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

Info

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
Authority
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Withdrawn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
Other languages
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
Original Assignee
Giat Industries SA
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 Giat Industries SA filed Critical Giat Industries SA
Publication of EP1617165A1 publication Critical patent/EP1617165A1/de
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2273—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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
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)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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

Publications (1)

Publication Number Publication Date
EP1617165A1 true EP1617165A1 (de) 2006-01-18

Family

ID=34951869

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05291446A Withdrawn EP1617165A1 (de) 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

Country Status (3)

Country Link
US (1) US7500636B2 (de)
EP (1) EP1617165A1 (de)
FR (1) FR2872928B1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
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

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8916809B2 (en) * 2003-08-12 2014-12-23 Omnitek Partners Llc Projectile having a window for transmitting power and/or data into the projectile interior
WO2006088687A1 (en) * 2005-02-07 2006-08-24 Bae Systems Information And Electronic Systems Integration Inc. Optically guided munition
FR2893154B1 (fr) 2005-11-10 2007-12-28 Tda Armements Sas Soc Par Acti Procede et dispositif de determination de la vitesse de rotation d'une droite projectile-cible et dispositif de guidage d'un projectile, notamment d'une munition
US7566027B1 (en) * 2006-01-30 2009-07-28 Alliant Techsystems Inc. Roll orientation using turns-counting fuze
FR2899351B1 (fr) * 2006-03-31 2008-05-02 Giat Ind Sa Procede de pilotage et/ou guidage d'un projectile et dispositif et/ou guidage mettant en oeuvre un tel procede.
WO2010052772A1 (ja) * 2008-11-05 2010-05-14 富士通株式会社 カメラ角度算出装置、カメラ角度算出方法およびカメラ角度算出プログラム
DE102009024508A1 (de) * 2009-06-08 2011-07-28 Rheinmetall Air Defence Ag Verfahren zur Korrektur der Flugbahn einer endphasengelenkten Munition
WO2012024021A2 (en) * 2010-06-22 2012-02-23 Bae Systems Information And Electronic Systems Integration Inc. System and method for determination of attitude for projectile
RU2498192C2 (ru) * 2011-12-29 2013-11-10 Открытое акционерное общество "Конструкторское бюро приборостроения" Способ наведения по оптическому лучу ракеты, стартующей с подвижного носителя
US9222755B2 (en) * 2014-02-03 2015-12-29 The Aerospace Corporation Intercepting vehicle and method
US9115968B1 (en) * 2014-02-12 2015-08-25 The United States Of America As Represented By The Secretary Of The Army Course self-correcting projectile
US11555679B1 (en) 2017-07-07 2023-01-17 Northrop Grumman Systems Corporation Active spin control
US11578956B1 (en) 2017-11-01 2023-02-14 Northrop Grumman Systems Corporation Detecting body spin on a projectile
FR3080912B1 (fr) 2018-05-02 2020-04-03 Nexter Munitions Projectile propulse par statoreacteur
US10907936B2 (en) * 2019-05-17 2021-02-02 Bae Systems Information And Electronic Systems Integration Inc. State estimation
CN110823016B (zh) * 2019-10-24 2022-04-22 北京临近空间飞行器系统工程研究所 一种转捩研究用高精度三维空间制导方法
US11573069B1 (en) 2020-07-02 2023-02-07 Northrop Grumman Systems Corporation Axial flux machine for use with projectiles

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2843034A1 (de) * 1978-10-03 1980-08-21 Deutsche Forsch Luft Raumfahrt Steuer- und stabilisierungssystem fuer fahrzeuge
DE3131394A1 (de) * 1981-08-07 1983-03-03 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Verfahren zur bestimmung der rotationslage eines rotierenden flugkoerpers mit hilfe des erdmagnetischen feldes
DE3829573A1 (de) * 1988-08-31 1990-03-08 Messerschmitt Boelkow Blohm Rollagebestimmung bei lenkgeschossen
US20020059027A1 (en) * 2000-09-02 2002-05-16 Dong An Digital signal processing method and system thereof for precision orientation measurements
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

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2984783A (en) * 1950-10-27 1961-05-16 Siegfried F Singer Magnetic orienter and magnetic guidance device for missiles
US3061239A (en) * 1960-08-04 1962-10-30 Lockheed Aircraft Corp Magnetic moment device for applying corrective torque to a space vehicle
US3118637A (en) * 1961-03-30 1964-01-21 Robert E Fischell Magnetic attitude control
US3291419A (en) * 1964-05-28 1966-12-13 Montague Lewis David Attitude control system with magnetometer sensors
JPS537720B1 (de) * 1970-07-29 1978-03-20
US3834653A (en) * 1972-03-27 1974-09-10 Rca Corp Closed loop roll and yaw control for satellites
GB1544083A (en) * 1975-07-21 1979-04-11 Rca Corp Precision closed loop roll and yaw control for momentum biased satellites in low inclination orbits
US4831544A (en) * 1985-12-28 1989-05-16 Tokyo Keiki Co., Ltd. Attitude and heading reference detecting apparatus
US4646990A (en) * 1986-02-18 1987-03-03 Ford Aerospace & Communications Corporation Magnetic roll sensor calibrator
DE19520115A1 (de) * 1995-06-01 1996-12-05 Contraves Gmbh Verfahren zum Bestimmen der Rollage eines rollenden Flugobjektes
AU2252800A (en) * 1998-08-11 2000-04-10 Nekton Technologies, Inc. Devices and methods for orienting and steering in three-dimensional space
US6163021A (en) * 1998-12-15 2000-12-19 Rockwell Collins, Inc. Navigation system for spinning projectiles
US6345785B1 (en) * 2000-01-28 2002-02-12 The United States Of America As Represented By The Secretary Of The Army Drag-brake deployment method and apparatus for range error correction of spinning, gun-launched artillery projectiles
US6496779B1 (en) * 2000-03-30 2002-12-17 Rockwell Collins Inertial measurement unit with magnetometer for detecting stationarity
US6493651B2 (en) * 2000-12-18 2002-12-10 The United States Of America As Represented By The Secretary Of The Army Method and system for determining magnetic attitude
US6556896B1 (en) * 2002-01-10 2003-04-29 The United States Of America As Represented By The Secretary Of The Navy Magnetic roll rate sensor

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2843034A1 (de) * 1978-10-03 1980-08-21 Deutsche Forsch Luft Raumfahrt Steuer- und stabilisierungssystem fuer fahrzeuge
DE3131394A1 (de) * 1981-08-07 1983-03-03 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Verfahren zur bestimmung der rotationslage eines rotierenden flugkoerpers mit hilfe des erdmagnetischen feldes
DE3829573A1 (de) * 1988-08-31 1990-03-08 Messerschmitt Boelkow Blohm Rollagebestimmung bei lenkgeschossen
US20020059027A1 (en) * 2000-09-02 2002-05-16 Dong An Digital signal processing method and system thereof for precision orientation measurements
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

Cited By (3)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
US7500636B2 (en) 2009-03-10
FR2872928A1 (fr) 2006-01-13
FR2872928B1 (fr) 2006-09-15
US20060289694A1 (en) 2006-12-28

Similar Documents

Publication Publication Date Title
EP1617165A1 (de) Verfahren zur Lenkung und/oder Führung eines Geschosses und Vorrichtung zur Lenkung und/oder Führung mit Mitteln zur Durchführung dieses Verfahrens
EP2009387B1 (de) Steuerverfahren zur Auslösung eines Angriffsmoduls und Vorrichtung zur Umsetzung eines solchen Verfahrens
EP2048475B1 (de) Verfahren zur Bestimmung der Lage, Position und Geschwindigkeit eines beweglichen Geräts
EP1480000B1 (de) Verfahren zur Lenkung der Flugbahn eines drehenden Geschosses
EP2169508B1 (de) Geschosssteuerungssystem
EP1798622B1 (de) Verfahren, das ein Absichern der Navigation und/oder der Lenkung und/oder der Steuerung eines Projektils zu einem Ziel ermöglicht, und Vorrichtung, die ein solches Verfahren einsetzt
EP0953140B1 (de) Vorrichtung zum bestimmen der richtung eines zieles in einer vorbestimmten indexmarkierung
Celis et al. GNSS/IMU laser quadrant detector hybridization techniques for artillery rocket guidance
EP1840692B1 (de) Verfahren zur Steuerung und/oder Lenkung eines Projektils und Vorrichtung zum Steuern und/oder Lenken mit Hilfe dieses Verfahrens
FR2859782A1 (fr) Systemes d'armes
EP1422587B1 (de) Verfahren zur Herstellung eines Steuerungsbefehles für ein die Steuerung eines drehenden Geschosses ermöglichendes Gerät
WO2021014294A1 (fr) Procede et dispositif de recalage d'une centrale inertielle
EP1291600B1 (de) Verfahren zur Lenkung eines Gerätes, insbesondere einer Munition
EP1311428A1 (de) Anwendung der bahn der trägerrakete in einer trägheitsmesseinheit
EP1785688B1 (de) Verfahren und Vorrichtung um die Rotationsgeschwindigkeit der Geschoßziellinie zu bestimmen und Lenkvorrichtung eines Geschoßes, insbesondere von Munition
EP0420760B1 (de) Selbstlenkungssystem und -verfahren einer getriebenen ballistischen Luftfahrzeuggeschosses gegen ein Ziel
EP1692455B1 (de) Feuerleitverfahren für flugzeug
EP0062563A1 (de) Verfahren zum Steuern der Seitwärtsbeschleunigung eines Flugkörpers und entsprechendes Waffensystem
Głębocki Guidance impulse algorithms for air bomb control
de Celis et al. Adaptive Navigation, Guidance and Control Techniques Applied to Ballistic Projectiles and Rockets
FR2657690A1 (fr) Dispositif de mesure d'attitude en roulis et/ou en tangage d'un projectile.
FR3071596B1 (fr) Procede et dispositif de lancement de projectiles sur une cible a atteindre
Glebocki et al. Gasodynamic control system for INS guided bomb
sea ye a Di China Lake, Califor nia
Cole et al. Comments on Airborne (Air-to-Surface) Forward Fired Large Caliber Gun Fire Control.

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: A1

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

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

AKX Designation fees paid
17P Request for examination filed

Effective date: 20060724

RBV Designated contracting states (corrected)

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

REG Reference to a national code

Ref country code: DE

Ref legal event code: 8566

17Q First examination report despatched

Effective date: 20061016

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

Owner name: NEXTER MUNITIONS

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: 20140819