JP2013061128A - Guidance system and guidance method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a guidance system and a guidance method capable of accurately guidance a missile even when a target is a low heat source small target.SOLUTION: Respective search command vehicles 1i are moved and deployed in separate distances (S11), and after the deployment, whether or not search preparation is completed is confirmed (S12). After confirmation of the completion of the preparation, the self position is measured in each search command vehicle 1i (S13). A measurement result is mutually delivered by each search command vehicle 1i (S14). When each search command vehicle 1i confirms completion of reception of each measurement result (S15), mutual measurement angle and measurement distance are measured based on each positional information, and a measurement result is corrected with respect to one another (S16). By using triangulation, a more precise position of a target O is searched. At this time, since in the triangulation, in particular angle measurement of two points most needs accuracy, mutual angle measurement is further corrected.

Description

  Embodiments described herein relate generally to a guidance system and a guidance method for guiding a flying object to a moving target.

  In general, in a guidance system that guides a flying object toward a moving target, for example, a technology that guides the flying object to the target by capturing and following infrared rays and radar waves emitted by the target. Detecting the position from the self position to the target by irradiating the target with a laser and measuring the distance, and guiding the flying object along the laser, using information from the visual or infrared search system There are techniques for directing a flying object to a target, guiding the flying object toward the target after capturing the target, and the like.

  However, when the heat source of the target is small, the infrared rays emitted from the target are small, so that the accuracy of capturing the target by infrared rays is low. In addition, when the target itself is small, the distance measurement accuracy by the laser is low, and the accuracy of guiding the flying object to the target is also low, so that it is difficult to deal with the target by the flying object.

JP 2009-276289 A

  As described above, in the conventional guidance system, when the heat source of the moving target is small, the infrared ray emitted from the target becomes small, so that the accuracy of capturing the target by infrared ray is low. In addition, when the target itself is small, the distance measurement accuracy by the laser is low, and the accuracy of guiding the flying object to the target is also low, so that it is difficult to deal with the target by the flying object.

  Therefore, the present embodiment has been made in view of the above, and an object thereof is to provide a guidance system and a guidance method that can accurately guide a flying object even if the target is a low heat source small target. And

  In order to achieve the above object, the guidance system according to the present embodiment has one or more sets of a launching device that launches a flying object and a commanding device that controls the launching device, which are arranged at arbitrary positions. A guidance system for guiding a flying object launched from the launching device to a target based on a launch command from the commanding device, the first communication means for communicating between the commanding devices; A second communication means for communicating between the launching device and the commanding device, and an enemy searching means for measuring at least the position of the target by each of the commanding device and the launching device, and performing angle measurement and distance measurement. The command device calculates a position of the target by triangulation from detection means for detecting a self-position, azimuth and inclination angle, and information obtained by the search means and the detection means, respectively. Wherein said angle measuring and ranging corrected based on the position of the calculated target, the manner and a command means for issuing a firing command of said spacecraft in response to a request.

  In addition, the guidance method according to the present embodiment prepares at least one set of a launching device that launches a flying object and a command device that controls the launching device, which is arranged at an arbitrary position, and launches from the commanding device. A guidance method for guiding a flying object launched from the launching device to a target based on a command, wherein the commanding devices communicate with each other, and communicate between the launching device and the commanding device that are in the set. The command device and the launch device grasp at least the position of the target, perform angle measurement and distance measurement, search for the enemy, detect the self-position, azimuth and tilt angle with the command device, And calculating the position of the target by triangulation from the information respectively obtained by the detection, correcting the angle measurement and distance measurement based on the calculated position of the target, and the flying object as required. Firing finger And aspects that issue.

It is a figure showing an outline of a guidance system concerning this embodiment. It is a block diagram which shows the structure of the guidance system shown in FIG. It is a flowchart which shows the flow until it installs a plurality of enemy command vehicles and an enemy launcher in the guidance system shown in FIG. It is a figure which shows the angle correction method and distance measurement correction method of each search command vehicle shown in FIG. It is a flowchart which shows the flow of the guidance process by the several enemy command vehicle and enemy search device shown in FIG. It is a figure which shows the outline | summary of the guidance system in one search enemy command vehicle and an enemy search launcher.

  Hereinafter, embodiments will be described with reference to the drawings.

  FIG. 1 is a diagram showing an overview of a guidance system according to the present embodiment. This guidance system includes a plurality of pairs of a search command vehicle 1i (i is 1 to 3) and a search enemy launcher 2i. In FIG. 1, the structure at the time of using 3 sets of the search command vehicle 1i and the search launcher 2i is shown. The search command vehicle 1i can be connected to each other wirelessly, and further, air-to-air information can be obtained from the outside through the wireless network communication network 3.

  FIG. 2 is a block diagram showing a specific configuration of the guidance system shown in FIG. Since the search command vehicle 1i and the search enemy launching device 2i have the same configuration, the search command vehicle 11 and the search launching device 21 will be described with reference to FIG.

  In FIG. 2, the search command vehicle 11 detects the target O, another set of search command vehicles 12 and 13, and the search unit 4 that grasps the positions of the search launchers 22 and 23, and detects its own position, direction, and inclination angle. The position of the target object O is calculated from the information obtained by the detection unit 6 and the enemy search unit 4 and the information obtained by the detection unit 6, and the angle measurement and distance measurement of the enemy search unit 4 based on the calculated position of the target O The first connection unit that performs the wired connection (may be wireless) connection with the enemy launching device 21 while performing wireless connection with the calculation command unit 7 that corrects the flying object and issues the flying object launch command, and the wireless network communication network 3 8. A moving part M for moving and deploying the place and a power supply part E for supplying power to the enemy launching device 21 are provided.

  The search unit 4 includes an image pickup unit 41 that picks up an image of the target object O, an image search detection unit 42 that searches the target object O from the image acquired by the image pickup unit 41 and detects the position thereof, and other search target command vehicles 12, 13, the information providing unit 45 for providing angle measurement and ranging information to the enemy launching devices 22 and 23, and the imaging unit 41 and the laser ranging unit 46 in the direction of the target O obtained by the image search detecting unit 42. A directivity unit 43, a directivity angle detection unit 44 that detects a directivity angle to the target object O detected by the directivity unit 43, and a laser distance measurement unit 46 that calculates a distance from the target object O by laser distance measurement.

  The calculation command unit 7 calculates the position of the target object O based on the information on the directivity angle, the self-position, the azimuth, and the tilt angle of the target object O obtained by all the search target command vehicles 1i and the search target launching device 2i. A calculation unit 71 that performs calculation, a calibration unit 72 that calibrates its own angle measurement and distance measurement based on the position of the target O calculated by the calculation unit 71, and issues a flying object launch command to the target O A command unit 73 is provided.

  On the other hand, the search enemy launching device 22 launches a flying object in response to the launch command, the search target unit O, the other search command vehicles 12 and 13, and the search enemy unit 5 that grasps the positions of the search launching devices 22 and 23. Connected to the first connecting part 8 of the search commanding vehicle 11 and the second connecting part 10 for receiving the position, direction, distance, program flight information and launch command, and towed by the search commanding car 11 A traction section T for power supply and a power supply section S for supplying power. The power supply unit S inputs the power supplied from the power supply unit E of the search command vehicle 11 at the time of wired connection and supplies it to the search launcher 22. The power supply unit S includes a battery, and can supply power stored in the battery even when connected wirelessly. Since the searching portion 5 basically has the same configuration as the searching portion 4 of the searching command vehicle 11, the description thereof is omitted here.

  A processing flow of the guidance system configured as described above will be described with reference to FIG.

  FIG. 3 is a flowchart showing a flow until the plurality of enemy command vehicles 1i and the enemy launcher 2i shown in FIG. 1 are arranged. First, each search command vehicle 1i is moved and deployed at a distance of several hundred meters or more (step S11). After deployment, it is confirmed whether or not the search enemy preparation is completed (step S12). After the preparation completion is confirmed, the position of each vehicle is measured in each search command vehicle 1i (step S13), and the measurement result is transmitted to each search command vehicle 1i. Distribute to each other (step S14). In each of the search command vehicles 1i, when it is confirmed that the reception of the mutual measurement results is completed (step S15), the mutual angle measurement and distance measurement are measured from the respective position information, and the measurement values are mutually corrected ( Step S16).

  That is, in this guidance system, a more precise target position is searched using triangulation. In triangulation, angle measurement at two points requires the most accuracy. Therefore, it is necessary to correct the mutual angle measurement. Therefore, FIG. 4 shows a correction method.

FIG. 4 is a diagram showing an angle measurement correction method and a distance measurement correction method for each search command vehicle 1i shown in FIG. Angle measurement correction can be obtained from the mutual azimuth with magnetic north as a reference. Further, a mutual linear distance is obtained from position coordinates by GPS or the like, and correction is performed by a distance measured by a laser. In FIG. 4, the search command vehicle 11 has a position coordinate P1 of (x1, y1, h1), a measurement angle with respect to the magnetic north direction is θ1, and a laser distance measurement distance to the search command vehicle 12 is L12. Further, the search command vehicle 12 is assumed to have position coordinates P2 = (x2, y2, h2), the angle of measurement with respect to the magnetic north direction is θ2, and the laser distance measurement distance to the search command vehicle 12 is L21. When the measurement command vehicle 11 is used as a reference, the position coordinate distance R12 with the search command vehicle 12 is

The direction correction angle of the search command vehicle 12 is
θ12 = θ2 −θ1 −180 °
It can be expressed as.

As described above, the angle measurement and the distance measurement correction are performed by obtaining a correction value with reference to a numerical value having a high mutual measurement accuracy among the angle measurement and distance measurement measured by each enemy command vehicle 1i, and measuring each enemy command vehicle 1i. Correct the angle and distance measurement with low accuracy.

  Next, a flow of processing for searching for a target object (here, a flying object) O, launching and guiding the flying object to the target object O will be described with reference to FIG.

  FIG. 5 is a flowchart showing the flow of guidance processing by the enemy command vehicle 1i and the enemy launcher 2i shown in FIG. First, target information is received (step S21). It is determined whether or not a critical attack can be calculated based on the target information (step S22). If the critical attack can be calculated, the process proceeds to step S214. If the critical attack cannot be calculated, it is confirmed whether the target O is being followed (step S23). In the case of following, the process proceeds to step S29. When not following, the presence or absence of target direction information is confirmed (step S24). If there is target direction information, the target direction is searched (step S261). If there is no target direction information, the presence / absence of anti-air information is further confirmed (step S25). When there is anti-air information, the target area is searched (step S262), and when there is no anti-air information, the entire circumference of the search command vehicle 1i is searched (step S263). When the target object O is captured, the target object O is followed (steps S27 and S28). At the same time, the azimuth angle information of the captured target O is distributed to each search command vehicle 1i (step S29). If the target O cannot be captured, the process returns to step S21. Here, it is determined whether or not the target can be calculated based on the target information (step S210). If the critical attack can be calculated, the process proceeds to step S214. If the critical shot cannot be calculated, laser ranging is attempted (step S211). Here, completion of laser ranging is confirmed (step S212). If laser ranging is not completed, the process returns to step S21. When the laser distance measurement is completed, the target distance information is distributed to each enemy command vehicle 1i (step S213). Thereafter, the position and direction of the target object O are calculated by triangulation corrected from a plurality of target information, and a critical attack calculation is performed (step S214).

  After completion of the preparation for launch, the launch permission is waited while displaying the target image (steps S215 and S216). If the launch permission is not given, the process returns to step 21. When the launch permission is given, a flying program is sent to the flying object, a firing command is issued (step S217), and the flying object is launched to the target object O by the program flying (step S218). At this time, a time limit for capturing in the air is set (step S219). If the target object O can be captured in the air within the time limit, the flying object follows and homs, and the flying object is placed on the target object O. A series of processes is terminated by direct hitting (steps S220 and S221). If the target object O cannot be captured in the air within the time limit, the flying object is self-destructed and the series of processes is terminated (step S222).

  As described above, in the guidance system according to the above embodiment, a plurality of sets of the enemy command vehicle 1i and the enemy launcher 2i mutually perform measurement positions, angle measurements, and distance measurements to calculate the target position by triangulation. Since each measurement result is corrected based on the mutual measurement result, the individual measurement accuracy is improved. As a result, even when the heat source of the target O is small, Even if the target object O itself is small, it is possible to accurately capture and track the flying object and guide it. Furthermore, if a large number of search command vehicles 1i and search weapon launchers 2i are deployed, further improvement in measurement accuracy can be expected. Furthermore, even when the target object O cannot be captured and laser range-measured by the own aircraft, it is possible to perform a hit calculation from target information from the other search command vehicle 1i and to launch a flying object.

  FIG. 6 is a diagram showing an outline of a guidance system in the case where it is realized by a set of search command vehicle 1 and search launcher 2 as another embodiment. In FIG. 6, the same parts as those in FIG. 1 are denoted by the same reference numerals, and redundant description is omitted here.

  In the guidance system according to this embodiment, the mutual position information and the position information of the target object O are acquired by the detection units 6 installed in the search command vehicle 1 and the search launcher 2 respectively. In this configuration, although the target acquisition accuracy is lower than that in the previous embodiment, the target command vehicle 1, the enemy launching device 2, and the anti-air information of each of the target objects O having low acquisition accuracy by laser ranging are also included. Since the target position is calculated and guided by triangulation based on the position information, the angle measurement, and the distance measurement information, the flying object can be guided with high accuracy.

  As mentioned above, although embodiment was described, these embodiment was shown as an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1i ... Searching command vehicle, 2i ... Searching launch device, 3 ... Wireless network communication network, 4,5 ... Searching part, 41 ... Imaging part, 42 ... Image search detection part, 43 ... Direction part, 44 ... Direction angle detection part, 45 ... Information providing unit, 46 ... Laser ranging unit, 6 ... Detection unit, 7 ... Calculation command unit, 71 ... Calculation unit, 72 ... Calibration unit, 73 ... Command unit, 8 ... First connection unit, 9 ... Launching Parts 10, second connection part, M moving part, T pulling part, E power supply part, S power supply part, O target.

Claims (5)

One or more sets of launching devices that are arranged at arbitrary positions and that launch flying objects and command devices that control the launching devices are prepared, and fired from the launching device based on the firing commands from the commanding device A guidance system for guiding a flying object to a target,
First communication means for communicating between the command devices;
A second communication means for communicating between the launching device and the commanding device in the set;
A commanding means and a launching device, each of which has at least a position of the target, and has a searching means for measuring and measuring a distance,
The command device calculates a position of the target by triangulation from detection means for detecting a self-position, an azimuth and an inclination angle, and information obtained by the enemy search means and the detection means, respectively, and the calculated target And a command unit that corrects the angle measurement and the distance measurement based on the position and issues a launch command for the flying object in response to a request.   When the plurality of sets of the launching device and the commanding device are provided, the target information obtained by each set of the launching device and the commanding device is shared with each other, and corrected with each other based on each measurement result. The guidance system according to 1. The enemy search means
An imaging means for capturing an image of the target;
Search means for searching for the target from the image obtained by the imaging means;
Directing means for directing the imaging means to the target obtained by the search means;
A directivity angle detection means for detecting a directivity angle to a target detected by the directivity means, and a laser distance measurement means for measuring a distance between the target and the laser,
The guidance system according to claim 1, further comprising:   The calculation of the position of the target object is based on information on the directivity angle to the target object obtained from the search means and the detection means installed in the command device and the launch device, and the self-position, azimuth and tilt angle of the command device. 2. The position of the target is calculated, a critical attack is calculated based on the calculation result, and the angle measurement and distance measurement of the command device are corrected based on the calculated position of the target. Induction system. One or more sets of launching devices that are arranged at arbitrary positions and that launch flying objects and command devices that control the launching devices are prepared, and fired from the launching device based on the firing commands from the commanding device A guidance method for guiding a flying object to a target,
The command devices communicate with each other,
Communicate between the launching device and the commanding device in the set,
Grasping at least the position of the target with each of the commanding device and the launching device, performing angle measurement and range finding,
The command device detects the self-position, azimuth, and tilt angle, calculates the position of the target by triangulation from the information obtained by the search enemy and the detection, respectively, and based on the calculated position of the target A guidance system that corrects the angle measurement and the distance measurement and issues a launch command for the flying object in response to a request.

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