EP0071757B1 - Flight position control apparatus for a missile - Google Patents

Flight position control apparatus for a missile Download PDF

Info

Publication number
EP0071757B1
EP0071757B1 EP82105914A EP82105914A EP0071757B1 EP 0071757 B1 EP0071757 B1 EP 0071757B1 EP 82105914 A EP82105914 A EP 82105914A EP 82105914 A EP82105914 A EP 82105914A EP 0071757 B1 EP0071757 B1 EP 0071757B1
Authority
EP
European Patent Office
Prior art keywords
transmitting
missile
receiving unit
accordance
control
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.)
Expired
Application number
EP82105914A
Other languages
German (de)
French (fr)
Other versions
EP0071757A3 (en
EP0071757A2 (en
Inventor
Jens Dr. Dipl.-Phys. Seidensticker
Werner Dipl.-Ing. Grosswendt
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.)
Rheinmetall Industrie AG
Original Assignee
Rheinmetall GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Rheinmetall GmbH filed Critical Rheinmetall GmbH
Publication of EP0071757A2 publication Critical patent/EP0071757A2/en
Publication of EP0071757A3 publication Critical patent/EP0071757A3/en
Application granted granted Critical
Publication of EP0071757B1 publication Critical patent/EP0071757B1/en
Expired legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
    • F42C13/00—Proximity fuzes; Fuzes for remote detonation
    • F42C13/06—Proximity fuzes; Fuzes for remote detonation operated by sound waves
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/34—Direction control systems for self-propelled missiles based on predetermined target position data

Definitions

  • the invention relates to a missile with a wing that projects beyond the fuselage of the missile on both sides and with means for attitude control with the features of the preamble of claim 1.
  • Transmitting devices and receiving devices for sound waves are known per se. They consist, for example, of ceramic masses provided with contacts which are subjected to an alternating voltage in the case of transmission and are consequently excited to mechanical vibrations in the sound or ultrasound range. When it is received, the element is set into mechanical vibrations by incident sound waves and supplies an alternating voltage that can be picked up there at the electrodes.
  • the desired bundled radiation or spatially selective reception characteristic of the transmitting device and receiving device can be achieved in a manner known per se by the shape of the transmitting / receiving unit or by additional reflectors connected to the transmitting / receiving unit.
  • the object of the invention is therefore to simplify the flight attitude control using inexpensive ultrasound and receiving devices and also the seeker head in the case of a missile of the type mentioned at the outset, whereby robustness of the construction and operational reliability of the missile are ensured.
  • the invention is intended to enable a stable trajectory to be maintained during the approach to a target area, in particular maintaining a predeterminable height above ground in order to avoid obstacles on the one hand and to counteract reconnaissance means on the other .
  • the invention should enable the payload carried by the missile to be activated at the optimal time.
  • the invention is intended to enable the payload to be activated at the most favorable time when the target area is reached.
  • the invention is intended to put the payload into operation at the optimum time or at the optimum distance above a target area.
  • FIGS. 1 and 2 show a side view and rear view of a missile and FIG. 3 shows a block diagram of the associated transmitting and receiving device.
  • the missile 10 according to FIGS. 1 and 2 has a wing 19, at the end of which a receiving device 11, 11 'is arranged.
  • the rolling movement about the longitudinal axis 20 of the missile 10 can be controlled and influenced by measuring the distance of the respective wing end with respect to the earth's surface.
  • the further transmitting and receiving device 11, 11 'arranged on the underside of the fuselage of the missile 10 enables control and influencing of the pitching movement about the transverse axis 21 of the missile 10.
  • the above-mentioned axis stabilization opens up the possibility of greatly simplifying an additionally required search head for detecting a target area to train, since this only has to measure and correct the side placement of the missile in relation to the target.
  • Part of the energy reflected from the earth's surface is preferably received spatially selectively by the missile 10.
  • means 16 are then activated which influence the position of the missile 10 on its trajectory via control surfaces 18 or which activate the payload 15 transported by the missile 10.
  • Transmitting device 11 and receiving device 11 ' can be structurally combined and, in the simplest case, be designed so that only one element is provided which, on the one hand, emits sound energy in double use, i.e. acts as a transmitter, and on the other hand absorbs sound energy, i.e. acts as a receiver.
  • the device can be switched between the two operating modes in a time-divisional manner.
  • a central control unit 50 coordinates all time sequences within the transceiver unit 11, 11 '.
  • An ultrasonic transmitter 110 is acted upon by pulses from a pulse generator 51 and excited to emit ultrasonic waves.
  • the pulses emitted by the pulse generator are expediently modulated by a modulator 52 in order, for example, to evaluate the to facilitate sound waves received after reflection from the ultrasound receiver 111.
  • Ultrasonic transmitter 111 and ultrasonic receiver 111 ' can either be structurally separate from one another, structurally combined, or they can consist of the same element, in which case time-multiplex control is necessary for alternate operation as a transmitter or receiver.
  • the electrical signals emitted by the ultrasound receiver 111 are first demodulated in a demodulator 53 and then fed to further processing.
  • a transit time measurement 54 given the known propagation speed of the emitted and reflected ultrasound waves.
  • the optimum distance value is specified via a first counter 55.
  • a second counter 56 determines the distance value that can be determined from the transit time measurement of the emitted and reflected sound signals.
  • a comparator 57 determines whether the two counter values match or differ from one another.
  • the means 16 for activating the payload 15 may then be activated via a power stage 58.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Toys (AREA)
  • Radar Systems Or Details Thereof (AREA)

Description

Die Erfindung betrifft einen Flugkörper mit einer Tragfläche, die den Rumpf des Flugkörpers nach beiden Seiten überragt und mit Mitteln zur Fluglageregelung mit den Merkmalen des Oberbegriffes des Anspruches 1. Sendeeinrichtungen und Empfangseinrichtungen für Schallwellen, insbesondere Ultraschallwellen, sind an sich bekannt. Sie bestehen beispielsweise aus mit Kontakten versehenen keramischen Massen, die im Sendefall mit einer Wechselspannung beaufschlagt werden und demzufolge zu mechanischen Schwinungen im Schall- bzw. Ultraschallbereich angeregt werden. Im Empfangsfall wird das Element durch auftreffende Schallwellen in mechanische Schwingungen versetzt und liefert an den Elektroden eine dort abgreifbare Wechselspannung. Die gewünschte gebündelte Abstrahlung bzw. räumlich selektive Empfangscharakteristik der Sendeeinrichtung und Empfangseinrichtung kann in an sich bekannter Weise durch die Gestalt der Sende/Empfangseinheit oder durch zusätzliche mit der Sende/Empfangseinheit verbundene Reflektoren erzielt werden.The invention relates to a missile with a wing that projects beyond the fuselage of the missile on both sides and with means for attitude control with the features of the preamble of claim 1. Transmitting devices and receiving devices for sound waves, in particular ultrasonic waves, are known per se. They consist, for example, of ceramic masses provided with contacts which are subjected to an alternating voltage in the case of transmission and are consequently excited to mechanical vibrations in the sound or ultrasound range. When it is received, the element is set into mechanical vibrations by incident sound waves and supplies an alternating voltage that can be picked up there at the electrodes. The desired bundled radiation or spatially selective reception characteristic of the transmitting device and receiving device can be achieved in a manner known per se by the shape of the transmitting / receiving unit or by additional reflectors connected to the transmitting / receiving unit.

Weiterhin ist aus der U.S.-Patentschrift 4,200,922 zur Bekämpfung von am Meeresgrund plazierten Minen ein selbstangetriebener Schwimmkörper bekannt, der mit Hilfe eines Echolots sowie mit Hilfe von auf die Ausgangssignale des Echolots ansprechenden Regelkreisen und Stellmitteln hinsichtlich seiner Schwimmlage derart geregelt wird, daß er einen in vorgegebener Höhe über eine Mine verlaufenden Kurs verfolgt. Zusätzlich werden die Ausgangssignale des Echolots dazu verwendet, den Zeitpunkt festzustellen, zu dem sich der Schwimmkörper genau über der Mine befindet und um in diesem Moment die in einer Sprengladung bestehende Nutzlast auszuklinken. Ein Hinweis auf die besondere Anordnung der Sende- und Empfangseinheit an der Tragfläche und am Rumpf eines Flugkörpers ist aus dem Stand der Technik nicht zu entnehmen.Furthermore, from US Pat. No. 4,200,922 for combating mines placed on the seabed, a self-propelled floating body is known which is controlled with the aid of an echo sounder and with the aid of control loops and actuating means which respond to the output signals of the echo sounder in such a way that it is in a predetermined position Tracked altitude over a mine course. In addition, the output signals from the echo sounder are used to determine the point in time at which the floating body is located exactly above the mine and to release the payload existing in an explosive charge at that moment. A reference to the special arrangement of the transmitter and receiver unit on the wing and on the fuselage of a missile cannot be found in the prior art.

Aufgabe der Erfindung ist es daher, bei einem Flugkkörper der eingangs genannten Art die Fluglageregelung unter Einsatz billiger Ultraschall-und Empfangseinrichtungen sowie auch den Suchkopf zu vereinfachen, wobei Robustheit der Konstruktion sowie Betriebssicherheit des Flugkörpers gewährleistet bleibt.The object of the invention is therefore to simplify the flight attitude control using inexpensive ultrasound and receiving devices and also the seeker head in the case of a missile of the type mentioned at the outset, whereby robustness of the construction and operational reliability of the missile are ensured.

Die zur Lösung der gestellten Aufgabe wesentlichen Merkmale der Erfindung sind im Patentanspruch 1 genannt, die Unteransprüche definieren Ausführungsbeispiele der Erfindung.The essential features of the invention to achieve the object are mentioned in claim 1, the subclaims define embodiments of the invention.

Bei mit Hilfe eines eigenen Antriebs sich autonom fortbewegenden Flugkörpern soll die Erfindung während des Anflugs auf ein Zielgebiet die Einhaltung einer stabilen Flugbahn ermöglichen, wobei insbesondere an die Einhaltung einer vorbestimmbaren Höhe über Grund gedacht ist, um einerseits Hindernissen ausweichen zu können und andererseits Aufklärungsmitteln zu entgegen. Nach Erreichen des Zielgebietes soll die Erfindung die Aktivierung der vom Flugkörper transportierten Nutzlast zum optimalen Zeitpunkt ermöglichen.In the case of missiles which move autonomously with the aid of their own propulsion, the invention is intended to enable a stable trajectory to be maintained during the approach to a target area, in particular maintaining a predeterminable height above ground in order to avoid obstacles on the one hand and to counteract reconnaissance means on the other . After reaching the target area, the invention should enable the payload carried by the missile to be activated at the optimal time.

Bei aus Rohrwaffen verschossenen Geschossen, die sich auf einer im wesentlichen ballistischen Bahn fortbewegen, soll die Erfindung die Aktivierung der Nutzlast im günstigsten Zeitpunkt bei Erreichen des Zielgebietes ermöglichen.In the case of projectiles fired from tubular weapons, which move on an essentially ballistic path, the invention is intended to enable the payload to be activated at the most favorable time when the target area is reached.

Ebenfalls bei von Flugzeugen oder Raketen ausgestoßenen Nutzlastträgern soll die Erfindung die Nutzlast zum optimalen Zeitpunkt bzw. im optimalen Abstand über einem Zielgebiet in Funktion setzen.Likewise, in the case of payload carriers ejected from aircraft or rockets, the invention is intended to put the payload into operation at the optimum time or at the optimum distance above a target area.

In der Zeichnung ist eine Ausführungsform des neuen Flugkörpers dargestellt. Es zeigen Fig. 1 und 2 eine Seitenansicht und Rückseitenansicht eines Flugkörpers und Fig. 3 ein Blockschaltbild der zugehörigen Sende- und Empfangseinrichtung. Der Flugkörper 10 nach Fig. 1 und 2 verfügt über eine Tragfläche 19, an deren Ende je eine Empfangseinrichtung 11, 11' angeordnet ist. Durch Messung des Abstandes des jeweiligen Tragflächenendes in Bezug auf die Erdoberfläche kann die Rollbewegung um die Längsachse 20 des Flugkörpers 10 kontrolliert und beeinflußt werden. Die weitere an der Unterseite des Rumpfes des Flugkörpers 10 angeordnete Sende- und Empfangseinrichtung 11, 11' ermöglicht Kontrolle und Beeinflussung der Nickbewegung um die Querachse 21 des Flugkörpers 10. Die vorerwähnte Achsenstabilisierung eröffnet die Möglichkeit, einen zusätzlich erforderlichen Suchkopf zur Erfassung eines Zielgebietes stark vereinfacht auszubilden, da dieser nur noch die Seitenablage des Flugkörpers in Bezug auf das Ziel vermessen und korrigieren muß. Ein Teil der von der Erdoberfläche reflektierten Energie wird vorzugsweise räumlich selektiv vom Flugkörper 10 empfangen. In Abhängigkeit von der empfangenen Energie werden dann Mittel 16 in Funktion gesetzt, die über Steuerflächen 18 die Lage des Flugkörpers 10 auf seiner Flugbahn beeinflussen, oder die die vom Flugkörper 10 transportierte Nutzlast 15 aktivieren.In the drawing, an embodiment of the new missile is shown. 1 and 2 show a side view and rear view of a missile and FIG. 3 shows a block diagram of the associated transmitting and receiving device. The missile 10 according to FIGS. 1 and 2 has a wing 19, at the end of which a receiving device 11, 11 'is arranged. The rolling movement about the longitudinal axis 20 of the missile 10 can be controlled and influenced by measuring the distance of the respective wing end with respect to the earth's surface. The further transmitting and receiving device 11, 11 'arranged on the underside of the fuselage of the missile 10 enables control and influencing of the pitching movement about the transverse axis 21 of the missile 10. The above-mentioned axis stabilization opens up the possibility of greatly simplifying an additionally required search head for detecting a target area to train, since this only has to measure and correct the side placement of the missile in relation to the target. Part of the energy reflected from the earth's surface is preferably received spatially selectively by the missile 10. Depending on the energy received, means 16 are then activated which influence the position of the missile 10 on its trajectory via control surfaces 18 or which activate the payload 15 transported by the missile 10.

Sendeeinrichtung 11 und Empfangseinrichtung 11' können baulich vereinigt und im einfachsten Fall so ausgebildet sein, daß lediglich ein Element vorgesehen ist, welches in Doppelausnutzung einerseits Schallenergie abstrahlt, also als Sender wirkt, und andererseits Schallenergie aufnimmt, also als Empfänger wirkt. Dabei kann die Einrichtung zwischen beiden Betriebsarten zeitmultiplexartig umgeschaltet werden.Transmitting device 11 and receiving device 11 'can be structurally combined and, in the simplest case, be designed so that only one element is provided which, on the one hand, emits sound energy in double use, i.e. acts as a transmitter, and on the other hand absorbs sound energy, i.e. acts as a receiver. The device can be switched between the two operating modes in a time-divisional manner.

Der Funktionsablauf wird nachstehend anhand des Blockschaltbildes nach Fig. 3 erläutert.The functional sequence is explained below using the block diagram according to FIG. 3.

Eine zentrale Steuereinheit 50 koordiniert alle Zeitabläufe innerhalb der Sende/Empfangseinheit 11, 11'. Ein Ultraschallsender 110 wird von Impulsen eines Impulsgenerators 51 beaufschlagt und zur Abgabe von Ultraschallwellen angeregt. Zweckmäßig werden die vom Impulsgeber abgegebenen Impulse durch einen Modulator 52 moduliert, um beispielsweise die Auswertung der nach Reflektion vom Ultraschallempfänger 111 empfangenen Schallwellen zu erleichtern. Ultraschallsender 111 und Ultraschallempfänger 111' können entweder baulich voneinander getrennt, baulich vereinigt, oder aber aus dem gleichen Element bestehen, wobei dann zum wechselweisen Betrieb als Sender bzw. Empfänger eine zeitmultiplexartige Ansteuerung notwendig ist. Die vom Ultraschallempfänger 111 abgegebenen elektrischen Signale werden zunächst in einem Demodulator 53 demoduliert und sodann einer weiteren Verarbeitung zugeführt. Diese umfaßt vorzugsweise die Ermittlung der Entfernugn des Flugkörpers in Bezug auf eine Referenzfläche, die bei bekannter Ausbreitungsgeschwindigkeit der abgestrahlten und reflektierten Ultraschallwellen beispielsweise durch eine Laufzeitmessung 54 durchführbar ist. Für bestimmte Anwendungsfälle, beispielsweise die Höhemessung des Flugkörpers 10 über Grund oder die Abstandsbestimmung bei einer Zündeinrichtung, wird über einen ersten Zähler 55 der optimale Abstandswert vorgegeben. Ein zweiter Zähler 56 ermittelt den aus der Laufzeitmessung der abgestrahlten und reflektierten Schallsignale erfaßbaren Abstandswert. In einem Vergleicher 57 wird festgestellt, ob die beiden Zählerwerte übereinstimmen oder voneinander abweichen. Bei Verwendung als Abstandsmesser in einer Zündeinrichtung werden dann ggf. über eine Leistungsstufe 58 die Mittel 16 zur Aktivierung der Nutzlast 15 in Funktion gesetzt. Im Falle der Fluglageregelung werden dagegen bei Abweichen der Zählerstände über die Leistungsstufe 58 über die Mittel 16, die Steuerflächen 18 und/oder nicht dargestellte Steuerdüsen von ggf. auch vorhandenen Korrekturtriebwerken solange in Funktion gesetzt, bis die Zählerstände wieder übereinstimmen und die vorgegebene Flugbahn eingehalten ist.A central control unit 50 coordinates all time sequences within the transceiver unit 11, 11 '. An ultrasonic transmitter 110 is acted upon by pulses from a pulse generator 51 and excited to emit ultrasonic waves. The pulses emitted by the pulse generator are expediently modulated by a modulator 52 in order, for example, to evaluate the to facilitate sound waves received after reflection from the ultrasound receiver 111. Ultrasonic transmitter 111 and ultrasonic receiver 111 'can either be structurally separate from one another, structurally combined, or they can consist of the same element, in which case time-multiplex control is necessary for alternate operation as a transmitter or receiver. The electrical signals emitted by the ultrasound receiver 111 are first demodulated in a demodulator 53 and then fed to further processing. This preferably includes the determination of the distances of the missile in relation to a reference surface, which can be carried out, for example, by a transit time measurement 54 given the known propagation speed of the emitted and reflected ultrasound waves. For certain applications, for example the height measurement of the missile 10 above the ground or the distance determination in the case of an ignition device, the optimum distance value is specified via a first counter 55. A second counter 56 determines the distance value that can be determined from the transit time measurement of the emitted and reflected sound signals. A comparator 57 determines whether the two counter values match or differ from one another. When used as a distance meter in an ignition device, the means 16 for activating the payload 15 may then be activated via a power stage 58. In the case of the flight attitude control, however, if the counter readings deviate via the power stage 58 via the means 16, the control surfaces 18 and / or control nozzles (not shown) of any correction engines which may also be present, the function continues until the counter readings match again and the predetermined trajectory is maintained .

Claims (4)

1. Missile (10) with an aerofoil (19) and with means for flight position control, including ultrasonic transmitting and receiving devices (11, 11') for measuring the distance between the missile (10) and the surface of the earth and also control devices to influence the flight position by the adjustment of positional control elements (18) such as control surfaces or control nozzles, in accordance with the distance measurements, characterised by the fact that
(a) the ultrasonic transmitting and receiving devices (11, 11') include a first and a second transmitting/receiving unit of which one is positioned in one and the other in the other outer end zone of the bottom of the aerofoil, as well as a third transmitting/receiving unit fitted to the bottom of the body of the missile (10),
(b) the transmitting/receiving units each contain a meter (56) for measuring the transit time of the ultrasonics wave from the unit in question to the surface of the earth, a meter (55) serving to provide a selected count, a comparator (57) serving to detect any deviation between the respective content of the two meters, and a power stage (58) following the comparator,
(c) the control devices have first means (16) which, under the influence of the output signals of the comparator conveyed to them from the first and second transmitting/receiving unit, cause the missile to be stabilised against rolling movements about the longitudinal axis (20) as well as second means (16) which, under the influence of the output signals of the comparator, conveyed to them from the third transmitting/receiving unit via the associated power stage (58) cause the missile to be stabilised against pitching movements about the transverse axis (21),
(d) a target seeker head is provided which is constructed solely for the measurement and correction of the lateral deviation of the missile from a target.
2. Missile in accordance with Claim 1, characterised by the fact that one of the transmitting/receiving units (11, 11') also actuates means (16) for activating or starting a function, such as the detonation of a payload (15) in accordance with the radiation received.
3. Missile in accordance with Claim 1 or 2, characterised by the fact that each transmitting/receiving unit consists of an element operated as a transmitter or as a receiver in alternation, this result being achieved by means of a time-multiplex selection system.
4. Missile in accordance with one of Claims 1 to 3, characterised by the fact that each transmitting/receiving unit contains a central control unit (50). which co-ordinates all time cycles within the transmitting/receiving unit (11, 11') while a pulse generator (51) is also provided, which actuates the ultrasonic transmitter (110) of the transmitting/receiving unit via a modulator (52) in addition to which a demodulator 53 is provided, to which the reflected ultrasonic signals received from the ultrasonic receiver (111) of the transmitting/receiving unit are conveyed.
EP82105914A 1981-08-05 1982-07-02 Flight position control apparatus for a missile Expired EP0071757B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3130930 1981-08-05
DE19813130930 DE3130930A1 (en) 1981-08-05 1981-08-05 METHOD FOR CONTROLLING THE FLIGHT BODY AND / OR ACTIVATING A PAYLOAD TRANSPORTED BY THE FLIGHT BODY AND DEVICE FOR CARRYING OUT THE METHOD

Publications (3)

Publication Number Publication Date
EP0071757A2 EP0071757A2 (en) 1983-02-16
EP0071757A3 EP0071757A3 (en) 1985-04-17
EP0071757B1 true EP0071757B1 (en) 1988-10-19

Family

ID=6138612

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82105914A Expired EP0071757B1 (en) 1981-08-05 1982-07-02 Flight position control apparatus for a missile

Country Status (4)

Country Link
US (1) US4557437A (en)
EP (1) EP0071757B1 (en)
CA (1) CA1180097A (en)
DE (2) DE3130930A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2208017B (en) * 1983-11-25 1989-07-05 British Aerospace Guidance systems
DE4133405C2 (en) * 1991-10-09 1995-02-23 Deutsche Aerospace Submunition for low-flying use
DE102006004517A1 (en) * 2006-02-01 2007-08-09 Eads Deutschland Gmbh Method and system for defense against missiles
DE102009042691B3 (en) * 2009-09-23 2011-06-16 Diehl Bgt Defence Gmbh & Co. Kg Method for reconnaissance of target region, particularly landscape, involves pulling back air route in direction to target region by reconnaissance drone, where target region is provided for base target engagement

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA643935A (en) * 1962-07-03 C. Gardiner Paul Phase-difference control for electroacoustic steering systems
US2530528A (en) * 1944-11-01 1950-11-21 Bell Telephone Labor Inc Phase comparator for underwater signaling
US2536327A (en) * 1946-01-30 1951-01-02 Rca Corp Sonic proximity fuse
US3031644A (en) * 1946-02-01 1962-04-24 Charles A Hissfrich Acoustic detector
US3038142A (en) * 1955-12-20 1962-06-05 Bendix Corp Sonic altimeter
US3091993A (en) * 1957-07-03 1963-06-04 Paul L Brink Dive-toss air-to-ground delivery system
US3093807A (en) * 1960-04-11 1963-06-11 Bendix Corp Sonic altimeter
US4200922A (en) * 1961-01-30 1980-04-29 The United States Of America As Represented By The Secretary Of The Navy Self-propelled vehicle for destroying ground mines
FR1337261A (en) * 1962-06-01 1963-09-13 Proximity sensor
US4214240A (en) * 1964-12-03 1980-07-22 The United States Of America As Represented By The Secretary Of The Army Coded pulse radar fuze
US3306205A (en) * 1965-03-25 1967-02-28 Marcus Irwin Fin stabilized projectile
US3839680A (en) * 1971-05-25 1974-10-01 Raytheon Co Sonar depth tracking system
DE2347374C2 (en) * 1973-09-20 1982-05-13 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Distance fuse for a warhead
DE2846566C3 (en) * 1978-10-26 1981-05-27 Herborg, Karlheinz, 8302 Mainburg Motion switch
GB2043899B (en) * 1979-02-15 1983-03-09 Redding R J Ultrasonic apparatus for locating interfaces in media
US4320397A (en) * 1979-06-29 1982-03-16 Nasa Echo tracker/range finder for radars and sonars

Also Published As

Publication number Publication date
DE3130930A1 (en) 1983-02-24
EP0071757A3 (en) 1985-04-17
EP0071757A2 (en) 1983-02-16
US4557437A (en) 1985-12-10
DE3279128D1 (en) 1988-11-24
CA1180097A (en) 1984-12-27

Similar Documents

Publication Publication Date Title
DE60212809T2 (en) Fugkörper steering system and missile steering method
DE69817267T2 (en) In-flight programming method for triggering moment of a projectile element, fire control and detonator for performing this method
DE69113462T3 (en) METHOD AND DEVICE FOR SEARCHING AN OBJECT.
DE4425285C2 (en) Device for the trajectory correction of spin-stabilized projectiles
DE3424775A1 (en) SCANNER FOR A CANNON LAUNCHED PROJECTILE
DE1703109A1 (en) Arrangement for practicing aiming with firearms
DE3000007A1 (en) FIGHTER VEHICLE DEFENSE SYSTEM
EP0071757B1 (en) Flight position control apparatus for a missile
DE2813189C2 (en) Procedure for precise flight guidance and navigation
DE102009042691B3 (en) Method for reconnaissance of target region, particularly landscape, involves pulling back air route in direction to target region by reconnaissance drone, where target region is provided for base target engagement
DE2915123C1 (en) Point defense system for naval vessel, has track-while-scan pulse radar that provides navigational/tracking information of targets e.g. aircraft or missile which is to be destroyed
DE19505791C1 (en) Method and device for combating covertly operating helicopters
DE2636062C2 (en) Homing device for a remotely steerable missile
DE4133405C2 (en) Submunition for low-flying use
WO1996001206A1 (en) Method of locating and clearing sea mines
DE4327841C1 (en) Electroacoustic underwater direction finder
EP0247375A2 (en) Method for locating an under water target
EP0580047B1 (en) Method for releasing an igniter of a warhead and apparatus for carrying out the method
EP2840414A1 (en) Method for protecting an object needing protection
DE3119185A1 (en) Controllable missile
DE1548415B2 (en) LOCATION AND GUIDANCE PROCEDURES FOR AIRCRAFT
EP0887657B1 (en) Process for horizontally aligning the receiving plane of an active sonar
DE3609307C1 (en) Methods for detecting and locating, locating, relocating and destroying a mine
EP1526353B1 (en) Reconnaissance system for detecting targets and target movements
DE3823490C2 (en) Device for the automatic electronic determination of the hit coordinates of ultrasound-fast projectiles on flying targets

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): DE FR GB IT SE

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Designated state(s): DE FR GB IT SE

17P Request for examination filed

Effective date: 19850223

17Q First examination report despatched

Effective date: 19870303

ITF It: translation for a ep patent filed

Owner name: CALVANI SALVI E VERONELLI S.R.L.

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB IT SE

REF Corresponds to:

Ref document number: 3279128

Country of ref document: DE

Date of ref document: 19881124

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)
ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 19900608

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19900702

Year of fee payment: 9

ITTA It: last paid annual fee
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Effective date: 19910702

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Effective date: 19910703

GBPC Gb: european patent ceased through non-payment of renewal fee
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 19930616

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 19930628

Year of fee payment: 12

EUG Se: european patent has lapsed

Ref document number: 82105914.4

Effective date: 19920210

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Effective date: 19950331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Effective date: 19950401

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST