JP2013117362A - Missile guidance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a missile guidance system that can dispense with operation by an operator after the launch, attaining good resistance against jamming and the like, and achieving simplification in structure, downsizing, cost reduction and the like of a missile.SOLUTION: In the missile guidance system, an image processing part 22 of a sighting device extracts target region data including a target 50 from image data of a camera part 21 and obtains a target direction Do from the target region data. A guidance device 30 guides a missile 10 to bring a flight direction Df close to the target direction Do. In this way, the missile 10 is automatically guided toward the target 50 practically without carrying a seeker or the like.

Description

  The present invention relates to a flying object guidance system for flying by a propulsion device such as a rocket motor, a propeller, a duct fan, etc., and in particular, an operation close to so-called “shooting off” even though the flying object is guided semi-automatically. This is related to a flying object guidance system.

  Conventionally, CLOS (Command Guidance to Line Of Sight) is known as one of the flying object guidance methods. In CLOS, a guidance command is transmitted to a flying object so that the launched flying object flies over a line of sight (LOS). In early CLOS, the flying object was manually guided, but in recent years, semi-automatic command type CLOS (SACLOS, Semi-Automatic Command Guidance to Line Of Sight) has been widely put into practical use.

  In SACLOS, the flying object is automatically guided by the guidance device. However, while the flying object is flying, the shooter (operator) captures the target with the aiming device, which is called semi-automatic guidance. The SACLOS is widely used among flying objects that are launched by a portable launching device that can be carried (referred to as a “portable guided flying object” for convenience).

  Here, when guiding the flying object by semi-automatic guidance, the archer needs to continue to capture the target as described above, so take evacuation action while the flying object is flying toward the target. I can't. This state of the shooter can be said to be a state where the shooter can be easily captured from the viewpoint of the target. Furthermore, when the target is located far from the archer and the target is moving, the shooter is required to have a relatively high aiming skill.

  Therefore, in order to avoid such a burden on the shooter, in recent years, as disclosed in, for example, Patent Document 1, a technique for mounting a seeker on a flying object has been proposed. A flying object equipped with a seeker (both active and passive) identifies the target position by detecting the radio wave or light wave emitted from the target with the seeker. As a result, the flying object is guided to the target autonomously, so that the flying object can be brought into a so-called “fire and forget” state. In general, a laser beam, a radar wave, or the like is used as the electromagnetic wave irradiated to the target by the active method.

  By the way, it is known that the seeker is easily affected by the surroundings when detecting radio waves or light waves from the target. For example, Patent Document 2 describes that a target tracking guidance apparatus that irradiates a target with a laser beam from a laser beam irradiation apparatus and detects reflected light by an infrared seeker is easily affected by sunlight and solar clutter light. Has been. Therefore, this document discloses a technique for adjusting the polarization direction of the laser beam in order to reduce the influence of the seeker on the influence of sunlight or the like.

US Pat. No. 5,932,833 JP 2009-145168 A

  In the above-described portable guided flying object, since the flying object itself is substantially “disposable”, it is required to further simplify and downsize the structure of the flying object. Here, if the flying body is equipped with a seeker having a complicated structure, the simplification and miniaturization of the flying body will be hindered. In addition, since the seeker is generally expensive, the installation of the seeker also hinders cost reduction of the flying object.

  Further, as disclosed in Patent Document 2, the seeker is not only easily affected by sunlight, solar clutter light, etc., but also greatly affected by various disturbing acts that hinder the detection of reflected light. Therefore, if the target is equipped with any means of interference, the flying object guidance accuracy will be greatly reduced.

  Here, since the shooter aims at the target in the SACLOS type flying body, a seeker is not required. Therefore, not only can the configuration of the flying object be simplified, reduced in size, and reduced in cost, but also can exhibit good resistance to various interferences. Therefore, if the shooter can guide the flying body without performing any operation after launching while using SACLOS, the shooter can take retreat action while being guided toward the target. It is possible to operate.

  The present invention has been made in order to solve such a problem, and it is possible to realize a good resistance against an obstruction and the like without using a shooter operation after launching in spite of the SACLOS method. It is another object of the present invention to provide a flying object guidance system capable of simplifying the structure of the flying object, reducing the size, reducing the cost, and the like.

  In order to solve the above problems, a flying object guidance system according to the present invention includes a flying object that flies in a controllable direction of propulsion, and an aiming device that aims at a target while observing the flying object. A guidance device that generates a guidance command and transmits the guidance command to the flying object to guide the flying object toward the target, and the aiming device is configured to fly the flying object during the flight. A camera unit capable of simultaneously imaging the body and the target, and a flying direction of the flying body, and a direction in which the target is located when viewed from the camera unit, based on image data captured by the camera unit An image processing unit that obtains a target direction, and the guidance device generates a guidance command so that the flying direction obtained by the image processing unit is brought close to the target direction. An induction command generating unit for an induction command transmitting unit for transmitting the generated induced command is Configurations which comprises a.

  According to the above configuration, the image processing unit automatically acquires the flying direction and the target direction from the image data obtained by imaging the flying object and the target without the shooter performing the aiming operation, and substantially sets the target direction. The flying object is guided so that the flying direction is close to the target direction. Therefore, after the shooter first aims at the target and fires the flying object, the flying object is effectively automatically guided toward the target. Therefore, the shooter can take evacuation action after launching the flying object.

  The flying object is guided by the guidance device using image data captured by the camera unit of the aiming device. Since this camera unit is located at the launching point and away from the target for taking the means of obstruction, the obstruction effect is also reduced compared to what the flying object receives. In addition, it is difficult to mount advanced anti-jamming functions on the flying object in terms of size, weight, and cost. For example, it is possible to provide an interference eliminating function that combines a large high-sensitivity camera and advanced image processing. As a result, it is possible to achieve good resistance against disturbance and to improve the accuracy of guidance.

  In other words, since the flying object is guided by the aiming device and the guiding device, it is not necessary to install a seeker, sensors for controlling the flying object, a controller, and the like on the flying object. Therefore, the structure of the flying object can be simplified and reduced in size. Moreover, since it is not necessary to mount expensive components such as a seeker or sensors on a substantially disposable flying object, the guidance system can be operated at low cost.

  In the flying object guidance system having the above-described configuration, the guidance command generation unit of the guidance device may correct the generated guidance command toward the target direction.

  In the flying object guidance system having the above-described configuration, the aiming device can further swing the camera unit so as to tilt the imaging direction of the camera unit based on an input from the image processing unit. The actuator may be provided.

  The flying object guidance system having the above-described configuration may further include a monitor device that can be remotely operated at a position away from the aiming device.

  In the flying object guidance system having the above-described configuration, the flying object includes a light emitting unit, and the image processing unit of the aiming device uses the light emitting unit based on the image data captured by the camera unit. It is also possible to obtain the flying direction by extracting a region including light from the flying object region data.

  In the flying object guidance system having the above-described configuration, the aiming device includes, as the camera part, a first camera part that images the flying object that is flying and a second camera part that images the target. And the light emitted from the light emitting part of the flying object has a wavelength different from the wavelength of the light obtained from the target when the second camera part images the target. May be.

  In the flying object guidance system having the above configuration, the guidance command generation unit of the guidance device includes a flying angle that is an angle formed by the flying direction with respect to a preset reference line, and the reference An aiming angle that is an angle formed by the aiming line of the camera unit with respect to a line, and an acceleration command that reduces an error angle that is a difference between the aiming angle and the flying angle is generated as the guidance command It may be configured to.

  In the flying object guidance system having the above-described configuration, when the guidance command generation unit corrects the guidance command in a target direction, the acceleration is performed after adding the aiming angle to the error angle. The structure which produces | generates instruction | command may be sufficient.

  In the flying object guidance system, the flying object includes a propulsion device, and the propulsion device is a rocket motor that injects an injection material from an injection nozzle, or a propeller that obtains thrust by a rotor blade or It may be a duct fan.

  As described above, according to the present invention, the shooter operation is not necessary after launching in spite of the SACLOS method, and it is possible to realize a good resistance against interference and the like, and further simplify the structure of the flying object. Thus, there is an effect that it is possible to provide a flying body guidance system that can be reduced in size and cost.

It is a block diagram which shows schematic structure of the flying object guidance system which concerns on Embodiment 1 of this invention. (A) is a schematic diagram which shows an example of the guidance structure of the flying body in the guidance system shown in FIG. 1, (b) is an example of the concrete guidance in the guidance system of the flying body shown in (a). FIG. (A) is a schematic diagram which shows an example of the guidance structure of the flying body in the guidance system of the flying body which concerns on Embodiment 2 of this invention, (b) is the flying body shown to (a). It is a block diagram which shows an example of the concrete guidance control in a guidance system. It is a block diagram which shows schematic structure of the flying object guidance system which concerns on Embodiment 3 of this invention. (A) is a schematic diagram which shows an example of the guidance structure of the flying body in the guidance system shown in FIG. 4, (b) is an actuator of automatically directing the camera unit of the aiming device shown in FIG. 4 to the target. It is a block diagram which shows an example of concrete control. It is a block diagram which shows schematic structure of the flying object guidance system which concerns on Embodiment 4 of this invention. It is a block diagram which shows schematic structure of the guidance system of the flying body which concerns on Embodiment 5 of this invention.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.

(Embodiment 1)
[Configuration of flying object guidance system]
An example of a specific configuration of the flying object guidance system according to Embodiment 1 of the present invention (hereinafter abbreviated as “guidance system” where appropriate) will be described with reference to FIG. 1 and FIG. Explained. As shown in FIG. 1, the guidance system according to the present embodiment includes at least a flying body 10, an aiming device 20A, and a guidance device 30.

  The flying object 10 flies so that the propulsion direction can be controlled. In this embodiment, the flying object 10 includes a rocket motor 11, a flying object control unit 12, a light emitting unit 13, and a guidance command receiving unit 14. . Although the specific structure of the flying body 10 is not specifically limited, In general, an induction bullet having a columnar or rod-like outer shape and provided with the rocket motor 11 on the rear end side can be mentioned. The guide bullet may include a wing portion that protrudes to the outside as necessary, or may include a propulsion mechanism other than the rocket motor 11 or various sensors. The rocket motor 11 is not particularly limited as long as it allows the flying object 10 to fly by injecting an injection material from the injection nozzle, and a known one can be suitably used.

  The flying object control unit 12 is composed of a known microcontroller or the like, and controls the flying operation of the flying object 10 based on a guidance command to be described later. Although not specifically shown in FIG. 1, the light emission part 13 is provided in the rear-end part of the flying body 10, and emits light during flight. This light is received by the aiming device 20A and used for guidance by the guidance device 30. In this embodiment, for example, an infrared light emitting device is used, but it is not particularly limited. The guidance command receiving unit 14 receives a guidance command transmitted from the guidance device 30, and a known receiver is used.

  As shown in FIG. 2A, the aiming device 20A is intended for the shooter to aim the target 50 while observing the flying body 10, and in this embodiment, includes a camera unit 21 and an image processing unit 22. ing. The camera unit 21 has a wide field of view so that the flying object 10 and the target 50 in flight can be imaged simultaneously. The specific configuration of the camera unit 21 is not particularly limited, and means for specifying the position of the light emitting unit 13 using an analog element (photodiode or the like) having a photoelectric conversion function as in the conventional CLOS system, or solid-state imaging A known digital imaging device using an element (CCD) or the like can be suitably used.

  As shown in FIG. 2A, the image processing unit 22 extracts the flying object region data including the flying object 10 and the target region data including the target 50 from the image data captured by the camera unit 21, From these extracted data, the flying direction of the flying object 10 and the target direction, which is the direction in which the target 50 is located when viewed from the camera unit 21, are acquired. A method for extracting the flying object region data from the image data is not particularly limited, and a known image processing method can be suitably used. In this embodiment, the flying object 10 includes the light emitting unit 13. Therefore, the light from the light emitting unit 13 may be used as a reference.

  For example, as shown by a broken line in FIG. 1, light emitted from the light emitting unit 13 of the flying object 10 is received by the camera unit 21. Therefore, the image processing unit 22 may extract a region including light from the light emitting unit 13 as flying object region data from the image data captured by the camera unit 21. At this time, the area data may be extracted so as to include the entire flying object 10, but it is only necessary to obtain the flying direction of the flying object 10. What is necessary is just to extract as data. Then, the flying direction may be acquired from the extracted flying object region data using the position of the camera unit 21 as a reference point.

  Further, a method for acquiring the target area data from the image data is not particularly limited, and a known image processing method can be suitably used. For example, only the target 50 may be extracted as the target area data from the difference between the image area of the target 50 in the image data and the surrounding background area. For example, the target 50 includes a light emission source or a heat generation source. In this case, the surrounding area may be extracted as the target area data around the area where the visible light or infrared light is strong.

  The aiming device 20A has various known configurations other than the camera unit 21 and the image processing unit 22. For example, although not illustrated in FIG. 1, a display unit that displays an image captured by the camera unit 21 in order for the shooter to aim the target 50 before the flying object 10 is launched is not particularly limited. Further, the image processing unit 22 may be an arithmetic processing unit independent of the camera unit 21, a control unit incorporated in the camera unit 21, or other configuration included in the aiming device 20 </ b> A. It may be a control unit or the like incorporated in the.

  As shown in FIG. 1 and FIG. 2A, the guidance device 30 generates a guidance command and transmits it to the flying object 10 to guide the flying object 10 toward the target 50. In this embodiment, a guidance command generation unit 31 and a guidance command transmission unit 32 are provided. As shown in FIG. 1, the flying direction of the flying object 10 is input from the camera unit 21 of the aiming device 20 </ b> A to the guidance command generation unit 31, and the flying direction and the target direction are input from the image processing unit 22. Is done.

  The guidance command generation unit 31 generates a guidance command so that the flying direction of the flying object 10 approaches the target direction. The guidance command generation unit 31 may have a functional configuration realized by a known microprocessor (not shown in FIG. 1) included in the guidance device 30 operating according to a program stored in advance. It may be a logic circuit composed of a known switching element, subtractor, comparator, or the like.

  The guidance command transmission unit 32 transmits the guidance command generated by the guidance command generation unit 31 to the guidance command reception unit 14 of the flying object 10, and a known transmitter is used. In addition, although the guidance apparatus 30 is provided with various well-known structures other than the guidance command production | generation part 31 and the guidance command transmission part 32, the description is abbreviate | omitted.

  The aiming device 20A and the guidance device 30 are not shown in FIG. 1, but are connected by a known cable or the like. Thereby, the flight direction and target direction data are input from the camera unit 21 and the image processing unit 22 of the aiming device 20A to the guidance command generation unit 31 of the guidance device 30. Although not shown in FIG. 1, the guidance system according to the present embodiment also includes a launching device for the flying object 10. The guiding device 30 may be provided integrally with the launching device.

  In addition, the guidance command transmission unit 32 of the guidance device 30 and the guidance command reception unit 14 of the flying object 10 are connected to be communicable wirelessly or by wire. In the case of wireless, a known wireless communication device is used for each of the guidance command transmission unit 32 and the guidance command reception unit 14. In the case of a wired connection, the guidance device 30 transmits and receives a guidance command between the guidance command transmission unit 32 and the guidance command reception unit 14 via a known cable. The cable is normally wound around a reel member of the flying body 10 and is pulled out from the reel member as the flying body 10 is flying.

[How to guide flying objects]
An example of a method for guiding the flying object 10 by the guidance system having the above-described configuration will be specifically described with reference to FIG. 2B in addition to FIGS. 1 and 2A.

  First, the shooter aims the target 50 that is the destination of the flying object 10 with the aiming device 20A. At this time, unlike a general non-guided rocket or the like, precise aiming is not necessarily performed. Preferably, the left side of FIG. As shown schematically on the screen imaged by the camera unit 21, the target 50 may be aimed so as to overlap or be as close as possible to the aim of the camera unit 21 indicated by the reticle 21 a.

  Next, as shown in FIG. 2A, the camera unit 21 of the aiming device 20A images the target 50 and from the light emitting unit 13 of the flying object 10 (not shown in FIG. 2A). It also receives the emitted light. The image data including the target 50 and the flying object 10 is input to the image processing unit 22, and the image processing unit 22 extracts the target area data and the flying object area data to obtain the target direction Do (thin in the figure). The solid line) and the flying direction Df of the flying object 10 (dotted line in the figure) are acquired. Here, in the present embodiment, the target direction Do and the flying direction Df are detected as angles with respect to the reference line L0, which is a line set horizontally with the position of the camera unit 21 as a reference.

Specifically, first, when the traveling direction of the flying object 10 is set as the X axis and the vertical direction is set as the Z axis with respect to the camera unit 21 with the camera unit 21 (aiming device 20A) as a reference, If the position is set as a reference point and coordinates (X, Z) = (0, 0), a straight line extending in the horizontal direction from this reference point (position of the camera unit 21) becomes the reference line L0. Since the camera unit 21 is installed in the horizontal direction, as shown in FIG. 2A, the line of sight La of the camera unit 21 indicated by a one-dot chain line in the figure overlaps the reference line L0 (La = L0). . Then, the position of the target 50 is set to coordinates (X, Z) = (X _T , Z _T ), and the position of the flying object 10 in flight is set to coordinates (X, Z) = (X _M , Z _M ). And set.

  Here, the traveling direction of the flying object 10 can always be set to a positive value, but the position of the target 50 may be higher or lower than the camera unit 21. In FIG. 2A, the target 50 and the flying object 10 are both shown at positions lower than the camera unit 21, but this is a schematic illustration, and the target 50 and the flying object 10. It does not reflect the actual height (Z-axis direction). Further, FIG. 2A shows the vertical guidance, but it goes without saying that the present invention can also be applied to the horizontal guidance.

The image processing unit 22 can acquire a flying angle σ _M that is a visual line angle formed by the flying direction Df with respect to the reference line L0. As shown in FIG. 2A, the flying direction Df includes coordinates (0, 0) that are positions of the camera unit 21 and coordinates (X _M , Z _M ) that are positions of the flying object 10 that is flying. This corresponds to the direction of the straight line connecting Further, as described above, light is emitted from the light emitting unit 13 from the flying body 10, and this can be received by the camera unit 21. Therefore, the position coordinates of the flying object 10 are specified from the flying object region data extracted by the image processing unit 22 to obtain a straight line corresponding to the flying direction Df, and this straight line and the aiming line La (reference line L0). ) And the flying angle σ _M (σ _M = tan ⁻¹ (Z _M / X _M ) ≈Z _M / X _M ).

Further, the image processing unit 22 can acquire an aiming angle σ _T that is a visual line angle formed by the target direction Do with respect to the reference line L0. As shown in FIG. 2A, the target direction Do is the direction of a straight line connecting the coordinates (0, 0) that is the position of the camera unit 21 and the coordinates (X _T , Z _T ) that is the position of the target 50 It corresponds to. Therefore, the image processing unit 22 specifies the position coordinates of the target 50 from the extracted target area data, acquires a straight line corresponding to the target direction Do, and forms the straight line and the aiming line La (reference line L0). The calculated angle may be calculated as the aiming angle σ _T (σ _T = tan ⁻¹ (Z _T / X _T ) ≈Z _T / X _T ).

The flying angle σ _M and the aiming angle σ _T acquired in this way are input to the guidance device 30, and the guidance command generation unit 31 (not shown in FIG. 2A) of the guidance device 30 An error angle ε which is a difference between the angles is calculated. Then, a guidance command is generated so that the error angle ε is reduced, that is, the flying direction Df and the target direction Do are close (finally coincidentally).

Note that image data captured by the camera unit 21 is schematically shown on the left side in FIG. 2A, and the line of sight La by the camera unit 21 corresponds to the reticle 21a, and FIG. In FIG. 5, the positional deviation between the flying object 10 and the target 50 corresponds to the error angle ε. In FIG. 2A, since the image of the target 50 is located below the reticle 21a, the camera unit 21 does not aim at the target 50. However, the image processing unit 22 extracts the target area data including the target 50 calculates a sight angle sigma _T, (to reduce the error angle epsilon) close the flight angle sigma _M in sight angle sigma _T induction device 30 Thus, the flying object 10 is substantially automatically guided toward the target 50.

Here, a specific guidance command by the guidance command generation unit 31 (and the flying object control unit 12) is not particularly limited, but as shown in FIG. 2B, an error angle is obtained using a known PID control. An acceleration command _AZC calculated from ε can be given as a preferred example. FIG. 2B schematically shows generation of a guidance command (acceleration command A _ZC ) in the guidance command generation unit 31 and flying control in the flying object control unit 12.

First, as described above, the aiming angle σ _T and the flying angle σ _M are input to the guidance command generation unit 31 from the aiming device 20A (not shown in FIG. 2B). In the block diagram shown in FIG. 2B, the input of the aiming angle σ _T is indicated by a plus sign at the addition point 31a, and the input of the flying angle σ _M is indicated by a minus sign. The flying angle σ _M is input from a feedback path drawn from the output side. Thereby, an error angle ε which is a difference between the aiming angle σ _T and the flying angle σ _M is calculated.

The guidance command generation unit 31 generates an acceleration command _AZC , which is a guidance command, from the calculated error angle ε by PID control, as indicated by the PID control block 31b. Incidentally, the K _P in the PID control block 31b proportional term, K _D · s is a differential term, K _I / s represents the integral term, s is a transducer which indicates the differential symbol. The generated acceleration command A _ZC is transmitted to the flying object 10 via the guidance command transmission unit 32 and the guidance command reception unit 14 (block arrow in FIG. 2B).

In the flying object control unit 12 of the flying object 10, the acceleration A _Z is applied to the flying object 10 based on the acceleration command A _ZC based on the movement model of the flying object 10 as shown by the movement model block 12a. Occur. For the sake of simplification of explanation, the movement model block 12a simulates the flying object's movement with a first-order lag system (τ indicates the system time constant), but the actual flying object is more complicated. Although it is a transfer function, it can still be applied to the present invention by appropriate tuning of the PID control block 31b.

The acceleration _AZ generated in the flying object 10 becomes the Z coordinate position (Z _M ) of the flying object 10 by two-time integration as shown by the Z position calculation block 12b, and further the flying angle calculation block from this Z position. By dividing by the X coordinate position (X _M ) of the flying object 10 as indicated by 12c, the flying angle σ _M is obtained. Therefore, the flying object control unit 12 controls the flying object 10 so that the error angle ε becomes zero by the PID control block 31b, in other words, the flying angle σ _M approaches the shooter line-of-sight angle σ _T. Therefore, as a result, the flying object 10 is guided so as to approach the target 50.

  As described above, in the present invention, the image processing unit 22 automatically sets the flying direction Df and the target direction Do from the image data obtained by capturing the flying object 10 and the target 50 without the shooter performing the aiming operation. The flying object 10 is obtained so that the flying direction Df is brought close to the target direction Do by regarding the target direction Do as a line of sight (LOS) substantially. Therefore, after the shooter first aims at the target 50 and fires the flying object 10, the flying object 10 is effectively automatically guided toward the target 50. Therefore, it is not necessary for the shooter to perform any operation even after the flying body 10 is fired, and if necessary, the shooter can take a retreat action while guiding the flying body.

  In addition, the flying object 10 is guided by the guiding device 30 using image data captured by the camera unit 21 of the aiming device 20A. Since this camera unit is located at the launching point and away from the target for taking the means of obstruction, the obstruction effect is also reduced compared to what the flying object receives. In addition, it is difficult to mount advanced anti-jamming functions on the flying object in terms of size, weight, and cost. For example, it is possible to provide an interference eliminating function that combines a large high-sensitivity camera and advanced image processing. As a result, it is possible to achieve good resistance against disturbance and to improve the accuracy of guidance.

  In other words, since the flying object 10 is guided by the aiming device 20A and the guiding device 30, it is not necessary to mount a seeker and sensors or a controller for controlling the seeker 10 on the flying object 10. Also good. Therefore, the configuration of the flying object 10 can be simplified and downsized. Moreover, since it is not necessary to mount expensive components such as seekers or sensors on the flying object 10 that is substantially disposable, the guidance system can be operated at low cost.

[Modification]
In the present embodiment, as the flying object, a configuration including a rocket motor 11 that injects an injection material from an injection nozzle is illustrated, but the present invention is not limited to this, and the flight is performed by various known propulsion devices. Anything to do. For example, as an example of another flying body, a configuration including a propeller or a duct fan that obtains thrust by a rotor blade can be given.

  Alternatively, the flying object 10 may be configured not to include a propulsion device. That is, the flying object 10 according to the present invention includes not only a structure for flying by thrust but also a structure for flying by flying. As long as the flying body 10 having such a configuration is provided with a steering wing without a propulsion device, the flying body 10 can be guided as described in the present embodiment as long as it glides. Examples of the flying object 10 that glides and flies include gliders, induction explosives, and the like. Thus, the flying body 10 according to the present invention may be anything that can fly in a propulsive direction, and its specific configuration is not particularly limited.

In the present embodiment, the guidance command generator 31 of the guidance device 30 calculates the aiming angle σ _T of the target 50 with respect to the reference line L0 = the aiming line La, and the aiming angle σ _T and the flying object 10 fly. the acceleration command a _ZC to reduce an error angle ε which is the difference between the small angle sigma _M, is generated as an induction command. However, the present invention is not limited to this configuration, and the flying object 10 may be guided by generating other data as a guidance command. For example, the guidance command may be generated using the coordinates of the flying object 10 and the target 50.

  Further, in the present embodiment, the light emitting unit 13 is provided at the rear end of the flying body 10, and the aiming device 20A receives the light from the light emitting unit 13 and detects the flying direction Df. However, the present invention is not limited to this. For example, the flying object 10 may emit electromagnetic waves other than light such as millimeter waves and ultrashort waves. In this case, the aiming device 20A only needs to include an antenna unit or the like that receives electromagnetic waves separately from the camera unit 21, and the image processing unit 22 uses the flying object region data from the camera unit 21 and the data from the antenna unit. The flying direction Df may be calculated using the above.

  Further, in the present embodiment, the configuration in which the aiming device 20A and the guiding device 30 (and the launching device) are installed on the ground is illustrated, but the present invention is not limited to this, and may be mounted on an unmanned vehicle, for example. it can. For example, recently, an unmanned aircraft (UAV, Unmanned Air Vehicle) has been known that includes a “shoot-off” type flying body equipped with a seeker. However, if the guidance system according to the present embodiment is used, By using the camera device provided in the UAV as the camera unit 21 of the aiming device 20A, it can be used as the “pseudo shooting” type flying object 10. The same applies to unmanned ground vehicles (UGV) and unmanned marine vehicles (UMV).

(Embodiment 2)
The flying object guidance system according to the second embodiment has the same basic configuration as the guidance system according to the first embodiment, but the guidance command generation unit 31 of the guidance device 30 generates the guidance command generated. Is different in that it is corrected toward the target direction Do. Hereinafter, an example of the guidance system according to the present embodiment will be specifically described with reference to FIGS.

  As shown in FIG. 3 (a), the guidance system according to the present embodiment guides the flying object 10 toward the target 50, similar to the guidance system according to the first embodiment. The difference from Embodiment 1 is that the target 50 is moving in the direction of the block arrow M in the figure. That is, the flying body 10 flies toward the moving target 50 instead of the stopped target 50. Therefore, depending on the situation, when the flying object 10 reaches the position of the target 50 at the time of launch, the target 50 may have already been moved and may not exist at that position.

Therefore, in the present embodiment, as shown in FIG. 3 (b), the acceleration command A _ZC (not shown in FIG. 3 (b)) generated by the PID control block 31b is indicated by the line-of-sight correction gain block 31c. The correction value K to be added is added and correction is performed at the alignment point 31d. The correction value K is a value for correcting the acceleration command A _ZC based on the aiming angle σ _T , and gives a value that allows for the movement distance of the target 50 to the acceleration command A _ZC . Therefore, the correction value K added to the acceleration command A _ZC is generated as the corrected acceleration command A _ZCC and transmitted to the flying object 10. Thereby, the guidance command transmitted to the flying object 10 is given a lead angle, which is an angle obtained by shifting the guidance position in the movement direction in anticipation of the movement distance of the target 50. Therefore, even if the target 50 is moving, the flying object 10 can easily reach the target 50.

As described above, in the present embodiment, the guidance command generation unit 31 is configured to correct the generated guidance command toward the target direction Do. Specifically, the guidance command generation unit 31 uses the aiming angle σ _T to generate an error. The corrected acceleration command A _ZCC obtained by correcting the angle ε is generated. Therefore, since the flying object 10 can be favorably guided to the moving target 50, the guidance accuracy of the flying object 10 can be further improved.

(Embodiment 3)
[Configuration of flying object guidance system]
The flying object guidance system according to the third embodiment has the same basic configuration as the guidance system according to the first or second embodiment, but the aiming device tilts the imaging direction of the camera unit 21. As described above, the camera unit 21 is provided with an actuator that swings. Hereinafter, an example of the guidance system according to the present embodiment will be specifically described with reference to FIG.

  As shown in FIG. 4, the guidance system according to the present embodiment basically has the same configuration as the guidance system of the first embodiment, but the aiming device 20B includes an actuator 23 and camera swing control. Part 24. In FIG. 4, for convenience of explanation, the flying body 10 is simplified by showing only the light emitting unit 13, and the guidance device 30 is simplified without showing the guidance command generating unit 31 and the like. ing.

  The actuator 23 swings the camera unit 21 in response to an input from the image processing unit 22 so that the imaging direction can be tilted. For example, a known electric actuator, air actuator, hydraulic actuator, or the like is used.

  The camera swing control unit 24 controls the operation of the actuator 23 based on the input from the image processing unit 22. The specific configuration is not limited and may be a known microcontroller or the like, and may be incorporated in the actuator 23 together with the sensor or the like. When the aiming device 20B is separately provided with a control unit that controls the entire aiming device 20B including the camera unit 21, the image processing unit 22, the actuator 23, and the like, the control unit is a camera swing control unit. 24 may function.

  In the present embodiment, the actuator 23 is controlled so that the camera unit 21 is aimed at the target 50 so that the line of sight La coincides with the target direction Do. On the other hand, the flying object 10 is guided by the same method as the guidance system according to the first or second embodiment.

[Actuator control method]
Next, an example of the operation control of the actuator 23 will be specifically described with reference to FIGS. 5A and 5B in addition to FIG.

  The guiding method of the present embodiment is basically the same as the guiding method of the first or second embodiment. However, in the first and second embodiments, the camera unit 21 has a horizontal imaging direction. (See FIGS. 2 (a) and 3 (a)). Therefore, the imaging direction in each of the embodiments, that is, the position of the aiming line La coincides with the reference line L0. On the other hand, in this embodiment, the camera unit 21 swings so that the imaging direction is inclined from the reference line L0.

Therefore, when the actuator 23 is operated by an input from the image processing unit 22, the aiming line La of the camera unit 21 is inclined by, for example, an angle σ _C from the horizontal reference line L0 as shown in FIG. It swings so as to move (moves downward in FIG. 5A). At this time, if the angle σ _C is a “camera shake angle”, the camera shake angle σ _C = the aim angle σ _T substantially when the camera unit 21 is aiming at the target 50.

Therefore, as shown in FIG. 5B, the camera swing control unit 24 controls the actuator 23 so that the camera shake angle σ _C approaches the aiming angle σ _T. Since this operation control of the actuator 23 would the camera unit 21 is swung close as possible camera shake angle sigma _C in sight angle sigma _T, as shown in FIG. 5 (a), the camera shake angle sigma _C Control is performed so that the target deviation angle ε _C , which is the difference between the target angle σ _T and the aiming angle σ _T , approaches zero. In other words, the target deviation angle ε _C means a deviation between the line of sight La and the target direction Do, and corresponds to a deviation between the reticle 21a and the target 50 in the schematic screen on the left side in FIG.

First, when the aiming angle σ _T is input from the image processing unit 22, the camera swing control unit 24 acquires an angle formed by the aiming line La with respect to the reference line L 0, that is, the camera shake angle σ _C, and adds the angle. As indicated by the alignment point 23a, a target deviation angle ε _C is generated. The camera shake angle σ _C is fed back from the control result of the camera swing control unit 24 as will be described later.

Next, as shown in the proportional control gain block 23b, the camera swing control unit 24 generates a pre-stage operation command by proportional control from the generated target deviation angle ε _C. Further, for the damping control of the actuator, as shown in the angular velocity adding point 23c and the proportional control gain block 23d, the torque command which is the operation command of the actuator 23 is used by using the difference between the generated previous operation command and the camera shake angular velocity ω _C. generate T _C, to operate the actuator 23.

Next, the camera swing control section 24, as shown in the camera swing model block 23e, the actuator 23 is driven based on the torque command T _C, to generate a camera shake angular velocity omega _C. In the camera swing model block 23e, for simplicity of explanation, the actuator is simulated by a first-order lag system, and τ _C indicates an actuator time constant. Incidentally, as is generally known, an actual actuator has a more complicated transfer function. However, the proportional control gain blocks 23b and 23d are still replaced with appropriate PID elements, and the present invention can be obtained by appropriate tuning. It is possible to apply. J represents the moment of inertia of the camera unit 21, and s is a transducer indicating a differential symbol as described above. Although not specifically shown in FIG. 5B, the calculated camera shake angular velocity ω _C is detected by a sensor such as a known tacho-generator and fed back to the angular velocity addition point 23c, and the torque command T _C Used to generate

Further, as shown in the integration block 23g, the camera swing control unit 24 directs the camera unit 21 to the camera shake angle σ _{C as} a result of integration of the calculated camera shake angular velocity ω _C. The camera shake angle sigma _C is not specifically shown in FIG. 5 (b), is detected by a sensor such as a known potentiometer is fed back to the summing point 23a addition angle as described above, the torque command T _C Used for generation. Alternatively, instead of acquiring the aiming angle σ _T and the camera shake angle σ _C , the error angle ε _{C is} directly determined by the difference between the aiming line 21a and the target 50 shown in FIG. May be detected and input to the proportional control gain block 23b as it is.

  Thus, in the present embodiment, when the flying object 10 is guided, the camera unit 21 is swung by the actuator 23 so as to automatically aim the target 50. Therefore, even after the shooter has retreated, The flying object 10 can be guided. Furthermore, when the camera unit 21 is fixed and installed in the horizontal direction as in the first or second embodiment, in order to capture the target 50 more reliably, the camera unit 21 has a wide angle of view ( In this embodiment, since the target 50 is automatically aimed at the center of the angle of view, the camera unit can be used even if the camera device has a relatively small angle of view. 21 can be suitably used.

  In addition, the guidance system according to the present embodiment can be particularly suitably used not only for the purpose of installing and launching on the ground but also for the purpose of mounting on an unmanned vehicle as exemplified in the first embodiment. That is, if the present invention is applied to an unmanned vehicle such as UAV, UGV, or UMV as a platform for launching a flying object, the camera unit 21 can be automatically pointed toward the target 50, so that it is stable even while moving. The aiming operation can be realized, and the flying object can be suitably guided.

(Embodiment 4)
The flying object guidance system according to the fourth embodiment has the same basic configuration as the guidance system according to the first or second embodiment, but is taken by the camera unit 21 at a position away from the aiming device. It is different in that it has a monitor device that can monitor the signal and transmit a command signal such as launch to the aiming device. Hereinafter, an example of the guidance system according to the present embodiment will be specifically described with reference to FIG.

  As shown in FIG. 6, the guidance system according to the present embodiment basically has the same configuration as the guidance system of the first embodiment, but the aiming device 20 </ b> C includes a communication unit 25. The communication unit 25 is connected to a monitor device 40 that can confirm a captured image from the camera unit 21 at a position away from the aiming device 20C. In FIG. 6, for the convenience of explanation, the flying object 10 and the guidance device 30 are shown in a simplified manner as in FIG.

  There is no particular limitation on the communication unit 25 and the monitor device 40 and the configuration for connecting them. For example, the communication unit 25 directly communicates the image data captured by the camera unit 21 to the monitor device 40, and the monitor device 40 includes a display screen (not shown) so that the image data can be visually confirmed. Similarly, the monitor device 40 is provided with a flying object launch command switch (not shown), and when the shooter captures the target 50 while confirming the image from the camera unit 21, the flying object from the launcher (not shown) is also shown. Fire. The communication unit 25 (sighting device 20C) and the monitor device 40 are connected by wire or wirelessly. Furthermore, if the actuator 23 and the camera swing control unit 24 shown in FIG. 4 are provided and these are controlled by the monitor device 40, it is possible to search for the target 50 or perform the aiming operation from a remote location. Become.

  Thus, if the guidance system includes the monitor device 40 that can monitor the camera unit 21 and further transmit a command signal such as launching to the launching device by remote control, the flying object 10 is launched by the launching device. Can be launched and guided from a remote location. For example, when the flying object 10 is launched toward the target 50, even if the launch point can be specified, there is an advantage that it is difficult to specify the remote operation point.

(Embodiment 5)
The flying object guidance system according to the fifth embodiment has the same basic configuration as the guidance system according to the first or second embodiment, except that the aiming device includes two camera units. Is different. Hereinafter, an example of the guidance system according to the present embodiment will be specifically described with reference to FIG.

  As shown in FIG. 7, the guidance system according to the present embodiment basically has the same configuration as that of the guidance system of the first embodiment, but the aiming device 20D is a flying flight A first camera unit 21 a that mainly images the body 10 and a second camera unit 21 b that mainly images the target 50 are provided. Each of these camera units can input image data to the image processing unit 22 in the same manner as the camera unit 21 described above. In FIG. 7, for convenience of explanation, the flying object 10 and the guidance device 30 are shown in a simplified manner as in FIG. 4 or FIG. 6.

  In the guidance system according to the present invention, at least one camera unit is sufficient. However, for example, if the light emitting unit 13 of the flying object 10 emits infrared light, and the light acquired from the target 50 is also infrared light, if the wavelength is close, In one camera unit 21, it may be difficult to separate the flying object 10 and the target 50 from each other. Therefore, in the present embodiment, the light emitted from the light emitting unit 13 of the flying object 10 is set to a wavelength different from the wavelength of the light obtained from the target 50, and the first camera unit 21 a uses the light from the light emitting unit 13. The second camera unit 21b is configured to mainly image the target 50.

  For example, if the guidance system according to the present embodiment is configured to detect the far-infrared light of the target 50, the light-emitting unit 13 of the flying object 10 only needs to emit near-infrared light. . And the 1st camera part 21a is provided with the image pick-up element which can receive near infrared light favorably, and the 2nd camera part 21b should just be equipped with the image pick-up element which can receive far infrared light favorably.

  Here, since the flying body 10 is guided to fly toward the target 50, the first camera unit 21a and the second camera unit 21b have the aiming device 20D so that the line of sight is substantially coaxial. Is preferably provided.

  Thus, by providing the two camera units, the image processing unit 22 can extract the flying object region data from the image data of the first camera unit 21a and obtain the flying direction. Since the target area data can be extracted from the image data of the two camera units 21b and the target direction can be acquired, the guidance command generation unit 31 can generate a more preferable guidance command. Therefore, the accuracy of guidance of the flying object 10 can be further improved.

  The aiming device 20D may include three or more camera units. For example, when the target 50 moves greatly, if the aiming device 20D is configured so that the target 50 is imaged by two or more camera units having different sight line directions, the capture efficiency of the target 50 is improved. It becomes possible.

  It should be noted that the present invention is not limited to the description of the above-described embodiment, and various modifications are possible within the scope shown in the scope of the claims, and are disclosed in different embodiments and a plurality of modifications. Embodiments obtained by appropriately combining the technical means are also included in the technical scope of the present invention.

  The present invention can be widely and suitably used in the field of flying objects that are guided by a guidance device toward a target.

DESCRIPTION OF SYMBOLS 10 Flying object 11 Rocket motor 13 Light emission part 20A-20D Aiming device 21 Camera part 21a First camera part 21b Second camera part 22 Image processing part 23 Actuator 30 Guidance device 31 Guidance command generation part 32 Guidance command transmission part 40 Monitor device 50 Target A _ZC acceleration command Df Flying direction Do Target direction La Aiming line L0 Reference line ε Error angle σ _M Flying angle σ _T Aiming angle

Claims (9)

A flying object that flies in a controllable direction, and
An aiming device for aiming a target while observing the flying object;
A guidance device that guides the flying object toward the target by generating a guidance command and transmitting it to the flying object;
Consisting of at least
The aiming device is
A camera unit capable of simultaneously imaging the flying object and the target in flight;
An image processing unit that obtains a flying direction of the flying object and a target direction in which the target is located when viewed from the camera unit from image data captured by the camera unit; ,
The guidance device includes:
A guidance command generating unit that generates a guidance command so that the flying direction acquired by the image processing unit is close to the target direction;
A guidance command transmission unit for transmitting the generated guidance command;
It is characterized by having,
Flying body guidance system. The guidance command generation unit of the guidance device corrects the generated guidance command toward the target direction,
The flying object guidance system according to claim 1. The aiming device further includes an actuator that can swing the camera unit so as to tilt the imaging direction of the camera unit based on an input from the image processing unit.
The flying object guidance system according to claim 1 or 2. It further comprises a monitor device that can be remotely operated at a position away from the aiming device,
The flying object guidance system according to any one of claims 1 to 3. The flying body is provided with a light emitting part,
The image processing unit of the aiming device acquires the flying direction by extracting a region including light from the light emitting unit as the flying object region data from the image data captured by the camera unit. It is characterized by
The flying object guidance system according to any one of claims 1 to 4. The aiming device is the camera unit,
A first camera unit that images the flying object in flight;
A second camera unit that images the target,
The light emitted from the light emitting unit of the flying object is a wavelength different from the wavelength of light obtained from the target when the second camera unit images the target.
The flying object guidance system according to claim 5. The guidance command generation unit of the guidance device includes:
A flying angle which is an angle formed by the flying direction with respect to a preset reference line;
An aiming angle that is an angle formed by the aiming line of the camera unit with respect to the reference line;
To calculate
An acceleration command for reducing an error angle that is a difference between the aiming angle and the flying angle is generated as the guidance command.
The flying object guidance system according to any one of claims 1 to 6. When the guidance command generator corrects the guidance command in a target direction,
The acceleration command is generated after adding the aiming angle to the error angle,
The flying object guidance system according to claim 7. The flying object includes a propulsion device, and the propulsion device is a rocket motor that injects an injection material from an injection nozzle, or a propeller or duct fan that obtains thrust by a rotor blade.
The flying object guidance system according to any one of claims 1 to 8.

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