JP2014174070A - Guide - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a guide for correcting an own position outputted from an inertial system using a GPS, capable of preventing geometrical lock-on probability from being reduced even when a transmission wave from a positioning satellite can be not received.SOLUTION: The guide extracts a point characteristic in radio wave characteristics of a building in a landmark extracting processing part 5 as a landmark from a DBS image formed by a DBS image generation part 4; calculates a pseudo distance and a pseudo distance variation rate; estimates an own position by an own position estimation part 8 on the basis of the result acquired by cross-referring these to a SAR map in a cross reference part 7; estimates an error of the output value of an inertial system 13 from the estimated own position by a complex calculation part 12; and corrects the own position outputted from the inertial system by an inertial navigation calculation part 14.

Description

  The present invention relates to a guidance device for guiding a flying object to a specified target hit point.

  In the guidance device that guides the flying object to the target, in the first mid-term guidance, it is guided toward the desired target position based on the self-position obtained from the inertial device mounted on the flying object, and in the subsequent terminal guidance, the radio wave Some radars are used to track a target and are guided to meet the tracking target. In this guidance device, if the guidance time is long, the self-position measurement accuracy deteriorates, and the target geometric lock-on probability decreases when the target tracking is performed thereafter. For this reason, the self-position is measured by navigation positioning using GPS (Global Positioning System), and the self-position output from the inertial device is corrected using the self-position obtained by the navigation positioning. The measurement accuracy is improved.

JP 7-132892 A

  In the conventional guidance device that corrects the self-position output from the inertial device using only the GPS, the self-position cannot be corrected when the transmission wave from the positioning satellite cannot be received due to the radio interference, and the geometrical position cannot be corrected. There is a problem in that the probability of scientific lock-on decreases.

  The present invention has been made to solve such a problem, and it is an object of the present invention to correct the self-position output from the inertial device even in a situation where a transmission wave from a positioning satellite cannot be received.

  The guidance device according to the present invention acquires feature points from a DBS (Doppler Beam Sharing) image obtained by a radar, and cross-references the relationship between the acquired feature points and a previously obtained SAR (Synthetic Aperture Radar) map. Thus, self-position estimation that estimates the self-position using the position information of the corresponding known landmark on the SAR map and the distance information to the feature point obtained on the DBS image corresponding to the known landmark. And the inertial device that outputs the self-position, the self-position estimated by the self-position estimating unit, and the input corrected self-position, and the error of the self-position output from the inertial device is calculated from the difference. An error in the self-position output from the inertial device estimated by the combined calculation unit and the combined calculation unit estimated above Based on the inertial navigation calculation unit that corrects the self-position output from the inertial device and inputs the corrected self-position to the composite calculation unit, and the corrected self-position corrected by the inertial navigation calculation unit And a navigation calculation unit for outputting a control signal for guiding the flying object.

  According to the present invention, the self-position output from the inertial device can be corrected even in a situation where the transmission wave from the positioning satellite cannot be received. A decrease in the ON probability can be suppressed.

1 is a block diagram illustrating a configuration of a guidance device according to Embodiment 1. FIG. It is a figure which shows the operation | use form of the guidance apparatus by Embodiment 1. FIG. It is a figure which shows the processing flow of the guidance apparatus by Embodiment 1. FIG. FIG. 10 is a block diagram illustrating a configuration of a guidance device according to a second embodiment. It is a figure which shows the processing flow of the guidance apparatus by Embodiment 2. FIG. FIG. 10 is a block diagram illustrating a configuration of a guidance device according to a third embodiment. FIG. 10 is a diagram illustrating a processing flow of the guidance device according to the third embodiment.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing the configuration of the guidance device according to Embodiment 1 of the present invention. In FIG. 1, the guidance device 3 according to Embodiment 1 is mounted on the flying object 1 and guides the flying object 1 toward a desired target. The flying object 1 is launched from a launching device (not shown). The guidance device 3 has a navigation calculation function for outputting a guidance signal to the target 2. The guidance device 3 corrects the self-position of the inertial device by using only the conventional GPS and improves the accuracy, similarly to the GPS antenna 9, the GPS reception unit 10, the composite calculation unit 12, the inertial device 13, the inertial device. A navigation calculation unit 14 and a navigation calculation unit 15 are provided. The guidance device 3 according to the first embodiment further includes a DBS image generation unit 4, a landmark extraction processing unit 5, a SAR (Synthetic Aperture Radar) map recording unit 6, a cross-reference unit 7, a self-position estimation unit 8, and a switching It is characterized by having a portion 11. When the guidance device 3 cannot receive a transmission wave 18 from a positioning satellite such as GPS, GLONASS, or GALILEO, and cannot correct the self-position output from the inertial device 13 using a received signal from the GPS. In addition, the DBS image generation unit 4 acquires a DBS image, and cross-references the acquired DBS image with the SAR map to estimate the self position. Thereby, since the self-position output from the inertial device can be corrected using the self-position estimated from the DBS image instead of the GPS, it is possible to suppress a decrease in the geometric lock-on probability. Hereinafter, the configuration and operation of the guidance device 3 will be further described.

  The DBS image generation unit 4 includes an antenna unit, a transmission / reception unit, and a signal processing unit. The DBS image generation unit 4 transmits a transmission radio wave 17 from the antenna unit to the space, and receives a reflected radio wave 18 from a building 25 such as a bridge or a building. The DBS image generation unit 4 obtains a reception signal of the reflected radio wave 18 received at the antenna unit by the transmission / reception unit. The DBS image generation unit 4 uses a DBS (Doppler Beam Sharing) process from the obtained reception signal in the signal processing unit to generate a digital map including information on the amplitude, distance, and frequency of the building 25. A DBS image 27 is generated. The landmark extraction processing unit 5 extracts from the DBS image 27 points (feature points) that are characteristic of radio wave characteristics in the building 25 such as a bridge and a building as landmarks 29. Further, the landmark extraction processing unit 5 calculates a pseudo distance and a pseudo distance change rate between the extracted landmark 29 and the guidance device 3.

  In the SAR map recording unit 6, SAR map information 16 acquired in advance by a synthetic aperture radar (SAR) mounted on an artificial satellite or an aircraft is input from an external input device before the flying object 1 is launched. The SAR map recording unit 6 records the SAR map of the input SAR map information 16 so that it can be output by reference from the cross reference unit 7. The SAR map includes the absolute positions of a plurality of landmarks.

  The cross-reference unit 7 receives the SAR map 28 output from the SAR map recording unit 6 by referring to the SAR map recording unit 6, and the landmark 29 in the DBS image 27 extracted by the landmark extraction processing unit 5. Is entered. The cross-reference unit 7 correlates the input SAR map 28 and the landmark 29 with the pseudorange and the pseudorange change rate, and at least three points on the SAR map corresponding to the landmark 29 in the DBS image 27. The landmark (a building 30 described later) is specified.

  The self-position estimation unit 8 obtains the absolute position of each landmark (building 30) for at least three landmarks (building 30) on the SAR map corresponding to the landmark 29 in the DBS image 27. From the absolute position of the at least three landmarks (building 30) and at least three pseudo distances to each landmark 29 in the DBS image 27 corresponding to each landmark (building 30), triangulation method The self-position is estimated by

  The GPS antenna 9 receives a transmission wave 19 from a positioning satellite. The GPS receiver 10 calculates its own position by navigation positioning based on the received signal from the GPS antenna. The switching unit 11 outputs the self position to the composite calculation unit 12. When the GPS receiving unit 10 has not received the transmission wave from the positioning satellite normally, the switching unit 11 uses the self-position obtained by the GPS receiving unit 10 as the self-position obtained by the self-position estimating unit 8. The position is switched and output to the composite calculation unit 12. The composite calculation unit 12 obtains a difference between the self-position x input from the switching unit 11 and the corrected self-position x1 input from the inertial navigation calculation unit 14, and the self-position information obtained from the inertial device 13 is obtained from the difference. An error δ of the output value is estimated. The inertial device 13 performs positioning using an inertial sensor such as an acceleration sensor or a gyrosensor, and outputs the measured self-position information x0 to the inertial navigation calculation unit 14. The inertial navigation calculation unit 14 corrects the output value x2 from the inertial device 13 based on the error δ of the output value of the inertial device 13 estimated by the composite calculation unit 12, and performs a composite calculation of the corrected corrected self-position x1. To the unit 12 and the navigation calculation unit 15.

  The navigation calculation unit 15 generates a control signal 20 for the flying object 1 to fly on the designated route from the corrected self-position input from the inertial navigation calculation unit 14, and the flying object 1 control device Output to. In addition, description is abbreviate | omitted about apparatuses, such as a wing | blade and propulsion apparatus which are mounted in the flying body 1 other than the guidance apparatus 3.

  Next, operation | movement of the guidance device 3 by Embodiment 1 is demonstrated using FIG. FIG. 2 is a diagram illustrating an operation mode of the guidance device 3 according to the first embodiment. FIG. 3 is a diagram illustrating a processing flow of the guidance device according to the first embodiment.

  In FIG. 2, after flying from the initial position 24, the flying object 1 is guided by the guidance device 3 to follow the flying path 22 and fly toward the target 2 that is moving at a fixed speed and at a low speed. The flying body 1 passes through the flying route 22 so as to avoid an obstacle 21 such as a mountain. In FIG. 2, reference numeral 23 denotes a flight path that passes when guided by a conventional guidance device, reference numeral 25 denotes a building such as a bridge or a building, and reference numeral 26 denotes a transmission wave 18 from a positioning satellite during the flight. The reference numeral 27 is a schematic diagram of a DBS image, the reference numeral 28 is a schematic diagram of a SAR map, the reference numeral 29 is a landmark, and the reference numeral 30 is a building that is a landmark on the SAR map.

  The flying body 1 according to the first embodiment is periodically subjected to processing according to the processing flow shown in FIG. At this time, the flying object 1 outputs a control signal for flying on the designated route, thereby avoiding obstacles 21 such as mountains and cliffs in the first and medium-term guidance, and along the designated route. Fly through the flight route 22 and be guided to the target 2.

  By the way, the flying object equipped with the conventional guidance device has corrected the self-position of the inertial device by using only the GPS, so that the transmitted wave 18 from the positioning satellite at the point 26 during the flight. Cannot be received using the GPS, the output value from the inertial apparatus with degraded position accuracy cannot be corrected. As a result, the flying object on which the conventional guidance device is mounted passes through a route deviated from the designated route such as the flying route 23, and the geometric lock-on probability is lowered.

  On the other hand, the flying object 1 on which the guidance device 3 according to the first embodiment is mounted is guided according to the processing flow of FIG. 3 to solve this problem. Hereinafter, the processing flow of FIG. 3 will be described.

  First, in step S001, in the course of flying the flight route 22 designated from the initial position 24 as shown in FIG. 2, the guidance device 3 uses the received signal from the GPS antenna 9 in the GPS receiving unit 10. Calculate self-position.

  Next, in step S002, the switching unit 11 determines whether or not the self-position calculated by the GPS receiving unit 10 is normally calculated (hereinafter, GPS determination). Here, if the GPS determination is normal, the process proceeds to the next step S003, and if abnormal, the process proceeds to step S006 of a separately branched process.

  Next, in step S003, the composite calculation unit 12 estimates an error in the output value of the inertial device 13 from the difference between the self position input from the switching unit 11 and the corrected self position input from the inertial navigation calculation unit 14. To do.

  Next, in step S004, the inertial navigation calculation unit 14 corrects the output value of the inertial device 13 based on the inertial device output value error estimated by the composite calculation unit 12, and calculates a corrected self-position.

  Next, in step S005, the navigation calculation unit 15 generates a control signal 20 for passing the flying object 1 on the designated route from the corrected self-position from the inertial navigation calculation unit 14, and the generated control. The signal 20 is output to the control device (not shown) of the flying object 1.

  Here, the processing after step S006 will be described. When it is determined by the GPS determination in step S002 that the self-position calculated by the GPS receiving unit 10 is not normally calculated, the transmission radio wave 17 is transmitted to the space by the DBS image generating unit 4, and a bridge, a building, etc. The reflected radio wave 18 from the building 25 is received. In step S006, the DBS image generation unit 4 performs DBS processing from the received signal, and generates a DBS image that is a digital map including information on the amplitude, distance, and frequency of the building 25 such as a bridge.

  Next, in step S007, the landmark extraction processing unit 5 estimates the type, size, direction, and the like of a building such as a bridge or a building from the radio wave characteristics of the amplitude, distance, and frequency of the DBS image. A characteristic item is extracted as a landmark 29. For example, the estimated building type is a specific type, the estimated size (size, area, etc.) is larger than a specific value, and the estimated direction is in a predetermined direction (for example, the longitudinal direction is When a specific condition set in advance such as a specific azimuth direction or an elevation angle direction is met, a characteristic that matches the specific condition is extracted as a characteristic. Further, the pseudo distance and the pseudo distance change rate between the landmark 29 and the guidance device 3 are calculated. The landmark extraction processing unit 5 outputs the extracted landmark 29 and the calculated pseudo distance and pseudo distance change rate to the cross reference unit 7.

  Next, in step S008, the cross-reference unit 7 changes the pseudo distance and the pseudo distance between the building 30 on the SAR map recorded by the SAR map recording unit 6 and the landmark 29 extracted by the landmark extraction processing unit 5. Correlation is taken from the rate, and the building 30 corresponding to the landmark 29 is specified. Here, it is specified that at least three landmarks 29 correspond to at least three known buildings 30.

Next, in step S009, the self-position estimation unit 8 estimates the self-position by triangulation from at least three buildings 30 on the SAR map corresponding to the landmark 29 of the DBS image. At this time, as described above, at least three known absolute positions of the buildings 30 corresponding to the landmarks 29 and each landmark 29 in the DBS image 27 corresponding to each of the buildings 30 are included. The self-position is estimated by the triangulation method from the calculated pseudo distance.
Steps S003 to S005 after step S009 are as described above.

  As described above, the guidance device 3 according to the first embodiment receives a transmission wave from a positioning satellite via the GPS antenna 9 and obtains a self-position based on the received signal, and is obtained by a radar. The feature point (landmark 29) is acquired from the obtained DBS image, the cross-reference unit 7 cross-references the relationship between the acquired feature point and the previously obtained SAR map, and the SAR map obtained by cross-reference A self-position estimation unit that estimates the self-position using the position information of the corresponding known landmark (building 30) above and the distance information to the feature point obtained on the DBS image corresponding to the known landmark 8, the inertial device 13 that outputs the self-position, and the self-position obtained from the GPS receiver 10, and the GPS receiver 10 normally transmits the transmission wave from the positioning satellite. In the case where it cannot be transmitted, the output self position is switched to the self position estimated by the self position estimator, the switching section 11 that outputs the self position, the self position that the switching section 11 outputs, and the input correction self position. Based on the error of the self-position output from the inertial device 13 estimated by the composite calculation unit 12 and the composite calculation unit 12 that estimates the self-position error output from the inertial device 13 from the difference. The inertial navigation calculation unit 14 that corrects the self-position output from the inertial device 13 and inputs the corrected self-position to the composite calculation unit 12, and the corrected self-position corrected by the inertial navigation calculation unit 14 are input. And a navigation calculation unit 15 for outputting a control signal for guiding the mounted flying object 1 based on the inputted correction self-position.

  Thereby, even if the transmission wave from the positioning satellite cannot be received, the self-position output from the inertial device 13 can be corrected using another positioning information, so that the accuracy of self-position estimation is further improved, A decrease in the geometric lock-on probability can be suppressed.

Embodiment 2. FIG.
FIG. 4 is a block diagram showing the configuration of the guidance device according to Embodiment 2 of the present invention. The guidance device 3b shown in FIG. 4 is obtained by removing the GPS antenna 9, the GPS receiving unit 10, and the switching unit 11 from the guidance device 3 of Embodiment 1, and can reduce the size and weight of the guidance device. In FIG. 4, the flying object 1 includes a guidance device 3b, which includes a DBS image generation unit 4, a landmark extraction processing unit 5, a SAR map recording unit 6, a cross-reference unit 7, and a self-position estimation unit. 8, a composite calculation unit 12, an inertial device 13, an inertial navigation calculation unit 14, and a navigation calculation unit 15 are provided. Unlike FIG. 1, the self-position estimation unit 8 directly inputs the estimated self-position to the composite calculation unit 12. In addition, the same reference numerals as those in FIG.

FIG. 5 is a diagram illustrating a processing flow of the guidance device 3b according to the second embodiment.
The flying object 1 periodically performs the processing flow shown in FIG. 5 in the guidance device 3b during the first mid-term guidance, and outputs a control signal for flying on the designated route to the target 2. Be guided.

  Here, the operation of the second embodiment will be described using the processing flow of FIG.

  First, in step S010, while the flying object 1 is flying, the DBS image generator 4 transmits the transmission radio wave 17 to the space, receives the reflected radio wave 18 from the building 25 such as a bridge or a building, and receives the received signal. Then, a DBS image that is a digital map including information on the amplitude, distance, and frequency of the building 25 such as a bridge or a building is generated using DBS processing.

  Next, in step S011, the landmark extraction processing unit 5 estimates the type, size, direction, and the like of a building such as a bridge or a building from the amplitude, distance, and frequency radio wave characteristics of the DBS image. A characteristic item is extracted as a landmark 29. For example, the estimated building type is a specific type, the estimated size (size, area, etc.) is larger than a specific value, and the estimated direction is in a predetermined direction (for example, the longitudinal direction is When a specific condition set in advance such as a specific azimuth direction or an elevation angle direction is met, a characteristic that matches the specific condition is extracted as a characteristic. Further, the pseudo distance and the pseudo distance change rate between the landmark 29 and the guidance device 3 are calculated.

  Next, in step S012, the cross reference unit 7 changes the pseudo distance and the pseudo distance between the building 30 on the SAR map recorded by the SAR map recording unit 6 and the landmark 29 extracted by the landmark extraction processing unit 5. Correlation is taken from the rate, and the building 30 corresponding to the landmark 29 is specified. Here, it is specified that at least three landmarks 29 correspond to at least three known buildings 30.

  Next, in step S013, the self-position estimating unit 8 estimates the self-position by triangulation from at least three known buildings 30 on the SAR map corresponding to the landmark 29 of the DBS image. At this time, as described above, up to at least three known absolute positions of the building 30 corresponding to the landmark 29 and the landmarks 29 in the DBS image 27 corresponding to the building 30 respectively. The self-position is estimated by triangulation from at least three calculated pseudoranges.

  Next, in step S014, the composite calculation unit 12 calculates the error of the output value of the inertial device 13 from the difference between the self position input from the self position estimation unit 8 and the corrected self position input from the inertial navigation calculation unit 14. Is estimated.

  Next, in step S015, the inertial navigation calculation unit 14 corrects the output value of the inertial device 13 based on the inertial device output value error estimated by the composite calculation unit 12, calculates the corrected self-position, and performs the composite calculation. To the unit 12 and the navigation calculation unit 15.

  Next, in step S016, the navigation calculation unit 15 generates a control signal 20 for passing the flying object 1 on the designated route from the corrected self-position input from the inertial navigation calculation unit 14, and generates the control signal 20 The control signal 20 is output to the control device (not shown) of the flying object 1.

  As described above, the guidance device 3b according to the second embodiment acquires feature points (landmarks 29) from the DBS image obtained by the radar, and the relationship between the obtained feature points and the previously obtained SAR map. Are cross-referenced by the cross-reference unit 7, and the position information of the corresponding known landmark (building 30) on the SAR map obtained by the cross-reference and the characteristics obtained on the DBS image corresponding to the known landmark The self-position estimating unit 8 that estimates the self-position using the distance information to the point, the inertial device 13 that outputs the self-position, the self-position estimated by the self-position estimating unit 8, and the corrected self that is input The composite calculation unit 12 that obtains a difference from the position and estimates an error of the self-position output from the inertial device 13 from the difference, and the output of the inertial device 13 estimated by the composite calculation unit 12 Based on the error of the self position, the self position output from the inertial device 13 is corrected, and the corrected corrected self position is input to the composite calculation unit 12, and the correction of the inertial navigation calculation unit 14 is performed. And a navigation calculation unit 15 that outputs a control signal for guiding the mounted flying object 1 based on the input corrected self-position.

  As a result, although it is inferior to the first embodiment, it is obtained using the GSP estimated using the feature points obtained by the DBS image generation unit even in a situation where the transmission wave from the positioning satellite cannot be received. Since the self-position output from the inertial device 13 can be corrected by using positioning information different from the positioning information to be obtained, the accuracy of self-position estimation is improved and the decrease in the geometric lock-on probability is suppressed. be able to.

Embodiment 3 FIG.
FIG. 6 is a block diagram showing the configuration of the guidance device according to Embodiment 3 of the present invention. The guidance device 3c shown in FIG. 6 is characterized in that the light wave sensor unit 31 and the landmark detection unit 32 are added to the guidance device 3 of the first embodiment. The guidance device 3c according to the third embodiment can start correction of the inertial device output value earlier than the acquisition of the DBS image even when the transmission wave 19 from the positioning satellite cannot be received, and can also perform the DBS image and optical By comparing two of the images with the SAR map, the accuracy of self-position estimation can be further improved as compared with the first embodiment.

  In FIG. 6, the flying body 1 is provided with a guidance device 3c. The guidance device 3c includes a DBS image generation unit 4, a landmark extraction processing unit 5, a SAR map recording unit 6, a cross reference unit 7, a self-position estimation unit 8, a GPS antenna 9, a GPS reception unit 10, a switching unit 11, and a composite calculation. Unit 12, inertial device 13, inertial navigation calculation unit 14, navigation calculation unit 15, light wave sensor unit 31, and landmark detection unit 32. The same reference numerals as in FIG. 1 denote the same equivalents.

FIG. 7 is a diagram illustrating a processing flow of the guidance device 3c according to the third embodiment.
The light wave sensor unit 31 measures a light energy 39 emitted from a building 25 such as a bridge or a building and a background using a plurality of pixels, and expresses the measured light energy 39 with a luminance gradation for each pixel to form an optical image. Is output. The landmark detection unit 32 detects a peak point in the optical image output from the light wave sensor unit 31 (for example, a pixel region that provides a maximum luminance or a high luminance value equal to or higher than a predetermined threshold) as a landmark extraction image, and performs cross-reference. Output to unit 7. During the first mid-term guidance of the flying object 1, the guidance device 3c periodically performs the processing flow of FIG. As a result, the guidance device 3 c outputs the control signal 20 for flying on the designated route 22 to the control device of the flying object 1, so that the flying object 1 is guided toward the target 2. .

Here, the operation of the third embodiment will be described using the processing flow of FIG.
First, in step S017, for example, in the course of flying the flight route 22 designated from the initial position 24 as shown in FIG. Calculate the self position at.

  Next, in step S018, the switching unit 11 performs a GPS determination as to whether or not the self position calculated by the GPS receiving unit 10 is normally calculated. Here, if the GPS determination is normal, the process proceeds to the next step S019, and if abnormal, the process proceeds to steps S022 and S024 of the separately branched processing.

  Next, in step S019, the composite calculation unit 12 estimates an error in the output value of the inertial device 13 from the difference between the self position input from the switching unit 11 and the corrected self position input from the inertial navigation calculation unit 14. To do.

  Next, in step S020, the inertial navigation calculation unit 14 corrects the output value of the inertial device 13 based on the inertial device output value error estimated by the composite calculation unit 12, and calculates a corrected self-position.

  Next, in step S021, the navigation calculation unit 15 generates a control signal 20 for flying the flying object 1 on the designated route from the corrected self-position from the inertial navigation calculation unit 14. The control signal 20 is output to the control device (not shown) of the flying object 1.

  Here, the process after step S022 is demonstrated. If it is determined in step S018 that the GPS position calculated by the GPS receiving unit 10 is not normally calculated, the DBS image generation unit 4 transmits the transmission radio wave 17 to the space, and the bridge, building, etc. The reflected radio wave 18 from the building 25 is received. In step S022, the DBS image generation unit 4 performs DBS processing from the received signal, and generates a DBS image that is a digital map including information on the amplitude, distance, and frequency of the building 25 such as a bridge.

  Next, in step S023, the landmark extraction processing unit 5 estimates the type, size, direction, and the like of a building such as a bridge and a building from the amplitude, distance, and frequency radio wave characteristics of the DBS image. A characteristic item is extracted as a landmark 29. Further, the pseudo distance to the landmark 29 and the pseudo distance change rate are calculated. The landmark extraction processing unit 5 outputs the extracted landmark 29 and the calculated pseudo distance and pseudo distance change rate to the cross reference unit 7.

  If it is determined in the GPS determination in step S018 that the self-position calculated by the GPS receiving unit 10 is not normally calculated, the landmark detection unit 32 detects the light wave sensor in step S024 simultaneously with the process in S022. A process of detecting the peak of the output from the unit 31 as a landmark extracted image is performed, and the detected landmark extracted image is output to the cross reference unit 7.

  In step S025, the cross reference unit 7 uses the building 30 on the SAR map recorded by the SAR map recording unit 6, the landmark 29 extracted by the landmark extraction processing unit 5, and the landmark detection unit 32. The detected landmark extracted images are comprehensively compared, and the building 30 corresponding to the landmark 29 is specified. Here, it is specified that at least three landmarks 29 correspond to at least three buildings 30.

  Next, in step S026, the self-position estimation unit 8 performs triangulation from at least three known buildings 30 on the SAR map corresponding to the landmark 29 of the DBS image and the landmark extracted image of the optical image. Estimate self-position. At this time, as described above, at least three known absolute positions of the building 30 corresponding to the landmark 29 and the landmark extraction image of the optical image, and DBS images corresponding to the building 30 respectively. 27, the self-position is estimated by triangulation from at least three calculated pseudo distances to each landmark 29 in 27.

  As described above, the guidance device 3c according to Embodiment 3 includes the landmark extraction unit 32 that acquires the landmark extraction image from the optical image obtained from the light wave sensor unit 31, and features from the DBS image obtained by the radar. (Landmark 29) is acquired, the cross-reference unit 7 cross-references the relationship between the acquired feature point, the landmark extraction image acquired by the landmark extraction unit, and the previously obtained SAR map, Using the position information of the corresponding known landmark (building 30) on the SAR map obtained by the cross-reference and the distance information to the feature point obtained on the DBS image corresponding to the known landmark, The self-position estimating unit 8 that estimates the position, the inertial device 13 that outputs the self-position, and the difference between the input self-position and the input corrected self-position are obtained. Based on the composite calculation unit 12 for estimating the self-position error output from the inertial device 13 from the difference, and the self-position error output from the inertial device 13 estimated by the composite calculation unit 12, the inertial device The inertial navigation calculation unit 14 that corrects the self-position output from 13 and inputs the corrected self-position to the composite calculation unit 12, and the corrected self-position corrected by the inertial navigation calculation unit 14 are input and input. And a navigation calculation unit 15 for outputting a control signal for guiding the mounted flying object 1 based on the corrected self-position. Also, a GPS receiving unit 10 that receives a transmission wave from a positioning satellite via the GPS antenna 9 and obtains its own position based on the received signal, and a self-calculating unit 12 that obtains its own position obtained from the GPS receiving unit 10. When the GPS receiving unit 10 cannot normally receive the transmission wave from the positioning satellite, the self-position estimating unit 8 estimates the output self-position. A switching unit 11 that switches to the self-position and outputs the self-position input to the composite calculation unit 12 is provided.

  Thus, in addition to the effects of the first and second embodiments, the accuracy of self-position estimation can be further improved.

  DESCRIPTION OF SYMBOLS 1 Flying object, 2 targets, 3 guidance device, 4 DBS image generation part, 5 landmark extraction process part, 6 SAR map recording part, 7 cross reference part, 8 self-position estimation part, 9 GPS antenna, 10 GPS receiving part , 11 switching unit, 12 composite calculation unit, 13 inertial device, 14 inertial navigation calculation unit, 15 navigation calculation unit, 16 SAR map information, 17 transmitted radio wave, 18 reflected radio wave, 19 transmitted wave from positioning satellite, 20 control signal, 21 Obstacles, 25 Buildings such as bridges and buildings, 26 Points where transmission waves from positioning satellites cannot be received, 27 DBS image schematics, 28 SAR map schematics, 29 landmarks, 30 SAR map buildings , 31 Light wave sensor unit, 32 Landmark detection unit.

Claims (3)

A feature point is acquired from a DBS (Doppler Beam Sharpening) image obtained by the radar, and the relationship between the acquired feature point and the previously obtained SAR map is cross-referenced to obtain a corresponding known point on the SAR map. A self-position estimation unit that estimates the self-position using the position information of the landmark and the distance information to the feature point obtained on the DBS image corresponding to the known landmark;
An inertial device that outputs a self-position;
A composite calculation unit that obtains a difference between the self-position estimated by the self-position estimation unit and an input correction self-position, and estimates an error of the self-position output from the inertial device from the difference;
Inertial navigation for correcting the self-position output from the inertial device based on the error of the self-position output from the inertial device estimated by the composite calculation unit, and inputting the corrected corrected self-position to the composite calculation unit A calculation unit;
Based on the corrected self-position corrected by the inertial navigation calculation unit, a navigation calculation unit that outputs a control signal for guiding the mounted flying object,
Guidance device with. A GPS receiver that receives a transmission wave from a positioning satellite via a GPS antenna and obtains a self-position based on the received signal;
A feature point is acquired from a DBS (Doppler Beam Sharpening) image obtained by the radar, and the relationship between the acquired feature point and the previously obtained SAR map is cross-referenced to obtain a corresponding known point on the SAR map. A self-position estimation unit that estimates the self-position using the position information of the landmark and the distance information to the feature point obtained on the DBS image corresponding to the known landmark;
An inertial device that outputs a self-position;
The self-position obtained from the GPS receiving unit is output, and when the transmission wave from the positioning satellite cannot be normally received by the GPS receiving unit, the self-position estimating unit estimates the self-position to be output. A switching unit that switches to its own position and outputs,
A composite calculation unit that obtains a difference between the self-position output from the switching unit and the input correction self-position and estimates an error in the self-position output from the inertial device from the difference;
Inertial navigation for correcting the self-position output from the inertial device based on the error of the self-position output from the inertial device estimated by the composite calculation unit, and inputting the corrected corrected self-position to the composite calculation unit A calculation unit;
Based on the corrected self-position corrected by the inertial navigation calculation unit, a navigation calculation unit that outputs a control signal for guiding the mounted flying object,
Guidance device with. A landmark extraction unit for acquiring a landmark extraction image from the optical image obtained from the light wave sensor unit;
The self-position estimation unit cross-references the relationship between the feature point acquired from the DBS image and the landmark extraction image acquired by the landmark extraction unit, and the SAR map, thereby corresponding to the SAR map. 3. The self-position is estimated using position information of a known landmark to be detected and distance information to a feature point obtained on a DBS image corresponding to the known landmark. The guidance device according to.

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