EP0033282A1 - Système de guidage d'engin au moyen d'un faisceau lumineux modulé - Google Patents

Système de guidage d'engin au moyen d'un faisceau lumineux modulé Download PDF

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Publication number
EP0033282A1
EP0033282A1 EP81400118A EP81400118A EP0033282A1 EP 0033282 A1 EP0033282 A1 EP 0033282A1 EP 81400118 A EP81400118 A EP 81400118A EP 81400118 A EP81400118 A EP 81400118A EP 0033282 A1 EP0033282 A1 EP 0033282A1
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EP
European Patent Office
Prior art keywords
machine
target
detector
opaque
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP81400118A
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German (de)
English (en)
French (fr)
Inventor
Jean Claude Chavany
Wladimir Koreicho
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Societe Anonyme de Telecommunications SAT
Original Assignee
Societe Anonyme de Telecommunications SAT
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Filing date
Publication date
Application filed by Societe Anonyme de Telecommunications SAT filed Critical Societe Anonyme de Telecommunications SAT
Publication of EP0033282A1 publication Critical patent/EP0033282A1/fr
Withdrawn legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/24—Beam riding guidance systems
    • F41G7/26—Optical guidance systems

Definitions

  • the present invention relates to a system for guiding a machine in a direction of sight, comprising, on emission, an emission source producing a light beam whose axis defines the direction of sight and a device for modulating the emitted beam, and on the machine, at least one photo-detector and a processing circuit for determining, from the detector output signal, at least one coordinate of the machine with respect to the sighting direction, said coordinate being applied to the control surfaces of the machine in order to control the trajectory of the machine on the direction of sight.
  • the invention relates to a guidance system in which the modulation device operates according to an entirely different principle and is very simple in its design.
  • the modulation device comprises a strip-shaped target having repeating patterns, a translational movement at constant speed being created between the beam and the target in a direction perpendicular to the axis of the beam, each pattern comprising opaque and transparent parts, the opaque and / or transparent parts having a length (dimension according to the direction of movement) which varies according to the height considered, and a time base is provided for determining the two coordinates of the craft.
  • the realization of the modulation device in the form of a moving pattern formed of repeating patterns allows to give the target, that is to say, to each pattern, a very simple drawing and the modulated beam obtained is consequently not very subject to diffraction.
  • the target is suitably a hollow drum driven in rotation around its axis and a reflecting member is placed in the center of the target so as to reflect the beam, arriving along the target's axis, in a radial direction relative to to the crosshairs.
  • the opaque and transparent parts of the pattern have sides inclined at 45 ° relative to the edges of the pattern and, in a particularly advantageous manner, the opaque parts (respectively transparent) are parallelograms, the two parts transparent (respectively opaque) adjacent to such a parallelogram being triangles or trapezoids in head-to-tail arrangement.
  • the average illumination rate is constant and equal to 50% whatever the position of the detector. This value is optimal for the system link budget.
  • the time base necessary to determine the coordinates of the detector on the basis of the signal emitted by the latter is provided by a second traveling test pattern trained in synchronism with the modulation pattern, but decoupled from the latter for the detector.
  • Figure 1 illustrates the principle of machine guidance by modulated light beam.
  • a transmitter 1 coupled to the firing station of the machine E emits a modulated light beam whose axis is directed at the target C.
  • the machine carries detectors D sensitive to the wavelength of the beam emitted, and a circuit processing capable of determining the coordinates of the machine with respect to an absolute reference frame linked to the axis of the beam from the output signals of the detectors.
  • the signals emitted by this processing circuit are applied to the control surfaces of the machine in order to control its trajectory on the axis of the beam.
  • FIG. 2 shows the general structure of the transmitter 1, in an exemplary embodiment.
  • a laser source 2 of preferably with continuous emission, emitting for example on a wavelength of 10.6 I xm, produces a beam which is modulated by a modulation device 3 described in detail below.
  • Block 4 represents the supply of the laser source 2 and block 5 the primary supply which includes a battery.
  • the beam has a rectilinear polarization, for a purpose which will be explained later.
  • the modulated beam transmitted by the optics 6 is returned by a mirror 7 to a parabolic mirror 8 which acts as an objective.
  • the optics 6 comprises an afocal with variable magnification, or zoom, the adjustment of which is controlled in such a way that the beam section at the level of the machine remains substantially constant, this having the aim of keeping the light power received by the lens substantially constant. detectors.
  • a circuit 9 having in memory the information "distance traveled by the machine" controls the positioning motor of the optics 6 appropriately.
  • This device comprises a hollow cylindrical drum 10, the lateral surface of which has parts transparent to laser radiation and opaque parts, formed according to a design obtained by repeating a simple pattern, examples of which will be described below.
  • the drum 10 is driven in rotation by a motor 11, and a control device of known type, comprising an opto-electronic source-sensor assembly 12 is provided to keep the speed of the drum constant.
  • the drum 10 thus constitutes a moving target which modulates the beam.
  • the motor 11 also drives a drum 13 coaxial with the drum 10 and whose lateral surface has a design quite different from that of the drum 10 and which, as will be seen, makes it possible to define a time base.
  • the laser beam from the source 2 passes radially through the drum 13 and is reflected by a mirror 14, located in the center of the drum, so that the axis of the reflected beam coincides with the axis of the drums 13 and 10.
  • the beam passes through a Wollaston prism 15 mounted in a hollow axis driven by the motor 11, and falls on a mirror 16 placed in the center of the drum 10. The beam is thus reflected in a radial direction relative to the rotary drum 10.
  • Figures 4a, 4b, 4c show, in the developed state, different embodiments of the modulation pattern which correspond to different basic patterns.
  • the opaque and transparent sectors are delimited by lines a inclined at 45 ° relative to the edges b of the target.
  • the opaque and transparent sectors all have the form of isosceles right triangles, and in the case of FIG. 4b, the sectors are constituted by isosceles trapezoids.
  • the two consecutive lines delimiting a transparent sector are, on the contrary, parallel, so that the transparent sectors are parallelograms and that the opaque sectors are isosceles right triangles whose arrangement is reversed each time.
  • This embodiment has the advantage over the previous ones that the relative illumination duration is equal to 50%, which is the optimal value in terms of of the system link budget, whatever the distance between the machine and the beam axis. This is due to the fact that parallelograms always have the same dimension parallel to their sides. Of course, it would be equivalent if the opaque sectors were constituted by parallelograms and the transparent sectors by triangles.
  • FIG. 4c on the left, the field defined by the target is represented, the detector being at D. It is noted that a system of axes has been chosen which is suitable for drawing the target, that is to say that the axes Ox and Oy are respectively parallel to the sides has triangles constituting the opaque sectors.
  • the horizontal passing through D is then the geometric location of the detector and the one passing through 0 the geometric location of the trace of the beam axis.
  • the signal emitted by the detector is shown in FIG. 5, the rising edges corresponding to the passages from an unlit area to an illuminated area and the falling edges with reverse transitions.
  • the measurement of the time between two transitions provides a first relation depending on the x and y coordinates, namely a function of .
  • the processing circuit on the machine produces pulses called + x, -y, + y, -x from the time base component supplied by the transmitter, more particularly by the drum 13 in the present example of realization.
  • the signal of FIG. 5 is integrated over a period delimited by two consecutive pulses.
  • the signal of FIG. 6 is thus obtained, in which the coordinates x, y are given by the amplitudes at each reset, the amplitudes successively providing -x, + x, -y, + y.
  • the line x O, coincides with the first sides rising from isosceles triangles at the instants of triggering of the measurement of x increased by .
  • the detector delivers a signal whose algebraic surface, obtained by integration, is zero.
  • x For a nonzero value of x, equal for example to k, the detector delivers a signal whose two positive and negative surfaces are respectively proportional to (1 + k) and (1 - k). Consequently, the algebraic surface of the signal during the reference or measurement period is proportional to 2k, therefore to k. This is how we get x.
  • y considering the first descending sides of the isosceles triangles, to demonstrate how to obtain y.
  • the time base signal must be developed in an appropriate manner.
  • the Wollaston 15 by its rotation linked to the movement of the time base target, ensures a decoupling between the time base signal, by means of a judicious choice of this signal, and the signal received by the detector resulting from the rotation of the drum 10, so that the instants of triggering of measurement do not depend on the position of the image of the moving target projected on the detector.
  • the harmonic analysis shows that it is advantageous for example to constitute the time base component from of two components, one at 450 Hz, the other at 550 Hz.
  • the drum 13 is etched in a corresponding manner with more or less wide lines defining more or less transparent zones according to the amplitude of the basic component of time, as shown by way of example in Figure 3 on a part of the drum., Of course, the entire target 13 is etched in this way.
  • the invention is not limited to this solution, and the time base can be obtained by any other appropriate means, in particular by modulating the beam with a high frequency which is modified, either continuously or by discontinuously, in a specific manner.
  • the machine carries two detectors D ′, D ′′ arranged symmetrically with respect to its axis, and a third detector R associated with a polarizer P, for calculating the absolute roll.
  • Each of the detectors is associated with an appropriate input optic 18 ', 18 "and 19.
  • Each detector D ′, D ′′ is associated with an amplifier device 20 ′, 20 ′′ followed by an appropriate bandpass filter 21 ′, 21 ′′.
  • the filtered signals are applied to an adder 22 whose output is connected to the entry of a time base elaboration circuit 23.
  • the circuit 23 extracts from the input signal the time base component produced by the drum 13 by appropriate filtering in a band encompassing 450 Hz and 550 Hz.
  • the two components of 450 Hz and 550 Hz are then isolated by new filterings and, from these components, we find the basic frequency of 50 Hz corresponding to the rotation speed of the sights.
  • the signals from the filters 21 ', 21 ", which are as shown in FIG. 5, are applied to integrators 23', 23" which also receive a signal of frequency 1000 Hz from the time base circuit 23, this signal controlling the resetting of the integrators.
  • the signals representative of these coordinates X and Y are applied to the circuit 27 for controlling the control surfaces of the machine.
  • the circuit 27 acts on the control surfaces so as to bring the trajectory of the machine closer to the ideal path defined by the axis of the beam, that is to say in the direction of the cancellation of X and Y.
  • the device comprises, as has been said, a detector P with which a polarizer is associated.
  • the detection frequency is in fact (200 + 2n) Hz.
  • the detector P is associated with an amplifier 30 and a bandpass filter 31 adapted to the above frequency.
  • the position of detectors D 'and D "as can be determined determining on board the craft is marred by an imprecision illustrated by the hatched circular zones surrounding the points D 'and D ".
  • the absolute roll ⁇ is the angle made by the real vector with the original vector .
  • V is (x "-x ') cos ⁇ + (y"-y') sin ⁇ .
  • the circuit 40 shown in Figure 9 performs the calculation of this expression and includes an inverter 41 on which one acts to maintain this expression at a positive value.
  • Circuit 40 receives on input A the frequency signal 200 Hz coming from the time base circuit 23 and on input B the frequency signal (200 + 2n + 2 ⁇ ) Hz coming from filter 31.
  • This signal is applied to a circuit 43 dividing the frequency by 2, which delivers a signal cos ( ⁇ f R t + ⁇ + k ⁇ ).
  • This signal is applied to the multipliers 44 and 45.
  • the multiplier 44 also receives the signal + cos ( ⁇ f o t + k ⁇ ) from the inverter and the multiplier 45 receives the signal + sin ( ⁇ f o t + k ⁇ ) obtained after phase shift of ⁇ / 2 in a circuit 46 connected to the output of the inverter.
  • Low-pass filters 47 and 48 are respectively connected to the outputs of multipliers 44 and 45, so that at the output of filters 47 and 48 signals are obtained whose frequency is the difference of the frequencies of the input signals and which are therefore representative of the trigonometric functions cos ⁇ and sin ⁇ of the absolute roll angle Q.
  • the signals representative of the coordinates x ', x "and y', y", coming from the circuits 24 'and 24 ", are applied to subtractors 49 and 50 which deliver the differences x" - x' and y "- y '.
  • the outputs of subtractors 49 and 50 are connected to multipliers 51 and 52 - which receive the signals cos ⁇ and sin ⁇ from filters 47 and 48.
  • the products (x" - x) cos ⁇ and (y " - y ') sin ⁇ are added in circuit 53 which delivers the scalar product . cited above.
  • the output signal of the adder 53 is applied as a control signal to the inverter 41 (link shown in dotted lines) so that the latter is always in the position which results in a positive dot product.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP81400118A 1980-01-29 1981-01-27 Système de guidage d'engin au moyen d'un faisceau lumineux modulé Withdrawn EP0033282A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8001841 1980-01-29
FR8001841A FR2474682A1 (fr) 1980-01-29 1980-01-29 Systeme de guidage d'engin au moyen d'un faisceau lumineux module

Publications (1)

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EP0033282A1 true EP0033282A1 (fr) 1981-08-05

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EP81400118A Withdrawn EP0033282A1 (fr) 1980-01-29 1981-01-27 Système de guidage d'engin au moyen d'un faisceau lumineux modulé

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US (1) US4422601A (ja)
EP (1) EP0033282A1 (ja)
FR (1) FR2474682A1 (ja)

Families Citing this family (17)

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Publication number Priority date Publication date Assignee Title
US5149032A (en) * 1990-11-29 1992-09-22 Jones Stephen W Universal cup holder for use in vehicles
SE468726B (sv) * 1991-07-02 1993-03-08 Bofors Ab Anordning foer rollvinkelbestaemning
DE4416210C2 (de) * 1994-05-07 1997-05-22 Rheinmetall Ind Ag Verfahren und Vorrichtung zur Ermittlung der Rollwinkellage eines rotierenden Flugkörpers
KR100227202B1 (ko) * 1996-09-30 1999-10-15 니시무로 타이죠 옵셋 검출장치 및 그를 이용한 비상체 유도시스템
US7533849B2 (en) * 2005-02-07 2009-05-19 Bae Systems Information And Electronic Systems Integration Inc. Optically guided munition
US8324542B2 (en) * 2009-03-17 2012-12-04 Bae Systems Information And Electronic Systems Integration Inc. Command method for spinning projectiles
US8093539B2 (en) * 2009-05-21 2012-01-10 Omnitek Partners Llc Integrated reference source and target designator system for high-precision guidance of guided munitions
US8497457B2 (en) * 2010-12-07 2013-07-30 Raytheon Company Flight vehicles with improved pointing devices for optical systems
RU2484419C1 (ru) * 2011-11-02 2013-06-10 Федеральное государственное военное образовательное учреждение высшего профессионального образования "Военный авиационный инженерный университет" (г. Воронеж) Министерства обороны Российской Федерации Способ управления характеристиками поля поражения осколочно-фугасной боевой части ракеты и устройство для его осуществления
RU2484420C1 (ru) * 2011-12-01 2013-06-10 Виктор Леонидович Семенов Способ определения направления отклонения движения ракеты от ее направления на цель. способы самонаведения ракеты на цель и устройства для их реализации
RU2539842C1 (ru) * 2013-11-06 2015-01-27 Василий Васильевич Ефанов Система наведения управляемых ракет
RU2539841C1 (ru) * 2013-11-06 2015-01-27 Василий Васильевич Ефанов Система наведения управляемых ракет
RU2539822C1 (ru) * 2013-11-06 2015-01-27 Василий Васильевич Ефанов Система наведения управляемых ракет
RU2539825C1 (ru) * 2013-11-06 2015-01-27 Василий Васильевич Ефанов Система наведения управляемых ракет
RU2539823C1 (ru) * 2013-11-06 2015-01-27 Василий Васильевич Ефанов Способ самонаведения малоразмерных ракет на цель и система для его осуществления
RU2539833C1 (ru) * 2013-11-06 2015-01-27 Василий Васильевич Ефанов Система наведения управляемых ракет
RU2730068C1 (ru) * 2019-10-10 2020-08-17 Федеральное государственное автономное образовательное учреждение высшего образования "Национальный исследовательский университет "Московский институт электронной техники" Устройство наведения управляемых ракет

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US3648229A (en) * 1970-03-23 1972-03-07 Mc Donnell Douglas Corp Pulse coded vehicle guidance system
US3809477A (en) * 1972-11-01 1974-05-07 Us Interior Measuring apparatus for spatially modulated reflected beams
FR2258636A1 (ja) * 1974-01-21 1975-08-18 Sfim
US3963195A (en) * 1975-01-27 1976-06-15 Northrop Corporation Roll reference system for vehicles utilizing optical beam control
FR2319917A1 (fr) * 1975-07-30 1977-02-25 Sfim Modulateur optique a tambour tournant et son application a la localisation d'un mobile
GB2016182A (en) * 1977-04-05 1979-09-19 Mobell Marine Ltd Course indicating devices

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US3690594A (en) * 1964-05-20 1972-09-12 Eltro Gmbh Method and apparatus for the determination of coordinates
FR2339832A1 (fr) * 1976-01-27 1977-08-26 Emile Stauff Perfectionnements apportes au guidage d'un projectile vers son objectif
US4014482A (en) * 1975-04-18 1977-03-29 Mcdonnell Douglas Corporation Missile director
US4243187A (en) * 1978-05-01 1981-01-06 Mcdonnell Douglas Corporation Missile director with beam axis shift capability

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Publication number Priority date Publication date Assignee Title
US3648229A (en) * 1970-03-23 1972-03-07 Mc Donnell Douglas Corp Pulse coded vehicle guidance system
US3809477A (en) * 1972-11-01 1974-05-07 Us Interior Measuring apparatus for spatially modulated reflected beams
FR2258636A1 (ja) * 1974-01-21 1975-08-18 Sfim
US3963195A (en) * 1975-01-27 1976-06-15 Northrop Corporation Roll reference system for vehicles utilizing optical beam control
FR2319917A1 (fr) * 1975-07-30 1977-02-25 Sfim Modulateur optique a tambour tournant et son application a la localisation d'un mobile
GB2016182A (en) * 1977-04-05 1979-09-19 Mobell Marine Ltd Course indicating devices

Also Published As

Publication number Publication date
FR2474682B1 (ja) 1984-09-28
US4422601A (en) 1983-12-27
FR2474682A1 (fr) 1981-07-31

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Inventor name: CHAVANY, JEAN CLAUDE