JP2002221574A - Method and system for identifying aerial position of flying object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of identifying the aerial position of a flying object allowing a highly precise identification of the aerial position of the flying object. SOLUTION: Pulse laser beams are applied from a flying object 1 in the air to plural reflecting bodies 2 and 3 disposed at plural positions on the ground 4 with a known distance L0 between them, and the ground is scanned with the pulse laser beams at least in the direction crossing the direction of progress of the flying object 1. The positions form which strongest reflected light returns by the scanning are recognized as the positions of the reflecting bodies 2 and 3, and the distances L1 and L2 from the flying object to the reflecting bodies 2 and 2 are operated based on the periods of time till the pulse laser beams reflected on the reflecting bodies 2 and 3 return. Then, based on the operated distances L1 and L2 and the distance L0, the air position of the flying object 1 is identified according to the principle of triangulation.

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial position of a flying object.
Method and system, particularly for takeoff of flying objects and
It is useful when applied to a landing guidance system.
You. [0002] 2. Description of the Related Art Conventionally, the control of an aircraft during takeoff and landing is performed by radio waves.
-Guidance to a predetermined range using a computer, etc., using radio wave radar
By induction. Also, the location of the aircraft
Onboard inertial sensor (gyro, altimeter), GPS, etc.
Detected. [0003] [Problems to be solved by the invention] In the prior art as described above, aircraft
The measurement accuracy of the position in the air is not enough,
It is a factor to determine the limit of accuracy of aircraft guidance
Was. By the way, when landing an aircraft, for example,
Rely on pilot's visual or sensational maneuvers
You. Therefore, identification of the aerial position of a flying object including an aircraft has been improved.
A control system capable of performing unmanned flight of the flying object with high accuracy
Aerial position of the flying object that can contribute to the construction of the stem
The emergence of a fixed system is expected. [0005] In view of the above prior art, the present invention provides a flying object.
Aerial position identification of a flying object that enables accurate identification of the aerial position
It is an object of the present invention to provide a setting method and a system thereof. [MEANS FOR SOLVING THE PROBLEMS]
The configuration of Ming is characterized by the following points. 1) Pulse train mounted on a flying object in the air
From the light source, distributed at multiple locations on the ground,
Pulsed light applied to multiple reflectors with known distances
Each light is based on the time it takes for the
Measure the distance to the reflectors, and use this distance and the distance between each reflector.
Based on the principle of triangulation based on the separation.
In the method for identifying the aerial position of a flying object to be determined,
Run the pulsed laser light in the direction crossing the row direction.
Position where the strongest reflected light returned by this scan
Is recognized as the position of the reflector, and the calculation for the above triangulation is performed.
What we did. 2) Pulse train mounted on a flying object in the air
From the light source, distributed at multiple locations on the ground,
Pulsed light applied to multiple reflectors with known distances
Each light is based on the time it takes for the
Measure the distance to the reflectors, and use this distance and the distance between each reflector.
Based on the principle of triangulation based on the separation.
In the method for identifying the aerial position of a flying object to be determined,
The above pulse in the row direction and the direction crossing this direction
The laser beam is scanned, and this scanning returns the strongest reflected light.
Recognize the position of the reflector as the position of the reflector, and
To perform calculations for 3) Pulse train mounted on an airborne flying object
From the light source, distributed at multiple locations on the ground,
Pulsed light applied to multiple reflectors with known distances
Each light is based on the time it takes for the
Measure the distance to the reflectors, and use this distance and the distance between each reflector.
Based on the principle of triangulation based on the separation.
In the method for identifying an aerial position of a flying object to be determined,
The laser light is a linear pulsed laser light having a linear spread.
The linear pulsed laser light is directed in the direction of travel of the flying object.
Irradiate in the direction of intersection and the strongest reflected light returns
The position of the reflector as the position of the reflector.
Calculation is performed. 4) Pulse train mounted on an airborne flying object
From the light source, distributed at multiple locations on the ground,
Pulsed light applied to multiple reflectors with known distances
Each light is based on the time it takes for the
Measure the distance to the reflectors, and use this distance and the distance between each reflector.
Based on the principle of triangulation based on the separation.
In the method for identifying an aerial position of a flying object to be determined,
The laser beam is a planar pulsed laser beam having a planar spread.
This planar pulsed laser light is applied to a predetermined planar area.
The position where the strongest reflected light returns after irradiation is the position of the reflector.
And perform the calculation for triangulation above.
Was it. 5) The flying object described in 3) or 4) above
In the aerial position identification method of
Scan in the direction of travel of the vehicle or in the direction crossing this direction
thing. 6) The flying object described in 3) or 4) above
In the aerial position identification method of
Run in the direction of travel of the vehicle and in the direction intersecting this direction
To inspect. 7) Pulse train mounted on an airborne flying object
Distance between the light source and the
From a plurality of reflectors whose separation is known,
The pulsed laser beam radiated toward the reflectors
Measures the distance to each reflector based on the time to reflect and return
Based on this distance and the distance between each reflector
Information processing means for identifying the aerial position of the flying object based on the principle of
An airborne position identification system for a flying object
Pulsed laser light in a direction crossing the
Scanning means for scanning the
In the step, the strongest reflected light is scanned by the scanning means.
The returned position is recognized as the position of the reflector, and the above triangulation is performed.
The calculation must be performed for 8) Pulse train mounted on an airborne flying object
Distance between the light source and the
From a plurality of reflectors whose separation is known,
The pulsed laser beam radiated toward the reflectors
Measures the distance to each reflector based on the time to reflect and return
Based on this distance and the distance between each reflector
Information processing means for identifying the aerial position of the flying object based on the principle of
An airborne position identification system for a flying object
In the direction of travel and the direction intersecting this direction.
Scanning means for scanning the laser light
The information processing unit is configured to perform scanning by the two scanning units.
The position where the strongest reflected light returns is regarded as the position of the reflector.
To perform calculations for triangulation above
That. 9) Pulse train mounted on a flying object in the air
Distance between the light source and the
From a plurality of reflectors whose separation is known,
The pulsed laser beam radiated toward the reflectors
Measures the distance to each reflector based on the time to reflect and return
Based on this distance and the distance between each reflector
Information processing means for identifying the aerial position of the flying object based on the principle of
In the aerial position identification system for a flying object having
The pulse laser source is a linear pulsed laser with a linear spread.
Laser light source elements are arranged in a line to emit laser light.
And the information processing means is linear.
One that intersects the pulsed laser light with the direction of travel of the flying object
The position where the strongest reflected light returns after irradiating in the direction
And perform the calculation for triangulation above.
That you have done. 10) A pulse train mounted on an airborne flying object
Laser light source and the mutual
A plurality of reflectors of known distances and the pulse laser light source
The pulsed laser light radiated toward the reflectors from each reflector
Measure the distance to each reflector based on the time it takes to reflect back at
Based on this distance and the distance between each reflector.
Information processing means for identifying the aerial position of the flying object based on the principle of quantity
In the aerial position identification system of a flying object having
The pulse laser light source is a planar pulse having a planar spread.
Multiple laser light source elements in a planar shape to emit laser light
The information processing means is arranged side by side.
Irradiates a predetermined planar area with a pulsed laser beam.
The position where the reflected light returns is recognized as the position of the reflector.
The calculation for triangulation must be performed.
When. 11) The flight described in 9) or 10) above
Each pulse laser in the aerial position identification system
Light in the direction of travel of the flying object or in a direction
Having scanning means for scanning. 12) The flight described in 9) or 10) above
Each pulse laser in the aerial position identification system
Intersects the light with the direction of travel of the projectile and this direction
Having scanning means for scanning in the direction. 13) The above 7), 8), 11) or 1
Airborne position identification system for any one of the flying objects described in 2)
System, one or two of the scanning means
Pulsed laser light with different wavelengths enters the prism
Emitted light that spreads over a predetermined width due to changes in the refractive index for each wavelength
To gain. 14) The flying object sky described in 13) above
In mid-position identification systems, the prism is
Photonics crystal, an optical element utilizing the rhythm effect
It must use a prism formed by 15) The method described in the above 13) or 14)
Wavelength conversion means in an aerial position identification system for a flying object
By passing the pulsed laser light through the wavelength conversion means.
Pulsed laser light with different wavelengths. 16) The method described in the above 13) or 14)
In the aerial position identification system for flying objects, the operating temperature is controlled.
Having a controllable semiconductor laser device,
Pulses with different wavelengths by controlling the operating temperature of the laser element
Laser light is emitted. 17) The flight described in 8) or 12) above
One of the scanning means in the aerial position identification system for a vehicle
Injects pulsed laser light with different wavelengths and
Pris that obtains outgoing light that spreads over a predetermined width by changing the bending ratio
And the other scanning means is
Reflector that reflects the light emitted from the beam in a direction perpendicular to the width direction
It was composed of. 18) The flight described in 8) or 12) above
In the aerial position identification system for a vehicle, the scanning means includes a wave.
Pulsed laser light of different length is incident and the refractive index for each wavelength
The emitted light that spreads over a predetermined width due to the change is obtained, and
Is rotated so that the outgoing light of the beam is swung in the direction perpendicular to the width direction.
That it was composed of prisms. 19) As described in the above 17) or 18)
In the aerial position identification system of a flying object, the prism is
Photo that is an optical element using the super prism effect
It must be formed of Nix crystals. 20) Any one of the above 17) to 19)
In the aerial position identification system of the flying object described in
Having wavelength conversion means, and converting the pulse laser light to wavelength conversion means.
To obtain pulsed laser light of different wavelengths
What you did. 21) Any one of the above 17) to 19)
In the aerial position identification system of the flying object described in
Has a semiconductor laser device formed so that the operating temperature can be controlled.
By controlling the operating temperature of this semiconductor laser device,
Emit different pulsed laser beams. 22) The flight described in 8) or 12) above
In the aerial position identification system for a vehicle, the scanning means may include:
Two pieces that can be rotated independently about an axis
It is possible to shake the pulse laser light two-dimensionally with the reflector of
It consists of a galvanometer mirror that can be used. 23) The flight described in 8) or 12) above
In the aerial position identification system for a vehicle, the scanning means includes a
Rotate the laser light independently about axes orthogonal to each other
That it consists of a polygon mirror. [0029] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
It will be described in detail based on FIG. FIG. 1 is an aerial position identification of a flying object according to the present invention.
It is explanatory drawing which shows the principle of a method notionally. Smell
1 is a flying object, 2 and 3 are optical reflectors such as mirrors
It is arranged at a predetermined position on the ground 4. Here, the reflector 2,
Distance L between 3₀Is known. The present invention relates to an airborne flying object
1 to the reflectors 2 and 3
Pulsed laser light reflected by each reflector 2, 3
The distance to each reflector 2, 3 based on the time to return
L₁, L_TwoIs calculated, and this distance L₁, L_TwoAnd each reflector
Distance L between two and three₀Flying object based on the principle of triangulation based on
1 to identify the position A (x, y, z) in the air
You. At this time, how the pulsed laser light
It is important to irradiate the light to a few points.
Travels on a predetermined line or surface on the ground 4 with pulsed laser light
The problem has been solved by inspection. FIG. 2 shows a flying object according to an embodiment of the present invention.
It is a block diagram which shows an aerial position identification system. Same figure
As shown in the figure, the pulse laser light source 5
Is irradiated. This pulsed laser light is placed in the middle of the optical path.
Transmitted through the half mirror 6 and directly enters the scanning unit 7
At the same time, a part is reflected by the half mirror 6 and the detector 8
Incident on. The scanning unit 7 directs the pulsed laser light to the ground 4
In this case, this pulsed laser light is
This pulse train is used to irradiate a predetermined line or surface.
Scan with laser light. The specific configuration of the scanning unit 3 is various.
It is considered, but will be described in detail later. On the other hand, the detecting section 7 detects a pulse laser beam.
This allows the detection unit 7 to detect whether the pulse laser light source 4
Timing indicating the time point when pulsed laser light was irradiated
Signal S₁To the counting unit 9. Reflectors 2 and 3
The reflected light from the ground 4 including the ground 4
1 is incident. In the detector 11, the reflector is selected from the reflected light.
Select the light reflected in steps 2 and 3. Elaborate further
And the detector 11 determines the light intensity of the incident reflected light.
And a reflection unit that is higher than a predetermined threshold
The light is determined as reflected light from the reflectors 2 and 3, and
Projectile position signal S_TwoTo the counting unit 9. Reflectors 2, 3
Reflectivity of other parts of the ground 3, such as the runway surface
All are much higher, and pulsed laser light irradiates reflectors 2 and 3.
Utilizing the maximum intensity of the reflected light when
Things. In the counting section 9, the irradiation timing signal S₁of
Reflector position signal S from rising_TwoUntil the rise of
By detecting the time, the distance based on this time
L₁, L _TwoAnd a distance signal S representing these_Three, S_Four
Is sent to the arithmetic processing unit 12. The arithmetic processing unit 12 performs the reflection
Position B (x₁, Y₁, Z₁), C (x_Two, Y
_Two, Z_Two) And distance L₀Information of the scanning unit
7 together with the signal representing the scanning angle θ sent from
L₁, L_TwoOf the flying object 1 by the principle of triangulation based on
The coordinates of the position A (x, y, z) are obtained, and a position signal representing the coordinates is obtained.
S_FiveTo the transmitter 13. The transmitter 13 transmits the position signal
No. S_FiveTo the receiver 14 at the ground control center, etc.
Send. In the receiver 14, the position signal S_FiveAfter receiving
For example, ground equipment for controlling the flying object 1
Send it to the processing unit. Next, a specific configuration example of the scanning unit 7 will be described.
Keep it. FIG. 3 is an explanatory diagram showing a first embodiment of the scanning unit 7.
(A) is a diagram viewed from the direction of the line A in (b), (b) is
It is the figure seen from the B line direction of (a). As shown in both figures
, The pulse laser light emitted from the pulse laser light source 5
Is an optical path bent at a right angle through a prism 15
Is incident on the mirror 16. Where the pulsed laser light
Have different wavelength components. To do this,
Pulsed laser emitted from a single pulsed laser generator
The light is made incident on the wavelength converter, and the wavelength converter
It is conceivable that the light is emitted while the wavelength is changed. Ma
If the change width of the wavelength is small, the pulse rate
The laser source is composed of a semiconductor laser
Output wave within a practical range even by controlling the temperature of the element
The length can be varied. That is, a semiconductor laser
Utilizes the temperature dependence of the wavelength of the laser light emitted from the element
You can also. The prism 15 is provided for the incident pulse laser light.
Since the refractive index varies depending on the wavelength, the output specific to each wavelength is
It becomes a firing angle. Thus, the light emitted from the prism 15
Make the laser light a linear light beam with a certain width
Can be. Therefore, the width of this light beam is
Scan width W in the direction intersecting the direction₁And you can
Scan width W₁This means that the pulse laser beam has been scanned. The mirror 16 has a rotating shaft 16a.
The mirror 16 can be rotated around a horizontal axis.
You. By rotating the mirror 16,
The incident linear pulsed laser light is transmitted in the traveling direction of the flying object 1.
Can be shaken. Scan width W at this time_TwoIs the rotating shaft 1
It is determined by the rotation angle of 6a. Thus, the scanning width W_1,W_TwoGround based
It is possible to scan a predetermined planar area with pulsed laser light
By this scanning, the reflectors 2 and 3 (see FIG. 1) can be used.
Can be easily and reliably obtained. In the above embodiment, the prism 1
5, the direction intersecting with the traveling direction of the flying object 1, the mirror 16
Scanning was performed in each of the traveling directions.
The inspection direction may be reversed. In addition, the progress of the flying object 1
Not only in the direction intersecting with the
Although it was configured to scan with a laser beam,
It is not necessary to configure as shown in FIG. At least with the direction of travel
It suffices if scanning can be performed in the crossing direction. Direction of travel
About to some extent by flying the flying object 1
This is because the range can be covered. Further, as the prism 15, a super
Photonics, an optical element utilizing the prism effect
The one formed of a crystal is optimal. The prism 15 is usually
Made of quartz, but made of photonic crystals
In this case, even a slight change in wavelength can cause the emitted light to fluctuate greatly.
Because it can. When applied to this embodiment, for example, 2n
A scan width W that is sufficiently practical with a wavelength change of about m₁Is obtained
You. In this case, a semiconductor laser is used as the pulse laser light source 5.
The application of laser elements is particularly easy,
Depending on the combination, the desired scanning width W₁Pulsed laser light
Can be easily obtained with a very simple structure. FIG. 4 shows a specific structure of the scanning unit 7 shown in FIG.
It is explanatory drawing which shows the 2nd Example which is an example. This embodiment
Has a rotation axis 25a.
The prism 25 is rotated around a horizontal axis by a rotation shaft 25a.
I am getting it. To rotate the prism 25
A linear pulse laser emitted from the prism 25
Light can be swung in the traveling direction of the flying object 1. Sand
That is, the prism 25 of this embodiment and the first embodiment shown in FIG.
Function of mirror 16 in addition to the function of prism 15
It has become something. Therefore, also in this embodiment,
Predetermined by pulse laser light in exactly the same manner as in the first embodiment.
The area can be scanned. In the above embodiment, the prism 2
5 intersects the flight direction of the flying object 1 using the change in the refractive index
In the direction in which the prism 25 moves,
Scanning, but this scanning direction is reversed
Of course it is good. Also, a description of the prism 15, for example,
This example is explained in the case of
The same is true for the example prism 25. As shown in the first and second embodiments, the program
Running using changes in refractive index for each wavelength of rhythms 15 and 25
The inspection method is acceptable as long as the change in refractive index is used.
Since there are no moving parts, the reliability is high.
The scanning means is an optical system without using the prisms 15 and 25.
Can also be realized by combining Figure 5 shows scanning
Third part when the part 7 (see FIG. 2) is formed by an optical system.
It is explanatory drawing which shows an Example. In this embodiment, the so-called gal
It uses a banomirror. As shown in FIG.
Two pulse laser beams emitted from the pulse laser light source 5
Reflected by the galvanomirrors 31 and 32 of the ground 4 (FIG. 2)
reference. ). Here, galvanomirror 31,
32 is a motor 33, 34 around the Z axis (vertical axis) respectively
And about the Y axis (horizontal axis).
Thus, independently rotatable about mutually orthogonal axes
The light incident on the two galvanometer mirrors 31 and 32
The laser light so that it can be shaken two-dimensionally.
As a result, a predetermined planar area on the ground 4 is scanned.
You. In place of the galvanomirrors 31 and 32,
The same scanning can be performed even if a polygon mirror is used.
Wear. In addition, the galvanometer mirrors 31 and 32 and the polygon mirror
The pulse laser light source 5 in the case of using the
May be emitted. The pulse laser light source 5 has a linear spread.
Laser light to emit linear pulsed laser light
Source elements arranged in a line, and planar spread
To emit a planar pulsed laser beam having
The light source elements may be arranged in a plane.
No. In this case, the linear or planar predetermined area is
Irradiation with pulsed laser light can be performed. And this
In each of these cases, the traveling direction of the flying object 1 and / or its
Combination with scanning as described above in the direction crossing the direction
It is, of course, possible. The scanning method in this case is
Uses galvanometer mirrors 31, 32 and polygon mirrors
Although it is preferable, the present invention is not limited to this. Up
The scanning method using the prisms 15 and 25 described above can also be applied.
You. [0045] The present invention will be described specifically with the above embodiments.
As described above, the invention described in [Claim 1] relates to an airborne flying object.
From the pulse laser light source mounted on the
For multiple reflectors with a known distance from each other
Pulsed laser light reflected from each reflector and returned
The distance to each reflector is measured based on the time until
Based on the separation and the distance between each reflector, based on the principle of triangulation.
A method for identifying the position of a flying object in the air to identify its position in the air
In the direction intersecting the direction of travel of the flying object
The pulse laser beam is scanned, and the strongest
Recognizing the position where the light returns to the position of the reflector,
Calculations for angle surveying are performed, so the pulse rate
After irradiating the light, this pulsed laser light is reflected back
Accurate distance to each reflector based on round trip time
Can be detected well. Also, reflection of pulsed laser light
Irradiation on the body is facilitated by scanning with pulsed laser light.
It can be performed. As a result, according to the principle of triangulation,
With a flying object based on the distance between reflectors and the position to each reflector
The aerial position of a certain aircraft can be specified with high accuracy. Also this
By processing information about the aerial position, the flight
Easy and proper control of the body when taking off and landing
To achieve takeoff and landing by fully automating the projectile
Can contribute. [0046] The invention described in [Claim 2] is an airborne flight.
From the pulse laser light source mounted on the projectile, multiple locations on the ground
Reflectors with a known distance from each other
The pulsed laser light irradiated toward
Measure the distance to each reflector based on the time to return
Principle of triangulation based on the distance between
Position identification of a projectile in the air
In the method, the traveling direction of the flying object and the
The pulse laser beam is scanned in the direction intersecting, and this scanning is performed.
The position where the strongest reflected light returns is the position of the reflector
Calculated for the above triangulation
Therefore, the pulsed laser light is
It is possible to scan not only in the insertion direction but also in the traveling direction.
Wear. That is, a predetermined planar area can be scanned.
Wear. Therefore, the operation of the invention described in [Claim 1]
-In addition to the effects, it is easier and more reliable to
The reflector is irradiated with a loose laser beam to identify the position of the flying object.
I can. [0047] The invention described in [Claim 3] is a method for flying in the air.
From the pulse laser light source mounted on the projectile, multiple locations on the ground
Reflectors with a known distance from each other
The pulsed laser light irradiated toward
Measure the distance to each reflector based on the time to return
Principle of triangulation based on the distance between
Position identification of a projectile in the air
In the method, the pulsed laser light has a linear spread.
A linear pulsed laser beam having
Irradiate light in a direction that intersects the direction of travel of the flying object
Recognize the position where the strongest reflected light returns as the position of the reflector
To calculate the above triangulation.
Without shaking the pulsed laser light,
Same as scanning with pulsed laser light in the crossing direction
That is, the same operation as the invention described in [Claim 1]
・ Get the effect. [0048] The invention described in [Claim 4] is a method for flying in the air.
From the pulse laser light source mounted on the projectile, multiple locations on the ground
Reflectors with a known distance from each other
The pulsed laser light irradiated toward
Measure the distance to each reflector based on the time to return
Principle of triangulation based on the distance between
Position identification of a projectile in the air
In the method, the pulse laser beam has a planar spread.
Having a planar pulsed laser beam
Light is applied to a predetermined planar area to return the strongest reflected light.
Recognize the position of the reflector as the position of the reflector, and
Calculation for the laser beam.
Scans a predetermined planar area with pulsed laser light without
The invention as described above, that is, the invention described in [Claim 2]
The same operation and effect as those described above are obtained. The invention described in [Claim 5] is based on [Claim 5]
[3] The aerial position identification of a flying object according to [4]
In the method, each pulsed laser beam is directed in the direction of travel of the flying object.
Or, since scanning is performed in a direction intersecting this direction,
In addition to the functions and effects of the invention described in [3] or [Claim 4],
Therefore, it is easier and faster to irradiate the reflector with pulsed laser light.
The time required for the position identification
Can be shortened. The invention described in [Claim 6] is based on [Claim 6
[3] The aerial position identification of a flying object according to [4]
In the method, each pulsed laser beam is directed in the direction of travel of the flying object.
And scanning in a direction crossing this direction,
Even easier and faster than the invention described in [Claim 5]
The reflector can be irradiated with pulsed laser light,
The time required for the position identification can be further reduced.
It has the effect of [0051] The invention described in [Claim 7] is a method for flying in the air.
The pulse laser light source mounted on the projectile and multiple locations on the ground
A plurality of reflectors having a known distance from each other that are dispersed and arranged;
Pal irradiated from the above pulse laser light source toward the reflector
Based on the time it takes for the laser beam to reflect off each reflector
The distance to each reflector is measured, and this distance and each reflector
The aerial position of the flying object based on the principle of triangulation based on the distance of
Airborne position identification of a flying object having information processing means for identification
In the system, intersect the direction of flight of the projectile
Scanning means for scanning the pulsed laser light in the direction
In addition, the information processing unit is configured to run by the scanning unit.
The position where the strongest reflected light returned by the inspection is the position of the reflector.
And perform the calculation for triangulation above.
After irradiation with pulsed laser light,
Based on the round trip time until the pulse laser light is reflected back
The distance to each reflector can be accurately detected
You. Irradiation of the pulsed laser light to the reflector is performed by pulse
This can be easily performed by scanning with a laser beam.
As a result, the distance between reflectors and each
Based on the position to the reflector, the aerial position of the flying object
It can be specified with high accuracy. Also information about this aerial position
By processing the flying object during takeoff and landing.
Control can be performed easily and appropriately, and the flying object
It can contribute to the realization of take-off and landing by full automation. [0052] The invention described in [Claim 8] is a method for flying in the air.
The pulse laser light source mounted on the projectile and multiple locations on the ground
A plurality of reflectors having a known distance from each other that are dispersed and arranged;
Pal irradiated from the above pulse laser light source toward the reflector
Based on the time it takes for the laser beam to reflect off each reflector
The distance to each reflector is measured, and this distance and each reflector
The aerial position of the flying object based on the principle of triangulation based on the distance of
Airborne position identification of a flying object having information processing means for identification
In the system, the traveling direction of the flying object and the direction
Scanning with the above pulsed laser beam in the direction of intersection
Means, and the information processing means comprises:
The strongest reflected light is returned by scanning by the scanning means
The position of the reflector as the position of the reflector.
Because the calculation is performed, the pulse laser light
Only in the direction that intersects the direction of travel of the flying object
Instead, scanning can be performed in the traveling direction. That is,
A fixed planar area can be scanned. Therefore,
In addition to the actions and effects of the invention described in [Claim 7],
Reflects pulsed laser light more easily and reliably than the invention
By irradiating the object, the position of the flying object can be identified. [0053] The invention described in [Claim 9] is a method for flying in the air.
The pulse laser light source mounted on the projectile and multiple locations on the ground
A plurality of reflectors having a known distance from each other that are dispersed and arranged;
Pal irradiated from the above pulse laser light source toward the reflector
Based on the time it takes for the laser beam to reflect off each reflector
The distance to each reflector is measured, and this distance and each reflector
The aerial position of the flying object based on the principle of triangulation based on the distance of
Airborne position identification of a flying object having information processing means for identification
In the system, the pulse laser light source is a linear broad light source.
A plurality of linear pulsed laser beams
The laser light source elements are arranged in a line and
The information processing means transmits the linear pulsed laser light to the
The strongest reflected light emitted in the direction crossing the row direction
Is recognized as the position of the reflector and
Because the calculation for the quantity is performed,
Without shaking the laser beam,
Similar to scanning a pulsed laser beam in the crossing direction,
That is, the same operation and effect as the invention described in [Claim 7].
Get fruit. According to a tenth aspect of the present invention, an airborne
Pulse laser light source mounted on a flying object and multiple locations on the ground
Reflectors with a known distance from each other
And irradiated from the pulsed laser light source toward the reflector
The time it takes for the pulsed laser light to reflect off each reflector and return
Measure the distance to each reflector based on this distance, and
The aerial position of the flying object based on the principle of triangulation based on the distance between the bodies
Air position of a flying object having information processing means for identifying a position
In the identification system, the pulse laser light source has a planar shape.
To emit a planar pulsed laser beam
A number of laser light source elements are arranged in a plane and
The information processing means transmits the planar pulsed laser light to a predetermined
The position where the strongest reflected light returned by irradiating a planar area
Is recognized as the position of the reflector, and the calculation for the above triangulation is performed.
Because it is intended to be performed, pulse laser light is shaken
Scans a predetermined planar area with pulsed laser light
The same as the above, that is, the invention described in [Claim 8]
Similar functions and effects are obtained. The invention described in [Claim 11] is based on [Claim
An aerial position of the flying object according to [9] or [10].
In the identification system, each pulsed laser beam is
Scanner scanning in the direction of travel or in the direction intersecting this direction
Since it has a step, it is described in [Claim 9] or [Claim 11].
In addition to the functions and effects of the invention
The irradiation of the light can be performed more easily and quickly,
The time required for the position identification can be shortened.
This has the effect. The invention described in [Claim 12] is based on [Claim 12]
An aerial position of the flying object according to [9] or [10].
In the identification system, each pulsed laser beam is
Scan in the direction of travel and in the direction crossing this direction
Since there is a scanning means, the invention according to claim 11 is provided.
Even easier and faster to illuminate the pulsed laser light on the reflector
The time required for the position identification
There is an effect that the length can be further reduced. The invention described in [Claim 13] is based on [Claim 13
Item 8], [Claim 11] or [Claim 12]
In any one of the flying object aerial position identification systems,
One or two of the scanning means have different wavelengths
Pulsed laser light is incident on the prism and the refractive index
This is to obtain the emitted light that spreads to a predetermined width due to the change.
Pulsed laser light without moving the prism
The range can be expanded. That is, the effective
A predetermined range can be scanned with the pulsed laser light.
As a result, a highly reliable scanning unit having no moving parts can be provided.
Can be configured. The invention described in [Claim 14] is based on [Claim 14
The aerial position identification system for flying objects described in [13]
And the prism is light using the super prism effect
A prism formed of a photonic crystal
Because of the use of a small change in wavelength,
The emitted light can be largely shaken. This results in a simple installation
System can scan a large area, simplifying the system
And improvement of accuracy. The invention described in [Claim 15] is based on [Claim 15]
Item 13] or the aerial position of the flying object according to [14]
In the position identification system, the wavelength
By passing the laser light through the wavelength conversion means,
Since pulsed laser light is obtained, any wave can be easily
A long pulse laser beam can be obtained. As a result,
Easily configure scanning means without moving parts using rhythm
Can be The invention described in [Claim 16] is based on [Claim
Item 13] or the aerial position of the flying object according to [14]
In an identification system, the operating temperature is configured to be controllable.
Semiconductor laser device, and the operation of this semiconductor laser device.
Emit pulse laser light with different wavelengths by controlling operation temperature
Need for wavelength conversion means, etc.
And easily obtain pulsed laser light of any wavelength
it can. As a result, running without moving parts using prisms
Inspection means, as compared with the case of the invention described in [Claim 15].
Further, it can be easily configured. The invention described in [Claim 17] is based on [Claim
Item 8] or the aerial position of the flying object according to item [12]
In the identification system, one of the scanning means has a different wavelength.
Pulsed laser light is incident and the refractive index changes for each wavelength.
If it is composed of a prism that obtains outgoing light that spreads over a predetermined width
In both cases, the other scanning means converts the light emitted from the prism
It consisted of a reflector that reflected in the direction perpendicular to the width direction.
In the invention according to [claim 8] or [claim 12],
Operation and effects, with no moving parts, highly reliable driving
Combination of a prism serving as an inspection means and a reflector having a movable portion
Can be obtained by combination. The invention described in [Claim 18] is based on [Claim 18]
Item 8] or the aerial position of the flying object according to item [12]
In the identification system, the scanning means is a pulse having different wavelengths.
Laser light is incident and specified by change in refractive index for each wavelength
To obtain the outgoing light spread over the width of
Consists of a prism that rotates to swing in the direction perpendicular to the width direction
Scanning of the pulse laser beam by one prism
[Claim 8] or [Claim 12]
The simplest configuration that achieves the same operation and effect as the invention described in
It becomes a simple scanning means. The invention described in [Claim 19] is based on [Claim 19]
Item 17] or the aerial position of the flying object according to [18]
In the position identification system, the prism is a super prism.
Formed using photonic crystals, which are optical elements that use the
[Claim 17] or [Claim 1]
8) The effects and effects of the invention described in 8) should be remarkable.
Can be. That is, the pulsed laser light by the prism
Can be realized with a slight change in wavelength,
The configuration is simplified accordingly. The invention described in [Claim 20] is based on [Claim 20].
(17) The flying device according to any one of (19) to (19).
In the aerial position identification system of the projectile, wavelength conversion means is used.
By passing the pulsed laser light through the wavelength conversion means.
Since pulse laser light of different wavelengths was obtained,
(Claim 17) to any one of (Claim 19)
Pulsed laser light of multiple wavelengths
Obtainable. The invention described in [Claim 21] is based on [Claim 21].
(17) The flying device according to any one of (19) to (19).
Control the operating temperature of the aerial position identification system
It has a semiconductor laser element formed so that it can
Pulsed lasers with different wavelengths by controlling the operating temperature of the laser element
Laser light, so that [Claim 17] to
The invention according to any one of [Claim 19].
A pulse laser beam having several wavelengths is described in [Claim 20].
It can be obtained more easily than the invention. The invention described in [Claim 22] is based on [Claim 22].
Item 8] or the aerial position of the flying object according to item [12]
In the identification system, the scanning means includes axes orthogonal to each other.
It has two reflectors formed so as to be able to rotate around independently
So that the pulsed laser light can be shaken two-dimensionally.
Pulsed laser light as it is
Pulses from reflectors can be swung over a constant planar area
The reflected light of the laser light can be obtained easily and quickly. The invention described in [Claim 23] is based on [Claim 23].
Item 8] or the aerial position of the flying object according to item [12]
In the identification system, the scanning means is a pulse laser beam.
Is a polygon that rotates independently around axes that are orthogonal to each other.
Since it is composed of mirrors, the pulsed laser light
Of the pulsed laser light from the reflector.
The reflected light can be obtained easily and quickly.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view conceptually showing the principle of a method for identifying an aerial position of a flying object according to the present invention. FIG. 2 is a block diagram showing a system for identifying an aerial position of a flying object according to an embodiment of the present invention. FIG. 3 is a first example of a specific configuration example of the scanning unit shown in FIG. 2;
It is explanatory drawing which shows Example of this. FIG. 4 is a second example of a specific configuration example of the scanning unit shown in FIG.
It is explanatory drawing which shows Example of this. FIG. 5 illustrates a third example of a specific configuration example of the scanning unit illustrated in FIG.
It is explanatory drawing which shows Example of this. [Description of Signs] 1 Flying object 2, 3 Reflector 4 Above ground 5 Pulse laser light source 6 Half mirror 7 Scanning unit 8, 11 Detector 9 Counting unit 12 Operation processing unit 15, 25 Prism 16 Mirror 16a Rotating shaft 25a Rotating axes 31 and 32 galvanomirror W _1, W ₂ scan width

Continuation of front page    F term (reference) 2C014 DB03 DD01 DD15                 5J084 AA04 AA05 AB03 AD07 BA04                       BA11 BA32 BB11 BB24 BB26                       BB28 CA03 CA53 CA70 EA04

Claims (1)

Claims: 1. A pulse radiated from a pulse laser light source mounted on an airborne flying object to a plurality of reflectors having a known distance from each other and dispersed at a plurality of locations on the ground. The distance to each reflector is measured based on the time it takes for the laser light to reflect off each reflector and return.Based on this distance and the distance between each reflector, the flying object in the air is measured using the principle of triangulation. In the method for identifying an aerial position of a flying object for identifying a position, the above-mentioned pulse laser light is scanned in a direction intersecting with a traveling direction of the flying object, and a position where the strongest reflected light returns by this scanning is determined as a position of the reflector. A method for identifying an aerial position of a flying object, wherein the calculation is performed for the triangulation. 2. A pulse laser beam emitted from a pulse laser light source mounted on an airborne flying object to a plurality of reflectors having a known distance from each other and dispersed at a plurality of locations on the ground. A projectile that measures the distance to each reflector based on the time it takes to reflect off the body and returns, and identifies the position of the projectile in the air by the principle of triangulation based on this distance and the distance between each reflector. In the aerial position identification method of the above, the pulse laser light is scanned in the traveling direction of the flying object and in a direction intersecting the direction, and the position where the strongest reflected light returns by this scanning is recognized as the position of the reflector. A method for identifying an aerial position of a flying object, wherein the calculation for the triangulation is performed. 3. A pulse laser beam emitted from a pulse laser light source mounted on an airborne flying object to a plurality of reflectors having a known distance from each other and dispersed at a plurality of locations on the ground. A projectile that measures the distance to each reflector based on the time it takes to reflect off the body and returns, and identifies the position of the projectile in the air by the principle of triangulation based on this distance and the distance between each reflector. In the aerial position identification method, the pulsed laser light is a linear pulsed laser light having a linear spread, and the linear pulsed laser light is irradiated in a direction intersecting the traveling direction of the flying object, and is the strongest. An aerial position identification method for a flying object, characterized in that the position where the reflected light returns is recognized as the position of the reflector and the calculation for the triangulation is performed. 4. A pulse laser beam emitted from a pulse laser light source mounted on a flying object in the air to a plurality of reflectors having a known distance from each other and distributed at a plurality of locations on the ground. A projectile that measures the distance to each reflector based on the time it takes to reflect off the body and returns, and identifies the position of the projectile in the air by the principle of triangulation based on this distance and the distance between each reflector. In the aerial position identification method, the pulsed laser light is a planar pulsed laser light having a planar spread, and the planar pulsed laser light is irradiated onto a predetermined planar region to return the strongest reflected light. A method for identifying an aerial position of a flying object, wherein the position of the flying object is recognized as the position of the reflector and the calculation for the triangulation is performed. 5. The method for identifying an aerial position of a flying object according to claim 3 or claim 4, wherein each pulsed laser beam is scanned in a traveling direction of the flying object or in a direction intersecting with this direction. A method for identifying an aerial position of a flying object, characterized in that: 6. The method for identifying an aerial position of a flying object according to claim 3 or claim 4, wherein each pulsed laser beam is scanned in a traveling direction of the flying object and a direction intersecting the direction. A method for identifying an aerial position of a flying object. 7. A pulse laser light source mounted on a flying object in the air, a plurality of reflectors dispersed at a plurality of locations on the ground and having a known distance from each other, and irradiation from the pulse laser light source toward the reflector. The distance to each reflector is measured based on the time until the reflected pulse laser light is reflected by each reflector and returns,
An aerial position identification system for a flying object having information processing means for identifying the aerial position of the flying object based on the distance and the distance between the reflectors based on the principle of triangulation. Scanning means for scanning the pulsed laser light in the direction in which the light is reflected, and the information processing means recognizes the position where the strongest reflected light returns by the scanning by the scanning means as the position of the reflector, and performs the triangulation. Aerial position identification system for a flying object, characterized in that it performs a calculation for the object. 8. A pulse laser light source mounted on a flying object in the air, a plurality of reflectors dispersed at a plurality of places on the ground and having a known distance from each other, and irradiation from the pulse laser light source toward the reflector The distance to each reflector is measured based on the time until the reflected pulse laser light is reflected by each reflector and returns,
In the aerial position identification system for a flying object having information processing means for identifying the aerial position of the flying object based on the distance and the distance between the reflectors based on the principle of triangulation, in the advancing direction of the flying object and in this direction Scanning means for scanning the pulsed laser light in a direction intersecting with the scanning means, and the information processing means recognizes a position where the strongest reflected light returns by scanning by the two scanning means as a position of the reflector. An aerial position identification system for a flying object, wherein the calculation for the triangulation is performed. 9. A pulse laser light source mounted on a flying object in the air, a plurality of reflectors dispersed at a plurality of places on the ground and having a known distance from each other, and irradiation from the pulse laser light source toward the reflector The distance to each reflector is measured based on the time until the reflected pulse laser light is reflected by each reflector and returns,
In the aerial position identification system for a flying object having information processing means for identifying the aerial position of the flying object based on the distance and the distance between the reflectors based on the principle of triangulation, the pulse laser light source has a linear shape. A plurality of laser light source elements are arranged in a line so as to emit a linear pulsed laser beam having a spread, and the information processing means is configured to intersect the linear pulsed laser beam with a traveling direction of a flying object. An aerial position identification system for a flying object, characterized in that the position at which the strongest reflected light is returned by irradiating the object is recognized as the position of the reflector and the calculation for the triangulation is performed. 10. A pulse laser light source mounted on a flying object in the air, a plurality of reflectors dispersed at a plurality of locations on the ground and having a known distance from each other, and irradiating the reflector from the pulse laser light source. The distance to each reflector is measured based on the time until the reflected pulse laser light is reflected by each reflector and returns.Based on this distance and the distance between each reflector, the flying object is measured by the principle of triangulation. An aerial position identification system for a flying object having information processing means for identifying an aerial position, wherein the pulsed laser light source has a plurality of laser light source elements arranged in a plane to emit a planar pulsed laser beam having a planar spread. The information processing means irradiates the planar pulsed laser light to a predetermined planar area and recognizes the position where the strongest reflected light returns as the position of the reflector, and performs the triangulation. Act for Aerial position identification system projectile, characterized in that is obtained to perform the. 11. A flying object aerial position identification system according to claim 9 or claim 10, wherein each pulsed laser beam is scanned in a traveling direction of the flying object or in a direction intersecting this direction. An aerial position identification system for a flying object, characterized by having means. 12. The system for identifying an aerial position of a flying object according to claim 9 or claim 10, wherein each pulsed laser beam is scanned in a traveling direction of the flying object and in a direction intersecting the direction. An aerial position identification system for a flying object, comprising: 13. An aerial position identification system for a flying object according to claim 7, claim 8, claim 11, or claim 12, wherein: One of the scanning means is one in which pulsed laser light having a different wavelength is incident on the prism to obtain emission light which spreads over a predetermined width by a change in the refractive index for each wavelength, and the aerial position of the flying object is characterized in that Identification system. 14. A system for identifying an aerial position of a flying object according to claim 13, wherein the prism uses a prism formed of a photonic crystal, which is an optical element using a super prism effect. Aerial position identification system for flying objects. 15. An aerial position identification system for a flying object according to claim 13 or claim 14, further comprising wavelength conversion means, wherein a pulse laser beam having a different wavelength is transmitted by passing the pulse laser light through the wavelength conversion means. An aerial position identification system for a flying object characterized by obtaining a laser beam. 16. An aerial position identification system for a flying object according to claim 13 or claim 14, further comprising a semiconductor laser element formed so as to be capable of controlling an operating temperature. A pulse laser beam having a different wavelength is emitted by the control of the airborne object. 17. The system for identifying an aerial position of a flying object according to claim 8 or claim 12, wherein one of the scanning means receives a pulsed laser beam having a different wavelength to determine a refractive index for each wavelength. A flying means comprising: a prism for obtaining emission light which spreads over a predetermined width by a change; and the other scanning means comprises a reflector for reflecting the emission light of the prism in a direction perpendicular to the width direction. Aerial position identification system for the body. 18. The system for identifying an aerial position of a flying object according to claim 8 or claim 12, wherein the scanning means receives a pulse laser beam having a different wavelength and changes the refractive index for each wavelength. An aerial position identification system for a flying object, comprising: a prism that obtains emitted light having a predetermined width and that rotates the emitted light in a direction perpendicular to the width direction. 19. The system for identifying an aerial position of a flying object according to claim 17 or claim 18, wherein the prism is formed of a photonic crystal which is an optical element utilizing a super prism effect. An aerial position identification system for a flying object, characterized in that: 20. The aerial position identification system for a flying object according to any one of [17] to [19], further comprising wavelength conversion means, wherein the pulse laser beam passes through the wavelength conversion means. An aerial position identification system for a flying object, characterized in that a pulse laser beam having a different wavelength is obtained by using a laser beam. 21. The system for identifying an aerial position of a flying object according to any one of [17] to [19], further comprising a semiconductor laser device formed so as to be capable of controlling an operating temperature. An aerial position identification system for a flying object, characterized in that a pulse laser beam having a different wavelength is emitted by controlling an operating temperature of a laser element. 22. An aerial position identification system for a flying object according to claim 8 or claim 12, wherein the scanning means comprises two sheets formed so as to be independently rotatable about axes orthogonal to each other. An aerial position identification system for a flying object, comprising a galvanomirror having a reflector and capable of oscillating a pulse laser beam two-dimensionally. 23. The system for identifying an aerial position of a flying object according to claim 8 or claim 12, wherein the scanning means converts the pulsed laser light into polygons independently rotating around axes orthogonal to each other. An aerial position identification system for a flying object, comprising a mirror.