EP1273874A2 - Method for defining the kinematic characteristics of a flying object - Google Patents

Method for defining the kinematic characteristics of a flying object Download PDF

Info

Publication number
EP1273874A2
EP1273874A2 EP02014706A EP02014706A EP1273874A2 EP 1273874 A2 EP1273874 A2 EP 1273874A2 EP 02014706 A EP02014706 A EP 02014706A EP 02014706 A EP02014706 A EP 02014706A EP 1273874 A2 EP1273874 A2 EP 1273874A2
Authority
EP
European Patent Office
Prior art keywords
magnetic field
flying object
acceleration
radial direction
flying
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.)
Withdrawn
Application number
EP02014706A
Other languages
German (de)
French (fr)
Other versions
EP1273874A3 (en
Inventor
Wolfgang Dr.-Ing. Kreuzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rheinmetall Soldier Electronics GmbH
Original Assignee
Oerlikon Contraves GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Oerlikon Contraves GmbH filed Critical Oerlikon Contraves GmbH
Publication of EP1273874A2 publication Critical patent/EP1273874A2/en
Publication of EP1273874A3 publication Critical patent/EP1273874A3/en
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B35/00—Testing or checking of ammunition

Definitions

  • the invention relates to a method for determining the kinematic parameters of a flying object, in particular a ballistic flying, rolling flying object, as well a device for this.
  • Ballistic firing tables and the associated aerodynamic models are first developed theoretically during the development of the flying objects, such as projectiles or missiles, updated in the flow channel and finally updated by measuring the trajectory during detection shooting.
  • the trajectory measured from the ground is sufficient for only ground point models.
  • follow-up radar systems or electro-optical tracking systems are used for trajectory measurement.
  • additional kinematic parameters such as the angle of attack, spatial position, etc., are required in addition to the flight path data, which can only be recorded directly or indirectly determined using additional measuring equipment.
  • the invention has for its object a method of above-mentioned Way to develop which has these disadvantages be avoided.
  • the method uses one on board the flying objects affordable, in terms of mechanical stress robust sensor equipment.
  • This is made up of Accelerometers for measuring inertial Acceleration and magnetic field sensors for measuring the in radial direction to the roll axis effective component of the Earth's magnetic field.
  • the minimum equipment for a rolling Flying object consists of three, preferably to each other orthogonally measuring acceleration sensors and one Magnetic field sensor. With roll-stabilized flying objects a second magnetic field sensor is also used. be added a radio transmission and power supply. This electronic device is used at the start of the flying object activated. It works autonomously during the flight.
  • the Measurement data are transmitted to the ground station by radio, which is also the airfield data measured from the ground collects. All measurement data are registered with a time stamp.
  • the measurement, reception, registration and used on the ground Evaluation equipment is conventional equipment.
  • the aerial data measured from the ground are smoothed as well as the speed and path acceleration calculated.
  • the path angles are also determined.
  • the Calculation is mainly based on the Eulermatrix described the transformation of Path acceleration from earth-fixed to object-related Coordinate system as well as from the magnetic field measurement determined roll angle. More mathematical relationships between the flight kinematic quantities become Used to improve accuracy. Suitable for evaluation methods of stochastic filtering, such as Smoothing algorithms or 'Extended Kalman' filters, or also methods of deterministic mathematics, like Gradient methods or optimization strategies.
  • the method is used with the measured variables and their Development along the trajectory overdetermined. It can therefore additional systematic measurement errors Accelerometers and their installation errors be identified. That also applies to the Magnetic field sensor in the rolling flying object, restricted for the two magnetic field sensors in roll stabilized Flying object.
  • the procedure can cover the entire trajectory of the Flying object or only for sections of the flight path be applied.

Abstract

Inertia acceleration and the active components of the earths magnetic field in the radial direction relative to the roll axis of the flying object are measured from the ground over a given trajectory path for the object. The measurements are recorded with a time stamp and processed to provide data which gives the ground-related position, speed and acceleration, as well as the flying object-related Euler angle, kinematic starting angle, acceleration and rotation rate. The known direction of the earths magnetic field in the flight region is projected onto the roll plane for the object in order to carry out the data processing. Independent claims are also included for (a) a first device used to carry out this method, comprising at least three on-board acceleration sensors, preferably orthogonal to each other and only one magnetic field sensor with the measuring axis extending in a radial direction relative to the object roll axis, and (b) a second device similar to the first one, except that there are two magnetic field sensors, preferably orthogonal to each other.

Description

Die Erfindung betrifft ein Verfahren zur Bestimmung der kinematischen Kenngrößen eines Flugobjektes, insbesondere eines ballistisch fliegenden, rollenden Flugobjektes, sowie eine Vorrichtung hierfür.The invention relates to a method for determining the kinematic parameters of a flying object, in particular a ballistic flying, rolling flying object, as well a device for this.

Ballistische Schußtafeln und die dazugehörigen aerodynamischen Modelle werden bei der Entwicklung der Flugobjekte, wie Geschosse oder Raketen, zunächst theoretisch erarbeitet, im Strömungskanal aktualisiert und schließlich durch Vermessung der Flugbahn beim Nachweisschießen aktualisiert. Für nur Massepunkt-Modelle ist die vom Boden aus vermessene Flugbahn hierzu ausreichend. Dabei werden zur Flugbahnmessung Folgeradarsysteme oder elektro-optische Trackingssysteme eingesetzt.
Wird hingegen ein 6-DOF(Freiheitsgrade)-Modell zur Beschreibung benötigt, so sind neben den Flugbahndaten zusätzliche kinematische Kenngrößen, wie z.B. Anstellwinkel, Raumlage usw., erforderlich, welche nur mit dem Einsatz zusätzlicher Meßmittel direkt erfaßt bzw. indirekt ermittelt werden können.Ballistic firing tables and the associated aerodynamic models are first developed theoretically during the development of the flying objects, such as projectiles or missiles, updated in the flow channel and finally updated by measuring the trajectory during detection shooting. The trajectory measured from the ground is sufficient for only ground point models. Follow-up radar systems or electro-optical tracking systems are used for trajectory measurement.
If, on the other hand, a 6-DOF (degree of freedom) model is required for the description, additional kinematic parameters, such as the angle of attack, spatial position, etc., are required in addition to the flight path data, which can only be recorded directly or indirectly determined using additional measuring equipment.

Die Verwendung einer inertialen Lagereferenz, z.B. ein Kreiselsystem oder ein Strapped-Down-System, ist hierbei ein probates Mittel. Jedoch wegen der hohen mechanischen Belastung der Sensorik beim Start sind besondere Anforderungen an diese Systeme zu stellen, weshalb diese auch sehr teuer sind. Da die Sensorik mit jedem Schuß verloren geht, ist dies ein besonders gravierender Nachteil für die Verwendung dieser Systeme. Weitere Nachteile sind, daß den Referenzsystemen eine definierte Anfangslage zu geben ist bzw. diese Anfangslage zu erkennen und für die weitere Auswertung zu verwenden ist.The use of an inertial position reference, e.g. on Gyro system or a strapped-down system is here a proven means. However, because of the high mechanical Stress on the sensors at the start are special To make demands on these systems, which is why are also very expensive. Because the sensors with every shot is lost, this is a particularly serious disadvantage for using these systems. Other disadvantages are that the reference systems have a defined starting position is or to recognize this initial situation and for the further evaluation is to be used.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren der o.g. Art zu entwickeln, bei welchem diese Nachteile vermieden werden.The invention has for its object a method of above-mentioned Way to develop which has these disadvantages be avoided.

Zur Lösung dieser Aufgabe führt, dass für einen bestimmten Bahnabschnitt vom Boden aus die Flugbahn, im Flugobjekt der Beschleunigungsvektors und in radialer Richtung zur Rollachse des Flugobjektes die Komponente des Erdmagnetfeldes ermittelt und die Messungen mit Zeitstempel zur Auswertung registriert werden, wobei das Ergebnis der Meßdatenauswertung zumindest umfaßt:

  • die Position, Geschwindigkeit, Beschleunigung, jeweils
  • erdbezogen,
  • die Eulerwinkel,
  • die kinematischen Anstellwinkel,
  • die Beschleunigung und die Drehrate, jeweils
  • objektbezogen und wobei
    die im Fluggebiet bekannte Richtung des Erdmagnetfeldes, welche, für das Verfahren typisch, auf die Rollebene des Flugobjektes projiziert für die Auswertung verwendet wird.
    • The solution to this problem is that the trajectory in the flight object, the acceleration vector in the flying object and in the radial direction to the roll axis of the flying object determine the component of the earth's magnetic field and the measurements are recorded with a time stamp for evaluation, the result of the measurement data evaluation at least comprising:
  • the position, speed, acceleration, each
  • erdbezogen,
  • the Euler angles,
  • the kinematic angle of attack,
  • the acceleration and the rate of rotation, respectively
  • object-related and where
    the direction of the earth's magnetic field known in the flight area, which, typical of the method, projected onto the plane of the flight object is used for the evaluation.

    • Das Verfahren verwendet an Bord der Flugobjekte eine preisgünstige, im Hinblick auf die mechanische Belastung robuste Sensorausstattung. Diese setzt sich zusammen aus Beschleunigungsmessern zur Messung der inertialen Beschleunigung und Magnetfeldsensoren zur Messung der in radialer Richtung zur Rollachse wirksamen Komponente des Erdmagnetfeldes. Die Mindestausstattung für ein rollendes Flugobjekt besteht aus drei, vorzugsweise zueinander orthogonal messenden Beschleunigungssensoren und einem Magnetfeldsensor. Bei rollstabilisierten Flugobjekten wird zudem ein zweiter Magnetfeldsensor eingesetzt. Hinzukommen eine Funkübertragung und Spannungsversorgung. Diese elektronische Einrichtung wird beim Start des Flugobjektes aktiviert. Sie arbeitet während des Fluges autonom. Die Meßdaten werden über Funk zur Bodenstation übertragen, welche auch die vom Boden aus gemessenen Flugbahndaten sammelt. Alle Meßdaten werden mit Zeitstempel registriert.The method uses one on board the flying objects affordable, in terms of mechanical stress robust sensor equipment. This is made up of Accelerometers for measuring inertial Acceleration and magnetic field sensors for measuring the in radial direction to the roll axis effective component of the Earth's magnetic field. The minimum equipment for a rolling Flying object consists of three, preferably to each other orthogonally measuring acceleration sensors and one Magnetic field sensor. With roll-stabilized flying objects a second magnetic field sensor is also used. be added a radio transmission and power supply. This electronic device is used at the start of the flying object activated. It works autonomously during the flight. The Measurement data are transmitted to the ground station by radio, which is also the airfield data measured from the ground collects. All measurement data are registered with a time stamp.

    Die am Boden verwendete Meß-, Empfangs-, Registrier- und Auswerteausstattungen sind konventionelle Einrichtungen.The measurement, reception, registration and used on the ground Evaluation equipment is conventional equipment.

    Im Anschluß an den Meßvorgang werden die registrierten Daten off-line ausgewertet. Grundsätzlich läßt das Verfahren auch die on-line Auswertung zu, wobei dann eine geringere Genauigkeit der Ergebnisse zu erwarten ist.Following the measuring process, the registered ones Data evaluated off-line. Basically, that leaves Procedures also include the on-line evaluation, where then a less accuracy of the results is to be expected.

    Die vom Boden aus gemessenen Flugbahndaten werden geglättet sowie daraus die Geschwindigkeit und Bahnbeschleunigung berechnet. Ferner werden die Bahnwinkel bestimmt. Mit diesen Ergebnissen sowie den zusätzlichen, an Bord des Flugobjektes gemessenen Beschleunigungskomponenten und der Messung der auf die Rollebene bezogene Komponente des Erdmagnetfeldes werden die Lage des Flugobjektes im Raum, die Anstellwinkel sowie seine Drehraten berechnet. Die Berechnung stützt sich hauptsächlich auf durch die Eulermatrix beschriebene Transformation der Bahnbeschleunigung vom erdfesten in das objektbezogene Koordinatensystem sowie den aus der Magnetfeldmessung ermittelten Rollwinkel. Weitere mathematische Beziehungen zwischen den flugkinematischen Größen werden zur Verbesserung der Genauigkeit genutzt. Zur Auswertung eignen sich Methoden der stochastischen Filterung, wie Glättungsalgorithmen oder 'Extended Kalman'-Filter, oder auch Methoden der deterministischen Mathematik, wie Gradientenverfahren oder Optimierungsstrategien.The aerial data measured from the ground are smoothed as well as the speed and path acceleration calculated. The path angles are also determined. With these results and the additional ones on board the Acceleration components measured and the flight object Measurement of the component of the Earth's magnetic field, the position of the flying object in space, the angle of attack and its rotation rates are calculated. The Calculation is mainly based on the Eulermatrix described the transformation of Path acceleration from earth-fixed to object-related Coordinate system as well as from the magnetic field measurement determined roll angle. More mathematical relationships between the flight kinematic quantities become Used to improve accuracy. Suitable for evaluation methods of stochastic filtering, such as Smoothing algorithms or 'Extended Kalman' filters, or also methods of deterministic mathematics, like Gradient methods or optimization strategies.

    Das Verfahren ist mit den verwendeten Meßgrößen und deren Entwicklung entlang der Flugbahn überbestimmt. Es können daher zusätzlich systematische Meßfehler der Beschleunigungsgeber und auch deren Einbaufehler identifiziert werden. Das gilt auch für den Magnetfeldsensor im rollenden Flugobjekt, eingeschränkt für die beiden Magnetfeldsensoren im rollstabilisierten Flugobjekt. The method is used with the measured variables and their Development along the trajectory overdetermined. It can therefore additional systematic measurement errors Accelerometers and their installation errors be identified. That also applies to the Magnetic field sensor in the rolling flying object, restricted for the two magnetic field sensors in roll stabilized Flying object.

    Die Identifizierbarkeit der systematischen Fehler der Sensorausstattung an Bord des Flugobjektes läßt eine weniger genaue Einbaujustierung der Sensoren bei der Fertigung zu, was die Fertigungs- und Montageschritte vereinfacht.The identifiability of the systematic errors of the Sensor equipment on board the flying object leaves one less precise installation adjustment of the sensors in the Manufacturing to what the manufacturing and assembly steps simplified.

    Das Verfahren kann auf die gesamte Flugbahn des Flugobjektes oder auch nur für Teilabschnitte der Flugbahn angewandt werden.The procedure can cover the entire trajectory of the Flying object or only for sections of the flight path be applied.

    Claims (10)

    Verfahren zur Bestimmung der kinematischen Kenngrößen eines Flugobjektes, insbesondere eines ballistisch fliegenden, rollenden Flugobjektes,
    dadurch gekennzeichnet, daß für einen bestimmten Bahnabschnitt vom Boden aus die Flugbahn, im Flugobjekt der Beschleunigungsvektors und in radialer Richtung zur Rollachse des Flugobjektes die Komponente des Erdmagnetfeldes ermittelt und die Messungen mit Zeitstempel zur Auswertung registriert werden, wobei das Ergebnis der Meßdatenauswertung zumindest umfaßt: die Position, Geschwindigkeit, Beschleunigung, jeweils erdbezogen, die Eulerwinkel, die kinematischen Anstellwinkel, die Beschleunigung und die Drehrate, jeweils objektbezogen und wobei
    die im Fluggebiet bekannte Richtung des Erdmagnetfeldes, welche, für das Verfahren typisch, auf die Rollebene des Flugobjektes projiziert für die Auswertung verwendet wird.         Method for determining the kinematic parameters of a flying object, in particular a ballistic flying, rolling flying object,
    characterized in that the trajectory in the flight object, the acceleration vector in the flying object and in the radial direction to the roll axis of the flying object determine the component of the earth's magnetic field and the measurements are registered with a time stamp for evaluation, the result of the measurement data evaluation at least comprising: the position, speed, acceleration, each related to the earth, the Euler angles, the kinematic angle of attack, the acceleration and the rate of rotation, respectively object-related and where
    the direction of the earth's magnetic field known in the flight area, which, typical of the method, projected onto the plane of the flight object is used for the evaluation.     Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß für rollstabilisierte Flugobjekte durch Verwendung einer weiteren in radialer Richtung zur Rollachse, vorzugsweise orthogonal zur ersten Messung, gemessene Komponente des Erdmagnetfeldes verwendet wird, wobei auch deren Messung mit Zeitstempel registriert vorliegt. A method according to claim 1, characterized in that for roll-stabilized flying objects by using a further component of the earth's magnetic field measured in the radial direction to the roll axis, preferably orthogonal to the first measurement, the measurement of which is also registered with a time stamp. Verfahren nach Anspruch 1 oder 2, gekennzeichnet durch eine gleichzeitiger Bestimmung von systematischem Fehler und Einbaufehler der Beschleunigungsgeber und gleichzeitiger Ermittlung des Einbaufehlers des Magnetfeldsensors durch Auswertung der registrierten Meßdaten.Method according to claim 1 or 2, characterized by a simultaneous determination of systematic errors and installation errors of the acceleration sensors and simultaneous determination of the installation error of the magnetic field sensor by evaluating the registered measurement data. Verfahren nach einem der Ansprüche 1 - 3, gekennzeichnet durch eine automatischer Erkennung des singulären Falles, daß die Rollachse des Flugobkjektes parallel zum Erdmagnetfeld ausgerichtet ist und daher das Verfahren nach Anspruch 1 oder Anspruch 2 keine eindeutige Lösung liefern kann.Method according to one of claims 1-3, characterized by automatic detection of the singular case that the roll axis of the flying object is aligned parallel to the earth's magnetic field and therefore the method according to claim 1 or claim 2 cannot provide a clear solution. Verfahren nach wenigstens einem der Ansprüche 1 - 4, gekennzeichnet durch eine Verwendung einer zusätzlichen Helligkeitsmessung in radialer Richtung zur Rollachse, damit beim rollenden Flugobjekt auch im singulären Fall eine eindeutige Lösung existiert, wobei auch diese Messung mit Zeitstempel registriert zur Auswertung vorliegt.Method according to at least one of claims 1-4, characterized by the use of an additional brightness measurement in the radial direction to the roll axis, so that there is a clear solution for the rolling flight object even in the singular case, this measurement also being registered with a time stamp for evaluation. Vorrichtung zur Durchführung des Verfahrens nach Anspruch 1, gekennzeichnet durch eine Meßausstattung an Bord des rollenden Flugobjektes, bestehend aus der Mindestaustattung von drei vorzugsweise orthogonal zueinander eingebauten und nur einem Magnetfeldsensor mit Meßachse in einer radialen Richtung zur Rollachse des Flugobjektes.Device for carrying out the method according to claim 1, characterized by measuring equipment on board the rolling flying object, consisting of the minimum equipment of three preferably orthogonally installed and only one magnetic field sensor with measuring axis in a radial direction to the rolling axis of the flying object. Vorrichtung zur Durchführung des Verfahrens nach Anspruch 2, gekennzeichnet durch eine Meßausstattung an Bord des rollstabilisierten Flugobjektes, bestehend aus der Mindestausstattung von nur drei vorzugsweise orthogonal zueinander eingebauten und nur zwei Magnetfeldsensoren, deren Meßachsen in radialer Richtung zur Rollachse, vorzugsweise orthogonal zueinander, liegen.Device for carrying out the method according to claim 2, characterized by measuring equipment on board the roll-stabilized flying object, consisting of the minimum equipment of only three, preferably orthogonally installed, and only two magnetic field sensors, the measuring axes of which lie in the radial direction to the roll axis, preferably orthogonally to one another. Vorrichtung nach Anspruch 6 oder 7, gekennzeichnet durch eine Elektronikausstattung des Flugobjektes bestehend zusätzlich aus einer Telemetriesendeeinrichtung und einer Spannungsversorgung.Apparatus according to claim 6 or 7, characterized by an electronic equipment of the flying object consisting additionally of a telemetry transmitter and a power supply. Vorrichtung nach Anspruch 8, gekennzeichnet durch zusätzlich einen Prozessor und gegebenenfalls auch einen Funkempfänger.Apparatus according to claim 8, characterized by an additional processor and possibly also a radio receiver. Vorrichtung nach Anspruch 9, gekennzeichnet durch zusätzlich einen GPS (Global-Positioning-System)-Empfänger.Apparatus according to claim 9, characterized by an additional GPS (Global Positioning System) receiver.
    EP02014706A 2001-07-06 2002-07-03 Method for defining the kinematic characteristics of a flying object Withdrawn EP1273874A3 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    DE10132317 2001-07-06
    DE2001132317 DE10132317A1 (en) 2001-07-06 2001-07-06 Procedure for determining the kinematic parameters of a flying object

    Publications (2)

    Publication Number Publication Date
    EP1273874A2 true EP1273874A2 (en) 2003-01-08
    EP1273874A3 EP1273874A3 (en) 2003-06-25

    Family

    ID=7690515

    Family Applications (1)

    Application Number Title Priority Date Filing Date
    EP02014706A Withdrawn EP1273874A3 (en) 2001-07-06 2002-07-03 Method for defining the kinematic characteristics of a flying object

    Country Status (2)

    Country Link
    EP (1) EP1273874A3 (en)
    DE (1) DE10132317A1 (en)

    Cited By (2)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    FR2872928A1 (en) * 2004-07-12 2006-01-13 Giat Ind Sa Projectile e.g. missile type projectile, guiding and steering process, involves utilizing components of terrestrial magnetic field in control law and algorithm as fixed mark for orienting reference mark with respect to terrestrial mark
    CN107314718A (en) * 2017-05-31 2017-11-03 中北大学 High speed rotating missile Attitude estimation method based on magnetic survey rolling angular rate information

    Families Citing this family (1)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    DE10337187B4 (en) * 2003-08-13 2010-04-08 GM Global Technology Operations, Inc., Detroit Headlamp with two bulbs and a shading device

    Citations (1)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    EP0382131A1 (en) * 1989-02-09 1990-08-16 Gebrüder Junghans Gmbh Circuit for logging measured values of a projectile

    Patent Citations (1)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    EP0382131A1 (en) * 1989-02-09 1990-08-16 Gebrüder Junghans Gmbh Circuit for logging measured values of a projectile

    Non-Patent Citations (1)

    * Cited by examiner, † Cited by third party
    Title
    ANDERSON J A ET AL: "STRUCTURED VALIDATION OF MISSILE SYSTEMS" PROCEEDINGS OF THE IEEE 1996 NATIONAL AEROSPACE AND ELECTRONICS CONFERENCE (NAECON). DAYTON, MAY 20 - 23, 1996, PROCEEDINGS OF THE IEEE NATIONAL AEROSPACE AND ELECTRONICS CONFERENCE (NAECON), NEW YORK, IEEE, US, Bd. 2, 20. Mai 1996 (1996-05-20), Seiten 553-556, XP001072346 ISBN: 0-7803-3307-1 *

    Cited By (5)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    FR2872928A1 (en) * 2004-07-12 2006-01-13 Giat Ind Sa Projectile e.g. missile type projectile, guiding and steering process, involves utilizing components of terrestrial magnetic field in control law and algorithm as fixed mark for orienting reference mark with respect to terrestrial mark
    EP1617165A1 (en) * 2004-07-12 2006-01-18 Giat Industries Method for guiding and/or steering a projectile and apparatus for guiding and/or steering with means for carrying out this method
    US7500636B2 (en) 2004-07-12 2009-03-10 Giat Industries Processes and devices to guide and/or steer a projectile
    CN107314718A (en) * 2017-05-31 2017-11-03 中北大学 High speed rotating missile Attitude estimation method based on magnetic survey rolling angular rate information
    CN107314718B (en) * 2017-05-31 2018-11-13 中北大学 High speed rotation bullet Attitude estimation method based on magnetic survey rolling angular rate information

    Also Published As

    Publication number Publication date
    DE10132317A1 (en) 2003-01-16
    EP1273874A3 (en) 2003-06-25

    Similar Documents

    Publication Publication Date Title
    EP3009794B1 (en) Redundant determining of positional information for an automatic landing system
    EP1870669B1 (en) Method for checking the inert measuring unit of vehicles, in particular of aircrafts, in the stationary state
    EP0429952B1 (en) Automatic landing system
    EP3245478A1 (en) Localization apparatus and localization method
    EP2381208B1 (en) Method for determining positional data of a target object in a reference system
    EP3538843A1 (en) Estimation of an individual position
    DE102007037178B4 (en) Method and system for evaluating at least one environment sensor of a vehicle for recognizing at least one object
    EP1273874A2 (en) Method for defining the kinematic characteristics of a flying object
    EP2367026B1 (en) Device and method for determining the position and/or speed of a device in a satellite navigation system
    DE102010052474B4 (en) Flight Guidance System
    EP3894786A1 (en) Method and device for positioning determination by means of inertial navigation, and calibration system
    WO2012163632A1 (en) Method for determining the position of moving objects
    EP0207521B1 (en) Target measurement system
    DE102011054379B4 (en) Method and device for determining position information
    EP0727638A1 (en) Method and apparatus for fighting against helicopters operating under cover
    DE102017220483A1 (en) Method and device for determining a position for a highly automated vehicle
    DE69730278T2 (en) Passive distance estimation using image size dimensions
    EP2216657B1 (en) Positioning assembly and method
    WO2022228738A1 (en) Orientation-based position determination for rail vehicles
    DE112020003536T5 (en) Method and device for detecting a deception process of a GNSS system
    DE102016110477A1 (en) Method for positioning an in particular unmanned aircraft with the aid of an active static ground station and aircraft and ground station for carrying out the method
    DE19818426C2 (en) Remote reconnaissance and targeting procedures
    WO2020078697A1 (en) Method for detecting the course of a pipeline laid underground by means of an airborne capture apparatus
    WO2019219356A1 (en) Method and positioning system for transforming a position of a vehicle
    WO2018068797A2 (en) Device and method for determining an orientation of a vehicle

    Legal Events

    Date Code Title Description
    PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

    Free format text: ORIGINAL CODE: 0009012

    AK Designated contracting states

    Kind code of ref document: A2

    Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

    AX Request for extension of the european patent

    Free format text: AL;LT;LV;MK;RO;SI

    PUAL Search report despatched

    Free format text: ORIGINAL CODE: 0009013

    AK Designated contracting states

    Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

    AX Request for extension of the european patent

    Extension state: AL LT LV MK RO SI

    17P Request for examination filed

    Effective date: 20031210

    AKX Designation fees paid

    Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

    GRAP Despatch of communication of intention to grant a patent

    Free format text: ORIGINAL CODE: EPIDOSNIGR1

    GRAP Despatch of communication of intention to grant a patent

    Free format text: ORIGINAL CODE: EPIDOSNIGR1

    RAP1 Party data changed (applicant data changed or rights of an application transferred)

    Owner name: OERLIKON CONTRAVES GMBH

    STAA Information on the status of an ep patent application or granted ep patent

    Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

    18D Application deemed to be withdrawn

    Effective date: 20040924