JP2007120916A - Guided missile - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a guided missile capable of being guided without deteriorating accuracy in guidance even to an unmoved target. <P>SOLUTION: In this guided missile loading a radio guidance device 1 comprising a receiver 14 for receiving a reflected wave of a transmitted wave from an antenna 13 by the antenna, a target detecting portion 15 detecting the target on the basis of the received signal and outputting a target signal, a tracking control portion 16 outputting an estimated position signal estimated on the basis of the target signal, and a guidance control portion 17 for guiding the guided missile so that it approaches a target from the approximately vertical direction in accordance with the estimated positional information of the target given from the external, and guiding the guided missile on the basis of the estimated position signal from the tracking control portion after a shaft of the guided missile is positioned in the vertical direction, the tracking control portion sets a target capturing range on the basis of a measured distance value obtained by measuring a distance to the ground surface after the shaft of the guided missile is positioned in the vertical direction, and the target detecting portion detects the target within the capturing range set by the tracking control portion, and outputs the target signal. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a guided bullet flying toward a target, and more particularly to a technique for guiding a guided bullet toward a hovering helicopter.

  Conventionally, a guide bullet that flies while capturing and tracking a target by a mounted radio wave guidance device is known. Similar to the radar device, the radio wave guidance device mounted on this guidance bullet detects a target by emitting a radio wave toward the target, receiving a reflected wave from the target, and performing signal processing. The guided bullet is controlled to fly toward the target detected by the radio wave guiding device. When trying to detect a helicopter hovering at a low altitude using such a radio wave guidance device, the reflected wave from the helicopter includes, for example, a reflected wave from the target, in addition to the reflected wave from the target. Waves included.

  In the case of a reflected wave from a moving target, only the reflected wave from the moving target can be extracted using the difference in Doppler frequency. However, if the target is not moving, for example in the case of a hovering helicopter, the Doppler frequency of the reflected wave from the helicopter fuselage is the same as the Doppler frequency of the reflected wave from the clutter, so the helicopter fuselage It is not possible to extract only the reflected wave.

  In order to detect such a helicopter that is hovering, a reflected wave from a rotor blade or the like that is rotating even in a hovering state is received, and a target is set based on the Doppler frequency of the received reflected wave. A radio wave induction device for detection is known.

  For example, Patent Document 1 extracts the presence / absence of a hit by CFAR (Constant False Alarm Rate) before and after integration in the frequency direction after frequency analysis of the received signal and the change in amplitude before and after frequency direction integration after the CFAR hit, A radar apparatus that determines helicopter detection based on the presence or absence of a direction integration effect is disclosed.

  Patent Document 2 discloses a radar device that stably detects a hovering helicopter without being affected by a powerful ground clutter. The radar device includes a clutter level calculation device that calculates a clutter level from a video signal output from a receiver, a frequency range setting circuit that sets a Doppler frequency range for detecting a hovering helicopter based on the calculated clutter level, and The hovering helicopter detection device detects a hovering helicopter based on the Doppler frequency range that varies depending on the set clutter size, a preset detection slicer level, and a hovering helicopter determination reference value.

  However, in the above-described technique for detecting a helicopter that is hovering, the reflected wave from the rotor blade of the helicopter can be obtained only periodically, and the target is continuously detected because the signal has a long repetition period. I can't.

  The detailed configuration and operation of the above-described conventional guided bullet will be described with reference to the drawings. FIG. 10 is an external view of a conventional guided bullet as seen from above. This guided bullet is composed of a radio wave guiding device 1, a warhead 2, a propulsion device 3, a steering device 4, a main wing 5 and a steering wing 6.

  FIG. 11 is a block diagram showing a configuration of the radio wave guidance device 1 mounted on the guidance bullet shown in FIG. The radio wave guidance device 1 includes a transmitter 11, a circulator 12, an antenna 13, a receiver 14, a target detection unit 15, a follow control unit 16, and a guidance control unit 17. In addition to the guided bullet, a guided bullet control device that gives information representing the predicted position of a target captured by an external sensor, such as a radar device installed on the ground, before or during the launch of the guided bullet. 19 is provided.

  The antenna 13 converts a transmission signal sent from the transmitter 11 via the circulator 12 into a radio wave, sends it as a transmission wave to a space in a designated direction, receives a reflected wave with respect to the transmission wave, and receives it as a reception signal. It is sent to the receiver 14 via the circulator 12. The receiver 14 converts the received signal sent from the antenna 13 via the circulator 12 into a digital video signal and sends it to the target detection unit 15.

  The target detection unit 15 detects the target by processing the digital video signal in the gate of the target gate signal sent from the tracking control unit 16 among the digital video signals sent from the receiver 14, The target detection information is output to the tracking control unit 16 as a target signal. Here, the target gate signal is a signal that is symmetrical in time with respect to the predicted position of the target.

  The tracking control unit 16 generates a target gate signal according to the information representing the predicted position of the target given from the guided bullet control device 19 before capturing the target, sends it to the target detecting unit 15, and after capturing the target. Based on the target signal sent from the target detection unit 15, the target position is estimated, and the estimation result is sent to the target detection unit 15 as a target gate signal and to the guidance control unit 17 as an estimated position signal. The target gate signal before target acquisition has a wide gate width because the error in the predicted position is large, and the gate width can be narrowed as the number of target observations increases and the error in the predicted position decreases.

Immediately after the firing of the guided bullet, the guidance control unit 17 generates a guidance signal for causing the guided bullet to fly toward the target predicted position according to the information representing the target predicted position given from the guided bullet control device 19. To the steering device 4. Thereafter, when the guided bullet enters a predetermined range from the predicted position of the target, thereafter, the estimated position signal sent from the tracking control unit 16 and the position information and posture information of the guided bullet detected by a sensor (not shown) are used. Thus, a guidance signal for causing the guided bullet to fly toward the target is generated and sent to the steering device 4. As a result, the steering device 4 controls the steering blade 6 to fly the guided bullet toward the target position.
Japanese Patent No. 3359586 Patent No. 2991080

  However, in the radio wave guiding device 1 mounted on the conventional guided bullet configured as described above, when the number of target detections is smaller than the number of observations, as in a hovering helicopter, the following is performed. Problems occur.

  That is, assuming that the target position estimation accuracy follows the central limit theorem, the target position variance is inversely proportional to the number of detections. For example, when the number of times of detection becomes one-tenth that of the prior art, the dispersion of the target position becomes ten times. As a result, the hovering helicopter has a problem that the target position estimation accuracy is deteriorated and the guidance accuracy of the radio wave guidance device 1 is deteriorated because the number of target detections is significantly reduced.

  An object of the present invention is to provide a guide bullet that can be guided to a target that is not moving like a hovering helicopter without deteriorating the guide accuracy.

  The guided bullet according to the present invention controls the guided bullet so as to approach the target from a substantially vertical direction so that the target can always be detected, thereby separating the target and the clutter in the distance direction, and guiding by reducing the number of detections. It avoids problems related to accuracy degradation.

  Therefore, in order to solve the above-described problem, the invention according to claim 1 detects a target based on a receiver that receives a reflected wave of a transmission wave transmitted from an antenna, and a signal from the receiver. A target detection unit that outputs a target signal representing a target, a follow-up control unit that outputs an estimated position signal representing a target position estimated based on the target signal from the target detection unit, and estimated position information of the target given from the outside The guidance control unit guides the guidance bullet from the substantially vertical direction to guide the guidance bullet based on the estimated position signal from the tracking control unit after the axis of the guidance bullet is in the vertical direction. The tracking control unit has a target based on a distance measurement value obtained by measuring a distance to the ground surface after the axis of the guided bullet is in a vertical direction. Set the capture range of Target detection unit, and outputs a target signal by detecting a target within a capture range that is set by the following control unit.

  The invention according to claim 2 is a receiver that receives a reflected wave of a transmission wave transmitted from an antenna, and a target detection unit that detects a target based on a signal from the receiver and outputs a target signal representing the target A tracking control unit that outputs an estimated position signal representing a target position estimated based on the target signal from the target detection unit, and approaching the target from a substantially vertical direction according to the estimated position information of the target given from the outside After the guided bullet is guided and the axis of the guided bullet is in the vertical direction, a radio wave guidance device including a guidance control unit that guides the guided bullet to the target based on the estimated position signal from the tracking control unit is mounted. If the range of the guided ammunition is in the vertical direction and the distance to the ground surface is obtained by measuring the distance to the ground surface, the tracking control unit sets the distance to each distance based on each distance. The corresponding target capture range, Sequentially set to the target is detected by the target detection unit, the target detection unit, and outputs a target signal by detecting a target within a capture range which are sequentially set at the following control unit.

  The invention according to claim 3 is a receiver that receives a reflected wave of a transmission wave transmitted from a polarization switching antenna by the polarization switching antenna, and a target signal that represents the target by detecting the target based on the signal from the receiver From the substantially vertical direction according to the estimated position information of the target given from the outside, the target control unit that outputs the estimated position signal representing the target position estimated based on the target signal from the target detection unit A guidance control unit that guides the guided bullet to the target based on the estimated position signal from the tracking control unit after the guided bullet is guided to approach the target and the axis of the guided bullet is in the vertical direction A guided bullet equipped with a radio wave guiding device, and the tracking control unit receives the switching obtained by switching the polarization of the transmission wave transmitted from the polarization switching antenna after the axis of the guided bullet is in the vertical direction. Target based on signal magnitude Discriminated, and set the capture range of the target based on 該判 by a result, the target detection unit, and outputs a target signal by detecting a target within a capture range that is set by the following control unit.

  According to a fourth aspect of the present invention, there is provided a receiver that receives a reflected wave of a transmission wave transmitted from an antenna, and a target detection unit that detects a target based on a signal from the receiver and outputs a target signal representing the target. A tracking control unit that outputs an estimated position signal representing a target position estimated based on the target signal from the target detection unit, and approaching the target from a substantially vertical direction according to the estimated position information of the target given from the outside After the guided bullet is guided and the axis of the guided bullet is in the vertical direction, a radio wave guidance device including a guidance control unit that guides the guided bullet to the target based on the estimated position signal from the tracking control unit is mounted. The guidance control unit, after guiding the guided bullet so as to approach the target from a substantially vertical direction, guides the guided bullet to the target while rotating around the axis, the tracking control unit, Guide axis is vertical After that, the target is determined based on the rotation angle of the guided bullet and the magnitude of the received signal, the target capture range is set based on the determination result, and the target detection unit is set by the tracking control unit A target is detected within the capture range and a target signal is output.

  The invention according to claim 5 is a receiver that receives a reflected wave of a transmission wave transmitted from an antenna, and a target detection unit that detects a target based on a signal from the receiver and outputs a target signal representing the target. A tracking control unit that outputs an estimated position signal representing a target position estimated based on the target signal from the target detection unit, and approaching the target from a substantially vertical direction according to the estimated position information of the target given from the outside After the guided bullet is guided and the axis of the guided bullet is in the vertical direction, a radio wave guidance device including a guidance control unit that guides the guided bullet to the target based on the estimated position signal from the tracking control unit is mounted. The tracking control unit is configured to intermittently measure the distance to the surface of the ground after capturing the target with the axis of the guided bullet in the vertical direction, and based on the distance value obtained by the distance measurement. Correct target tracking range and detect target It is characterized in that outputs a target signal by detecting a target in the corrected tracking range by the following control unit.

  The invention described in claim 6 is the invention described in any one of claims 1 to 5, further comprising a parachute that can be opened and detached in accordance with an instruction from the guidance control unit, and the guidance control unit is provided from the outside. Open the parachute from a substantially vertical direction according to the estimated position information of the target, guide the guided bullet so as to approach the target, then disconnect the parachute and guide the guided bullet to the target based on the signal from the tracking control unit It is characterized by that.

  According to the first aspect of the present invention, the guided bullet is guided so as to approach the target from a substantially vertical direction, and the distance to the ground surface is measured after the axis of the guided bullet is in the vertical direction. Guided bullets are guided by setting the capture range excluding), so that deterioration of the guidance accuracy can be prevented and it is optimal as a guided bullet for helicopters hovering on a relatively flat surface.

  According to the second aspect of the present invention, when a plurality of ranging values are obtained, the capture range is sequentially switched to detect the target, so that it is optimal as a guided bullet for a helicopter hovering on the uneven surface. It is.

  According to the third aspect of the present invention, since the target and the clutter are discriminated using the polarization, it is possible to prevent erroneous capture and erroneous follow-up by the clutter, which is optimal as a guide bullet.

  According to the invention described in claim 4, since the guide bullet itself rotates and acts in the same manner as the polarization switching in the invention described in claim 3, the radio wave induction device is not a polarization switching antenna but a normal antenna. Can be configured. Further, since the target bullet and the clutter are discriminated by rotating the guided bullet itself, it is possible to prevent erroneous capture and follow-up by the clutter, and it is optimal as a guided bullet.

  According to the fifth aspect of the present invention, since the tracking range is set by measuring the distance to the ground surface intermittently during tracking, it is optimal as a guided bullet for preventing erroneous tracking by clutter.

  According to the sixth aspect of the present invention, when the parachute is opened, the drop speed of the guided bullet is reduced, and the processing time for capturing the target can be lengthened. As a result, the target capture range can be expanded, and the target capture probability can be improved. Therefore, it is optimal as a guided bullet for a target that disappears after detection.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same reference numerals as those used in the prior art column are used for the parts corresponding to the components of the guided bullet described in the prior art column.

  FIG. 1 is an external view of a guide bullet according to a first embodiment of the present invention as viewed from above. This guided bullet includes a radio wave guiding device 1 a, a warhead 2, a propulsion device 3, a steering device 4, a main wing 5, and a steering wing 6, similarly to the conventional guided bullet.

  The guided bullet configured as described above is controlled so as to approach the target predicted position from a substantially vertical direction. FIG. 2 is a diagram illustrating the positional relationship between the guided bullet, the target, and the ground surface. Now, as shown in FIG. 2A, it is assumed that the guided bullet approaches the target from an obliquely upward direction. In this case, if the distance from the target to the guided bullet is sufficiently large relative to the distance from the target to the ground surface, the distance from the guided bullet to the target and the distance from the guided bullet to the ground as shown by the broken line Therefore, the guided bullet receives the reflected wave from the target and the reflected wave from the clutter (ground surface) substantially simultaneously.

  Accordingly, in the guided bullet, as shown on the left side of FIG. 2A, a target signal in which only a peak signal SG having a large amplitude and spread corresponding to clutter appears, and the peak signal ST corresponding to the target is buried. As a result, the target and the clutter cannot be separated.

  On the other hand, as shown in FIG. 2B, if the guided bullet approaches the target from the vertical direction, the distance from the target to the guided bullet is larger than the distance from the target to the ground surface. However, a significant difference can be found between the distance from the guided bullet to the target and the distance from the guided bullet to the ground surface. For this reason, the reflected wave from the target and the reflected wave from the clutter are received at different timings.

  Therefore, as shown on the left side of FIG. 2B, a peak signal SG having a large amplitude corresponding to the clutter on the ground surface and a small spread and a peak signal ST corresponding to the target can be obtained as a target signal that appears independently. The target and clutter can be separated. The guided bullet according to the present invention is configured to discriminate between a clutter and a target by performing control so as to approach the target from a substantially vertical direction.

  FIG. 3 is a block diagram showing a configuration of the radio wave guiding device 1a mounted on the guiding bullet shown in FIG. The radio wave guidance device 1a includes a transmitter 11, a circulator 12, an antenna 13, a receiver 14, a target detection unit 15a, a tracking control unit 16a, and a guidance control unit 17. In addition to the guided bullet, a guided bullet control device that gives information representing the predicted position of a target captured by an external sensor, such as a radar device installed on the ground, before or during the launch of the guided bullet. 19 is provided.

  The antenna 13 converts a transmission signal sent from the transmitter 11 via the circulator 12 into a radio wave, sends it as a transmission wave to a space in a designated direction, receives a reflected wave with respect to the transmission wave, and receives it as a reception signal. It is sent to the receiver 14 via the circulator 12. The receiver 14 converts the received signal sent from the antenna 13 via the circulator 12 into a digital video signal and sends it to the target detection unit 15.

  The target detection unit 15a detects the target by processing the digital video signal in the gate of the versatile gate signal sent from the following control unit 16a among the digital video signals sent from the receiver 14. The target detection information is output as a target signal to the tracking control unit 16a.

  The tracking control unit 16a generates a multi-use gate signal according to the information representing the predicted position of the target given from the guided bullet control device 19 before capturing the target, and sends it to the target detecting unit 15a. Estimates the target position based on the target signal sent from the target detection unit 15a, sends the estimation result to the target detection unit 15a as a multi-use gate signal, and sends it to the guidance control unit 17 as the estimated position signal. The following control unit 16a will be described in detail later.

  Immediately after the firing of the guided bullet, the guidance control unit 17 generates a guidance signal for causing the guided bullet to fly toward the target predicted position according to the information representing the target predicted position given from the guided bullet control device 19. To the steering device 4. As a result, the steering device 4 controls the steering blade 6 to fly the guided bullet toward the target predicted position. In this case, as shown in FIG. 2B, the control bullet is controlled to fly along a trajectory approaching the target from the vertical direction.

  Further, when the guidance control unit 17 detects that the axis of the guided bullet (the central axis in the longitudinal direction of the guided bullet) is in the vertical direction by a sensor (not shown), thereafter, the guidance control unit 17 sends it from the tracking control unit 16a. Using the estimated position signal and the position and orientation information of the guided bullet detected by a sensor (not shown), a guidance signal for causing the guided bullet to fly toward the target is generated and sent to the steering device 4. As a result, the steering device 4 controls the steering blade 6 to fly the guided bullet toward the target position.

  Next, the operation of the guided bullet according to the first embodiment of the present invention configured as described above will be described. First, immediately after the firing of the guided bullet, the guidance control unit 17 that has received the information representing the predicted position of the target given from the guided bullet control device 19 directs the guided bullet to the predicted position of the target based on the information. A guidance signal for flying is generated and sent to the steering device 4. As a result, the steering device 4 controls the steering blade 6 to fly the guided bullet toward the target predicted position.

  Then, when the flight path of the guided bullet, that is, the axis of the guided bullet is in the vertical direction toward the target, the radio wave guiding device 1a performs target acquisition. A target capture range is determined based on the distance. The target capture range is set from the target predicted position and its prediction error width. Note that the range outside the target capture range can be arbitrarily set.

  If an attempt is made to set a capture range without performing ranging to the ground surface, the target gate signal has a wide gate width due to a large error in the predicted position. As shown in FIG. For a hovering licopter, a part of the capture range is often below the surface of the earth, and erroneous target capture may be performed. This is because when the guided bullet approaches the target from a substantially vertical direction, the Doppler frequency of the target (rotor blade) and the clutter becomes zero, and it becomes impossible to separate the target and the clutter by the Doppler frequency. is there.

  On the other hand, as shown in FIG. 4B, it is possible to exclude the ground surface itself from the target capture range by measuring the distance to the ground surface before capturing the target. Can be prevented.

  Specifically, when it is detected that the axis of the guided bullet is in the vertical direction toward the target, the transmitter 11 transmits the transmission wave from the antenna 13 to the vertical space via the circulator 12. . The reflected wave with respect to this transmission wave is received by the antenna 13 and sent to the receiver 14 via the circulator 12. The receiver 14 converts the reception signal from the antenna 13 into a digital video signal and sends it to the target detection unit 15a. The target detection unit 15a generates a target signal by processing the digital video signal sent from the receiver 14.

  At the same time, the tracking control unit 16a generates a multi-use gate signal that includes clutter (ground surface) or includes clutter (ground surface) and a target as shown in FIG. It sends to the target detection part 15a. In other words, the detection range is the inside of a circle or an ellipse centered on the target predicted position or centered on the predicted position of the ground surface. Thereby, the target detection unit 15a processes the digital video signal in the gate of the versatile gate signal sent from the following control unit 16a among the digital video signals sent from the receiver 14, thereby performing the clutter. The (ground surface) is detected, and the detection information of the clutter (ground surface) is output as a target signal to the tracking control unit 16a.

  The follow-up control unit 16 that has received this target signal determines that the peak signal SG having the maximum amplitude and the peak at which no detection information appears thereafter does not appear as clutter (the ground surface), and captures the target. As shown in FIG. 4B, a multi-use gate signal that excludes the peak signal SG is generated from the capture range centered on the target predicted position and sent to the target detection unit 15a. Thereby, the target detection unit 15a processes a digital video signal that does not include clutter (ground surface), and sends a target signal that includes only the target to the tracking control unit 16a.

  The follow-up control unit 16a captures the target using a target signal that is sent from the target detection unit 15a and includes only the target. That is, the tracking control unit 16a estimates the target position using the target signal sent from the target detection unit 15a, and sends it to the guidance control unit 17 as an estimated position signal. As described above, the guidance control unit 17 uses the estimated position signal sent from the tracking control unit 16a and the position information and attitude information of the guidance bullet detected by a sensor (not shown) to direct the bullet to the target. A guidance signal for flying is generated and sent to the steering device 4. As a result, the steering device 4 controls the steering blade 6 to fly the guided bullet toward the target position.

  As described above, according to the guided bullet according to the first embodiment of the present invention, the guided bullet is guided so as to approach the target from a substantially vertical direction, and after the axis of the guided bullet is in the vertical direction, By measuring the distance, it sets the capture range excluding the clutter (the ground surface) and guides the guided bullet, thus preventing deterioration of the guidance accuracy and guiding the helicopter hovering on a relatively flat surface. Ideal as a bullet.

  In the radio wave guidance device mounted on the guide bullet according to the first embodiment described above, the target signal in the distance direction is gated using a hardware signal called a multipurpose gate signal. It can also be configured to gate. In this case, the angle of the target can be measured, and the position of the target can be specified three-dimensionally based on the obtained angle information and the target signal in the distance direction.

  The guided bullet according to the second embodiment of the present invention can guide the guided bullet to the target with high accuracy even if the shape of the ground surface where the target is present is complicated.

  The configuration and operation of the guided bullet according to the second embodiment are the same as those of the guided bullet according to the first embodiment. The configuration and operation of the radio wave guidance device mounted on the guided bullet according to the second embodiment are the same as those of the guided bullet according to the first embodiment except for the operation of the tracking control unit 16. Below, it demonstrates centering on the part which is different from Example 1. FIG.

  The radio wave guidance device mounted on the guide bullet according to the second embodiment performs ranging to the ground surface before capturing the target, and when a plurality of ranging values are obtained, the target corresponding to each ranging value is obtained. The capture range is sequentially changed according to a preset procedure until a target is detected.

  FIG. 5 is a diagram for explaining an operation of setting a target capture range. Now, it is assumed that two distance measurement values such as a short distance and a long distance are obtained as a result of the distance measurement to the ground surface. Helicopters that are hovering often hover in the Sanin area, etc., to improve discoverability, so the far distance side (the depression side) of the part with the difference in altitude is the first capture range (capture range (1)) If the target is not detected in this capture range (1), the capture range is switched to the capture range (2) on the short distance side (the summit side) to capture the target. The operation of setting the target capture range for each distance measurement value is the same as that of the guided bullet according to the first embodiment described above. This makes it possible to capture a target even in complex terrain.

  The order of changing the capture range is not limited to the order from the long distance side to the short distance side as described above, and can be arbitrarily set.

  As described above, the guided bullet according to the second embodiment of the present invention is configured to detect the target by sequentially switching the capture range when a plurality of distance measurement values are obtained. Ideal as a guided bullet for the helicopter hovering above.

  In the guided bullet according to the third embodiment of the present invention, the target and the clutter are identified by the change in the magnitude of the received signal due to the polarization.

  The configuration and operation of the guided bullet according to the third embodiment are the same as those of the guided bullet according to the first embodiment. FIG. 6 is a block diagram showing the configuration of the radio wave guiding device 1b mounted on the guiding bullet according to the third embodiment of the present invention. This radio wave guiding apparatus 1 is configured by replacing the antenna 13 in the radio wave guiding apparatus a of the first embodiment with a polarization switching antenna 18. Other components are the same as those of the radio wave guidance device 1 mounted on the guidance bullet according to the first embodiment, except for the operations of the target detection unit 15b and the tracking control unit 16b. Below, it demonstrates centering on the part which is different from Example 1. FIG.

  The polarization switching antenna 18 has a structure in which one antenna element group and another antenna element group intersect each other, and sequentially switches between radio waves having different vibration directions, for example, horizontal polarization and vertical polarization. While sending and receiving. The polarization switching antenna 18 converts a transmission signal transmitted from the transmitter 11 via the circulator 12 into a horizontal polarization or a vertical polarization, and transmits the transmission signal to a space in a specified direction as a transmission wave. The reflected wave is received and sent to the receiver 14 via the circulator 12 as a received signal. The receiver 14 converts the received signal sent from the antenna 13 via the circulator 12 into a digital video signal and sends it to the target detection unit 15b.

  The target detection unit 15b detects the target by processing the digital video signal in the gate of the target gate signal sent from the following control unit 16b among the digital video signals sent from the receiver 14, The target detection information is output as a target signal to the tracking control unit 16b.

  The tracking control unit 16b generates a target gate signal according to the information indicating the predicted position of the target given from the guided bullet control device 19 before capturing the target, and sends the target gate signal to the target detecting unit 15b. The target and clutter are discriminated according to the magnitude of the target signal sent from and whether there is a change in the magnitude, and a target gate signal that extracts only the target is generated based on the discrimination result. It sends to the detection part 15b. The tracking control unit 16b estimates a target position based on the target signal sent from the target detection unit 15b, and sends the estimated target position to the guidance control unit 17 as an estimated position signal.

  When the guided bullet approaches the target from a substantially vertical direction, the Doppler frequency for both the target (rotor blade) and the clutter becomes zero, and separation of the target and the clutter by the Doppler frequency is impossible. In the case of clutter (ground surface), the magnitude of the received signal does not change depending on the polarization, but in the case of a target (helicopter) whose shape is not constant, the magnitude of the received signal depends on the polarization. Since it changes, the target and the clutter can be discriminated.

  As described above, according to the guided bullet according to the third embodiment of the present invention, since the target and the clutter are discriminated using the polarization, it is possible to prevent the erroneous capture and the follow-up by the clutter. It is ideal as a guided bullet.

  The guided bullet according to the fourth embodiment of the present invention is made to function in the same way as polarization switching by rotating the guided bullet itself so as to identify the target and the clutter.

  The configuration and operation of the guided bullet according to the fourth embodiment are the same as those of the guided bullet according to the first embodiment. FIG. 7 is a block diagram illustrating a configuration of the radio wave guidance device 1c mounted on the guidance bullet according to the fourth embodiment. The radio wave guiding device 1c is the same as that of the guiding bullet according to the first embodiment except for the operations of the tracking control unit 16c and the guidance control unit 17c. Below, it demonstrates centering on the part which is different from Example 1. FIG.

  Immediately after the firing of the guided bullet, the guidance control unit 17c generates a guidance signal for causing the guided bullet to fly toward the target predicted position according to the information representing the target predicted position given from the guided bullet control device 19. To the steering device 4. As a result, the steering device 4 controls the steering blade 6 to fly the guided bullet toward the target predicted position. In this case, the control bullet is controlled to fly along a trajectory approaching from the vertical direction toward the target.

  Further, when the guidance control unit 17c detects that the axis of the guided bullet is in the vertical direction by a sensor (not shown), thereafter, an estimated position signal sent from the tracking control unit 16c, which is detected by a sensor (not shown). Using the position and orientation information of the guide bullet, the guide bullet is directed to the target, and a guide signal for flying the guide bullet while rotating around the axis is generated and sent to the steering device 4. Thus, the steering device 4 controls the steering blade 6 to fly toward the target position while rotating the guide bullet. In addition, the guidance control unit 17c sends a signal representing the rotation angle to the following control unit 16c.

  The tracking control unit 16c discriminates the target and the clutter based on the rotation angle sent from the guidance control unit 17c and the magnitude of the target signal sent from the target detection unit 15c and the presence / absence of a change in the magnitude. Based on the determination result, a target gate signal is generated and sent to the target detector 15c. The follow control unit 16c estimates a target position based on the gated target signal sent from the target detection unit 15c, and sends an estimated position signal representing the estimated target position to the guidance control unit 17c.

  When the guided bullet approaches the target from a substantially vertical direction, both the target (rotor blade) and the clutter, the Doppler frequency becomes zero, and separation of the target and the clutter by the Doppler frequency is impossible, but the rotation angle In the case of clutter (ground surface), the magnitude of the received signal does not change depending on the rotation angle, but in the case of a target (helicopter) whose shape is not constant, the magnitude of the received signal depends on the rotation angle. Since it changes, the target and the clutter can be discriminated.

  As described above, according to the guided bullet according to the fourth embodiment of the present invention, the guided bullet itself rotates and acts in the same manner as the polarization switching in the guided bullet according to the fourth embodiment. Instead, the radio wave induction device 1c can be configured with a normal antenna.

  In addition, according to the guided bullet according to the fourth embodiment, since the target bullet and the clutter are discriminated by rotating the guided bullet itself, it is possible to prevent erroneous capture and erroneous follow-up by the clutter. As best.

  During the target tracking after capturing the target, the guided bullet according to the fifth embodiment of the present invention intermittently measures the distance to the ground surface, and based on the distance value obtained by the distance measurement, the tracking range, That is, the gate signal at the time of tracking is determined.

  The configuration and operation of the guided bullet according to the fifth embodiment are the same as those of the guided bullet according to the first embodiment. The configuration and operation of the radio wave guiding device 1d mounted on the guided bullet according to the fifth embodiment are the same as those of the guided bullet according to the first embodiment except for the operation of the tracking control unit 16d. Below, it demonstrates centering on the part which is different from Example 1. FIG.

  The tracking range is set from the target predicted position and its prediction error width. If the tracking range is set without performing ranging to the ground surface, the prediction error is generally set symmetrically with respect to the predicted position as shown in FIG. For helicopters hovering at, the tracking range and the ground surface are often included, and incorrect tracking may be performed.

  On the other hand, as shown in FIG. 8B, it is possible to exclude the ground surface itself from the tracking range by intermittently measuring the distance to the ground surface during tracking, and erroneous tracking is performed. Can be prevented.

  As described above, according to the guided bullet according to the fifth embodiment of the present invention, the tracking range is set by intermittently measuring the distance to the ground surface during tracking. Ideal as a guided bullet to prevent

  A guided bullet according to Embodiment 6 of the present invention is a guided bullet according to Embodiments 1 to 5 provided with a parachute.

  FIG. 9 is a diagram illustrating the configuration of the guide bullet according to the sixth embodiment. This guided bullet is provided with a parachute 7 in a part of the steering device 4. The opening and separation of the parachute are performed under the control of the guidance control unit 17e.

  The configuration and operation of the radio wave guidance device 1 mounted on the guided bullet according to the sixth embodiment are the same as those of the guided bullet according to the first embodiment except for the operation of the guidance control unit 17e. Below, it demonstrates centering on the part which is different from Example 1. FIG. The guidance control unit 16a controls the opening and separation of the parachute 7.

  Next, the operation of the guided bullet according to the sixth embodiment configured as described above will be described. When the guidance control unit 17e detects that the axis of the guidance bullet is in the vertical direction by a sensor (not shown), the guidance control unit 17e opens the parachute 7. The follow-up control unit 16 performs an operation related to target capture in a state where the parachute 7 is opened. After the target can be captured, the guidance control unit 17e separates the parachute 7. Thereby, the guidance bullet flies toward the target position under the control of the guidance control unit 17e.

  As described above, according to the guided bullet according to the sixth embodiment of the present invention, when the parachute 7 is opened, the falling speed of the guided bullet is slowed down, and the processing time for capturing the target can be lengthened. it can. As a result, the target capture range can be expanded, and the target capture probability can be improved. Therefore, it is optimal as a guided bullet for a target that disappears after detection.

  The guided bullet according to the present invention can be applied to a helicopter guided bullet.

It is the external view which looked at the guidance bullet concerning Example 1 of the present invention from the upper part. It is a figure which shows the positional relationship of the guide bullet which concerns on Example 1 of this invention, a target, and the ground surface. It is a block diagram which shows the structure of the electromagnetic wave guidance apparatus mounted in the induction bullet shown in FIG. It is a figure for demonstrating the setting of the capture range of the target performed in the electromagnetic wave guidance apparatus mounted in the induction bullet which concerns on Example 1 of this invention. It is a figure for demonstrating the setting of the capture range of the target performed in the electromagnetic wave guidance apparatus mounted in the induction bullet which concerns on Example 2 of this invention. It is a block diagram which shows the structure of the electromagnetic wave guidance apparatus mounted in the induction bullet which concerns on Example 3 of this invention. It is a block diagram which shows the structure of the electromagnetic wave guidance apparatus mounted in the induction bullet which concerns on Example 4 of this invention. It is a figure for demonstrating the setting of the tracking range of the target performed in the electromagnetic wave guidance apparatus mounted in the guidance bullet which concerns on Example 1 of this invention. It is the external view which looked at the guidance bullet concerning Example 6 of the present invention from the upper part. It is the external view which looked at the conventional induction bullet from the upper part. It is a block diagram which shows the structure of the electromagnetic wave guidance apparatus mounted in the guidance bullet shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Radio wave guidance apparatus 2 Warhead 3 Propulsion apparatus 4 Steering apparatus 5 Main wing 6 Steering wing 7 Parachute 11 Transmitter 12 Circulator 13 Antenna 14 Receiver 15 Target detection part 16 Following control part 17 Guidance control part 18 Polarization switching antenna 19 Guided bullet control apparatus

Claims (6)

A receiver that receives the reflected wave of the transmitted wave transmitted from the antenna by the antenna;
A target detection unit for detecting a target based on a signal from the receiver and outputting a target signal representing the target;
A follow-up control unit that outputs an estimated position signal representing a target position estimated based on a target signal from the target detection unit;
After the guided bullet is guided so as to approach the target from a substantially vertical direction in accordance with the estimated position information of the target given from the outside, the estimated position from the tracking control unit after the axis of the guided bullet is in the vertical direction A guidance control unit for guiding a guided bullet based on a signal;
It is a guidance bullet equipped with a radio wave guidance device equipped with
The tracking control unit sets a target capture range based on a distance value obtained by measuring a distance to the ground surface after the axis of the guided bullet is in a vertical direction.
The guided bullet characterized in that the target detection unit detects a target within a capture range set by the tracking control unit and outputs a target signal. A receiver that receives the reflected wave of the transmitted wave transmitted from the antenna by the antenna;
A target detection unit for detecting a target based on a signal from the receiver and outputting a target signal representing the target;
A follow-up control unit that outputs an estimated position signal representing a target position estimated based on a target signal from the target detection unit;
After the guided bullet is guided so as to approach the target from a substantially vertical direction in accordance with the estimated position information of the target given from the outside, the estimated position from the tracking control unit after the axis of the guided bullet is in the vertical direction A guidance control unit for guiding a guided bullet to a target based on a signal;
It is a guidance bullet equipped with a radio wave guidance device equipped with
When the tracking control unit obtains a plurality of distance values by measuring the distance to the ground surface after the axis of the guided bullet is in the vertical direction, a target corresponding to each distance is obtained based on each distance. Set the capture range sequentially until the target is detected by the target detection unit,
The guided bullet characterized in that the target detection unit detects a target within a capture range sequentially set by the tracking control unit and outputs a target signal. A receiver for receiving the reflected wave of the transmission wave transmitted from the polarization switching antenna by the polarization switching antenna;
A target detection unit for detecting a target based on a signal from the receiver and outputting a target signal representing the target;
A follow-up control unit that outputs an estimated position signal representing a target position estimated based on a target signal from the target detection unit;
After the guided bullet is guided so as to approach the target from a substantially vertical direction in accordance with the estimated position information of the target given from the outside, the estimated position from the tracking control unit after the axis of the guided bullet is in the vertical direction A guidance control unit for guiding a guided bullet to a target based on a signal;
It is a guidance bullet equipped with a radio wave guidance device equipped with
The tracking control unit discriminates a target based on the magnitude of a received signal obtained by switching the polarization of a transmission wave transmitted from the polarization switching antenna after the axis of the guided bullet is in a vertical direction. And set the target capture range based on the discrimination result,
The guided bullet characterized in that the target detection unit detects a target within a capture range set by the tracking control unit and outputs a target signal. A receiver that receives the reflected wave of the transmitted wave transmitted from the antenna by the antenna;
A target detection unit for detecting a target based on a signal from the receiver and outputting a target signal representing the target;
A follow-up control unit that outputs an estimated position signal representing a target position estimated based on a target signal from the target detection unit;
After the guided bullet is guided so as to approach the target from a substantially vertical direction in accordance with the estimated position information of the target given from the outside, the estimated position from the tracking control unit after the axis of the guided bullet is in the vertical direction A guidance control unit for guiding a guided bullet to a target based on a signal;
It is a guidance bullet equipped with a radio wave guidance device equipped with
The guidance control unit guides the guided bullet so as to approach the target from a substantially vertical direction, and then guides the guided bullet to the target while rotating around the axis.
The tracking control unit discriminates a target based on the rotation angle of the guided bullet and the magnitude of the received signal after the axis of the guided bullet is in the vertical direction, and sets a target capture range based on the discrimination result. Set,
The guided bullet characterized in that the target detection unit detects a target within a capture range set by the tracking control unit and outputs a target signal. A receiver that receives the reflected wave of the transmitted wave transmitted from the antenna by the antenna;
A target detection unit for detecting a target based on a signal from the receiver and outputting a target signal representing the target;
A follow-up control unit that outputs an estimated position signal representing a target position estimated based on a target signal from the target detection unit;
After the guided bullet is guided so as to approach the target from a substantially vertical direction in accordance with the estimated position information of the target given from the outside, the estimated position from the tracking control unit after the axis of the guided bullet is in the vertical direction A guidance control unit for guiding a guided bullet to a target based on a signal;
It is a guidance bullet equipped with a radio wave guidance device equipped with
The tracking control unit intermittently measures the distance to the ground surface after capturing the target with the axis of the guided bullet in the vertical direction, and based on the distance value obtained by the distance measurement, the target tracking range To correct
The guided bullet characterized in that the target detection unit detects a target within a tracking range corrected by the tracking control unit and outputs a target signal. A parachute that is opened and detached according to an instruction from the guidance control unit,
The guidance control unit guides a guided bullet so as to approach the target by opening the parachute from a substantially vertical direction according to the estimated position information of the target given from outside, and then detaches the parachute and follows the tracking The guided bullet according to any one of claims 1 to 5, wherein the guided bullet is guided to a target based on a signal from the control unit.

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