JP2007192423A - Flying object command guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem on increase of load on communication equipment in an assumption example where the amount of communication data is increased in a system as a whole as all of wireless communication is performed with high communication rate, and required output electric power is increased in the wireless communication. <P>SOLUTION: This flying object command guidance system performing command guidance of a plurality of flying objects 1a, 1b from a control device by using wireless communication, comprises a means for changing a communication rate of wireless communication by every flying object in accordance with a guidance situation of the flying object, and a means for controlling the guidance situation of the flying object by controlling a flying route and/or launching timing of each flying object, and reducing the number of flying objects simultaneously performing wireless communication with high communication rate in the wireless communication. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a flying object command guidance system that performs command guidance wirelessly.

FIG. 14 shows an example of a case in which the flying object command guidance is performed wirelessly.
The flying object 101a and the flying object 101b are directed and guided by the control device 103 by the flying device-control device wireless communication 105 and the flying device-control device wireless communication 106 toward the targets 2a and 2b, respectively. Yes.
In the assumed example, the radio communication 105, 106 between the flying object and the control device is always communicated at a high communication rate in accordance with the high communication rate required near the terminal guidance.

For this reason, the amount of communication data in the entire system (between the flying object and the control device) including the wireless communication 105 and 106 between the flying object and the control device increases.
Furthermore, when the number of flying objects simultaneously guided in the system is large, the amount of communication data increases in proportion to the number.
When the amount of communication data increases, in the case of wireless communication, it is necessary to use a wide radio wave band. However, it is desirable that the radio wave band to be used is narrower due to the restriction of interference with the radio wave band of existing wireless communication.
In addition, when the amount of communication data increases, the required output power for wireless communication increases, so the load on the communication device increases.

FIG. 15 shows an example of an assumption when a relay node exists.
The mobile target monitoring device 106 detects the position of the target 2 a and transmits the same position information to the relay node 104 by the wireless communication 107 between the mobile target monitoring device and the relay node.
The relay node 104 transmits the same position information to the control device 103 via the relay node-control device wireless communication 108.

  Based on the same position information, the control device 103 transmits command guidance information to the relay node 104 via the relay node-inter-control device wireless communication 108 to the flying object 101a. The command guidance information is transmitted to the flying object 101a via the flying object wireless communication 109.

The above assumption example is not a known conventional example but an example that can be assumed. However, in such an assumption example, all wireless communication is performed at a high communication rate. The amount of communication data increases.
Particularly, since the relay node-control device wireless communication 108 needs to transmit both the position information of the target 2a and the command guidance information for the flying object 101a, the amount of data via the communication is particularly large. Become.

  The present invention is intended to solve the problem that the configuration of such an assumption example has, and to provide a flying object command guidance system that can reduce the amount of communication data in the entire system. Objective.

  The present invention has been made to solve the problems of the above-described assumption examples, and each invention described in the claims employs each means described below as a flying object command guidance system. is there.

  (1) The flying object command guidance system of the first means is a flying object command guidance system that performs command guidance of a plurality of flying objects from a control device using wireless communication. Accordingly, the means for changing the communication rate of the wireless communication for each flying object, and controlling the flying route and / or the launch timing of each flying object, Means for controlling and reducing the number of flying objects that simultaneously perform the wireless communication at a high communication rate in the wireless communication.

  (2) The flying object command guidance system of the second means is a flying object command guidance system that performs command guidance of a plurality of flying objects from a control device using wireless communication. Means for changing each flying object; means for intermittently transmitting an image to the control device via the wireless communication provided in each flying object; and communication of the wireless communication at the time of image transmission The means for setting a high rate, and each of the flying objects, when performing the image transmission, by detecting the image transmission status of the other flying objects and adjusting the image transmission timing, And means for preventing the flying body from transmitting images.

  (3) The flying object command guidance system of the third means is a flying object command guidance system that performs command guidance of a plurality of flying objects from a control device using wireless communication. In response to the above, means for changing the communication rate of the wireless communication for each flying object, and image transmission to the individual control devices intermittently via the wireless communication provided in the flying object. Means for setting the communication rate of the wireless communication high at the time of image transmission, and each of the flying objects detects the image transmission status of the other flying objects when performing the image transmission, By adjusting the transmission timing, the means for avoiding that each flying object simultaneously transmits images, and by controlling the flying route and / or launch timing of each flying object, The number of flying objects that controls the guidance status of the flying object and reduces the number of flying objects that require image transmission at the same time, or that performs wireless communication at a high communication rate at the same time in the wireless communication. And a means for reducing.

  (4) The flying object command guidance system of the fourth means is a flying object command guidance system in which a flying object command guidance is performed from a control device using wireless communication including a relay node. The present invention is characterized by comprising means for conserving the communication amount between the relay node and the control device by sharing the command guidance information calculation function of the flying object under the control of the control device.

  (5) The flying object command guidance system of the fifth means is a flying object command guidance system in which a flying object command guidance is performed from a control device using wireless communication including a relay node. Under the control of the control device, by sharing the command guidance information calculation function of the flying object, a means for saving the communication amount between the relay node and the control device, and according to the guidance status of the flying object A means for changing the communication rate of the wireless communication between the relay node and the flying object for each flying object, and by controlling the flying route and the launch timing of each flying object. And means for controlling the state of guidance of the flying object to reduce the number of flying objects that simultaneously perform wireless communication at a high communication rate in the wireless communication.

  (6) A flying object command guidance system according to a sixth means is a flying object command guidance system for guiding a flying object from a control device using wireless communication including a relay node. Means for individually changing the update rate of the wireless communication between the relay node and the control device and between the relay node and the flying object according to a guidance situation; and the wireless communication provided in the flying object Means for intermittently transmitting an image to the control device via the relay node via the relay node, a means for setting a high communication rate for the wireless communication at the time of image transmission, When carrying out the transmission, it is possible to detect the image transmission status of the other flying objects and adjust the image transmission timing so that a large number of the flying objects can simultaneously transmit images. Characterized in that a means be avoided.

  (7) A flying object command guidance system according to a seventh means is a flying object command guidance system in which a flying object command guidance is performed from a control device using wireless communication including a relay node. Under the control of the control device, by sharing the command guidance function of the flying object, means for saving the communication amount between the relay node and the control device, and according to the guidance status of the flying object Means for individually changing the communication rate of the wireless communication between the relay node and the control device and the wireless communication between the relay node and the flying object, from the flying object via the wireless communication; Means for intermittently transmitting an image to the control device via the relay node; means for setting a high communication rate for the wireless communication at the time of image transmission; In carrying out the transmission, a means for detecting the image transmission status of the other flying objects and adjusting the image transmission timing to prevent a large number of the flying objects from simultaneously transmitting images, By controlling the flying path and / or launch timing of the flying object, the guidance state of the flying object is controlled, and at the same time, the number of flying objects that require image transmission is reduced, or in the wireless communication And means for reducing the number of flying objects that simultaneously perform wireless communication at a high communication rate.

According to the flying object command guidance system for each means described above, the communication rate is switched according to the guidance state of the flying object, and multiple flying objects fly so as to avoid simultaneous occurrence of high communication rates. By controlling the situation, it is possible to reduce the amount of communication data of the entire flying object in the system without reducing the guidance performance of the flying object.
As a result, even if the number of flying objects to be guided simultaneously in the system increases, it is not necessary to increase the amount of communication data at the peak when considering the entire system. It is not necessary to increase the power consumption or increase the required output power of the communication device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
However, the technical scope of the present invention is not limited by such embodiments, but covers the invention described in the claims and equivalents thereof.

FIG. 1 is a schematic diagram of a flying object command guidance system according to the first embodiment of the present invention, and FIG. 2 is a block diagram of selection logic in the flying object command guidance system.
FIG. 3 is a schematic diagram of a flying object command guidance system according to the second embodiment of the present invention, and FIG. 4 is a block diagram of selection logic in the flying object command guidance system.
FIG. 5 is a schematic diagram of a flying object command guidance system according to the third embodiment of the present invention, and FIG. 6 is a block diagram of selection logic in the flying object command guidance system.
FIG. 7 is a schematic diagram of a flying object command guidance system according to the fourth embodiment of the present invention.
FIG. 8 is a schematic diagram of a flying object command guidance system according to the fifth embodiment of the present invention, and FIG. 9 is a block diagram of selection logic in the flying object command guidance system.
FIG. 10 is a schematic diagram of a flying object command guidance system according to the sixth embodiment of the present invention, and FIG. 11 is a block diagram of selection logic in the flying object command guidance system.
FIG. 12 is a schematic diagram of a flying object command guidance system according to the seventh embodiment of the present invention, and FIG. 13 is a block diagram of selection logic in the flying object command guidance system.

(First embodiment)
First, a flying object command guidance system according to a first embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a schematic diagram of a flying object command guidance system according to the first embodiment of the present invention, and FIG. 2 is a block diagram of selection logic in the flying object command guidance system.
2A shows the communication rate selection logic, and FIG. 2B shows the flight path selection logic.

As shown in FIG. 1, the first flying body 1 a and the second flying body 1 b are controlled by the control device 3 toward the first target 2 a and the second target 2 b, respectively. Command-guided by body-to-control device wireless communication (hereinafter simply referred to as “wireless communication” in the first to third embodiments) L1a and second wireless communication L1b.
And the 1st flying body 1a and the 2nd flying body 1b change the communication rate of 1st radio | wireless communication L1a and 2nd radio | wireless communication L1b according to each guidance condition separately. It has become.
The position information of the targets 2a and 2b is transmitted from a fixed target monitoring device 5 such as a radar base.

In the example illustrated in FIG. 1, the second flying object 1b approaches the second target 2b and approaches the terminal guidance, so the second wireless communication L1b is communicated at a high communication rate.
The communication rate is a bit rate, and a high communication rate means, for example, that information of a predetermined capacity is frequently performed at a short time interval, and a low communication rate is a predetermined capacity. This means that information is performed at long time intervals.

The second flying object 1b immediately before entering the terminal guidance, that is, immediately before capturing the target with its own homing device, needs to realize the target capturing by the homing device in the second flying object 1b with a high probability. .
Therefore, based on the position information of each target 2a, 2b from the fixed target monitoring device 5 by means for changing the communication rate of each wireless communication L1a, L1b for each flying object 1a, 1b, for example, the second It is determined that the flying object 1b is close to the terminal guidance (step S1 in FIG. 2A), and the wireless communication L1b is set to a high communication rate (step S12 in FIG. 2A).
And the control apparatus 3 makes the relative position of the 2nd target 2b and the 2nd flying body 1b more precisely to the 2nd flying body 1b by the second wireless communication L1b at a high communication rate. It comes to command.

On the other hand, the first flying object that has been determined that there is still sufficient time (step S1 in FIG. 2A) until the terminal guidance based on the position information of the first target 2a from the fixed target monitoring device 5 1a does not need to know the precise position of the first target 2a.
Therefore, for the first flying object 1a, the first wireless communication L1a is set to a low communication rate (step S11 in FIG. 2A), and the first wireless communication L1a is set to a low communication rate. Communication is to be performed.
In other words, the first flying object 1a is still far from the first target 2a, is in the first mid-term guidance, and there is still time until the last guidance.
For this reason, a low communication rate is sufficient for the first wireless communication L1a.

  As described above, each wireless communication L1a, L1b has a communication rate of “high” or “high” according to the communication rate selection logic as shown in FIG. 2A depending on the guidance status of each flying object 1a, 1b. It is set to “Low”.

The communication rate selection logic illustrated in FIG. 2A may be incorporated in the computers in the flying objects 1a and 1b, or may be incorporated in the computers in the control device 3.
By incorporating the communication rate selection logic shown in FIG. 2 (a) into the computers in each flying object 1a, 1b, each flying object 1a, 1b, according to the guidance status of each flying object 1a, 1b, The communication rate of each wireless communication L1a and L1b with the control device 3 of 1b is switched to “high” or “low”.

The “logic” and the “logic” described below may be in the form of a program or sequence incorporated in the above-described computer, or may be in a form in which this “logic” is executed by a dedicated electronic circuit.
Further, the “logic” may be stored in a recording medium such as a CD-ROM or a floppy and downloaded to an existing flying computer or the control device 3.

In the flight route selection logic shown in FIG. 2B, the flight route change may be read into the computers on the flying bodies 1a and 1b or the control device 3. It is done.
Regarding the change of the launch timing, it can be considered to read into the computer of the control device 3.

In addition, when the first flying object 1a and the second flying object 1b are expected to enter the terminal guidance at the same time, first, the flying route selection logic shown in FIG. It is determined whether or not simultaneous termination guidance occurs (step S21 in FIG. 2B).
When it is determined that simultaneous terminal guidance occurs, for example, the first flying object 1a changes the initial flying route Ra in order to avoid entering terminal guidance simultaneously with the second flying object 1b. To the flight route RaX (step S23 in FIG. 2B).
If it is determined that simultaneous termination guidance does not occur (step S21 in FIG. 2B), the flight route and the launch timing are unchanged (step S22 in FIG. 2B).
If it is before the launch of the first flying object 1a, the firing timing of the first flying object 1a is delayed (step S23 in FIG. 2 (b)).

  In this way, it is possible to avoid the flying objects 1a and 1b from entering the terminal guidance at the same time by means of reducing the number of flying objects that simultaneously perform wireless communication at a high communication rate.

The flying object command guidance system according to the first embodiment of the present invention is configured as described above. In the example shown in FIG. 1, the second wireless communication L1b is selected at a high communication rate, One wireless communication L1a is selected to have a low communication rate.
For this reason, the communication data amount at the peak of the entire system including the first flying object 1a and the second flying object 1b is smaller than that in the assumed example shown in FIG.

If both the first flying object 1a and the second flying object 1b perform wireless communication at a low communication rate, the amount of communication data can be further reduced, but the used radio wave band and the required output voltage are Since it is specified according to the peak communication data volume, the peak communication data volume is described below.
Since the amount of communication data at the peak is small, the used radio wave band necessary for wireless communication may be narrower than the assumed example, and the required output power for wireless communication may be small.

In addition, although the first wireless communication L1a has a low communication rate, the first flying object 1a has not yet reached the terminal guidance, so a high communication rate is not necessary, and the influence on the guidance performance even at a low communication rate. There is no.
In addition, the first flying object 1a and the second flying object 1a and the second flying object 1b are controlled in flight route and firing timing so as not to enter the terminal guidance simultaneously with the second flying object 1b. No flying object 1b enters the terminal guidance at the same time.

For this reason, the wireless communication L1a and L1b do not have a high communication rate at the same time, and the communication data amount at the peak of the entire system including the flying objects 1a and 1b is almost the same as the assumed example shown in FIG. It will not increase to
Further, in the first flying object 1a (or 1b) having a long range, the terminal induction time in the entire flying time of the first flying object 1a (or 1b) is short. It is possible to control so as not to enter.

In addition, although said embodiment is an example in case the number of flying bodies is two, it is not limited to this, Even if it is three or more, it is applicable.
Also, for example, when there are five flying bodies to be guided simultaneously and the required output of the communication device is large to some extent, for example, two units may be set to a high communication rate and the remaining three units may be set to a low communication rate. Is possible.

As described above, the flying object command guidance system according to the first embodiment of the present invention switches the communication rate according to the guidance status of each flying object 1a, 1b, and has a high communication rate. By controlling the flight status of multiple flying objects 1a and 1b so as to avoid simultaneous occurrence, the communication data of the entire flying objects in the system is maintained without reducing the guidance performance of each flying object 1a and 1b. The amount can be reduced.
As a result, even if the number of flying objects to be guided simultaneously in the system increases, it is not necessary to increase the amount of communication data at the peak when considering the entire system. It is not necessary to increase the power consumption or increase the required output power of the communication device.

(Second Embodiment)
Next, a flying object command guidance system according to the second embodiment of the present invention will be described with reference to FIGS.
FIG. 3 is a schematic diagram of a flying object command guidance system according to the second embodiment of the present invention, and FIG. 4 is a block diagram of a communication rate selection logic in the flying object command guidance system.

As shown in FIG. 3, the first flying body 1a and the second flying body 1b are connected to the first wireless communication L1a by the control device 3 toward the first target 2a and the second target 2b, respectively. The command is guided by the second wireless communication L1b.
Each first flying body 1a, 1b is command-guided at the communication rate of each wireless communication L1a, L1b according to the respective guidance status.
In addition, the positional information on each target 2a, 2b is transmitted from the fixed target monitoring apparatus 5 like the thing shown in FIG.

In addition, each flying object 1a, 1b transmits an image such as a target acquired by the homing device or the like of each flying object 1a, 1b to the control device 3 through each wireless communication L1a, L1b.
In the control device 3, the operator M can perform target designation and target enemy identification by visually observing images transmitted from the flying objects 1 a and 1 b.

Next, the communication rate selection logic will be described with reference to FIG.
In the example illustrated in FIG. 3, the second flying object 1 b is approaching the second target 2 b.
Therefore, the second flying object 1b determines that image transmission is necessary (step S2 in FIG. 4), and acquires an image of the second target 2b with the homing device mounted on the second flying object 1b.
If it is determined that image transmission is not required (step S2 in FIG. 4), the low communication rate is maintained and image transmission is not performed (step S11a in FIG. 4).

Next, it is determined whether or not the other first flying object 1a is transmitting an image (step S3 in FIG. 4). If it is determined that the image is not transmitted, the second wireless communication L1b is set to a high communication rate. Then, the image is transmitted to the control device 3 via the second wireless communication L1b (step S12a in FIG. 4).
If it is determined that another first flying object 1a is transmitting an image (step S3 in FIG. 4), the image is not transmitted with the low communication rate (step S11b in FIG. 4).

  The operator M visually confirms the image transmitted from the second flying object 1b, determines the target enemy and ally identification, and passes through the second wireless communication L1b to obtain the second flying object 1b. Send a command to continue or stop the attack.

Thereafter, the first flying object 1a also approaches the target 2a, and an image of the target 2a was acquired by the homing device. However, the second flying object 1b was transmitting an image to the control device 3. If this occurs (step S3 in FIG. 4), the image transmission is not performed (step S11b in FIG. 4) while keeping the low communication rate according to the logic shown in FIG.
When the image transmission from the second flying object 1b is completed, the first flying object 1a detects that the second flying object 1b has completed the image transmission, and according to the logic shown in FIG. The wireless communication L1a is set to a high communication rate and image transmission is performed (step S12a in FIG. 4).

The communication rate selection logic shown in FIG. 4 may be incorporated in the computers in the flying objects 1a and 1b, or may be incorporated in the computer in the control device 3.
In a situation where image transmission is necessary from the first flying object 1a, it is determined whether or not the other second flying object 1b is transmitting an image, and the other second flying object 1b. If the image is not being transmitted, the communication rate of the first wireless communication L1a is set high, and image transmission with a large amount of data is performed.

In addition, when the operator M views the image and changes the flight route of the flying objects 1a and 1b based on the result, it is necessary to transmit the image within a predetermined time for flying object guidance.
In order to transmit an image within a certain period of time, the communication rate is also set high when transmitting an image.

The flying object command guidance system according to the second embodiment of the present invention is configured as described above, and the communication rate selection logic shown in FIG. 4 is applied to each flying object 1a, 1b shown in FIG. Thus, in FIG. 3, images are not transmitted simultaneously from the flying objects 1a and 1b.
That is, in FIG. 3, the wireless communication L1a and L1b do not simultaneously have a high communication rate, and the amount of communication data at the peak of the entire flying object command guidance system including the flying objects 1a and 1b is reduced. I can do it.

Since the image transmission is used for identifying the enemy friendly ally, the transmission is limited to a relatively short time between before and after each flying object 1a, 1b captures the target and before hitting the target. Is possible.
Therefore, if the number of flying objects 1a and 1b in the flying object command guidance system is relatively small, the communication status of the other flying objects 1a and 1b is monitored, and the other flying objects 1a and 1b transmit images. By not transmitting images, it is possible to reduce the amount of communication data at the peak while achieving the original purpose of image transmission.
The reduction in the amount of communication data at the peak leads to the saving of the radio wave band used when performing wireless communication and the reduction of the required output power of the communication device, as shown in FIG. 1 and FIG. This is as described in the first embodiment.

(Third embodiment)
Next, a flying object command guidance system according to a third embodiment of the present invention will be described with reference to FIGS.
The third embodiment of the present invention is the same as that of the first embodiment of the present invention shown in FIGS. 1 and 2, and the second embodiment of the present invention shown in FIGS. The form is combined, and the communication rate selection logic is improved.
FIG. 5 is a schematic diagram of a flying object command guidance system according to the third embodiment of the present invention, and FIG. 6 is a block diagram of selection logic in the flying object command guidance system.
FIG. 6A shows a communication rate selection logic, and FIG. 6B shows a flight route selection logic.

As shown in FIG. 5, the first flying body 1a and the second flying body 1b are connected to the first wireless communication L1a by the control device 3 toward the first target 2a and the second target 2b, respectively. The command is guided by the second wireless communication L1b.
Each flying object 1a, 1b is respectively in accordance with the guidance status of each flying object 1a, 1b, as in the first and second embodiments of the present invention shown in FIGS. The communication rates of the first wireless communication L1a and the second wireless communication L1b are changed.
In addition, the positional information on each target 2a, 2b is transmitted from the fixed target monitoring apparatus 5 like the thing shown in FIG.

In addition, each flying object 1a, 1b transmits an image of a target or the like acquired by a homing device or the like in each flying object 1a, 1b to the control device 3 through each wireless communication L1a, L1b.
In the control device 3, the operator M can perform target designation and target enemy identification by visually observing images transmitted from the flying objects 1 a and 1 b.

Then, as shown in FIG. 5, when it is determined that the second flying object 1b first approaches the target 2b and is close to the terminal guidance (step S1 in FIG. 6B), communication of command guidance information is performed. Since it is necessary to increase the rate, the second wireless communication L1b is set to a medium communication rate.
However, if it is determined that the terminal guidance is near (step S1 in FIG. 6A), but it is determined that image transmission is not necessary (step S2 in FIG. 6A), the medium communication rate is set. The state as it is is continued and the image is not transmitted (step S13a in FIG. 6A).

Furthermore, when the second flying object 1b approaches the target 2b and it is determined that image transmission is necessary (step S2 in FIG. 6A), the other first flying object 1a is transmitting an image. Is determined (step S3 in FIG. 6A).
If the other first flying object 1a is not transmitting an image, the communication rate of the second wireless communication L1b is increased and the image is transmitted to the control device 3 (step S12a in FIG. 6).
Note that if the other first flying object 1a is transmitting an image, the communication rate remains at a medium level (step S13b in FIG. 6A).

  Then, the operator M visually confirms the image transmitted from the second flying body 1b, determines the target enemy ally identification, and performs the second flying flight via the second wireless communication L1b. A command to continue or stop the attack is transmitted to the body 1b.

During this time, the first flying object 1a is still far from the target 2a, and is in the middle of the initial guidance, and there is still time until the terminal guidance.
Therefore, it is determined that the first flying object 1a is not close to the terminal guidance (step S1 in FIG. 6A), and a low communication rate is selected (step S11a in FIG. 6A).
In this way, the first wireless communication L1a is communicated at a low communication rate.

The communication rate selection logic illustrated in FIG. 6A may be incorporated in the computers in the flying objects 1a and 1b, or may be incorporated in the computer in the control device 3.
Note that the flight path selection logic shown in FIG. 6B is the same as that in FIG. 2B in the first embodiment of the present invention.

In the second embodiment of the present invention, the number of flying objects 1a and 1b in the system increases to two or more, and a situation occurs in which a large number of flying objects 1a and 1b and the like require image transmission at the same time. Then, there is a possibility that the flying bodies 1a, 1b, etc., which cannot transmit the image within the required time.
The flying object image transmission is necessary after the flying objects 1a, 1b, etc. approach the terminal guidance.
For this reason, in the flying object command guidance system according to the third embodiment of the present invention, the number of flying objects entering the terminal guidance can be reduced at the same time by the flying route selection logic in FIG. 6B. If possible, it is useful for reducing the amount of communication in the system as seen in the first embodiment of the present invention, and the solution of the second embodiment of the present invention alone is not sufficient. The effect which avoids the situation where many flying bodies 1a, 1b,...

As described above, the flying object command guidance system according to the first to third embodiments of the present invention has been described based on FIGS. 1 to 6. However, each of these embodiments monitors the targets 2a and 2b. This is an example performed by a fixed target monitoring device 5 such as a radar base placed on the ground or the like.
Next, an example in which the targets 2a and 2b are monitored by the mobile target monitoring apparatus 6 such as an aircraft equipped with a radar or a vehicle moving on the ground will be described.
In each of the embodiments described below, the fixed target monitoring device 5 can be used together.
Further, the number of flying objects 1a and 1b and targets 2a and 2b is not limited to two, and the number of flying objects 1a and 1b and targets 2a and 2b is also applicable to three or more.

(Fourth embodiment)
Next, a flying object command guidance system according to a fourth embodiment of the present invention will be described with reference to FIG.
FIG. 7 is a schematic diagram of a flying object command guidance system according to the fourth embodiment of the present invention.
As shown in FIG. 7, the mobile target monitoring device 6 detects the position of the target 2 a, and transmits the same position information to the wireless communication between the mobile target monitoring device and the relay node (hereinafter, the fourth to seventh implementations). In the form, it is simply transmitted to the relay node 4 by L2 (referred to as “monitoring to relay wireless communication”).
On the basis of the same position information, the relay node 4 is directed to the first flying object 1a toward the target 2a, between the relay node and the flying object (hereinafter, in the fourth to seventh embodiments). The command is guided by L3a (referred to simply as “relay-to-flying body radio communication”).

The relay node 4 is connected to the control device 3 by a wireless communication between the relay node and the control device (hereinafter simply referred to as “relay to control radio communication” in the fourth to seventh embodiments) L4. The control information regarding 1a and the target 2a is transmitted, and the general instruction regarding the control is received from the control device 3 through the relay-control wireless communication L4.
In the communication rates of the wireless communications L2, L3a, and L4, the monitoring to relay wireless communication L2 and the relay to flying body wireless communication L3a have a high communication rate, and the relay to control wireless communication L4 has a low communication rate.

The flying object command guiding system according to the fourth embodiment of the present invention is configured as described above, and the flying node 4 uses the relay node 4 to fly based on the position information of the target 2a. Command guidance information for the body 1a is calculated.
In the assumption example shown in FIG. 15, it is not necessary to communicate the position information of the target 2 a that needs to be communicated with the command guidance information for the flying object 1 a via the wireless communication 108 between the relay node and the control device.
That is, in the assumption example, since the command guidance information is calculated by the control device, it is necessary to pass the position information and the command guidance information via the relay node-control device wireless communication 108.

On the other hand, in the fourth embodiment of the present invention shown in FIG. 7, the flying object 1a and the target 2a are transmitted from the relay node 4 to the control device 3 by relay to control radio communication L4. It is necessary to transmit the control information regarding the control and the general instruction regarding the control from the control device 3 to the relay node 4 via the relay-control wireless communication L4.
Here, the control information is information about the approximate position information of the target 2a and the approximate command guidance information for the first flying object 1a.

The relay-control radio communication L4 that gives a general instruction regarding the control information and control, which is newly required for communication in the fourth embodiment of the present invention, is the same as in the first to third embodiments of the present invention. Compared with the position information of the target 2a from the control device 3 and the command guidance information for the first flying object 1a, it can be realized by communication at a lower communication rate.
That is, the communication data amount can be reduced considering the entire flying object command guidance system shown in FIG.
As described in the first to third embodiments of the present invention, the reduction in the amount of communication data leads to saving of a radio wave band used for performing wireless communication and saving of required output power of a communication device.

Further, the calculation of the command guidance information performed by the relay node 4 is performed under a general instruction regarding control based on the control device 3 (for example, a command for changing a target or stopping an attack). It is possible to perform optimal command guidance that takes the whole picture into consideration.
Therefore, in this embodiment, compared with the assumption example shown in FIG. 15, a part of the functions of the control device 3 is transferred to the relay node 4. Will not drop.

(Fifth embodiment)
Next, a flying object command guidance system according to a fifth embodiment of the present invention will be described with reference to FIGS.
FIG. 8 is a schematic diagram of a flying object command guidance system according to the fifth embodiment of the present invention, and FIG. 9 is a block diagram of selection logic in the flying object command guidance system.
FIG. 9A shows the communication rate selection logic, and FIG. 9B shows the flight route selection logic.

As shown in FIG. 8, the mobile target monitoring device 6 detects the positions of the targets 2a and 2b, and transmits the same position information to the relay node 4 such as an aircraft by monitoring to relay wireless communication L2.
Based on the same position information, the relay node 4 sets the first flying object 1a and the second flying object 1b toward the first target 2a and the second target 2b, respectively. Command guidance is performed by the relay to flying object wireless communication L3a and the second relay to flying object wireless communication L3b.

Further, the relay node 4 transmits the control information regarding the flying objects 1a and 1b and the targets 2a and 2b to the control device 3 through the relay to control radio communication L4. Via the control device 3, a general instruction regarding control is received.
Note that the relay-control radio communication L4 remains at a low communication rate as in the fourth embodiment of the present invention (steps S14 and S15 in FIG. 9A).

In the example illustrated in FIG. 8, the second flying object 1b approaches the second target 2b and approaches the terminal guidance, so it is determined that the second flying object 1b is close to the flying object (step of FIG. 9A). S1) The second relay to flying object wireless communication L3b is communicated at a high communication rate (step S15 in FIG. 9A).
On the other hand, the first flying object 1a is still far from the first target 2a, is in the first mid-term guidance, and still has time until the last guidance.
For this reason, the first relay to flying object wireless communication L3a is communicated at a low communication rate (step S14 in FIG. 9A).

Next, the communication rate selection logic will be described with reference to FIG.
Note that the relay-control radio communication L4 remains at a low communication rate (steps S14 and S15 in FIG. 9A).
In the example shown in FIG. 8, the second flying object 1b immediately before entering the terminal guidance, that is, immediately before capturing the target with its own homing device, captures the target by the homing device in the second flying object 1b. It needs to be realized with high probability.
Therefore, the relay node 4 determines that the second flying object 1b is close to terminal guidance based on the position information of the second target 2b from the mobile target monitoring device 6 (step S1 in FIG. 9A). Then, the wireless communication of the relay to control wireless communication L4 is kept at a low communication rate, and the wireless communication of the relay to flying object wireless communication L3b is set to a high communication rate (step S15 in FIG. 9A). ).

  Then, the relay node 4 receives the general instruction from the control device 3, and at the high communication rate, the second target 2b and the second flying object 1b are transmitted by the second relay to flying object wireless communication L3b. Is more precisely commanded to the second flying object 1b.

On the other hand, based on the position information of the first target 2a from the mobile target monitoring device 6, it is determined at the relay node 4 that there is still sufficient time until the terminal guidance (step S1 in FIG. 9A). The first flying object 1a does not need to know the precise position of the first target 2a.
Therefore, the first relay to flying object wireless communication L3a continues to have a low communication rate (step S14 in FIG. 9A).

In this way, each relay-flying body wireless communication L3a, L3b has a communication rate "" according to the communication rate selection logic as shown in FIG. 9A, according to the guidance status of each flying body 1a, 1b. It is set to “high” or “low”.
The communication rate selection logic illustrated in FIG. 9A may be incorporated in the computers in the flying objects 1a and 1b, or may be incorporated in the computers in the relay node 4.
Note that the flight route selection logic illustrated in FIG. 9B is the same as that in FIG. 2B of the first embodiment of the present invention, and thus description thereof is omitted.

As described above, the fifth embodiment of the present invention includes the first embodiment of the present invention shown in FIGS. 1 and 2, and the fourth embodiment of the present invention shown in FIG. It is a combination of things.
In the first and second embodiments of the present invention, the relay node 4 does not exist. However, the effect of reducing the traffic of the first embodiment of the present invention is the same as that of the fourth embodiment of the present invention. Even when there is a relay node 4 as shown in the form, it can be similarly expected.

(Sixth embodiment)
Next, a flying object command guidance system according to a sixth embodiment of the present invention will be described with reference to FIGS.
FIG. 10 is a schematic diagram of a flying object command guidance system according to the sixth embodiment of the present invention, and FIG. 11 is a block diagram of a communication rate selection logic in the flying object command guidance system.

As shown in FIG. 10, the mobile target monitoring device 6 detects the positions of the targets 2a and 2b, and transmits the same position information to the relay node 4 by monitoring to relay wireless communication L2.
Based on the same position information, the relay node 4 sets the first flying object 1a and the second flying object 1b toward the first target 2a and the second target 2b, respectively. Command guidance is performed by the relay to flying object wireless communication L3a and the second relay to flying object wireless communication L3b.

  In addition, each flying object 1a, 1b sends the image of each target obtained by the homing device etc. in each flying object 1a, 1b to the relay node 4 through each relay to flying object wireless communication L3a, L3a. The relay node 4 transmits the image to the control device 3 through the relay-control radio communication L4.

The operator M uses the control device 3 to visually check the images transmitted from the flying objects 1a and 1b via the relay node 4, thereby specifying the targets 2a and 2b and identifying the target friendly ally. Make a decision.
A communication rate is set individually for each of the relay to flying radio communication L3a and L3b and the relay to control radio communication L4.
The second flying object 1b approaches the target 2b, then the first flying object 1a approaches the target 2a, and the second flying object 1b first transfers the image from the second relay to the flying. For the order in which the first flying object 1a transmits the images by the first wireless relay communication system L3a after the transmission is completed and the first transmission object 1a transmits the image by the first wireless communication apparatus L3a. This is the same as described in the second embodiment.

As described above, the communication rate selection logic between the flying objects 1a and 1b and the relay node 4 illustrated in FIG. 11 is the same as that of the flying objects 1a and 1b in the second embodiment of the present invention illustrated in FIG. It is almost the same as that of the communication rate selection logic between 1b and the control device 3.
The difference is that the relay-control radio communication L4 and the relay-flyer radio communications L3a, L3b are simultaneously switched.

That is, in the example illustrated in FIG. 10, the second flying object 1b is approaching the target 2b.
Therefore, the second flying object 1b determines that image transmission is necessary (step S2 in FIG. 11), and acquires an image of the second target 2b with the homing device mounted on the second flying object 1b.
The first relay-flyer wireless communication L3a and the relay-control wireless communication L4 for the first flying object 1a determined to be unnecessary for image transmission (step S2 in FIG. 11) have a low wireless communication rate. (Step S14a in FIG. 11).

Next, it is determined whether another first flying object 1a is transmitting an image (step S3 in FIG. 11), and if it is determined that it is not, the second relay to flying object wireless communication L3b. Then, the relay to control radio communication L4 is set to a high communication rate, and an image is transmitted to the control device 3 (step S16 in FIG. 11).
When it is determined that the other first flying object 1a is transmitting an image (step S3 in FIG. 11), the image is not transmitted with the low communication rate.
In this case, the relay-control radio communication L4 is set to a high communication rate because the other first flying object 1a is transmitting an image (step S17 in FIG. 11).

  The operator M visually confirms the image transmitted from the second flying object 1b, determines the target enemy ally identification, and performs relay to control wireless communication L4 and second relay to flying object wireless communication L3b. A command to continue or stop the attack is transmitted to the second flying object 1b at a high communication rate via.

On the other hand, the first flying object 1a approaches the target 2a and acquires the image of the target 2a with the homing device, but the second flying object 1b is transmitting an image to the control device 3. As a result (step S3 in FIG. 11), image transmission is not performed (step S17 in FIG. 11).
When the image transmission from the second flying object 1b is completed, the first flying object 1a determines that the other second flying object 1b is not transmitting an image (step S3 in FIG. 11). The communication rates of the relay-control radio communication L4 and the first relay-flyer radio communication L3a are set high, and image transmission is performed (step S16 in FIG. 11).

  The communication rate selection logic shown in FIG. 11 may be incorporated in the computers in the flying objects 1a and 1b, or may be incorporated in the computers in the relay node 4 and the control device 3.

  The sixth embodiment of the present invention is a mode in the case where the relay node 4 is present with respect to the second embodiment of the present invention, and the effect of reducing the traffic in the second embodiment of the present invention is as follows. Even in the case where the relay node 4 exists, it can be similarly expected by switching the communication rates of the relay to flying radio communication L3a and L3b and the relay to control radio communication L4.

(Seventh embodiment)
Next, a flying object command guidance system according to a seventh embodiment of the present invention will be described with reference to FIGS.
FIG. 12 is a schematic diagram of a flying object command guidance system according to the seventh embodiment of the present invention, and FIG. 13 is a block diagram of selection logic in the flying object command guidance system.
FIG. 13A shows a communication rate selection logic, and FIG. 13B shows a flight route selection logic.

The communication rate selection logic of each relay-to-aircraft wireless communication L3a, L3b in FIG. 13 (a) is the same as each wireless-to-control device wireless communication L1a in the third embodiment of the present invention shown in FIG. , The same as the communication rate selection logic of L1b.
The difference is that the communication rate of the relay to control radio communication L4 is also selected.
Note that the flight path selection logic shown in FIG. 13B is the same as in the first, third, and fifth embodiments of the present invention.

  In the communication rate selection logic shown in FIG. 13A, the relay-control radio communication L4 communicates to transmit an image only when an image is transmitted from the first flying object 1a or the second flying object 1b. The rate is set high (steps S16 and S19 in FIG. 13A), otherwise the communication rate is set low (steps S14a and S18 in FIG. 13A).

On the other hand, when it is determined that the relay node-to-aircraft wireless communication L3a, L3b is not near the terminal guidance (step S1 in FIG. 13 (a)), only the control information and the data amount are small. -The communication rate of the flying object wireless communication L3a, L3b is lowered (step S14a in FIG. 13A).
When it is close to the terminal guidance but it is determined that image transmission is not necessary (step S2 in FIG. 13 (a)), the communication rate of the relay-to-aircraft wireless communication L3a, L3b is set to medium (FIG. 13 ( Step S18) of a).

Even if image transmission is necessary, when it is determined that another flying object is transmitting (step S3 in FIG. 13A), the communication rate of the relay to flying object wireless communication L3a, L3b is medium. (Step S19 in FIG. 13A).
When an image is transmitted, the relay to flying body wireless communication L3a, L3b is set to a high communication rate (step S16 in FIG. 13A).

  The seventh embodiment of the present invention combines the third, fifth, and sixth embodiments of the present invention, and when any of the flying bodies 1a and 1b transmits an image, the relay to control radio is used. The communication L4 has a high communication rate.

According to the flying object command guidance system concerning the 7th embodiment of the present invention, the operation effect which combined the 3rd, 5th, and 6th embodiments of the present invention is produced.
That is, in the fifth embodiment of the present invention, the number of flying objects 1a, 1b,... In the system increases, and a large number of flying objects 1a, 1b,. When the situation occurs, there is a possibility that flying objects 1a, 1b,... That cannot transmit an image within a required time.
The image transmission of the flying objects 1a, 1b,... Is necessary after the flying objects 1a, 1b,.

  Therefore, if the number of flying objects 1a, 1b,... Entering the terminal guidance can be reduced at the same time by the flying route selection logic in FIG. 13 (b), the fifth embodiment of the present invention will be described. As seen in the above, it is useful for reducing the amount of communication in the system, and a number of flights that may not be solved by the fifth embodiment of the present invention alone. An effect of avoiding a situation where the bodies 1a, 1b,... Require image transmission at the same time can be expected.

  The present invention has been described above with reference to the first to seventh embodiments. However, the present invention is not limited to the above-described embodiments, and various modifications can be made to the specific structure within the scope of the present invention. Needless to say, can be added.

The schematic diagram of the flying object command guidance system concerning a 1st embodiment of the present invention. The block diagram of the selection logic in the flying object command guidance system. The schematic diagram of the flying object command guidance system concerning a 2nd embodiment of the present invention. The block diagram of the selection logic in the flying object command guidance system. The schematic diagram of the flying object command guidance system concerning a 3rd embodiment of the present invention. The block diagram of the selection logic in the flying object command guidance system. The schematic diagram of the flying object command guidance system concerning a 4th embodiment of the present invention. The schematic diagram of the flying object command guidance system concerning a 5th embodiment of the present invention. The block diagram of the selection logic in the flying object command guidance system. The schematic diagram of the flying object command guidance system concerning a 6th embodiment of the present invention. The block diagram of the selection logic in the flying object command guidance system. The schematic diagram of the flying object command guidance system concerning a 7th embodiment of the present invention. The block diagram of the selection logic in the flying object command guidance system. Schematic diagram of an assumed flying object command guidance system. The outline figure of another flying object command guidance system of an example of an assumption.

Explanation of symbols

1a, 1b Flying object 2a, 2b Target 3 Control device 4 Relay node 5 Fixed target monitoring device 6 Mobile target monitoring device L1a, L1b Radio communication between flying object and control device L2 Between mobile target monitoring device and relay node Wireless communication L3a, L3b Wireless communication between relay node and flying object L4 Wireless communication between relay node and control device M Operator Ra, Rb Flying route RaX Flying route

Claims (7)

In the flying object command guidance system that conducts command guidance of multiple flying objects using wireless communication from the control device,
A means for changing the communication rate of the wireless communication for each flying object according to the guidance state of the flying object,
By controlling the flight path and / or launch timing of each flying object, the guidance state of the flying object is controlled, and in the wireless communication, the wireless communication is simultaneously performed at a high communication rate. And a flying object command guidance system characterized by comprising means for reducing the number. In the flying object command guidance system that conducts command guidance of multiple flying objects using wireless communication from the control device,
Means for changing the communication rate of the wireless communication for each flying object;
Means for intermittently transmitting images to the control device via the wireless communication provided in each flying object;
Means for setting a high communication rate of the wireless communication at the time of image transmission;
When each of the flying objects performs the image transmission, a number of the flying objects simultaneously transmit images by detecting the image transmission status of the other flying objects and adjusting the image transmission timing. A flying object command guidance system characterized by comprising means for avoiding this. In the flying object command guidance system that conducts command guidance of multiple flying objects using wireless communication from the control device,
A means for changing the communication rate of the wireless communication for each flying object according to the guidance state of the flying object,
Means for intermittently transmitting images to the individual control devices via the wireless communication provided in the flying body;
Means for setting a high communication rate of the wireless communication at the time of image transmission;
When each of the flying objects performs the image transmission, each of the flying objects simultaneously transmits an image by detecting the image transmission status of the other flying objects and adjusting the image transmission timing. Means to avoid,
By controlling the flying path and / or launch timing of each flying object, the guidance state of the flying object is controlled, and at the same time, the number of flying objects that require image transmission is reduced, or A flying object command guidance system comprising: means for reducing the number of flying objects that simultaneously perform wireless communication at a high communication rate in wireless communication. In the flying object command guidance system that conducts flying object command guidance from the control device using wireless communication including relay nodes,
The relay node is provided with means for saving communication amount between the relay node and the control device by sharing the command guidance information calculation function of the flying object under the control of the control device. Flying object command guidance system. In the flying object command guidance system that conducts flying object command guidance from the control device using wireless communication including relay nodes,
The relay node shares the command guidance information calculation function of the flying object under the control of the control device, thereby saving the communication amount between the relay node and the control device;
According to the guidance state of the flying object, means for changing the communication rate of the wireless communication between the relay node and the flying object for each flying object,
By controlling the flight route and launch timing of each flying object, the guidance state of the flying object is controlled, and the number of the flying objects that perform wireless communication at a high communication rate at the same time in the wireless communication And a flying object command guidance system, characterized by comprising: In the flying object command guidance system that conducts flying object command guidance from the control device using wireless communication including relay nodes,
Means for individually changing the update rate of the wireless communication between the relay node and the control device and between the relay node and the flying object according to the guidance state of the flying object;
Means for intermittently transmitting an image to the control device via the relay node provided in the flying body via the wireless communication;
Means for setting a high communication rate of the wireless communication at the time of image transmission;
When each of the flying objects performs the image transmission, a number of the flying objects simultaneously transmit images by detecting the image transmission status of the other flying objects and adjusting the image transmission timing. A flying object command guidance system characterized by comprising means for avoiding this. In the flying object command guidance system that conducts flying object command guidance from the control device using wireless communication including relay nodes,
The relay node shares the command guidance function of the flying object under the control of the control device, thereby saving the communication amount between the relay node and the control device;
Means for individually changing the communication rate of the wireless communication between the relay node and the control device and the wireless communication between the relay node and the flying object according to the guidance state of the flying object;
Means for intermittently transmitting images from the flying object via the wireless communication to the control device via the relay node; and means for setting a high communication rate for the wireless communication during image transmission; ,
When each of the flying objects performs the image transmission, a number of the flying objects simultaneously transmit images by detecting the image transmission status of the other flying objects and adjusting the image transmission timing. Means to avoid that,
By controlling the flying path and / or launch timing of each flying object, the guidance state of the flying object is controlled, and at the same time, the number of flying objects that require image transmission is reduced, or A flying object command guidance system comprising: means for reducing the number of flying objects that simultaneously perform wireless communication at a high communication rate in wireless communication.

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