KR102066975B1 - Apparatus and method for induction flight control for improving shot accuracy of missile - Google Patents

Abstract

The present invention relates to a guided flight control apparatus for improving hitting accuracy of a guided missile and a method thereof, comprising: a preceding missile flight information reception unit for receiving preceding missile flight information including at least one of position, attitude, and target information collected from a preceding missile; an impact point information deduction unit for deducing impact point information based on the received preceding missile flight information; a hitting accuracy calculation unit for calculating target hitting accuracy of the preceding missile based on the deduced impact point information; an accuracy comparison unit for comparing the calculated target hitting accuracy with a preset reference hitting accuracy range; and a guided flight control unit for controlling guided flight of a following missile using the preceding missile flight information if the calculated target hitting accuracy falls within the preset reference hitting accuracy range, as a result of the comparison.

Description

A guided flight control device and its method for improving the hitting accuracy of guided missiles {APPARATUS AND METHOD FOR INDUCTION FLIGHT CONTROL FOR IMPROVING SHOT ACCURACY OF MISSILE}

The present invention relates to a guided flight control device and a method for improving the hitting accuracy of guided missiles, using the landing point information derived based on the received preceding shot flight information to calculate the target hitting accuracy of the preceding shot, the calculated target The present invention relates to a guided flight control device and a method for improving the hitting accuracy of a guided missile controlling the guided flight of the following bomb according to the result of comparing the hitting accuracy and the predetermined reference strike accuracy range.

In the guidance device for guiding the moving object, by comparing the image information such as the terrain previously stored in the storage device with the image information such as the terrain imaged in the emergency by the image sensor mounted in the moving object, and controlling the flight attitude of the moving object so that the two match. An induction device for inducing a moving body has been developed.

The system in which the determination is made based on the information of the image sensor has the following problems. When the moving speed of the moving object is high, the judgment time for monitoring the image display unit and determining whether a command input is required becomes short, so that the judgment cannot correct the delayed emergency trajectory. That is, when the speed of movement is high, it is required that the judgment of correcting the emergency track is not too late, and it is required to be able to judge with multiple margins for each of the plurality of targets. It is preferable that the false recognition rate should not be high.

In this regard, Korean Patent Laid-Open Publication No. 2016-0056355 discloses a method for controlling an unmanned aerial vehicle and an unmanned aerial vehicle.

The present invention has been invented to solve the above problems, and calculates the target hitting accuracy of the preceding shot using the landing point information derived based on the received preceding shot flight information, the calculated target hitting accuracy and the predetermined reference strike An object of the present invention is to provide a guided flight control apparatus and a method for improving the hitting accuracy of guided missiles comparing the accuracy range.

In addition, the present invention provides a guided flight control apparatus and method for improving the blow accuracy of the guided missile to control the guided flight of the following, when the calculated target hitting accuracy falls within the predetermined reference strike accuracy as a result of the comparison The purpose is.

In addition, the present invention provides a guided flight control apparatus and method for improving the blow accuracy of the missile missed to delete the flight information of the preceding shot, when the calculated target strike accuracy does not belong to the predetermined reference strike accuracy range as a result of the comparison Its purpose is to.

The guided flight control apparatus for improving the hitting accuracy of the missile according to the present invention for achieving the above object is a prior art for receiving the preceding flight flight information including at least one of the position, attitude and target information collected in the preceding shot Shot flight information receiver; An impact point information deriving unit for deriving impact point information based on the received preceding shot flight information; A blow accuracy calculator configured to calculate a target hitting accuracy of the preceding shot based on the extracted impact point information; An accuracy comparison unit comparing the calculated target strike accuracy with a preset reference strike accuracy range; And a guided flight control unit for controlling the guided flight of the following shot using the preceding shot flight information when the calculated target hitting accuracy falls within a preset reference hitting accuracy range.

In addition, the impact point information derivation unit is characterized in that the derivation of the impact point information for identifying which position before the fuse operation based on the predetermined target destination information.

The guided flight controller may include: a flight control utilization unit configured to control guided flight of the following shot when the calculated target strike accuracy falls within a preset reference strike accuracy range; And a flight control inactivation unit for deleting flight information of the preceding shot when the calculated target strike accuracy does not belong to a preset reference strike accuracy range.

In addition, the flight control utilization unit, a position and attitude difference calculation unit for calculating the difference between the position and attitude of the preceding bullet and the following bullet; And a position and posture correction value derived from the calculated difference between the position and posture of the preceding shot and the following shot, and the position and posture correction to transmit the derived position and posture correction value to the following shot to correct the posture of the following shot. Government; characterized by including.

The flight control utilization unit may include an image pixel coordinate difference calculation unit configured to calculate a difference between an image pixel coordinate value of the preceding bullet target information and an image pixel coordinate value of the following bullet; A radar coordinate difference calculation unit configured to calculate a difference between the radar coordinate value of the target bullet of the preceding bullet and the radar coordinate value of the following bullet; And a radar vector correction value is derived based on the difference between the calculated image pixel coordinate values of the preceding shot and the following shot and the radar coordinate values of the preceding shot and the following shot, and the derived image vector correction. And a coordinate corrector for transmitting the value and the radar vector correction value to the following bullet to correct the posture of the following shot.

The flight control utilization unit may include: an error improvement index deriving unit configured to derive an error improvement index by comparing predetermined target location information and impact point information of the preceding shot; And a guided flight performing unit for converting the derived error improvement index into a flying control value of the following bullet, and transmitting the converted flight control value to the following shot to perform the guided flight of the following shot.

In addition, the flight control non-utilization unit, position, attitude and target information difference calculation unit for calculating the difference between the position, attitude and target information of the preceding bullet and the position, attitude and target information of the following bullet; An abnormal flight determination unit that determines whether an abnormal flight condition is based on the calculated difference between the preceding bomb and the following bullet, position, attitude, and target information; And if it is determined that the abnormal flight situation, flight information deletion unit for deleting the preceding flight flight information of the preceding bomb; characterized in that it comprises a.

And an optimum control value calculator configured to calculate the optimum control value of the missile by accumulating the derived position and attitude correction value, the vector correction value, and the flight control value for controlling the guided flight of the following bomb.

The guided flight control method for improving the hitting accuracy of the guided missile according to the present invention for achieving the above object comprises at least any one of position, attitude and target information collected by the preceding shot flight information receiver; Receiving preceding shot flight information; Deriving impact point information by the impact point information deriving unit based on the received preceding shot flight information; Calculating, by the hitting accuracy calculation unit, the target hitting accuracy of the preceding shot based on the derived impact point information; Comparing, by the accuracy comparison unit, the calculated target strike accuracy with a preset reference strike accuracy range; And controlling, by the guided flight control unit, the guided flight of the following shot using the preceding shot flight information when the calculated target hitting accuracy falls within a preset reference hitting accuracy range.

In addition, when the calculated target hitting accuracy is within the preset reference hitting accuracy range, controlling the guided flight of the following shot using the preceding shot flight information, as a result of the comparison, the calculated target hitting accuracy is preset. If the reference strike accuracy range, controlling the guided flight of the following bomb; And deleting, when the calculated target strike accuracy does not belong to a preset reference strike accuracy range, deleting flight information of the preceding shot.

In addition, as a result of the comparison, when the calculated target hitting accuracy falls within the preset reference hitting accuracy range, controlling the guided flight of the following shot may include calculating a difference between the position and the posture of the preceding shot and the position and the posture of the following shot. step; And deriving a position and posture correction value based on the calculated difference between the position and posture of the preceding shot and the following shot, and transferring the derived position and posture correction value to the following shot to correct the posture of the following shot. Characterized in that.

In addition, when the calculated target hitting accuracy is within the preset reference hitting accuracy, as a result of the comparison, the controlling of the guided flight of the following shot may include: image pixel coordinate value of the preceding shot and image pixel coordinate value of the following shot; Calculating the difference of; Computing the difference between the radar coordinate value and the radar coordinate value of the following bullet among the target information of the preceding shot: and based on the difference between the image pixel coordinate values of the preceding and following bullet, And deriving a radar vector correction value based on a difference between radar coordinate values of the following bullet, and transmitting the derived image vector correction value and the radar vector correction value to the following bullet to correct the posture of the following bullet. It is done.

In addition, as a result of the comparison, when the calculated target hitting accuracy falls within a preset reference hitting accuracy range, controlling the guided flight of the following shot includes deriving an error improvement index by comparing the predetermined target point information with the impact point information of the preceding shot. Doing; And converting the derived error improvement index into a flying control value of the following shot, and transmitting the converted flying control value to the following shot so that the guided flight of the following shot is carried out.

In addition, when the calculated target hit accuracy does not belong to the preset standard hit accuracy range, the step of deleting the flight information of the preceding shot may include the position, the posture and the target information of the preceding shot, the position, the posture and the following shot. Calculating a difference of target information; Determining whether or not the abnormal flight situation is based on the difference between the calculated position of the preceding and following bombs, attitude and target information; And if it is determined that the abnormal flight situation, the step of deleting the preceding flight flight information of the preceding bomb; characterized in that it comprises a.

When the calculated target hitting accuracy falls within the preset reference hitting accuracy range, after the step of controlling the guided flight of the following shot using the preceding shot flight information, it is derived to control the guided flying of the following shot. And calculating the optimum control value of the missile by accumulating the position and attitude correction values, the vector correction values, and the flight control values.

In order to achieve the above object, the guided flight control apparatus and method for improving the hitting accuracy of the missile according to the present invention calculates the target hitting accuracy of the preceding shot using the landing point information derived based on the received preceding shot flight information. After comparing the calculated target hitting accuracy with the preset reference hitting accuracy range, if the calculated target hitting accuracy falls within the preset standard hitting accuracy range, the guided missile continuously follows by controlling guided flight of the following shot. They have the effect of performing induction control in the direction of increasing the striking accuracy gradually.

In addition, according to the present invention, when the calculated target hitting accuracy does not belong to the preset reference hitting accuracy range, the present invention has an effect of further increasing hitting accuracy by deleting flight information of the preceding shot.

1 is a view for explaining the operation concept for the flight, target detection, data transmission of the missile according to the present invention.
2 is a view for explaining the configuration of the guided flight control device for improving the blow accuracy of the guided missile according to the present invention.
3 is a view for explaining the detailed configuration of the flight control utilization unit of the guided flight control unit employed in the guided flight control device for improving the blow accuracy of the guided missile according to the present invention.
4 is a view for explaining the detailed configuration of the flight control non-utilization portion of the guided flight control unit employed in the guided flight control device for improving the blow accuracy of the guided missile according to the present invention.
5 is a flow chart for explaining the procedure of the guided flight control method for improving the blow accuracy of the missile according to the present invention.
FIG. 6 controls guided flight of a missile using the preceding shot flight information when the target strike accuracy calculated in the guided flight control method for improving the hitting accuracy of the guided missile according to the present invention falls within a preset reference strike accuracy range. This is a flow chart for explaining the process.

As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description.

However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. Hereinafter, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

1 is a view for explaining the operation concept for the flight, target detection, data transmission of the missile according to the present invention.

Referring to FIG. 1, the bullet 1 is called a leading bullet, and the bullets 2 to N are referred to as following bullets, which is a guided flight toward a target point of a predetermined target. In this situation, it is assumed that each missile is equipped with a posture sensor for acquiring posture information, a position sensor for acquiring position information, and a searcher sensor for acquiring target information. This information assumes that data is sequentially transmitted to the preceding and following bombs during flight. The searcher mounted on the missile has both an image sensor and a radar and detects and tracks the target.

Here, the image sensor is found by estimating the presence, size, and relative position of a target based on pixel information. That is, the information of the target existing in front may be displayed in a two-dimensional coordinate space which is an x-y axis with respect to the center point of the image angle of view. The image coordinates are represented by the target's view shape m (r, p, y) according to the target's relative position (x, y) and posture (roll, pitch, yaw).

On the other hand, the radar obtains the relative distance with the target, the relative speed, and the angle information, and displays them in two-dimensional coordinates (a, r) with respect to the angle and the distance. The information obtained from these two types of searchers are various measurements of the same target. This can match the target in the same space through the axis matching and scaling. For example, the target information obtained when the posture is measured in a specific posture is at the left and right (x axis), up and down (y axis) (abnormal image information), angle (a axis) distance (r axis) (abnormal radar information). Can be matched in three-dimensional space. In particular, the left and right (x) values in the image match the radar angle (a axis).

As described above, in the present invention, it is assumed that axis matching and scaling are performed to compare target information in two searchers in the same coordinate axis.

Accordingly, the present invention transmits the posture, position, and target information obtained from the time when the preceding shot detects the target and acquires the image and radar information to the following shot in real time (or snapshot). The following shot receives the information of the preceding shot and judges the accuracy of hitting at the time of fuse operation (calculation of the relative position of the target and the shot at the time of fuse operation) to determine whether the information is reliable or not. It controls to converge its posture and position, and controls the flight to the target by using the information of the searcher during the operation of the searcher.

2 is a view for explaining the configuration of the guided flight control device for improving the blow accuracy of the guided missile according to the present invention.

Referring to FIG. 2, the guided flight control apparatus 100 for improving the hitting accuracy of the missile according to the present invention includes a preceding shot flight information receiving unit 110, an impact point information deriving unit 120, and a hitting accuracy calculating unit ( 130, an accuracy comparison unit 140, a guided flight control unit 150, a flight control utilization unit 160, a flight control inactivation unit 170, and an optimum control value calculation unit 180.

The preceding shot flight information receiving unit 110 receives the preceding shot flight information including at least one of position, attitude, and target information collected in the preceding shot.

The impact point information deriving unit 120 derives the impact point information based on the received preceding shot flight information.

The impact point information derivation unit 120 derives the impact point information for identifying which position the preceding shot is before the fuse operation based on the predetermined target location information.

The hitting accuracy calculator 130 calculates the target hitting accuracy of the preceding shot based on the derived impact point information.

The accuracy comparison unit 140 compares the calculated target hitting accuracy with a predetermined reference strike accuracy range.

The guided flight controller 150 controls the guided flight of the following shot using the preceding shot flight information when the calculated target hitting accuracy falls within a preset reference hitting accuracy range. In other words, the guided flight control unit 150 is to use for the guidance control of the following bombs by trusting the flight information of the preceding bullet.

To this end, the guided flight controller 150 includes a flight control utilization unit 160 and a flight control non-utilization unit 170.

As a result of the comparison, the flight control utilization unit 160 controls the guided flight of the following shot when the calculated target strike accuracy falls within a preset reference strike accuracy range.

As a result of the comparison, when the calculated target hitting accuracy does not belong to a preset reference hitting accuracy range, the flight control inactivation unit 170 deletes flight information of the preceding shot.

Such a configuration and function of the flight control utilization unit 160 and the flight control non-utilization unit 170 will be described in detail later with reference to FIGS. 3 and 4.

The optimum control value calculator 180 calculates an optimal control value of the missile by accumulating the position and attitude correction value, the vector correction value, and the flight control value derived to control the guided flight of the following bomb.

3 is a view for explaining the detailed configuration of the flight control utilization unit of the guided flight control unit employed in the guided flight control device for improving the blow accuracy of the guided missile according to the present invention.

Referring to FIG. 3, the flight control utilization unit 160 according to the present invention controls the guided flight of the following shot when the calculated target strike accuracy falls within a preset reference strike accuracy range.

To this end, the flight control utilization unit 160 includes a position and attitude difference calculator 161, a position and attitude correction unit 162, an image pixel coordinate difference calculator 163, a radar coordinate difference calculator 164, and coordinates. The correction unit 165, the error improvement index deriving unit 166, and the guided flight performing unit 167 are included.

The position and posture difference calculator 161 calculates the difference between the position and the posture of the preceding bullet and the position and the posture of the following bullet.

The position and posture corrector 162 derives the position and posture correction value based on the calculated difference between the position and posture of the preceding shot and the following shot, and delivers the derived position and posture correction value to the following shot posture of the following shot. To be corrected.

The position and posture corrector 162 calculates how much the current posture is compared to the posture of the preceding shot, derives a value for correction and converts it into a flight wing control command.

The image pixel coordinate difference calculator 163 calculates a difference between the image pixel coordinate value of the preceding bullet target information and the image pixel coordinate value of the following bullet.

The radar coordinate difference calculator 164 calculates a difference between the radar coordinate value and the radar coordinate value of the following bullet among the target information of the preceding bullet.

The coordinate corrector 165 derives a radar vector correction value based on the difference between the image vector correction value and the calculated difference between the radar coordinate values of the preceding and following bullets, based on the difference of the image pixel coordinate values of the preceding and following bullets. In addition, the derived image vector correction value and radar vector correction value are transmitted to the following bullet to correct the posture of the following bullet.

That is, the coordinate corrector 165 derives a vector value for the error by comparing the (x, y) axis of the image pixel coordinates of the preceding searcher with the (x, y) value of the following shot. At the same time, (a, r) values are also compared in the radar information coordinates to derive a vector value for the error. Computation of the difference from the reference axis for the target from the two searcher perspectives then yields a skew angle for the shape of the target as seen in the image pixel. For example, in the image of the preceding shot, if the direction of the target is m1 (r, p, y) at a specific posture at a specific position, the following shot should be at the same position, m2 (r, p, y) at the same posture. do. Here, if the values of m1 and m2 are the same, the postures of the leading and following shots are perfectly the same. It can be judged that the following ammunition is controlled under the same situation as the preceding one, and it can be assumed that similar flying accuracy is achieved when flying to the landing point.

The error improvement index deriving unit 166 derives an error improvement index by comparing the predetermined target location information with the impact point information of the preceding shot. Here, the error improvement index is logic to control the direction of moving the position of the target appearing in the coordinates of the image and the radar in FIG. That is, since the searcher of the preceding bullet coincides with the body of the bullet with a specific axis, it can be said that the precise hitting is performed only when the reference axis visible from the searcher is perfectly aligned with the target.

The guided flight performing unit 167 converts the derived error improvement index into a flying control value of the following shot, and transmits the converted flight control value to the following shot, so that the guided flight of the following shot is performed.

4 is a view for explaining the detailed configuration of the flight control non-utilization portion of the guided flight control unit employed in the guided flight control device for improving the blow accuracy of the guided missile according to the present invention.

Referring to FIG. 4, when the calculated target hitting accuracy does not belong to a preset reference hitting accuracy range, the flight control non-utilization unit 170 according to the present invention deletes flight information of the preceding shot.

To this end, the flight control inactivation unit 170 includes a position, attitude, and target information difference calculator 171, an abnormal flight determination unit 172, and a flight information deletion unit 173.

The position, attitude, and target information difference calculator 171 calculates a difference between the position, attitude, and target information of the preceding bullet and the position, attitude, and target information of the following bullet.

The abnormal flight determination unit 172 determines whether the abnormal flight situation based on the difference in the position, attitude and target information of the preceding and following bullets. Here, the abnormal flight situation may be a case where the wing is not extended because the axis of the wing is not extended, the information is low due to a malfunction of a sensor such as a GPS IMU, and thus may be out of the track.

When it is determined that the flight information deletion unit 173 is in an abnormal flight situation, the flight information deleting unit 173 deletes the preceding bullet flight information of the preceding bullet.

5 is a flow chart for explaining the procedure of the guided flight control method for improving the blow accuracy of the missile according to the present invention.

Referring to FIG. 5, the guided flight control method for improving the hitting accuracy of the guided missile according to the present invention uses a guided flight control apparatus for improving the hitting accuracy of the guided missile, and will not be repeated. Shall be.

First, receiving the preceding flight flight information including at least one of the position, attitude and target information collected in the preceding bomb (S100).

Next, the landing point information is derived based on the received preceding shot flight information (S110).

Next, the target hitting accuracy of the preceding shot is calculated based on the derived impact point information (S120).

Next, the calculated target hitting accuracy and the predetermined reference strike accuracy range is compared (S130).

Next, as a result of the comparison, when the calculated target hitting accuracy falls within a preset reference hitting accuracy range, guided flight of the following shot is controlled using the preceding shot flight information (S140).

That is, the step S140 is to use for the guidance control of the following coal by trusting the flight information of the preceding bullet.

In operation S140, when the calculated target hitting accuracy falls within the preset reference hitting accuracy range, the guided vehicle may control guided flight of the following shot, and as a result of comparison, the calculated target hitting accuracy does not belong to the preset standard hitting accuracy If the flight information of the preceding bomb is deleted. This will be described in detail later with reference to FIG. 6.

Next, the optimal control value of the missile is calculated by accumulating the derived position and attitude correction value, the vector correction value, and the flight control value in order to control the guided flight of the following bomb (S150).

FIG. 6 illustrates control of guided flight of a following coal by using a preceding bullet flight information when the target strike accuracy calculated in the guided flight control method for improving the strike accuracy of the missile is in accordance with the present invention. This is a flow chart for explaining the process.

Referring to FIG. 6, as a result of comparing the calculated target hitting accuracy with the preset reference strike accuracy range, it is determined whether the calculated target hitting accuracy falls within the preset reference strike accuracy range (S200).

In operation S200, when the calculated target hitting accuracy falls within a preset reference hitting accuracy range, a difference between the position and the posture of the preceding shot and the position and the posture of the following shot is calculated (S210).

Next, the position and attitude correction values are derived based on the calculated difference between the position and the attitude of the preceding shot and the following shot, and the derived position and the posture correction values are transferred to the following shot to correct the posture of the following shot (S220). .

Next, the difference between the image pixel coordinate value of the preceding bullet target information and the image pixel coordinate value of the following shot is calculated (S230).

Next, the difference between the radar coordinate value and the radar coordinate value of the following bullet among the target information of the preceding bomb is calculated (S240).

Next, an image vector correction value is derived based on the calculated difference between the image pixel coordinates of the preceding shot and the following shot, and a radar vector correction value is derived based on the difference between the calculated radar coordinate values of the preceding shot and the following shot. The posture of the following shot is corrected by transmitting the corrected value and the radar vector correction value to the following shot (S250).

In operation S250, a vector value for an error is derived by comparing the (x, y) axis of the image pixel coordinates of the preceding searcher with the (x, y) value of the following shot. At the same time, (a, r) values are also compared in the radar information coordinates to derive a vector value for the error. In other words, when the difference between the reference axis for the target from the two searcher perspectives is calculated, the angle of distortion of the shape of the target shown in the image pixel is calculated.

Next, the error improvement index is derived by comparing the predetermined target location information with the impact point information of the preceding shot (S260).

After step S260, the optimum control value of the missile is calculated by accumulating the position and attitude correction value, the vector correction value, and the flight control value derived to control the guided flight of the following bomb.

On the other hand, in step S200, if the calculated target hitting accuracy does not belong to the predetermined reference hitting accuracy range, the difference between the position of the preceding shot, the posture and the target information and the position of the following shot, the posture and the target information is calculated (S300).

Next, it is determined whether or not the abnormal flight situation based on the difference in the position, attitude and target information of the preceding lead and the following bullet (S310). Here, the abnormal flight situation may be a case where the wing is not extended because the axis of the wing is not extended, the information is low due to a malfunction of a sensor such as a GPS IMU, and thus may be out of the track.

Next, if it is determined that the abnormal flight situation, the preceding bullet flight information of the preceding bullet is deleted (S320).

The functional operations described herein and the embodiments relating to the subject matter are implemented in digital electronic circuitry or computer software, firmware or hardware, including the structures disclosed herein and their structural equivalents, or in combination with one or more of them. It is possible.

Embodiments of the subject matter described herein include one or more computer program instructions, ie one or more computer program instructions encoded on a tangible program medium for execution by an information processing apparatus or for operating the operations thereof. It can be implemented as a module. The tangible program medium may be a propagated signal or a computer readable medium. A propagated signal is an artificially generated signal such as a machine generated electrical, optical or electromagnetic signal that is generated for encoding information for transmission to a suitable receiver device for execution by a computer. The computer readable medium may be a machine readable storage device, a machine readable storage substrate, a memory device, a combination of materials affecting a machine readable propagated signal, or a combination of one or more of them.

Computer programs (also known as programs, software, software applications, scripts, or code) may be written in any form of programming language, including compiled or interpreted languages, or a priori or procedural languages. It can be deployed in any form, including components, subroutines, or other units suitable for use in a computer environment.

The computer program does not necessarily correspond to a file of the file device. A program may be in a single file provided to the requested program, or in multiple interactive files (eg, one or more files that store modules, subprograms, or parts of code), or of other files or files that hold information. Some (eg, one or more stored in a markup language document) may be stored within.

The computer program may be deployed to run on a single computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communication network.

In addition, the logic flows and structural block diagrams described in this patent document describe corresponding acts and / or specific methods supported by the corresponding functions and steps supported by the disclosed structural means, corresponding It can also be used to build software structures and algorithms and their equivalents.

The processes and logic flows described herein are capable of being performed by one or more programmable processors that execute one or more computer programs to perform functions by operating on input information and generating output.

Processors suitable for the execution of computer programs include, for example, both general and special purpose microprocessors and any one or more of any kind of digital computer. In general, a processor will receive instructions and information from a read only memory or a random access memory or both.

At the heart of a computer is one or more memory devices and processors for storing instructions and information for storing instructions and information. In addition, computers are generally such that one or more for storing information, such as magnetic, magneto-optical disks or optical disks, are operable to receive information from, transmit information to, or perform both of these operations. Combined or will include it. However, the computer does not need to have such a device.

The foregoing description presents the best mode of the invention, and provides examples to illustrate the invention and to enable those skilled in the art to make and use the invention. The specification thus produced is not intended to limit the invention to the specific terms presented.

Thus, while the present invention has been described in detail with reference to the above examples, those skilled in the art can make modifications, changes, and variations to the examples without departing from the scope of the invention. In short, in order to achieve the intended effect of the present invention, it is not necessary to separately include all the functional blocks shown in the drawings or to follow all the orders shown in the drawings in the order shown; Note that it may fall within the scope.

100: guided flight control device for improving the hit accuracy of the missile
110: preceding shot flight information receiver
120: impact point information derivation unit
130: blow accuracy calculation unit
140: accuracy comparison unit
150: guided flight control
160: flight control lever
170: flight control non-use part
180: optimum control value calculation unit

Claims (15)

A preceding shot flight information receiving unit configured to receive the preceding shot flight information including at least one of position, attitude, and target information collected from the preceding shot;
An impact point information deriving unit for deriving impact point information based on the received preceding shot flight information;
A blow accuracy calculator configured to calculate a target hitting accuracy of the preceding shot based on the extracted impact point information;
An accuracy comparison unit comparing the calculated target strike accuracy with a preset reference strike accuracy range; And
And, as a result of comparison, when the calculated target hitting accuracy falls within a preset reference hitting accuracy range, a guided flight controller for controlling guided flight of the following shot using the preceding shot flight information.
The guided flight control unit,
As a result of the comparison, when the calculated target hitting accuracy falls within a preset reference hitting accuracy range, a flight control utilization unit configured to control guided flight of the following bullet; And
As a result of the comparison, if the calculated target hitting accuracy does not belong to a predetermined reference hitting accuracy range, a flight control inactivation unit for deleting flight information of the preceding shot;
Guided flight control device for improving the blow accuracy of the missile, characterized in that it comprises a. The method of claim 1,
The impact point information deriving unit derives the impact point information for identifying the position of the preceding shot prior to the fuse operation on the basis of the predetermined target location information, guided flight control device for improving the impact accuracy of the missile. delete The method of claim 1,
The flight control utilization unit,
A position and posture difference calculator configured to calculate a difference between a position and a posture of the preceding bullet and a position and a posture of the following bullet; And
A position and posture correction unit for deriving a position and posture correction value based on the calculated difference between the position and posture of the preceding shot and the following shot and transferring the derived position and posture correction value to the following shot to correct the posture of the following shot. ;
Guided flight control device for improving the blow accuracy of the missile, characterized in that it comprises a. The method of claim 1,
The flight control utilization unit,
An image pixel coordinate difference calculation unit configured to calculate a difference between the image pixel coordinate value of the target bullet of the preceding bomb and the image pixel coordinate value of the following coal;
A radar coordinate difference calculation unit configured to calculate a difference between the radar coordinate value of the target bullet of the preceding bullet and the radar coordinate value of the following bullet; And
An image vector correction value is derived based on the calculated difference between the image pixel coordinates of the preceding shot and the following shot, and a radar vector correction value is derived based on the difference between the calculated radar coordinate values of the preceding shot and the following shot. And a coordinate corrector for transmitting the radar vector correction value to the following bullet to correct the posture of the following shot.
Guided flight control device for improving the blow accuracy of the missile, characterized in that it comprises a. The method of claim 4, wherein
The flight control utilization unit,
An error improvement index deriving unit for deriving an error improvement index by comparing predetermined target location information with impact point information of the preceding shot; And
A guided flight performing unit for converting the derived error improvement index into a flying control value of the following shot, and transmitting the converted flying control value to the following shot to perform guided flying of the following shot;
Guided flight control device for improving the blow accuracy of the missile, characterized in that it comprises a. The method of claim 1,
The flight control non-utilization unit,
A position, posture, and target information difference calculator configured to calculate a difference between the position, the posture, and the target information of the preceding bullet and the position, the posture, and the target information of the following bullet;
An abnormal flight determination unit that determines whether an abnormal flight condition is based on the calculated difference between the preceding bomb and the following bullet, position, attitude, and target information; And
If it is determined that the abnormal flight situation, flight information deletion unit for deleting the preceding flight flight information of the preceding bomb;
Guided flight control device for improving the blow accuracy of the missile, characterized in that it comprises a. The method of claim 1,
Accurate control value of the missile, characterized in that for calculating the optimum control value of the missile by accumulating the position and attitude correction value, vector correction value and flight control value derived to control the guided flight of the following missile Induction flight control device to improve the. Receiving, by the preceding shot flight information receiving unit, the preceding shot flight information including at least one of position, attitude, and target information collected in the preceding shot;
Deriving impact point information by the impact point information deriving unit based on the received preceding shot flight information;
Calculating, by the hitting accuracy calculation unit, the target hitting accuracy of the preceding shot based on the derived impact point information;
Comparing, by the accuracy comparison unit, the calculated target strike accuracy with a preset reference strike accuracy range; And
And, by the guided flight control unit, when the calculated target hitting accuracy falls within a preset reference hitting accuracy range, controlling guided flight of the following shot using the preceding shot flight information.
As a result of the comparison, when the calculated target hitting accuracy falls within a predetermined reference hitting accuracy range, controlling the guided flight of the following shot using the preceding shot flight information,
As a result of the comparison, if the calculated target strike accuracy falls within a preset reference strike accuracy range, controlling guided flight of the following bullet; And
If the calculated target strike accuracy does not belong to a preset reference strike accuracy range, deleting flight information of the preceding shot;
Guided flight control method for improving the blow accuracy of the missile, comprising a. delete The method of claim 9,
As a result of the comparison, when the calculated target hitting accuracy falls within the preset reference hitting accuracy range, controlling the guided flight of the following shot is performed.
Calculating a difference between the position and the posture of the preceding shot and the position and the posture of the following shot; And
Deriving a position and posture correction value based on the calculated difference between the position and the posture of the preceding shot and the following shot, and transmitting the derived position and posture correction value to the following shot to correct the posture of the following shot;
Guided flight control method for improving the blow accuracy of the missile, comprising a. The method of claim 9,
As a result of the comparison, when the calculated target hitting accuracy falls within the preset reference hitting accuracy range, controlling the guided flight of the following shot is performed.
Calculating a difference between an image pixel coordinate value of the preceding bullet target information and an image pixel coordinate value of the following coal;
Computing a difference between the radar coordinate value of the target information of the preceding bullet and the radar coordinate value of the following bullet: and
An image vector correction value is derived based on the calculated difference between the image pixel coordinates of the preceding shot and the following shot, and a radar vector correction value is derived based on the difference between the calculated radar coordinate values of the preceding shot and the following shot. And transmitting the radar vector correction value to the following bomb to correct the posture of the following bomb.
Guided flight control method for improving the blow accuracy of the missile, comprising a. The method of claim 9,
As a result of the comparison, when the calculated target hitting accuracy falls within the preset reference hitting accuracy range, controlling the guided flight of the following shot is performed.
Deriving an error improvement index by comparing predetermined target location information with impact point information of the preceding shot; And
Converting the derived error improvement index into a flying control value of the following bullet, and transferring the converted flight control value to the following bullet to perform the guided flight of the following bullet:
Guided flight control method for improving the blow accuracy of the missile, comprising a. The method of claim 9,
As a result of the comparison, when the calculated target hitting accuracy does not belong to a preset reference hitting accuracy range, deleting the flight information of the preceding shot,
Calculating a difference between the position, the position and the target information of the preceding bullet and the position, the position and the target information of the following bullet;
Determining whether or not the abnormal flight situation is based on the difference between the calculated position of the preceding and following bombs, attitude and target information; And
If it is determined that the abnormal flight situation, deleting the preceding flight flight information of the preceding bomb;
Guided flight control method for improving the blow accuracy of the missile, comprising a. The method of claim 9,
As a result of the comparison, when the calculated target hitting accuracy falls within a preset reference hitting accuracy range, after the guided flight information is used to control guided flight of the following shot,
Calculating the optimum control value of the missile by accumulating the position and attitude correction values, the vector correction values, and the flight control values derived for controlling the guided flight of the following missiles. Guided flight control method.

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