DE1406539A1 - Self-steering arrangement with gyro antenna - Google Patents

Description

OSP-OOMPAGNIB GENBRAIiE DE TELEGRAPHIE SANS FIL 79 »Boulevard Haussmann, Paris / France

Self-steering arrangement with gyro antenna

The invention relates to an arrangement with which a missile directs itself to a target which reflects or emits electromagnetic waves, for example radio waves or infrared waves.

In the known arrangements of this kind the antenna of the target locating enabling wave receiver is from ^ö tart of the missile to geriohtet to the target, and an automatic angle tracking arrangement keeps ansohliessend geriohtet the antenna to the target.

A fixed reference direction in the inertial space, for example the locally horizontal direction, is rtalieitrfc on board the Ilugkkörper by a gyro or the like, and the missile is directed to the target by a servo control device, which constantly the 909840/0009 angle «»

Angular velocity of the plug body in relation to the Horizontal given a predetermined value, which is in the same sense as the angular velocity of the direction changes between the missile and the target. Proportional navigation is preferably used in which the angular velocity of the missile proportional to the simultaneous change in the angle between the direction from the plug body to the target and the same reference direction is made.

The previously known arrangements for autoinatisohen Angle tracking, however, is relatively extensive and sensitive. Above all, however, they fail when targets are to be intercepted that are very low fly, for example with the intention of avoiding the pool location in particular. In this Pail namely the location of the target impracticable or intermittently interrupted, or the rotation of the automatic angle tracking is interrupted by the reflection the waves coming from the target falsified on the ground relief.

The aim of the invention is to eliminate these Haohteile by, if necessary, the inclusion of Self-steering of the missile is delayed until this

from

909840/0009

has been freed from the obstacles which the earth's surface in the direction of the target, the self-steering device also being simplified thereby will replace the traditional automatic angle tracking arrangements with an exercise facility which is directly the angle of the direction from the missile to the target in relation to the fixed in space Direction is measured, which is realized by the axis of a gyro antenna.

The self-steering arrangement designed according to the invention for a target that may be movable moving missile contains a location device, which captures the radiation coming from the target with the help of an antenna, which in relation to the plug body not fixed, and means for controlling the inclination of a longitudinal axis of the missile in relation on a fixed reference direction depending on the Changes in the inclination of the Q-lines connecting the missile to the target in relation to this reference direction, and it is characterized by the antenna

a gyroscopic top is formed whose axis of rotation over the entire flight path of the missile maintains a fixed direction in inertial space.

909840/0009

Preferably, the means included for controlling the Heigung eineB longitudinal axis of the missile devices for measuring the instantaneous angular velocity of the longitudinal axis with respect zugsriohtung to the solid in the tree B _e, and devices which naohsteuern the angular velocity of the longitudinal axis such that they are constantly in the same direction as changes the angular velocity of the direction between the missile and the target, for example by making the first angular velocity proportional to the second angular velocity.

The invention is based on the drawing. explained for the sake of play. Point in it

1 shows a diagram for the representation of 4 · different angles occurring during intercept navigation,

Pig »2 a block diagram of the arrangement according to the invention,

Fig, 3 * the trajectory of a missile that directly corresponds the proportional navigation is shot down, "and

3b shows the trajectory of a missile β which leads to a low-flying target in proportional navigation . 909840/0009

In Pig.1 sehematisoh are two different points in time of the maneuver with which a target B is intercepted by a missile B.

At the bottom left is the missile B at the starting point in the firing position.

The drawing plane goes through the launch point Eo of the missile and contains the velocity vector V _{B of} the target «

- ⁰ S it is assumed that the longitudinal axis E ₀ Ii _{0 of} the missile "which carries the velocity vector V ^ of the missile at the start" is contained in the drawing plane at this time.

The straight line B ₀ U ₀ forms an angle HE _Q 1 _O , which is denoted by j and is called Absohuaswinkel, with the Beaugariohtung B _Q H, which is preferably horizontal and for the sake of simplicity is hereinafter referred to as "horizontal".

The alignment 1 _Q B _Q forms an angle with the horizontal

₀ B ₀ , which is denoted by <k _Bo and is called the angle between the reference direction and the horizontal.

on 909840/0009

A Suoherkopf with a locating base (not shown) is attached to the missile, for example a transmit-receive base for electromagnetic localization, with which target B can be located, if it is contained in a certain solid angle around the axis of the antenna of the base.

The angle HE ₀ Gt » d- _Q is the angle between the axis of rotation E Gr of the gyro antenna (not shown) with the reference horizontal.

Qemäse rotates an essential feature of the invention the antenna around its aohae, and it is positioned in such a way that it represents a gyroscopic top

The angle (JE B * 0 the initial angle between the Biahtung "iet in which the target of E _Q out is seen, and the sighting of the Rotetionsaohee K eisel antenna _r.

above is the! "body at E in relation to the

1 ·'

Destination B- at a given point in time of navigation

shown, and the drawing plane contains a new vector Vg, which is shown for simplification so that it coincides with the vector Vg dee start point *, since the size and direction of this vector 909840/0009 without_ ■

are of no significance for the following description.

One finds again around the point E .., which of the The position of the plug body at point in time t corresponds to the navigation towards the destination, the following values «

- the angle between the velocity vector of the

-fc lugkrpers and the reference direction at this point in time the value {^ -, assumed j

- the angle <^ - r and the angle * K. ^, which are constant values of navigation j

- the direction from the missile to the target, which has now become E ₁ B ^ and at the relevant point in time forms the angle HE ₁ B ₁ = ^ ₂ with the horizontal.

At the time, the longitudinal axis EL of the missile forms the angle L EL .. »<k with the direction of fire from.

Finally, the axis of rotation EG of the gyro _{antenna forms an angle GE 1} B ₁ * C jinit the direction E ₁ B ₁ from the plug body to the target at the relevant point in time.

909840/0009

FIG _e 2 shows the block diagram of the apparatus that the angle ^ »™ changes DEB angle NaOH chosen Navi © tion law readjusts, preferably by the so-called law of proportional navigation integrated.

A first group 1 delivers the at each point in time Measured value of the angle

An accelerometer 11 measures the accelerations of the plug body in the direction of a straight line which is in the navigation plane E. vl is perpendicular to the speed V _E.

The lateral acceleration P- measured by the accelerometer 11 is converted into a voltage which is proportional to the value P-. This voltage becomes in a multiplicative miso stage 13 with a voltage mixed, which is inversely proportional to V-, in order to obtain an output current equal to the value

ψ - is proportional
^V E

This current is integrated in an integration device H, the integration constant is set duroh a voltage welohe the initial angle u is proportional to the input and HO is supplied.

909840/0009

on

The integration circuit 14 is followed by an amplifier which supplies a voltage which is proportional to the angle 4 *, by which the missile has rotated relative to the horizontal, * which will be explained in more detail later.

This voltage is the input 31 of a discriminator 3 supplied.

Group 2 measures the Au value in the following way

An arrangement 21 for angular location of the target contains a gyro antenna, the axis of which is rotated and represents a direction fixed in the inertial space. This antenna beats two wave catchers, which are preferably arranged according to the so-called monopulse system and supply a voltage which expresses the angle S between the direction from the plug body to the target and the fixed reference direction determined by the rotation axis of the gyro antenna.

The tension expressing the value O becomes one Electronic Hultipllkationssehaltung 22 supplied, which emits a voltage at its outputs, which expresses the value A ο «

908840/0009

~ 10 -

This voltage is input 32 of the discriminator fed.

At one of the outputs 30 of the discriminator 3 appears an error voltage j ^, - A $ \ _t which "act" on the control elements of the missile via servomechanisms of a known type, which influence the inclination of the missile's longitudinal axis in such a way that the Pehler disappears.

A memory device 23 stores a voltage A _"1f corresponding to the first of the O _r Ganen 21, corresponding to 22 signal of sufficient Big delivered.

The constant voltage A σ ^ is used by the integration circuit 14 eueguided »and integration

d t

is of the Iß-fetgrationeeokeeping of that carried out.

As long as the loudspeaker arrangement 23 is not supplied by the organs 21, 22 above a certain threshold value, the relay 24 conducts the switch 25

not

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U06539

not to contact 25r <>

This switch is then on its contact 25s, so that the signal fed to input 52 is simulated Voltage is whatj from the remote control receiver comes what commands from the ground via the control center 50 receives,

FIG. 3a shows the trajectory of a missile which is aimed at a target which is seen from the launch point E _Q at an elevation angle which from this moment on allows self-steering navigation.

The triangle ^E ₀ ^B ₀ B forms the "KolliBionsdr ei eck ^11"

(B * collision point) in proportional navigation

Figure 3b shows a collision triple ok in a given one Time of the end phase of self-steering, in which the angle δ is in principle zero, as long as the target is not ^ oh swiveling movements makes

The curve E _Q E symbolically represents the flight path of the missile between its launch point E and its division E at the relevant point in time. However, it is obvious that this is the real flight path
must not · necessarily be contained in the level E · Vg. 909840/0009

Me

The letters E, B, V-g and Vg, as well as the angles and ds ^ g have the same meanings as in and in Fig.3a.

However, the scale has been the vectors Vg and Vg arbitrarily selected with respect to the scale of E ₅ so that the ^v ectors V and V "forming a triangle,

which is based on EB. l> ie analysis of this drawing allows the calculation of the optimum calibration of the ^A Tung CHSE the centrifugal antenna before launch of the missile.

is now the operation of the schematleohfci Fig.2 illustrated and described above arrangement are explained.

Group 1 measures the angle at which the missile E has been since the initial point in time in the following way has rotated relative to the horizontal.

The linear accelerometer 11 measures the lateral acceleration P ^ of the missile in the vertical plane which contains the longitudinal axis of the missile, perpendicular to this axis. .

Wtnn 909840/0009

If Y ^ is the speed of the missile, which is measured by the anemometer 12, it is known that:

The division mixing stage 13 divides the voltage output by the organ 11 by the voltage output by the organ 12 Voltage and therefore delivers at its output to d ^ r Integration circuit H a voltage which has the value -Äi. expresses.

The integration circuit 14 then delivers at its output, which also represents the output of group 1, a voltage that has the value <^ * up to a constant expresses »

This voltage is the input 31 of the discriminator; 5 fed.

Group 2 measures a voltage A 6 in the following way, which is proportional to the angular distance between the direction to the target and a direction plotted by the axis of the circular antenna,

the

009840 / ÖÖ09

-H-

The locating arrangement 21 consists either of an end-of-reception arrangement for electromagnetic waves or of a receiver for electromagnetic waves reflected by the target or for infrared waves emitted by the target.

It contains a gyro antenna whose axis of rotation is very well decoupled from the missile carrying it and which therefore maintains a substantially constant direction in inertial space.

Such gyroscopic battens are known in the art, for example the so-called "Sidewinder" antennas, which are used to detect infrared radiation.

The locating device 21 contains an angle measuring arrangement, which is preferably a monopulse device with two shaft catchers arranged symmetrically to the axis of rotation. Such an arrangement measures the angle of the aiming direction in relation to the antenna * axis in the plane containing the parallel axes of the Main lobes of the oil radiation diagrams of the two Wellenßinger enthüLb, i.e. the angle 0 ι due to a ^ ignaLraaximuma, which occurs every time the Monopulse level goes through the ZioL.

9098 4 0/0009 Dor

The angle between this plane BEG and a reference plane, ie a plane containing the axis of rotation of the antenna and a reference direction, for example the horizontal, can be measured at any point in time by a conventional scanning device. In this way, if necessary, one can constantly _{know the angle <* - B} between the target direction and the reference direction.

The multiplication circuit 22 receives from the receiver of the locating device 21 a voltage which expresses the value ^. A voltage of the value kO appears at the output of the multiplication circuit 22, where A is a constant which, for the reasons explained below, is referred to as a proportional navigation constant.

In practice, the constant A is between 3 and 5.

One of the outputs of the circuit 22 is with the input of the discriminator 3 connected.

A further output of the holding device 22 is preferably connected to a memory arrangement 23 which is automatically short-circuited to ground if there is no mesa signal for O, and which keeps the initial voltage A 0 -j 909840/0009 « ,

stores which corresponds to the first non-random location supplied by the organ 21.

This tension ko. is constant during the entire self-steering navigation and is fed to the integration circuit H, so that the value 4- ^ , to which the voltages integrated since the initial point in time are added, is equal to the value AOi.

This same voltage, which is kept constant by the memory 23, may serve also by means of the relay ( "r * raäLl ¹¹⁾ flip the switch 25 to its contact 25r between the measurement A ο serving Group 2 and the discriminator 3, said changeover switch at the same time the connection between the CHT F _e rnsteuerungsempfanger 5 and unte the discriminator 3 rbri.

When the device 21 gives no signal, so that the ^A usgänge the space indicated ** 23 are connected to ground, the relay 24 is not energized, so that the changeover switch 25 to its contact 25s (s * "simulated") is "The input 32 of the discriminator 3 then receives its input voltage from the remote control receiver 5, with which an operator can determine the fictitious angular distances Q 'from a remote control transmitter in the control center 50

Simulate 909840 / 00.09

can simulate which correspond to the desired flight path.

If the at inputs 31 and 32 of the discriminator exist! »Tensions are equal to each other, so if so is applicable"

the outputs 30 do not provide a signal to the servo control motor 4 »so that the control organs of the missile do not change their position as long as the above mentioned Equation is fulfilled, which, as will be seen later, an integrated proportional navigation indicates.

If there is a difference between the voltages at the inputs 31 and 31 which is above a correspondingly selected threshold value, one of the outputs emits a signal which causes the motor 4 to ^{rotate in the desired u} , and the servo controls 41 change the flight position of the missile in such a way that the angle changes all the more; the greater the voltage difference Lab to be eliminated, in the sense that corresponds to the reduction of this voltage difference.

9 0 9 0 U) / o 0 o 9

Ea can be shown that a the missile is forced To follow a proportional navigation law towards the goal. Such a law is known to be duroh expressed the following equation:

therein is the angle «λ. _E (3? Ig, 1) is the angle between the longitudinal axis of the missile and a reference direction, for example the horizontal.

_Ώ is the angle between the direction from the missile to the target and the same reference direction, and A is the navigation constant, which is usually on the order of 3 to 5.

By ^x this equation and introduction of ntegration ■ initial conditions we obtain ι

where ^ r is the firing angle.

Yy

Now i

Bo

J- /

909840/0009

because

because given the angle of inclination ot- the antenna given of the described design is strictly constant, the following applies:

and thus j q - ν _n

JO DO

Thus, purely formally, the present application, at in which only angular values occur, a distinction is made from the cases in which the angle is derived are used, especially as a result of the use of gyrometers, the chosen law of navigation! referred to as "built-in proportional navigation".

When the antenna is aimed at the initial point in time is directed, "= O, and it stays that way the following navigation laws

Ck. ■ A

If the launch is then in the direction of the collision and the target does not turn, the trajectory of the missile is straight, the missile flying through one side EB of the collision triangle E ₀ B _Q B, which is proportional to V ™, while the target is the side B _Q B Vg of the same triangle that Vg

909840/0009

is proportional "

When it comes to a flying plane to intercept, which is often to be expected, since this is a measure that is often used, may it because of the proximity of the ground and the sioh from it resulting interference with the waves used to locate the target will be impossible to direct the missile to shoot in the direction of the collision

One is then forced to use a firing angle cC ^ to choose which is above a certain safety limit, which depends on the tektisohen Situation (more or less free terrain in the target direction) appears suitable. It is then but required the angle - * ^ of the axis direction to choose the gyro antenna as a function of the launch angle dw such that the missile can easily turn by an angle that is sufficient for a comfortable self-steering maneuver according to the selected Iroportional navigation can be executed.

So you have to try to reach that the antenna after the shortest possible remote control period is essentially aimed at the target when the missile has pivoted so far that it sioh

909840/0009

in the

is located substantially in the K _o llisionsriohtung.

Since the angles * ^ and <N * _B at point E are small, one can write:

When this value is in the expression

is used, one obtains

It can be seen that in order to fulfill the required condition it is necessary and sufficient that the gyro antenna is set in the following direction »

A-

You then bring the plug body to launch in the <K ■ »direction.

j) he remote control with the help of the transmitter 50 and the interacting receiver; rs 5 is not necessarily required if one is to be told before the maneuver to be leased out iih ^ L ¹ öLno auaroiohondo Zöit νrirl'üt * t; daaa sioh die

909040/00 0 9

BATH ORIGINAL

ballistic trajectory of the plug body can bend under the action of gravity alone so that the curve E Έ _Λ

¹ οι

is run through (Pig.3b).

However, it is safer and faster to first set a fictitious target B 'with the help of the remote control 50, 5 to simulate, for example, symmetrical about the objective B in relation to the level of security ~ elevation angle is in the considered tactical case.

Incidentally, the same remote control device is generally essential for the plug body can be brought back into the collision direction in the event of sudden deflections of the target.

Considering the ^ ohwenkungsmöglichkeiten the target it would appear that the use of a non-adjustable in space self steering antenna makes the location of the target in a necessarily limited maneuvering time to a large extent depends on luck>.

In reality, however, the replica shows the Navigable nage netaaa on an Analo ^ maachino, d-iss iiiib üLnem sufficiently similar and maneuverable. he dew

9098 4 0/0009 BM.ufikürper

■ ..-. Wed BAD ORIGINAL

i'lugkörper, the target within the suffering of the self-steering device is held, in spite of the swiveling maneuvers, which in an overhead aircraft hovering at a very low altitude are likely.

The invention thus provides a remote control and self-steering arrangement created, which is just as suitable for intercepting bendable targets close to the testicle as it is for • "• Catching targets caused by being shot down in the Direction of collision can be achieved, in all cases the linde of the trajectory with the smallest possible Load factor is reached.

Claims

90984 0/0009

Claims (4)

Claims 1. Self-steering arrangement with which in the connection to remote control from the ground directs a missile to a target which is in can move very low altitude, characterized in that the missile is equipped with a target location device which has a gyro antenna whose axis of rotation maintains a fixed direction ctv in the inertial space, that a first electronic arrangement (1) constantly changes the angle of inclination ^ * g the longitudinal axis of the missile in the inertial space measures that a second arrangement (2) the angle JLg between the target direction and the axis of rotation measures and then amplified in a predetermined ratio as soon as the target direction is sufficiently located, and that the measurement voltages emitted by the two arrangements (1) and (2) are compared in a discriminator (3), the output differential voltage of which is a control signal represents that the motor (4) one of the inclination needle % of the missile controlling servomechanism (3 »4.41) is supplied. 909840/0009 - 25 - 2. Arrangement according to claim 1, characterized by dnss the first arrangement (1) a linear accelerometer (11), which measures the acceleration of the plug body, as well as a Anemometer (12) that shows the speed of the plug body in the direction of the longitudinal axis, the 3 measures the accelerometer output voltages and the anemometer to the two inputs of a division amisehstufe (13) that the Divisionsudschstufe be supplied an integration circuit (H) is connected downstream, and that the output voltage of the Integration circuit is fed to the first input (31) of the -1 ^ 1 s krimin ab or s (3). 3. Arrangement according to claim 2, characterized in that the second arrangement (2) contains an I / .Lnkelabstandsmes3ordnung (21), which is assigned to your receiver and its gyro antenna, that the angular distance measuring arrangement is followed by a voltage amplification circuit (22), the output of which with the second input (32) of the Diskrin ± iators (3) is connected via a changeover switch (25) ;, the tieiala from a { 'd \) Ln eggs VisUie geafeeuerb v / ill, DAAs he ■ inf. ¹ Helnom e rab-: m • ■ U * nl; ⁱ ikG (25s) abehb, about which ß'-e ^ planes CaL Ig 9098 4 0/0 0 09 U06539 optionally remote control signals are fed from one remote control receiver (5) while it is on its second Contact (25r) is on if that of the second arrangement £) delivered signal can be evaluated and the relay (24) is thereby excited. 4. Arrangement according to claim 3, characterized in that dna relay (24) is energized when a memory circuit (23), which is also connected to the output of the multiplication circuit (22) and short-circuited to ground as long as the supplied angular distance measurement signal is random, has stored a signal that is sufficiently coherent to be evaluated and that the voltage of the first stored coherent signal corresponds to a second signal (140) of the Integratic.nsijchaitung (14) is fed in such a way that that it is deducted from the result of the integration at the • input (31) of the discriminator (3) » 909840/0009 ι * L eers β ί \ e