EP2133648B1 - Unbemannter Flugkörper und Verfahren zur Flugführung - Google Patents

Unbemannter Flugkörper und Verfahren zur Flugführung Download PDF

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Publication number
EP2133648B1
EP2133648B1 EP09005089.9A EP09005089A EP2133648B1 EP 2133648 B1 EP2133648 B1 EP 2133648B1 EP 09005089 A EP09005089 A EP 09005089A EP 2133648 B1 EP2133648 B1 EP 2133648B1
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EP
European Patent Office
Prior art keywords
missile
target
carrier aircraft
unmanned
mission
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Application number
EP09005089.9A
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German (de)
English (en)
French (fr)
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EP2133648A1 (de
Inventor
Michael Grabmeier
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MBDA Deutschland GmbH
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MBDA Deutschland GmbH
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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
    • F41G7/007—Preparatory measures taken before the launching of the guided missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/34—Direction control systems for self-propelled missiles based on predetermined target position data

Definitions

  • the present invention relates to a method for flight control of an unmanned missile according to the preamble of claim 1.
  • missiles of the generic type is conventionally only carried out after extensive advance planning, in which complex mission planning must be carried out in a, for example, ground-based mission planning station.
  • an optimal flight path for the unmanned missile is worked out on the basis of terrain models of the planned flight route.
  • This flight path is determined using a chain of so-called waypoints that are defined by latitude, longitude and altitude coordinates.
  • other mission parameters such as terrain and landmark models as well as warhead parameters, are also worked out, which together with the waypoints form a mission plan.
  • This mission plan is stored in the mission data memory of the unmanned missile before the launch of the carrier aircraft.
  • missiles of the generic type against so-called stationary, time-critical targets ("carry of opportunity").
  • targets can be, for example, mobile rocket launching ramps or mobile command and communication centers that are set up at short notice and can therefore only be recognized with a short lead time.
  • the US-A-5,943,009 discloses a guided bomb provided with a GPS controlled controller.
  • This guided bomb does not have its own drive unit. After being set down from a carrier aircraft, it follows a ballistic path. Furthermore, it also contains no mission data memory from which a control computer can obtain information for calculating a flight path, and consequently also no mission planning computer.
  • the EP 1 821 060 A1 discloses an unmanned missile and a method for determining the position of an unmanned missile that can be decoupled from an aircraft, the avionics of the missile being able to calculate a new mission plan.
  • the unmanned missile which can in particular be a cruise missile, is provided with a fuselage that accommodates a payload; Control surfaces which are movably attached to the fuselage by means of control surface drives; a drive device for the missile and an on-board computer, the mission data memory and a control computer has, which acts on the control surface drives with control signals. It is characterized by a mission planning computer, which is connected to the mission data memory for data exchange, and a data communication device, which is connected to the mission planning computer for data exchange.
  • the mission planning computer in the unmanned missile itself and no longer in a ground-based mission planning station, it is possible to transfer target data of short-term targets via a data link connection directly or via the carrier aircraft to the unmanned missile in hydrofoil, whereupon the mission planning computer on board the unmanned one Missile automatically carries out a possibly also simplified mission planning and stores the mission data determined by the on-board mission planning computer in its own mission data memory, so that the unmanned missile can then independently fly to the new destination using these new mission data.
  • the mission planning computer is preferably formed by mission planning software running in the on-board computer of the missile. This software solution allows existing unmanned missiles to be easily retrofitted by means of a software update, without the need for hardware conversion.
  • the data communication device of the missile is preferably connected to an associated data communication device of an aircraft carrying the missile in hydrofoil for data exchange with an on-board computer of the aircraft. This enables the target data required for calculating the mission plan to be transmitted from the aircraft's on-board computer to the missile.
  • connection between the data communication device of the aircraft and the data communication device of the missile is preferably formed by an umbilical cable connecting the missile to the aircraft.
  • the method for flight control of an unmanned missile in which the unmanned missile is launched from a carrier aircraft, has the steps according to claim 1.
  • Further target data which are preferably fed into the on-board computer of the unmanned missile, are the parameters (heading, altitude, speed) for the cruise flight and the decoupling from the carrier aircraft as well as further attack parameters in addition to the target coordinates data on the attack trajectory (pop-up trajectory, Airburst trajectory) and warhead parameters such as precharge parameters (on / off, distance sensor on / off, impact switch on / off) and penetrator parameters (on / off, type of Fuze program, airburst delays ).
  • This mission planning is a greatly simplified mission planning without threat analysis.
  • This simplified mission planning can alternatively also be carried out outside the missile, for example on the ground by means of a portable computer, the simplified mission planning data set then being transferred to the memory of the on-board computer of the unmanned missile and loaded via a radio link.
  • the calculation of the mission plan in the on-board computer of the unmanned missile enables only a few target data to be sent from a ground station of the new target must be transmitted to the missile and not a large number of mission data resulting from a mission plan calculation.
  • These target data can be transmitted via a data connection that has only a small bandwidth or with which only small transmission capacities are free.
  • the target data can be transmitted from a ground station via a tactical data link to the carrier aircraft and then forwarded from there to the unmanned missile via an umbilical cable.
  • the target data are preferably transmitted from the carrier aircraft to the unmanned missile via a data communication link during the hydrofoil of the missile connected to the carrier aircraft.
  • a data transmission radio link existing between the carrier aircraft and a ground station can be used without the need for an independent radio link from a ground station to the unmanned missile. Since according to the invention only a few target data have to be transmitted to the missile and not, as in the prior art, the data of an entire mission plan have to be transmitted, the data communication connection (data link) existing to the carrier aircraft can be used without any problems, even if only a small transmission capacity is still available on this data link connection is free.
  • the mission planning is preferably carried out by the on-board computer of the unmanned missile in hydrofoil of the unmanned missile connected to the carrier aircraft.
  • the implementation of the mission planning in the on-board computer of the missile makes it possible to dispense with the provision of additional hardware in the unmanned missile.
  • the implementation of the mission planning in the hydrofoil uses the computing capacities of the on-board computer that are free during the hydrofoil.
  • start coordinates are supplied from the on-board computer of the carrier aircraft via the data communication link to the mission planning computer of the unmanned missile and if the creation of the mission plan is carried out using the start and destination coordinates sent to the mission planning computer via the data communication link.
  • the unmanned missile becomes the first waypoint of the cruise flight path immediately after being dropped from the carrier aircraft steered, in which the cruise flight path merges into the threading flight path, and it flies there in compliance with a predetermined target speed.
  • the missile after being threaded into the attack trajectory, automatically detects the target and is guided autonomously into the target by means of an autopilot along the attack trajectory.
  • FIG Figure 1 shows an unmanned missile 1 which is detachably coupled to an aircraft 2 shown schematically.
  • the aircraft 2 has a bomb pylon 20 on the underside of the fuselage or on the underside of a wing, which is shown in FIG Figure 1 is shown partially cut.
  • the bomb pylon 20 is partially open on its underside and in This area inside the bomb pylon 20 is provided with two releasable holding devices 22, 24 which engage with two corresponding counter holding devices 13, 13 'protruding from an upper support element 10 of the missile 1 and fix the missile 1 on the aircraft 2.
  • the missile 1 comprises a fuselage 10 that accommodates a payload, wings 12 attached to the fuselage 10, at least one drive device, of which only the left air inlet 14 of the drive device provided on the side of the fuselage 10 is shown, as well as control surfaces 16 which are controlled by means of control surface drives (not shown) in FIG are movably attached to the fuselage 10 in a known manner.
  • the missile 1 is also provided with an avionics 3, which is also only shown schematically and is located in the interior of the fuselage 10.
  • the avionics 3 contains an on-board computer 30 which, in addition to effective connections to navigation devices, also has a mission data memory 32 and a control computer 34.
  • the control computer 34 is supplied with data from the mission data memory 32 of a predetermined flight path and a target to be approached and also receives navigation data from conventionally provided navigation devices, such as a satellite navigation system and / or an inertial navigation system.
  • the control computer 34 generates control signals which are sent to the control surface drives, whereupon they adjust the control surfaces 16 to control the missile 1.
  • an aircraft-side connector 26 is provided which is mechanically and electrically or optoelectronically connected to a mating connector 17 on the top of the missile 1, the missile-side Mating connector 17 has a signal input 31 which is connected via a signal line 33 to the avionics 3 for data transfer.
  • the plug connection 26 on the aircraft side contains a signal output 23 which is connected to an aircraft avionics 27 via a signal line 25 on the aircraft side.
  • the avionics 3 of the missile 1 is connected to the avionics 27 of the carrier aircraft for data exchange via the missile-side data line 33, the mating connector 17, the plug-in connection 26 and the aircraft-side data line 25.
  • a mission planning computer 36 is provided, which can either be an independent computer or which is stored in an executable manner as a computer program in the on-board computer 30.
  • the mission planning computer 36 is supplied with data on a target to be approached via a data communication device.
  • this data communication device is formed by the mating connector 17, which is connected via the connector 26 to the avionics 27 of the carrier aircraft, which contains an on-board computer of the aircraft.
  • the data communication device can, however, also be formed by a receiving device provided in the missile 1 which receives data sent to the missile by radio.
  • the mission planning computer 36 receives the target data from the aircraft avionics 27 via the signal line 25, the signal output 23 of the aircraft-side connector 26, the signal input 31 of the missile-side mating connector 17 and the signal line 33.
  • the avionics 27 of the carrier aircraft 2 receives the data to be forwarded to the mission planning computer 36 via a radio receiver 28 on the aircraft side, which is connected to an antenna 29 of the aircraft 2, via radio a mission planning station 4 shown only symbolically in the figure.
  • the mission planning station 4 can be stationed on earth or, for example, on a ship or in another aircraft.
  • mission plan data can be stored in the mission data memory 32 of the unmanned missile 1 even before the launch of the carrier aircraft 2 provided with the unmanned missile 1, the missile 1 is designed for a new mission plan in the mission plan computer 36, preferably during the hydrofoil, on the basis of newly received target data to calculate, then to store the calculated mission plan data in the mission data memory 32 and, after separation from the carrier aircraft, to head for the new destination on the basis of these newly calculated mission plan data.
  • the new target coordinates and other data on target properties that are relevant, for example, for the target approach procedure or the triggering of a warhead are transmitted to the carrier aircraft 2 by radio. These data are received in the carrier aircraft 2 by the antenna 29 and forwarded to the aircraft avionics 27 via the radio receiving device 28. This then forwards the data to the mission planning computer 36 in the carrier aircraft.
  • the mission planning computer 36 If the mission planning computer 36 has created the simplified mission plan and has calculated the mission data required for the autonomous navigation and control of the unmanned missile 1 and stored it in the mission data memory 32, it sends a confirmation signal to the aircraft avionics 27, which then activates a readiness status that allows the unmanned aircraft to be dropped Missile 1 from the aircraft 2 basically allows.
  • the mission planning computer 36 not in the unmanned missile 1, but in the avionics 27 of the carrier aircraft, so that only the newly calculated mission plan data are then transferred from the carrier aircraft to the mission data memory 32 of the avionics 3 of the unmanned missile.
  • target data and attack trajectories for time-critical targets can also be permanently stored in the mission data memory 32, so that the mission planning computer 36 in the unmanned missile 1 only covers the distance from a given drop-off point to an entry point (cruise flight path) in an attack trajectory and after receiving new target coordinates must calculate the threading path from the cruise flight path into the attack trajectory.
  • the flight path data of a suitable attack trajectory is taken by the mission planning computer 36 from the standard attack trajectories stored in the mission data memory 32, whereby it links the selected attack trajectory with the target coordinates.
  • the procedure for recalculating the mission plan is described in detail below.
  • the avionics 27 of the carrier aircraft 2 sends the target data received by radio from the mission planning station 4 to the avionics 3 of the missile 1 several times in succession until the avionics 3 of the missile 1 has confirmed receipt of the target data.
  • the avionics 3 of the missile 1 begins with the simplified mission planning in the mission planning computer 36 and reports this to the avionics 27 of the carrier aircraft.
  • the mission planning computer 36 transforms the standard attack trajectory selected according to the target data in such a way that the point of impact of the attack trajectory coincides with the target coordinates of the target data and the attack trajectory is aligned with the target coordinates in the approach direction.
  • a cruise flight path and a threading path for the unmanned missile 1 are then calculated in such a way that the missile moves from a defined altitude at a defined height Marching speed, taking into account the kinematic missile performances, threading into the attack trajectory determined in the previous step.
  • the cruise flight path When calculating the cruise flight path, it must be taken into account that sufficient time is available during the flight along this cruise flight path to arm the weapons carried in the missile (warhead) and to program the intelligent weapons with the target data received.
  • the data of the transformed attack trajectory, the calculated cruise flight path and the calculated threading path from the cruise flight path into the attack trajectory are then combined in a total flight path.
  • the data (waypoints) of this overall flight path are then stored as new mission plan data in the mission data memory 32 and made available from there to the control computer 34.
  • these newly calculated mission plan data are also forwarded to the avionics 27 of the carrier aircraft, so that the crew of the carrier aircraft can decide with which of the stored mission plans the unmanned missile 1 is to carry out its mission, that is, to which of the calculated targets the unmanned missile 1 is to be used should fly.
  • Fig. 2 shows a schematic representation of a flight path 100 that has been calculated by means of a simplified mission plan that has been calculated according to the inventive method for flight guidance.
  • the flight path 100 runs at a marching height 102 above the reference altitude (sea level) 104.
  • the line 106 represents the terrain contour of the earth surface section to be overflown.
  • the target 110 to be approached by the unmanned missile 1 is located on the terrain contour point 108.
  • the line 112 ending in the target 110 represents a standard attack trajectory and the line 114 represents a cruise flight path for the unmanned missile 1.
  • the entire flight path 100 is composed of the cruise flight path 114, the selected standard attack trajectory 112 and a threading path 116 connecting the cruise flight path 114 and the attack trajectory 112
  • the transition from the cruise flight path 114 to the threading path 116 is defined by a first waypoint 118 of the optimal flight altitude calculation (OFAC).
  • the detachment of the unmanned missile 1 from the carrier aircraft takes place at a release height which, including a safety area, is above the marching height 102, that is to say above the marching flight path 114.
  • This choice of the release height prevents the carrier aircraft from being endangered by the uncoupled unmanned missile 1.
  • the uncoupling of the unmanned missile 1 from the carrier aircraft takes place at a distance from the target that is less than the maximum range of the unmanned missile, which is calculated as a variable from the parameters altitude, airspeed, atmospheric data, wind data as well as the type of attack and a safety reserve. This maximum range is estimated by the mission planning computer 36 of the unmanned missile 1 during the simplified mission planning by means of a rough calculation.
  • the simplified mission plan contains the coordinates of the target to be approached, but no image data and thus no data model of the target, an automatic target recognition and tracking device (target tracker) provided in the unmanned missile cannot be used, so that the final approach to the target is exclusively based on navigation.
  • satellite navigation can be based not only on one satellite navigation system, but also using the navigation data from several satellite navigation systems (e.g. GPS , Gallileo).
  • other methods for navigation assistance can additionally be carried out, in which information from a satellite-based navigation system is combined with information from an inertial navigation system to increase the navigation accuracy, as is the case, for example, in FIG US 6,900,760 B2 is described.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
EP09005089.9A 2008-04-10 2009-04-07 Unbemannter Flugkörper und Verfahren zur Flugführung Active EP2133648B1 (de)

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DE102008017975A DE102008017975A1 (de) 2008-04-10 2008-04-10 Unbemannter Flugkörper und Verfahren zur Flugführung

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EP2133648A1 EP2133648A1 (de) 2009-12-16
EP2133648B1 true EP2133648B1 (de) 2020-11-25

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DE (1) DE102008017975A1 (es)
ES (1) ES2845907T3 (es)

Families Citing this family (3)

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Publication number Priority date Publication date Assignee Title
DE102008054264B4 (de) 2008-10-31 2012-09-13 Lfk-Lenkflugkörpersysteme Gmbh Multifunktionale Service- und Testeinrichtung für unbemannte Flugkörper
DE102009040304B4 (de) 2009-09-05 2012-10-04 Lfk-Lenkflugkörpersysteme Gmbh Vorrichtung zur Steuerung von Funktionstests und/oder Serviceprozeduren für von Luftfahrzeugen absetzbare unbemannte Flugkörper
DE102010017974A1 (de) * 2010-04-23 2011-10-27 Lfk-Lenkflugkörpersysteme Gmbh Verfahren zum Simulieren einer Mission eines unbemannten bewaffneten Flugkörpers

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DE3013405C2 (de) * 1980-04-05 1983-10-20 GRS Gesellschaft für Raketen-Systeme mbH, 5300 Bonn Verfahren zum Vermeiden des Nachrichtens von Abschußgeräten für ballistische Flugkörper
US5260709A (en) * 1991-12-19 1993-11-09 Hughes Aircraft Company Autonomous precision weapon delivery using synthetic array radar
JPH1062099A (ja) * 1996-08-20 1998-03-06 Mitsubishi Heavy Ind Ltd 飛翔体のアンビリカルケーブル装置
US5943009A (en) * 1997-02-27 1999-08-24 Abbott; Anthony Steven GPS guided munition
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US6494140B1 (en) * 1999-04-22 2002-12-17 Lockheed Martin Corporation Modular rocket boosted penetrating warhead
GB0013722D0 (en) 2000-06-07 2001-03-14 Secr Defence Adaptive GPS and INS integration system
US7262395B2 (en) * 2004-05-19 2007-08-28 Derek Bilyk Expendable sonobuoy flight kit with aerodynamically assisted sonobuoy separation
DE102005058546A1 (de) * 2005-12-08 2007-06-14 Lfk-Lenkflugkörpersysteme Gmbh Waffenstations-Testeinheit und Verfahren zum Testen der Einsatzbereitschaft einer Waffenstation eines Luftfahrzeugs
DE102006007142B4 (de) * 2006-02-16 2014-12-18 Mbda Deutschland Gmbh Verfahren zur Positionsbestimmung eines von einem Luftfahrzeug abkoppelbaren unbemannten Flugkörpers
DE102006041140B4 (de) * 2006-09-01 2009-11-26 Lfk-Lenkflugkörpersysteme Gmbh Verfahren zur Überprüfung der Funktionsfähigkeit von unbemannten, bewaffneten Flugkörpern
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EP2133648A1 (de) 2009-12-16
DE102008017975A1 (de) 2009-10-15
ES2845907T3 (es) 2021-07-28

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