EP2687809B1 - Guidage de missile - Google Patents

Guidage de missile Download PDF

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Publication number
EP2687809B1
EP2687809B1 EP12176984.8A EP12176984A EP2687809B1 EP 2687809 B1 EP2687809 B1 EP 2687809B1 EP 12176984 A EP12176984 A EP 12176984A EP 2687809 B1 EP2687809 B1 EP 2687809B1
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European Patent Office
Prior art keywords
pulses
laser beam
missile
roll
information
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EP12176984.8A
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German (de)
English (en)
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EP2687809A1 (fr
Inventor
Wai Yu
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Thales Holdings UK PLC
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Thales Holdings UK PLC
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Priority to PL12176984T priority Critical patent/PL2687809T3/pl
Priority to EP12176984.8A priority patent/EP2687809B1/fr
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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
    • F41G7/26—Optical guidance systems
    • F41G7/263—Means for producing guidance beams

Definitions

  • the present invention relates to missile guidance, and particularly to laser assisted missile guidance.
  • a laser beam riding missile guidance system typically comprises a guidance laser operable to generate an intermittently projected laser beam which is directed to form a Laser Information Field (LIF).
  • LIF is a divergent projection of a laser beam, describing a volume which is, in cross section relative to the direction of projection, substantially rectangular.
  • the LIF is formed by scanning and sweeping a laser beam across (azimuth) and down (elevation) with respect to a general projection direction.
  • a missile with a suitable detector in its rear face can determine its position relative the bounds of the LIF, from the received positional data. If the missile has suitable guidance mechanisms, it can alter its trajectory to maintain a particular position relative the LIF, or use the LIF as a means of steering towards a target.
  • the positional data is used by a missile to detect the displacement of its trajectory from a centre line of the LIF (in the beam projection direction) and to make suitable adjustments to its flight control in order to bring itself to the centre of the LIF.
  • Missile parameters such as the fuse setting of the missile (i.e. when the operator of the missile desires an explosive element of the missile to activate), have to be set before firing and cannot be changed thereafter.
  • the LIF as described above also only provides a static positional reference frame, as it is essentially merely a two dimensional grid of laser pulses.
  • a missile fired in such a reference frame calculates its azimuth and elevation displacement (i.e. its pitch and yaw), with regard to the LIF, by detecting spacing between laser pulses defining grid lines in the LIF.
  • US Patent 5,056,736 discloses a similar laser beam-riding missile guidance system wherein a coded information scanning pattern is interlaced with the guidance scanning pattern.
  • Existing implementations, such as that described above have no facility to enable a missile to detect roll of the launch platform from which the LIF is projected, and thus the orientation of the LIF itself.
  • the extent to which a positional decoding is correct depends on the launch platform remaining substantially horizontal with respect to the ground. If the launch platform is subject to roll, then this will distort the reference frame provided by the LIF.
  • an aspect of the invention provides an approach which involves detecting roll, and conveying information describing detected roll to a missile during flight. This is done using a system which otherwise would be used for guidance of the missile.
  • An aspect of the invention involves implementation of a laser based missile guidance system which does not rely on moving a guidance laser beam to compensate for roll, but rather to project, to an intended recipient, information to enable the recipient projectile to compensate for roll at the launch platform, and thus to counter the effect of roll on the guidance laser beam.
  • An aspect of the invention provides a missile launch platform operable to establish wireless communication with a missile launched therefrom, the platform comprising roll measurement means operable to determine roll of said platform with respect to a reference frame, and roll information communication means operable to emit a signal towards a launched missile, the signal bearing roll information describing roll of said platform relative to said reference frame.
  • the roll information may comprise roll angle information.
  • the roll measurement means may comprise a sensor on the launch platform operable to measure roll angle.
  • the roll measurement means may comprise roll information encoding means operable to encode roll information prior to emission.
  • the roll information encoding means may be operable to encode roll information into a piece of digital information.
  • a piece of digital information comprises a binary code.
  • the binary code may comprise a six bit binary word.
  • the roll information may be linearly quantised into the binary information.
  • the launch platform may comprise laser emission means operable to emit a laser beam suitable for bearing information, the laser beam being suitable for detection by a launched missile.
  • the laser emission means may be operable to emit one or more positional laser pulse trains intended to impart positional information to a launched missile on which said laser beam is incident.
  • the launch platform may be configured to impose said signal bearing roll information on said laser beam.
  • Another aspect of the invention comprises a missile comprising a laser beam detector operable to detect a laser beam incident thereon and to resolve an information bearing signal therefrom, a signal processor operable to extract, from a received signal, position information and roll information, and a missile flight controller operable in accordance with extracted position information and roll information to control flight of said missile.
  • a missile guidance beam generator 10 is shown schematically in figure 1 , but the reader will understand that it will comprise an outer casing suitably adapted to be affixed to a barrel of a launcher, by conventional means.
  • the generator 10 is operable to generate a Laser Information Field (LIF). While the structure by which this is delivered will be described in due course, the reader will benefit from a functional description also.
  • LIF Laser Information Field
  • the guidance circuitry is synchronised with the beam generation apparatus 10.
  • the LIF is projected by the generator 10, such that a receiver of the missile synchronises with the LIF.
  • the missile can gather information about its position relative to the intended trajectory defined by the projected LIF, and make any adjustments to its flight control apparatus that might be required in order to maintain that trajectory.
  • the generator 10 comprises two laser diodes 22, 24 each assigned to generation of laser light in response to control signals from a controller 30.
  • the missile guidance beam generator 10 will be affixed to a barrel of a launcher of a missile adapted to receive laser light projected from the generator 10, or to a land platform.
  • a roll sensor 32 provides a signal to the controller 30, for the insertion of roll information into the stream of pulses generated by the laser diodes 22, 24 as will be described in due course.
  • Each laser diode 22, 24 is configured to correspond to lines of a LIF, such as that illustrated in figure 2 , extending in one direction.
  • the laser diode 22 is denoted “laser diode H” (horizontal) and laser diode 24 is denoted “laser diode V” (vertical) in figure 1 .
  • Laser diode 22 is responsible for the generation of the horizontal lines of the LIF
  • laser diode 24 is responsible for the generation of the vertical lines of the LIF.
  • Each line of the LIF is created by the scanning action of a LIF generator 26. This takes, as an input, pulses of light generated by the laser diodes 22, 24. It scans this light across the field of projection intended to be imparted with the LIF and then passes the scanned light to beam angle optics 28 for conditioning of the beam of light for output.
  • each diode The light generated by each diode is emitted in the form of pulses.
  • light is emitted, by each diode, in sequences of two pulses.
  • Each combination of two pulses is known as a doublet.
  • the doublets are spaced in time, by a predetermined delay, so that a receiver, furnished with information as to the delays used, can detect the presence of a doublet and thus the presence of light of the LIF.
  • a missile in receipt of light from the generator 10 can determine its position relative to an intended trajectory and make any necessary adjustments to its flight path.
  • the LIF can be thought of as being the projection, across time and space, of pulses encoding positional information, from which a suitably configured receiver can determine its position relative to the path defined by the LIF.
  • Figure 3 illustrates an example emission of light pulses by the generator 10, over time. This arrangement is conventional, and exemplary of the field of the invention, but not part of the invention per se.
  • pulses of light emanating from the laser diode 22, governing pitch of the missile are illustrated.
  • a pulse train from the laser diode 24 is illustrated, from which a suitable receiver can determine yaw from an ideal trajectory.
  • a pitch doublet is indicated in the upper line, denoted pulses P1 and P2.
  • the doublet is emitted periodically, with a period T IPI .
  • the time between P1 and P2 is also predetermined, denoted P in figure 3 .
  • the pitch doublet is validated by pitch validity detection windows c, d, e, at times t c , t d , and t e after the first pitch doublet pulse P1.
  • a receiver intended to detect the presence of a pitch doublet, will validate a pitch doublet by the absence of pulses to these windows. Times t c , t d , and t e are predetermined, and known to the receiver. Presence of pulses at these times will cause the receiver to reject detected pulses as instances of pulses P1 and P2.
  • T IPI The spacing in time between P1 and P2 and the following pair of P1 and P2 (T IPI ) is encoded, and defines the position of the receiver in the pitch direction. Spacing between the two pairs of pulses varies with pitch.
  • the receiver synchronises to the time of receipt of P1.
  • a predetermined time (P-Y) after transmission of P1, the laser diode 24 dedicated to emission of yaw doublets is energised, and issues a pair of pulses Y1 and Y2, spaced apart by a time Y which varies in the yaw direction swept across the LIF.
  • the receiver can detect its yaw.
  • the yaw pulses Y1, Y2 are validated by the determination that no pulses are detected in yaw validation windows a, b, e, f, at respective times t a , t b , t e and t f after the emission of pulse Y1.
  • the pitch and yaw pulses are positioned so as to limit the possibility of the laser diodes being overheated, or otherwise being subject to deleterious consequences as a result of over-use. They are also positioned so as to provide, as far as possible, uniquely identifiable time periods between pulses, so that pulses can be distinguished by the receiver.
  • Figure 4 shows the same arrangement of pulses as in Figure 3 , with the additional imposition of roll information pulses. These are in positions, taking further account of the need not to exceed the duty cycles of the two laser diodes 22, 24.
  • a first roll pulse R 0 is positioned directly after the first pitch validation window c. If emitted, it is emitted by the yaw laser diode 24.
  • a second roll pulse R 1 is positioned directly after the first roll pulse R 0 , and before the second pitch validation window d. If emitted, it is emitted by the pitch laser diode 22.
  • a third roll pulse R 2 is positioned directly after the second pitch validation window d and before the third pitch validation window e. If emitted, it is emitted by the yaw laser diode 24.
  • a fourth roll pulse R 3 is positioned directly after the third pitch validation window e and before the first yaw pulse Y1. If emitted, it is emitted by the pitch laser diode 22.
  • a fifth roll pulse R 4 is positioned after the second yaw pulse Y2 and before the third yaw validation window e. If emitted, it is emitted by the pitch laser diode 22.
  • a sixth roll pulse R 5 is positioned directly after the fifth roll pulse R 4 , again before the third pitch validation window e. If emitted, it is emitted by the yaw laser diode 24.
  • the six-bit binary word R 5 R 4 R 3 R 2 R 1 R 0 (where R 0 is the least significant bit) denoted by the presence or absence of the respective pulses in the emitted (and detected) pulse train convey binary encoded information to the receiver concerning roll of the launch platform on which the LIF generator 10 is mounted. That way, the receiver can make adjustments to its interpretation of the spacings, in time, between the pitch doublet pairs of P1 and P2, and between the yaw doublet pairs of Y1 and Y2, to determine its pitch and yaw on the desired trajectory.
  • the six-bit binary number encodes the range of roll angle which the launch platform can be expected to experience.
  • a roll angle range of ⁇ 45° is encoded.
  • the full range of possible roll angles can be encoded using 46 symbols. This leaves 18 unused symbols.
  • One of these symbols will be 000000 which is reserved as it consists of the absence of all roll information pulses (which might occur for numerous operational reasons).
  • 17 symbols can be used for other purposes. These symbols could be used to convey other information, or operational commands, a facility not available previously. For example, symbols could be assigned to a command to change a missile parameter, to provide updated course information, fuse settings, or to order the missile to leave the missile guidance system.
  • a LIF is constructed by scanning the light emitted by the two lasers across a defined and constrained space.
  • the laser diode emissions are scanned across, left to right and top to bottom, which forms a forward sweep, then right to left and bottom to top, which forms a backward sweep.
  • a forward sweep and backward sweep constitute a scan cycle.
  • a LIF comprises a number, X, of doublets and (X-1) inter pulse intervals (IPI).
  • a doublet is formed by two laser pulses, such as P1 and P2 for pitch, as per the above example.
  • An IPI is the spacing between two doublets.
  • Figures 3 and 4 illustrate, for each diode, a time interval commensurate with a doublet projection and an IPI.
  • the present embodiment implements a requirement for the roll pulse information to be consistent over the full extent of two sweeps, thus over a full scan back and forth. Thus, redundancy will be imparted, which can be used to error check the roll pulse information. This is because noise could arise at a single roll pulse position, which would erroneously convey a "1" value where a "0" value would actually have been intended. This error could have serious consequences if left unchecked.
  • the present embodiment employs a bit inversion scheme.
  • the information conveyed in a first scan sweep may be "010101", that in the subsequent scan sweep will be "101010".
  • the received words can then be compared, on a bitwise basis, for instance using an XOR operator. In that case, if the XOR operator detects identity of any of the bits, then an error is detected. The data will then be disregarded.
  • FIG. 5 illustrates a schematic diagram showing a missile for use with the above described embodiment.
  • Figure 6 shows a schematic diagram of a controller in that missile.
  • the missile 50 comprises a generally tubular body with a conical nose portion and a tail.
  • a detector 52 is positioned, operable to detect laser light of the frequency adopted by the laser diodes 22, 24.
  • the detector passes signals corresponding to detected laser light to a controller 54, which controls attitude of canards 60 which provide aerodynamic control surfaces for use in controlling flight of the missile.
  • a fuse 56 provides ignition of ordnance 60.
  • the fuse 56 is under the control of the controller 54, which might have other detection means to enable ignition to be controlled relative to position, altitude, or any other external condition.
  • Figure 6 shows operation of the missile.
  • figure 6 shows a functional architecture of the controller 54, in response to pulses detected by the detector 52.
  • pulses are fed to a LIF decoding unit 102 which decodes LIF pulses in accordance with established techniques.
  • Roll pulses are detected and the information conveyed therein is loaded into a roll pulse register 106.
  • the roll pulse information is passed to a roll pulse decoder 108 which acts, in accordance with the encoding scheme used to encode the roll angle, to detect whether a roll angle is stored in the conveyed information, or if, in accordance with a predefined instruction set, an instruction is being conveyed.
  • a missile dynamics controller 104 In response to this, relevant information is sent to a missile dynamics controller 104.
  • This may be a compensatory signal intended to correct a roll, or to correct interpretation of the LIF data which may be distorted by roll. It may also be to override LIF control of the missile, in view of an instruction, for example, to leave the trajectory and to follow an alternative trajectory. Missile dynamics control signals are sent by the missile dynamics controller 104 to the canards 60.
  • the intention is that the presently described arrangement is to be compatible with existing missile communication. It is expected to impart greater robustness and reliability to the issue of missile guidance and communication, and to offer relatively high resolution guidance. Further, by using different information signalling techniques than were hitherto appreciated, it is expected that greater information capacity will ensue.
  • the presently described embodiment takes account of the various advantages of digital technology in its implementation. This is exemplified by the encoding of the roll information in binary form. Detecting and decoding of binary information is generally straightforward and not prone to error. An error checking mechanism is employed, in the described embodiment, which provides an additional layer of robustness to the inherent advantages of digital communication. This can take account of any data corruption which might arise, for instance as the result of noise or interference. Update of roll information is aligned, in the described embodiment, with position update information, and thus a position update can be corrected by the latest received roll information.
  • Resolution of a device in accordance with the described embodiment, can be relatively high, in comparison with existing devices. This is because the number of bits in the binary code determines the number of different combinations that is available. The range of roll that can be produced by a launch platform needs to be encoded into the binary code, and so the number of combinations available in the binary code will define the resolution across that range. For envisaged purposes, a resolution of 2 degrees is considered sufficient, and the proposed binary code is capable of delivering this resolution.
  • the described embodiment could also be further adapted to transmit other messages to the missile, such as a command to the missile to stay on course without further laser guidance, to change its deployment configuration such as fuse settings, to activate other on-board navigation systems, and so on.
  • the disclosure need not be read as being limited to any particular implementation. This enables much greater control over a missile than was previously considered possible.
  • words of the binary code are fixed in length, but the reader will appreciate that words could be concatenated to represent data requiring a longer bit string.
  • the capacity of the embodiment to convey information is not limited to the length of the word defined in the particular embodiment.

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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)

Claims (8)

  1. Appareil de guidage de missile comprenant un moyen de projection de faisceau laser (10) qui est configuré de manière à :
    projeter un faisceau laser qui comprend une projection balayée d'impulsions de faisceau laser, le moyen de projection de faisceau laser (10) étant en outre configuré de manière à projeter :
    des premières impulsions de faisceau laser (P1, P2) qui sont balayées dans une première direction qui est sensiblement orthogonale à une direction de projection de faisceau, en suivant des lignes de grille dans ladite première direction, dans lequel les premières impulsions de faisceau laser comprennent des séquences de deux impulsions qui sont espacées temporellement par un premier retard prédéterminé ; et
    des deuxièmes impulsions de faisceau laser (Y1, Y2) qui sont balayées dans une seconde direction qui est sensiblement orthogonale à la première direction ainsi qu'à la direction de projection de faisceau, en suivant des lignes de grille dans ladite seconde direction, dans lequel les deuxièmes impulsions de faisceau laser comprennent des séquences de deux impulsions qui sont espacées temporellement par un second retard prédéterminé ; dans lequel :
    le moyen de projection de faisceau laser (10) est en outre configuré de manière à projeter de manière sélective des troisièmes impulsions de faisceau laser (a, b, c, d ,e ,f) en des positions qui sont interposées temporellement entre lesdites premières impulsions de faisceau laser et lesdites deuxièmes impulsions de faisceau laser, de telle sorte que lesdites troisièmes impulsions de faisceau laser n'interfèrent ni avec lesdites premières impulsions de faisceau laser, ni avec lesdites deuxièmes impulsions de faisceau laser ; dans lequel :
    l'appareil de guidage de missile inclut en outre un moyen (30) qui est configuré de manière à appliquer une information qui décrit le roulis d'une plate-forme de lancement de missile ou un signal de communication sur le faisceau laser en codant lesdites troisièmes impulsions de faisceau laser avec ladite information en vue d'une utilisation par un missile qui est projeté depuis ladite plate-forme de lancement.
  2. Appareil selon la revendication 1, dans lequel les positions desdites troisièmes impulsions de faisceau laser constituent un mot binaire, la présence ou l'absence de troisièmes impulsions laser au niveau desdites positions codant une valeur dudit mot binaire.
  3. Appareil selon la revendication 2, dans lequel ledit mot binaire peut présenter une plage de valeurs, au moins un sous-jeu desdites valeurs correspondant à des positions de roulis possibles de ladite plate-forme de lancement, pour imprimer une position de roulis audit missile projeté.
  4. Appareil selon la revendication 3, dans lequel un autre sous-jeu desdites valeurs correspond à des signaux de commande, pour une communication d'un signal de commande audit récepteur.
  5. Appareil selon l'une quelconque des revendications précédentes, dans lequel au moins l'une desdites positions desdites troisièmes impulsions de faisceau laser est interposée dans lesdites premières impulsions de faisceau laser.
  6. Appareil selon l'une quelconque des revendications précédentes, dans lequel au moins l'une desdites positions desdites troisièmes impulsions de faisceau laser est interposée dans lesdites deuxièmes impulsions de faisceau laser.
  7. Missile (50) comprenant un système de guidage qui est sensible à un faisceau de guidage laser qui est projeté par un appareil selon l'une quelconque des revendications précédentes, comprenant :
    un récepteur (52) qui est configuré de manière à détecter des impulsions de lumière laser ainsi émises ; et
    un contrôleur (54) qui est configuré de manière à commander le vol dudit missile (50), le contrôleur (54) étant en outre configuré de manière à :
    détecter des premières impulsions en détectant des séquences de deux impulsions qui sont espacées temporellement par un premier retard prédéterminé ;
    détecter des deuxièmes impulsions en détectant des séquences de deux impulsions qui sont espacées temporellement par un second retard prédéterminé ;
    détecter des troisièmes impulsions en une position qui est interposée temporellement entre lesdites premières impulsions de faisceau laser et lesdites deuxièmes impulsions de faisceau laser ; et de manière à :
    déterminer, à partir desdites troisièmes impulsions détectées, si une information émise concerne une position de roulis dudit appareil de guidage de missile ou une commande au moyen desdites troisièmes impulsions.
  8. Missile selon la revendication 7 et configuré de manière à traiter des premières et deuxièmes impulsions détectées sur la base d'une information de roulis qui lui est communiquée dans lesdites troisièmes impulsions, de manière à corriger une information de tangage et de lacet qui est convoyée dans lesdites premières et deuxièmes impulsions en relation avec ladite information de roulis.
EP12176984.8A 2012-07-18 2012-07-18 Guidage de missile Active EP2687809B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL12176984T PL2687809T3 (pl) 2012-07-18 2012-07-18 Naprowadzanie pocisku
EP12176984.8A EP2687809B1 (fr) 2012-07-18 2012-07-18 Guidage de missile

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EP12176984.8A EP2687809B1 (fr) 2012-07-18 2012-07-18 Guidage de missile

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EP2687809A1 EP2687809A1 (fr) 2014-01-22
EP2687809B1 true EP2687809B1 (fr) 2017-08-23

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JP2017101870A (ja) * 2015-12-01 2017-06-08 株式会社Ｉｈｉエアロスペース レーザセミアクティブ誘導方法と装置
CN107356154A (zh) * 2017-07-21 2017-11-17 广东容祺智能科技有限公司 一种基于无人机的半主动式导弹激光制导系统
CN114593637A (zh) * 2022-03-22 2022-06-07 浙江大学湖州研究院 激光驾束制导仪

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Publication number Priority date Publication date Assignee Title
NO140250C (no) 1974-08-28 1979-07-25 Bofors Ab Anordning til aa regulere effekten av en optisk ledestraale
GB1524122A (en) * 1976-01-29 1978-09-06 Elliott Brothers London Ltd Guidance systems for mobile craft
US5056736A (en) * 1985-11-06 1991-10-15 British Aerospace Plc Information transmission system
GB8807355D0 (en) * 1988-03-28 2000-03-15 British Aerospace Missile guidance

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PL2687809T3 (pl) 2018-05-30
EP2687809A1 (fr) 2014-01-22

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