EP2581699A2 - Unmanned training and test missile - Google Patents

Abstract

The missile (1) has a flight on-board computer (14) that is provided with a mission data memory (140). A navigation computer (13) generates control signals for actuating control surface actuators mounted in a payload hull. An image processing computer (17) is connected to a seeker head (16) and the navigation computer for exchanging mission data for controlling navigation of the missile. An event storage device (143) is provided for storing detected navigation events during training of carrier aircraft with missile. An independent claim is included for method for checking mission plan data.

Description

TECHNICAL AREA

The present invention relates to an unmanned training and test missile according to the preamble of claim 1. Such training and test missiles are used to train and handle the handling in the case of the missile staff and use procedures. It further relates to a method for checking the mission plan data stored in a mission data memory of such a training and test missile.

BACKGROUND OF THE INVENTION

One of the essential activities of military personnel is training for a deployment case. In the case of the use of an unmanned missile, both the ground crew handling the missile and the aviation personnel carrying the missile carrying the aircraft are affected by this training task.

In addition, the mission planners who, prior to deployment, use reconnaissance information to develop an operational flight plan, the so-called mission plan, for the unmanned missile, also need a way to train and validate their abilities. In such a mission plan certain coordinates of the planned route as well as terrain data of the area to be overfly and certain landmarks are included, with which the missile during the mission flight compares the sensor information taken by him via sensors to navigate in this way to the destination. It is therefore equally important for mission planners to have a way to train their work of drawing up a mission plan and selecting and defining navigation points.

In order to be effective, such training must be oriented as closely as possible to the respective real deployment situation. The ideal training from the point of view of learning efficiency would of course be the training on a sharp missile, which corresponds to 100% to a mission missile. However, this type of training is prohibited for safety reasons. It is therefore necessary to use special training missiles for training purposes. However, an adaptation required for this purpose should be such that the training missile differs as little as possible from a "real" missile in order to achieve the most realistic possible results, in particular in the case of a training flight for a mission plan review.

STATE OF THE ART

From the DE 10 2008 054 264 A1 is a multi-functional service and test facility for unmanned missiles is known, which has a connectable to a missile service device, which in turn is connectable to an external computer. Test and service software are stored in a memory of the external computer and run on this external computer. The test and service software running on this external computer is able to simulate the occurrence of errors in the training missile without actually causing the missile any errors. This simulation takes place exclusively outside the missile in the external computer connected to the service device. The behavior of missiles that have experienced faults and the associated deviations from the mission plan during a test flight of the missile can only be trained to a limited extent with a simulation of a fault in a test software.

From the DE 10 2009 040 304 A1 is a device for controlling functional tests and / or service procedures for aircraft deductible unmanned missiles known by means of which also a simulation of errors outside the missile is possible. Even with this device, no realistic mission plan training can be performed.

From the DE 10 2007 018 187 A1 A method for optimizing the image-based automatic navigation of an unmanned missile is known in which a navigation data-containing mission plan based on satellite or aerial photography is created by means of a mission planning computer, the navigation data containing information about selected topological structures. The mission plan is loaded into a mission computer of the unmanned missile and with the attached to a carrier aircraft missile, the flight route is flown off by means of the carrier aircraft, the navigation of the unmanned missile uses navigation data of the carrier aircraft. During the flight, image analysis in the unmanned missile is performed by analyzing images of the preceding route generated by an unmanned aerial imaging device on topological structures present therein, and the information thus obtained on the analyzed topological structures, together with the image data, the attitude data, and the Position data stored in a memory device. From the satellite or aerial photographs, a three-dimensional reference model is created for those topological structures which have been recognized in the image analysis. Based on the three-dimensional reference model of this topological structure then takes the calculation of a two-dimensional view of a topological structure to a given point on the flight route, taking into account the attitude of the missile at this point. The two-dimensional view of the topological structure is then compared with the topological structure recognized in the image analysis at that point of the flight route, and the goodness of fit is determined. Subsequently, the reference model is modified if the match quality is below a predetermined value.

From the parallel registered DE 10 2011 114 225.1 is a missile training unit with a training missile forming unmanned missile and connectable to the missile configuration device for the training missile known, the training missile has at least one fault memory. The configuration device is designed in such a way that simulated error data and / or simulated error images are stored in the error memory are playable. With this known missile training unit, it is possible to train the operator in relation to possibly occurring errors in the field. A review of a mission plan on its planning quality out but is not possible with such a missile training session.

From the DE 10 2009 022 007 B4 is an unmanned missile known in the on-board computer test software for checking the functioning of the missile is stored expired. For testing, an external test hardware is connected, which is controlled by the test software stored in the on-board computer.

PRESENTATION OF THE INVENTION

The object of the present invention is therefore to provide a generic unmanned training and test missile, with which it is possible to validate mission plans and to train the staff setting up the mission plan, and to provide a corresponding method.

The first object is achieved by the unmanned training and test missile having the features of claim 1.

For this purpose, in a generic unmanned training and test missile, in which at least one device for detecting and storing occurring during a training or test flight of the missile equipped carrier aircraft navigation events is provided, data from the navigation computer of the unmanned training and test missile using pass the flight path determined in the mission data memory to the carrier aircraft so that its control navigates during a training or test flight with the navigation data determined by the training and test missile.

ADVANTAGES

In this way, during a training flight with a training aircraft-carrying carrier aircraft in which the control of the carrier aircraft navigates with the navigation data determined by the training missile, a recording of the navigation events that are relevant for the departure of the mission plan can be made. These data can then be evaluated later on the ground and conclusions about the quality of the mission plan can be made. In this way, the mission planner receives feedback to verify his own work and to check how well his definition of navigation points he has given in the mission plan was suitable for the automatic navigation of the unmanned aerial vehicle.

An advantageous development is characterized in that the device for detecting and storing is designed such that it acquires and stores data relating to the image acquired by the seeker and its matching with the landmark image data stored in the mission data memory. This development makes it possible in a particularly reliable manner to verify the detection of landmark image data given in the mission plan by the seeker head of the missile.

Preferably, the image processing computer is connected to graphics processing means arranged to associate lines and / or points extracted by the image processing computer from an image taken by the seeker with a first color and to arrange lines and / or points parallel thereto from the image processing computer and stored in the mission data memory reference landmark assigned a second color, and that the image processing computer is configured so that the image detected by the seeker image or moving image with lines and / or points in the two colors is stored in a memory of an image recording device , This color coding of the target data and the actual data during a training flight facilitates the later evaluation, since deviations of the detected by the image capture devices of the missile during the training landmarks are clearly visible from the predetermined in the mission plan landmarks, so that the quality of assignment by the image processing computer is immediately recognizable.

In another advantageous embodiment of the invention, an event storage device is further provided, which is adapted to capture and store command data, which are commanded during the training or test flight from the carrier aircraft to the missile. Preferably, the event storage device is configured to acquire and store flight condition data of the missile during the training or test flight.

A further advantageous embodiment of the training and test missile according to the invention is characterized in that a telemetry data storage device is provided, which is designed such that it records telemetry data transmitted on a missile-internal data bus. This telemetry data recording enables a fine evaluation of a mission simulated in a training flight with the command and / or flight condition data preferably registered in addition to the event logging in the event storage device.

The object directed to the method is achieved with the features of patent claim 7.

This method according to the invention for checking the mission plan data stored in a mission data memory of an unmanned training and test missile according to one of the preceding claims in a training or test flight of a carrier aircraft equipped with the unmanned training and test missile is characterized in that the control of the carrier aircraft with the Navigational data determined by the training missile navigates that a recording of the navigation events takes place and that the recorded navigation events are subsequently evaluated and from this conclusions about the quality of the mission plan are made.

Preferred embodiments of the invention with additional design details and other advantages are described and explained in more detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1

die Hardwarearchitektur eines erfindungsgemäßen Trainings- und Testflugkörpers;

Fig. 2

eine alternative Ausführungsform der Hardwarearchitektur des erfindungsgemäßen Trainings- und Testflugkörpers; und

Fig. 3

eine dritte Ausführungsform des erfindungsgemäßen Trainings- und Testflugkörpers.

It shows:

Fig. 1

the hardware architecture of a training and test missile according to the invention;

Fig. 2

an alternative embodiment of the hardware architecture of the training and test missile according to the invention; and

Fig. 3

a third embodiment of the training and test of the invention.

PRESENTATION OF PREFERRED EMBODIMENTS

In Fig. 1 the hardware architecture of a training and test missile 1 according to the invention is shown schematically. The dashed line symbolically represents the unmanned training missile 1, which is also referred to as CATM (captive air training missile). This training and test missile 1 is provided on its upper side with an umbilical plug 10 for electrical connection to a carrier aircraft. Furthermore, the training and test missile 1 has a test and load (TLP) device 11 with a TLP connector 12, to which in the application example shown a configuration device 2 for the training and test missile 1 is connected for data exchange.

The training and test missile 1 is equipped with a central weapon computer 14 (Central Weapon Computer CWC) and with a power supply unit PS1. The power supply unit 16 is supplied via the umbilical plug 10 and / or the TLP plug 12 with electrical energy from the outside and in turn supplies the central weapon computer 14 with electrical energy. The central weapon computer 14 is connected to both the umbilical connector 10 and the TLP connector 12 by data lines.

• ein Missionsdatenspeicher 140 zum Abspeichern eines vorgegebenen Missionsplans;
• ein Fehlerspeicher 141 zum Abspeichern von während eines Fluges auftretenden Fehlern;
• ein Fehlerkonfigurationsspeicher 142 zum Abspeichern von simulierten Fehlerdaten, die zu Test- oder Trainingszwecken mittels der Konfigurationseinrichtung 2 in den Speicher 142 einspeicherbar sind;
• ein Ereignisdatenspeicher 143 zum Speichern von während eines Trainings- oder Testflugs eines mit dem Flugkörper ausgestatteten Trägerflugzeugs auftretenden Navigationsereignissen (Event-Logging);
• einen Bildnavigationsspeicher 144 zum Speichern von bei einem Flug des Flugkörpers anfallenden Daten zur bildgestützen Navigation (IBN-Logging; IBN: Image Based Navigation).

The central weapon computer 14 has several memories associated with it:

• a mission data memory 140 for storing a predetermined mission plan;
• an error memory 141 for storing errors occurring during a flight;
• an error configuration memory 142 for storing simulated error data storable in the memory 142 by the configuration device 2 for testing or training purposes;
• an event data memory 143 for storing event events occurring during a training or test flight of a missile-equipped carrier aircraft;
• an image navigation memory 144 for storing missile flight data for image-guided navigation (IBN).

Are in a training operation of the missile 1 either by means of a provided in a carrier aircraft weapon control computer, which is connected to the umbilical plug 10, or by means of a connected to the TLP connector 12 service and test device 3, the Fig. 1 is shown symbolically and that is connectable to the TLP connector 12 as an alternative to the configuration device 2, performs tests or operating operations for exercise purposes, the missile is then, as if simulated error data are stored in the error configuration memory 142, respond as if the simulated errors were actually present, so that the operator team can train their skills in detecting and resolving simulated errors. Of course, the configuration device 2 may also be provided in the service and test device 3.

The training and test missile 1 further comprises a navigation computer 13 (NAVC), which is provided with a GPS receiver 130, to which a GPS antenna 131 is connected. The navigation computer 13 is further connected to a radar altimeter 132. Furthermore, a battery 133 is provided for the power supply of the GPS receiver 130 in the navigation computer 13. The battery 133 is in electrical communication both with the navigation computer and with the test and programming unit 11. The navigation computer 13 is further connected via corresponding connecting lines directly with the test and programming unit 11 and the umbilical plug 10 in electrical connection. In addition, the navigation computer 13 is connected to a data bus 15 (IMBUS). To this data bus 15 and the central weapon computer 14 is connected.

A seeker head 16 is provided in the nose of the training and test missile 1 and has a seeker head sensor 160, which is designed, for example, as a stabilized infrared camera, and an inertial measurement unit 161. Also, the seeker 16 is connected to the central data bus 15. Furthermore, an image processing computer 17, which is connected via an image data bus connection 170 to the seeker head 16 for data transmission, is connected to the central data bus 15. The image processing computer 17 is provided or connected to a graphics processing device 171, which in turn is connected to a converter device 172 for transferring an image signal, for example an RGB signal. The converting means 172 converts the image signal obtained from the graphic processing means 171 into an image signal of a storable signal format (for example, CVBS) supplied to an image recording device 173 such as a flash VTR.

The training and test missile 1 is further provided with a device 18 for sharpening and firing of an active charge, both with the central Data bus 15 and is connected to the Umbilical connector 10 for data exchange. The device 18 for sharpening and firing (SIU: Safety and Ignition Unit) is used in a sharp missile to activate a not present in the present training and test missile 1 thermal battery through which the training missile after uncoupling from the carrier aircraft during the mission with electric Energy is supplied. In the training and test flying body 1 according to the invention, this thermal battery is not present and in an operational missile device 18 for sharpening and ignition with the thermal battery connecting electrical cable 180 is in the training and test of the invention 1 by a flight to a valve for controlling the coolant reservoir 162nd for the seeker 16 extending cable replaced, as in the German patent application 10 2010 017 974.4 is described.

Finally, the training and test missile 1 is still provided with a fuel tank 19 in its central portion.

• sämtliche pyrotechnischen Elemente des operationellen Flugkörpers werden entfernt oder deaktiviert;
• die im Flugkörper vorhandene autonome Stromversorgung (Thermalbatterie) wird ausgebaut und durch eine funktionslose Ersatzmasse ersetzt;
• Auslösemechanismen für eventuell vorhandene ausfahrbare Tragflächen werden entfernt oder deaktiviert;
• sämtliche Zünder und Wirksysteme des Flugkörpers werden durch Auftrennen entsprechender elektrischer Verbindungsleitungen deaktiviert, so dass ein Ausbau dieser Wirksysteme nicht erforderlich ist;
• schließlich wird der zentrale Waffencomputer 14 noch mit einer Trainings-Missionssoftware anstelle einer operationellen Missionssoftware bespielt.

The training and test missile 1 according to the invention is preferably obtained by retooling an operational missile, the existing in the operational missile rowing machines for driving control surfaces and an associated control computer for the rowing machines training and test missile 1 are not required, as this in the variant of Fig. 1 and 2 is not intended for autonomous free flight, but always flies in conjunction with the carrier aircraft. Furthermore, the following changes are made to an operational missile in order to obtain a basis for the training and test missile 1 according to the invention:

• all pyrotechnic elements of the operational missile are removed or deactivated;
• the existing autonomous power supply (thermal battery) in the missile is removed and replaced by a non-functional substitute mass;
• Trigger mechanisms for any extendable wings are removed or deactivated;
• all detonators and systems of the missile are deactivated by separating corresponding electrical connection lines, so that an expansion of these systems is not required;
• Finally, the central weapon computer 14 is still recorded with a training mission software instead of an operational mission software.

In the manner described above, it is possible to convert an operational missile with minimal intervention so that it is suitable as the basis for a training and test flying body 1 according to the invention.

The error memory 141 assigned to the central weapon computer 14 is preferably configured as a flash memory, so that the stored data is retained even when the power supply is switched off. In this error memory 141 actually occurring errors or defects of the missile are stored in order to perform a quick and effective repair can.

In the error configuration memory 142 likewise assigned to the central weapon computer 14, simulated error data are recorded by means of the configuration device 2, for example data about a defective module, about a time of the occurring defect and about a type of error image, so that a missile defect in the flying flight can be simulated for training purposes.

In flying training, it is advantageous to provide on board the training missile, for example, a flash memory event data store 143 as an event logger, which stores during the execution of the test timestamp occurring events that are based on an interaction between carrier aircraft and missile. This event recording is carried out, for example, from switching on the training missile to the simulated departure of the training missile or switching off the training missile. Furthermore, it contains periodic missile flight state data (eg position, speed, Euler angle) stored. After landing the carrier aircraft, the data stored in this event memory, for example, with a service and testing device as in the DE 10 2008 054 264 A1 is revealed, read out and evaluated in relation to the mission plan. In this way, additional information about the actions performed by the responsible operating personnel on board the carrier aircraft during training can be obtained and the performance of the operating personnel can be checked and evaluated.

During flight training, the missile's march and attack phase is simulated by the carrier aircraft with the coupled missile flying off the flight path determined by the missile's navigation systems using the mission plan data.

• Position, Geschwindigkeit und Eulerwinkel des Trägerflugzeugs,
• Position, Geschwindigkeit und Eulerwinkel der navigierten Flugkörperposition,
• die horizontale und vertikale Abweichung vom vorgeplanten Flugpfad,
• Zählerwerte für GPS-Navigations-Fixe, für Nävigations-Fixe einer bodengestützten Navigation (TRN-Navigation) und Zählerwerte für bildbasierte Navigations-Fixe (IBN-Navigation),
• Zeitstempel für die kommandierte Kühlung des Infrarot-Suchkopfsensors,
• Zeitstempel und Identifikator für die kommandierte IBN-Landmarke,
• Zeitstempel und Identifikator für die benutzte IBN-Landmarke,
• Zeitstempel, wann die Verarbeitung der bildgestützten Navigation (IBN-Processing) einer aktuellen Landmarke beendet wurde,
• Zeitstempel, wann die Zielverfolgungseinrichtung das Ziel erkannt hat.

During this simulated march and attack phase, the following is recorded in the image-based navigation memory 144:

• Position, speed and Euler angle of the carrier aircraft,
• Position, speed and Euler angle of navigated missile position,
• the horizontal and vertical deviation from the pre-planned flight path,
• GPS navigation fix counts, navigation fixation fixation fixes (TRN navigation) and image based navigation fix counts (IBN navigation),
• Timestamp for the commanded cooling of the infrared seeker sensor,
• Timestamp and identifier for the commanded IBN landmark,
• Timestamp and identifier for the used IBN landmark,
• Timestamp when the processing of image-based navigation (IBN processing) of a current landmark has ended,
• Timestamp when the target tracker has detected the target.

During processing of the image-based navigation, the matching reference lines and / or reference points, the required integration time of the infrared seeker sensor 160 and possibly also occurred Processing error codes detected. Upon completion of the image-guided navigation processing, the number of lines and / or points of the reference landmark used for navigation as well as the counter values of the image-guided navigation data sets provided absolutely by the image processing computer 17 and quality criteria of the image processing performed are also stored.

These data recorded during the simulated free flight provide an evaluation in a mission planning station after the flight has been completed, the evaluation showing how well the missile was able to process the landmarks of the mission plan and how well the ground-based navigation in the horizontal and vertical channels work, which in turn provides insight into the quality and suitability of the Terrain Elevation Database included in the mission plan.

• zu große Abweichungen des realen Flugpfades vom vorgeplanten Flugweg des Missionsplans,
• ungenügende Genauigkeit der zum Bildverarbeitungscomputer 17 gelieferten Flugkörper-Navigationsdaten,
• eine zu geringe Anzahl der aus einer erfassten Bildszene extrahierten Linien und/oder Punkten,
• zu wenige Linien und/oder Punkte der erfassten Bildszene wurden Linien und/oder Punkten der Referenzlandmarke zugeordnet,
• ein Übermaß an Linien in der Referenz-Landmarke.

The following reasons for a possibly insufficient performance of image-based navigation can be derived from this collected data:

• too large deviations of the real flight path from the planned flight path of the mission plan,
• insufficient accuracy of the missile navigation data provided to the image processing computer 17;
• too small a number of lines and / or points extracted from a captured image scene,
• too few lines and / or points of the captured image scene have been assigned lines and / or points of the reference landmark,
• an excess of lines in the reference landmark.

• die aus der Bildszene extrahierten Linien/Punkte,
• die Linien und Punkte der gerade verarbeiteten Referenz-Landmarke des Missionsplans,
• die Linien und/oder Punkte aus der Bildszene, welcher Linien und/oder Punkte der Referenz-Landmarke zugeordnet werden konnten.

For better detection of geometric and geographical errors of a reference landmark and to better detect a possibly completely missing suitability of a recorded image scene for a line / edge extraction is the training and test missile 1 with a special Graphics card 171, which displays the following elements in different colors and fades into the video picked up by the seeker head:

• the lines / points extracted from the image scene,
• the lines and points of the reference mark of the mission plan being processed,
• the lines and / or points from the image scene, which lines and / or points of the reference landmark could be assigned.

A record of the seeker video including the aforementioned fades in different colors is recorded by the VCR 173, for example, a flash VTR. This video data can be evaluated after a successful training flight, in which case geographic and / or geometric errors, for example of reference landmarks, can also be identified.

In an in Fig. 2 shown variant is in the otherwise as in the example of Fig. 1 constructed training and test missile 1 ', a data recording device 150, such as a flash data recorder, built with which the transmitted over the weapon system data bus 15 telemetry data is recorded. For this purpose, the data recording device 150 is connected to the data bus 15 via a telemetry module 151 (TM-MK4) and thus effectively connected to the data recording device 150 for data transmission from data available on the data bus 15. This recording allows a fine evaluation of the simulated mission after a training mission.

In the in Fig. 3 shown further alternative embodiment of the training and test of the invention 1 "is compared to the variant Fig. 2 instead of the data recording device 150, a transmitter 250 is provided, which is connected for data transmission to the telemetry module 251, which in turn is connected to the data bus 15. The transmitter 250 is connected to a transmitting antenna 250 'for signal transmission.

Furthermore, a radar transponder 252 is connected to the telemetry module 251, which in turn is connected to a second transmitting antenna 252 'for signal transmission.

Furthermore, a flight test termination system (FTTS) 254 is provided, which is connected on the one hand to the signal transmission to the telemetry module 251 and which on the other hand is operatively connected to the signal transmission to a third antenna 254 '. An FTTS battery 256 provides the Flight Test Termination System 254 and the telemetry module 251 with electrical energy released from the carrier aircraft.

Furthermore, according to the variant Fig. 3 instead of the image recording device 173, a video transmitter 273 is provided, which is connected to the converter device 172 for image signal transmission and which is likewise connected to a fourth antenna 273 'for image signal transmission, in order to transmit the video signal.

The in Fig. 3 illustrated training and test missiles 1 "is preferably equipped with the required for a free flight components of an operational missile to autonomously fly the mission plan after decoupling from the carrier aircraft can (TOM telemetry operational missile), in particular the rudder control (FCU fin control unit) and the rudder actuators (FD fin drive) available in FIG. 3 symbolically shown as a unit and denoted by the reference numeral 20.

With the in Fig. 3 As shown and described above, the third embodiment of the training and test missile according to the present invention, it is also possible to perform the last part of a mission plan, the approach to the target and the flight to the target, and to transmit the data obtained by telemetry to a ground station where they will then be available for evaluation and validation of the mission plan. This final mission, the flight to the finish, is understandably unworkable, when the missile remains coupled to the carrier aircraft and the carrier aircraft with the navigation data of the missile flies off the mission plan, as described in connection with the examples of Fig. 1 and 2 has been described.

The image recording device for the image data output from the video transmitter 273 and the recording device for the data bus telemetry data output from the transmitter 250 are in the variant of FIG Fig. 3 provided in the ground station. The in the Figure 3 shown variant of the training and test missile is used in sharp practice shooting on military shoots that require special safety devices in the missile. In addition, this variant allows the maintenance crew to practice the installation of safety devices in operational production missiles.

LIST OF REFERENCE NUMBERS

1

Trainings- und Testflugkörper

1'

Trainings- und Testflugkörper

1"

Trainings- und Testflugkörper

2

Konfigurationseinrichtung

3

Service- und Testgerät

10

Umbilical-Stecker

11

Test- und Programmiereinheit

12

TLP-Stecker

13

Navigationsrechner

14

Waffencomputer

15

Datenbus (IMBUS)

16

Suchkopf

17

Bildverarbeitungscomputer

18

Einrichtung zum Schärfen und Zünden

19

Treibstofftank

20

Einheit aus Rudersteuerung und Ruderbetätigungsorganen

130

GPS-Empfänger

131

G PS-Antenne

132

Radar-Höhenmesser

133

Batterie

140

Missiondatenspeicher

141

Fehlerspeicher

142

Fehlerkonfigurationsspeicher

143

Ereignisdatenspeicher

144

Bildnavigationsspeicher

150

Datenaufzeichnungsgerät

151

Telemetriemodul

160

Suchkopfsensor

161

Inertialmesseinheit

162

Kühlmittelspeicher

170

Bilddaten-Busverbindung

171

Grafikverarbeitungseinrichtung

172

Konvertereinrichtung

173

Bildaufzeichnungsvorrichtung / Konverter

180

elektrisches Kabel

250

Transmitter

250'

Sendeantenne

251

Telemetriemodul

252

Radartransponder

252'

zweite Sendeantenne

254

Flight Test Termination System (FTTS)

254'

dritte Antenne

256

FTTS-Batterie

273

Videotransmitter

273'

vierte Antenne

They denote:

1

Training and test missiles

1'

Training and test missiles

1"

Training and test missiles

2

configuration device

3

Service and test device

10

Umbilical connectors

11

Test and programming unit

12

TLP connector

13

navigation computer

14

Force computer

15

Data bus (IMBUS)

16

seeker

17

Image processing computer

18

Device for sharpening and firing

19

fuel tank

20

Unit of rudder control and rudder actuators

130

GPS receiver

131

G PS antenna

132

Radar Altimeter

133

battery

140

Mission data storage

141

error memory

142

Error configuration memory

143

Event data storage

144

Screen navigation memory

150

Data recorder

151

telemetry module

160

Seeker sensor

161

inertial measurement unit

162

Coolant storage

170

Image data bus connection

171

Graphics processor

172

converter device

173

Image recorder / converter

180

electrical cable

250

transmitter

250 '

transmitting antenna

251

telemetry module

252

radar transponder

252 '

second transmission antenna

254

Flight Test Termination System (FTTS)

254 '

third antenna

256

FTTS battery

273

video transmitter

273 '

fourth antenna

Claims (7)

Unmanned training and test missile with a hull receiving a payload; - Control surfaces, which are mounted by means of cam drives movable on the fuselage, but locked in the wing flight; - An on-board computer (14) having a mission data memory (140); - A navigation computer (13) which generates control signals for acting on the Steuertlächenantriebe; a seeker head (16) and - An image processing computer (17), which is connected to the seeker head (16) and the navigation computer (13) for data exchange; characterized, - That data transmitted by the navigation computer (13) of the unmanned training and test missile using the mission data stored in the mission data memory (140) flight path are transferred to the carrier aircraft, so that its control during a training or test flight with those determined by the training and test missile Navigation data navigated; - That at least one device (143, 144) for detecting and storing occurring during the training or test flight of the aircraft equipped with the missile aircraft navigation events is provided. Unmanned training and test missile according to claim 1,
characterized,
in that the device (144) for detecting and storing is designed to acquire and store data concerning the image acquired by the seeker head (16) and its matching with the landmark image data stored in the mission data memory (140). Unmanned training and test missile according to one of the preceding claims,
characterized, - That the image processing computer (17) is connected to a graphic processing device (171) which is adapted to a first and second lines and / or points, which were extracted by the image processing computer (17) from an image taken by the seeker head (16) Assigns color and assigns a second color to lines and / or points of a reference landmark processed in parallel by the image processing computer (17) and stored in the mission data memory (140), and - That the image processing computer (17) is designed so that the image or moving image detected by the seeker head (16) with lines and / or dots inserted in the two colors is stored in a memory of an image recording device (173). Unmanned training and test missile according to one of the preceding claims,
characterized,
in that an event storage device (143) is provided which is configured to acquire and store command data which is commanded by the carrier aircraft to the missile during the training or test flight. Unmanned training and test missile according to claim 4,
characterized,
in that the event storage device (143) is arranged to acquire and store flight state data of the missile during the training or test flight. Unmanned training and test missile according to one of the preceding claims,
characterized,
in that a telemetry data storage device (150) is provided, which is designed such that it records telemetry data transmitted on a missile-internal data bus (15). A method of verifying the mission plan data stored in a mission data memory of an unmanned training and test missile according to any one of the preceding claims in a training or test flight of a carrier aircraft equipped with the unmanned training and test missile, wherein the control of the carrier aircraft navigates with the navigation data determined by the training missile, - where a recording of the navigation events takes place and - The recorded navigation events are then evaluated and conclusions about the quality of the mission plan are made.

Images