DE1498043A1 - Method of measuring line-of-sight rotation speed in a homing head system - Google Patents

Description

Patent collecting society

in · b * H «■

Ulm (Danube), Elisabethenstrasse 3

Ulm, the 2k. May 196? , FE / PT-Sch / Bu - U l87 / 64 (tf5V # f)

"Method for measuring line-of-sight rotation speed in a homing head system"

The invention relates to a method for increasing the measuring accuracy of the line of sight rotational speed in a homing head system with a free working gyro, particularly the The purpose of this is to reduce the effects of the unavoidable drift of the working gyro on the measurement accuracy of the line-of-sight rotational speed.

A homing head in a missile is known to be used Determination of the position of a target relative to the missile by means of a passive, semi-active or active filing device} the for example, a infrared detector system or a radar direction finder and the following for the sake of simplicity is referred to as a measuring device. UnderVMeasuring device is

Noll © documents (Art. 1 % 1 Paragraph, 2 No. 1 Ss.t? 3 of the Äncierungsgss. V. 4.9.

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here one that is only responsive to the target's own radiation Direction receiver understood, under semi-active measuring device a direction receiver (radar receiver) responsive to the target, which is, for example, "illuminated" from the ground by a radar transmitter, and an active direction receiver Measuring device an on-board radar device aimed at the target. "* ■

From the output signals of such a measuring device im Seeker head can derive its own steering commands required for the missile readjustment to the target, which command the missile to perform maneuvers that lead to a hit. in the Seeker head system must fulfill two tasks here, in fact

1. The stabilization of the measuring device, for example their directional antenna, in space in relation to the rotational movements of the missile and

2. the directional tracking of the measuring device (antenna) according to the relative movement between Target and missile.

Are these two tasks in the seeker system as a result of If the drift is incorrectly executed, the relative movement of the

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If the target to the plug body is incorrectly measured, this results in deviations, for example path deviations _t higher transverse accelerations and finally hit errors of the missile in relation to its target, which severely limits the possible uses of weapon systems containing such plug bodies if the drift phenomena are not largely eliminated.

There are two basic methods known by which the Stabilization and tracking of the measuring device can be performed, namely a method using a servo system and a method using a free working gyro.

When moving with the servo system, the to be stabilized Measuring device (antenna) attached two rate gyros, which measure the rotational speeds in space around two axes, namely around the yaw and pitch axes. Xn are closed control loops actuators controlled by the gyro signals in such a way that the rotary movements are regulated, whereby the measuring device is spatially stabilized. The tracking of the measuring device in the area for target tracking is achieved by additionally applying signals to the actuators from the measured values the measuring device can be derived.

η Λ Λ η Λ H 1 Λ! -! .-. ■ -.

When using the free working circle, the measuring device is stabilized directly in space by utilizing the gyroscopic forces of a free working circle. One speaks in this context of a free working group, because because of its greater twist it is not like a measuring circle, e.g. B. a rate gyro in the above procedure with a servo system, · only emits signals ₉ but also a sufficiently large stabilizing force © "whereby @r also functions as an actuator. The tracking of the measuring device in the area for target tracking is achieved by taaB when moving with a free working circuit through forced compression, the free working relay, in that r = aa generates moments about the cardan shaft with torque sensors anyway.

The advantage of the process with a servo system is the possibility of measuring the speed of rotation or the position of the measuring device in space with very high accuracy, so that extremely low-drift gyroscopes can be used when this process is carried out. However, the disadvantage here is that because of the high rotational speeds and natural frequencies of the missile to be regulated - compared to the values for the tracking - the power required to stabilize the antenna is so high that hydraulic systems of high power and high precision have to be used as actuators whose space requirements are quite right

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high and undesirable percentage of the volume of your missile * and that in comparison to the total missile too • incur a higher share of costs and with very small flights « bodies may not be applicable at all.

The advantage of the method with a free working gyro is essentially that, due to the direct connection of the measuring device to the spatially stable working gyro, no additional devices are required for stabilization. However, the drift of a working circle is unavoidable in comparison to a measuring circle and is very disadvantageously greater, which is due to the fact that the construction features and dimensions of the working circle which characterize the measuring circle and contribute to their smaller drift values cannot be realized.

The invention is based on the object of specifying a method for increasing the measurement accuracy of the line-of-sight rotation speed in a target seeker system with a free arbor gyro, based on the prior art described above, which combines the advantages of the two known green-upsetting methods without, however, combining their disadvantages but the latter to avoid possible * is the solution of the problem underlying the invention aer erfinduiigeg © m £ ß _t characterized in that the analog means of an additional working rotors, with

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the same or derived input variables as the An arrangement subjected to working gyroscopes, which has significantly smaller deviations of its output signals from the setpoints, the deviations are approximately determined and that the approximately determined deviations in the sense of reducing the deviations the output signals of the working group el β according to the Kempenüationsprinzip be evaluated.

In the method according to the invention, the free working gyro is thus combined with hot gyros, the working gyro still serving to stabilize the ^M - ~ device and the tracking of the same in the direction of the target, while the drift effects of the working circle ^ on the measurement accuracy of the Siohtliniendrehg @ seh speed are reduced that a drift compensation takes place by evaluating the low-drift output signals of the measuring gyroscope.The practical implementation of the method according to the invention is different depending on the circumstances, such as plug body diameter, type of measuring device, gyroscopes that may be present in the autopilot and tactical requirements, but always based on the above principle .

The following are preferred exemplary embodiments with reference to the figures of arrangements for carrying out the invention Method described in detail, with the purpose of simplification

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The representation does not take place spatially, but only in one plane, since the transition to the R & us & lche representation should not cause any difficulties for the person skilled in the art.

FIGS. 1 a and 1 b serve to explain in more detail the method described at the beginning with free work, provided that the missile is navigated according to proportional navigation methods.

The origin of the in figure 1 a shown coordinate system "is the missile, then appears ®® ± si © 1 la R" L? .T? Aag the line of sight at an angle Φ against a raismfeste Besugariohtung. Pi: & direction of the antenna $ d. h, the direction of the Messeiisrishtungi against the same inflection direction is with Θ. designated. In relation to the line of sight, the direction of the measuring device has the angular deviation £. The direction of the measuring device in space according to the equation θ. ak " ξ tracked. Furthermore, φ - Θ _Α « £ and thus also φ - Θ _Α « €. There . £ is small in practice, can be approximately Φ = k. Write £. A signal S is thus obtained which is proportional to the speed of rotation of the line of sight in space. Attacks on the gyro drift-causing Stormoment to _see so Φ is measured incorrectly.

Figure Ib shows the basic implementation option in terms of a block diagram of the procedure with free working groups! ,,

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Act*. ι T 28 654 IXb / 42α- O UIn, Nov. 12.

FE / PT-ßch / Bu - V ^ 548t

Nouo beach friction β

FIGS. 2a and 2b show "an exemplary embodiment of the arrangement for carrying out the method according to the invention, in which the I-ife3kreieel all free Xreiael (position circle)" is carried out with two moments "so that it can execute forced operations in the same way as the free work charter. The solid angles occurring at the extensions of the gyroscopes against the reference direction are O in the Arbalt's circle and in the MeQkreieel. ^ AO * your angles in the missile aind <Y. or Ύη * if # _F der Angle of the missile lÜagBaetiae in tree is. Xat the drift equals KuIl, ao results in aieh ä ^ ** Q ₉ This Xdealfall iat but not eu expected "In the presence of a drift, 0 .. and Ö." * Whereby a difference signal ΔΤ can be obtained, daa a

away

ΙίαΆ for the drift iat and via an amplifier but correction cior drift on the input dee working groups on switchable iat

Ώ..Μ ÜbertragungaverhaXten of Versttfrkers iat in simplest FAXX xino & r "often it is advantageous, however, in addition nit him J differentiating and / or integrating characteristics ausau" equip ·

Larch the activation of the working group old a corroltturuxgnal from the amplifier can be achieved that the Gesaut " ayatem practically assumes the properties of the Meükreisel with regard to drift · · ""

The gyro in the arrangement according to Figure 2b needs'

BATHROOM OMQINAL • 9 -

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niobt au · eineef Ι «« β # |. (τ · ί «· 1 isu bo" tnhen, T "nteprechend the Siinal # £ Zw" ng "prä9" seiGnen "uaführt often iet $ *" · nHoCLich Ib linn · d «R Brfiadun« advantageous, «1» ikrWiaal «inen!« «• kr« i * «l ait Integyattor _Y an Or« hg «« ehiriadifk «£ teint« gration · - j kr «i ··! Ait integrator (I. · <Vendekreieel) or a Vendekreieel «it strei integrators st» benutaeia _r «pll beeoodera then awakmMflig i * t t _t when such circle * # l ready · in the missile« at * piel «irei« e in its autopilot »pre-band» ind and if their Ausgange-; signals can be made additionally evaluated * the Beeeich "voltage <Xer rotors are in 4p entire ^ Description genXB the guidelines ^ names on the field of" Ireiseltechnik, VDI / VDR 2171 from Deaember 196a.

Figures 3a and 3b serve to explain a further advantage adhere to the arrangement for carrying out the process according to the invention!

renm, in which a rate gyro is used as a monitoring gyro on the

■ "■ - - '/ i measuring device is attached or on whose antenna« the actual » value of the rotational speed in space is measured and compared with the target value. In the event of deviations, a correction signal is sent to an input of the working group against « ^;

Claims (2)

Claims 1 / Method for increasing the measurement accuracy of the line of sight speed of rotation in a sighting head system with, free Working groups! Ι characterized in that by means of one of the Working gyro analog additional, with the same or input variables derived therefrom, such as the arrangement acted upon by the working group, the significantly smaller deviations of their output signals from the setpoint values, the deviations are approximately determined and that the approximately determined Deviations in the sense of reducing the deviations of the Output signals of the working circuit are evaluated according to the compensation principle. 2. The method according to claim X, characterized in that the Approximately determined deviations in the sense of compensating for the drift of the working circle superimposed on its input variable will. New © documents (Art. 7, Paragraph I, Paragraph 2, No. 1, Clause 3 as a Amendment of 4 September 1967) 909803/0782