EP1014028A1 - Système de guidage, de navigation et de commande pour missile - Google Patents

Système de guidage, de navigation et de commande pour missile Download PDF

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Publication number
EP1014028A1
EP1014028A1 EP99124092A EP99124092A EP1014028A1 EP 1014028 A1 EP1014028 A1 EP 1014028A1 EP 99124092 A EP99124092 A EP 99124092A EP 99124092 A EP99124092 A EP 99124092A EP 1014028 A1 EP1014028 A1 EP 1014028A1
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EP
European Patent Office
Prior art keywords
steering
missile
navigation
control system
aircraft
Prior art date
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Granted
Application number
EP99124092A
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German (de)
English (en)
Other versions
EP1014028B1 (fr
Inventor
Uwe Dr. Krogmann
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Diehl BGT Defence GmbH and Co KG
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Bodenseewerk Geratetechnik GmbH
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Publication of EP1014028A1 publication Critical patent/EP1014028A1/fr
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Anticipated expiration legal-status Critical
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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
    • F41G7/2206—Homing guidance systems using a remote control station
    • 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
    • F41G7/2246—Active homing systems, i.e. comprising both a transmitter and a receiver
    • 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
    • F41G7/2286—Homing guidance systems characterised by the type of waves using radio waves

Definitions

  • the invention relates to a steering, navigation and control system for target tracking Missile with sensor and signal processing means in the aircraft, sensor and Signal processing means in the missile and data transmission means between Airplane and missile.
  • An airplane contains sensors. These are inertial sensors for flight control and navigation and receivers for satellite navigation. An aircraft also contains radar. Fighter aircraft contain infrared sensors (FLIR). Various communication systems are also provided. These sensors and systems are used to control the flight of the aircraft. They also serve to detect and identify targets that can be attacked by the aircraft, for example with a missile. The aircraft still contains one Mission unit ", which supplies the pilot with a mission plan based on the sensor data and, for example, calculates which of several available missiles reaches a certain target with the greatest probability of being hit.
  • Mission unit which supplies the pilot with a mission plan based on the sensor data and, for example, calculates which of several available missiles reaches a certain target with the greatest probability of being hit.
  • the aircraft serves as the carrier of the missile, which is held in a launch device.
  • the missile has sensors. These are sensors that detect a target and deliver signals from which guidance signals for the missile are derived, so that the missile is targeting.
  • Such sensors can be radar sensors or a Be a seeker head with passive infrared sensors.
  • the missile usually also contains Inertial sensors for stabilizing the seeker head and for decoupling the seeker head and the infrared sensor from the movements of the missile.
  • the missile contains often also inertial sensors for the navigation of the missile.
  • a missile to be fired from an aircraft can be launched Missile mission unit ".
  • the data and facts relevant to the missile's mission are stored as knowledge in this missile mission unit.
  • Data from sensors are also connected to the missile mission unit.
  • the missile mission unit delivers from the stored knowledge and that of Data delivered to the sensors Decision criteria for launching the missile
  • This missile mission unit is connected to the aircraft via a standardized interface, so that each missile itself provides decision criteria for its launch via a standardized interface nothing needs to be changed on the aircraft, such as the mission unit of the aircraft thus says "to the pilot whether, on the basis of his known properties stored in the missile mission unit, he is able to hit a specific target to which he is instructed, in the current flight condition.
  • the invention is based on the object, an improved steering, navigation and To create a control system for missiles.
  • the invention is based on the task of a steering, navigation and To create a missile control system that includes target acquisition and identification use of the missile against highly maneuverable targets even under unfavorable ones Conditions, e.g. beyond the visual range of sight.
  • the object is achieved in that the sensor and Signal processing means in the aircraft and the sensor and signal processing means in the Missiles through the data transmission means to a cooperating system for the guidance, navigation and control of the missile are integrated.
  • the sensor and signal processing means of the aircraft and missile are integrated into a system in which the sensors of the missile (or different missiles), communication means of the aircraft and the signal processing means of the aircraft interact.
  • the missiles can have sensors that are not present in the aircraft. Signals from such sensors are then used to identify a target, for example.
  • Aircraft sensors such as radar, on the other hand, can detect distant targets that the missile's seeker has not yet "and program the missile accordingly or direct the missile to a target so captured by the aircraft.
  • the sensors and other elements of the aircraft and missile can cooperate in the detection and identification of errors and in the reconfiguration of elements if errors occur. Aircraft and one or more missiles thus form a system for steering, navigation and control of the missile which is much more efficient than the prior art.
  • Aircraft is also intended to include unmanned and possibly autonomously operating carriers of target-tracking missiles.
  • the sensor and Signal processing means and the missile-side sensor and Signal processing means with each other via an interface in the starting device Data exchange is available.
  • the aircraft-side sensor and signal processing means and the missile-side Sensor and signal processing means via wireless data transmission means ("Data Link ”) communicate with each other.
  • An aircraft is designated by 10 in FIG.
  • the aircraft 10 carries a missile 12.
  • the missile 12 is shot down by the aircraft 10.
  • Various sensors are provided, namely a radar 14, a missile proximity sensor (MAWS) 16, an infrared sensor (FLIR) 18, a receiver for the Friend-enemy identifier (IFF) 20 and a sensor 22, which is integrated by Inertial Navigation System (INS) and Satellite Navigation Receiver (GPS) Position of the aircraft delivers.
  • INS Inertial Navigation System
  • GPS Satellite Navigation Receiver
  • a block 26 denotes a helmet visor (HMS).
  • Signal processing means 28 for detection (detection), identification and Tracking of a target activated.
  • the aircraft 10 further includes a mission unit 30 for mission planning. This includes fire control and planning of tactical dynamics.
  • the mission unit is in data exchange in both directions with the signal processing means 28.
  • the mission unit 30 is also in data exchange with other participants, that is to say in particular with others friendly "aircraft. These other contributors are represented by a broken block 32.
  • This data exchange can also be used to determine a destination by a third party, for example if this third party can better recognize the destination or the aircraft 10 is at great risk.
  • This destination determination by a third party is symbolized by a block 34.
  • Block 36 symbolizes the informational networking of several aircraft for coordinated control of an attack (Internetted Strike Package Management Control).
  • Mission unit 30 also provides data to an information distribution system (MIDS) 38.
  • MIMS information distribution system
  • the missile 12 contains a mission control unit 40.
  • the mission control unit 40 receives data from missile's own sensors, which pass through here in the K-band and in the X-band working radar sensors 42 and 44 are shown.
  • The also contains Missile 12 an inertial measurement unit (IMU) 46 and a receiver 48 for the Satellite navigation (GPS).
  • the signals from the inertial measurement unit 46 and the receiver 48 are on signal processing means 50 for integrated processing of the signals from Inertia measuring unit 46 and receiver 48 are connected.
  • the signal processing means 50 cause an initialization of the missile and also the position calculation on the basis of the signals from the inertial measurement unit 46 and the receiver 48 Position data are also applied to the mission control unit 40.
  • the mission control unit 40 is over a before the launch of the missile 12 Starter device interface 52 in two directions with the signal processing means 28 of the Aircraft 10 in data exchange.
  • the sensor and Aircraft 10 signal processing means and the sensors and Missile 12 signal processing means an integrated system that responds to all Sensors and all signal processing means of aircraft 10 and missile 12 can fall back.
  • the mission control unit 40 contains means 53 for data and sensor fusion Generation of target vectors, for situation detection and for generating a Situation vector, the components of the target vectors and the situation vector Are variables that serve to characterize the goal or the situation, as well as means 55 for decision and planning.
  • the means for decision and planning meet Based on the data supplied, decisions about the goal to be pursued, a Threat, decoy separation from the target, the choice of target, the path optimization and the sensor steering.
  • the missile-side mission control unit 40 and Signal processing means 28 of the aircraft 10 via a wireless Data transmission 54 (data link) in possibly somewhat restricted data exchange. Also during flight, the missile 12 is therefore provided with information from the Signal processing means 28 of the aircraft 10 are transmitted and received Signal processing means 28 information from the missile 12, e.g. information from the target-detecting sensors 42, 44 of the missile 12 or information about the Position of the missile from the signal processing means 50. About the Mission unit 30 of the aircraft 10 can also send destination determinations to the third party Missiles are transmitted.
  • the mission control unit 40 of the missile 12 supplies data to a steering and Control system 56.
  • the steering and control system 56 contains a steering processor 58.
  • the Steering processor 58 issues commands to an autopilot 60.
  • the functions of the three mission phases namely before firing (pre-launch), cruise (midcourse) and final approach (terminal), des Missile 12 by software in a real-time processing enabling Hardware configuration implemented.
  • the essential elements of this sensor data and Information processing are: The mission control function with data and Sensor fusion as well as decision and planning, the optimal steering and highly dynamic control of the missile cell, the integrated navigation through Processing the signals from inertial measuring unit 46 and satellite receiver 48 and the initialization, calibration and alignment of the inertial measuring unit by the highly accurate inertial navigation system 22 of the aircraft 10, creating a common reference system for aircraft and missiles is established.
  • FIG. 2 shows the hierarchical control structure in the arrangement of FIG. 1.
  • Mission control specifies what should happen, e.g. which missile on which Target to be shot down.
  • the next level of the "hierarchy" is the sensor subsystem with the processing of the seeker signals. This is represented by block 66.
  • This sensor subsystem includes both e.g. the sensors 14 and 18 of the aircraft as the sensors 42, 44 of the missile.
  • the viewfinder indicates where that from the Mission control specific target is located. Generated based on these viewfinder signals a steering processing, represented by block 68 steering commands for cruise flight ("Midcourse") and final approach.
  • the steering commands are from an autopilot 60 is represented by block 70 in FIG.
  • the highest level of the hierarchical control structure shown in FIG. 2 thus controls the mission control unit 40, depending on the situation, interacts with the missile 10 the "real world" scenario in which the events of interest take place. she uses multi-sensor technology (detect situation) on one side and on the other other side of control and regulation (influence situation through interaction).
  • the mission control unit carries out missile and I / O management in particular the functions of data and sensor fusion as well as the situation-related planning and decision-making processes.
  • This is followed by target identification and classification. So that's it Missile / target situation can be represented globally in the scenario (situation awareness (SITAW)).
  • SITAW situation awareness
  • This task is carried out on the basis of the initial information from "Data & Sensor Fusion" and the inertial / GPS integration calculation. For use In addition to proven classic and novel knowledge-based processes, make decisions using genetic models of target and disruptive behavior. Output data of the decision and planning function are the commands for the Steering computer and sensor control.
  • Missiles belong to the class of non-linear, time-variant, multivariable, dynamic systems.
  • the disturbances affecting them are largely unknown and time variable.
  • phases with large angles of attack occur next to the Significant changes in missile mass and moment of inertia Changes in nonlinear aerodynamics during use.
  • the function of the autopilot is of particular importance for far-reaching Missile due to the ramjet. On the one hand, this affects the regulation the flight speed in the marching phase over the thrust of the engine. Here various restrictions in its operating area must be taken into account. This depend on the inflow angle, height, inflow speed and fuel throughput.
  • Missiles against rapidly maneuvering targets must be aimed at the endgame be highly agile.
  • the high lateral accelerations required for this require one Bank-to-turn strategy - a fast rolling movement of the missile.
  • the one there occurring high roll rates cause extremely strong couplings between the roll channel and the lateral channels and place high demands on the autopilots.
  • the design of the bank-to-turn autopilot must be done in an environment that all six degrees of freedom taken into account.
  • the corresponding aerodynamics must be To be available.
  • all components of the sensors and actuators to be taken into account within the autopilot control loop e.g. inertial measuring unit, Engine, rudder setting system.
  • the interaction of the autopilot in connection with the steering must be based on the validated simulation program with six degrees of freedom. Is that Structure of the autopilot can be fixed with the generation of operational algorithms be started.
  • the guidance of autonomous missiles requires knowledge of essential parameters of the Relative kinematics between missile and target. This includes in particular the direction and the intertial rotation rate of the line of sight. Steering procedures based on this belong the class of widely used proportional navigation methods.
  • the performance of the steering can be improved if additional Information about the distance, the speed of approach and that Target maneuvers are available.
  • Steering procedures based on the full State vector of the relative kinematics can use a defined one Quality criterion can be interpreted as "optimal guidance". In the As a rule, this information is not available or is not available with the necessary accuracy Available, so that solutions are often used in practice, which in some form of initial information on the encounter situation and / or Take into account information about the missile's own movement state in order to Adapt the steering law to the current encounter situation.
  • the Measures with the greatest success are not necessarily based on a straightforward design accessible, rather the necessary strategies have to be drawn out in lengthy simulations be determined.
  • a block 72 symbolizes the target dynamics.
  • the target dynamics 72 provides a state vector x T of the target.
  • the relative geometry between target and missile results from the state vector x M of the missile and the state vector x T of the target, which is symbolized by a block 74 in FIG.
  • This relative geometry 74 can be represented by a vector x .
  • the vector x influences a target sensor 76 which tracks the target.
  • the signals of the target sensor 76 are connected to a filter 78, which takes into account interference caused by a Input "80 are symbolized, provides an estimate x ⁇ of the vector x .
  • Target sensor 76 and filter 78 form the sensor system 82.
  • the estimated value x ⁇ acts on the flight guidance, which is represented by a block 84. These are the means that specify the path of the missile and give lateral acceleration commands a MG to an autopilot 86.
  • flight control 84 represents controller 88.
  • Autopilot 86 influences the missile dynamics, which is represented by block 90.
  • the missile dynamics 90 influenced by the autopilot 86 provides the state vector x M of the missile.
  • the autopilot 86 and the missile dynamics 90 provide this Actuator ", which is symbolized by a block 92. This is the outer "control loop.
  • a internal control loop " is through the return 94 of the Output "of the missile dynamics 90, ie the state vector x M , given to the input of the autopilot 86.
  • One approach to integrating regulation and control can be that Structure (neuro, fuzzy, neuro-fuzzy) is specified for the element in question. This is followed by an optimization of the parameters of this structure and possibly also the Structure itself with the help of genetic or evolutionary algorithms. It can do so be proceeded that first a control function in the linear areas of Route is optimized and this with gradual expansion on the non-linear Area of application is expanded. Then this process is similar for the steering performed.
  • Structure neuro, fuzzy, neuro-fuzzy
  • the missile dynamics is symbolized by block 100 in FIG.
  • This missile dynamic is non-linear and time-variable.
  • This missile dynamics 100 is to be mapped onto a neural network 102 by genetic optimization.
  • the neural network 102 has 7 processor units and 28 weights.
  • Block 104 symbolizes the Chromosomes "of genetic optimization.
  • Block 106 shows the process of genetic optimization:
  • Block 108 shows an initial population. This is subjected to genetic operators, who here as Reproduction "110, Partner pool “112, Crossing "114 and Mutation "116 are marked.
  • Block 118 symbolizes at the Crossing "the father, block 120 the Mother ".
  • Block 126 shows in a simulation as in 8572 Generations "once the missile dynamics 100 and once the neural network reacts to level inputs. The responses to level inputs are practically identical.
  • Kalman filters can be used to calculate an estimated value x T and the associated covariance of the estimation error.
  • One possible remedy is to passively obtain Initialization information (e.g. missile-target distance) by processing Line of sight information of several missiles before launch. So that can also target modeling for IR missiles make sense, taking the estimate however, reduced to a pure prediction. This in turn can be improved be that the target model contains states that the maneuverability of the Describe the goal (prior analytical knowledge of the target kinematic). It is fundamental conceivable to introduce such an estimator / predictor for each potential goal. The however, the computational effort involved is considerable and is real-time Implementation contrary. A laser component will appear in future IR viewfinders realizable. This would provide distance information, but because of the limited range of the laser probably only in the final approach.
  • Initialization information e.g. missile-target distance
  • the step towards an expanded target model is particularly interesting, though in addition to the measures mentioned above, a seeker head with multi-sensors is used becomes. Such seekers become involved in light of the expected highly developed targets their countermeasures necessary.
  • the extended target modeling aims to improve the LGC and / or ILGC can be achieved by providing relevant available knowledge of potential goals in real time is being used.
  • This knowledge includes e.g. a priori knowledge of the target behavior that is manifested in linguistic rules or in knowledge of maneuvering properties. This knowledge will generally be scarce. Still appears too the use of this knowledge makes sense, e.g. by in a first solution Multiple hypotheses about target maneuvers and movement set up and online under Processing of the knowledge-based elements considered here.
  • FIG. 6 A conceptual design of such an extended target model is shown in Fig. 6 shown.
  • the extended target model is represented by a block 128 in FIG.
  • the target model 128 receives target sensor data, as shown by an arrow 130. Furthermore, that gets Target model available information about properties and behavior possible Aims. This is shown in Figure 6 by an arrow 132.
  • the target model delivers Information to flight control 84. This is shown by arrow 134.
  • Dynamic, neural networks are designated with 136.1 to 136.n. Information about various possible evasive maneuvers of a potential target is stored in these neural networks. This information is based on prior knowledge of the properties of the target. There is generally knowledge of which evasive maneuvers a particular one enemy "aircraft or various such aircraft can and usually execute when approaching a missile. These evasive maneuvers are called Hypotheses "are stored in the neural networks 136.1 to 136.n. For this purpose, the networks are trained with an analysis of the results of optimal avoidance maneuvers of the target.
  • neural networks are designated that are designed in the next higher level as nonlinear filters and predicators.
  • the outputs of all neural networks 136.1 to 136.n are connected to all neural networks 138.1 to 138.m.
  • These networks 138.1 to 138.m use the target sensor data x and the outputs of the Hypotheses "networks 136.1 to 136.n.
  • the networks 138.1 to 138.m examine how the different Hypotheses "agree with the actually observed sensor data and estimate the target state vector x T in real time.
  • the networks 138.1 to 138.m are trained off-line with the data of an SDRE or extended Kalman filter design.
  • the output variables of the networks 138.1 to 138.m are fed to an inference unit 140.
  • the inference unit 140 is designed as a fuzzy-neuronal network in order to be able to take heuristic knowledge which is important for the inference process into account in the form of linguistic rules.
  • the inference unit correlates the information and makes a conclusion regarding the best available estimate of the state vector x T of the target. This estimated value is then made available as an output variable for further processing for the steering.
  • Fig.7 Multiplication of the relevant blocks flight guidance 84, autopilot 86 and Missile dynamics 90 indicated. Otherwise Fig. 7 essentially corresponds to Fig. 4 and corresponding parts are provided with the same reference numerals as there.

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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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP99124092A 1998-12-15 1999-12-13 Système de guidage, de navigation et de commande pour missile Expired - Lifetime EP1014028B1 (fr)

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Application Number Priority Date Filing Date Title
DE19857895A DE19857895A1 (de) 1998-12-15 1998-12-15 Lenk-, Navigations- und Regelsystem für Flugkörper
DE19857895 1998-12-15

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1626245A1 (fr) * 2004-08-10 2006-02-15 Rafael Armament Development Authority Ltd. Missile guidé avec mécanisme de guidage distribué
DE102011107630A1 (de) * 2011-06-30 2013-01-03 Lfk-Lenkflugkörpersysteme Gmbh Lenken eines Vehikels in Richtung eines Ziels
CN111412793A (zh) * 2019-01-08 2020-07-14 北京理工大学 应用于远程制导飞行器上的防侧偏的全射程覆盖控制系统
CN118034039A (zh) * 2024-04-15 2024-05-14 北京理工大学 一种用于低成本制导炮弹的最优炸高决策系统及方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10132184B4 (de) * 2001-07-03 2004-07-08 Peter Zahner Vorrichtungen und Verfahren für den autarken und damit sichereren Abgang von lenkbaren Außenlasten von Trägerflugzeugen
DE102007054382A1 (de) * 2007-11-14 2009-05-20 Diehl Bgt Defence Gmbh & Co. Kg De-Letalisierbare Munition
DE102010005198B4 (de) * 2010-01-21 2012-01-12 Diehl Bgt Defence Gmbh & Co. Kg Flugkörper und Verfahren zum Erfassen eines Ziels

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EP0797068A2 (fr) * 1996-03-21 1997-09-24 Israel Aircraft Industries, Ltd. Système de guidage pour missiles air-air
DE19645556A1 (de) * 1996-04-02 1997-10-30 Bodenseewerk Geraetetech Vorrichtung zur Erzeugung von Lenksignalen für zielverfolgende Flugkörper
DE19716025A1 (de) 1997-04-17 1998-10-22 Bodenseewerk Geraetetech Plattform mit abschießbaren, zielverfolgenden Flugkörpern, insbesondere Kampfflugzeug

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US4288049A (en) * 1971-01-19 1981-09-08 The United States Of America As Represented By The Secretary Of The Navy Remote targeting system for guided missiles
DE4132233A1 (de) * 1990-11-22 1992-05-27 Rheinmetall Gmbh Panzerabwehrraketensystem
DE4218600A1 (de) * 1992-06-05 1993-12-09 Bodenseewerk Geraetetech Einrichtung zur Bestimmung von Bewegungsgrößen eines Flugkörpers
US5458041A (en) * 1994-08-02 1995-10-17 Northrop Grumman Corporation Air defense destruction missile weapon system
EP0797068A2 (fr) * 1996-03-21 1997-09-24 Israel Aircraft Industries, Ltd. Système de guidage pour missiles air-air
DE19645556A1 (de) * 1996-04-02 1997-10-30 Bodenseewerk Geraetetech Vorrichtung zur Erzeugung von Lenksignalen für zielverfolgende Flugkörper
DE19716025A1 (de) 1997-04-17 1998-10-22 Bodenseewerk Geraetetech Plattform mit abschießbaren, zielverfolgenden Flugkörpern, insbesondere Kampfflugzeug

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1626245A1 (fr) * 2004-08-10 2006-02-15 Rafael Armament Development Authority Ltd. Missile guidé avec mécanisme de guidage distribué
DE102011107630A1 (de) * 2011-06-30 2013-01-03 Lfk-Lenkflugkörpersysteme Gmbh Lenken eines Vehikels in Richtung eines Ziels
EP2546716B1 (fr) * 2011-06-30 2020-04-15 MBDA Deutschland GmbH Commande d'un véhicule dans le sens d'une cible
CN111412793A (zh) * 2019-01-08 2020-07-14 北京理工大学 应用于远程制导飞行器上的防侧偏的全射程覆盖控制系统
CN111412793B (zh) * 2019-01-08 2022-08-16 北京理工大学 应用于远程制导飞行器上的防侧偏的全射程覆盖控制系统
CN118034039A (zh) * 2024-04-15 2024-05-14 北京理工大学 一种用于低成本制导炮弹的最优炸高决策系统及方法
CN118034039B (zh) * 2024-04-15 2024-06-11 北京理工大学 一种用于低成本制导炮弹的最优炸高决策系统及方法

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EP1014028B1 (fr) 2005-06-29
DE59912218D1 (de) 2005-08-04
DE19857895A1 (de) 2000-06-21

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