EP0653600B2 - Method for determining the rotation speed of the aiming line with a strapped down seeker head - Google Patents

Method for determining the rotation speed of the aiming line with a strapped down seeker head Download PDF

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Publication number
EP0653600B2
EP0653600B2 EP94116112A EP94116112A EP0653600B2 EP 0653600 B2 EP0653600 B2 EP 0653600B2 EP 94116112 A EP94116112 A EP 94116112A EP 94116112 A EP94116112 A EP 94116112A EP 0653600 B2 EP0653600 B2 EP 0653600B2
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Prior art keywords
missile
virtual
seeker head
head
azimuth
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German (de)
French (fr)
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EP0653600B1 (en
EP0653600A1 (en
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Dr. Athanassios Zacharias
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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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    • 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 seeker head rigidly connected to the missile.
  • a device for detecting targets on the ground by sensors is different Spectral ranges for low-flying aircraft are known, with a sensor on a lift-generating aircraft towed by the aircraft Missile is mounted and the sensor signals from the own movements of the missile without Use of gyroscopes can be decoupled from the aircraft by constant measurement of its position angle.
  • DE 40 34 419 A1 and DE 40 07 999 C2 are missiles with a gimbal-mounted, inertially stabilized Known television camera, whose signals are directed to a monitor, from there to the missile to steer.
  • US-A-5 253 823 discloses a steering processor in which a Kalman filter is used in combination with a rigid seeker head using coordinate transformations to determine the validity of the to ensure the underlying approximation.
  • the object of the invention is to provide a method with the help of which together with the missile Proportional navigation can be carried out easily in a rigidly connected search head.
  • the output signals of the search head rigidly connected to the missile are used, to track a gimballed and gyro-stabilized virtual seeker head.
  • the virtual search head represents the mathematical model of a gimbal stored and gyro-stabilized search head in the computer. The same time with the movement of the missile Running motion simulation of the virtual seeker head enables the rotation rate of the line of sight to be determined Missile / target.
  • the frame arrangement and the gyro stabilization of the virtual seeker head play no essential for the inventive method Role.
  • the type of frame design and gyro stabilization are reflected in the software of the virtual Seeker head down.
  • the azimuth and elevation placement angles of the target 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 result from the movements of the virtual search head calculated by software Search head in the inertial system or, in the case of earth-fixed application, in the geodetic system, which in the steering algorithm incorporated.
  • the respective position angles of the are also determined from the rotation rates of the virtual search head virtual search head, i.e. its angular position in the inertial system. These are used to convert the position angle from staring at the virtual seeker head needed.
  • the missile follows the steering commands, changes its position and position, and this changes the placement angle in the rigid search head. These are in turn converted into the virtual search head. With that, the loop has closed.
  • a missile 1 has a search head 2 rigidly arranged therein. With s 1 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 to say 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 head With 2v the virtual seeker head is designated, with v 1 its axis and with ⁇ v the offset angle between the axis v 1 of the virtual seeker head 2v and the line of sight SL.
  • the 1st order follow-up behavior is only an example and can also be achieved through a higher order follow-up behavior be replaced.
  • 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 is determined, which are used to form the transformation matrix [T] vl .
  • the rotational speeds p, q and r of the rigid seeker head 2 are measured via the loop 9, which are used to form the transformation matrix [T] IS .
  • the rates of rotation p, q, r of the rigid seeker head 2 can be made with turning gyros 11, for example from three uniaxial ones or a uniaxial and a 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 [r 1 ] in the target direction Z in the missile-fixed (rigid) system are formed from the measured placement angles ⁇ sm , ⁇ sm of the rigid seeker head 2, 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 placement 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).
  • the rotation rates q v and r v of the virtual search head 2v are completed by the rotation rate p v , which is determined separately via a positive coupling (ZK), since the virtual search 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 around its axes v 1 , v 2 , v 3 of the line of sight SL is tracked.
  • the transformation of the azimuth and elevation placement angles ⁇ sm and ⁇ sm measured with the rigidly connected search head 2 into the azimuth and elevation placement angles ⁇ v and ⁇ v of the virtual search head 2v takes place on the one hand on the basis of the rotation rates p v , q v , r v of the virtual search head 2v about its axes v 1 , v 2 , v 3 , which result from the continuously determined azimuth and elevation placement angles ⁇ v , ⁇ v of the virtual seeker head and the forced coupling ZK, and on the other hand due to the rotation rates p m , q m , r m of the rigidly connected search head around the body-fixed axes s 1 , s 2 , s 3 .

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  • 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)
  • Eye Examination Apparatus (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Communication Control (AREA)

Abstract

A searchhead (2) which is rigidly connected to the missile (1) is used to determine the sightline spin rates of the missile/target (SL). The azimuth and elevation offset angles ( theta s) which are measured using the strapdown searchhead (2) are transformed into the azimuth and elevation offset angles of a gimbal-mounted and gyro-stabilised virtual searchhead (2V) which is slaved to the sightline (SL) by rotation about its axes. <IMAGE>

Description

Die Erfindung bezieht sich auf ein Verfahren zur Bestimmung der Sichtliniendrehraten Flugkörper/Ziel mit einem mit dem Flugkörper starr verbundenen Suchkopf.The invention relates to a method for determining the line of sight missile / target with a seeker head rigidly connected to the missile.

Ein derartiges Verfahren ist bekannt (DE 34 42 598 A1). Dabei ist im Flugkörper ein inertial-stabilisierter Suchkopf kardanisch aufgehängt, der die Komponenten der Drehraten der Sichtlinie Flugkörper/Ziel mißt. Die Meßwerte werden als Eingangswerte benutzt, um den Flugkörper nach dem Lenkgesetz der Proportionalnavigation zu steuern.Such a method is known (DE 34 42 598 A1). There is an inertial-stabilized search head in the missile gimbaled, which measures the components of the rotation rates of the missile / target line of sight. The measured values are used as input values to steer the missile according to the steering law of proportional navigation.

Die kardanische Aufhängung von Suchköpfen erfordert eine aufwendige Präzisionsmechanik. Ein mit dem Flugkörper starr verbundener Suchkopf hätte demgegenüber wegen seiner Einfachheit erhebliche Vorteile. Er weist jedoch den Nachteil auf, daß der damit festgestellte Ablagewinkel zu einem Ausgangssignal führt, das nicht nur von der Drehrate der Sichtlinie Flugkörper/Ziel, sondern auch von der Drehrate des Flugkörpers abhängig ist.The gimbal mounting of seekers requires complex precision mechanics. One with the missile rigidly connected search head would have considerable advantages because of its simplicity. However, he points the disadvantage that the deposit angle thus determined leads to an output signal that is not only dependent on the rotation rate the line of sight missile / target, but also depends on the rate of rotation of the missile.

Aus DE 42 38 521 C2 ist eine Einrichtung zur Erfassung von Zielen am Boden durch Sensoren verschiedener Spektralbereiche für tieffliegende Flugzeuge bekannt, wobei ein Sensor an einem vom Flugzeug geschleppten, auftriebserzeugenden Flugkörper montiert ist und die Sensorsignale von den Eigenbewegungen des Flugkörpers ohne Verwendung von Kreiseln durch ständige Vermessung seiner Lagewinkel zum Flugzeug entkoppelt werden.From DE 42 38 521 C2, a device for detecting targets on the ground by sensors is different Spectral ranges for low-flying aircraft are known, with a sensor on a lift-generating aircraft towed by the aircraft Missile is mounted and the sensor signals from the own movements of the missile without Use of gyroscopes can be decoupled from the aircraft by constant measurement of its position angle.

Aus DE 40 34 419 A1 und DE 40 07 999 C2 sind Flugkörper mit einer kardanisch aufgehängten, inertial-stabilisierten Fernsehkamera bekannt, deren Signale zu einem Monitor geleitet werden, um von dort aus den Flugkörper zu lenken.DE 40 34 419 A1 and DE 40 07 999 C2 are missiles with a gimbal-mounted, inertially stabilized Known television camera, whose signals are directed to a monitor, from there to the missile to steer.

Feiner ist aus US-A-5 253 823 ein Lenkprozessor bekannt, bei dem ein Kalman-Filter in Kombination mit einem starren Suchkopf verwendet wird, wobei Koordinatentransformationen benutzt werden, um die Gültigkeit der zugrunde liegenden Approximation zu gewährleisten.US-A-5 253 823, more precisely, discloses a steering processor in which a Kalman filter is used in combination with a rigid seeker head using coordinate transformations to determine the validity of the to ensure the underlying approximation.

Aufgabe der Erfindung ist es, ein Verfahren bereitzustellen, mit dessen Hilfe zusammen mit einem mit dem Flugkörper starr verbundenen Suchkopf eine Proportionalnavigation auf einfache Weise durchgeführt werden kann.The object of the invention is to provide a method with the help of which together with the missile Proportional navigation can be carried out easily in a rigidly connected search head.

Dies wird erfindungsgemäß mit dem im Anspruch 1 gekennzeichneten Verfahren erreicht. In den Unteransprüchen sind vorteilhafte Ausgestaltungen der Erfindung wiedergegeben.This is achieved according to the invention with the method characterized in claim 1. In the subclaims advantageous embodiments of the invention are shown.

Erfindungsgemäß werden also die Ausgangssignale des mit dem Flugkörper starr verbundenen Suchkopfes benutzt, um einen kardanisch aufgehängten und kreiselstabilisierten virtuellen Suchkopf der Sichtlinie nachzuführen.According to the invention, the output signals of the search head rigidly connected to the missile are used, to track a gimballed and gyro-stabilized virtual seeker head.

Der virtuelle Suchkopf stellt bei dem erfindungsgemäßen Verfahren das mathematische Modell eines kardanisch gelagerten und kreiselstabilisierten Suchkopfes im Rechner dar. Die zeitgleich mit der Bewegung des Flugkörpers ablaufende Bewegungssimulation des virtuellen Suchkopfes ermöglicht die Bestimmung der Drehrate der Sichtlinie Flugkörper/Ziel.In the method according to the invention, the virtual search head represents the mathematical model of a gimbal stored and gyro-stabilized search head in the computer. The same time with the movement of the missile Running motion simulation of the virtual seeker head enables the rotation rate of the line of sight to be determined Missile / target.

Die Rahmenanordnung sowie die Kreiselstabilisierung des virtuellen Suchkopfes, also ob er z. B. durch eine rotierende Masse oder externe Wendekreisel stabilisiert ist, spielen für das erfindungsgemäße Verfahren keine wesentliche Rolle. Die Art der Rahmenausführung und der Kreiselstabilisierung schlagen sich in der Software des virtuellen Suchkopfes nieder.The frame arrangement and the gyro stabilization of the virtual seeker head, so whether it z. B. by a rotating Mass or external rate gyro is stabilized, play no essential for the inventive method Role. The type of frame design and gyro stabilization are reflected in the software of the virtual Seeker head down.

Läßt man Einzelheiten wie notwendige Koordinatentransformationen und diverse Umrechnungen beiseite, so erfolgt die Bestimmung der Sichtliniendrehrate erfindungsgemäß wie folgt:If one leaves aside details such as necessary coordinate transformations and various conversions, this is done the determination of the line of sight rotation rate according to the invention as follows:

Azimut- und Elevationsablagewinkel des Ziels, gemessen im starren Suchkopf, werden in die Azimut- und Elevationsablagewinkel des virtuellen Suchkopfes umgerechnet.The azimuth and elevation placement angles of the target, measured in the rigid seeker head, are converted into the azimuth and elevation placement angles of the virtual search head.

Der virtuelle Suchkopf wird mit einem Zeitverhalten 1. Ordnung (oder höher) der Sichtlinie nachgeführt.The virtual search head tracks the line of sight with a time behavior of the 1st order (or higher).

Aus den per Software berechneten Bewegungen des virtuellen Suchkopfes ergeben sich die Drehraten des virtuellen Suchkopfes im Inertialsystem bzw. bei erdfester Anwendung im geodätischen System, welche in den Lenkalgorithmus einfließen. Aus den Drehraten des virtuellen Suchkopfes ermitteln sich auch die jeweiligen Lagewinkel des virtuellen Suchkopfes, d.h. seine Winkellage im Inertialsystem. Diese werden zur Umrechnung der Lagewinkel vom starren zum virtuellen Suchkopf benötigt.The rotation rates of the virtual result from the movements of the virtual search head calculated by software Search head in the inertial system or, in the case of earth-fixed application, in the geodetic system, which in the steering algorithm incorporated. The respective position angles of the are also determined from the rotation rates of the virtual search head virtual search head, i.e. its angular position in the inertial system. These are used to convert the position angle from staring at the virtual seeker head needed.

Der Flugkörper folgt den Lenkkommandos, ändert seine Lage und Position, und dadurch ändern sich die Ablagewinkel im starren Suchkopf. Diese werden wiederum in den virtuellen Suchkopf umgerechnet. Damit hat sich die Schleife geschlossen.The missile follows the steering commands, changes its position and position, and this changes the placement angle in the rigid search head. These are in turn converted into the virtual search head. With that, the loop has closed.

Nachstehend ist die Erfindung anhand der Zeichnung näher erläutert. Darin zeigen:

  • Fig. 1 eine schematische ebene Darstellung des Elevationsablagewinkels für den starren und den virtuellen Suchkopf;
  • Fig. 2 eine der Fig. 1 entsprechende dreidimensionale Darstellung, wobei der Flugkörper sowie der starre und der virtuelle Suchkopf nicht dargestellt sind;
  • Fig. 3 schematisch das Prinzip des erfindungsgemäßen Verfahrens: und
  • Fig. 4 schematisch das Blockschaltbild der Software zur Durchführung des Verfahrens.
    • The invention is explained in more detail below with reference to the drawing. In it show:
  • 1 shows a schematic plan view of the elevation placement angle for the rigid and the virtual search head;
  • FIG. 2 shows a three-dimensional representation corresponding to FIG. 1, the missile and the rigid and the virtual search head not being shown;
  • 3 schematically shows the principle of the method according to the invention: and
  • Fig. 4 shows schematically the block diagram of the software for performing the method.

    • Gemäß Fig. 1 weist ein Flugkörper 1 einen darin starr angeordneten Suchkopf 2 auf. Mit s1 ist die FlugkörperLängsachse bezeichnet, die zugleich die Achse des starren Suchkopfes 2 ist, und mit SL die Sichtlinie Flugkörper 1 - Ziel Z.1, a missile 1 has a search head 2 rigidly arranged therein. With s 1 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.

    Θs stellt den Elevationsablagewinkel des starren Suchkopfes 2, also den Winkel zwischen der Flugkörper-Längsachse s1 bzw. der Achse des starren Suchkopfes 2 und der Sichtlinie SL dar.Θ s represents the elevation offset angle of the rigid seeker head 2, that is to say the angle between the missile longitudinal axis s 1 or the axis of the rigid seeker head 2 and the line of sight SL.

    Mit 2v ist der virtuelle Suchkopf bezeichnet, mit v1 dessen Achse und mit Θv der Ablagewinkel zwischen der Achse v1 des virtuellen Suchkopfes 2v und der Sichtlinie SL.With 2v the virtual seeker head is designated, with v 1 its axis and with Θ v the offset angle between the axis v 1 of the virtual seeker head 2v and the line of sight SL.

    Aus dem Ablagewinkel Θs ergeben sich für den Sichtlinien-Einheitsvektor [r1] die Komponenten xs und zs im System des starren Suchkopfes, wie folgt:

    Figure 00030001
    For the line-of-sight unit vector [r 1 ], the components x s and z s in the system of the rigid seeker head result from the offset angle Θ s as follows:
    Figure 00030001

    Die Umrechnung der Komponenten des Einheitsvektors [r1] im starren System, also xs und zs, in die Komponenten des virtuellen Systems xv und zv erfolgt nach folgender Gleichung:

    Figure 00030002
    worin [T]VS die Transformationsmatrix zur Umrechnung vom starren in das virtuelle System darstellt.The components of the unit vector [r 1 ] in the rigid system, ie x s and z s , are converted into the components of the virtual system x v and z v using the following equation:
    Figure 00030002
    where [T] VS represents the transformation matrix for the conversion from the rigid to the virtual system.

    Der gesuchte virtuelle Ablagewinkel Θv ist nach Fig. 1 Θv = arc tan zV xV The virtual offset angle Θ v is according to FIG. 1 Θ v = arc tan z V x V

    Die Drehrate qv des virtuellen Suchkopfes 2v ist unter der Annahme eines Folgeverhaltens 1. Ordnung qv = K·Θv The rotation rate q v of the virtual seeker head 2v is 1st order assuming a subsequent behavior q v = K · Θ v

    Das Folgeverhalten 1. Ordnung steht nur beispielhaft und kann auch durch ein Folgeverhalten höherer Ordnung ersetzt werden.The 1st order follow-up behavior is only an example and can also be achieved through a higher order follow-up behavior be replaced.

    In Fig. 2 ist das dreidimensionale Koordinatensystem des starren und des virtuellen Suchkopfes mit den jeweiligen Ablagewinkeln Θs und Θv (Elevation) und Ψs und Ψv (Azimut) dargestellt.2 shows the three-dimensional coordinate system of the rigid and the virtual search head with the respective storage angles Θ s and Θ v (elevation) and Ψ s and Ψ v (azimuth).

    Nach der funktionalen Prinzipskizze der Fig. 3 hat der starre Suchkopf 2 die tatsächlichen Azimut- und Elevationsablagewinkel Ψs und Θs als Eingangsgrößen. Die Ablagewinkel Ψs und Θs werden mit einem Meßwerk gemessen und die gemessenen Ablagewinkel Ψsm und Θsm im virtuellen Suchkopf 2v durch die Transformations-Software 3 in die Azimut- und Elevationsablagewinkel Ψv und Θv des virtuellen Suchkopfs 2v transformiert.3, the rigid seeker head 2 has the actual azimuth and elevation placement angles Ψ s and Θ s as input variables. The placement angles Ψ s and Θ s are measured with a measuring mechanism and the measured placement angles Ψ sm and Θ sm in the virtual search head 2v are transformed by the transformation software 3 into the azimuth and elevation placement angles Ψ v and Θ v of the virtual search head 2v.

    Die virtuellen Ablagewinkel Ψv und Θv werden dem dynamischen mathematischen Modell 4 des virtuellen Suchkopfes 2 zugeführt und daraus die Drehraten qv, rv des virtuellen Suchkopfes 2v berechnet, mit denen der virtuelle Suchkopf 2v der Sichtlinie SL nachgeführt wird.The virtual offset angles Ψ v and Θ 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.

    Die Werte der Drehraten qv und rv fließen zugleich in den Lenkregler 5 ein, um die Kommandos für den Flugkörper 6 zu bilden, so daß der Flugkörpergeschwindigkeitsvektor proportional zur Sichtlinie SL gedreht wird. Die Schleife wird über die Rückführung 7 geschlossen.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.

    Die Transformation vom starren Suchkopf 2 in den virtuellen Suchkopf 2v mit der Transformationsmatrix [T]VS erfolgt nach folgender Gleichung: [T]VS = [T]VI x [T]IS The transformation from the rigid search head 2 into the virtual search head 2v with the transformation matrix [T] VS takes place according to the following equation: [T] VS = [T] VI x [T] IS

    Darin stellen [T]VI die Transformationsmatrix vom inertialen (geodätischen) System in das virtuelle System und [T]IS die Transformationsmatrix vom flugkörperfesten oder starren System in das inertiale (geodätische) System dar, wobei gilt: [T] IS = [T] T SI worin [T] T / SI die transponierte Transformationsmatrix vom inertialen (geodätischen) System zum flugkörperfesten System ist.Therein, [T] VI represent the transformation matrix from the inertial (geodetic) system into the virtual system and [T] IS the transformation matrix from the missile-fixed or rigid system into the inertial (geodesic) system, whereby: [T] IS = [T] T SI where [T] T / SI is the transposed transformation matrix from the inertial (geodetic) system to the missile-fixed system.

    Die Umrechnung mit der Transformations-Software 3 vom starren in das virtuelle System anhand der Gleichungen (5) und (6) erfolgt über die Schleifen 8 und 9. Dazu werden über die Schleife 8 durch die Software 10 die Drehraten pv, qv und rv des virtuellen Suchkopfes 2v ermittelt, die zur Bildung der Transformationsmatrix [T]vl herangezogen werden. Über die Schleife 9 werden die Drehgeschwindigen p, q und r des starren Suchkopfes 2 gemessen, die zur Bitdung der Transformationsmatrix [T]IS herangezogen werden. 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. For this purpose, the rotation rates p v , q v and r v of the virtual search head 2v is determined, which are used to form the transformation matrix [T] vl . The rotational speeds p, q and r of the rigid seeker head 2 are measured via the loop 9, which are used to form the transformation matrix [T] IS .

    Die Drehraten p, q, r des starren Suchkopfes 2 können mit Wendekreiseln 11, beispielsweise aus drei einachsigen oder einem einachsigen und einem zweiachsigen Wendekreisel, erhalten werden.The rates of rotation p, q, r of the rigid seeker head 2 can be made with turning gyros 11, for example from three uniaxial ones or a uniaxial and a biaxial gyroscope.

    In Fig. 4 ist die Software zur Realisierung des virtuellen Suchkopfes 2v näher erläutert.4 the software for realizing the virtual search head 2v is explained in more detail.

    Danach weist der starr mit dem Flugkörper 1 verbundene Suchkopf 2 die Ablagewinkel Ψs und Θs auf, während die Wendekreisel 11 die Drehraten pm, qm, rm messen.Then the search head 2 rigidly connected to the missile 1 has the placement angles Ab s and Θ s , while the gyroscope 11 measure the rotation rates p m , q m , r m .

    Damit ergeben sich folgende Eingangsgrößen des virtuellen Suchkopfes 2v:

  • a) die Ablagewinkel Ψsm und Θsm, die der mit dem Flugkörper 1 starr verbundene Suchkopf 2 als Meßwerte ausgibt, und
  • b) die von den Wendekreiseln 11 gemessenen Werte pm, qm, rm für die Drehraten des Flugkörpers 1, bezogen auf die drei Achsen des körperfesten (starren) Koordinatensystems.
    • This results in the following input variables of the virtual search head 2v:
  • a) the placement angles Ψ sm and Θ sm , which the search head 2 rigidly connected to the missile 1 outputs as measured values, and
  • b) the values p m , q m , r m measured by the turning gyros 11 for the rotation rates of the missile 1, based on the three axes of the body-fixed (rigid) coordinate system.

    • Aus den Drehraten pm, qm, rm wird die zeitliche Ableitung Q der Quarternion Q gebildet. Durch Integration erhält man die Quarternion Q und damit die Transformationsmatrix [T]SI für die Transformation vom inertialen (geodätischen) in das flugkörperfeste (starre) System.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.

    Mit Hilfe der Transformationsmatrix [T]VI für die Transformation vom inertialen System in das virtuelle Suchkopfsystem und der Transformationsmatrix [T]IS für die Transformation vom starren in das inertiale geodätische System erhält man nach der vorstehenden Gleichung (5) die Transformationsmatrix [T]VS für die Transformation vom körperfesten (starren) Suchkopfsystem in das virtuelle Suchkopfsystem.With the help of the transformation matrix [T] VI for the transformation from the inertial system into the virtual search head system and the transformation matrix [T] IS for the transformation from the rigid into the inertial geodetic system, 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.

    Aus den gemessenen Ablagewinkeln Ψsm, Θsm des starren Suchkopfes 2 werden die Komponenten des Einheitsvektors [r1] in Zielrichtung Z im flugkörperfesten (starren) System gebildet, wie vorstehend im Zusammenhang in Fig. 1 anhand der Komponenten xs, zs erläutert. Diese Komponenten werden mit der Transformationsmatrix [T]VS in das virtuelle Suchkopfsystem umgerechnet (vergleiche Gleichung (2)).The components of the unit vector [r 1 ] in the target direction Z in the missile-fixed (rigid) system are formed from the measured placement angles Ψ sm , Θ sm of the rigid seeker head 2, 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)).

    Mit den transformierten Komponenten (xv, zv) des Einheitsvektors [r1] werden die Ablagewinkel Ψv und Θv im virtuellen Suchkopf 2v ermittelt.With the transformed components (x v , z v ) of the unit vector [r 1 ], the placement angles Ψ v and Θ v are determined in the virtual search head 2v.

    Die gesuchten Drehraten des virtuellen Suchkopfes 2v sind unter der Annahme eines Folgeverhaltens 1. Ordnung den Ablagewinkeln proportional (Gleichungen 4 und 7). qv = K · Θv und rv = K · Ψv 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 · Θ v and r v = K · Ψ v

    Die Drehraten qv und rv des virtuellen Suchkopfes 2v werden durch die Drehrate pv vervollständigt, welche gesondert über eine Zwangskopplung (ZK) ermittelt wird, da sich der virtuelle Suchkopf 2v nicht frei um seine Längsachse drehen kann.The rotation rates q v and r v of the virtual search head 2v are completed by the rotation rate p v , which is determined separately via a positive coupling (ZK), since the virtual search head 2v cannot rotate freely about its longitudinal axis.

    Aus pv, qv, rv erhält man die zeitliche Ableitung Qv und durch Integration die Quarternion Qv, aus der die Transformationsmatrix [T]VI gebildet wird und mit deren Hilfe zusammen mit der Transformationsmatrix [T]IS die Transformationsmatrix [T]VS gemäß der Gleichung (5) ermittelt wird.From p v , q v , r v one obtains the time derivative Q v and by integration the quarternion Q v , from which the transformation matrix [T] VI is formed and with the help of which, together with the transformation matrix [T] IS, the transformation matrix [T ] VS is determined according to equation (5).

    Bei dem erfindungsgemäßen Verfahren werden also die mit dem starr verbundenen Suchkopf gemessenen Azimut- und Elevationsablagewinkel ψsm und Θsm in die Azimut- und Elevationsablagewinkel ψv und Θv eines kardanisch gelagerten und kreiselstabilisierten virtuellen Suchkopfes 2v transformiert, der durch Drehung pv, qv und rv um seine Achsen v1, v2, v3 der Sichtlinie SL nachgeführt wird.In the method according to the invention, the azimuth and elevation placement angles ψ sm and Θ sm measured with the rigidly connected search head are thus transformed into the azimuth and elevation placement angles ψ v and Θ v of a gimbal-mounted and gyro-stabilized virtual search head 2v, which is rotated by p v , q v and r v around its axes v 1 , v 2 , v 3 of the line of sight SL is tracked.

    Die Transformation der mit dem starr verbundenen Suchkopf 2 gemessenen Azimut- und Elevationsablagewinkel ψ sm und Θsm in die Azimut- und Elevationsablagewinkel ψv und Θv des virtuellen Suchkopfes 2v erfolgt einerseits aufgrund der Drehraten pv, qv, rv des virtuellen Suchkopfes 2v um seine Achsen v1, v2, v3, die sich aus den kontinuierlich ermittelten Azimut- und Elevationsablagewinkeln ψv, Θv des virtuellen Suchkopfes und der Zwangskopplung ZK ergeben, und andererseits aufgrund der Drehraten pm, qm, rm des starr verbundenen Suchkopfes um die körperfesten Achsen s1, s2, s3.The transformation of the azimuth and elevation placement angles ψ sm and Θ sm measured with the rigidly connected search head 2 into the azimuth and elevation placement angles ψ v and Θ v of the virtual search head 2v takes place on the one hand on the basis of the rotation rates p v , q v , r v of the virtual search head 2v about its axes v 1 , v 2 , v 3 , which result from the continuously determined azimuth and elevation placement angles ψ v , Θ v of the virtual seeker head and the forced coupling ZK, and on the other hand due to the rotation rates p m , q m , r m of the rigidly connected search head around the body-fixed axes s 1 , s 2 , s 3 .

    Unter der Zwangskopplung ZK ist dabei eine mathematische Bedingung zu verstehen, welche berücksichtigt, daß der virtuelle Suchkopf in der Längsachse nicht frei drehbar gegenüber dem Flugkörper ist. Vielmehr ergibt sich die Drehrate pv um die Achse v1 des virtuellen Koordinatensystems aus:

    • den Drehraten qv um die Achse v2 und rv um die Achse v3 des virtuellen Koordinatensystems
    • den Drehraten des Flugkörpers pm, qm, rm um die flugkörperfesten Achsen s1, s2 und s3
    sowie
    • der Transformationsmatrix [T]VS,
    wobei die Transformationsmatrix [T]VS sich aus den Gleichungen (5) und (6) auf Seite 6 der Beschreibung ergibt.Forced coupling ZK is to be understood as a mathematical condition which takes into account that the virtual seeker head cannot be freely rotated in relation to the missile in the longitudinal axis. Rather, the rotation rate p v about the axis v 1 of the virtual coordinate system results from:
    • the rotation rates q v about the axis v 2 and r v about the axis v 3 of the virtual coordinate system
    • the rotation rates of the missile p m , q m , r m around the missile fixed axes s 1 , s 2 and s 3
    such as
    • the transformation matrix [T] VS ,
    where the transformation matrix [T] VS results from equations (5) and (6) on page 6 of the description.

    Claims (7)

    1. A method for determining the rates of turn of the missile/target line of sight with a seeker head (2) rigidly mounted on the missile (1), the azimuth and elevation deviation angles (Ψsm and sm) of the target measured with the rigidly mounted seeker head (2) in the missile-fixed coordinate system (s1, s2, s3) being transformed to the azimuth and elevation deviation angles (Ψv and v)of the target based on a coordinate system, characterized in that the coordinate system is a coordinate system (v1, v2, v3) of a virtual, gimbal mounted and gyrostabilized seeker head (2v) that is the mathematical model of a gimbal mounted and gyrostabilized seeker head in a computer and that tracks the missile/target line of sight (SL) by rotation with the rates of turn (pv, qv, rv) about its three axes (v1, v2, v3) by performing a virtual seeker head's follow-up simulation at the same time, the nature of the frame design and gyrostabilisation being reflected in the software of the gimbal mounted, gyrostabilized seeker head to be simulated.
    2. The method of claim 1, characterized in that the transformation of the azimuth and elevation deviation angles ((Ψsm and sm) measured with the rigidly mounted seeker head (2) to the azimuth and elevation deviation angles (Ψv and v) of the virtual seeker head (2v) takes place about its three axes (v1, v2, v3) and, on the other hand, via the rates of turn (pm, qm, rm) of the rigidly mounted seeker head (2) about the three missile-fixed axes (s1, s2, s3).
    3. The method of claim 1 or 2, characterized in that the virtual seeker head (2v) tracks the missile/target line of sight (SL) with a first- or higher-order time response.
    4. The method of any of claims 1 to 3, characterized in that the quaternion method is used during transformation.
    5. The method of any of claims 1 to 3, characterized in that the Euler's angle method is used during transformation.
    6. The method of any of the above claims, characterized in that the rates of turn (qv, rv) of the virtual seeker head (2v) about its two axes (v2, v3) perpendicular to its longitudinal axis (v1) are used to guide the missile (1) by proportional navigation.
    7. The method of any of the above claims, characterized in that any desired frame assembly of the virtual seeker head (2v) is used.
    EP94116112A 1993-11-16 1994-10-12 Method for determining the rotation speed of the aiming line with a strapped down seeker head Expired - Lifetime EP0653600B2 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    DE4339187A DE4339187C1 (en) 1993-11-16 1993-11-16 Procedure for determining the line of sight rotation rate with a rigid search head
    DE4339187 1993-11-16

    Publications (3)

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    EP0653600A1 EP0653600A1 (en) 1995-05-17
    EP0653600B1 EP0653600B1 (en) 1996-05-08
    EP0653600B2 true EP0653600B2 (en) 2002-01-02

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    EP (1) EP0653600B2 (en)
    AT (1) ATE137857T1 (en)
    CA (1) CA2135362A1 (en)
    DE (2) DE4339187C1 (en)

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    US6651004B1 (en) * 1999-01-25 2003-11-18 The United States Of America As Represented By The Secretary Of The Navy Guidance system
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    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
    CN107270904B (en) * 2017-06-23 2020-07-03 西北工业大学 Unmanned aerial vehicle auxiliary guide control system and method based on image registration

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    Also Published As

    Publication number Publication date
    US5669579A (en) 1997-09-23
    DE4339187C1 (en) 1995-04-13
    EP0653600B1 (en) 1996-05-08
    EP0653600A1 (en) 1995-05-17
    ATE137857T1 (en) 1996-05-15
    DE59400264D1 (en) 1996-06-13
    CA2135362A1 (en) 1995-05-17

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