JP2002139299A - Method and system for guide - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser semi-active guide system in which a guide signal can be obtained by a digital processing for simply determining presence of a laser reflection light. SOLUTION: A laser reflection light from a target is collected by an optical system 2 through a dome 1 and only a laser light irradiated from a laser irradiator is focused on a two-dimensional array sensor 4 by an interference filter 3. Output of each pixel from the two-dimensional array sensor 4 is amplified by a preamplifier and the value thereof is held in a hold circuit 6 during a time required for reading out the two-dimensional array sensor entirely. Subsequently, each output from the hold circuit 6 is switched at a switching section 8 by a switching signal from a signal processing section 9 before being inputted thereto and producing two-dimensional data. A guide signal is generated in the signal processing section 9 based on the two-dimensional data. Spatial stabilization is performed by controlling a ginbal drive section 10 and a jinbal mechanism section 7 using the generated guide signal and a target is tracked.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser semi-active type guiding device, and more particularly, to a sensor used for detecting laser reflected light and a signal processing method thereof.

[0002]

2. Description of the Related Art A laser semi-active guidance system captures reflected light from a target by laser light emitted toward the target from a laser irradiator disposed at a position different from a flying object on which a guidance device is mounted, and detects the direction of the target. Is detected, and the flying object is guided toward the target.

FIG. 3 is a conceptual diagram of a laser semi-active system.
Shown in The guide bullet 21 is sent from the laser irradiator 22 to the target 23.
When the laser beam scattered from the target 23 of the laser beam irradiated to the laser beam is received, the position where the laser beam is scattered is detected and guided.

The guide bomb 21 has a sensor for detecting laser light scattered from the target 23, a signal processing section for processing a detection signal from the sensor and outputting a guide signal, and a guide for output by the signal processing section. A mechanism for guiding the bullet 21 in the direction of the target 23 is provided.

FIG. 4 shows a conventional signal processing system using a four-divided sensor. The sensor 40 for detecting the laser light scattered from the target is divided into four parts A, B, C, and D, and the sensor 40 detects the intensity of the laser light detected in these parts A, B, C, and D. Four proportional analog signals are output.

After these four signals have been amplified, {(A + B)-(C + D)} outputs and {(B + D)-(A + C)} outputs are calculated in the signal processing section, and the outputs are calculated in the vertical and horizontal directions, respectively. An error signal is determined. The tracking mechanism is controlled by these error signals, and the flying object is guided in the target direction.

[0007]

In the conventional signal processing system using a four-divided sensor, it is necessary to process the intensity level of the laser reflected light in an analog manner in order to obtain an error signal. Since it is necessary to improve the accuracy and the gain adjustment of the signal amplifier circuit is complicated, it has been difficult to reduce the size and cost of the guidance device.

SUMMARY OF THE INVENTION In view of the above problems, it is an object of the present invention to make it possible to obtain an induced signal by digital processing for judging only the presence or absence of laser reflected light, to simplify a signal processing circuit scale and circuit adjustment. Another object of the present invention is to reduce the size and cost of the guidance device.

[0009]

According to the laser semi-active type guiding method of the present invention, a two-dimensionally arranged array sensor is used as a sensor used for detecting laser reflected light, and errors in vertical and horizontal directions are reduced. It is characterized in that the flying object is guided in a target direction based on the two-dimensional coordinates represented by a position on the array sensor where the laser light is irradiated, based on the obtained coordinate values.

Further, the laser semi-active type guiding method of the present invention uses an array sensor arranged one-dimensionally as a sensor used for detecting a reflected laser beam and condenses the reflected laser beam on the array sensor. By scanning the optical system to be scanned in a direction orthogonal to the array direction of the array sensor, vertical and horizontal error signals are represented by the scan angle of the optical system and the position on the array sensor where the laser beam is irradiated. The flying object is guided in a target direction based on the obtained coordinate values.

According to the present invention, only the presence / absence of the laser reflected light is obtained as the position on the coordinates of the two-dimensional array sensor, and there is no need to calculate the intensity of the laser reflected light and perform an arithmetic process. The direction deviation can be obtained by digital processing, the scale of the signal processing circuit and the circuit adjustment can be simplified, and the size and cost of the guidance device can be reduced.

[0012]

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

In this embodiment, the guiding device includes a dome 1 for transmitting a laser beam, an optical unit 2 for condensing the transmitted laser beam, an interference filter 3 for transmitting only the wavelength of the laser beam, and a condensing device. Two-dimensional array sensor 4 for detecting the obtained laser light, a preamplifier unit 5 for amplifying the signal of the two-dimensional array sensor 4, a hold circuit 6 for holding the output of the preamplifier unit 5 for a certain period, the optical unit 2, and an interference filter. 3
A gimbal mechanism section 7 for spatially stabilizing the two-dimensional array sensor 4, the preamplifier 5, and the hold circuit 6, a switching section 8 for switching the output of the hold circuit 6, and a signal processing section for processing position information from the output of the hold circuit 6. And a gimbal driving unit 10 that receives the guidance signal output from the signal processing unit 9 and drives the gimbal mechanism unit.

The operation of this embodiment will be described below with reference to FIG.

The laser reflected light from the target is condensed by the optical system 2 through the dome 1, and only the laser light irradiated from the laser irradiator is transmitted by the interference filter 3 to eliminate the influence of the background light. An image is formed on the two-dimensional array sensor 4.

A preamplifier is connected to the output of each pixel of the two-dimensional array sensor 4 to amplify each sensor output signal. Each of the amplified signals is input to a hold circuit 6 which holds the value for a time during which all the two-dimensional array sensors are read.

Each output of the hold circuit 6 is sequentially switched by a switching unit 8 controlled by a switching signal from the signal processing unit 9, input to the signal processing unit 9, and processed as two-dimensional coordinate data. Then, a guidance signal is generated in the signal processing unit 9 based on the two-dimensional coordinate data. The gimbal drive unit 10 and the gimbal mechanism unit 7 are controlled by the generated guidance signal to stabilize the space and track the target.

FIG. 2 is a conceptual diagram showing a signal processing method according to the present invention. The sensors 4 for detecting the laser light scattered from the target are arranged in a two-dimensional array, and each light detecting element (pixel) is designated by coordinates (x, y).

A light detection signal is output from a light detection element on the two-dimensional array sensor 4 at a position where the laser light hits, and this signal is passed through a preamplifier unit 5, a hold unit 6, and a switching unit 8 to a signal processing unit 9 Is input to the signal processing unit 9,
The input signal is converted into a coordinate address (x, y) on the two-dimensional array sensor 4, and a guidance signal corresponding to the address is output as a control signal.

Therefore, in the case of the present invention, it is not necessary to calculate the error signal by calculating the light detection output level, and it is not necessary to determine at which position on the two-dimensional array sensor 4 the laser light is focused. By identifying (x, y), it is only necessary to generate a control signal corresponding to the address as a guide signal, so that it can be realized by a simple digital processing circuit.

In the above embodiment, (x, y) coordinates are adopted as the coordinates of the array sensors arranged two-dimensionally. However, for example, the array sensors are arranged concentrically or spirally, and the distance from the center point is determined. It can also be displayed in polar coordinates (r, θ) using r and an angle θ from a reference line passing through the center point.

In the above embodiment, a two-dimensional array sensor is employed. However, a one-dimensional array sensor is used to scan the optical system 2 in a direction orthogonal to the one-dimensional array sensor. It is also feasible.

For example, as the array sensor 4 used for detecting the laser reflected light, an array sensor arranged one-dimensionally (for example, in the x direction) is used. On the other hand, the laser reflected light is applied to the one-dimensional array sensor. Focusing optical system 2
Is scanned in a direction (y-direction) orthogonal to the arrangement direction of the one-dimensional array sensor, so that errors in the vertical and horizontal directions are corrected by the scan angle of the optical system 2 and the laser light on the one-dimensional array sensor. The flying object can be guided in a target direction based on the two-dimensional coordinates represented by the irradiated position, and based on the obtained coordinate values.

[0024]

As described above, according to the present invention, by using a two-dimensional array sensor as a sensor in a laser semi-active type guiding device, it is possible to perform digital processing for determining only the presence or absence of laser reflected light. Become. As a result, the signal processing scale and circuit adjustment can be simplified, and the circuit can be integrated, which is difficult with the conventional technology, and the size and cost of the guidance device can be reduced.

[Brief description of the drawings]

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

FIG. 2 is a diagram showing a processing method according to the present invention.

FIG. 3 is a conceptual diagram of a laser semi-active guidance system to which the present invention is applied.

FIG. 4 is a diagram showing a conventional processing method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Dome 2 Optical part 3 Interference filter 4 Array sensor 5 Preamplifier part 6 Hold part 7 Gimbal mechanism part 8 Switching part 9 Signal processing part 10 Gimbal drive part 21 Guidance device 22 Laser irradiator 23 Target 40 Four division sensor

Claims (6)

[Claims] 1. A flying object on which a reflected light from a target by a laser beam radiated toward a target is captured from a laser irradiator disposed at a position different from that of a flying object on which a guidance device is mounted, and its direction is detected. In a laser semi-active guidance method for guiding a laser beam toward a target, an array sensor arranged two-dimensionally is used as a sensor used for detecting the laser reflected light, and errors in vertical and horizontal directions are detected by a laser on the array sensor. A guidance method, wherein the flying object is determined in two-dimensional coordinates represented by a position irradiated with light, and the flying object is guided in a target direction based on the determined coordinate values. 2. A laser irradiator disposed at a position different from that of a flying object on which a guidance device is mounted captures light reflected from the target by laser light emitted toward the target, detects its azimuth, and detects the direction of the flying object. In a laser semi-active guiding method for guiding toward a target, an optical system that uses an array sensor arranged one-dimensionally as a sensor used for detecting the laser reflected light and condenses the laser reflected light on the array sensor Are scanned in a direction orthogonal to the array direction of the array sensor, thereby providing a two-dimensional error signal in the vertical and horizontal directions represented by the scan angle of the optical system and the position on the array sensor where the laser beam is irradiated. Calculated as
A guidance method, wherein the flying object is guided in a target direction based on the obtained coordinate values. 3. A laser irradiator disposed at a position different from a projectile equipped with a guidance device captures reflected light from the target by laser light emitted toward the target, detects its azimuth, and detects the direction of the projectile. In the laser semi-active guiding device for guiding toward a target, the flying object is configured by an optical system that receives and condenses reflected light from the target, and a plurality of light receiving elements arranged in a predetermined shape. An array sensor for detecting the condensed laser light, a gimbal mechanism for spatially stabilizing at least the optical system and the array sensor, and sequentially reading output signals from each light detection element of the array sensor. A signal processing unit for obtaining a condensing position of the reflected light from the target as position information on two-dimensional coordinates and outputting a guidance signal based on the position information; And a gimbal drive unit for driving the gimbal mechanism receives the induction signal output from the laser semiactive guidance device according to claim. 4. The array sensor is arranged in a two-dimensional array specified by coordinates (x, y), and a condensing position of reflected light from the target is specified by coordinates (x, y). 4. The laser semi-active guidance device according to claim 3, wherein: 5. The array sensor according to claim 3, wherein the array sensors are arranged concentrically or spirally, and a condensing position of the reflected light from the target is specified by polar coordinates (r, θ). Laser semi-active guidance device. 6. The array sensor is arranged in a one-dimensional array, and has means for scanning the optical system in a direction orthogonal to the one-dimensional array sensor, and a condensing position of reflected light from the target. 4. The laser semi-active guidance device according to claim 3, wherein is specified by a scan angle of the optical system and a position on the array sensor where the laser light is irradiated.