JP2011112284A - Orbital estimation system - Google Patents

Orbital estimation system Download PDF

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JP2011112284A
JP2011112284A JP2009269242A JP2009269242A JP2011112284A JP 2011112284 A JP2011112284 A JP 2011112284A JP 2009269242 A JP2009269242 A JP 2009269242A JP 2009269242 A JP2009269242 A JP 2009269242A JP 2011112284 A JP2011112284 A JP 2011112284A
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observation direction
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infrared sensor
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JP5235848B2 (en
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Takeshi Kuroda
健 黒田
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Mitsubishi Electric Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To obtain an orbital estimation system improving orbital estimation accuracy of a rocket. <P>SOLUTION: The trajectory estimation system includes: an infrared ray sensor 1; an orbital estimation device 2 using the observation direction detected by the infrared sensor 1 as input information; a database 4 estimating and computing a plume shape by using the estimated position and estimated speed by the orbital estimation device 2 and the radiation intensity detected by the infrared ray sensor 1 as input information; and an observation direction correction device 3 calculating a corrected observation direction by using the observation direction, estimated position, estimated speed and plume shape of an observation target as input information. The plume shape of the observation target depending on a flight condition is estimated and computed by the database 4, and by the observation direction correction device 3, the corrected observation direction in which a deviation between the observation direction of the infrared ray sensor 1 and an airframe reference point caused by the plume shape is reduced is acquired. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

この発明は、衛星に搭載された赤外線センサを用いて観測対象（推力飛行するロケットなど）を探知追尾する軌道推定システムに関し、特に、観測方向に基づいて観測対象の軌道を推定する軌道推定システムに関するものである。   The present invention relates to a trajectory estimation system that detects and tracks an observation target (such as a rocket flying by thrust) using an infrared sensor mounted on a satellite, and more particularly to a trajectory estimation system that estimates a trajectory of an observation target based on an observation direction. Is.

従来の軌道推定システムとして、ジンバル（Ｇｉｍｂａｌ）で支持された赤外線センサを用いてジェット機を探知追尾する飛翔体誘導装置が知られている（たとえば、特許文献１参照）。
上記特許文献１に記載の従来装置においては、プルーム（赤外線放射面光源であるエンジン排気）の代表点を追尾点とし、ジンバル首振り角の時間変化率に比例して、ジェット機の進行方向にオフセット角を与えることにより、赤外線センサの追尾点であるプルーム代表点と、ジェット機基準点（機体の重要部位）と、の観測方向のずれを軽減している。 As a conventional trajectory estimation system, a flying object guidance apparatus that detects and tracks a jet using an infrared sensor supported by a gimbal is known (see, for example, Patent Document 1).
In the conventional device described in Patent Document 1, the representative point of the plume (engine exhaust which is an infrared radiation surface light source) is used as a tracking point, and is offset in the traveling direction of the jet in proportion to the time change rate of the gimbal swing angle. By providing the angle, the deviation of the observation direction between the plume representative point that is the tracking point of the infrared sensor and the jet plane reference point (an important part of the aircraft) is reduced.

ただし、この場合、観測対象は、大気中を飛行するジェット機であって、プルーム形状（赤外線放射面光源の空間分布）の大きさ（約１０メートル）が限られていることを前提としている。
これに対し、地上から大気圏外までを飛行するロケットなどの場合には、プルーム形状が１０メートル〜１０キロメートルの範囲で大きく変化するので、上記従来装置を用いても、大きく時間変化するプルーム形状に起因するプルーム代表点とロケット機体基準点との観測方向のずれを適切に補正することはできない。 However, in this case, it is assumed that the observation target is a jet flying in the atmosphere, and the plume shape (the spatial distribution of the infrared radiation surface light source) has a limited size (about 10 meters).
On the other hand, in the case of a rocket flying from the ground to the outside of the atmosphere, the plume shape changes greatly in the range of 10 meters to 10 kilometers. Therefore, even if the conventional device is used, the plume shape changes greatly with time. The deviation of the observation direction between the plume representative point and the reference point of the rocket body cannot be corrected appropriately.

特開平１−３１０３００号公報JP-A-1-310300

従来の軌道推定システムは、たとえば特許文献１に記載の技術の場合には、大気中を飛行するジェット機を観測対象としているので、地上から大気圏外まで飛行することからプルーム形状が大きく変化するロケットに対しては、観測方向のずれを適切に補正することができず、ずれを含む観測方向をロケット機体基準点への観測方向として用いると軌道推定精度が劣化するという課題があった。   In the conventional orbit estimation system, for example, in the case of the technique described in Patent Document 1, since the jet aircraft flying in the atmosphere is an observation target, the plume shape changes greatly from flying from the ground to the outside of the atmosphere. On the other hand, the observation direction deviation cannot be corrected appropriately, and there is a problem that the orbit estimation accuracy deteriorates when the observation direction including the deviation is used as the observation direction to the rocket airframe reference point.

この発明は、上記のような課題を解決するためになされたものであり、プルーム形状が大きく時間変化する観測対象（ロケットなど）の場合でも、赤外線センサによる観測方向に基づいて、観測対象の軌道を高精度に推定可能な軌道推定システムを得ることを目的とする。   The present invention has been made to solve the above-described problems. Even in the case of an observation target (such as a rocket) whose plume shape greatly changes over time, the trajectory of the observation target is based on the observation direction of the infrared sensor. The objective is to obtain a trajectory estimation system capable of estimating

この発明に係る軌道推定システムは、赤外線センサと、赤外線センサで検出した観測対象の観測方向を入力情報として、観測対象の推定位置および推定速度を推定演算する軌道推定装置と、推定位置および推定速度と、赤外線センサで検出した観測対象のプルームの放射強度とを入力情報として、観測対象のプルーム形状を推定演算するデータベースと、観測方向、推定位置、推定速度およびプルーム形状を入力情報として、補正観測方向を算出する観測方向補正装置とを備え、軌道推定装置は、補正観測方向を入力情報として、観測対象の推定位置および推定速度を推定演算するものである。   A trajectory estimation system according to the present invention includes an infrared sensor, a trajectory estimation device that estimates and calculates an estimated position and an estimated speed of an observation object, using an observation direction of the observation object detected by the infrared sensor as input information, an estimated position and an estimated speed And the observed intensity of the plume detected by the infrared sensor as input information, a database for estimating the plume shape of the observation object, and the corrected observation using the observation direction, estimated position, estimated speed and plume shape as input information The trajectory estimation device includes an observation direction correction device that calculates a direction, and estimates and calculates an estimated position and an estimated speed of an observation target using the corrected observation direction as input information.

この発明によれば、プルーム形状を推定演算するデータベースを設けることにより、観測対象（ロケット）の位置や速度によるプルーム形状の変化に影響されることなく、観測対象の機体基準点への観測方向を高精度に取得することができ、軌道推定精度を改善させることができる。   According to the present invention, by providing a database for estimating and calculating the plume shape, the observation direction to the aircraft reference point of the observation target can be determined without being affected by the change in the plume shape due to the position and speed of the observation target (rocket). It can be acquired with high accuracy, and the trajectory estimation accuracy can be improved.

この発明の実施の形態１に用いられる赤外線センサを搭載した衛星と観測対象との関係を示す説明図である。It is explanatory drawing which shows the relationship between the satellite carrying the infrared sensor used for Embodiment 1 of this invention, and an observation object. 一般的なロケットの飛行条件によるロケットプルーム形状変化を示す説明図である。It is explanatory drawing which shows the rocket plume shape change by the flight conditions of a general rocket. この発明の実施の形態１に係る軌道推定システムを示す機能ブロック図である。It is a functional block diagram which shows the track | orbit estimation system which concerns on Embodiment 1 of this invention. この発明の実施の形態２に係る軌道推定システムを示す機能ブロック図である。It is a functional block diagram which shows the orbit estimation system which concerns on Embodiment 2 of this invention.

実施の形態１．
図１はこの発明の実施の形態１に用いられる赤外線センサを搭載した衛星１０と観測対象１１との関係を示す説明図である。
図１において、赤外線センサ（後述する）を搭載した衛星１０は、観測対象１１（以下、代表的に「ロケット」ともいう）のプルームＰ（赤外線放射面光源）を観測する。観測対象１１は、地球１２の大気Ａの圏内および圏外を推進可能である。
衛星１０は、目視線ＢをプルームＰの観測方向として、プルームＰの放射強度を時刻歴でリアルタイムに観測する。 Embodiment 1 FIG.
FIG. 1 is an explanatory diagram showing the relationship between a satellite 10 on which an infrared sensor used in Embodiment 1 of the present invention is mounted and an observation object 11.
In FIG. 1, a satellite 10 equipped with an infrared sensor (described later) observes a plume P (infrared radiation surface light source) of an observation object 11 (hereinafter also referred to as “rocket” typically). The observation object 11 can be propelled within and outside the atmosphere A of the earth 12.
The satellite 10 observes the radiant intensity of the plume P in real time in the time history with the visual line B as the observation direction of the plume P.

図２は一般的なロケットの飛行条件によるプルーム（２次火炎）形状変化を示す説明図であり、地上から打ち上げられてから、大気圏外に到達するまでのプルーム形状を時系列的（矢印参照）に示している（たとえば、公知文献『Ｔｈｅ Ａｅｒｏｓｐａｃｅ Ｐｒｅｓｓ刊、Ｆｒｅｄｅｒｉｃｋ Ｓ．Ｓｉｍｍｏｎｓ著「Ｒｏｃｋｅｔ Ｅｘｈａｕｓｔ Ｐｌｕｍｅ Ｐｈｅｎｏｍｅｎｏｌｏｇｙ」（ＩＳＢＮ １−８８４９８９−０８−Ｘ）の第２６頁Ｆｉｇ．２．７』参照）。   Fig. 2 is an explanatory diagram showing changes in the plume (secondary flame) shape due to the flight conditions of a general rocket. The plume shape from launching from the ground to reaching the outside of the atmosphere is shown in time series (see arrows). (See, for example, page 26, FIG. 2.7 of “Rocket Exhaust Plum Phenomenology” published by The Aerospace Press, published by Frederick S. Simons, ISBN 1-884989-08-X).

図２において、２次火炎の直径Ｄは、地上からの打ち上げ直後においては、１０ｍ〜１００ｍ程度であり、高度が上昇するにつれて、０．１ｋｍ〜１ｋｍ、１ｋｍ〜１０ｋｍ、へと順次に大きくなり、大気圏外に到達すると、所要推力が小さくなるうえ酸素も存在しないので、１ｍ〜１０ｍ程度（破線領域参照）に減少する。
なお、プルーム形状および放射強度において、ロケット推力、プルームＰの放射強度、および、プルームＰの長さ、の３つのパラメータの間には、正の相関性がある。 In FIG. 2, the diameter D of the secondary flame is about 10 m to 100 m immediately after launching from the ground, and gradually increases from 0.1 km to 1 km, 1 km to 10 km as the altitude increases. When it reaches the outside of the atmosphere, the required thrust becomes small and oxygen does not exist, so it decreases to about 1 m to 10 m (see the broken line area).
In the plume shape and the radiation intensity, there is a positive correlation among the three parameters of the rocket thrust, the plume P radiation intensity, and the plume P length.

以下、図１および図２とともに、図３を参照しながら、この発明の実施の形態１について詳細に説明する。
図３はこの発明の実施の形態１に係る軌道推定システムを示す機能ブロック図であり、衛星１０に搭載されたコンピュータ（または、衛星１０との間で相互通信可能な地上局に設置されたコンピュータ）により実行されるアルゴリズムを図式的に示している。
図３において、軌道推定システムは、赤外線センサ１と、軌道推定装置２と、観測方向補正装置３と、データベース４と、切替スイッチ５と、航法装置６と、を備えている。 Hereinafter, the first embodiment of the present invention will be described in detail with reference to FIG. 3 together with FIG. 1 and FIG.
FIG. 3 is a functional block diagram showing the orbit estimation system according to Embodiment 1 of the present invention. The computer installed in the satellite 10 (or the computer installed in the ground station capable of mutual communication with the satellite 10). ) Schematically shows the algorithm executed by
In FIG. 3, the trajectory estimation system includes an infrared sensor 1, a trajectory estimation device 2, an observation direction correction device 3, a database 4, a changeover switch 5, and a navigation device 6.

赤外線センサ１は、観測対象１１（目標ロケット）に対する観測方向と、目標ロケットのプルームＰの放射強度とを観測する。観測方向および放射強度は、それぞれ時間歴として取得される。
軌道推定装置２は、赤外線センサ１で検出した観測対象１１の観測方向を入力情報として、観測対象１１の推定軌道（推定位置および推定速度）を推定演算する。 The infrared sensor 1 observes the observation direction with respect to the observation target 11 (target rocket) and the radiation intensity of the plume P of the target rocket. The observation direction and the radiation intensity are each acquired as a time history.
The trajectory estimation apparatus 2 estimates and calculates the estimated trajectory (estimated position and estimated speed) of the observation target 11 using the observation direction of the observation target 11 detected by the infrared sensor 1 as input information.

データベース４は、観測対象１１の推定位置および推定速度と、赤外線センサ１で検出した観測対象１１のプルームＰの放射強度とを入力情報として、観測対象１１のプルーム形状を推定演算する。   The database 4 estimates the plume shape of the observation target 11 using the estimated position and speed of the observation target 11 and the radiation intensity of the plume P of the observation target 11 detected by the infrared sensor 1 as input information.

観測方向補正装置３は、観測対象１１の観測方向、推定位置、推定速度およびプルーム形状を入力情報として、時刻歴からなる補正観測方向を算出する。
切替スイッチ５は、赤外線センサ１からの観測方向と、観測方向補正装置３を介した補正観測方向と、のいずれか一方を選択して、軌道推定装置２に入力する。 The observation direction correction device 3 calculates a corrected observation direction composed of a time history using the observation direction, estimated position, estimated speed, and plume shape of the observation target 11 as input information.
The changeover switch 5 selects one of the observation direction from the infrared sensor 1 and the corrected observation direction via the observation direction correction device 3 and inputs the selected one to the trajectory estimation device 2.

１回目の軌道推定処理においては、切替スイッチ５は、図示したように左接点（初期位置）に設定されており、赤外線センサ１から直接得られる観測方向を、軌道推定装置２への入力情報として選択する。
したがって、軌道推定装置２は、赤外線センサ１からの観測方向を用いて軌道推定処理を行い、概略的な推定軌道を算出する。 In the first trajectory estimation process, the change-over switch 5 is set to the left contact point (initial position) as shown, and the observation direction obtained directly from the infrared sensor 1 is used as input information to the trajectory estimation device 2. select.
Therefore, the trajectory estimation device 2 performs trajectory estimation processing using the observation direction from the infrared sensor 1 and calculates a rough estimated trajectory.

次に、２回目の軌道推定処理においては、データベース４は、１回目の軌道推定処理で得られた概略的な推定軌道（推定位置および推定速度）と、赤外線センサ１で検出したプルームＰの放射強度とを入力情報として、プルーム形状を推定演算し、プルーム形状の推定値を観測方向補正装置３に入力する。   Next, in the second trajectory estimation process, the database 4 stores the rough estimated trajectory (estimated position and estimated speed) obtained in the first trajectory estimation process and the emission of the plume P detected by the infrared sensor 1. The plume shape is estimated using the intensity as input information, and the estimated value of the plume shape is input to the observation direction correction device 3.

また、上記処理と並行して、航法装置６は、赤外線センサ１を搭載した衛星１０の位置を観測方向補正装置３に入力する。
この結果、観測方向補正装置３は、データベース４からのプルーム形状と、赤外線センサ１からの観測方向と、軌道推定装置２からの概略的な推定軌道とを入力情報として、補正観測方向を算出することになる。 In parallel with the above processing, the navigation device 6 inputs the position of the satellite 10 on which the infrared sensor 1 is mounted to the observation direction correction device 3.
As a result, the observation direction correction device 3 calculates the corrected observation direction using the plume shape from the database 4, the observation direction from the infrared sensor 1, and the rough estimated trajectory from the trajectory estimation device 2 as input information. It will be.

このとき、切替スイッチ５は、コンピュータの制御下で、左接点（図示した状態）から右接点に切替えられ、観測方向補正装置３からの補正観測方向を、軌道推定装置２への入力情報として選択する。
これにより、軌道推定装置２は、軌道推定処理を再び実行して、精密な推定軌道を算出する。 At this time, the changeover switch 5 is switched from the left contact point (the state shown in the figure) to the right contact point under the control of the computer, and selects the corrected observation direction from the observation direction correction device 3 as input information to the trajectory estimation device 2. To do.
Thereby, the trajectory estimation apparatus 2 executes the trajectory estimation process again to calculate a precise estimated trajectory.

このように、軌道推定装置２は、１回目の軌道推定処理においては、初期設定位置の切替スイッチ５を介して、赤外線センサ１からの観測方向を入力情報とし、概略的な軌道を推定演算し、２回目の軌道推定処理においては、切替動作された切替スイッチ５を介して、観測方向補正装置３からの補正観測方向を入力情報とし、精密な軌道を推定演算する。   Thus, in the first trajectory estimation process, the trajectory estimation device 2 estimates and calculates a rough trajectory using the observation direction from the infrared sensor 1 as input information via the switch 5 for the initial setting position. In the second orbit estimation process, a precise orbit is estimated and calculated using the corrected observation direction from the observation direction correction apparatus 3 as input information via the changeover switch 5 that has been switched.

このとき、２回目の軌道推定処理において、観測方向補正装置３は、１回目の概略的な軌道の推定演算値（ロケットの飛行高度および飛行速度）とプルームＰの放射強度とを用いて得られたデータベース４からのプルーム形状（推定演算値）と、プルームＰの長手方向の向き（ロケットの速度ベクトル方向）と、航法装置６から得られた赤外線センサ１の位置とを用いて、高精度の補正観測方向を算出して軌道推定装置２に入力する。   At this time, in the second orbit estimation process, the observation direction correction apparatus 3 is obtained using the first rough orbit estimation calculation value (the flight altitude and the flight speed of the rocket) and the radiation intensity of the plume P. Using the plume shape (estimated calculation value) from the database 4, the longitudinal direction of the plume P (the velocity vector direction of the rocket), and the position of the infrared sensor 1 obtained from the navigation device 6, high-precision The corrected observation direction is calculated and input to the trajectory estimation apparatus 2.

すなわち、切替スイッチ５の動作により、１回目の概略軌道の推定演算に続いて、２回目の精密軌道の推定演算を行い、２段階の軌道推定処理を行う。
これにより、ロケットの飛行条件（位置や速度）によって、図２のようにプルーム形状が大きく変化しても、プルーム形状を補正して、ロケット機体基準点への観測方向が高精度に得られるようになり、軌道推定精度を改善することができる。 That is, by the operation of the changeover switch 5, following the first approximate trajectory estimation calculation, the second precision trajectory estimation calculation is performed, and two-step trajectory estimation processing is performed.
Thus, even if the plume shape changes greatly as shown in FIG. 2 depending on the flight conditions (position and speed) of the rocket, the plume shape is corrected so that the observation direction to the rocket airframe reference point can be obtained with high accuracy. Thus, the accuracy of trajectory estimation can be improved.

なお、図３においては、衛星１０の位置を航法装置６から出力しているが、衛星１０が静止衛星である場合には、位置が一定なので、衛星１０の一定位置を既知として用いることができる。   In FIG. 3, the position of the satellite 10 is output from the navigation device 6. However, when the satellite 10 is a geostationary satellite, the position is constant, so that the fixed position of the satellite 10 can be used as known. .

以上のように、この発明の実施の形態１（図１〜図３）に係る軌道推定システムは、赤外線センサ１と、赤外線センサ１で検出した観測対象１１の観測方向とを入力情報として、観測対象１１の推定位置および推定速度を推定演算する軌道推定装置２と、推定位置および推定速度と、赤外線センサ１で検出した観測対象１１のプルームＰの放射強度とを入力情報として、観測対象１１のプルーム形状を推定演算するデータベース４と、観測方向、推定位置、推定速度およびプルーム形状を入力情報として、補正観測方向を算出する観測方向補正装置３と、を備え、軌道推定装置２は、補正観測方向を入力情報として、観測対象１１の推定位置および推定速度を推定演算する。   As described above, the trajectory estimation system according to Embodiment 1 (FIGS. 1 to 3) of the present invention uses the infrared sensor 1 and the observation direction of the observation target 11 detected by the infrared sensor 1 as input information. The trajectory estimation device 2 that estimates and calculates the estimated position and estimated speed of the object 11, the estimated position and estimated speed, and the radiation intensity of the plume P of the observed object 11 detected by the infrared sensor 1 are used as input information. The trajectory estimation device 2 includes a database 4 for estimating and calculating a plume shape, and an observation direction correction device 3 for calculating a corrected observation direction using the observation direction, estimated position, estimated speed, and plume shape as input information. Using the direction as input information, the estimated position and estimated speed of the observation object 11 are estimated and calculated.

データベース４は、赤外線センサ１による観測方向（プルーム代表点とロケット機体基準点との観測方向のずれを軽減処理する前の観測方向）に基づく概略的な推定位置（ロケット位置）および推定速度（速度ベクトル）と、赤外線センサ１からの放射強度とを入力情報として、プルーム形状を推定演算して観測方向補正装置３に入力する。
これにより、観測方向補正装置３は、赤外線センサ１による観測方向を、プルーム形状に応じて、機体基準点への観測方向のずれが軽減するように補正する。 The database 4 includes a rough estimated position (rocket position) and estimated speed (speed) based on the observation direction by the infrared sensor 1 (observation direction before reducing the deviation of the observation direction between the plume representative point and the rocket body reference point). The plume shape is estimated and input to the observation direction correction apparatus 3 using the vector) and the radiation intensity from the infrared sensor 1 as input information.
Thereby, the observation direction correction apparatus 3 corrects the observation direction by the infrared sensor 1 so as to reduce the deviation of the observation direction to the airframe reference point according to the plume shape.

したがって、この発明の実施の形態１によれば、ロケットの位置や速度によりプルーム形状が大きく変化しても、データベース４で推定演算されたプルーム形状に基づいて観測方向のずれを軽減させ、観測対象１１（ロケット）の位置や速度によるプルーム形状の変化に影響されることなく、ロケット機体基準点への観測方向が高精度に取得して、軌道推定精度を改善することができる。   Therefore, according to Embodiment 1 of the present invention, even if the plume shape changes greatly depending on the position and speed of the rocket, the deviation in the observation direction is reduced based on the plume shape estimated by the database 4, and the observation target The observation direction to the rocket airframe reference point can be acquired with high accuracy without being affected by the change in plume shape due to the position and speed of 11 (rocket), and the trajectory estimation accuracy can be improved.

実施の形態２．
なお、上記実施の形態１（図３）では、赤外線センサ１で検出された放射強度を、そのままデータベース４への入力情報としたが、図４のように、透過率補正装置７を挿入し、透過率補正装置７で補正された放射強度をデータベース４への入力情報としてもよい。
図４はこの発明の実施の形態２に係る軌道推定システムを示す機能ブロック図であり、前述（図３参照）と同様のものについては、前述と同一符号を付して詳述を省略する。 Embodiment 2. FIG.
In the first embodiment (FIG. 3), the radiation intensity detected by the infrared sensor 1 is used as input information to the database 4 as it is, but a transmittance correction device 7 is inserted as shown in FIG. The radiation intensity corrected by the transmittance correction device 7 may be input information to the database 4.
FIG. 4 is a functional block diagram showing a trajectory estimation system according to Embodiment 2 of the present invention. Components similar to those described above (see FIG. 3) are denoted by the same reference numerals and detailed description thereof is omitted.

図４において、軌道推定システムは、前述の構成に加えて、赤外線センサ１とデータベース４との間に挿入された透過率補正装置７を備えている。
透過率補正装置７は、２回目の軌道推定処理において、航法装置６から得られる赤外線センサ１の位置と、軌道推定装置２から得られる観測対象１１の推定位置（概略推定値）と、赤外線センサ１で検出されたプルームＰの放射強度と、を入力情報として、放射強度に対して、赤外線センサ１と観測対象１１（プルームＰ）との間の空間の透過率補正処理を行い、赤外線センサ１で観測した放射強度をロケット位置での放射強度に換算した補正放射強度をデータベース４に入力する。 4, the trajectory estimation system includes a transmittance correction device 7 inserted between the infrared sensor 1 and the database 4 in addition to the above-described configuration.
In the second trajectory estimation process, the transmittance correction device 7 includes the position of the infrared sensor 1 obtained from the navigation device 6, the estimated position (substantially estimated value) of the observation object 11 obtained from the trajectory estimation device 2, and the infrared sensor. Using the radiation intensity of the plume P detected in 1 as input information, the transmittance of the space between the infrared sensor 1 and the observation object 11 (plume P) is corrected for the radiation intensity, and the infrared sensor 1 The corrected radiation intensity obtained by converting the radiation intensity observed in step 1 into the radiation intensity at the rocket position is input to the database 4.

すなわち、透過率補正装置７は、赤外線の中でも大気透過率の小さい波長帯を用いる場合には、ロケット位置の概略推定値を入力情報として、赤外線センサ１とプルームＰとの間の透過率を推定演算し（または、データベース４から求め）、実際のロケット位置（赤外線放射源）でのプルームＰの放射強度を補正放射強度として推定演算する。
これにより、データベース４は、大気透過率が小さい波長帯の赤外線を用いた赤外線センサ１の場合であっても、高精度にプルーム形状の推定演算を行うことができる。 That is, the transmittance correction device 7 estimates the transmittance between the infrared sensor 1 and the plume P using the rough estimated value of the rocket position as input information when using a wavelength band with a small atmospheric transmittance among infrared rays. The calculation is performed (or obtained from the database 4), and the radiation intensity of the plume P at the actual rocket position (infrared radiation source) is estimated and calculated as the corrected radiation intensity.
As a result, the database 4 can perform the plume shape estimation calculation with high accuracy even in the case of the infrared sensor 1 using infrared rays in a wavelength band having a low atmospheric transmittance.

以上のように、この発明の実施の形態２（図４）によれば、透過率補正装置７を設けることにより、赤外線センサ１で使用される赤外線の大気に対する透過率が小さい場合でも、プルーム形状を高精度に推定演算することができる。
すなわち、大気透過率が小さな波長を利用した場合に、赤外線センサ１で観測する放射強度が減衰しても、放射強度減衰による観測方向のずれを過小評価することなく、軽減補正することができる。 As described above, according to the second embodiment (FIG. 4) of the present invention, the provision of the transmittance correction device 7 enables the plume shape even when the transmittance of the infrared rays used in the infrared sensor 1 to the atmosphere is small. Can be estimated and calculated with high accuracy.
In other words, when a wavelength having a small atmospheric transmittance is used, even if the radiation intensity observed by the infrared sensor 1 is attenuated, it is possible to perform a reduction correction without underestimating the deviation in the observation direction due to the radiation intensity attenuation.

したがって、観測方向補正装置３で算出される補正観測方向の精度も改善し、ロケット機体基準点への観測方向が高精度に得られるようになり、軌道推定装置２における軌道推定精度が改善する。
また、大気透過率の小さい波長帯の赤外線を用いる場合に、透過率補正によりロケット位置での放射強度に換算することができるので、データベース４において、大気透過率に影響されることなく、減衰する前の放射強度に応じたプルーム形状を推定演算することができ、ロケット機体基準点への観測方向が高精度に得られ、軌道推定精度が改善する。 Therefore, the accuracy of the corrected observation direction calculated by the observation direction correction device 3 is also improved, the observation direction to the rocket body reference point can be obtained with high accuracy, and the orbit estimation accuracy in the trajectory estimation device 2 is improved.
In addition, when infrared rays having a wavelength range with a low atmospheric transmittance are used, the radiation intensity at the rocket position can be converted by correcting the transmittance, so that the database 4 is attenuated without being affected by the atmospheric transmittance. The plume shape corresponding to the previous radiation intensity can be estimated and calculated, the observation direction to the rocket body reference point can be obtained with high accuracy, and the orbit estimation accuracy is improved.

１ 赤外線センサ、２ 軌道推定装置、３ 観測方向補正装置、４ データベース、５ 切替スイッチ、６ 航法装置、７ 透過率補正装置、１０ 衛星、１１ 観測対象（ロケット）、Ａ 大気、Ｂ 目視線（観測方向）、Ｐ プルーム。   1 Infrared sensor, 2 orbit estimation device, 3 observation direction correction device, 4 database, 5 selector switch, 6 navigation device, 7 transmittance correction device, 10 satellites, 11 observation target (rocket), A atmosphere, B line of sight (observation) Direction), P plume.

Claims (3)

赤外線センサと、
前記赤外線センサで検出した観測対象の観測方向を入力情報として、前記観測対象の推定位置および推定速度を推定演算する軌道推定装置と、
前記推定位置および前記推定速度と、前記赤外線センサで検出した前記観測対象のプルームの放射強度とを入力情報として、前記観測対象のプルーム形状を推定演算するデータベースと、
前記観測方向、前記推定位置、前記推定速度および前記プルーム形状を入力情報として、補正観測方向を算出する観測方向補正装置と、を備え、
前記軌道推定装置は、前記補正観測方向を入力情報として、前記観測対象の推定位置および推定速度を推定演算することを特徴とする軌道推定システム。 An infrared sensor;
A trajectory estimation device that estimates and calculates the estimated position and estimated speed of the observation target, using the observation direction of the observation target detected by the infrared sensor as input information,
A database for estimating and calculating the plume shape of the observation target, using the estimated position and the estimated speed, and the radiation intensity of the observation target plume detected by the infrared sensor as input information;
An observation direction correction device that calculates a correction observation direction using the observation direction, the estimated position, the estimated speed, and the plume shape as input information, and
The trajectory estimation system is configured to estimate and calculate an estimated position and an estimated speed of the observation target using the corrected observation direction as input information. 前記赤外線センサと前記データベースとの間に挿入された透過率補正装置を備え、
前記透過率補正装置は、前記赤外線センサの位置と、前記観測対象の推定位置と、前記プルームの放射強度とを入力情報として、前記赤外線センサと前記観測対象との間の透過率補正を行い、前記放射強度を補正した補正放射強度を前記データベースに入力することを特徴とする請求項１に記載の軌道推定システム。 Comprising a transmittance correction device inserted between the infrared sensor and the database;
The transmittance correction device performs transmittance correction between the infrared sensor and the observation target, using the position of the infrared sensor, the estimated position of the observation target, and the emission intensity of the plume as input information, The trajectory estimation system according to claim 1, wherein a corrected radiation intensity obtained by correcting the radiation intensity is input to the database. 前記赤外線センサおよび前記観測方向補正装置と、前記軌道推定装置との間に挿入された切替スイッチを備え、
前記切替スイッチは、
１回目の軌道推定処理においては、前記赤外線センサからの観測方向を前記軌道推定装置に対する入力情報とし、
２回目の軌道推定処理においては、前記観測方向補正装置からの補正観測方向を前記軌道推定装置に対する入力情報とし、
前記軌道推定装置は、
前記１回目の軌道推定処理においては、前記赤外線センサからの観測方向を用いて、概略的な推定位置および推定速度を算出し、
前記２回目の軌道推定処理においては、前記補正観測方向を用いて精密な推定位置および推定速度を算出することを特徴とする請求項１または請求項２に記載の軌道推定システム。 A change-over switch inserted between the infrared sensor and the observation direction correction device and the trajectory estimation device;
The changeover switch is
In the first orbit estimation process, the observation direction from the infrared sensor is set as input information to the orbit estimation apparatus,
In the second orbit estimation process, the corrected observation direction from the observation direction correction device is input information to the orbit estimation device,
The trajectory estimation device includes:
In the first trajectory estimation process, using the observation direction from the infrared sensor, a rough estimated position and estimated speed are calculated,
3. The trajectory estimation system according to claim 1, wherein in the second trajectory estimation process, a precise estimated position and an estimated speed are calculated using the corrected observation direction.
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