DE1623391B1 - SYSTEM FOR THE OPTICAL BEAM STEERING OF VEHICLES - Google Patents

Description

1 2

The invention relates to a system for optical. All of these previously known systems require one

Beacon steering of vehicles on their path, very large equipment costs and a large line

by determining their directional discrepancy in relation to stung and finally a constant and careful

a reference direction using a guide maintenance.

Beam transmitter, the at least one of the 5 The invention is based on the object of a sy-

to create a guard room periodically sweeping over from the star of the genre specified in the introduction,

Vehicle received beacon emits. when on board one or more vehicles

Currently known systems operate primarily by means of simple devices for its storage two procedures. One of them is to determine the angle relative to a reference direction Reflection of electromagnetic radiation for io is.

remotely guided missile or to achieve this task is proposed here to apply predetermined goals, the system being solved according to the invention in that the controlling missiles on the radio path the fixed beacon a given fixed, the surveillance point Angle offset is transferred, the angles enclosing the corridor change periodically in correction serves the track being pursued. The disadvantage of this 15 is the direction swept over and the aboard the driving procedure lies in the fact that there is always only one driver or receiver located in the vehicle project can be controlled at the same time. the moments of passage of the beacon

In the other method, a widely distributed group of transmitters and position angles to the reference direction is determined by their location and from this their abBoden, which a receiver, which, connected via radio, 20 legs of the room delimiting the surveillance space, a dense network characteristic Curves of an angle or its bisector, and create, each of these curves following a spatial law that is precisely defined by the fact that a device is determined from the offset angle control λ. Therefore, it provides such signals to correct the path derives. ^ Network as a result of scatter phenomena on the antenna This system generates a characteristic UHF range with only a low angular resolution network by means of the infrared, visible of the transmitted or received bundle, even in 25 bar or ultraviolet light very insufficient accuracy. Every point of the transmitted guide rays comes across that the rather large scattering spot defines the monitored field. Everyone in this space leads to the fact that in the place of the monitored continuous body, the devices of which respond to the created space a fine structure of an isolated optical field, can thus occur automatically points, a fact that leads to a discontinuous table or semi-automatically on a room analysis assigned to it. It can also be done with a very nice path. This system fulfills the network of space curves at high frequencies, thus the most diverse tasks on the space angle can only be unambiguous if the vilen or military sector,
it is discontinuous, so that only a limited number of missiles can be used; Finding according system advantageous in air traffic that the missiles must be equipped with very extensive or naval systems and in particular for guidance and precisely working devices in order to avoid missiles in the approach zone of an airport, for example when approaching an airport, the emergency or approaching a seaport Use to achieve agile accuracy. 40 find.

From the German patent specification 767 354 a It is obvious that vehicles that are only in

Moving the method and other device for the direction of a plane (e.g. ships on the water

mood using a rotating radio surface, motor vehicles, etc.), for compliance

fire known that, depending on the respective path, can manage with a single guide beam. \

In the direction of the radiation certain characteristics 45. Assuming that two guide rays, which in

sends out. At the receiving location, the field strength - two z. B. mutually perpendicular directions

course of the rotating radiation and which the individual periodically sweep over the surveillance space,

an angular straight line of the rotating radiation continuously unambiguously every spatial point of the surveillance space

nuierlich marking characteristics set their values mes and hereby not the task

after written down immediately one above the other. With 5 ° it happens to be a data carrier for angled filing

Although this previously known system can be used on board this system according to the invention, the same

of a vehicle, the angular offset at a reference time is independent of a large number of vehicles

direction to be determined; However, this is only to be done for each other and on the respective course

a single level, namely the side level, is possible. to keep.

Another disadvantage is that a second transmitter continues in coded form the respective momentary rays result from an advantageous embodiment Identifying form of the system according to the invention that marks the position of the radio control beam, must send out characters. The use of radio that the beacon transmitter has two optical channels guide rays instead of optical guide rays conditionally each has a mapped light source, which is located in also due to the lack of bundling ability- 60 the focal plane of a capacitor in the form of a The former affects a lower measurement accuracy and evenly illuminated, rectangular gap analog evaluation process on board the Fahr- finds a single ten to a hundred times smaller witnesses. That being said, it is according to its known latitude as its longitude, which coincides with the optical axis different properties of light and forms an opening angle that is at least equal Radio waves not possible that are in the area of 65 that of the plane to be swept over, with a Radio control beam technology known methods and pre-light source of high luminance illuminates the gap, directions in the field of optical beacon - those with the condenser that in the room projection technology transferred to. adorned thin guide beam.

3 4

According to a further advantageous embodiment, in addition to the guide beam signals, the reference signals

form there is a marking of the reference direction.

in that a reference signal transmitter periodically in one the advantages of the logic circuit technology at a certain point in time and thus in the case of a further utilizing development of the last-named determined Position of the guide beam a this position 5 leadership is that the decoder a Characteristic reference signal in the form of a high pulse shaper with a downstream differentiating element containing a frequency pulse or a flash of light, the former sending a monostable tilting shell. can be and emits an output pulse,

In an expedient further development, its duration can be longer than the longest pulse train, the technical equipment on board the Fahr- io and parallel to the pulse shaper with a counter reduce this tool that a device, two correspond to the different pulse trains. B. a sector diaphragm, the two guide beams the outputs, each of which with the first one after the other the corresponding levels of the over input is connected to an AND element whose guarded room z. B. in the manner of sweeping over the second inputs in parallel with the output of the diff, that after being passed over once, the decorative elements are connected and their outputs level tracked a double swipe of the page level with a reset circuit each for the counter, whereby the on-board receiver is bound in a single and at the same time the signals for the storage channel both guide beams processed. supply measuring circuit.

An advantageous embodiment for generating To obtain the angular offset is a

the deflection of the beacon is that 20 equal to the received beacon signals with the

each optical channel of the Leitstrahlsender an opto-reference signal necessary, what after an advantageous

»Mechanical deflecting optics, which are particularly easy to use from a large number of embodiments. Refractive elements and a mechanical control h'ngt that the Ablagemeßschaltüng two clocks contains device that contains the refractive elements synchronously that receive the reference signal at the input for generating a periodic sawtooth deflection 25 and a first comparator signals with a duration of the respective guide beam by the maximum angle of a quarter or three quarters of the deflection drives, supply period to which the corrected reference signal

According to a further advantageous embodiment emits to a second comparator, the second form of which succeeds on the receiving side in distinguishing between the input and the output of a bistable multivibrator guide beams in that each of the optical 30 is connected on the transmission side, and its input signal from the Deschen channels is an optomechanical modulator receives bait and the output of which contains the angle and emits the modulation frequency of a signal proportional to the additional deposit,
the guide beams is at least twice as high as in the drawing, the system according to the invention is that of the other guide beam, each of these opto-in for example selected embodiments and mechanical modulators is arranged near the gap of the light beam modulated by its parts and explanatory block diagrams, and and Diagrams illustrated. It shows
consists of a further sector diaphragm, the Fig. 1, the overview diagram of a transmission center, rotates at a constant angular speed. F i g. 2 shows the schematic structure of the light sources

Another possibility to the receiving side for height and side level,

Differentiation between the two different levels 4 ° F i g. 3 the generation of the guide beams (modulated)

associated guide rays consists in the fact that the deflection in the elevation and lateral plane,

optomechanical modulators the two Leitstrah- F i g. 4 is a perspective view of the room

»Modulate len with the same frequency and the sweeping guide rays,

Gap width and thus the angular opening of the guide F i g. 5 a group of four vehicles in one

radiate perpendicular to their direction of deflection, e.g. B. at 45 monitored solid angle,

the factor 2 can be different, FIG. 6 showing an example of the sampling laws for

two guide beams wandering past in the receiver elevation and lateral plane,

generate different pulse trains. F i g. 7 the perspective view of the reference

In a further embodiment, the recommendation and guide rays are for the sweep only

possibility of differentiation on the catch side as a result of one level,

give that the two guide rays in their light F i g. 8 the timing diagrams of the reference and withdrawal

differentiate wavelengths and thus their color and touch signals when scanning only one plane,

the receiver has two optical channels, of which FIG. 9 the block diagram of an on-board receiver,

each for the light wavelength of the F i g assigned to it. 10 is a diagram of a pulse train;

Beacon is selectively permeable. 55 Fig. 11 shows the block diagram of a decoding input

Finally, the distinction of the direction of the guide rays is

also possible in that the light sources Fig. 12 the diagram of the incoherent decoding Generate light and the direction of polarization delivered pulses,

lines of the two light beams perpendicular to each other F i g. 13 one of the signal processing devices for the

get lost. 60 side level,

An advantageous embodiment of the receiving Fig. 14 to 16 the timing diagrams of the

side part of the system according to the invention character- electronic clock generators and the devices for loading

net is characterized by the fact that the receiver on board mood of the angle bracket delivered signals,

of the vehicle a selective optics, a given. As an example, it is assumed that the vehicle

possibly cooled light receiver, a threshold value 65 is a missile.

circuit, a selective amplifier in connection with It was previously mentioned that the, broadcasting center

a preselection circuit, a downstream two light beams of very small width that

Contains a decoder and a storage measuring circuit, which has a very narrow opening bead in one direction -

5 6

of only a few tenths of an arc second. then to the corresponding processing

These rays, one of which is horizontal, of which canals.

others can be vertical, successively press the F i g. 1 shows an example of the block diagram of From the monitoring space and reach a reference signal transmitter 1, which is connected via the antenna 11 Correct times in which the missile 5 emits radio pulse. The ones adopted later Receiver located in the vehicle, to the treated device Fl F2 actuated These narrow rays or bundles, which by an appropriate point in time, the electronic control vow small transmission areas of high luminance circuit 13 with the help of the electromechanical are generated (with the control unit 14. This electronic control circuit required services are relatively low), enables 10 solves the blocking within a short period of time it with a single optical connection th transmitter 12, which includes a radio generator, (which is hardly susceptible to interference), at the same time a large number following one or more amplifier stages guided by missiles and switched on. The AnKurs fed via the transmitter 12 to keep, these bodies from each other very tenne 11 sends an electromagnetic wave into the can be far away »15 space that is at least over the

For angular misalignment measurement on automatic or bundle 20 and 30 swept monitoring semi-automatic Paths are these missiles with space extends.

an optical receiver which, at each of the optical channels 2 and 3 shown in FIG

Bundle passage delivers an impulse. The delayed beacon transmitters contain the optical ones

tion of this impulse compared to a reference impulse, 20 projection devices, which the two very flat

which is formed on its own channel, is used to emit guide beams 20 and 30, which in turn

Measurement of the angular deflection of the missile from the two planes of movement, preferably two to one another

path intended for him. · Scan the vertical planes of the room. Everyone

Fig. 1 shows an overview diagram of a transmission- these channels include their own light source 22, 32,

central with the reference signal transmitter 1 and the opti- 25 which are adapted to the beam shape of the guide beams,

see Leitstrahlsendern 2 and 3, which the Leitstrah- whereby a switching device 23, 33 also makes it possible-

len 20 and 30, which in turn generate the half-light to alternately feel the two vascular bundles. A

Brush over angle Ds and Dg , which are in z. B. Modulator 24, 34 gives each of the guide beams

two different levels of the monitored room a certain identifier, a scanner 25, 35 provides

mes are located. 30 an exact time set for the operation. A me-

As already mentioned, in the case of the guidance of the mechanical control device 26, 36, the angle of the missile can be dispensed with in a single plane for one of the three speeds of the individual movable elements, channels of the transmission center, for example, with one another, and an optical system 27, 37 projects the reference signal transmitter 1 . The Leitstrahlsender 2 lie- Leitstrahls 20, 30 in the room,
now produces the reference signal to the Leitstrahlsen- ₃₅ In order to enable the receiver of the missile to deposit the 3, which enables the monitoring level to be measured on each side, one of the Leitstrahabtastet remains, calculated from an axis that is aligned with the len, for example the beam 20, parallel to the horioptical Axis can coincide. The Leitzontalen and scans the height level; the other beam 20, which in this case the space vertical beam 30 remains in the vertical and scans over it, reaches the level of the ₄₀ side plane at the moment. This becomes a precisely defined time-horizontal plane in which the guide beam 30, for example, runs through an optical connection between the wise the center point of the plane. The guide rays and the missile created, the guide ray 20, which is clearly determined by its parameters in any point of the monitored space, generates a character in the on-board receiver.

teristic reference signal that defines the reference time _45. As already mentioned above, the codes from which the angular offset of the airborne beams assigned to the angle of the flight beam is determined can be used to determine the body. Don't change geometry, especially not that

If, on the other hand, the missiles do not move in "thickness", because primarily this is what it is

one level, but spatial, the reference accuracy of the spatial analysis and thus the

signal is only sent out for a short time if every 50 accuracy of the offset measurement and the steering of the

the guide beams 20 and 30 determined a precisely defined missile. To according to the invention the

Direction passes through. This direction can either be fixed boundaries of this small width of the rays

to guarantee the zen coinciding with the optical axis and, moreover, to be undesirable

the area of the monitoring room or eme of mutual influences to be switched off, the

tactile extremes 21 and 31 be. 55 result in systematic beam broadening

The elek from the reference signal transmitter 1, the various codes of the light magnetic reference signal can, as shown in FIG. 1 radiate through independent devices exemplarily shown, an optical or a radio testimony, each of which only serves to signal the task assigned to it. The sending out of a short and all-fulfilling has. Thus, the transmitters, switching devices, laterally directed light pulses of high power, 60 modulators and scanners can be done independently of one another by a flashlight. When receiving it is designed, whereby only the moving parts are moved by the transmitted pulse, preferably by the same drive motor,
optical system recorded, but via Detek- Fig. 2 shows schematically the transmission sources for the gates, which are on the spectral band of the lightning and the height and side planes, which from the light sources to a different band than that of the guide rays 65 22,32 and the catoptric or dioptric optics 20 and 30 respond. The homogeneous bundles in geometry-sensitive filters, which exist in front of each of the detectors 27, 37, take over the separation of the trically precisely defined and very narrow partial field reference pulse from the guide signals and guide them to the emitting. Any so-called secondary light source

I 623 391

7 8

is provided by a primary source S, a condenser C. The mutual position of the elements of the ca

and a gap F is formed, the latter in the focal points 2 and 3 being shown in FIG. For simplification, if the means used are shown in schematic form, the latter is shown in FIG. 2 shown through the lens O for coding the light bundles or guide rays. 5 shows. The channel 2, which is the modulated light beam

The two transmission sources, which do not emit any moving ones that scan the height plane, contain the parts, emit two fixed, uniformly emitting systems, the one by the lamp Ls, the condenser-lit beam in the form of a very narrow sensor Cs, the gap Fs and the Optics 27 is formed, strips of large area from and are perpendicular to each other- whereby the keying device 23, the sector diaphragm V 2, each other. io the deflection optics 25 and the modulator 24 comprises.

If an operation with monochromatic coherent light The channel 3 for the side plane (for the transmission of the provided, so the primary sources 5 from an- Leitstrahles 30) comprises the same elements and excited generators, for example lasers, best devices with the index g instead of s and hen, the desired spectral radiation outside by the number 3 of the groups of ten instead of 2 den. When operating with normal light, 15 are designated. It should also be noted that in the primary sources, in contrast to this, preferably FIG. 3, the dimensions of the gaps Fs and Fg are not formed by incandescent light sources, which are to a large extent true to scale. The length dimension of the gap of their radiation in the spectral range Fg used and of the filament of the lamp Lg are in the range. For example, the primary sources can be drawing plane. According to FIG. 3, the lamp Ls and the gap Fs are formed by filamentary lamps perpendicular to the plane of FIG. 3.
are, Ls for the height level and Lg for the side The Umtastgeräte 23 and 33 are of the

"Level, allowing said lamps natural light off sector diaphragm Vl and V 2 formed abwechsenden having a wide spectral range exceeds nately during the sweep time T one of the Leitdeckt. Filters that are permeable to the useful radiation radiate for the elevation or for the side plane are darkened on both the transmission side and the reception side, while the other is for the side or side in the optical channels. Hot light sources the height level is projected into the room. These are expansions, changes in length and bends orifices, which are located in the immediate vicinity of the secondary sources, which are subject to and after a certain operating cleavage planes Fs and Fg , are physically and thermally inhomogeneous, run around the structure at one speed. Accordingly, it is not advisable to use such a light source directly from the reduction ratio of the transmission R 2 , since that depends on the light source that forms part of the control unit 26, 36. A shaft connects the gearbox R 2 with which would be lit, nor the precisely defined geome- reduction gear R1, which would correspond to Irish dimensions from the drive motor M. is driven. The two aforementioned transmissions

Based on the use of hot lamps, all moving devices of the transmitter pen Ls and Lg are the task of the condenser C and together and thus deliver synchronized movement of the gap F, geometrically precisely defined and equations to all moving parts or devices,
to form moderately illuminated secondary sources. The same motor M and the reduction gear

Condenser is formed by a system of lenses or Rl work via a transmission shaft and another optical element, which is formed by 40 bevel gears R 3 and R 4 on the deflecting optics of the primary source S with high luminance 25, 35. The guide beams 20, 30 The transmitted light flux must be over-concentrated on the fixed gap F wachungsraum according to fixed laws, the length of which is about a hundred times greater, whereby these laws are usually made up of its width. The enlargement of the condensation, a linear change in angle as a function of sors, is dimensioned in such a way that the illumination of the gap 45 derives from time. This change in angle will be uniform up over the entire surface. The gap Fs is converted into a deflection control. This Abdes the height level sweeping channel 2 is so steering control can be arranged by devices that its surface are perpendicular to the opti-, which are either in front of or behind the Absche axis, its large extent is horizontal and steering optics 25, 35. So it can be known its small extent vertically, so that 50 deflection devices are used for the light beam 20 according to the invention in the form of a large horizon system. It should also be mentioned that the valley surface is very thin. The gap Fg still that in view of the fact that the optics 27, 37 of the channel 3 sweeping the side plane has a large opening and a deflection angle perpendicular to the gap Fs, so that the light beam 30 should allow the dimensions of a few degrees very small vertical area. The 55 and dimensions of the mechanical deflectors opening angle (a very acute angle) of the from are very large. Furthermore, the moving objective O experience the outgoing light bundle 20, 30, parts in their alternating movements are each determined by the width of the gap F , which is located in the reversal of direction high and suddenly occurring focal point / _{0 of} the stated objective. The decelerations and accelerations, which within the latter, which with a large opening serve to achieve large short-term wear and tear and failures ranges, consists of a material that results in.

the spectral range of the optical beam used It is therefore important both in terms of reliability

treatment is permeable. For example, the optics speed of the device as well as a uniform 27,37 for medium infrared light corresponding to the French room detection more favorable to a deflection device French patent 1,393,576. 65, which is able to use a time law of the

As noted in the introduction, distraction itself requires a complicated, analytical form inventive light source only a relatively small only using such mechanical Feed line. Parts that have a uniform rotary motion

execution of constant angular velocity. F i g. 3 schematically shows such a deflection optics 25, 35, which is described in more detail in French patent 53 053.

The mode of operation of these deflecting optics can be briefly summarized as follows: The deflecting optics is Equipped with a large number of pairs of prisms, which ensure the even distribution according to the specified Make distraction law. Each of these pairs consists of two prisms with a small angle Rotate in opposite directions in front of the optical system 25, 35 at the same speed. The simultaneous Revolving two opposing prisms corresponds to a change in the angle of the equivalent prism and consequently the deflection of the beams 20, 30. Is the rotational speed of the two a pair the same size as forming prisms, a sinusoidal deflection is obtained in one plane, whose repetition time corresponds to the angular velocity of the prisms. The advantage of this Deflection optics is that all moving parts revolve uniformly, resulting in a much smaller one Wear results. The movement of each pair of prisms creates a sinusoidal deflection, which is a member of Fourier's series of the required deflection law. The execution with a A large number of pairs of prisms enables a deflection without great mechanical effort and effort comes close to the ideal deflection with excellent accuracy.

The modulators for the guide beams are shown schematically in FIG. 3 by the disks 24, 34 An offset measurement is only possible if the missile's on-board receiver can determine whether it refers to the deflection by the horizontal surface (height plane) or that of the vertical surface (side plane) appeals to. These two areas must therefore be distinguished by differentiating parameters when sending be characterized, which enable their determination. To distinguish the two rays different methods can be used. If you use laser (coherent light) as a Primary light sources, so there is a simple method in polarizing the two guide rays (elevation plane / side plane) at right angles to one another. the Applying this method assumes the presence of an optical selector and two receivers on board every moving body, the latter appearing to be too expensive in certain cases can.

When using natural light, a method of modulation is used which consists in distinguishing the two rays N of the periods received by the receiver during the time interval & and which pass through the receiver's lens with each passage. If / is used to designate the optical frequency of the beam, which includes both the spectral and the modulation frequency of this beam, then the characteristic ZaMN = fft. The passage times #s and ϋ-g of the bundles for height and side planes is proportional to the widthes and eg of the column Fs and Fg, provided that the scanning speed and the focal area of the optics 27, 37 are kept constant.

The evaluation method according to the relationships Ns = fs & s and Ng = / g # g offers several interesting possibilities.

One of them, where N stands for the number of light oscillations, uses light of different colors for the two beams, so that a precisely defined spectral band is assigned to each of the beams. In this case, the two surfaces can have the same width e and thus the same transit time · & ■ = & s = - & g. In the missile two optical systems are provided which are permeable to one of the two beams and are followed by very steep-edged optical filters that guide the signals of the beams for the elevation or lateral plane to the channels provided for this purpose. These filters also suppress any optical coupling between the two channels when the missile located in the vicinity of the source receives a strong luminous flux. However, this solution requires the mounting of two optical devices on the missile, which is not always possible.

Another method, which uses the ratio N = fu · to distinguish the two rays, consists in modulating the surfaces for the elevation and the lateral plane with different frequencies. A selective electronic device located on board the missile allows the two channels to be distinguished. In this application, the value iV is equal to the number of periods of the modulation signals. The frequencies of these signals must be sufficiently high so that with each passage of the beam in the electronic device located behind the photocells, a signal is generated whose level is practically the same as that which would be achieved with continuous light. It should be noted here that the entire spectral band of the transmitted beam is used in this application and that consequently, with the same active surface and the same specific sensitivity of the photocells, the signal-to-noise ratio is improved compared to the previous method.

If the time constant of the detectors for the emitted optical radiation is very high, the high modulation frequency can be largely compensated for by the width of the beam in accordance with the relationship N = f &. This enlargement of the width, which practically reduces the modulation frequency, can take place without impairing the guidance accuracy. The width of the two guide beams can be the same as in the aforementioned case.

In the previous presentation it was assumed that each guide beam through a single Modulation frequency is characterized. However, it can be advantageous to use four modulation frequencies to use, giving each beam a frequency during one half of the half cycle and assign a different frequency during the other half of the half cycle.

The relationship N = fd- also allows the areas for the elevation and the lateral plane to be determined by a modulation frequency / common to both beams, although the former have different widths. As in the aforementioned case, the frequency / can also be selected to be relatively high here, provided that the reduction is compensated for by greater widths. These widths must also be kept large enough so that the beams for the height and side levels generate signal sequences during reception while they are passing through the optical system.

genes that consist of different numbers of periods Ns and Ng . These numbers must be calculated in such a way that a steady state is established both with the photocells, taking their time constant into account, and with the electronic device, which is characterized by its bandwidth Δ f . A counter, described later, is used to differentiate the information for the elevation and the lateral plane on board the missile.

The time modulation of the beams can advantageously be carried out with modulation disks which are mechanically driven and rotate at a constant angular speed. These in FIG. 3 schematically illustrated disks 24, 34 have elongated radial openings on their entire surface, which are arranged at regular intervals from one another. The dimensions of each opening correspond to the geometric dimensions of the light rays that are to be periodically interrupted by the modulation disks. These discs are driven by the control units 26, 36 and run with the deflection

»Optics 25, 35 synchronously at. The time in which one opening takes the place of the previous one (covering time of the light beam emanating from the gap Fs or Fg ) corresponds to the period duration Tr = Hf, where / represents the modulation frequency of the light beam.

The modulation of the guide beams also makes it easier to distinguish between Useful and interference sources.

The F i g. 4 to 8 show in schematic form the guide rays for the elevation and the side plane which are projected into the room. It is also shown here that the information can be derived without difficulty which enables the position of the missiles to be determined in relation to the given path, this path coinciding with the optical axis OC . F i g. 4 shows a perspective illustration of the two guide beams which sweep over the space around the axis OC. The beam which sweeps over the lateral plane is formed by the very narrow surface Ogh, while the beam for sweeping the height plane is formed by the very narrow surface Oab . F i g. 5 shows, in a section transverse to the optical axis OC, four missiles A1 to A4, which move symmetrically to the axis OC . Fig. 4 shows that at the moment when the guide beam detects the missile A 4 in the height plane, the missile A 3 also responds. A similar process takes place with the guide beam for the side plane; missiles A4 and A1 respond at the same time.

The system according to the invention, however, avoids any mix-up when determining the angular offset as well as the directional control commands of the missiles, which is represented by those shown in FIG Diagrams is explained.

This Fig. 6 shows the timing diagrams for the deflection laws for the side plane β g (t) and for the height plane ßs (t). In the normal case shown, these laws are linear over time and result in diagrams in the form of isosceles triangles. Each of these triangles with a periodicity of T is characterized by the outer half-angle Dg and Ds as well as by the width eg and es , which determine the passage times dg and ös . One side of the triangle Got31 and Totll corresponds to the deflection period for the outward path, while the other side corresponds to the deflection period for the return path. The deflection cycle for the elevation plane lies between two deflection cycles for the side plane.

As already described in more detail earlier, the reference signal is emitted at times t31 and t21, at which the guide beams for the lateral and elevation planes lie in their extreme directions 31 and 21 (FIG. 1). The reference signal can, however, also be sent at any other point in time, for example a quarter period T / 4 after the guide rays have passed through the optical axis OC, which is shown in FIG. 6 corresponds to the abscissa axis Ot.

If the points in time at which the missiles are detected by the guide beams are transferred to the diagrams, one finds that the missiles A1 and A3, which are too far to the left in relation to the axis OC , are below the section Gl-G 2 are in the diagram of the side plane, while the missiles A 2 and A 4, which are too far to the right, are over the same section. The missiles A1 and A 3 respond during the deflection there before time Gl , and during the deflection back after time G2. The opposite is the case for missiles A 2 and A 4, which are too far to the right. It is thus established that the time periods which separate the times Gl and G2 from the times at which the missiles respond can serve as a criterion for automatic decision according to sign and size, which indicates in relation to the reference axis at what distance and which side the missiles are on. From the diagram for the elevation plane, after the same consideration, it emerges without difficulty that the missiles A 3 and A4 are too low and the missiles A1 and A 2 are too high. For example, the automatic devices on board the missile A4 indicate that it is too far to the right in the side plane and too far down in the height plane. These devices also provide the values for the angular offsets χ 24 and y34 in the lateral and vertical planes.

7 and 8 explain the operation of the Ablagemeßgeräts for vehicles that move in only one plane, for example the H side plane. Assuming that B1 to Bn are ground vehicles, the vertical surface V detects these vehicles when the plane H is passed over, namely at different times which are determined by the time diagram of the deflection law MGoN (see schematic illustration in FIG. 8). If the guide beam V is aligned in the extreme direction 31, the transmitter projects the area for the height plane that covers the plane and serves as a reference and therefore allows all vehicles B1 to Bn to respond at the same time. This precisely defined instant forms the starting point in time for the on-board receiver, from which the points in time at which the vehicles are individually detected by the area V are determined. The time interval that separates these two points in time is used to measure the angular deviation of the vehicle.

The reference surface emitted during a short period of time TR covers the height plane only at a small angle Ds. Your time chart lying between the two side-level diagrams

13 14

diagram is shown schematically in FIG. In order to reduce the noise level, the

Comparison of FIGS. 7 and 8 shows that the Rieh circuit 271 has a threshold value which is determined by the

device 31 located vehicle B1 by the guide area size of the detectors of the light receiver

ray V detected immediately after receiving the reference signal J? 21 depends.

while the 5 located in the QC axis The preselection circuit 272 consists of selec-

Vehicle only a quarter of a period after the end of circling based on the modulation frequency /

of the reference signal responds. are correct, and enable a first electronic

The block diagram in FIG. 9 shows a schematic distinction between interference and useful signals,

the structure of an on-board receiver for remote-controlled order the signals determined as useful signals clearly

Missile. If these bodies move only in an io to be able to stand out from impulse-shaped interference signals.

Level, so the receiver is only with the optical nen, the duration of each transmitted signal is the same

Channel R 2 equipped, while the receiver has a period of the modulation frequency /

missiles moving in space also choose.

the channel R 1, which is the reference signal.For this reason, the parameters for the

picks up an optical signal or a radio 15 modulation signal and the tuning frequency

signal can be. the preselection circuit precisely defined.

This last-mentioned case is shown in FIG. 9. The useful signals, which the threshold value

The channel A1 consists of an antenna, an interface 271 has passed the threshold value delivered,

coupling circuit R12, a receiver R 13, which are then of the preselection circuit

after reinforcement and possible implementation, the im- 20 272 reinforces and becomes a selective amplifier .R 22 over-

Pulse-free reference signal demodulated, and close wear. This selective amplifier thus receives

borrowed from a processing and adaptation switch periodically a pulse train pair for the height level,

device that sends the determined signal to a filing measuring device, then one for the page level, with each

R 24 feeds. Pulse sequence from Ns useful signals or Ng useful

The channel R 2 receives the two beacons for the signals. These useful signals arrive after

the height and side planes via the R 20 optics. Gain and bandwidth correspond to

This is preferably done by refractive filtering on the R 23 decoder

ments are formed, which consist of one material, decoders are the pulse trains according to their number

which for the spectral band of the guide rays pass through differentiated, separated from each other and on separated

sig is; These elements are followed by a steep flanging of optimal channels of the storage measuring circuit R24 .

a nice filter that attenuates practically all interfering radiation. directs, which also comes from the channel Rl

Does one of the guide rays sweep the optics i? 20, reference signal received. According to the criteria

so the latter bundles the incident light flux into the one in connection with FIG. 6 was described

their focal plane. den, the storage measuring circuit R 24 processes the

To maintain a high signal-to-noise ratio received pulse trains in several working ratios of the axis, the optics R 20 is walked and determined for the elevation and the side objective 201 and a condenser 202 formed, the flat the data of the angular offset of the missile the light receiver lying in its focal point according to sign and size. This data, which is illuminated in R 21. The optics, which can only consist of a form of pulse pairs for each channel (height lens, has an opening of at least 40 or lateral plane), are then at least a few degrees. The objective concentrates the incident luminous flux on the respective direction control devices 25 s, the condenser and the missile and the visual display devices Is thus generate a relatively large useful signal, itself and supplied to Ig .

when the axis of the receiver does not correspond to the explanation of the mode of operation of the selective

Direction of the guide beam coincides. 45 amplifier R 22 , Fig. 10 shows an example of an

A further improvement of the signal-to-noise pulse sequence, which is made up of eight right-hand ratios, is composed of square pulses, the amplitude of the light receiver R 21 and the downstream one, being equal to one. If one considers such a pulse electronic circuit is achieved. follow S (t) as from a rectangular pulse 51 (ί), the

Since the signal-to-noise ratio depends on the sensitivity of the light detectors due to a sequence of alternating voltage pulses and this S2 (t) is 100% amplitude-modulated, the necessary bandwidth Λ / can be reduced very quickly when the temperature rises , the cooling device R provides lead 26 within one in the überbeitstemperatur 21 energy contained for optimum working of the decoder R 23 the majority of completed in the pulse train room!?, the value of which will carry on the type comparable 55th

applied detectors depends. If, for example, there is also a bandwidth A f such that

Operation with medium infrared light provided, so the response to a Direc impulse at the input

if the temperature is favorable for conventional detectors, a pulse is generated at the output, the length of which

very low, d. H. below 0 ° C. In this case, it is greater than the length of the elementary signal that

the cooling device R 26 either forms the useful pulse trains with liquid nitrogen 60. In this way effected

or helium or with a battery of Peltier- the selective amplifier R 22 that a coincidentally on

Elements work. Receiver incoming interference has no effect

A sensitivity control circuit R 27 that remains.

can also be understood as a threshold value circuit To eliminate internal interference signals that

consists of a threshold value determination 65 for overshoots or "post-impulses" as a result

circuit 271 and a preselection circuit 272 override of one or more selective

and also contributes to the improvement of the signal amplifier stage i? 22,

Noise ratio at. changes a control system fed by the reference signal

circuit R 28 the gain of the amplifier as a function of the distance between the missile and the broadcasting center.

The useful signal sequences, which have been amplified and freed from interference signals with the aid of the selective amplifier R22 , arrive at the decoder R 23. FIG. 11 shows an embodiment in the block diagram, FIG. 12 the relevant voltage diagrams.

The pulse trains coming from the Selektiwerstärker.R22 feed on the one hand a counter 230, on the other hand a pulse shaper 231, to which a group of differentiators 232 is connected downstream. The from the counter stages 230 and the differentiator

232 delivered signals go to AND gates

233 and 234. If the number of pulses counted corresponds to a sequence for the height level, the AND element 234 sends a short signal at the end of the pulse sequence, which is transmitted to the storage measuring circuit R 24 via the channel s. However, if it is a sequence for the page level, then the AND element 233 sends a short signal to the storage measuring circuit 2 via the channel g? 24. Immediately thereafter, the short signals s or g each feed the reset circuits 235 or 236, which output a pulse train to the counter 230, whereupon all counter stages return to the zero position.

F i g. 12 explains the function of the decoder, it being assumed, for example, that the pulse train sent during the outward deflection is composed of eight pulses. It is assumed in this case that the counter 230 consists of four counting stages arranged in a cascade connection, each of which is equipped, for example, with a bistable multivibrator. The pulse sequence is shown at a, the four pulses supplied by the first trigger stage at b and the pulses supplied by the other trigger stage at c, d and e . According to the last-mentioned diagram, it can be seen that at time ti, after the eighth pulse of the sequence, the fourth flip-flop emits a long pulse. This pulse does not end until the point in time after the counter reset pulse sequence has passed. which began at time ti .

At / the pulse is shown which was delivered by the pulse shaper device 231, which can consist of a monostable multivibrator, for example. This pulse, the duration of which is longer than that of the entire pulse train, is triggered by the first pulse train signal. The effect of the differentiating element 232 / st is shown in the diagram at h .

To. the. It is evident that the AND gate 233 for the side plane, which is fed by the signal e of the fourth flip-flop and the negative pulse h of the differentiating element, becomes conductive and thus emits a short signal gl to the storage measuring circuit R 24.

A similar process takes place during the distraction return path. The new pulse train consisting of eight pulses generates the short signal gl, which reaches the storage measuring circuit R 24 via the channel.

In the same way as for the pulse train of the side plane, the counting of Ns pulses takes place, which form the pulse train for the height plane. However, if the number of Ng to Ns is a multiple of two, then flip-flops can be saved by using the first flip-flops of the counter 230 for the pulse trains of the height level.

In FIGS. 11 and 12, it was arbitrarily assumed that the pulse train for the height plane is composed of four pulses. 11 shows that in this case the AND element 234 for the height level receives the negative signal h of the differentiating element 232 and also the long pulse which is obtained via an output at the third flip-flop 230. In a similar form to the AND element 233, the AND element 234 supplies two short signals j 1 and si to the storage measuring circuit R 24.

In this case, the dash-dotted line XX in FIG. 12 shows that after a sequence of four pulses the fourth flip-flop is in the rest position (diagram e) , while the third flip-flop (diagram d) emits a long signal. The latter does not end at time ti, however, since the pulse sequence does not contain any further pulses after the fourth. As in the case of the page level, a sequence of pulses from the reset circuit 235 brings all counting stages from time 1 2 to zero.

All bistable multivibrators of the counter 230 must be safe and accurate without false trips as a result work from noise or interference signals. To protect against this noise or interfering signals you can a threshold value circuit can be connected upstream of each flip-flop circuit, provided that neither the functional reliability nor the dynamic and static properties of the flip-flop circuit harms. For example, the counter can be constructed from multivibrators with a variable threshold value as described in French patent 1,375,825.

F i g. 13 shows a block diagram of an embodiment of the deflection measuring circuit R24, which supplies the control device R 25 with pulses which express the angular deflection of the missile in relation to the reference axis in terms of sign and duration.

The reference signal provided by the processing and adaptation circuit R14 effected in the Ablagemeßschaltung tarnishing i? 24 of the clock 241, and 242. These provide pulses whose duration to three-quarters of the deflection period T corresponds to a. These two pulses reach the comparator 243, which in turn supplies the comparator 244 with a negative pulse D of a duration of 272, which begins a quarter of a period after receiving the reference signal. These three pulses are shown in FIG. 14 at B, C and D.

In the above illustration, it was assumed that the reference signal is transmitted at times 1 21 and £ 31, that is, when the guide beams point in extreme directions 21 and 31. As already mentioned before, the reference signal can also be transmitted at any other, precisely defined point in time and especially when the guide beams run through the reference axis of the system, which is usually the bisector of the monitoring area.

The short signals supplied by the decoder i? 23 are fed to the trigger circuits via the corresponding channels g and s (signals for the lateral and elevation levels). Since the two channels have the same basic structure, FIGS. 13 to 16 only deal with one channel, in our example the channel for the side plane.

The first short signal delivered by the decoder

109 550/91

corresponds to the outward path of the deflection cycle and triggers the bistable multivibrator 240. This flip-flop provides a pulse E which only ends with the second short signal that occurs during the return path of the deflection cycle. This pulse E feeds the comparator 244, which also receives the negative pulse D. Since these two pulses have opposite polarity, the comparator 244 supplies a pair of pulses which are characteristic in terms of sign and duration and which arrive at the unit 25 g of the direction control device R 25.

The waveform diagrams of FIGS. 15 and 16 show the processing of the short signals and show the extraction of the signals that reflect the angular deflection of the missile.

F i g. 15 relates to the case that the missile is following a trajectory which is too far to the left of the reference axis OC in the side plane. This applies, for example, to the missiles A1 and A3 , which are shown in FIGS. 5 and 6 are shown.

The short signals gl and g2, which come from the AND element shown in FIG. 11, appear at times t £ and tS either before or after times Gl, G 2, within which the guide beam of the side plane passes through the reference axis.

This time sequence is shown both in FIG. 15 at A 1 and in FIG. 16 described in more detail for the deflection in the side plane.

The bistable multivibrator 240 now delivers a long pulse, which is shown at E1 in FIG. The in F i g. Comparator 13 shown and fed by the pulses D and El provides the unit 25g of the controller i? 25 a pulse pair that is shown in Fig. 15 in Hl. The polarity of the resulting pulse indicates that the missile is too far to the left of the reference axis, while the pulse duration (the time intervals t4-Gl and G2- tS) is proportional to the angular displacements X 13 shown in FIG.

The resulting signals and in particular their duration can then be converted into a proportional one Signal amplitude converted to numerical values or some other form for direction control will.

Figure 16 relates to the case where a missile follows a trajectory in the side plane that is too far to the right of the axis OC . This case is illustrated by the missiles A2 and A4 in FIGS. 5 and 6.

Diagram A2 shows, in relation to times Gl and G2, the temporal position of the short signals gl and g2, which are generated by the in FIG. AND gate 233 shown in FIG. 11 can be supplied. The bistable multivibrator 240 ( FIG. 13) now generates a pulse E 2, the duration of which is shorter than that of the pulse supplied by the comparator 243 (FIG. 13). The comparator 244 therefore supplies a pair of pulses, the diagram of which is shown in FIG. 16 at Ή.2 . Each pulse has the opposite polarity of the pulses shown in diagram Hl , while the duration, as in the previous case, indicates the angular deflection of the missiles A2 and A4 , which are too far to the right of the axis.

In the F i g. 15 and 16 was based on the assumption that the missiles Al separates their orbits during the time tS from t4 to A4, have not changed.

The function of the Ablagemeß circuit R 24 in the height plane is similar to that in the side plane. The polarity of the resulting signals, which feed the direction control 25 s or the display device Is , indicates automatically or semi-automatically whether the missile is following a path which is too high or too low compared to the reference axis.
The system according to the invention makes it possible under

ίο utilization of the deflection of guide beams, which are able to sweep over two specific spatial levels precisely and evenly, steerable Missiles (the number of which can be very large) at the same time according to the direction and size of the angular deflection to determine their positions in relation to the given path.

In order to give the offset measurement a high level of accuracy, the guide beams are preferably vertical to each other and each have the shape of a large area very narrow angular width, some Tenth to a few thousandths of a radius. All missiles that are in the surveillance room move, which can reach about ten degrees of opening, become periodic at high repetition rates illuminated, on the one hand by the two guide beams, on the other hand by a short reference signal. However, if the monitored space is limited to one level, the signal of the beacon serves to which covers this level, as a reference signal and thus makes the use of an independent one superfluous Reference channel.

The on-board receiver of the guided missile that sends a large amount of information per second receives, favors the useful characters over the interference characters, determines the storage in the height and side level and works out error signals that automatically or semi-automatically act on the directional controls act, the task of which is to guide the missile on its given path keep.

Claims (16)

Patent claims: 1. System for optical beacon steering of vehicles on their path by determination their direction offset with respect to a reference direction using a beacon transmitter, the at least one of the vehicle periodically sweeping over the surveillance space emits received beacon, characterized in that the beacon a given fixed angle enclosing the interstitial space in periodic alternating direction and which are on board the vehicle or vehicles Recipients save the moments of passage of the beacon through their location and therefrom determine their offset angle to the reference direction which is a leg of the the monitoring space limiting angle or its bisector, and that a Device derives control signals for correcting the path from the lay-on angle. 2. System according to claim 1, characterized in that the guide beam transmitter has two optical Channels (2, 3) each with a depicted light source (Sl) that is located in the focal plane a condenser (C) in the form of an evenly illuminated, rectangular gap (Fg, Fs) , which has a width that is a few tens to a hundred times smaller than its length, which forms an opening angle with the optical axis which is at least equal to that of the plane to be covered, with a light source of high luminance (Lg, Ls) illuminating the slit, which with the condenser (C) forms the thin guide beam projected into the room. 3. System according to claim 1, characterized in that a reference signal transmitter (1) periodically in a bes consistent th time and thus at a certain position of the guide beam emits a this situation characteristic reference signal in the form of a high-frequency pulse, or a light flash. 4. System according to claim 2 or 3, characterized in that the gaps (Fg, Fs) of the two optical channels (2, 3) are perpendicular to each other and the associated guide beams sweep over two mutually perpendicular planes (Oab, Ogh) , one of which the side plane, the other forms the elevation plane. 5. System according to claim 2, characterized in that a device, for. B. a sector diaphragm (Vl, V 2), the two guide beams one after the other the corresponding levels of the monitored space z. B. can be painted over in such a way that after sweeping the height level once, the side level is followed twice, with the on-board receiver processing both guide beams in a single channel. 6. System according to claim 2 and 3, characterized in that the reference signal transmitter (1), triggered via control devices ( Vl, V2, 14, 13), emits the reference signal at the times at which the guide beams with one leg of the surveillance space Angle or the bisector, d. H. the optical axis, coincide, with these transmission times being the reference directions which determines independently but synchronously deflected guide beams. 7. System according to claim 1 and 2, characterized in that each optical channel (2, 3) of the. Leitstrahlsender an opto-mechanical deflection optics (25, 35), which consists of a large number of refractive elements and a mechanical controller (26,36) that controls the refractive elements synchronously to the generation of a periodic sawtooth deflection of the respective guide beam around the Maximum value drives. 8. System according to one of claims 1 to 7, characterized in that each of the optical channels contains an optomechanical modulator (24, 34) and the modulation frequency of one of the two guide beams is at least twice as high as that of the other guide beam, each of these optomechanical Modulators (24, 34) is arranged near the slit (Fg, Fs) of the light beam modulated by it and consists of a further sector diaphragm which rotates at a constant angular velocity. 9. System according to claim 8, characterized in that the optomechanical modulators (24, 34) modulate the two guide beams with the same frequency and the gap width and thus the angular opening (& _g , & _s ) of the guide beams perpendicular to their deflection direction, e.g. B. can be different by a factor of 2, with the two passing guide beams generating different pulse trains in the receiver. 10. System according to one of claims 1 to 7, characterized in that the two guide beams differ in their light wavelength and thus their color and the recipient has two optical channels, each of which for the light wavelength of the guide beam assigned to it is selectively permeable. 11. System according to claim 1, characterized in that the light sources are coherent light generate and the polarization directions of the two light beams are perpendicular to each other. 12. System according to claim 7, characterized in that the mechanical control device (26, 36) contains a drive motor (M) with a downstream reduction gear (Rl) and gear (R 2 to R 4) for each channel. 13. System according to claim 1, characterized in that the receiver on board the vehicle has a selective optics (R20), an optionally cooled light receiver (R 21), a threshold circuit (27), a selective amplifier (R 22) in connection with a preselection circuit (272), a downstream decoder (R 23) and a storage measuring circuit (R 24) which receives the reference signals in addition to the guide beam signals. 14. System according to claim 13, characterized in that the decoder (R23) contains a pulse shaper (231) with a downstream differentiating element (232), the former being a monostable multivibrator and emitting an output pulse whose duration is longer than the longest pulse train, and parallel to the pulse shaper a counter (230) with two outputs corresponding to the different pulse sequences, each of which is connected to the first input of an AND element (233, 234), the second inputs of which are parallel to the output of the differentiating element (232) are connected and the outputs of which are each connected to a reset circuit (236, 235) for the counter (230) and at the same time supply the signals for the storage measuring circuit (R24). 15. System according to claim 13, characterized in that the Ablagemeß circuit (R 24) contains two clocks (241, 242) which receive the reference signal at the input and a first comparator (243) signals with a duration of a quarter or three quarters of the Feed deflection period, which outputs the corrected reference signal to a second comparator (244), the second input of which is connected to the output of a bistable multivibrator (240) which receives its input signals from the decoder and whose output outputs a signal proportional to the angle offset. 16. System according to claim 15, characterized in that when the reference signal coincides with the bisector of the swept angular range or the optical axis of the system, the Ablagemeß circuit (R24) contains a single clock whose output signal has a pulse duration equal to half the deflection period is. For this purpose 2 sheets of drawings