EP1094292B1 - Verfahren zum Führen eines Flugkörpers auf ein Ziel bei Zielverlust - Google Patents
Verfahren zum Führen eines Flugkörpers auf ein Ziel bei Zielverlust Download PDFInfo
- Publication number
- EP1094292B1 EP1094292B1 EP00121820A EP00121820A EP1094292B1 EP 1094292 B1 EP1094292 B1 EP 1094292B1 EP 00121820 A EP00121820 A EP 00121820A EP 00121820 A EP00121820 A EP 00121820A EP 1094292 B1 EP1094292 B1 EP 1094292B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- target
- missile
- line
- sight
- virtual
- 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
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/22—Homing guidance systems
- 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 method for guiding one with target-detecting means provided missile to a target after loss of target information.
- the target loss z. B. arise from the fact that the source the radar radiation is switched off.
- the target acquisition means the target below a squint angle relative to the missile, the squint angle to one Maximum value is limited and if the target is lost by exceeding the maximum value the squint angle in a missile target position immediately before A line of sight from the missile to the target is determined.
- the target-capturing means capture the target at a "squint angle" to the longitudinal axis of the Missile.
- the squint angle can usually be a maximum value from a design point of view Reasons. This maximum value determines the field of vision of the Seeker. If the target by moving the missile out of this Field of view emerges, then the seeker can no longer "see” the target and therefore no longer guide the missile to the target.
- This problem occurs particularly when the missile is from a carrier is first fired upwards to give him a better height Overview e.g. across a battlefield. Then the missile may take when climbing, an attitude in which the maximum value of the squint angle to the target is exceeded and a loss of target occurs.
- a search head for target-tracking missiles is known from EP 0 924 490 A1, at which from searcher signals and signals from inertial sensors is a virtual, inertial Stabilized reference coordinate system is set, one axis of which is always on the goal is kept aligned.
- the seeker No longer "sees” the target or can no longer follow the target, it will Coordinate system with the line of sight rotation rate at the time of losing the target as one Art “virtual viewfinder” panned further. It is assumed that the Line-of-sight rotation rate is not significant during a brief loss of target changes so that when the real viewfinder is functional again and then after the said axis is aligned, the target is still in the field of view of the viewfinder.
- the invention is particularly applicable for combating stationary targets such as Radar positions or slow in relation to the velocity of the missile moving targets.
- the targeting means can be an active or passive radar seeker. It can is also a seeker head with an optical infrared finder.
- the invention is based on the object, in such a case by suitable Guiding the missile to enable the target to be recaptured.
- the Direction corresponds to the last line of sight recorded, then it would be replaced by its Swing missile dynamics onto a path, which is the direction of the last one line of sight to the target may correspond to considerable distance from to Target leading connecting line between target loss position and target runs. Then may get the target no longer at all in the field of view of the target-tracking means. If the target is captured again at some point, then mostly steering maneuvers are involved undesirably strong curvatures required. Therefore not only the last one line of sight observed before the target loss to the target is also saved Goal loss position. The latter can be done by e.g. a Inertial navigation unit is "set to zero" so that the position of the missile relative to the target loss position is determined.
- a virtual Goal defined.
- This virtual target lies on the line between the target loss position and Target and at a predetermined distance from the missile. Because of these conditions the virtual target is clearly defined. It can be a virtual line of sight vector from that The missile's search head can be calculated for the virtual target. With this calculated, virtual line of sight vector, the missile is directed. Because the virtual The target is always on the line between the target loss position and the target Missile directed towards this line and finally swivels into this line.
- the missile 12 has an inertial navigation unit. However, the starting coordinates and the target coordinates are generally not known, so that the missile cannot be guided to the target by inertial navigation alone.
- the missile 12 has target-detecting means, for example an active or passive radar or a passive infrared search head. The target-detecting means "see” the stationary or slowly moving target in comparison to the speed of the missile 12 at a "squint angle" to the axis of the missile.
- the inertial line between missile 12 and target represents the line of sight, which is represented by a vector ⁇ n / mess .
- the guidance of the missile 12 takes place in dependence on the inertial line of sight rotation rate in such a way that the line of sight rotation rate is regulated to zero.
- the line of sight vector can have errors. These errors are due to inertia navigation errors. This is indicated by the vector ⁇ n / nav . However, an error in the measurement of the line of sight can also occur. This is indicated by the vector ⁇ n / true , ie the "true" line of sight, which deviates from the measured line of sight.
- Missile dynamics such as a trajectory 16, as shown in dashed lines in Fig.1.
- This trajectory 16 runs parallel to the line between the target loss position at a distance 14 and goal.
- This trajectory 16 does not lead to the goal. It does not guarantee Rediscover the goal.
- a path change in the direction of the destination takes place only and only when the target is again captured. Then usually become strong Path curvatures required.
- FIG. 2 illustrates the geometry of the calculation of a virtual target and one virtual squint to this virtual target.
- the tip of this location vector is the starting point for the last measured line of sight vector ⁇ n / mess .
- the current position of the missile 12 is identified by a location vector ⁇ r n .
- a virtual target 18 is now defined: This virtual target 18 should lie on the line 20 between the target loss position 14 and the target. This line 20 is determined by the stored target loss position 14 and the last observed line of sight vector ⁇ n / mess . Furthermore, this virtual target 18 should lie at a predetermined distance from the missile 12.
- This distance can be chosen arbitrarily and should be smaller than the detection range of the target-detecting means, that is to say an optical infrared seeker head, of the missile 12.
- the position of the virtual target 18 is thus clearly defined. This position can be constructed by hitting a circle (or a sphere) around the current position of the missile 12 with the selected predetermined distance. The intersection of this circle or sphere with the fixed line 20 is the position of the virtual target 18. This virtual target is always on the line 20.
- the virtual target 18 again defines a virtual line of sight vector ⁇ n / virt from the missile 12 to the virtual target 18.
- This virtual line of sight vector ⁇ n / virt or the virtual line of sight rotation rate that is to say the rotation rate of the virtual line of sight vector, can be calculated and how Really measured line of sight vector can be used to guide the missile 12 to the virtual target 18. Since the virtual target 18 is always on the line 20, the missile 12 swings "gently" on a path 22 with optimal lateral accelerations into the line 20 of the line of sight ⁇ n / mess measured immediately before the target was lost. As already explained in connection with FIG.
- this measured line of sight ⁇ n / meas can deviate from the "true" line of sight ⁇ n / true due to measurement errors.
- the target which lies in the direction of the true line of sight ⁇ n / true, is again detected by the missile 12's means of aiming.
- the steering then takes place again in a conventional manner according to the line of sight rotation rate measured by the target-detecting means.
- 2
- ) ⁇ z M ( t ) arctan ( ⁇ n yvirt ( t ) / ⁇ n xvirt ( t )). 0
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Description
- Fig.1
- zeigt die Flugbahn und Sichtlinie bei Zielverlust vereinfacht in der vertikalen Ebene.
- Fig.2
- veranschaulicht in der vertikalen Ebene die Bestimmung des virtuellen Sichtlinienvektors.
- Fig.3
- zeigt schematisch, wieder in einer vertikalen Ebene, die Flugbahn des Flugkörpers bei Lenkung nach dem virtuellen Sichtlinienvektor.
Claims (3)
- Verfahren zum Führen eines mit zielerfassenden Mitteln versehenen Flugkörpers (12) zu einem Ziel nach einem Verlust der Zielinformation, gekennzeichnet durch die Verfahrensschritte:(a) Speichern der Zielverlust-Position (14) und der Sichtlinie vom Flugkörper zu dem Ziel zum Zeitpunkt des Verlustes der Zielinformation (σ n / mess,20) und(b) Führen des Flugkörpers (12) auf die von der gespeicherten Zielverlust-Position (14) ausgehende, gespeicherte Sichtlinie (σ n / mess,20).
- Verfahren nach Anspruch 1, gekennzeichnet durch die weiteren Verfahrensschritte:(a) Bestimmen der aktuellen Position (Δr n) des Flugkörpers (12) relativ zu der Zielverlust-Position,(b) Festlegung eines virtuellen Zieles (18) auf der von der Zielverlust-Position (14) ausgehenden, gespeicherten Sichtlinie (σ n / mess,20) in einem vorgegebenen Abstand von der aktuellen Position des Flugkörpers (12),(c) Berechnen eines virtuellen Sichtlinien-Vektors (σ n / virt) von dem Flugkörper (12) zu dem virtuellen Ziel (18) und(d) Führen des Flugkörpers (12) nach Maßgabe des virtuellen Sichtlinien-Vektors (σ n / virt).
- Verfahren nach Anspruch 2, dadurch gekennzeichnet, daß der vorgegebene Abstand kleiner als die Detektions-Reichweite (rdtct) der zielerfassenden Mittel ist.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19950667A DE19950667A1 (de) | 1999-10-21 | 1999-10-21 | Verfahren zum Führen eines Flugkörpers auf ein Ziel bei Zielverlust |
DE19950667 | 1999-10-21 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1094292A1 EP1094292A1 (de) | 2001-04-25 |
EP1094292B1 true EP1094292B1 (de) | 2004-09-22 |
Family
ID=7926365
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00121820A Expired - Lifetime EP1094292B1 (de) | 1999-10-21 | 2000-10-06 | Verfahren zum Führen eines Flugkörpers auf ein Ziel bei Zielverlust |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP1094292B1 (de) |
DE (2) | DE19950667A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112577489B (zh) * | 2020-12-08 | 2024-05-07 | 北京电子工程总体研究所 | 一种基于交互多模型滤波的导引头视线转率提取方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2841748C1 (de) * | 1978-09-26 | 1996-07-04 | Bodenseewerk Geraetetech | Suchkopf, insbesondere zur automatischen Zielverfolgung |
IL117589A (en) * | 1996-03-21 | 2001-10-31 | Israel Aircraft Ind Ltd | Air-to-air missile guidance system |
DE19756763A1 (de) * | 1997-12-19 | 1999-06-24 | Bodenseewerk Geraetetech | Suchkopf für zielverfolgende Flugkörper |
-
1999
- 1999-10-21 DE DE19950667A patent/DE19950667A1/de not_active Withdrawn
-
2000
- 2000-10-06 DE DE50007863T patent/DE50007863D1/de not_active Expired - Lifetime
- 2000-10-06 EP EP00121820A patent/EP1094292B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DE50007863D1 (de) | 2004-10-28 |
DE19950667A1 (de) | 2001-04-26 |
EP1094292A1 (de) | 2001-04-25 |
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