JPH07167592A - Guidance method of moving object - Google Patents
Guidance method of moving objectInfo
- Publication number
- JPH07167592A JPH07167592A JP5311938A JP31193893A JPH07167592A JP H07167592 A JPH07167592 A JP H07167592A JP 5311938 A JP5311938 A JP 5311938A JP 31193893 A JP31193893 A JP 31193893A JP H07167592 A JPH07167592 A JP H07167592A
- Authority
- JP
- Japan
- Prior art keywords
- moving body
- moving
- guiding
- guidance
- route
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000001133 acceleration Effects 0.000 claims abstract description 20
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、例えば、自動操縦に
よる飛翔体（移動体）を所定の軌道（経路）に沿って飛
翔させるのに利用する移動体の誘導方法に関するもので
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a method for guiding a moving body used for causing a flying body (moving body) automatically controlled to fly along a predetermined trajectory (path).
【０００２】[0002]
【従来の技術】従来、例えば、飛翔体を所定の軌道に沿
って飛翔させる際には、図５に示すように、空間内の所
定の軌道Ａ１上に複数の静止目標点（エイミング・ポイ
ント）Ｅ１〜Ｅ５を設定し、各静止目標点Ｅ１〜Ｅ５に
おいて、図５の円内に拡大してに示すように、飛翔体５
１に搭載した図示しない慣性航法装置からの情報に基づ
いて軌道修正加速度発生源の作動により位置，速度の修
正を行いつつ、各静止目標点Ｅ１〜Ｅ５を順次通過させ
ることにより、飛翔体５１を所定の経路Ａ１に沿って飛
翔させるようにしている。2. Description of the Related Art Conventionally, for example, when flying a flying object along a predetermined trajectory, a plurality of stationary target points (aiming points) are set on a predetermined trajectory A1 in space as shown in FIG. E1 to E5 are set, and at each stationary target point E1 to E5, as shown by enlarging the circle in FIG.
The position and speed are corrected by the operation of the trajectory correction acceleration generation source based on the information from the inertial navigation device (not shown) mounted on the vehicle No. 1 and the stationary target points E1 to E5 are sequentially passed to move the flying object 51. It is designed to fly along a predetermined route A1.
【０００３】この場合、複数の静止目標点Ｅ１〜Ｅ５に
おける位置座標は、軌道終末の目標情報に応じて図示し
ない打上げ統制装置により計算され、打上げ前の飛翔体
５１に対して伝送されて、この飛翔体５１の慣性航法装
置に記憶されるようになっている。In this case, the position coordinates at the plurality of stationary target points E1 to E5 are calculated by a launch control device (not shown) according to the target information at the end of the orbit and transmitted to the flying object 51 before launch, It is adapted to be stored in the inertial navigation system of the flying object 51.
【０００４】なお、この移動体の誘導方法に関するもの
としては、例えば、「ミサイル工学事典」 １９９０年
１２月１０日、原書房発行の第５２２頁〜第５３４頁に
記載された比例航法がある。As a method for guiding the moving body, for example, there is a proportional navigation method described in "Missile Engineering Encyclopedia", Dec. 10, 1990, pages 522 to 534, published by Hara Shobo.
【０００５】[0005]
【発明が解決しようとする課題】ところが、上記した従
来の移動体の誘導方法において、各静止目標点Ｅ１〜Ｅ
５を通過するごとに位置，速度の修正を行っていること
から、比較的高い精度で飛翔体５１を所定の軌道Ａ１に
沿って飛翔させることができるものの、大きな速度変化
が要求される軌道に沿って飛翔させる場合には、多数の
静止目標点を設定する必要があり、その結果、打上げ統
制装置により行われる各静止目標点における位置座標の
計算量および慣性航法装置における記憶量が膨大なもの
になってしまうという問題を有しており、この問題を解
決することが従来の課題となっていた。However, in the conventional method for guiding a moving body, each stationary target point E1 to E is used.
Since the position and speed are corrected every time the vehicle passes 5, the projectile 51 can be made to fly along the predetermined track A1 with relatively high accuracy, but the track is required to have a large speed change. When flying along, it is necessary to set a large number of stationary target points, and as a result, the amount of calculation of position coordinates at each stationary target point performed by the launch control device and the amount of memory in the inertial navigation device are enormous. However, the conventional problem is to solve this problem.
【０００６】[0006]
【発明の目的】この発明は、上記した従来の課題に着目
してなされたもので、所定の経路が複雑である場合であ
っても、少ない情報量でかつ精度の低下を招くことなく
この経路に沿って移動体を移動させることができる移動
体の誘導方法を提供することを目的としている。SUMMARY OF THE INVENTION The present invention has been made by paying attention to the above-mentioned conventional problems. Even when a predetermined route is complicated, this route requires a small amount of information and does not cause deterioration in accuracy. It is an object of the present invention to provide a method for guiding a moving body that can move the moving body along the path.
【０００７】[0007]
【課題を解決するための手段】この発明に係わる移動体
の誘導方法は、移動体を所定の経路に沿って移動させる
に際して、前記経路の途中における経路近傍位置に誘導
用移動目標を設けると共に、前記誘導用移動目標の位置
座標および速度ベクトルに基づいて目視線角変化率なら
びに前記移動体と誘導用移動目標との相対速度を求め、
前記目視線角変化率および相対速度を用いた単純追跡比
例航法により機動加速度を算出して、前記移動体に具備
した軌道修正加速度発生源の作動により前記機動加速度
を生じさせて当該移動体に単純追跡コースを採らせて所
定の経路に乗せる構成としたことを特徴としており、こ
のような移動体の誘導方法の構成を前述した従来の課題
を解決するための手段としている。According to a method of guiding a moving body according to the present invention, when moving the moving body along a predetermined route, a moving target for guiding is provided at a position near the route in the middle of the route, and Obtaining the line-of-sight angle change rate and the relative speed between the moving body and the guide moving target based on the position coordinates and the velocity vector of the guide moving target,
The mobile acceleration is calculated by simple tracking proportional navigation using the line-of-sight angle change rate and the relative speed, and the mobile acceleration is generated by the operation of the trajectory correction acceleration generation source provided in the mobile body, and the mobile body is simply moved. The present invention is characterized in that a tracking course is taken and the vehicle is placed on a predetermined route, and such a method of guiding a moving body is used as a means for solving the above-mentioned conventional problems.
【０００８】[0008]
【発明の作用】この発明に係わる移動体の誘導方法で
は、上記した構成としているので、移動体の誘導が開始
されると、軌道修正加速度発生源の作動により、単純追
跡比例航法で算出した機動加速度が移動体に発生し、経
路途中の経路近傍位置に設けた誘導用移動目標を追っ
て、すなわち、単純追跡コースに乗って移動するように
なることから、例えば、移動体が落下状態にある飛翔体
でありかつ誘導用移動目標を水平方向に移動するものと
して設定した場合、この飛翔体は引起こし動作を行って
水平方向に誘導用移動目標を追従する、すなわち、所定
の経路に沿って移動することとなる。Since the method of guiding a moving body according to the present invention has the above-mentioned structure, when the guiding of the moving body is started, the maneuver calculated by the simple tracking proportional navigation is operated by the operation of the trajectory correction acceleration generation source. Acceleration is generated in the moving body, and it follows the moving target for guidance provided in the vicinity of the route in the middle of the route, that is, it moves on the simple tracking course. If it is a body and the guide movement target is set to move in the horizontal direction, the flying body performs a raising motion to follow the guide movement target in the horizontal direction, that is, moves along a predetermined path. Will be done.
【０００９】つまり、所定の経路が複雑である場合であ
っても、移動体は少ない情報量でかつ高い精度でこの経
路に沿って移動することとなる。That is, even when the predetermined route is complicated, the moving body moves along this route with a small amount of information and with high accuracy.
【００１０】[0010]
【実施例】以下、この発明を図面に基づいて説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings.
【００１１】図１ないし図４はこの発明に係わる移動体
の誘導方法の一実施例を示しており、この実施例では、
移動体が地上から発射されて弾道飛翔する飛翔体である
場合を示す。1 to 4 show an embodiment of a method for guiding a moving body according to the present invention. In this embodiment,
The case where the moving body is a flying body that is launched from the ground and flies in a ballistic manner is shown.
【００１２】図４に示すように、飛翔体１は軌道修正加
速度発生源としての操舵翼２を具備しており、ランチャ
３から発射されるものとなっている。この飛翔体１の軌
道Ａはその終末に位置する目標情報に基づいて図示しな
い打上げ統制装置により作成されて、飛翔体１の慣性航
法装置に対して伝送されるようになっており、この実施
例において、軌道Ａは、図３にも示すように、初期段階
から中間段階にかけて飛翔体１に弾道飛翔を行わせたの
ち、終末段階において水平飛翔させるように設定してあ
る。As shown in FIG. 4, the flying body 1 is equipped with steering wings 2 as a trajectory correction acceleration generation source, and is launched from a launcher 3. The trajectory A of the flying vehicle 1 is created by a launch control device (not shown) based on the target information located at the end of the trajectory, and is transmitted to the inertial navigation system of the flying vehicle 1. In FIG. 3, the trajectory A is set so that the flying body 1 is caused to perform a ballistic flight from the initial stage to the intermediate stage, and then is horizontally flew at the final stage, as shown in FIG.
【００１３】この軌道Ａに沿って飛翔体１を飛翔させる
に際して、打上げ統制装置では、図１に示すように、軌
道Ａの途中における軌道Ａの近傍位置に誘導用移動目標
ＥＰを設定して行うようにしている。When the flying vehicle 1 is caused to fly along the trajectory A, the launch control device sets the guide movement target EP at a position near the trajectory A in the middle of the trajectory A as shown in FIG. I am trying.
【００１４】この場合、誘導用移動目標ＥＰの位置座標
（ＸＴ，ＹＴ）のＸ座標ＸＴは、飛翔体１のＸ座標ＸＭ
から前方（図１右方）に距離αだけ先行させた位置に設
定してあると共に、Ｙ座標ＹＴは、軌道Ａの終末段階に
おける水平飛翔高度、すなわち、この実施例では海面上
（０）に設定してある。In this case, the X coordinate X T of the position coordinate (X T , Y T ) of the guide movement target EP is the X coordinate X M of the flying object 1.
Is set at a position ahead by a distance α to the front (to the right in FIG. 1), and the Y coordinate Y T is the horizontal flight altitude at the final stage of the trajectory A, that is, the sea level (0) in this embodiment. Is set to.
【００１５】一方、誘導用移動目標ＥＰのＸ方向速度成
分ＶｘＴは、飛翔体１のＸ方向速度成分ＶｘＭのβ倍と
すると共に、Ｙ方向速度成分ＶｙＴは、飛翔体１を海面
上で水平飛翔させることから０に設定している。On the other hand, the X-direction velocity component Vx T of the guide target EP is set to β times the X-direction velocity component Vx M of the flying object 1, and the Y-direction velocity component Vy T is set on the sea surface of the flying object 1. It is set to 0 because it will fly horizontally.
【００１６】そして、図２のフィードバック制御系に示
すように、基準入力信号としての誘導用移動目標ＥＰの
機動加速度ｎＴをブロック１１でラプラス変換したの
ち、ブロック１２において、誘導用移動目標ＥＰの位置
座標（ＸＭ＋α，０）および速度ベクトル（β・Ｖ
ｘＭ，０）に基づいて、数式１により目視線角変化率ｄ
λ／ｄｔおよび飛翔体１と誘導用移動目標ＥＰとの相対
速度ＶＣを求め、Then, as shown in the feedback control system of FIG. 2, after the mobile acceleration n T of the guide movement target EP as the reference input signal is Laplace transformed in block 11, the guide movement target EP of the guide movement target EP is calculated in block 12. Position coordinates (X M + α, 0) and velocity vector (β ・ V
x M , 0) and the visual line angle change rate d
λ / dt and the relative velocity V C between the flying object 1 and the moving target EP for guidance are obtained,
【００１７】[0017]
【数式１】ｄλ／ｄｔ＝（ＶｙＴＭ・ＸＴＭ−ＶｘＴＭ
・ＹＴＭ）／｛（ＸＴＭ）２＋（ＹＴＭ）２｝ ＶＣ ＝（−ＶｙＴＭ・ＸＴＭ−ＶｘＴＭ・ＹＴＭ）／
｛（ＸＴＭ）２＋（ＹＴＭ）２｝１／２ 但し ＸＴＭ＝α ＹＴＭ＝ＹＴ−ＹＭ＝−ＹＭ（∵ＹＴ＝０，ＹＭは飛翔
体１のＹ座標） ＶｘＴＭ＝β・ＶｘＭ−ＶｘＭ ＶｙＴＭ＝−ＶｙＭ （ＶｙＭは飛翔体１のＹ
方向速度成分） さらに、ブロック１３において、数式１で求めた目視線
角変化率ｄλ／ｄｔおよび相対速度ＶＣを用いて単純追
跡比例航法を行って、数式２により飛翔体１に単純追跡
コースを採らせて軌道Ａに乗せるための機動加速度ｎＭ
を算出し、[Formula 1] dλ / dt = (Vy TM · X TM −Vx TM
· Y TM) / {(X TM) 2 + (Y TM) 2} V C = (- Vy TM · X TM -Vx TM · Y TM) /
{(X TM ) 2 + (Y TM ) 2 } 1/2 where X TM = α Y TM = Y T −Y M = −Y M (∵ Y T = 0, Y M is the Y coordinate of the flying object 1) Vx TM = β · Vx M −Vx M Vy TM = −Vy M (Vy M is Y of the flying object 1)
Direction velocity component) Further, in block 13, simple tracking proportional navigation is performed using the visual line angle change rate dλ / dt and the relative speed V C obtained by the mathematical formula 1, and the simple tracking course is applied to the flying body 1 by the mathematical formula 2. Mobile acceleration n M to take and place on trajectory A
And calculate
【００１８】[0018]
【数式２】ｎＭ＝Ｎ´・ｄλ／ｄｔ・ＶＣ
（Ｎ´は有効航法定数） ブロック１４において、操舵翼２に加速度指令ｎＣを与
えて操舵翼２を作動させることにより、機動加速度ｎＭ
を生じさせるようにしている。[Equation 2] n M = N'· dλ / dt · V C
(N ′ is an effective navigation constant) In block 14, by giving an acceleration command n C to the steering wing 2 to operate the steering wing 2, the mobile acceleration n M
Is caused.
【００１９】このフィードバック制御系では、機動加速
度ｎＭを主フィードバック信号として基準入力信号と比
較し、その差（制御偏差）を零にするように加速度指令
ｎＣを決定している。In this feedback control system, the acceleration command n C is determined so that the mobile acceleration n M is used as a main feedback signal and compared with the reference input signal, and the difference (control deviation) between them is made zero.
【００２０】このような誘導方法において、ランチャ３
から発射された飛翔体１が、初期段階から中間段階にか
けての弾道飛翔を終えて図１，図３および図４に示す位
置Ｐに到達すると、操舵翼２の作動により、上記単純追
跡比例航法で算出した機動加速度ｎＭが飛翔体１に発生
することから、この飛翔体１は引起こし動作を行って、
軌道Ａ途中の近傍位置に設けた水平方向に移動する誘導
用移動目標ＥＰを追って、すなわち、単純追跡コースに
乗って飛翔するようになり、その結果、飛翔体１は、所
定の軌道Ａに沿って飛翔することとなる。In such a guiding method, the launcher 3
When the projectile 1 launched from the vehicle reaches the position P shown in FIGS. 1, 3 and 4 after finishing the ballistic flight from the initial stage to the intermediate stage, the steering wing 2 operates to perform the simple tracking proportional navigation. Since the calculated mobile acceleration n M is generated in the flying body 1, the flying body 1 performs the raising motion,
As a result, the flying object 1 flies following a horizontally moving guide movement target EP provided at a position near the trajectory A, that is, on a simple tracking course. As a result, the flying vehicle 1 follows a predetermined trajectory A. Will fly.
【００２１】したがって、この誘導方法では、上記のよ
うな急激な速度変化が要求される軌道Ａである場合にお
いても、一点の誘導用移動目標ＥＰを設定するだけで、
すなわち、少ない情報量を与えるだけで、飛翔体１を高
い精度で軌道Ａに沿って飛翔させることが可能となる。Therefore, in this guiding method, even when the trajectory A is required to undergo a rapid speed change as described above, it is only necessary to set one guiding movement target EP.
That is, it is possible to cause the flying body 1 to fly along the trajectory A with high accuracy by giving a small amount of information.
【００２２】上記した実施例では、この発明に係わる移
動体の誘導方法を飛翔体の誘導に採用した場合を示した
が、これに限定されるものではなく、例えば、無人車両
の走行誘導に適用することも可能である。In the above-mentioned embodiments, the case where the method for guiding a moving body according to the present invention is adopted for guiding a flying object is shown, but the present invention is not limited to this and is applied to, for example, running guidance of an unmanned vehicle. It is also possible to do so.
【００２３】また、この発明に係わる移動体の誘導方法
の詳細な構成は、上記した実施例に限定されるものでは
ない。The detailed construction of the method for guiding a moving body according to the present invention is not limited to the above-mentioned embodiment.
【００２４】[0024]
【発明の効果】以上説明したように、この発明に係わる
移動体の誘導方法では、上記した構成としたため、所定
の経路が複雑である場合であっても、少ない情報量でか
つ高い精度を持って移動体をこの経路に沿って移動させ
ることが可能であるという極めて優れた効果がもたらさ
れる。As described above, since the method of guiding a moving body according to the present invention has the above-mentioned structure, it has a small amount of information and high accuracy even when the predetermined route is complicated. As a result, it is possible to move the moving body along this path, which is an extremely excellent effect.
【図１】この発明に係わる移動体の誘導方法の一実施例
による飛翔体（移動体）と誘導用移動目標との位置関係
を示すグラフである。FIG. 1 is a graph showing a positional relationship between a flying body (moving body) and a guiding moving target according to an embodiment of a moving body guiding method according to the present invention.
【図２】図１に示した移動体の誘導方法における単純追
跡比例航法を用いたフィードバック制御系のブロック図
である。FIG. 2 is a block diagram of a feedback control system using simple tracking proportional navigation in the method of guiding a mobile body shown in FIG.
【図３】図１における移動体の誘導方法により飛翔する
飛翔体の軌道を示すグラフである。FIG. 3 is a graph showing a trajectory of a flying body that flies by the moving body guiding method in FIG.
【図４】図１における移動体の誘導方法による飛翔体の
発射後における飛翔状況を示す斜視説明図である。FIG. 4 is a perspective explanatory view showing a flying situation after the flying body is launched by the moving body guiding method in FIG.
【図５】従来における移動体の誘導方法を概念的に示す
説明図である。FIG. 5 is an explanatory view conceptually showing a conventional moving body guiding method.
１ 飛翔体（移動体） ２ 操舵翼（軌道修正加速度発生源） Ａ 所定の軌道（所定の経路） ＥＰ 誘導用移動目標 1 Flying body (moving body) 2 Steering wing (orbit correction acceleration generation source) A Predetermined trajectory (predetermined path) EP Moving target for guidance
Claims (1)
に際して、前記経路の途中における経路近傍位置に誘導
用移動目標を設けると共に、前記誘導用移動目標の位置
座標および速度ベクトルに基づいて目視線角変化率なら
びに前記移動体と誘導用移動目標との相対速度を求め、
前記目視線角変化率および相対速度を用いた単純追跡比
例航法により機動加速度を算出して、前記移動体に具備
した軌道修正加速度発生源の作動により前記機動加速度
を生じさせて当該移動体に単純追跡コースを採らせて所
定の経路に乗せることを特徴とする移動体の誘導方法。1. When moving a moving body along a predetermined route, a guide moving target is provided at a position in the vicinity of the route on the way of the route, and an eye is moved based on a position coordinate and a velocity vector of the guide moving target. The rate of change of the line-of-sight angle and the relative speed between the moving body and the moving target for guidance are obtained,
The mobile acceleration is calculated by simple tracking proportional navigation using the line-of-sight angle change rate and the relative speed, and the mobile acceleration is generated by the operation of the trajectory correction acceleration generation source provided in the mobile body, and the mobile body is simply moved. A method of guiding a moving body, characterized by allowing a pursuit course to be taken and riding on a predetermined route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31193893A JP3391869B2 (en) | 1993-12-13 | 1993-12-13 | How to guide moving objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31193893A JP3391869B2 (en) | 1993-12-13 | 1993-12-13 | How to guide moving objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07167592A true JPH07167592A (en) | 1995-07-04 |
| JP3391869B2 JP3391869B2 (en) | 2003-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31193893A Expired - Fee Related JP3391869B2 (en) | 1993-12-13 | 1993-12-13 | How to guide moving objects |
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| JP (1) | JP3391869B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439977A (en) * | 2013-08-23 | 2013-12-11 | 西安应用光学研究所 | High-speed target tracking control method applied to photoelectric tracker |
| CN105425819A (en) * | 2015-11-25 | 2016-03-23 | 南京航空航天大学 | Guidance method for tracking ground target automatically by unmanned plane |
| KR102136267B1 (en) * | 2019-01-15 | 2020-07-21 | 국방과학연구소 | Method of selecting aiming points to shape a trajectory of surface-to-surface missile and apparatus performing thereof |
| KR20220167095A (en) * | 2021-06-11 | 2022-12-20 | 국방과학연구소 | Carrot chasing guidance control method and apparatus, and air vehicle having the apparatus |
-
1993
- 1993-12-13 JP JP31193893A patent/JP3391869B2/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439977A (en) * | 2013-08-23 | 2013-12-11 | 西安应用光学研究所 | High-speed target tracking control method applied to photoelectric tracker |
| CN103439977B (en) * | 2013-08-23 | 2016-03-02 | 西安应用光学研究所 | Be applicable to the high-speed target tracking and controlling method of optronic tracker |
| CN105425819A (en) * | 2015-11-25 | 2016-03-23 | 南京航空航天大学 | Guidance method for tracking ground target automatically by unmanned plane |
| CN105425819B (en) * | 2015-11-25 | 2019-01-11 | 南京航空航天大学 | A kind of unmanned plane automatically tracks the method for guidance of ground target |
| KR102136267B1 (en) * | 2019-01-15 | 2020-07-21 | 국방과학연구소 | Method of selecting aiming points to shape a trajectory of surface-to-surface missile and apparatus performing thereof |
| KR20220167095A (en) * | 2021-06-11 | 2022-12-20 | 국방과학연구소 | Carrot chasing guidance control method and apparatus, and air vehicle having the apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3391869B2 (en) | 2003-03-31 |
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