EP0455531B1 - Method for selfguidance of missile towards a supersonic target - Google Patents
Method for selfguidance of missile towards a supersonic target Download PDFInfo
- Publication number
- EP0455531B1 EP0455531B1 EP19910401006 EP91401006A EP0455531B1 EP 0455531 B1 EP0455531 B1 EP 0455531B1 EP 19910401006 EP19910401006 EP 19910401006 EP 91401006 A EP91401006 A EP 91401006A EP 0455531 B1 EP0455531 B1 EP 0455531B1
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- European Patent Office
- Prior art keywords
- missile
- target
- trajectory
- pressure sensors
- supersonic
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- Expired - Lifetime
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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
- F41G7/22—Homing guidance systems
- F41G7/2273—Homing guidance systems characterised by the type of waves
- F41G7/228—Homing guidance systems characterised by the type of waves using acoustic waves, e.g. for torpedoes
Definitions
- the shock wave of the target is assimilated to a conical sheet of origin a point B of the target, of axis the speed of the target V B and of angle at the top a being the speed of the sound.
- the guidance law comprises two functional modules programmed on the missile computer.
- the first called an estimator, determines the speed of the missile relatively to the conical tablecloth at each crossing of it.
- the second called the controller, develops the missile command based on the estimated relative speed.
- the function f is chosen, in conjunction with the amplitude ⁇ max of the command and the dynamics of the missile, to adjust the amplitude and the frequency of the limit cycle as appropriate.
- the passage distance is of the order of the amplitude of this cycle.
- FIG. 3 constitutes a simplified functional diagram of the method according to the invention showing the functions exercised by the sensor (s) (function A), the inertial unit (function B), the estimator (functions C) and the controller (functions D).
- FIG. 6 shows a complete relative trajectory of interception for a shooting station located inside the conical sheet, which could be the case of an air-air shooting. We see the target 5, its shock wave 7, the relative rallying trajectory 16 and the relative interception trajectory 17.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (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)
Description
La présente invention concerne un procédé d'autoguidage de missile tactique sur un but supersonique.The present invention relates to a method for homing tactical missiles to a supersonic aim.
Traditionnellement l'organe de guidage des missiles autoguidés est un capteur sensible au rayonnement électromagnétique ou infrarouge de la cible. Ce capteur est, en général, porté sur un système de pointage mobile asservi sur le but appelé autodirecteur. Des gyromètres montés sur l'autodirecteur mesurent la vitesse angulaire absolue de la ligne de visée qui est, à la précision de l'asservissement près, la ligne missile-cible. Le capteur peut aussi être lié au missile. Dans ce cas la vitesse angulaire absolue de la ligne missile-cible est obtenue en combinant la direction de la cible relative au missile, mesurée par le capteur, et l'orientation absolue du missile mesurée par une centrale inertielle. Le capteur électromagnétique est actif ou passif, suivant qu'il émet lui-même ou non le rayonnement éclairant la cible. La loi de guidage transforme la vitesse angulaire absolue de la ligne de visée en un ordre au missile. Elle demande la connaissance de la vitesse radiale missile cible qui est soit mesurée, soit estimée.Traditionally, the guided organ of guided missiles is a sensor sensitive to the electromagnetic or infrared radiation of the target. This sensor is, in general, carried on a mobile pointing system slaved to the goal called seeker. Gyros mounted on the seeker measure the absolute angular speed of the line of sight which is, to the accuracy of the servo, the missile-target line. The sensor can also be linked to the missile. In this case the absolute angular speed of the missile-target line is obtained by combining the direction of the target relative to the missile, measured by the sensor, and the absolute orientation of the missile measured by an inertial unit. The electromagnetic sensor is active or passive, depending on whether or not it emits radiation illuminating the target. The law of guidance transforms the absolute angular speed of the line of sight into an order with the missile. It requires knowledge of the target missile radial speed which is either measured or estimated.
L'autodirecteur a les inconvénients suivants :
- . Coût très élevé,
- . Sensibilité au leurrage,
- . point visé sur la cible mal connu et fluctuant, pouvant sortir du contour apparent,
- . accrochage sur la cible délicat, qu'il soit réalisé avant ou après le départ du missile,
- . portée limitée.
- . Very high cost,
- . Sensitivity to decoy,
- . target point on the poorly known and fluctuating target, which may leave the apparent contour,
- . attachment to the delicate target, whether carried out before or after the missile's departure,
- . limited range.
Le procédé selon l'invention permet de remédier aux inconvénients précédents car il est basé sur l'asservissement du missile à l'onde de choc attachée à la cible au moyen d'organes sensibles oui sont de simples capteurs de pression. Il ne concerne donc que les cibles supersoniques. Le terme onde de choc est utilisé ici pour définir l'onde de pression induite à grande distance par une cible supersonique, assimilable à une nappe de révolution de faible épaisseur, se propageant suivant les lois de l'acoustique. On pourrait utiliser de manière équivalente, le terme "onde acoustique".The method according to the invention overcomes the above drawbacks because it is based on the control of the missile to the shock wave attached to the target by means of sensitive organs yes are simple pressure sensors. It therefore only concerns supersonic targets. The term shock wave is used here to define the pressure wave induced over a long distance by a supersonic target, comparable to a thin sheet of revolution, propagating according to the laws of acoustics. The term "acoustic wave" could be used in an equivalent manner.
On connaît (DE-A-3334758) l'utilisation de capteurs acoustiques pour assurer la détection de cibles subsoniques et également (DE-A-3528075) l'application de tels capteurs, positionnés au sol, pour mesurer la trajectoire d'un mobile supersonique. Dans cette technique antérieure, il n'est pas question d'asservir la trajectoire d'un missile supersonique à l'onde de choc d'une cible supersonique pour obtenir les avantages et effets techniques mentionnés ci-dessus.We know (DE-A-3334758) the use of acoustic sensors to detect subsonic targets and also (DE-A-3528075) the application of such sensors, positioned on the ground, to measure the trajectory of a mobile supersonic. In this prior technique, there is no question of controlling the trajectory of a supersonic missile to the shock wave of a supersonic target in order to obtain the advantages and technical effects mentioned above.
L'invention a donc pour objet un procédé de guidage d'un missile anti-aérien supersonique vers une cible supersonique mettant en oeuvre des capteurs de pression, caractérisé en ce que la trajectoire du missile est asservie à l'onde de choc induite par la cible :
- en détectant ladite onde de choc par des premiers capteurs de pression installés à bord du missile,
- en estimant la trajectoire de la cible à partir des positions et attitudes du missile aux instants datés auxquels lesdits capteurs de pression traversent l'onde de choc de la cible, au moyen d'algorithme approprié,
- en commandant au missile une trajectoire quasi sinusoïdale de part et d'autre de l'onde assurant l'excitation périodique des capteurs de pression et les mesures subséquentes et,
- en asservissant la trajectoire relative moyenne du missile à la génératrice de l'onde de choc conique de la cible.
- by detecting said shock wave by first pressure sensors installed on board the missile,
- by estimating the trajectory of the target from the positions and attitudes of the missile at the dated instants at which said pressure sensors cross the shock wave of the target, by means of an appropriate algorithm,
- by commanding the missile a quasi-sinusoidal trajectory on either side of the wave ensuring the periodic excitation of the pressure sensors and the subsequent measurements and,
- by slaving the average relative trajectory of the missile to the generator of the target's conical shock wave.
Le missile est muni d'une centrale inertielle rustique fournissant à chaque instant une mesure de sa position M, de son vecteur vitesse VM, de son accélération ΓM et de son trièdre de référence TM dans un trièdre initial de référence To.The missile is provided with a rustic inertial unit providing at all times a measurement of its position M, of its speed vector V M , of its acceleration Γ M and of its reference trihedron T M in an initial trihedron of reference T o .
L'organe sensible du guidage, remplaçant l'autodirecteur, est constitué par un ou plusieurs capteurs de pression placés à bord du missile. Ces capteurs peuvent être constitués d'un ou plusieurs orifices répartis sur le missile reliés à autant de détecteurs de pression, ou à un détecteur unique pour l'ensemble des orifices. Il s'agit de détecteurs simples de type microphone. Ces capteurs détectent et datent, grâce à une horloge interne, leurs passages à travers l'onde de choc de la cible. Compte tenu de la raideur du front de l'onde de choc de la cible, ces passages sont datés avec une très grande précision. La bande passante des capteurs est choisie en conséquence. La figure 1 montre des emplacements possibles de capteurs 1, 2, 3 installés à bord du missile 4.The sensitive guidance member, replacing the seeker, consists of one or more pressure sensors placed on board the missile. These sensors may consist of one or more orifices distributed over the missile connected to as many pressure detectors, or to a single detector for all of the orifices. These are simple microphone type detectors. These sensors detect and date, thanks to an internal clock, their passage through the shock wave of the target. Taking into account the stiffness of the front of the shock wave of the target, these passages are dated with very great precision. The bandwidth of the sensors is chosen accordingly. Figure 1 shows possible locations of
L'onde de choc de la cible est assimilée à une nappe conique d'origine un point B de la cible, d'axe la vitesse de la cible VB et d'angle au sommet
a étant la célérité du son.The shock wave of the target is assimilated to a conical sheet of origin a point B of the target, of axis the speed of the target V B and of angle at the top
a being the speed of the sound.
Dans son principe, l'ordre de guidage produit une trajectoire du missile, qui, relativement au but a l'allure d'une sinusoïde de faible amplitude située alternativement à l'intérieur et à l'extérieur de la nappe conique en suivant une génératrice de cette nappe. Les mesures concourant à l'élaboration de l'ordre sont effectuées à chaque traversée de la nappe conique. L'interception a lieu quand le missile arrive au sommet du cône ce qui demande évidemment que sa vitesse soit supérieure à celle de la cible.In principle, the guidance order produces a trajectory of the missile, which, relative to the goal has the appearance of a sinusoid of low amplitude located alternately inside and outside the conical sheet by following a generator of this tablecloth. The measurements contributing to the development of the order are carried out at each crossing of the conical sheet. Interception takes place when the missile arrives at the top of the cone which obviously requires that its speed be higher than that of the target.
La figure 2 montre la cible 5, la trajectoire absolue 6 de la cible , le missile 4, l'onde de choc conique 7 de la cible 5, la trajectoire relative moyenne 8 du missile 5 qui est une génératrice du cône, la trajectoire absolue moyenne 9 du missile conduisant au point d'interception 10.FIG. 2 shows the target 5, the
Dans sa réalisation suivant l'invention, la loi de guidage comprend deux modules fonctionnels programmés sur le calculateur du missile. Le premier, appelé estimateur, détermine la vitesse du missile relativement à la nappe conique à chaque traversée de celle-ci. Le second, appelé contrôleur élabore la commande au missile en fonction de la vitesse relative estimée.In its embodiment according to the invention, the guidance law comprises two functional modules programmed on the missile computer. The first, called an estimator, determines the speed of the missile relatively to the conical tablecloth at each crossing of it. The second, called the controller, develops the missile command based on the estimated relative speed.
L'estimateur estime la trajectoire de la cible définie par sa position B et son vecteur vitesse VB , soit en tout six paramètres, à partir des positions successives des capteurs de pression MC (k,i) à la traversée de l'onde de choc (k le numéro du capteur, i numéro de la traversée), survenant à l'instant T . Ces positions sont déduites de la position à t du missile élaborée par la centrale inertielle et de la disposition des capteurs dans le missile. L'estimateur non linéaire utilise un algorithme du gradient conjugué ou d'un autre type. Il est initialisé avec les informations éventuelles sur la trajectoire du but communiquées au missile avant tir. En l'absence de telles informations, la convergence est acquise après un nombre n de traversées dépendant du nombre k de capteurs installés dans le missile, tel que nk=6. Il est possible, lorsque le transitoire de recalage est amorti, d'estimer l'accélération du but ΓB . La grande précision des mesures l'autorise.The estimator estimates the trajectory of the target defined by its position B and its speed vector V B , that is to say in all six parameters, from the successive positions of the pressure sensors M C (k, i) at the crossing of the wave shock (k the number of the sensor, i number of the crossing), occurring at time T . These positions are deduced from the position at t the missile developed by the inertial unit and the arrangement of the sensors in the missile. The nonlinear estimator uses a conjugate gradient or other type algorithm. It is initialized with any information on the trajectory of the goal communicated to the missile before firing. In the absence of such information, convergence is acquired after a number n of crossings depending on the number k of sensors installed in the missile, such as nk = 6. It is possible, when the registration transient is damped, to estimate the acceleration of the goal Γ B. The high accuracy of the measurements allows it.
On choisit un capteur particulier (dans le cas où il est unique c'est évidemment celui-là) comme point du missile dont la trajectoire sera contrôlée. A partir de l'estimée du but B̂, V̂B obtenue quand ce capteur effectue la traversée n°i au point M , on détermine en ce point le trièdre instantané du guidage TC constitué par la génératrice du cône xc , la normale intérieure zc, la tangente au cercle directeur yc . On calcule en outre les composantes de la vitesse relative du missile au but suivant zc et yc , notées ėz et ėy .One chooses a particular sensor (in the case where it is unique it is obviously this one) as point of the missile whose trajectory will be controlled. From the estimated goal B̂ , V̂ B obtained when this sensor crosses n ° i at point M , we determine at this point the instantaneous trihedron of the guidance T C constituted by the generator of the cone x c , the interior normal z c , the tangent to the directing circle y c . We also calculate the components of the relative speed of the missile at the goal following z c and y c , denoted ė z and ė y .
Le contrôleur élabore les ordres commandés au missile. Le missile auquel s'applique l'invention peut avoir une organisation quelconque. Il peut être stabilisé en roulis ou en autorotation naturelle. Son mouvement latéral peut être produit par des forces aérodynamiques et/ou pyrotechniques. La prise d' incidence peut êre provoquée par un actionneur aérodynamique (gouverne), pyrotechnique (impulseur, jet transversal) ou autre. L'actionneur peut opérer suivant deux axes transversaux de manoeuvre (lacet, tangage) ou un seul (si le missile est directement en autorotation). L'ordre commandé peut s'adresser directement à (aux) actionneur (s) ou à un autopilote, s'il existe. Il peut s'agir d'un autopilote en accélération ou en vitesse angulaire transversale. L'exposé suivant est fait en supposant un missile stabilisé en roulis et muni d'un autopilote en accélération.The controller prepares the orders ordered with the missile. The missile to which the invention applies can have any organization. It can be stabilized in roll or in natural autorotation. Its lateral movement can be produced by aerodynamic and / or pyrotechnic forces. The taking of incidence can be caused by an aerodynamic actuator (rudder), pyrotechnic (impeller, transverse jet) or other. The actuator can operate along two transverse maneuvering axes (yaw, pitch) or only one (if the missile is directly in autorotation). The command ordered can be addressed directly to the actuator (s) or to an autopilot, if it exists. It can be an autopilot under acceleration or transverse angular velocity. The following presentation is made by assuming a missile stabilized in roll and equipped with an autopilot in acceleration.
Les ordres en accélération au missile sont d'abord calculés dans le repère xc , yc , zc. Ils comprennent deux composantes. La première composante Γyc dirigée suivant yc , a pour effet d'asservir la projection du missile sur le plan tangent au cône xcyc , à suivre la génératrice du cône xc , ou encore d'asservir la projection de la vitesse du missile sur le plan tangent au cône à être parallèle à la génératrice. Elle est linéaire, de la forme
Les ordres en accélération sont ensuite calculés dans le repère missile xm ym, zm (mesuré par la centrale inertielle), par la condition que leurs projections sur yc et zc soient respectivement égales à Γyc et Γzc.The acceleration orders are then calculated in the missile coordinate system x m y m , z m (measured by the inertial unit), on the condition that their projections on y c and z c are respectively equal to Γ yc and Γ zc .
La figure 3 constitue un diagramme fonctionnel simplifié du procédé selon l'invention montrant les fonctions exercées par le(s) capteur(s) (fonction A), la centrale inertielle ( fonction B), l'estimateur (fonctions C) et le contrôleur (fonctions D).FIG. 3 constitutes a simplified functional diagram of the method according to the invention showing the functions exercised by the sensor (s) (function A), the inertial unit (function B), the estimator (functions C) and the controller (functions D).
La figure 4 montre la trajectoire relative 8′ du missile autour de la génératrice de cône 8 contenue dans le plan défini par cette génératrice 8 et la normale 11.FIG. 4 shows the relative trajectory 8 ′ of the missile around the cone generator 8 contained in the plane defined by this generator 8 and the normal 11.
Le missile est lancé depuis un poste de tir. L'invention s'applique à un poste de tir terrestre, naval ou aérien. La direction de lancement peut être quelconque sous les conditions que le missile rallie l'onde de choc de la cible et dispose des capacités cinématiques suffisantes pour s'y asservir et rattraper la cible. Au cours de la phase initiale entre le lancement et la première traversée de l'onde de choc de la cible, le missile est asservi à une trajectoire de ralliement précalculée sous le critère que la vitesse du missile relative au but à la première traversée de l'onde de choc ait une direction aussi proche que possible de celle de la génératrice de la nappe conique, c'est à dire que la condition cinématique d'interception indiquée sur la figure 5 soit remplie. Sur cette figure on voit la vitesse absolue 12 du but, celle 13 du missile , la vitesse relative 14 de ce missile . L'angle
a étant la célérité du son. La détermination de cette trajectoire suppose que le poste de tir ait des informations sur la trajectoire du but (une telle information peut être simplement la détection du passage de l'onde de choc de la cible par le poste de tir). Si aucune information n'est disponible le missile peut être tiré au jugé et la trajectoire de ralliement est rectiligne. Il en résulte que, dans la plupart des cas, la condition cinématique d'interception ne sera pas réalisée à la première traversée, mais après un transitoire résorbé au bout d'une à deux traversées supplémentaires, au delà duquel le cycle limite asservissant le missile à l'onde de choc sera effectivement enclenché. Les ordres Γyc,Γzc calculés aux premières traversées tiennent compte de cette circonstance et aussi du temps de réponse de l'algorythme de l'estimateur. La figure 6 montre une trajectoire relative complète d'interception pour un poste de tir situé à l'intérieur de la nappe conique, ce qui pourrait être le cas d'un tir air-air. On y voit la cible 5, son onde de choc 7, la trajectoire relative de ralliement 16 et la trajectoire relative d'interception 17.The missile is launched from a firing station. The invention applies to a land, naval or air firing station. The launching direction can be arbitrary under the conditions that the missile rallies the shock wave of the target and has sufficient kinematic capacities to enslave itself there and catch up with the target. During the initial phase between launch and the first crossing of the shock wave of the target, the missile is slaved to a precalculated rallying trajectory under the criterion that the speed of the missile relative to the goal at the first crossing of the The shock wave has a direction as close as possible to that of the generator of the conical sheet, that is to say that the kinematic condition of interception indicated in FIG. 5 is fulfilled. In this figure we see the
a being the speed of the sound. The determination of this trajectory supposes that the shooting station has information on the trajectory of the goal (such information can be simply the detection of the passage of the shock wave of the target by the shooting station). If no information is available, the missile can be fired on trial and the rallying trajectory is straight. It follows that, in most cases, the kinematic condition of interception will not be achieved on the first crossing, but after a transient resorbed after one to two additional crossings, beyond which the limit cycle enslaving the missile the shock wave will actually be triggered. The orders Γ yc , Γ zc calculated on the first crossings take into account this circumstance and also the response time of the estimator's algorithm. FIG. 6 shows a complete relative trajectory of interception for a shooting station located inside the conical sheet, which could be the case of an air-air shooting. We see the target 5, its shock wave 7, the
Claims (3)
- Method of guiding a supersonic anti-aircraft missile onto a supersonic target using pressure sensors, characterized in that the trajectory (9) of the missile (4) is locked to the shockwave (7) created by the target (5):- by detecting said shockwave by first pressure sensors (1, 2, 3) installed on the missile (4),- by estimating the trajectory (6) of the target from positions and attitudes of the missile (4) at the dated instants at which said pressure sensors pass through the shockwave (7) of the target, by appropriate algorithm,- by instructing to the missile (4) a quasi-sinusoidal trajectory on either side of the wave assuring the periodic excitation of the pressure sensors and the subsequent measurements and,- by locking the mean relative trajectory (8) of the missile (4) to the generatrix of the conical shockwave (7) of the target.
- Method of guiding according to Claim 1, characterized in that it consists, in an initial phase, of launching the missile equipped with said first pressure sensors in a direction calculated by an automatic firing station equipped with second pressure sensors.
- Method of guiding according to Claim 1, characterized in that it is applied to a missile equipped with an electromagnetic or infrared homing device.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9005305 | 1990-04-23 | ||
FR9005305A FR2661245B1 (en) | 1990-04-23 | 1990-04-23 | METHOD FOR SELF-GUIDING A SUPERSONIC MISSILE ON A SUPERSONIC TARGET COMPRISING THE IMPLEMENTING ARRANGEMENTS AND THE METHODS OF USE OF THE METHOD. |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0455531A1 EP0455531A1 (en) | 1991-11-06 |
EP0455531B1 true EP0455531B1 (en) | 1995-02-22 |
Family
ID=9396100
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19910401006 Expired - Lifetime EP0455531B1 (en) | 1990-04-23 | 1991-04-16 | Method for selfguidance of missile towards a supersonic target |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0455531B1 (en) |
DE (1) | DE69107508T2 (en) |
FR (1) | FR2661245B1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6563763B2 (en) * | 2001-04-03 | 2003-05-13 | Aai Corporation | Method and system for correcting for curvature in determining the trajectory of a projectile |
CN109596019B (en) * | 2018-12-19 | 2020-12-11 | 中国空气动力研究与发展中心超高速空气动力研究所 | Device and method for measuring flying speed and trajectory of projectile |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE915790C (en) * | 1943-12-03 | 1954-07-29 | Otto Nitzschke | Method and device for firing projectiles |
US3678453A (en) * | 1970-10-23 | 1972-07-18 | Us Army | Flush mounted acoustic sensor |
DE3334758A1 (en) * | 1983-09-26 | 1985-04-18 | Bundesrepublik Deutschland, vertreten durch den Bundesminister der Verteidigung, dieser vertreten durch den Präsidenten des Bundesamtes für Wehrtechnik und Beschaffung, 5400 Koblenz | Method for combating helicopters with guided missiles |
DE3412326A1 (en) * | 1984-04-03 | 1985-10-10 | DRELLO, Ing. Paul Drewell GmbH & Co.KG, 4050 Mönchengladbach | ARRANGEMENT FOR DETERMINING THE MEETING POSITION AND / OR THE SPEED AND / OR THE HIT MEETING ANGLE |
DE3528075A1 (en) * | 1985-08-05 | 1987-02-12 | Ingbuero Fuer Elektro Mechanis | Method and device for stereo-acoustic hit position measurement of projectiles |
DE3535575C1 (en) * | 1985-10-05 | 1989-11-23 | Licentia Gmbh | Fuze sensor for a projectile mine, and a method for use of the detonating sensor |
-
1990
- 1990-04-23 FR FR9005305A patent/FR2661245B1/en not_active Expired - Fee Related
-
1991
- 1991-04-16 EP EP19910401006 patent/EP0455531B1/en not_active Expired - Lifetime
- 1991-04-16 DE DE1991607508 patent/DE69107508T2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE69107508D1 (en) | 1995-03-30 |
EP0455531A1 (en) | 1991-11-06 |
FR2661245A1 (en) | 1991-10-25 |
DE69107508T2 (en) | 1995-06-14 |
FR2661245B1 (en) | 1994-07-29 |
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