JP2004218869A - Flying object guide system, flying object, and guidance control device - Google Patents

Flying object guide system, flying object, and guidance control device Download PDF

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JP2004218869A
JP2004218869A JP2003004024A JP2003004024A JP2004218869A JP 2004218869 A JP2004218869 A JP 2004218869A JP 2003004024 A JP2003004024 A JP 2003004024A JP 2003004024 A JP2003004024 A JP 2003004024A JP 2004218869 A JP2004218869 A JP 2004218869A
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Prior art keywords
information
flying object
guidance
transmitting
receiving
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JP4085816B2 (en
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Motohide Higashiyama
基秀 東山
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a device capable of eliminating the influence on the command of acceleration, caused by a flying speed of the flying object, reducing the error in guidance, and meeting a target. <P>SOLUTION: A guidance control operating part 11 mounted on the guidance control device 10 calculates the meeting point information on a meeting point and a meeting point arrival time of the flying object 1 and a target 15 on the basis of the target information and the flying object information transmitted from the flying object 1, and transmits the same to the flying body 1. A guidance operating part 2 mounted on the flying body 1 calculates an average speed not on the basis of a relative speed from a tracking device 3, but on the basis of the meeting point and the meeting point arrival time calculated by the guidance control device 10, and calculates the acceleration command by a proportional navigation on the basis of the average speed. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
この発明は、目標に向かって飛しょうする飛しょう体に搭載された誘導演算部と、地上・車両・艦船・航空機等に搭載された誘導管制装置との間で情報の授受を行う飛しょう体誘導システム、および飛しょう体、および誘導管制装置に関するものである。
【０００２】
【従来の技術】
従来の飛しょう体の誘導システムは、飛しょう体に搭載された追尾装置により目標と飛しょう体との相対速度、相対角速度の目標情報が得て、誘導演算部にて航法定数を乗ずることにより加速度指令を算出し、加速度指令に基づきオートパイロットにより飛しょう体の運動を制御し、目標に向けて誘導する。加速度指令に含まれる各種の誤差が、目標への誘導精度に大きく関わるため、この各種誤差を低減し、より最適な加速度指令の算出方式を得る様々な提案がなされている。一例として、加速度指令の算出にファジー推論を適用した従来技術が知られている（例えば、特許文献１参照。）。
【０００３】
【特許文献１】
特開平９−２３６４００号公報（第７−９頁、第１図）
【０００４】
【発明が解決しようとする課題】
飛しょう体は推進装置により飛しょう初期に加速し、中期〜後期にかけては滑空するため、比例航法を用いる飛しょう体は、飛しょう速度に起因する、目標と飛しょう体との相対速度の変化の、加速度指令に対する誤差が生じる。飛しょう体の推進装置の発生する加速度が大きくなればなるほど、従来のファジー推論を用いた方式では、種種の目標運動および会合点にそれぞれ応じた関数を持つ必要があり、構成が複雑となるため、簡易な構成を実現する必要がある。
この発明は、係る課題を解決するために成されたものであり、飛しょう体の飛しょう速度に起因する加速度指令に対する影響を簡易に補正し、誘導誤差を低減し、目標に対し会合することができるようにしたことを目的とする。
【０００５】
【課題を解決するための手段】
この発明に関わる飛しょう体誘導システムは、目標を追尾し情報を得る追尾装置と、追尾装置からの情報および誘導管制装置からの会合点情報を処理して目標に向かって飛しょうするための加速度指令を算出する誘導演算部と、飛しょう体の運動情報を得る慣性装置と、加速度指令を処理して飛しょう体の運動を制御するオートパイロットと、地上・車両・艦船・航空機等に搭載された誘導管制装置との間で情報を授受する送受信アンテナと、誘導演算部で処理した目標情報および慣性装置で処理した飛しょう体運動情報を送受信アンテナから送信する送信部と、誘導管制装置から送信された会合点情報を送受信アンテナで受信する受信部とを備えた飛しょう体と、飛しょう体との間で情報を授受する送受信アンテナと、飛しょう体から送信された目標情報および飛しょう体運動情報を上記送受信アンテナで受信する受信部と、飛しょう体からの情報に基づき会合点情報を算出する誘導管制演算部と、誘導演算部で算出された会合点情報を上記送受信アンテナから送信する送信部とを備えた誘導管制装置とを備え、飛しょう体は、追尾装置からの情報と、慣性装置からの情報と、誘導管制装置からの情報により、目標に向かって飛しょうするための加速度指令を算出する誘導演算部を有したものである。
【０００６】
この発明に関わる飛しょう体は、目標を追尾し情報を得る追尾装置と、追尾装置からの情報および誘導管制装置からの会合点情報を処理して目標に向かって飛しょうするための加速度指令を算出する誘導演算部と、飛しょう体の運動情報を得る慣性装置と、加速度指令を処理して飛しょう体の運動を制御するオートパイロットと、地上・車両・艦船・航空機等に搭載された誘導管制装置との間で情報を授受する送受信アンテナと、誘導演算部で処理した目標情報および慣性装置で処理した飛しょう体運動情報を上記送受信アンテナから送信する送信部と、誘導管制装置から送信された会合点情報を送受信アンテナで受信する受信部とを備えたものである。
【０００７】
この発明に関わる誘導管制装置は、飛しょう体との間で情報を授受する送受信アンテナと、飛しょう体から送信された目標情報および飛しょう体運動情報を上記送受信アンテナで受信する受信部と、飛しょう体からの情報に基づき会合点情報を算出する誘導演算部と、誘導演算部で算出された会合点情報を送受信アンテナから送信する送信部とを備えたものである。
【０００８】
【発明の実施の形態】
実施の形態１．
以下、図を用いてこの発明に関わる実施の形態１について説明する。
図１は実施の形態１による飛しょう体誘導システムの構成を示している。飛しょう体１の動作を以下に説明する。飛しょう体１に備えられた追尾装置３は、目標１５を追尾し、飛しょう体１と目標１５との相対速度、相対距離、相対角度、相対角速度を観測・算出し、誘導演算部２に出力する。慣性装置４は飛しょう体１の位置、速度、加速度、姿勢角、姿勢角速度を観測・算出し誘導演算部２に出力する。受信部７は送受信アンテナ８で受信した誘導慣性装置１０からの情報を受信し、誘導演算部２に出力する。誘導演算部２は追尾装置３、慣性装置４、および受信部７からの情報入力により、加速度指令を算出しオートパイロット５に出力し、また目標情報および飛しょう体情報を送信部６に出力する。オートパイロット５は誘導演算部２からの加速度指令により、飛しょう体の運動を制御する。送信部６は誘導演算部２からの情報入力を送受信アンテナ８により、誘導管制装置１０に向けて放射する。飛しょう体１は推進装置９により推力を得、オートパイロット５により運動を制御し、目標１５に向けて誘導飛しょうを行う。
【０００９】
誘導管制装置１０の動作を以下に説明する。
誘導管制装置１０に備えられた受信部１３は送受信アンテナ１４で受信した飛しょう体１からの目標情報および飛しょう体情報を誘導管制演算部１１に出力する。誘導管制演算部１１は目標情報および飛しょう体情報から、飛しょう体１と目標１５の会合点および会合点到達時間の会合点情報を算出し、送信部１２に出力する。送信部１２は会合点情報を送受信アンテナ８により飛しょう体１に向けて放射する。
【００１０】
図２は誘導管制装置に備えた誘導管制演算部の構成を示している。
誘導管制演算部１１は、射表１９（あらかじめ算出しておいた飛しょう履歴に基づく、到達点と対応する時間の表）と、受信部１３からの目標情報（位置、速度、加速度）および飛しょう体情報（位置、速度、加速度）を用い、会合点・到達時間演算部２０において会合点および会合点到達時間を算出し、送信部１２に出力する。
【００１１】
図３は飛しょう体に備えた誘導演算部の構成を示している。
追尾装置３からの、飛しょう体１と目標１５との相対速度、相対距離、相対角度、相対角速度の算出出力と、慣性装置４からの飛しょう体１の位置、速度、加速度、姿勢角、姿勢角速度を用い、誘導演算部２に備えた目標情報処理部１６において、目標の位置、速度、加速度を算出し、飛しょう体の位置、速度、加速度、姿勢角、姿勢角速度と合わせて、送信部６に出力し、誘導管制装置１０に対し送信する。
【００１２】
平均速度演算部１８において、誘導管制装置１０からの会合点と会合点到達時間を受信部７から入力し、会合点までの移動距離を算出し、移動距離を会合点到達時間で割ることにより平均速度を算出し、加速度指令演算部１７に出力する。加速度指令演算部１７において、平均速度演算部１８からの平均速度と、目標情報処理部１６からの目標相対角速度と、加速度指令演算部１７において設定する航法定数を乗じ、比例航法による加速度指令を算出し、オートパイロット５に出力する。
【００１３】
【発明の効果】
この発明によれば、射表に基づきあらかじめ算出した飛しょう履歴を用いた会合点により平均速度を算出し、この平均速度を用い比例航法による加速度指令を算出し、飛しょう体の運動を制御するため、飛しょう速度に起因する誘導誤差を排除し、目標に対しより高い精度で会合することができる。
【図面の簡単な説明】
【図１】この発明の実施の形態による飛しょう体誘導システムを説明するための図である。
【図２】この発明の実施の形態による誘導管制装置に備えた誘導管制演算部を説明するための図である。
【図３】この発明の実施の形態による飛しょう体に備えた誘導演算部を説明するための図である。
【符号の説明】
１ 飛しょう体、 ２ 誘導演算部、 ３ 追尾装置、 ４ 慣性装置、 ５オートパイロット、 ６ 送信部、 ７ 受信部、 ８ 送受信アンテナ、 ９ 推進装置、 １０ 誘導管制装置、 １１ 誘導管制演算部、 １２ 送信部、 １３ 受信部、 １４ 送受信アンテナ、 １５ 目標、 １６ 目標情報処理部、 １７ 加速度指令演算部、 １８ 平均速度演算部、 １９ 射表、 ２０ 会合点・到達時間演算部。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a flying object that exchanges information between a guidance calculation unit mounted on a flying object flying toward a target and a guidance control device mounted on the ground, a vehicle, a ship, an aircraft, or the like. The present invention relates to a guidance system, a flying object, and a guidance control device.
[0002]
[Prior art]
The conventional flying object guidance system uses a tracking device mounted on the flying object to obtain target information on the relative speed and relative angular velocity between the target and the flying object, and then multiplies the navigation constant by the guidance calculation unit. The acceleration command is calculated, and the movement of the flying object is controlled by the autopilot based on the acceleration command to guide the vehicle toward the target. Since various errors included in the acceleration command greatly affect the accuracy of guidance to a target, various proposals have been made to reduce the various errors and obtain a more optimal acceleration command calculation method. As an example, a conventional technique in which fuzzy inference is applied to calculation of an acceleration command is known (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-9-236400 (pages 7-9, FIG. 1)
[0004]
[Problems to be solved by the invention]
The flying object is accelerated by the propulsion device in the early stage of the flight, and glide in the middle to late stages.Therefore, the flying object using proportional navigation changes the relative speed between the target and the flying object due to the flying speed. Causes an error with respect to the acceleration command. As the acceleration generated by the flying body propulsion device increases, the conventional method using fuzzy inference needs to have functions corresponding to various target motions and meeting points, and the configuration becomes more complicated. It is necessary to realize a simple configuration.
SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and it is an object of the present invention to easily correct an influence on an acceleration command caused by a flying speed of a flying object, reduce a guiding error, and associate with a target. The purpose is to be able to.
[0005]
[Means for Solving the Problems]
The flying object guidance system according to the present invention includes a tracking device that tracks a target and obtains information, and an acceleration for processing information from the tracking device and meeting point information from the guidance control device to fly toward the target. A guidance calculation unit that calculates commands, an inertial device that obtains movement information of the flying object, an autopilot that processes acceleration commands to control the movement of the flying object, and is mounted on the ground, vehicles, ships, aircraft, etc. A transmitting and receiving antenna for transmitting and receiving information to and from the guidance control device, a transmitting unit for transmitting the target information processed by the guidance calculation unit and the flying object motion information processed by the inertial device from the transmitting and receiving antenna, and a transmission from the guidance control device A flying object equipped with a receiving unit for receiving the received meeting point information with a transmitting / receiving antenna, a transmitting / receiving antenna for exchanging information with the flying object, and transmitting from the flying object A receiving unit that receives the target information and the vehicle motion information obtained by the transmitting and receiving antenna, a guidance control calculation unit that calculates meeting point information based on information from the flying vehicle, and an association point calculated by the guidance calculation unit A guidance control device having a transmission unit for transmitting information from the transmission / reception antenna, and a flying object, based on information from the tracking device, information from the inertial device, and information from the guidance control device, It has a guidance calculation unit for calculating an acceleration command for flying toward the vehicle.
[0006]
The flying object according to the present invention provides a tracking device that tracks a target and obtains information, and an acceleration command for processing information from the tracking device and meeting point information from the guidance control device to fly toward the target. Guidance calculation unit that calculates, inertial device that obtains flying object motion information, autopilot that processes acceleration commands to control the movement of the flying object, and guidance installed on the ground, vehicles, ships, aircraft, etc. A transmitting and receiving antenna for transmitting and receiving information to and from the control device; a transmitting unit for transmitting the target information processed by the guidance calculation unit and the flying object motion information processed by the inertial device from the transmitting and receiving antenna; And a receiving unit for receiving the meeting point information by a transmitting / receiving antenna.
[0007]
The guidance and control device according to the present invention includes a transmitting and receiving antenna for transmitting and receiving information to and from the flying object, and a receiving unit for receiving the target information and the flying object motion information transmitted from the flying object by the transmitting and receiving antenna, The vehicle includes a guidance calculation unit that calculates meeting point information based on information from a flying object, and a transmission unit that transmits the meeting point information calculated by the guidance calculation unit from a transmitting / receiving antenna.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
Hereinafter, Embodiment 1 according to the present invention will be described with reference to the drawings.
FIG. 1 shows a configuration of a flying object guidance system according to the first embodiment. The operation of the flying object 1 will be described below. The tracking device 3 provided in the flying object 1 tracks the target 15, observes / calculates the relative speed, relative distance, relative angle, and relative angular speed between the flying object 1 and the target 15, and sends the result to the guidance calculation unit 2. Output. The inertial device 4 observes and calculates the position, velocity, acceleration, attitude angle, and attitude angular velocity of the flying object 1 and outputs the result to the guidance calculation unit 2. The receiving unit 7 receives the information from the guidance inertial device 10 received by the transmission / reception antenna 8 and outputs the information to the guidance calculation unit 2. The guidance calculation unit 2 calculates an acceleration command based on information input from the tracking device 3, the inertial device 4, and the reception unit 7 and outputs the acceleration command to the autopilot 5, and outputs target information and flying object information to the transmission unit 6. . The autopilot 5 controls the movement of the flying object according to the acceleration command from the guidance calculation unit 2. The transmission unit 6 radiates information input from the guidance calculation unit 2 to the guidance control device 10 via the transmission / reception antenna 8. The flying object 1 obtains thrust by the propulsion device 9, controls the movement by the autopilot 5, and performs guided flying toward the target 15.
[0009]
The operation of the guidance control device 10 will be described below.
The receiving unit 13 provided in the guidance control device 10 outputs the target information and the flying object information from the flying object 1 received by the transmission / reception antenna 14 to the guidance control operation unit 11. The guidance control operation unit 11 calculates the meeting point information of the meeting point of the flying object 1 and the target 15 and the meeting point arrival time from the target information and the flying object information, and outputs the information to the transmitting unit 12. The transmitting unit 12 radiates the meeting point information toward the flying object 1 by the transmitting / receiving antenna 8.
[0010]
FIG. 2 shows a configuration of the guidance control arithmetic unit provided in the guidance control device.
The guidance control operation unit 11 includes a shooting table 19 (a table of arrival points and corresponding times based on flight histories calculated in advance), target information (position, speed, acceleration) from the reception unit 13 and flight information. Using the body information (position, speed, acceleration), the meeting point / arrival time calculator 20 calculates the meeting point and the meeting point arrival time, and outputs the calculated meeting point and meeting point arrival time to the transmitter 12.
[0011]
FIG. 3 shows the configuration of the guidance calculation unit provided for the flying object.
Calculation of the relative speed, relative distance, relative angle, and relative angular velocity of the flying object 1 and the target 15 from the tracking device 3 and the position, speed, acceleration, attitude angle, and the like of the flying object 1 from the inertial device 4 Using the attitude angular velocity, the target information processing unit 16 provided in the guidance calculation unit 2 calculates a target position, velocity, and acceleration, and transmits the target position, velocity, acceleration, attitude angle, and attitude angular velocity together with the target. The signal is output to the unit 6 and transmitted to the guidance control device 10.
[0012]
In the average speed calculation unit 18, the meeting point from the guidance control device 10 and the meeting point arrival time are input from the receiving unit 7, the moving distance to the meeting point is calculated, and the moving distance is divided by the meeting point arrival time. The speed is calculated and output to the acceleration command calculator 17. The acceleration command calculator 17 multiplies the average speed from the average speed calculator 18, the target relative angular velocity from the target information processor 16, and a navigation constant set in the acceleration command calculator 17 to calculate an acceleration command by proportional navigation. Then, it outputs to the auto pilot 5.
[0013]
【The invention's effect】
According to the present invention, the average speed is calculated from the meeting point using the flight history calculated in advance based on the shooting table, the acceleration command by proportional navigation is calculated using the average speed, and the movement of the flying object is controlled. Therefore, it is possible to eliminate the guidance error caused by the flying speed and to associate with the target with higher accuracy.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining a flying object guidance system according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining a guidance control arithmetic unit provided in the guidance control device according to the embodiment of the present invention;
FIG. 3 is a diagram for explaining a guidance calculation unit provided in the flying object according to the embodiment of the present invention.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 flying object, 2 guidance calculation unit, 3 tracking device, 4 inertia device, 5 autopilot, 6 transmission unit, 7 reception unit, 8 transmission / reception antenna, 9 propulsion device, 10 guidance control device, 11 guidance control calculation unit, 12 Transmission unit, 13 reception unit, 14 transmission / reception antenna, 15 target, 16 target information processing unit, 17 acceleration command calculation unit, 18 average speed calculation unit, 19 shooting table, 20 meeting point / arrival time calculation unit.

Claims (3)

目標を追尾し情報を得る追尾装置と、追尾装置からの情報および誘導管制装置からの会合点情報を処理して目標に向かって飛しょうするための加速度指令を算出する誘導演算部と、飛しょう体の運動情報を得る慣性装置と、加速度指令を処理して飛しょう体の運動を制御するオートパイロットと、地上・車両・艦船・航空機等に搭載された誘導管制装置との間で情報を授受する送受信アンテナと、上記誘導演算部で処理した目標情報および上記慣性装置で処理した飛しょう体運動情報を上記送受信アンテナから送信する送信部と、誘導管制装置から送信された会合点情報を上記送受信アンテナで受信する受信部と、を備えた飛しょう体と、飛しょう体との間で情報を授受する送受信アンテナと、飛しょう体から送信された目標情報および飛しょう体運動情報を上記送受信アンテナで受信する受信部と、飛しょう体からの情報に基づき会合点情報を算出する誘導管制演算部と、上記誘導演算部で算出された会合点情報を上記送受信アンテナから送信する送信部と、を備えた誘導管制装置とを備え、
上記飛しょう体は、上記追尾装置からの情報と、上記慣性装置からの情報と、上記誘導管制装置からの情報により、目標に向かって飛しょうするための加速度指令を算出する誘導演算部を有したことを特徴とする飛しょう体誘導システム。A tracking device that tracks the target and obtains information, a guidance calculation unit that processes the information from the tracking device and the meeting point information from the guidance control device to calculate an acceleration command for flying toward the target, Information is exchanged between an inertial device that obtains body movement information, an autopilot that processes acceleration commands to control the movement of the flying object, and a guidance control device mounted on the ground, vehicles, ships, aircraft, etc. A transmitting / receiving antenna for transmitting the target information processed by the guidance operation unit and the flying object motion information processed by the inertial device from the transmitting / receiving antenna, and transmitting / receiving the meeting point information transmitted from the guidance control device to / from the transmitting / receiving antenna. A flying object having a receiving unit for receiving with an antenna, a transmitting / receiving antenna for transmitting and receiving information between the flying object, target information transmitted from the flying object, and a flying object A receiving unit for receiving body movement information with the transmitting and receiving antenna, a guidance control arithmetic unit for calculating meeting point information based on information from the flying object, and a transmitting and receiving antenna for calculating the meeting point information calculated by the guidance calculating unit; A transmission unit that transmits from
The flying object has a guidance calculation unit that calculates an acceleration command for flying toward a target based on information from the tracking device, information from the inertial device, and information from the guidance control device. A flying object guidance system characterized by the following. 目標を追尾し情報を得る追尾装置と、追尾装置からの情報および誘導管制装置からの会合点情報を処理して目標に向かって飛しょうするための加速度指令を算出する誘導演算部と、飛しょう体の運動情報を得る慣性装置と、加速度指令を処理して飛しょう体の運動を制御するオートパイロットと、地上・車両・艦船・航空機等に搭載された誘導管制装置との間で情報を授受する送受信アンテナと、上記誘導演算部で処理した目標情報および上記慣性装置で処理した飛しょう体運動情報を上記送受信アンテナから送信する送信部と、誘導管制装置から送信された会合点情報を上記送受信アンテナで受信する受信部と、を備えた飛しょう体。A tracking device that tracks the target and obtains information, a guidance calculation unit that processes information from the tracking device and meeting point information from the guidance control device to calculate an acceleration command for flying toward the target, Information is exchanged between an inertial device that obtains body movement information, an autopilot that processes acceleration commands to control the movement of the flying object, and a guidance control device mounted on the ground, vehicles, ships, aircraft, etc. A transmitting / receiving antenna for transmitting, from the transmitting / receiving antenna, target information processed by the guidance calculation unit and flying object motion information processed by the inertial device, and transmitting / receiving meeting point information transmitted from the guidance control device. A flying object provided with a receiving unit for receiving with an antenna. 飛しょう体との間で情報を授受する送受信アンテナと、飛しょう体から送信された目標情報および飛しょう体運動情報を上記送受信アンテナで受信する受信部と、飛しょう体からの情報に基づき会合点情報を算出する誘導演算部と、上記誘導演算部で算出された会合点情報を上記送受信アンテナから送信する送信部と、を備えた誘導管制装置。A transmitting and receiving antenna for transmitting and receiving information to and from the flying object, a receiving unit for receiving target information and flying object motion information transmitted from the flying object using the transmitting and receiving antenna, and meeting based on information from the flying object. A guidance control device comprising: a guidance calculation unit that calculates point information; and a transmission unit that transmits the meeting point information calculated by the guidance calculation unit from the transmission / reception antenna.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010032090A (en) * 2008-07-28 2010-02-12 Mitsubishi Electric Corp Guiding method and guiding device for missile
KR101622260B1 (en) 2014-10-20 2016-05-19 서울대학교산학협력단 Impact time control guidance method and device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010032090A (en) * 2008-07-28 2010-02-12 Mitsubishi Electric Corp Guiding method and guiding device for missile
KR101622260B1 (en) 2014-10-20 2016-05-19 서울대학교산학협력단 Impact time control guidance method and device

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