JP2019143922A - Method for calculating initial value of guidance signal and navigation calculator using the method - Google Patents

Abstract

To provide a method for calculating an initial value of a guidance signal and a navigation calculator using the method which reduces a flying distance of a guided flying object until the guided flying object meets a target.SOLUTION: A method for calculating an initial value of a guidance signal of the present invention is used for a navigation calculator. The method comprises: a first step for receiving an expected meeting point and an expected meeting time of a guided flying object which are added the effect by turning motion of the target from a shooting control device; a second step for calculating an initial value of a guidance signal by using the expected meeting point and the expected meeting time; a third step for calculating a final guidance signal by using the initial value calculated in the second step.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a method for calculating an initial value of a guidance signal in guidance control of a guided vehicle that detects, captures, and flies toward a target, and a navigation calculation apparatus using the calculation method.

  The radar mounted on the guided vehicle detects the target angle and the target traveling direction. Further, the radar mounted on the guided flying object determines the command value of the acceleration of the guided flying object on which the radar is mounted from the target angle and the traveling direction of the target. A signal of the command value of the acceleration of the guided flying object obtained by filtering the time change of the target angle and the target traveling direction is called a guidance signal. The guidance signal is transmitted from the radar to the guidance vehicle for terminal guidance where the guidance vehicle and the target meet. The guidance signal and the initial value of the guidance signal are calculated by a navigation calculation device mounted on the radar. Generally, the initial value of the guidance signal is calculated from the target position and the target speed obtained from the foresight information. The foresight information is generated by a shooting control device that controls the guided flying object.

  Proportional navigation is generally used for terminal guidance of guided vehicles. Proportional navigation is navigation that flies while keeping the visual line angle and visual line direction with respect to the target of the guided flying object constant. The visual line angle is an angle formed by the visual line to the target of the guided flying object and the axis of the guided flying object. The initial value of the guidance signal at the time of terminal guidance of the conventional guided flying object is a value obtained by dividing the visual line orthogonal component of the target relative speed by the visual line distance. The line-of-sight orthogonal component and the line-of-sight distance of the target relative speed are calculated using foresight information from the shooting control device and an inertial device mounted on the guided flying object. The target relative speed is a relative speed between the guided flying object and the target. The visual line orthogonal component is a component of the target relative speed orthogonal to the visual line. The induced signal after the initial value of the induced signal is calculated is calculated by an estimation filter provided in the radar based on target tracking information.

  Patent Document 1 discloses a navigation calculation apparatus that guides a guided flying object toward a target using a guidance signal calculated by an estimation filter using a target position, a target speed, and a target acceleration.

Japanese Patent Laid-Open No. 4-505

  However, in the technique described in Patent Document 1, when the target of the guided flying object is like a missile having an attack target, the target is detected at the timing when the guided flying object approaches the target attack target. May turn rapidly. When the initial value of the guidance signal based on the target position, target speed, and target acceleration is set, the guided vehicle will not be able to follow the change by the estimation filter in time for the change of the target velocity vector, There was a problem that the distance to reach was long.

  This invention is made | formed in view of the above, Comprising: It aims at suppressing that the distance until a guidance flying object and a target reach a meeting becomes long.

  In order to solve the above-described problems and achieve the object, the calculation method of the initial value of the guidance signal according to the present invention is a calculation method of the initial value of the guidance signal in the navigation calculation device, and takes into account the target turning motion. A first step of receiving an expected meeting position and an expected meeting time between the guided vehicle and the target from the shooting control device, and a second step of calculating an initial value of the guidance signal using the predicted meeting position and the predicted meeting time. And a third step of calculating a final induction signal using the initial value calculated in the second step.

  According to the present invention, there is an effect of suppressing an increase in the distance until the guided flying object and the target reach a meeting.

The figure which shows the functional block of the navigation calculation apparatus which concerns on embodiment The figure which shows the structural example of the control circuit which concerns on embodiment The figure which shows the relationship of the terminal guidance of the guidance vehicle and target which concern on embodiment

  Hereinafter, a method for calculating an initial value of a guidance signal and a navigation calculation apparatus using the calculation method according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment.
FIG. 1 is a diagram illustrating functional blocks of the navigation calculation apparatus according to the embodiment. The navigation calculation apparatus 100 includes an initialization unit 1, an inertial device 2, a first reception unit 3, a second reception unit 4, a noise calculation unit 5, an angular velocity sensor unit 6, and a tracking gain unit 7. The estimation filter unit 8 is provided. The navigation calculation apparatus 100 is mounted on a radar mounted on a guided flying body. The navigation calculation device 100 communicates with the external device 500. The external device 500 includes a fire control device.

  The initialization unit 1 calculates an initial value of the induction signal. The inertial device 2 detects the self position and the self posture of the guided flying object, and transmits the detected result to the initialization unit 1. The first receiving unit 3 receives the expected meeting position and the expected meeting time between the guided flying object and the target in consideration of the target turning motion from the shooting control device of the external device 500. The fire control device considers the target turning motion based on the foresight information. Foresight information is, for example, information generated by a shooting control device tracking a target and predicting the motion of the target. The first receiving unit 3 transmits the expected meeting position and the expected meeting time to the initialization unit 1. The shooting control device is installed, for example, on the ground or in an aircraft, and controls the guided flying object, and provides information necessary for the navigation calculation apparatus 100 to guide the guided flying object to the target. The shooting control apparatus generates target position information by tracking the target, and generates an expected meeting position and an expected meeting time between the guided flying object and the target in consideration of the turning motion of the target.

  The second receiving unit 4 receives target position information from the fire control device of the external device 500. In addition, the second reception unit 4 transmits information on the target position to the initialization unit 1. The noise calculator 5 calculates the angle error noise of the visual line angle using the target received power. Further, the noise calculation unit 5 transmits the calculation result of the angle error noise to the estimation filter unit 8. The angular velocity sensor unit 6 detects a posture angular velocity with respect to the fluctuation of the guided flying object, and calculates a beam directing angle from the posture angular velocity. Further, the angular velocity sensor unit 6 transmits the calculated beam directivity angle to the estimation filter unit 8. The tracking gain unit 7 calculates a tracking gain for the angle error using the noise of the angle error calculated by the noise calculation unit 5. In addition, the tracking gain unit 7 transmits the calculated tracking gain to the estimation filter unit 8. The estimation filter unit 8 receives the initial value of the induced signal received from the initialization unit 1, the angle error noise received from the noise calculation unit 5, the beam directivity angle received from the angular velocity sensor unit 6, and the tracking gain unit 7. A final guidance signal is calculated using the received tracking gain.

  The estimation filter unit 8 generally uses a Kalman filter or a similar filter. The estimation filter unit 8 calculates a guidance signal using a temporal change in the target visual line angle tracked by the guidance flying object seeker. The guidance signal calculated by the estimation filter unit 8 is used to calculate a command value for acceleration control of the guided flying object. The guided flying object seeker is a device that is mounted on the guided flying object and searches for a target.

  A hardware configuration of navigation calculation apparatus 100 according to the embodiment will be described. The initialization unit 1, the noise calculation unit 5, the angular velocity sensor unit 6, the tracking gain unit 7, and the estimation filter unit 8 are realized by a processing circuit that is an electronic circuit that performs each process. The first receiving unit 3 and the second receiving unit 4 are receivers.

  The processing circuit may be dedicated hardware or a control circuit including a memory and a CPU (Central Processing Unit) that executes a program stored in the memory. Here, the memory corresponds to, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), or a flash memory, a magnetic disk, or an optical disk. When the processing circuit is a control circuit including a CPU, the control circuit is, for example, the control circuit 200 having the configuration shown in FIG.

  As shown in FIG. 2, the control circuit 200 includes a processor 200a that is a CPU and a memory 200b. When realized by the control circuit 200 shown in FIG. 2, the processor 200a is realized by reading and executing a program corresponding to each process stored in the memory 200b. The memory 200b is also used as a temporary memory in each process performed by the processor 200a.

  When the processing circuit is dedicated hardware, the processing circuit is, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a combination thereof.

  A series of operations in which the initialization unit 1 according to the present embodiment calculates the initial value of the induction signal will be specifically described.

  The initialization unit 1 calculates a first value relating to the average value of the speed of the guided flying object from the start of the terminal guidance of the guided flying object to the meeting of the guided flying object and the target. The first value is the difference between the expected meeting position of the target received by the first receiving unit 3 from the shooting control device and the position of the guided flying object detected by the inertial device 2, and the guided flying object. The target is the quotient divided by the time to reach the expected meeting position. Specifically, the initialization unit 1 calculates the first value according to the equation (1).

  The first value is a value in inertial coordinates. In order to set the first value as the initial value of the induction signal, it is necessary to convert the first value into a coordinate value based on the visual line. In order to use the first value as the initial value of the guidance signal, first, the initialization unit 1 uses the direction cosine matrix of the axis orthogonal coordinate of the self-posture of the guided flying object calculated by the inertial device 2 to guide the first value. The direction of the target seen from the axis of the guided flying object in the axis-orthogonal coordinates with respect to the axis of the flying object is calculated by equation (2).

  The initialization unit 1 calculates the direction cosine matrix of the visual axis coordinate according to Equation (3).

  The initialization unit 1 multiplies the direction cosine matrix of the machine-orthogonal coordinate, the direction cosine matrix of the visual axis coordinate, and the first value by the equation (4), thereby calculating the first coordinate in the coordinate based on the visual line. A value of 1 is calculated. Below, the 1st value in the coordinate on the basis of the visual line of a guidance flying object is called the 2nd value.

  The initialization unit 1 divides the second value into the initial value of the pitch-based induction signal and the initial value of the yaw-based induction signal, and the initial value of the pitch-based induction signal and the yaw system according to Equation (5) The initial value of the induction signal is calculated.

  As described above, the initial value of the guide signal calculated by the method of initializing the guide signal according to the present embodiment is the predicted meeting position and the predicted target position received by the first receiver 3 from the shooting control device. Since it is calculated using the arrival time, it is possible to guide the guided vehicle toward the expected meeting position without using the target speed at the start of terminal guidance.

  FIG. 3 is a diagram illustrating a relationship of terminal guidance between the guided flying object 10 and the target 20 according to the embodiment. In the present embodiment, the initialization unit 1 obtains the information on the self-position and self-position of the flying object obtained by the inertial device 2, the position of the target 20 obtained by the second receiving unit 4, and the angular velocity sensor unit 6. The initial value of the guidance signal is calculated using the beam directivity angle. In addition to these, the initialization unit 1 calculates the initial value of the guidance signal using the expected meeting position and the expected meeting time that the first receiving unit 3 receives from the shooting control device. That is, the initialization unit 1 calculates the initial value of the guidance signal using the expected meeting position and the expected meeting time between the guided flying object 10 and the target 20 predicted by the shooting control device without using the speed of the target 20. Can be used. Therefore, when the initialization unit 1 knows that the target 20 turns at high speed based on the foresight information when calculating the initial value of the guidance signal, the initialization signal 1 does not use the speed of the target 20 before the high speed turning. The initial value of can be calculated. For this reason, it can suppress that the distance when the guidance flying object 10 and the target 20 approach becomes long. In addition, since the guided flying object can calculate the initial value of the guidance signal without using the speed of the target 20 before the high-speed turn, the follow-up delay by the estimation filter can be reduced with respect to the change of the speed vector of the target 20. It can suppress, and it can suppress that the distance to a meeting becomes long.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

  DESCRIPTION OF SYMBOLS 1 Initialization part, 2 inertial device, 3 1st receiving part, 2nd receiving part, 5 noise calculation part, 6 angular velocity sensor part, 7 tracking gain part, 8 estimation filter part, 10 guidance flying object, 20 Target, 100 navigation calculation device, 200 control circuit, 200a processor, 200b memory, 500 external device.

Claims (4)

A method for calculating an initial value of a guidance signal in a navigation calculation device,
A first step of receiving an expected meeting position and an expected meeting time between the guided vehicle and the target, taking into account the turning motion of the target, from the fire control device;
A second step of calculating an initial value of a guidance signal using the predicted meeting position and the predicted meeting time;
A third step of calculating a final induction signal using the initial value calculated in the second step;
A method for calculating an initial value of an induction signal, comprising: The second step includes
Using the predicted meeting position and the predicted meeting time, calculating the average value of the speed of the guided vehicle in inertia coordinates and the average value in coordinates based on the visual line of the guided vehicle The method for calculating an initial value of the induction signal according to claim 1. A first receiving unit for receiving an expected meeting position and an expected meeting time between the guided flying object and the target in consideration of the turning motion of the target from the shooting control device;
An initialization unit for calculating an initial value of a guidance signal using the predicted meeting position and the predicted meeting time;
An estimation filter unit that calculates a final induced signal using the initial value calculated by the initialization unit;
A navigation calculation apparatus comprising: The initialization unit includes:
Using the predicted meeting position and the predicted meeting time, calculating the average value of the speed of the guided vehicle in inertia coordinates and the average value in coordinates based on the visual line of the guided vehicle The navigation calculation apparatus according to claim 3, wherein:

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