JP2013019569A - Guiding device and guidance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide navigation for preventing speed loss which is generated during initial and middle guidance and caused by course correction associated with that a missile takes a route where the missile comes close to a prediction intercept point (hereafter, PIP) from a side against a prediction route of a target, and thereby the PIP varies due to a speed change of the target.SOLUTION: A guiding device includes a database where information (such as a speed of the missile at each PIP) which is estimated in a simulation in advance and being on action of coping with the high-speed moving target is stored. In the guiding device, the database is used to be allowed to select navigation that the speed loss of the missile is reduced and the turning performance is excellent in accordance with the PIP obtained by calculations (the navigation for coping with conventional navigation or counter-parallel navigation).

Description

The present invention relates to a guidance device for guiding a flying object toward a target. In particular, the present invention relates to a guidance device that guides a flying object toward a target that moves at high speed.

Conventionally, a flying body guidance system has a problem that it is difficult to cope with a large initial heading error (hereinafter referred to as IHE). In order to reduce IHE, a navigation method has been disclosed in which the flying object is turned on with respect to a target to reduce the meeting angle (see, for example, Patent Document 1).

JP-A-5-52495

In general, in the flying control system of a flying object, an expected meeting point (hereinafter referred to as PIP) using target information (position, speed, etc.) and flying characteristics of the flying object (relation between flying time and flying distance). The flying object is radiated from the launch pad toward this PIP.

Here, assuming that the target is a constant speed / straight forward movement and the speed of the flying object is constant speed, the meeting triangle in homing is uniquely determined. This meeting triangle does not change from the start of homing by proportional navigation to the meeting, and the flying object flies on a straight line from the homing start point to the PIP.

However, even if the target is assumed to be constant speed / straight, a normal flying object is not constant speed but accelerating / decelerating, so the flying distance with respect to the flying time is non-linear (see FIG. 4).
Here, when the position of the flying object 1 at time t = t ₁ , the position of the target 2, and the position of PIP are t _M1 , t _T1 , and PIP, respectively, the association triangle is (t _M1 , t _T1 , PIP). The association triangle at time t = t ₂ after a certain time has elapsed is (t _M2 , T _T2 , PIP).
The line of sight (t _M1 -t _T1 ) when viewing the target 2 from the flying object ₁ at time t = t ₁ is not parallel to the line of sight (t _M2 -T _T2 ) at time t = t _2. As σ changes, a visual line change rate σ− occurs.

Normally, the appearance rate of the visual line change rate σ− changes depending on the thrust pattern of the flying object, the magnitude of the linear distance to the PIP, and the like.
A flying body that performs proportional navigation performs homing by steering according to this σ-. For this reason, the flying body does not fly on the straight line connecting the homing start point and the PIP, but on the curved line.
At this time, the conventional proportional navigation has a problem that speed loss occurs, and that the IHE when the flying object guides the terminal to the target increases.

On the other hand, as a navigation for reducing the speed loss and IHE, there is a navigation (counter parallel navigation) in which the flying object heads on the target.
In counter-parallel navigation, the flying object flies so as to be opposite to the target dive angle at the time of meeting, and a flying route that minimizes the meeting angle is taken (see 102 and FIG. 6 in FIG. 5). .
However, the counter parallel navigation has a problem that a speed loss occurs in the first mid-turn. In particular, there is a problem that speed loss increases when the target moves at high speed.

The present invention has been made to solve such problems, and even for a target moving at high speed, by selecting an appropriate navigation from a plurality of guided navigations, speed loss can be suppressed, and the target can be achieved. It aims at obtaining the guidance device which can guide a flying object.

  The guidance device according to the present invention is a guidance device for guiding a flying object toward a target, wherein the flying object is calculated using the speed of the target and the meeting point at which the flying object meets the target as parameters. A database that stores the speed at the time of the meeting for each of the plurality of guided navigations, and at the designated meeting point, the guided navigation with the highest speed of the flying object at the meeting is selected from among the plurality of guided navigations A determination unit.

According to the present invention, by providing a database that stores information for dealing with a target moving at a high speed obtained in advance by simulation or the like (speed of the flying object in each PIP), the flying object according to the PIP is stored. It is possible to determine a navigation (proportional navigation or counter parallel navigation) with little speed loss.
That is, by comparing the speed loss due to proportional navigation and the speed loss due to counter parallel navigation using a database, it is possible to select an appropriate navigation according to the PIP.

6 is a schematic diagram illustrating navigation selection by the guidance device according to Embodiment 1. FIG. FIG. 10 is a diagram for explaining a navigation selection flow by the guidance device according to the first embodiment. 3 is an example of information stored in a database of the guidance device according to the first embodiment. It is a figure which shows the change of the meeting triangle of the flying body in the conventional proportional navigation, and the visual line angle at that time. It is a figure which shows the schematic navigation of the conventional proportional navigation and counter parallel navigation. It is a figure explaining the guidance flow of the conventional guidance device.

Embodiment 1 FIG.
Hereinafter, the system configuration and operation when the present invention is implemented will be described with reference to FIGS.
FIG. 1 is a diagram for explaining an example of navigation selection by the guidance device according to the first embodiment.
In FIG. 1, reference numeral 1 is a flying object for guiding toward a target, 2 is a target, 3 is a launching device for launching the flying object, 4 is for searching and following the target, and input from the guiding apparatus 6 A radar device for transmitting the guidance parameters to the flying object, 6 is a database 50 storing information on the handling of the high-speed flying object (the speed of the flying object at each PIP, etc.) previously obtained by simulation or the like and the guidance The guidance device includes a determination unit 51 that selects a navigation.

The determination unit 51 of the guidance device 6 uses the target information from the radar device 4 following the target 2 and the information stored in the database 50, and the speed loss of the flying object 1 is small according to the expected PIP. A navigation with excellent turning performance (here, either a proportional navigation or a counter-parallel navigation) is determined.
In this way, the guidance device 6 selects an appropriate navigation according to the expected PIP by comparing the speed loss due to proportional navigation and the speed loss due to counter parallel navigation using a database.

Next, operation | movement of the guidance device 6 is demonstrated, using a flowchart. FIG. 2 is a diagram for explaining a navigation selection flow by the guidance device 6 according to the present embodiment.

  First, as shown in FIG. 2, the radar device 4 detects the target 2 and performs tracking when the target is captured. The target information (target position, altitude, speed, etc.) relating to the obtained target is sequentially transmitted to the guidance device 6. Send.

Next, based on the target information (target position, altitude, speed, etc.) collected from the radar device 4, the guidance device 6 performs class identification of the target 1, threat evaluation, engagement evaluation, target designation, and critical attack calculation.
The determination unit 51 of the guidance device 6 compares and determines the information stored in the database 50 and the previous calculation result, and selects a navigation with less speed loss.

The database 50 has a projection table for each countermeasure point and target speed obtained by simulation in advance, and the speed data of the flying object 1 according to the target countermeasure point and the target speed (by proportional navigation which is normal navigation). The speed of the flying object 1 and the speed of the flying object 1 by counter parallel navigation) are stored.
FIG. 3 shows an example of information stored in the database 50.
FIG. 3 (a) shows the points to be dealt with with respect to the target 2, and is a graph showing the horizontal distance (horizontal position) and altitude information of the meeting point (PIP) position where the flying object 1 meets the target 2. is there. FIG. 3 (b) shows the speed of the flying object 1 at the handling point determined by simulation according to the handling point and the speed of the target 2.

The guidance device 6 inputs the target information (target position, altitude, speed, etc.) obtained from the radar device 4 and the expected meeting point obtained from the guidance calculation result of the shooting control device 6. Based on the input conditions, the database 50 stored in the fire control device 6 is referred to, and a navigation with less speed loss is selected based on the speed loss.
That is, when the speed v of the flying object 1 by proportional navigation is higher than the speed vcp of the flying object 1 by counter parallel navigation (v> vcp), proportional navigation is selected. When the speed vcp of the flying object by counter parallel navigation is higher than the speed v of the flying object 1 by proportional navigation (vcp> v), the counter parallel navigation is selected.

The guidance device 6 transmits to the launching device 3 the result of the selected navigation and the launch parameters (launch timing, launch direction, etc.) corresponding to the selected navigation.

The launching device 3 launches the flying object 1 in accordance with the launch command from the guidance device 6.

After launching the flying object 1, the guidance device 6 performs guidance calculation and transmits guidance parameters to the radar device 4.

The radar device 4 transmits the guidance items input from the guidance device 6 to the flying object 1.

After flying from the launching device 3, the flying object 1 performs medium-term guidance based on the input from the radar device 4. When the distance between the flying object 1 and the target 2 reaches a predetermined distance, the flying object 1 starts searching for the target by itself and guides the terminal 2 toward the target.

As described above, the guidance device 6 according to the present embodiment stores the database 50 in which information (such as the speed of the flying object in each PIP) at the time of dealing with the target to fly at high speed obtained in advance by simulation is stored. Is provided.
As a result, it is possible to select a navigation (proportional navigation or counter parallel navigation) in which the speed loss of the flying object is small in accordance with the calculated PIP. That is, by comparing the speed loss due to proportional navigation and the speed loss due to counter parallel navigation using the database 50, it is possible to select an appropriate navigation according to the PIP and to improve the guidance performance of the flying object with respect to the target. .

  1 flying object, 2 target, 3 launching device, 4 radar device, 5 conventional guidance device, 6 guidance device according to the present invention, 50 database, 51 determination unit, 101 proportional navigation, 102 counter parallel navigation, v by proportional navigation The speed of the flying object 1 and the speed of the flying object 1 by vcp counter parallel navigation.

Claims (3)

A guidance device that guides the flying object toward the target,
A database for storing the speed of the target and the speed at the time of the meeting of the flying object calculated with the meeting point at which the flying object meets the target as a parameter;
A determination unit that selects a guided navigation with the highest speed of the flying object during the meeting among the plurality of guided navigations at the designated meeting point;
A guidance device comprising: The guidance device according to claim 1, wherein the plurality of guided navigations include proportional navigation and counter parallel navigation. The guidance device according to claim 1 or 2,
Equipped with a launch pad equipped with the flying object,
The determination unit transmits a result of the selected navigation and a launch specification and a launch command corresponding to the guided navigation to the launch pad,
The launch system launches the flying object upon receiving the launch command.

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