EP0607070A1 - Vorrichtung zur Stabilisierung der Strahlausrichtung einer Antenne mit elektronisch gesteuerter Auslenkung, starr befestigt auf einem Fahrzeug - Google Patents

Vorrichtung zur Stabilisierung der Strahlausrichtung einer Antenne mit elektronisch gesteuerter Auslenkung, starr befestigt auf einem Fahrzeug Download PDF

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Publication number
EP0607070A1
EP0607070A1 EP94400046A EP94400046A EP0607070A1 EP 0607070 A1 EP0607070 A1 EP 0607070A1 EP 94400046 A EP94400046 A EP 94400046A EP 94400046 A EP94400046 A EP 94400046A EP 0607070 A1 EP0607070 A1 EP 0607070A1
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EP
European Patent Office
Prior art keywords
mobile
along
circuit
pitch
yaw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP94400046A
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English (en)
French (fr)
Inventor
Rémy Tabourier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales SA
Original Assignee
Thomson CSF SA
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Filing date
Publication date
Application filed by Thomson CSF SA filed Critical Thomson CSF SA
Publication of EP0607070A1 publication Critical patent/EP0607070A1/de
Withdrawn legal-status Critical Current

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/18—Means for stabilising antennas on an unstable platform
    • H01Q1/185—Means for stabilising antennas on an unstable platform by electronic means

Definitions

  • the present invention relates to the decoupling of the beam pointing of an antenna with electronic scanning with respect to the movements of the mobile which supports it, whether the beam pointing is done by scanning during a standby or by tracking of deviation signals in target tracking mode. It also relates to the guidance of a mobile equipped with a radar with electronic scanning antenna for the pursuit of a target followed by means of deviation signals delivered by the electronic scanning antenna.
  • Another method for decoupling the pointing of a mechanically steerable antenna from the movements of its support consists in using the indications given by an inertial unit linked to the support to eliminate the effects of the movement of the support on the pointing of the antenna by means of two servos controlling the pointing angles in elevation and in azimuth of the antenna. It is then necessary to translate, using trigonometric relations, the components of the natural speed of rotation of the support given by the inertial unit with respect to a reference frame linked to the support, in variations in elevation angle and azimuth.
  • the object of the present invention is to decouple the pointing of the beam of an antenna with electronic scanning of the movements of its platform which is simple to implement and reliable.
  • the beam deflection control circuit can be a scanning control circuit supplying the components, along the pitch and yaw axes of the frame of reference linked to the mobile, of a scanning setpoint speed independent of the rotation speed of the mobile. . It can also be a deviation circuit associated with the electronic scanning antenna and delivering errors on the direction cosines v, w of the direction of the beam relative to those of the direction of a target being tracked.
  • the invention also relates to a proportional navigation guidance device using the above-mentioned beam stabilization device.
  • u 2 + v 2 + w 2 1 since u, v, w are the guiding cosines defining in the linked reference frame the unit vector U of the direction of orientation of the antenna beam.
  • Figure 1 gives an example of such an implementation for scanning the beam of an electronic scanning antenna decoupled from the rotational movements of the mobile which supports it.
  • the antenna 1 is provided with a pointing computer 3 operating from the guiding cosines v and w along the axes of pitch and yaw of the linked frame of reference while a device 4 for controlling the deflection of the antenna beam delivers the components y 'and z', according to the axes of pitch and yaw of the linked frame of reference, of an instruction for modifying the deflection of the antenna beam relative to the inertial frame of reference.
  • the components p, q, r in the linked frame of reference of the speed of rotation of the mobile with respect to the inertial frame of reference delivered by the inertial unit 2 are applied, as well as the guiding cosines v, w arriving at the pointing computer 3 and the cosine director u generated by the covering circuit 5, to a stabilization circuit 6 which calculates the components pw-ru and qu-pv.
  • the pw-ru component delivered by the stabilization circuit 6 is added by a summing circuit 7 to the pitch component y ′ of the deflection modification instruction of the antenna beam relative to the inertial reference frame delivered by the control device 4 of deflection.
  • the component qu-pv delivered by the stabilization circuit 6 is added by a summing circuit 9 to the yaw component z 'of the modification instruction of deflection of the antenna beam relative to the inertial reference frame delivered by the control device 4 of deflection.
  • the deflection control circuit 4 can be a sweep control circuit delivering as components y ′, z ′ along the pitch and yaw axes of the deflection modification instruction, the components along the pitch and yaw axes d '' a desired speed of rotation of the antenna beam independent of the movement of the mobile. We then obtain a scanning of the horizon by the antenna beam decoupled from the movements of the mobile which can be useful during a standby period.
  • a deviation circuit associated with an electronic scanning antenna directly delivers the errors ⁇ v and ⁇ w existing along the axes of pitch and yaw, between the cosines directing the direction of the beam and those of the target being tracked .
  • an electronic scanning antenna This is formed by a number of radiating cells C i distributed in a plane identified by the axes of pitch Oy a and of yaw Oz a of the referential linked according to coordinates (Y i , Z i ) so that said axes of pitch Oy a and of yaw Oz a are axes of symmetry.
  • the values adopted for the weighting coefficient a i are different depending on whether one seeks to make a sum channel, a circular difference deviation path or an elevation difference deviation path.
  • the deviation device of an electronic scanning antenna therefore provides two pointing error signals, one proportional to an error ⁇ v on the direction cosine v, along the pitch axis, of the pointing direction of the beam. , and the other proportional to an error ⁇ w on the director cosine w, along the yaw axis, of the beam pointing direction.
  • a deviation circuit 11 as shown in FIG. 3.
  • This deviation circuit 11 the coupling of which with the electronic scanning antenna 1 is recalled by a dotted line provides, as a component of the deflection modification setpoint along the pitch axis, a component proportional to the error ⁇ v on the director cosine v of the pointing direction of the beam, and, as a component of deflection modification setpoint along the yaw axis, a component proportional to the error ⁇ w on the director cosine w of the beam pointing direction.
  • the target tracking device by the beam of an electronic scanning antenna carried by a mobile according to FIG. 2 can be completed with a guidance device for proportional navigation tending to allow the mobile to catch the target on which is pointed the beam of its electronic scanning antenna because there are the cosines guiding the line of sight which are those of the direction of pointing of the beam and variations in time y ', z' of the rotation of this line of sight with respect to the inertial coordinate system according to the axes of pitch and yaw of the frame of reference linked to the mobile.
  • Figure 4 is a vector diagram illustrating the principle of proportional navigation.
  • Axes M x m y m z m constitute a direct orthogonal trihedron linked to the mobile M referencing by the plane M y m z m the plane of the control surfaces of the mobile.
  • the axis M x m is a roll axis collinear with the speed vector V M of the mobile.
  • the axis M z m is a yaw axis perpendicular to the line of sight connecting the mobile M to the target B.
  • Axes M x s , y s , z s constitute another direct orthogonal trihedron linked to the mobile with an axis Mx s collinear with the line of sight MB, and an axis M z s coincides with the axis M z m .
  • V g r of dt
  • the unit vector U s of the line of sight corresponds to the unit vector U of the direction of the antenna beam since the latter illuminates the target and the frame of reference Mx s y s z s is the frame of reference linked to the mobile considered above so that we have in this benchmark: from where :
  • the components y 'and z' with respect to the axes of pitch and yaw of the frame of reference linked to the mobile, of the derivative with respect to time of the unit vector of the line of sight Us relative to an inertial frame of reference are none other than the inputs of the summers 7 and 9 devoted to the tracking terms upstream of the integrators which supply v and w, the other inputs receiving the stabilization terms.
  • ⁇ y , ⁇ z in pitch and yaw constituting guidance orders in proportional navigation.
  • the means for estimating the target moving approach speed 15 may be a Doppler cinemometer coupled to the electronic scanning antenna or an estimator exploiting the results of a distance tracking telemetry carried out by a seeker equipping the mobile, or any other means of estimation.
  • the acceleration control circuit 14 receives the signals y 'and z', along the pitch and yaw axes of the mobile, for correcting the direction of pointing of the beam of the electronically scanned antenna delivered by the circuit of deviation 11 after processing in the loop filters 12, 13, the values of the directing cosines u, v, w, according to the roll axes, pitch and yaw of the mobile, of the pointing direction of the antenna beam and an estimate or a measurement of the target moving approach speed, and calculates a pitch acceleration setpoint ⁇ y by implementing the relation: and a yaw acceleration setpoint ⁇ z by implementing the relation: these two relations deducing from the matrix relation (16).

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  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP94400046A 1993-01-15 1994-01-07 Vorrichtung zur Stabilisierung der Strahlausrichtung einer Antenne mit elektronisch gesteuerter Auslenkung, starr befestigt auf einem Fahrzeug Withdrawn EP0607070A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9300352 1993-01-15
FR9300352A FR2700640B1 (fr) 1993-01-15 1993-01-15 Dispositif de stabilisation du pointage du faisceau d'une antenne à balayage électronique rigidement fixée sur un mobile.

Publications (1)

Publication Number Publication Date
EP0607070A1 true EP0607070A1 (de) 1994-07-20

Family

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Family Applications (1)

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EP94400046A Withdrawn EP0607070A1 (de) 1993-01-15 1994-01-07 Vorrichtung zur Stabilisierung der Strahlausrichtung einer Antenne mit elektronisch gesteuerter Auslenkung, starr befestigt auf einem Fahrzeug

Country Status (3)

Country Link
US (1) US5440314A (de)
EP (1) EP0607070A1 (de)
FR (1) FR2700640B1 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4339187C1 (de) * 1993-11-16 1995-04-13 Mafo Systemtech Gmbh & Co Kg Verfahren zur Bestimmung der Sichtliniendrehraten mit einem starren Suchkopf
DE19535886B4 (de) * 1995-09-27 2008-11-27 Diehl Bgt Defence Gmbh & Co. Kg Suchkopf für Flugkörper
US5917442A (en) * 1998-01-22 1999-06-29 Raytheon Company Missile guidance system
US6483458B1 (en) * 2001-05-30 2002-11-19 The Boeing Company Method for accurately tracking and communicating with a satellite from a mobile platform
US7579993B2 (en) * 2006-11-01 2009-08-25 Hewlett-Packard Development Company, L.P. Electronic device detachable antenna assembly
EP2448636B1 (de) * 2009-07-03 2014-06-18 Ekos Corporation Leistungsparameter für einen ultraschallkatheter
CN109765530B (zh) * 2018-12-30 2021-02-19 成都汇蓉国科微系统技术有限公司 一种运动平台雷达波束解耦方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0107232A1 (de) * 1982-10-19 1984-05-02 Hollandse Signaalapparaten B.V. Stabilisationsvorrichtung für optische Sucher bei Land- und Wasserfahrzeugen
US5052637A (en) * 1990-03-23 1991-10-01 Martin Marietta Corporation Electronically stabilized tracking system

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2154362B1 (de) * 1971-10-01 1976-03-26 Thomson Csf
FR2325897A1 (fr) * 1975-09-24 1977-04-22 Thomson Csf Systeme de guidage de missiles
FR2599856B1 (fr) * 1979-09-07 1989-03-31 Thomson Csf Systeme d'emission reception pour radar doppler a frequence agile
FR2468920A1 (fr) * 1979-10-26 1981-05-08 Thomson Csf Radar aeroporte a modulation de frequence et son application a un autodirecteur de missile
FR2548488B1 (fr) * 1983-06-28 1985-10-18 Thomson Csf Dispositif de generation d'un signal module en frequence
GB2208017B (en) * 1983-11-25 1989-07-05 British Aerospace Guidance systems
US4765573A (en) * 1987-04-29 1988-08-23 Raytheon Company Method of compensation for friction in a stabilized platform
FR2642583B1 (fr) * 1989-01-27 1991-04-12 Thomson Csf Procede et circuit d'asservissement de la vitesse d'un moteur a courant continu a la tension de commande du moteur

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0107232A1 (de) * 1982-10-19 1984-05-02 Hollandse Signaalapparaten B.V. Stabilisationsvorrichtung für optische Sucher bei Land- und Wasserfahrzeugen
US5052637A (en) * 1990-03-23 1991-10-01 Martin Marietta Corporation Electronically stabilized tracking system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
JAMES ET MANEY: "ADAPTIVE ALIGNMENT OF A SHIPBOARD SATELLITE TERMINAL", 1985 IEEE MILITARY COMMUNICATIONS CONFERENCE MILCOM 85, October 1985 (1985-10-01), BOSTON,MA, pages 300 - 305, XP031433250 *
MASTEN ET SEBESTA: "LINE-OF-SIGHT STABILIZATION/TRACKING SYSTEMS: AN OVERVIEW", PROCEEDINGS OF THE 1987 AMERICAN CONTROL CONFERENCE, June 1987 (1987-06-01), MINNEAPOLIS,US, pages 1477 - 1482, XP031428224 *

Also Published As

Publication number Publication date
US5440314A (en) 1995-08-08
FR2700640B1 (fr) 1995-02-24
FR2700640A1 (fr) 1994-07-22

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