EP0924490B1 - Suchkopf für zielverfolgende Flugkörper - Google Patents
Suchkopf für zielverfolgende Flugkörper Download PDFInfo
- Publication number
- EP0924490B1 EP0924490B1 EP98120542A EP98120542A EP0924490B1 EP 0924490 B1 EP0924490 B1 EP 0924490B1 EP 98120542 A EP98120542 A EP 98120542A EP 98120542 A EP98120542 A EP 98120542A EP 0924490 B1 EP0924490 B1 EP 0924490B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- seeker
- coordinate system
- target
- missile
- reference coordinate
- 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.)
- Expired - Lifetime
Links
Images
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
- F41G7/2253—Passive homing systems, i.e. comprising a receiver and do not requiring an active illumination of the target
-
- 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
- F41G7/2213—Homing guidance systems maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro
-
- 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
- F41G7/2273—Homing guidance systems characterised by the type of waves
- F41G7/2293—Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves
Definitions
- the invention relates to a search head for target-tracking missiles with one in one Finder frame arrangement gimbaled, through targeting signals to a target adjustable image resolution viewfinder and inertial sensors.
- target missiles with an image-resolving viewfinder, e.g. in form of a Detector matrix with a two-dimensional arrangement of detector elements.
- This Viewfinder is gimbaled in a viewfinder frame arrangement.
- inertial sensors respond to the angular movements of the missile in inertial space.
- Torque generators act on the gimbals of the finder frame assembly and decouple the viewfinder from the thus determined angular movements of the missile.
- On an image of an object scene is generated in the detector matrix. Through image processing This image contains target storage data of a target contained in the object scene, e.g. B. of an enemy aircraft to be attacked.
- the target storage data give the Filing of the target from an optical axis of the viewfinder again.
- Target search data Based on these Target search data is tracked to the target.
- the tracking becomes the Line of sight rotation rate determined.
- the line of sight rotation rate Steering signals derived for the missile.
- the viewfinder is opened with a helmet visor instructed a target recognized by the pilot.
- the missile in the directed described way.
- the missile has been shot down, then it initially has a tendency to aerodynamically in Align direction of the speed vector of the aircraft.
- the Viewing angle to the target the maximum allowable squint angle of the viewfinder again exceed so that the target is lost.
- the goal can also be through clouds temporarily hidden.
- the invention is based on the object, a search head for target-tracking Form missiles so that the viewfinder even with short-term impairment of the Target tracking is again aimed at the target once the impairment resumes has disappeared.
- a reference coordinate system is thus continuously defined, whose axis is aligned with the target. It is a kind of "virtual" viewfinder.
- this reference coordinate system follows the target exactly like the one Finder is tracked to the destination using the filing data. If the Tracking movement of the seeker after the target is impaired, be it that the finder reaches its maximum allowable squint angle, be it that the viewfinder e.g. by If the target temporarily no longer "sees" the reference coordinate system tracked a predicted target position. The predicted Target position is determined from that immediately before the impairment occurs Line of sight information determined by some kind of extrapolation. If so Impairment disappears, e.g. the target again below one of the maximum allowable If the viewing angle falls below the squint angle, the searcher will look for the so advanced reference coordinate system aligned. Then the seeker will Capture briefly lost target again in his field of vision. The seeker will then through the reoccurring storage data supplied by the image processing tracked the goal.
- Embodiments of the invention are the subject of the dependent claims.
- FIG. 1 An aerial combat situation is shown in FIG. 1, in which a combat aircraft 10 moves on a narrow, circular-like trajectory 12, which is curved around a point 14 is.
- An enemy fighter aircraft 16 (target) moves on a likewise narrow, circular trajectory 18, which is around a point 20 which is relatively far away from point 14 is curved.
- Both combat aircraft 10 and 16 pass through the circle-like trajectory clockwise. With a narrow, circular trajectory 12 or 18 they fly Fighter aircraft 10 or 16 with large load multiples and thus, as shown, large angles of attack. This means that the longitudinal axis 30 (Aircraft Date Line) of the Fighter aircraft 10 forms an angle with the speed vector.
- FIG. 4 32 denotes a seeker of a target-tracking missile 34 (FIG. 5).
- the viewfinder 32 includes an image-resolving, responsive to infrared radiation Detector 36 and imaging optics 38.
- the viewfinder 32 is, as shown in FIG. through a finder frame arrangement 40 about a pitch axis 42 relative to the longitudinal axis 44 of the missile 34 is pivotable. Furthermore, the viewfinder 32 is rotated this longitudinal axis 44 (roll axis) possible.
- the viewfinder 32 has an optical axis 46.
- the Angle between the optical axis 46 of the viewfinder 32 and the longitudinal axis 44 of the Missile 34 is referred to as the "squint angle".
- the Squint angle limited to a "maximum allowable squint angle", as in Fig. 5 can be seen.
- the viewfinder 32 sits behind an infrared radiation transparent dome-shaped window, the "dome” 48 in the tip of the missile 34.
- the maximum permissible squint angle is z. B. determined by the fact that the imaging beam path Imaging optics 38 still run at least partially through the dome 48 got to.
- the pilot must now try to move the enemy fighter aircraft 16 as early as possible, i.e. in the example of Fig. 1 to be understood from large angles and the instruct target-tracking missile 34 on the target.
- One limitation is the limitation of the Squint angle.
- Fig. 2 shows a similar air combat situation as Fig. 1. Corresponding elements are provided with the same reference numerals as there. In this air combat situation lie the points 14A and 20A around which the two trajectories 14A and 18A are curved are close together.
- the missile 34 after launch and release the steering system has the tendency to first with its longitudinal axis 44 in the To set the direction of the speed vector 50 of the combat aircraft 10. Thereby can the point of view of the target, even if it is at the time the Missile 34 is smaller than the maximum allowable squint angle and the viewfinder 32 of the Missile 34 can capture the enemy fighter 16, back on one Increase angle that is larger than the maximum allowable squint angle.
- the longitudinal axis is 30 (“aircraft date line”) of the fighter aircraft 10.
- a straight line 44A denotes the longitudinal axis of the Missile 34 ("Missile Boresight") in the launch device, ie before launch.
- the straight line 44A generally forms a small angle with the longitudinal axis 30.
- she is Line of sight from the center of gravity 56 of the fighter aircraft 10 to the target.
- This Line of sight 54 forms an angle ⁇ ("lag angle") with the speed vector 50.
- the line of sight from viewfinder 32 of missile 34 is parallel to line of sight 54 referred to the goal.
- This line of sight 58 forms with the longitudinal axis 44A of the missile 34 an angle ⁇ ("Missile Off-Boresight Angle at Launch”).
- At 60 is the line of sight designated by the pilot's helmet visor to the target. This line of sight 60 is almost parallel to the lines of sight 54 and 58.
- the line of sight 60 forms with the longitudinal axis 30 of the Fighter aircraft 10 an angle ⁇ ("Designator Off-Boresight Angle at Launch").
- With 62 is the line of sight from the viewfinder 32 of the missile 34 to the target at the time of Rowing release marked after takeoff. This line of sight 62 is also parallel to the Lines of sight 54, 58 and 60.
- Line of sight 62 forms with the longitudinal axis 44 of the missile 34 an angle ⁇ ("off-boresight angle at control unlock").
- the angle ⁇ is smaller than the maximum permissible Squint angle.
- the seeker 32 therefore detects the target and can track the target with a measured line-of-sight rotation rate.
- Fig.3 is the missile 34 after launch with its longitudinal axis 44 in the essentially in the direction of the speed vector 50.
- the line of sight angle ⁇ is temporarily> 90 ° and larger than the maximum allowable squint angle of the finder 32 (Fig. 5).
- the viewfinder 32 The target then no longer "sees”. There is again an "impairment" of the Tracking one.
- a missile coordinate system with the axis x s is fixed to the missile.
- the x s axis corresponds to the longitudinal axis 44 of the missile.
- a viewfinder coordinate system with the x h axis is viewfinder-fixed.
- the x h axis corresponds to the optical axis of the finder 32.
- a third coordinate system with the x r axis is a virtual reference coordinate system which is determined by calculation.
- there is an inertial system ie a coordinate system that is fixed in its position in the inertial space.
- the viewfinder 32 that is to say an image-resolving electro-optical assembly, is above a Finder frame assembly 40 stored in missile 34.
- a missile fixed, called inertial sensor unit At 62 is a missile fixed, called inertial sensor unit.
- the inertial sensor unit 62 can with gyros or Laser gyroscopes or other inertial sensors that respond to rotation rates his.
- the inertial sensor unit 62 delivers rotation rates p, q and r around three missile-fixed Axes.
- the viewfinder 32 supplies 64 image data at an output.
- the image data are applied to an image processor 66.
- the image processing 66 supplies storage data corresponding to a target storage in the viewfinder-fixed coordinate system, which can be represented by a vector ⁇ h .
- This storage data ⁇ h is applied to means 68 for coordinate transformation.
- the means 68 for coordinate transformation receive, as represented by connection 70, frame angles from the finder frame arrangement 62.
- the means 68 for coordinate transformation also receive direction cosine data corresponding to a direction cosine matrix C r s .
- the direction cosine matrix C r s reproduces the rotation from the reference coordinate system into the viewfinder coordinate system.
- the means 68 for coordinate transformation then supply storage data related to the reference coordinate system.
- This storage data ⁇ r is applied to an estimation filter 72.
- the estimation filter 72 provides increments ⁇ y and ⁇ z of the line of sight rotation rate.
- the increments ⁇ y and ⁇ z of the line-of-sight rotation rate are applied to means 74 for establishing a reference coordinate system.
- Initial squint angles ⁇ y0 and ⁇ z0 are applied to means 76 for determining an initial position of the reference coordinate system. In this initial position of the reference coordinate system, the squint angle ⁇ is still smaller than the maximum allowable squint angle.
- the viewfinder 32 still detects the target.
- the data of the initial position of the reference coordinate system are also applied to the means 74 for determining the reference coordinate system.
- the reference coordinate system is represented by a quaternion with the elements I r0 , I r1 , I r2 and I r3 .
- the starting position of the reference coordinate system is also represented in a corresponding manner by a quaternion q r0 .
- the means 74 for determining the reference coordinate system also effect normalization.
- the inertial sensor unit 40 supplies the three angular velocities p, q and r about three axes fixed to the missile. Scanning the angular velocities p, q and r in a fixed cycle provides angular increments ⁇ x , ⁇ y and ⁇ z . The sampling with a fixed clock is symbolized in FIG. 7 by a three-pole switch 78. The angular increments ⁇ x , ⁇ y and ⁇ z . are switched to means 80 for displaying a missile coordinate system. The position of the missile coordinate system is based on an inertial system. The missile coordinate system is also determined by a quaternion. The quaternion has the elements I i0 , I i1 , I i2 and I i3 .
- the quaternion from the means 74 representing the reference coordinate system and the quaternion from the means 80 representing the missile coordinate system, ie the elements I i0 , I i1 , I i2 , and I i3 are "multiplied" by multiplication means 82.
- the multiplication of the quaternions provides the relative position of the missile coordinate system and the reference coordinate system. This is again represented by a quaternion q r s .
- the quaternion q r s which represents the relative position of the missile coordinate system and the reference coordinate system, is also connected to means 86 for forming the associated directional cosine matrix C r s .
- the direction cosine matrix C r s provides the position of the reference coordinate system relative to the missile. As shown in FIG. 6, this direction cosine matrix C r s is applied to the means 68 for coordinate transformation. As a result, these means 68 for coordinate transformation deliver the storage data based on the reference coordinate system. Control signals for the finder frame arrangement 40 are obtained from the elements of the direction cosine matrix C r s , so that this movement of the missile 34 on the finder 32 is compensated for and the finder 32 is decoupled from the movements of the missile 34.
- the described search head works as follows:
- the viewfinder 32 In normal operation, when the viewfinder 32 detects the target and follows it with a squint angle below the maximum allowable squint angle, the viewfinder coordinate system coincides with the x h axis and the reference coordinate system with the x r axis. When the finder 32 has reached the maximum allowable squint angle, the finder 32 is stopped in its position. However, the reference coordinate system continues to move relative to the missile 34. This movement is determined by the line-of-sight rotation rate that existed when the maximum allowable squint angle was reached. This line-of-sight rotation rate provides further increments ⁇ y and ⁇ z on the means 74 for determining the reference coordinate system in the inertial space.
- the reference coordinate system tracks a predicted position of the target. It is assumed that the line of sight rotation rate in the inertial space remains essentially constant for a short time.
- the predicted position is obtained through a kind of extrapolation.
- the position of the reference coordinate system relative to the missile is obtained by multiplying the quaternions by means of the multiplication means 82. If the squint angle of the reference coordinate system calculated in this way again becomes smaller than the maximum allowable squint angle, then the real finder 32 is aligned with this reference coordinate system.
- the viewfinder 32 is thus aimed at the predicted position of the target. It can be assumed that this predicted position is in the vicinity of the position of the real target, and thus the target in the field of view of the seeker 32 is detected again.
- the seeker 32 initially loses the target after the launch of the missile 34, because the orientation of the missile 34 according to the speed vector 50 increases the viewing angle ⁇ to the target beyond the maximum allowable squint angle of the finder 32.
- the axis x r of the reference system is aligned with the predicted position of the target.
- the missile 34 is steered on the basis of the last line of sight rotation rate measured by the finder 32 in such a way that it pursues the target.
- the missile 34 thus rotates in the direction of the target.
- the “viewing angle” of the “virtual viewfinder” represented by the reference coordinate system is reduced again.
- the viewing angle falls below the maximum permissible squint angle.
- the finder 32 can thereby again be aligned with the reference coordinate system and detects the target.
Description
- Fig.1
- zeigt ein Beispiel für eine Situation, in welcher im Luftkampf mit engen Kurven eine Beeinträchtigung der Nachführung des Suchers nach dem Ziel und der Zieleinweisung eines zielverfolgenden Flugkörpers durch Begrenzung des Schielwinkels des Suchers auf einen maximal zulässigen Wert erfolgen kann.
- Fig.2
- zeigt ein Beispiel für eine andere Situation, in welcher im Luftkampf mit engen Kurven eine Beeinträchtigung der Nachführung des Suchers nach dem Ziel und der Zieleinweisung eines zielverfolgenden Flugkörpers durch Begrenzung des Schielwinkels des Suchers auf einen maximal zulässigen Wert erfolgen kann.
- Fig.3
- zeigt die Geometrie beim Abschuß eines Flugkörpers durch ein Flugzeug.
- Fig.4
- ist eine schematische Darstellung eines infrarotempfindlichen Suchers bei einem zielverfolgenden Flugkörper.
- Fig.5
- zeigt schematisch die Spitze eines Flugkörpers mit einem Suchkopf und veranschaulicht die Begrenzung des Schielwinkels.
- Fig.6
- ist ein vereinfachtes Blockdiagramm und zeigt die Erzeugung von Inkrementen der Sichtlinien-Drehrate für die Nachführung des Referenz- Koordinatensystems.
- Fig.7
- ist ein vereinfachtes Blockdiagramm und zeigt die Darstellung eines Flugkörperfesten Systems (s) bezogen auf ein Inertialsystem und eines Referenz-Koordinatensystems (r), bezogen auf das Flugkörpersystem.
Claims (10)
- Suchkopf für zielverfolgende Flugkörper mit einem in einer Sucherrahmen-Anordnung (40) kardanisch gelagerten, durch Zielablage-Signale auf ein Ziel ausrichtbaren bildauflösenden Sucher (32) und Inertialsensoren (62),
dadurch gekennzeichnet daß(a) aus Signalen des bildauflösenden Suchers (32) und der Sucherrahmen-Anordnung (40) ein virtuelles, inertial stabilisiertes Referenz-Koordinatensystems festlegbar ist, dessen eine Achse (xr) in Richtung des Ziels ausgerichtet ist,(b) das stabilisierte Referenz-Koordinatensystem bei Auftreten einer Beeinträchtigung der Nachführung des Suchers (32) nach dem Ziel an Hand der dann vorliegenden Sichtlinien-Informationen (z. B. Richtung, Drehgeschwindigkeit, Drehbeschleunigung) des Referenz-Koordinatensystems auf prädizierte Zielpositionen ausrichtbar ist und(c) der Sucher (32) nach der besagten einen Achse (xr) des Referenz-Koordinatensystems ausrichtbar ist, wenn die Beeinträchtigung weggefallen ist, wobei dann die Signale des Suchers (32) wieder die Nachführung des Suchers (32) übernehmen. - Suchkopf nach Anspruch 1, dadurch gekennzeichnet, daß(a) die Beeinträchtigung in einer Begrenzung der Sucherbewegung auf einen maximalen Schielwinkel besteht und der Sucher (32) bei Erreichen dieses maximalen Schielwinkels in seiner Position festhaltbar ist,(b) der Sucher nach der besagten einen Achse (xr) des Referenz-Koordinatensystems ausrichtbar ist, wenn der Schielwinkel dieser Achse den besagten maximalen Schielwinkel unterschreitet,
- Suchkopf nach Anspruch 1 oder 2, gekennzeichnet durch(a) Mittel (68) zur Koordinaten-Transformation von Zielablagedaten (εh ) aus einem Sucher-Koordinatensystem in das Referenz-Koordinatensystem zur Erzeugung von transformierten Ablagedaten (ε r),(b) ein Schätzfilter (72) auf welches die transformierten Zielablagedaten (ε r) aufgeschaltet sind zur Erzeugung von Inkrementen (Δσy,Δσz) der Sichtlinien-Drehrate und(c) Mittel (74) zum Festlegen des Referenz-Koordinatensystems, die von den Inkrementen (Δσy,Δσz) der Sichtlinien-Drehrate beaufschlagt sind.
- Suchkopf nach Anspruch 3, dadurch gekennzeichnet, daß auf die Mittel (74) zum Festlegen des Referenz-Koordinatensystems Anfangs-Schielwinkel (λy0,λz0) des Suchers (32) bei dessen Ausrichtung auf das Ziel aufgeschaltet sind.
- Suchkopf nach Anspruch 4, dadurch gekennzeichnet, daß die Mittel (68) zur Koordinaten-Transformation von Rahmenwinkeln der Sucherrahmen-Anordnung (40) beaufschlagt sind.
- Suchkopf nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß das Referenz-Koordinatensystem durch eine Quaternion festgelegt ist.
- Suchkopf nach einem der Ansprüche 1 bis 6, gekennzeichnet durch Mittel (80) zur Festlegung eines Flugkörper-Koordinatensystems (xs), welche von Winkelinkrementen (ΔΦxΔΦy, ΔΦz) von den Inertialsensoren (62) beaufschlagt sind, wobei dieses Flugkörper-Koordinatensystem die Lage des Flugkörpers (34) relativ zu einem Inertialsystem wiedergibt.
- Suchkopf nach Anspruch 7, dadurch gekennzeichnet, daß das Flugkörper-Koordinatensystem durch eine Quaternion festgelegt ist.
- Suchkopf nach den Ansprüchen 6 und 8, gekennzeichnet durch Mittel (82) zur Multiplikation der beiden das Referenz-Koordinatensystem und das Flugkörper-Koordinatensystem darstellenden Quaternionen zur Erzeugung einer Quaternion (qr s), welche die relative Lage von Flugkörper-Koordinatensystem und Referenz-Koordinatensystem wiedergibt.
- Suchkopf nach Anspruch 9, dadurch gekennzeichnet, daß die Ausrichtung des Suchers (32) nach dem Referenz-Koordinatensystem nach Wegfall der Beeinträchtigung in Abhängigkeit von dieser Quaternion steuerbar ist.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19756763A DE19756763A1 (de) | 1997-12-19 | 1997-12-19 | Suchkopf für zielverfolgende Flugkörper |
DE19756763 | 1997-12-19 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0924490A1 EP0924490A1 (de) | 1999-06-23 |
EP0924490B1 true EP0924490B1 (de) | 2003-02-05 |
Family
ID=7852673
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98120542A Expired - Lifetime EP0924490B1 (de) | 1997-12-19 | 1998-10-30 | Suchkopf für zielverfolgende Flugkörper |
Country Status (3)
Country | Link |
---|---|
US (1) | US6179246B1 (de) |
EP (1) | EP0924490B1 (de) |
DE (2) | DE19756763A1 (de) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6281970B1 (en) * | 1998-03-12 | 2001-08-28 | Synergistix Llc | Airborne IR fire surveillance system providing firespot geopositioning |
DE19950667A1 (de) * | 1999-10-21 | 2001-04-26 | Bodenseewerk Geraetetech | Verfahren zum Führen eines Flugkörpers auf ein Ziel bei Zielverlust |
US6422508B1 (en) * | 2000-04-05 | 2002-07-23 | Galileo Group, Inc. | System for robotic control of imaging data having a steerable gimbal mounted spectral sensor and methods |
DE10153094A1 (de) * | 2001-10-30 | 2003-05-15 | Bodenseewerk Geraetetech | Optischer Sensor mit einem Sensorstrahlengang und einem parallel zu der optischen Achse des Sensorstrahlenganges emittierenden Laserstrahler |
US7277558B2 (en) * | 2001-11-27 | 2007-10-02 | Lockheed Martin Corporation | Method and system for estimating the position of moving objects in images |
US6747738B2 (en) * | 2002-07-01 | 2004-06-08 | Raytheon Company | Optical system with variable dispersion |
US6863244B2 (en) * | 2003-01-24 | 2005-03-08 | The Boeing Company | Mitigation of angular acceleration effects on optical sensor data |
DE10346163A1 (de) * | 2003-10-04 | 2005-05-04 | Diehl Bgt Defence Gmbh & Co Kg | Flugkörper zur Brandbekämpfung |
US7773116B1 (en) | 2006-02-08 | 2010-08-10 | Lockheed Martin Corporation | Digital imaging stabilization |
US7409292B2 (en) * | 2006-05-26 | 2008-08-05 | Honeywell International Inc. | Method and system for degimbalization of vehicle navigation data |
US7925439B2 (en) * | 2006-10-19 | 2011-04-12 | Topcon Positioning Systems, Inc. | Gimbaled satellite positioning system antenna |
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 |
US20110304737A1 (en) * | 2010-06-15 | 2011-12-15 | Flir Systems, Inc. | Gimbal positioning with target velocity compensation |
DE102010024252B3 (de) * | 2010-06-18 | 2011-12-22 | Lkf-Lenkflugkörpersysteme Gmbh | Vorrichtung zur passiven Ausrichtung einer Geräteplattform in einem durch ein Medium bewegten Körper |
US11947349B2 (en) | 2012-03-02 | 2024-04-02 | Northrop Grumman Systems Corporation | Methods and apparatuses for engagement management of aerial threats |
US9501055B2 (en) | 2012-03-02 | 2016-11-22 | Orbital Atk, Inc. | Methods and apparatuses for engagement management of aerial threats |
US11313650B2 (en) * | 2012-03-02 | 2022-04-26 | Northrop Grumman Systems Corporation | Methods and apparatuses for aerial interception of aerial threats |
US9170070B2 (en) | 2012-03-02 | 2015-10-27 | Orbital Atk, Inc. | Methods and apparatuses for active protection from aerial threats |
US8786846B2 (en) | 2012-07-05 | 2014-07-22 | Matvey Lvovskiy | Method for determination of head position relative to rectangular axes for observer equipped with head-mounted module |
WO2019104583A1 (zh) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | 最高温度点跟踪方法、装置和无人机 |
US10410371B2 (en) * | 2017-12-21 | 2019-09-10 | The Boeing Company | Cluttered background removal from imagery for object detection |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2841748C1 (de) * | 1978-09-26 | 1996-07-04 | Bodenseewerk Geraetetech | Suchkopf, insbesondere zur automatischen Zielverfolgung |
FR2632072B1 (fr) * | 1985-08-02 | 1990-11-16 | Thomson Csf | Procede et dispositif de detection de prochaine interposition de masque entre un avion et une cible, notamment dans un systeme de tir aux armes guidees par laser |
DE4339187C1 (de) * | 1993-11-16 | 1995-04-13 | Mafo Systemtech Gmbh & Co Kg | Verfahren zur Bestimmung der Sichtliniendrehraten mit einem starren Suchkopf |
DE4442134A1 (de) * | 1994-11-26 | 1996-05-30 | Bodenseewerk Geraetetech | Lenkschleife für Flugkörper |
IL117589A (en) * | 1996-03-21 | 2001-10-31 | Israel Aircraft Ind Ltd | Air-to-air missile guidance system |
-
1997
- 1997-12-19 DE DE19756763A patent/DE19756763A1/de not_active Withdrawn
-
1998
- 1998-10-30 EP EP98120542A patent/EP0924490B1/de not_active Expired - Lifetime
- 1998-10-30 DE DE59807117T patent/DE59807117D1/de not_active Expired - Lifetime
- 1998-11-20 US US09/196,246 patent/US6179246B1/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DE59807117D1 (de) | 2003-03-13 |
DE19756763A1 (de) | 1999-06-24 |
EP0924490A1 (de) | 1999-06-23 |
US6179246B1 (en) | 2001-01-30 |
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