JP2006284120A - Flying object guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a flying object guidance system for securing high accuracy of hitting a target by separately using the outputs of a plurality of tracking filters for calculating a meeting point in accordance with estimated values of a terminal guidance time for a flying object, a firing range and an initial heading error. <P>SOLUTION: Two types of tracking filters are separately used in accordance with the estimated values for the initial heading error, etc. Thereby, guidance with a less possible initial heading error is performed using a high sensitive tracking filter for a high mobility target right before meeting and guidance with a less speed reduction of the flying object is performed using a low sensitive tracking filter for a low mobility target or a target which requires much time to be met. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  This invention transfers information between the flying object flying toward the meeting point and the guidance control device mounted on the ground, vehicle, ship, aircraft, etc., and the flying object meets the target. The present invention relates to a flying object guiding apparatus for guiding a point.

  A conventional flying object guidance device obtains target information of a target speed and a target position by a radar device, and calculates a meeting point between the flying object and the target by a guidance control device. As an example, a conventional technique is known in which a meeting point is calculated by comparing linear extrapolation from the range of a flying object and a target vector (see, for example, Patent Document 1).

JP 2003-148898 A (page 7-9, FIG. 1)

  When guiding to a target with high mobility such as turning, meandering, diving, etc., when calculating the meeting point by linear extrapolation from the conventional target vector, the meeting point shakes greatly and the speed of the flying object decreases. The accuracy was reduced. In addition, in order to prevent the speed of the flying object from slowing down, if a tracking filter that does not move the meeting point to the target with high mobility movement is used, The initial heading error increased, and the accuracy of hitting was worsening.

  The present invention has been made to solve such a problem, and based on the estimated values of the flying terminal end induction time, range, initial heading error, etc., outputs of a plurality of tracking filters for calculating the meeting point The purpose is to obtain a flying object guidance device that can ensure high accuracy with respect to the target by properly using.

  The flying object guidance device according to the present invention is a flying object guidance device that exchanges information with a flying object that flies toward the meeting point with the target and guides the flying object to the meeting point. In this case, the target is captured and tracked, and the position and velocity of the target are output as observed values, and a radar device that outputs a guidance command for guiding the flying object to the meeting point, and sampling immediately at a predetermined timing. A high-sensitivity tracking filter that outputs a value close to the observed value with respect to the predicted value when obtaining the smooth value of the target position at the current time from the predicted value and the observed value for predicting the target position at the current time at the sampling time of The tracking filter is equipped with a low-sensitivity tracking filter that outputs a value close to the predicted value for the observed value, and the meeting point is calculated from the output of the high-sensitive tracking filter and the observed value. Predicted meeting point calculation unit H, predicted meeting point calculation unit L that calculates the meeting point from the output and observation value of this low-sensitivity tracking filter, predicted value of meeting point of this expected meeting point calculation unit H and calculation of this expected meeting point The heading error calculation unit for calculating each heading error from the predicted value and the observed value of the part L meeting point, and the respective arrival times according to the respective expected meeting times output from the predicted meeting point calculation unit H and the predicted meeting point calculation unit L An arrival time calculation unit that calculates the meeting point, and a filter output selection unit that includes a determination unit that determines an association point from each heading error from each heading error and each arrival time, and an association point by the selection output of the filter output selection unit And a hitting guidance calculation unit that outputs a guidance command including a predicted value and an arrival time to the radar apparatus.

  According to the present invention, when the distance between the target and the flying object is long and the arrival time until the meeting is long, the flying object is not easily influenced by the movement of the target, and the flying object does not generate useless acceleration. When the distance between the flying object and the target is reduced and the arrival time until the meeting is shortened, the acceleration corresponding to the target motion is generated and guided to reduce the kinetic energy loss of It is possible to reduce the closest distance between the flying object and the flying object.

  In addition, as a result of classification, for the high maneuver movement target that is determined to be piloted and to perform avoidance movement from the flying object, the stage where the flying object approaches the target depending on the time it takes to reach the target Thus, it is possible to switch to the high sensitivity tracking filter. Because the predicted value of the meeting point input to the flying object from the critical attack calculation unit is the output of the high-sensitivity tracking filter, it becomes the predicted value of the meeting point along the target motion, causing the flying object to generate acceleration, By guiding in accordance with the target motion, it is possible to reduce the speed vector correction amount when the flying object enters autonomous guidance, and to reduce the closest approach distance between the target and the flying object. . In addition, it is possible to guide a target with low mobility that is determined not to take avoidance action with the low-sensitivity tracking filter, and it can be guided stably without generating unnecessary acceleration in the flying object. By doing so, the loss of kinetic energy of the flying object can be suppressed.

  Furthermore, for a target with high received power, noise is small even when a high-sensitivity tracking filter is used, so that the predicted value of the meeting point can be calculated without being influenced by noise. As a result, the predicted value of the meeting point input to the flying object from the critical attack calculation unit becomes the predicted value of the meeting point along the target motion because the output of the high-sensitivity tracking filter generates acceleration in the flying object. By guiding in accordance with the target motion, it is possible to reduce the speed vector correction amount when the flying object enters autonomous guidance, and to reduce the closest approach distance between the target and the flying object It becomes. In addition, a target with low received power can be guided with a low-sensitivity tracking filter, and the predicted value of the meeting point is not affected by large noise due to the small received power, and the flying object is wasted. It is possible to suppress the loss of kinetic energy of the flying object by stably guiding without generating a significant acceleration.

Embodiment 1 FIG.
FIG. 1 is a diagram for explaining a flying object guidance apparatus according to Embodiment 1 of the present invention. Reference numeral 1 denotes a target 5 for guiding a flying object 4 based on information from a radar apparatus 3. A guidance control device for calculating the predicted value of the meeting point of the flying object 4, 2 is a launch to output the target calculated by the guidance control device 1 and the predicted value of the meeting point of the flying object 4 to the flying object 4. 6 is a tracking filter that estimates the target position and velocity based on the target observation position, which is the output of the radar apparatus 3, and 7 is a filter that is used to calculate the predicted value of the meeting point from the output of the tracking filter 6. The filter output selection unit 8 is a critical attack calculation unit for calculating a predicted value of the meeting point between the target 5 and the flying object 4. The tracking filter 6, the filter output selection unit 7, and the critical attack calculation unit 8 are controlled by guidance control. Located in device 1.

  The radar device 3 captures and tracks the target 5 and outputs the observation position of the target 5 to the guidance control device 1. Further, the radar device 3 outputs the observation position or downlink information of the flying object 4 (including the flying object position information and velocity information) to the guidance control device 1. The tracking filter 6 provided in the guidance control device 1 outputs the smooth value of the position and speed of the target 5 to the filter output selection unit 7, and the filter output selection unit 7 calculates the target value from the smooth value of the output of the tracking filter 6. 5 and a smooth value for calculating the meeting point of the flying object 4 is selected and output to the critical attack calculation unit 8. The predicted value of the meeting point between the target 5 and the flying object 4 is calculated by the critical attack calculation calculation unit 8, the predicted position of the meeting point is output to the flying object 4 through the launcher 2, and the flying object 4 is fired. . The flying object 4 flies toward the predicted position of the input meeting point.

  After launching the flying object 4, the guidance control device 1 transmits the updated value of the predicted value of the meeting point between the target 5 and the flying object 4 to the flying object 4 through the radar device 3 as a command. No. 4 will fly toward the updated value of the predicted value of the meeting point included in the input command.

FIG. 2 is a diagram for explaining the tracking filter 6 provided in the guidance control device 1, wherein 9 is a high sensitivity tracking filter and 10 is a low sensitivity tracking filter.

The observation value of the target 5 output from the radar device 3 is input to the high-sensitivity tracking filter 9 and the low-sensitivity tracking filter 10, and the high-sensitivity tracking filter 9 affects the error in the observation position of the target 5 and the movement of the target. A smooth value that is easily received is output, and a smooth value that is not easily affected by the error in the observation position of the target 5 and the motion of the target is output by the low-sensitivity tracking filter 10.

The high-sensitivity tracking filter is based on a predicted value obtained by predicting the current target position at the previous sampling and an observation value output from the radar apparatus 3, that is, an estimated value of the target position at that time, that is, smoothing. When obtaining a value, a filter that outputs a value close to the observed value and follows the observed value is shown. On the other hand, the low-sensitivity tracking filter is a filter that outputs a value close to the predicted value and is less susceptible to the observed value.

FIG. 3 is a diagram for explaining the filter output selection unit 7 provided in the guidance control device 1, and 11 calculates a predicted value of the meeting point based on the smooth position and speed of the high-sensitivity tracking filter 9. The predicted meeting point calculation units H and 12 calculate the predicted value of the meeting point based on the smooth position and speed of the low-sensitivity tracking filter 10, and the predicted meeting point calculation unit L and 13 calculate the predicted meeting point calculation unit H (11 ), An arrival time calculation unit for calculating the time at which the flying object reaches the predicted position of each meeting point calculated by the expected meeting point calculation unit L (12), and 14 includes an expected meeting point calculation unit H (11), A heading error calculation unit 15 for calculating the difference between the velocity vector of the flying object and the vector for the predicted value of each meeting point based on the predicted value of each meeting point calculated by the predicted meeting point calculation unit L (12); Expected meeting point calculation unit H (11), expected meeting point calculation unit L ( A determination section for determining output as expected Junction which value of 2).

The smooth value (position, velocity) of the target 5 output from the high-sensitivity tracking filter 9, the flying object observation position or downlink information (including the flying object position information, velocity information) output from the radar device 3. The predicted meeting point calculation unit H (11) inputs the predicted value of the meeting point as shown in Equation (1). Similarly, the smooth value (position, velocity) of the target 5 output from the low-sensitivity tracking filter 10 and the flying object observation value or downlink output from the radar apparatus 3 are input to the predicted meeting point calculation unit L (12). Then, the predicted value of the meeting point is calculated as follows.

  The expected meeting time output from the predicted meeting point calculation unit H (11) and the predicted meeting point calculation unit L (12) is input to the arrival time calculation unit 13, and the arrival time is calculated by Equation 2.

  The predicted value of the meeting point output from the predicted meeting point calculation unit H (11) and the predicted meeting point calculation unit L (12), the flying object observation value or the downlink information output from the radar device 3 (the flying object (Including position information and speed information) is input to the heading error calculation unit 14, and the prediction of the meeting point output from the predicted meeting point calculation unit H (11) and the predicted meeting point calculation unit L (12) by Equation 3 Calculate heading error by value.

  The heading error output from the heading error calculation unit 14 and the arrival time output from the arrival time calculation unit 13 are input to the determination unit 15, and a predicted value of the meeting point used by the critical attack calculation unit 8 is output.

FIG. 4 is a diagram for explaining a heading error used in the guidance control apparatus 1 of the flying object guidance apparatus according to Embodiment 1 of the present invention.
The target smooth position 21 by the low sensitivity tracking filter with respect to the actual target position 20, and the result calculated by the predicted meeting point calculation unit L (12) based on this is the predicted meeting point 24 by the low sensitivity tracking filter. . On the other hand, the predicted meeting point 25 by the high sensitivity tracking filter is the result calculated by the predicted meeting point calculation unit H (11) from the target smooth position 22 by the high sensitivity tracking filter.
The heading error 26 is an angle difference between the predicted meeting point 24 by the low sensitivity tracking filter and the predicted meeting point 25 by the high sensitivity tracking filter as seen from the flying object 4.

FIG. 5 is a processing flow for explaining the algorithm of the determination unit 15 provided in the filter output selection unit 7. In the processing flow f1, the arrival time Tgo is input from the arrival time calculation unit 13, and an allowable heading error is searched in the processing flow f2 from the arrival time VS allowable heading error database of the processing flow f3. The allowable heading error is the size of the heading error allowed to guide the flying object specified for each arrival time.

A heading error is input from the heading error calculation unit 14 in the processing flow f4, and the heading error is compared with the allowable heading error at a branch f5. If the heading error is less than the allowable heading error, the meeting point predicted value PIP_L by the low-sensitivity tracking filter is selected in the processing flow f6, and is set as the input value of the attack guidance calculation unit 8 in the processing flow f8.

If the heading error is greater than or equal to the allowable heading error at the branch f5, the meeting point predicted value PIP_H by the high-sensitivity tracking filter is selected at the processing flow f7, and is set as the input value of the critical attack guidance calculation unit 8 at the processing flow f8.

  The critical attack guidance calculation unit 8 outputs the predicted value of the meeting point and the arrival time based on the output of the filter selected by the filter output selection unit 7 to the launcher 2 before and at the time of launching the flying object 4. After launching 4, the signal is output to the radar device 3.

  The launcher 2 outputs a launch command including the predicted value of the meeting point and the arrival time to the flying object 4 and causes the flying object 4 to fire.

  The radar apparatus 3 outputs a guidance command including the predicted value of the meeting point and the arrival time to the flying object 4 that is flying.

  In the flying object 4, at the time of launch, the predicted value of the meeting point in the launch command input from the launcher 2 and the arrival time, the meeting point in the guidance command input from the radar device 3 is determined during the flight. Using the predicted value and the arrival time, acceleration is generated according to Equation 4, and it flies toward the predicted value of the meeting point.

  According to the first embodiment, when the arrival time until the target 5 and the flying object 4 meet is long, the determination unit 15 uses the predicted value of the meeting point by the high sensitivity tracking filter 9 and the low sensitivity tracking filter 10. By calculating the angle difference as seen from the flying object 4: heading error 26 using the predicted value of the meeting point, even if the target 5 is performing movements such as turning, diving, and meandering, the Heading in Equation 3 is The predicted value of the meeting point based on the output of the low-sensitivity tracking filter 10 is reduced and used in the required attack guidance calculation unit 8. Because the predicted value of the meeting point input to the flying object 4 from the attack guidance calculation unit 8 is the output of the low-sensitivity tracking filter 10, the predicted value of the meeting point with little fluctuation due to the movement of the target 5 is obtained. The loss of kinetic energy of the flying object 4 can be suppressed by stably guiding without generating the useless acceleration according to Equation 4.

In addition, when the arrival time until the target 5 and the flying object 4 meet is short and the target 5 is performing exercise such as turning, diving, and meandering, the Heading in Equation 3 is increased, and high sensitivity is obtained. The predicted value of the meeting point based on the output of the tracking filter 9 is used by the critical attack guidance calculation unit 8. Because the predicted value of the meeting point input to the flying object 4 from the critical attack calculation unit 8 is the output of the high-sensitivity tracking filter, the predicted value of the meeting point along the movement of the target 5 is 4 is generated and guidance corresponding to the motion of the target 5 is performed, so that the amount of correction of the velocity vector when the flying object enters the autonomous guidance is reduced, and the maximum amount between the target 5 and the flying object 4 is reduced. The approach distance can be reduced.

  As a result, when the distance between the target 5 and the flying object 4 is long and the arrival time until the meeting is long, the flying object is not easily influenced by the movement of the target and the flying object 4 does not generate unnecessary acceleration. By suppressing the loss of kinetic energy of the aircraft, the distance between the flying object 4 and the target 5 is close, and the arrival time until the meeting is shortened, the acceleration corresponding to the target movement is generated and guided. It is possible to reduce the closest approach distance between the target 5 and the flying object 4.

Embodiment 2. FIG.
FIG. 6 is a diagram for explaining the filter output selection unit 7 provided in the guidance control apparatus 1 of the flying object guidance apparatus according to Embodiment 2 of the present invention. A classification determination unit 16 that determines a filter to be used for the heading error is added instead of the heading error calculation unit 14 and the determination unit 15. The classification determination unit 16 determines a filter to be used based on the target classification results such as fighter-bombers and cruise missiles input from the radar device 3.

FIG. 7 is a processing flow for explaining the algorithm of the classification determination unit 16 provided in the guidance control device 1 of the flying object guidance device according to the second embodiment of the present invention. On the other hand, a branch f10 for selecting a filter for calculating the predicted value of the meeting point according to the target type is added instead of the branch f5.
Here, when the target classification result is a target operated by a pilot such as a fighter-bomber, a branch to which a high-sensitivity tracking filter is applied is assumed. Further, instead of the processing flows f2 and f4, a processing flow f9 for inputting a classification result representing the target type is added.

  According to the second embodiment, as a result of classification, a flying object is used for a target that performs a high maneuvering movement, such as a fighter-bomber that is piloted and evaded from a surface-to-air missile. Depending on the time at which 4 reaches the target 5, it is possible to switch to the high-sensitivity tracking filter 9 when approaching the target 5. The predicted value of the meeting point input to the flying object 4 from the critical attack calculation unit 8 becomes the predicted value of the meeting point along the movement of the target 5 for the output of the high-sensitivity tracking filter 9. By generating the acceleration according to Equation 4 and performing guidance corresponding to the motion of the target 5, the amount of correction of the velocity vector when the flying object 4 enters the autonomous guidance is reduced, and between the target 5 and the flying object 4 It is possible to reduce the closest approach distance.

Further, as a result of the classification, it is possible to guide a low mobility target determined as a cruise missile or the like that does not take avoidance action as it is with the low-sensitivity tracking filter 10. It is possible to suppress the loss of kinetic energy of the flying object 4 by stably guiding without generating unnecessary acceleration.

Embodiment 3 FIG.
FIG. 8 is a diagram for explaining the filter output selection unit 7 provided in the guidance control apparatus 1 of the flying object guidance apparatus according to Embodiment 3 of the present invention. The predicted value of the meeting point is determined by the target received power. A reception power determination unit 17 that determines a filter to be used for calculation is added instead of the heading error calculation unit 14 and the determination unit 15. The received power determination unit 17 determines a filter to be used based on the target received power input from the radar device 3.

  FIG. 9 is a process flow for explaining the algorithm of the received power determination unit 17 provided in the guidance control device of the flying object guidance apparatus according to the third embodiment of the present invention. On the other hand, instead of the branch f5, a branch f11 for selecting a filter for calculating the predicted value of the meeting point according to the target received power is added, and the specified target received power for the arrival time is searched instead of the processing flow f2. Instead of the process flow f13 and the database f3, a process flow f12 for inputting the target received power instead of the f14 of the arrival time VS specified target received power database and the process flow f4 is added.

In the process flow f13, the target received power specified for the arrival time is searched from the database f14, and in the branch f11, it is determined whether the target received power is equal to or higher than the specified value. If it is above the specified value, the predicted value of the meeting point is calculated using the high-sensitivity tracking filter 9.
When the received power is greater than or equal to the specified value, the observation accuracy is good, so that even if a high-sensitivity tracking filter is applied, a result that is less affected by noise can be obtained.

  According to the third embodiment, for a target having a large target reception power such as a fighter-bomber, the noise is small even when the high-sensitivity tracking filter 9 is used, so that the meeting point is not affected by the noise. The predicted value can be calculated. As a result, the predicted value of the meeting point input to the flying object 4 from the critical attack calculation unit 8 becomes the predicted value of the meeting point along the movement of the target 5 because of the output of the high-sensitivity tracking filter 9. 4, the acceleration according to Equation 5 is generated, and guidance corresponding to the motion of the target 5 is performed to reduce the amount of correction of the velocity vector when the flying object enters autonomous guidance. It is possible to reduce the closest approach distance.

Further, it is possible to guide the target with low received power as it is with the low-sensitivity tracking filter 10, and the flying object 4 does not depend on the predicted value of the meeting point due to large noise due to the small received power. Thus, it is possible to suppress the loss of kinetic energy of the flying body 4 by stably guiding without generating the useless acceleration according to Equation (4).

It is a figure for demonstrating the flying body guidance apparatus by Embodiment 1 of this invention. It is a figure for demonstrating the tracking filter with which the guidance control apparatus of the flying body guidance apparatus by Embodiment 1 of this invention was equipped. It is a figure for demonstrating the filter output selection part with which the guidance control apparatus of the flying body guidance apparatus by Embodiment 1 of this invention was equipped. It is a figure for demonstrating the heading error used with the guidance control apparatus of the flying body guidance apparatus by Embodiment 1 of this invention. It is a processing flow for demonstrating the algorithm of the determination part with which the guidance control apparatus of the flying body guidance apparatus by Embodiment 1 of this invention was equipped. It is a figure for demonstrating the filter output selection part with which the guidance control apparatus of the flying body guidance apparatus by Embodiment 2 of this invention was equipped. It is a processing flow for demonstrating the algorithm of the classification determination part with which the guidance control apparatus of the flying body guidance apparatus by Embodiment 2 of this invention was equipped. It is a figure for demonstrating the filter output selection part with which the guidance control apparatus of the flying body guidance apparatus by Embodiment 3 of this invention was equipped. It is a processing flow for demonstrating the algorithm of the received power determination part with which the guidance control apparatus of the flying body guidance apparatus by Embodiment 3 of this invention was equipped.

Explanation of symbols

1 Guide control device, 2 Launcher, 3 Radar device, 4 Flying object,
5 target, 6 tracking filter, 7 filter output selection unit, 8 attack guidance calculation unit, 9 high sensitivity tracking filter, 10 low sensitivity filter, 11 predicted meeting point calculation unit H,
12 predicted meeting point calculation unit L, 13 arrival time calculation unit, 14 heading error calculation unit, 15 determination unit, 16 classification determination unit, 17 received power determination unit, 20 actual target position, 21 low sensitivity tracking filter target smooth position, 22 Target smooth position of high sensitivity tracking filter, 23 Actual predicted meeting point, 24 Expected meeting point by low sensitivity tracking filter, 25 Expected meeting point by high sensitivity tracking filter, 26 Heading error.

Claims (6)

In the flying object guidance device that exchanges information with the flying object that flies toward the meeting point with the target, and guides this flying object to this meeting point,
A radar device that captures and tracks this target, outputs the position and velocity of the target as observation values, and outputs a guidance command for guiding the flying object to the meeting point;
A plurality of tracking filters having different filter gains for predicting the target position and velocity from the observation values of the radar device;
The meeting point is calculated from the outputs of the plurality of tracking filters and the observed value, the respective heading errors are calculated, the arrival times are calculated based on the respective expected meeting times, and the meeting point is calculated from the respective heading errors. A filter output selection unit for determining;
A critical attack calculation unit that outputs the guidance command including the predicted value of the meeting point and the arrival time based on the selection output of the filter output selection unit to the radar device;
A flying object guidance device characterized by comprising: In the flying object guidance device that exchanges information with the flying object that flies toward the meeting point with the target, and guides this flying object to this meeting point,
A radar device that captures and tracks this target, outputs the position and velocity of the target as observation values, and outputs a guidance command for guiding the flying object to the meeting point;
When obtaining the smooth value of the target position at the time point from the predicted value and the observed value at which the target position at that time point is predicted at the immediately preceding sampling time point in sampling at a predetermined timing, the observed value is set to the observed value with respect to the predicted value. A tracking filter comprising: a high-sensitivity tracking filter that outputs a close value; and a low-sensitivity tracking filter that outputs a value close to the predicted value for the observed value;
An expected meeting point calculation unit H for calculating the meeting point from the output of the high sensitivity tracking filter and the observed value; an expected meeting point calculation unit L for calculating the meeting point from the output of the low sensitivity tracking filter and the observed value; A predicted value of the meeting point of the predicted meeting point calculation unit H, a predicted value of the predicted meeting point calculation unit L meeting point, and a heading error calculation unit for calculating each heading error from the observed values, the predicted meeting point calculation unit H And an arrival time calculation unit for calculating each arrival time based on each expected meeting time output from the predicted meeting point calculation unit L, and each meeting heading based on each heading error and each arrival time. A filter output selection unit including a determination unit to determine from an error;
A critical attack calculation unit that outputs the guidance command including the predicted value of the meeting point and the arrival time based on the selection output of the filter output selection unit to the radar device;
A flying object guidance device characterized by comprising: In the flying object guidance device that exchanges information with the flying object that flies toward the meeting point with the target, and guides this flying object to this meeting point,
A radar device that captures and tracks this target, outputs the position and velocity of the target as observation values, and outputs a guidance command for guiding the flying object to the meeting point;
When obtaining the smooth value of the target position at the time point from the predicted value and the observed value at which the target position at that time point is predicted at the immediately preceding sampling time point in sampling at a predetermined timing, the observed value is set to the observed value with respect to the predicted value. A tracking filter comprising: a high-sensitivity tracking filter that outputs a close value; and a low-sensitivity tracking filter that outputs a value close to the predicted value for the observed value;
An expected meeting point calculation unit H for calculating the meeting point from the output of the high sensitivity tracking filter and the observed value; an expected meeting point calculation unit L for calculating the meeting point from the output of the low sensitivity tracking filter and the observed value; An arrival time calculation unit for calculating each arrival time based on the respective expected meeting times output from the predicted meeting point calculation unit H and the predicted meeting point calculation unit L, and a predicted value of the meeting point of the predicted meeting point calculation unit H Categorized determination that classifies whether or not the target moves to avoid the flying object based on the predicted value of the meeting point and the observed value of the predicted meeting point calculation unit L A filter output selection unit comprising a unit,
A critical attack calculation unit that outputs the guidance command including the predicted value of the meeting point and the arrival time based on the selection output of the filter output selection unit to the radar device;
A flying object guidance device characterized by comprising: When the target moves to avoid the flying object, the classification determining unit selects a heading error and arrival time by the predicted meeting point calculation unit H, and the target does not avoid the flying object. The flying object guiding apparatus according to claim 3, wherein when exercising, the heading error and arrival time by the predicted meeting point calculation unit L are selected and determined. In the flying object guidance device that exchanges information with the flying object that flies toward the meeting point with the target, and guides this flying object to this meeting point,
A radar device that captures and tracks this target, outputs the position and velocity of the target as observation values, and outputs a guidance command for guiding the flying object to the meeting point;
When obtaining the smooth value of the target position at the time point from the predicted value and the observed value at which the target position at that time point is predicted at the immediately preceding sampling time point in sampling at a predetermined timing, the observed value is set to the observed value with respect to the predicted value. A tracking filter comprising: a high-sensitivity tracking filter that outputs a close value; and a low-sensitivity tracking filter that outputs a value close to the predicted value for the observed value;
An expected meeting point calculation unit H for calculating the meeting point from the output of the high sensitivity tracking filter and the observed value; an expected meeting point calculation unit L for calculating the meeting point from the output of the low sensitivity tracking filter and the observed value; An arrival time calculation unit for calculating each arrival time based on the respective expected meeting times output from the predicted meeting point calculation unit H and the predicted meeting point calculation unit L, and the meeting point based on the received power of the observed value. A filter output selection unit comprising a received power determination unit for determining;
A critical attack calculation unit that outputs the guidance command including the predicted value of the meeting point and the arrival time based on the selection output of the filter output selection unit to the radar device;
A flying object guidance device characterized by comprising: The reception power determination unit selects a heading error and an arrival time side by the predicted meeting point calculation unit H when the target reception power is equal to or higher than a predetermined target reception power, and the target reception power is a predetermined value. 6. The flying object guiding apparatus according to claim 5, wherein when the received power is less than the target reception power, the heading error and arrival time side by the predicted meeting point calculation unit L are selected and determined.

Images