EP1678459B1 - Verfahren und vorrichtung zur verringerung des einflusses des mehrwegeeffekts auf die messung der eigenen position eines strahlgeführten objekts und sie verwendendes system zur steuerung des hf-strahlgeführten objekts - Google Patents

Verfahren und vorrichtung zur verringerung des einflusses des mehrwegeeffekts auf die messung der eigenen position eines strahlgeführten objekts und sie verwendendes system zur steuerung des hf-strahlgeführten objekts Download PDF

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Publication number
EP1678459B1
EP1678459B1 EP04791201A EP04791201A EP1678459B1 EP 1678459 B1 EP1678459 B1 EP 1678459B1 EP 04791201 A EP04791201 A EP 04791201A EP 04791201 A EP04791201 A EP 04791201A EP 1678459 B1 EP1678459 B1 EP 1678459B1
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EP
European Patent Office
Prior art keywords
guided
guided object
beam guided
multipath
multipath effect
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EP04791201A
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English (en)
French (fr)
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EP1678459A1 (de
Inventor
Herman THALES INTELL. PROPERTY Benthem de Grave
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Thales Nederland BV
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Thales Nederland BV
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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
    • F41G7/24—Beam riding guidance systems
    • F41G7/28—Radio guidance systems

Definitions

  • This invention relates to a method and the corresponding device for the reduction of the multipath effect on the own position measurement of a Radio Frequency (RF) beam guided object and the RF beam guided object control system using it.
  • RF Radio Frequency
  • the beam guided object In RF beam guidance, the beam guided object has to follow a RF beam aimed in the desired direction (beam riding). In flight, the guided object measures its own position with respect to the RF beam and translates these measurements into appropriate commands for its own control means.
  • the use of RF beam guidance induces that the own position measurements are affected by multipath effects when the object is at low altitude above the sea.
  • Electro Magnetic (EM) energy propagates as waves in the atmosphere and when it hits a surface, reflection occurs.
  • EM energy propagates as waves in the atmosphere and when it hits a surface, reflection occurs.
  • a relatively large part of the EM energy arriving at the object will come from reflections at the sea surface.
  • the smoother the sea as compared to the RF wavelength the more energy will be reflected.
  • the reflected energy has a strong average value (specular reflection); in less smooth seas a random effect (diffuse reflection) will dominate.
  • a number of predetermined beam position offsets can be introduced, either simultaneously as in a monopulse system or sequentially. Modulated by the beam pattern, the different beams will give different responses that the guided object uses to estimate its own position.
  • the multipath effect influences the accuracy of the estimation process. In particular, this is due to the fact that the indirect paths will have different angles (and gains) with respect to the boresight at each beam position. Thereby, the multipath effect introduces additional errors in the own position measurement, even when the object is at the boresight.
  • the RF guidance beam is aimed by means of a guidance beam antenna in the direction of the target to be intercepted.
  • multipath effects will occur when engaging low flying targets such as Seaskimmers.
  • the multipath effects directly will influence the fly-out of the guided ammunition and reduce the probability that the guided ammunition will hit the target. Even when equipped with a proximity fuse that will detect the target when passing and detonate the guided ammunition's warhead, the effectiveness of the blast and fragmentation on the target will be less with a larger miss-distance (lower kill probability) with respect to the target.
  • the multipath effects degrade the operational performance of the RF guided ammunition in terms of kill probability and keep-out range.
  • a method to reduce the effects of multipath is the use of RF agility, i.e. to make use of different frequencies in subsequent measurements. Because the positions of the multipath peaks vary in range with the radio frequency RF, some frequencies will be affected less than others at a particular range.
  • the guided ammunition processing can make use of this by e.g. selecting only measurements that have a sufficiently high received Signal-to-Noise-Ratio (SNR) : multipath peaks are associated with low SNR values. The larger the bandwidth (bandwidths of >10% of the main operating frequency are preferred in this respect), the more effective the use of RF agility will be.
  • SNR Signal-to-Noise-Ratio
  • TWT Travelling Wave Tubes
  • RF beam guidance essentially involves the closed loop control of the guided ammunition. Closed loop, in this case means that the guidance influences the position of the guided ammunition with respect to the guidance beam, which obviously directly influences the input to the guidance, i.e. the measured own position. Filtering basically delays the influence of the measurements taken into account in the guidance. As an example consider the following case:
  • the guided ammunition builds up an offset in position with respect to the guidance beam antenna bore sight. As a result of the filtering delay, this offset initially is not noticed. When the guided ammunition eventually has noticed the offset and starts its correction manoeuvre, this again is not noticed until after the delay. Eventually when the guidance already has corrected for the offset successfully, still an error is noticed and the guided ammunition correction command is maintained, which will result in an overshoot of the desired position, etc.
  • This invention solves the above-mentioned drawbacks by limitation of the guidance beam error measurements to legal errors, i.e. errors due to target or guided ammunition manoeuvres.
  • An object of this invention is a method for the reduction of the multipath effect according to claim 1.
  • Figure 1 shows the multipath geometry and its effect on the beam.
  • An antenna A transmits a beam whose pattern is shown by Figure 1 .
  • This beam follows different paths: direct path R 1 , reflected path R 2 (also called specular path). Due to differences in the path lengths of the direct R 1 and reflected R 2 waves, the beam following the direct path and the beam following the specular path will arrive with a (very small) time difference at the object O. This time difference translates into a phase difference. If the phase difference is small, then the two will add up to a larger value than from the direct path only, a phase difference near 180deg can lead to almost extinction. Whereas the range difference will vary with target distance, this interference or multipath effect will also show a range dependent fluctuation. The smaller the wavelength (higher frequency), the more peaks and lows will occur within a particular range bracket.
  • a number of predetermined beam position offsets can be introduced, either simultaneously as in a monopulse system or sequentially. Modulated by the beam pattern, the different beams will give different responses that the object uses to estimate its own position. For example in Figure 2 , the direct paths R 1 for the dashed (offset beam C) and dotted (offset beam D) beams have the same gain and consequently receive the same amount of energy. As a result the object O is estimated to be at the antenna boresight.
  • the multipath effect influences the accuracy of the estimation process.
  • the indirect paths I will have different angles (and gains) with respect to the bore sight of each beam position.
  • the multipath effect introduces additional errors in the position measurement.
  • the object is at the antenna bore sight, now the indirect path contribution will induce an estimation error.
  • the objective is to separate "legal” (due to target and/or guided object manoeuvre) and “illegal” (due to multipath and/or measurement noise) measured position errors as much as possible.
  • the invention consists of limiting the influence of variations in the measured position error. The basic idea behind this limitation is that large changes in the measured position error can only be attributed to multipath and/or measurement noise, not to legal manoeuvres.
  • This limiting function can be range dependent, considering both target and guided object range.
  • the parameters of the limiting function are depending upon the maximum expected target manoeuvrability (dominant at longer range) and the guided object manoeuvre capabilities (dominant at short range).
  • Different functions are applied for the vertical and horizontal direction in the guided object reference frame (note that due to rotation of this reference frame with respect to the local vertical, multipath effects can also be present in the horizontal direction).
  • Figures 3 and 4 show examples of typical elevation accuracies as a function of guided object range for different bandwidths.
  • Figure 3 shows these accuracies in terms of measured position m k
  • Figure 4 shows these accuracies in terms of processed position P k .
  • processed position is meant the position obtained after the limitation according to the invention.
  • the X-axis represents the guided object range in metres and the Y-axis the elevation accuracy in 10 -3 radians.
  • the guided object beam measured positions are usually angular data expressed in radians. Note that as in any radar system these data are not actually measured as such, but calculated in the guided object processor from measured voltage levels.
  • An Analog-to-Digital Converter (ADC) provides the relevant digital equivalent to the processor.
  • the plain lines c 1 represent the evolution of the accuracies in terms of the mean value respectively for the measured position and the processed position with a bandwidth of 10%.
  • the dotted lines c 2 represent the evolution of the accuracies in terms of the mean value respectively for the measured position and the processed position with a bandwidth of 3%.
  • the dashed lines c 3 represent the evolution of the accuracies in terms of the standard deviation respectively for the measured position and the processed position with a bandwidth of 10%.
  • the dot-dashed lines c 4 represent the evolution of the accuracies in terms of the standard deviation respectively for the measured position and the processed position with a bandwidth of 3%.
  • the method for the reduction of the multipath effect on the position measurement of a beam guided object limits the influence of the variation of the measured position m k into a predetermined interval [F 2 , F 1 ].
  • the predetermined interval [F 2 , F 1 ] may be depending upon the maximum expected target manoeuvrability and the guided object manoeuvre capabilities which are range dependent, considering both target (Rtarg) and guided object range (R amm ).
  • FIG. 5 shows a possible implementation of the multipath effect reduction method according to the invention as variation limitation means (100).
  • This variation limitation means (100) comprises a legal error estimator (110), which receives at least the current measured position m k and the previous processed position P k-1 and provides ⁇ m lim .
  • This first step can be implemented in a variation processor (111), and the second step in a processed variation limitation means (112).
  • the delay T indicates that the difference ⁇ m k at instant k is calculated from the measurement sample m k and processed position P k-1 at instants k and k-1, i.e. separated in time by a delay determined by the measurement sample rate.
  • the coefficients kx 1 and kx 2 of this function have to be tuned to the expected behaviour of the threat (e.g. highly manoeuvrable Anti Ship Missiles) and the behaviour of the guided object. Moreover, these coefficients obviously depend also upon the measurement sample rate.
  • the limitation in the initial part of the guided object fly-out is determined by kx 2 /R amm , because at that time R amm ⁇ R targ .
  • the guided object will be gathering the guidance beam, target manoeuvres are less important due to the longer range R targ : a target displacement over M meters will only result in a guidance beam displacement at the guided object position over M x R amm / R targ metres.
  • the invention is a low cost solution providing a good guided object stability.
  • the multipath effect reduction method can also be implemented as additional software in the existing board computer processor of the RF guided object control system.
  • multipath effect reduction method may be used by any kind of beam riding object control system, as for example guided ammunition and missiles.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Claims (1)

  1. Verfahren zum Verringern des Einflusses von Mehrweg-Effekt auf die Steuerung eines strahlgeführten Gegenstands, umfassend:
    - dass der strahlgeführte Gegenstand seine eigene Position in Bezug auf den Führungsstrahl misst, wobei das Messen möglicherweise durch den Mehrweg-Effekt beeinträchtigt wird;
    - Bestimmen einer Variation der gemessenen Position hinsichtlich einer früher verarbeiteten Position;
    wobei das Verfahren dadurch gekennzeichnet ist, dass es folgendes umfasst:
    - Begrenzen der bestimmten Variation auf ein vorherbestimmtes Intervall, um den Einfluss des Mehrweg-Effekts zu begrenzen;
    - Steuern des strahlgeführten Gegenstands basierend auf der begrenzten Variation.
EP04791201A 2003-10-14 2004-10-12 Verfahren und vorrichtung zur verringerung des einflusses des mehrwegeeffekts auf die messung der eigenen position eines strahlgeführten objekts und sie verwendendes system zur steuerung des hf-strahlgeführten objekts Active EP1678459B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1024532A NL1024532C2 (nl) 2003-10-14 2003-10-14 RF multipath vermindering voor geleide projectielen.
PCT/EP2004/052508 WO2005038386A1 (en) 2003-10-14 2004-10-12 Method and device for the reduction of influence of the multipath effect on the own position measurement of a beam guided object and the rf beam guided object control system using it

Publications (2)

Publication Number Publication Date
EP1678459A1 EP1678459A1 (de) 2006-07-12
EP1678459B1 true EP1678459B1 (de) 2011-10-12

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EP04791201A Active EP1678459B1 (de) 2003-10-14 2004-10-12 Verfahren und vorrichtung zur verringerung des einflusses des mehrwegeeffekts auf die messung der eigenen position eines strahlgeführten objekts und sie verwendendes system zur steuerung des hf-strahlgeführten objekts

Country Status (5)

Country Link
EP (1) EP1678459B1 (de)
AT (1) ATE528608T1 (de)
ES (1) ES2372819T3 (de)
NL (1) NL1024532C2 (de)
WO (1) WO2005038386A1 (de)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3290599A (en) * 1955-12-29 1966-12-06 William L Vann Power modulator for transmitter beam scan
GB1436786A (en) * 1973-11-27 1976-05-26 Standard Telephones Cables Ltd Radio navigatin receiver

Also Published As

Publication number Publication date
EP1678459A1 (de) 2006-07-12
NL1024532C2 (nl) 2005-04-15
ES2372819T3 (es) 2012-01-26
WO2005038386A1 (en) 2005-04-28
ATE528608T1 (de) 2011-10-15

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