JP2000065565A - Device for measuring rotary angle of rotary missile and its measuring method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a device and method for measuring a rotary angle of a rotary missile which is excellent in G-resistance and low-priced with a simple structure. SOLUTION: In a device and method for measuring a rotary angle of a rotary missile, an infrared rays detecting means 20 is provided in a rotary missile such as a cannonball, and emission energy surrounding the rotary missile is detected by this infrared rays detecting means 20, and also a reference position is calculated by a reference position calculating means 14 from a difference of a detection value based on a rotary angle of this emission energy, and the rotary angle of the rotary missile is calculated by a rotary angle calculating means 15 from comparison with this reference position, and the rotary angle of the rotary missile is measured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for measuring the rotational angle of a rotating projectile for measuring the rotational angle of a shell or other rotating projectile.

[0002]

2. Description of the Related Art Conventionally, in the case of a rotating flying object that freely flies while rotating, for example, a shell, a plurality of side thrusters provided on the peripheral surface of the shell are injected in order to accurately hit the shell at a target landing position. Control is known.
At this time, in order to determine which side thruster to eject to change the flying state of the shell, it is necessary to accurately grasp the rotation angle of the shell which is a rotating flying object.

[0003]

For this reason, it is necessary to mount a device for measuring the rotation angle on the shell, but in a gyro or the like generally used for a missile or the like, an extremely high acceleration when the shell is fired, In other words, there is a problem in that if it is made to withstand high firing G, it becomes extremely expensive and not practical. On the ground, the rotation angle can also be measured by measuring the direction of gravity, but since the shells are flying freely, during the falling process,
Depending on the accelerometer etc. installed on the shell, gravity can not be felt or only very small gravity is applied,
Gravity measurement becomes difficult and the rotation angle cannot be measured.

Further, Japanese Patent Application Laid-Open No. 4-1044000 discloses that a rotation angle is obtained from an angular velocity obtained by an optical fiber gyro provided on a rotating shell, and an image signal from an image device provided on the shell is also obtained. There is disclosed a method for guiding a guided ammunition in which the rotation angle is subtracted, the image signal is digitally integrated, image recognition is performed, and the ammunition is steered to one point on the polar coordinates.

However, the invention described in Japanese Patent Application Laid-Open No. 4-1044000 requires an expensive structure such as an optical fiber gyro or an image device, and has a problem that the entire device is not economical. Also, as a method of simply measuring the number of rotations, there is a method in which a photosensor is mounted perpendicularly to the rotation axis of the rotating body and the number of rotations is obtained from the regularity of the output. Because of the irregularity, it is not possible to have a reference position, so that the number of rotations can be measured, but the rotation angle cannot be measured.

SUMMARY OF THE INVENTION An object of the present invention is to provide a measuring device and a measuring method capable of measuring the rotation angle of a rotary flying object at a low cost with a simple configuration.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the fact that the infrared radiation energy of the sky is different depending on the elevation angle thereof. The object is to achieve the above object as an element that can withstand high firing G or the like and does not have a movable part as seen in a gyro or the like.

More specifically, the invention according to claim 1 is a rotating flying object that flies freely while rotating, infrared detecting means provided on the rotating flying object, and radiation detected by the infrared detecting means. Reference position calculation means for calculating a reference position from a difference in the detected value based on the rotation angle of the energy, and rotation angle calculation means for calculating the rotation angle of the rotating flying object from comparison with the reference position by the reference position calculation means This is a rotation angle measurement device for a rotating flying object.

According to the present invention, the rotation angle of the rotary flying object can be calculated by detecting the difference based on the elevation angle of the radiant energy of the sky by the infrared detection means. Can be detected. Therefore, it can withstand high firing G such as shells, and the entire apparatus can be manufactured at low cost.

According to a second aspect of the present invention, in the rotation angle measuring device for a rotating flying object according to the first aspect, the infrared detecting means includes:
This is an apparatus provided on the rotary flying object with an offset angle inclined at a predetermined angle toward the rear of the rotary flying object with respect to the direction orthogonal to the rotation axis of the rotary flying object.

According to the present invention, since the mounting angle of the infrared detecting means with respect to the rotating flying object is inclined at a predetermined angle toward the rear of the rotating flying object, the rotating flying object falling at a predetermined angle while rotating can be used. As compared with the case where the infrared ray detected by the infrared ray detecting means is provided in a direction perpendicular to the rotating flying object, the amount of infrared ray received from the ground is reduced, and the disturbance of the received radiant energy can be reduced.
At this time, if the offset angle of the infrared detecting device is set to be equal to or smaller than the falling angle of the rotating flying object, the infrared detecting means detects the infrared only in the zenith direction above the horizontal direction. Because it will detect infrared rays, without receiving irregular infrared rays from the ground,
Measurement accuracy can be further improved.

According to a fourth aspect of the present invention, in the rotation angle measuring apparatus for a rotary flying object according to any one of the first to third aspects, the infrared detecting means may have a diameter of 3 to 5.5 μm and / or 7 to 14 μm. This is a device that detects infrared light of a wavelength and measures its radiant energy. According to this invention, the rotational angle is measured by detecting only the infrared wavelength range in which the radiant energy intensity greatly differs depending on the observation elevation angle.
The zenith direction, and thus the rotation angle, can be measured more clearly.

According to a fifth aspect of the present invention, in the apparatus for measuring the rotation angle of a rotary flying object according to any one of the first to fourth aspects, the reference position calculating means includes a rising part of the radiant energy detected by the infrared detecting means. This is a device that measures a location where the same radiant energy as the falling and the falling energy is obtained, finds a center position thereof, and calculates a reference position based on the center position.

According to the present invention, even if the detection of the infrared ray by the infrared ray detecting means is set for the rotary flying object in a direction including the infrared ray from the ground, the center position is obtained from the rise and fall of the radiant energy. I did it,
Even when it is difficult to detect the center position by unnecessary infrared rays from the ground, the center position of the radiant energy can be obtained, whereby the rotation angle of the rotating flying object can be measured.

According to a sixth aspect of the present invention, in the rotation angle measuring device for a rotary flying object according to the third aspect, the reference position calculating means measures a peak of radiant energy detected by the infrared detecting means. This is a rotation angle measurement device for a rotating flying object that calculates a reference position based on a peak position.

According to the present invention, the peak value of the infrared radiation energy can be detected by providing the infrared detecting means in the third aspect of the present invention at a tilt toward the rear of the rotary flying object. The position can be calculated, and therefore, the reference position can be set very easily, and the apparatus can have a simpler and less expensive configuration.

According to a seventh aspect of the present invention, in the rotation angle measuring device for a rotary flying object according to any one of the first to sixth aspects, the rotary flying object is a shell and the peripheral surface of the shell is A device in which a plurality of side thrusters for changing the flying state of a shell are provided, and the shell has side thruster driving means for driving a predetermined side thruster based on the rotation angle and the trajectory correction signal from the rotation angle calculating means. is there.
As in the present invention, when the rotating flying object is a shell, the rotation angle of the shell can be accurately measured, and the side thruster can be driven based on the measurement result. Can be guided to.

According to the present invention, an infrared detecting means is provided on a rotating flying object which flies freely while rotating, the infrared detecting means detects radiant energy around the rotating flying object, and a rotation angle of the radiant energy. Calculating a rotation angle of the rotating flying object by calculating a rotation angle of the rotating flying object from the comparison with the reference position, and measuring a rotation angle of the rotating flying object based on the comparison with the reference position. It is a measurement method. According to the present invention, similarly to the first aspect, the rotation angle of the rotary flying object can be measured at low cost.

According to a ninth aspect of the present invention, in the method for measuring a rotation angle of a rotating flying object according to the eighth aspect, the infrared detecting means comprises:
This is a method of detecting infrared radiation having a wavelength of 3 to 5.5 μm and / or 7-14 μm and measuring the radiation energy. According to the present invention, a more accurate rotation angle can be efficiently measured, as in the fourth aspect.

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

First, the concept of devising the present invention will be described with reference to FIGS. FIG.
It shows the characteristics of infrared radiation energy in the sky obtained by simulation, and the horizontal axis represents infrared wavelength (μm)
On the vertical axis, the radiant energy intensity (mW / cm ² / sr /
μm) is shown, and the numbers described in the vicinity of each curve in the characteristic curve of the figure indicate the observation elevation angle, where 0 degree of the observation elevation angle indicates the horizontal direction and 90 degrees indicates the zenith direction. The calculation conditions in FIG. 7 are as follows: sensor (detector) altitude = 1000 m;
The region is a mid-latitude region, the season is summer, and the weather is fine. Further, the wave number resolution is 5 cm ^-1 .

As can be seen from this figure, in the infrared wavelength range of about 3 to about 5.5 μm and about 7 to about 14 μm,
The infrared radiation energy in the zenith direction and the infrared radiation energy in the horizontal direction have different intensities, and have an intermediate energy intensity at an angle between them. Therefore, by measuring the difference between the energy intensities, it is possible to measure the angle of elevation of the observation, and if a means for measuring the energy intensity is provided on the rotating flying object itself, the rotating flying object itself can be used. It can be seen that the rotation angle can be measured.

FIGS. 8 and 9 are schematic structural views of an embodiment in which the present invention is applied to a shell as a rotary flying object. In FIG. 8, a shell 1 as a rotating flying object is shown.
Reference numeral 0 denotes an infrared detecting means 20 at the tip fuse section, a control wing 11 at the rear for stabilizing the rotation of the rotating flying object, and a side for changing the flying state of the shell 10 as a rotating flying object at an intermediate portion. Thruster (rocket motor,
(Propulsion means) 12.

The shell 10 drops while turning at a predetermined rotation speed, for example, at a rotation speed of about 10 Hz = 3600 rpm, with its center axis R as a rotation axis. At this time, the center axis R
And the ground (horizontal line) H fall at an angle of falling angle P. On the other hand, the measuring direction of the infrared light of the infrared detecting means 20 is set to be inclined at a predetermined angle toward the rear of the shell 10 from the axis S perpendicular to the central axis (rotation axis) R. The angle formed by the axis R is the offset angle Q.

The falling angle P and the offset angle Q are preferably set to be equal, and when these angles are equal,
The infrared detection direction of the infrared detection means 20 is measured only above the horizontal direction, that is, only at the zenith direction, without measuring the infrared light below the horizontal direction, and the irregular infrared radiation energy radiated from the ground H or the like. It is less affected.

As shown in FIG. 9, the infrared detecting means 20 has an optical lens 21 for condensing infrared light, and the infrared light condensed by this optical lens 21 is only the wavelength necessary for measurement by the optical filter 22. It passes through and is input to the infrared sensor 23. An amplifier 24 is connected to the sensor 23 and the sensor 2
After the output of No. 3 is amplified, it is input to the electric filter 25, and frequencies unnecessary for signal processing are cut. The output from the electric filter 25 is input to the computer 26, and the computer 26 performs appropriate signal processing described later to determine the rotation angle.

Next, the difference in the output of the infrared detecting means 20 due to the difference in the infrared measuring direction of the infrared detecting means 20 will be described with reference to FIGS. Here, the case where the falling angle P of the shell 10 is set to 60 degrees will be described.

FIG. 10 is a view showing a case where the mounting angle of the infrared detecting means 20 is perpendicular (90 degrees) to the rotation axis R of the shell 10. At this time, assuming that the rotation angle of the infrared detection means 20 in the infrared measurement direction is α and the angle of each rotation angle of the infrared detection means 20 with respect to the horizontal plane, that is, the elevation angle is θ, in FIG. As shown in the curve, the elevation angle θ of the infrared detecting means 20 is equal to the horizontal line (= 0).
12), a range from +30 degrees on the sky side to −30 degrees on the ground side is measured, and a waveform like the characteristic shown in the upper part of FIG. 12 is output. In FIG. 12, in this example, the radiation in the sky direction generally does not show a minimum value as in this figure. On the other hand, a signal from the ground surface shows irregular characteristics due to the influence of various heat sources provided on the ground. FIG. 12 shows a simulation without a cloud.

FIG. 11 shows a case where the mounting offset angle Q of the infrared detecting means 20 is set to 60 degrees from the rotation axis R of the shell 10, that is, equal to the falling angle P.
In this case, the elevation angle θ of the infrared detecting means 20 also changes according to the rotation angle α of the shell 10 and, as shown by the curve on the right side of the shell 10 in FIG. Only the range of 60 degrees will be measured. In this case, the detection waveform of the infrared detection means 20 becomes a waveform like a lower curve in FIG. 12, and has a peak when measured in the horizontal direction (180 degrees direction) based on the infrared radiation characteristics of the sky. Output waveform.

In FIG. 12, when the infrared detecting means 20 is provided at right angles to the rotation axis as shown in FIG. 10, the output waveform of the infrared detecting means 20 is changed in the horizontal direction by a disturbance signal from the ground surface. Although there is no peak value in the above, a point where the detected radiant energy has the same radiant energy as the rising and falling of the detected radiant energy is measured to determine the center position, and if the calculation is performed with the center position as the peak value, As shown in FIG. 11, the same treatment can be performed as when the infrared detecting means 20 is offset by the same angle as the falling angle P.

As described above, the infrared detection means 20 is mounted on the shell 10 itself, and by measuring the difference in characteristic value based on the elevation angle of the infrared radiation characteristic of the sky, the peak value of the output waveform or the rise and fall of the output waveform is obtained. From the calculation of, the horizontal direction, and eventually the zenith direction can be measured,
It can be seen that the peak value, that is, the rotation angle of the shell 10 that is a rotating flying object can be measured with the horizontal position or the zenith position as a reference position.

Next, an embodiment in which the rotation angle measuring device and the measuring method of the rotary flying object according to the present invention are applied to a cannonball will be described with reference to FIGS. Here, in each of the constituent members of the present embodiment, the same or corresponding components as those in the description of the basic configuration described above are denoted by the same or corresponding reference numerals, and description thereof will be omitted or simplified.

FIG. 1 shows a schematic configuration of the present embodiment. A ballistic radar 31 for tracking a shell 10 is provided on the side of a firearm for firing a shell, and the output of the ballistic radar 31 is the initial speed of an arithmetic unit 40. It is input to the measuring means 41 and the trajectory measuring means 42. The arithmetic unit 40 includes, in addition to the initial velocity measuring means 41 and the trajectory measuring means 42, a trajectory calculating means 43 which receives signals from the initial velocity measuring means 41 and the trajectory measuring means 42 and measures the trajectory of the shell 10; A predicted landing calculation means 44 for calculating a predicted landing based on a signal from the calculation means 43 and air resistance, weather information, and the like stored in storage means (not shown), and a signal shown from the predicted landing calculation means 44 is also shown. Trajectory correction amount calculating means 4 for calculating the trajectory correction amount from the target landing stored in the storage means which does not
5 and a side thruster injection number / timing calculating means 46 for calculating the number of injections and the injection timing of the side thrusters 12 in the shell 10 based on a signal from the trajectory correction amount calculating means 45. The number of side thrusters and the trajectory correction amount signal from the timing calculating means 46 are transmitted to the shell 10 via the transmitting means 33.

On the side of the shell 10, in addition to the receiving means 13, an infrared detecting means 20 and a signal received from the infrared detecting means 20, and a peak value thereof, or a center position calculated by a calculation, is set in the horizontal direction or A zenith direction orthogonal to this, that is, a reference position calculation means 14 for calculating a reference position, a rotation angle calculation means 15 for calculating a rotation angle of the shell 10 based on a signal from the reference position calculation means 14, and a rotation angle calculation The side thruster 1 is obtained by a signal from the means 15 and a trajectory correction amount signal input via the receiving means 13.
2 for outputting a drive signal to the side thruster drive device 16
And a plurality of side thrusters 12 provided on the peripheral surface of the shell 10 and driven by signals from the side thruster driving device 16 to change the flying state (trajectory) of the shell 10.

The operation of the embodiment constructed as described above will be described with reference to the schematic diagram of FIG. 2 and the flowchart of FIG. 2 and 3, when the shell 10 is fired from the gun 30 (FIG. 3, step 71), the fired shell 10 is observed by the ballistic radar 31 at its initial velocity and the subsequent trajectory. The initial velocity and the trajectory are input to the arithmetic unit 40 and are measured by the initial velocity measuring means 41 and the trajectory measuring means 42 (FIG. 3, steps 72 and 7).
3). The trajectory is calculated by the trajectory calculating means 43 based on the outputs from the initial velocity measuring means 41 and the trajectory measuring means 42 (FIG. 3, step 74). Next, after the predicted landing calculation is performed by the predicted landing calculating means 44, it is determined whether or not the calculated landing is equal to the target landing (step 75 in FIG. 3). If the calculated landing is equal to the target landing, the signal from the trajectory radar 31 is fetched again, and steps 73 to 75 are repeated thereafter. In this state, the trajectory is not corrected because the shell 10 is flying as intended.
On the other hand, if the calculated landing is not equal to the target landing,
The trajectory correction amount calculation means 45 calculates the trajectory correction amount (step 76 in FIG. 3), and the number of side thruster injections and the injection timing required for performing this correction are calculated by the number of side thruster injections and timing calculation means 46. A trajectory modification signal is formed (FIG. 3, step 77). This trajectory correction signal is transmitted (transmitted) from the transmission means 33 (FIG. 3, step 78), and is fed back to step 73, where the trajectory calculation is performed again at step 74. Whether it is flying or not is observed by a signal from the ballistic radar 31, and the steps after step 75 are repeated in the same manner as described above.

On the shell 10 side, when the shell 10 is fired (step 81 in FIG. 3), the infrared detecting means 20 measures the infrared radiation energy in the sky around the shell 10 (step 82 in FIG. 3). From the difference in energy amount based on the difference in the observation elevation angle of the radiant energy, the reference position calculating means 14 calculates a peak value, in other words, a reference position such as a horizontal position or a zenith position (FIG. 3, step 8).
3). Based on this peak value, the rotation angle of the shell 10 is calculated by the rotation angle calculation means 15 (FIG. 3, step 8).
4). Next, it is checked whether or not the trajectory correction signal is received by the receiving means 13 (step 85 in FIG. 3).
If not, the steps from the infrared amount measurement in step 82 are repeated. On the other hand, when the correction signal is received, the injection of the side thruster 12 is performed by the side thruster driving device 16 based on the correction signal (FIG. 3, step 86), and the flying state of the shell 10 is changed.
That is, the trajectory is changed, and the shell 10 flies toward the target landing position. In addition, side thruster 1
When the injection of step 2 is performed, the shell 10 returns to step 8 again.
The measurement of the infrared ray amount of No. 2 will be continued.

Hereinafter, by repeating the above-described procedure, the trajectory of the flying ammunition 10 is corrected while measuring the rotation angle.

According to the above-described embodiment, the following effects can be obtained. That is, in the present embodiment, the rotation angle of the shell 10 can be measured by the infrared detecting means 20 having no movable part by noting that the amount of energy of infrared radiation energy existing in the natural world varies depending on the elevation angle of the sky. . Therefore, it is possible to provide an inexpensive rotation angle measuring apparatus and a measuring method which are excellent in G resistance and inexpensive. Also, compared to the conventional technology using gyro, etc., it can be made extremely small,
It can be easily applied to the shell 10. Further, if the offset angle Q is provided in the measurement direction of the infrared detecting means 20, the infrared radiation energy can be measured without measuring the noisy infrared in the ground direction, so that the peak value as the reference value can be calculated with a simpler configuration. It can be recognized, and from this point, it can be provided at low cost. At this time, if the offset angle Q is equal to or smaller than the falling angle P, in other words, if the offset angle Q is set to an angle equal to or less than the falling angle P (offset angle Q ≦ drop angle P), the infrared detecting means 20 will be able to detect the ground surface. Since no infrared light in any direction is measured, the accuracy can be further improved.

On the other hand, even if the offset angle Q is set to be larger than the drop angle P (offset angle Q> drop angle P), as described above, the center of the radiant energy having the same rising and falling values is set to the peak value. If the calculation is performed as follows, the rotation angle can be measured, but it is disadvantageous in terms of cost because the calculation mechanism is set.

Next, FIG. 4 shows a first test apparatus 50 for confirming the theory of the present invention. The first test apparatus 50 includes a support table 52 supported by support legs 51. On the support table 52, a rotating body 53 rotates about a rotation axis R that is inclined at a falling angle P with respect to a horizontal plane. It is freely supported. Above the rotator 53, the infrared detecting means 20 is provided, and the sensor detecting direction of the infrared detecting means 20 has an offset angle Q equal to the falling angle P with respect to the rotation axis R. At this time, the infrared detector 20 uses a radiation thermometer instead of the original infrared sensor, and can measure the temperature in the wavelength band used in the present apparatus. In this apparatus, the falling angle P = offset angle Q = 60 degrees is set, and the sky direction above the horizontal direction where the infrared radiation energy is greatest is measured.

FIG. 5 shows the result of the measurement. According to FIG. 5, it can be seen that there is a peak value in the horizontal direction. Note that the measurement condition in FIG. 5 is that the weather is fine, but even if the weather is cloudy, there is scattered energy due to the cloud bottom, but it has the same peak value in the horizontal direction. Similarly, the rotation angle can be measured as a reference.

FIG. 6 shows a second test apparatus 60 using an uncooled infrared sensor as the infrared detecting means 20 of the present invention. The second test apparatus 60 has a base 61 on which a main body 63 is inclined via a support arm 62 at a predetermined angle, that is, at an angle equal to the falling angle P, specifically 60 degrees. Fixed. In this body 63,
An infrared detecting means 20 composed of an uncooled infrared sensor is provided at a lower portion thereof, and a rotating body 64 is rotatably mounted at an upper portion thereof. In the rotator 64, a mirror 65 that reflects the infrared light incident from the direction of the offset angle Q set at an angle (= 60 degrees) equal to the falling angle P with respect to the rotation axis R toward the infrared detection means 20. Is provided. That is, the mirror 65 is 3
It is provided at an angle of 0 degrees and is configured to rotate integrally with the rotating body 64. A drive motor 67 is attached to the main body 63 via a bracket 66.
Is transmitted to the rotating body 64 via the belt 68.

In the thus constructed apparatus, the rotation speed of the rotating body 64 was set to 10 rotations / sec, the falling angle P = the offset angle Q = 60 degrees, and the sensor output for the rotation angle was measured. . As a result, the infrared radiant energy detected by the infrared detecting means 20 shows a minimum value at a rotation angle slightly before the horizontal direction (180 degrees), that is, around 160 degrees, and slightly before the zenith direction (360 degrees). A sine wave of 10 Hz showing the highest value around 340 degrees was shown. At this time, the output of the infrared detecting means 20 did not have a peak when the sensor measurement direction was horizontal as described above, and showed a slight phase delay. This phase delay is caused by the infrared detecting means 20
And a phase delay of an electric circuit (not shown).
Since the phase delay of the infrared detecting means 20 and the electric circuit is determined by the rotation speed, it can be corrected and does not cause any problem.

According to the present embodiment, the rotation angle of the rotating body 64 can be sufficiently measured even by using an uncooled infrared sensor which is inexpensive but not always high in sensitivity at present. Yes, a cheaper device can be provided. In addition, since not the entire apparatus but the part of the rotating body 64 including the mirror 65 is rotated to measure the infrared rays in each direction, the rotating mechanism can be downsized and the infrared detecting means 2 can be used.
Since the zero portion does not rotate, the signal and the power supply line are not twisted, which also simplifies the structure of the device. At this time, when the mirror 65 is not used, a signal line or the like must be output to the outside by a slip ring or a radio wave.
It is disadvantageous because it is complicated in structure.

It should be noted that the present invention is not limited to the above embodiment, and modifications and improvements as long as the object of the present invention can be achieved are included in the present invention.

For example, the infrared detecting means 20 is not limited to the thermometer and the uncooled infrared sensor element described above, but may be any means as long as it can detect infrared rays, and the name thereof does not matter. The rotating flying object is not limited to the cannonball 10, but may be any object that can fly while rotating. Further, the side thruster 12 for changing the trajectory of the shell 10 is usually of the explosive type, but the present invention is not limited to this, and may be of any drive type and its name is not limited. And any device such as a thrust motor and a propulsion unit may be used. in short,
Any means that can be operated by a drive command to change the flying state of the rotating flying object may be used.

[0047]

According to the present invention, the rotation angle of the rotating flying object is detected by detecting infrared rays having different radiant energy amounts depending on the observation elevation angle by using the infrared detection means. An element having no G portion and having high G resistance can be used, and the rotation angle can be measured stably and inexpensively.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of an embodiment of the present invention.

FIG. 2 is a schematic diagram showing an operation in the embodiment of FIG. 1;

FIG. 3 is a flowchart showing an operation in the embodiment of FIG. 1;

FIGS. 4A and 4B are schematic structural views showing a first test apparatus for confirming the theory of the present invention;
(A) is a side view, (B) is a front view.

FIG. 5 is a graph showing a relationship between a rotation angle and a temperature measured by the test device of FIG. 4;

FIG. 6 is a schematic configuration diagram showing a second test apparatus for confirming the theory of the present invention, with a part cut away.

FIG. 7 is a graph showing the relationship between the infrared radiation energy intensity and the observation elevation angle that triggered the invention of the present invention.

FIG. 8 is a schematic configuration diagram showing an embodiment applied to a shell as a rotary flying object of the present invention.

FIG. 9 is a schematic configuration diagram illustrating an example of an infrared detection unit used in the embodiment of FIG. 8;

FIG. 10 is a schematic configuration diagram showing another embodiment applied to a shell as a rotary flying object of the present invention.

FIG. 11 is a schematic configuration diagram showing still another embodiment applied to a shell as a rotary flying object of the present invention.

FIG. 12 is a graph showing a relationship between a rotation angle and radiant energy in each embodiment of FIGS. 10 and 11;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Cannonball 12 Side thruster 13 Receiving means 14 Reference position calculating means 15 Rotation angle calculating means 16 Side thruster driving device 20 Infrared ray detecting means 30 Fire cannon 31 Ballistic radar 33 Transmitting means 40 Computing device 41 Initial velocity measuring means 42 Ballistic measuring means 43 Ballistic computing means 44 Expected landing calculation means 45 Ballistic correction amount calculation means 46 Number of side thruster injections, timing calculation means 50 First test device 60 Second test device

Claims (9)

[Claims] A rotating flying object that flies freely while rotating;
An infrared detecting means provided on the rotating flying object, a reference position calculating means for calculating a reference position from a difference in a detection value based on a rotation angle of radiant energy detected by the infrared detecting means, and a reference position calculating means. A rotation angle calculation unit configured to calculate a rotation angle of the rotating flying object from a comparison with a reference position; 2. The rotation angle measuring device for a rotating flying object according to claim 1, wherein the infrared detecting means is inclined at a predetermined angle toward a rear of the rotating flying object with respect to a direction orthogonal to a rotation axis of the rotating flying object. A rotation angle measurement device for a rotating flying object, wherein the rotation angle measuring device is provided on the rotating flying object with an offset angle. 3. The rotation angle measuring device according to claim 2, wherein the offset angle is set to an angle equal to or less than a falling angle of the rotating flying object. Angle measuring device. 4. The rotation angle measuring device for a rotary flying object according to claim 1, wherein said infrared detecting means is 3 to 5.5 μm and / or 7 to 14 μm.
A rotation angle measuring device for a rotating flying object, which detects infrared light having a wavelength of and measures radiant energy thereof. 5. The rotation angle measuring apparatus for a rotary flying object according to claim 1, wherein said reference position calculating means includes a rise and a fall of radiant energy detected by said infrared detecting means. A position at which the same radiant energy as in (1) is measured, a center position thereof is obtained, and a reference position is calculated based on the center position. 6. A rotation angle measuring apparatus for a rotary flying object according to claim 3, wherein said reference position calculating means measures a peak of radiant energy detected by said infrared detecting means, and based on the peak position. A rotation angle measurement device for a rotating flying object, which calculates a reference position. 7. The rotation angle measuring device for a rotary flying object according to claim 1, wherein said rotary flying object is a shell and a flying state of the shell on the peripheral surface of said shell. A plurality of side thrusters to change the
In addition, the ammunition is provided with side thruster driving means for driving a predetermined side thruster based on the rotation angle from the rotation angle calculation means and the trajectory correction signal, and the rotation angle measurement apparatus for a rotating flying object is provided. 8. An infrared detecting means is provided on a rotating flying object which flies freely while rotating. The infrared detecting means detects radiant energy around the rotating flying object and calculates a detection value based on a rotation angle of the radiant energy. A rotation angle measurement method for a rotating flying object, comprising calculating a reference position from a difference, calculating a rotation angle of the rotating flying object from a comparison with the reference position, and measuring a rotation angle of the rotating flying object. 9. The method for measuring a rotation angle of a rotating flying object according to claim 8, wherein said infrared detecting means is 3 to 5.5 μm.
And / or detecting infrared radiation having a wavelength of 7 to 14 μm and measuring the radiant energy of the infrared radiation.