JP2006342992A - Guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform the guidance of high accuracy with an inexpensive construction without impairing a roll stabilizing function by the rolling of a flying object. <P>SOLUTION: This guidance system loaded on a rolling and flying flying object 1 to perform image guidance comprises a one-dimensional image detector 12 detecting a one-dimensional image, an optical system 10 for focusing the incident light of a field range of a prescribed direction to the one-dimensional image detector 12, and a signal processing unit 14 detecting a rolling period of the flying object 1, and executing image processing to convert the plurality of one-dimensional images detected by the one-dimensional image detector 12 into two-dimensional images on the basis of the detected period accompanied by the rolling of the flying object 1. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a guiding device used for a flying object such as a guiding bullet or a guiding cannon for turning.

  For flying objects such as guided bullets and guided bullets, the guidance performance is improved by using a captured image by an image guidance method.

  Conventionally, in a flying body guidance apparatus guided by an image guidance method, a two-dimensional detector is fixed to the airframe, a large-scale image in a required visual field range is detected, and search / tracking is performed by electronic processing from this image. A method of performing spatial stabilization processing is considered (for example, see Patent Document 1).

The frame angle is acquired by scanning the viewing angle in the yaw direction with the polygon mirror and in the pitch direction with the galvanometer mirror, and detects the amount of attitude angular displacement due to the swinging displacement of the flying machine body axis. Thus, a method has been considered in which space stabilization is performed by changing the cutout position of an image including a target object from a frame image in accordance with the posture angle displacement amount (see, for example, Patent Document 2).
Japanese Patent Laid-Open No. 10-307000 JP-A-10-122794

  In the conventional guidance device, the rotation (rotation) of the flying body in the axis (roll) direction hinders image acquisition, and the rotation is stopped or the image detector (imaging device) is rotated in the reverse direction. It was necessary to stop the rotation.

  However, stopping the rotation of guided bullets and shells makes it impossible to use the roll stabilization function, so a separate function for stable flying must be added. In this case, the cost is increased, and it is difficult to mount the small caliber shell due to dimensional restrictions.

  The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a guidance device that enables highly precise guidance with an inexpensive configuration without impairing the roll stability function caused by the rotation of the flying object.

  In order to achieve the above object, the present invention provides a one-dimensional image detection means for detecting a one-dimensional image in the guidance device for guiding an image mounted on a flying object that rotates and the one-dimensional image detection. The optical means for condensing incident light in the visual field range in a predetermined direction on the means, the period detecting means for detecting the rotation period of the flying object, and the period detected by the rotation period detecting means. And an image converting means for converting a plurality of one-dimensional images detected by the one-dimensional image detecting means to a two-dimensional image as the shell rotates.

  Preferably, the period detection means detects the rotation period based on a correlation of a plurality of one-dimensional images detected by the one-dimensional image detection means as the flying object rotates. is there.

  In addition, the optical means is provided at the head of the flying body, and the flying body is rotated so that a front two-dimensional plane centering on the flying body axis is set as a viewing range. It is.

  According to the present invention, the flying object is provided with a one-dimensional image detecting means for detecting a one-dimensional image, and configured to detect an image swept in a circular shape as the flying object rotates. A two-dimensional image can be made from a plurality of one-dimensional images detected by the three-dimensional image detection means, so that high-precision guidance can be achieved with an inexpensive configuration without impairing the roll stability function due to the rotation of the flying object. can do.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing a schematic configuration of a guiding device mounted on a flying object 1 such as a guiding bullet or a guiding cannonball in this embodiment, and FIG. 2 is an optical system 10 and a one-dimensional image detector shown in FIG. It is the figure seen from the side surface in order to show 12 relationships. As shown in FIGS. 1 and 2, the guidance device in the present embodiment includes an optical system 10, a one-dimensional image detector 12, and a signal processor 14.

  The optical system 10 is provided at the leading portion (dome) of the flying object 1, and as shown in FIG. 2, a one-dimensional image in which incident light in a predetermined visual field range is stored in the flying object 1. The light is condensed on the detector 12. Since the optical system 10 has a line-like configuration in which the one-dimensional image detector 12 detects a one-dimensional image, the optical system 10 condenses light in a line-shaped range in accordance with the shape of the one-dimensional image detector 12. The optical system 10 is configured such that the front two-dimensional surface with the axis of the flying body 1 as the center of the visual field is set as the visual field range when the flying body 1 rotates.

  The one-dimensional image detector 12 is a sensor for detecting a one-dimensional image. A plurality of image sensors are arranged in a line shape, and an image according to light from the outside image formed by the optical system 10. The signal is output to the signal processor 14.

  The signal processor 14 processes the image signal output from the one-dimensional image detector 12 and performs control by image guidance.

FIG. 3 is a block diagram showing a functional configuration of the signal processor 14.
The signal processor 14 includes a memory 20, a rotation detection unit 21, an image conversion unit 22, a frame memory 23, and an image processing unit 24.

  The memory 20 stores a one-dimensional image detected by the one-dimensional image detector 12. The memory 20 sequentially stores a plurality of one-dimensional images detected by the one-dimensional image detector 12 as the flying object 1 rotates.

  The rotation detection unit 21 detects the rotation period of the flying object 1. For example, the rotation detection unit 21 rotates the flying object 1 based on the correlation of the one-dimensional image stored in the memory 20 as the flying object 1 rotates. Detect.

  The image conversion unit 22 converts a plurality of one-dimensional images stored in the memory 20 into a two-dimensional image based on the rotation period of the flying object 1 detected by the rotation detection unit 21.

  The frame memory 23 stores the two-dimensional image converted from the one-dimensional image by the image conversion unit 22.

  The image processing unit 24 executes image processing for tracking the target in the image stored in the frame memory 23. Since the image processing for guiding the flying object 1 is not directly related to the present invention, detailed description thereof is omitted.

  Although not shown, it is assumed that the signal processor 14 is provided with a power source for supplying power to each unit.

Next, operation | movement of the guidance apparatus in this embodiment and an effect are demonstrated.
Since the flying object 1 is equipped with a one-dimensional image detector 12 for detecting a one-dimensional image, the detected image is only a one-dimensional image (line). However, since the flying body 1 is rotated (rolled) to fly stably during flying, the optical system 10 and the one-dimensional type are centered on the rotation axis of the flying body 1. The image detector 12 will also rotate.

  That is, as shown in FIG. 4A, the flying object 1 is detected by the one-dimensional image detector 12 while the flying object 1 is flying while turning. The image is detected while sweeping (scanning) a scene in the flying direction (front) of 1 as if it were a radar. Therefore, by detecting the image with the one-dimensional image detector 12, it is possible to acquire an image of a curved coordinate system in which the front two-dimensional surface with the flying body axis as the center of the visual field is the visual field range.

  The signal processor 14 sequentially inputs the one-dimensional images detected by the one-dimensional image detector 12 as the flying object 1 rotates, and sequentially stores them in the memory 20.

  An image used in a normal image guidance method can be obtained by converting the coordinates of the music coordinate system image into a plane coordinate system image (see FIG. 4B). At this time, it is necessary to obtain the rotation speed of the one-dimensional image detector 12 (the rotation period of the flying object 1) and perform image conversion on the one-dimensional image for one period.

  Therefore, the rotation detection unit 21 rotates the one-dimensional image detector 12 (a flying object) based on the correlation of a plurality of one-dimensional images detected by the one-dimensional image detector 12 stored in the memory 20. 1 rotation cycle) is detected.

  That is, the one-dimensional image detected at a certain rotational position by the one-dimensional image detector 12 is not significantly different from the one-dimensional image detected at the same rotational position before the one rotation. The rotation period is detected by extracting from the image detected by the mold image detector 12.

  FIG. 5 shows a change in the image signal detected by one image sensor of the one-dimensional image detector 12. For example, the rotation detection unit 21 uses FFT (Fast Fourier Transform) for the image signal output from the one-dimensional image detector 12 to check the correlation between the images. It can be divided into strong images and non-strong images.

  Thereby, as shown in FIG. 5, the rotation period of the one-dimensional image detector 12 (flying object 1) can be obtained from the image signal output from the one-dimensional image detector 12.

  When the rotation detection unit 21 detects the rotation cycle, the image conversion unit 22 performs image conversion into a two-dimensional image for each one-dimensional image for one cycle stored in the memory 20, and the image conversion unit 22 obtains this image conversion. The obtained two-dimensional image is stored in the frame memory 23. That is, the image in the music coordinate system stored in the memory 20 is converted into an image in the plane coordinate system (see FIGS. 4A and 4B).

  As shown in FIG. 4A, the plurality of one-dimensional images detected by the one-dimensional image detector 12 while rotating has a higher pixel density as the center of the rotation axis (the axis of the flying object 1) is closer. The pixel density becomes rougher as the outer periphery is approached. The image conversion unit 22 not only performs coordinate system conversion, but also thins out (or superimposes) pixels for a portion with a high pixel density, or interpolates pixels for a portion with a low pixel density. A two-dimensional image may be generated.

  The image processing unit 24 performs image processing for tracking the target on the two-dimensional image stored in the frame memory 23.

  In this manner, the guidance device according to the present embodiment includes the optical system 10 and the one-dimensional image detector 12, and a plurality of one-dimensional images that are continuously detected as the flying object 1 rotates. Since a two-dimensional image can be obtained by conversion, it is possible to secure a roll stabilizing function and to perform a stable flight, and it can be realized at a low cost with a very simple configuration. In addition, since there are fewer dimensional restrictions when mounting, mounting is easy even for small flying objects such as small-mouthed round shells. Further, the rotation period is detected based on the image detected by the one-dimensional image detector 12, and the image conversion is executed based on the rotation period. There is no need for special rotation control, and no mechanism for rotation control is required, so that the cost is not increased.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

The figure which shows schematic structure of the guidance device mounted in the flying body in this embodiment. The figure seen from the side surface in order to show the relationship between the optical system 10 shown in FIG. 1, and the one-dimensional type image detector 12. FIG. The block diagram which shows the function structure of the signal processor 14 in this embodiment. The figure for demonstrating the image conversion in this embodiment. The figure which shows the change of the image signal detected by one image pick-up element of the one-dimensional type image detector 12 for demonstrating the detection of the rotation period in this embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Flying object, 10 ... Optical system, 12 ... One-dimensional image detector, 14 ... Signal processor, 20 ... Memory, 21 ... Rotation detection part, 22 ... Image conversion part, 23 ... Frame memory, 24 ... Image Processing part.

Claims (3)

In the guidance device that performs the image guidance that is mounted on the flying object to rotate,
A one-dimensional image detecting means for detecting a one-dimensional image;
Optical means for condensing incident light in a visual field range in a predetermined direction on the one-dimensional image detection means;
A period detecting means for detecting a rotation period of the flying object;
Image conversion means for converting a plurality of one-dimensional images detected by the one-dimensional image detection means to a two-dimensional image as the flying object rotates based on the period detected by the rotation period detection means. And a guidance device.   The said period detection means detects the said rotation period based on the correlation of the several one-dimensional image detected by the said one-dimensional type image detection means with rotation of the said flying body. The guidance device described.   The optical means is provided at a leading portion of the flying body, and the flying body rotates so that a front two-dimensional plane centering on the flying body axis is set as a viewing field range. Item 10. The guidance device according to Item 1.

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