DE2059552A1 - Sensor arrangement for determining the deposit of an object from a target - Google Patents

Description

Anaelderin: Stuttgart, November 30, 1970

Hughes Aircraft Company, P 2200 S / kg

Centinela Avenue and

Teale Street

Culver City, Calif., V.St.A.

Sensor arrangement for determining the shelf
of an object from a sewer

The invention relates to a sensor arrangement for Establishing the deposit of an object having a radiation source from a target 4, in particular for a Aiming and guiding device for missiles.

Target and control devices for FlugkorperV especially for
Eaketen often make use of a sensor arrangement which is aimed at a target with the aid of a telescopic sight having a crosshair. The sensor arrangement

109839/0178

BATH

represents any angle deviation between the rocket and the target direction and provides automatic signals through which the flight direction of the missile changed and the Missile can be held in target. An infrared light source at the end of the missile is used to facilitate tracking of a missile with the sensor array.

The invention is based on the object of a sensor arrangement to create, which is characterized by a particularly simple structure and high operational reliability.

This object is achieved according to the invention in that rl:?.; .. Radiation detectors in a detector plane separated from the object are arranged and an imaging system having an optical axis is present, which the Images the radiation source in the detection plane and nit a drive device is coupled to the imaging system a rotational movement about an axis of rotation aligned with the target is given to the optical axis of the imaging system forms an angle with the axis of rotation, so that the image of the radiation source in the Detector plane with the rotation of the imaging system a Kreia inscribes, and that one on exit signals the radiation detectors and the angular position of the imaging system around the axis of rotation responding device is available, which determines the storage of the object from the target.

In the case of devices that are used to measure the deviation between a specific target direction and the direction of movement of an object moving towards the target

109839/0178 ^ß AD qrjg {. \ »Al

Bestiiaiaen, and especially with aiming and guiding devices for missiles, it is often desirable, if not necessary, to have a large angle of view in the first part of the trajectory after shooting so that the Missile can be tracked better / ground if it is still close to the target and control device. Is the Missiles, on the other hand, are farther away from the observer, so a smaller field of vision is sufficient, including the target and the Missile monitor, and a smaller field of view can be used to improve the accuracy of the roof guidance to increase. In particular, when the Angle of view, the incident interference radiation is less so that the ratio of llutz- to interference signal at a Narrowing of the viewing angle is enlarged, which is advantageous because the sensor arrangement also reaches Radiation intensity of the missile's flare decreases with increasing distance

In a preferred embodiment of the invention a change in the viewing angle of the detector arrangement is possible. This change in viewpoint is reflected in this Embodiment of the sensor arrangement according to the invention achieved in that the imaging system during the Rotation can be tilted and brought into any of several positions in which the optical axis of the imaging system with the axis of rotation one each forms another angle. It is readily apparent that the angle of view "becomes smaller, the smaller the angle." Is the angle between the optical axis and the axis of rotation of the imaging system. As a diminution of this Angle at the same time "eirio ITreduction of the diameter of the Circle on which the radiation source in

109839/0178

BAD ORiGi ₁ NAL

the detector plane can be imaged with a reduction in the angle between the optical axis and the axis of rotation, smaller detector arrangements are also used which consequently also absorb a smaller amount of interfering radiation · normally will two operating modes with different angles between the optical axis and the axis of rotation of the imaging system are sufficient to provide

In both operating modes, the sensor arrangement determines the position of the missile in relation to the tail. the

* The central axis of the sensor arrangement becomes coaxial with that of the observer maintained line of sight to the target. An image is created individually, e.g. an infrared image of the missile on a conical surface over a pair At right angles to each other arranged Betektoren led away, either over the one large or one Detectors associated with small viewing angles, as will be described below · From the time taken by the Image needed to cross the detectors vsLrd, and the Drehvinlcel can calculate an error and reduce it of the error, an error correction signal can be forwarded to the missile. Such measurements and calculations are detailed in that published in 1969 by the publishing house John

) Wiley & Sons published book "Infrared System Engineering" by Richard D · Hudson on the pages. 255 to 263 »especially on pages 255 to 256. To monitor a long detector pair is used for a large viewing angle and one for monitoring a small viewing angle short detector pair used.

^109839/0178

Man. gets the deflection along a lying surface through the use of a rotating mirror that is able to. to bundle all electromagnetic rays hitting it into a single point. The mirrors that meet this requirement include parabolic mirrors and mirrors that have a correction lens in front of the reflection surface. The deflection along a conical surface is achieved by offsetting the focal point of the mirror from the center of the detector arrangement. The offset of the focal point is obtained by three of the mirror xsii an axis which is at a certain Y'angle relative to the optical axis of the mirror. The mirror should be dynamically balanced to reduce vibrations and to simplify the support and bearing construction.

However, as in the case of the preferred embodiment of the invention, two conical image projection & n are required, there must be two angular positions for the optical axis of the mirror with respect to its axis of rotation give. In the mentioned embodiment of the invention this requirement is met by moving the mirror from one discrete position to another discrete Position pivots; however, when the mirror is pivoted in this way, its moments of inertia are normally also reduced changed. A further embodiment of the invention relates to a mirror, its moments of inertia do not change when the mirror is swiveled, i.e. that the moments of inertia about its three mutually perpendicular axes equal, made

■ ./. 10 9839/0178

BATH ORIGINAL

· This equality is achieved by the Mirror is made equivalent to a sphere with evenly distributed Hasse whose center is on the axis of rotation and where the pivot axis crosses the axis of rotation.

\ 7 further details and refinements of the invention can be found in the following description, in which the invention is based on that shown in the drawing Embodiment is described and explained in more detail. The features that can be taken from the description and the drawing can be used in other embodiments the invention can be used individually or collectively in any combination. Show it

Fig. 1 is a perspective and partially in section illustrated embodiment of an infrared sensor arrangement according to the present. Invention used for directing a missile on a Target is used

FIG. 2 shows a longitudinal section through a rope of the an-order according to FIG. 1,

3 shows an exploded view of the sensor arrangement according to Fig. 1 and

FIG. 4- a detailed perspective illustration of part of the sensor arrangement according to FIG. 1.

The device shown in Fig. 1, which makes use of the present charge, is used to guide a missile 10 on a target 12, e.g. on a tank. The device

109839/0178

BAD ORiGSNAL

Includes a telescopic sight 16 with an eyepiece 14 and one crosshairs arranged in the middle of his field of vision. When using the device, the orientation of the Telescope continuously adjusted in such a way that the crosshair remains aligned with the target 12. With the fern tube the housing 20 is connected to a sensor assembly 18 so that the telescope and sensor assembly are in the same Direction, namely in the target direction, white. If a Mirror or a prism is used to deflect the light, among other things, before it reaches the sensor assembly 18, then the direction of the goal is the direction in which the goal is seems to be lying. Instead of fixing the telescopic sight 16 on the sensor arrangement 18, the sensor housing driven by a servo motor controlled by the telescopic sight 16. This will make the fastening the sensor arrangement 18 on a stabilized platform for the purpose of switching off vibrations and smaller Disruptions made easier.

The sensor assembly 18 is a test of whether the missile 10 is in line with the target direction. If this is not the case, the sensor arrangement 18 determines the correction angle that is required either up or down and / or to the right, or to the left in order to achieve the Aligning missiles with the aim of aligning them. The missile 10 can receive correction signals with connected to the device via a wire 22 dragged by it be controlled by radio or other devices. Such signals cause the Missile to change its trajectory so that it hits target 12 and they can be brought into action by The guide surfaces of the missile are pivoted or small correction nozzles are ignited «

109839/01? «

BAD LOCAL

To ensure that the sensor assembly 18 in the Is able to distinguish the missile from the background, is the Elug body with one in the drawing as a star provided infrared light set 24 shown. The rays of light of the flares 24 penetrate a window 25 and fall onto a concave mirror 28. The concave mirror 23 only needs to have a reflective layer, but it can also provided with a translucent correction layer be. The concave mirror 28 generates in a detector plane 31 arranged on the rear side of the window 26 ^ a picture 24A of flare 24. An orates pair of detectors 30 and 32 and a second pair of detectors 30 'and 32' are arranged on the window 26 in the detector level 31. Each of the detectors is in the form of a thin ribbon and the detectors of each pair are perpendicular to each other arranged. The detectors 30 and 32 are longer than detectors 30 * and 32 'and there are each one Pair used for measuring large and small V / angels.

The mirror 28 is rotatably mounted about an axis 34 which is oriented to hit target 12 and which also passes through the point where the detectors are ) 30 and 32 as well as 30 'and 32' cross. However, it is that optical axis 36 of the mirror 28 at an angle II opposite the axis of rotation 34 offset. Hence the flare 24 reflected from the mirror 28 along a conical surface and its image 24A is taken along a circular path 38 on the Plane 31 is projected which is concentric to the axis of rotation 34 of the mirror 28 when the missile 10 is "on target" i.e. on the axis 34. Under such conditions crosses the image 24A of the flare 24, whichever one Detector pair is used, the detectors 30 and 32 or 30 'and 32' at such times and under such

109839/0178 ^{m / m}

BAD ORfGiNAL

Rotation angle that no error correction signals on the Missile 10 are transmitted. Is such a coincidence not given, then the times at which the image of the flare 24 crosses the detectors are increased detected as an error with the corresponding angle of rotation, from which error correction signals for the missile 10 are derived.

The determination of the error, i.e. the determination of a Vector, the angle and direction of which is essential for the deviation the missile direction versus the target direction can .automatically via an error calculator 40 * The one input signal fed to the error computer 40 via the line 41 comes from one of the mirror 28 associated Winkslatellungsgeber 42 her, the exact Y / angle of the optical axis 36 of the mirror 28 around the axis of rotation 34 and thus the exact position of the image 24A of the Leuchtsatzee on the circular path 38 indicates. Two other input signals fed in via lines 43 and 43 ' for the error calculator 40 come from that used detector pair ·,.

Each detector only generates a short-term, den Strong impulse indicating flare 24 when the image of flare 24A passes over it Pulses characterizing flare, e.g. of the two Detek * - goals 30 and 32 occur at the times in which the optical axis 36 of the mirror 28 corresponds to the respective If the detector crosses, the missile 10 is in the target. When the pulse attracting the flare from detector 32 occurs at the same instant that the optical axis-36 of the mirror 28 crosses this detector, but the Impulse from detector 30 occurs later than at the moment in which the optical axis 36 crosses this detector,

109839/0178 ^J.

BATH

then "the missile is directly above the Siel or in relation to the target in a" lif ^ W position. If the output signal of both detectors 30 and 32 indicating the flare occurs just as late as is the case in the situation shown in FIG. 1, then the missile is in a ¹¹ 9 ^ 3O ¹¹ position with respect to the target.

By comparing the output signals from the two detectors k with the output signal of the angular position encoder 42 can the error calculator 40 calculate the direction of the course correction, which is required to target the missile bring zix. The fault calculator 40 is with a missile controller 44 connected, which provides the missile with an error correction signal by which the missile is closer to the Target is brought.

During the first phase of flight after the missile has been launched, there is generally a large angle between the missile and the target direction. During this phase it is desirable to have a wide detection or field of view. However, during the later phase of flight, when the missile is closer to the target, it is possible to use a smaller field of view. The present invention offers the possibility of changing from a large field of view during the first phase of the flight to a smaller field of view with a corresponding increase in accuracy during the later phase of the flight. This change of the field of view is achieved by tilting the mirror 28 in such a way that its optical axis ¹ 36 forms a larger or a smaller angle with the axis of rotation 3 ^.

^109839/0178 BADORiG ₁ NAL

ι if'Ts ·! '·· - ": - ■ · ■ ■■ · -; τϊϊ ->« τι · ιιιι!; · ι mm "Pew" !! «ifiaip« ¹ : r; ■■; - m ~ ^{ii | i} '" ^: - ⁱⁱⁱ

V. 'during the first flight phase you get a wide one Detection field, in which one zi ^ ischen the optical axis of the mirror 28 and its axis of rotation $ 4 a wide Angle M of e.g. 6 ° (12 ° in total) is used. To this The long Betelctors 30 and 32 are used for a while. On the other hand, nan gets a narrower detection field during the later flight phase by making a smaller circular path 4-6 used. At this time the short ones Detectors 30 'and 32' are used. Un such To enable change of the detector field, the arrangement must be designed in such a way that in either of the two • Tilting and an impact-free rotation of the mirror is possible. A mirror rotation without any impact is especially important when the sensor array is on a space stabilizing platform is arranged, since vibrations caused by the mirror 28 are very difficult are to be balanced.

As shown in FIG. 2, the mirror 28, which is a Uangin mirror, that is to say that a correction line is arranged in front of its reflection surface, is attached to a support 50 and the mirror and the support form a mirror arrangement 52. This mirror arrangement is pivotably mounted by means of pins 6A- on a wheel or support 62 which is rotatable about the axis J4-. In order to achieve a dynamic equilibrium for the mirror arrangement 52 in its two tilt positions about the pivot axis defined by the pin 64, the moment of inertia of the mirror arrangement 52 about its three mutually perpendicular axes must be the same, so that the mirror arrangement 52 is equivalent to a sphere. The center of this sphere is located on the axis of rotation of the mirror arrangement 5 ² and on the pivot axis of the

1Q9839 / 0t78

BAD ORiGiNAL

Pin 64 and is therefore in the intersection of the Axis of rotation 34 with the pivot axis. Furthermore, the mirror 28 is designed in such a way that the center of the vir- tual plane of the mirror is in the center of the sphere, so that the image of the flare 24 on the detector plane 31 stays focused. The balancing is completed by adding the mass of the beam 50 and a second hatch dimensioned such that the moment of inertia of the mirror assembly 52 is the same about all three axes.

The carrier 50 comprises a frame part carrying the mirror 28 56, an elongated rod 58 connected to the frame part 56 ™ and the mass .54, which acts as an anchor 60 is used and is attached to one end of the rod 58. The wheel 62 is in the housing 20 by means of bearings 65 rotatably mounted and provided with a bore 63 through which the rod 58 protrudes · Two end faces 63a and 63b form the ends of the wheel 62. A toothing 66 attached to the wheel 62 on the end face 63b is supported by a ! .lotor 68 is driven, which gives wheel 62 a · rotary motion around the axis of rotation 3 ** · granted.

At the rear of the wheel 62, a fixed solenoid housing 70 with a solenoid coil 72 is disposed. fc When the solenoid coil 72 is not energized, the Mirror assembly 52 by the tension of a spring 74, which is between the mirror assembly 52 and the end face 63a of the wheel 62 extends, held in the position shown in FIG. The spring 74 pushes against the Mirror assembly 52, so that with a portion 76 on a first stop or a first support 78 rests against the end face 63a of the wheel. This is the position with the lesser incline that is used for a tight one

Detection field is used.

109839/0178

BAD ORiGiNAL

When the solenoid coil 72 by supplying a current is excited, the mirror assembly 52 tilts into its second Position in which a section SO of the frame 56 art. one second stop or support 82 on the end face 63a of the wheel 62 abuts. The energization of the solenoid coil 72 magnetically drives the armature 60 to a position in which his hand 84 occupies a position; in which he defines the path of magnetic flux between an external pole 85 and the middle pole piece 86 of solenoid coil 72 works best bridged. The applied by the solenoid coil 72 The force is greater than that exerted by the spring 74, see above that the spring force is overcome and the mirror assembly 52 is moved to the second position. The second position in which the optical axis 36 of the mirror 28 is opposite the axis of rotation 34 is tilted the most, is for a wide detection field is used.

Accordingly, the sensor arrangement can by supplying Stron to the solenoid coil 72 are caused by a tight Detection field to pass to a wide detection field · Power to solenoid coil 72 can be supplied from can be done manually by the user or after fulfillment automatically take place under certain conditions. The change in the detector field takes place during the Rotation of the mirror 2S and it takes the through switching conditional disorder only lasts for a very short period of time.

Accordingly, the present invention provides a sensor ' arrangement that automatically determines the direction of departure of a missile or other light source from a predetermined target direction. The usage a mirror for creating an image in the

109839/0178

BATH ORIGINAL

Detector plane facilitates the projection of a sharp one Image with high light intensity, so & ate under difficult Conditions and in a wide range of light lengths a very sensitive error detection is guaranteed · The sensor arrangement is also made possible in a relatively simple manner by changing the mirror size the change from a wide to a »narrow detection field, The mirror assembly is designed so that the Mirror remains well balanced at any tilt angle by using a support that does the changing at the same time the tilt angle facilitated.

The foregoing description of a Äisführunesform of the invention is illustrative only and not limiting and it is understood that the treated embodiment may be modified in many ways without departing from the scope of the invention.

BATH ORIGINAL

109839/017

Claims (8)

- 15 - Claims Sensor arrangement ψναα. Establishing the deposit of an object having a radiation source on a target, in particular for a target and guidance device for missiles, characterized in that radiation detectors (30, 52, 2JO '., 52' are located in a detector plane (51) separated from the object (10). ) are arranged and an imaging system ($ 2) having an optical axis (56) is present, which images the radiation source (24) in the detection plane (31) and is coupled to a drive device (62, 66, 68) which the imaging system ( 52) a rotational movement about an axis of rotation (3 * 0) aligned with the target (12) ensures that the optical axis (36) of the imaging system forms an angle with the axis of rotation (3 ^), so that the image (24A) of the radiation source ( 24) describes a circle in the detector plane (31) during the rotation of the imaging system (51), and that one of the output signals of the radiation detectors (30, Jß-, 30 ', 32') and the angular position of the imaging system (52) and the axis of rotation ans Prechende device (40) is available, which determines the deposit of the object (10) from the target (12) 2. Sensor arrangement according to claim 1, characterized in that that the imaging system (52) is tiltable during rotation and in any of several positions can be brought, in which the optical axis (36) of the imaging system with the axis of rotation (34) a each other angle forms. 109839/0178 BATH ORIGINAL 3 · Sens door arrangement according to claims 1 and 2, thereby characterized in that the imaging system (52) comprises a bracket (50) and one attached to the bracket Mirror (28) is formed and the drive device comprises a rotatably mounted wheel (62) with to which the carrier (50) is pivotably connected, and that the bearer (50) in such a way with hatred (54 · » 56) is provided that the imaging system (52) formed by the carrier (50) and the mirror (28) are identical Moments of inertia about the pivot axis of the carrier (50), the optical axis (36) of the mirror (28) and a has an axis perpendicular to these two axes. 4-, sensor arrangement according to claims 1 to 3 »thereby characterized in that a first stop (78) is attached to the wheel (62) which controls the pivoting range of the imaging system (52) in a first orientation limited, and the imaging system (52) in a seal on this stop (78) and presses on this Stop abutting bias generating device (74-) is present, and that the carrier (50) except a frame part (56) for the mirror (28) has an armature (60) which is attached to a solenoid coil (72) opposite, which is able to magnetically attract the armature (60) and thereby the imaging system (52) to pivot against the bias into a position remote from the first stop (78). 5. Sensor arrangement according to claims 1 to 4, characterized in that on the wheel (62) a second stop (82) for the from the first stop (78) 109839/0178 bad original ' remote position of the imaging system (52) available is and the carrier (50) with its! frame part (56) comes to rest against these attachments. 6. Sonsor arrangement according to one of the preceding claims, characterized in that the radiation detectors (30, 32, 30 ', 32') and the imaging system (52) are arranged in a housing (20) which can be directed towards the target (12) in such a way that the axis of rotation (34-) of the imaging system one (52) with the alignment axis of the housing (20) fails ?. 7. Sensor arrangement according to claims 1 to 6, characterized in that the had (62) is rotatably mounted in the housing (20) and is coupled to a drive motor (68) fastened to the housing, that the frame part (56) of the carrier (50 ) is pivotably mounted in front of the front end face (63a) of the wheel on pins (64-) and on the side facing away from the mirror (28) has a bore (63) of the wheel (62) penetrating rod (58) on which from the Wheel to the rear ^s protruding end of the anchor (60), which also serves as balancing mass (54-), and that the stops (78 and 82) for the pivot positions of the imaging system (52) are attached to the front face (63a) of the wheel and between this end face (63a) and the frame part (56) of the 2räger3 (50) • a spring (7 ^) is arranged in the area of the second stop (82). 8. Sonsor arrangement according to claim 6 or 7 *, characterized in that that on the housing (20) a telescopic sight (16) with a directional axis of the housing (20) parallel optical axis is attached. * v /. 109839/0178 BAD ORiGfNAL Sensor arrangement according to one of the preceding claims, characterized in that the radiation detectors (30, 32, 3O ¹ , 32 ') unfuse two pairs of detectors (30 and 32 or 3O ¹ and 32 ¹ ) of different lengths which are perpendicular to one another and which are directed towards each other in the axis of rotation (3 ^) of the AVbilduncssystemc (52) intersecting straight lines. ORiGSMAL BATHROOM 109839/0178 Be empty