DE3313648C2 - - Google Patents

Description

The invention relates to a method according to the preamble of claim 1 and a device according to the preamble of claim 10.

A generic method and a generic one direction are known from DE-OS 31 14 600. As a sensor a microwave pulse radar is provided, which by means of a Missile is fired at an area of interest approach point in the steep descent. The environment of the point of interest of interest in a spiral using ak tive retroreflective location and the determined In formation transmitted by radio to a ground station, where there out a Doppler information terrain image is developed.

A disadvantage of the known, generic method and the corresponding facility is in particular that only comparatively quickly moving target points in the captured Terrain area or only moving target points in immediate close proximity to the center of the area covered Provide image information and therefore no real information Terrain reconnaissance is obtainable; because a pulse Doppler radar i. a. system-related no information about resting target points delivers and because a sufficiently secure data evaluation only with high resolution, i.e. only with the radially narrow ones Spiral stripes near the center of the detected Ge offers, is given. Another disadvantage is that only one extremely short period of time when the rocket collapsed as  Sensor carrier bullet in their target point as reconnaissance time range is available; and therefore only one per shot an area that is limited in space and time is covered, that a tactical reconnaissance, like that for effekti use of modern artillery weapons with regard to longitudinal and transverse extension of the reconnaissance area and its Ab from the firing position is desirable is not developable. Finally, it is disadvantageous that according to the previously known measures, the radio transmission time span and thus the effective time of the reconnaissance still significantly limited by this can be that the missile with the pulse radar reconnaissance sensor at its tip during the steep descent to the target point ter terrain obstacles in the reconnaissance area, ie ih ren target point, immersed so that the data radio transmission to the ground station not with the necessary security is guaranteed. After all, there is even signal conditioning problematic for image display in the ground station, since only with considerable additional detection devices in the extremely short amount of time available for an information correction can be determined in which moments The spatial orientation of the rocket deviates from the plumb line the target point approaches which of those in the spiral shaped coordinate system detected Bodenpunkt-Informatio So what current geometric distortion contain as fault information.

From DE-AS 25 33 697 it is, similar to the previous one mentioned previous publication, already known, a Ge equipped with an image sensor. Its picture information ions over a wireless signal transmission path, which also serves the remote control of the floor to one Ground station transmitted where the target approach of the projectile observed on an image display device and if necessary can be corrected manually via the control-active connection.  Here again only the destination that was directly approached point is observed for the same reasons as discussed above, an actual, larger area Terrain reconnaissance, as used to derive tactical explorations skills needed, not feasible.

The latter also applies to that from DE-OS 24 11 790 knew weapon system in which from the persecution or from the retransmission of image information from a pilot storey Launch dates for then from the same launch facility firing projectiles are won.

For data acquisition for terrain reconnaissance in combat areas behind the current front edge of the defense it is already known to be self-steering small aircraft add that after a series of photographs of the flew the terrain programmatically to their starting area return, so that the film footage is taken, developed and can be evaluated. Such so-called drones but are relatively at risk of firing. And their educational value is limited by the fact that there are no direct location coordinates order of the field pictures is given. But especially is a hindrance that with limited range and considerable In practice, such flights only provide deployment costs can be started at larger intervals and then the information after development work processing of the footage and through personnel-intensive evaluation tion and implementation fed into an information system can be.

Recognizing these shortcomings or limitations existing Clarifying agent, the invention has for its object the method or device of the generic type there further training that without large apparatus or Handling effort extensive information about Gelän  de and objects of military interest directly in it a real-time information system can be fed; being clearly fixed and moving targets equally, and classified for target identification cash, as well as the detected reconnaissance area, even without direct access, far before the Radio reception ground station, in the border area of the combat range modern artillery weapon systems should be able to.

This object is essentially achieved according to the invention solved that additional in the method of the generic type Lich the measures according to the characterizing part of the An Proverb 1 are taken while at a facility of a generic type, these additionally according to the partial characteristic len of the characterizing part of claim 10 equipped is.

So it will be an artillery shell, and preferably an artillery missile no longer directly as a carrier projectile used for the sensor, but only as a carrier or Means of transport for depositing (at least) one subsidiary shot as the actual sensor missile at the beginning a reconnaissance terrain strip and thus arbitrarily internal half the reach of modern artillery. After that serves that carrier missile as "standing" high above the terrain, and therefore shadows between the reconnaissance site and radio relay overcoming the launch and ground station station for sensor reception signals; the the outcast Reconciliation subsidiary floor after controlled descent into an egg ne lower, stable and final phase-controlled reconnaissance Trajectory, approximately parallel to the long flight Soil over a defined strip of land, picks up to the relay missile has crashed or the daughter no longer shot due to reduced speed bil flies and also crashes.  

A number of infrared detectors are preferably used as sensors Gate elements, essentially oriented parallel to the daughter Ground floor flight direction, expediently with a mechani periodic scanning transversely to the direction of flight, used. Terrain information is thus separated from one another overlapping image areas. This results in a Image capture primarily as a still image from which Target identification criteria based on contours and / or radiation distributions can be obtained. At the same time movement information can be derived from this by (offset in time) slightly against each other superimposed and thus essentially overlapping each other Images from the surroundings of the same terrain point be asked, from which the movement emerges as a relocation of certain pieces of information.

In the interest of a distortion-free inclusion of the widest possible th reconnaissance strip with optimal use the use of equipment with regard to firing requirements of (carrier and relay) missiles it is appropriate to meh rere similar - or with sensors for different Information - equipped daughter floors in one zigen carrier missile to accommodate and before the over flying reconnaissance patrols at the same time bump. The missile then serves as a radio relay station for all daughter floors that go to the entrance during the descent in the stable, stretched reconnaissance flight phase in egg ne certain geometric configuration to each other (prefer offset parallel to each other) can be controlled nen. This results in a broader reconnaissance offensive fen by parallel flight of three, for example equipped daughter floors or a larger information diversity when capturing essentially the same area spread fens. The dimensions of the after the ejection still as a relay  carrier missiles serving in the station also allow the Accommodation of facilities for data preprocessing in the Meaning of an assignment with regard to, for example, three daughter Ground floor sensors with data compression for the further Transmission over the many times greater distance to Ground station.

Additional training and pre parts of the invention emerge from the subclaims and from the following description of the essential points of view te for the practice of the method according to the invention Taking into account a simplistic representation management example for a device according to the invention Pursue such a procedure. It shows

Fig. 1 symbolically simplified and highly compressed in the longitudinal direction, a schematic diagram to explain the method and the function of a device for practicing the method, based on an overview position;

Fig. 2 movement characteristics over time taking into account the influence of a pitch or flight angle control in the reconnaissance daughter projectile after his ejection from the carrier and relay missile;

Figure 3 shows the corresponding temporal behavior of the aerodynamically braked missile after ejection of the reconnaissance daughter projectile.

Fig. 4 shows the movement of the ejected daughter projectile in comparison to its missile, shown via route parameters corresponding to Fig. 1; and

Fig. 5 in a coordinated, parallel extending reconnaissance flight phase of three projectiles daughter a Prinzipdar of the transmission paths for signal and Steue position changed information according to a plan view of the Si tuationsgegebenheiten in FIG. 1.

To explain the method according to the invention for real-time terrain reconnaissance by means of a sensor installed in a floor and the resulting reconnaissance possibilities, it is assumed for the basic illustration of FIG. 1 that, for example due to terrain obstacles 11, no direct line of sight possibility between an observation device. Ground station 12 and the area strip 13 of interest is possible. The terrain strip 13 to be recorded in terms of reconnaissance technology should extend to the edge of the range of light artillery rockets and, if possible, a little bit more, in order to be able to deploy tactical means quickly, also taking into account immediately advancing associations beyond the remote end of the combat area.

A sensor 14 (see FIG. FIG. 5) in a reconnaissance Tochterge lap built 15, nes by means of a firing system 16 and egg carrier missile high over a point z 1 just before the start z 3 of elucidated ground strip 13 is conveyed. In principle, each artillery projectile is suitable as a carrier missile 17 . Preferably, the missile 17 is designed as a rocket, since in this case the start-Be acceleration in the launch system 16 is relatively small and accordingly less demands on the mechanical and electromechanical structures, especially in the clarification daughter floor 15 , must be made at higher starting acceleration. In addition, the launching system 16 can be moved back into combat-technically safer rooms in front of the terrain strip 13 to be cleared in or behind the combat zone, if an artillery rocket with a medium range is used as a carrier missile 17 instead of a conventional gun.

Shortly after exceeding the, in terms of the terrain and distance conditions to the interesting terrain strip 13 on the launch system 16 according to predetermined, vertex 19 of the trajectory 18 is - remotely controlled from the launch system 16 or self-controlled via a built-in, trajectory-dependent program control - an ejection device initiated in the carrier missile 17 , which (least) emits a reconnaissance daughter projectile 15 carried along. By opening the carrier missile 17 , or simultaneously with it, the flow geometry of the carrier missile 17 is changed in such a way that with the ejection time t 1 strong aerodynamic braking and consequently over time t ( FIG. 3) steep Decrease in speed, and a linear decrease in flight altitude occurs over the flight path z in the direction of the terrain strip 13 to be cleared ( FIG. 4). These aerodynamically acting braking means are also designed in such a way that a sufficiently stable spatial position of the carrier missile 17 relative to the ground station 12 for a relatively uncomplicated radio transmission path 20 is established. This with the ejection of the reconnaissance daughter 15 , and the resulting change in shape of the carrier missile 17 , associated braking and stabilization measures can be realized with such (known from the technology phase-steerable projectiles) measures such as control or stabilization fins which are ren ausgefah with the initiation of the discharge device and in the schematic diagram of the drawing (Fig. 1 and Fig. 5) symbolically simply as a funnel-shaped Frontöff voltage 21 at the carrier flight body 17 are indicated. Those measures are taken that such aerodynamically braked descent rate is established that the falling-carrier flight body 17 over a period of for example 50 seconds remaining a height above the reconnaissance height ah _^3/4 of the reconnaissance daughter projectile 15, for example, 800 Me tern above the floor 22 retains. As a result, the carrier missile is available via 27 as a flying relay station for the information radio transmission from the ejected reconnaissance subsidiary storey 15 to the ground station 12 . Because this relay station is during the reconnaissance period t 3 . . . t 4 higher than the reconnaissance subsidiary storey 15 above the floor 22 and thus, even with a topographically restricted line of sight from the ground station 12 to the reconnaissance daughter storey 15 , provides a two-sided radio bridge with bundled maximum frequency energy of linear propagation from the reconnaissance daughter storey 15 to the ground station 12 safely over the obstacle.

As sketched in Fig. 1, and shown in more detail for a concrete implementation example in Fig. 2, the reconnaissance daughter projectile 15 ejected from the carrier missile 17 at time t 1 undergoes trajectory shaping in the manner of the final phase control known as such for projectiles. It is designed here to steer as quickly as possible into a reconnaissance trajectory 23 , which spans a longer time t 3 . . . t 4 and distance z 3 . . . z 4 extends approximately parallel to the 22 Bo. Within a first period of time t 1 . . . t 2 following the ejection time t 1 , each ejected reconnaissance subsidiary projectile 15 goes through a ballistic free flight phase of a few seconds during which the rolling movement is braked and stabilizing wings unfolded in a defined roll position.

After this flight stabilization measures joins from time point t 2, while further lowering from the discharge height ah 1, a flight phase margin t second . . t 3 of the trajectory formation. This consists essentially, as expressed by the qualitative entry of the pitch or flight path angle Wa in FIG. 2, in a linearly increasing increase in the flight path angle Wa over time t by, for example, a program-controlled change in the position of the tail wings ( not shown in the drawing); until a predetermined final angular value is reached, which initially remains constant (until time t 3 ).

The time t 3 of the start of the reconnaissance period t 3 . . . (. as a result of that flight control angle during the descent phase t 2,.. t 3) t 4 is substantially determined by the reconnaissance Toch tergeschoß 15 approximately at the desired height reconnaissance ah _^3/4 pivots. However, especially in the case of equipment with sensors 14 for visible light or electromagnetic radiation in the infrared spectral range, the reconnaissance subsidiary floor 15 can be equipped with a cloud detector (not shown in the drawing), which detects on the basis of evaluation of reflected short-wave infrared radiation whether a cloud cover had already been pierced down in the descent phase of the reconnaissance subsidiary level 15 ; and only then, that at a correspondingly lower level ah _^3/4 to switch to per-programmed flight path angle Wa and thus to swing into the reconnaissance flight path 23rd

Then takes place in the reconnaissance subsidiary storey 15 , ie the control of the trajectory angle Wa , programmed in such a way that a stable reconnaissance trajectory 23 is set at an almost constant height, which is given by fluctuation in accordance with a damped sine wave and the initial height ah does not exceed _^3/4 in the subsequent period.

The end of the reconnaissance trajectory 23 , and thus also the reconnaissance period t 3 . . . t 4 , is given by the fact that the speed Va of the reconnaissance subsidiary storey 15 decreases too much or the required angle of attack at the subsidiary storey 15 to generate the necessary buoyancy can no longer be set. Then a stable flight position can no longer be achieved. Therefore, beyond the time t 4, the daughter floor 15 is no longer durable via the trajectory angle control, it crashes.

As already mentioned in connection with FIG. 1, and from a comparison of the representations of FIG. 3 with FIG. 2, the flight behavior of the carrier missile 17 , which serves as a relay station after the daughter storey output, is in this way related to the flight behavior and the Corresponding flight time periods ner reconnaissance subsidiary storeys 15 are turned off, that the relay station still has a descent height above this during compliance with the reconnaissance trajectory 23 or in any case has not dropped significantly below it. There are thus visual and thus radio communication paths S 24 between the reconnaissance daughter storeys 15 and their relay missile 17 , as they are for the central region of the terrain strip 13 to be cleared in FIG. 1, and additionally for the starting point z 3 as well as that End point z 4 of the reconnaissance trajectory 23 over floor 22 in FIG. 4 are entered. In a realistic average rate of descent of the carrier flight body 17 of less than 50 m / s after ejection of the reconnaissance subprojectiles 15 at the time t 1 is obtained for the relay missile 17 to decrease ah on the elucidation of height _^3/4, a standing or Function time up to 50 seconds, that of the period t 1 . . . t 4 corresponds to a reconnaissance period t 3 . . . t 4 on the order of a few tens of seconds. By appropriate embedding the dynamics of the reconnaissance daughter projectile shown in Fig. 2 flussung 15 can be in the flight path 23, a Strec ke z 3. . . z 4 in the order of magnitude of a few km stable. One can thus move the launching system 16 ( FIG. 1) back into secured positions and, even in the case of a reconnaissance area that is not directly visible, reliably capture the terrain area of combat operations and the deployment area behind it during the overflight .

Appropriately, as symbolically indicated in Fig. 5, in each reconnaissance subsidiary storey 15 as sensor 14, a number of detector elements 25 in the direction of flight 26 are arranged one behind the other. Their transverse scanning swivel movement be determines the width of the terrain strip 13 detected by a daughter storey 15 . In the direction of flight 26 offset image information (reception signals 27 ) from the same detection point 28 ( FIG. 1) on the floor 22 make it possible to derive information about a movement of the targets detected there and their classification.

In particular for a target identification with the least possible complex signal processing means, it is not expedient to sweep the desirable detection width transverse to the longitudinal extension of the reconnaissance terrain strip 13 by wide transverse swiveling. Because the oblique detection of laterally remote objects with a correspondingly flat detection angle leads, as is well known, to distortions and shadows that impair target identification. This problem does not occur when a carrier missile 17 carries several reconnaissance subsidiary projectiles 15 over the ejection point z 1 , which, if possible, at least in regions, overlap, adjacent reconnaissance terrain strips 13 . However, in the case of non-coordinated movement of the reconnaissance subsidiary projectiles 15 , the terrain strips 13 would generally diverge due to the ejection dynamics; with the result that (lack of overlap of the detected Geländestrei fen 13 ) at a greater distance from their starting points z 3 at the respective edge of the strip, target objects can no longer be evaluated with regard to movement parameters and wedge-shaped, undetected terrain areas remain in between.

It is therefore expedient to use a single carrier missile 17 , which later serves as a relay station for a radio bridge to the ground station 12 , to simultaneously transport several reconnaissance subsidiary projectiles 15 via the ejection point z 1 , which according to the ejection-related initial conditions during their controlled descent phases t 2 . . . t 3 in parallel, and defined for stripe overlaps spaced reconnaissance trajectories 23 are deflected, as outlined in Fig. 5. For the parallel control tion, 30 measuring devices (for example, working according to the so-called transponder principle) can be seen in the context of the sensors 14 connected to the transmitting devices 30 , which determine the distance information 31 for flying in the middle of the daughter storey 15 , for keeping the outer parallel Reconciliation trajectories 23 by corresponding rudder controls in the daughter floors 15 flying outside.

In order to accommodate several reconnaissance subsidiary projectiles 15 in a carrier missile 17 of a given caliber, the outlay for signal processing between a sensor 14 and its transmitting device 30 , and thus the correspondingly speaking space requirement, is kept as short as possible. Therefore, a simultaneous transmission of the received signals 27 via the transmitting devices 30 , to the carrier missile 17 as a radio bridge relay station, preferably in frequency multiplex (that is, in mutually distinguishable frequency bands for information assignment to the individual subsidiary floors 15 ) is provided.

In the larger-volume relay missile 17 is space for egg preprocessing with the aim of compressing the flow of information via the radio transmission path 20 to the bottom station 12th The information from the individual, mutually parallel offset reconnaissance terrain strip 13 can then NEN via this path 20 in time division multiply who, which enables the simultaneous use of the same ground station 12 for other relay missiles 17 . The Fre quenzmultiplex data transmission thus only needs to be realized for the short radio connection paths 24 , for which - as can be seen from Fig. 4 - the antenna characteristics between the daughter floors 15 and the relay missile by 17 in only about a quarter space, but at most one Half space behind the reconnaissance daughter storeys 15 are to be used.

The data received from the ground station 12 from the individual reconnaissance terrain strips 13 are there in video signals for image display devices 32 , for. B. for real-time presen- tation of the combat and deployment in the combat area, vice versa. The image display device 32 need not be set up in the radio reception ground station 12 itself; it can also be a means of representation in a spatially remote location center, in which information from different areas and from various information providers is brought together, processed according to analysis specifications and displayed together.

Claims (18)

1. A method for real-time terrain reconnaissance by means of a sensor which is installed in a floor to be closed and the sensor received signals are transmitted from the floor via radio to a ground station in which signal processing for image display takes place, characterized in that when the projectile is chosen to be a carrier missile that carries at least one reconnaissance daughter projectile equipped with the sensor until it reaches a reconnaissance site, where the carrier missile ejects this daughter projectile and at the same time is braked for steep descent, while the The reconnaissance daughter projectile, controlled by a program, descends to a reconnaissance height above the ground and is steered into an reconnaissance trajectory that runs approximately parallel to the ground, whereupon the received signals detected by the reconnaissance daughter projectile sensor are transmitted to the carrier missile ge and from there as a radio relay station to the more distant Bod are transmitted to the end station until the carrier missile and / or, due to a loss of speed, the reconnaissance subsidiary projectile crashes. 2. The method according to claim 1, characterized, that the missile as a carrier and as a radio relay station for several reconnaissance daughter levels at the same time serves which after descent to the level of education a defined end-phase trajectory control relative to experience each other, preferably parallel to each other.   3. The method according to claim 1 or 2, characterized, that the carrier missile, through aerodynamic structure changes in or as a result of the emission of information Daughter shot on a steeply falling ballistic Flight path is controlled at which he is the reconnaissance altitude the reconnaissance trajectory of the sensor projectiles each if not reached significantly before the time, because the reconnaissance trajectories due to reduced speed become unstable and the daughter floors from them Crash trajectories. 4. The method according to any one of the preceding claims, characterized, that reconnaissance missiles launched from the carrier missile Subsidiary floors record and transmit ground information received signals not before reaching one predetermined clearance height above the ground, and thereby not before penetrating any cloud cover to un ten, start. 5. The method according to any one of the preceding claims, characterized, that the reconnaissance daughter projectiles during a short Ballistic free flight phase after ejection from the port ger missile in which a braking of a roll motion by extending stabilizing wings, at steered descent phase with pitch angle control in the Range of reconnaissance flight altitude are transferred in the they, also by means of pitch angle control, along a ge stretched reconnaissance trajectory at a low altitude fluctuation, e.g. B. according to the time course of a ge damped sine function, can be controlled.   6. The method according to any one of the preceding claims, characterized, that each sensor has soil information using at least one egg ner series of detector elements, which on the Aufklä The subsidiary floor parallel to its reconnaissance flight direction are arranged. 7. The method according to claim 6, characterized, that by alternately querying staggered sections of the Arrangement of detector elements in terms of time and location slightly offset against each other, but essentially one other overlapping educational information from the ground be won. 8. The method according to any one of the preceding claims, characterized, that regardless of the reconnaissance daughter’s own movement floor, a periodic scan of the overflown Terrain transversely to the direction of flight. 9. The method according to any one of the preceding claims, characterized, that the sensor receive signals from operated in parallel Reconciliation projectiles at the same time in the frequency mul tiplex via the comparatively short radio connection be transmitted to the common relay missile, where signal preprocessing with data compression for Radio transmission along the radio transmission path to the Bo denstation, which uses the time division multiplexing method formations of further relay missiles before others Reconnaissance terrain strip.   10. Device for real-time terrain detection by means of a closable sensor ( 14 ), the received signals ( 27 ) of which are transmitted wirelessly to a ground station ( 12 ) - for carrying out the method according to one of the preceding claims -, characterized in that a carrier missile ( 17 ) is provided for at least one reconnaissance daughter daughter level ( 15 ) which can be ejected from it, flight phase-steerable, each reconnaissance daughter level ( 15 ) being equipped with a sensor ( 14 ) and with a transmission device ( 30 ) connected downstream thereof, during the Carrier missile ( 17 ) at the same time as a relay station, shot with the ejected reconnaissance daughter ( 15 ) associated receiving device and the ground station ( 12 ) associated transmitting device, is formed. 11. The device according to claim 10, characterized in that the carrier missile ( 17 ) is equipped with depending on the output of the reconnaissance daughter projectiles ( 15 ) effective aerodynamic braking structures. 12. The device according to claim 10 or 11, characterized in that each reconnaissance daughter floor ( 15 ) is equipped with a flight-height-actuatable pitch control device. 13. Device according to one of claims 10 to 12, characterized in that reconnaissance daughter floors ( 15 ) are equipped with a, interacting with egg ner height measuring device, cloud detection device. 14. Device according to one of claims 10 to 13, characterized in that at several from a common carrier and relay missile ( 17 ) ejectable reconnaissance daughter floors ( 15 ) this with distance measuring devices and downstream lateral track control devices are allowed. 15. Device according to one of claims 10 to 14, characterized in that reconnaissance daughter floors ( 15 ) are provided with sensors ( 14 ) which have a plurality of detector elements ( 25 ) in at least one row parallel to the daughter floor flight direction ( 26 ) . 16. Device according to one of claims 10 to 15, characterized in that reconnaissance daughter storeys ( 15 ) are provided with sensors ( 14 ) which are slightly offset in terms of time and location of image information and their transmission via the relay missile ( 17 ) are set up at the ground station ( 12 ). 17. Device according to one of claims 10 to 16, characterized in that reconnaissance daughter floors ( 15 ) with sensors ( 14 ) for periodic terrain scanning transverse to the direction of flight ( 26 ) are equipped. 18. Device according to one of claims 10 to 17, characterized in that the reconnaissance daughter storeys ( 15 ) and their relay relay missiles ( 17 ) with transmitting devices ( 30 ) or receiving devices for simultaneous operation of radio communication paths ( 24 ) in Frequency multiplex are equipped, while the relay missile ( 17 ) is also equipped with devices for signal processing and data compression for data retrieval from the ground station ( 12 ) via the transmission path ( 20 ) in time-division multiplexing.