JP2007271292A - Guiding system for flying object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem wherein search is not started and wherein a distance for starting the search of a target gets short unnecessarily, even in the case where a clutter electric power is low to provide an allowance enough to search the target in some conditions of a sea surface and a ground surface, because reflected electric powers (clutter electric powers) of the sea surface and the ground surface are calculated assuming that those are constant in internal calculation, when irradiating the target with a radio wave to start the search, in this guide device for a flying object of the present invention, and a problem wherein the sea surface and the ground surface are erroneously tracked in the start of the search of the target, when the reflected electric powers of the sea surface and the ground surface are great. <P>SOLUTION: The search start distance is calculated in response to situations of the sea surface and the ground surface, by a clutter electric power calculation part and a search start distance calculation part, by providing a clutter signal measuring part in the guiding system and by observing the clutter electric power under an actually operated environment. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  This invention irradiates the target with radio waves, searches for the target, receives the reflected wave from the target, detects the target signal to be tracked based on the received signal, and guides the flying object toward the target It is related with the guidance device which performs.

  In a conventional guidance device, when a certain distance from the target is reached, the transmitter starts to search for the target by radiating radio waves toward the target, and receives the reflected wave from the target by the receiver. The target is tracked and guided based on (see, for example, Patent Document 1).

JP 2001-165598 A (page 5, FIG. 1)

  The conventional guidance device controls the distance from the target to start the search in consideration of the influence of the reflected wave of the sea surface or the ground (hereinafter referred to as clutter signal) when irradiating the target with radio waves and starting the search. However, since the distance to the target to start the search is calculated with a constant clutter power, the calculated distance to the target to start the search may differ due to changes in the clutter situation. There was a problem that the distance from the target at the time of starting the search became shorter than necessary. Moreover, since the reflected wave power was not appropriate, there was a problem that when the search was started, if the clutter power was large, the tracking was erroneously performed on the sea surface or the like.

  The present invention has been made to solve the above-described problem, and observes the clutter signal, and calculates the distance from the target for starting the search based on the observation result of the clutter signal, thereby obtaining the maximum target. The aim is to obtain a flying object guidance device that starts searching for a target at a distance.

  A flying body guidance device according to the present invention includes a transmission unit that supplies a transmission signal to an antenna, an antenna that receives the transmission signal and radiates a radio wave toward the target, and receives a reflected signal from the target; A receiving unit that converts the reflected signal into a video signal and outputs the received signal to the received signal processing unit and the clutter signal measuring unit, and a relative speed between the target and the flying object in the video signal, indicating the target search range; A clutter signal measurement unit that extracts a clutter signal that is a reflected wave of the sea surface or the ground observed in the range of the speed gate, target information that is input from the outside of the guidance device, the target position, speed, and posture angle, Relative position and relative to the target based on the flying object position, velocity and attitude angle input from the position / velocity / attitude angle measuring device mounted on the flying object A target relative motion calculation unit that calculates target relative information composed of degrees and relative angles and outputs the target relative information to the transmission / reception control unit and the antenna control unit; an antenna control unit that controls the directivity direction of the antenna based on the target relative information; A clutter power calculation unit that receives the clutter signal and calculates a judgment clutter power obtained by averaging the power of the clutter signal in the relative speed gate; and the flying that enables the target to be detected based on the judgment clutter power. A search start distance calculation unit that calculates a relative distance between the target body and the target and outputs it as a search start distance, and generates a control signal for setting the relative speed gate based on the target relative information and outputs the control signal to the reception unit And comparing the search start distance and the distance from the target obtained from the target relative information, when the distance is equal as a result of comparison, A transmission / reception control unit that outputs an operation signal for operating the reception signal processing unit to the reception signal processing unit, and when the operation signal is input, a reflected signal from the target is extracted from the video signal, and the flying object is And a reception signal processing unit that obtains and outputs a guidance signal to be guided.

  According to the present invention, the reflected wave power of the state of the sea surface and the ground at that time is measured, and the search start distance for starting the search for the target is calculated using the measured value, so that the target can be captured at the maximum distance. Search can begin.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a flying body guidance apparatus 1 according to Embodiment 1 of the present invention. In FIG. 1, a guidance device 1 radiates a transmission signal 100 to a space as a transmission wave, receives an reflected wave from a target as a reception signal 101, and receives a reception signal 101 received by the antenna 2 as a video signal 102. The transmitter 3 includes a transmitter 3, a transmitter 4 that amplifies the transmission signal 100 and outputs the amplified signal to an antenna, and a signal processor 5.

  Further, the signal processor 5 extracts a target reflected wave (hereinafter referred to as a target signal) from the video signal 102 from the receiver 3 and outputs a guidance signal 103, and an external device such as a ground radar device. Target information 104 including target position, velocity, posture angle, target RCS (Radar Cross Section, target object radio wave reflection area) input from the device, and position / velocity / posture angle measurement device mounted on the flying object Target relative information for calculating target relative information 106 composed of the relative position, relative speed, and relative angle of the target based on the flying object information 105 such as the position, speed, and attitude angle of the flying object input from (not shown). The motion calculation unit 7 and an antenna control unit that calculates the directivity direction of the antenna 2 from the target relative angle of the target relative information 106 and generates a command signal 107 related to the directivity direction 8 and the transmission timing signal 108 for setting the transmission timing so that the transmission signal 100 and the reception signal 101 do not overlap with each other based on the target relative information 106 and the distance and speed of the target. Output to the transmitter 4, generate a control signal 109 for setting the relative speed gate 114 and the like based on the target relative information 106 and a reception timing signal 110, and output to the receiver 3, and start search with the target relative information 106 A transmission / reception control unit 9 that outputs distance comparison information 115 that is a result of comparing the distance 113 to the reception signal processing unit 6 and the clutter signal measurement unit 10, and a clutter that measures the clutter signal 111 by the video signal 102 from the receiver 3. The clutter power for calculating the judgment clutter power 112 from the signal measuring unit 10, the clutter signal 111 and the target relative information 106. A calculation unit 11, and a search start distance calculator 12 for calculating a search start distance 113 by determining clutter power 112.

  Here, the position / velocity / posture angle measuring device is, for example, an inertial device, or a device combining a GPS (Global Positioning System) and a posture angle sensor.

The distance comparison information 115 is an operation signal for turning on / off the operations of the reception signal processing unit 6 and the clutter signal processing unit 10.
When the relative distance from the target is longer than the search start distance 113, the transmission / reception control unit 9 turns on the operation of the clutter signal processing unit 10 and turns off the operation of the reception signal processing unit 6 based on the distance comparison information 115. Then, when the relative distance to the target becomes equal to the search start distance 113, the operation of the reception signal processing unit 6 is turned on and the operation of the clutter signal processing unit 10 is turned off.

Next, operation | movement of the guidance apparatus 1 is demonstrated based on FIG. 5, FIG.
FIG. 5 is a diagram illustrating an example of the operation of the flying object M on which the guidance device 1 is mounted. FIG. 5A shows a state where the flying object M launched from the launching device (not shown) is still sufficiently away from the target T. For example, the distance from the target T is about twice to three times the search start distance described later, and the flying object M has not yet reached the distance at which the search for the target T is started. It shows a state that is about to get into the position to start searching for the target. The flying object M receives the target information 104 from the radar device on the ground.
FIG. 5B shows a state in which the flying object M is approaching the target T, the distance to the target T is within the search start distance described later, and the flying object M is searching for the target T by itself. ing.

The guidance device for the flying object M according to the first embodiment inputs information such as the approximate position and velocity of the target T from an external device such as a ground radar, and the launched flying object M is still sufficient with the target T. The power of the clutter signal is measured in the state (Fig. 5 (a)) apart from each other. Based on the measured power of the clutter signal, a distance (search start distance) at which the target T can be detected is calculated. The guidance device compares the distance to the target T obtained from the target T information from the ground radar and the like and the search start distance, and starts searching for the target when the distance to the target T becomes the search start distance. (FIG. 5B).
Conventionally, since the search start distance is calculated using the power of a predetermined clutter signal, there is a problem that the distance to the target becomes unnecessarily short at the start of the search. Using the measured value for the signal, the search start distance was calculated assuming that there was no significant fluctuation in the clutter signal, and the search for the target was started when the distance from the target became the search start distance.

Hereinafter, the operation of the flying body guiding apparatus according to the first embodiment will be described in detail.
In FIG. 5A, the flying object M first measures the power of the clutter signal 111.

At this time (at a time sufficiently away from the target T), the target relative motion calculation unit 7 will fly from the target information 104 of the target T and the flying object information 105 of the flying object M from outside the guidance device 1. The target relative information 106 including the relative speed between the body M and the target T is calculated and output to the transmission / reception control unit 9.
Based on the relative speed, the transmission / reception control unit 9 calculates a relative speed gate 114 which is a relative speed range for detecting the target signal, and outputs the relative speed gate 114 to the receiver 3 as a control signal 109.

  The target relative motion calculation unit 7 calculates target relative information 106 including a relative angle with the target from the target information 104 and the flying object information 105.

  The antenna control unit 8 calculates the directivity direction of the antenna 2 based on the target relative information 106, and generates and outputs a command signal 107 to the antenna 2.

FIG. 6 is a diagram illustrating processing of the clutter signal measurement unit 10 and the clutter power calculation unit 11 according to Embodiment 1 of the present invention.
As shown in FIG. 6A, the clutter signal measurement unit 10 measures the clutter signal in the relative speed gate 114 from the video signal.
As shown in FIG. 6B, the clutter power calculation unit 11 averages the clutter signal measured by the clutter signal measurement unit 10 in the relative speed gate, and starts searching for the judgment clutter power 112 which is the averaged power. Output to the distance calculator 12.

  The search start distance calculation unit 12 obtains the relative distance between the flying object M and the target T that can detect a signal capable of capturing the target T without being buried in the clutter signal based on the determination clutter power 112, The distance is calculated as the search start distance 113.

  The search start distance 113 is calculated by the judgment clutter power 112 using, for example, Expression 1.

  Here, the reference target radio wave reflection area σ (also referred to as RCS) is transmitted as target information 104 from an external device such as a ground radar device.

  The search start distance calculation unit 12 outputs the calculated search start distance 113 to the transmission / reception control unit 9.

  The transmission / reception control unit 9 compares the relative distance between the flying object M and the target T in the target relative information 106 and the search start distance 113.

When the relative distance between the flying object M and the target T becomes equal to the search start distance 113, the transmission / reception control unit 9 outputs the distance comparison information 115 to the reception signal processing unit 6 and also transmits the transmission signal 100. The transmission timing signal 108 is transmitted to the transmitter 4, and the transmitter 4 amplifies the transmission signal and transmits the transmission signal toward the target via the antenna 2 (FIG. 5B).
FIG. 5B shows a state in which the flying object M is approaching the target T, and the flying object M is searching for the target T.

The reflected signal and the clutter signal 111 from the target T are received by the receiver 3 via the antenna 2. The receiver 3 generates a video signal 102 based on the signal.
The reception signal processing unit 6 that has received the distance comparison information 115 extracts a target signal from the clutter signal of the video signal 102. And the guidance signal 103 is produced | generated from a target signal, and it outputs to the exterior of a guidance apparatus.

  The flying object steers the aircraft by the guidance signal and guides it on the line of sight to the target, and guides the flying object to the expected meeting position.

  Further, the above is a description of a guidance device that tracks speed, but a guidance device that tracks distance also performs the same operation by replacing the speed with the distance.

Thus, according to the flying body guidance apparatus of the first embodiment, the reflected wave power of the state of the sea surface and the ground at that time is measured, and the search start distance for starting the search for the target using the measured value is determined. In order to calculate, the search can be started at the maximum distance at which the target can be captured.
Moreover, according to the flying body guidance device of the first embodiment, it is possible to avoid erroneous capture on the sea surface or ground reflected waves.

Embodiment 2. FIG.
In the first embodiment, the determination clutter power is obtained by measuring a clutter signal within the range of one set relative speed gate, and is constant regardless of the relative speed (see FIG. 6B). In the second embodiment, the determination clutter power is calculated for each relative speed by setting a plurality of relative speed gates and measuring the clutter signal within the range of each relative speed gate.

FIG. 2 is a configuration diagram of a flying object guidance apparatus 1 according to Embodiment 2 of the present invention.
A new part of FIG. 1 which is the configuration of the first embodiment is a clutter measurement speed control unit 13.
The clutter measurement speed control unit 13 performs control to make the relative speed gate 120 for clutter measurement variable.
Other configurations are the same as those of the first embodiment, and the same reference numerals are given and the description thereof is omitted.

  In the first embodiment, the transmission / reception control unit 9 calculates the relative speed gate based on the relative speed between the flying object M and the target T calculated by the target relative motion calculation unit 7, and the relative speed gate is used as the receiver 3. However, in the second embodiment, the transmission / reception control unit 9 calculates the relative speed gate based on the relative speed 130 set by the clutter measurement speed control unit 13 and sets the relative speed gate in the receiver 3. To do.

Then, the clutter measurement speed control unit 13 performs control to change the relative speed 130 for measuring the clutter signal over the entire speed range in which search and tracking can be performed. In this way, the relative speed 130 for clutter measurement is changed, and the clutter signal measurement unit 10 makes a relative search within the speed range in which search and tracking can be performed from the video signal as shown in FIG. 7A for each changed relative speed. Measure the clutter signal power in the speed gate.
The clutter power calculation unit 11 uses the clutter signal measured by the clutter signal measurement unit 11 as shown in FIG. 7B, smoothes the judgment clutter power 112 so that it can be used within a speed region where search and tracking can be performed. calculate.
In this way, the clutter power calculation unit 11 creates in advance the determination clutter power table 121 that lists the relative speed 130 and the determination clutter power 112 corresponding to the relative speed.

At the time of the target search, the clutter power calculation unit 11 inputs the target relative information 106 from the target relative mobility calculation unit 7.
The clutter power calculation unit 11 refers to the determination clutter power table 121 according to the relative speed between the flying object M and the target T that changes with time at the relative speed obtained from the target relative information 106. The determination clutter power 112 corresponding to is extracted. Then, the extracted determination clutter power 112 is output to the search start distance calculation unit 12.
Subsequent operations are the same as those in the first embodiment.

  Although the above is a description of a guidance device that tracks speed, a guidance device that tracks distance also operates in the same manner by replacing speed with distance.

  As described above, the flying object guidance apparatus according to the second embodiment includes the determination clutter power table 121 that lists the determination clutter power for a plurality of relative velocities.

  As a result, even when the relative speed of the target is different between the time when the clutter signal is measured and the time when the target is searched, the data of the judgment clutter power corresponding to the relative speed at the time when the target is searched can be referred to. The search start distance can be obtained accurately, and the search can be started at the maximum distance at which the target can be captured.

Embodiment 3 FIG.
In the first embodiment, the determination clutter power is calculated on the assumption that the direction in which the antenna 2 is directed is constant. However, in the third embodiment, when calculating the determination clutter power, a plurality of directivity directions of the antenna 2 are set. By measuring the clutter signal in each directivity direction, the judgment clutter power is calculated for each directivity direction of the antenna.

FIG. 3 is a configuration diagram of a flying body guidance apparatus 1 according to Embodiment 3 of the present invention. A novel part of FIG. 1 which is the configuration of the first embodiment is a clutter measurement angle control unit 14. The clutter measurement angle control unit 14 performs control to vary the angle of the antenna direction for clutter measurement, and sets it to the antenna control unit 8.
Other configurations are the same as those of the first embodiment, and the same reference numerals are given and the description thereof is omitted.

In the first embodiment, the relative speed gate is calculated by the transmission / reception control section 9 based on the relative speed calculated by the target relative motion calculation section 7, and the relative speed gate is set in the receiver 3. However, in the third embodiment, In addition to the first embodiment, the antenna control unit 8 calculates the antenna direction angle 131 (θc) based on the target direction angle set by the clutter measurement angle control unit 14 and sets it to the antenna 2.
The clutter measurement angle control unit 14 performs control to change the angle with respect to the entire angle range in which search and tracking can be performed. By changing the angle in this way, the clutter signal measurement unit 10 measures the clutter signal power in the relative speed gate within the angular range in which search and tracking can be performed from the video signal, as shown in FIG.
As shown in FIG. 8B, the clutter power calculation unit 11 uses the clutter signal measured by the clutter signal measurement unit 10 to perform smoothing and use the determination clutter power 112 so that it can be used within an angle region where search and tracking can be performed. Is calculated.
The clutter power calculation unit 11 creates a determination clutter power table 122 that lists the angle 131 (θc) in the antenna direction and the determination clutter power 112 corresponding to the angle 131 (θc) in the antenna direction.
The clutter power calculation unit 11 refers to the determination clutter power table 122 according to the angle in the target direction output from the target relative motion calculation unit 7 that changes with time, and searches the corresponding determination clutter power 112 for the search start distance. Output to the calculation unit 12.
Subsequent operations are the same as those in the first embodiment.

  Although the above is a description of a guidance device that tracks speed, a guidance device that tracks distance also operates in the same manner by replacing speed with distance.

  As described above, the flying object guiding apparatus according to the third embodiment includes the determination clutter power table 122 that lists the determination clutter power 112 corresponding to the angle (θc) in the antenna direction.

  As a result, even when the direction of the target is different between the time when the clutter signal is measured and the time when the target is searched, it is possible to refer to determination clutter power data corresponding to the angle of the antenna direction at the time when the target is searched. The search start distance can be obtained accurately, and the search can be started at the maximum distance at which the target can be captured.

Embodiment 4 FIG.
The second embodiment includes a determination clutter power table 121 that lists determination clutter power for a plurality of relative velocities. In the third embodiment, the determination clutter lists the determination clutter power corresponding to the angle in the antenna direction. Although the power table 122 is provided, in the fourth embodiment, a determination clutter power table that lists the determination clutter power for each of the relative velocity and the angle in the antenna direction is provided.

FIG. 4 is a configuration diagram of a flying body guidance apparatus 1 according to Embodiment 4 of the present invention.
The new portions of FIG. 1 which are the configuration of the first embodiment are a clutter measurement speed control unit 13 and a clutter measurement angle control unit 14. The clutter measurement speed control unit 13 performs control to vary the relative speed for clutter measurement and sets it to the transmission / reception control unit 9. The clutter measurement angle control unit 14 varies the angle in the antenna direction for clutter measurement. The other configuration is the same as that of the first embodiment, and the same reference numerals are given and description thereof is omitted.

  In the first embodiment, the transmission / reception control unit 9 calculates the relative speed gate based on the relative speed between the flying object M and the target T calculated by the target relative motion calculation unit 7, and sets the relative speed gate in the receiver 3. In the fourth embodiment, the transmission / reception control unit 9 calculates a relative speed gate based on the relative speed 130 set by the clutter measurement speed control unit 13, sets the relative speed gate in the receiver 3, and the clutter measurement angle control. The antenna control unit 8 calculates the antenna direction angle 131 (θc) based on the angle of the target direction set by the unit 14 and sets it to the antenna 2 at the same time.

The clutter measurement speed control unit 13 performs control to change the relative speed 130 for the entire search and tracking speed range, and the clutter measurement angle control unit 14 changes the angle for the search and tracking angular range. Take control.
By changing the speed and angle in this way, the clutter signal measurement unit 13 changes the clutter signal power in the relative speed gate within the angle and speed range within which the search and tracking can be performed from the video signal as shown in FIG. taking measurement.

As shown in FIG. 9B, the clutter power calculation unit 11 uses the clutter signal measured by the clutter signal measurement unit 13 so that the clutter power calculation unit 11 can perform smoothing and use within an angular range and a velocity region where search and tracking can be performed. Determination clutter power 112 is calculated.
The clutter power calculation unit 11 creates a determination clutter power table 123 that lists the determination clutter power 112 corresponding to the angle (θc) in the antenna direction and the measured relative velocity.

The clutter power calculation unit 11 refers to the determination clutter power table 123 according to the target direction and relative speed output from the target relative motion calculation unit 7 that changes with time, and searches for the corresponding determination clutter power 112. Output to the start distance calculator 12.
Subsequent operations are the same as those in the first embodiment.

  Although the above is a description of a guidance device that tracks speed, a guidance device that tracks distance also operates in the same manner by replacing speed with distance.

  As described above, in the fourth embodiment, the determination clutter power table that lists the determination clutter power for each of the relative speed and the angle in the antenna direction is provided.

  As a result, even when the relative speed and the direction of the target are different between the time when the clutter signal is measured and the time when the target is searched, the determination corresponding to the relative speed and the angle of the antenna direction at the time when the target is searched The data of the clutter power can be referred to, the search start distance can be obtained with high accuracy, and the search can be started at the maximum distance at which the target can be captured.

It is a figure which shows the guidance device which is Embodiment 1 of this invention. It is a figure which shows the guidance device which is Embodiment 2 of this invention. It is a figure which shows the guidance device which is Embodiment 3 of this invention. It is a figure which shows the guidance device which is Embodiment 4 of this invention. It is a figure which shows operation | use of the guidance apparatus of Embodiment 1-4 of this invention. It is a figure which shows the process of the clutter signal measurement part and the clutter electric power calculation part in Embodiment 1 of this invention. It is a figure which shows the process of the clutter signal measurement part and the clutter electric power calculation part in Embodiment 2 of this invention. It is a figure which shows the process of the clutter signal measurement part and the clutter electric power calculation part in Embodiment 3 of this invention. It is a figure which shows the process of the clutter signal measurement part and the clutter electric power calculation part in Embodiment 4 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Guide device, 2 Antenna, 3 Receiver, 4 Transmitter, 5 Signal processor, 7 Target relative motion calculation part, 8 Antenna control part, 9 Transmission / reception control part, 10 Clutter signal measurement part, 11 Clutter power calculation part, 12 Search start distance calculation unit, 13 Clutter measurement speed control unit,
14 Clutter measurement angle control unit, 100 transmission signal, 101 reception signal, 102 video signal, 103 guidance signal, 104 target information, 105 flying object information, 106 target relative information, 107 command signal, 108 transmission timing signal, 109 control Signal, 110 reception timing signal, 111 clutter signal, 112 judgment clutter power, 113 search start distance, 114 relative speed gate, 115 distance comparison information, 120 relative speed gate, 121 judgment clutter power table of the second embodiment, 122 implementation Judgment clutter power table of embodiment 3, 123 Judgment clutter power table of embodiment 4, 130 relative speed, 131 angle of antenna direction

Claims (4)

A flying body guidance device that is mounted on a flying body and guides the flying body toward a target,
A transmitter for supplying a transmission signal to the antenna;
An antenna that receives the reflected signal from the target while obtaining the transmission signal and radiating radio waves toward the target;
A reception unit that converts the reflected signal into a video signal and outputs the video signal to a reception signal processing unit and a clutter signal measurement unit;
In the video signal, a clutter signal measuring unit for extracting a clutter signal which is a relative velocity between a target and a flying object and is reflected in a sea surface or a ground surface observed in a range of a relative speed gate indicating the target search range. When,
Target information consisting of the target position, velocity and attitude angle input from outside the guidance device, and the position, velocity and attitude angle of the flying object input from the position / velocity / attitude angle measuring device mounted on the flying object A target relative motion calculation unit that calculates target relative information including a relative position, a relative speed, and a relative angle with respect to the target and outputs the target relative information to the transmission / reception control unit and the antenna control unit based on the flying object information consisting of:
An antenna control unit for controlling a directivity direction of the antenna based on the target relative information;
A clutter power calculation unit that inputs the clutter signal and calculates a determination clutter power obtained by averaging the power of the clutter signal in the relative speed gate;
Based on the determination clutter power, a search start distance calculation unit that calculates a relative distance between the flying object and the target that can be detected by the target and outputs it as a search start distance;
A control signal for setting the relative speed gate based on the target relative information is generated and output to the receiving unit, and the search start distance is compared with the target obtained from the target relative information, As a result, when the distances become equal, a transmission / reception control unit that outputs an operation signal for operating the reception signal processing unit to the reception signal processing unit;
A flying object guidance device comprising: a reception signal processing unit that extracts a target reflected signal from the video signal and outputs a guidance signal for guiding the flying object when the operation signal is input. A flying body guidance device that is mounted on a flying body and guides the flying body toward a target,
A transmitter for supplying a transmission signal to the antenna;
An antenna that receives the reflected signal from the target while obtaining the transmission signal and radiating radio waves toward the target;
A reception unit that converts the reflected signal into a video signal and outputs the video signal to a reception signal processing unit and a clutter signal measurement unit;
In the video signal, a clutter signal measuring unit for extracting a clutter signal which is a relative velocity between the target and the flying object, and is a reflected wave of the sea surface or the ground observed within the range of the relative velocity gate indicating the target search range. When,
Target information consisting of the target position, velocity and attitude angle input from outside the guidance device, and the position, velocity and attitude angle of the flying object input from the position / velocity / attitude angle measuring device mounted on the flying object Target relative motion calculation that calculates target relative information consisting of relative position, relative speed and relative angle with respect to the target, and outputs to the transmission / reception control unit, antenna control unit, and clutter power calculation unit. And
An antenna control unit for controlling a directivity direction of the antenna based on the target relative information;
A speed control unit that variably sets the relative speed for the entire range of the relative speed searchable by the target;
A judgment clutter power obtained by inputting the clutter signal and averaging the power of the clutter signal in the relative speed gate is calculated for each relative speed set by the speed control unit, and corresponds to the relative speed and the relative speed. A judgment clutter power table that lists the judgment clutter powers to be created is created, and when the target relative information is input, the judgment clutter power corresponding to the target relative information is extracted from the judgment clutter power table to calculate a search start distance. A clutter power calculation unit to output to the unit,
Based on the determination clutter power, a search start distance calculation unit that calculates a relative distance between the flying object and the target that can be detected by the target and outputs it as a search start distance;
A control signal for setting the relative speed gate based on the target relative information is generated and output to the receiving unit, and the search start distance is compared with the target obtained from the target relative information, As a result, when the distances become equal, a transmission / reception control unit that outputs an operation signal for operating the reception signal processing unit to the reception signal processing unit;
A flying object guidance device comprising: a reception signal processing unit that extracts a target reflected signal from the video signal and outputs a guidance signal for guiding the flying object when the operation signal is input. A flying body guidance device that is mounted on a flying body and guides the flying body toward a target,
A transmitter for supplying a transmission signal to the antenna;
An antenna that receives the reflected signal from the target while obtaining the transmission signal and radiating radio waves toward the target;
A reception unit that converts the reflected signal into a video signal and outputs the video signal to a reception signal processing unit and a clutter signal measurement unit;
In the video signal, a clutter signal measuring unit for extracting a clutter signal which is a relative velocity between the target and the flying object, and is a reflected wave of the sea surface or the ground observed within the range of the relative velocity gate indicating the target search range. When,
Target information consisting of the target position, velocity and attitude angle input from outside the guidance device, and the position, velocity and attitude angle of the flying object input from the position / velocity / attitude angle measuring device mounted on the flying object Target relative motion calculation that calculates target relative information consisting of relative position, relative speed and relative angle with respect to the target, and outputs to the transmission / reception control unit, antenna control unit, and clutter power calculation unit. And
An antenna control unit for controlling a directivity direction of the antenna based on the target relative information;
An angle control unit that is connected to the antenna control unit and variably sets the angle of the antenna with respect to the entire antenna directivity direction in which the target can be searched,
A judgment clutter power obtained by inputting the clutter signal and averaging the power of the clutter signal in the relative speed gate is calculated for each angle of the antenna set by the angle control unit, and the angle of the antenna and the antenna A determination clutter power table that lists determination clutter power corresponding to the angle of the target is created, and when the target relative information is input, the determination clutter power corresponding to the target relative information is extracted from the determination clutter power table and searched. A clutter power calculation unit that outputs to a start distance calculation unit, and a search start distance that calculates a relative distance between the flying object and the target that can be detected by the target based on the determination clutter power and outputs the relative distance as a search start distance A calculation unit;
A control signal for setting the relative speed gate based on the target relative information is generated and output to the receiving unit, and the search start distance is compared with the target obtained from the target relative information, As a result, when the distances become equal, a transmission / reception control unit that outputs an operation signal for operating the reception signal processing unit to the reception signal processing unit;
A flying object guidance device comprising: a reception signal processing unit that extracts a target reflected signal from the video signal and outputs a guidance signal for guiding the flying object when the operation signal is input. An angle control unit that is connected to the antenna control unit and that variably sets the angle of the antenna with respect to the entire directional direction of the antenna that can be searched by the target,
The clutter power calculation unit calculates the determination clutter power obtained by inputting the clutter signal and averaging the power of the clutter signal in the relative speed gate for each angle of the antenna set by the angle control unit, A determination clutter power table that lists the relative speed, the angle of the antenna, and the determination clutter power corresponding to each of them is created, and when the target relative information is input, the determination relative clutter power table corresponds to the target relative information. 3. The flying object guiding apparatus according to claim 2, wherein the judgment clutter power is extracted and output to the search start distance calculation unit.

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