JP2000056014A - Missile measuring/evaluating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide continuous data while a missile is located within a measurable distance range if missing occurs on correcting measured data in measuring the relative flying speed of the missile and the most proximity distance between the missile and a measuring device mounted on a target, i.e., a flying body, and to provide the data on the relative flying speed of the missile and the most proximity distance between the missile and the measuring device mounted on the flying body, i.e., a target, with high precision by removing noise mixed in the data when measured. SOLUTION: This missile measuring/evaluating device is constituted of a measuring device including a pulse Doppler radar and a telemeter mounted on a flying body, a ground facility 3 including a reception section 32, a data record section 33 and a signal process section 34, and a data output section 4. After measured data are recorded in the data record section 33, the measured data are read by the signal process section 34, then the optimum flying speed, most proximity distance and most proximity time of the missile are obtained by the minimum means square method with the Doppler frequencies obtained from the measured data and the Doppler frequencies obtained from calculation in this missile measuring/evaluating device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying object and a measuring device at the time when the flying object of the flying object is closest to a measuring device mounted on the flying object for measuring the flying object using radio waves. The present invention relates to a flying object measuring device that measures the distance of a flying object.

[0002]

2. Description of the Related Art Conventionally, as a method of measuring the flight speed of a flying object or the closest approach distance between the flying object and an observation device, a flight flying toward a target using a high-speed camera or a video camera from an observation device. A method of capturing an image of a body together with a target and analyzing the image, or mounting a pulse radar device on the target, measuring the distance between the target and a flying object flying toward the target equipped with the pulse radar device, and performing the measurement. A method of calculating a relative flying speed of a flying object and a closest approach distance between the flying object and a target from a change in the distance over time has been used. A method using a high-speed camera, a video camera, or the like has problems such as difficulty in observation itself, time required to analyze the obtained results, and difficulty in obtaining the accuracy. In the method using a pulse radar device, data may be lost due to radio waves, and there is no method for correcting the data in the missing portion. Also, reflected radio waves from objects other than the flying object become noise. There is a problem that it is difficult to remove.

[0003]

According to the above prior art, the optical method has difficulty in observation, such as being affected by the weather, and is difficult to obtain the accuracy of the measurement result due to the image, and uses a pulse radar. There is a problem that the method cannot cope with missing of data or mixing of noise due to measurement.

The present invention measures the relative flight speed of a flying object and the closest approach distance between the flying object and a target, ie, a measuring device mounted on the flying object, and corrects any missing data in the measured data. Obtaining continuous data while the flying object is within the measurable distance range, removing noise mixed in the data at the time of measurement, and achieving a highly accurate relative flying speed of the flying object,
It is an object to obtain data of a closest approach distance between a flying object and a measurement device mounted on the flying object, that is, a target.

[0005]

According to a first aspect of the present invention, a radio wave is transmitted to a flying object, a reflected signal of the reflected wave is received, and a Doppler signal is detected from the reflected signal. A measuring device mounted on a flying object including a pulse Doppler radar and a telemeter receiving a Doppler signal output from the pulse Doppler radar and transmitting the signal to an aerial, and a Doppler signal from the aerial of the measuring device mounted on the flying object Receiving section via an antenna, a data recording section for temporarily recording the Doppler signal output from the receiving section as Doppler signal information, and reading out the Doppler signal information recorded in the data recording section, the read Doppler signal information A signal processing unit, an operation unit, and a display unit that perform required data processing using And a data output unit for receiving and outputting an output from a signal processing unit of the ground equipment, and a signal processing unit, an operation unit, and a display unit of the ground equipment. The Doppler signal information recorded in the data recording unit is read using the Doppler signal information, the Doppler frequency is detected from the Doppler signal information according to the elapsed time of the measurement, and the closest distance at which the projectile approaches the Doppler radar, the distance of the projectile The following theoretical formula for obtaining the Doppler frequency from the three parameters of the relative flight speed and the closest approach time at which the flying object reaches the closest approach distance f = 2 · Vo [1 / ｛1+ (R ₀ / V ₀ (T−t)) )
² ｝] ^1/2 / λ, the three parameters are given arbitrary values, and the Doppler frequency obtained by calculation from the theoretical formula and the Doppler frequency detected from the Doppler signal information are obtained by the least squares method. The values of the three parameters that minimize the residual sum of squares are obtained, and the values of the three parameters, that is, the values of the closest approach distance, the relative flying speed of the flying object, and the closest approach time are determined by the signal processing unit. It is characterized by a flying object measurement and evaluation device that outputs the data to a data output unit.

According to a second aspect of the present invention, in the flying object evaluation and measurement apparatus according to the first aspect, the values of the three parameters obtained by the calculation according to the first aspect, that is, the maximum values, are obtained by using the signal processing unit of the ground equipment. The values of the approaching distance, the relative flying speed of the flying object, and the time of closest approach are given to the theoretical expression for calculating the Doppler frequency according to claim 1, and the flying object is measured by radio waves transmitted from a pulse Doppler radar. A time continuous between the measurable times flying in the possible range at an appropriate interval is given in a time series, and a Doppler frequency corresponding to the time is calculated in a time series, and the calculation processing unit obtains the time by the calculation. It is a flying object measurement and evaluation device that outputs a Doppler frequency that is continuous in time series to a data output unit.

In claim 3, claim 1 or claim 2
The flying object measurement / evaluation apparatus according to the above, wherein the measurement apparatus is installed on the ground, and is a flying object measurement / evaluation apparatus using a transmission unit via a wired connection between a telemeter of the measurement apparatus and a receiving unit of the ground equipment. And

[0008]

FIG. 1 is a block diagram of a flying object measurement and evaluation apparatus showing an embodiment of the present invention, and FIG. 2 is a block diagram of a flying object measurement and evaluation apparatus showing another embodiment of the present invention. 3 is a diagram showing a positional relationship between a flying object and a measuring device mounted on the flying object, that is, a target, and FIG. 4A is a diagram showing a temporal change of a waveform of measured Doppler signal information which is a part of an output of the flying object measurement and evaluation device. FIG. 4B is a diagram showing the change over time of the Doppler frequency of the Doppler signal obtained by detecting and calculating from FIG. 4A.

In FIG. 1, 1 is a flying object, 2 is a measuring device, 21 is a pulse Doppler radar, 22 is a telemeter, 23 is an antenna, and 24 is a pulse Doppler radar 2.
Radio wave transmission range from 1, 3 ground equipment, 31 antenna, 32 receiver, 33 data recording unit, 34 signal processing unit, 35 display unit, 36 operation unit, 4 data output unit It is.

FIG. 2 shows a case where the measuring device 2 shown in FIG. 1 is installed on the ground, and the antenna 2 of the measuring device 2 shown in FIG.
3 in that a wired transmission means 5 is used in place of the antenna 31 of the ground equipment 3, and all other points are the same as in FIG.

FIG. 3 schematically shows a relative positional relationship between the flying object 1 and the measuring device 2 mounted on the flying object at a certain measurement time, where A is the position of the flying object 1 and B is the position of the measuring device 2. , C indicates the position of the flying object 1 at the closest approach time, that is, the closest approach position, and θ indicates the angle between the flying direction of the flying object 1 and the line connecting the flying object 1 and the measuring device 2.

FIG. 4A shows a data recording unit 33 of the ground equipment 3.
The Doppler signal information read from is processed by the signal processing unit 34 and output to the data output unit 4. In the measurement range, a Doppler signal waveform model that is observed for one flying object 1 that moves at a constant speed and in the same direction, The horizontal axis indicates time, the vertical axis indicates voltage, ts indicates the time instant when the flying object 1 enters the radio wave range 24 transmitted by the pulse Doppler radar 21 of the measuring device 2, and te indicates the time when the flying object 1 Range 2
4 indicates the time at the moment of leaving, and to indicates the time when the flying object 1 comes closest to the measuring device 2. The frequency of the Doppler signal of the reflected wave is higher than the frequency of the transmitted wave at time ts.
Gradually decreases from the time ts toward the time to due to the influence of the angle θ shown in FIG.
Thereafter, the frequency further decreases from the frequency of the transmitted wave toward time te. 4B is a temporal change of the Doppler frequency of the Doppler signal obtained by analyzing the waveform of the Doppler signal of FIG. 4A by the signal processing unit 34 of the ground equipment 3, the horizontal axis indicates time, the vertical axis indicates the Doppler frequency, Times ts, te,
to indicates the same time as in FIG. 4A, and F (ta), F (t
b) and F (tc) represent Doppler signal information in the signal processing unit 3
In the Doppler frequency obtained by the analysis in 4, ta, tb, t
c indicates the time at which each value of F (ta), F (tb), F (tc) was obtained, and curve (a) indicates the change with time of the Doppler frequency obtained by calculation using the Doppler signal information in the signal processing unit 34. And a straight line (b) indicates a temporal change of the Doppler frequency of the reflected wave from the ground or the sea surface obtained by analyzing the Doppler signal information by the signal processing unit 34.

The operation will be described with reference to FIGS. 1, 3, 4A and 4B.

In FIG. 1, a flying object 1 is a flying object which moves at a very high speed and in a uniform direction in a measuring range with respect to a measuring device 2 mounted on the flying object, for example, a flying object such as a rocket. 2 flying with the flying object equipped with the pulsed Doppler radar 2 of the measuring device 2
When passing through the transmission range 24 of the radio wave transmitted from the radio wave 1, the radio wave is reflected by the flying object 1, and the reflected wave is received by the pulse Doppler radar 21. Signal, and sends the Doppler signal to the telemeter 22, which transmits the Doppler signal to the antenna 23.
Outgoing via The receiving unit 32 of the ground equipment 3 receives the Doppler signal via the antenna 31 and sends it to the data recording unit 33, and the data recording unit 33 temporarily records the Doppler signal as Doppler signal information. After the measurement is completed, the measurer operates the operation unit 36 to read out the Doppler signal information recorded in the data recording unit 33 from the signal processing unit 34, and performs the following processing.

FIG. 4A is a general model showing a temporal change of a Doppler signal. Doppler signal information actually obtained by measurement is based on characteristics of an antenna, a cut of a transmitted radio wave pattern due to a wing of a flying object or the like. A complicated waveform is shown under the influence of the reflected wave deficiency and the noise due to the reflected wave from the ground or the sea surface or the like, and the measurer displays the read-out Doppler signal information on the display unit 35 and displays the noise from the waveform. A few points not affected by
For example, the Doppler frequency at that point is determined by selecting and analyzing three points. F (ta), F (tb), F (t
c) indicates the Doppler frequency obtained by the operation, and ta, tb, and tc are read from the data recording unit at the respective times when the frequency shifts F (ta) to F (tc) of the Doppler signal are obtained. The displayed Doppler signal information can be displayed on the display unit 35 and read.

The Doppler frequency f is expressed by the following equation.

F = 2 · Vo · COS θ / λ Equation (1) In equation (1), COS θ is obtained from FIG. COS θ = [1 / {1+ (Ro / Rv) ² }] ^1/2 Equation (2) Rv: distance from position A to closest approach position C of flying object 1 at measurement time of flying object 1 Ro: maximum The approach distance, that is, the distance between the position B of the measuring device 2 and the position C of the flying object 1 at the closest approach time Rm: the distance from the position A at the measuring time of the flying object 1 to the position B of the measuring device 2 Vo: The flying object 1 (A ): The wavelength of the Doppler signal received by the measurement device 2 θ: the flight direction of the flying object 1 (point A) and the flying object 1 (point A)
On the other hand, if the closest approach time is T, Rv at time t is Rv = Vo (T−t) Equation (3), and Equation (3) is obtained. ) And Expression (3) are substituted into Expression (1) to obtain the following Expression (4). f = 2 · Vo [1 / {1+ (Ro / Vo (T−t)) ² }] ^1/2 / λ Equation (4) The above equation (4) represents the relative relationship between the flying object 1 and the measuring device 2. Speed V
6 shows the relationship between o and the closest approach distance Ro and the frequency of the received Doppler signal, and three parameters of Vo, Ro, and T are unknown.

Now, from equation (4), the time t
And given arbitrary values to the three parameters of Vo, Ro, and T to the signal processing unit 34, and obtains the Doppler frequencies f (ta) to f (tc) obtained by calculation and the above measurement. Of the three parameters Vo, Ro and T such that the following equation (5) of the residual sum of squares (x ² ) between the Doppler frequencies F (ta) to F (tc) is minimized. Find a combination.

[0019]

(Equation 1)

Here, F (ti) is F (ta), F (t)
b) and F (tc), where f (ti) is f (ta) and f (ta)
(Tb) and f (tc).

Using the above equation (5), a combination of three parameter values that minimizes the residual sum of squares is obtained by calculation, and the three parameter values obtained by the calculation, ie, the flying object 1 and the measuring device 2, the closest approach distance Ro and the closest approach time T between the flying object 1 and the measuring device 2.
Are values to be obtained, and these values are output from the signal processing unit 34 to the data output unit 4.

Next, the values of three parameters Vo, Ro and T that minimize the residual sum of squares obtained by the calculation using the above equation (5) are given in advance to the equation (4). Next, at time t, times t1, t at an arbitrary interval Δt from time ts
, T3,... Until time te, F (t
s), F (t1), F (t2),... F (te), and outputs the obtained values of F (ts) to F (te) from the signal processing unit 34 to the data output unit 4. I do. If the values of the output data F (ts) to F (te) are sequentially connected, a curve shown by a curve (a) in FIG. 4B can be obtained. The value of Δt can be arbitrarily determined, such as a constant value or a large value at both ends, and a smaller value as approaching the center.

The signal processor 34 calculates the Doppler frequency obtained from the Doppler signal information and the F
Compared with (ts), F (t1), F (t2) to F (te), the measured Doppler frequency that does not change with time (an example is shown in a straight line (b) in FIG. 4B) is noise. Exclude as

The example shown in FIGS. 4A and 4B shows a case where the flying object 1 passes through the measurement range of an aircraft equipped with the measuring device 2. 4B, the curve (a) in FIG.
Stop at o. If the flying object 1 is on the same straight line as the flying object on which the measuring device 2 is mounted, that is, the target,
And the flying object on which the measuring device 2 is mounted collides, and the curve (a) becomes a straight line and stops at the position of time to.

The above description is all about the case where the measuring device 2 is mounted on a flying object. FIG. 2 shows a case where the measuring device 2 is installed on the ground and measurement is performed. The operation is the same as that in the case of FIG. 1 described above, except that the transmission of the Doppler signal between the ground equipment 3 is performed by radio waves or by wire. In FIG. 2, the telemeter 22 of the measuring device 2 and the receiving unit 32 of the ground equipment 3 can be omitted depending on the conditions of the wired transmission unit 5.

[0026]

As described above, the Doppler signal due to the reflected wave may lack part of the radio wave range 24 transmitted by the pulse Doppler radar 21 due to antenna characteristics or the wings of the flying object because the measuring device 2 is mounted on the flying object. Also, in some cases, clear data cannot be obtained due to noise or the like. Therefore, the Doppler signal due to the reflected wave may be missing. Using the above equations (4) and (5), the above three parameters, that is, the relative velocity V between the flying object 1 and the measuring device 2
o, To obtain the values of the closest approach distance Ro and the closest approach time T between the flying object 1 and the measuring device 2, several Doppler frequencies (three in the above example) can be obtained from the measurement data as described above. Even if there is a loss of measurement data, it is possible to complement the data during that time, and it is not affected by noise, and the values of the flying speed of the flying object, the closest approach distance and the closest approach time can be accurately calculated. There is an effect that can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram of a flying object measurement and evaluation apparatus showing an embodiment of the present invention.

FIG. 2 is a block diagram of a flying object measurement and evaluation apparatus showing another embodiment of the present invention.

FIG. 3 is a diagram showing a positional relationship between a flying object and a measuring device.

4A is a diagram illustrating a waveform of a Doppler signal, and FIG. 4B is a diagram illustrating a change over time in a Doppler frequency.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Flying object 2 ... Measuring device 21 ... Pulse Doppler radar 22 ... Telemeter 23 ... Antenna 24 ... Radio wave transmission range 3 ... Ground equipment 31 ... Antenna 32 ... Receiving part 33 ... Data recording part 34 ... Signal processing part 35 ... Display part 36 ... operation unit 4 ... data output unit 5 ... wire transmission means

Continuation of the front page (72) Inventor Kenichi Yoshikawa 249-1, Moriya-ko, Moriya-cho, Kitasoma-gun, Ibaraki F-term in the Moriya Plant of Meisei Electric Co., Ltd. 5J070 AA04 AB01 AC02 AC06 AE04 AE06 AF01 AH19 AH25 AJ04 AJ05 AJ06 AJ13 AK28 BA01 BB05 BB06

Claims (3)

[Claims] 1. A pulse Doppler radar for transmitting a radio wave toward a flying object, receiving a reflected signal of the reflected wave, detecting a Doppler signal from the reflected signal, and receiving a Doppler signal output from the pulse Doppler radar. A measuring device mounted on a flying object comprising a telemeter for transmitting the Doppler signal to the antenna, a receiving unit for receiving a Doppler signal from the antenna of the measuring device mounted on the flying object via the antenna, and a Doppler from the receiving unit. A data recording unit for temporarily recording the signal output as Doppler signal information, reading out the Doppler signal information recorded in the data recording unit, performing necessary data processing using the read out Doppler signal information, and obtaining necessary data Ground equipment consisting of a signal processing unit, operation unit, and display unit, and receiving output from the signal processing unit of the ground equipment And a data output unit that outputs the Doppler signal information recorded in the data recording unit using the signal processing unit, the operation unit, and the display unit of the ground equipment. The Doppler frequency is detected from the Doppler signal information in accordance with the elapsed time of the measurement, and the closest approach distance at which the flying object approaches the Doppler radar, the relative flying speed of the flying object, and the closest approach time at which the flying object reaches the closest approach distance. The following theoretical formula for obtaining the Doppler frequency from the three parameters f = 2 · Vo [1 / ｛1+ (Ro / Vo (T−t))
² ｝] ^1/2 / λ, the three parameters are given arbitrary values, and the Doppler frequency obtained by calculation from the theoretical formula and the Doppler frequency detected from the Doppler signal information are obtained by the least squares method. The values of the three parameters that minimize the residual sum of squares are obtained, and the values of the three parameters, that is, the values of the closest approach distance, the relative flying speed of the flying object, and the closest approach time are determined by the signal processing unit. A flying object measurement / evaluation device characterized by outputting to a data output unit from a computer. 2. The flying object evaluation and measurement device according to claim 1, wherein the values of the three parameters obtained by the calculation according to claim 1, that is, the closest approach distance and the flight, using a signal processing unit of the ground equipment. The relative flight speed of the body and each value of the closest approach time are
Given in the theoretical formula for calculating the Doppler frequency according to claim 1, further comprising a time interval in which the flying object flies over a measurable range measured by radio waves transmitted from the pulse Doppler radar at appropriate intervals. Are given in time series, and the Doppler frequency corresponding to the time is calculated in time series, and the calculation processing unit outputs the time-series continuous Doppler frequency obtained by the calculation to the data output unit. Flying object measurement and evaluation device. 3. The flying object measurement and evaluation device according to claim 1 or 2, wherein the measurement device is installed on the ground, and a transmission unit by a wired connection between a telemeter of the measurement device and a receiving unit of the ground equipment is provided. A flying object measurement and evaluation device characterized by using: