JP2015078771A - Guided missile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system capable of restricting a reduction of range distance of a guided missile by performing a control operation in which the guided missile is controlled in such a way that a squint angle essential to a high resolution process of an angle under DBS processing may become smaller in order to guide the guided missile to a weak point of a target naval vessel being stopped or cruised at slow speed.SOLUTION: When an estimated error of relative distance and speed at a guidance initial stage of a missile 1 is high at a squint angle control part 8, S/C ratio is increased to output a flying direction capable of improving accuracy of the relative distance and approaching speed, making fast of convergence of estimated error, estimation of the relative position and speed at the relative position and speed estimation part 7 is promoted, and as the estimated error is decreased, a flying direction to cause S/C ratio to become low is outputted and then a reduction of range distance of the missile is restricted.

Description

  The present invention relates to a guided vehicle that guides itself to a target from a side direction of the target that is stopped or moving at a low speed.

  In a guided vehicle that deals with a target ship (hereinafter referred to as a target ship), it uses a pulse compression process and a DBS (Doppler Beam Sharing) process so as to guide to the target ship. There is one that guides a guided flying body to a fragile part of a target ship (for example, see Patent Document 1).

Japanese Patent Laid-Open No. 10-148500

  In order to guide a guided vehicle to a vulnerable part of a ship target that is stopped or moving at a low speed (for example, a bridge, a ship side, etc.), the target angle and the distance to the target can be obtained with high resolution by pulse compression processing and DBS processing. It is essential to estimate the side direction of the target using the obtained radar image. However, increasing the squint angle is indispensable for increasing the angle resolution by DBS processing. For this reason, it is necessary to cause the guided flying object to fly in a direction different from the target direction, which causes a problem that the range of the guided flying object is reduced. The squint angle is an angle formed by the flying direction and the LOS (Line of Light) direction.

  This invention was made in order to solve the subject which concerns, Comprising: It aims at controlling a guidance flying body so that a squint angle may become smaller, and suppressing degeneration of the range of a guidance flying body .

  The guided vehicle according to the present invention discriminates a target from a clutter using target information acquired by pulse compression and DBS processing with respect to a target of a ship that is stopped or moving at a low speed. A target image extraction unit that outputs a frequency; an inertial calculation unit that calculates its own position and velocity; a target side direction estimation unit that estimates a target side direction from a target radar image from the target image extraction unit; and the target image An S / C ratio calculation unit that calculates an S / C ratio that is a ratio between a target received power obtained from a target radar image from the extraction unit and a received power of a clutter, and a predetermined time interval by the target image extraction unit By using the approach speed based on a plurality of relative distances and frequencies obtained from the target radar image generated every time and the self position and speed calculated by the inertia calculation unit, And a relative position and speed estimation unit for calculating the estimation error, a target side direction from the target side direction estimation unit, and an S / C ratio calculation unit. And a squint angle control unit that outputs a flying direction and a squint angle based on an estimation error from the relative position and speed estimation unit, and the squint angle control unit includes the relative position and the squint angle control unit. When the estimation error from the speed estimation unit is greater than or equal to a predetermined threshold, the squint angle is made larger than a predetermined reference, and when the estimation error from the relative position and speed estimation unit is smaller than the predetermined threshold, the squint angle is set. The flight direction is output so as to be smaller than a predetermined reference.

  According to the present invention, it is possible to suppress the reduction of the range of the guided flying object by controlling the guided flying object so that the squint angle that is indispensable for the high resolution of the angle by the DBS processing becomes smaller. It becomes.

1 is a block diagram showing a configuration of a guided flying body according to Embodiment 1. FIG. FIG. 6 is a diagram for explaining a guide route of the guide flying object according to the first embodiment.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a guided flying body according to Embodiment 1 of the present invention. The guided flying body 1 according to the first embodiment guides itself to the target ship 2 that is stopped or moving at a low speed using a predetermined approach angle. The guided flying object 1 includes a radar image generation unit 3, a target image extraction unit 4, a target side direction estimation unit 5, an S / C ratio (Signal / Clatter ratio; target received power and received power of the background such as the sea surface). Ratio) calculation unit 6, relative position and velocity calculation unit 7, squin angle control unit 8, guidance signal calculation unit 9, acceleration command calculation unit 10, and inertia calculation unit 12. The guided vehicle 1 according to the first embodiment has a target side surface direction estimation unit 5, an S / C ratio calculation unit 6, and a squint angle control unit 8, and is calculated by a relative position and speed estimation unit 7. By controlling the flying direction of the guided flying object 1 using the estimated error to be performed and the S / C ratio calculated by the S / C ratio calculation unit 6, the route change during the flight is suppressed. Further, by reducing the flying distance of the guided flying object 1, the range of the range is reduced.

  The radar image generation unit 3 emits radio waves to the target ship 2 and receives the radio waves reflected by the target ship 2 as received waves. The radar image generation unit 3 performs DBS processing and pulse compression processing on the received wave, thereby obtaining target amplitude information and phase information, target Doppler frequency, relative distance to the target, and information on received power of the received wave. A radar image (target information) as a digital map including is generated at a predetermined time interval. A detailed description of the DBS process and the pulse compression process is omitted here.

  The target image extraction unit 4 receives the radar image generated by the radar image generation unit 3 and discriminates the target ship 2 (target) from the sea surface (clutter) using amplitude information and phase information for each radar image, The relative distance and frequency are output together with the radar image of the target ship 2. The target side surface direction estimation unit 5 estimates the target side surface direction 13 from the target radar image from the target image extraction unit 4 using the fact that a general ship is sufficiently small with respect to the entire length. The S / C ratio calculation unit 6 calculates an S / C ratio that is a ratio between the received power obtained from the radar image of the target ship 2 from the target image extraction unit 4 and the received power from the background such as the sea surface (clutter). The relative position and speed estimation unit 7 includes an approach speed based on a plurality of relative distances and frequencies obtained from radar images of the target ship 2 generated at predetermined time intervals by the target image extraction unit 4, and an inertia calculation unit 12. Is used to estimate the relative position, relative distance, and relative speed between the target ship 2 and the guided flying object 1, and the relative position, relative distance, and relative speed. Calculate the speed estimation error.

  The squint angle control unit 8 uses the target side surface direction 13 from the target side surface direction estimation unit 5, the S / C ratio from the S / C ratio calculation unit 6, and the estimation error from the relative position and speed estimation unit 7. The flying direction to be controlled by the guided flying object 1 is output and the squint angle is calculated. The guidance signal calculation unit 9 calculates a guidance signal from the relative position and relative speed between the target ship 2 and the guided flying object 1 output from the relative position and speed estimation unit 7. The inertia calculation unit 12 calculates the position, speed, acceleration, and the like of the guided flying object 1. The acceleration command calculation unit 10 uses the flying direction from the squint angle control unit 8, the guidance signal from the guidance signal calculation unit 9, the speed, acceleration, and the like of the guidance flying body 1 calculated by the inertia calculation unit 12. A turning acceleration 11 of the guided flying object 1 is calculated. The guided flying object 1 uses the turning acceleration 11 to perform automatic flight control that moves the steering wing so as to control its own attitude to a predetermined attitude. The detailed configuration and operation relating to this automatic flight control The description of is omitted.

  FIG. 2 is a diagram for explaining a guide route of the guide flying object according to the first embodiment. The operation of the first embodiment will be described with reference to FIG. In FIG. 2, the guided vehicle 1 is flying toward the target ship 2 that is stopped or moving at a low speed. The guided flying object 1 reaches the target ship 2 through the flight route A14 and the flight route B15. In the figure, the target side surface direction 13 is shown on the side surface of the target ship 2.

  In order for the guided flying body 1 to meet the target ship 2 from the target side surface direction 13, it may fly on either the flight route A 14 or the flight route B 15. Since the flight route B15 has less route change during flight than the flight route A14 and the flight distance is shorter, the flight route B15 will fly the flight route B15 than the guided vehicle 1 that flies the flight route A14. The range 1 of the guided flying body 1 can be increased.

  Thus, it is necessary for the guided flying object 1 to suppress the reduction of the range of the guided flying object 1 by causing the flying object B 1 to fly. Here, by increasing the resolution of the distance and angle in the radar image, the reflected area from the background such as the sea surface (clutter received power) is reduced with respect to the received power from the target ship 2, and the S / C ratio is increased. Can do.

  Regarding the angular resolution in the direction in which the target ship 2 is present as viewed from the guided flying body 1 that can be realized by the DBS process, the resolution increases as the squint angle θ increases. The squint angle θ is an angle formed by the flying direction of the guided flying object 1 and the LOS direction and can be controlled by the flying route of the guided flying object 1. Further, the flight path of the guided flying object 1 can be controlled by the turning acceleration of the guided flying object 1 generated by the acceleration command calculating unit 10. Thus, by controlling the turning acceleration of the guided flying object 1, it becomes possible to control the range as well as the S / C ratio, but in order to increase the S / C ratio, fly along the flight route A14. The range must be reduced.

  On the other hand, in Embodiment 1, the squint angle control unit 8 increases the squint angle and increases the S / C ratio when the estimation error of the relative distance and speed is large at the initial stage of guidance of the guided flying object 1. Make it high. That is, the squint angle control unit 8 outputs the flying direction so that the squint angle is larger than a predetermined reference when the relative distance and speed estimation errors from the relative position and speed estimation unit 7 are equal to or larger than a predetermined threshold. To do. As a result, it is possible to output a flight direction that can improve the accuracy of the relative distance and the approach speed, so that the convergence of the estimation error can be further accelerated.

  Next, as the estimation of the relative position and speed in the relative position and speed estimation unit 7 progresses and the estimation error becomes smaller, the squint angle control unit 8 outputs a flight direction that makes the squint angle smaller, and FIG. Let's fly the flight route B. That is, the squint angle control unit 8 sets the flying direction so that the squint angle is smaller than a predetermined reference when the relative position and speed estimation error from the relative position and speed estimation unit 7 is smaller than a predetermined threshold. Output.

  Here, it is known that the target received power (S) of the S / C ratio is inversely proportional to the fourth power of the relative distance, and the clutter received power (C) is inversely proportional to the third power of the relative distance. As the relative distance between the guided flying object 1 and the target ship 2 becomes shorter, it is possible to fly without degrading the S / C ratio even if the squint angle is reduced. Thereby, degeneration of the range of the guided flying body 1 can be suppressed.

  The guided vehicle according to the first embodiment discriminates the target and the clutter using the target information obtained by the pulse compression and the DBS process with respect to the target of the target ship 2 that is stopped or moving at low speed, and the radar image of the target A target image extraction unit 4 that outputs a relative distance and a frequency, an inertia calculation unit 12 that calculates its own position and velocity, and a target side direction that estimates a target side direction from a target radar image from the target image extraction unit 4 An estimator 5; an S / C ratio calculator 6 that calculates an S / C ratio that is a ratio of the target received power obtained from the target radar image from the target image extractor 4 and the received power of the clutter; An approach speed based on a plurality of relative distances and frequencies obtained from a target radar image generated at predetermined time intervals by the image extraction unit 4, and the own position and speed calculated by the inertia calculation unit 12 By using the relative position, relative distance and relative speed between the target and self, the relative position and speed estimation unit 7 for calculating the estimation error, the target side direction 13 from the target side direction estimation unit 5, A squint angle control unit 8 that outputs the flying direction and the squint angle of the self based on the S / C ratio from the S / C ratio calculation unit 6 and the estimation error from the relative position and speed estimation unit 7; The squint angle control unit 8 makes the squint angle larger than a predetermined reference when the estimation error from the relative position and speed estimation unit 7 is equal to or larger than a predetermined threshold, and the estimation error from the relative position and speed estimation unit 7 When it is smaller than the predetermined threshold, the flight direction is output so that the squint angle is smaller than a predetermined reference.

  DESCRIPTION OF SYMBOLS 1 Guided vehicle, 2 Target ship, 3 Radar image generation part, 4 Target image extraction part, 5 Target side direction estimation part, 6 S / C ratio calculation part, 7 Relative position and speed estimation part, 8 Squint angle control part , 9 Induction signal calculation unit, 10 Acceleration command calculation unit, 12 Inertia calculation unit.

Claims (1)

Using target information acquired by pulse compression and DBS (Doppler Beam Sharpening) processing for the target of a ship that is stopped or moving at low speed, the target and clutter are distinguished, and the relative distance and frequency are output together with the radar image of the target. A target image extraction unit;
An inertial calculator that calculates its position and velocity;
A target side surface direction estimating unit that estimates a target side surface direction from a target radar image from the target image extracting unit;
An S / C ratio calculation unit that calculates an S / C ratio that is a ratio between a target received power obtained from the target radar image from the target image extraction unit and a received power of the clutter;
By using the approach speed based on a plurality of relative distances and frequencies obtained from the target radar image generated at predetermined time intervals by the target image extraction unit, and the own position and speed calculated by the inertia calculation unit Estimating a relative position, a relative distance and a relative speed between the target and the self, and calculating a relative position and speed estimating unit thereof;
Based on the target side surface direction from the target side surface direction estimation unit, the S / C ratio from the S / C ratio calculation unit, and the estimation error from the relative position and speed estimation unit, the flight direction and squint angle of itself A squint angle control unit for outputting
With
The squint angle control unit makes the squint angle larger than a predetermined reference when the estimation error from the relative position and speed estimation unit is equal to or greater than a predetermined threshold, and the estimation error from the relative position and speed estimation unit is predetermined. A guided flying object characterized by outputting the flying direction so that the squint angle is smaller than a predetermined reference when the threshold value is smaller than the threshold value.

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