EP0745828A1 - Method for determining roll of a spinning flying object - Google Patents

Method for determining roll of a spinning flying object Download PDF

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Publication number
EP0745828A1
EP0745828A1 EP96108075A EP96108075A EP0745828A1 EP 0745828 A1 EP0745828 A1 EP 0745828A1 EP 96108075 A EP96108075 A EP 96108075A EP 96108075 A EP96108075 A EP 96108075A EP 0745828 A1 EP0745828 A1 EP 0745828A1
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EP
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Prior art keywords
flying object
roll
magnetic field
roll position
field strength
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Granted
Application number
EP96108075A
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German (de)
French (fr)
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EP0745828B1 (en
Inventor
Jens Dr. Seidensticker
Wolfgang Dr. Kreuzer
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Rheinmetall Soldier Electronics GmbH
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Contraves GmbH
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/222—Homing guidance systems for spin-stabilized missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/34—Direction control systems for self-propelled missiles based on predetermined target position data
    • F41G7/343—Direction control systems for self-propelled missiles based on predetermined target position data comparing observed and stored data of target position or of distinctive marks along the path towards the target

Definitions

  • the invention relates to a method for determining the roll position of a rolling flying object, in particular for steering a ballistic flying projectile / rocket with roll compensation.
  • these are predominantly flying objects, the rotational movement of which is particularly pronounced about the roll axis.
  • the rotary movements around the other body axes are compared low.
  • at least one direction reference such as the direction of the speed vector of the flying object, is known, for example, by measurement.
  • Flying objects with a more or less stable, ie slowly changing roll frequency are also considered, since it is only for this type of movement that a reliable determination of the roll position is possible not only at individual times with the method presented here.
  • the present invention has for its object to develop a method of the type mentioned above, by means of which a relatively precise determination of the roll position of the flying object is carried out and which requires only little effort.
  • a field strength of the earth's magnetic field is used to determine the roll position of the flying object.
  • This method is to be used to control a ballistic flying projectile / rocket with roll compensation.
  • a field strength vector of the earth's magnetic field is used as a direction reference.
  • a magnetic field sensor preferably measures the component of the earth's magnetic field in the radial direction to the projectile / missile. Depending on the roll position, an alternating, sinusoidal curve of a measured intensity is shown, the minima and maxima of which indicate that the measuring direction is closest to the curve of the earth's magnetic field.
  • the roll frequency is determined from the time interval between the maxima / minima.
  • the location of the magnetic field sensor is also the reference point for the roll position.
  • the roll axis of the obedient flying object is approximated by the speed vector.
  • the direction of the speed vector is known, since it is either defined as a solo run during mission planning and stored in an evaluation computer, or e.g. during the flight is measured with NAVSTAR-GPS.
  • Another possibility of referencing for the rollage results from the measurement of the flying projectile / rocket by radar or laser. Since the irradiation of the projectile / rocket occurs from a known and definable direction, the direction of the earth's magnetic field can thus be assigned to the roll position of the projectile / rocket. In this case, the direction of the speed vector can be omitted.
  • the orientation of the field strength vector is known in a predefined reference system and stored in an evaluation computer.
  • the roll position of the projectile / missile can be calculated for the times of the maximum or minimum intensity. Between these times, the roll position is predetermined with the determined roll frequency. By taking into account the system dead time, i.e. the time required for the evaluation, the accuracy of the roll position determination is additionally increased.
  • a flying object 1 with a magnetic field sensor 2 and a measuring axis 3 is shown schematically.
  • This flying object has a speed vector 4 and a roll axis 5.
  • the arrow w represents the roll angle of the flying object 1 with respect to a vertical reference axis (VRA) 6.
  • a field line 7 of the earth's magnetic field with a field strength vector 8 is shown in broken lines.
  • the roll position of the flying object 1 is determined on the basis of the field strength vector 8, the speed vector 4 of the flying object being known.
  • the method of operation of the present method is as follows:
  • the magnetic field sensor 2 senses an alternating, sinusoidal course of the intensity of the magnetic field with respect to its measuring axis 3. This course is shown in FIG. 2 as a function of time t.
  • the only decisive factor for the evaluation is the qualitative course of a measurement signal 9 with its pronounced maxima and minima, as well as the times 10 belonging to these maxima / minima.
  • a time interval Tp between two maxima or two minima is the duration for one roll revolution of the projectile / rocket.
  • the roll frequency is determined from this.
  • the speed of the flying object 1 is determined independently of the method used. This happens for example via NAVSTAR-GPS (Global Positioning System), with the help of which position values of the projectile / rocket and also speed are determined.
  • NAVSTAR-GPS Global Positioning System
  • the direction of the VRA 6 is also known in a previously defined reference system.
  • the method uses the speed vector 4 as an approximation for the roll axis 5 of the flying object 1.
  • Roll axis 5, VRA 6 and field strength vector 8 permit the determination of the roll position of a reference point, for example the location of the magnetic field sensor 2, at the point in time at which the measurement axis 3 coincides maximally with the field line 7. Between these times, the roll angle w is calculated in advance from the roll frequency and time span after the last reference measurement.

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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)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control And Safety Of Cranes (AREA)
  • Reduction Rolling/Reduction Stand/Operation Of Reduction Machine (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The roll position evaluation system uses a field strength vector (8) of the earth's magnetic field as a directional reference for determining the roll position of the flying object (1). The speed of the object is determined using e.g. NAVSTAR-GPS system. Pref. at least one magnetic field sensor (2) is used for providing the field strength vector of the earth's magnetic field at a given point on the flying object, used as a reference point for the roll position evaluation.

Description

Die Erfindung betrifft ein Verfahren zum Bestimmen der Rollage eines rollenden Flugobjektes, insbesondere zur Lenkung eines/r ballistisch fliegenden Projektils/Rakete mit Rollausgleich.The invention relates to a method for determining the roll position of a rolling flying object, in particular for steering a ballistic flying projectile / rocket with roll compensation.

Bei ballistisch fliegenden Projektilen/Raketen aber auch bei anderen Flugobjekten ist die Bestimmung der Rollage von entscheidender Bedeutung, sofern eine nachträgliche Lenkung dieser Flugobjekte während der Mission erfolgen soll. Insbesondere gilt dies für die Lenkung von ballistisch fliegenden Projektilen/Raketen, bei denen die Möglichkeit einer Flugbahnkorrektur vorgesehen ist, wie beispielsweise in der P 44 01 315.9 beschrieben wird.In the case of ballistic flying projectiles / rockets but also in the case of other flying objects, the determination of the roll position is of crucial importance, provided that these flying objects are to be subsequently controlled during the mission. This applies in particular to the guidance of ballistic flying projectiles / missiles, in which the possibility of a trajectory correction is provided, as described for example in P 44 01 315.9.

Im vorliegenden Fall handelt es sich vorwiegend um Flugobjekte, deren Drehbewegung um die Rollachse besonders ausgeprägt ist. Die Drehbewegungen um die anderen Körperachsen (Nick- und Gierbewegung) sind im Vergleich dazu gering. Dabei wird vorausgesetzt, daß zumindest eine Richtungsreferenz, wie die Richtung des Geschwindigkeitsvektors des Flugobjektes z.B. durch Messung bekannt ist. Ferner werden Flugobjekte mit quasi stabiler, d.h., langsam veränderlicher Rollfrequenz betrachtet, da nur für diese Bewegungsart mit dem hier vorgestellten Verfahren eine gesicherte Bestimmung der Rollage nicht nur zu einzelnen Zeitpunkten möglich ist.In the present case, these are predominantly flying objects, the rotational movement of which is particularly pronounced about the roll axis. The rotary movements around the other body axes (pitch and yaw movement) are compared low. It is assumed that at least one direction reference, such as the direction of the speed vector of the flying object, is known, for example, by measurement. Flying objects with a more or less stable, ie slowly changing roll frequency are also considered, since it is only for this type of movement that a reliable determination of the roll position is possible not only at individual times with the method presented here.

Bislang werden Rollagen mittels Lagereferenzkreisel oder anderen Trägheitsreferenzsystemen ermittelt. Diese Vorrichtungen bzw. Systeme sind mechanische/optronische Präzisionsgeräte und daher entsprechend teuer.Rollages have so far been determined using position reference gyroscopes or other inertial reference systems. These devices or systems are mechanical / optronic precision devices and therefore correspondingly expensive.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren der oben genannten Art zu entwickeln, mittels welchem eine relativ genaue Bestimmung der Rollage des Flugobjektes erfolgt und welches einen nur geringen Aufwand voraussetzt.The present invention has for its object to develop a method of the type mentioned above, by means of which a relatively precise determination of the roll position of the flying object is carried out and which requires only little effort.

Zur Lösung dieser Aufgabe führt, daß eine Feldstärke des Erdmagnetfeldes insbesondere ein Feldstärkevektor zur Bestimmung der Rollage des Flugobjektes verwendet wird.To achieve this object, a field strength of the earth's magnetic field, in particular a field strength vector, is used to determine the roll position of the flying object.

Dieses Verfahren soll zur Lenkung eines/r ballistisch fliegenden Projektils/Rakete mit Rollausgleich eingesetzt werden. Ein Feldstärkevektor des Erdmagnetfeldes wird als Richtungsreferenz genutzt.This method is to be used to control a ballistic flying projectile / rocket with roll compensation. A field strength vector of the earth's magnetic field is used as a direction reference.

Ein Magnetfeldsensor mißt die Komponente des Erdmagnetfeldes vorzugsweise in radialer Richtung zum/r Projektil/Rakete. Dabei zeigt sich in Abhängigkeit der Rollage ein alternierender, sinusartiger Verlauf einer gemessenen Intensität, dessen Minima und Maxima anzeigen, daß die Meßrichtung dem Verlauf des Erdmagnetfeldes am nächsten ist. Aus dem zeitlichen Abstand der Maxima/Minima wird die Rollfrequenz bestimmt.A magnetic field sensor preferably measures the component of the earth's magnetic field in the radial direction to the projectile / missile. Depending on the roll position, an alternating, sinusoidal curve of a measured intensity is shown, the minima and maxima of which indicate that the measuring direction is closest to the curve of the earth's magnetic field. The roll frequency is determined from the time interval between the maxima / minima.

Der Ort des Magnetfeldsensors ist zugleich Bezugspunkt für die Rollage.The location of the magnetic field sensor is also the reference point for the roll position.

Die Rollachse des folgsamen Flugobjektes wird durch den Geschwindigkeitsvektor angenähert. Die Richtung des Geschwindigkeitsvektors ist bekannt, da er entweder als Soliverlauf noch während der Missionsplanung festgelegt und in einem Auswerterechner gespeichert oder während des Fluges z.B. mit NAVSTAR-GPS gemessen wird.The roll axis of the obedient flying object is approximated by the speed vector. The direction of the speed vector is known, since it is either defined as a solo run during mission planning and stored in an evaluation computer, or e.g. during the flight is measured with NAVSTAR-GPS.

Eine weitere Möglichkeit der Referenzierung für die Rollage ergibt sich aus der Vermessung des/r fliegenden Projektils/Rakete durch Radar oder Laser. Da die Bestrahlung des/r Projektils/Rakete aus einer bekannten und festlegbaren Richtung geschieht, kann damit die Richtung des Erdmagnetfeldes der Rollage des/r Projektils/Rakete zugeordnet werden. Auf die Richtung des Geschwindigkeitsvektors kann in diesem Fall verzichtet werden.Another possibility of referencing for the rollage results from the measurement of the flying projectile / rocket by radar or laser. Since the irradiation of the projectile / rocket occurs from a known and definable direction, the direction of the earth's magnetic field can thus be assigned to the roll position of the projectile / rocket. In this case, the direction of the speed vector can be omitted.

Die Orientierung des Feldstärkevektors ist in einem vorab definierten Bezugssystem bekannt und in einem Auswerterechner gespeichert.The orientation of the field strength vector is known in a predefined reference system and stored in an evaluation computer.

Aus der Orientierung von Richtungsreferenz (z.B. Geschwindigkeitsvektor) und Feldstärkevektor läßt sich die Rollage des/r Projektils/Rakete für die Zeitpunkte der maximalen bzw. minimalen Intensität berechnen. Zwischen diesen Zeitpunkten wird die Rollage mit der ermittelten Rollfrequenz vorausbestimmt. Durch Berücksichtigung der Systemtotzeit, d.h., der für die Auswertung erforderliche Zeit, wird die Genauigkeit der Rollagebestimmung zusätzlich gesteigert.From the orientation of the directional reference (e.g. speed vector) and field strength vector, the roll position of the projectile / missile can be calculated for the times of the maximum or minimum intensity. Between these times, the roll position is predetermined with the determined roll frequency. By taking into account the system dead time, i.e. the time required for the evaluation, the accuracy of the roll position determination is additionally increased.

Im Rahmen der Erfindung liegt selbstverständlich auch, daß mehrere Magnetfeldsensoren verwendet werden, wodurch eine genauere Bestimmung der Rollage möglich wird.It is of course also within the scope of the invention that a plurality of magnetic field sensors are used, whereby a more precise determination of the roll position is possible.

Der Fall, daß die Flugbahn des/r Projektils/Rakete auf einer Feldlinie des Erdmagnetfeldes liegt, kann insbesondere bei ballistisch fliegenden Flugkörpern als singulärer Ausnahmefall gesehen werden. In diesem Ausnahmefall ist eine Bestimmung der Rollage mit diesem Verfahren nicht möglich, da trotz Rollbewegung keine Feldstärkeänderungen quer zur Flugbahn auftreten. Dieser Ausnahmefall kann durch eine entsprechende Missionsplanung vermieden werden. Tritt er dennoch ein, so wird er vom Verfahren automatisch erkannt.The case that the trajectory of the projectile / missile lies on a field line of the earth's magnetic field can be seen as a singular exceptional case, in particular in the case of ballistic flying missiles. In this exceptional case, it is not possible to determine the roll position using this method, since no field strength changes occur across the flight path despite the roll movement. Appropriate mission planning can avoid this exceptional case. If it does occur, the procedure will automatically recognize it.

Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung bevorzugter Ausführungsbeispiele sowie anhand der Zeichnung; diese zeigt in

  • Figur 1 eine schematische Darstellung der Beziehung zwischen einem Flugkörper und dem Erdmagnetfeld;
  • Figur 2 eine diagrammartige Darstellung des erfindungsgemäßen Verfahrens zum Bestimmen der Rollage eines Flugobjektes.
Further advantages, features and details of the invention result from the following description of preferred exemplary embodiments and from the drawing; this shows in
  • Figure 1 is a schematic representation of the relationship between a missile and the earth's magnetic field;
  • Figure 2 is a diagrammatic representation of the inventive method for determining the roll position of a flying object.

Gemäß Figur 1 ist schematisch ein Flugobjekt 1 mit einem Magnetfeldsensor 2 und einer Meßachse 3 dargestellt. Dieses Flugobjekt hat einen Geschwindigkeitsvektor 4 und eine Rollachse 5. Der Pfeil w stellt den Rollwinkel des Flugobjektes 1 gegenüber einer vertikalen Referenzachse (VRA) 6 dar. Strichpunktiert ist eine Feldlinie 7 des Erdmagnetfeldes mit einem Feldstärkevektor 8 eingezeichnet.According to FIG. 1, a flying object 1 with a magnetic field sensor 2 and a measuring axis 3 is shown schematically. This flying object has a speed vector 4 and a roll axis 5. The arrow w represents the roll angle of the flying object 1 with respect to a vertical reference axis (VRA) 6. A field line 7 of the earth's magnetic field with a field strength vector 8 is shown in broken lines.

Anhand des Feldstärkevektors 8 erfolgt die Bestimmung der Rollage des Flugobjektes 1, wobei der Geschwindigkeitsvektor 4 des Flugobjektes bekannt ist.The roll position of the flying object 1 is determined on the basis of the field strength vector 8, the speed vector 4 of the flying object being known.

Die Funktionsweise der vorliegenden Verfahrens ist folgende:The method of operation of the present method is as follows:

Infolge der Rollbewegung des Flugobjektes 1 sensiert der Magnetfeldsensor 2 bezüglich seiner Meßachse 3 einen alternierenden, sinusartigen Verlauf der Intensität des Magnetfeldes. Dieser Verlauf ist in Fig. 2 als Funktion über der Zeit t dargestellt.As a result of the rolling movement of the flying object 1, the magnetic field sensor 2 senses an alternating, sinusoidal course of the intensity of the magnetic field with respect to its measuring axis 3. This course is shown in FIG. 2 as a function of time t.

Entscheidend für die Auswertung ist allein der qualitative Verlauf eines Meßsignals 9 mit seinen ausgeprägten Maxima und Minima, sowie den zu diesem Maxima/Minima gehörenden Zeitpunkten 10.The only decisive factor for the evaluation is the qualitative course of a measurement signal 9 with its pronounced maxima and minima, as well as the times 10 belonging to these maxima / minima.

Ein zeitlicher Abstand Tp zweier Maxima bzw. zweier Minima ist die Dauer für eine Rollumdrehung des/r Projektils/Rakete. Daraus wird die Rollfrequenz bestimmt.A time interval Tp between two maxima or two minima is the duration for one roll revolution of the projectile / rocket. The roll frequency is determined from this.

Die Geschwindigkeit des Flugobjektes 1 wird unabhängig von dem voliegenden Verfahren bestimmt. Dies geschieht beispielsweise über NAVSTAR-GPS (Global Positioning System), mit dessen Hilfe positionswerte des/r Projektils/Rakete und auch Geschwindigkeit ermittelt werden.The speed of the flying object 1 is determined independently of the method used. This happens for example via NAVSTAR-GPS (Global Positioning System), with the help of which position values of the projectile / rocket and also speed are determined.

Neben Position und Geschwindigkeit des Flugobjektes 1 ist auch die Richtung der VRA 6 in einem vorher definierten Bezugssystem bekannt. Das Verfahren nutzt den Geschwindigkeitsvektor 4 als Näherung für die Rollachse 5 des Flugobjektes 1.In addition to the position and speed of the flying object 1, the direction of the VRA 6 is also known in a previously defined reference system. The method uses the speed vector 4 as an approximation for the roll axis 5 of the flying object 1.

Rollachse 5, VRA 6 und Feldstärkevektor 8 lassen die Bestimmung der Rollage eines Referenzpunktes, bspw. Ort des Magnetfeldsensors 2, zum Zeitpunkt, in dem die Meßachse 3 mit der Feldlinie 7 maximal übereinstimmt, zu. Zwischen diesen Zeitpunkten wird der Rollwinkel w vorausberechnet und zwar aus Rollfrequenz und Zeitspanne nach der letzten Referenzmessung.Roll axis 5, VRA 6 and field strength vector 8 permit the determination of the roll position of a reference point, for example the location of the magnetic field sensor 2, at the point in time at which the measurement axis 3 coincides maximally with the field line 7. Between these times, the roll angle w is calculated in advance from the roll frequency and time span after the last reference measurement.

Claims (9)

Verfahren zum Bestimmen der Rollage eines rollenden Flugobjektes, insbesondere zur Lenkung eines/r ballistisch fliegenden Projektils/Rakete mit Rollausgleich,
dadurch gekennzeichnet,
daß eine Feldstärke des Erdmagnetfeldes insbesondere ein Feldstärkevektor zur Bestimmung der Rollage des Flugobjektes verwendet wird.Method for determining the roll position of a rolling flying object, in particular for steering a ballistic flying projectile / rocket with roll compensation,
characterized,
that a field strength of the earth's magnetic field, in particular a field strength vector, is used to determine the roll position of the flying object. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß der Feldstärkevektor als Richtungsreferenz benutzt wird.Method according to Claim 1, characterized in that the field strength vector is used as a direction reference. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß wenigstens ein Magnetfeldsensor des Flugobjektes an zumindest einem bestimmten Ort an dem Flugobjekt die Feldstärke des Erdmagnetfeldes und damit den Feldstärkevektor ermittelt.Method according to Claim 1 or 2, characterized in that at least one magnetic field sensor of the flying object determines the field strength of the earth's magnetic field and thus the field strength vector at at least one specific location on the flying object. Verfahren nach Anspruch 3, dadurch gekennzeichnet, daß der Ort des Magnetfeldsensors als Bezugspunkt zur Ermittlung der Rollage verwendet wird.A method according to claim 3, characterized in that the location of the magnetic field sensor is used as a reference point for determining the roll position. Verfahren nach Anspruch 3 oder 4, dadurch gekennzeichnet, daß, bedingt durch die Drehung des Flugobjektes um seine Rollachse, abhängig von seiner Rollage durch den Magnetfeldsensor alternierende Intensitäten eines Meßsignals als Minima und Maxima über die Zeit und damit über einen Rollwinkel ermittelt werden.Method according to claim 3 or 4, characterized in that, due to the rotation of the flying object about its roll axis, depending on its roll position by the magnetic field sensor, alternating intensities of a measurement signal are determined as minima and maxima over time and thus over a roll angle. Verfahren nach einem der Ansprüche 3 bis 5 dadurch gekennzeichnet, daß die Feldstärke und damit der Feldstärkevektor von dem Magnetfeldsensor radial zur Rollachse des Flugobjektes ermittelt wird.Method according to one of claims 3 to 5, characterized in that the field strength and thus the field strength vector is determined by the magnetic field sensor radially to the roll axis of the flying object. Verfahren nach wenigstens einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß der Geschwindigkeitsvektor des/r Projektils/Rakete gemessen und als Referenz für die Rollagebestimmung verwendet wird.Method according to at least one of Claims 1 to 6, characterized in that the speed vector of the projectile / rocket is measured and used as a reference for determining the roll position. Verfahren nach wenistens einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß der Geschwindigkeitsvektor des/r Projektils/Rakete als Funktion oder in Form einer Tabelle im Auswerterechner gespeichert, zeitrichtig berechnet und als Referenz für die Rollagebestimmung verwendet wird.The method according to at least one of claims 1 to 6, characterized in that the speed vector of the projectile / rocket is stored as a function or in the form of a table in the evaluation computer, calculated correctly and used as a reference for determining the roll position. Verfahren nach wenigstens einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß das Flugobjekt durch Radar und/oder aus einer bekannten und festlegbaren Richtung bestrahlt wird, und damit die Richtung des Erdmagnetfeldes der Rollage des/r Projektils/Rakete zugeordnet wird.Method according to at least one of Claims 1 to 6, characterized in that the flying object is irradiated by radar and / or from a known and definable direction, and thus the direction of the earth's magnetic field is assigned to the roll position of the projectile / missile.
EP96108075A 1995-06-01 1996-05-21 Method for determining roll of a spinning flying object Revoked EP0745828B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19520115 1995-06-01
DE19520115A DE19520115A1 (en) 1995-06-01 1995-06-01 Method for determining the roll position of a rolling flying object

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EP0745828A1 true EP0745828A1 (en) 1996-12-04
EP0745828B1 EP0745828B1 (en) 2001-10-17

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AT (1) ATE207201T1 (en)
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US5740986A (en) 1998-04-21
DE59607919D1 (en) 2001-11-22
ATE207201T1 (en) 2001-11-15
DE19520115A1 (en) 1996-12-05
EP0745828B1 (en) 2001-10-17

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