EP1617165A1 - Verfahren zur Lenkung und/oder Führung eines Geschosses und Vorrichtung zur Lenkung und/oder Führung mit Mitteln zur Durchführung dieses Verfahrens - Google Patents

Verfahren zur Lenkung und/oder Führung eines Geschosses und Vorrichtung zur Lenkung und/oder Führung mit Mitteln zur Durchführung dieses Verfahrens Download PDF

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Publication number
EP1617165A1
EP1617165A1 EP05291446A EP05291446A EP1617165A1 EP 1617165 A1 EP1617165 A1 EP 1617165A1 EP 05291446 A EP05291446 A EP 05291446A EP 05291446 A EP05291446 A EP 05291446A EP 1617165 A1 EP1617165 A1 EP 1617165A1
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EP
European Patent Office
Prior art keywords
projectile
vector
guidance
control
yaw
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Withdrawn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
EP05291446A
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English (en)
French (fr)
Inventor
Thierry Bredy
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.)
Nexter Munitions SA
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Giat Industries SA
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Filing date
Publication date
Application filed by Giat Industries SA filed Critical Giat Industries SA
Publication of EP1617165A1 publication Critical patent/EP1617165A1/de
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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
    • F41G7/2273—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
    • 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
    • F41G7/226—Semi-active homing systems, i.e. comprising a receiver and involving auxiliary illuminating means, e.g. using auxiliary guiding missiles

Definitions

  • the technical field of the invention is that of the methods and devices for guiding and / or steering a projectile towards a target.
  • the known projectiles are guided towards their target by a guiding device which prepares the acceleration correction commands to be applied to the projectile to direct it to the target.
  • correction orders are then used by a control device that develops the commands to be applied to the steering members to ensure the desired correction.
  • Autonomous projectiles are thus known which are equipped with a satellite positioning device (better known by the acronym “GPS” meaning “Global Positioning System”) which enables them to locate themselves on a trajectory.
  • GPS Global Positioning System
  • the projectile receives before shooting a programming that gives it the coordinates of the target. It then determines itself its actual position in flight, and develops, using the information provided by an onertial unit of measurement and by means of appropriate algorithms, control orders for control surfaces.
  • This inertial measurement unit comprises accelerometers and gyroscopes, which provide (in a frame linked to the projectile) the components of the instantaneous vector of rotation and the non-gravitational acceleration to which the projectile is subjected.
  • This inertial measurement unit is used both to control the projectile and to help guide it by merging the data of this unit with those provided by the GPS.
  • the guidance and steering instructions are developed from the direction of location of the target relative to the projectile (line of sight) and also from the data relating to the rotation of this line of sight with respect to a fixed landmark (landmark as a first approximation) expressed in a reference linked to the projectile
  • the movements of the line of sight are measured relative to a reference point related to the projectile, while it is necessary to guide the projectile to know the movements of the line of sight relative to a fixed reference.
  • an inertial measurement unit Knowing the behavior of the projectile with respect to a fixed reference is obtained with an inertial measurement unit. It is then possible to determine the movements of the line of sight with respect to a fixed reference.
  • this inertial measurement unit is used both to control the projectile and to contribute to its guidance.
  • the method according to the invention makes it possible to provide guiding and / or piloting without using gyrometers while ensuring a precision that is practically equivalent to that obtained with the known guiding / piloting devices.
  • the subject of the invention is a method of end guidance and / or piloting of a projectile towards a target, in which method the orientation of a vector is determined.
  • Vp ⁇ velocity of the projectile then applies a guide law, then a steering algorithm to reorient the projectile towards its target, characterized in that it measures the three components of the Earth's magnetic field H ⁇ in a reference linked to the projectile and these measurements are used in the guidance law and / or the control algorithm as a fixed reference for orienting at least partially the marker linked to the projectile relative to a terrestrial reference.
  • ⁇ ⁇ cmd K ⁇ ⁇ u ⁇
  • ⁇ ⁇ cmd the vector acceleration setpoint of correction
  • ⁇ the variation as a function of time (d ⁇ / dt) of the angle ⁇ between the projection NOT ⁇ magnetic field and line of sight vector
  • the bone ⁇ and u ⁇ represents a unit vector perpendicular to the velocity vector Vp ⁇ of the projectile and located in the guide plane.
  • this vector is collinear with the axis OX m of the reference linked to the projectile.
  • Such an operation amounts to replacing the gyrometric feedback of the servo-control system in yaw and / or pitch by a "pseudo-gyrometric" feedback resulting from the measurements of the magnetic field.
  • this control method may be combined with a conventional projectile guide law such as a tracking law.
  • the invention also relates to a device for guiding and / or piloting a projectile towards a target implementing such a method, characterized in that it associates a target detector or devometer, a calculator incorporating an algorithm of guidance and / or control of the projectile, means for controlling the projectile, at least two accelerometers oriented along the axes of measurement of pitch acceleration (OZm) and yaw acceleration (OYm) of the projectile and one or more sensors magnets arranged to measure the three components of the Earth's magnetic field vector H ⁇ in a reference linked to the projectile, the algorithm for guidance and / or piloting using the measurements of the components of the terrestrial magnetic field vector H ⁇ as a fixed reference for orienting at least partially the marker linked to the projectile with respect to a terrestrial reference.
  • a target detector or devometer a calculator incorporating an algorithm of guidance and / or control of the projectile
  • means for controlling the projectile at least two accelerometers oriented along the axes of measurement of pitch acceleration
  • FIG. 1 schematically shows an embodiment of a projectile 1 implementing a guiding and / or piloting device according to the invention.
  • the projectile 1 is equipped at its rear with four pivoting control surfaces 2. Each rudder 2 is actuated by a control means or servomechanism 3 which is itself controlled by an onboard computer 4. This projectile is for example a shot projectile by an artillery gun towards a target.
  • control surfaces When the projectile is inside the tube of a weapon (not shown) the control surfaces are folded along the body of the projectile 1. They deploy at the exit of the tube to ensure their steering function. These deployment mechanisms are traditional and there is no need to describe them here. For example, reference may be made to patents FR2846079 and FR2846080 which describe mechanisms for deploying control surfaces.
  • the projectile 1 also encloses a military head 9, for example a shaped charge, an explosive charge or one or more dispersible submunitions.
  • the projectile 1 also contains inertial means.
  • These inertial means 7 comprise at least two accelerometers 10a, 10b respectively oriented along the axes of measurement of the yaw (OY m ) and pitch (OZ m ) acceleration of the projectile 1. These axes are, as can be seen in FIG. Figure 1, axes perpendicular to the axis OX m roll (coincides with the axis 8 of the projectile).
  • gyroscopes or gyroscopes may also be provided at the level of the inertial means 7.
  • the inertial means are connected to the computer 4 which ensures the processing of the measurements made and their subsequent use for guidance and / or control of the projectile.
  • the projectile 1 also incorporates a triaxial magnetic sensor 6 (a single sensor or three magnetic probes or magneto-resistors distributed in three different directions of a measurement trihedron (for example three orthogonal probes between they are each preferably directed along one of the axes of the projectile mark 0X m , OY m or OZ m )).
  • a triaxial magnetic sensor 6 a single sensor or three magnetic probes or magneto-resistors distributed in three different directions of a measurement trihedron (for example three orthogonal probes between they are each preferably directed along one of the axes of the projectile mark 0X m , OY m or OZ m )).
  • This sensor makes it possible to measure the components of the terrestrial magnetic field H in a reference linked to the projectile 1.
  • the magnetic sensor 6 is also connected to the computer 4 which ensures the processing of measurements and their subsequent operation.
  • the projectile 1 also incorporates a target detector 5 which is fixedly mounted relative to the projectile 1.
  • Such detectors or deviators are well known to those skilled in the art (they are known by the Anglo-Saxon name of "strapdown sensor”). They include, for example, an array of optical sensors 5a on which are sent the light rays coming from an observation field which is delimited in the figure by lines 11a, 11b. These light rays are provided by an input optic 5b which is oriented along the axis 0Xm of the projectile 1.
  • This differenceometer can be a photo four-quadrant detector (four detection zones delimited by two perpendicular lines).
  • Such a detector makes it possible (with appropriate signal processing) to determine the direction of the line of sight connecting the projectile to a target.
  • the detector 5 is also connected to the computer 4. The latter again ensures the processing of measurements and their subsequent operation. It will incorporate algorithms of detection and / or recognition of a given target (for a passive or active autonomous detector) or signal decoding algorithms of a designator (for a semi-active detector). It will also incorporate algorithms allowing, once a target is located, to calculate in a reference linked to the projectile the components of a line of sight vector.
  • FIG. 1 is only an explanatory diagram that does not prejudge the locations and relative dimensions of the various elements.
  • a single projectile rocket may incorporate the computer 4, the magnetic sensors 6, the accelerometers 7 and the target detector 5.
  • FIG. 2 shows the projectile 1 and a target 12.
  • the line of sight 14 is an imaginary line connecting the center of gravity O of the projectile and the target 12. It will be noted The bone ⁇ the unit vector on this line of sight.
  • the position of the vector The bone ⁇ in the reference linked to the projectile is determined by the two angles ⁇ and ⁇ marked in the figure.
  • ⁇ is the angle between the vector The bone ⁇ and the roll axis OX m
  • ⁇ is the angle between the axis OYm and the projection The bone ⁇ YZ of the vector The bone ⁇ on the plane OY m Z m .
  • OX m Z m the pitch plane of the projectile (perpendicular to the pitch axis of rotation m OY) and OX m Y m the projectile yaw plane (perpendicular to the axis of rotation of yaw OZ m).
  • FIG. 3 makes it possible to explain the guiding method implemented in accordance with one embodiment of the invention.
  • the method is based on a classical proportional navigation law. According to such a law, we control the speed vector Vp ⁇ by applying to the projectile an acceleration ⁇ ⁇ cmd perpendicular to this velocity vector and proportional to the speed of rotation of the line of sight Los relative to a fixed reference.
  • the rotation of the marker of the projectile with respect to the fixed reference is determined by implementing gyrometers.
  • a simple measurement of the terrestrial magnetic field produced at the projectile will be used in the guidance method.
  • This measurement is used in the guidance method as a fixed reference with respect to the terrestrial reference. It is then useless to use gyrometers to determine the elements necessary for the orientation of the marker linked to the projectile relative to the fixed reference.
  • FIG. 3 shows the projectile velocity vector Vp ⁇ and the line of sight vector The bone ⁇ These two vectors determine a plane (plane of guidance) on which we project the vector terrestrial magnetic field H ⁇ (this projection is noted NOT ⁇ ) .
  • ⁇ is the angle between the line of sight vector The bone ⁇ and this projection NOT ⁇ of the magnetic field.
  • the projectile 1 will be applied with a guiding law proportional to the variation as a function of time of the angle ⁇ between the line of sight The bone ⁇ and the projection NOT ⁇ of the terrestrial magnetic field vector on the guide plane.
  • the data provided by the inertial means 7 may also be used.
  • the knowledge of the acceleration to which the projectile is subjected makes it possible to know the aerodynamic forces to which it is subjected. It is then possible, by implementing the classical flight mechanics relations which express the aerodynamic forces undergone as a function of the square of the velocity and the angles of incidence of the projectile, to deduce the angles of incidence of the projectile, hence the orientation. of the vector Vp in the reference linked to the projectile.
  • a table of speeds of the projectile stored in the computer 4 will be used and the disturbances due to the wind will be neglected.
  • FIG. 4 is a block diagram showing the various steps of the guidance method according to the invention.
  • Block A corresponds to the determination of the orientation of the vector Vp ⁇ in the reference of the projectile. As previously stated, this determination will be either fixed ( Vp ⁇ oriented according to OX m ), is calculated from the accelerometers 10a, 10b which give the values ⁇ Y and ⁇ Z ).
  • Block B corresponds to the determination of the components of the unit vector The bone ⁇ collinear to the line of sight. This calculation is a conventional calculation in the context of the implementation of fixed detectors 5.
  • Block C corresponds to the measurement of the three components of the terrestrial magnetic field vector H ⁇ in a reference linked to the projectile.
  • Block D corresponds to the elaboration of the three components of the projection NOT ⁇ of the Earth's magnetic field vector H ⁇ in the guidance plane defined by the line of sight vectors The bone ⁇ and speed Vp ⁇ of the projectile.
  • Block F corresponds to the calculation of the angle ⁇ between the line of sight vector The bone ⁇ and the projection NOT ⁇ magnetic field thus calculated.
  • the estimation of the derivative ⁇ of the angle ⁇ may use a smoothing filter so as to minimize the noise due to the derivation operation of this angle.
  • the coefficient K will be chosen by the skilled person according to the characteristics of the projectile as well as the target / projectile approach speed. This speed is estimated from preprogrammed values in the calculator 4 of the projectile and according to the shooting scenario. The value of K may be adjusted at the level of the calculator 4 according to the firing scenarios envisaged.
  • the vector u ⁇ is located in the plane Y m OZ m and its direction is then simply provided by the projection of the vector NOT ⁇ or the vector The bone ⁇ in this plan.
  • Block L gives the components of the control acceleration vector ⁇ ⁇ cmd (only the components ⁇ cmdY and ⁇ cmdz of this vector along the yaw axis (OY m ) and pitch (OZ m ) are required to provide guidance).
  • the steering of the projectile is carried out using a conventional control algorithm.
  • a conventional control algorithm uses the yaw and pitch accelerations given by the computer using the guidance algorithm as well as the values of the accelerations actually measured along the axes of pitch, yaw, and those of the speeds of rotation ( p, q, r) of the projectile around its axes of rotation of roll, pitch and yaw respectively.
  • FIGS 5a and 5b are functional diagrams of conventional driving chains.
  • Figure 5a shows a yaw or pitch control chain.
  • This chain comprises a yaw servo L / T module (respectively in pitch) which elaborates the steering angle in yaw ⁇ cmdY (respectively in pitch ⁇ cmdZ ) as a function of the set point in acceleration ⁇ cmdY (respectively ⁇ cmdZ ) and ⁇ Ym (or ⁇ Zm ) measurements of the Y yelow accelerations (or pitch ⁇ Z ) actually obtained as well as the measurement r m (or q m ) of the speed of rotation r (or q) around the yaw rotation (or pitch) axis.
  • the instructions are communicated by the servo mechanism 3 to the fins 2 integral with the projectile 1 (aerodynamic structure 1 + 2).
  • the setpoint angles ⁇ cmdY and ⁇ cmdZ are distributed over the different control fins as a function of the geometry, the position and the number of the latter.
  • the measurements are carried out respectively by the lace accelerometer 10a (or pitch 10b) and by a lace gyro G L (or pitch G T ).
  • An adaptation block 15 (transfer function) is provided at the output of the gyrometers (G L / G T ) before combining the signals relative to the rotation with those provided by the accelerometers (10a, 10b).
  • FIG. 5b shows a conventional rolling control chain.
  • This chain comprises a rolling servo-control module R which generates a rolling- control setpoint angle ⁇ cmdR as a function of the desired roll angle setpoint ⁇ cmd and the measurement p m of the roll speed p.
  • the latter is measured by a roll gyrometer G R coupled to a rolling position evaluation means 13 ⁇ is (generally constituted by an appropriate algorithm).
  • FIG. 6 shows the projectile 1 with respect to a fixed reference OX f Y f Z f brought back to the center of gravity O of the projectile.
  • This fixed reference is defined in such a way that the terrestrial magnetic field vector H ⁇ be confused with the axis OX f .
  • FIG. 6 also shows the axis OX m of the reference linked to the projectile.
  • apparent rotations of the projection of the terrestrial magnetic field vector in the pitch planes (X m OZ m ), yaw (Y m OX m ) and only in the plane Y m OZ m (perpendicular to the roll axis X m ).
  • Figures 7a, 7b and 7c show these projections.
  • FIG. 7a thus shows the projection H mXZ of the terrestrial magnetic field vector H ⁇ in the pitch plane X m OZ m .
  • This projection makes with the axis 0Z m an angle ⁇ 1 .
  • Figure 7b shows the projection H mXY of the terrestrial magnetic field vector H ⁇ in the yaw plan X m OY m . This projection makes with the axis of roll 0X m an angle ⁇ 2 .
  • FIG. 7c finally shows the projection H mYZ of the terrestrial magnetic field vector H ⁇ in the plane Y m OZ m perpendicular to the roll axis OX m .
  • This projection makes with the axis 0Y m an angle p3.
  • the variations as a function of time (d ⁇ 1 / dt and d ⁇ 2 / dt) of the angles ⁇ 1 and ⁇ 2 will be evaluated and these derivatives will be used in the servo control algorithm for pitch and yaw control, instead of the rotational speeds pitch q and yaw r.
  • a comparative simulation of the guidance and control method according to the invention was carried out with several known guidance and control methods. These known methods are used for a guiding ammunition and they use complete inertial measurement units associating gyrometers and accelerometers for both driving and guidance as well as a self-redirecting devometer.
  • the CEP (efficiency criterion) is a criterion that is equal to the radius of a circle centered on the target and within which 50% of the distribution of the points of impact of the fired projectiles are located.
  • This coefficient is generally between 0.5 m and 0.9 m for known projectiles.
  • the calculator of this projectile incorporates guidance and control algorithms as described above: a guide law involving the projection of the magnetic field vector on the guidance plane Vp / Los, and a control algorithm replacing q, r and ⁇ by the values deduced from projections of the magnetic field on the planes of pitch, yaw and roll.
  • the driving method according to the invention can be associated with a conventional guidance method implementing a simple tracking law instead of a proportional navigation law.
  • the guidance calculator will then provide the control chain pitch and yaw acceleration instructions. These instructions will be developed in a simple way. We measure from the deviometer that provides the angles of difference between the velocity vector of the projectile Vp (assumed to coincide with the axis Xm of the projectile) and the projection vectors of the line of sight vector. The bone ⁇ respectively on the pitch and yaw planes.
  • the measured value of this angular difference in the pitch plane (XmOZm plane) is compared to a setpoint value (zero in the present case since it seeks to cancel this gap).
  • the difference between this setpoint value and the measured value is multiplied by a suitable gain coefficient before being applied as the acceleration setpoint at the input of the pitch control chain.
  • the pitch control chain as described above with reference to FIG. 5a makes it possible to control the pitch acceleration, thus to control the orientation of the velocity vector Vp in the pitch plane (the speed of rotation of the velocity vector Vp of the projectile being almost proportional to the normal acceleration applied to the projectile).
  • the law of pursuit can be improved in a conventional way on the one hand by taking into account the incidence of the projectile and on the other hand by introducing a bias allowing a formation of trajectory.
  • the angles of incidence of the projectile in pitch and yaw can be estimated using the accelerometers 10a and 10b.

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  • 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)
EP05291446A 2004-07-12 2005-07-05 Verfahren zur Lenkung und/oder Führung eines Geschosses und Vorrichtung zur Lenkung und/oder Führung mit Mitteln zur Durchführung dieses Verfahrens Withdrawn EP1617165A1 (de)

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FR0407773A FR2872928B1 (fr) 2004-07-12 2004-07-12 Procede de guidage et/ou pilotage d'un projectile et dispositif de guidage et/ou pilotage mettant en oeuvre un tel procede

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US6398155B1 (en) * 2001-01-02 2002-06-04 The United States Of America As Represented By The Secretary Of The Army Method and system for determining the pointing direction of a body in flight
US20020188416A1 (en) * 2001-03-30 2002-12-12 Zhaoying Zhou Micro azimuth-level detector based on micro electro-mechanical systems and a method for determination of attitude
EP1273874A2 (de) * 2001-07-06 2003-01-08 Oerlikon Contraves Gesellschaft mit beschränkter Haftung Verfahren zur Bestimmung der kinematischen Kenngrössen eines Flugobjektes

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Publication number Priority date Publication date Assignee Title
EP2009387A1 (de) * 2007-06-27 2008-12-31 NEXTER Munitions Steuerverfahren zur Auslösung eines Angriffsmoduls und Vorrichtung zur Umsetzung eines solchen Verfahrens
FR2918168A1 (fr) * 2007-06-27 2009-01-02 Nexter Munitions Sa Procede de commande du declenchement d'un module d'attaque et dispositif mettant en oeuvre un tel procede.
US7989742B2 (en) 2007-06-27 2011-08-02 Nexter Munitions Process to control the initiation of an attack module and initiation control device implementing said process

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US7500636B2 (en) 2009-03-10
FR2872928B1 (fr) 2006-09-15
US20060289694A1 (en) 2006-12-28

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