EP1162428A2 - Method and device for igniting a warhead in a target tracking missile - Google Patents

Abstract

Actuating variables detected during the flight of a guided missile predict place of hit (28). Ignition delay time for a proximity fuse is adjusted according to the predicted place of hit and by devices for performing these procedural stages. Processing images in a homing head view finder estimates time-to-go. Connected to an ignition device section with delay tables, signals on first (30) and second (32) outputs measure a direct hit or near miss respectively.

Description

The invention relates to a method for igniting a warhead targeting guided missiles, one impact detonator and one Have proximity fuses for firing a warhead.

The invention further relates to a device for igniting a warhead targeting guided missiles, one impact detonator and one Have proximity detonators for igniting a warhead, the Proximity detonator ignites the warhead with the ignition delay time.

Guided missiles are guided to a target by a seeker head. On Such a search head contains an image-resolution detector, usually one two-dimensional arrangement of detector elements. The resulting picture of a the visual field scene containing the target is switched to image processing means. Steering signals are obtained from the image processing, by means of which the Guided missile is guided to the target. If closer to the target delivers the seeker head takes a picture of the target, the bigger the farther the guided missile is approaches the goal.

The guided missile contains a warhead, i.e. an explosive charge through which the target should be destroyed with the greatest possible certainty. The trajectory of the The guided missile can have some of the ideal trajectory due to various influences differ. This may be due to e.g. through the encounter geometry, for example through Maneuvers of the target, due to inaccuracies in the guidance of the guided missile or due to limitations in the maneuverability of the guided missile. In one In the event the guided missile will not hit the target at the optimal location. The Guided missiles can even reach the target at a greater or lesser distance fly by. The guided missile has an impact detonator. The Impact detonator ignites the warhead when the guided missile hits the Target hits. The guided missile also has a proximity fuse. The Proximity detonator responds when the guided missile reaches the target sufficiently far has approached. It ignites the warhead even when the missile is on it Target flies by. The ignition takes place with an ignition delay time after the response of the proximity fuse. This ignition delay time is chosen so that the ignition in Flyby occurs at a time when the detonating warhead and the splinters thrown away by this cause the greatest possible damage to the target to serve. The ignition delay time is usually a fixed, empirically found value.

The invention is based on the object of a guided missile with impact and proximity detonators to cause the warhead to ignite so that the Damage to the target becomes as large as possible.

Erfassen von Einflußgrößen, welche die Art der Begegnung des Lenkflugkörpers mit dem Ziel beeinflussen, und

Einstellen der Zündverzugszeit in Abhängigkeit von solchen Einflußgrößen.

According to the invention, this is achieved in a method of the type mentioned at the outset by the method steps:

Detection of influencing variables which influence the type of encounter of the guided missile with the target, and

Setting the ignition delay depending on such influencing variables.

Mittel zum Erfassen von Einflußgrößen (σ ˙,

...), welche die Art der Begegnung des Lenkflugkörpers und des Ziels beeinflussen während des Fluges des Lenkflugkörpers, und

Einstellmittel zum Einstellen der Zündverzugszeit des Annäherungszünders in Abhängigkeit von solchen Einflußgrößen.

A device of the type mentioned is accordingly characterized by

Means for recording influencing variables (σ ˙,

...) which influence the type of encounter between the guided missile and the target during the flight of the guided missile, and

Setting means for setting the ignition delay time of the proximity fuse as a function of such influencing variables.

aus den erfaßten Einflußgrößen eine prädizierte Trefferablage bestimmt wird und

die Zündverzugszeit nach Maßgabe der so prädizierten Trefferablage eingestellt wird.

This happens advantageously in the form that

a predicted hit location is determined from the recorded influencing variables and

the ignition delay time is set in accordance with the predicted hit location.

Looking at the image of the target, e.g. of an airplane, then you can get one Set the desired point of impact at which the target of the guided missile should be taken to maximize warhead destruction ensure. Starting from this desired point of impact Hit lists can be set according to size and direction. According to the basic idea According to the invention, this hit repository is now dependent on various predictable influencing factors predicted. Depending on this predicted The hit delay is then set to the ignition delay time.

This can e.g. happen in such a way that when the predicted hit repository a direct hit can be expected, a so long ignition delay time is set that the Ignition of the warhead when the guided missile hits the target through the Impact detonator can take place. However, if the predicted hit list is a If the missile is expected to fly past the target, there will be an ignition delay time set in terms of the effectiveness of the detonating warhead is optimized.

The dependency of the hit list on the influencing variables and on the remaining flight time of the Guided missile can be determined and saved by simulation.

The influencing variables can include steering-specific variables such as the line of sight rotation rate, that result from the geometry of the target and guided missile. The influencing factors but can also missile-specific sizes such as rudder deflection or Include lateral acceleration. These influencing factors are particularly important when the guided missile reaches the limits of its maneuverability.

(a) aus den Einflußgrößen für eine vorgegebene Restflugzeit laufend eine prädizierte Trefferablage bestimmt wird, und

(b) die so für eine bestimmte Restflugzeit prädizierte Trefferablage um diese Restflugzeit verzögert für die Bestimmung der Zündverzugszeit beim Ansprechen des Annäherungszünders bereitgestellt wird.

The remaining flight time can be obtained from an image processing of a target image delivered by an image-resolving seeker head of the guided missile. However, the procedure is advantageously such that

(a) a predicted hit location is continuously determined from the influencing variables for a predetermined remaining flight time, and

(b) the target storage predicted in this way for a certain remaining flight time is provided delayed by this remaining flight time for the determination of the ignition delay time when the proximity fuze responds.

Influencing variables, e.g. the line of sight rotation rate. Under These influencing factors are taken into account for a predetermined remaining flight time predicted hit lists determined. The hit lists determined in this way are replaced by the Determination of the underlying remaining flight time delayed provided at an exit. When the proximity detonator responds, predicted hit placements are available Available, which are based on the influencing factors, which before the given associated remaining flight times were measured and now relate to the time, to which the proximity sensor responds. Then there is no remaining flight time to be estimated, which is usually only possible with great inaccuracy.

A hit repository obtained in this way on the basis of a single remaining flight time can to be adulterated by noise.

(a) aus den Einflußgrößen parallel für verschiedene Restflugzeiten zugehörige prädizierte Trefferablagen bestimmt werden,

(b) jede der für eine Restflugzeit bestimmte prädizierte Trefferablage um diese zugehörige Restflugzeit verzögert für die Bestimmung der Zündverzugszeit beim Ansprechen des Annäherungszünders bereitgestellt wird und

(c) für die Bestimmung der Zündverzugszeit ein Mittel oder gewichtetes Mittel der zeitverzögert bereitgestellten prädizierten Trefferablagen gebildet wird.

It is therefore advantageous if

(a) predicated hit locations associated with different residual flight times are determined in parallel from the influencing variables,

(b) each of the predicted hit locations determined for a remaining flight time is provided delayed by this associated remaining flight time for the determination of the ignition delay time when the proximity fuse responds and

(c) for the determination of the ignition delay time, an average or weighted average of the predicted hit lists provided with a time delay is formed.

Embodiments of the device are the subject of further claims.

Fig.1

veranschaulicht die Definition der Trefferablage und der "Kritischen Trefferablage" bezogen auf ein vom Sucher des Lenkflugkörpers erfaßtes Ziel.

Fig.2

veranschaulicht die Relativgeometrie Lenkflugkörper-Ziel.

Fig.3

veranschaulicht die Relativgeschwindigkeit Lenkflugkörper

Fig.4

veranschaulicht die Annäherungsgeometrie.

Fig.5

ist ein durch Simulation gewonnenes Diagramm und zeigt den Zusammenhang zwischen Trefferablage und Sichtliniendrehrate als Funktion der Restflugzeit.

Fig.6

ist ein durch Simulation gewonnenes Diagramm und zeigt den Zusammenhang zwischen Trefferablage und Sichtliniendrehbeschleunigung als Funktion der Restflugzeit.

Fig.7

ist ein durch Simulation gewonnenes Diagramm und zeigt den Zusammenhang zwischen Trefferablage und maximalem Ruderauschlag als Funktion der Restflugzeit.

Fig.8

ist ein durch Simulation gewonnenes Diagramm und zeigt den Zusammenhang zwischen Trefferablage und gemessener Querbeschleunigung als Funktion der Restflugzeit.

Fig.9

ist ein Blockdiagramm und zeigt im Prinzip die Einbindung einer Direkttreffer-Prädiktion an der Schnittstelle zwischen Lenkeinheit und Zünder.

Fig.10

ist ein schematisches Blockdiagramm und veranschaulicht die Prädiktion der Trefferablage.

Fig.11

veranschaulicht ein zur Prädizierung der Trefferablage vorgesehenes "Fuzzy-Inferenz"-System.

Fig.12

veranschaulicht die Verzögerung der prädizierten Zielablage um die bei der Prädizierung vorausgesetzte Restflugzeit.

An embodiment of the invention is described below with reference to the accompanying drawings.

Fig. 1

illustrates the definition of the hit repository and the "critical hit repository" related to a target detected by the missile seeker.

Fig. 2

illustrates the relative geometry of the missile target.

Fig. 3

illustrates the relative speed of guided missiles

Fig. 4

illustrates the approximation geometry.

Fig. 5

is a diagram obtained by simulation and shows the relationship between hit storage and line of sight rotation rate as a function of the remaining flight time.

Fig. 6

is a diagram obtained by simulation and shows the relationship between hit storage and line of sight spin as a function of the remaining flight time.

Fig. 7

is a diagram obtained by simulation and shows the relationship between hit placement and maximum rudder deflection as a function of the remaining flight time.

Fig. 8

is a diagram obtained by simulation and shows the relationship between hit placement and measured lateral acceleration as a function of the remaining flight time.

Fig. 9

is a block diagram and shows in principle the integration of a direct hit prediction at the interface between the steering unit and igniter.

Fig. 10

is a schematic block diagram and illustrates the prediction of hit storage.

Fig. 11

illustrates a "fuzzy inference" system intended for prediction of the hit repository.

Fig. 12

illustrates the delay in the predicted target placement by the remaining flight time required for the prediction.

The guided missile contains an impact detonator, which if the Missile responsive to the target and the warhead, possibly with a very small one Ignition delay time, ignites inside the target. The guided missile continues to contain a proximity fuse. The proximity fuse responds when the guided missile has approached the target within a short distance. The proximity fuse fires even if the guided missile does not hit the target directly but in a short distance past the target. The ignition is usually carried out here an ignition delay time. A detonating warhead of a guided missile has two Effects, namely a pressure effect and a splinter effect. The pressure effect comes into play especially when the warhead is within the target or in detonated in the immediate vicinity of the target. Detonation outside the target can result in a Destruction or damage to the target is caused by the splinter effect. If the Guided missile scored a direct hit, i.e. hits the target directly, then is it is best if the warhead is fired by the impact detonator. During a flyby, the ignition is triggered by the proximity fuse with a such ignition delay time that there is a maximum splintering effect.

The response point of the proximity fuse is often poorly defined. This Contact point can e.g. depend on the type of destination or the direction which of the guided missiles approaches the target. It can therefore happen that at early response of the proximity fuse and fixed ignition delay time the warhead is fired before the guided missile hits the target, too if the guided missile hits a direct hit without this premature ignition would. Then the effectiveness of the warhead would not be maximum and that Destroy probability reduced. In this case, the ignition delay would be longer of the proximity fuse is more favorable, since this makes the impact fuse effective would allow. On the other hand, if the ignition delay time of the proximity fuse in If this were extended, the ignition could be activated in the event of a flyby of the warhead take place too late, so that the splintering effect of the warhead only comes into play insufficiently and again the probability of destruction is reduced.

For this reason, the ignition delay time is made dependent on the predicted one Hit storage.

The "hit repository" is explained with reference to FIG. 1.

In Figure 1, 10 is a target, here an enemy fighter aircraft, as it is from the image-resolving detector of the guided missile is seen. On this goal lies a "desired aimpoint". If the missile is directly on hitting this desired point of impact is a maximum effect of the warhead guaranteed. This desired point of impact is designated by 12 in FIG. The The actual point of impact now usually deviates from the desired one Impact point 12 by distance and direction. This is the "hit repository". The Hit depots are in Fig.1 by circles 14, 16, 18 in the manner of a target indicated. Is the point of impact still within the inner circle 18, the one "Critical hit storage" determined, there is still a direct hit, i.e. the missile hits the target directly. The missile can be fired at larger hit areas fly past goal 10. The warhead is then ignited by the Proximity igniter, as shown in Fig. 1 by point 20. But it can also the amount after a larger number of hits is a direct hit, as shown in Fig.1 Point 22 is shown. When passing by point 20, the ignition takes place the warhead by the proximity fuse with an optimal ignition delay time, so that maximum splintering effect is achieved. When the guided missile hits the impact detonator should be effective within circle 18 or also in point 22 become.

According to the invention, the point of impact is now based on observed influencing variables predicted. This is with reference to FIGS. 2 to 4 for the influencing variable "Line of sight rotation rate σ ˙" explained for the flat case.

2 shows the relative geometry of guided missile 24 and target 26. The distance vector R _P between guided missile 24 and target 26 at time t _r before reaching the target results from the relationship R P = R - V r t r ,

R is the current distance from guided missile 24 and target 26, V _r is the relative speed between guided missile 24 and target 26 and t _r is the remaining flight time. It is assumed that the missile and target continue to move unaccelerated during the short remaining flight time. The relative speed V _r between guided missile 24 and target 26 results from FIG. 3: V r = V T - V M , where V _{T is} the target speed and V _{M is} the speed of the guided missile. The predicted hit location results as the minimum of the target range R _P , ie as the smallest distance between the center of gravity of the guided missile and the target. This is shown in Fig.4. This smallest distance is obtained by differentiating the equation for the predicted distance R _P and zeroing. This results in the remaining flight time t _r until this smallest distance is reached t r = R V r V r 2 ,

The relationship exists between the magnitude of the line of sight rotation rate σ ˙ and the target distance R and the relative speed V _r : σ = R V r R 2 sin ζ.

Here, as shown in Fig.4, ζ is the angle between the vectors of the Target distance and relative speed.

From the above equations, the predicted hit location results in | R _P | the expression | R P | = R 2 V r σ ,

It can be seen from this that the line of sight rotation rate σ ˙ is zero if the relative speed vector is aimed directly at the target 26, that is to say ζ = 0. In practice, however, the relative speed _vector V _{r will} always have a certain misalignment ζ with respect to the target 26. At a certain error angle winkel, the line of sight rotation rate increases inversely proportional to the remaining distance | R | on.

The predicted hit list | R _P | increases at a given residual distance | R | proportional to the line of sight rotation rate. A sharp increase in the line of sight rotation rate σ ˙ shortly before the hit suggests a larger hit deposit.

The above considerations are simplified for the flat case and the Line of sight rotation rate σ ˙ has been set. One can see the dependency of the hit repository determine different influencing variables by means of six-dimensional simulation and use for the prediction of the hit deposit from measured influencing variables. Means The simulation shows a variety of encounter situations on a statistical basis examined, in which the missile and target movements are reproduced in detail become. The connections emerge from this multitude of encounter situations won.

5 shows such a one obtained from a six-dimensional simulation Relationship between hit storage and line of sight rate as a function of Remaining flight time. The horizontal coordinates in Fig. 5 are the remaining flight time and hit list. The vertical coordinate is the mean line of sight rotation rate. One can see from Fig. 5 clearly the expected almost linear increase in line of sight rotation as a function of Hit storage.

zeigt nur für kleine Restflugzeiten t_r einen markanten Anstieg. Dieser Anstieg fällt allerdings bei größeren Trefferablagen sehr deutlich aus.6 shows the relationship between hit deposition and line-of-sight spin acceleration, likewise obtained from a six-dimensional simulation. The line of sight spin

shows a marked increase only for small remaining flight times t _r . However, this increase is very clear with larger hit lists.

Figures 5 and 6 show steering-specific parameters that depend on the relative movement of Guided missile 24 and target 26 are determined as indicators of the size of the Hit storage. However, missile-specific parameters can also be indicators for the size of the hit repository. For example, a not perfectly adjusted one Autopilot give rise to restless flight behavior of the guided missile, which in turn can lead to larger hit lists. Operation of the guided missile can also take place the limits of its aerodynamic or flight mechanical performance as Indicator for a larger number of hits tend to be used. Such a Operation can be due to high angles of attack, large rudder deflections or high Lateral accelerations must be marked. These influences are referred to below as Referred to as "stress factors".

Fig. 7 shows that also obtained by six-dimensional simulation Relationship between hit placement and rudder deflection as a function of Remaining flight time. Large rudder deflections usually occur in connection with large ones Angles of attack, large lateral accelerations or high rotation rates. Fig. 7 show that large rudder deflections, especially if they have the maximum rudder deflection reach, are associated with larger hit lists.

Fig. 8 finally shows the relationship between obtained in a similar manner Hit placement and measured lateral acceleration as a function of the remaining flight time. The Horizontal coordinates in Fig. 8 are the remaining flight time and hit list. The vertical Coordinate is the measured mean lateral acceleration of the guided missile. A high lateral acceleration indicates that the encounter in the border area of the Performance of the guided missile takes place, e.g. near the inner Firing range limit. Depending on the flight condition, the high lateral acceleration can also be connected to a large angle of attack of the guided missile. Also the According to Fig. 8, lateral acceleration shows a clear connection with the Hit storage, which increases for high lateral accelerations, and with the remaining flight time.

und andererseits die flugkörperspezifischen Parameter wie Ruderausschlag und Querbeschleunigung sind, wie in Fig.9 dargestellt ist, auf einen Trefferablage-Prädiktor 28 geschaltet. Bei der Ausführungsform von Fig.9 ist auf den Trefferablage-Prädiktor außerdem die Restflugzeit ("time-to-go") aufgeschaltet, die durch Bildverarbeitung eines Sucherbildes des Suchkopfes des Lenkflugkörpers abgeschätzt wird. Das ist eine Möglichkeit der Berücksichtigung der Restflugzeit. Der Trefferablage-Prädiktor 28 prädiziert anhand der gemessenen lenkspezifischen und flugkörperspezifischen Eingangs-Parameter entweder einen Direkttreffer mit einem Signal an einem Ausgang 30 oder einen nahen Vorbeiflug ("near miss") mit einem Signal an einem Ausgang 32. Die Signale an den Ausgängen 30 und 32 sind auf einen Zünderabschnitt 34 geschaltet. Der Zünderabschnitt 34 enthält einen Annäherungszünder, der bei Annäherung des Lenkflugkörpers an das Ziel anspricht. Das ist durch einen Eingang 36 "Zieldetektion" angedeutet. Dem Annäherungszünder ist eine erste Zündverzugszeit-Tabelle 38 zugeordnet, die eine relativ lange erste Zündverzugszeit für den Annäherungszünder liefert. Diese Zündverzugszeit-Tabelle 38 wird wirksam, wenn der Trefferablage-Prädiktor am Ausgang 30 einen Direkttreffer signalisiert. Dem Annäherungssensor ist weiterhin eine zweite Zündverzugszeit-Tabelle 40 zugeordnet, die eine kürzere, zweite Zündverzugszeit für den Annäherungssensor liefert. Die erste Zündverzugszeit ist so lang gewählt, daß der Aufschlagzünder des Lenkflugkörpers wirksam werden kann, bevor eine Zündung des Gefechtskopfes über den Annäherungssensor erfolgen kann. Damit wird sichergestellt, daß der Gefechtskopf nicht vorzeitig, vor Auftreffen des Flugkörpers auf das Ziel über den Annäherungssensor gezündet werden kann. Das könnte geschehen, wenn der Annäherungssensor sehr früh anspricht und die Zündverzugszeit relativ kurz eingestellt ist. Die zweite Zündverzugszeit ist kürzer als die erste Zündverzugszeit. Diese zweite Zündverzugszeit ist so gewählt, daß bei einem Vorbeiflug des Lenkflugkörpers am Ziel durch Splitterwirkung eine maximale Zerstörung am Ziel erreicht wird.The various influencing variables, namely on the one hand the steering-specific parameters such as line-of-sight rotation rate σ Sicht and line-of-sight spin

and on the other hand, the missile-specific parameters such as rudder deflection and lateral acceleration, as shown in FIG. 9, are switched to a hit deposit predictor 28. In the embodiment of FIG. 9, the remaining flight time ("time-to-go"), which is estimated by image processing of a viewfinder image of the seeker head of the guided missile, is also applied to the hit storage predictor. This is one way of considering the remaining flight time. On the basis of the measured steering-specific and missile-specific input parameters, the hit placement predictor 28 predicts either a direct hit with a signal at an output 30 or a near miss ("near miss") with a signal at an output 32. The signals at the outputs 30 and 32 are connected to an igniter section 34. Detonator section 34 includes a proximity detonator which responds when the missile approaches the target. This is indicated by an input 36 "target detection". A first ignition delay time table 38 is assigned to the proximity fuse, which table delivers a relatively long first ignition delay time for the proximity fuse. This ignition delay time table 38 takes effect when the hit deposit predictor signals a direct hit at output 30. A second ignition delay time table 40 is also assigned to the proximity sensor, which table delivers a shorter, second ignition delay time for the proximity sensor. The first ignition delay time is chosen so long that the impact detonator of the guided missile can take effect before the warhead can be ignited via the proximity sensor. This ensures that the warhead cannot be fired prematurely via the proximity sensor before the missile strikes the target. This could happen if the proximity sensor responds very early and the ignition delay time is set relatively short. The second ignition delay time is shorter than the first ignition delay time. This second ignition delay time is selected so that when the guided missile flies past the target, maximum destruction is achieved at the target by splintering.

Depending on the predicted hit location, an ignition pulse is generated at an output 42 generated, the ignition delay time the direct hit or the flyby in the above described meaning corresponds.

Eig.10 is a block diagram and shows the formation of the "direct hits" - and "Flyby" signals at outputs 30 and 32. As already mentioned, the Measurement or estimation of those needed to determine the hit location Difficulty remaining. Instead of, as in Fig. 9, this remaining flight time from the Estimate the image processing and apply it to the predictor 28 as a measured variable in the preferred embodiment of FIG. 10, an estimate of the Hit storage made in parallel for different predetermined remaining flight times, whereby the current parameters are used as a basis. The so estimated Hit lists are given around the predefined basis used for the assessment Remaining flight time delayed. When the proximity sensor responds then Estimates of the hit list are available, e.g. half a year ago Influencing factors determined based on the second and in this estimation the Hit rest based on a remaining flight time of half a second, which on the Influencing factors determined before a quarter of a second are based and in this estimation base the hit list on a remaining flight time of a quarter of a second etc. Off all related to the response time of the proximity fuse and thus A weighted average is formed for comparable hit lists. Under certain circumstances, Estimates based on shorter remaining flight times are weighted more heavily.

The influencing variables described with reference to FIGS. 5 to 8 or Parameters provide information on the expected number of hits. The hit tray leaves but can not be easily calculated from this according to a certain algorithm. For this reason, the hit list is estimated on the basis of the influencing variables and the assumed remaining flight time by "fuzzy inference systems". This is in Fig.11 shown. The influencing factors are based on membership functions in Linguistic variables such as "large", "medium", "small" implemented. Since the Membership functions usually overlap, a certain value can be a Influencing variable with certain percentages ("belonging factors") different be assigned to linguistic variables, ie approximately 75% "large" and 25% "medium" his. The linguistic quantities are shaped according to given inference rules "If ..., then .." processed. The results of the inference are determined in accordance with the Affiliation factors linked. The "defuzzification" then results in one numerical output variable. This is a known technique.

A number of such "fuzzy inference systems" 44.1, 44.2 ... 44.m are provided in FIG. Each of these fuzzy inference systems is constantly acted upon by the current influencing variables and requires an associated predetermined remaining flight time t _r1 , t _r2 ... t _m . As described, the fuzzy inference systems deliver numerical output variables in the form of predicted hit depots at outputs 46.1, 46.2 ... 46.m. The output variables are each delayed by the associated remaining flight time t _r1 , t _r2 ... t _m by means of shift registers 48.1, 48.2, ... 48.m. At exits 50.1, 50.2 ... 50.m, predicted hit locations w1, w2, ... wm are available that are comparable in terms of time to the remaining flight times. These predicted hit lists are weighted in a summing point 52. The weighted sum is applied to an evaluation circuit 54. The evaluation circuit 54 then delivers the signals "direct hit" or "flyby" at the outputs 30 and 32, as was explained with reference to FIG.

11 shows schematically one of the fuzzy inference systems shown in FIG.

The fuzzy inference system, e.g. 44.1, has inputs 56.1, 56.2 ... 56.n for the various steering-specific or missile-specific influencing variables or parameters. Furthermore, the fuzzy inference system contains an input 58 to which a predetermined remaining flight time t _r1 ,... Assigned to the respective fuzzy inference system is applied. Each input is, as shown completely in FIG. 11 for input 56.1, connected in parallel to sorting elements 60, by means of which the input variable present, for example the line of sight rotation rate σ ˙, with a membership factor of a linguisian variable determined by a membership function "small", "medium" or "large" is assigned. The linguistic variables thus obtained are connected to a rule bank 62. In the rule bank 62, rules are stored in the form "if ... then ..", for example a rule: if (t _r = { small } and σ ˙ = { small }) then (hit storage = { small }) . All of the rules mentioned, ie all rules in which parameters appear as linguistic variables with a membership factor, provide linguistic variables with membership factors that result from the membership factors of the parameters that occur. This is represented by block 64 in FIG. The results of the various rules are summed up and again provide a numerical value. This is shown in FIG. 11 by a block 66 "defuzzification" with an output 46.1.

12 shows a shift register for delaying the predicted hit storage by one Remaining flight time, e.g. corresponds to the shift register 48.1 of Fig.10.

The shift register 48.1 contains registers 68.1, 68.2 ... 68.p. In register 68.1 with bits 1 to k is the fuzzy inference system 44.1 from the output 46.1 of the same read in the current value of the predicted hit list. The shift register 48.1 is, like the other shift registers, from a memory clock at a clock input 70 controlled. The current predicted hit storage from the fuzzy inference system 44.1 is read into register 68.1 as a memory word. Through a This memory word is clock pulse from register 68.1 to register 68.2 transfer. The memory word previously stored in register 68.2 becomes simultaneous transferred to the next register 68.3, etc., while in register 68.1 the new one current predicted hit list is read. After p clock pulses that the correspond to the specified remaining flight time, is that read into register 68.1 Memory word arrives in register 68p and is there for reading out as a delayed predicted hit list w1 (Fig. 10) is available.

Claims (20)

Method for firing a warhead in target-tracking guided missiles, which have a impact detonator and a proximity fuse, which responds when the missile approaches a target, wherein a detonation of the warhead by the impact fuse when the missile strikes the target and by the proximity fuse with an ignition delay time the response of the proximity fuse is triggered, characterized by the process steps: Detection of influencing variables which influence the type of encounter of the guided missile with the target, and Setting the ignition delay depending on such influencing variables. A method according to claim 1, characterized in that a predicted hit location is determined from the recorded influencing variables and the ignition delay time is set in accordance with the predicted hit location. A method according to claim 2, characterized in that , if the predicted hit placement allows a direct hit to be expected, an ignition delay time is set so long that the warhead can be ignited by the impact detonator when the guided missile hits the target. A method according to claim 2 or 3, characterized in that when the predicted hit placement allows the guided missile to fly past the target, an ignition delay time is set which is optimized with regard to the effectiveness of the warhead detonating laterally from the target. Method according to one of claims 2 to 4, characterized in that the dependence of the hit repository on the influencing variables and on the remaining flight time of the guided missile is determined and stored by simulation. Method according to one of claims 1 to 5, characterized in that the influencing variables include such variables as the line-of-sight rotation rate, which result from the geometry of the target and guided missile. Method according to one of claims 1 to 6, characterized in that the influencing variables include missile-specific variables such as rudder deflection or lateral acceleration. Method according to one of claims 4 to 6, characterized in that the remaining flight time is obtained from an image processing of a target image delivered by an image-resolving search head of the guided missile. A method according to claim 2, characterized in that (a) a predicted hit location is continuously determined from the influencing variables for a predetermined remaining flight time, and (b) the target storage predicted in this way for a certain remaining flight time is provided delayed by this remaining flight time for the determination of the ignition delay time when the proximity fuze responds. A method according to claim 9, characterized in that (a) predicated hit locations associated with different residual flight times are determined in parallel from the influencing variables, (b) each of the predicted hit locations determined for a remaining flight time is provided delayed by this associated remaining flight time for the determination of the ignition delay time when the proximity fuse responds and (c) for the determination of the ignition delay time, an average or weighted average of the predicted hit lists provided with a time delay is formed. Device for firing a warhead in the case of target-guided guided missiles, which have a impact detonator and a proximity fuse for igniting the warhead, the proximity fuse responding when the target is approaching and triggering the detonation of the warhead with an ignition delay compared to the response of the proximity fuse,
marked by (a) means for determining influencing variables (σ ˙,

...), which influence the type of encounter between the guided missile (24) and the target during the flight of the guided missile (24), and (b) Setting means (38, 40) for setting the ignition delay time of the proximity fuse as a function of such influencing variables. Apparatus according to claim 11, characterized by means for determining a predicted hit deposit from the influencing variables determined in this way, the setting variables being adjustable in accordance with the predicted hit deposit determined in this way. Apparatus according to claim 12, characterized in that (a) by means of the setting means (38, 40), if the predicted hit location allows a direct hit to be expected, such an ignition delay time can be set that the warhead is ignited when the guided missile (24) hits the target (26) by the impact detonator can be done and (b) by means of the setting means, if the predicted hit placement allows the missile (24) to fly past the target (26), an ignition delay time can be set which is optimized with regard to the effectiveness of the warhead detonating laterally from the target. Apparatus according to claim 13, characterized by storage means by means of which the dependency of the hit location, determined by simulation, on the influencing variables and on the remaining flight time of the guided missile (24) is stored. Device according to one of claims 12 to 14, characterized in that the means for detecting the influencing variables (a) means for capturing guidance-specific variables such as the line-of-sight rotation rate which result from the geometry of the target and guided missile, and (b) Means for recording guided missile-specific variables such as rudder deflection or lateral acceleration. Device according to claim 13, characterized by (a) an image resolving seeker head of the guided missile which provides a target image, and (b) Image processing means for estimating the remaining flight time from the size change of the target image. Device according to one of claims 12 to 14, characterized by (a) means (44.1) for determining the hit location from the influencing variables for a predetermined remaining flight time and (b) Delay means (48.1), by means of which the deposit of hits predicted for the predefined remaining flight time can be provided delayed by this remaining flight time for the determination of the ignition delay time when the proximity fuze responds. Apparatus according to claim 17, characterized in that (a) the means (44.1, 44.2 ...) for determining the hit location from the influencing factors are provided multiple times in parallel channels, each channel being influenced by the influencing factors and predicted hit locations for different remaining flight times are determined in the channels, (b) Delay means (48.1, 48.2 ...) are provided, by means of which each of the hit locations predicted for a certain remaining flight time can be provided delayed by this remaining flight time for determining the ignition delay time when the proximity fuse responds. Device according to Claim 18, characterized in that the predicted hit arrays provided with a time delay are connected to means (52) for determining the ignition delay time to form a weighted average of the predicted hit arrays provided with a time delay. Device according to one of claims 11 to 19, characterized in that the means for determining the hit location are formed from the influencing variables by a fuzzy inference system.

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