indicated in Fig.1 by circles 14. 16, 18 in the manner of a shooting target. If the point of impact is still within the inner circle 18, which determines a "critical hit deposit", there is still a direct hit, ie the missile strikes the target directly. For larger hit deposits, the guided missile can fly past the target 10. Then, the warhead is ignited by the proximity fuse, as shown by point 20 in FIG. However, a direct hit may also occur with the amount following larger hit deposits, as shown in FIG. 1 by point 22. In a flyby through the point 20, the ignition of the warhead by the proximity fuse with an optimal Zündverzugszeit, so that maximum fragmentation effect is achieved. Upon impact of the missile within the circle 18 or at point 22 of the impact fuze should be effective.

According to the invention, the point of impact is now predicted on the basis of observed influencing variables. This is explained with reference to Figures 2 to 4 for the influence variable "visual line rotation rate σ̇" for the planar case.

2 shows the relative geometry of guided missile 24 and target 26. The range vector R _P between guided missile 24 and target 26 at time t _r before reaching the target results from the relationship $${\underset{\mathrm{}}{\mathrm{R}}}_{\mathrm{p}}\mathrm{=}\underset{\mathrm{}}{\mathrm{R}}\mathrm{-}{\underset{\mathrm{}}{\mathrm{V}}}_{\mathrm{r}}{\mathrm{t}}_{\mathrm{r}}\mathrm{,}$$

wobei V _T die Zielgeschwindigkeit und V _M die Geschwindigkeit des Lenkflugkörpers ist. Die prädizierte Trefferablage ergibt sich als Minimum der Zielentfernung R _P, also als kleinster Abstand der Schwerpunkte von Lenkflugkörper und Ziel. Das ist in Fig.4 dargestellt. Diesen kleinsten Abstand erhält man durch Differentiation der Gleichung für die prädizierte Entfernung R _P und Nullsetzen. Daraus ergibt sich die Restflugzeit t_r bis zum Errreichen dieser kleinsten Entfernung zu $$t_r=\frac{\underline{R}{\underline{V}}_r}{{\left|{\underline{V}}_r\right|}^2}\mathrm{.}$$

Where R is the current distance of missile 24 and target 26, V _r is the relative velocity between missile 24 and target 26 and t _r is the remaining flight time. It is assumed that the missile and target continue to move unaccelerated during the short remaining flight time. The relative velocity V _r between guided missile 24 and target 26 is shown in FIG. $${\underset{\mathrm{}}{\mathrm{V}}}_{\mathrm{r}}\mathrm{=}{\underset{\mathrm{}}{\mathrm{V}}}_{\mathrm{T}}\mathrm{-}{\underset{\mathrm{}}{\mathrm{V}}}_{\mathrm{M}}\mathrm{.}$$

where V _{T is} the target speed and V _{M is} the speed of the missile. The predicted hit deposit results as a minimum of the target distance R _P , ie as the smallest distance of the focus of missile and target. This is shown in FIG. This smallest distance is obtained by differentiating the equation for the predicted distance R _P and zeroing. This results in the remaining flight time t _r until reaching this smallest distance $$t_r=\frac{\underset{}{R}{\underset{}{V}}_{\mathrm{<figure-callout\; id="2"\; label="r\; V\; r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r\; </figure-callout>}}}{{\left|{\underset{}{V}}_r\right|}^{}}\mathrm{,}$$

The relationship between the amount of the visual line turning rate σ̇ and the target distance R and the relative speed V _r is as follows: $$\dot{\mathit{\sigma }}=\frac{\left|\underset{}{R}\right|\left|{\underset{}{V}}_r\right|}{{\left|\underset{}{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">R</figure-callout>}}\right|}^2}\sin \mathit{\varsigma }\mathrm{,}$$

In this case, as in FIG. 4, the angle between the vectors of the target distance and the relative velocity is.

From the above equations results for the predicted hit storage | R _P | the expression $$\left|{\underset{}{R}}_p\right|=\frac{|\underset{}{R}{|}^2}{\left|{\underset{}{V}}_r\right|}\dot{\mathit{\sigma }}\mathrm{,}$$

It can be seen that the line of sight rotation rate σ̇ is zero when the relative velocity vector is directed directly at the target 26, that is, ζ = 0. In practice, however, the relative velocity _vector V _r always becomes a certain one Have false angle ζ with respect to the target 26. At a certain error angle ζ, the line-of-sight rotation rate increases in inverse proportion to the residual distance | R | at.

The predicted hit storage | R _P | rises at a given residual distance | R | proportional to the line of sight rotation rate. A strong increase of the visual line turn rate σ̇ shortly before the hit indicates a larger hit deposit.

The above considerations have been simplified for the plane fall and the sight line rotation rate σ̇. One can determine the dependence of the hit deposit of different influencing variables by six-dimensional simulation and use it for the prediction of the hit deposit from measured influencing variables. By means of the simulation, a multitude of encounter situations are investigated on a statistical basis, in which the missile and target movements are reproduced in detail. Out of this multitude of encounter situations, the connections are gained.

FIG. 5 shows such a relationship, obtained from a six-dimensional simulation, between hit-deposit and visual line rotation rate as a function of the remaining flight time. The horizontal coordinates in Fig. 5 are remaining flight time and hit deposit. The vertical coordinate is the mean line of sight rotation rate. FIG. 5 clearly shows the expected almost linear increase in the visual line rotational rate as a function of the hit deposit.

FIG. 6 shows the relationship between hit deposit and line-of-sight rotation acceleration, which is likewise obtained from a six-dimensional simulation. The line-of-sight rotation acceleration σ̈ shows a marked increase only for small residual flight times t _r . However, this increase is very clear for larger hit deposits.

Figures 5 and 6 show steering-specific parameters determined by the relative movement of guided missile 24 and target 26 as indicators of the size of the hit deposit. However, there may also be missile-specific parameters indicators for the size of the hit deposit. For example, a non-perfectly adjusted autopilot can give rise to restless flight behavior of the guided missile, which in turn can lead to larger hit deposits. Likewise, an operation of the guided missile at the limits of its aerodynamic or flight mechanical performance can be used as an indicator of a tendency for a larger hit deposit. Such an operation can be characterized by high angles of attack, large rudder deflections or high lateral accelerations. These influences will be referred to as "stress factors" below.

FIG. 7 shows the relationship between hit deposit and rudder deflection, likewise obtained by six-dimensional simulation, as a function of the remaining flight time. Large rudder deflections usually occur in connection with large angles of attack, large lateral accelerations or large turning rates. Figure 7 shows that large rudder deflections, especially when they reach the maximum rudder ratio, are associated with larger hit deposits.

Finally, FIG. 8 shows the similar relationship between hit-deposit and measured lateral acceleration as a function of the remaining flight time. The horizontal coordinates in Figure 8 are remaining flight time and hit deposit. The vertical coordinate is the measured average lateral acceleration of the guided missile. High lateral acceleration indicates that the encounter occurs at the limit of steering missile performance, e.g. near the inner firing range boundary. Depending on the flight condition, the high lateral acceleration may also be associated with a large angle of incidence of the missile. The lateral acceleration also shows, according to FIG. 8, a clear correlation with the hit deposit, which increases for high lateral accelerations, and with the remaining flight time.

The various influencing variables, on the one hand the steering-specific parameters such as visual line turning rate σ̇ and line-of-sight rotation acceleration σ̈ and on the other hand the missile-specific parameters such as rudder deflection and lateral acceleration are, as shown in FIG. 9, switched to a hit prediction factor 28. In the embodiment of Fig. 9, the hit-store predictor is also the Residual flight time ("time-to-go") switched, which is estimated by image processing a viewfinder image of the seeker head of the missile. This is a way of taking into account the remaining flight time. The hit-list predictor 28 predicts either a direct hit with a signal at an output 30 or a near fly-by with a signal at an output 32 based on the measured steering-specific and missile-specific input parameters. The signals at the outputs 30 and 32 are connected to an igniter section 34. The igniter portion 34 includes a proximity fuze that responds to the target as the missile approaches. This is indicated by an input 36 "target detection". Associated with the proximity fuse is a first ignition delay time table 38 which provides a relatively long first ignition delay time for the proximity fuse. This ignition delay time table 38 takes effect when the hit-store predictor at the output 30 signals a direct hit. The proximity sensor is also associated with a second ignition delay time table 40 which provides a shorter, second ignition delay time for the proximity sensor. The first Zündverzugszeit is chosen so long that the impact fuze of the missile can be effective before an ignition of the warhead can be done via the proximity sensor. This ensures that the warhead can not be prematurely ignited before the missile hits the target via the proximity sensor. This could happen if the proximity sensor responds very early and the ignition delay time is set relatively short. The second ignition delay time is shorter than the first ignition delay time. This second Zündverzugszeit is chosen so that in a flyby of the missile at the target by splinter effect maximum destruction is achieved at the destination.

Depending on the predicted hit deposit, an ignition pulse is generated at an output 42, whose ignition delay time corresponds to the direct hit or the flyby in the sense described above.

Fig. 10 is a block diagram showing the formation of the "direct hit" and "fly by" signals at the outputs 30 and 32. As already stated, the measurement or estimation of the residual flight time needed to determine the hit deposit presents difficulties. Instead, as in Fig.9, this residual flight time from the To estimate image processing and to apply it to the predictor 28 as a measured variable, in the preferred embodiment of FIG. 10, an estimation of the hit deposit is always carried out in parallel for various specified residual flight times, the current parameters being used as the basis. The thus estimated hit deposits are delayed by the predetermined residual flight time used in the estimation. When the proximity sensor responds then estimates of the hit deposit are available, for example based on the determined half a second influencing factors and in this estimation of the hit deposit based on a residual flight time of half a second based on the determined before a quarter of a second influencing factors and at Based on this estimation of the hit deposit a residual flight time of a quarter of a second, etc. From the all on the response time of the approaching fuse related and thus comparable hit deposits a weighted average is formed. Estimates based on shorter residual flight times may be weighted more heavily.

The influencing variables or parameters described with reference to FIGS. 5 to 8 give indications of the expected hit deposit. However, the hit storage can not be easily calculated from this according to a specific algorithm. For this reason, the estimation of the hit deposit takes place on the basis of the influencing variables and the assumed residual flight time by means of "fuzzy inference systems". This is shown in FIG. 11. The influencing variables are converted into linguistic variables such as "large", "medium", "small" by means of membership functions. Since the membership functions usually overlap, a certain value of an influence variable with certain percentages ("membership factors") can be assigned to different linguistic variables, ie about 75% "big" and 25% "medium". The linguistic quantities are processed according to given inference rules of the form "if ..., then ..". The results of the inference are linked according to the membership factors. This results in a numerical output variable due to the "defuzzification". This is a known technique.

In Fig. 10, a plurality of such "fuzzy inference systems" 44.1, 44.2 ... 44.m are provided. Each of these fuzzy inference systems is constantly updated from the current ones Influences influencing factors and requires an associated predetermined residual flight time t _r1 , t _r2 ... t _rn ahead. As described, the fuzzy inference systems deliver numerical output variables in the form of predicted hit records at outputs 46.1, 46.2 ... 46.m. By shift registers 48.1, 48.2, ... 48.m the output quantities are each delayed by the associated remaining flight time t _r1 , t _r2 ... t _rn . At outputs 50.1, 50.2 ... 50.m, temporally comparable predicted hit deposits w1, w2,... Wm are then available with regard to the remaining flight times. These predicted matchlines are summed in a summation point 52 weighted. The weighted sum is applied to an evaluation circuit 54. The evaluation circuit 54 then provides the signals "direct hit" or "flyby" at the outputs 30 and 32, as explained with reference to FIG.

FIG. 11 schematically shows one of the fuzzy inference systems shown in FIG.

The fuzzy inference system, eg44.1, has inputs 56.1, 56.2 ... 56.n for the various steering-specific or missile-specific influencing variables or parameters. Furthermore, the fuzzy inference system includes an input 58, to which a predetermined, the respective fuzzy inference system associated residual flight time t _r1 , ... is switched. Each input is, as shown in Fig. 11 for input 56.1 is shown in full, connected in parallel to sorting members 60, through which the applied input variable, for example, the visual line rotation rate σ̇, determined by a membership function membership factor of a linguisischen size "small", " medium or large. The linguistic variables thus obtained are applied to a rule bank 62. In the rule bank 62, rules are stored in the form "if ... then ...", for example a rule: if (t _r = { small } and σ̇ = { small }), then (hit store = { small }). All the rules mentioned, ie all rules in which parameters appear as linguistic quantities with a membership factor, provide linguistic quantities with membership factors that result from the membership factors of the occurring parameters. This is illustrated in FIG. 11 by block 64. The results of the different rules are combined summarized and deliver again a numerical value. This is illustrated in FIG. 11 by a block 66 "defuzzification" with an output 46.1.

Fig. 12 shows a shift register for delaying the predicted hit deposit by a residual flight time, e.g. corresponds to the shift register 48.1 of Fig.10.

The shift register 48.1 contains registers 68.1, 68.2 ... 68.p. In the register 68.1 with bits 1 to k of the fuzzy inference system 44.1 of the output 46.1 of the same current value of the predicted hit storage read. The shift register 48.1, like the other shift registers, is driven by a memory clock at a clock input 70. The respective current predicted hit storage from the fuzzy inference system 44.1 is read into the register 68.1 as a memory word. By a clock pulse, this memory word is transferred from the register 68.1 in the register 68.2. The previously stored in the register 68.2 memory word is simultaneously transferred to the next register 68.3, etc., while in the register 68.1, the new current predicted match storage is read. After p clock pulses which correspond to the specified remaining flight time, the memory word read into the register 68.1 has arrived in the register 68p and is available there for readout as delayed, predicted hit storage w1 (FIG. 10).

Claims (20)

1. Method for initiation of a warhead in target-tracking guided missiles (24) which have an impact fuze and a proximity fuze, which respond when the missile (24) is in the vicinity of a target, with detonation of the warhead being initiated by the impact fuze when the missile (24) strikes the target and being initiated by the proximity fuze with an initiation delay time following the response of the proximity fuze,
   characterized by the following method steps:

   a) detection of guidance-specific or missile-specific parameters as influencing variables which are governing factors for a direct hit or for a fly-past during the flight of the guided missile (24), and

   b) setting of the initiation delay time as a function of such influencing variables.
2. Method according to Claim 1,
   characterized in that .

   a) a predicted hit offset is determined from the detected influencing variables, and

   b) the initiation delay time is set on the basis of the hit offset predicted in this way.
3. Method according to Claim 2,
   characterized in that,
   if the predicted hit offset leads to the expectation of a direct hit, an initiation delay time is set which is sufficiently long that the warhead can be initiated by the impact fuze when the guided missile (24) strikes the target.
4. Method according to Claim 2 or 3,
   characterized in that,
   if the predicted hit offset leads to the expectation that the guided missile (24) will fly past the target, an initiation delay time is set which is optimized for the effectiveness of the warhead being detonated alongside the target.
5. Method according to one of Claims 2 to 4,
   characterized in that
   the relationship between the hit offset and the influencing variables, and the remaining flight time of the guided missile (24), is determined by simulation, and is stored.
6. Method according to one of Claims 1 to 5,
   characterized in that
   the influencing variables comprise those variables such as the line of sight rotation rate which result from the geometry of the target and guided missile (24).
7. Method according to one of Claims 1 to 6,
   characterized in that
   the influencing variables comprise missile-specific variables such as control-surface deflection or lateral acceleration.
8. Method according to one of Claims 4 to 6,
   characterized in that
   the remaining flight time is obtained from image processing of a target image produced by an image-resolving search head of the guided missile (24).
9. Method according to Claim 2,
   characterized in that

   a) a predicted hit offset is determined continuously from the influencing variables for a predetermined remaining flight time, and

   b) the hit offset predicted in this way for a specific remaining flight time is produced, delayed by this remaining flight time, in order to determine the initiation delay time for response of the proximity fuze.
10. Method according to Claim 9,
    characterized in that

    a) associated predicted hit offsets are determined from the influencing variables in parallel for different remaining flight times,

    b) each predicted hit offset determined for a remaining flight time is produced, delayed by this associated remaining flight time, for determination of the initiation delay time for response of the proximity fuze, and

    c) a mean or weighted mean of the predicted hit offsets produced with a time delay is formed for determination of the initiation delay time.
11. Apparatus for initiation of a warhead for target-tracking guided missiles (24) which have an impact fuze and a proximity fuze for initiation of the warhead, with the proximity fuze responding on approaching the target, and initiating the detonation of the warhead with an initiation delay with respect to the response of the proximity fuze,
    characterized in that
    the following are provided:

    a) means for detection of guidance-specific or missile-specific parameters as influencing variables which are governing factors for a direct hit or for a fly-past during the flight of the guided missile (24), and

    b) setting means (38, 40) for setting the initiation delay time of the proximity fuze as a function of such influencing variables.
12. Apparatus according to Claim 11,
    characterized by
    means for determining a predicted hit offset from the influencing variables determined in this way, with the setting means being adjustable on the basis of the predicted hit offset determined in this way.
13. Apparatus according to Claim 12,
    characterized in that

    a) if the predicted hit offset leads to the expectation of a direct hit, the setting means (38, 40) can set an initiation delay time which is sufficiently long that the warhead can be initiated by the impact fuze when the guided missile (24) strikes the target (26), and

    b) if the predicted hit offset leads to the expectation that the guided missile (24) will fly past the target (26), the setting means can set an initiation delay time which is optimized for the effectiveness of the warhead being detonated alongside the target.
14. Apparatus according to Claim 13,
    characterized by
    storage means which are used to store the relationship, determined by simulation, between the hit offset and the influencing variables, and the remaining flight time of the guided missile (24).
15. Apparatus according to one of Claims 12 to 14,
    characterized in that
    the means for detection of the influencing variables

    a) comprise means for detection of guidance-specific variables such as the line of sight rotation rate, which results from the geometry of the target and the guided missile, and

    b) comprise means for detection of guided-missile-specific variables such as the control-surface deflection or lateral accelerations.
16. Apparatus according to Claim 13,
    characterized by

    a) an image-resulting search head for the guided missile, which produces a target image, and

    b) image-processing means for estimation of the remaining flight time from the change in the size of the target image.
17. Apparatus according to one of Claims 12 to 14,
    characterized by

    a) means (44.1) for determination of the hit offset from the influencing variables for a predetermined remaining flight time, and

    b) delay means (48.1), by means of which the hit offset predicted for the predetermined remaining flight time, delayed by this remaining flight time, can be produced in order to determine the initiation delay time for response of the proximity fuze.
18. Apparatus according to Claim 17,
    characterized in that

    a) the means (44.1, 44.2 ...) for determination of the hit offset from the influencing variables are provided a plurality of times in parallel channels, with the influencing variables being applied to each channel, and with predicted hit offsets for different remaining flight times being determined in the channels,

    b) delay means (48.1, 48.2 ...) being provided, by means of which each hit offset predicted in this way for a specific remaining flight time can be produced, delayed by this remaining flight time, for determination of the initiation delay time for response of the proximity fuze.
19. Apparatus according to Claim 18,
    characterized in that
    the predicted hit offsets, which are produced with a time delay, for determination of the initiation delay time are applied to means (52) for formation of a weighted mean of the predicted hit offsets produced with a time delay.
20. Apparatus according to one of Claims 11 to 19,
    characterized in that
    the means for determination of the hit offset are formed from the influencing variables for a fuzzy-inference system.

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