FR2708095A1 - Method for guiding a machine equipped with a target search device - Google Patents

Abstract

The invention relates to a method of guiding a vehicle provided with a target search device. The machine is directed, by means of a transmission link towards an expected region of presence of the target. This region is determined based on an estimate of direction and distance from the target, as well as estimate tolerances. In the event of a break in the transmission link, the target search device guides the machine. The invention applies in particular to the launching of torpedoes towards surface ships.

Description

The present invention relates to a method of guiding to a target of a

  guided craft, provided with a target search device, wherein energy from a carrier vehicle and radiated or reflected by the target is detected, thereby determining the position

  Target it in relation to the carrier vehicle, by a

direction and distance.

  There already exist methods for guiding a guided machine; the patent of the German Federal Republic N

  No. 2,200,623 discloses a method of this kind by

  portionnal in order to bring the machine in the most favorable position possible with respect to the target. In this case, the machine must not cross the trajectory of the target, as is the case according to another known method, but it is envisaged to follow the machine the trajectory of

target.

  According to a known guidance method, a torpedo is guided on a collision course with a calculated target position. However, this method has the disadvantage that, for guiding the machine, unavoidable tolerances of direction estimation and distance are not taken into account. These tolerances can have the effect that the torpedo does not reach the target at all, but misses it. As a result, many search paths

  of the target are needed, but what presents the

  suggest that the transmission channel of the machine or its power supply is no longer sufficient to find the target.

  The object of the invention is therefore to propose a procedure

  already mentioned above, which guarantees a high probability

  meeting, taking into account the tolerances of

  timation of the position of the target with guidance on a

direct route to the target.

  According to the invention, this result is obtained by the

  that from the estimation of direction and dis-

  and their tolerances, an expected region of pre-

  the target, approximately rectangular, is de-

  zer-mne whose width and height depend on tolerances

  estimates of horizontal and vertical direction and whose depth depends on distance estimation tolerances; the craft is directed to a front side of the area

  expected, and it covers this region, essentially following

  its longitudinal axis until its

  search detects and directs it to the latter.

  The target area of target presence is defined by a volume that surrounds the position of

  target. Since the dimensions of this region de-

  pendent of direction estimation and

  tance, the shape of this region is lengthened due to different tolerances. If the estimation tolerances of

  direction are predominant, the expected region of pre-

  the target extends further along its width and height and therefore perpendicular to the carrier vehicle, whereas if distance estimation tolerances predominate, the expected region extends further along its depth and, therefore, in the radial direction by

relative to the carrier vehicle.

  According to another advantageous characteristic of the in-

  vention, it is planned, for the initial launch, to

  a planned expected region taking into account the

  itself and the trajectory of the target. In addition, the region

  The planned count is enlarged in width and height according to the speed estimation tolerances, and in its depth according to the estimation tolerances.

  path. This undesirable increase in the es-

  The presence count of the target is then compensated

  as new, momentary expected regions are

  continuously determined and that the trajectory and vi-

  of the target can be estimated with smaller tolerances, these latter being

  the expected region of target presence.

  If the vehicle is connected to the carrier vehicle by a transmission link, such as a wire-guided torpedo, after having reached the front surface of the vehicle

  the expected region, it is guided in the following direction:

the longitudinal axis.

  If the machine can not be guided from the vehicle

  carrier, it is equipped with an automatic device

  introduced a correction of trajectory at a pre-

  determined that the machine probably reached the

front face.

  Also in a machine that is connected to the vehicle

  carrier by a transmission link, it is

  able to provide for an automatic device

  against a break in the transmission link.

  During the journey of the craft, permanent corrections of the expected regions which are calculated are introduced

  and in the event of a break in the transmission link

  the craft is finally guided to the desired region.

  According to another characteristic of the invention, the expected expected region of presence of the target is

  corrected during the time in which the machine is

  dice and progresses, and it is then guided along the axis

  longitudinal corrected. This is particularly advantageous

  happy when the target moves along a trajectory

and with a variable speed.

  A moment of departure, a speed and a

  may be indicated in advance of the craft,

  with which it will probably reach the region

  ted. If sound energy emitted by a target is

  used to determine the expected region of

  this of the target, according to a passive detection method,

  this expected region has an elongated form in the di-

  radial rectification relative to the carrier vehicle, because the distance estimation tolerances are greater than the direction estimation tolerances. In this case, the vehicle is provided with a tracking device which receives the acoustic facility and which guides it towards the front surface of the expected region, indicated by the carrier vehicle.

  A simplification of the calculation of the region

  presence of the target is possible, in the case where

  the craft, for example a torpedo, must be launched

  be a surface ship. In this case, the region

  does not have to be determined in three dimensions because -0 the surface of the water defines the plane of the trajectory

  of the target and the torpedo is intended for a deep

  predetermined amount. It is therefore sufficient to determine an over-

  target face from a direction and from a distance

in the horizontal plane.

  A detection region is defined according to the range and angle of reflection of the torpedo tracking device, and is compared with the target surface width. If the receiving region

  does not sufficiently cover the target area,

  Pille travels the latter several times,

meandering.

  The advantages of the invention lie mainly in the fact that a machine, instead of being guided towards a target point, is guided in a region expected in

  which must be the target. Since the

  gin is guided towards the front surface of the region

  whose range is the smallest, the device's target detection device covering a region of

  predetermined reception, is operated optimally.

  The machine detects the target particularly quickly when

  the width and height of the front surface corres-

  tooth to the dimensions of the reception area. This disc

  position allows the machine to find the target directly and with greater certainty and can

  therefore be used with a probability of meeting

drastically increased.

-5

  Other features and advantages of the

  ven-ion will appear during the description that goes

  to follow. In the accompanying drawings given solely as a non - limitative example:

  Figure 1 is a simplified diagram of a

sirif according to the invention, and

  Figure 2 is the sketch of a device indicating

the device of Figure 1.

  ! 0 As shown in Figure 1, the carrier vehicle

  i includes apparatus for determining the posi-

  target. These devices use the energy re-

  bent by the target to determine its direction and

  distance. The direction of the target with respect to the vehicle

  1 carrier carrier is defined in the horizontal plane and the vertical plane by goniometers 2 and 3. The distance between the target and the carrier vehicle 1 is determined by a rangefinder 5. A target region calculator 6

  is connected behind the goniometers 2 and 3 and the tele-

meter 5.

  With regard to the determination method

  distance, for example when no particular device

  distance measuring is not expected, the distance is estimated from the angle values of the goniometers 2

  and 3 and own motion, in a calculator of dis-

  7 of the calculator 6 of the ES region.

target presence count.

  The region calculator 6 determines a posi-

  the target and an expected region

  around this position which is defined by the toler-

  rances for determining angle and distance. The cal-

  region driver 6 includes a path calculator 8 and a speed calculator 9 to which own motion data of the carrier vehicle 1 is applied,

from a generator 10.

  An indicating apparatus 12 is provided for displaying

  the width and depth of the region

  count of presence of the target as well as the path and

  the speed of this target, and it is connected to the

  6 target region. The indicator displays more

  the expected regions 13 identified one after the other in time and a path vector

  14 whose length depends on the speed of the target.

  A forecast calculator 16, connected to the

  target region 6 has the function of determin-

  An initial launch of a machine from the carrier vehicle 1. The forecast calculator 16 calculates for the machine, for example for a torpedo 18, the travel time to the expected region 19 which is displayed on the vehicle. indicating device 12. The determination of this expected region 19 will be explained later with regard to

  dela Figure 2, about an expected region 39.

  The guide path characteristics for launching the torpedo 18 are provided to the forecast calculator 16 by a data generator 17 and are

  used in the calculation of expected region 19.

  The forecast calculator 16 calculates the instant

  starting point, the route and speed with which the torpedo

  loot 18 reaches the front surface of the expected expected region 19. The path and the speed are transmitted to the torpedo 18 by a transmission link 20. In addition, the forecast calculator 16 calculates a path change for the presumed instant o the torpedo 18 reached.

  the front surface of the expected region 19, in order to

  the torpedo along the longitudinal axis of the

counted 19.

  The torpedo 18 contains a target search device, for example a tracking device 21 which receives energy emitted by the target. A switch

  22 is connected to the guide device 23 of the tor-

  18 and it can change position between a transmission link 20 and the tracking device 21. Upon detection of the target, the tracking device 21 transmits a change of position saia to the switch

  292 that the guidance information of the

  siTif derepérage 21 are transmitted to the

guidance 23.

  Figure 2 shows on a larger scale the display on the indicating device 12 of Figure I. A probable path and speed of the target are

  determined from three expected regions 33

  presented at successive times and are displayed by a path vector 34 and the known tolerances of the measurement method determine two path vectors

derivatives 34.1 and 34.2.

  For an initial launch, an expected region

  probable 38 that the torpedo should meet at a

  given stant is first determined. Since the

  expected region 38 is not yet the definitive region

  For the trajectory of the torpedo, but as an idea, it is not displayed on the indicator device 12 of Figure 1. The dimensions of the expected region 38 are enlarged compared to those regions 33, on the one hand because of the path estimation tolerances and on the other hand

  because of the speed estimation tolerances. The di-

  of an expected region 33 determined in the beginning is represented in its expected region 38 to show

  the effect of speed estimation tolerances and

  jet. Other ongoing measures and expected regions

  snapshots determined from these measures,

  tighten these tolerances (not shown).

  during the progression of the torpedo in the expected region, the latter moves due to the movement of the target. It is also necessary to take into account a real expected obliquely moving region 39 whose displacement with respect to the expected region 38 is determined by the time required for the torpedo to

  move from the front surface to an in-

  zermediary, and by the movement of the target during this time. Part of a trajectory of a torpedo launched until a given instant is represented by the

dashed line 4o0.

Claims (5)

CLAIMS! A method for guiding a target of a guided machine, provided with a target search device, according to which energy originating from a carrier vehicle and reflected or reflected by the target is detected so as to determine the position of the target with respect to the carrier vehicle, by an estimate of direction and distance, characterized in that it essentially consists of the estimate of direction and direction of travel. - and their tolerances, to determine an expected region of presence of the target, approximately rectangular, whose width and height depend on the tolerances of the horizontal and vertical direction estimates and whose depth depends on distance estimation tolerances, and directing the craft to a forward side of the expected target presence region so that it traverses that region along its longitudinal axis until its target search device detects target and guide the craft towards the latter.   2 - Process according to claim 1, characterized   in that it essentially consists in calculating in advance an anticipated region of presence of the target for a predetermined moment, taking into account the speed and the path of the target, this expected region of presence of the target being increased in height and in   width according to the tolerances of estimate of   speed and depth according to the travel tolerances, and to calculate a starting instant as well as a speed and a path of the craft, so that the latter meets the expected region of presence of the target   calculated in advance at the predetermined time.   3 - Process according to claim 2,   vehicle connected to a carrier vehicle by a link   transmission sound, characterized in that the   gin, having reached the front side of the eastern region,   presence of the target, is guided by a   along the longitudinal axis by means of the connection transmission sound.   4 - Process according to claim 2, characterized   in that the machine contains an automatic device in which are stored, before launching; the path and speed of the craft and a path change for a passage along the longitudinal axis of   The expected region of presence of the target.   5 - Process according to claim 4, characterized   in that it also consists in correcting the region es-   count of the presence of the target calculated in advance,   the duration of the journey of the craft, taking into account the speed and the path of the target, and to guide the craft.   along the longitudinal axis of the expected region of pre- the corrected target.   - Process according to claim 3 or 5,   in that, during the journey of the craft,   predicted region predicted target presence recursions are continuously introduced into an automatic device via the   transmission link, the automatic guiding device   the gear to the expected target presence area of the last determined target in the event of a break of the transmission link.   7 - Process according to claim 1, also consisting of using acoustic energy emitted by the target for the passive determination of the direction and distance of the target, characterized in that   that the form of the expected region of presence of the   is extended in the radial direction by: .report to   carrier vehicle, because the estimation tolerances of dis-   are larger than those of the estimate of   rection, the craft being guided to the forward surface of the expected area of presence 'of the target, facing to the carrier vehicle.   8 - Process according to claim 1, characterized   in that the craft corsistanz in a launched torpedo   to be a surface ship and moving in the water to   predetermined depth, the expected region of pre-   sence of the target consists of a target surface that is determined by the direction and distance in the   ilan horizontal and whose front side is the small side.