JP2003114098A - Missile guiding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a missile guiding device for guiding a missile to a moving target by adopting a guiding method of calculating an existing range of a moving target and searching the moving target in a short time when the moving target is lost. SOLUTION: This missile guiding device is provided with a target existence range calculation portion 8, in which a latitude, a longitude, an altitude, a latitude speed, a longitudinal speed, a height direction seed, a vertical attitude angle, and a horizontal attitude angle, as position/speed information of the missile 6 are inputted, and a relative speed, a relative distance as tracking information of a moving target 7 are inputted, and in the case where the moving target is lost by receiving disturbance of the moving target, when guiding the missile 6, an existence range of the moving target 7 is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying body guiding apparatus for guiding a target moving in the air.

[0002]

2. Description of the Related Art FIG. 16 shows a conventional vehicle guidance system. In the figure, 1 is a mother aircraft, 2 is a navigation calculation unit, 3 is a search processing unit, 4 is a tracking calculation unit, 5 is a steering unit, 6 Is a flying object. The conventional flying body guidance device is composed of the above 1 to 6.

FIG. 17 is an external view showing the entire system to which the flying body guiding device is applied. 1 in the figure
Is the mother aircraft, 6 is the flying object, and 7 is the moving target.

As shown in FIG. 16, in a system to which a conventional flying body guidance device is applied, a moving target is detected by a radar device mounted on the mother aircraft 1, and position / speed information of the moving target is detected. The initial latitude, initial longitude, initial altitude, latitude initial speed, longitude initial speed, altitude initial speed, and the position / speed information of the mother plane, which is latitude / longitude.
Altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity is obtained, and the initial latitude which is the position / speed information of the moving target input before separating from the mother machine 1 in the navigation calculation unit 2 after separating from the mother machine 1・ Initial longitude ・ Initial altitude ・ Latitude direction initial speed ・ Longitude direction initial speed ・ Altitude direction initial speed and the position / speed information of the above-mentioned mother machine: latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, Latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, which is the position / speed information of the moving target, and latitude / longitude / altitude / latitude direction velocity / longitude direction velocity, which is the position / speed information of the flying object.・ The altitude velocity / vertical attitude angle / horizontal attitude angle are calculated repeatedly until the searchable relative position is reached, and when the searchable relative position is reached, the search processing unit 3 inputs the values. Latitude, longitude, altitude and latitude direction velocity and longitude direction speed and a position and speed information of the moving target
A search process is performed based on the altitude direction speed and latitude / longitude / altitude / latitude direction speed / longitude direction / altitude direction speed, which is the position / speed information of the above-mentioned flying object, and moves at the time when the search is completed. The initial relative velocity, the initial angle, and the initial relative distance, which are the target tracking information, are calculated, and the initial relative velocity, which is the tracking information of the moving target input in the tracking calculation unit 4, is calculated.
The relative velocity, the angle, and the relative distance, which are the tracking information of the moving target, are calculated from the initial angle and the initial relative distance, and the guiding information to the moving target is calculated. By controlling the rudder angle, the vehicle can be guided toward the moving target.

[0005]

Since the conventional flying body guiding apparatus is configured as described above, the conventional flying body guiding apparatus has a tracking calculation unit in the case of being disturbed by a moving target. In 4, it becomes difficult to continue calculating the relative speed, angle, and relative distance, which are the tracking information of the moving target, and the moving target is lost. In order to rediscover the moving target, it is necessary for the search processing unit 3 to search a wide range of searchable areas, and it may take a long time to find the moving target, or the moving target may not be found. , There was a problem that it was impossible to guide toward the moving target.

The present invention has been made in order to solve such a problem, and when the moving target is obstructed, even if the moving target is lost, the position of the flying object
By using the latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity / vertical posture angle / horizontal posture angle, which is velocity information, and relative velocity / relative distance, which is tracking information of the moving target, The position / speed information of the moving target, which is latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, is calculated backwards, the moving target existence range is calculated, and the search range is narrowed down. It is an object of the present invention to obtain a flying body guiding device that enables a search in a short time.

[0007]

[Means for Solving the Problems] A flying body guiding apparatus according to the first invention is an initial latitude, an initial longitude, an initial altitude, which is position / velocity information of a moving target input from a mother aircraft before being separated from the mother aircraft. Initial velocity in latitude direction ・ Initial velocity in longitude direction ・
Altitude / Longitude / Altitude / Latitude / Velocity / Longitude / Altitude direction speed, which is the initial velocity in the altitude direction and position / speed information of the mother machine. The altitude, latitude direction speed, longitude direction speed, altitude direction speed is calculated, and the position / speed information of the flying object is latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed / vertical attitude angle / With the navigation calculator that calculates the horizontal attitude angle and the position / speed information of this moving target, which is the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, and the position / speed information of the above-mentioned flying object. A certain latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity is input, search processing of the moving target is performed, and initial relative speed / initial that is tracking information of the moving target at the time when the search is completed. The search processing unit that calculates the degree and the initial relative distance, and the relative information that is the tracking information of the moving target from the time when the search is completed by inputting the initial relative velocity, the initial angle, and the initial relative distance that are the tracking information of this moving target. Speed / angle /
The tracking calculator that calculates the relative distance and calculates the guidance information to the moving target from the relative speed, angle, and relative distance that is the tracking information of the moving target, and the guidance information to the moving target is input, The steering unit that controls the rudder angle to guide the vehicle and the position of the flying object when the moving target is lost due to interference from the moving target while guiding the flying object.
Latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity / vertical posture angle / horizontal posture angle, which are velocity information, are input, and relative velocity, which is tracking information of the moving target,
The relative distance is input, and the target existence range calculator that calculates the existence range of the moving target by back-calculating the latitude / longitude / altitude / latitude direction speed / longitude direction / altitude direction speed that is the position / speed information of the moving target is calculated. It is provided.

Further, in the flying object guiding apparatus according to the second aspect of the present invention, when the moving target deviates from the existing range of the moving target obtained by the target existing range calculating section, the moving target is obtained by the target existing range calculating section. Latitude / longitude / altitude / latitude direction speed / longitude direction speed, which is the position / speed information of the moving target calculated by the above calculation.
Calculate the latitude range movement component, longitude direction movement component, and altitude direction movement component, which are the movement components of the movement target from the time when the movement target is lost and the current time is input, and the existence range of the movement target is calculated. A moving component calculator is provided.

Further, the flying body guiding apparatus according to the third invention, when there are a plurality of moving targets, and when the moving target of the guiding target is lost due to interference from the moving target of the guiding target, the navigation calculation is performed. Positions of multiple moving targets obtained in the section
The latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, which is the velocity information, is input, and the position / velocity information of the backward movement target of the guidance target obtained by the target existence range calculation unit is used. Latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed is input, and each latitude / longitude / altitude / latitude / longitude / latitude direction speed / longitude direction speed / altitude is the position / speed information of multiple moving targets. Direction speed and the position / speed information of the back-calculated moving target to be guided, which is latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed. Check if there is the smallest difference and check the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, which is the position / speed information of the movement target with the smallest difference. Rank・ The average value of the latitude, longitude, altitude, latitude speed, longitude speed, and altitude speed that is the speed information, and the position, speed information, latitude, longitude, altitude, and latitude direction speed of the moving target to be guided.・ Longitudinal direction speed / altitude direction speed is determined, and the position / speed information of the moving target with the second smallest difference is latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, and the confirmed guidance target Target matching that takes the difference between the position and speed information of the moving target of latitude, longitude, altitude, latitude direction speed, longitude direction speed, and altitude direction speed, and sets the range that does not exceed the difference as the existence range of the movement target to be guided. The definite part is provided.

Further, in the flying body guiding apparatus according to the fourth aspect of the invention, when there are a plurality of moving targets, and the moving target to be guided deviates from the existence range of the moving target obtained by the target collation confirming unit. In addition, the latitude / longitude /
The altitude / latitude direction speed / longitude direction speed / altitude direction speed is input, and the latitude / longitude / altitude / latitude direction speed / longitude, which is the position / speed information of the movement target of the confirmed guidance target obtained in the above-described target matching confirmation unit. Direction speed and altitude Direction speed is entered,
Calculate the predicted latitude, predicted longitude, predicted altitude, predicted latitude direction speed, predicted longitude direction speed, predicted altitude direction speed, which is the position and speed information of the guided target moving target from the time when the target moving target is lost However, the latitude / longitude / altitude / latitude / latitude / velocity / longitude / altitude direction speeds, which are the position / speed information of multiple moving targets, and the predicted latitude / prediction, which is the position / speed information of the moving target to be guided. A guidance target target existence range calculation unit is provided that takes the difference of longitude, predicted altitude, predicted latitude direction speed, predicted longitude direction speed, predicted altitude direction speed, and sets the range that does not exceed the difference as the existence range of the movement target of the guidance target. It is a thing.

Further, in the flying body guiding apparatus according to the fifth aspect of the present invention, when the relative distance from the moving target is short and the moving target is lost due to interference from the moving target, Latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity / vertical posture angle / horizontal posture angle, which are the obtained position / velocity information of the above-mentioned flying object, are input, and obtained by the tracking calculation unit. The relative speed / relative distance that is the tracking information of the moving target is input, and the predicted latitude / predicted longitude / predicted altitude / predicted latitude direction speed / predicted longitude direction speed / predicted altitude direction speed that is the position / speed information of the moving target. And a target prediction calculation unit for calculating the predicted relative speed, the predicted angle, and the predicted relative distance, which are the tracking information of the moving target.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1. 1 is a block diagram showing a first embodiment of the present invention. In the figure, 1 to 6 are exactly the same as the above-mentioned flying body guiding device. Reference numeral 8 denotes a target existence range calculation unit, and the flying body guiding apparatus according to the present invention is composed of the above 1 to 6 and 8.

Further, FIG. 6, FIG. 7, FIG. 8, FIG. 9, FIG.
FIG. 11 is a flowchart showing the processing procedure according to the first embodiment of the present invention. The processing procedure in FIGS. 6, 7, 8, 9, 10, and 11 will be described below. As shown in FIG. 6, in the mother machine 1, the processing procedure 13 for detecting the moving target by the radar device mounted on the mother machine 1 is performed,
The processing procedure 14 for calculating the initial latitude, initial longitude, initial altitude, latitude direction initial speed, longitude direction initial speed, and altitude direction initial speed, which are the position and speed information of the detected moving target, is performed.
The processing procedure 15 for calculating the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed which is the position / speed information of the mother machine is performed.

Next, as shown in FIG. 7, in the navigation calculation unit 2, the initial latitude / initial longitude / initial altitude / latitude direction initial speed which is the position / speed information of the moving target calculated in the processing procedure 14・ Longitudinal direction initial velocity / altitude direction initial velocity and input process sequence 16 of latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity which is the position / speed information of the mother machine calculated in the above-mentioned processing procedure 15 Then, the procedure 17 for determining whether or not the flying object is separated from the mother aircraft is performed. From the time when the flying object is separated from the mother aircraft,
The processing procedure 18 for calculating the latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity which is the position / speed information of the moving target is performed, and the latitude PMNS / longitude PMEW which is the position / speed information of the flying object.・ Altitude PMH ・ Latitude direction speed VMNS
・ Longitudinal direction velocity VMEW ・ Altitude direction velocity VMH ・ Vertical posture angle AP ・ Horizontal posture angle AY is calculated, and process step 20 is performed to determine whether the moving target is a searchable relative position. If the moving target is not in the searchable relative position, the above processing steps 18 and 19 are performed until the search becomes possible.

Next, as shown in FIG. 8, in the search processing section 3, when the relative position becomes a searchable position in the processing procedure 20, the position / speed of the moving target calculated in the processing procedure 18 is calculated. Latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, which is information, and the above processing procedure 1
Input processing procedure 2 of latitude PMNS, longitude PMEW, altitude PMH, latitude direction speed VMNS, longitude direction speed VMEW, altitude direction speed VMH which is the position / speed information of the flying object calculated in 9.
1 is performed and the position / speed information of the moving target is latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, and the position / speed information of the flying object is latitude PMNS / longitude PMEW / altitude PMH.・ The processing procedure 22 for searching the moving target from the latitude direction speed VMNS, the longitude direction speed VMEW, and the altitude direction speed VMH is performed, and the processing procedure 23 for determining whether or not the moving target search is completed is performed, and the search is performed. When the search is completed, the processing procedure 24 for calculating the initial relative velocity / initial angle / initial relative distance, which is the tracking information of the moving target at the time when the search is completed, is performed.

Next, as shown in FIG. 9, in the tracking calculation unit 4, the input processing procedure 25 of the initial relative velocity / initial angle / initial relative distance which is the tracking information of the moving target calculated in the processing procedure 24. Then, from the time when the search is completed in the processing procedure 23, the processing procedure 26 for calculating the relative velocity V, the angle, and the relative distance R which are the tracking information of the moving target is performed, and the relative velocity V which is the tracking information of the moving target is performed. A processing procedure 27 for calculating guide information to the moving target from the angle / relative distance R is performed, and a processing procedure 28 for determining whether or not the moving target is lost.

Next, as shown in FIG. 10, in the steering section 5, an input processing procedure 29 for inputting guidance information to the moving target calculated in the processing procedure 27 is performed, and based on the guidance information to the moving target. The processing procedure 30 for controlling the steering angle is performed.

Next, as shown in FIG. 11, in the target existence range calculation unit 8, the latitude PMNS, the longitude PMEW, the altitude PMH, and the latitude, which are the position and speed information of the flying object calculated in the processing procedure 19, are described. Directional speed VMNS / longitude directional speed V
MEW / Velocity in altitude direction VMH / Vertical attitude angle AP / Horizontal attitude angle AY
Relative velocity V · which is the tracking information of the moving target calculated in 6
The relative distance R input processing procedure 32 is performed, and the position / speed information of the flying object is latitude PMNS / longitude PMEW / altitude PMH /
Latitude direction speed VMNS, longitude direction speed VMEW, altitude direction speed VMH, vertical attitude angle AP, horizontal attitude angle AY, and relative speed V and relative distance R, which are tracking information of the moving target, from the position and speed of the moving target. Latitude PTNS, longitude PTEW, which is information
Back calculation of altitude PTH / latitude direction speed VTNS / longitude direction speed VTEW / altitude direction speed VTH by “number 1”, “number 2”, “number 3”, “number 4”, “number 5” and “number 6”, respectively. If it is determined in step 28 that the moving target is lost, the range of existence of the moving target (PTNS ± fixed value) is calculated from the latitude information PTNS / longitude PTEW / altitude PTH which is the position information of the moving target calculated backward. , PTEW ± fixed value, PTH ± fixed value) is performed. The above processing procedures 13 to 34
By doing, you can limit the search range of the moving target when you lose sight of the moving target, so you can rediscover the lost moving target in a short time and fly towards the moving target. Can guide the body.

[0019]

[Equation 1]

[0020]

[Equation 2]

[0021]

[Equation 3]

[0022]

[Equation 4]

[0023]

[Equation 5]

[0024]

[Equation 6]

Embodiment 2. 2 is a block diagram showing a second embodiment of the present invention. In the figure, 1 to 6 are exactly the same as the above-mentioned flying body guiding device. Further, 8 is exactly the same as the device described in the first embodiment. Reference numeral 9 denotes a moving component calculator, and the flying body guiding device according to the present invention is composed of the above 1 to 6 and 8 and 9.

FIG. 12 is a flow chart showing the processing procedure of the second embodiment of the present invention. The processing procedure in FIG. 12 will be described below. As in the first embodiment, as shown in FIG. 6, in the mother machine 1, the processing procedure 1 for detecting the moving target by the radar device mounted in the mother machine 1.
3. Procedure 3 for calculating initial position, initial longitude, initial altitude, latitude direction initial speed, longitude direction initial speed, and altitude direction initial speed, which are position and speed information of the detected moving target.
4 is performed, and the processing procedure 15 for calculating the latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, which is the position / speed information of the mother machine, is performed.

Next, as in the first embodiment, as shown in FIG. 7, in the navigation calculation unit 2, the initial latitude / initial longitude which is the position / speed information of the moving target calculated in the processing procedure 14 is calculated.・ Initial altitude / latitude direction initial velocity / longitude direction initial velocity / altitude direction initial velocity and latitude / longitude / altitude / latitude direction velocity / longitude direction velocity, which is the position / velocity information of the mother machine calculated in the above processing procedure 15. The altitude direction velocity input processing procedure 16 is performed, and the processing procedure 17 for determining whether or not the flying body is separated from the mother aircraft is performed. From the time when the flying body is separated from the mother aircraft, the position / velocity information of the moving target is obtained. Latitude / longitude / altitude / latitude direction speed / longitude direction speed
The processing procedure 18 for calculating the altitude direction speed is performed, and the position / speed information of the flying object is latitude PMNS / longitude PMEW / altitude PMH / latitude direction speed VMNS / longitude direction speed VMEW / altitude direction speed VMH / vertical attitude angle. The process procedure 19 for calculating the AP / horizontal posture angle AY is performed, and the process procedure 20 for determining whether the moving target is a searchable relative position is performed. If the moving target is not the searchable relative position, the above process is performed. Repeat steps 18 and 19 until it becomes searchable.

Next, as in the case of the first embodiment, as shown in FIG. 8, when the search processing section 3 has reached the relative position where the search can be performed in the processing procedure 20, the calculation is performed in the processing procedure 18. Latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity which is the position / velocity information of the moved target, and latitude PMNS which is the position / velocity information of the flying object calculated in the above processing procedure 19.・ Longitude PMEW ・ Altitude PMH
・ Latitude-direction velocity VMNS ・ Longitude-direction velocity VMEW ・ Altitude-direction velocity VMH are input, and the procedure 21 is executed, and the position / velocity information of the moving target is latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity. , The position / speed information of the flying object is latitude PMNS / longitude PMEW / altitude PMH / latitude direction speed VMNS / longitude direction speed VMEW / altitude direction speed VMH. When the search for the target is completed, the processing procedure 23 is performed. When the search is completed, the initial relative velocity, the initial angle, and the initial relative distance, which are the tracking information of the moving target at the time of completing the search, are calculated. The processing procedure 24 for calculating is performed.

Next, as in the first embodiment, as shown in FIG. 9, in the tracking calculation unit 4, the initial relative velocity, the initial angle, which is the tracking information of the moving target calculated in the processing procedure 24, is calculated. An initial relative distance input processing procedure 25 is performed, and from the time when the search is completed in the above processing procedure 23, a processing procedure 26 of calculating the relative velocity V / angle / relative distance R, which is the tracking information of the moving target, is performed to determine the moving target. The procedure 27 for calculating the guidance information to the moving target is performed from the relative velocity V, the angle, and the relative distance R, which are the tracking information, and the procedure 28 for determining whether or not the moving target is lost.

Next, as in the first embodiment, as shown in FIG. 10, in the steering section 5, the processing procedure 2 is performed.
Input processing procedure 2 for guiding information to the moving target calculated in 7.
9 is performed, and the processing procedure 30 for controlling the steering angle based on the guidance information to the moving target is performed.

Next, as in the first embodiment, as shown in FIG. 11, in the target existence range calculation unit 8, the latitude PMNS which is the position / velocity information of the flying object calculated in the processing procedure 19 described above.・ Longitude PMEW ・ Altitude PMH ・ Latitude direction speed VMNS ・ Longitude direction speed VMEW ・ Altitude direction speed VMH ・ Vertical attitude angle AP ・ Horizontal attitude angle AY input processing procedure 31
And the input processing procedure 32 of the relative velocity V and the relative distance R, which is the tracking information of the moving target calculated in the above processing procedure 26.
And the latitude PMNS which is the position and speed information of the flying object.
・ Longitude PMEW ・ Altitude PMH ・ Latitude direction speed VMNS ・ Longitude direction speed VMEW ・ Altitude direction speed VMH ・ Vertical attitude angle AP ・ Horizontal attitude angle AY, and relative speed V and relative distance R that are tracking information of the moving target , Latitude PTNS / Longitude PTEW / Altitude PTH / Latitude Velocity VTN which is position / speed information of moving target
S / longitude direction velocity VTEW / altitude direction velocity VTH are respectively expressed by “number 1”, “number 2”, “number 3”, “number 4”, “number 5”,
When the processing procedure 33 for performing the backward calculation is performed by “Equation 6” and it is determined that the moving target is lost in the above processing procedure 28, the existence of the moving target from the latitude information PTNS / longitude PTEW / altitude PTH which is the position information of the backward calculated moving target. Range (PTNS ± fixed value, PTEW ±
A processing procedure 34 for calculating a fixed value, PTH ± fixed value) is performed.

Next, as shown in FIG. 12, in the moving component calculator 9, the latitude PTNS, the longitude PTEW, which is the position / velocity information of the moving target back-calculated in the processing procedure 33.
The altitude PTH, the latitude direction speed VTNS, the longitude direction speed VTEW, the altitude direction speed VTH, and the input processing procedure 35 of the moving target existence range calculated in the above processing procedure 34 are performed, and the moving target deviates from the moving target existence range. If it is determined that the moving target has deviated from the range where the moving target exists, the position of the moving target calculated backward is calculated.
Latitude PTNS, longitude PTEW, altitude PTH, latitude direction speed VTNS, longitude direction speed VTEW, altitude direction speed VTH which is speed information
And the travel time T from the time when the moving target is lost to the present time, the latitude direction moving component ΔPNS, the longitude direction moving component ΔPEW, and the altitude direction moving component, which are the moving components of the moving target from the time when the moving target is lost to the present time. Processing procedure 37 for calculating ΔPH by “Equation 7”, “Equation 8”, and “Equation 9”, respectively
The moving target existence range (PTNS ± ΔPNS, PTEW ±
The processing procedure 38 for calculating ΔPEW, PTH ± ΔPH) is performed. By performing the processing steps 13 to 38, when the moving target deviates from the existing range of the moving target obtained by the target existing range calculation unit, the range in which the moving target is searched can be limited. The moving target can be rediscovered in a short time, and the flying body can be guided toward the moving target.

[0033]

[Equation 7]

[0034]

[Equation 8]

[0035]

[Equation 9]

Embodiment 3. 3 is a configuration diagram showing a third embodiment of the present invention, in which 1 to 6 are exactly the same as the above-mentioned flying body guiding device. Further, 8 is exactly the same as the device described in the first embodiment. Reference numeral 10 is a target collation confirming unit, and the flying body guiding device according to the present invention is composed of 1 to 6 and 8 and 10 described above.

FIG. 13 is a flow chart showing the processing procedure of the third embodiment of the present invention. The processing procedure in FIG. 13 will be described below. As in the first embodiment, as shown in FIG. 6, in the mother machine 1, the processing procedure 13 for detecting a plurality of moving targets by the radar device mounted in the mother machine 1 is performed, and the plurality of detected moving targets are detected. The processing procedure 14 for calculating the initial latitude / initial longitude / initial altitude / latitude direction initial speed / longitude direction initial speed / altitude direction initial speed, which is position / speed information, is performed, and the position / speed information latitude / longitude / The processing procedure 15 for calculating the altitude / latitude direction speed / longitude direction speed / altitude direction speed is performed.

Next, as in the first embodiment, as shown in FIG. 7, in the navigation calculation unit 2, the initial latitude / position which is the position / speed information of the plurality of moving targets calculated in the processing procedure 14 is calculated. Initial longitude / initial altitude / latitude direction initial velocity /
The input processing procedure 16 of the longitude direction initial speed / altitude direction initial speed and the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed which is the position / speed information of the mother machine calculated in the above processing procedure 15 is performed. Perform processing step 17 to determine whether or not the flying object is separated from the mother aircraft, and from the time when the flying object is separated from the mother aircraft, the latitude / longitude / altitude / latitude, which is the position / speed information of a plurality of moving targets. The processing procedure 18 for calculating the directional speed / longitude direction speed / altitude direction speed is performed, and the position / speed information of the flying object is latitude PMNS / longitude PMEW / altitude PMH / latitude direction speed VMNS / longitude direction VMEW / altitude direction. The processing procedure 19 for calculating the velocity VMH, the vertical posture angle AP, and the horizontal posture angle AY is performed, and the processing procedure 20 for determining whether or not the moving target of the guidance target is a searchable relative position is performed. If the movement target elephant is not a relative position that can be searched, it carried out until it can search for the procedure 18, 19.

Next, as shown in FIG. 8 in the same manner as in the first embodiment, when the search processing section 3 reaches the relative position where the search can be performed in the processing procedure 20, the calculation is performed in the processing procedure 18. It is the latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity which is the position / velocity information of the moving target of the guided object, and the position / velocity information of the flying object calculated in the above processing procedure 19. Latitude PMNS / Longitude PMEW /
The input processing procedure 21 of the altitude PMH, the latitude direction speed VMNS, the longitude direction speed VMEW, and the altitude direction speed VMH is performed, and the latitude / longitude / altitude / latitude direction speed / longitude direction speed which is the position / speed information of the moving target to be guided.・ From the altitude velocity and the position / velocity information of the flying object, latitude PMNS / longitude PMEW / altitude PMH / latitude direction VMNS / longitude direction VMEW / altitude direction VMH, search processing of the moving target to be guided Performing a processing procedure 22 for determining whether or not the search of the moving target to be guided is completed, and performing a processing procedure 23 to search for the moving target to be guided at the time when the search is completed. The processing procedure 24 for calculating the initial relative velocity, the initial angle, and the initial relative distance, which are information, is performed.

Next, as in the first embodiment, as shown in FIG. 9, in the tracking calculation unit 4, the initial relative velocity, which is the tracking information of the moving target of the guidance target calculated in the processing procedure 24, After the initial angle / initial relative distance input processing procedure 25 is performed and the search is completed in the processing procedure 23, the relative velocity V, which is the tracking information of the moving target of the guidance target,
The processing procedure 26 for calculating the angle / relative distance R is performed, and the processing procedure 27 for calculating the guidance information to the movement target of the guidance target from the relative speed V / angle / relative distance R which is the tracking information of the movement target of the guidance target. Then, a processing procedure 28 for determining whether or not the movement target of the guidance target is lost is performed.

Next, as in the first embodiment, as shown in FIG. 10, in the steering section 5, the processing procedure 2 is performed.
The procedure 29 of inputting the guidance information to the moving target of the guidance target calculated in 7 is performed, and the processing procedure 30 of controlling the steering angle based on the guidance information to the moving target of the guidance target is performed.

Next, as in the first embodiment, as shown in FIG. 11, in the target existence range calculation unit 8, the latitude PMNS which is the position / velocity information of the flying object calculated in the processing procedure 19 described above.・ Longitude PMEW ・ Altitude PMH ・ Latitude direction speed VMNS ・ Longitude direction speed VMEW ・ Altitude direction speed VMH ・ Vertical attitude angle AP ・ Horizontal attitude angle AY input processing procedure 31
Then, the input processing procedure 32 of the relative velocity V and the relative distance R, which are the tracking information of the moving target of the guidance target calculated in the processing procedure 26, is performed, and the latitude PMNS and the longitude, which are the position and velocity information of the flying object. PMEW, altitude PMH, latitudinal velocity VMNS
-Longitudinal speed VMEW-Altitude-direction speed VMH-Vertical attitude angle AP-Horizontal attitude angle AY, and relative speed V and relative distance R that are tracking information of the moving target of the guidance target, from the position of the moving target of the guidance target・ Latitude PTNS and longitude PT which are speed information
EW / Altitude PTH / Latitude Velocity VTNS / Longitude VTEW
・ Altitude velocity VTH is calculated by "number 1", "number 2",
When the processing procedure 33 for back-calculating with “Equation 3”, “Equation 4”, “Equation 5”, and “Equation 6” is performed, and when it is determined that the moving target of the guidance target has been lost in the above-mentioned processing procedure 28, the guidance object calculated backward is calculated. The procedure 34 for calculating the existence range (PTNS ± fixed value, PTEW ± fixed value, PTH ± fixed value) of the moving target to be guided from the latitude PTNS / longitude PTEW / altitude PTH, which is the position information of the moving target of FIG.

Next, as shown in FIG. 13, in the target collation confirming section 10, the latitude / longitude / altitude / latitude direction latitude / longitude direction which is the position / velocity information of the plurality of moving targets calculated in the above processing procedure 18. Velocity / Altitude Direction Velocity input processing procedure 39 is performed, and latitude PTNS / longitude PTEW, which is position / speed information of the moving target of the guidance target, which is calculated back in the processing procedure 33.
・ Altitude PTH ・ Latitude direction speed VTNS ・ Longitude direction speed VTEW ・
When the input processing procedure 40 of the altitude direction velocity VTH is performed and it is determined in the processing procedure 28 that the moving target to be guided is lost, the latitude / longitude / altitude / latitude direction velocity which is the position / speed information of the plurality of moving targets.・ Latitude PTNS / Longitude PTEW / Altitude PTH / Latitude directional VTN
The processing procedure 41 is performed in which the difference between S, the longitude direction velocity VTEW, and the altitude direction velocity VTH is taken, and which of the plurality of moving targets has the smallest difference. Latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed which is speed information, and the position / speed information of the moving target of the guidance object that has been calculated backward: latitude PTNS / longitude PTEW / altitude PTH / latitude direction speed VTNS・ The average value of the longitudinal direction velocity VTEW and the altitude direction velocity VTH is taken, and the position / velocity information of the moving target to be guided is the latitude / longitude / altitude.
The processing procedure 42 for determining the latitude direction velocity, longitude direction velocity, and altitude direction velocity is performed, and the position / velocity information of the moving target having the second smallest difference is the latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude. Directional speed and the determined target movement position / velocity information of latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity are calculated, and the movement of the guidance target is within the range The processing procedure 43 for setting the target existence range is performed. The above processing procedures 13 to 3
By performing steps 4 and 39 to 43, it is possible to limit the range in which the moving target to be guided is searched when the moving target to be guided is lost, so even if there are multiple moving targets, they are lost. The moving target to be guided can be rediscovered in a short time, and the flying object can be guided toward the moving target to be guided.

Fourth Embodiment 4 is a block diagram showing a fourth embodiment of the present invention. In the figure, 1 to 6 are exactly the same as the above-mentioned flying body guiding device. Further, 8 is exactly the same as the device described in the first embodiment. Further, 10 is exactly the same as the device described in the third embodiment. Reference numeral 11 denotes a guidance target target existence range calculation unit, and the flying body guidance device according to the present invention is composed of the above 1 to 6 and 8, 10 and 11.

FIG. 14 is a flow chart showing the processing procedure of the fourth embodiment of the present invention. The processing procedure in FIG. 14 will be described below. As in the first embodiment, as shown in FIG. 6, in the mother machine 1, the processing procedure 13 for detecting a plurality of moving targets by the radar device mounted in the mother machine 1 is performed, and the plurality of detected moving targets are detected. The processing procedure 14 for calculating the initial latitude / initial longitude / initial altitude / latitude direction initial speed / longitude direction initial speed / altitude direction initial speed, which is position / speed information, is performed, and the position / speed information latitude / longitude / The processing procedure 15 for calculating the altitude / latitude direction speed / longitude direction speed / altitude direction speed is performed.

Next, as in the first embodiment, as shown in FIG. 7, in the navigation calculation unit 2, the initial latitude / position which is the position / speed information of the plurality of moving targets calculated in the processing procedure 14 is calculated. Initial longitude / initial altitude / latitude direction initial velocity /
The input processing procedure 16 of the longitude direction initial speed / altitude direction initial speed and the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed which is the position / speed information of the mother machine calculated in the above processing procedure 15 is performed. Perform processing step 17 to determine whether or not the flying object is separated from the mother aircraft, and from the time when the flying object is separated from the mother aircraft, the latitude / longitude / altitude / latitude, which is the position / speed information of a plurality of moving targets. The processing procedure 18 for calculating the directional speed / longitude direction speed / altitude direction speed is performed, and the position / speed information of the flying object is latitude PMNS / longitude PMEW / altitude PMH / latitude direction speed VMNS / longitude direction VMEW / altitude direction. The processing procedure 19 for calculating the velocity VMH, the vertical posture angle AP, and the horizontal posture angle AY is performed, and the processing procedure 20 for determining whether or not the moving target of the guidance target is a searchable relative position is performed. If the movement target elephant is not a relative position that can be searched, it carried out until it can search for the procedure 18, 19.

Next, as shown in FIG. 8 in the same manner as in the first embodiment, when the search processing section 3 reaches the relative position where the search can be performed in the processing procedure 20, the calculation is performed in the processing procedure 18. It is the latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity which is the position / velocity information of the moving target of the guided object, and the position / velocity information of the flying object calculated in the above processing procedure 19. Latitude PMNS / Longitude PMEW /
The input processing procedure 21 of the altitude PMH, the latitude direction speed VMNS, the longitude direction speed VMEW, and the altitude direction speed VMH is performed, and the latitude / longitude / altitude / latitude direction speed / longitude direction speed which is the position / speed information of the moving target to be guided.・ From the altitude velocity and the position / velocity information of the flying object, latitude PMNS / longitude PMEW / altitude PMH / latitude direction VMNS / longitude direction VMEW / altitude direction VMH, search processing of the moving target to be guided Performing a processing procedure 22 for determining whether or not the search of the moving target to be guided is completed, and performing a processing procedure 23 to search for the moving target to be guided at the time when the search is completed. The processing procedure 24 for calculating the initial relative velocity, the initial angle, and the initial relative distance, which are information, is performed.

Next, as in the first embodiment, as shown in FIG. 9, in the tracking calculation unit 4, the initial relative velocity, which is the tracking information of the moving target of the guidance target calculated in the processing procedure 24, After the initial angle / initial relative distance input processing procedure 25 is performed and the search is completed in the processing procedure 23, the relative velocity V, which is the tracking information of the moving target of the guidance target,
The processing procedure 26 for calculating the angle / relative distance R is performed, and the processing procedure 27 for calculating the guidance information to the movement target of the guidance target from the relative speed V / angle / relative distance R which is the tracking information of the movement target of the guidance target. Then, a processing procedure 28 for determining whether or not the movement target of the guidance target is lost is performed.

Next, as in the first embodiment, as shown in FIG. 10, in the steering section 5, the processing procedure 2 is performed.
The procedure 29 of inputting the guidance information to the moving target of the guidance target calculated in 7 is performed, and the processing procedure 30 of controlling the steering angle based on the guidance information to the moving target of the guidance target is performed.

Next, as in the first embodiment, as shown in FIG. 11, in the target existence range calculation section 8, the latitude PMNS which is the position / speed information of the flying object calculated in the processing procedure 19 is calculated.・ Longitude PMEW ・ Altitude PMH ・ Latitude direction speed VMNS ・ Longitude direction speed VMEW ・ Altitude direction speed VMH ・ Vertical attitude angle AP ・ Horizontal attitude angle AY input processing procedure 31
Then, the input processing procedure 32 of the relative velocity V and the relative distance R, which are the tracking information of the moving target of the guidance target calculated in the processing procedure 26, is performed, and the latitude PMNS and the longitude, which are the position and velocity information of the flying object. PMEW, altitude PMH, latitudinal velocity VMNS
-Longitudinal speed VMEW-Altitude-direction speed VMH-Vertical attitude angle AP-Horizontal attitude angle AY, and relative speed V and relative distance R that are tracking information of the moving target of the guidance target, from the position of the moving target of the guidance target・ Latitude PTNS and longitude PT which are speed information
EW / Altitude PTH / Latitude Velocity VTNS / Longitude VTEW
・ Altitude velocity VTH is calculated by "number 1", "number 2",
When the processing procedure 33 for back-calculating with “Equation 3”, “Equation 4”, “Equation 5”, and “Equation 6” is performed, and when it is determined that the moving target of the guidance target has been lost in the above-mentioned processing procedure 28, the guidance object calculated backward is calculated. The procedure 34 for calculating the existence range (PTNS ± fixed value, PTEW ± fixed value, PTH ± fixed value) of the moving target to be guided from the latitude PTNS / longitude PTEW / altitude PTH, which is the position information of the moving target of FIG.

Next, as in the third embodiment, as shown in FIG. 13, in the target collation confirming unit 10, the latitude / longitude / position / velocity / position information of the plurality of moving targets calculated in the processing procedure 18 is calculated. Altitude / Latitude direction speed / Longitude direction speed
Latitude PTNS / longitude PTEW / altitude PTH / latitude direction speed V, which is the position / speed information of the moving target of the guidance target, which is calculated back in step 33, by performing the altitude direction speed input processing procedure 39.
When the input processing procedure 40 of the TNS / longitude-direction speed VTEW / the altitude-direction speed VTH is performed and it is determined in the above-mentioned processing procedure 28 that the moving target of the guidance target is lost, the latitude / longitude which is the position / speed information of the plurality of moving targets. Longitude / Altitude / Latitude direction velocity / Longitude direction velocity / Altitude direction velocity and the backward calculated position / speed information of the moving target of the guidance target: Latitude PTNS / Longitude PTEW / Altitude PTH / Latitude direction velocity VTNS / Longitude direction velocity VTEW. The processing procedure 41 is performed for obtaining the difference in the altitude direction velocity VTH and comparing which of the plurality of moving targets has the smallest difference. The latitude / longitude is the position / speed information of the moving target having the smallest difference.・ Altitude ・ Latitude direction speed ・ Longitude direction speed ・ Altitude direction speed and the position of the moving target of the guidance object that has been calculated backward ・ Latitude PTNS ・ Longitude PTEW ・ Altitude PTH ・ Latitude direction speed VTNS ・ Longitude direction speed VTEW ・Taking the average value of the degrees direction speed VTH, latitude, longitude, altitude and latitude direction velocity and longitude direction speed and a position and speed information of the moving target of inducing target
The processing procedure 42 for determining the altitude direction speed is performed, and the position / speed information of the moving target with the second smallest difference is the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, and the determined guidance target. Of the moving target position / velocity information, the difference between latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity is taken, and the range that does not exceed the difference is set as the existing range of the moving target to be guided. Do 43.

Next, as shown in FIG. 14, in the guidance target target existence range calculation unit 11, the latitude / longitude / altitude / latitude direction velocities, which are the position / velocity information of the plurality of moving targets calculated in the above processing procedure 18, are calculated.・ Longitudinal direction velocity / Altitude direction velocity input processing procedure 44 is performed, and the position / velocity information of the movement target of the guidance target determined in the above processing procedure 42 is latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude. When it is determined that the directional velocity and the moving target existence range of the guidance target calculated in the above processing procedure 43 are input, and it is determined that the moving target of the guidance target deviates from the existing range of the moving target of the guidance target. , From the time when the target to be guided is lost from the position / speed information of the fixed target to be moved, which is latitude / longitude / altitude / latitude direction speed / longitude direction / altitude direction speed. A plurality of moving targets are subjected to the processing procedure 46 for calculating the predicted latitude, predicted longitude, predicted altitude, predicted latitude direction speed, predicted longitude direction speed, and predicted altitude direction speed, which are the position / speed information of the moving target to be guided in Latitude / Longitude / Altitude / Latitude / Velocity / Longitudinal / Velocity information that is the position / velocity information of each, and predicted latitude / predicted longitude / predicted altitude / prediction that is the position / speed information of the moving target to be guided. A processing procedure 47 is performed in which the difference between the latitude direction velocity, the predicted longitude direction velocity, and the predicted altitude direction velocity is calculated, and the range that does not exceed the difference is set as the existing range of the movement target to be guided. By performing the processing procedures 13 to 34 and 39 to 47, when the moving target deviates from the existing range of the moving target of the guidance target obtained by the target matching confirmation unit, the range of searching the moving target of the guidance target. Even if there are multiple moving targets, it is possible to rediscover the missing moving target of the guiding target in a short time and guide the flying object toward the moving target of the guiding target. can do.

Embodiment 5. FIG. 5 is a block diagram showing a fifth embodiment of the present invention, in which 1 to 6 are exactly the same as the above-mentioned flying body guiding device. Reference numeral 12 is a target prediction calculation unit, and the flying body guiding apparatus according to the present invention is composed of 1 to 6 and 12.

FIG. 15 is a flow chart showing the processing procedure of the fifth embodiment of the present invention. The processing procedure in FIG. 15 will be described below. As in the first embodiment, as shown in FIG. 6, in the mother machine 1, the processing procedure 1 for detecting the moving target by the radar device mounted in the mother machine 1.
3. Procedure 3 for calculating initial position, initial longitude, initial altitude, latitude direction initial speed, longitude direction initial speed, and altitude direction initial speed, which are position and speed information of the detected moving target.
4 is performed, and the processing procedure 15 for calculating the latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, which is the position / speed information of the mother machine, is performed.

Next, as in the first embodiment, as shown in FIG. 7, in the navigation calculation unit 2, the initial latitude / initial longitude which is the position / speed information of the moving target calculated in the processing procedure 14 described above.・ Initial altitude / latitude direction initial velocity / longitude direction initial velocity / altitude direction initial velocity and latitude / longitude / altitude / latitude direction velocity / longitude direction velocity, which is the position / velocity information of the mother machine calculated in the above processing procedure 15. The altitude direction velocity input processing procedure 16 is performed, and the processing procedure 17 for determining whether or not the flying body is separated from the mother aircraft is performed. From the time when the flying body is separated from the mother aircraft, the position / velocity information of the moving target is obtained. Latitude / longitude / altitude / latitude direction speed / longitude direction speed
The processing procedure 18 for calculating the altitude direction speed is performed, and the position / speed information of the flying object is latitude PMNS / longitude PMEW / altitude PMH / latitude direction speed VMNS / longitude direction speed VMEW / altitude direction speed VMH / vertical attitude angle. The process procedure 19 for calculating the AP / horizontal posture angle AY is performed, and the process procedure 20 for determining whether the moving target is a searchable relative position is performed. If the moving target is not the searchable relative position, the above process is performed. Repeat steps 18 and 19 until it becomes searchable.

Next, as shown in FIG. 8 in the same manner as in the first embodiment, when the search processing section 3 reaches the relative position where the search can be performed in the processing procedure 20, the calculation is performed in the processing procedure 18. The latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity which is the position / velocity information of the moving target, and the latitude PMNS which is the position / velocity information of the flying object calculated in the above processing procedure 19. Longitude PMEW / Altitude PMH /
The input processing procedure 21 of the latitude direction velocity VMNS, the longitude direction velocity VMEW, and the altitude direction velocity VMH is performed, and the position / speed information of the moving target is latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, Latitude PMNS / longitude PMEW / altitude PMH / latitude velocity V, which is the position / velocity information of the flying object.
When the search procedure is completed by performing the procedure 22 for searching the moving target from the MNS / longitude direction velocity VMEW / the altitude direction velocity VMH and performing the process procedure 23 for determining whether or not the search for the moving target is completed. First, the processing procedure 24 for calculating the initial relative velocity / initial angle / initial relative distance, which is the tracking information of the moving target at the time when the search is completed, is performed.

Next, as in the first embodiment, as shown in FIG. 9, in the tracking calculation section 4, the initial relative velocity, the initial angle, which is the tracking information of the moving target calculated in the processing procedure 24, is calculated. An initial relative distance input processing procedure 25 is performed, and from the time when the search is completed in the above processing procedure 23, a processing procedure 26 of calculating the relative velocity V / angle / relative distance R, which is the tracking information of the moving target, is performed to determine the moving target. The procedure 27 for calculating the guidance information to the moving target is performed from the relative velocity V, the angle, and the relative distance R, which are the tracking information, and the procedure 28 for determining whether or not the moving target is lost.

Next, as in the first embodiment, as shown in FIG. 10, in the steering section 5, the processing procedure 2 is performed.
Input processing procedure 2 for guiding information to the moving target calculated in 7.
9 is performed, and the processing procedure 30 for controlling the steering angle based on the guidance information to the moving target is performed.

Next, as shown in FIG. 15, in the target prediction / calculation unit 12, the latitude PMNS / longitude PMEW, which is the position / velocity information of the flying object calculated in the processing procedure 19, is calculated.
The relative speed V, which is the tracking information of the moving target calculated in the above processing procedure 26, is performed by inputting the processing procedure 48 of the altitude PMH, the latitude direction speed VMNS, the longitude direction speed VMEW, and the altitude direction speed VMH.
・ The processing procedure 49 for inputting the relative distance R is performed, and the processing procedure 50 for determining whether the relative distance to the moving target is a short distance is performed. When the relative distance to the moving target is a short distance, Latitude PMNS / longitude PMEW / altitude PMH / latitude direction speed VMNS / longitude direction speed VMEW / altitude direction speed VMH which is position / speed information, and relative speed V which is tracking information of a moving target.
Processing procedure 5 for calculating the predicted latitude, predicted longitude, predicted altitude, predicted latitude direction speed, predicted longitude direction speed, and predicted altitude direction speed, which are the moving target position and speed information, from the relative distance R
1 is performed, and the processing procedure 52 for calculating the predicted relative speed / predicted angle / predicted relative distance, which is the tracking information of the moving target, is performed.
By performing the processing steps 13 to 30 and 48 to 52 described above, when the moving target is lost and there is no time to search again, the predicted relative velocity, the predicted angle, and the predicted relative distance, which are the tracking information of the moving target, are calculated. By using it as an initial value for tracking calculation, it is possible to continue guiding the flying object toward the moving target.

[0060]

Since the present invention is constructed and processed as described above, it has the following effects.

According to the first aspect of the present invention, by providing the target existence range calculation unit 8 in the conventional device, the latitude / longitude / altitude which is the position / speed information of the flying object input from the navigation calculation unit 2.・ Latitude direction velocity ・ Longitude direction velocity ・ Altitude direction velocity ・ Vertical posture angle ・ Horizontal posture angle, and the relative velocity and relative distance, which are the tracking information of the moving target input from the tracking calculation unit 4, Even if the moving target is obstructed by the moving target and the moving target is lost, the moving target can be rediscovered in a short time by calculating the existence range of the moving target.

Further, according to the second aspect of the invention, since the moving component calculating section 9 is provided in the conventional apparatus, the latitude which is the backward calculated position / speed information of the moving target input from the target existence range calculating section 8 is obtained.・ Longitude / Altitude ・ Latitude direction velocity ・ Longitude direction velocity ・ Altitude direction velocity The moving target can be rediscovered in a short time by calculating the direction moving component and calculating the existence range of the moving target.

Further, according to the third aspect of the invention, the navigation calculation unit 2 is provided by providing the target collation confirmation unit 10 in the conventional device.
Latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, which is the position / velocity information of a plurality of movement targets input from, and the backward calculated guidance target movement input from the target existence range calculation unit 8. Latitude, which is the target position / speed information
Based on the longitude, altitude, latitude direction speed, longitude direction speed, and altitude direction speed, even if you lose sight of the guidance target movement target due to interference from the guidance target movement target, The latitude / longitude / altitude / latitude / latitude / longitude / altitude / direction information, which is the position / speed information, and the latitude / latitude, which is the position / speed information of the moving target of the guidance target, which is calculated backward.
Latitude, longitude, altitude, latitude direction speed, longitude direction speed, altitude direction speed which is the position and speed information of the moving target of the guidance target by taking the average value of longitude, altitude, latitude direction speed, longitude direction speed, altitude direction speed As the position / speed information of the moving target having the second smallest difference, which is the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, and the position / speed information of the confirmed movement target of the guidance target. The latitude, longitude, altitude, latitude, velocity in the latitude direction, velocity in the longitude direction, and velocity in the altitude direction are calculated, and the range that does not exceed the difference is set as the target movement range. You can rediscover your goals.

Further, according to the fourth aspect of the invention, since the guidance target target existence range calculation unit 11 is provided in the conventional apparatus,
Latitude / longitude / altitude / latitude / longitude / latitude / longitude / altitude direction velocities, which are position / velocity information of a plurality of moving targets input from the tracking calculation unit 4, and fixed guidance input from the target matching confirmation unit 10. Latitude, longitude, altitude, latitude direction speed, longitude direction speed, which is the position and speed information of the target moving target.
Based on the speed in the altitude direction, the position of the movement target of the guidance target from the moment when the movement target of the guidance target is lost
Predicted latitude, predicted longitude, predicted altitude, predicted latitude direction speed, predicted longitude direction speed, predicted altitude direction speed, which is speed information, is calculated, and the latitude, longitude, altitude, and each of the positions / speed information of multiple moving targets are calculated. Difference between latitude direction velocity / longitude direction velocity / altitude direction velocity and predicted latitude / prediction longitude / predicted altitude / predicted latitude direction velocity / predicted longitude direction velocity / predicted altitude direction velocity, which is the position / velocity information of the movement target of the guidance target Take
By setting the range that does not exceed the difference as the existence range of the guidance target movement target, the guidance target movement target can be rediscovered in a short time.

Further, according to the fifth aspect of the invention, since the target prediction calculation unit 12 is provided in the conventional device, the navigation calculation unit 2
Latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity / vertical attitude angle / horizontal attitude angle, which is the position / velocity information of the flying object, which is input from the tracking calculation unit 4. Relative velocity, which is the tracking information of the moving target
Based on the relative distance, if you lose sight of the moving target due to interference from the moving target, but there is no time to search again, the predicted latitude, predicted longitude, predicted altitude, and predicted latitude that are the position / speed information of the moving target. Directional speed / Predicted longitude Directional speed /
By calculating the predicted altitude direction speed and calculating the predicted relative speed, predicted angle, and predicted relative distance that are the tracking information of the moving target and using it as the initial value for tracking calculation, Induction can continue.

[Brief description of drawings]

FIG. 1 is a diagram showing a first embodiment of a flying body guiding device according to the present invention.

FIG. 2 is a diagram showing a second embodiment of a flying body guiding device according to the present invention.

FIG. 3 is a diagram showing a third embodiment of the flying body guiding device according to the present invention.

FIG. 4 is a diagram showing a fourth embodiment of the flying vehicle guiding device according to the present invention.

FIG. 5 is a diagram showing a fifth embodiment of a flying body guiding device according to the present invention.

FIG. 6 is a flowchart showing a processing procedure of the first embodiment of the flying vehicle guiding apparatus according to the present invention.

FIG. 7 is a flowchart showing a processing procedure of Embodiment 1 of the flying vehicle guiding apparatus according to the present invention.

FIG. 8 is a flowchart showing a processing procedure of the first embodiment of the flying object guiding apparatus according to the present invention.

FIG. 9 is a flowchart showing a processing procedure of the embodiment 1 of the flying vehicle guiding apparatus according to the present invention.

FIG. 10 is a flowchart showing a processing procedure of the embodiment 1 of the flying vehicle guiding apparatus according to the present invention.

FIG. 11 is a flowchart showing a processing procedure of the embodiment 1 of the flying vehicle guiding apparatus according to the present invention.

FIG. 12 is a flowchart showing a processing procedure of a second embodiment of the flying object guiding apparatus according to the present invention.

FIG. 13 is a flowchart showing a processing procedure of a third embodiment of the flying object guiding device according to the present invention.

FIG. 14 is a flowchart showing a processing procedure of a fourth embodiment of the flying object guiding apparatus according to the present invention.

FIG. 15 is a flowchart showing a processing procedure of a fifth embodiment of the flying vehicle guiding apparatus according to the present invention.

FIG. 16 is a configuration diagram showing a conventional flying body guiding device.

FIG. 17 is an external view showing the entire system to which the flying body guiding device is applied.

[Explanation of symbols]

1 mother plane 2 Navigation calculator 3 Search processing section 4 Tracking calculation section 5 Steering unit 6 flying body 7 movement target 8 Target existence range calculator 9 Moving component calculator 10 Target verification confirmation section 11 Target Target Existence Range Calculation Unit 12 Target prediction calculator

Claims (5)

[Claims] 1. An initial latitude, an initial longitude, an initial altitude, an initial velocity in the latitudinal direction, which is position / velocity information of a moving target from the mother machine.
Initial velocity in the longitude direction, initial velocity in the altitude direction, and the position of the mother machine
After obtaining the speed information, latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, and separating from the aircraft, the position / speed information of the moving target is latitude / longitude / altitude / latitude direction speed / Calculates the velocity in the longitude direction and the velocity in the altitude direction, and calculates the position / velocity information of the flying object, which is latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity / vertical attitude angle / horizontal attitude angle. The navigation calculation unit that performs the above, and the latitude / longitude / altitude / latitude / velocity / longitude / velocity information that is the position / velocity information of the moving target and the latitude / longitude / altitude that is the position / velocity information of the flying object.・
A search processing unit that calculates the initial relative speed, initial angle, and initial relative distance that is the tracking information of the moving target at the time when the search processing is completed by inputting the latitude direction speed, longitude direction speed, and altitude direction speed. And the initial relative speed / initial angle / initial relative distance, which is the tracking information of the moving target, are input, and the relative speed / angle / relative distance, which is the tracking information of the moving target, are calculated, and guidance information to the moving target is calculated. Tracking calculation unit, the steering unit that controls the steering angle when the guidance information to the moving target is input, and the moving target is obstructed by the moving target while guiding the flying object, The latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity / vertical attitude angle / horizontal attitude angle, which are the position / speed information of the flying object obtained by the navigation calculation unit, are input. In the tracking calculator And the relative speed and the relative distance is a tracking information of the mobile target is inputted, latitude and a position and speed information of the moving target
A flying object guide device comprising a target existence range calculation unit that calculates the existence range of a moving target by back-calculating the longitude, altitude, latitude direction speed, longitude direction speed, and altitude direction speed. 2. The position / velocity information of the back-calculated moving target obtained by the target existing range calculating unit when the moving target deviates from the existing range of the moving target obtained by the target existing range calculating unit. Latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity is entered, and the movement component of the movement target from the time when the movement target is lost to the present time is the latitude direction movement component / longitude direction movement component / altitude direction The flying object guiding apparatus according to claim 1, further comprising a moving component calculating unit that calculates a moving component and calculates a range in which a moving target exists. 3. When there are a plurality of moving targets, and when the moving target of the guidance target is lost due to interference from the moving target of the guidance target, the positions of the plurality of moving targets obtained by the navigation calculation unit are calculated. Each latitude, longitude, altitude, which is speed information
Latitude / longitude / altitude / latitude / latitude / longitude / speed, which is the back-calculated position / speed information of the moving target obtained by the target existence range calculation unit, when latitude / longitude / altitude speed is input. The altitude direction speed is input, and it is the position / speed information of each moving target, which is the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed, which is the position / speed information of multiple moving targets. The difference of latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity is calculated, and which of the multiple movement targets has the smallest difference, the position of the movement target with the smallest difference・ Latitude, longitude, altitude, latitude direction speed, longitude direction speed, altitude direction speed, which is speed information, and the position of the moving target that has been calculated backward, latitude, longitude, altitude, latitude direction speed, longitude direction speed, altitude direction The average of the degrees is determined to determine the position / velocity information of the moving target to be guided as latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, and the position of the moving target with the second smallest difference・ Latitude, longitude, altitude, latitude speed, longitude speed, which is speed information
The altitude direction speed and the position of the fixed target movement target
It has a target matching confirmation unit that takes the difference of latitude / longitude / altitude / latitude direction latitude / longitude direction velocity / altitude direction velocity, which is the speed information, and sets the range that does not exceed the difference as the existence range of the moving target to be guided. The flying body guiding apparatus according to claim 1, wherein: 4. When there are a plurality of moving targets, and when the moving target to be guided deviates from the range of existence of the moving target obtained by the target collation confirming unit, the plurality of the navigation targets obtained by the navigation calculating unit are obtained. The latitude / longitude / altitude / latitude direction velocity / longitude direction velocity / altitude direction velocity, which is the position / velocity information of the moving target, is input, and the position of the determined moving target of the guidance target obtained by the target matching confirmation unit Latitude, longitude, which is speed information
The altitude, latitude direction speed, longitude direction speed, and altitude direction speed are input, and the predicted latitude, predicted longitude, and predicted altitude are the position and speed information of the guidance target movement target from the time when the guidance target movement target is lost.・ Calculates the predicted latitude direction speed, predicted longitude direction speed, and predicted altitude direction speed, and calculates the latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed for each position / speed information of multiple moving targets. , The difference of predicted latitude, predicted longitude, predicted altitude, predicted latitude direction speed, predicted longitude direction speed, predicted altitude direction speed, which is the position / speed information of the movement target of the guidance target, is taken, and the range which does not exceed the difference The flying object guiding apparatus according to claim 1, further comprising a guidance target target existing range calculation unit that sets a moving target existing range. 5. When the relative distance to the moving target is short and the moving target is lost due to interference from the moving target, the position / speed information of the flying object obtained by the navigation calculation unit is used. A certain latitude / longitude / altitude / latitude direction speed / longitude direction speed / altitude direction speed / vertical attitude angle / horizontal attitude angle is input, and the relative speed is the tracking information of the moving target obtained by the tracking calculation unit. The relative distance is entered, and the predicted latitude, predicted longitude, predicted altitude, and
Predicted latitude direction speed, predicted longitude direction speed, and predicted altitude direction speed are calculated, and the predicted relative speed, which is the tracking information of the moving target,
The flying vehicle guide apparatus according to claim 1, further comprising a target prediction calculation unit that calculates a predicted angle and a predicted relative distance.