EP0592948A1 - Method for autonomous attitude control of guided missiles - Google Patents

Method for autonomous attitude control of guided missiles Download PDF

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Publication number
EP0592948A1
EP0592948A1 EP93116241A EP93116241A EP0592948A1 EP 0592948 A1 EP0592948 A1 EP 0592948A1 EP 93116241 A EP93116241 A EP 93116241A EP 93116241 A EP93116241 A EP 93116241A EP 0592948 A1 EP0592948 A1 EP 0592948A1
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EP
European Patent Office
Prior art keywords
data
guided missile
computer
missile
entered
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Granted
Application number
EP93116241A
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German (de)
French (fr)
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EP0592948B1 (en
Inventor
Wilfried Strentz
Günther Bittner
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Airbus Defence and Space GmbH
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Deutsche Aerospace AG
Daimler Benz Aerospace AG
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Publication of EP0592948A1 publication Critical patent/EP0592948A1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/007—Preparatory measures taken before the launching of the guided missiles

Definitions

  • the invention relates to a method for autonomous position control of guided missiles.
  • inertial platforms for their flight guidance and self-guidance, which are able to determine electrically processable values of changes in the roll, pitch and yaw angle in space.
  • the inertial platform generally also determines acceleration values in the three body axes, from which the on-board computer can use integration to determine changes in the airspeed.
  • the on-board computer receives no information about the absolute position in the room and about the three speed vectors.
  • Polaris rockets according to US Pat. No. 4,470,562 also contain such an inertial platform, but are only suitable for underwater launching.
  • the missile receives the missing information during the carrying flight from the carrier aircraft by means of data transmission via an electrical interface. Airplanes that are not equipped with such an interface could therefore not be used to launch guided missiles.
  • the invention has for its object to provide a method for autonomous position control of guided missiles so that the guided missile can also be launched from a carrier aircraft which has no facilities for transmitting data to the guided missile - that is, without the participation or help of aircraft.
  • the method according to the invention there is the possibility of launching guided missiles from a carrier aircraft, which as a result of its limited technical possibilities is not able to report data about the current position of the guided missile as well as about further flight and target data to the guided missile. Because of the method, these data are already entered on the ground into the guided missile computer, so that it can navigate from the ground with the aid of its inertial navigation and other navigation aids.
  • a pre-launch device is used which inputs the data required for navigation into the computer of the guided missile, which continuously calculates the change values from the inertial navigation and the further navigation aids. Even after a lengthy flight, the navigation device knows what position it is in without the need for further information from the aircraft.
  • the navigation device is also given the north direction via a compass coupled with the pre-take-off device before take-off. This value is also calculated using inertial navigation and the on-board computer until the end of the mission.
  • the compass can either belong to the missile or can also be part of the pre-launch device.
  • the on-board computer determines the horizontal position of the guided missile from the rest values of the accelerometers, i.e. from the components of gravitational acceleration. The guided missile does not have to be aligned horizontally for this purpose, since it is sufficient to save the starting position.
  • the autonomous flight guidance and self-guidance of the guided missile begins immediately after the data transfer from the pre-launch device. From this moment on, therefore, a constant and uninterrupted power supply to the inertial platform and the on-board computer must be ensured. This is done by an electric battery, which remains switched on from the time the initial data is transferred and is also used as a backup battery to prevent data loss, even on longer flights, if the power supply should be provided by the carrier aircraft's electrical system.
  • data for the following navigation aids can also be entered into the computer to fulfill the missile's mission: radar altimeter, Doppler speedometer, satellite navigation (GPS), laser range finder, infrared seeker head, engine control and security system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

A method for autonomous attitude control of guided missiles which are intended to be launched from a carrier aircraft - but without its involvement -, information items on the instantaneous attitude of the guided missile and on flight data and target data being entered on the ground into a computer in the guided missile, and the initial data entered in the computer being continuously supplemented by change values from the inertial navigation system and further navigation aids, and the initial data being updated in order to carry out autonomous flight control and self-guidance of the missile and being maintained from the instant when the data are transferred using an uninterruptible electrical power supply in the guided missile.

Description

Die Erfindung betrifft ein Verfahren zur autonomen Lagesteuerung von Lenkflugkörpern.The invention relates to a method for autonomous position control of guided missiles.

Bekannte Lenkflugkörper benötigen für ihre Flugführung und Selbstlenkung sogenannte Trägheitsplattformen, die in der Lage sind, elektrisch verarbeitbare Werte von Änderungen des Roll-, Nick- und Gierwinkels im Raum zu bestimmen. Außerdem ermittelt die Trägheitsplattform im allgemeinen auch Beschleunlgungswerte in den drei Körperachsen, aus denen der Bordrechner mittels Integration auf Änderungen der Fluggeschwindigkeit schließen kann. Der Bordrechner erhält jedoch keine Information über die absolute Lage im Raum und über die drei Geschwindigkeitsvektoren.Known guided missiles require so-called inertial platforms for their flight guidance and self-guidance, which are able to determine electrically processable values of changes in the roll, pitch and yaw angle in space. In addition, the inertial platform generally also determines acceleration values in the three body axes, from which the on-board computer can use integration to determine changes in the airspeed. However, the on-board computer receives no information about the absolute position in the room and about the three speed vectors.

Auch die Polaris-Raketen gemäß US-Patent 4,470,562 enthalten eine solche Trägheitsplattform, siond jedoch nur für Unterwasserstart geeignet.The Polaris rockets according to US Pat. No. 4,470,562 also contain such an inertial platform, but are only suitable for underwater launching.

Bei bisher bekannten Luft-Boden-Systemen erhält der Flugkörper die fehlenden Informationen während des Tragefluges vom Trägerflugzeug mittels Datentibertragung über eine elektrische Schnittstelle. Flugzeuge, die mit einer solchen Schnittstelle nicht ausgerüstet sind, konnten daher für den Start von Lenkflugkörpern nicht eingesetzt werden.In previously known air-to-ground systems, the missile receives the missing information during the carrying flight from the carrier aircraft by means of data transmission via an electrical interface. Airplanes that are not equipped with such an interface could therefore not be used to launch guided missiles.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur autonomen Lagesteuerung von Lenkflugkörpern so auszubilden, daß der Lenkflugkörper auch von einem Trägerflugzeug, welches keine Einrichtungen zur Übermittlung von Daten an den Lenkflugkörper aufweist - also ohne Mitwirkung oder Hilfe von Flugzeugen gestartet werden kann.The invention has for its object to provide a method for autonomous position control of guided missiles so that the guided missile can also be launched from a carrier aircraft which has no facilities for transmitting data to the guided missile - that is, without the participation or help of aircraft.

Diese Aufgabe wird durch die im Anspruch 1 enthaltenen Merkmale gelöst. Vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen gekennzeichnet.This object is achieved by the features contained in claim 1. Advantageous embodiments of the invention are characterized in the subclaims.

Mit dem erfindungsgemäßen Verfahren besteht also die Möglichkeit, Lenkflugkörper auch von einem Trägerflugzeug zu starten, das infolge seiner begrenzten technischen Möglichkeiten nicht in der Lage ist, Daten über die augenblickliche Lage des Lenkflugkörpers sowie über weitere Flug- und Zieldaten an den Lenkflugkörper zu melden. Aufgrund des Verfahrens werden diese Daten bereits am Boden in den Rechner des Lenkflugkörpers eingegeben, so daß dieser mit Hilfe seiner Trägheitsnavigation und andere Navigationshilfen bereits vom Boden aus navigieren kann. Dabei wird erfindungsgemäß ein Vorstartgerät zu Hilfe genommen, das die für die Navigation benötigten Daten in den Rechner des Lenkflugkörpers eingibt, der die Änderungswerte von der Trägheitsnavigation und der weiteren Navigationshilfen laufend welterrechnet. Auch nach längerem Tragflug weiß somit das Navigationsgerät, in welcher Lage es sich befindet, ohne daß weitere Informationen vom Flugzeug nötig sind.With the method according to the invention there is the possibility of launching guided missiles from a carrier aircraft, which as a result of its limited technical possibilities is not able to report data about the current position of the guided missile as well as about further flight and target data to the guided missile. Because of the method, these data are already entered on the ground into the guided missile computer, so that it can navigate from the ground with the aid of its inertial navigation and other navigation aids. According to the invention, a pre-launch device is used which inputs the data required for navigation into the computer of the guided missile, which continuously calculates the change values from the inertial navigation and the further navigation aids. Even after a lengthy flight, the navigation device knows what position it is in without the need for further information from the aircraft.

Um die bei längeren Tragflügen auftretenden Fehler infolge Erddrehung kompensieren zu können, wird dem Navigationsgerät vor dem Start außerdem die Nordrichtung über einen mit dem Vorstartgerät gekoppelten Kompaß eingegeben. Auch dieser Wert wird mittels der Trägheitsnavigation und des Bordrechners bis zum Ende der Mission weitergerechnet. Dabei kann der Kompaß entweder zum Flugkörper gehören oder auch Bestandteil des Vorstartgerätes sein. Die horizontale Lage des Lenkflugkörpers ermittelt der Bordrechner aus den Ruhewerten der Beschleunlgungsaufnehmer, d.h. aus den Komponenten der Erdbeschleunigung. Der Lenkflugkörper muß zu diesem Zweck nicht horizontal ausgerichtet werden, da es reicht, die Ausgangslage zu speichern.In order to be able to compensate for errors due to earth rotation during longer flights, the navigation device is also given the north direction via a compass coupled with the pre-take-off device before take-off. This value is also calculated using inertial navigation and the on-board computer until the end of the mission. The compass can either belong to the missile or can also be part of the pre-launch device. The on-board computer determines the horizontal position of the guided missile from the rest values of the accelerometers, i.e. from the components of gravitational acceleration. The guided missile does not have to be aligned horizontally for this purpose, since it is sufficient to save the starting position.

Die autonome Flugführung und Selbstlenkung des Lenkflugkörpers beginnt sofort nach der Datenübernahme vom Vorstartgerät. Daher muß von diesem Augenblick an für eine ständige und unterbrechungsfreie Stromversorgung der Trägheitsplattform und des Bordrechners gesorgt sein. Dieses erfolgt durch eine elektrische Batterie, die vom Zeitpunkt der Übergabe der Anfangsdaten an eingeschaltet bleibt und auch bei länger dauernden Flügen, wenn die Stromversorgung durch das Bordnetz des Trägerflugzeuges erfolgen sollte, ständig zur Verhinderung von Datenverlusten als Pufferbatterie betrieben wird.The autonomous flight guidance and self-guidance of the guided missile begins immediately after the data transfer from the pre-launch device. From this moment on, therefore, a constant and uninterrupted power supply to the inertial platform and the on-board computer must be ensured. This is done by an electric battery, which remains switched on from the time the initial data is transferred and is also used as a backup battery to prevent data loss, even on longer flights, if the power supply should be provided by the carrier aircraft's electrical system.

Zur Erfüllung der Mission des Lenkflugkörpers können in den Rechner außer den Daten für die Trägheitsnavigation noch Daten für nachfolgende Navigationshilfen eingegeben werden: Radarhöhenmesser, Doppler-Geschwindigkeitsmesser, Satelliten-Navigation (GPS), Laser-Entfernungsmesser, Infrarot-Suchkopf, Triebwerkssteuerung und Sicherheitssystem.In addition to the data for inertial navigation, data for the following navigation aids can also be entered into the computer to fulfill the missile's mission: radar altimeter, Doppler speedometer, satellite navigation (GPS), laser range finder, infrared seeker head, engine control and security system.

Claims (7)

Verfahren zur autonomen Lagesteuerung von Lenkflugkörpern, welche von einem Trägerflugzeug - jedoch ohne dessen Mitwirkung - gestartet werden sollen, dadurch gekennzeichnet, daß in einen Rechner des Lenkflugkörpers bereits am Boden Informationen über seine augenblickliche Lage und über Flug- und Zieldaten eingegeben werden, und daß die in den Rechner eingegebenen Anfangsdaten durch Änderungswerte von der Trägheitsnavigation und weiteren Navigationshilfsmitteln laufend ergänzt und zur Durchführung einer autonomen Flugführung und Selbstlenkung des Flugkörpers weltergerechnet werden und daß vom Augenblick der Datenübernahme an eine unterbrechungsfreie Stromversorgung des Lenkflugkörpers aufrechterhalten wird.Method for autonomous position control of guided missiles, which are to be launched by a carrier aircraft - but without its involvement - characterized in that information about its current position and about flight and target data is entered into a computer of the guided missile on the ground, and that Initial data entered into the computer are continuously supplemented by change values from inertial navigation and other navigation aids and are calculated for carrying out autonomous flight guidance and self-guidance of the missile and that an uninterrupted power supply to the missile is maintained from the moment of the data transfer. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß durch ein Vorstartgerät die Anfangsdaten in den Rechner des Lenkflugkörpers eingegeben werden.Method according to claim 1, characterized in that the initial data are entered into the computer of the guided missile by a pre-launch device. Verfahren nach den Ansprüchen 1 und 2, dadurch gekennzeichnet, daß vom Bordrechner die Anfangslage des Lenkflugkörpers in Bezug auf Nord gespeichert wird, wobei diese aus den elektrischen Werten eines zur Längsachse ausgerichteten Kompasses gewonnen wird.Method according to claims 1 and 2, characterized in that the on-board computer stores the initial position of the guided missile with respect to north, this being obtained from the electrical values of a compass aligned with the longitudinal axis. Verfahren nach Anspruch 3, dadurch gekennzeichnet, daß ein im Lenkflugkörper vorhandener Kompaß genutzt wird.Method according to claim 3, characterized in that a compass present in the guided missile is used. Verfahren nach Anspruch 3, dadurch gekennzeichnet, daß ein mit dem Vorstartgerät gekoppelter Kompaß verwendet wird.Method according to claim 3, characterized in that a compass coupled to the pre-starting device is used. Verfahren nach den Ansprüchen 1 und 2, dadurch gekennzeichnet, daß am Boden vom Bordrechner die horizontale Lage des Lenkflugkörpers aus den Rechenwerten von Beschleunigungsaufnehmern ermittelt wird.Method according to claims 1 and 2, characterized in that the horizontal position of the guided missile is determined on the ground by the on-board computer from the calculated values of acceleration sensors. Verfahren nach den Ansprüchen 1 und 2, dadurch gekennzeichnet, daß in den Rechner des Lenkflugkörpers außer den Daten für die Trägheitnavigation noch Daten für nachfolgende Navigationshilfen eingegeben werden können: Radarhöhenmesser, Doppler-Geschwindigkeitsmesser, Satelliten-Navigation (GPS), Laser-Entfernungsmesser, Infrarot-Suchkopf, Triebwerkssteuerung und Sicherheitssystem.Method according to claims 1 and 2, characterized in that in addition to the data for the inertial navigation, data for the following navigation aids can also be entered into the computer of the guided missile: radar altimeter, Doppler speedometer, satellite navigation (GPS), laser range finder, infrared -Suchkopf, engine control and security system.
EP93116241A 1992-10-16 1993-10-07 Method for autonomous position control of guided missiles Expired - Lifetime EP0592948B1 (en)

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DE4234878A DE4234878C2 (en) 1992-10-16 1992-10-16 Procedure for autonomous position control of guided missiles
DE4234878 1992-10-16

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EP0592948A1 true EP0592948A1 (en) 1994-04-20
EP0592948B1 EP0592948B1 (en) 1997-09-03

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Cited By (2)

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EP0713074A1 (en) * 1994-11-15 1996-05-22 Hughes Aircraft Company Missile launch safety enhancement apparatus
CN107272672A (en) * 2016-03-31 2017-10-20 株式会社久保田 Operation Van

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US6211816B1 (en) 1995-02-18 2001-04-03 Diehl Stiftung & Co. Process and apparatus for target or position reconnaissance
DE19505527B4 (en) * 1995-02-18 2004-02-05 Diehl Stiftung & Co. Procedures to clarify goals or situation
US5739787A (en) * 1995-04-20 1998-04-14 Burke; Edmund D. Vehicle based independent tracking system
WO1999061933A2 (en) * 1998-04-16 1999-12-02 Raytheon Company Airborne gps guidance system for defeating multiple jammers
US6666123B1 (en) 2002-05-30 2003-12-23 Raytheon Company Method and apparatus for energy and data retention in a guided projectile
US7591225B1 (en) * 2005-10-27 2009-09-22 The United States Of America As Represented By The Secretary Of The Navy Fuze module
DE102008033429B4 (en) * 2008-07-16 2020-03-19 Diehl Defence Gmbh & Co. Kg Solid fuel engine
DE102008034618B4 (en) * 2008-07-25 2015-05-13 Mbda Deutschland Gmbh A method of uncoupling an unmanned missile from a carrier aircraft
US8829401B1 (en) * 2011-06-16 2014-09-09 The Boeing Company Projectile and associated method for seeking a target identified by laser designation
US8513580B1 (en) * 2012-06-26 2013-08-20 The United States Of America As Represented By The Secretary Of The Navy Targeting augmentation for short-range munitions
CN112817339B (en) * 2019-11-15 2022-12-23 中国北方工业有限公司 Instruction fusion algorithm for composite guided aircraft

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EP0432902A2 (en) * 1989-11-15 1991-06-19 Hughes Aircraft Company Method and apparatus for a reprogrammable program missile memory
EP0547637A1 (en) * 1991-12-19 1993-06-23 Hughes Aircraft Company Autonomous precision weapon delivery using synthetic array radar

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EP0368738A1 (en) * 1988-11-07 1990-05-16 Matra Defense Method and apparatus for remotely programming an external or integrated load from a vehicle
EP0409614A2 (en) * 1989-07-21 1991-01-23 Hughes Aircraft Company A digital electronics assembly for a tube-launched missile
EP0432902A2 (en) * 1989-11-15 1991-06-19 Hughes Aircraft Company Method and apparatus for a reprogrammable program missile memory
EP0547637A1 (en) * 1991-12-19 1993-06-23 Hughes Aircraft Company Autonomous precision weapon delivery using synthetic array radar

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0713074A1 (en) * 1994-11-15 1996-05-22 Hughes Aircraft Company Missile launch safety enhancement apparatus
CN107272672A (en) * 2016-03-31 2017-10-20 株式会社久保田 Operation Van

Also Published As

Publication number Publication date
DE4234878C2 (en) 1995-03-30
EP0592948B1 (en) 1997-09-03
US5397079A (en) 1995-03-14
DE4234878A1 (en) 1994-04-21

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