EP0653600A1 - Procédé pour la détermination de la vitesse de rotation d'une ligne de visée à l'aide d'une autodirecteur fixé rigidement - Google Patents

Procédé pour la détermination de la vitesse de rotation d'une ligne de visée à l'aide d'une autodirecteur fixé rigidement Download PDF

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Publication number
EP0653600A1
EP0653600A1 EP94116112A EP94116112A EP0653600A1 EP 0653600 A1 EP0653600 A1 EP 0653600A1 EP 94116112 A EP94116112 A EP 94116112A EP 94116112 A EP94116112 A EP 94116112A EP 0653600 A1 EP0653600 A1 EP 0653600A1
Authority
EP
European Patent Office
Prior art keywords
missile
virtual
search head
head
azimuth
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.)
Granted
Application number
EP94116112A
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German (de)
English (en)
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EP0653600B2 (fr
EP0653600B1 (fr
Inventor
Dr. Athanassios Zacharias
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.)
Mafo Systemtechnik Dr Ing A Zacharias GmbH and Co KG
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Mafo Systemtechnik Dr Ing A Zacharias GmbH and Co KG
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6502769&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0653600(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Mafo Systemtechnik Dr Ing A Zacharias GmbH and Co KG filed Critical Mafo Systemtechnik Dr Ing A Zacharias GmbH and Co KG
Publication of EP0653600A1 publication Critical patent/EP0653600A1/fr
Application granted granted Critical
Publication of EP0653600B1 publication Critical patent/EP0653600B1/fr
Publication of EP0653600B2 publication Critical patent/EP0653600B2/fr
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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
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems

Definitions

  • the invention relates to a method for determining the line of sight missile / target with a search head rigidly connected to the missile.
  • DE 42 38 521 C2 discloses a device for detecting targets on the ground by sensors of different spectral ranges for low-flying aircraft, a sensor being mounted on a lift-generating missile towed by the aircraft and the sensor signals from the own movements of the missile without the use of gyroscopes constant measurement of its attitude angles to the aircraft are decoupled.
  • missiles with a gimbal-mounted, inertially stabilized television camera are known, the signals of which are directed to a monitor in order to steer the missile from there.
  • the object of the invention is to provide a method by means of which proportional navigation can be carried out in a simple manner together with a search head rigidly connected to the missile.
  • the output signals of the search head rigidly connected to the missile are used to track a gimbal-mounted and gyro-stabilized virtual search head of the line of sight.
  • the virtual seeker head represents the mathematical model of a gimbal-mounted and gyro-stabilized seeker head in the computer.
  • the motion simulation of the virtual seeker head that runs simultaneously with the movement of the missile enables the rotation rate of the missile / target line of sight to be determined.
  • the frame arrangement and the gyro stabilization of the virtual seeker head play no essential role for the inventive method.
  • the type of frame design and gyro stabilization are reflected in the software of the virtual search head.
  • the line of sight rotation rate is determined according to the invention as follows: The azimuth and elevation placement angles of the target, measured in the rigid search head, are converted into the azimuth and elevation placement angles of the virtual search head.
  • the virtual search head tracks the line of sight with a time behavior of the 1st order (or higher).
  • the rotation rates of the virtual search head in the inertial system or, in the case of earth-fixed application, in the geodetic system, which flow into the steering algorithm, result from the movements of the virtual search head calculated by software.
  • the respective angular positions of the virtual search head are also determined from the rotation rates of the virtual search head, i.e. its angular position in the inertial system. These are required to convert the position angle from the rigid to the virtual search head.
  • the missile follows the steering commands, changes its position and position, and this changes the placement angle in the rigid seeker head. These are in turn converted into the virtual search head. The loop is now closed.
  • a missile 1 has a search head 2 rigidly arranged therein. With s1 the missile longitudinal axis is designated, which is also the axis of the rigid seeker head 2, and with SL the line of sight missile 1 - target Z.
  • ⁇ s represents the elevation offset angle of the rigid seeker head 2, that is, the angle between the missile longitudinal axis s 1 or the axis of the rigid seeker head 2 and the line of sight SL.
  • the virtual seeker With 2v the virtual seeker is designated, with its axis 1 and with ⁇ v the angle of deposit between the axis v1 of the virtual seeker 2v and the line of sight SL.
  • the components x s and z s in the system of the rigid seeker head result from the offset angle ⁇ s as follows:
  • the conversion of the components of the unit vector [r1] in the rigid system, i.e. x s and z s , into the components of the virtual system x v and z v is carried out according to the following equation: where [ T ] VS represents the transformation matrix for the conversion from the rigid to the virtual system.
  • the virtual offset angle ⁇ v is according to FIG. 1
  • the 1st order follow-up behavior is only an example and can also be replaced by a higher-order follow-up behavior.
  • FIG. 2 shows the three-dimensional coordinate system of the rigid and the virtual search head with the respective storage angles ⁇ s and ⁇ v (elevation) and ⁇ s and ⁇ v (azimuth).
  • the rigid seeker head 2 has the actual azimuth and elevation placement angles ⁇ s and ⁇ s as input variables.
  • the placement angles ⁇ s and ⁇ s are measured with a measuring mechanism and the measured placement angles ⁇ sm and ⁇ sm in the virtual search head 2v are transformed by the transformation software 3 into the azimuth and elevation placement angles ⁇ v and ⁇ v of the virtual search head 2v.
  • the virtual offset angles ⁇ v and ⁇ v are fed to the dynamic mathematical model 4 of the virtual search head 2 and from this the rotation rates q v , r v of the virtual search head 2v are calculated, with which the virtual search head 2v tracks the line of sight SL.
  • the values of the rotation rates q v and r v simultaneously flow into the steering controller 5 in order to form the commands for the missile 6, so that the missile speed vector is rotated in proportion to the line of sight SL.
  • the loop is closed via the feedback 7.
  • the conversion with the transformation software 3 from the rigid to the virtual system using the equations (5) and (6) takes place via the loops 8 and 9.
  • the rotation rates p v , q v and r v of the virtual search head 2v determined, which are used to form the transformation matrix [T] VI .
  • the rotational speeds p, q and r of the rigid seeker head 2 are measured via the loop 9 and are used to form the transformation matrix [T] IS .
  • the rotation rates p, q, r of the rigid seeker head 2 can be obtained with turning gyroscopes 11, for example from three uniaxial or one uniaxial and one biaxial gyroscope.
  • the search head 2 rigidly connected to the missile 1 has the placement angles Ab s and ⁇ s , while the gyroscope 11 measure the rotation rates p m , q m , r m .
  • the time derivative Q ⁇ of the quarternion Q is formed from the rotation rates p m , q m , r m .
  • the quarternion Q and thus the transformation matrix [T] SI for the transformation from the inertial (geodetic) into the missile-fixed (rigid) system is obtained by integration.
  • the transformation matrix [T] VS is obtained according to equation (5) above for the transformation from the rigid (rigid) search head system into the virtual search head system.
  • the components of the unit vector [r1] are formed in the target direction Z in the missile-fixed (rigid) system, as explained above in connection with FIG. 1 using the components x s , z s . These components are converted into the virtual seeker head system using the transformation matrix [T] VS (see equation (2)).
  • the deposit angles ⁇ v and ⁇ v are determined in the virtual search head 2v.
  • the sought-after rotation rates of the virtual seeker head 2v are proportional to the storage angles, assuming a first-order follow-up behavior (equations 4 and 7).
  • q v K ⁇ ⁇ v (4)
  • r v K ⁇ ⁇ v (7)
  • the rotation rates q v and r v of the virtual search head 2v are completed by the rotation rate p v , which is separately a forced coupling (ZK) is determined since the virtual seeker head 2v cannot rotate freely about its longitudinal axis.
  • the azimuth and elevation placement angles ⁇ sm and ⁇ sm measured with the rigidly connected search head are thus transformed into the azimuth and elevation placement angles ⁇ v and ⁇ v of a gimbal-mounted and gyro-stabilized virtual search head 2v, which is rotated by p v , q v and r v about its axes v1, v2, v3 the line of sight SL is tracked.

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)
  • Navigation (AREA)
  • Communication Control (AREA)
  • Eye Examination Apparatus (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
EP94116112A 1993-11-16 1994-10-12 Procédé pour la détermination de la vitesse de rotation d'une ligne de visée à l'aide d'une autodirecteur fixé rigidement Expired - Lifetime EP0653600B2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4339187 1993-11-16
DE4339187A DE4339187C1 (de) 1993-11-16 1993-11-16 Verfahren zur Bestimmung der Sichtliniendrehraten mit einem starren Suchkopf

Publications (3)

Publication Number Publication Date
EP0653600A1 true EP0653600A1 (fr) 1995-05-17
EP0653600B1 EP0653600B1 (fr) 1996-05-08
EP0653600B2 EP0653600B2 (fr) 2002-01-02

Family

ID=6502769

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94116112A Expired - Lifetime EP0653600B2 (fr) 1993-11-16 1994-10-12 Procédé pour la détermination de la vitesse de rotation d'une ligne de visée à l'aide d'une autodirecteur fixé rigidement

Country Status (5)

Country Link
US (1) US5669579A (fr)
EP (1) EP0653600B2 (fr)
AT (1) ATE137857T1 (fr)
CA (1) CA2135362A1 (fr)
DE (2) DE4339187C1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2304178A (en) * 1995-08-10 1997-03-12 Mafo Systemetechnik Dr Ing A Z A weapon
EP0924490A1 (fr) * 1997-12-19 1999-06-23 Bodenseewerk Gerätetechnik GmbH Tête chercheuse pour missile poursuiveur de cible
CN107270904A (zh) * 2017-06-23 2017-10-20 西北工业大学 基于图像配准的无人机辅助引导控制系统及方法

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19500993A1 (de) * 1995-01-14 1996-07-18 Contraves Gmbh Verfahren zum Bestimmen der Rollage eines rollenden Flugobjektes
US6651004B1 (en) * 1999-01-25 2003-11-18 The United States Of America As Represented By The Secretary Of The Navy Guidance system
JP4285367B2 (ja) * 2003-10-29 2009-06-24 セイコーエプソン株式会社 視線誘導度算出システムおよび視線誘導度算出プログラム、並びに視線誘導度算出方法
US8946606B1 (en) * 2008-03-26 2015-02-03 Arete Associates Determining angular rate for line-of-sight to a moving object, with a body-fixed imaging sensor
US9222755B2 (en) * 2014-02-03 2015-12-29 The Aerospace Corporation Intercepting vehicle and method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2208017A (en) * 1983-11-25 1989-02-15 British Aerospace Guidance systems

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB106066A (en) * 1917-01-04 1917-05-10 Robert Renton Hind Improvements in Sugar-cane Mill Housings.
GB1351279A (en) † 1958-07-01 1974-04-24 Bodensee Fluggeraete Target seeking gyro
US4108400A (en) * 1976-08-02 1978-08-22 The United States Of America As Represented By The Secretary Of The Navy Dual mode guidance system
JPS5644909A (en) * 1979-09-20 1981-04-24 Tech Res & Dev Inst Of Japan Def Agency Inducing device of flying material
DE3233612C2 (de) † 1982-09-10 1984-07-26 Bodenseewerk Gerätetechnik GmbH, 7770 Überlingen Gerät zur Bestimmung der Nordrichtung
US4492352A (en) * 1982-09-22 1985-01-08 General Dynamics, Pomona Division Noise-adaptive, predictive proportional navigation (NAPPN) guidance scheme
US4502650A (en) * 1982-09-22 1985-03-05 General Dynamics, Pomona Division Augmented proportional navigation in third order predictive scheme
US4542870A (en) * 1983-08-08 1985-09-24 The United States Of America As Represented By The Secretary Of The Army SSICM guidance and control concept
US5253823A (en) * 1983-10-07 1993-10-19 The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland Guidance processor
US4643373A (en) * 1984-12-24 1987-02-17 Honeywell Inc. Missile system for naval use
EP0222571A3 (fr) * 1985-10-31 1988-05-04 British Aerospace Public Limited Company Guidage de missile sur ligne de visée
JPH02150698A (ja) * 1988-12-01 1990-06-08 Mitsubishi Electric Corp 飛しょう体の誘導装置
DE4034419A1 (de) * 1989-10-28 1991-05-02 Messerschmitt Boelkow Blohm Verfahren zur lenkung eines flugkoerpers mit sensor zur zielsuche, der auf einer stabilisierten plattform gehaltert ist
US5279478A (en) * 1989-12-20 1994-01-18 Westinghouse Electric Corp. Seeker circuit for homing missile guidance
JP3232564B2 (ja) * 1990-02-26 2001-11-26 三菱電機株式会社 飛しよう体の誘導装置
DE4007999A1 (de) * 1990-03-13 1991-09-19 Messerschmitt Boelkow Blohm Fernlenkbarer flugkoerper
US5052637A (en) * 1990-03-23 1991-10-01 Martin Marietta Corporation Electronically stabilized tracking system
DE4238521C1 (de) * 1991-08-09 1993-10-21 Deutsche Aerospace Zielerfassungseinrichtung
FR2700640B1 (fr) * 1993-01-15 1995-02-24 Thomson Csf Dispositif de stabilisation du pointage du faisceau d'une antenne à balayage électronique rigidement fixée sur un mobile.

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2208017A (en) * 1983-11-25 1989-02-15 British Aerospace Guidance systems

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2304178A (en) * 1995-08-10 1997-03-12 Mafo Systemetechnik Dr Ing A Z A weapon
GB2304178B (en) * 1995-08-10 1999-02-24 Mafo Systemetechnik Dr Ing A Z A weapon
EP0924490A1 (fr) * 1997-12-19 1999-06-23 Bodenseewerk Gerätetechnik GmbH Tête chercheuse pour missile poursuiveur de cible
US6179246B1 (en) 1997-12-19 2001-01-30 Bodenseewerk Geratetechnik Gmbh Seeker head for target tracking missiles
CN107270904A (zh) * 2017-06-23 2017-10-20 西北工业大学 基于图像配准的无人机辅助引导控制系统及方法
CN107270904B (zh) * 2017-06-23 2020-07-03 西北工业大学 基于图像配准的无人机辅助引导控制系统及方法

Also Published As

Publication number Publication date
US5669579A (en) 1997-09-23
EP0653600B2 (fr) 2002-01-02
DE59400264D1 (de) 1996-06-13
DE4339187C1 (de) 1995-04-13
CA2135362A1 (fr) 1995-05-17
EP0653600B1 (fr) 1996-05-08
ATE137857T1 (de) 1996-05-15

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