EP0306391A1 - Method and apparatus for locating an infrared-emitting target and ammunition for use therewith - Google Patents

Method and apparatus for locating an infrared-emitting target and ammunition for use therewith Download PDF

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Publication number
EP0306391A1
EP0306391A1 EP88402119A EP88402119A EP0306391A1 EP 0306391 A1 EP0306391 A1 EP 0306391A1 EP 88402119 A EP88402119 A EP 88402119A EP 88402119 A EP88402119 A EP 88402119A EP 0306391 A1 EP0306391 A1 EP 0306391A1
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EP
European Patent Office
Prior art keywords
samples
average
sensor
transition
comparison
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Granted
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EP88402119A
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German (de)
French (fr)
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EP0306391B1 (en
Inventor
Gérard Lemoing
Charles Kac
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Safran Aerosystems SAS
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Intertechnique SA
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/02—Stabilising arrangements
    • F42B10/26—Stabilising arrangements using spin
    • 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
    • F42C13/02—Proximity fuzes; Fuzes for remote detonation operated by intensity of light or similar radiation

Definitions

  • the subject of the invention is the identification of infrared emission targets, such as vehicles with an internal combustion engine, and it finds a particularly important application in the field of vehicle attack submunitions, often called intelligent submunitions, which '' a vector, for example an ammunition fired from a barrel tube, places above an area in which the target has been spotted and which are animated, during their descent, by a rotational movement causing a sweep of the area.
  • intelligent submunitions which '' a vector, for example an ammunition fired from a barrel tube, places above an area in which the target has been spotted and which are animated, during their descent, by a rotational movement causing a sweep of the area.
  • the present invention aims to provide a detection method and device which meets the requirements of the practice better than those previously known, in particular in that it improves the selectivity and, consequently, increases the detection possibilities by correlating the emissions in multiple wavelength ranges.
  • the invention proposes in particular a target location method according to which: a low-field detector is animated with an angular movement of scanning the ground along a predetermined path, the detector response is sampled in a range between 3 and 5 ⁇ m at a rate high enough for there to be overlap of the zones whose emission is sampled; we memorize the successive samples, the samples whose value exceeds the average of n previous samples by a predetermined threshold are identified, possibly adjusted as a function of the ambient conditions and / or of the altitude, in the presence of such a sample revealing the start a transition is sought, from stored samples, an end of transition revealing a target; and the existence of the target is confirmed by comparison of the samples of the detector response in the near infrared and of predetermined minimum and maximum values, possibly adjustable.
  • the invention also provides a device for implementing the above-defined method, comprising a detector with a low angular field having a sensitive sensor in the range from 3 to 5 ⁇ m and a sensor sensitive to the near infrared; means for sampling the output of the sensors at a rate such that there is overlap of the zones corresponding to the successive samples; means for storing a predetermined number of successive samples; calculation means making the difference between the samples of the response of the first sensor and the average of n previous samples and causing, if a threshold is exceeded, the search for an end of transition by comparison between successive samples stored and comparing the samples of the signal supplied by the second sensor for the transition zone with determined minimum and maximum values.
  • the first sensor advantageously comprises several photosensitive elements having fields offset in the direction transverse to the scanning trace.
  • the detection of samples above average is carried out on the average of the response of the photo-sensitive elements, while the search for transitions can, for more selectivity, be performed on the response of the separate sensitive elements.
  • the invention also provides a submunition comprising a body containing a long-range active charge (hollow charge or self-drawn charge) and provided with deployable ears, at least one of which contains a detector of the type defined above, the ears being provided so as to give the axis of the load a movement such that the trace on the ground of the axis is approximately a spiral and the direction of detection being offset from the axis of the load forward in the direction of rotation.
  • a submunition comprising a body containing a long-range active charge (hollow charge or self-drawn charge) and provided with deployable ears, at least one of which contains a detector of the type defined above, the ears being provided so as to give the axis of the load a movement such that the trace on the ground of the axis is approximately a spiral and the direction of detection being offset from the axis of the load forward in the direction of rotation.
  • the submunition 10 shown diagrammatically in FIGS. 1 and 2 comprises a body 12 containing a remote puncture charge and provided with two ears 14 and 16 shown deployed, in the position they occupy during the descent in free fall of the submunition, after release by the munition itself.
  • These ears 14 and 16 are drawn so that during the descent the axis 18 of the body of the submunition takes a determined angle ⁇ , for example 30 °, with the vertical and rotates around the vertical.
  • the axis 18 consequently intercepts the ground in a spiral path 20 ( Figure 2).
  • the ear 16 contains a target locating device having detection means, the aiming axis of which is placed so as to be slightly in front of the axis 18 of the body and of the charge it contains. These detection means are supplied by a thermal battery placed in the body 12.
  • the detection means comprise a sensor sensitive to infrared radiation in a range which can range from 3 to 5 ⁇ m, comprising several distinct photosensitive elements 24, three in number in FIG. 3. This number of three generally corresponds to the best compromise between complexity and detection selectivity. It could be reduced to two or increased beyond three.
  • the elements 24 are associated with a focusing optic 26 giving the three elements fields on the ground 28 (FIG. 2) aligned transversely to the trace and which partially overlap when the submunition is at an effective action altitude (for example below 150 m).
  • the angular fields are weak, of the order of 0.5 ° each.
  • the fields are also such that there is partial overlap of the ground swept during two successive turns at the effective action altitude.
  • the sensitive elements 24 can be Hg-Cd-Te sensors associated with a germanium or plastic optic 26 and provided with an effect element. Peltier 30 cooling.
  • the detection means further comprise a sensor 34 sensitive in the near infrared (around 1 ⁇ m) also provided with an optic 32 which gives it a field corresponding roughly to all of the fields of the three elements 24.
  • a sensor 34 sensitive in the near infrared around 1 ⁇ m
  • an optic 32 which gives it a field corresponding roughly to all of the fields of the three elements 24.
  • an ambient temperature sensor 36 intended to adjust the detection thresholds or the dynamics may be provided.
  • Amplifiers 38 and 40 receive the output signals from the sensors and drive a multiplexer 42 controlled by a time base 44 common to the entire device.
  • the amplified output signals of the sensors are applied in sequence to an analog / digital converter 46 which supplies a computing unit 48 via an adaptation interface 47 which also receives the data coming from possible additional sensors, for example impact sensors.
  • the sampling and digitization rate fixed by the time base 44 is such that there is partial overlap of two sets of successive samples.
  • the calculation unit comprises a microprocessor 50 associated with random access memories 52 and read only memories 54; the latter stores the operating program according to the flow diagrams represented in FIGS. 5 to 7.
  • the random access memory must have sufficient capacity to memorize all of the samples on which the correlation operations are carried out allowing the identification of the targets.
  • the identification of a target and the firing of the charge are carried out in a detection step and a confirmation step with discrimination, the latter only involving the data supplied by the near IR sensor 34.
  • Figure 4 gives the overall flow diagram of the identification process. It comprises, after initialization, the acquisition of data from the detectors and then the detection of the beginnings of transition by linear filtering and by dispersion analysis. If a start of transition is detected, there is a search for the end of transition. Then the entire transition is analyzed and the targets are discriminated from decoys and parasitic IR sources. If the transition corresponds to the characteristics of the targets targeted and found, the charge is ignited by activation of a circuit 56, in a direction slightly in front of the detectors.
  • the first mode is shown diagrammatically by the flow diagram in FIG. 5.
  • the first detection mode consists of linear filtering using a simple algorithm, performed in real time on each sequence of three times fifteen successive samples as soon as the fifteen averages are in the memory register.
  • TRANS is greater than the threshold, it is considered to indicate the beginning of a transition (the term "transition" designating the whole of the phenomenon starting during a detection and ending when the output signals from the sensors 24 have regained levels which can be described as normal) and a confirmation phase is implemented.
  • the second detection mode is carried out by dispersion analysis, parallel to the previous one ( Figure 6).
  • the microprocessor 50 calculates the difference between the output IRi of each of three elements 24 and the mean SUM value between the three outputs and retains the maximum difference ⁇ . This value is compared to a DISP dip threshold previously displayed or adjusted.
  • the microprocessor still proceeds to the confirmation phase which comprises a transition analysis and a discrimination using the sampled output signal from the near infrared sensor 34.
  • Confirmation requires the calculation of parameters which will be compared to sets of values stored in read-only memory and corresponding to the signature of the targets.
  • Figure 7 gives an example of a confirmation flowchart.
  • the transition analysis is based on the data received from the photosensitive elements 24 and memo laughs after detection to be confirmed. It is constituted by a digital processing in flight which allows, by comparison with models kept in memory, to exclude the phenomena of which for example the duration (in number of samples, possibly variable according to the altitude) the extreme levels SMIN and SMAX.
  • the NBPEL number of samples is determined by calculation inside the transition, that is to say until the passage below an average threshold calculated on window 2 , and the extreme levels SMIN and SMAX are memorized. If the detection was obtained by dispersion analysis, the transition analysis also includes the establishment of a distribution map.
  • the microprocessor stores the samples of the signal from the near IR sensor 32 and in particular the maximum level NTR MAX.
  • the dispersion analysis then includes the calculation of TRANS and ⁇ ′ values which make it possible to define whether the end of the transition is exceeded by the conditions: TRANS ′ ⁇ THRESHOLD, and ⁇ ′ ⁇ DISP
  • a first discrimination step uses the results of the calculations and compares them with models contained in read-only memory.
  • the number NBPEL of samples in the transition is compared with a minimum value and with a maximum value and only the transitions entering this domain are retained as well as those for which the extreme values SMIN and SMAX are included between a maximum and a minimum.
  • the last confirmation step uses the signals from the near infrared sensor.
  • the microprocessor calculates the difference between the maximum value in window 2 and the average value in window 1, the latter calculated at the moment of detection of the start of a transition. The difference is compared to a minimum value and a maximum value. If the test is positive, there is ignition.
  • the initialization step mentioned above can take various forms. It will generally include an analysis of the scene and a consideration of the ambient temperature.
  • the initialization may include an analysis of the scene over a full scan turn and the calculation of an average.
  • the thresholds will subsequently be calculated from this analysis and will allow taking into account on the one hand the nature of the soil, very variable reflectivity depending on whether it is sand, snow or wood and the lighting, in conditions which can be sunshine, cloudy sun or overcast. From these values it is possible to calculate, by algorithms which will depend in particular on the conditions of use envisaged, the values of ⁇ and TRANS mentioned above.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Photometry And Measurement Of Optical Pulse Characteristics (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

The apparatus which can be used on ammunition for attacking a thermal-engine vehicle comprises a detector with a low angular field having a sensor (24) sensitive in the range from 3 to 5 mu m and a sensor (34) sensitive to near-infrared; means for sampling the output of the sensors at such a rate that there is an overlap of the zones corresponding to successive samples; means for storing a predetermined number of successive samples; calculation means forming the difference between the samples of the response of the first sensor and the average of n preceding samples and, in the event that a threshold is exceeded, causing the search for an end of transition by comparison between stored successive samples and a comparison between the samples of the signal supplied by the second sensor for the transitional zone with specific minimum and maximum values. <IMAGE>

Description

L'invention a pour objet le repérage de cibles à émission infrarouge, telles que les véhicules à moteur thermique, et elle trouve une application particulière­ment importante dans le domaine des sous-munitions d'attaque de véhicules, souvent appelées sous-munitions intelligentes, qu'un vecteur, par exemple une munition tirée d'un tube de canon, place au dessus d'une zone dans laquelle a été repérée la cible et qui sont animées, au cours de leur descente, d'un mouvement de rotation provoquant un balayage de la zone.The subject of the invention is the identification of infrared emission targets, such as vehicles with an internal combustion engine, and it finds a particularly important application in the field of vehicle attack submunitions, often called intelligent submunitions, which '' a vector, for example an ammunition fired from a barrel tube, places above an area in which the target has been spotted and which are animated, during their descent, by a rotational movement causing a sweep of the area.

On connaît déjà des sous-munitions de ce type dispersées à partir d'un avion. La plupart d'entre elles contiennent un capteur infrarouge choisi de façon à avoir une sensibilité élevée dans le domaine spectral d'émission des cibles. Mais ces dispositifs ont une sélectivité réduite, qui diminue la probabilité de détection ou accroit le risque de mise à feu intempestive.There are already known submunitions of this type dispersed from an airplane. Most of them contain an infrared sensor chosen so as to have a high sensitivity in the spectral range of emission of the targets. However, these devices have reduced selectivity, which reduces the probability of detection or increases the risk of inadvertent ignition.

La présente invention vise à fournir un procédé et un dispositif de détection répondant mieux que ceux antérieurement connus aux exigences de la pratique, notamment en ce qu'elle améliore la sélectivité et, en conséquence, accroît les possibilités de détection en effectuant une corrélation entre les émissions dans plusieurs plages de longueur d'onde .The present invention aims to provide a detection method and device which meets the requirements of the practice better than those previously known, in particular in that it improves the selectivity and, consequently, increases the detection possibilities by correlating the emissions in multiple wavelength ranges.

Dans ce but l'invention propose notamment un procédé de repérage de cible suivant lequel : on anime un détecteur à faible champ d'un mouvement angulaire de balayage du sol suivant un tracé prédéterminé, on échantillonne la réponse du détecteur dans une plage comprise entre 3 et 5 µm à une cadence suffisamment élevée pour qu'il y ait recouvrement des zones dont l'émission est échantillonnée ; on mémorise les échantillons successifs, on identifie les échantillons dont la valeur dépasse la moyenne de n échantillons précédents d'un seuil prédéterminé, éventuellement ajusté en fonction des conditions ambiantes et/ou de l'altitude, en cas de présence d'un tel échantillon révélant le début d'une transition on recherche, à partir d'échantillons mémorisés, une fin de transition révélant une cible ; et on confirme l'existence de la cible par comparaison des échantillons de la réponse du détecteur dans l'infrarouge proche et de valeurs minimale et maximale prédéterminées, éventuellement ajustables.To this end, the invention proposes in particular a target location method according to which: a low-field detector is animated with an angular movement of scanning the ground along a predetermined path, the detector response is sampled in a range between 3 and 5 μm at a rate high enough for there to be overlap of the zones whose emission is sampled; we memorize the successive samples, the samples whose value exceeds the average of n previous samples by a predetermined threshold are identified, possibly adjusted as a function of the ambient conditions and / or of the altitude, in the presence of such a sample revealing the start a transition is sought, from stored samples, an end of transition revealing a target; and the existence of the target is confirmed by comparison of the samples of the detector response in the near infrared and of predetermined minimum and maximum values, possibly adjustable.

L'invention propose également un dispositif per­mettant de mettre en oeuvre le procédé ci-dessus défini, comprenant un détecteur à faible champ angulaire ayant un capteur sensible dans la plage allant de 3 à 5 µm et un capteur sensible à l'infrarouge proche ; des moyens pour échantillonner la sortie des capteurs à une cadence telle qu'il y ait recouvrement des zones correspondant aux échantillons successifs; des moyens de mémorisation d'un nombre prédéterminé d'échantillons successifs ; des moyens de calcul faisant la différence entre les échan­tillons de la réponse du premier capteur et la moyenne de n échantillons précédents et provoquant, en cas de dépassement d'un seuil, la recherche d'une fin de transition par comparaison entre échantillons successifs mémorisés et la comparaison entre les échantillons du signal fourni par le second capteur pour la zone de transition avec des valeurs minimale et maximale déterminées.The invention also provides a device for implementing the above-defined method, comprising a detector with a low angular field having a sensitive sensor in the range from 3 to 5 μm and a sensor sensitive to the near infrared; means for sampling the output of the sensors at a rate such that there is overlap of the zones corresponding to the successive samples; means for storing a predetermined number of successive samples; calculation means making the difference between the samples of the response of the first sensor and the average of n previous samples and causing, if a threshold is exceeded, the search for an end of transition by comparison between successive samples stored and comparing the samples of the signal supplied by the second sensor for the transition zone with determined minimum and maximum values.

Le premier capteur comporte avantageusement plusieurs éléments photosensibles ayant des champs décalés dans le sens transversal au tracé de balayage. La détection des échantillons supérieurs à la moyenne s'effectue sur la moyenne de la réponse des éléments photo-sensibles, tandis que la recherche des transitions peut, pour plus de sélectivité, être effectuée sur la réponse des éléments sensibles séparés.The first sensor advantageously comprises several photosensitive elements having fields offset in the direction transverse to the scanning trace. The detection of samples above average is carried out on the average of the response of the photo-sensitive elements, while the search for transitions can, for more selectivity, be performed on the response of the separate sensitive elements.

Grâce à la validation dans l'infrarouge proche, typiquement à une longueur d'onde d'environ 1 µm, il est possible d'éliminer les détections ne correspondant pas à la cible recherchée, par exemple celles dues à l'émission de leurres.Thanks to validation in the near infrared, typically at a wavelength of approximately 1 μm, it is possible to eliminate the detections not corresponding to the desired target, for example those due to the emission of decoys.

L'invention propose également une sous-munition comportant un corps contenant une charge active à longue distance (charge creuse ou charge autoforgée) et munie d'oreilles déployables dont l'une au moins contient un détecteur du type ci-dessus défini, les oreilles étant prévues de façon à donner à l'axe de la charge un mouve­ment tel que la trace au sol de l'axe soit approximati­vement une spirale et la direction de détection étant décalée de l'axe de la charge vers l'avant dans le sens de la rotation.The invention also provides a submunition comprising a body containing a long-range active charge (hollow charge or self-drawn charge) and provided with deployable ears, at least one of which contains a detector of the type defined above, the ears being provided so as to give the axis of the load a movement such that the trace on the ground of the axis is approximately a spiral and the direction of detection being offset from the axis of the load forward in the direction of rotation.

L invention sera mieux comprise à la lecture de la description qui suit d'un mode particulier de réali­sation, donné à titre d'exemple non limitatif. La description se réfère aux dessins qui l'accompagnent, dans lesquels :

  • - la figure 1 est un schéma de principe, en perspective, montrant un montage possible du détecteur sur une sous-munition ;
  • - la figure 2 montre schématiquement la trace au sol du champ des capteurs du détecteur ;
  • - la figure 3 est un synoptique de principe de l'électronique du détecteur,
  • - les figures 4 à 7 sont des logigrammes respec­tivement de l'ensemble du procédé, du filtrage linéaire de détection dans la voie infrarouge lointain, de l'analyse de dispersion et de la confirmation.
The invention will be better understood on reading the following description of a particular embodiment, given by way of non-limiting example. The description refers to the accompanying drawings, in which:
  • - Figure 1 is a block diagram, in perspective, showing a possible mounting of the detector on a submunition;
  • - Figure 2 schematically shows the ground trace of the sensor field of the detector;
  • FIG. 3 is a block diagram of the detector electronics,
  • - Figures 4 to 7 are respectively flow diagrams of the whole process, of the linear detection filtering in the far infrared channel, of the dispersion analysis and of the confirmation.

La sous-munition 10 montrée schématiquement en figures 1 et 2 comporte un corps 12 contenant une charge de perforation à distance et muni de deux oreilles 14 et 16 montrées déployées, dans la position qu'elles occu­pent lors de la descente en chute libre de la sous-­munition, après relachement par la munition elle-même. Ces oreiles 14 et 16 sont dessinées de façon qu'au cours de la descente l'axe 18 du corps de la sous-munition prenne un angle déterminé α, par exemple de 30°, avec la verticale et tourne autour de la verticale. L'axe 18 intercepte en conséquence le sol suivant un tracé en spirale 20 (figure 2).The submunition 10 shown diagrammatically in FIGS. 1 and 2 comprises a body 12 containing a remote puncture charge and provided with two ears 14 and 16 shown deployed, in the position they occupy during the descent in free fall of the submunition, after release by the munition itself. These ears 14 and 16 are drawn so that during the descent the axis 18 of the body of the submunition takes a determined angle α, for example 30 °, with the vertical and rotates around the vertical. The axis 18 consequently intercepts the ground in a spiral path 20 (Figure 2).

L'oreille 16 contient un dispositif de repérage de cible ayant des moyens de détection dont l'axe de visée est placé de façon à se trouver légèrement en avant de l'axe 18 du corps et de la charge qu'il con­tient. Ces moyens de détection sont alimentés par une batterie thermique placée dans le corps 12.The ear 16 contains a target locating device having detection means, the aiming axis of which is placed so as to be slightly in front of the axis 18 of the body and of the charge it contains. These detection means are supplied by a thermal battery placed in the body 12.

Les moyens de détection comprennent un capteur sensible au rayonnement infrarouge dans une plage pouvant aller de 3 à 5 µm, comportant plusieurs éléments photosensibles distincts 24, au nombre de trois sur la figure 3. Ce nombre de trois correspond en général au meilleur compromis entre complexité et sélectivité de détection. Il serait possible de le réduire à deux ou de l'augmenter au delà de trois.The detection means comprise a sensor sensitive to infrared radiation in a range which can range from 3 to 5 μm, comprising several distinct photosensitive elements 24, three in number in FIG. 3. This number of three generally corresponds to the best compromise between complexity and detection selectivity. It could be reduced to two or increased beyond three.

Les éléments 24 sont associés à une optique 26 de focalisation donnant aux trois éléments des champs au sol 28 (figure 2) alignés transversalement à la trace et qui se recouvrent partiellement lorsque la sous-munition est à une altitude d'action efficace (par exemple au dessous de 150 m). Les champs angulaires sont faibles, de l'ordre de 0,5° chacun. Les champs sont également tels qu'il y ait recouvrement partiel du terrain balayé au cours de deux spires successives à l'altitude d'action efficace.The elements 24 are associated with a focusing optic 26 giving the three elements fields on the ground 28 (FIG. 2) aligned transversely to the trace and which partially overlap when the submunition is at an effective action altitude (for example below 150 m). The angular fields are weak, of the order of 0.5 ° each. The fields are also such that there is partial overlap of the ground swept during two successive turns at the effective action altitude.

Les éléments sensibles 24 peuvent être des cap­teurs au Hg-Cd-Te associés à une optique 26 en germanium ou en matière plastique et munis d'un élément à effet Peltier 30 de refroidissement.The sensitive elements 24 can be Hg-Cd-Te sensors associated with a germanium or plastic optic 26 and provided with an effect element. Peltier 30 cooling.

Les moyens de détection comprennent de plus un capteur 34 sensible dans l'infrarouge proche (vers 1 µm) également muni d'une optique 32 qui lui donne un champ correspondant à peu près à l'ensemble des champs des trois éléments 24. Enfin, un capteur de température ambiante 36 destiné à un ajustement des seuils de détection ou de la dynamique peut être prévu.The detection means further comprise a sensor 34 sensitive in the near infrared (around 1 μm) also provided with an optic 32 which gives it a field corresponding roughly to all of the fields of the three elements 24. Finally, an ambient temperature sensor 36 intended to adjust the detection thresholds or the dynamics may be provided.

Des amplificateurs 38 et 40 reçoivent les signaux de sortie des capteurs et attaquent un multiplexeur 42 commandé par une base de temps 44 commune à l'ensemble du dispositif.Amplifiers 38 and 40 receive the output signals from the sensors and drive a multiplexer 42 controlled by a time base 44 common to the entire device.

Les signaux amplifiés de sortie des capteurs sont appliqués en séquence à un convertisseur analogique/numérique 46 qui alimente une unité de calcul 48 par l'intermédiaire d'un interface d'adaptation 47 qui reçoit également les données provenant de capteurs supplémentaires éventuels, par exemple de capteurs d'impact. La cadence d'échantillonnage et de numérisa­tion fixée par la base de temps 44 est telle qu'il y ait recouvrement partiel de deux jeux d'échantillons successifs.The amplified output signals of the sensors are applied in sequence to an analog / digital converter 46 which supplies a computing unit 48 via an adaptation interface 47 which also receives the data coming from possible additional sensors, for example impact sensors. The sampling and digitization rate fixed by the time base 44 is such that there is partial overlap of two sets of successive samples.

L'unité de calcul comporte un microprocesseur 50 associé à des mémoires vive 52 et morte 54 ; cette dernière stocke le programme de fonctionnement suivant les logigrammes représentés en figures 5 à 7. La mémoire vive doit avoir une capacité suffisante pour mémoriser l'ensemble des échantillons sur lesquels s'effectuent les opérations de corrélation permettant l'identifica­tion des cibles.The calculation unit comprises a microprocessor 50 associated with random access memories 52 and read only memories 54; the latter stores the operating program according to the flow diagrams represented in FIGS. 5 to 7. The random access memory must have sufficient capacity to memorize all of the samples on which the correlation operations are carried out allowing the identification of the targets.

Le microprocesseur 50 est programmé pour calculer la moyenne des sorties des trois éléments 24 et appliquer cette moyenne à l'entrée d'un registre à décalage ayant par exemple n = 15 positions. Ces quinze positions sont regroupées en deux fenêtres d'analyse dont la première contient les n moyennes les plus anciennes (n étant par exemple égal à 10 ou ajustable) et l'autre les n₁ = n - n₀ moyennes restantes.The microprocessor 50 is programmed to calculate the average of the outputs of the three elements 24 and apply this average to the input of a shift register having for example n = 15 positions. These fifteen positions are grouped into two analysis windows, the first of which contains the n most old ones (n being for example equal to 10 or adjustable) and the other the remaining n₁ = n - n₀ means.

L'identification d'une cible et la mise à feu de la charge s'effectuent en une étape de détection et une étape de confirmation avec discrimination, cette derniè­re faisant seule intervenir les données fournies par le capteur IR proche 34.The identification of a target and the firing of the charge are carried out in a detection step and a confirmation step with discrimination, the latter only involving the data supplied by the near IR sensor 34.

La figure 4 donne le logigramme d'ensemble du processus d'identification. Il comporte, après une initialisation, l'acquisition des données en provenance des détecteurs puis la détection des débuts de transi­tion par filtrage linéaire et par analyse de dispersion. Si un début de transition est décelé, il y a recherche de fin de transition. Puis l'ensemble de la transition est analysé et les cibles sont discriminées des leurres et des sources IR parasites. Si la transition correspond aux caractéristiques des cibles visées et trouvées, il y a mise à feu de la charge par activation d'un circuit 56, suivant une direction légèrement en avant des détecteurs.Figure 4 gives the overall flow diagram of the identification process. It comprises, after initialization, the acquisition of data from the detectors and then the detection of the beginnings of transition by linear filtering and by dispersion analysis. If a start of transition is detected, there is a search for the end of transition. Then the entire transition is analyzed and the targets are discriminated from decoys and parasitic IR sources. If the transition corresponds to the characteristics of the targets targeted and found, the charge is ignited by activation of a circuit 56, in a direction slightly in front of the detectors.

Les phases de détection (figures 5-6) et de confirmation (figure 7) seront maintenant décrites.The detection (Figures 5-6) and confirmation (Figure 7) phases will now be described.

DétectionDetection

Deux modes de détection sont simultanément mis en oeuvre dans le procédé qui sera maintenant décrit. Le premier mode est schématisé par le logigramme de la figure 5.Two detection modes are simultaneously implemented in the method which will now be described. The first mode is shown diagrammatically by the flow diagram in FIG. 5.

Après l'initialisation, qui peut prendre diverses formes dont une sera exposée plus loin, le premier mode de détection est constitué par un filtrage linéaire mettant en oeuvre un algorithme simple, effectué en temps réel sur chaque séquence de trois fois quinze échantillons successifs dès que les quinze moyennes sont dans le registre de mémoire.After initialization, which can take various forms, one of which will be explained below, the first detection mode consists of linear filtering using a simple algorithm, performed in real time on each sequence of three times fifteen successive samples as soon as the fifteen averages are in the memory register.

Le microprocesseur calcule la moyenne MMOY de tous les n₀ = 10 échantillons moyens de la fenêtre 1 et recherche la valeur maximum MMAX (ou les valeurs maximum et minimum) parmi les n₁ = 5 échantillons moyens de la fenêtre 2. Puis il calcule la différence TRANS = MMAX - ­MMOY et la compare à un seuil qui peut être soit affiché avant le tir, soit ajusté au cour de l'initialisation en fonction des conditions ambiantes.The microprocessor calculates the average MMOY of all n₀ = 10 average samples from window 1 and searches for the maximum value MMAX (or the maximum and minimum values) among the n₁ = 5 average samples of window 2. Then it calculates the difference TRANS = MMAX - MMOY and compares it with a threshold which can be either displayed before firing, is adjusted during initialization according to the ambient conditions.

Si TRANS est supérieur au seuil, on considère qu'il indique un début de transition (le terme "transi­tion" désignant l'ensemble du phénomène commençant lors d'une détection et se terminant lorsque les signaux de sortie des capteurs 24 ont repris des niveaux relatifs qu'on peut qualifier de normaux) et une phase de confir­mation est mise en oeuvre.If TRANS is greater than the threshold, it is considered to indicate the beginning of a transition (the term "transition" designating the whole of the phenomenon starting during a detection and ending when the output signals from the sensors 24 have regained levels which can be described as normal) and a confirmation phase is implemented.

Dans le cas contraire, la recherche est reprise sur un nouveau groupe d'échantillons.Otherwise, the search is resumed on a new group of samples.

Le second mode de détection s'effectue par ana­lyse de dispersion, parallèlement au précédent (figure 6). Le microprocesseur 50 calcule la différence entre la sortie IRi de chacun de trois éléments 24 et la valeur moyenne SOMME entre les trois sorties et retient la différence maximum σ. Cette valeur est comparée à un seuil de dipsersion DISP préalablement affiché ou ajusté.The second detection mode is carried out by dispersion analysis, parallel to the previous one (Figure 6). The microprocessor 50 calculates the difference between the output IRi of each of three elements 24 and the mean SUM value between the three outputs and retains the maximum difference σ. This value is compared to a DISP dip threshold previously displayed or adjusted.

Si σ est supérieur au seuil, le microprocesseur passe encore à la phase de confirmation qui comporte une analyse de transition et une discrimination utilisant le signal de sortie échantillonné du capteur infrarouge proche 34.If σ is greater than the threshold, the microprocessor still proceeds to the confirmation phase which comprises a transition analysis and a discrimination using the sampled output signal from the near infrared sensor 34.

ConfirmationConfirmation

La confirmation exige le calcul de paramètres qui seront comparés à des jeux de valeurs stockées en mémoire morte et correspondant à la signature des cibles.Confirmation requires the calculation of parameters which will be compared to sets of values stored in read-only memory and corresponding to the signature of the targets.

La figure 7 donne un exemple de logigramme de confirmation. L'analyse de transition est basée sur les données reçues des éléments photosensibles 24 et mémo­ risées après détection à confirmer. Elle est constituée par un traitement numérique en vol qui permet, par comparaison avec des modèles conservés en mémoire, d'écarter les phénomènes dont par exemple la durée (en nombre d'échantillons, éventuellement variable suivant l'altitude) les niveaux extrêmes SMIN et SMAX.Figure 7 gives an example of a confirmation flowchart. The transition analysis is based on the data received from the photosensitive elements 24 and memo laughs after detection to be confirmed. It is constituted by a digital processing in flight which allows, by comparison with models kept in memory, to exclude the phenomena of which for example the duration (in number of samples, possibly variable according to the altitude) the extreme levels SMIN and SMAX.

Dans le cas montré en figure 7, on détermine par le calcul le nombre NBPEL d'échantillons à l'intérieur de la transition, c'est-à-dire jusqu'au passage au dessous d'un seuil moyen calculé sur la fenêtre 2, et on mémorise les niveaux extrêmes SMIN et SMAX. Si la détection a été obtenue par analyse de dispersion, l'analyse de transition comporte également l'établissement d'une carte de répartition.In the case shown in FIG. 7, the NBPEL number of samples is determined by calculation inside the transition, that is to say until the passage below an average threshold calculated on window 2 , and the extreme levels SMIN and SMAX are memorized. If the detection was obtained by dispersion analysis, the transition analysis also includes the establishment of a distribution map.

Enfin, le microprocesseur mémorise les échan­tillons du signal provenant du capteur IR proche 32 et notamment le niveau maximum NTR MAX.Finally, the microprocessor stores the samples of the signal from the near IR sensor 32 and in particular the maximum level NTR MAX.

L'analyse de dispersion comporte ensuite le calcul de valeurs TRANS et σ′ qui permettent de définir le dépassement de la fin de la transition par les conditions :
TRANS′ < SEUIL, et
σ′ < DISPThe dispersion analysis then includes the calculation of TRANS and σ ′ values which make it possible to define whether the end of the transition is exceeded by the conditions:
TRANS ′ <THRESHOLD, and
σ ′ <DISP

Une première étape de discrimination utilise les résultats des calculs et les compare avec des modèles contenus en mémoire morte. Le nombre NBPEL d'échantil­lons dans la transition est comparé à une valeur minimum et à une valeur maximum et seules sont retenues les transitions rentrant dans ce domaine ainsi que celles pour lesquelles les valeurs extrêmes SMIN et SMAX sont comprises entre un maximum et un minimum.A first discrimination step uses the results of the calculations and compares them with models contained in read-only memory. The number NBPEL of samples in the transition is compared with a minimum value and with a maximum value and only the transitions entering this domain are retained as well as those for which the extreme values SMIN and SMAX are included between a maximum and a minimum.

Dans l'affirmative, la dernière étape de confir­mation utilise les signaux provenant du capteur infra­rouge proche. Le microprocesseur calcule la différence entre la valeur maximum dans la fenêtre 2 et la valeur moyenne sur la fenêtre 1, cette dernière calculée à l'instant de détection d'un début de transition. La différence est comparée à une valeur minimale et une valeur maximale. Si le test est positif, il y a mise à feu.If so, the last confirmation step uses the signals from the near infrared sensor. The microprocessor calculates the difference between the maximum value in window 2 and the average value in window 1, the latter calculated at the moment of detection of the start of a transition. The difference is compared to a minimum value and a maximum value. If the test is positive, there is ignition.

L'étape d'initialisation mentionnée plus haut peut prendre diverses formes. Elle comportera en général une analyse de la scène et une prise en compte de la température ambiante. En particulier, l'initialisation peut comporter une analyse de la scène sur un tour complet de balayage et le calcul d'une moyenne. Les seuils seront ultérieurement calculés à partir de cette analyse et permettront de tenir compte d'une part de la nature du sol, de réflectivité très variable suivant qu'il s'agit de sable, de neige ou de bois et de l'éclairement, dans des conditions qui peuvent être d'ensoleillement, de soleil voilé ou de ciel couvert. A partir de ces valeurs il est possible de calculer, par des algorithmes qui dépendront notamment des conditions d'emploi envisagées, les valeurs de σ et de TRANS mentionnés plus haut.The initialization step mentioned above can take various forms. It will generally include an analysis of the scene and a consideration of the ambient temperature. In particular, the initialization may include an analysis of the scene over a full scan turn and the calculation of an average. The thresholds will subsequently be calculated from this analysis and will allow taking into account on the one hand the nature of the soil, very variable reflectivity depending on whether it is sand, snow or wood and the lighting, in conditions which can be sunshine, cloudy sun or overcast. From these values it is possible to calculate, by algorithms which will depend in particular on the conditions of use envisaged, the values of σ and TRANS mentioned above.

Claims (6)

1. Procédé de repérage de cible, caractérisé en ce que : on anime un détecteur à faible champ d'un mouvement angulaire de balayage du sol suivant un tracé prédéterminé, on échantillonne la réponse du détecteur dans une plage comprise entre 3 et 5 µm à une cadence suffisamment élevée pour qu'il y ait recouvrement des zones dont l'émission est échantillonnée ; on mémorise les échantillons successifs, on identifie les échantil­lons dont la valeur dépasse la moyenne de n échantillons précédents d'un seuil prédéterminé, éventuellement ajusté en fonction des conditions ambiantes et/ou de l'altitude, en cas de présence d'un tel échantillon révélant le début d'une transition on recherche, à partir d'échantillons mémorisés, une fin de transition révélant une cible ; et on confirme l'existence de la cible par comparaison des échantillons de la réponse du détecteur dans l'infrarouge proche et de valeurs minimale et maximale prédéterminées, éventuellement ajustables.1. Target location method, characterized in that: a low-field detector is animated with an angular movement of sweeping the ground along a predetermined route, the detector response is sampled in a range between 3 and 5 μm at a rate high enough for there to be overlapping of the zones whose emission is sampled; the successive samples are stored, the samples whose value exceeds the average of n previous samples by a predetermined threshold are identified, possibly adjusted as a function of the ambient conditions and / or of the altitude, in the presence of such a sample revealing the start of a transition, using stored samples, searching for an end of transition revealing a target; and the existence of the target is confirmed by comparison of the samples of the detector response in the near infrared and of predetermined minimum and maximum values, possibly adjustable. 2. Dispositif de repérage de cible à émission infrarouge, caractérisé en ce qu'il comprend un détec­teur à faible champ angulaire ayant un capteur (24) sensible dans la plage allant de 3 à 5 µm et un capteur (34) sensible à l'infrarouge proche ; des moyens pour échantillonner la sortie des capteurs à une cadence telle qu'il y ait recouvrement des zones correspondant aux échantillons successifs; des moyens de mémorisation d'un nombre prédéterminé d'échantillons successifs ; des moyens de calcul faisant la différence entre les échan­tillons de la réponse du premier capteur et la moyenne de n échantillons précédents et provoquant, en cas de dépassement d'un seuil, la recherche d'une fin de transition par comparaison entre échantillons successifs mémorisés et la comparaison entre les échantillons du signal fourni par le second capteur pour la zone de transition avec des valeurs minimale et maximale déterminées.2. Target tracking device with infrared emission, characterized in that it comprises a detector with low angular field having a sensor (24) sensitive in the range from 3 to 5 μm and a sensor (34) sensitive to the near infrared; means for sampling the output of the sensors at a rate such that there is overlap of the zones corresponding to the successive samples; means for storing a predetermined number of successive samples; calculation means making the difference between the samples of the response of the first sensor and the average of n previous samples and causing, if a threshold is exceeded, the search for an end of transition by comparison between successive samples stored and comparison between the samples of the signal supplied by the second sensor for the area of transition with determined minimum and maximum values. 3. Dispositif selon la revendication 2, carac­térisé en ce que le premier capteur comporte plusieurs éléments photosensibles (24) ayant des champs décalés dans le sens transversal au tracé de balayage.3. Device according to claim 2, characterized in that the first sensor comprises several photosensitive elements (24) having fields offset in the direction transverse to the scanning path. 4. Dispositif selon la revendication 3, carac­térisé en ce que la détection des échantillons supé­rieurs à la moyenne d'un seuil prédéterminé s'effectue par comparaison de la moyenne de la réponse des éléments photosensibles pour un même échantillonnage avec la moyenne sur plusieurs jeux d'échantillons successifs antérieurs.4. Device according to claim 3, characterized in that the detection of samples greater than the average of a predetermined threshold is carried out by comparison of the average of the response of the photosensitive elements for the same sampling with the average over several sets of 'previous successive samples. 5. Dispositif selon la revendication 4, carac­térisé en ce que la détection des échantillons supé­rieurs à la moyenne s'effectue par comparaison entre la valeur maximale dans une fenêtre de longueur déterminée et la moyenne des échantillons dans une fenêtre précé­dente, plus longue que la première.5. Device according to claim 4, characterized in that the detection of samples greater than the average is carried out by comparison between the maximum value in a window of determined length and the average of the samples in a previous window, longer than the first . 6. Dispositif selon l'une quelconque des reven­dications 2 à 5, caractérisé en ce que lesdits moyens de calcul sont programmés pour comparer d'une part la différence maximale entre les échantillons de sortie du capteur infrarouge propre et la moyenne d'échantillons précédents et d'autre part la dispersion desdits échantillons sur une fenêtre déterminée à des valeurs minimales et maximales prédéterminées.6. Device according to any one of claims 2 to 5, characterized in that said calculation means are programmed to compare on the one hand the maximum difference between the output samples of the own infrared sensor and the average of previous samples and on the other hand the dispersion of said samples over a determined window at predetermined minimum and maximum values.
EP19880402119 1987-08-21 1988-08-18 Method and apparatus for locating an infrared-emitting target and ammunition for use therewith Expired - Lifetime EP0306391B1 (en)

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Application Number Priority Date Filing Date Title
FR8711808 1987-08-21
FR8711808A FR2619634B1 (en) 1987-08-21 1987-08-21 METHOD AND DEVICE FOR TRACKING TARGET WITH INFRARED EMISSION AND AMMUNITION COMPRISING APPLICATION

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EP0306391B1 EP0306391B1 (en) 1992-01-08

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US5175432A (en) * 1990-10-31 1992-12-29 Gruman Aerospace Corporation Infrared detector module test system
FR2695992A1 (en) * 1992-09-21 1994-03-25 Giat Ind Sa Under directed ammunition.
US5617318A (en) * 1995-05-08 1997-04-01 Northrop Grumman Corporation Dynamically reconfigurable data processing system
GB2332734A (en) * 1997-11-28 1999-06-30 Colin Whatmough Proximity fuze
CN112454842A (en) * 2020-10-15 2021-03-09 宁波创基机械有限公司 Remote maintenance method for injection molding machine

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CN110132634B (en) * 2019-06-11 2023-12-29 中国科学院沈阳自动化研究所 Kinetic energy penetration sampler for planet sampling

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FR2527783A1 (en) * 1982-05-27 1983-12-02 Spectronix Ltd APPARATUS FOR DETECTING INCIDENTAL OBJECTS AND DESTRUCTION THEREOF
GB2144524A (en) * 1983-07-26 1985-03-06 Diehl Gmbh & Co A sub-ammunition body having a target detection device
FR2556086A1 (en) * 1976-01-27 1985-06-07 France Etat Device for initiating a fuse equipping a rotating projectile
FR2561049A1 (en) * 1984-03-07 1985-09-13 Hansa Metallwerke Ag Proximity switch with control circuit

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FR2527783A1 (en) * 1982-05-27 1983-12-02 Spectronix Ltd APPARATUS FOR DETECTING INCIDENTAL OBJECTS AND DESTRUCTION THEREOF
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US5175432A (en) * 1990-10-31 1992-12-29 Gruman Aerospace Corporation Infrared detector module test system
FR2695992A1 (en) * 1992-09-21 1994-03-25 Giat Ind Sa Under directed ammunition.
EP0589746A1 (en) * 1992-09-21 1994-03-30 GIAT Industries Submunition with controlled activation
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US5617318A (en) * 1995-05-08 1997-04-01 Northrop Grumman Corporation Dynamically reconfigurable data processing system
GB2332734A (en) * 1997-11-28 1999-06-30 Colin Whatmough Proximity fuze
CN112454842A (en) * 2020-10-15 2021-03-09 宁波创基机械有限公司 Remote maintenance method for injection molding machine

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FR2619634B1 (en) 1990-04-06
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EP0306391B1 (en) 1992-01-08

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